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Common.cs
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Common.cs
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Windows.Forms;
using MissionPlanner.Attributes;
using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using System.Security.Cryptography.X509Certificates;
using System.Net;
using log4net;
using System.Reflection;
using MissionPlanner.Utilities;
using System.IO;
using MissionPlanner.Maps;
namespace MissionPlanner
{
public class Common
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public enum distances
{
Meters,
Feet
}
public enum speeds
{
meters_per_second,
fps,
kph,
mph,
knots
}
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
[DisplayText("FlyMaple")]
AP_PRODUCT_ID_FLYMAPLE = 0x100, // Flymaple with ITG3205, ADXL345, HMC5883, BMP085
[DisplayText("Linux")]
AP_PRODUCT_ID_L3G4200D = 0x101, // Linux with L3G4200D and ADXL345
}
//from px4firmwareplugin.cc
enum PX4_CUSTOM_MAIN_MODE
{
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_ALTCTL,
PX4_CUSTOM_MAIN_MODE_POSCTL,
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
PX4_CUSTOM_MAIN_MODE_STABILIZED,
PX4_CUSTOM_MAIN_MODE_RATTITUDE
}
enum PX4_CUSTOM_SUB_MODE_AUTO
{
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS
}
public static List<KeyValuePair<int, string>> getModesList(MainV2.Firmwares firmware)
{
log.Info("getModesList Called");
if (firmware == MainV2.Firmwares.PX4)
{
/*
union px4_custom_mode {
struct {
uint16_t reserved;
uint8_t main_mode;
uint8_t sub_mode;
};
uint32_t data;
float data_float;
};
*/
var temp = new List<KeyValuePair<int, string>>()
{
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_MANUAL << 16, "Manual"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ACRO << 16, "Acro"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_STABILIZED << 16,
"Stabalized"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_RATTITUDE << 16,
"Rattitude"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ALTCTL << 16,
"Altitude Control"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_POSCTL << 16,
"Position Control"),
new KeyValuePair<int, string>((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_OFFBOARD << 16,
"Offboard Control"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_READY << 24, "Auto: Ready"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF << 24, "Auto: Takeoff"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LOITER << 24, "Loiter"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_MISSION << 24, "Auto"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_RTL << 24, "RTL"),
new KeyValuePair<int, string>(
((int) PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int) PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LAND << 24, "Auto: Landing")
};
return temp;
}
else if (firmware == MainV2.Firmwares.ArduPlane)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
firmware.ToString());
flightModes.Add(new KeyValuePair<int, string>(16, "INITIALISING"));
flightModes.Add(new KeyValuePair<int, string>(17, "QStabilize"));
flightModes.Add(new KeyValuePair<int, string>(18, "QHover"));
flightModes.Add(new KeyValuePair<int, string>(19, "QLoiter"));
flightModes.Add(new KeyValuePair<int, string>(20, "QLand"));
flightModes.Add(new KeyValuePair<int, string>(21, "QRTL"));
return flightModes;
}
else if (firmware == MainV2.Firmwares.Ateryx)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
firmware.ToString()); //same as apm
return flightModes;
}
else if (firmware == MainV2.Firmwares.ArduCopter2)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
firmware.ToString());
return flightModes;
}
else if (firmware == MainV2.Firmwares.ArduRover)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("MODE1",
firmware.ToString());
return flightModes;
}
else if (firmware == MainV2.Firmwares.ArduTracker)
{
var temp = new List<KeyValuePair<int, string>>();
temp.Add(new KeyValuePair<int, string>(0, "MANUAL"));
temp.Add(new KeyValuePair<int, string>(1, "STOP"));
temp.Add(new KeyValuePair<int, string>(2, "SCAN"));
temp.Add(new KeyValuePair<int, string>(3, "SERVO_TEST"));
temp.Add(new KeyValuePair<int, string>(10, "AUTO"));
temp.Add(new KeyValuePair<int, string>(16, "INITIALISING"));
return temp;
}
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(" ", "_").Replace('+', '_'));
chk.AutoSize = true;
chk.Text = Strings.ShowMeAgain;
chk.Checked = true;
chk.Location = new Point(9, 80);
if (Settings.Instance.ContainsKey((string)chk.Tag) && Settings.Instance.GetBoolean((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 = Strings.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)
{
Settings.Instance[(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"));
input = input.Replace("{curr}", (MainV2.comPort.MAV.cs.current).ToString("0.0"));
input = input.Replace("{hdop}", (MainV2.comPort.MAV.cs.gpshdop).ToString("0.00"));
input = input.Replace("{satcount}", (MainV2.comPort.MAV.cs.satcount).ToString("0"));
input = input.Replace("{rssi}", (MainV2.comPort.MAV.cs.rssi).ToString("0"));
input = input.Replace("{disthome}", (MainV2.comPort.MAV.cs.DistToHome).ToString("0"));
input = input.Replace("{timeinair}",
(new TimeSpan(0, 0, 0, (int)MainV2.comPort.MAV.cs.timeInAir)).ToString());
try
{
object thisBoxed = MainV2.comPort.MAV.cs;
Type test = thisBoxed.GetType();
PropertyInfo[] props = test.GetProperties();
//props
foreach (var field in props)
{
// field.Name has the field's name.
object fieldValue;
TypeCode typeCode;
try
{
fieldValue = field.GetValue(thisBoxed, null); // Get value
if (fieldValue == null)
continue;
// Get the TypeCode enumeration. Multiple types get mapped to a common typecode.
typeCode = Type.GetTypeCode(fieldValue.GetType());
}
catch
{
continue;
}
var fname = String.Format("{{{0}}}", field.Name);
input = input.Replace(fname, fieldValue.ToString());
}
}
catch
{
}
return input;
}
public static GMapMarker getMAVMarker(MAVState MAV)
{
PointLatLng portlocation = new PointLatLng(MAV.cs.lat, MAV.cs.lng);
if (MAV.aptype == MAVLink.MAV_TYPE.FIXED_WING)
{
return (new GMapMarkerPlane(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing, MAV.cs.radius)
{
ToolTipText = MAV.cs.alt.ToString("0") + "\n" + MAV.sysid.ToString("sysid: 0"),
ToolTipMode = MarkerTooltipMode.Always
});
}
else if (MAV.aptype == MAVLink.MAV_TYPE.GROUND_ROVER)
{
return (new GMapMarkerRover(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing)
{
ToolTipText = MAV.cs.alt.ToString("0") + "\n" + MAV.sysid.ToString("sysid: 0"),
ToolTipMode = MarkerTooltipMode.Always
});
}
else if (MAV.aptype == MAVLink.MAV_TYPE.SURFACE_BOAT)
{
return (new GMapMarkerBoat(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing));
}
else if (MAV.aptype == MAVLink.MAV_TYPE.SUBMARINE)
{
return (new GMapMarkerSub(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing));
}
else if (MAV.aptype == MAVLink.MAV_TYPE.HELICOPTER)
{
return (new GMapMarkerHeli(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing));
}
else if (MAV.cs.firmware == MainV2.Firmwares.ArduTracker)
{
return (new GMapMarkerAntennaTracker(portlocation, MAV.cs.yaw,
MAV.cs.target_bearing));
}
else if (MAV.cs.firmware == MainV2.Firmwares.ArduCopter2 || MAV.aptype == MAVLink.MAV_TYPE.QUADROTOR)
{
if (MAV.param.ContainsKey("AVD_W_DIST_XY") && MAV.param.ContainsKey("AVD_F_DIST_XY"))
{
var w = MAV.param["AVD_W_DIST_XY"].Value;
var f = MAV.param["AVD_F_DIST_XY"].Value;
return (new GMapMarkerQuad(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.sysid)
{
danger = (int)f,
warn = (int)w
});
}
return (new GMapMarkerQuad(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.sysid));
}
else if (MAV.aptype == MAVLink.MAV_TYPE.COAXIAL)
{
return (new GMapMarkerSingle(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.sysid));
}
else
{
// unknown type
return (new GMarkerGoogle(portlocation, GMarkerGoogleType.green_dot));
}
}
}
}