/// <summary>
/// Saves the Given UAV to a given Stream
/// </summary>
/// <param name="target"></param>
/// <param name="source"></param>
/// <returns></returns>
public static Stream Save(Stream target, UAVBase source)
{
BinaryFormatter formatter = new BinaryFormatter();
formatter.Serialize(target, source);
return(target);
}
public static HierachyItem GetItembyPath(UAVBase core, string path)
{
List <UAVParameter> uavData = new List <UAVParameter>();
string key = path;
string newpath = "";
MonitoredDictionary <string, UAVParameter> .GetKeyPath(ref key, ref newpath);
foreach (UAVParameter param in core.uavData.Values)
{
if (param.Name == key)
{
if (newpath == key)
{
return(param);
}
if (param is UAVStructure)
{
return(GetItembyPath(param, newpath));
}
}
}
return(null);
}
public GroundControlCore(IntPtr handle)
{
XmlConfigurator.Configure();
logger = LogManager.GetLogger("");
logger.Info(new UAVCommons.Logging.ParameterLogEvent());
currentUAV = new UAV();
try
{
stick = new FlightControlCommons.UAVJoystick("Joystickunmapped", "", handle);
stick.ConnectHardware();
currentUAV.uavData.Add(stick);
mapping = new UAVCommons.UAVDataMapping("Joystick", "", stick);
foreach (string key in stick.values.Keys)
{
if (!mapping.Mapping.ContainsKey(key))
{
mapping.Mapping.Add(key, key);
}
}
currentUAV.uavData.Add(mapping);
}
catch (Exception ex) {
// currentUAV.WriteToLog("GroundLog","Error on Adding Joystick");
}
// currentUAV.uavData.Add("Joystick", new FlightControlCommons.UAVJoystick("Joystick",0));
// currentUAV.uavData.Add("Keyboard", new FlightControlCommons.UAVKeyboard("Keyboard", 0));
}
public EFISViewer(GroundControlCore.GroundControlCore uAVBase)
{
// TODO: Complete member initialization
this.mycore = uAVBase;
this.uAVBase = uAVBase.currentUAV;
InitializeComponent();
}
public EFISViewer(GroundControlCore.GroundControlCore uAVBase)
{
// TODO: Complete member initialization
this.mycore = uAVBase;
this.uAVBase = uAVBase.currentUAV;
InitializeComponent();
}
public GroundControlCore(IntPtr handle)
{
XmlConfigurator.Configure();
logger = LogManager.GetLogger("");
logger.Info(new UAVCommons.Logging.ParameterLogEvent());
currentUAV = new UAV();
try
{
stick = new FlightControlCommons.UAVJoystick("Joystickunmapped", "", handle);
stick.ConnectHardware();
currentUAV.uavData.Add(stick);
mapping = new UAVCommons.UAVDataMapping("Joystick", "", stick);
foreach (string key in stick.values.Keys)
{
if (!mapping.Mapping.ContainsKey(key))
{
mapping.Mapping.Add(key, key);
}
}
currentUAV.uavData.Add(mapping);
}
catch (Exception ex) {
// currentUAV.WriteToLog("GroundLog","Error on Adding Joystick");
}
// currentUAV.uavData.Add("Joystick", new FlightControlCommons.UAVJoystick("Joystick",0));
// currentUAV.uavData.Add("Keyboard", new FlightControlCommons.UAVKeyboard("Keyboard", 0));
}
/// <summary>
/// Loads an Instance of a UAV from file
/// </summary>
/// <param name="filename"></param>
/// <returns></returns>
public static UAVBase Load(string filename)
{
using (FileStream filestream = File.OpenRead(filename))
{
BinaryFormatter formatter = new BinaryFormatter();
UAVBase uav = (UAVBase)formatter.Deserialize(filestream);
uav.OnLoad();
return(uav);
}
}
public static List <UAVSingleParameter> NormaliseUavData(UAVBase core)
{
List <UAVSingleParameter> uavData = new List <UAVSingleParameter>();
foreach (UAVSingleParameter param in core.uavData.Values)
{
HierachyItem.NormaliseStructure(param, uavData);
}
return(uavData);
}
public static void LoadValues(XmlElement elem, UAVBase target)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
foreach (XmlElement val in elem.ChildNodes)
{
LoadValues(val, target);
}
string value = null;
string path = null;
try
{
path = elem.GetAttribute("Path");
if (elem.HasAttribute("Value"))
{
string strval = elem.GetAttribute("Value");
if (strval == "[[NULL]]")
{
value = null;
}
else
{
value = strval;
}
}
if (path == "")
{
return;
}
UAVSingleParameter param = target.uavData.SilentUpdate(path, value, false);
param.LoadValues(elem);
if (elem.HasAttribute("Max"))
{
param.Max = elem.GetAttribute("Max");
}
if (elem.HasAttribute("Min"))
{
param.Min = elem.GetAttribute("Min");
}
if (elem.HasAttribute("URate"))
{
param.updateRate = Convert.ToInt32(elem.GetAttribute("URate"));
}
}
catch (Exception ex) {
Console.WriteLine("Error on loading Values for " + path + " value was " + value);
throw ex;
}
}
public static HierachyItem GetItembyPath(UAVBase core,string path)
{
List<UAVParameter> uavData = new List<UAVParameter>();
string key = path;
string newpath = "";
MonitoredDictionary<string, UAVParameter>.GetKeyPath(ref key, ref newpath);
foreach (UAVParameter param in core.uavData.Values)
{
if (param.Name == key){
if (newpath == key) return param;
if (param is UAVStructure) return GetItembyPath(param,newpath);
}
}
return null;
}
public static void SaveValues(Stream target, UAVBase source)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
XmlDocument doc = new XmlDocument();
XmlElement root = doc.CreateElement("UAVData");
doc.AppendChild(root);
foreach (var key in source.uavData.Keys)
{
source.uavData[key].SavetoXML(root, doc);
}
doc.Save(target);
}
public static void LoadValues(Stream source, UAVBase target)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
if (source.Length == 0)
{
return;
}
XmlDocument doc = new XmlDocument();
doc.Load(source);
XmlElement elem = (XmlElement)doc.SelectSingleNode("UAVData");
LoadValues(elem, target);
}
public static List<UAVSingleParameter> NormaliseUavData(UAVBase core)
{
List<UAVSingleParameter> uavData = new List<UAVSingleParameter>();
foreach (UAVSingleParameter param in core.uavData.Values)
{
HierachyItem.NormaliseStructure(param, uavData);
}
return uavData;
}
static void Main(string[] args)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
Double i = -49;
object test = i;
Console.Write ("Running on "+Convert.ToDouble(test));
if (FlightControlCommons.UsbHelper.IsLinux) {
Console.WriteLine ("Linux");
} else {
Console.WriteLine ("Windows");
}
Console.WriteLine ("Flight Control Service");
Console.WriteLine ("Controls the UAV");
Console.WriteLine ("");
string autosavetimestr = ConfigurationSettings.AppSettings ["AutoSaveTime"];
if (Int32.TryParse (autosavetimestr, out autoSaveTime)) {
autoSaveTimer = new Timer (new TimerCallback (Program.AutoSave), null, 10000, autoSaveTime);
Console.WriteLine ("AutoSaveTimer Set from Config File!");
}
filename = ConfigurationSettings.AppSettings ["UAVFilename"];
bool loadFromFile = false;
try {
loadFromFile = Convert.ToBoolean (ConfigurationSettings.AppSettings ["LoadSettingsFromFile"]);
} catch (Exception ex) {
Console.WriteLine ("Can not parse LoadSettingsFromFile in Config File");
}
uav = new VTOLUAV ();
Console.WriteLine ("Connecting to GroundControl..");
if (Convert.ToBoolean (ConfigurationSettings.AppSettings ["WLAN"])) {
// Baue Kommunikationskanal für Befehle in beide Richtungen auf
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint ();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"]; // IP Addresse der Gegenstelle (Groundkontroll)
controlconnection.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["GroundCommandPort"]);
/// Kommunikationskanal muss auf beiden seiten gleich sein
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi; // Geschwindigkeit
controlconnection.listen = false; // einer muss verbindungen annehmen (Server) der andere hinverbinden (Connect)
controlconnection.cmdHandler = uav;
uav.knownEndpoints.Add (controlconnection); // Aktiviere Kommunikationskanal
}
if (Convert.ToBoolean (ConfigurationSettings.AppSettings ["VPN"])) {
// Baue Kommunikationskanal für Empfang von Werten von der Bodenstation
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint ();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["VPNSendPort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = false;
uav.knownEndpoints.Add (recieveConnection1);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint ();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
sendConnection1.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["VPNRecievePort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
sendConnection1.listen = false;
uav.knownEndpoints.Add (sendConnection1);
}
if (Convert.ToBoolean (ConfigurationSettings.AppSettings ["WLAN"])) {
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint ();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
recieveConnection.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["SendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
recieveConnection.listen = false;
uav.knownEndpoints.Add (recieveConnection);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint ();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["RecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = false;
uav.knownEndpoints.Add (sendConnection);
}
if (loadFromFile)
{
if (File.Exists(filename))
{
try
{
Console.WriteLine("Load Values from File");
using (FileStream stream = File.OpenRead(filename))
{
UAVBase.LoadValues(stream, uav);
}
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Einlesen der Config Datei " + filename);
File.Delete(filename);
throw ex;
}
}
}
uav.OnLoad(); //Load all non serialised objects from uav and connect to hardware
uav.run ();
}
public void UAVBase_CommunicationStatusChanged(UAVBase source, CommunicationEndpoint arg, string state)
{
}
public static void SaveValues(Stream target, UAVBase source)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
XmlDocument doc = new XmlDocument();
XmlElement root = doc.CreateElement("UAVData");
doc.AppendChild(root);
foreach (var key in source.uavData.Keys)
{
source.uavData[key].SavetoXML(root,doc);
}
doc.Save(target);
}
public override void Send(UAVBase core)
{
base.Send(core);
}
public static void LoadValues(XmlElement elem, UAVBase target)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
foreach (XmlElement val in elem.ChildNodes)
{
LoadValues(val,target);
}
string value = null;
string path = null;
try
{
path = elem.GetAttribute("Path");
if (elem.HasAttribute("Value")) {
string strval = elem.GetAttribute("Value");
if (strval == "[[NULL]]"){
value = null;
}else{
value = strval;
}
}
if (path == "") return;
UAVSingleParameter param = target.uavData.SilentUpdate(path, value, false);
param.LoadValues(elem);
if (elem.HasAttribute("Max")) param.Max = elem.GetAttribute("Max");
if (elem.HasAttribute("Min")) param.Min = elem.GetAttribute("Min");
if (elem.HasAttribute("URate")) param.updateRate = Convert.ToInt32(elem.GetAttribute("URate"));
}
catch (Exception ex) {
Console.WriteLine("Error on loading Values for "+path+ " value was "+ value);
throw ex;
}
}
public static void LoadValues(Stream source,UAVBase target)
{
if (System.Threading.Thread.CurrentThread.CurrentCulture.Name != "en-US")
{
System.Threading.Thread.CurrentThread.CurrentCulture = new
System.Globalization.CultureInfo("en-US");
}
if (source.Length == 0) return;
XmlDocument doc = new XmlDocument();
doc.Load(source);
XmlElement elem = (XmlElement)doc.SelectSingleNode("UAVData");
LoadValues(elem,target);
}
static void Main(string[] args)
{
// PWM test = new PWM("",0,"",0);
// return;
Console.Write ("Running on ");
if (FlightControlCommons.UsbHelper.IsLinux) {
Console.WriteLine ("Linux");
} else {
Console.WriteLine ("Windows");
}
Console.WriteLine ("Flight Control Service");
Console.WriteLine ("Controls the UAV");
Console.WriteLine ("");
string autosavetimestr = ConfigurationSettings.AppSettings ["AutoSaveTime"];
if (Int32.TryParse (autosavetimestr, out autoSaveTime)) {
autoSaveTimer = new Timer (new TimerCallback (Program.AutoSave), null, 10000, autoSaveTime);
Console.WriteLine ("AutoSaveTimer Set from Config File!");
}
filename = ConfigurationSettings.AppSettings ["UAVFilename"];
bool loadFromFile = false;
try {
loadFromFile = Convert.ToBoolean (ConfigurationSettings.AppSettings ["LoadSettingsFromFile"]);
} catch (Exception ex) {
Console.WriteLine ("Can not parse LoadSettingsFromFile in Config File");
}
uav = new VTOLUAV ();
Console.WriteLine ("Connecting to GroundControl..");
if (Convert.ToBoolean (ConfigurationSettings.AppSettings ["WLAN"])) {
// Baue Kommunikationskanal für Befehle in beide Richtungen auf
TCPCommunicationEndPoint controlconnection = new TCPCommunicationEndPoint ();
controlconnection.commType = CommunicationEndpoint.Communicationtype.Command;
controlconnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"]; // IP Addresse der Gegenstelle (Groundkontroll)
controlconnection.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["GroundCommandPort"]);
/// Kommunikationskanal muss auf beiden seiten gleich sein
controlconnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi; // Geschwindigkeit
controlconnection.listen = false; // einer muss verbindungen annehmen (Server) der andere hinverbinden (Connect)
controlconnection.cmdHandler = uav;
uav.knownEndpoints.Add (controlconnection); // Aktiviere Kommunikationskanal
}
if (Convert.ToBoolean (ConfigurationSettings.AppSettings ["VPN"])) {
// Baue Kommunikationskanal für Empfang von Werten von der Bodenstation
TCPCommunicationEndPoint recieveConnection1 = new TCPCommunicationEndPoint ();
recieveConnection1.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
recieveConnection1.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["VPNSendPort"]);
recieveConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
recieveConnection1.listen = false;
uav.knownEndpoints.Add (recieveConnection1);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection1 = new TCPCommunicationEndPoint ();
sendConnection1.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection1.endpointAdress = ConfigurationSettings.AppSettings ["VPNGroundIP"];
sendConnection1.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["VPNRecievePort"]);
sendConnection1.endpointSpeedType = CommunicationEndpoint.SpeedType.Gprs3G;
sendConnection1.listen = false;
uav.knownEndpoints.Add (sendConnection1);
}
if (Convert.ToBoolean (ConfigurationSettings.AppSettings ["WLAN"])) {
TCPCommunicationEndPoint recieveConnection = new TCPCommunicationEndPoint ();
recieveConnection.commType = CommunicationEndpoint.Communicationtype.Send;
recieveConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
recieveConnection.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["SendPort"]);
recieveConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
recieveConnection.listen = false;
uav.knownEndpoints.Add (recieveConnection);
// Baue Kommunikationskanal für das Senden von Werten zur Bodenstation auf
TCPCommunicationEndPoint sendConnection = new TCPCommunicationEndPoint ();
sendConnection.commType = CommunicationEndpoint.Communicationtype.Recieve;
sendConnection.endpointAdress = ConfigurationSettings.AppSettings ["GroundIP"];
sendConnection.endpointPort = Convert.ToInt32 (ConfigurationSettings.AppSettings ["RecievePort"]);
sendConnection.endpointSpeedType = CommunicationEndpoint.SpeedType.Wifi;
sendConnection.listen = false;
uav.knownEndpoints.Add (sendConnection);
}
uav.OnLoad (); //Load all non serialised objects from uav and connect to hardware
uav.run ();
}
public override void RemoteExecute(UAVBase core)
{
base.RemoteExecute(core);
// ((FlightControlCommons.components.WaypointMissionControl)core.uavData[MissionControlName]).Waypoints = waypoints;
}
public _3DViewer(UAVCommons.UAVBase uAVBase)
{
this.mycore = uAVBase;
InitializeComponent();
}
/// <summary>
/// Saves the Given UAV to a given Stream
/// </summary>
/// <param name="target"></param>
/// <param name="source"></param>
/// <returns></returns>
public static Stream Save(Stream target, UAVBase source)
{
BinaryFormatter formatter = new BinaryFormatter();
formatter.Serialize(target, source);
return target;
}
public void UAVBase_CommunicationStatusChanged(UAVBase source, CommunicationEndpoint arg, string state)
{
}
public _3DViewer(UAVCommons.UAVBase uAVBase)
{
this.mycore = uAVBase;
InitializeComponent();
}
