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mainGUI.cs
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/*
* MultiWii Windows GUI by Andras Schaffer (EOSBandi)
* February 2015 V2.4
*
*
* LogBrowser is based on ArduPlanner Mega code written by Michael Oborne http://www.diydrones.com
* Instrument controls are based on AvionicsInstrument Controls written by Guillaume CHOUTEAU http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls
* Video capture code is using Aforge.Net Framework http://www.aforgenet.com
* Graph parts are using ZedGraph control http://sourceforge.net/projects/zedgraph/
*
*/
using System;
using System.Text;
using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.IO.Ports;
using System.Text.RegularExpressions;
using System.Windows.Forms;
using System.Xml;
using System.Xml.Linq;
using System.Collections.Generic;
using AForge.Video;
using AForge.Video.DirectShow;
using AForge.Video.FFMPEG;
using MultiWiiGUIControls;
using ZedGraph;
using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using GMap.NET.MapProviders;
using System.Globalization;
using System.Linq;
using System.Reflection;
using System.Media;
using System.Speech;
using System.Speech.Synthesis;
using System.Windows.Forms;
using MultiWiiWinGUI.Module;
using MultiWiiWinGUI.MWGUIControls;
namespace MultiWiiWinGUI
{
public partial class mainGUI : Form
{
#region Common variables (properties)
const string SVersion = "2.4";
byte byteVersion = 230;
uint iNaviVersion = 7; //Navigation code version
const string sVersionUrl = "http://mw-wingui.googlecode.com/svn/trunk/WinGui2/version.xml";
private string sVersionFromSVN;
private XDocument doc;
static string sOptionsConfigFilename = "optionsconfig";
const string sGuiSettingsFilename = "gui_settings.xml";
enum CopterType { Tri = 1, QuadP, QuadX, BI, Gimbal, Y6, Hex6, FlyWing, Y4,
Hex6X, OctoX8, OctoFlatX, OctoFlatP, Airplane, Heli_120_CCPM, Heli_90_DEG, Vtail4,
Hex6H, PPM_to_Servo, DualCopter, Singlecopter };
string[] sGpsMode = { "None", "PosHold", "RTH", "Mission" };
string[] sNavState = { "None", "RTH Start", "RTH Enroute", "PosHold infinit", "PosHold timed", "WP Enroute", "Process next","Jump","Start Land","Land in Progress","Landed","Settling before land","Start descent" };
string[] sNavError = { "导航系统工作中.",
"下一个路径点的距离超过安全极限，中止任务",
"GPS接收弱-暂停任务，飞行器处于无控制飞行状态！",
"读取下一个任务点出现内存错误，中止任务.",
"任务完成." ,
"定时等待任务.",
"检测到无效的跳转目标，中止任务.",
"无效的任务步骤操作码检测，中止任务.",
"等待到达返航的高度.",
"GPS定位丢失，任务失败-飞行器处于无控制飞行状态！",
"飞行器被锁定，导航程序被禁止。",
"着陆正在进行中，如果可能的话请检查参数。"};
string[] sSerialSpeeds = { "115200", "57600", "38400", "19200", "9600" };
string[] sRefreshSpeeds = {"20 Hz", "10 Hz", "5 Hz", "2 Hz", "1 Hz" };
int[] iRefreshIntervals = {5, 10, 20, 50, 100 };
const int rcLow = 1300;
const int rcMid = 1700;
const int rcLevel1 = 1230;
const int rcLevel2 = 1360;
const int rcLevel3 = 1490;
const int rcLevel4 = 1620;
const int rcLevel5 = 1749;
const string sRelName = "2.4";
Boolean isCLI = false;
string inCLIBuffer;
//PID values
static PID[] Pid;
static SerialPort serialPort;
static bool isConnected = false; //is port connected or not ?
static bool bSerialError = false;
static bool isPaused = false;
static double xTimeStamp = 0;
static byte[] bSerialBuffer;
static int iCheckBoxItems = 0; //number of checkboxItems (readed from optionsconfig.xml
static int iPidItems = 0; //number if Pid items (const definition)
static mw_data_gui mw_gui; //Data structures in that contains the data in the gui
static mw_settings mw_params;
static GUI_settings gui_settings;
static bool bOptions_needs_refresh = true;
static bool bRestartNeeded = false; //FC software version changed, must restart
static string[] option_names;
static string[] option_indicators;
static string[] option_desc;
static LineItem curve_acc_roll, curve_acc_pitch, curve_acc_z;
static LineItem curve_gyro_roll, curve_gyro_pitch, curve_gyro_yaw;
static LineItem curve_mag_roll, curve_mag_pitch, curve_mag_yaw;
static LineItem curve_alt, curve_head;
static LineItem curve_dbg1, curve_dbg2, curve_dbg3, curve_dbg4;
static RollingPointPairList list_acc_roll, list_acc_pitch, list_acc_z;
static RollingPointPairList list_gyro_roll, list_gyro_pitch, list_gyro_yaw;
static RollingPointPairList list_mag_roll, list_mag_pitch, list_mag_yaw;
static RollingPointPairList list_alt, list_head;
static RollingPointPairList list_dbg1, list_dbg2, list_dbg3, list_dbg4;
static Scale xScale;
CheckBoxEx[, ,] aux;
indicator_lamp[] indicators;
indicator_lamp[] indicators_mission;
System.Windows.Forms.Label[] cb_labels;
System.Windows.Forms.Label[] aux_labels;
System.Windows.Forms.Label[,] lmh_labels;
CultureInfo culture = new CultureInfo("zh-cn");
XmlTextReader reader;
int z;
//For video capture
static bool bVideoRecording = false;
static bool bVideoConnected = false;
static VideoFileWriter vfwWriter;
static FilterInfoCollection videoDevices;
static VideoCaptureDevice videoSource;
static TimeSpan tsFrameTimeStamp;
static TimeSpan tsFrameRate;
static Pen drawPen;
static System.Drawing.SolidBrush drawBrush;
static System.Drawing.Font drawFont;
//For logging
StreamWriter wLogStream;
StreamWriter wKMLLogStream;
static bool bLogRunning = false;
static bool bKMLLogRunning = false;
static UInt32 last_mode_flags; //Contains the mode flags from the pervious log write tick
static int GPS_lat_old, GPS_lon_old;
//Routes on Map
static GMapRoute GMRouteFlightPath;
static GMapRoute GMRouteMission;
//Map Overlays
static GMapOverlay GMOverlayFlightPath;// static so can update from gcs
static GMapOverlay GMOverlayWaypoints;
static GMapOverlay GMOverlayMission;
static GMapOverlay GMOverlayLiveData;
static GMapOverlay GMOverlayPOI;
//static PointLatLng copterPos = new PointLatLng(22.758201, 108.263773); //Just the corrds of my flying place
static PointLatLng copterPos = new PointLatLng(22.761075, 108.259851);
static bool isMouseDown = false;
static bool isMouseDraging = false;
static bool bPosholdRecorded = false;
static bool bHomeRecorded = false;
// markers
GMarkerGoogle currentMarker;
GMapMarkerRect CurentRectMarker = null;
GMapMarker center;
GMapMarker markerGoToClick = new GMarkerGoogle(new PointLatLng(0.0, 0.0),GMarkerGoogleType.lightblue);
List<PointLatLng> points = new List<PointLatLng>();
PointLatLng GPS_pos;
PointLatLng end;
PointLatLng start;
DebugWindow frmDebug;
string strDebug = "";
//Navigaton constants
static mission_step_structure mission_step;
const int MISSION_FLAG_END = 0xA5; //Flags that this is the last step
const byte IDLE = 0;
const byte HEADER_START = 1;
const byte HEADER_M = 2;
const byte HEADER_ARROW = 3;
const byte HEADER_SIZE = 4;
const byte HEADER_CMD = 5;
const byte HEADER_ERR = 6;
static byte[] inBuf;
static int AUX_CHANNELS = 4;
static byte c_state = IDLE;
static Boolean err_rcvd = false;
static byte offset = 0;
static byte dataSize = 0;
static byte checksum = 0;
static byte cmd;
static int serial_error_count = 0;
static int serial_packet_rx_count = 0;
static int serial_packet_tx_count = 0;
static int telemetry_link_quality = 0;
static int telemetry_started = 0;
static int telemetry_status_sent = 0;
static int telemetry_status_received = 0;
static byte previous_nav_error;
static int selectedrow;
static bool bGoToClikEnabled = false;
static int iDefAlt = 25; //Default altitude 25meters
static int iGTCAlt = 25;
//Servo settings
System.Windows.Forms.Label[] servo_text;
CheckBoxEx[] servo_reverse;
System.Windows.Forms.NumericUpDown[] servo_rate;
System.Windows.Forms.NumericUpDown[] servo_min;
System.Windows.Forms.NumericUpDown[] servo_mid;
System.Windows.Forms.NumericUpDown[] servo_max;
static int response_counter = 0;
static byte last_response = 0;
static byte update_cycle_count = 0; //Counts the update cycles (10 cycles all)
static bool bShowGauges = false;
static int prev_wp = 0;
static int prev_state = 0;
SpeechSynthesizer speech;
#endregion
public mainGUI()
{
InitializeComponent();
gui_settings = new GUI_settings();
if (!gui_settings.read_from_xml(sGuiSettingsFilename))
{
Environment.Exit(-1);
}
#region map_setup
// config map
MainMap.MinZoom = 1;
MainMap.MaxZoom = 20;
MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/mapcache/";
//for (int i = 0; i < mapProviders.Length; i++)
//{
// cbMapProviders.Items.Add(mapProviders[i]);
//}
// map events
MainMap.OnPositionChanged += new PositionChanged(MainMap_OnCurrentPositionChanged);
//MainMap.OnMarkerClick += new MarkerClick(MainMap_OnMarkerClick);
MainMap.OnMapZoomChanged += new MapZoomChanged(MainMap_OnMapZoomChanged);
MainMap.MouseMove += new MouseEventHandler(MainMap_MouseMove);
MainMap.MouseDown += new MouseEventHandler(MainMap_MouseDown);
MainMap.MouseUp += new MouseEventHandler(MainMap_MouseUp);
MainMap.OnMarkerEnter += new MarkerEnter(MainMap_OnMarkerEnter);
MainMap.OnMarkerLeave += new MarkerLeave(MainMap_OnMarkerLeave);
currentMarker = new GMarkerGoogle(MainMap.Position,GMarkerGoogleType.red);
//MainMap.MapScaleInfoEnabled = true;
MainMap.ForceDoubleBuffer = true;
MainMap.Manager.Mode = AccessMode.ServerAndCache;
MainMap.Position = GetChinesePoint(copterPos);
//MainMap.Position = copterPos;
Pen penRoute = new Pen(Color.Yellow, 3);
Pen penScale = new Pen(Color.Blue, 3);
MainMap.ScalePen = penScale;
GMOverlayFlightPath = new GMapOverlay("flightpath");
MainMap.Overlays.Add(GMOverlayFlightPath);
GMOverlayMission = new GMapOverlay("missionroute");
MainMap.Overlays.Add(GMOverlayMission);
GMOverlayWaypoints = new GMapOverlay("waypoints");
MainMap.Overlays.Add(GMOverlayWaypoints);
GMOverlayLiveData = new GMapOverlay("livedata");
MainMap.Overlays.Add(GMOverlayLiveData);
GMOverlayPOI = new GMapOverlay("poi");
MainMap.Overlays.Add(GMOverlayPOI);
GMOverlayLiveData.Markers.Clear();
GMOverlayLiveData.Markers.Add(new GMapMarkerCopter(GetChinesePoint(copterPos), 0, 0, 0, 3));
GMRouteFlightPath = new GMapRoute(points, "flightpath");
GMRouteFlightPath.Stroke = penRoute;
GMOverlayFlightPath.Routes.Add(GMRouteFlightPath);
center = new GMarkerGoogle(MainMap.Position,GMarkerGoogleType.blue_dot);
//center = new GMapMarkerCross(MainMap.Position);
MainMap.Invalidate(false);
//MainMap.Refresh();
#endregion
}
private void mainGUI_Load(object sender, EventArgs e)
{
//First step, check it gui_settings file is exists or not, if not then start settings wizard
if (!File.Exists(sGuiSettingsFilename))
{
setup_wizard panelSetupWizard = new setup_wizard();
panelSetupWizard.ShowDialog();
}
//Now there must be a valid settings file, so we can continue with normal execution
splash_screen splash = new splash_screen();
splash.sVersionLabel = SVersion;
splash.Show();
splash.Refresh();
//Start with Settings file read, and parse exit if unsuccessfull
gui_settings = new GUI_settings();
if (!gui_settings.read_from_xml(sGuiSettingsFilename))
{
Environment.Exit(-1);
}
//fill out relevant variables
cbGUISpeechEnabled.Checked = gui_settings.speech_enabled;
sOptionsConfigFilename = sOptionsConfigFilename + ".xml";
read_options_config(); //read and parse optionsconfig.xml file. sets iCheckBoxItems
iCheckBoxItems = 24; //Theoretical maximum
splash.sStatus = "正在构建内部数据...";
splash.Refresh();
mw_gui = new mw_data_gui(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mw_params = new mw_settings(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mission_step = new mission_step_structure();
//Quick hack to get pid names to mw_params untill redo the structures
for (int i = 0; i < iPidItems; i++)
{
mw_params.pidnames[i] = Pid[i].name;
}
splash.sFcVersionLabel = "MultiWii version " + sRelName;
splash.sStatus = "正在连接到飞控...";
splash.Refresh();
MainMap.Manager.Mode = AccessMode.ServerAndCache;
if (!Stuff.PingNetwork("www.sina.com.cn"))
{
DialogResult result = MessageBox.Show("地图控件无法连接到互联网，是否采用缓存模式？", "GMap.NET控件无法访问互联网", MessageBoxButtons.YesNo, MessageBoxIcon.Warning);
if (result == DialogResult.Yes)
{
MainMap.Manager.Mode = AccessMode.CacheOnly;
}
// MessageBox.Show("地图控件无法连接到互联网，将采用缓存模式.", "GMap.NET - Demo.WindowsForms", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
cbGpsCorrect.Checked = gui_settings.GpsCorrect;
cbMapProviders.DataSource = GMapProviders.List;
this.cbMapProviders.SelectedIndexChanged += new System.EventHandler(this.cbMapProviders_SelectedIndexChanged);
cbMapProviders.SelectedIndex = gui_settings.iMapProviderSelectedIndex;
MainMap.MapProvider = (GMapProvider) cbMapProviders.Items[gui_settings.iMapProviderSelectedIndex];
MainMap.Zoom = 18;
splash.sStatus = "正在构建操作界面元素...";
splash.Refresh();
bSerialBuffer = new byte[65];
inBuf = new byte[300]; //init input buffer
ToolTip toolTip1 = new ToolTip();
toolTip1.AutoPopDelay = 5000;
toolTip1.InitialDelay = 1000;
toolTip1.ReshowDelay = 500;
toolTip1.ShowAlways = true;
//rcOptions1 = new byte[iCheckBoxItems];
//rcOptions2 = new byte[iCheckBoxItems];
//Fill out settings tab
l_Capture_folder.Text = gui_settings.sCaptureFolder;
l_LogFolder.Text = gui_settings.sLogFolder;
l_Settings_folder.Text = gui_settings.sSettingsFolder;
cb_Logging_enabled.Checked = gui_settings.bEnableLogging;
//Set log enties checkboxes
cb_Log1.Checked = gui_settings.logGraw;
cb_Log2.Checked = gui_settings.logGatt;
cb_Log3.Checked = gui_settings.logGmag;
cb_Log4.Checked = gui_settings.logGrcc;
cb_Log5.Checked = gui_settings.logGrcx;
cb_Log6.Checked = gui_settings.logGmot;
cb_Log7.Checked = gui_settings.logGsrv;
cb_Log8.Checked = gui_settings.logGnav;
cb_Log9.Checked = gui_settings.logGpar;
cb_Log10.Checked = gui_settings.logGdbg;
cbCellcount.SelectedIndex = gui_settings.cellcount - 1;
cbGUISpeechEnabled.Checked = gui_settings.speech_enabled;
cbSpeakAlt.Checked = gui_settings.announce_alt_enabled;
cbSpeakBattery.Checked = gui_settings.announce_vbat_enabled;
cbSpeakDist.Checked = gui_settings.announce_dist_enabled;
comboSpeakInterval.SelectedIndex = gui_settings.announce_interval;
b_save_gui_settings.BackColor = Color.Transparent;
splash.sStatus = "正在创建PID数据结构...";
splash.Refresh();
//Build servo control arrays
// It is a mess and not an elegant solution BUT WORKS
servo_text = new System.Windows.Forms.Label[8];
servo_text[0] = lSrvName1;
servo_text[1] = lSrvName2;
servo_text[2] = lSrvName3;
servo_text[3] = lSrvName4;
servo_text[4] = lSrvName5;
servo_text[5] = lSrvName6;
servo_text[6] = lSrvName7;
servo_text[7] = lSrvName8;
servo_reverse = new CheckBoxEx[8];
servo_reverse[0] = cbSrvRev1;
servo_reverse[1] = cbSrvRev2;
servo_reverse[2] = cbSrvRev3;
servo_reverse[3] = cbSrvRev4;
servo_reverse[4] = cbSrvRev5;
servo_reverse[5] = cbSrvRev6;
servo_reverse[6] = cbSrvRev7;
servo_reverse[7] = cbSrvRev8;
servo_rate = new System.Windows.Forms.NumericUpDown[8];
servo_rate[0] = nSrvRate1;
servo_rate[1] = nSrvRate2;
servo_rate[2] = nSrvRate3;
servo_rate[3] = nSrvRate4;
servo_rate[4] = nSrvRate5;
servo_rate[5] = nSrvRate6;
servo_rate[6] = nSrvRate7;
servo_rate[7] = nSrvRate8;
servo_min = new System.Windows.Forms.NumericUpDown[8];
servo_min[0] = nSrvMin1;
servo_min[1] = nSrvMin2;
servo_min[2] = nSrvMin3;
servo_min[3] = nSrvMin4;
servo_min[4] = nSrvMin5;
servo_min[5] = nSrvMin6;
servo_min[6] = nSrvMin7;
servo_min[7] = nSrvMin8;
servo_mid = new System.Windows.Forms.NumericUpDown[8];
servo_mid[0] = nSrvMid1;
servo_mid[1] = nSrvMid2;
servo_mid[2] = nSrvMid3;
servo_mid[3] = nSrvMid4;
servo_mid[4] = nSrvMid5;
servo_mid[5] = nSrvMid6;
servo_mid[6] = nSrvMid7;
servo_mid[7] = nSrvMid8;
servo_max = new System.Windows.Forms.NumericUpDown[8];
servo_max[0] = nSrvMax1;
servo_max[1] = nSrvMax2;
servo_max[2] = nSrvMax3;
servo_max[3] = nSrvMax4;
servo_max[4] = nSrvMax5;
servo_max[5] = nSrvMax6;
servo_max[6] = nSrvMax7;
servo_max[7] = nSrvMax8;
//Build PID control structure based on the Pid structure.
const int iLineSpace = 36;
const int iRow1 = 30;
const int iRow2 = 130;
const int iRow3 = 230;
const int iTopY = 25;
Font fontField = new Font("Tahoma", 9, FontStyle.Bold);
Size fieldSize = new Size(70, 25);
for (int i = 0; i < iPidItems; i++)
{
Pid[i].pidLabel = new System.Windows.Forms.Label();
Pid[i].pidLabel.Text = Pid[i].name;
Pid[i].pidLabel.Location = new Point(iRow1, 10 + i * iLineSpace);
Pid[i].pidLabel.Visible = true;
Pid[i].pidLabel.AutoSize = true;
Pid[i].pidLabel.ForeColor = Color.White;
Pid[i].pidLabel.TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(Pid[i].pidLabel, Pid[i].description);
this.tabPagePID.Controls.Add(Pid[i].pidLabel);
if (Pid[i].Pshown)
{
Pid[i].Pfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Pfield.ValueChanged += new EventHandler(pfield_valuechange);
Pid[i].Pfield.Location = new Point(iRow1, iTopY + i * iLineSpace);
Pid[i].Pfield.Size = fieldSize;
Pid[i].Pfield.Font = fontField;
Pid[i].Pfield.BorderStyle = BorderStyle.None;
Pid[i].Pfield.Maximum = Pid[i].Pmax;
Pid[i].Pfield.Minimum = Pid[i].Pmin;
Pid[i].Pfield.DecimalPlaces = decimals(Pid[i].Pprec);
Pid[i].Pfield.Increment = 1 / (decimal)Pid[i].Pprec;
this.tabPagePID.Controls.Add(Pid[i].Pfield);
Pid[i].Plabel = new System.Windows.Forms.Label();
Pid[i].Plabel.Text = "P";
Pid[i].Plabel.Font = fontField;
Pid[i].Plabel.ForeColor = Color.White;
Pid[i].Plabel.Location = new Point(iRow1 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Plabel);
}
if (Pid[i].Ishown)
{
Pid[i].Ifield = new System.Windows.Forms.NumericUpDown();
Pid[i].Ifield.ValueChanged += new EventHandler(ifield_valuechange);
Pid[i].Ifield.Location = new Point(iRow2, iTopY + i * iLineSpace);
Pid[i].Ifield.Size = fieldSize;
Pid[i].Ifield.Font = fontField;
Pid[i].Ifield.BorderStyle = BorderStyle.None;
Pid[i].Ifield.Maximum = Pid[i].Imax;
Pid[i].Ifield.Minimum = Pid[i].Imin;
Pid[i].Ifield.DecimalPlaces = decimals(Pid[i].Iprec);
Pid[i].Ifield.Increment = 1 / (decimal)Pid[i].Iprec;
this.tabPagePID.Controls.Add(Pid[i].Ifield);
Pid[i].Ilabel = new System.Windows.Forms.Label();
Pid[i].Ilabel.Text = "I";
Pid[i].Ilabel.Font = fontField;
Pid[i].Ilabel.ForeColor = Color.White;
Pid[i].Ilabel.Location = new Point(iRow2 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Ilabel);
}
if (Pid[i].Dshown)
{
Pid[i].Dfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Dfield.ValueChanged += new EventHandler(dfield_valuechange);
Pid[i].Dfield.Location = new Point(iRow3, iTopY + i * iLineSpace);
Pid[i].Dfield.Size = fieldSize;
Pid[i].Dfield.Font = fontField;
Pid[i].Dfield.BorderStyle = BorderStyle.None;
Pid[i].Dfield.Maximum = Pid[i].Dmax;
Pid[i].Dfield.Minimum = Pid[i].Dmin;
Pid[i].Dfield.DecimalPlaces = decimals(Pid[i].Dprec);
Pid[i].Dfield.Increment = 1 / (decimal)Pid[i].Dprec;
this.tabPagePID.Controls.Add(Pid[i].Dfield);
Pid[i].Dlabel = new System.Windows.Forms.Label();
Pid[i].Dlabel.Text = "D";
Pid[i].Dlabel.Font = fontField;
Pid[i].Dlabel.ForeColor = Color.White;
Pid[i].Dlabel.Location = new Point(iRow3 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Dlabel);
}
//Set up stuff at the mission palane
txtDefAlt.Text = iDefAlt.ToString(); //Set up default altitude
txtGTCAlt.Text = iGTCAlt.ToString(); //Set up default Go to Click altitude
}
//Tooltips (needs improvement)
toolTip1.SetToolTip(b_check_all_ACC, "Select all ACC values");
toolTip1.SetToolTip(b_uncheck_all_ACC, "Deselect all ACC values");
toolTip1.SetToolTip(lDefAlt, "默认航路点高度(in Above Ground Level where Home position Ground level is zero)");
toolTip1.SetToolTip(txtDefAlt, "默认航路点高度(in Above Ground Level where Home position Ground level is zero)");
this.Refresh();
splash.sStatus = "正在检查串口...";
splash.Refresh();
serial_ports_enumerate();
foreach (string speed in sSerialSpeeds)
{
cb_serial_speed.Items.Add(speed);
}
cb_serial_speed.SelectedItem = gui_settings.sPreferedSerialSpeed;
if (cb_serial_port.Items.Count == 0)
{
b_connect.Enabled = false; //Nos serial port, disable connect
}
//Init serial port object
serialPort = new SerialPort();
//Set up serial port parameters (at least the ones what we know upfront
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.None;
serialPort.DtrEnable = false; //??
serialPort.ReadBufferSize = 4096; //4K byte of read buffer
serialPort.ReadTimeout = 500; // 500msec timeout;
//Init Realtime Monitor panel controls
foreach (string rate in sRefreshSpeeds)
{
cb_monitor_rate.Items.Add(rate);
}
cb_monitor_rate.SelectedIndex = 1; //10Hz is the default
splash.sStatus = "正在配置计时器...";
splash.Refresh();
//Setup timers
timer_realtime.Tick += new EventHandler(timer_realtime_Tick);
timer_realtime.Interval = iRefreshIntervals[cb_monitor_rate.SelectedIndex];
timer_realtime.Enabled = true;
timer_realtime.Stop();
splash.sStatus = "正在配置传感器曲线图控件...";
splash.Refresh();
//Set up zgMonitor control for real time monitoring
GraphPane myPane = zgMonitor.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "";
myPane.XAxis.Title.Text = "";
myPane.YAxis.Title.Text = "";
//Set up pointlists and curves
list_acc_roll = new RollingPointPairList(600);
curve_acc_roll = myPane.AddCurve("acc_roll", list_acc_roll, Color.Red, SymbolType.None);
list_acc_pitch = new RollingPointPairList(600);
curve_acc_pitch = myPane.AddCurve("acc_pitch", list_acc_pitch, Color.Green, SymbolType.None);
list_acc_z = new RollingPointPairList(600);
curve_acc_z = myPane.AddCurve("acc_z", list_acc_z, Color.Blue, SymbolType.None);
list_gyro_roll = new RollingPointPairList(600);
curve_gyro_roll = myPane.AddCurve("gyro_roll", list_gyro_roll, Color.Khaki, SymbolType.None);
list_gyro_pitch = new RollingPointPairList(600);
curve_gyro_pitch = myPane.AddCurve("gyro_pitch", list_gyro_pitch, Color.Cyan, SymbolType.None);
list_gyro_yaw = new RollingPointPairList(600);
curve_gyro_yaw = myPane.AddCurve("gyro_yaw", list_gyro_yaw, Color.Magenta, SymbolType.None);
list_mag_roll = new RollingPointPairList(600);
curve_mag_roll = myPane.AddCurve("mag_roll", list_mag_roll, Color.CadetBlue, SymbolType.None);
list_mag_pitch = new RollingPointPairList(600);
curve_mag_pitch = myPane.AddCurve("mag_pitch", list_mag_pitch, Color.MediumPurple, SymbolType.None);
list_mag_yaw = new RollingPointPairList(600);
curve_mag_yaw = myPane.AddCurve("mag_yaw", list_mag_yaw, Color.DarkGoldenrod, SymbolType.None);
list_alt = new RollingPointPairList(600);
curve_alt = myPane.AddCurve("alt", list_alt, Color.White, SymbolType.None);
list_head = new RollingPointPairList(600);
curve_head = myPane.AddCurve("head", list_head, Color.Orange, SymbolType.None);
list_dbg1 = new RollingPointPairList(600);
curve_dbg1 = myPane.AddCurve("dbg1", list_dbg1, Color.PaleTurquoise, SymbolType.None);
list_dbg2 = new RollingPointPairList(600);
curve_dbg2 = myPane.AddCurve("dbg2", list_dbg2, Color.PaleTurquoise, SymbolType.None);
list_dbg3 = new RollingPointPairList(600);
curve_dbg3 = myPane.AddCurve("dbg3", list_dbg3, Color.PaleTurquoise, SymbolType.None);
list_dbg4 = new RollingPointPairList(600);
curve_dbg4 = myPane.AddCurve("dbg4", list_dbg4, Color.PaleTurquoise, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.YAxis.MajorGrid.IsVisible = true;
myPane.XAxis.MajorGrid.Color = Color.DarkGray;
myPane.YAxis.MajorGrid.Color = Color.DarkGray;
myPane.XAxis.Scale.IsVisible = false;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.DarkGray;
myPane.YAxis.Title.FontSpec.FontColor = Color.DarkGray;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
myPane.YAxis.Color = Color.DarkGray;
myPane.YAxis.Scale.IsVisible = false;
// Manually set the axis range
myPane.YAxis.Scale.Min = -600;
myPane.YAxis.Scale.Max = 600;
myPane.XAxis.Color = Color.DarkGray;
myPane.Border.Color = Color.FromArgb(64, 64, 64);
myPane.Chart.Fill = new Fill(Color.Black, Color.Black, 45.0f);
myPane.Fill = new Fill(Color.FromArgb(64, 64, 64), Color.FromArgb(64, 64, 64), 45.0f);
myPane.Legend.IsVisible = false;
myPane.XAxis.Scale.IsVisible = false;
myPane.YAxis.Scale.IsVisible = true;
myPane.XAxis.Scale.MagAuto = true;
myPane.YAxis.Scale.MagAuto = false;
zgMonitor.IsEnableHPan = true;
zgMonitor.IsEnableHZoom = true;
foreach (ZedGraph.LineItem li in myPane.CurveList)
{
li.Line.Width = 1;
}
myPane.YAxis.Title.FontSpec.FontColor = Color.DarkGray;
myPane.XAxis.Title.FontSpec.FontColor = Color.DarkGray;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 600;
myPane.XAxis.Type = AxisType.Linear;
zgMonitor.ScrollGrace = 0;
xScale = zgMonitor.GraphPane.XAxis.Scale;
zgMonitor.AxisChange();
splash.sStatus = "初始化视频记录功能...";
splash.Refresh();
//Init video capture dev
try
{
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
if (videoDevices.Count == 0)
throw new ApplicationException();
// add all devices to combo
foreach (FilterInfo device in videoDevices)
{
dropdown_devices.Items.Add(device.Name);
}
}
catch (ApplicationException)
{
dropdown_devices.Items.Add("找不到本地视频端口，是不是你的电脑没有摄像头或者视频卡驱动没有安装");
dropdown_devices.Enabled = false;
b_video_connect.Enabled = false;
}
dropdown_devices.SelectedIndex = 0;
cb_codec.SelectedIndex = 0;
//Drawing stuff for OSD
drawPen = new Pen(Color.White, 1);
drawFont = new System.Drawing.Font(FontFamily.GenericMonospace, 16.0F);
drawBrush = new System.Drawing.SolidBrush(System.Drawing.Color.White);
//Disable buttons that are not working till connected
b_reset.Enabled = false;
b_cal_acc.Enabled = false;
b_cal_mag.Enabled = false;
b_read_settings.Enabled = false;
b_write_settings.Enabled = false;
b_write_to_file.Enabled = false;
b_load_from_file.Enabled = false;
btnDownLoadMission.Enabled = false;
btnUploadMission.Enabled = false;
//init instrument panels
altitude_meter1.SetAlimeterParameters(0);
vertical_speed_indicator1.SetVerticalSpeedIndicatorParameters(0);
System.Threading.Thread.Sleep(2000);
splash.Close();
MainMap.Invalidate(false);
int w = MainMap.Size.Width;
MainMap.Width = w +1 ;
MainMap.Width = w;
MainMap.ShowCenter = false;
mw_gui.max_wp_number = gui_settings.max_wp_number;
mw_gui.wp_radius = gui_settings.wp_radius;
//Welcome message from Anna
if (gui_settings.speech_enabled)
{
speech = new SpeechSynthesizer();
speech.Rate = -2;
speech.SpeakAsync("系统启动完成。");
}
}
bool check_capability(int captocheck)
{
if ((mw_gui.capability & captocheck) > 0)
{
return true;
}
else
return false;
}
uint get_navi_version()
{
return (mw_gui.capability >> 28);
}
private void create_RC_Checkboxes(string[] names)
{
//Build indicator lamps array
indicators = new indicator_lamp[iCheckBoxItems];
int row = 0; int col = 0;
int startx = 490; int starty = 7;
for (int i = 0; i < iCheckBoxItems; i++)
{
indicators[i] = new indicator_lamp();
indicators[i].Location = new Point(startx + col * 67, starty + row * 19);
indicators[i].Visible = true;
indicators[i].Text = names[i];
indicators[i].indicator_color = 1;
this.splitContainer3.Panel1.Controls.Add(indicators[i]);
col++;
if (col == 2) { col = 0; row++; }
}
//Build a second indicator lamps array on Mission plane
indicators_mission = new indicator_lamp[iCheckBoxItems];
startx = this.splitContainer9.Panel1.Location.X + this.splitContainer9.Panel1.Width ;
starty = this.splitContainer9.Panel1.Location.Y + 20;
for (int i = 0; i < iCheckBoxItems; i++)
{
indicators_mission[i] = new indicator_lamp();
indicators_mission[i].Location = new Point(startx , starty + i * 19);
indicators_mission[i].Text = names[i];
indicators_mission[i].indicator_color = 1;
indicators_mission[i].Anchor = ( AnchorStyles.Right | AnchorStyles.Top );
indicators_mission[i].Visible = bShowGauges;
this.splitContainer9.Panel1.Controls.Add(indicators_mission[i]);
this.splitContainer9.Panel1.Controls.SetChildIndex(indicators_mission[i], 0);
}
//Build the RC control checkboxes structure
if (!check_capability(CAP.EXTENDED_AUX))
{
#region normal_aux_states
aux = new CheckBoxEx[4, 4, iCheckBoxItems];
startx = 200;
starty = 60;
int a, b, c;
for (c = 0; c < 4; c++)
{
for (a = 0; a < 3; a++)
{
for (b = 0; b < iCheckBoxItems; b++)
{
aux[c, a, b] = new CheckBoxEx();
aux[c, a, b].Location = new Point(startx + a * 18 + c * 70, starty + b * 25);
aux[c, a, b].Visible = true;
aux[c, a, b].Text = "";
aux[c, a, b].AutoSize = true;
aux[c, a, b].Size = new Size(16, 16);
aux[c, a, b].UseVisualStyleBackColor = true;
aux[c, a, b].CheckedChanged += new System.EventHandler(this.aux_checked_changed_event);
//Set info on the given checkbox position
aux[c, a, b].aux = c; //Which aux channel
aux[c, a, b].rclevel = a; //which rc level
aux[c, a, b].item = b; //Which item
this.tabPageRC.Controls.Add(aux[c, a, b]);
}
}
}
aux_labels = new System.Windows.Forms.Label[4];
lmh_labels = new System.Windows.Forms.Label[4, 3]; // aux1-4, L,M,H
string strlmh = "LMH";
for (a = 0; a < 4; a++)
{
aux_labels[a] = new System.Windows.Forms.Label();
aux_labels[a].Text = "AUX" + String.Format("{0:0}", a + 1);
aux_labels[a].Location = new Point(startx + a * 70 + 8, starty - 35);
aux_labels[a].AutoSize = true;
aux_labels[a].ForeColor = Color.White;
this.tabPageRC.Controls.Add(aux_labels[a]);
for (b = 0; b < 3; b++)
{
lmh_labels[a, b] = new System.Windows.Forms.Label();
lmh_labels[a, b].Text = strlmh.Substring(b, 1); ;
lmh_labels[a, b].Location = new Point(startx + a * 70 + b * 18, starty - 20);
lmh_labels[a, b].AutoSize = true;
lmh_labels[a, b].ForeColor = Color.White;
this.tabPageRC.Controls.Add(lmh_labels[a, b]);
}
}