Common.cs

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(CurrentState cs)
        {
            log.Info("getModesList Called");

            if (cs.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 (cs.firmware == MainV2.Firmwares.ArduPlane)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
                    cs.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 (cs.firmware == MainV2.Firmwares.Ateryx)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
                    cs.firmware.ToString()); //same as apm
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduCopter2)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
                    cs.firmware.ToString());
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduRover)
            {
                var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("MODE1",
                    cs.firmware.ToString());
                return flightModes;
            }
            else if (cs.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));
            }
        }
    }
}