HUD prearm status

Controls/PrearmStatus.cs

@@ -0,0 +1,79 @@
+using log4net;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace MissionPlanner.Controls
+{
+    public partial class PrearmStatus : Form
+    {
+        private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        private DateTime lastRequestTime = DateTime.MinValue;
+        private DateTime searchTime = DateTime.MinValue;
+        public PrearmStatus()
+        {
+            InitializeComponent();
+
+            Utilities.ThemeManager.ApplyThemeTo(this);
+
+            updatetexttimer.Start();
+            requestchecktimer.Start();
+            requestchecktimer_Tick(null, null);
+        }
+
+        private void requestchecktimer_Tick(object sender, EventArgs e)
+        {
+            if (MainV2.comPort.MAV.cs.prearmstatus) return; // Don't request prearm checks if we are ready to arm
+
+            try
+            {
+                // Request prearm checks to be performed
+                MainV2.comPort.doCommand(
+                    (byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent,
+                    MAVLink.MAV_CMD.RUN_PREARM_CHECKS,
+                    0, 0, 0, 0, 0, 0, 0,
+                    false // don't require ack
+                );
+
+                lastRequestTime = DateTime.Now;
+
+            }
+            catch (Exception ex)
+            {
+                log.Error(ex.Message);
+            }
+        }
+
+        private void updatetexttimer_Tick(object sender, EventArgs e)
+        {
+            // If armed, close the form
+            if(MainV2.comPort.MAV.cs.armed) this.Close();
+
+            // If prearm prearm checks are passing, display a message
+            if (MainV2.comPort.MAV.cs.prearmstatus)
+            {
+                TXT_PrearmErrors.Text = "Ready to Arm";
+                return;
+            }
+
+            // If it has been at least 1 second since the last request, search for all messages since the last request
+            if (DateTime.Now > lastRequestTime.AddSeconds(1))
+                searchTime = lastRequestTime;
+
+            // Fill text box with all unique messages since searchTime that start with "PreArm:"
+            var prearmMessages = MainV2.comPort.MAV.cs.messages.Where(m => m.time > searchTime && m.message.ToLower().StartsWith("prearm:")).Select(m => m.message).Distinct();
+            // If there are no messages, inform the user
+            if (!prearmMessages.Any())
+                prearmMessages = new[] { "Prearm checks failing", "Waiting for error messages..." };
+            TXT_PrearmErrors.Text = string.Join(Environment.NewLine, prearmMessages);
+        }
+    }
+}

Controls/PrearmStatus.resx

@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="updatetexttimer.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+  <metadata name="requestchecktimer.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>156, 17</value>
+  </metadata>
+</root>

ExtLibs/ArduPilot/CurrentState.cs

@@ -160,6 +160,11 @@ public MAVState parent
         public Mavlink_Sensors sensors_health = new Mavlink_Sensors();
         public Mavlink_Sensors sensors_present = new Mavlink_Sensors();
 
+        public bool prearmstatus
+        {
+            get => connected && (sensors_health.prearm || !sensors_enabled.prearm);
+        }
+
         private bool useLocation;
 
         /// <summary>

ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs

@@ -5306,7 +5306,7 @@ public async Task<MAVLinkMessage> readPacketAsync()
                                 Settings.Instance["speechenable"] != null &&
                                 Settings.Instance["speechenable"].ToString() == "True")
                             {
-                                if (speechenabled)
+                                if (speechenabled && !logdata.StartsWith("PreArm:")) // Suppress audible PreArm messages
                                     Speech.SpeakAsync(logdata);
                             }
                         }