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MainV2.cs
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MainV2.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Xml;
using System.Collections;
using System.Runtime.InteropServices;
using System.Globalization;
using System.Linq;
using System.Threading;
using MissionPlanner.Utilities;
using IronPython.Hosting;
using log4net;
using MissionPlanner.Controls;
using MissionPlanner.Comms;
using MissionPlanner.Log;
using Transitions;
using MissionPlanner.Warnings;
using System.Collections.Concurrent;
using MissionPlanner.GCSViews.ConfigurationView;
using WebCamService;
namespace MissionPlanner
{
public partial class MainV2 : Form
{
//Log timer
private System.Timers.Timer logTimer;
private string logfile_name;
private bool restart_connection;
public void InitLogTimer()
{
logTimer = new System.Timers.Timer();
logTimer.Elapsed += new System.Timers.ElapsedEventHandler(logTimer_Tick);
logTimer.Interval = 1000;
logTimer.Start();
logfile_name = DateTime.Now.ToString("dd.MM.yyyy") + "_" + DateTime.Now.ToString("HH.mm.ss") + ".log";
restart_connection = false;
if (!Directory.Exists(Environment.GetFolderPath(Environment.SpecialFolder.DesktopDirectory) + @"\SAE Flight Logs\"))
Directory.CreateDirectory(Environment.GetFolderPath(Environment.SpecialFolder.DesktopDirectory) + @"\SAE Flight Logs\");
}
private void logTimer_Tick(object sender, EventArgs e)
{
if (comPort.BaseStream.IsOpen)
{
if (restart_connection == true)
{
logfile_name = DateTime.Now.ToString("dd.MM.yyyy") + "_" + DateTime.Now.ToString("HH.mm.ss") + ".log";
restart_connection = false;
}
File.AppendAllText(Environment.GetFolderPath(Environment.SpecialFolder.DesktopDirectory) + @"\SAE Flight Logs\" + logfile_name, DateTime.Now.ToString() + " Altitude: " + GCSViews.FlightData.myhud.alt.ToString("N2") + " Servo: " + MainV2.comPort.MAV.cs.ch9out.ToString("N2") + Environment.NewLine);
}
else
restart_connection = true;
}
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);
// Import SetThreadExecutionState Win32 API and necessary flags
[DllImport("kernel32.dll")]
public static extern uint SetThreadExecutionState(uint esFlags);
public const uint ES_CONTINUOUS = 0x80000000;
public const uint ES_SYSTEM_REQUIRED = 0x00000001;
static public int SW_SHOWNORMAL = 1;
static public int SW_HIDE = 0;
}
public static menuicons displayicons = new burntkermitmenuicons();
public abstract class menuicons
{
public abstract Image fd { get; }
public abstract Image fp { get; }
public abstract Image initsetup { get; }
public abstract Image config_tuning { get; }
public abstract Image sim { get; }
public abstract Image terminal { get; }
public abstract Image help { get; }
public abstract Image donate { get; }
public abstract Image connect { get; }
public abstract Image disconnect { get; }
public abstract Image bg { get; }
public abstract Image wizard { get; }
}
public class burntkermitmenuicons : menuicons
{
public override Image fd
{
get { return global::MissionPlanner.Properties.Resources.light_flightdata_icon; }
}
public override Image fp
{
get { return global::MissionPlanner.Properties.Resources.light_flightplan_icon; }
}
public override Image initsetup
{
get { return global::MissionPlanner.Properties.Resources.light_initialsetup_icon; }
}
public override Image config_tuning
{
get { return global::MissionPlanner.Properties.Resources.light_tuningconfig_icon; }
}
public override Image sim
{
get { return global::MissionPlanner.Properties.Resources.light_simulation_icon; }
}
public override Image terminal
{
get { return global::MissionPlanner.Properties.Resources.light_terminal_icon; }
}
public override Image help
{
get { return global::MissionPlanner.Properties.Resources.light_help_icon; }
}
public override Image donate
{
get { return global::MissionPlanner.Properties.Resources.donate; }
}
public override Image connect
{
get { return global::MissionPlanner.Properties.Resources.light_connect_icon; }
}
public override Image disconnect
{
get { return global::MissionPlanner.Properties.Resources.light_disconnect_icon; }
}
public override Image bg
{
get { return global::MissionPlanner.Properties.Resources.bgdark; }
}
public override Image wizard
{
get { return global::MissionPlanner.Properties.Resources.wizardicon; }
}
}
public class highcontrastmenuicons : menuicons
{
public override Image fd
{
get { return global::MissionPlanner.Properties.Resources.dark_flightdata_icon; }
}
public override Image fp
{
get { return global::MissionPlanner.Properties.Resources.dark_flightplan_icon; }
}
public override Image initsetup
{
get { return global::MissionPlanner.Properties.Resources.dark_initialsetup_icon; }
}
public override Image config_tuning
{
get { return global::MissionPlanner.Properties.Resources.dark_tuningconfig_icon; }
}
public override Image sim
{
get { return global::MissionPlanner.Properties.Resources.dark_simulation_icon; }
}
public override Image terminal
{
get { return global::MissionPlanner.Properties.Resources.dark_terminal_icon; }
}
public override Image help
{
get { return global::MissionPlanner.Properties.Resources.dark_help_icon; }
}
public override Image donate
{
get { return global::MissionPlanner.Properties.Resources.donate; }
}
public override Image connect
{
get { return global::MissionPlanner.Properties.Resources.dark_connect_icon; }
}
public override Image disconnect
{
get { return global::MissionPlanner.Properties.Resources.dark_disconnect_icon; }
}
public override Image bg
{
get { return null; }
}
public override Image wizard
{
get { return global::MissionPlanner.Properties.Resources.wizardicon; }
}
}
Controls.MainSwitcher MyView;
private static DisplayView _displayConfiguration = new DisplayView().Basic();
public static event EventHandler LayoutChanged;
public static DisplayView DisplayConfiguration
{
get { return _displayConfiguration; }
set
{
_displayConfiguration = value;
Settings.Instance["displayview"] = _displayConfiguration.ConvertToString();
if (LayoutChanged != null)
LayoutChanged(null, EventArgs.Empty);
}
}
public static bool ShowAirports { get; set; }
public static bool ShowTFR { get; set; }
private Utilities.adsb _adsb;
public bool EnableADSB
{
get { return _adsb != null; }
set
{
if (value == true)
{
_adsb = new Utilities.adsb();
if (Settings.Instance["adsbserver"] != null)
Utilities.adsb.server = Settings.Instance["adsbserver"];
if (Settings.Instance["adsbport"] != null)
Utilities.adsb.serverport = int.Parse(Settings.Instance["adsbport"].ToString());
}
else
{
Utilities.adsb.Stop();
_adsb = null;
}
}
}
//public static event EventHandler LayoutChanged;
/// <summary>
/// Active Comport interface
/// </summary>
public static MAVLinkInterface comPort
{
get
{
return _comPort;
}
set {
if (_comPort == value)
return;
_comPort = value;
_comPort.MavChanged -= instance.comPort_MavChanged;
_comPort.MavChanged += instance.comPort_MavChanged;
instance.comPort_MavChanged(null, null);
}
}
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>
/// other planes in the area from adsb
/// </summary>
internal object adsblock = new object();
public ConcurrentDictionary<string,adsb.PointLatLngAltHdg> adsbPlanes = new ConcurrentDictionary<string, adsb.PointLatLngAltHdg>();
string titlebar;
/// <summary>
/// Comport name
/// </summary>
public static string comPortName = "";
/// <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 joystick = null;
/// <summary>
/// track last joystick packet sent. used to control rate
/// </summary>
DateTime lastjoystick = DateTime.Now;
/// <summary>
/// determine if we are running sitl
/// </summary>
public static bool sitl
{
get
{
if (MissionPlanner.Controls.SITL.SITLSEND == null) return false;
if (MissionPlanner.Controls.SITL.SITLSEND.Client.Connected) return true;
return false;
}
}
/// <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;
bool joystickthreadrun = 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 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,
ArduRover,
Ateryx,
ArduTracker,
Gymbal,
PX4
}
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;
Controls.SITL 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 static bool TerminalTheming = true;
public void updateLayout(object sender, EventArgs e)
{
MenuSimulation.Visible = DisplayConfiguration.displaySimulation;
MenuTerminal.Visible = DisplayConfiguration.displayTerminal;
MenuHelp.Visible = DisplayConfiguration.displayHelp;
MissionPlanner.Controls.BackstageView.BackstageView.Advanced = DisplayConfiguration.isAdvancedMode;
if (MainV2.instance.FlightData != null)
{
TabControl t = MainV2.instance.FlightData.tabControlactions;
if (DisplayConfiguration.displayAdvActionsTab && !t.TabPages.Contains(FlightData.tabActions))
{
t.TabPages.Add(FlightData.tabActions);
}
else if (!DisplayConfiguration.displayAdvActionsTab && t.TabPages.Contains(FlightData.tabActions))
{
t.TabPages.Remove(FlightData.tabActions);
}
if (DisplayConfiguration.displaySimpleActionsTab && !t.TabPages.Contains(FlightData.tabActionsSimple))
{
t.TabPages.Add(FlightData.tabActionsSimple);
}
else if (!DisplayConfiguration.displaySimpleActionsTab && t.TabPages.Contains(FlightData.tabActionsSimple))
{
t.TabPages.Remove(FlightData.tabActionsSimple);
}
if (DisplayConfiguration.displayStatusTab && !t.TabPages.Contains(FlightData.tabStatus))
{
t.TabPages.Add(FlightData.tabStatus);
}
else if (!DisplayConfiguration.displayStatusTab && t.TabPages.Contains(FlightData.tabStatus))
{
t.TabPages.Remove(FlightData.tabStatus);
}
if (DisplayConfiguration.displayServoTab && !t.TabPages.Contains(FlightData.tabServo))
{
t.TabPages.Add(FlightData.tabServo);
}
else if (!DisplayConfiguration.displayServoTab && t.TabPages.Contains(FlightData.tabServo))
{
t.TabPages.Remove(FlightData.tabServo);
}
if (DisplayConfiguration.displayScriptsTab && !t.TabPages.Contains(FlightData.tabScripts))
{
t.TabPages.Add(FlightData.tabScripts);
}
else if (!DisplayConfiguration.displayScriptsTab && t.TabPages.Contains(FlightData.tabScripts))
{
t.TabPages.Remove(FlightData.tabScripts);
}
}
}
public MainV2()
{
log.Info("Mainv2 ctor");
InitLogTimer();
SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
// set this before we reset it
Settings.Instance["NUM_tracklength"] = "200";
// create one here - but override on load
Settings.Instance["guid"] = Guid.NewGuid().ToString();
// load config
LoadConfig();
// force language to be loaded
L10N.GetConfigLang();
ShowAirports = true;
// setup adsb
Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;
Form splash = Program.Splash;
splash.Refresh();
Application.DoEvents();
instance = this;
//disable dpi scaling
if (Font.Name != "宋体")
{
//Chinese displayed normally when scaling. But would be too small or large using this line of code.
using (var g = CreateGraphics())
{
Font = new Font(Font.Name, 8.25f*96f/g.DpiX, Font.Style, Font.Unit, Font.GdiCharSet,
Font.GdiVerticalFont);
}
}
InitializeComponent();
try
{
if(Settings.Instance["theme"] != null)
ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), Settings.Instance["theme"]));
}
catch
{
}
Utilities.ThemeManager.ApplyThemeTo(this);
MyView = new MainSwitcher(this);
View = MyView;
//startup console
TCPConsole.Write((byte) 'S');
_connectionControl = toolStripConnectionControl.ConnectionControl;
_connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
_connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
_connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
_connectionControl.cmb_sysid.Click += cmb_sysid_Click;
_connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
srtm.datadirectory = Settings.GetDataDirectory() +
"srtm";
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
speechEngine = new Speech();
Warnings.CustomWarning.defaultsrc = comPort.MAV.cs;
Warnings.WarningEngine.Start();
// proxy loader - dll load now instead of on config form load
new Transition(new TransitionType_EaseInEaseOut(2000));
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;
comPort.BaseStream.BaudRate = 115200;
PopulateSerialportList();
if (_connectionControl.CMB_serialport.Items.Count > 0)
{
_connectionControl.CMB_baudrate.SelectedIndex = 8;
_connectionControl.CMB_serialport.SelectedIndex = 0;
}
// ** Done
splash.Refresh();
Application.DoEvents();
// load last saved connection settings
string temp = Settings.Instance.ComPort;
if (!string.IsNullOrEmpty(temp))
{
_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;
}
string temp2 = Settings.Instance.BaudRate;
if (!string.IsNullOrEmpty(temp2))
{
_connectionControl.CMB_baudrate.SelectedIndex = _connectionControl.CMB_baudrate.FindString(temp2);
if (_connectionControl.CMB_baudrate.SelectedIndex == -1)
{
_connectionControl.CMB_baudrate.Text = temp2;
}
}
string temp3 = Settings.Instance.APMFirmware;
if (!string.IsNullOrEmpty(temp3))
{
_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);
}
MissionPlanner.Utilities.Tracking.cid = new Guid(Settings.Instance["guid"].ToString());
// setup guids for droneshare
if (!Settings.Instance.ContainsKey("plane_guid"))
Settings.Instance["plane_guid"] = Guid.NewGuid().ToString();
if (!Settings.Instance.ContainsKey("copter_guid"))
Settings.Instance["copter_guid"] = Guid.NewGuid().ToString();
if (!Settings.Instance.ContainsKey("rover_guid"))
Settings.Instance["rover_guid"] = Guid.NewGuid().ToString();
if (Settings.Instance.ContainsKey("language") && !string.IsNullOrEmpty(Settings.Instance["language"]))
{
changelanguage(CultureInfoEx.GetCultureInfo(Settings.Instance["language"]));
}
this.Text = splash.Text;
titlebar = splash.Text;
if (!MONO) // windows only
{
if (Settings.Instance["showconsole"] != null && Settings.Instance["showconsole"].ToString() == "True")
{
}
else
{
int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
}
// prevent system from sleeping while mp open
var previousExecutionState =
NativeMethods.SetThreadExecutionState(NativeMethods.ES_CONTINUOUS | NativeMethods.ES_SYSTEM_REQUIRED);
}
ChangeUnits();
if (Settings.Instance["theme"] != null)
{
try
{
ThemeManager.SetTheme(
(ThemeManager.Themes)
Enum.Parse(typeof (ThemeManager.Themes), Settings.Instance["theme"].ToString()));
}
catch (Exception exception)
{
log.Error(exception);
}
if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
{
try
{
ThemeManager.BGColor = Color.FromArgb(int.Parse(Settings.Instance["theme_bg"].ToString()));
ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(Settings.Instance["theme_ctlbg"].ToString()));
ThemeManager.TextColor = Color.FromArgb(int.Parse(Settings.Instance["theme_text"].ToString()));
ThemeManager.ButBG = Color.FromArgb(int.Parse(Settings.Instance["theme_butbg"].ToString()));
ThemeManager.ButBorder = Color.FromArgb(int.Parse(Settings.Instance["theme_butbord"].ToString()));
}
catch
{
log.Error("Bad Custom theme - reset to standard");
ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit);
}
}
if (ThemeManager.CurrentTheme == ThemeManager.Themes.HighContrast)
{
switchicons(new highcontrastmenuicons());
}
}
if (Settings.Instance["showairports"] != null)
{
MainV2.ShowAirports = bool.Parse(Settings.Instance["showairports"]);
}
// set default
ShowTFR = true;
// load saved
if (Settings.Instance["showtfr"] != null)
{
MainV2.ShowTFR = Settings.Instance.GetBoolean("showtfr");
}
if (Settings.Instance["enableadsb"] != null)
{
MainV2.instance.EnableADSB = Settings.Instance.GetBoolean("enableadsb");
}
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 SITL();
//Firmware = new GCSViews.Firmware();
//Terminal = new GCSViews.Terminal();
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();
}
//set first instance display configuration
if (DisplayConfiguration == null)
{
DisplayConfiguration = DisplayConfiguration.Basic();
}
// load old config
if (Settings.Instance["advancedview"] != null)
{
if (Settings.Instance.GetBoolean("advancedview") == true)
{
DisplayConfiguration = new DisplayView().Advanced();
}
// remove old config
Settings.Instance.Remove("advancedview");
} //// load this before the other screens get loaded
if (Settings.Instance["displayview"] != null)
{
try
{
DisplayConfiguration = Settings.Instance.GetDisplayView("displayview");
}
catch
{
DisplayConfiguration = DisplayConfiguration.Basic();
}
}
LayoutChanged += updateLayout;
LayoutChanged(null, EventArgs.Empty);
if (Settings.Instance["CHK_GDIPlus"] != null)
GCSViews.FlightData.myhud.opengl = !bool.Parse(Settings.Instance["CHK_GDIPlus"].ToString());
if (Settings.Instance["CHK_hudshow"] != null)
GCSViews.FlightData.myhud.hudon = bool.Parse(Settings.Instance["CHK_hudshow"].ToString());
try
{
if (Settings.Instance["MainLocX"] != null && Settings.Instance["MainLocY"] != null)
{
this.StartPosition = FormStartPosition.Manual;
Point startpos = new Point(Settings.Instance.GetInt32("MainLocX"),
Settings.Instance.GetInt32("MainLocY"));
// fix common bug which happens when user removes a monitor, the app shows up
// offscreen and it is very hard to move it onscreen. Also happens with
// remote desktop a lot. So this only restores position if the position
// is visible.
foreach (Screen s in Screen.AllScreens)
{
if (s.WorkingArea.Contains(startpos))
{
this.Location = startpos;
break;
}
}
}
if (Settings.Instance["MainMaximised"] != null)
{
this.WindowState =
(FormWindowState) Enum.Parse(typeof (FormWindowState), Settings.Instance["MainMaximised"]);
// dont allow minimised start state
if (this.WindowState == FormWindowState.Minimized)
{
this.WindowState = FormWindowState.Normal;
this.Location = new Point(100, 100);
}
}
if (Settings.Instance["MainHeight"] != null)
this.Height = Settings.Instance.GetInt32("MainHeight");
if (Settings.Instance["MainWidth"] != null)
this.Width = Settings.Instance.GetInt32("MainWidth");
if (Settings.Instance["CMB_rateattitude"] != null)
CurrentState.rateattitudebackup = Settings.Instance.GetByte("CMB_rateattitude");
if (Settings.Instance["CMB_rateposition"] != null)
CurrentState.ratepositionbackup = Settings.Instance.GetByte("CMB_rateposition");
if (Settings.Instance["CMB_ratestatus"] != null)
CurrentState.ratestatusbackup = Settings.Instance.GetByte("CMB_ratestatus");
if (Settings.Instance["CMB_raterc"] != null)
CurrentState.ratercbackup = Settings.Instance.GetByte("CMB_raterc");
if (Settings.Instance["CMB_ratesensors"] != null)
CurrentState.ratesensorsbackup = Settings.Instance.GetByte("CMB_ratesensors");
// make sure rates propogate
MainV2.comPort.MAV.cs.ResetInternals();
if (Settings.Instance["speechenable"] != null)
MainV2.speechEnable = Settings.Instance.GetBoolean("speechenable");
if (Settings.Instance["analyticsoptout"] != null)
MissionPlanner.Utilities.Tracking.OptOut = Settings.Instance.GetBoolean("analyticsoptout");
try
{
if (Settings.Instance["TXT_homelat"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Lat = Settings.Instance.GetDouble("TXT_homelat");
if (Settings.Instance["TXT_homelng"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Lng = Settings.Instance.GetDouble("TXT_homelng");
if (Settings.Instance["TXT_homealt"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Alt = Settings.Instance.GetDouble("TXT_homealt");
// remove invalid entrys
if (Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lat) > 90 ||
Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lng) > 180)
MainV2.comPort.MAV.cs.HomeLocation = new PointLatLngAlt();
}
catch
{
}
}
catch
{
}
if (CurrentState.rateattitudebackup == 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");
}
// create log dir if it doesnt exist
try
{
if (!Directory.Exists(Settings.Instance.LogDir))
Directory.CreateDirectory(Settings.Instance.LogDir);
}
catch (Exception ex) { log.Error(ex); }
Microsoft.Win32.SystemEvents.PowerModeChanged += SystemEvents_PowerModeChanged;
// 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);
}
}
if (Program.IconFile != null)
{
this.Icon = Icon.FromHandle(((Bitmap)Program.IconFile).GetHicon());
}
if (Program.Logo != null && Program.name == "VVVVZ")
{
MenuDonate.Click -= this.toolStripMenuItem1_Click;
MenuDonate.Text = "";
MenuDonate.Image = Program.Logo;
MenuDonate.Click += MenuCustom_Click;
MenuFlightData.Visible = false;
MenuFlightPlanner.Visible = true;
MenuConfigTune.Visible = false;
MenuHelp.Visible = false;
MenuInitConfig.Visible = false;
MenuSimulation.Visible = false;
MenuTerminal.Visible = false;
}
else if (Program.Logo != null && Program.names.Contains(Program.name))
{
MenuDonate.Click -= this.toolStripMenuItem1_Click;
MenuDonate.Text = "";
MenuDonate.Image = Program.Logo;
}
Application.DoEvents();
Comports.Add(comPort);
MainV2.comPort.MavChanged += comPort_MavChanged;
// save config to test we have write access
SaveConfig();
}
void cmb_sysid_Click(object sender, EventArgs e)
{
MainV2._connectionControl.UpdateSysIDS();
}
void comPort_MavChanged(object sender, EventArgs e)
{
log.Info("Mav Changed " + MainV2.comPort.MAV.sysid);
HUD.Custom.src = MainV2.comPort.MAV.cs;
CustomWarning.defaultsrc = MainV2.comPort.MAV.cs;
MissionPlanner.Controls.PreFlight.CheckListItem.defaultsrc = MainV2.comPort.MAV.cs;
// when uploading a firmware we dont want to reload this screen.
if (instance.MyView.current.Control != null && instance.MyView.current.Control.GetType() == typeof(GCSViews.InitialSetup))
{
var page = ((GCSViews.InitialSetup)instance.MyView.current.Control).backstageView.SelectedPage;
if (page != null && page.Text == "Install Firmware")
{
return;
}
}
if (this.InvokeRequired)
{
this.Invoke((MethodInvoker) delegate
{
instance.MyView.Reload();
});
}
else
{
instance.MyView.Reload();
}
}
void SystemEvents_PowerModeChanged(object sender, Microsoft.Win32.PowerModeChangedEventArgs e)
{
// try prevent crash on resume
if (e.Mode == Microsoft.Win32.PowerModes.Suspend)
{
doDisconnect(MainV2.comPort);
}
}
private void BGLoadAirports(object nothing)
{