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dummy_drone
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gunther82 2022-06-09 17:38:08 +02:00
parent e1e6569e93
commit ddc5e8ff39
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.DS_Store vendored Normal file
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 16
VisualStudioVersion = 16.0.31702.278
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "dummy_drone", "dummy_drone\dummy_drone.csproj", "{3A1775D1-D2DC-464A-88D0-01B93C142357}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{3A1775D1-D2DC-464A-88D0-01B93C142357}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{3A1775D1-D2DC-464A-88D0-01B93C142357}.Debug|Any CPU.Build.0 = Debug|Any CPU
{3A1775D1-D2DC-464A-88D0-01B93C142357}.Release|Any CPU.ActiveCfg = Release|Any CPU
{3A1775D1-D2DC-464A-88D0-01B93C142357}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {880CC511-2400-485E-B5B5-502D09454F75}
EndGlobalSection
EndGlobal

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<Application x:Class="dummy_drone.App"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
xmlns:local="clr-namespace:dummy_drone"
StartupUri="MainWindow.xaml">
<Application.Resources>
<ResourceDictionary>
<ResourceDictionary.MergedDictionaries>
<materialDesign:BundledTheme BaseTheme="Dark" PrimaryColor="Yellow" SecondaryColor="DeepOrange"
ColorAdjustment="{materialDesign:ColorAdjustment}" />
<ResourceDictionary Source="pack://application:,,,/MaterialDesignThemes.Wpf;component/Themes/MaterialDesignTheme.Defaults.xaml" />
</ResourceDictionary.MergedDictionaries>
</ResourceDictionary>
</Application.Resources>
</Application>

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dummy_drone/App.xaml.cs Normal file
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using System;
using System.Collections.Generic;
using System.Configuration;
using System.Data;
using System.Linq;
using System.Threading.Tasks;
using System.Windows;
namespace dummy_drone
{
/// <summary>
/// Interaction logic for App.xaml
/// </summary>
public partial class App : Application
{
}
}

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dummy_drone/AssemblyInfo.cs Normal file
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using System.Windows;
[assembly: ThemeInfo(
ResourceDictionaryLocation.None, //where theme specific resource dictionaries are located
//(used if a resource is not found in the page,
// or application resource dictionaries)
ResourceDictionaryLocation.SourceAssembly //where the generic resource dictionary is located
//(used if a resource is not found in the page,
// app, or any theme specific resource dictionaries)
)]

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<Window
x:Class="dummy_drone.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:local="clr-namespace:dummy_drone"
xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
xmlns:smtx="clr-namespace:ShowMeTheXAML;assembly=ShowMeTheXAML"
TextElement.Foreground="{DynamicResource MaterialDesignBody}"
TextElement.FontWeight="Regular"
TextElement.FontSize="13"
TextOptions.TextFormattingMode="Ideal"
TextOptions.TextRenderingMode="Auto"
Background="{DynamicResource MaterialDesignPaper}"
FontFamily="{DynamicResource MaterialDesignFont}"
mc:Ignorable="d"
Title="Drone Control" Height="800" Width="800">
<Window.Resources>
<Style TargetType="{x:Type TextBox}" BasedOn="{StaticResource MaterialDesignTextBox}">
<Setter Property="Margin" Value="0,8"/>
<Setter Property="VerticalAlignment" Value="Center"/>
</Style>
<Style TargetType="{x:Type Viewbox}">
<Setter Property="Width" Value="18"/>
<Setter Property="Height" Value="18"/>
<Setter Property="Margin" Value="0 0 8 0"/>
<Setter Property="VerticalAlignment" Value="Center"/>
</Style>
</Window.Resources>
<StackPanel Margin="20 25 20 20">
<Grid>
<Grid.ColumnDefinitions>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="100"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="100"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="10"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
<ColumnDefinition Width="Auto"/>
</Grid.ColumnDefinitions>
<Grid.RowDefinitions>
<RowDefinition Height="40"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="40"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
</Grid.RowDefinitions>
<TextBlock
Grid.Row="0"
Grid.Column="0"
Grid.ColumnSpan="2"
Style="{StaticResource MaterialDesignHeadline6TextBlock}"
Text="Open Connection"/>
<materialDesign:PackIcon
Grid.Row="1"
Grid.Column="0"
Kind="Web"
Foreground="{Binding BorderBrush, ElementName=IPTextBox}"
VerticalAlignment="Center"/>
<TextBox
Grid.Row="1"
Grid.Column="1"
x:Name="IPTextBox"
Text="192.168.1.4"
materialDesign:HintAssist.Hint="IP Address"/>
<materialDesign:PackIcon
Grid.Row="1"
Grid.Column="2"
Kind="Door"
Foreground="{Binding BorderBrush, ElementName=PortTextBox}"
VerticalAlignment="Center"/>
<TextBox
Grid.Row="1"
Grid.Column="3"
x:Name="PortTextBox"
Text="8080"
materialDesign:HintAssist.Hint="Port"
VerticalAlignment="Center"/>
<Button
x:Name="ButtonConnect"
Grid.Row="1"
Grid.Column="4"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="Start Server"
Click="btnStart_Click"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="LanConnect"/>
</Button>
<Button
x:Name="ButtonDisconnect"
Grid.Row="1"
Grid.Column="5"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="Close Server"
Click="btnStop_Click"
IsEnabled="{Binding DataContext.ControlsEnabled, RelativeSource={RelativeSource FindAncestor, AncestorType={x:Type Window}}}"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="LanDisconnect"/>
</Button>
<TextBlock
Grid.Row="2"
Grid.Column="10"
Grid.ColumnSpan="2"
Style="{StaticResource MaterialDesignSubtitle1TextBlock}"
Text="Messages Box"/>
<Button
x:Name="statusButton"
Grid.Row="2"
Grid.Column="1"
ToolTip="get drone info"
Click="btnGet_Info"
Height="25"
Width="70">
<materialDesign:PackIcon Kind="Information"/>
</Button>
<RichTextBox
x:Name="rtbx"
Grid.Row="3"
Grid.Column="10"
materialDesign:HintAssist.Hint=""
Height="Auto"
Width="Auto">
<FlowDocument>
<Paragraph/>
</FlowDocument>
</RichTextBox>
<TextBox
Grid.Row="5"
Grid.Column="1"
x:Name="MSGTextBox"
Text="Hello"
materialDesign:HintAssist.Hint="IP Address"/>
<TextBox
Grid.Row="6"
Grid.Column="1"
x:Name="MSGSetSpeed"
materialDesign:HintAssist.Hint="Speed (0-15.0m/s)"/>
<Button
x:Name="ButtonConfigWP"
Grid.Row="6"
Grid.Column="2"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="Send config"
Click="btnSend_ConfigWP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Settings"/>
</Button>
<TextBox
Grid.Row="6"
Grid.Column="4"
x:Name="SetAltitudeWP"
materialDesign:HintAssist.Hint="Altitude"/>
<TextBox
Grid.Row="6"
Grid.Column="6"
x:Name="SetLatitudeWP"
materialDesign:HintAssist.Hint="Latitude"/>
<TextBox
Grid.Row="6"
Grid.Column="8"
x:Name="SetLongitudeWP"
materialDesign:HintAssist.Hint="Longitude"/>
<Button
x:Name="ButtonCreateWP"
Grid.Row="6"
Grid.Column="9"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="create WP"
Click="btnSend_CreateWP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Tools"/>
</Button>
<Button
x:Name="ButtonUploadeWP"
Grid.Row="6"
Grid.Column="10"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="upload WP"
Click="btnSend_UploadWP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Upload"/>
</Button>
<Button
x:Name="ButtonStartWP"
Grid.Row="6"
Grid.Column="11"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="start WP"
Click="btnSend_startWP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="DirectionsBoat"/>
</Button>
<Button
x:Name="ButtonPauseWP"
Grid.Row="6"
Grid.Column="12"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="pause WP"
Click="btnSend_pauseWP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Pause"/>
</Button>
<Button
x:Name="ButtonResWP"
Grid.Row="6"
Grid.Column="13"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="resume WP"
Click="btnSend_resumeWP"
Height="30"
Width="30" RenderTransformOrigin="1.887,0.538">
<materialDesign:PackIcon Kind="Resume"/>
</Button>
<Button
x:Name="ButtonStopWP"
Grid.Row="6"
Grid.Column="14"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="stop WP"
Click="btnSend_stopWP"
Height="30"
Width="30" Grid.ColumnSpan="2" HorizontalAlignment="Left" Margin="30,5,0,5">
<materialDesign:PackIcon Kind="Stop" RenderTransformOrigin="3.413,0.321"/>
</Button>
<Button
x:Name="ButtonDelWP"
Grid.Row="7"
Grid.Column="14"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="del WP"
Click="btnSend_delWP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Delete"/>
</Button>
<Button
x:Name="ButtonStartHP"
Grid.Row="8"
Grid.Column="9"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="start HP"
Click="btnSend_startHP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="PlayArrow"/>
</Button>
<Button
x:Name="ButtonPauseHP"
Grid.Row="8"
Grid.Column="10"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="pause HP"
Click="btnSend_pauseHP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="MotionPause"/>
</Button>
<Button
x:Name="ButtonResumeHP"
Grid.Row="8"
Grid.Column="11"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="pause HP"
Click="btnSend_resumeHP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Resume"/>
</Button>
<Button
x:Name="ButtonStopHP"
Grid.Row="8"
Grid.Column="12"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="stop HP"
Click="btnSend_stopHP"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Stop"/>
</Button>
<TextBox
Grid.Row="8"
Grid.Column="1"
x:Name="SetAltitudeHP"
materialDesign:HintAssist.Hint="Altitude"/>
<TextBox
Grid.Row="8"
Grid.Column="3"
x:Name="SetLatitudeHP"
materialDesign:HintAssist.Hint="Latitude"/>
<TextBox
Grid.Row="8"
Grid.Column="5"
x:Name="SetLongitudeHP"
materialDesign:HintAssist.Hint="Longitude"/>
<TextBox
Grid.Row="8"
Grid.Column="8"
x:Name="SetRadiusHP"
materialDesign:HintAssist.Hint="Radius"/>
<TextBox
Grid.Row="9"
Grid.Column="1"
x:Name="SetAltitudeFM"
materialDesign:HintAssist.Hint="Altitude"/>
<TextBox
Grid.Row="9"
Grid.Column="3"
x:Name="SetLatitudeFM"
materialDesign:HintAssist.Hint="Latitude"/>
<TextBox
Grid.Row="9"
Grid.Column="5"
x:Name="SetLongitudeFM"
materialDesign:HintAssist.Hint="Longitude"/>
<Button
x:Name="ButtonStartFM"
Grid.Row="9"
Grid.Column="8"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="start HP"
Click="btnSend_startFM"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="PlayArrow"/>
</Button>
<Button
x:Name="ButtonStopFM"
Grid.Row="9"
Grid.Column="9"
Style="{StaticResource MaterialDesignFloatingActionMiniDarkButton}"
ToolTip="stop HP"
Click="btnSend_stopFM"
Height="30"
Width="30">
<materialDesign:PackIcon Kind="Stop"/>
</Button>
</Grid>
</StackPanel>
</Window>

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using NadLibrary;
using System;
using System.Windows;
using System.Collections.Generic;
using System.Windows.Threading;
using System.Threading;
namespace dummy_drone
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
public MainWindow()
{
InitializeComponent();
}
DispatcherTimer timer = new DispatcherTimer();
NadSystem nad = new NadSystem();
List<string> remoteIp = null;
double latitude_f = 43.719259015524976;
double longitude_f = 10.421048893480233;
double latitude_up;
double longitude_up;
int altitude;
double a = (Math.PI / 180.0) * 45.0;
Random r = new Random();
public void initializeTimer()
{
timer.Interval = TimeSpan.FromSeconds(10);
timer.Tick += timer_Tick;
timer.Start();
}
private void timer_Tick(object sender, EventArgs e)
{
double lat0 = Math.Cos(Math.PI / 180.0 * latitude_f);
latitude_up = latitude_f + (180.0 / Math.PI) * (10.0 / 6378137.0) * Math.Sin(a);
longitude_up = longitude_f + (180 / Math.PI) * (10.0 / 6378137.0) / Math.Cos(lat0) * Math.Cos(a);
altitude = r.Next(10, 60);
latitude_f = latitude_up;
longitude_f = longitude_up;
showmsg();
nad.NADPopulateListCoordinate(latitude_f.ToString(), longitude_f.ToString(), altitude.ToString());
//nad.NADUpdateShipCoord(latitude_f.ToString(), longitude_f.ToString());
}
private void btnStart_Click(object sender, RoutedEventArgs e)
{
nad.NADOpenConnection(IPTextBox.Text, PortTextBox.Text);
nad.NADPopulateListCoordinate("43.71967438461098", "10.420797021964137", "40");
nad.NADPopulateListCoordinate("43.71968213866057", "10.421413929976033", "30");
nad.NADPopulateListCoordinate("43.72014350280539", "10.4228730515346", "20");
nad.NADPopulateListCoordinate("43.720825039296045", "10.424706602137107", "20");
nad.NADPopulateListCoordinate("43.72266628185771", "10.422610492949717", "20");
//initializeTimer();
//showmsg();
//Thread thread = new Thread(showmsg);
//thread.IsBackground = true;
//thread.Start();
}
private void btnStop_Click(object sender, RoutedEventArgs e)
{
//showmsg(MSGTextBox.Text);
//nad.Send_tcp_msg(MSGTextBox.Text + "\r\n");
//nad.NADGetDroneStatus();
nad.NADCloseConnection();
}
private void btnSend_ConfigWP(object sender, RoutedEventArgs e)
{
//showmsg(MSGSetSpeed.Text);
//nad.NADUpdateShip(MSGSetSpeed.Text);
nad.NADSetSpeed(MSGSetSpeed.Text);
}
private void btnSend_CreateWP(object sender, RoutedEventArgs e)
{
//nad.NADSendCoordinate(SetLatitudeWP.Text, SetLongitudeWP.Text, SetAltitudeWP.Text);
//nad.NADSendListCoord();
}
private void btnSend_UploadWP(object sender, RoutedEventArgs e)
{
//nad.NADUploadMobMission();
}
private void btnSend_startWP(object sender, RoutedEventArgs e)
{
nad.NADStartMobMission();
}
private void btnGet_Info(object sender, RoutedEventArgs e)
{
string msg = nad.NADGetDroneStatus();
System.Diagnostics.Trace.WriteLine("Message from client " + msg);
}
private void btnSend_pauseWP(object sender, RoutedEventArgs e)
{
nad.NADPauseMobMission();
}
private void btnSend_resumeWP(object sender, RoutedEventArgs e)
{
nad.NADResumeMobMission();
}
private void btnSend_stopWP(object sender, RoutedEventArgs e)
{
nad.NADStopMobMission();
}
private void btnSend_delWP(object sender, RoutedEventArgs e)
{
nad.NADDelPos();
}
private void btnSend_startHP(object sender, RoutedEventArgs e)
{
nad.NADSearchAtPos(SetLatitudeHP.Text, SetLongitudeHP.Text, SetAltitudeHP.Text, SetRadiusHP.Text);
}
private void btnSend_pauseHP(object sender, RoutedEventArgs e)
{
nad.NADPauseSearchAt();
}
private void btnSend_resumeHP(object sender, RoutedEventArgs e)
{
nad.NADResumeSearchAt();
}
private void btnSend_stopHP(object sender, RoutedEventArgs e)
{
nad.NADStopSearchAt();
}
private void btnSend_startFM(object sender, RoutedEventArgs e)
{
latitude_f = double.Parse(SetLatitudeFM.Text, System.Globalization.CultureInfo.InvariantCulture);
longitude_f = double.Parse(SetLongitudeFM.Text, System.Globalization.CultureInfo.InvariantCulture);
System.Diagnostics.Trace.WriteLine("Longitude init " + longitude_f);
System.Diagnostics.Trace.WriteLine("Latitude init " + latitude_f);
nad.NADFollowShip(SetLatitudeFM.Text, SetLongitudeFM.Text, SetAltitudeFM.Text);
initializeTimer();
}
private void btnSend_stopFM(object sender, RoutedEventArgs e)
{
timer.Stop();
nad.NADStopFollowShip();
}
private void showmsg()
{
string p = nad.GetMSG();
System.Diagnostics.Trace.WriteLine("Message from client " + p);
if (string.IsNullOrEmpty(p))
{
p = "Nessun messaggio";
}
System.Diagnostics.Trace.WriteLine("Message from client " + p);
Dispatcher.BeginInvoke(new Action(() =>
{
//rtbx.AppendText(p + "\r\n");
MSGTextBox.Text = p;
}));
}
}
}

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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<OutputType>WinExe</OutputType>
<TargetFramework>net5.0-windows</TargetFramework>
<UseWPF>true</UseWPF>
<ApplicationIcon />
<StartupObject></StartupObject>
<Win32Resource />
</PropertyGroup>
<ItemGroup>
<PackageReference Include="MaterialDesignColors" Version="2.0.3" />
<PackageReference Include="MaterialDesignThemes" Version="4.2.1" />
<PackageReference Include="MaterialDesignThemes.MahApps" Version="0.1.9" />
<PackageReference Include="ShowMeTheXAML.MSBuild" Version="2.0.0" />
</ItemGroup>
<ItemGroup>
<Reference Include="NadLibrary">
<HintPath>bin\Debug\net5.0-windows\NadLibrary.dll</HintPath>
</Reference>
</ItemGroup>
</Project>