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Form1.cs
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Form1.cs
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Net;
using System.Net.Sockets;
using System.IO.Ports;
using GMap.NET.ObjectModel;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using GMap.NET.MapProviders;
using GMap.NET;
using MySql.Data.MySqlClient;
using XBeeLibrary.Core;
using XBeeLibrary.Core.Models;
using System.Drawing.Drawing2D;
using System.Threading;
using CCWin;
using System.Numerics;
using IWshRuntimeLibrary;
using System.Reflection;
namespace GCS_5895
{
public partial class GCS_5895 : CCSkinMain
{
private float x;//定義當前窗體的寬度
private float y;//定義當前窗體的高度
public int default_UAVnumbers = 10; //預設無人機數量
public Dictionary<string, CoordinateTransform> Origin = new Dictionary<string, CoordinateTransform>()
{
{"沙崙草皮捲", new CoordinateTransform(22.9242595824972, 120.310152769089, 26.0, new PointLatLng(22.9246251967135, 120.309573411942))},
{"西瓜皮空地", new CoordinateTransform(22.9105162191694, 120.312446057796, 26.0, new PointLatLng(22.9105162191694, 120.312446057796))}
};
public List<int> existing_UAVs = new List<int>();
// 定義通訊管道
public static Socket client;
public bool client_connect;
// X2 ConnectPort (gateway)
public EndPoint connectPort = new IPEndPoint(IPAddress.Parse("169.254.219.218"), 14500);
public static int port_number = 14500;
public static XBeeLibrary.Windows.DigiMeshDevice XBee;
public string[] baudRate = new string[] { "Baud: 9600", "Baud: 115200" };
public Dictionary<int, RemoteDigiMeshDevice> G2U_points;
// 定義MySQL資料庫
MySqlConnection timelist_conn = new MySqlConnection("data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;database=timelist;" +
";pooling=true;charset=utf8;"); //紀錄任務開始時間
public List<MySqlConnection> UAVs_flightData_conn = new List<MySqlConnection>(); // 紀錄無人機飛行數據
// 定義座標系
CoordinateTransform coordinate;
// 定義google map
public List<GMapOverlay> markers_main = new List<GMapOverlay>();
public List<GMapRoute> marker_of_uavRoute = new List<GMapRoute>(); // 動態航線marker
public List<Color> color_of_uavs = new List<Color> { Color.DarkSeaGreen, Color.LightBlue, Color.RosyBrown, Color.Thistle,
Color.DarkGray, Color.LightSteelBlue, Color.DarkKhaki, Color.MediumTurquoise, Color.LightPink, Color.DarkSalmon}; // 無人機路徑及標籤顏色
public List<GMapOverlay> waypoints_pin = new List<GMapOverlay>();
public bool lockMap = false;
public bool isChooseWP = false;
public GMapMarker currentMarker;
public Point mousePin;
// 定義飛機圖案
Planes Planes = new Planes();
// 定義路線軌跡儲存空間
public SortableBindingList<Packets> Buffers = new SortableBindingList<Packets>();
public List<List<PointLatLng>> routesBuffer = new List<List<PointLatLng>>();
public double u2gFreq, route_seconds;
public int displayPoint;
public bool allRouteCheck = false;
// WP命令設定
public List<Waypoints> waypoints = new List<Waypoints>();
[Obsolete]
public GCS_5895()
{
InitializeComponent();
x = this.Width;
y = this.Height;
setTag(this);
// 座標系
coordinate = Origin["西瓜皮空地"]; //預設圓點
comboBox_origin.Items.AddRange(Origin.Keys.ToArray());
comboBox_origin.Text = "西瓜皮空地";
comboBox_mapCenter.Items.AddRange(Origin.Keys.ToArray());
comboBox_mapCenter.Text = "西瓜皮空地";
/* GMap 初始參數 */
// 離線地圖
GMaps.Instance.Mode = AccessMode.CacheOnly;
string mapPath = Application.StartupPath + "\\bingmap.gmdb";
GMaps.Instance.ImportFromGMDB(mapPath);
gMapControl_main.DragButton = MouseButtons.Left;
gMapControl_main.MapProvider = GMapProviders.GoogleMap;
gMapControl_main.Position = coordinate.mapCenter;
gMapControl_main.MaxZoom = 24;
gMapControl_main.MinZoom = 3;
gMapControl_main.Zoom = 20;
gMapControl_main.ShowCenter = false;
gMapControl_main.Manager.Mode = AccessMode.ServerAndCache;
// default parameters
u2gFreq = 1;
route_seconds = 5;
displayPoint = (int)Math.Round(u2gFreq * route_seconds, 0, MidpointRounding.AwayFromZero);
comboBox_u2gFreq.Items.AddRange(new string[] { "1", "2", "3", "5", "10"});
comboBox_u2gFreq.Text = $"{u2gFreq}";
comboBox_routeDisplay.Items.AddRange(new string[] { "2", "5", "10", "15", "20", "All Routes" });
comboBox_routeDisplay.Text = $"{route_seconds}";
// definre List
for (int i = 0; i < default_UAVnumbers; i++)
{
markers_main.Add(new GMapOverlay("markers" + (i + 1))); // 定義每台無人機的markers
marker_of_uavRoute.Add(new GMapRoute(Name = "route" + (i + 1))); // 定義每台無人機的Gmap路線
routesBuffer.Add(new List<PointLatLng>()); // 定義每台無人機的軌跡路線空間
waypoints_pin.Add(new GMapOverlay("waypoints" + (i + 1))); // 定義每台無人機的WPs markers
gMapControl_main.Overlays.Add(waypoints_pin[i]);
gMapControl_main.Overlays.Add(markers_main[i]);
// 定義飛行數據之資料庫管道並開啟通道
try
{
// check UAV databases
if (!existDatabase($"uav{i+1}"))
{
MySqlConnection mConnection = new MySqlConnection("data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;" +
";pooling=true;charset=utf8;");
mConnection.Open();
MySqlCommand mySqlCommand = new MySqlCommand($"CREATE DATABASE uav{i+1};", mConnection);
mySqlCommand.ExecuteNonQuery();
mConnection.Close();
}
UAVs_flightData_conn.Add(new MySqlConnection($"data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;database=uav{i + 1};pooling=true;charset=utf8;"));
UAVs_flightData_conn[i].Open();
if (!existTable("flight_data"))
{
MySqlConnection mConnection = new MySqlConnection("data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;" +
";pooling=true;charset=utf8;");
string createStatement = @"create table `flight_data`(`Timestamp` double,
`Datetime` varchar(30),`Mode` varchar(20),`Mission` varchar(20),
`E` double,`N` DOUBLE,`U` double,`Speed` double,
`Roll` double,`Pitch` double,`Yaw` double,primary key(`Timestamp`)); ";
using (UAVs_flightData_conn[i])
{
using (MySqlCommand cmd = new MySqlCommand(createStatement, UAVs_flightData_conn[i]))
{
cmd.ExecuteNonQuery();
}
}
}
}
catch
{
textBox_info.SelectionColor = Color.SlateGray;
textBox_info.AppendText($"⚠️ cannot connect to the uav{i+1} database!" + Environment.NewLine);
}
}
try
{
// check timelist database
if (!existDatabase("timelist"))
{
MySqlConnection mConnection = new MySqlConnection("data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;" +
";pooling=true;charset=utf8;");
mConnection.Open();
MySqlCommand mySqlCommand = new MySqlCommand($"CREATE DATABASE timelist;", mConnection);
mySqlCommand.ExecuteNonQuery();
mConnection.Close();
}
if (timelist_conn.State != ConnectionState.Open)
timelist_conn.Open();
if (!existTable("timeline"))
{
string createStatement = @"create table `timeline`(`No.` int auto_increment,`Mission` varchar(20),
`Status` varchar(100),`GCS Timestamp` double,`Datatime` varchar(30),primary key(`No.`));";
using (timelist_conn)
{
using (MySqlCommand cmd = new MySqlCommand(createStatement, timelist_conn))
{
cmd.ExecuteNonQuery();
}
}
}
}
catch
{
textBox_info.SelectionColor = Color.SlateGray;
textBox_info.AppendText("⚠️ cannot connect to the timelist database!" + Environment.NewLine);
}
dataGridView_flghtData.DataSource = Buffers;
string[] command = new string[] { "Arm", "Disarm", "Guided", "RTL", "Stabilize", "POSHOLD", "position", "Land", "Loiter", "Alt_Hod", "Auto" };
comboBox_Command.Items.AddRange(command);
dataGridView_flghtData.ForeColor = Color.Black;
dataGridView_mission.ForeColor = Color.Black;
// 任務設定
skinComboBox_SEAD.Items.AddRange(Mission_setting.SEAD_mission.Keys.ToArray());
// Drone Skin Initiate
skinPictureBox_quadSkin.Image = new Bitmap($"../../image/quad_{Planes.quadSkinIndex}.tif");
skinPictureBox_quadSkin.Image.Tag = Planes.quadSkinIndex;
skinPictureBox_fixedwingSkin.Image = new Bitmap($"../../image/fixed-wing_{Planes.fixedwingSkinIndex}.tif");
skinPictureBox_fixedwingSkin.Image.Tag = Planes.fixedwingSkinIndex;
//Shortcut update
CreateShortcut("5895GCS", Environment.GetFolderPath(Environment.SpecialFolder.Desktop), Assembly.GetExecutingAssembly().Location);
}
public void setTag(Control cons)
{
foreach (Control con in cons.Controls)
{
con.Tag = con.Width + ";" + con.Height + ";" + con.Left + ";" + con.Top + ";" + con.Font.Size;
if (con.Controls.Count > 0)
{
setTag(con);
}
}
}
public void setControls(float newx, float newy, Control cons)
{
//遍歷窗體中的控制元件，重新設定控制元件的值
foreach (Control con in cons.Controls)
{
//獲取控制元件的Tag屬性值，並分割後儲存字串陣列
if (con.Tag != null)
{
string[] mytag = con.Tag.ToString().Split(new char[] { ';' });
//根據窗體縮放的比例確定控制元件的值
con.Width = Convert.ToInt32(Convert.ToSingle(mytag[0]) * newx);//寬度
con.Height = Convert.ToInt32(Convert.ToSingle(mytag[1]) * newy);//高度
con.Left = Convert.ToInt32(Convert.ToSingle(mytag[2]) * newx);//左邊距
con.Top = Convert.ToInt32(Convert.ToSingle(mytag[3]) * newy);//頂邊距
// Single currentSize = Convert.ToSingle(mytag[4]) * newy; //字型大小
// con.Font = new Font(con.Font.Name, currentSize, con.Font.Style, con.Font.Unit);//字型大小
if (con.Controls.Count > 0)
{
setControls(newx, newy, con);
}
}
}
}
private void GCS_5895_Resize(object sender, EventArgs e)
{
if (this.WindowState == FormWindowState.Maximized)
{
gMapControl_main.Height -= 34;
}
float newx = (this.Width) / x;
float newy = (this.Height) / y;
setControls(newx, newy, this);
if (this.WindowState == FormWindowState.Maximized)
{
gMapControl_main.Height += 34;
}
}
private void GCS_5895_FormClosing(object sender, FormClosingEventArgs e)
{
DialogResult dr = MessageBox.Show(this, "確定退出？", "退出視窗通知٩(✿∂‿∂✿)۶", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (dr != DialogResult.Yes)
{
e.Cancel = true;
}
}
public bool existDatabase(string databaseName)
{
MySqlConnection mConnection = new MySqlConnection("data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;" +
";pooling=true;charset=utf8;");
mConnection.Open();
MySqlCommand mySqlCommand = new MySqlCommand($@"SELECT * FROM information_schema.SCHEMATA where SCHEMA_NAME='{databaseName}'", mConnection);
MySqlDataReader mySqlDataReader = mySqlCommand.ExecuteReader();
while (mySqlDataReader.Read())
{
object name = mySqlDataReader.GetString(1);
if (name.ToString() == $"{databaseName}")
{
mConnection.Close();
return true;
}
}
mConnection.Close();
return false;
}
public bool existTable(string tableName)
{
MySqlConnection mConnection = new MySqlConnection("data source=127.0.0.1;;port=3306;user id=root;password=ncku5895;" +
";pooling=true;charset=utf8;");
mConnection.Open();
MySqlCommand mySqlCommand = new MySqlCommand($@"SELECT table_name FROM information_schema.TABLES WHERE table_name ='{tableName}';", mConnection);
if (mySqlCommand.ExecuteScalar() != null)
{
mConnection.Close();
return true;
}
mConnection.Close();
return false;
}
public static void CreateShortcut(string shortcutName, string shortcutPath, string targetFileLocation)
{
string deskTop = Environment.GetFolderPath(Environment.SpecialFolder.Desktop) + "\\";
if (System.IO.File.Exists(deskTop + shortcutName + ".lnk")) //
{
System.IO.File.Delete(deskTop + shortcutName + ".lnk");//刪除原來的桌面快捷鍵方式
}
WshShell shell = new WshShell();
//快捷鍵方式建立的位置、名稱
IWshShortcut shortcut = (IWshShortcut)shell.CreateShortcut(deskTop + shortcutName + ".lnk");
shortcut.TargetPath = targetFileLocation; //目標檔案
//該屬性指定應用程式的工作目錄，當用戶沒有指定一個具體的目錄時，快捷方式的目標應用程式將使用該屬性所指定的目錄來裝載或儲存檔案。
shortcut.WorkingDirectory = System.Environment.CurrentDirectory;
shortcut.WindowStyle = 1; //目標應用程式的視窗狀態分為普通、最大化、最小化【1,3,7】
shortcut.Description = shortcutName; //描述
shortcut.IconLocation = System.IO.Path.Combine(Environment.CurrentDirectory, @"..\..\image\GCS icon.ico"); //快捷方式圖示
shortcut.Arguments = "";
shortcut.Save(); //必須呼叫儲存快捷才成建立成功
}
[Obsolete]
private void button_Connect_Click(object sender, EventArgs e)
{
switch (button_Connect.Text)
{
case "Connect":
if (String.IsNullOrEmpty(comboBox_connectOption.Text) || String.IsNullOrEmpty(comboBox_PortOrBaud.Text))
{
MessageBox.Show("Please select a connect method (ʘ言ʘ╬)");
}
else if (comboBox_connectOption.Text == "UDP")
{
try
{
var myHost = Dns.GetHostByName(Dns.GetHostName());
client = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
client.Bind(new IPEndPoint(IPAddress.Parse(myHost.AddressList[0].ToString()), Int32.Parse(comboBox_PortOrBaud.Text.Remove(0, 6))));
client_connect = true;
// 連線成功後開啟背景執行接收訊息
BackgroundWorker bgw = new BackgroundWorker();
bgw.DoWork += backgroundReceiver;
bgw.RunWorkerAsync();
// 控件開啟
button_Publish.Enabled = true;
button_takeoff.Enabled = true;
button_FreqConfirm.Enabled = true;
skinButton_RTL.Enabled = true;
skinButton_HOLD.Enabled = true;
skinButton_loiter.Enabled = true;
skinButton_land.Enabled = true;
skinButton_arm.Enabled = true;
skinButton_disarm.Enabled = true;
skinButton_abort.Enabled = true;
button_Connect.Text = "Disconnect";
comboBox_connectOption.Enabled = false;
comboBox_PortOrBaud.Enabled = false;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
else if (comboBox_connectOption.Text.Contains("COM"))
{
try
{
XBee = new XBeeLibrary.Windows.DigiMeshDevice(comboBox_connectOption.Text, Int32.Parse(comboBox_PortOrBaud.Text.Remove(0, 6)));
XBee.Open(); //讀串口
G2U_points = new XBee_addr(XBee).G2U_points;
BackgroundWorker bgw = new BackgroundWorker();
bgw.DoWork += backgroundReceiver;
bgw.RunWorkerAsync();
button_Connect.Text = "Disconnect";
comboBox_connectOption.Enabled = false;
comboBox_PortOrBaud.Enabled = false;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
break;
case "Disconnect":
try
{
// 關閉串口通道
if (comboBox_connectOption.Text == "UDP")
{
client.Close();
client_connect = false;
}
else
{
XBee.Close();
}
// 初始化地圖
for (int i = 0; i < default_UAVnumbers; i++)
{
markers_main[i].Clear();
routesBuffer[i].Clear();
waypoints_pin[i].Clear();
waypoints.Clear();
}
gMapControl_main.Position = coordinate.mapCenter;
gMapControl_main.Zoom = 20;
// 初始化連線設定
comboBox_PortOrBaud.Text = string.Empty;
comboBox_PortOrBaud.Items.Clear();
comboBox_connectOption.Text = string.Empty;
button_Connect.Text = "Connect";
comboBox_connectOption.Enabled = true;
comboBox_PortOrBaud.Enabled = true;
// 初始化儲存空間
Buffers.Clear();
existing_UAVs.Clear();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
break;
}
}
// 背景執行訊息接收
void backgroundReceiver(object sender, EventArgs e)
{
string connectMethod = "";
this.Invoke(new Action(() =>
{
connectMethod = comboBox_connectOption.Text;
}));
if (connectMethod == "UDP")
{
EndPoint point = new IPEndPoint(IPAddress.Any, 0);
byte[] packet;
int UDPDate = 0;
double time_received;
while (client_connect)
{
try
{
packet = new byte[1024];
UDPDate = client.ReceiveFrom(packet, ref point); //接收數據
time_received = DateTime.UtcNow.Subtract(new DateTime(1970, 1, 1)).TotalSeconds;
Packet_Processing(packet, time_received);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
}
else
{
XBeeMessage xbee_message;
double time_received;
byte[] packet;
while (XBee.IsOpen)
{
try
{
xbee_message = XBee.ReadData();
time_received = DateTime.UtcNow.Subtract(new DateTime(1970, 1, 1)).TotalSeconds;
if (xbee_message != null)
{
packet = xbee_message.Data;
Packet_Processing(packet, time_received);
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
}
}
private string UAV_ID_text(int uav_id)
{
string name;
if (uav_id < 10)
{
name = $"UAV0{uav_id}";
}
else
{
name = $"UAV{uav_id}";
}
return name;
}
private void Packet_Processing(byte[] packet, double receive_time)
{
int uav_id = packet[1];
this.Invoke(new Action(() =>
{
// 查看是否為已登錄無人機
if (!existing_UAVs.Contains(uav_id))
{
existing_UAVs.Add(uav_id);
existing_UAVs.Sort();
Buffers.Add(new Packets(coordinate, uav_id));
dataGridView_flghtData.Sort(dataGridView_flghtData.Columns["UAV_ID"], ListSortDirection.Ascending);
comboBox_mapCenter.Items.Add(UAV_ID_text(uav_id));
checkBoxComboBox_UAVselect.Items.Add(UAV_ID_text(uav_id));
}
// 解封包
int select_index = existing_UAVs.IndexOf(uav_id);
Buffers[select_index].unpack_packet(packet, receive_time);
dataGridView_flghtData.InvalidateRow(select_index);
// 訊息種類
switch (Buffers[select_index].Mission)
{
case Message_ID.Default:
case Message_ID.Waypoints:
case Message_ID.SEAD_mission:
// 清除該無人機markers
markers_main[uav_id - 1].Clear();
// plot uav on map
markers_main[uav_id - 1].Markers.Add(Planes.AddDrone(Buffers[select_index].Lat, Buffers[select_index].Lng, Buffers[select_index].Heading,
Buffers[select_index].Frame_type, UAV_ID_text(uav_id), new SolidBrush(color_of_uavs[uav_id - 1])));
// follow UAV
if (lockMap)
{
if (comboBox_mapCenter.Text.Contains("UAV") && existing_UAVs.IndexOf(Int32.Parse(comboBox_mapCenter.Text.Remove(0, 3))) == select_index)
{
gMapControl_main.Position = new PointLatLng(Buffers[select_index].Lat, Buffers[select_index].Lng);
}
}
// plot route
routesBuffer[uav_id - 1].Add(new PointLatLng(Buffers[select_index].Lat, Buffers[select_index].Lng));
if (routesBuffer[uav_id - 1].Count > displayPoint && !allRouteCheck)
{
routesBuffer[uav_id - 1] = routesBuffer[uav_id - 1].GetRange(routesBuffer[uav_id - 1].Count - displayPoint, displayPoint);
}
marker_of_uavRoute[uav_id - 1] = new GMapRoute(routesBuffer[uav_id - 1], marker_of_uavRoute[uav_id - 1].Name);
marker_of_uavRoute[uav_id - 1].Stroke = new Pen(color_of_uavs[uav_id - 1], 2);
markers_main[uav_id - 1].Routes.Add(marker_of_uavRoute[uav_id - 1]);
// 存進資料庫
try
{
DateTime dateTime = new DateTime(1970, 1, 1, 0, 0, 0).AddHours(8).AddSeconds(Buffers[select_index].GCS_timestamp);
string flightdata_sql = $@"insert into `flight_data` values
('{Buffers[select_index].UAV_timestamp}', '{dateTime}', '{Buffers[select_index].Mode}', '{Buffers[select_index].Mission}',
'{Buffers[select_index].E}', '{Buffers[select_index].N}', '{Buffers[select_index].U}', '{Buffers[select_index].Speed}',
'{Buffers[select_index].Roll}', '{Buffers[select_index].Pitch}', '{Buffers[select_index].Yaw}');";
MySqlCommand cmd = new MySqlCommand(flightdata_sql, UAVs_flightData_conn[uav_id - 1]);
cmd.ExecuteNonQuery();
}
catch { }
break;
case Message_ID.Time_Syncronize: // 時間同步校正
if (comboBox_connectOption.Text == "UDP")
{
client.SendTo(Buffers[select_index].pack_time_synchronize_packet(receive_time), connectPort);
}
else
{
XBee.SendData(G2U_points[uav_id], Buffers[select_index].pack_time_synchronize_packet(receive_time));
}
break;
case Message_ID.info: // 顯示無人機回傳訊息
textBox_info.SelectionColor = Color.Red;
textBox_info.AppendText($"UAV{uav_id} ");
textBox_info.SelectionColor = Color.Black;
textBox_info.AppendText(Buffers[select_index].Info + Environment.NewLine);
break;
case Message_ID.Record_Time: // 紀錄時間並顯示資訊
try
{
DateTime dateTime = new DateTime(1970, 1, 1, 0, 0, 0).AddHours(8).AddSeconds(Buffers[select_index].GCS_timestamp);
string timeline_sql = $@"insert into `timeline` (`Mission`, `Status`, `UAV Timestamp`, `GCS Timestamp`, `Datatime`)
values('{Buffers[select_index].Mission}',
'UAV{uav_id} {Buffers[select_index].Info}',
{Buffers[select_index].UAV_timestamp}, {receive_time}, '{dateTime}');";
MySqlCommand cmd = new MySqlCommand(timeline_sql, timelist_conn);
cmd.ExecuteNonQuery();
textBox_info.SelectionColor = Color.MediumSlateBlue;
textBox_info.AppendText($"UAV{uav_id} ");
textBox_info.SelectionColor = Color.Black;
textBox_info.AppendText($"{Buffers[select_index].Info} --- " +
$"{Math.Round(Buffers[select_index].UAV_timestamp, 3, MidpointRounding.AwayFromZero)}, " +
$"{Math.Round(receive_time, 3, MidpointRounding.AwayFromZero)}" + Environment.NewLine);
}
catch { }
break;
}
}));
}
// 更換地圖中心
private void comboBox_mapCenter_SelectedIndexChanged(object sender, EventArgs e)
{
if (comboBox_mapCenter.Text.Contains("UAV"))
{
var select_uav_center = existing_UAVs.IndexOf(Int32.Parse(comboBox_mapCenter.Text.Remove(0, 3)));
gMapControl_main.Position = new PointLatLng(Buffers[select_uav_center].Lat, Buffers[select_uav_center].Lng);
}
else
{
gMapControl_main.Position = Origin[comboBox_mapCenter.Text].mapCenter;
gMapControl_main.Zoom = 20;
}
}
// read existing COM ports
private void comboBox_connectOption_DropDown(object sender, EventArgs e)
{
string[] port = SerialPort.GetPortNames();
Array.Sort(port);
comboBox_connectOption.Items.Clear();
comboBox_connectOption.Items.Add("UDP");
comboBox_connectOption.Items.AddRange(port);
}
// choose (COM: Baud) or (UDP: port)
private void comboBox_connectOption_SelectedIndexChanged(object sender, EventArgs e)
{
if (comboBox_connectOption.Text == "UDP")
{
comboBox_PortOrBaud.Text = string.Empty;
comboBox_PortOrBaud.Items.Clear();
comboBox_PortOrBaud.Items.Add($"Port: {port_number}");
}
else if (comboBox_connectOption.Text != "UDP" && !String.IsNullOrEmpty(comboBox_connectOption.Text))
{
comboBox_PortOrBaud.Text = string.Empty;
comboBox_PortOrBaud.Items.Clear();
comboBox_PortOrBaud.Items.AddRange(baudRate);
}
}
private void checkBox_allUAVselect_CheckedChanged(object sender, EventArgs e)
{
if (checkBox_allUAVselect.Checked)
{
if (existing_UAVs.Any())
{
checkBoxComboBox_UAVselect.Enabled = false;
}
else
{
checkBox_allUAVselect.Checked = false;
MessageBox.Show("No existing UAV ༼つ ͡◕_ ͡◕ ༽つ");
}
}
else
{
checkBoxComboBox_UAVselect.Enabled = true;
}
}
private void button_Publish_Click(object sender, EventArgs e)
{
if ((!string.IsNullOrEmpty(checkBoxComboBox_UAVselect.Text) || checkBox_allUAVselect.Checked) && !string.IsNullOrEmpty(comboBox_Command.Text))
{
commandsTransmit(comboBox_Command.Text);
}
else
{
MessageBox.Show("Please fil in the command or UAV ༼つ ͡◕_ ͡◕ ༽つ");
}
}
private void button_guideClear_Click(object sender, EventArgs e)
{
textBox_wpE.Text = string.Empty;
textBox_wpN.Text = string.Empty;
textBox_wpU.Text = string.Empty;
if (!String.IsNullOrEmpty(comboBox_guideWP.Text))
{
int uav_id = Int32.Parse(comboBox_guideWP.Text.Remove(0, 3));
waypoints_pin[uav_id - 1].Clear();
waypoints.RemoveAll(p => p.UAV_ID == uav_id && p.Type == WaypointMissionMethod.guide_waypoint);
comboBox_guideWP.Text = string.Empty;
}
if (!waypoints.Any(p => p.Type == WaypointMissionMethod.guide_waypoint))
{
skinButton_pubWP.Enabled = false;
skinButton_clearWPs.Enabled = false;
}
textBox_WPguided.Text = string.Empty;
foreach (Waypoints wp in waypoints)
{
if (wp.Type == WaypointMissionMethod.guide_waypoint)
{
textBox_WPguided.AppendText($"UAV{wp.UAV_ID}: " +
$"[{wp.waypoints[0][0]}, {wp.waypoints[0][1]}, {wp.waypoints[0][2]}]" + Environment.NewLine);
}
}
}
private void comboBox_routeDisplay_SelectedIndexChanged(object sender, EventArgs e)
{
if (comboBox_routeDisplay.Text == "All Routes")
{
allRouteCheck = true; // 顯示所有動態路線之變數
}
else
{
route_seconds = Int32.Parse(comboBox_routeDisplay.Text); // 顯示(route_seconds)秒前的軌跡
displayPoint = (int)Math.Round(u2gFreq * route_seconds, 0, MidpointRounding.AwayFromZero);
allRouteCheck = false;
}
}
private void button_FreqConfirm_Click(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(checkBoxComboBox_UAVselect.Text) || checkBox_allUAVselect.Checked)
{
u2gFreq = Convert.ToDouble(comboBox_u2gFreq.Text);
foreach (Packets uav in Buffers)
{
if (comboBox_connectOption.Text == "UDP")
{
client.SendTo(uav.pack_commFreqAdjust_packet("U2G", u2gFreq), connectPort);
}
else
{
XBee.SendData(G2U_points[uav.UAV_ID], uav.pack_commFreqAdjust_packet("U2G", u2gFreq));
}
}
}
else
{
MessageBox.Show("Please fil in the UAV ༼つ ͡◕_ ͡◕ ༽つ");
}
}
private void button_WPconfirm_Click(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(comboBox_guideWP.Text) && !string.IsNullOrEmpty(textBox_wpE.Text)
&& !string.IsNullOrEmpty(textBox_wpN.Text) && !string.IsNullOrEmpty(textBox_wpU.Text))
{
int uav_id = Int32.Parse(comboBox_guideWP.Text.Remove(0, 3));
double[] enu;
if (string.IsNullOrEmpty(textBox_wpYaw.Text))
{
enu = new double[] { Double.Parse(textBox_wpE.Text), Double.Parse(textBox_wpN.Text), Double.Parse(textBox_wpU.Text) };
}
else
{
enu = new double[] { Double.Parse(textBox_wpE.Text), Double.Parse(textBox_wpN.Text), Double.Parse(textBox_wpU.Text),
Double.Parse(textBox_wpYaw.Text)};
}
var lla = coordinate.enu2llh(enu[0], enu[1], enu[2]);
waypoints_pin[uav_id - 1].Clear();
GMarkerGoogle target = new GMarkerGoogle(new PointLatLng(lla[0], lla[1]), GMarkerGoogleType.blue);
waypoints_pin[uav_id - 1].Markers.Add(target);
int select_index = existing_UAVs.IndexOf(uav_id);
List<PointLatLng> route = new List<PointLatLng>() {
new PointLatLng(Buffers[select_index].Lat, Buffers[select_index].Lng), new PointLatLng(lla[0], lla[1]) };
GMapRoute wp_route = new GMapRoute(route, $"UAV{uav_id} wp")
{
Stroke = new Pen(Color.DarkGray, 2)
};
wp_route.Stroke.DashStyle = DashStyle.Dash;
waypoints_pin[uav_id - 1].Routes.Add(wp_route);
var matches = waypoints.Find(p => p.UAV_ID == uav_id && p.Type == WaypointMissionMethod.guide_waypoint);
if (matches != null)
{
matches.waypoints.Clear();
matches.waypoints.Add(enu);
}
else
{
waypoints.Add(new Waypoints(uav_id, enu, WaypointMissionMethod.guide_waypoint));
}
comboBox_guideWP.Text = string.Empty;
textBox_wpE.Text = string.Empty;
textBox_wpN.Text = string.Empty;
skinButton_pubWP.Enabled = true;
skinButton_clearWPs.Enabled = true;
textBox_WPguided.Text = string.Empty;
foreach (Waypoints wp in waypoints)
{
if (wp.Type == WaypointMissionMethod.guide_waypoint)
{
if (wp.waypoints[0].Count() == 3)
{
textBox_WPguided.AppendText($"UAV{wp.UAV_ID}→" +
$"({wp.waypoints[0][0]}, {wp.waypoints[0][1]}, {wp.waypoints[0][2]})" + Environment.NewLine);
}
else
{
textBox_WPguided.AppendText($"UAV{wp.UAV_ID}→" +
$"({wp.waypoints[0][0]}, {wp.waypoints[0][1]}, {wp.waypoints[0][2]}) with {wp.waypoints[0][3]}(deg)" + Environment.NewLine);
}
}
}
}
else
{
MessageBox.Show("Please fill in waypoint or UAV.༼つ ͡◕_ ͡◕ ༽つ");
}
}
private void gMapControl_main_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Space)
{
lockMap = false;
}
}
private void button_sortDataGrid_Click(object sender, EventArgs e)
{
// 刷新並調整顯示表格
dataGridView_flghtData.AutoResizeColumns();
}
private void comboBox_missionUAV_DropDown(object sender, EventArgs e)
{
comboBox_missionUAV.Items.Clear();
foreach (int uav_id in existing_UAVs)
{
comboBox_missionUAV.Items.Add(UAV_ID_text(uav_id));
}
}
private void button_missionPrepare_Click(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(comboBox_missionUAV.Text) && !string.IsNullOrEmpty(comboBox_missionTypeMission.Text) &&
!string.IsNullOrEmpty(comboBox_missionMethod.Text))
{
int uav_id = Int32.Parse(comboBox_missionUAV.Text.Remove(0, 3));
int select_index = existing_UAVs.IndexOf(uav_id);
waypoints.RemoveAll(p => p.UAV_ID == uav_id && p.Type != WaypointMissionMethod.guide_waypoint);
var start_pos = new double[] { Buffers[select_index].E, Buffers[select_index].N, Buffers[select_index].U,
Buffers[select_index].Heading};
var mission = Mission_setting.path_mission[comboBox_missionTypeMission.Text].Deepcopy();
mission.UAV_ID = uav_id;
mission.Type = Mission_setting.WaypointMissionMethod_name[comboBox_missionMethod.Text];
mission.start_position = start_pos;
waypoints.Add(mission);
var matches = waypoints.Last();
// plot on map (preplan)
try
{
var overlay = gMapControl_WPs.Overlays.First(p => p.Id == $"preplan {UAV_ID_text(uav_id)}");
overlay.Markers.Clear();
overlay.Routes.Clear();
}
catch
{
gMapControl_WPs.Overlays.Add(new GMapOverlay($"preplan {UAV_ID_text(uav_id)}"));
}
finally
{
List<PointLatLng> wps;
var overlay = gMapControl_WPs.Overlays.First(p => p.Id == $"preplan {UAV_ID_text(uav_id)}");
if (matches.Type == WaypointMissionMethod.CraigReynolds_Path_Following)
{
wps = new List<PointLatLng>() { };
}
else
{
wps = new List<PointLatLng>() { new PointLatLng(Buffers[select_index].Lat, Buffers[select_index].Lng) };
}
// add wps (default mission)
dataGridView_mission.Rows.Clear();
if (matches.waypoints.Count != 0)
{
dataGridView_mission.Rows.Add(matches.waypoints.Count);
}
var dubins = new DubinsPath();
for (int i = 0; i < matches.waypoints.Count; i++)
{
var wp = matches.waypoints[i];
var lla = coordinate.enu2llh(wp[0], wp[1], wp[2]);
overlay.Markers.Add(Planes.AddWaypoint(lla[0], lla[1], i + 1, GMarkerGoogleType.green));
if (matches.Type == WaypointMissionMethod.CraigReynolds_Path_Following &&
matches.pathFollowing_method == pathFollowingMethod.dubinsPath_following_velocity_PID)
{
try
{
var path = dubins.Dubins_shortestPath(new double[] { wp[0], wp[1], wp[3]},
new double[] { matches.waypoints[i + 1][0], matches.waypoints[i + 1][1], matches.waypoints[i + 1][3] }, matches.Rmin);
foreach (Vector3 point in path)
{
lla = coordinate.enu2llh(point.X, point.Y, point.Z);
wps.Add(new PointLatLng(lla[0], lla[1]));
}
}
catch { }
}
else
{
wps.Add(new PointLatLng(lla[0], lla[1]));
}
dataGridView_mission.Rows[i].Cells["order"].Value = i + 1;
dataGridView_mission.Rows[i].Cells["E"].Value = wp[0];
dataGridView_mission.Rows[i].Cells["N"].Value = wp[1];
dataGridView_mission.Rows[i].Cells["U"].Value = wp[2];
try { dataGridView_mission.Rows[i].Cells["heading"].Value = wp[3]; }
catch { }
dataGridView_mission.Rows[i].Cells["up"].Value = "▲";
dataGridView_mission.Rows[i].Cells["down"].Value = "▼";
dataGridView_mission.Rows[i].Cells["delete"].Value = "X";
}
dataGridView_mission.AutoResizeColumns();
GMapRoute ref_route = new GMapRoute(wps, $"preplan {UAV_ID_text(uav_id)}")
{
Stroke = new Pen(color_of_uavs[uav_id - 1], 4)
};
overlay.Routes.Add(ref_route);
overlay.Markers.Add(Planes.AddDrone(Buffers[select_index].Lat, Buffers[select_index].Lng, Buffers[select_index].Heading,
Buffers[select_index].Frame_type, UAV_ID_text(uav_id), new SolidBrush(color_of_uavs[uav_id - 1])));
button_missionConfirm.Enabled = true;
button_missionClear.Enabled = true;
}
}
else
{
MessageBox.Show("Mission inputs are missing ~");
}
}
private void button_startMission_Click(object sender, EventArgs e)
{
gMapControl_WPs.DragButton = MouseButtons.Left;
gMapControl_WPs.MapProvider = GMapProviders.GoogleMap;
gMapControl_WPs.Position = coordinate.mapCenter;
gMapControl_WPs.MaxZoom = 24;
gMapControl_WPs.MinZoom = 3;
gMapControl_WPs.Zoom = 19;
gMapControl_WPs.ShowCenter = false;
gMapControl_WPs.Manager.Mode = AccessMode.ServerAndCache;
comboBox_missionTypeMission.Enabled = true;
comboBox_missionUAV.Enabled = true;
comboBox_missionMethod.Enabled = true;
button_missionPrepare.Enabled = true;
button_missionCancel.Enabled = true;
// mission setting
comboBox_missionTypeMission.Items.Clear();
comboBox_missionTypeMission.Items.AddRange(Mission_setting.path_mission.Keys.ToArray());
comboBox_missionMethod.Items.Clear();
comboBox_missionMethod.Items.AddRange(Mission_setting.WaypointMissionMethod_name.Keys.ToArray());
}
private void button_missionCancel_Click(object sender, EventArgs e)
{
dataGridView_mission.Rows.Clear();
if (!String.IsNullOrEmpty(comboBox_missionUAV.Text))
{
var uav_id = Int32.Parse(comboBox_missionUAV.Text.Remove(0, 3));
waypoints.RemoveAll(p => p.UAV_ID == uav_id && p.Type != WaypointMissionMethod.guide_waypoint);
try
{
var overlay = gMapControl_WPs.Overlays.First(p => p.Id == $"preplan {UAV_ID_text(uav_id)}");
overlay.Markers.Clear();
overlay.Routes.Clear();
}
catch { }
}
if (waypoints.Find(p => p.Type != WaypointMissionMethod.guide_waypoint) == null)
{
skinComboBox_PubMission.Items.Remove("Waypoints mission");
}
comboBox_missionTypeMission.Text = string.Empty;
comboBox_missionUAV.Text = string.Empty;
comboBox_missionMethod.Text = string.Empty;
}
private void gMapControl_mission_MouseClick(object sender, MouseEventArgs e)
{
if (!skinButton_adjustMission.Enabled && e.Button == MouseButtons.Right && !String.IsNullOrEmpty(comboBox_missionUAV.Text) && !String.IsNullOrEmpty(comboBox_missionTypeMission.Text))
{