forked from ArduPilot/MissionPlanner
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Common.cs
661 lines (539 loc) · 24.5 KB
/
Common.cs
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
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 ArdupilotMega.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 ArdupilotMega;
using System.Reflection;
using ArdupilotMega.Utilities;
using System.IO;
using System.Drawing.Drawing2D;
using ProjNet.CoordinateSystems.Transformations;
using ProjNet.CoordinateSystems;
namespace ArdupilotMega
{
/// <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 GMapControl MainMap;
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 || MainMap == null)
return;
// undo autochange in mouse over
if (Pen.Color == Color.Blue)
Pen.Color = Color.White;
double width = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
double height = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Height, 0)) * 1000.0);
double m2pixelwidth = MainMap.Width / width;
double m2pixelheight = MainMap.Height / height;
GPoint loc = new GPoint((int)(LocalPosition.X - (m2pixelwidth * wprad * 2)), LocalPosition.Y);// MainMap.FromLatLngToLocal(wpradposition);
g.DrawArc(Pen, new System.Drawing.Rectangle(LocalPosition.X - Offset.X - (Math.Abs(loc.X - LocalPosition.X) / 2), LocalPosition.Y - Offset.Y - Math.Abs(loc.X - LocalPosition.X) / 2, Math.Abs(loc.X - LocalPosition.X), 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 GMapControl MainMap;
public GMapMarkerRover(PointLatLng p, float heading, float cog, float nav_bearing, float target, GMapControl map)
: base(p)
{
this.heading = heading;
this.cog = cog;
this.target = target;
this.nav_bearing = nav_bearing;
Size = SizeSt;
MainMap = map;
}
public override void OnRender(Graphics g)
{
Matrix temp = g.Transform;
g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
g.RotateTransform(-MainMap.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);
static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::MissionPlanner.Properties.Resources.planeicon.Width, global::MissionPlanner.Properties.Resources.planeicon.Height);
float heading = 0;
float cog = -1;
float target = -1;
float nav_bearing = -1;
public GMapControl MainMap;
public GMapMarkerPlane(PointLatLng p, float heading, float cog, float nav_bearing,float target, GMapControl map)
: base(p)
{
this.heading = heading;
this.cog = cog;
this.target = target;
this.nav_bearing = nav_bearing;
Size = SizeSt;
MainMap = map;
}
public override void OnRender(Graphics g)
{
Matrix temp = g.Transform;
g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
g.RotateTransform(-MainMap.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 = (MainMap.Manager.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
double m2pixelwidth = MainMap.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(global::MissionPlanner.Properties.Resources.planeicon, global::MissionPlanner.Properties.Resources.planeicon.Width / -2, global::MissionPlanner.Properties.Resources.planeicon.Height / -2);
g.Transform = temp;
}
}
public class GMapMarkerQuad : 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.quadicon.Width, global::MissionPlanner.Properties.Resources.quadicon.Height);
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 = SizeSt;
}
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(global::MissionPlanner.Properties.Resources.quadicon, global::MissionPlanner.Properties.Resources.quadicon.Width / -2 + 2, global::MissionPlanner.Properties.Resources.quadicon.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("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;
Utilities.ParameterMetaDataRepository parm = new ParameterMetaDataRepository();
if (cs.firmware == MainV2.Firmwares.ArduPlane)
{
var flightModes = parm.GetParameterOptionsInt("FLTMODE1");
flightModes.Add(new KeyValuePair<int,string>(16,"INITIALISING"));
return flightModes;
}
else if (cs.firmware == MainV2.Firmwares.Ateryx)
{
var flightModes = parm.GetParameterOptionsInt("FLTMODE1"); //same as apm
return flightModes;
}
else if (cs.firmware == MainV2.Firmwares.ArduCopter2 || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduHeli)
{
var flightModes = parm.GetParameterOptionsInt("FLTMODE1");
return flightModes;
}
else if (cs.firmware == MainV2.Firmwares.ArduRover)
{
var flightModes = parm.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("$this.Icon")));
form.Text = title;
label.Text = promptText;
label.SetBounds(9, 50, 372, 13);
label.AutoSize = true;
form.ClientSize = new Size(396, 107);
form.Controls.AddRange(new Control[] { label });
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
form.FormBorderStyle = FormBorderStyle.FixedDialog;
form.StartPosition = FormStartPosition.CenterScreen;
form.MinimizeBox = false;
form.MaximizeBox = false;
ThemeManager.ApplyThemeTo(form);
form.Show();
form.Refresh();
label.Refresh();
Application.DoEvents();
return form;
}
public static DialogResult MessageShowAgain(string title, string promptText)
{
Form form = new Form();
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
CheckBox chk = new CheckBox();
ArdupilotMega.Controls.MyButton buttonOk = new ArdupilotMega.Controls.MyButton();
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$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;
}
}
}