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Merge 7a71936 into 3d37124
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@EosBandi
EosBandi committed Jul 28, 2021
2 parents 3d37124 + 7a71936 commit df61d76
Showing 1 changed file with 77 additions and 28 deletions.
105 changes: 77 additions & 28 deletions GCSViews/FlightPlanner.cs
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Expand Up @@ -140,7 +140,7 @@ public void Init()



// config map
// config map
MainMap.CacheLocation = Settings.GetDataDirectory() +
"gmapcache" + Path.DirectorySeparatorChar;

Expand Down Expand Up @@ -176,7 +176,7 @@ public void Init()

//MainMap.MaxZoom = 18;

// get zoom
// get zoom
MainMap.MinZoom = 0;
MainMap.MaxZoom = 24;

Expand Down Expand Up @@ -573,7 +573,7 @@ public void AddWPToMap(double lat, double lng, int alt)
Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.WAYPOINT.ToString();
ChangeColumnHeader(MAVLink.MAV_CMD.WAYPOINT.ToString());
}

updateUndoBuffer(false);
setfromMap(lat, lng, alt);
}

Expand Down Expand Up @@ -726,6 +726,7 @@ public void callMeDrag(string pointno, double lat, double lng, int alt)
if (pointno == "H")
{
// auto update home alt
updateUndoBuffer(true);
TXT_homealt.Text = (srtm.getAltitude(lat, lng).alt * CurrentState.multiplieralt).ToString();

TXT_homelat.Text = lat.ToString();
Expand All @@ -743,14 +744,14 @@ public void callMeDrag(string pointno, double lat, double lng, int alt)
{
selectedrow = int.Parse(pointno) - 1;
Commands.CurrentCell = Commands[1, selectedrow];
// depending on the dragged item, selectedrow can be reset
// depending on the dragged item, selectedrow can be reset
selectedrow = int.Parse(pointno) - 1;
}
catch
{
return;
}

updateUndoBuffer(true);
setfromMap(lat, lng, alt);
}

Expand Down Expand Up @@ -781,7 +782,7 @@ public T DeepClone<T>(T obj)
{
double denom = ((end1.Lng - start1.Lng) * (end2.Lat - start2.Lat)) -
((end1.Lat - start1.Lat) * (end2.Lng - start2.Lng));
// AB & CD are parallel
// AB & CD are parallel
if (denom == 0)
return PointLatLng.Empty;
double numer = ((start1.Lat - start2.Lat) * (end2.Lng - start2.Lng)) -
Expand All @@ -792,7 +793,7 @@ public T DeepClone<T>(T obj)
double s = numer2 / denom;
if ((r < 0 || r > 1) || (s < 0 || s > 1))
return PointLatLng.Empty;
// Find intersection point
// Find intersection point
PointLatLng result = new PointLatLng();
result.Lng = start1.Lng + (r * (end1.Lng - start1.Lng));
result.Lat = start1.Lat + (r * (end1.Lat - start1.Lat));
Expand Down Expand Up @@ -1021,28 +1022,42 @@ public void redrawPolygonSurvey(List<PointLatLngAlt> list)
MainMap.Invalidate();
}

/// <summary>
/// Actualy Sets the values into the datagrid and verifys height if turned on
/// </summary>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <param name="alt"></param>
public void setfromMap(double lat, double lng, int alt, double p1 = -1)
{
if (selectedrow > Commands.RowCount)
{
CustomMessageBox.Show("Invalid coord, How did you do this?");
return;
}

public void updateUndoBuffer(bool noBlankRow)
{
try
{
if (!quickadd)
{
// get current command list
var currentlist = GetCommandList();

Locationwp home = new Locationwp();
try
{
home.id = (ushort)MAVLink.MAV_CMD.WAYPOINT;

if (MainV2.comPort.MAV.cs.HomeLocation.Lat != 0 && MainV2.comPort.MAV.cs.HomeLocation.Lng != 0)
{
home.lat = MainV2.comPort.MAV.cs.HomeLocation.Lat;
home.lng = MainV2.comPort.MAV.cs.HomeLocation.Lng;
home.alt = (float)MainV2.comPort.MAV.cs.HomeLocation.Alt;
}
else
{
home.lat = MainV2.comPort.MAV.cs.PlannedHomeLocation.Lat;
home.lng = MainV2.comPort.MAV.cs.PlannedHomeLocation.Lng;
home.alt = (float)MainV2.comPort.MAV.cs.PlannedHomeLocation.Alt;
}
}
catch { }

// remove the current blank row that has not been populated yet
currentlist.RemoveAt(selectedrow);
if (!noBlankRow)
{
currentlist.RemoveAt(selectedrow);
}
currentlist.Insert(0, home);
// add history
history.Add(currentlist);
}
Expand All @@ -1058,6 +1073,23 @@ public void setfromMap(double lat, double lng, int alt, double p1 = -1)
history.RemoveRange(0, history.Count - 40);
}

}

/// <summary>
/// Actualy Sets the values into the datagrid and verifys height if turned on
/// </summary>
/// <param name="lat"></param>
/// <param name="lng"></param>
/// <param name="alt"></param>
public void setfromMap(double lat, double lng, int alt, double p1 = -1)
{
if (selectedrow > Commands.RowCount)
{
CustomMessageBox.Show("Invalid coord, How did you do this?");
return;
}


DataGridViewTextBoxCell cell;
if (alt == -2 && Commands.Columns[Alt.Index].HeaderText.Equals("Alt"))
{
Expand Down Expand Up @@ -1682,6 +1714,8 @@ public void areaToolStripMenuItem_Click(object sender, EventArgs e)
/// <param name="e"></param>
public void BUT_Add_Click(object sender, EventArgs e)
{

updateUndoBuffer(true); // no new row added yet. So no need to delete
if (Commands.CurrentRow == null)
{
selectedrow = 0;
Expand Down Expand Up @@ -2144,6 +2178,7 @@ public void Commands_CellContentClick(object sender, DataGridViewCellEventArgs e
return;
if (e.ColumnIndex == Delete.Index && (e.RowIndex + 0) < Commands.RowCount) // delete
{
updateUndoBuffer(true);
quickadd = true;
// mono fix
Commands.CurrentCell = null;
Expand All @@ -2154,6 +2189,7 @@ public void Commands_CellContentClick(object sender, DataGridViewCellEventArgs e

if (e.ColumnIndex == Up.Index && e.RowIndex != 0) // up
{
updateUndoBuffer(true);
DataGridViewRow myrow = Commands.CurrentRow;
Commands.Rows.Remove(myrow);
Commands.Rows.Insert(e.RowIndex - 1, myrow);
Expand All @@ -2162,6 +2198,7 @@ public void Commands_CellContentClick(object sender, DataGridViewCellEventArgs e

if (e.ColumnIndex == Down.Index && e.RowIndex < Commands.RowCount - 1) // down
{
updateUndoBuffer(true);
DataGridViewRow myrow = Commands.CurrentRow;
Commands.Rows.Remove(myrow);
Commands.Rows.Insert(e.RowIndex + 1, myrow);
Expand Down Expand Up @@ -2782,6 +2819,7 @@ public void createSplineCircleToolStripMenuItem_Click(object sender, EventArgs e
double a = startangle;
double step = 360.0f / Points;

updateUndoBuffer(false);
quickadd = true;

AddCommand(MAVLink.MAV_CMD.DO_SET_ROI, 0, 0, 0, 0, MouseDownStart.Lng, MouseDownStart.Lat, 0);
Expand Down Expand Up @@ -2812,6 +2850,7 @@ public void createSplineCircleToolStripMenuItem_Click(object sender, EventArgs e

PointLatLng pll = new PointLatLng(lat2 * MathHelper.rad2deg, lon2 * MathHelper.rad2deg);


setfromMap(pll.Lat, pll.Lng, stepalt);

if (!startup)
Expand Down Expand Up @@ -2886,7 +2925,7 @@ public void createWpCircleToolStripMenuItem_Click(object sender, EventArgs e)
a += 360;
step *= -1;
}

updateUndoBuffer(false);
quickadd = true;

for (; a <= (startangle + 360) && a >= 0; a += step)
Expand Down Expand Up @@ -3129,7 +3168,7 @@ public void enterUTMCoordToolStripMenuItem_Click(object sender, EventArgs e)
selectedrow = Commands.Rows.Add();

ChangeColumnHeader(MAVLink.MAV_CMD.WAYPOINT.ToString());

updateUndoBuffer(false);
setfromMap(ans.Lat, ans.Lng, (int) ans.Alt);
}

Expand Down Expand Up @@ -3785,6 +3824,7 @@ public void insertSplineWPToolStripMenuItem_Click(object sender, EventArgs e)

ChangeColumnHeader(MAVLink.MAV_CMD.SPLINE_WAYPOINT.ToString());

updateUndoBuffer(false);
setfromMap(MouseDownStart.Lat, MouseDownStart.Lng, (int) float.Parse(TXT_DefaultAlt.Text));
}
}
Expand All @@ -3808,6 +3848,7 @@ public void insertWpToolStripMenuItem_Click(object sender, EventArgs e)

ChangeColumnHeader(MAVLink.MAV_CMD.WAYPOINT.ToString());

updateUndoBuffer(false);
setfromMap(MouseDownStart.Lat, MouseDownStart.Lng, (int) float.Parse(TXT_DefaultAlt.Text));
}
}
Expand Down Expand Up @@ -4024,6 +4065,7 @@ public void landToolStripMenuItem_Click(object sender, EventArgs e)

ChangeColumnHeader(MAVLink.MAV_CMD.LAND.ToString());

updateUndoBuffer(false);
setfromMap(MouseDownEnd.Lat, MouseDownEnd.Lng, 1);

writeKML();
Expand Down Expand Up @@ -4468,6 +4510,7 @@ public void loitercirclesToolStripMenuItem_Click(object sender, EventArgs e)

ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_TURNS.ToString());

updateUndoBuffer(false);
setfromMap(MouseDownEnd.Lat, MouseDownEnd.Lng, (int) float.Parse(TXT_DefaultAlt.Text));

writeKML();
Expand Down Expand Up @@ -4500,6 +4543,7 @@ public void loitertimeToolStripMenuItem_Click(object sender, EventArgs e)

ChangeColumnHeader(MAVLink.MAV_CMD.LOITER_TIME.ToString());

updateUndoBuffer(false);
setfromMap(MouseDownEnd.Lat, MouseDownEnd.Lng, (int) float.Parse(TXT_DefaultAlt.Text));

writeKML();
Expand Down Expand Up @@ -5458,7 +5502,7 @@ private void savewaypoints()

sw.Write((a + 1)); // seq
sw.Write("\t" + 0); // current
sw.Write("\t" + ((int) Commands.Rows[a].Cells[Frame.Index].Value).ToString()); //frame
sw.Write("\t" + ((int) Commands.Rows[a].Cells[Frame.Index].Value).ToString()); //frame
sw.Write("\t" + mode);
sw.Write("\t" +
double.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString())
Expand Down Expand Up @@ -5960,6 +6004,7 @@ public void setROIToolStripMenuItem_Click(object sender, EventArgs e)

ChangeColumnHeader(MAVLink.MAV_CMD.DO_SET_ROI.ToString());

updateUndoBuffer(false);
setfromMap(MouseDownEnd.Lat, MouseDownEnd.Lng, (int) float.Parse(TXT_DefaultAlt.Text));

writeKML();
Expand Down Expand Up @@ -6514,7 +6559,7 @@ private void updateRowNumbers()
if (!IsHandleCreated || IsDisposed || Disposing)
return;

// number rows
// number rows
BeginInvoke((MethodInvoker) delegate
{
// thread for updateing row numbers
Expand Down Expand Up @@ -6552,9 +6597,9 @@ private void updateRowNumbers()
/// <returns></returns>
private string BuildGetCapabilitityRequest(string serverUrl)
{
// What happens if the URL already has '?'.
// What happens if the URL already has '?'.
// For example: http://foo.com?Token=yyyy
// In this example, the get capability request should be
// In this example, the get capability request should be
// http://foo.com?Token=yyyy&version=1.1.0&Request=GetCapabilities&service=WMS but not
// http://foo.com?Token=yyyy?version=1.1.0&Request=GetCapabilities&service=WMS

Expand Down Expand Up @@ -6842,6 +6887,7 @@ private void MainMap_MouseUp(object sender, MouseEventArgs e)

if (CurrentMidLine is GMapMarkerPlus)
{
updateUndoBuffer(true);
int pnt2 = 0;
var midline = CurrentMidLine.Tag as midline;
// var pnt1 = int.Parse(midline.now.Tag);
Expand Down Expand Up @@ -6942,6 +6988,9 @@ private void MainMap_MouseUp(object sender, MouseEventArgs e)
{
if (groupmarkers.Count > 0)
{

updateUndoBuffer(true);

Dictionary<string, PointLatLng> dest = new Dictionary<string, PointLatLng>();

var markers = MainMap.Overlays.First(a => a.Id == "WPOverlay");
Expand Down Expand Up @@ -7451,7 +7500,7 @@ private void ProcessWmsCapabilitesRequest(XmlDocument xCapabilitesResponse)
if (nameNode != null)
{
var name = nameNode.InnerText;
// Set the default title as the layer name.
// Set the default title as the layer name.
var title = name;
// Get Title element.
var titleNode = layerElement.SelectSingleNode("Title", nsmgr);
Expand Down

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