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Common.cs
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Common.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using AGaugeApp;
using System.IO.Ports;
using System.Threading;
using MissionPlanner.Attributes;
using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using System.Security.Cryptography.X509Certificates;
using System.Net;
using System.Net.Sockets;
using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports
using log4net;
using ZedGraph; // Graphs
using MissionPlanner;
using System.Reflection;
using MissionPlanner.Utilities;
using System.IO;
using System.Drawing.Drawing2D;
using ProjNet.CoordinateSystems.Transformations;
using ProjNet.CoordinateSystems;
namespace MissionPlanner
{
/// <summary>
/// used to override the drawing of the waypoint box bounding
/// </summary>
public class GMapMarkerRect : GMapMarker
{
public Pen Pen = new Pen(Brushes.White, 2);
public Color Color { get { return Pen.Color; } set { Pen.Color = value; } }
public GMapMarker InnerMarker;
public int wprad = 0;
public GMapMarkerRect(PointLatLng p)
: base(p)
{
Pen.DashStyle = DashStyle.Dash;
// do not forget set Size of the marker
// if so, you shall have no event on it ;}
Size = new System.Drawing.Size(50, 50);
Offset = new System.Drawing.Point(-Size.Width / 2, -Size.Height / 2 - 20);
}
public override void OnRender(Graphics g)
{
base.OnRender(g);
if (wprad == 0 || Overlay.Control == null)
return;
// undo autochange in mouse over
if (Pen.Color == Color.Blue)
Pen.Color = Color.White;
double width = (Overlay.Control.MapProvider.Projection.GetDistance(Overlay.Control.FromLocalToLatLng(0, 0), Overlay.Control.FromLocalToLatLng(Overlay.Control.Width, 0)) * 1000.0);
double height = (Overlay.Control.MapProvider.Projection.GetDistance(Overlay.Control.FromLocalToLatLng(0, 0), Overlay.Control.FromLocalToLatLng(Overlay.Control.Height, 0)) * 1000.0);
double m2pixelwidth = Overlay.Control.Width / width;
double m2pixelheight = Overlay.Control.Height / height;
GPoint loc = new GPoint((int)(LocalPosition.X - (m2pixelwidth * wprad * 2)), LocalPosition.Y);// MainMap.FromLatLngToLocal(wpradposition);
if (m2pixelheight > 0.5)
g.DrawArc(Pen, new System.Drawing.Rectangle(LocalPosition.X - Offset.X - (int)(Math.Abs(loc.X - LocalPosition.X) / 2), LocalPosition.Y - Offset.Y - (int)Math.Abs(loc.X - LocalPosition.X) / 2, (int)Math.Abs(loc.X - LocalPosition.X), (int)Math.Abs(loc.X - LocalPosition.X)), 0, 360);
}
}
public class GMapMarkerRover : GMapMarker
{
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::MissionPlanner.Properties.Resources.rover.Width, global::MissionPlanner.Properties.Resources.rover.Height);
float heading = 0;
float cog = -1;
float target = -1;
float nav_bearing = -1;
public GMapMarkerRover(PointLatLng p, float heading, float cog, float nav_bearing, float target)
: base(p)
{
this.heading = heading;
this.cog = cog;
this.target = target;
this.nav_bearing = nav_bearing;
Size = SizeSt;
}
public override void OnRender(Graphics g)
{
Matrix temp = g.Transform;
g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
g.RotateTransform(-Overlay.Control.Bearing);
int length = 500;
// anti NaN
try
{
g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
}
catch { }
g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
// anti NaN
try
{
g.RotateTransform(heading);
}
catch { }
g.DrawImageUnscaled(global::MissionPlanner.Properties.Resources.rover, global::MissionPlanner.Properties.Resources.rover.Width / -2, global::MissionPlanner.Properties.Resources.rover.Height / -2);
g.Transform = temp;
}
}
public class GMapMarkerPlane : GMapMarker
{
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
private readonly Bitmap icon = global::MissionPlanner.Properties.Resources.planeicon;
float heading = 0;
float cog = -1;
float target = -1;
float nav_bearing = -1;
public GMapMarkerPlane(PointLatLng p, float heading, float cog, float nav_bearing,float target)
: base(p)
{
this.heading = heading;
this.cog = cog;
this.target = target;
this.nav_bearing = nav_bearing;
Size = icon.Size;
}
public override void OnRender(Graphics g)
{
Matrix temp = g.Transform;
g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
g.RotateTransform(-Overlay.Control.Bearing);
int length = 500;
// anti NaN
try
{
g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
}
catch { }
g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
// anti NaN
try
{
float desired_lead_dist = 100;
double width = (Overlay.Control.MapProvider.Projection.GetDistance(Overlay.Control.FromLocalToLatLng(0, 0), Overlay.Control.FromLocalToLatLng(Overlay.Control.Width, 0)) * 1000.0);
double m2pixelwidth = Overlay.Control.Width / width;
float alpha = ((desired_lead_dist * (float)m2pixelwidth) / MainV2.comPort.MAV.cs.radius) * rad2deg;
if (MainV2.comPort.MAV.cs.radius < -1)
{
// fixme
float p1 = (float)Math.Cos((cog) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
float p2 = (float)Math.Sin((cog) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
g.DrawArc(new Pen(Color.HotPink, 2), p1, p2, Math.Abs(MainV2.comPort.MAV.cs.radius) * 2, Math.Abs(MainV2.comPort.MAV.cs.radius) * 2, cog, alpha);
}
else if (MainV2.comPort.MAV.cs.radius > 1)
{
// correct
float p1 = (float)Math.Cos((cog - 180) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
float p2 = (float)Math.Sin((cog - 180) * deg2rad) * MainV2.comPort.MAV.cs.radius + MainV2.comPort.MAV.cs.radius;
g.DrawArc(new Pen(Color.HotPink, 2), -p1, -p2, MainV2.comPort.MAV.cs.radius * 2, MainV2.comPort.MAV.cs.radius * 2, cog - 180, alpha);
}
}
catch { }
try {
g.RotateTransform(heading);
} catch{}
g.DrawImageUnscaled(icon, icon.Width / -2, icon.Height / -2);
g.Transform = temp;
}
}
public class GMapMarkerQuad : GMapMarker
{
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
private readonly Bitmap icon = global::MissionPlanner.Properties.Resources.quadicon;
float heading = 0;
float cog = -1;
float target = -1;
public GMapMarkerQuad(PointLatLng p, float heading, float cog, float target)
: base(p)
{
this.heading = heading;
this.cog = cog;
this.target = target;
Size = icon.Size;
}
public override void OnRender(Graphics g)
{
Matrix temp = g.Transform;
g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
int length = 500;
// anti NaN
try
{
g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
}
catch { }
//g.DrawLine(new Pen(Color.Green, 2), 0.0f, 0.0f, (float)Math.Cos((nav_bearing - 90) * deg2rad) * length, (float)Math.Sin((nav_bearing - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
// anti NaN
try
{
g.RotateTransform(heading);
}
catch { }
g.DrawImageUnscaled(icon, icon.Width / -2 + 2, icon.Height / -2);
g.Transform = temp;
}
}
class NoCheckCertificatePolicy : ICertificatePolicy
{
public bool CheckValidationResult(ServicePoint srvPoint, X509Certificate certificate, WebRequest request, int certificateProblem)
{
return true;
}
}
public class Common
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public enum distances
{
Meters,
Feet
}
public enum speeds
{
ms,
fps,
kph,
mph,
knots
}
/// <summary>
/// from libraries\AP_Math\rotations.h
/// </summary>
public enum Rotation
{
ROTATION_NONE = 0,
ROTATION_YAW_45,
ROTATION_YAW_90,
ROTATION_YAW_135,
ROTATION_YAW_180,
ROTATION_YAW_225,
ROTATION_YAW_270,
ROTATION_YAW_315,
ROTATION_ROLL_180,
ROTATION_ROLL_180_YAW_45,
ROTATION_ROLL_180_YAW_90,
ROTATION_ROLL_180_YAW_135,
ROTATION_PITCH_180,
ROTATION_ROLL_180_YAW_225,
ROTATION_ROLL_180_YAW_270,
ROTATION_ROLL_180_YAW_315,
ROTATION_ROLL_90,
ROTATION_ROLL_90_YAW_45,
ROTATION_ROLL_90_YAW_90,
ROTATION_ROLL_90_YAW_135,
ROTATION_ROLL_270,
ROTATION_ROLL_270_YAW_45,
ROTATION_ROLL_270_YAW_90,
ROTATION_ROLL_270_YAW_135,
ROTATION_PITCH_90,
ROTATION_PITCH_270,
ROTATION_MAX
}
public enum ap_product
{
[DisplayText("HIL")]
AP_PRODUCT_ID_NONE = 0x00, // Hardware in the loop
[DisplayText("APM1 1280")]
AP_PRODUCT_ID_APM1_1280 = 0x01,// APM1 with 1280 CPUs
[DisplayText("APM1 2560")]
AP_PRODUCT_ID_APM1_2560 = 0x02,// APM1 with 2560 CPUs
[DisplayText("SITL")]
AP_PRODUCT_ID_SITL = 0x03,// Software in the loop
[DisplayText("PX4")]
AP_PRODUCT_ID_PX4 = 0x04, // PX4 on NuttX
[DisplayText("PX4 FMU 2")]
AP_PRODUCT_ID_PX4_V2 = 0x05, // PX4 FMU2 on NuttX
[DisplayText("APM2 ES C4")]
AP_PRODUCT_ID_APM2ES_REV_C4 = 0x14,// APM2 with MPU6000ES_REV_C4
[DisplayText("APM2 ES C5")]
AP_PRODUCT_ID_APM2ES_REV_C5 = 0x15, // APM2 with MPU6000ES_REV_C5
[DisplayText("APM2 ES D6")]
AP_PRODUCT_ID_APM2ES_REV_D6 = 0x16, // APM2 with MPU6000ES_REV_D6
[DisplayText("APM2 ES D7")]
AP_PRODUCT_ID_APM2ES_REV_D7 = 0x17, // APM2 with MPU6000ES_REV_D7
[DisplayText("APM2 ES D8")]
AP_PRODUCT_ID_APM2ES_REV_D8 = 0x18, // APM2 with MPU6000ES_REV_D8
[DisplayText("APM2 C4")]
AP_PRODUCT_ID_APM2_REV_C4 = 0x54,// APM2 with MPU6000_REV_C4
[DisplayText("APM2 C5")]
AP_PRODUCT_ID_APM2_REV_C5 = 0x55, // APM2 with MPU6000_REV_C5
[DisplayText("APM2 D6")]
AP_PRODUCT_ID_APM2_REV_D6 = 0x56, // APM2 with MPU6000_REV_D6
[DisplayText("APM2 D7")]
AP_PRODUCT_ID_APM2_REV_D7 = 0x57, // APM2 with MPU6000_REV_D7
[DisplayText("APM2 D8")]
AP_PRODUCT_ID_APM2_REV_D8 = 0x58, // APM2 with MPU6000_REV_D8
[DisplayText("APM2 D9")]
AP_PRODUCT_ID_APM2_REV_D9 = 0x59 // APM2 with MPU6000_REV_D9
}
/*
public enum apmmodes
{
[DisplayText("Manual")]
MANUAL = 0,
[DisplayText("Circle")]
CIRCLE = 1,
[DisplayText("Stabilize")]
STABILIZE = 2,
[DisplayText("Training")]
TRAINING = 3,
[DisplayText("FBW A")]
FLY_BY_WIRE_A = 5,
[DisplayText("FBW B")]
FLY_BY_WIRE_B = 6,
[DisplayText("Auto")]
AUTO = 10,
[DisplayText("RTL")]
RTL = 11,
[DisplayText("Loiter")]
LOITER = 12,
[DisplayText("Guided")]
GUIDED = 15,
TAKEOFF = 99
}
public enum aprovermodes
{
[DisplayText("Manual")]
MANUAL = 0,
[DisplayText("Learning")]
LEARNING = 2,
[DisplayText("Steering")]
STEERING = 3,
[DisplayText("Hold")]
HOLD = 4,
[DisplayText("Auto")]
AUTO = 10,
[DisplayText("RTL")]
RTL = 11,
[DisplayText("Guided")]
GUIDED = 15,
[DisplayText("Initialising")]
INITIALISING = 16
}
public enum ac2modes
{
[DisplayText("Stabilize")]
STABILIZE = 0, // hold level position
[DisplayText("Acro")]
ACRO = 1, // rate control
[DisplayText("Alt Hold")]
ALT_HOLD = 2, // AUTO control
[DisplayText("Auto")]
AUTO = 3, // AUTO control
[DisplayText("Guided")]
GUIDED = 4, // AUTO control
[DisplayText("Loiter")]
LOITER = 5, // Hold a single location
[DisplayText("RTL")]
RTL = 6, // AUTO control
[DisplayText("Circle")]
CIRCLE = 7,
[DisplayText("Pos Hold")]
POSITION = 8,
[DisplayText("Land")]
LAND = 9, // AUTO control
OF_LOITER = 10,
[DisplayText("Toy")]
TOY = 11
}
*/
public static bool getFilefromNet(string url,string saveto) {
try
{
// this is for mono to a ssl server
//ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy();
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback((sender, certificate, chain, policyErrors) => { return true; });
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(url);
request.Timeout = 10000;
// Set the Method property of the request to POST.
request.Method = "GET";
// Get the response.
WebResponse response = request.GetResponse();
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK)
return false;
// Get the stream containing content returned by the server.
Stream dataStream = response.GetResponseStream();
long bytes = response.ContentLength;
long contlen = bytes;
byte[] buf1 = new byte[1024];
FileStream fs = new FileStream(saveto + ".new", FileMode.Create);
DateTime dt = DateTime.Now;
while (dataStream.CanRead && bytes > 0)
{
Application.DoEvents();
log.Debug(saveto + " " + bytes);
int len = dataStream.Read(buf1, 0, buf1.Length);
bytes -= len;
fs.Write(buf1, 0, len);
}
fs.Close();
dataStream.Close();
response.Close();
File.Delete(saveto);
File.Move(saveto + ".new", saveto);
return true;
}
catch (Exception ex) { log.Info("getFilefromNet(): " + ex.ToString()); return false; }
}
public static List<KeyValuePair<int,string>> getModesList(CurrentState cs)
{
log.Info("getModesList Called");
// ensure we get the correct list
MainV2.comPort.MAV.cs.firmware = cs.firmware;
if (cs.firmware == MainV2.Firmwares.ArduPlane)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1");
flightModes.Add(new KeyValuePair<int,string>(16,"INITIALISING"));
return flightModes;
}
else if (cs.firmware == MainV2.Firmwares.Ateryx)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1"); //same as apm
return flightModes;
}
else if (cs.firmware == MainV2.Firmwares.ArduCopter2)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1");
return flightModes;
}
else if (cs.firmware == MainV2.Firmwares.ArduRover)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("MODE1");
return flightModes;
}
return null;
}
public static Form LoadingBox(string title, string promptText)
{
Form form = new Form();
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
form.Text = title;
label.Text = promptText;
label.SetBounds(9, 50, 372, 13);
label.AutoSize = true;
form.ClientSize = new Size(396, 107);
form.Controls.AddRange(new Control[] { label });
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
form.FormBorderStyle = FormBorderStyle.FixedDialog;
form.StartPosition = FormStartPosition.CenterScreen;
form.MinimizeBox = false;
form.MaximizeBox = false;
ThemeManager.ApplyThemeTo(form);
form.Show();
form.Refresh();
label.Refresh();
Application.DoEvents();
return form;
}
public static DialogResult MessageShowAgain(string title, string promptText)
{
Form form = new Form();
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
CheckBox chk = new CheckBox();
Controls.MyButton buttonOk = new Controls.MyButton();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
form.Text = title;
label.Text = promptText;
chk.Tag = ("SHOWAGAIN_" + title.Replace(" ","_"));
chk.AutoSize = true;
chk.Text = "Show me again?";
chk.Checked = true;
chk.Location = new Point(9,80);
if (MainV2.config[(string)chk.Tag] != null && (string)MainV2.config[(string)chk.Tag] == "False") // skip it
{
form.Dispose();
chk.Dispose();
buttonOk.Dispose();
label.Dispose();
return DialogResult.OK;
}
chk.CheckStateChanged += new EventHandler(chk_CheckStateChanged);
buttonOk.Text = "OK";
buttonOk.DialogResult = DialogResult.OK;
buttonOk.Location = new Point(form.Right - 100 ,80);
label.SetBounds(9, 40, 372, 13);
label.AutoSize = true;
form.ClientSize = new Size(396, 107);
form.Controls.AddRange(new Control[] { label, chk, buttonOk });
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
form.FormBorderStyle = FormBorderStyle.FixedDialog;
form.StartPosition = FormStartPosition.CenterScreen;
form.MinimizeBox = false;
form.MaximizeBox = false;
ThemeManager.ApplyThemeTo(form);
DialogResult dialogResult =form.ShowDialog();
form.Dispose();
form = null;
return dialogResult;
}
static void chk_CheckStateChanged(object sender, EventArgs e)
{
MainV2.config[(string)((CheckBox)(sender)).Tag] = ((CheckBox)(sender)).Checked.ToString();
}
public static string speechConversion(string input)
{
if (MainV2.comPort.MAV.cs.wpno == 0)
{
input = input.Replace("{wpn}", "Home");
}
else
{
input = input.Replace("{wpn}", MainV2.comPort.MAV.cs.wpno.ToString());
}
input = input.Replace("{asp}", MainV2.comPort.MAV.cs.airspeed.ToString("0"));
input = input.Replace("{alt}", MainV2.comPort.MAV.cs.alt.ToString("0"));
input = input.Replace("{wpa}", MainV2.comPort.MAV.cs.targetalt.ToString("0"));
input = input.Replace("{gsp}", MainV2.comPort.MAV.cs.groundspeed.ToString("0"));
input = input.Replace("{mode}", MainV2.comPort.MAV.cs.mode.ToString());
input = input.Replace("{batv}", MainV2.comPort.MAV.cs.battery_voltage.ToString("0.00"));
input = input.Replace("{batp}", (MainV2.comPort.MAV.cs.battery_remaining).ToString("0"));
input = input.Replace("{vsp}", (MainV2.comPort.MAV.cs.verticalspeed).ToString("0.0"));
return input;
}
}
}