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MainV2.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Configuration;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Xml;
using System.Collections;
using System.Net;
using System.Text.RegularExpressions;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Globalization;
using System.Threading;
using System.Net.Sockets;
using MissionPlanner.Utilities;
using IronPython.Hosting;
using log4net;
using MissionPlanner.Controls;
using System.Security.Cryptography;
using MissionPlanner.Comms;
using MissionPlanner.Arduino;
using Transitions;
using System.Web.Script.Serialization;
using System.Speech.Synthesis;
using MissionPlanner;
namespace MissionPlanner
{
public partial class MainV2 : Form
{
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private static class NativeMethods
{
// used to hide/show console window
[DllImport("user32.dll")]
public static extern int FindWindow(string szClass, string szTitle);
[DllImport("user32.dll")]
public static extern int ShowWindow(int Handle, int showState);
[DllImport("user32.dll", CharSet = CharSet.Auto, SetLastError = true)]
internal static extern IntPtr RegisterDeviceNotification
(IntPtr hRecipient,
IntPtr NotificationFilter,
Int32 Flags);
static public int SW_SHOWNORMAL = 1;
static public int SW_HIDE = 0;
}
public class menuicons
{
public static Image fd = global::MissionPlanner.Properties.Resources.light_flightdata_icon;
public static Image fp = global::MissionPlanner.Properties.Resources.light_flightplan_icon;
public static Image initsetup = global::MissionPlanner.Properties.Resources.light_initialsetup_icon;
public static Image config_tuning = global::MissionPlanner.Properties.Resources.light_tuningconfig_icon;
public static Image sim = global::MissionPlanner.Properties.Resources.light_simulation_icon;
public static Image terminal = global::MissionPlanner.Properties.Resources.light_terminal_icon;
public static Image help = global::MissionPlanner.Properties.Resources.light_help_icon;
public static Image donate = global::MissionPlanner.Properties.Resources.donate;
public static Image connect = global::MissionPlanner.Properties.Resources.light_connect_icon;
public static Image disconnect = global::MissionPlanner.Properties.Resources.light_disconnect_icon;
public static Image bg = global::MissionPlanner.Properties.Resources.bgdark;
}
public class menuicons2 : menuicons
{
public new static Image fd = global::MissionPlanner.Properties.Resources.dark_flightdata_icon;
public new static Image fp = global::MissionPlanner.Properties.Resources.dark_flightplan_icon;
public new static Image initsetup = global::MissionPlanner.Properties.Resources.dark_initialsetup_icon;
public new static Image config_tuning = global::MissionPlanner.Properties.Resources.dark_tuningconfig_icon;
public new static Image sim = global::MissionPlanner.Properties.Resources.dark_simulation_icon;
public new static Image terminal = global::MissionPlanner.Properties.Resources.dark_terminal_icon;
public new static Image help = global::MissionPlanner.Properties.Resources.dark_help_icon;
public new static Image donate = global::MissionPlanner.Properties.Resources.donate;
public new static Image connect = global::MissionPlanner.Properties.Resources.dark_connect_icon;
public new static Image disconnect = global::MissionPlanner.Properties.Resources.dark_disconnect_icon;
public new static Image bg = global::MissionPlanner.Properties.Resources.bgdark;
}
Controls.MainSwitcher MyView;
/// <summary>
/// Active Comport interface
/// </summary>
public static MAVLinkInterface comPort = new MAVLinkInterface();
/// <summary>
/// passive comports
/// </summary>
public static List<MAVLinkInterface> Comports = new List<MAVLinkInterface>();
public delegate void WMDeviceChangeEventHandler(WM_DEVICECHANGE_enum cause);
public event WMDeviceChangeEventHandler DeviceChanged;
/// <summary>
/// Comport name
/// </summary>
public static string comPortName = "";
/// <summary>
/// use to store all internal config
/// </summary>
public static Hashtable config = new Hashtable();
/// <summary>
/// mono detection
/// </summary>
public static bool MONO = false;
/// <summary>
/// speech engine enable
/// </summary>
public static bool speechEnable = false;
/// <summary>
/// spech engine static class
/// </summary>
public static Speech speechEngine = null;
/// <summary>
/// joystick static class
/// </summary>
public static Joystick joystick = null;
/// <summary>
/// track last joystick packet sent. used to control rate
/// </summary>
DateTime lastjoystick = DateTime.Now;
/// <summary>
/// hud background image grabber from a video stream - not realy that efficent. ie no hardware overlays etc.
/// </summary>
public static WebCamService.Capture cam = null;
/// <summary>
/// controls the main serial reader thread
/// </summary>
bool serialThread = false;
bool pluginthreadrun = false;
Thread httpthread;
Thread joystickthread;
Thread serialreaderthread;
Thread pluginthread;
/// <summary>
/// track the last heartbeat sent
/// </summary>
private DateTime heatbeatSend = DateTime.Now;
/// <summary>
/// used to call anything as needed.
/// </summary>
public static MainV2 instance = null;
public static string LogDir {
get {
if (config["logdirectory"] == null)
return _logdir;
return config["logdirectory"].ToString();
}
set
{
_logdir = value;
config["logdirectory"] = value;
}
}
static string _logdir = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs";
public static MainSwitcher View;
/// <summary>
/// store the time we first connect
/// </summary>
DateTime connecttime = DateTime.Now;
DateTime nodatawarning = DateTime.Now;
DateTime OpenTime = DateTime.Now;
/// <summary>
/// enum of firmwares
/// </summary>
public enum Firmwares
{
ArduPlane,
ArduCopter2,
//ArduHeli,
ArduRover,
Ateryx
}
DateTime connectButtonUpdate = DateTime.Now;
/// <summary>
/// declared here if i want a "single" instance of the form
/// ie configuration gets reloaded on every click
/// </summary>
public GCSViews.FlightData FlightData;
public GCSViews.FlightPlanner FlightPlanner;
GCSViews.Simulation Simulation;
private Form connectionStatsForm;
private ConnectionStats _connectionStats;
/// <summary>
/// This 'Control' is the toolstrip control that holds the comport combo, baudrate combo etc
/// Otiginally seperate controls, each hosted in a toolstip sqaure, combined into this custom
/// control for layout reasons.
/// </summary>
static internal ConnectionControl _connectionControl;
public MainV2()
{
log.Info("Mainv2 ctor");
Form splash = Program.Splash;
splash.Refresh();
Application.DoEvents();
instance = this;
InitializeComponent();
MyView = new MainSwitcher(this);
View = MyView;
_connectionControl = toolStripConnectionControl.ConnectionControl;
_connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
_connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
_connectionControl.CMB_serialport.Enter += this.CMB_serialport_Enter;
_connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
_connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;
_connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
speechEngine = new Speech();
// proxy loader - dll load now instead of on config form load
new Transition(new TransitionType_EaseInEaseOut(2000));
//MyRenderer.currentpressed = MenuFlightData;
//MainMenu.Renderer = new MyRenderer();
foreach (object obj in Enum.GetValues(typeof(Firmwares)))
{
_connectionControl.TOOL_APMFirmware.Items.Add(obj);
}
if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
_connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
this.Text = splash.Text;
comPort.BaseStream.BaudRate = 115200;
// ** Old
// CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
// CMB_serialport.Items.Add("TCP");
// CMB_serialport.Items.Add("UDP");
// if (CMB_serialport.Items.Count > 0)
// {
// CMB_baudrate.SelectedIndex = 7;
// CMB_serialport.SelectedIndex = 0;
// }
// ** new
_connectionControl.CMB_serialport.Items.Add("AUTO");
_connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
_connectionControl.CMB_serialport.Items.Add("TCP");
_connectionControl.CMB_serialport.Items.Add("UDP");
if (_connectionControl.CMB_serialport.Items.Count > 0)
{
_connectionControl.CMB_baudrate.SelectedIndex = 8;
_connectionControl.CMB_serialport.SelectedIndex = 0;
}
// ** Done
splash.Refresh();
Application.DoEvents();
// set this before we reset it
MainV2.config["NUM_tracklength"] = "200";
// create one here - but override on load
MainV2.config["guid"] = Guid.NewGuid().ToString();
// load config
xmlconfig(false);
MissionPlanner.Utilities.Tracking.cid = new Guid(MainV2.config["guid"].ToString());
if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
if (!MONO) // windows only
{
if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
{
}
else
{
int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
}
}
ChangeUnits();
if (config["theme"] != null)
{
ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), MainV2.config["theme"].ToString()));
if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
{
try
{
ThemeManager.BGColor = Color.FromArgb(int.Parse(MainV2.config["theme_bg"].ToString()));
ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(MainV2.config["theme_ctlbg"].ToString()));
ThemeManager.TextColor = Color.FromArgb(int.Parse(MainV2.config["theme_text"].ToString()));
ThemeManager.ButBG = Color.FromArgb(int.Parse(MainV2.config["theme_butbg"].ToString()));
ThemeManager.ButBorder = Color.FromArgb(int.Parse(MainV2.config["theme_butbord"].ToString()));
}
catch { log.Error("Bad Custom theme - reset to standard"); ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit); }
}
}
try
{
log.Info("Create FD");
FlightData = new GCSViews.FlightData();
log.Info("Create FP");
FlightPlanner = new GCSViews.FlightPlanner();
//Configuration = new GCSViews.ConfigurationView.Setup();
log.Info("Create SIM");
Simulation = new GCSViews.Simulation();
//Firmware = new GCSViews.Firmware();
//Terminal = new GCSViews.Terminal();
// preload
log.Info("Create Python");
Python.CreateEngine();
FlightData.Width = MyView.Width;
FlightPlanner.Width = MyView.Width;
Simulation.Width = MyView.Width;
}
catch (ArgumentException e)
{
//http://www.microsoft.com/en-us/download/details.aspx?id=16083
//System.ArgumentException: Font 'Arial' does not support style 'Regular'.
log.Fatal(e);
CustomMessageBox.Show(e.ToString() + "\n\n Font Issues? Please install this http://www.microsoft.com/en-us/download/details.aspx?id=16083");
//splash.Close();
//this.Close();
Application.Exit();
}
catch (Exception e) { log.Fatal(e); CustomMessageBox.Show("A Major error has occured : " + e.ToString()); Application.Exit(); }
if (MainV2.config["CHK_GDIPlus"] != null)
GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
try
{
if (config["MainLocX"] != null && config["MainLocY"] != null)
{
this.StartPosition = FormStartPosition.Manual;
Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString()));
this.Location = startpos;
}
if (config["MainMaximised"] != null)
{
this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
// dont allow minimised start state
if (this.WindowState == FormWindowState.Minimized)
{
this.WindowState = FormWindowState.Normal;
this.Location = new Point(100, 100);
}
}
if (config["MainHeight"] != null)
this.Height = int.Parse(config["MainHeight"].ToString());
if (config["MainWidth"] != null)
this.Width = int.Parse(config["MainWidth"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.comPort.MAV.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
if (config["CMB_rateposition"] != null)
MainV2.comPort.MAV.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
if (config["CMB_ratestatus"] != null)
MainV2.comPort.MAV.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
if (config["CMB_raterc"] != null)
MainV2.comPort.MAV.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
if (config["CMB_ratesensors"] != null)
MainV2.comPort.MAV.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());
if (config["speechenable"] != null)
MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
if (MainV2.config["analyticsoptout"] != null)
MissionPlanner.Utilities.Tracking.OptOut = bool.Parse(config["analyticsoptout"].ToString());
try
{
if (config["TXT_homelat"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());
if (config["TXT_homelng"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());
if (config["TXT_homealt"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
}
catch { }
}
catch { }
if (MainV2.comPort.MAV.cs.rateattitude == 0) // initilised to 10, configured above from save
{
CustomMessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
}
// log dir
if (config["logdirectory"] != null)
MainV2.LogDir = config["logdirectory"].ToString();
//System.Threading.Thread.Sleep(2000);
// make sure new enough .net framework is installed
if (!MONO)
{
Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
string[] version_names = installed_versions.GetSubKeyNames();
//version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));
if (Framework < 4.0)
{
CustomMessageBox.Show("This program requires .NET Framework 4.0. You currently have " + Framework);
}
}
Application.DoEvents();
Comports.Add(comPort);
//int fixmenextrelease;
// if (MainV2.getConfig("fixparams") == "")
{
// Utilities.ParameterMetaDataParser.GetParameterInformation();
// MainV2.config["fixparams"] = 1;
}
}
private void ResetConnectionStats()
{
// If the form has been closed, or never shown before, we need do nothing, as
// connection stats will be reset when shown
if (this.connectionStatsForm != null && connectionStatsForm.Visible)
{
// else the form is already showing. reset the stats
this.connectionStatsForm.Controls.Clear();
_connectionStats = new ConnectionStats(comPort);
this.connectionStatsForm.Controls.Add(_connectionStats);
ThemeManager.ApplyThemeTo(this.connectionStatsForm);
}
}
private void ShowConnectionStatsForm()
{
if (this.connectionStatsForm == null || this.connectionStatsForm.IsDisposed)
{
// If the form has been closed, or never shown before, we need all new stuff
this.connectionStatsForm = new Form
{
Width = 430,
Height = 180,
MaximizeBox = false,
MinimizeBox = false,
FormBorderStyle = FormBorderStyle.FixedDialog,
Text = "Link Stats"
};
// Change the connection stats control, so that when/if the connection stats form is showing,
// there will be something to see
this.connectionStatsForm.Controls.Clear();
_connectionStats = new ConnectionStats(comPort);
this.connectionStatsForm.Controls.Add(_connectionStats);
this.connectionStatsForm.Width = _connectionStats.Width;
}
this.connectionStatsForm.Show();
ThemeManager.ApplyThemeTo(this.connectionStatsForm);
}
private void CMB_serialport_Click(object sender, EventArgs e)
{
string oldport = _connectionControl.CMB_serialport.Text;
_connectionControl.CMB_serialport.Items.Clear();
_connectionControl.CMB_serialport.Items.Add("AUTO");
_connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
_connectionControl.CMB_serialport.Items.Add("TCP");
_connectionControl.CMB_serialport.Items.Add("UDP");
if (_connectionControl.CMB_serialport.Items.Contains(oldport))
_connectionControl.CMB_serialport.Text = oldport;
}
private void MenuFlightData_Click(object sender, EventArgs e)
{
MyView.ShowScreen("FlightData");
}
private void MenuFlightPlanner_Click(object sender, EventArgs e)
{
// refresh ap/ac specific items
FlightPlanner.updateCMDParams();
MyView.ShowScreen("FlightPlanner");
}
public void MenuSetup_Click(object sender, EventArgs e)
{
if (getConfig("password_protect") == "" || bool.Parse(getConfig("password_protect")) == false)
{
MyView.ShowScreen("HWConfig");
}
else
{
if (Password.VerifyPassword())
{
MyView.ShowScreen("HWConfig");
}
}
}
private void MenuSimulation_Click(object sender, EventArgs e)
{
MyView.ShowScreen("Simulation");
}
private void MenuTuning_Click(object sender, EventArgs e)
{
if (getConfig("password_protect") == "" || bool.Parse(getConfig("password_protect")) == false)
{
MyView.ShowScreen("SWConfig");
}
else
{
if (Password.VerifyPassword())
{
MyView.ShowScreen("SWConfig");
}
}
}
private void MenuTerminal_Click(object sender, EventArgs e)
{
MyView.ShowScreen("Terminal");
}
private void MenuConnect_Click(object sender, EventArgs e)
{
comPort.giveComport = false;
// sanity check
if (comPort.BaseStream.IsOpen && MainV2.comPort.MAV.cs.groundspeed > 4)
{
if (DialogResult.No == CustomMessageBox.Show("Your model is still moving are you sure you want to disconnect?", "Disconnect", MessageBoxButtons.YesNo))
{
return;
}
}
try
{
// cleanup from any previous sessions
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
}
catch (Exception ex)
{
CustomMessageBox.Show("Error closing log files (Out of disk space?)\n"+ex.Message,"Error");
}
comPort.logfile = null;
comPort.rawlogfile = null;
// decide if this is a connect or disconnect
if (comPort.BaseStream.IsOpen)
{
try
{
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
// now that we have closed the connection, cancel the connection stats
// so that the 'time connected' etc does not grow, but the user can still
// look at the now frozen stats on the still open form
try
{
// if terminal is used, then closed using this button.... exception
if (this.connectionStatsForm != null)
((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
}
catch { }
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
try
{
System.Threading.ThreadPool.QueueUserWorkItem((WaitCallback)delegate
{
try
{
MissionPlanner.Log.LogSort.SortLogs(Directory.GetFiles(MainV2.LogDir, "*.tlog"));
}
catch { }
}
);
}
catch { }
this.MenuConnect.Image = global::MissionPlanner.Properties.Resources.light_connect_icon;
}
else
{
switch (_connectionControl.CMB_serialport.Text)
{
case "TCP":
comPort.BaseStream = new TcpSerial();
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
break;
case "AUTO":
default:
comPort.BaseStream = new SerialPort();
break;
}
// Tell the connection UI that we are now connected.
_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
this.ResetConnectionStats();
MainV2.comPort.MAV.cs.ResetInternals();
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
comPort.logplaybackfile.Close();
comPort.logplaybackfile = null;
try
{
// do autoscan
if (_connectionControl.CMB_serialport.Text == "AUTO")
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline) {
CustomMessageBox.Show("Timeout waiting for autoscan/no mavlink device connected");
_connectionControl.IsConnected(false);
return;
}
}
_connectionControl.CMB_serialport.Text = Comms.CommsSerialScan.portinterface.PortName;
_connectionControl.CMB_baudrate.Text = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
}
// set port, then options
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
try
{
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch (Exception exp) { log.Error(exp); }
// false here
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
// prevent serialreader from doing anything
comPort.giveComport = true;
// reset on connect logic.
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
comPort.BaseStream.toggleDTR();
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(MainV2.LogDir);
comPort.logfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
}
catch (Exception exp2) { log.Error(exp2); CustomMessageBox.Show("Failed to create log - wont log this session"); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(true);
// detect firmware we are conected to.
if (comPort.MAV.param["SYSID_SW_TYPE"] != null)
{
if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 10)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 7)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.Ateryx);
}
else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 20)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
}
else if (float.Parse(comPort.MAV.param["SYSID_SW_TYPE"].ToString()) == 0)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
}
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Connect", comPort.MAV.cs.firmware.ToString(), comPort.MAV.param.Count.ToString());
MissionPlanner.Utilities.Tracking.AddTiming("Connect", "Connect Time", (DateTime.Now - connecttime).TotalMilliseconds,"");
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Baud", comPort.BaseStream.BaudRate.ToString(),"");
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
// set connected icon
this.MenuConnect.Image = menuicons.disconnect;
}
catch (Exception ex)
{
log.Warn(ex);
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
CustomMessageBox.Show(@"Can not establish a connection\n\n" + ex.Message);
return;
}
}
}
private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e)
{
comPortName = _connectionControl.CMB_serialport.Text;
if (comPortName == "UDP" || comPortName == "TCP" || comPortName == "AUTO")
{
_connectionControl.CMB_baudrate.Enabled = false;
if (comPortName == "TCP")
MainV2.comPort.BaseStream = new TcpSerial();
if (comPortName == "UDP")
MainV2.comPort.BaseStream = new UdpSerial();
if (comPortName == "AUTO")
{
MainV2.comPort.BaseStream = new SerialPort();
return;
}
}
else
{
_connectionControl.CMB_baudrate.Enabled = true;
MainV2.comPort.BaseStream = new SerialPort();
}
try
{
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
MainV2.comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
// check for saved baud rate and restore
if (config[_connectionControl.CMB_serialport.Text + "_BAUD"] != null)
{
_connectionControl.CMB_baudrate.Text = config[_connectionControl.CMB_serialport.Text + "_BAUD"].ToString();
}
}
catch { }
}
private void MainV2_FormClosed(object sender, FormClosedEventArgs e)
{
Console.WriteLine("MainV2_FormClosed");
}
private void xmlconfig(bool write)
{
// copy config across is it exists - but dont overwrite
if (File.Exists(@"C:\Program Files (x86)\APM Planner\config.xml") && !File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml"))
{
File.Copy(@"C:\Program Files (x86)\APM Planner\config.xml", Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml");
}
if (write || !File.Exists(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml"))
{
try
{
XmlTextWriter xmlwriter = new XmlTextWriter(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml", Encoding.ASCII);
xmlwriter.Formatting = Formatting.Indented;
xmlwriter.WriteStartDocument();
xmlwriter.WriteStartElement("Config");
xmlwriter.WriteElementString("comport", comPortName);
xmlwriter.WriteElementString("baudrate", _connectionControl.CMB_baudrate.Text);
xmlwriter.WriteElementString("APMFirmware", MainV2.comPort.MAV.cs.firmware.ToString());
foreach (string key in config.Keys)
{
try
{
if (key == "" || key.Contains("/")) // "/dev/blah"
continue;
xmlwriter.WriteElementString(key, config[key].ToString());
}
catch { }
}
xmlwriter.WriteEndElement();
xmlwriter.WriteEndDocument();
xmlwriter.Close();
}
catch (Exception ex) { CustomMessageBox.Show(ex.ToString()); }
}
else
{
try
{
using (XmlTextReader xmlreader = new XmlTextReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"config.xml"))
{
while (xmlreader.Read())
{
xmlreader.MoveToElement();
try
{
switch (xmlreader.Name)
{
case "comport":
string temp = xmlreader.ReadString();
_connectionControl.CMB_serialport.SelectedIndex = _connectionControl.CMB_serialport.FindString(temp);
if (_connectionControl.CMB_serialport.SelectedIndex == -1)
{
_connectionControl.CMB_serialport.Text = temp; // allows ports that dont exist - yet
}
comPort.BaseStream.PortName = temp;
comPortName = temp;
break;
case "baudrate":
string temp2 = xmlreader.ReadString();
_connectionControl.CMB_baudrate.SelectedIndex = _connectionControl.CMB_baudrate.FindString(temp2);
if (_connectionControl.CMB_baudrate.SelectedIndex == -1)
{
_connectionControl.CMB_baudrate.Text = temp2;
//CMB_baudrate.SelectedIndex = CMB_baudrate.FindString("57600"); ; // must exist
}
//bau = int.Parse(CMB_baudrate.Text);
break;
case "APMFirmware":
string temp3 = xmlreader.ReadString();
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.FindStringExact(temp3);
if (_connectionControl.TOOL_APMFirmware.SelectedIndex == -1)
_connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
MainV2.comPort.MAV.cs.firmware = (MainV2.Firmwares)Enum.Parse(typeof(MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
break;
case "Config":
break;
case "xml":
break;
default:
if (xmlreader.Name == "") // line feeds
break;
config[xmlreader.Name] = xmlreader.ReadString();
break;
}
}
// silent fail on bad entry
catch (Exception ee)
{
log.Error(ee);
}
}
}
}
catch (Exception ex)
{
log.Error("Bad Config File", ex);
}
}
}
/// <summary>
/// thread used to send joystick packets to the MAV
/// </summary>
private void joysticksend()
{
float rate = 50; // 1000 / 50 = 20 hz
int count = 0;
DateTime lastratechange = DateTime.Now;
while (true)
{
try
{
if (MONO)
{
log.Error("Mono: closing joystick thread");
break;
}
if (!MONO)
{
//joystick stuff
if (joystick != null && joystick.enabled)
{
MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();
rc.target_component = comPort.MAV.compid;
rc.target_system = comPort.MAV.sysid;
if (joystick.getJoystickAxis(1) != Joystick.joystickaxis.None)
rc.chan1_raw = MainV2.comPort.MAV.cs.rcoverridech1;//(ushort)(((int)state.Rz / 65.535) + 1000);