common.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
using System.Threading;
using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;

using System.Security.Cryptography.X509Certificates;

using System.Net;
using System.Net.Sockets;
using System.Xml; // config file
using System.Runtime.InteropServices; // dll imports
using ZedGraph; // Graphs
using System.Reflection;

using System.IO;

using System.Drawing.Drawing2D;

namespace MultiWiiWinGUI
{
    /// <summary>
    /// Struct as used in Ardupilot
    /// </summary>
    public struct Locationwp
    {
        public byte id;				// command id
        public byte options;
        public float p1;				// param 1
        public float p2;				// param 2
        public float p3;				// param 3
        public float p4;				// param 4
        public float lat;				// Lattitude * 10**7
        public float lng;				// Longitude * 10**7
        public float alt;				// Altitude in centimeters (meters * 100)
    };


    /// <summary>
    /// used to override the drawing of the waypoint box bounding
    /// </summary>
    public class GMapMarkerRect : GMapMarker
    {
        public Pen Pen = new Pen(Brushes.White, 2);

        public Color Color { get { return Pen.Color; } set { Pen.Color = value; } }

        public GMapMarker InnerMarker;

        public int wprad = 0;
        public GMapControl MainMap;

        public GMapMarkerRect(PointLatLng p)
            : base(p)
        {
            Pen.DashStyle = DashStyle.Dash;

            // do not forget set Size of the marker
            // if so, you shall have no event on it ;}
            Size = new System.Drawing.Size(50, 50);
            Offset = new System.Drawing.Point(-Size.Width / 2, -Size.Height / 2 - 20);
        }

        public override void OnRender(Graphics g)
        {
            base.OnRender(g);

            if (wprad == 0 || MainMap == null)
                return;

            // undo autochange in mouse over
            if (Pen.Color == Color.Blue)
                Pen.Color = Color.White;

            double width = (MainMap.MapProvider.Projection.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Width, 0)) * 1000.0);
            double height = (MainMap.MapProvider.Projection.GetDistance(MainMap.FromLocalToLatLng(0, 0), MainMap.FromLocalToLatLng(MainMap.Height, 0)) * 1000.0);
            double m2pixelwidth = MainMap.Width / width;
            double m2pixelheight = MainMap.Height / height;

            GPoint loc = new GPoint((int)(LocalPosition.X - (m2pixelwidth * wprad * 2)), LocalPosition.Y);// MainMap.FromLatLngToLocal(wpradposition);

            g.DrawArc(Pen, new System.Drawing.Rectangle(LocalPosition.X - Offset.X - (Math.Abs(loc.X - LocalPosition.X) / 2), LocalPosition.Y - Offset.Y - Math.Abs(loc.X - LocalPosition.X) / 2, Math.Abs(loc.X - LocalPosition.X), Math.Abs(loc.X - LocalPosition.X)), 0, 360);

        }
    }


    public class GMapMarkerQuad : GMapMarker
    {
        const float rad2deg = (float)(180 / Math.PI);
        const float deg2rad = (float)(1.0 / rad2deg);

        static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::MultiWiiWinGUI.Properties.Resources.quadicon.Width, global::MultiWiiWinGUI.Properties.Resources.quadicon.Height);
        float heading = 0;
        float cog = -1;
        float target = -1;

        public GMapMarkerQuad(PointLatLng p, float heading, float cog, float target)
            : base(p)
        {
            this.heading = heading;
            this.cog = cog;
            this.target = target;
            Size = SizeSt;
        }

        public override void OnRender(Graphics g)
        {
            Matrix temp = g.Transform;
            g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
            Image pic = global::MultiWiiWinGUI.Properties.Resources.quadicon;

            int length = 100;
            // anti NaN
            g.DrawLine(new Pen(Color.Red, 2), 0.0f, 0.0f, (float)Math.Cos((heading - 90) * deg2rad) * length, (float)Math.Sin((heading - 90) * deg2rad) * length);
            //g.DrawLine(new Pen(Color.Black, 2), 0.0f, 0.0f, (float)Math.Cos((cog - 90) * deg2rad) * length, (float)Math.Sin((cog - 90) * deg2rad) * length);
            //g.DrawLine(new Pen(Color.Orange, 2), 0.0f, 0.0f, (float)Math.Cos((target - 90) * deg2rad) * length, (float)Math.Sin((target - 90) * deg2rad) * length);
            // anti NaN
            g.RotateTransform(heading);
            g.DrawImageUnscaled(pic,pic.Width / -2 -5 , pic.Height / -2 );
            g.Transform = temp;
        }
    }

    public class GMapMarkerHome : GMapMarker
    {
        static readonly System.Drawing.Size SizeSt = new System.Drawing.Size(global::MultiWiiWinGUI.Properties.Resources.quadicon.Width, global::MultiWiiWinGUI.Properties.Resources.quadicon.Height);

        public GMapMarkerHome(PointLatLng p)
            : base(p)
        {
            Size = SizeSt;
        }

        public override void OnRender(Graphics g)
        {
            Matrix temp = g.Transform;
            g.TranslateTransform(LocalPosition.X, LocalPosition.Y);
            Image pic = global::MultiWiiWinGUI.Properties.Resources.home;
            g.DrawImageUnscaled(pic, pic.Width / -2 - 7, -pic.Height-14);
            g.Transform = temp;
 
        }
    }


    public class PointLatLngAlt
    {
        public double Lat = 0;
        public double Lng = 0;
        public double Alt = 0;
        public string Tag = "";
        public Color color = Color.White;

        public PointLatLngAlt(double lat, double lng, double alt, string tag)
        {
            this.Lat = lat;
            this.Lng = lng;
            this.Alt = alt;
            this.Tag = tag;
        }

        public PointLatLngAlt()
        {

        }

        public PointLatLngAlt(GMap.NET.PointLatLng pll)
        {
            this.Lat = pll.Lat;
            this.Lng = pll.Lng;
        }

        public PointLatLngAlt(Locationwp locwp)
        {
            this.Lat = locwp.lat;
            this.Lng = locwp.lng;
            this.Alt = locwp.alt;
        }

        public PointLatLngAlt(PointLatLngAlt plla)
        {
            this.Lat = plla.Lat;
            this.Lng = plla.Lng;
            this.Alt = plla.Alt;
            this.color = plla.color;
            this.Tag = plla.Tag;
        }

        public PointLatLng Point()
        {
            return new PointLatLng(Lat, Lng);
        }

        public override bool Equals(Object pllaobj)
        {
            PointLatLngAlt plla = (PointLatLngAlt)pllaobj;

            if (plla == null)
                return false;

            if (this.Lat == plla.Lat &&
            this.Lng == plla.Lng &&
            this.Alt == plla.Alt &&
            this.color == plla.color &&
            this.Tag == plla.Tag)
            {
                return true;
            }
            return false;
        }

        public override int GetHashCode()
        {
            return (int)((Lat + Lng + Alt) * 100);
        }

        /// <summary>
        /// Calc Distance in M
        /// </summary>
        /// <param name="p2"></param>
        /// <returns>Distance in M</returns>
        public double GetDistance(PointLatLngAlt p2)
        {
            double d = Lat * 0.017453292519943295;
            double num2 = Lng * 0.017453292519943295;
            double num3 = p2.Lat * 0.017453292519943295;
            double num4 = p2.Lng * 0.017453292519943295;
            double num5 = num4 - num2;
            double num6 = num3 - d;
            double num7 = Math.Pow(Math.Sin(num6 / 2.0), 2.0) + ((Math.Cos(d) * Math.Cos(num3)) * Math.Pow(Math.Sin(num5 / 2.0), 2.0));
            double num8 = 2.0 * Math.Atan2(Math.Sqrt(num7), Math.Sqrt(1.0 - num7));
            return (6378.137 * num8) * 1000; // M
        }
    }

}