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MainV2.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Configuration;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Xml;
using System.Collections;
using System.Net;
using System.Text.RegularExpressions;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Globalization;
using System.Threading;
using System.Net.Sockets;
using MissionPlanner.Utilities;
using IronPython.Hosting;
using log4net;
using MissionPlanner.Controls;
using System.Security.Cryptography;
using MissionPlanner.Comms;
using MissionPlanner.Arduino;
using Transitions;
using System.Web.Script.Serialization;
using System.Speech.Synthesis;
using MissionPlanner;
using MissionPlanner.Joystick;
using System.Collections.ObjectModel;
namespace MissionPlanner
{
public partial class MainV2 : Form
{
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);
static public int SW_SHOWNORMAL = 1;
static public int SW_HIDE = 0;
}
static menuicons displayicons = new menuicons2();
public class menuicons
{
public Image fd = global::MissionPlanner.Properties.Resources.light_flightdata_icon;
public Image fp = global::MissionPlanner.Properties.Resources.light_flightplan_icon;
public Image initsetup = global::MissionPlanner.Properties.Resources.light_initialsetup_icon;
public Image config_tuning = global::MissionPlanner.Properties.Resources.light_tuningconfig_icon;
public Image sim = global::MissionPlanner.Properties.Resources.light_simulation_icon;
public Image terminal = global::MissionPlanner.Properties.Resources.light_terminal_icon;
public Image help = global::MissionPlanner.Properties.Resources.light_help_icon;
public Image donate = global::MissionPlanner.Properties.Resources.donate;
public Image connect = global::MissionPlanner.Properties.Resources.light_connect_icon;
public Image disconnect = global::MissionPlanner.Properties.Resources.light_disconnect_icon;
public Image bg = global::MissionPlanner.Properties.Resources.bgdark;
}
public class menuicons2 : menuicons
{
public new Image fd = global::MissionPlanner.Properties.Resources.dark_flightdata_icon;
public new Image fp = global::MissionPlanner.Properties.Resources.dark_flightplan_icon;
public new Image initsetup = global::MissionPlanner.Properties.Resources.dark_initialsetup_icon;
public new Image config_tuning = global::MissionPlanner.Properties.Resources.dark_tuningconfig_icon;
public new Image sim = global::MissionPlanner.Properties.Resources.dark_simulation_icon;
public new Image terminal = global::MissionPlanner.Properties.Resources.dark_terminal_icon;
public new Image help = global::MissionPlanner.Properties.Resources.dark_help_icon;
public new Image donate = global::MissionPlanner.Properties.Resources.donate;
public new Image connect = global::MissionPlanner.Properties.Resources.dark_connect_icon;
public new Image disconnect = global::MissionPlanner.Properties.Resources.dark_disconnect_icon;
public new Image bg = global::MissionPlanner.Properties.Resources.bgdark;
}
Controls.MainSwitcher MyView;
static bool _advanced = false;
/// <summary>
/// Control what is displayed
/// </summary>
public static Boolean Advanced
{
get
{
return _advanced;
}
set
{
_advanced = value;
MissionPlanner.Controls.BackstageView.BackstageView.Advanced = value;
if (AdvancedChanged != null)
AdvancedChanged(null, new EventArgs());
}
}
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 (MainV2.config["adsbserver"] != null)
Utilities.adsb.server = MainV2.config["adsbserver"].ToString();
if (MainV2.config["adsbport"] != null)
Utilities.adsb.serverport = int.Parse(MainV2.config["adsbport"].ToString());
}
else
{
Utilities.adsb.Stop();
_adsb = null;
}
}
}
public static event EventHandler AdvancedChanged;
/// <summary>
/// Active Comport interface
/// </summary>
public 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>
public Hashtable adsbPlanes = new Hashtable();
public Hashtable adsbPlaneAge = new Hashtable();
string titlebar;
/// <summary>
/// Comport name
/// </summary>
public static string comPortName = "";
/// <summary>
/// use to store all internal config
/// </summary>
public static Hashtable config = new Hashtable();
/// <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>
/// 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 string LogDir
{
get
{
if (config["logdirectory"] == null)
return _logdir;
return config["logdirectory"].ToString();
}
set
{
_logdir = value;
config["logdirectory"] = value;
}
}
static string _logdir = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs";
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,
//ArduHeli,
ArduRover,
Ateryx,
ArduTracker
}
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;
GCSViews.Simulation 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 void updateAdvanced(object sender, EventArgs e)
{
if (Advanced == false)
{
MenuTerminal.Visible = false;
MenuSimulation.Visible = false;
}
else
{
MenuTerminal.Visible = true;
MenuSimulation.Visible = true;
}
}
public MainV2()
{
log.Info("Mainv2 ctor");
ShowAirports = true;
// setup adsb
Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;
Form splash = Program.Splash;
splash.Refresh();
Application.DoEvents();
instance = this;
InitializeComponent();
MyView = new MainSwitcher(this);
View = MyView;
AdvancedChanged += updateAdvanced;
//startup console
TCPConsole.Write((byte)'S');
// full screen
//this.TopMost = true;
//this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
//this.WindowState = FormWindowState.Maximized;
_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.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;
_connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "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));
//MyRenderer.currentpressed = MenuFlightData;
//MainMenu.Renderer = new MyRenderer();
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();
// set this before we reset it
MainV2.config["NUM_tracklength"] = "200";
// create one here - but override on load
MainV2.config["guid"] = Guid.NewGuid().ToString();
// load config
xmlconfig(false);
MissionPlanner.Utilities.Tracking.cid = new Guid(MainV2.config["guid"].ToString());
// setup guids for droneshare
if (!MainV2.config.ContainsKey("plane_guid"))
MainV2.config["plane_guid"] = Guid.NewGuid().ToString();
if (!MainV2.config.ContainsKey("copter_guid"))
MainV2.config["copter_guid"] = Guid.NewGuid().ToString();
if (!MainV2.config.ContainsKey("rover_guid"))
MainV2.config["rover_guid"] = Guid.NewGuid().ToString();
if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
{
changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
}
this.Text = splash.Text;
titlebar = splash.Text;
if (!MONO) // windows only
{
if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
{
}
else
{
int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
}
}
ChangeUnits();
if (config["theme"] != null)
{
ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), MainV2.config["theme"].ToString()));
if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
{
try
{
ThemeManager.BGColor = Color.FromArgb(int.Parse(MainV2.config["theme_bg"].ToString()));
ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(MainV2.config["theme_ctlbg"].ToString()));
ThemeManager.TextColor = Color.FromArgb(int.Parse(MainV2.config["theme_text"].ToString()));
ThemeManager.ButBG = Color.FromArgb(int.Parse(MainV2.config["theme_butbg"].ToString()));
ThemeManager.ButBorder = Color.FromArgb(int.Parse(MainV2.config["theme_butbord"].ToString()));
}
catch { log.Error("Bad Custom theme - reset to standard"); ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit); }
}
}
if (MainV2.config["showairports"] != null)
{
MainV2.ShowAirports = bool.Parse(config["showairports"].ToString());
}
// set default
ShowTFR = true;
// load saved
if (MainV2.config["showtfr"] != null)
{
MainV2.ShowTFR = bool.Parse(config["showtfr"].ToString());
}
if (MainV2.config["enableadsb"] != null)
{
MainV2.instance.EnableADSB = bool.Parse(config["enableadsb"].ToString());
}
// load this before the other screens get loaded
if (MainV2.config["advancedview"] != null)
{
MainV2.Advanced = bool.Parse(config["advancedview"].ToString());
}
else
{
// existing user - enable advanced view
if (MainV2.config.Count > 3)
{
config["advancedview"] = true.ToString();
MainV2.Advanced = true;
}
else
{
config["advancedview"] = false.ToString();
}
}
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 GCSViews.Simulation();
//Firmware = new GCSViews.Firmware();
//Terminal = new GCSViews.Terminal();
// preload
log.Info("Create Python");
Python.CreateEngine();
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(); }
if (MainV2.config["CHK_GDIPlus"] != null)
GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());
if (MainV2.config["CHK_hudshow"] != null)
GCSViews.FlightData.myhud.hudon = bool.Parse(MainV2.config["CHK_hudshow"].ToString());
try
{
if (config["MainLocX"] != null && config["MainLocY"] != null)
{
this.StartPosition = FormStartPosition.Manual;
Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString()));
this.Location = startpos;
}
if (config["MainMaximised"] != null)
{
this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
// dont allow minimised start state
if (this.WindowState == FormWindowState.Minimized)
{
this.WindowState = FormWindowState.Normal;
this.Location = new Point(100, 100);
}
}
if (config["MainHeight"] != null)
this.Height = int.Parse(config["MainHeight"].ToString());
if (config["MainWidth"] != null)
this.Width = int.Parse(config["MainWidth"].ToString());
if (config["CMB_rateattitude"] != null)
MainV2.comPort.MAV.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
if (config["CMB_rateposition"] != null)
MainV2.comPort.MAV.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
if (config["CMB_ratestatus"] != null)
MainV2.comPort.MAV.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
if (config["CMB_raterc"] != null)
MainV2.comPort.MAV.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
if (config["CMB_ratesensors"] != null)
MainV2.comPort.MAV.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());
if (config["speechenable"] != null)
MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
if (MainV2.config["analyticsoptout"] != null)
MissionPlanner.Utilities.Tracking.OptOut = bool.Parse(config["analyticsoptout"].ToString());
try
{
if (config["TXT_homelat"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());
if (config["TXT_homelng"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());
if (config["TXT_homealt"] != null)
MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
// 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 (MainV2.comPort.MAV.cs.rateattitude == 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");
}
// log dir
if (config["logdirectory"] != null)
MainV2.LogDir = config["logdirectory"].ToString();
// create log dir if it doesnt exist
if (!Directory.Exists(MainV2.LogDir))
Directory.CreateDirectory(MainV2.LogDir);
//System.Threading.Thread.Sleep(2000);
// 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.Logo != null)
{
this.Icon = Icon.FromHandle(((Bitmap)Program.Logo).GetHicon());
}
if (Program.Logo != null && Program.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;
}
Application.DoEvents();
Comports.Add(comPort);
//int fixmenextrelease;
// if (MainV2.getConfig("fixparams") == "")
{
// Utilities.ParameterMetaDataParser.GetParameterInformation();
// MainV2.config["fixparams"] = 1;
}
}
private void BGLoadAirports(object nothing)
{
// read airport list
try
{
Utilities.Airports.ReadOurairports(Application.StartupPath + Path.DirectorySeparatorChar + "airports.csv");
Utilities.Airports.checkdups = true;
//Utilities.Airports.ReadOpenflights(Application.StartupPath + Path.DirectorySeparatorChar + "airports.dat");
log.Info("Loaded " + Utilities.Airports.GetAirportCount + " airports");
}
catch { }
}
void MenuCustom_Click(object sender, EventArgs e)
{
if (getConfig("password_protect") == "" || bool.Parse(getConfig("password_protect")) == false)
{
MenuFlightData.Visible = true;
MenuFlightPlanner.Visible = true;
MenuConfigTune.Visible = true;
MenuHelp.Visible = true;
MenuInitConfig.Visible = true;
MenuSimulation.Visible = true;
MenuTerminal.Visible = true;
}
else
{
if (Password.VerifyPassword())
{
MenuFlightData.Visible = true;
MenuFlightPlanner.Visible = true;
MenuConfigTune.Visible = true;
MenuHelp.Visible = true;
MenuInitConfig.Visible = true;
MenuSimulation.Visible = true;
MenuTerminal.Visible = true;
}
}
}
void adsb_UpdatePlanePosition(object sender, EventArgs e)
{
lock (adsbPlanes)
{
adsbPlanes[((MissionPlanner.Utilities.adsb.PointLatLngAltHdg)sender).Tag] = ((MissionPlanner.Utilities.adsb.PointLatLngAltHdg)sender);
adsbPlaneAge[((MissionPlanner.Utilities.adsb.PointLatLngAltHdg)sender).Tag] = DateTime.Now;
}
}
private void ResetConnectionStats()
{
log.Info("Reset connection stats");
// If the form has been closed, or never shown before, we need do nothing, as
// connection stats will be reset when shown
if (this.connectionStatsForm != null && connectionStatsForm.Visible)
{
// else the form is already showing. reset the stats
this.connectionStatsForm.Controls.Clear();
_connectionStats = new ConnectionStats(comPort);
this.connectionStatsForm.Controls.Add(_connectionStats);
ThemeManager.ApplyThemeTo(this.connectionStatsForm);
}
}
private void ShowConnectionStatsForm()
{
if (this.connectionStatsForm == null || this.connectionStatsForm.IsDisposed)
{
// If the form has been closed, or never shown before, we need all new stuff
this.connectionStatsForm = new Form
{
Width = 430,
Height = 180,
MaximizeBox = false,
MinimizeBox = false,
FormBorderStyle = FormBorderStyle.FixedDialog,
Text = "Link Stats"
};
// Change the connection stats control, so that when/if the connection stats form is showing,
// there will be something to see
this.connectionStatsForm.Controls.Clear();
_connectionStats = new ConnectionStats(comPort);
this.connectionStatsForm.Controls.Add(_connectionStats);
this.connectionStatsForm.Width = _connectionStats.Width;
}
this.connectionStatsForm.Show();
ThemeManager.ApplyThemeTo(this.connectionStatsForm);
}
private void CMB_serialport_Click(object sender, EventArgs e)
{
string oldport = _connectionControl.CMB_serialport.Text;
PopulateSerialportList();
if (_connectionControl.CMB_serialport.Items.Contains(oldport))
_connectionControl.CMB_serialport.Text = oldport;
}
private void PopulateSerialportList()
{
_connectionControl.CMB_serialport.Items.Clear();
_connectionControl.CMB_serialport.Items.Add("AUTO");
_connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
_connectionControl.CMB_serialport.Items.Add("TCP");
_connectionControl.CMB_serialport.Items.Add("UDP");
_connectionControl.CMB_serialport.Items.Add("UDPCl");
}
private void MenuFlightData_Click(object sender, EventArgs e)
{
MyView.ShowScreen("FlightData");
}
private void MenuFlightPlanner_Click(object sender, EventArgs e)
{
MyView.ShowScreen("FlightPlanner");
}
public void MenuSetup_Click(object sender, EventArgs e)
{
if (getConfig("password_protect") == "" || bool.Parse(getConfig("password_protect")) == false)
{
MyView.ShowScreen("HWConfig");
}
else
{
if (Password.VerifyPassword())
{
MyView.ShowScreen("HWConfig");
}
}
}
private void MenuSimulation_Click(object sender, EventArgs e)
{
MyView.ShowScreen("Simulation");
}
private void MenuTuning_Click(object sender, EventArgs e)
{
if (getConfig("password_protect") == "" || bool.Parse(getConfig("password_protect")) == false)
{
MyView.ShowScreen("SWConfig");
}
else
{
if (Password.VerifyPassword())
{
MyView.ShowScreen("SWConfig");
}
}
}
private void MenuTerminal_Click(object sender, EventArgs e)
{
MyView.ShowScreen("Terminal");
}
private void doDisconnect()
{
log.Info("We are disconnecting");
try
{
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
// now that we have closed the connection, cancel the connection stats
// so that the 'time connected' etc does not grow, but the user can still
// look at the now frozen stats on the still open form
try
{
// if terminal is used, then closed using this button.... exception
if (this.connectionStatsForm != null)
((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
}
catch { }
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
try
{
System.Threading.ThreadPool.QueueUserWorkItem((WaitCallback)delegate
{
try
{
MissionPlanner.Log.LogSort.SortLogs(Directory.GetFiles(MainV2.LogDir, "*.tlog"));
}
catch { }
}
);
}
catch { }
this.MenuConnect.Image = global::MissionPlanner.Properties.Resources.light_connect_icon;
}
private void doConnect()
{
log.Info("We are connecting");
switch (_connectionControl.CMB_serialport.Text)
{
case "TCP":
comPort.BaseStream = new TcpSerial();
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
break;
case "UDPCl":
comPort.BaseStream = new UdpSerialConnect();
break;
case "AUTO":
default:
comPort.BaseStream = new SerialPort();
break;
}
// Tell the connection UI that we are now connected.
_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
this.ResetConnectionStats();
MainV2.comPort.MAV.cs.ResetInternals();
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
comPort.logplaybackfile.Close();
comPort.logplaybackfile = null;
try
{
// do autoscan
if (_connectionControl.CMB_serialport.Text == "AUTO")
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
CustomMessageBox.Show(Strings.Timeout);
_connectionControl.IsConnected(false);
return;
}
}
_connectionControl.CMB_serialport.Text = Comms.CommsSerialScan.portinterface.PortName;
_connectionControl.CMB_baudrate.Text = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
}
log.Info("Set Portname");
// set port, then options
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
log.Info("Set Baudrate");
try
{
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch (Exception exp)
{
log.Error(exp);
}
// prevent serialreader from doing anything
comPort.giveComport = true;
log.Info("About to do dtr if needed");
// reset on connect logic.
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
{
log.Info("set dtr rts to false");
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.BaseStream.toggleDTR();
}
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(MainV2.LogDir);
comPort.logfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
log.Info("creating logfile " + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog");
}
catch (Exception exp2) { log.Error(exp2); CustomMessageBox.Show(Strings.Failclog); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(false);
if (!comPort.BaseStream.IsOpen)
{
log.Info("comport is closed. existing connect");
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
return;
}
// 3dr radio is hidden as no hb packet is ever emitted
if (comPort.sysidseen.Count > 1)
{
// we have more than one mav
// user selection of sysid
MissionPlanner.Controls.SysidSelector id = new SysidSelector();
id.ShowDialog();
}
comPort.getParamList();
// detect firmware we are conected to.
if (comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (comPort.MAV.cs.firmware == Firmwares.Ateryx)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.Ateryx);
}
else if (comPort.MAV.cs.firmware == Firmwares.ArduRover)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
}
else if (comPort.MAV.cs.firmware == Firmwares.ArduPlane)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
// check for newer firmware
var softwares = Firmware.LoadSoftwares();
if (softwares.Count > 0)
{