Merge pull request #294 from farmerbriantee/FinalUpdates

Final updates
farmerbriantee · Jan 21, 2023 · b43182c · b43182c
2 parents 402c82a + ce88486
commit b43182c
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Showing 30 changed files with 568 additions and 630 deletions.
diff --git a/SourceCode/AgIO/Source/AgIO.csproj b/SourceCode/AgIO/Source/AgIO.csproj
@@ -280,6 +280,7 @@
   </ItemGroup>
   <ItemGroup>
     <Content Include="AgIO_ico.ico" />
+    <None Include="btnImages\Nmea.png" />
     <None Include="btnImages\ConS_ImplementAntenna.png" />
     <None Include="btnImages\ScanNetwork.png" />
     <None Include="btnImages\ToolAcceptChange.png" />

diff --git a/SourceCode/AgIO/Source/Forms/FormLoop.Designer.cs b/SourceCode/AgIO/Source/Forms/FormLoop.Designer.cs
diff --git a/SourceCode/AgIO/Source/Properties/Resources.Designer.cs b/SourceCode/AgIO/Source/Properties/Resources.Designer.cs
diff --git a/SourceCode/AgIO/Source/Properties/Resources.resx b/SourceCode/AgIO/Source/Properties/Resources.resx
@@ -124,6 +124,9 @@
   <data name="Com_Module2" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\Com_Module2.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="VehFileLoad" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\VehFileLoad.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="AgIO_First" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\AgIO_First.gif;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
@@ -175,18 +178,15 @@
   <data name="Edit" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\Edit.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="Cancel64" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\Cancel64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="ConS_ImplementAntenna" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\ConS_ImplementAntenna.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="Check_Error" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\Check_Error.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="B_UDP" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\B_UDP.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="Settings48" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\Settings48.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
   <data name="DnArrow64" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\DnArrow64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
@@ -199,6 +199,9 @@
   <data name="NtripToUDP" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\NtripToUDP.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="UpArrow64" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\UpArrow64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="NTRIP_Client" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\NTRIP_Client.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
@@ -211,8 +214,11 @@
   <data name="ArrowGrnLeft" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\ArrowGrnLeft.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="NtripSettings" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\NtripSettings.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="OK64" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\OK64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="Com_AutosteerModule" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\Com_AutosteerModule.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="satellite" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\satellite.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
@@ -223,20 +229,17 @@
   <data name="B_Machine" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\B_Machine.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="Com_AutosteerModule" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\Com_AutosteerModule.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="Cancel64" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\Cancel64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="USB_Disconnect" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\USB_Disconnect.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="LogNMEA" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\LogNMEA.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="B_IMU" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\B_IMU.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
-  </data>
-  <data name="UpArrow64" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\UpArrow64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="Settings48" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\Settings48.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
   <data name="ArrowGrnRight" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\ArrowGrnRight.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
@@ -253,13 +256,13 @@
   <data name="ArrowRight" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\btnImages\ArrowRight.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="VehFileLoad" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\VehFileLoad.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="NtripSettings" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\NtripSettings.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="OK64" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\OK64.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="B_IMU" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\B_IMU.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="ConS_ImplementAntenna" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\btnImages\ConS_ImplementAntenna.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  <data name="Nmea" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\btnImages\Nmea.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
 </root>
diff --git a/SourceCode/AgIO/Source/btnImages/Nmea.png b/SourceCode/AgIO/Source/btnImages/Nmea.png
diff --git a/SourceCode/GPS/Classes/CABCurve.cs b/SourceCode/GPS/Classes/CABCurve.cs
@@ -345,6 +345,7 @@ public void GetCurrentCurveLine(vec3 pivot, vec3 steer)
                     radiusPointCu.easting = mf.yt.radiusPointYT.easting;
                     radiusPointCu.northing = mf.yt.radiusPointYT.northing;
                     ppRadiusCu = mf.yt.ppRadiusYT;
+                    mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
                 }
                 else if (mf.isStanleyUsed)//Stanley
                 {
@@ -508,8 +509,8 @@ public void GetCurrentCurveLine(vec3 pivot, vec3 steer)
                     if (!isHeadingSameWay)
                         distanceFromCurrentLinePivot *= -1.0;
 
-                    //used for smooth mode 
-                    mf.vehicle.ast.modeActualXTE = (distanceFromCurrentLinePivot);
+                    //used for acquire/hold mode 
+                    mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
 
                     double steerHeadingError = (pivot.heading - curList[A].heading);
                     //Fix the circular error
@@ -523,7 +524,7 @@ public void GetCurrentCurveLine(vec3 pivot, vec3 steer)
                     else if (steerHeadingError < -glm.PIBy2)
                         steerHeadingError += Math.PI;
 
-                    mf.vehicle.ast.modeActualHeadingError = glm.toDegrees(steerHeadingError);
+                    mf.vehicle.modeActualHeadingError = glm.toDegrees(steerHeadingError);
 
 
                     //Convert to centimeters
@@ -589,7 +590,7 @@ public void DrawCurve()
                 {
                     GL.PointSize(4);
                     GL.Color3(0.95f, 0.2f, 0.95f);
-                    GL.Begin(PrimitiveType.Points);
+                    GL.Begin(PrimitiveType.LineStrip);
                     for (int h = 0; h < curList.Count; h++) GL.Vertex3(curList[h].easting, curList[h].northing, 0);
                     GL.End();
 

diff --git a/SourceCode/GPS/Classes/CABLine.cs b/SourceCode/GPS/Classes/CABLine.cs
@@ -147,7 +147,7 @@ public void GetCurrentABLine(vec3 pivot, vec3 steer)
                 ppRadiusAB = mf.yt.ppRadiusYT;
 
                 mf.vehicle.modeTimeCounter = 0;
-                mf.vehicle.ast.modeActualXTE = (distanceFromCurrentLinePivot);
+                mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
             }
 
             //Stanley
@@ -293,7 +293,7 @@ double goalPointDistanceDSquared
                     distanceFromCurrentLinePivot *= -1.0;
 
                 //used for acquire/hold mode 
-                mf.vehicle.ast.modeActualXTE = (distanceFromCurrentLinePivot);
+                mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
 
                 double steerHeadingError = (pivot.heading - abHeading);
                 //Fix the circular error
@@ -307,7 +307,7 @@ double goalPointDistanceDSquared
                 else if (steerHeadingError < -glm.PIBy2)
                     steerHeadingError += Math.PI;
 
-                mf.vehicle.ast.modeActualHeadingError = glm.toDegrees(steerHeadingError);
+                mf.vehicle.modeActualHeadingError = glm.toDegrees(steerHeadingError);
 
                 //Convert to millimeters
                 mf.guidanceLineDistanceOff = (short)Math.Round(distanceFromCurrentLinePivot * 1000.0, MidpointRounding.AwayFromZero);

diff --git a/SourceCode/GPS/Classes/CAutoSteer.cs b/SourceCode/GPS/Classes/CAutoSteer.cs
@@ -4,23 +4,10 @@ public class CAutoSteer
     {
         //private readonly FormGPS mf;
 
-        //flag for free drive window to control autosteer
-        public bool isInFreeDriveMode;
-
-        //the trackbar angle for free drive
-        public double driveFreeSteerAngle = 0;
-
-        public double modeXTE, modeMultiplier, modeMultiplierStanley, modeActualXTE = 0, modeActualHeadingError = 0;
-        public int modeTime = 0;
 
         //constructor
         public CAutoSteer()
         {
-            isInFreeDriveMode = false;
-            modeXTE = Properties.Settings.Default.setAS_ModeXTE;
-            modeMultiplier = Properties.Settings.Default.setAS_ModeMultiplier;
-            modeMultiplierStanley = Properties.Settings.Default.setAS_ModeMultiplierStanley;
-            modeTime = Properties.Settings.Default.setAS_ModeTime;
         }
     }
 }
diff --git a/SourceCode/GPS/Classes/CContour.cs b/SourceCode/GPS/Classes/CContour.cs
@@ -799,7 +799,7 @@ public void DistanceFromContourLine(vec3 pivot, vec3 steer)
                 }
 
                 //used for smooth mode 
-                mf.vehicle.ast.modeActualXTE = (distanceFromCurrentLinePivot);
+                mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
 
                 //fill in the autosteer variables
                 mf.guidanceLineDistanceOff = (short)Math.Round(distanceFromCurrentLinePivot * 1000.0, MidpointRounding.AwayFromZero);

diff --git a/SourceCode/GPS/Classes/CGuidance.cs b/SourceCode/GPS/Classes/CGuidance.cs
@@ -40,30 +40,9 @@ public CGuidance(FormGPS _f)
         #region Stanley
         private void DoSteerAngleCalc()
         {
-            double xTE = Math.Abs(mf.vehicle.ast.modeActualXTE);
-            stanleyModeMultiplier = 1;
-
-            //the immediate version
-            if (xTE < mf.vehicle.ast.modeXTE)
-            {
-                if (mf.vehicle.modeTimeCounter > mf.vehicle.ast.modeTime * 10)
-                {
-                    //stanleyModeMultiplier = ((mf.vehicle.ast.modeXTE - xTE) / mf.vehicle.ast.modeXTE * mf.vehicle.ast.modeMultiplier);
-                    stanleyModeMultiplier = mf.vehicle.ast.modeMultiplierStanley;
-                }
-                else
-                {
-                    mf.vehicle.modeTimeCounter++;
-                }
-            }
-            else
-            {
-                mf.vehicle.modeTimeCounter = 0;
-            }
-
             if (mf.isReverse) steerHeadingError *= -1;
             //Overshoot setting on Stanley tab
-            steerHeadingError *= mf.vehicle.stanleyHeadingErrorGain * stanleyModeMultiplier;
+            steerHeadingError *= mf.vehicle.stanleyHeadingErrorGain;
 
             double sped = Math.Abs(mf.avgSpeed);
             if (sped > 1) sped = 1 + 0.277 * (sped - 1);
@@ -121,7 +100,7 @@ private void DoSteerAngleCalc()
             else if (steerAngleGu > mf.vehicle.maxSteerAngle) steerAngleGu = mf.vehicle.maxSteerAngle;
 
             //used for smooth mode 
-            mf.vehicle.ast.modeActualXTE = (distanceFromCurrentLinePivot);
+            mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
 
             //Convert to millimeters from meters
             mf.guidanceLineDistanceOff = (short)Math.Round(distanceFromCurrentLinePivot * 1000.0, MidpointRounding.AwayFromZero);
@@ -212,7 +191,7 @@ public void StanleyGuidanceABLine(vec3 curPtA, vec3 curPtB, vec3 pivot, vec3 ste
             else if (steerHeadingError < -glm.PIBy2)
                 steerHeadingError += Math.PI;
 
-            mf.vehicle.ast.modeActualHeadingError = glm.toDegrees(steerHeadingError);
+            mf.vehicle.modeActualHeadingError = glm.toDegrees(steerHeadingError);
 
             DoSteerAngleCalc();
         }

diff --git a/SourceCode/GPS/Classes/CRecordedPath.cs b/SourceCode/GPS/Classes/CRecordedPath.cs
@@ -452,7 +452,7 @@ private void PurePursuitRecPath(int ptCount)
             if (steerAngleRP > mf.vehicle.maxSteerAngle) steerAngleRP = mf.vehicle.maxSteerAngle;
 
             //used for smooth mode 
-            mf.vehicle.ast.modeActualXTE = (distanceFromCurrentLinePivot);
+            mf.vehicle.modeActualXTE = (distanceFromCurrentLinePivot);
 
             //Convert to centimeters
             mf.guidanceLineDistanceOff = (short)Math.Round(distanceFromCurrentLinePivot * 1000.0, MidpointRounding.AwayFromZero);