WebSVN - Projects - Blame - Rev 2257 - /MKLiveView/Source/MainForm.cs

Rev	Author	Line No.	Line
2233	-	1	///============================================================================
		2	/// MKLiveView
		3	/// Copyright © 2016 Steph
		4	///
		5	///This file is part of MKLiveView.
		6	///
		7	///MKLiveView is free software: you can redistribute it and/or modify
		8	///it under the terms of the GNU General Public License as published by
		9	///the Free Software Foundation, either version 3 of the License, or
		10	///(at your option) any later version.
		11	///
		12	///MKLiveView is distributed in the hope that it will be useful,
		13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
		14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		15	///GNU General Public License for more details.
		16	///
		17	///You should have received a copy of the GNU General Public License
		18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
		19	///
		20	///============================================================================
		21	///Credits:
		22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
		23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
		24	///I used some of his code for displaying the compass
		25	///
		26	///Tom Pyke (http://tom.pycke.be)
		27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
		28	///Great job!
		29	///
		30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
		31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
		32	/// and the sourcode (http://hdl.lib.byu.edu/1877/2748)
		33	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
		34	/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
		35	/// and the FilghtControllerMessage class
		36	///
		37	///============================================================================
		38
		39	using System;
		40	using System.Data;
		41	using System.Drawing;
		42	using System.Text;
		43	using System.Windows.Forms;
		44	using System.IO;
		45	using System.Threading;
		46	using System.Diagnostics;
		47	using System.Runtime.InteropServices;
		48
		49	namespace MKLiveView
		50	{
		51	public partial class MainForm : Form
		52	{
2250	-	53	String[] NC_Error = new string[44]
		54	{
		55	"No Error",
		56	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		57	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		58	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		59	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		60	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		61	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		62	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		63	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		64	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		65	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		66	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		67	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		68	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		69	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		70	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		71	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		72	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		73	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		74	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		75	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		76	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		77	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		78	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		79	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		80	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		81	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		82	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		83	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		84	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		85	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		86	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		87	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		88	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		89	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		90	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		91	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		92	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		93	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		94	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		95	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		96	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		97	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		98	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		99	};
2233	-	100
		101	[FlagsAttribute]
		102	enum NC_HWError0 : short
		103	{
		104	None = 0,
		105	SPI_RX = 1,
		106	COMPASS_RX = 2,
		107	FC_INCOMPATIBLE = 4,
		108	COMPASS_INCOMPATIBLE = 8,
		109	GPS_RX = 16,
		110	COMPASS_VALUE = 32
		111	};
		112	[FlagsAttribute]
		113	enum FC_HWError0 : short
		114	{
		115	None = 0,
		116	GYRO_NICK = 1,
		117	GYRO_ROLL = 2,
		118	GYRO_YAW = 4,
		119	ACC_NICK = 8,
		120	ACC_ROLL = 16,
		121	ACC_TOP = 32,
		122	PRESSURE = 64,
		123	CAREFREE = 128
		124	};
		125	[FlagsAttribute]
		126	enum FC_HWError1 : short
		127	{
		128	None = 0,
		129	I2C = 1,
		130	BL_MISSING = 2,
		131	SPI_RX = 4,
		132	PPM = 8,
		133	MIXER = 16,
		134	RC_VOLTAGE = 32,
		135	ACC_NOT_CAL = 64,
		136	RES3 = 128
		137	};
		138	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		139	// Various colors for logging info
		140	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
		141
		142	string[] sAnalogLabel = new string[32];
		143	string[] sAnalogData = new string[32];
		144	bool bReadContinously = false;
		145	bool check_HWError = false;
		146	bool _bCBInit = true;
		147	bool _init = true;
		148	bool _debugDataAutorefresh = true;
		149	bool _navCtrlDataAutorefresh = true;
		150	bool _blctrlDataAutorefresh = true;
		151	bool _OSDAutorefresh = true;
2254	-	152	bool _bErrorLog = false;
2233	-	153	int crcError = 0;
		154	int iLableIndex = 0;
		155	string filePath = Directory.GetCurrentDirectory();
		156	string fileName = "NCLabelTexts.txt";
		157	int _iCtrlAct = 0;
		158	int _iLifeCounter = 0;
		159	int iOSDPage = 0;
		160	int iOSDMax = 0;
2257	-	161	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		162	string[] serChanTitle = new string[12];
2233	-	163	/// <summary>
		164	/// interval for sending debugdata (multiplied by 10ms)
		165	/// </summary>
		166	byte debugInterval = 25; //(=> 250ms)
		167	/// <summary>
		168	/// interval for sending BL-CTRL status (multiplied by 10ms)
		169	/// </summary>
		170	byte blctrlInterval = 45;
		171	/// <summary>
		172	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		173	/// </summary>
		174	byte navctrlInterval = 80;
		175	/// <summary>
		176	/// interval for sending OSD page update (multiplied by 10ms)
		177	/// </summary>
		178	byte OSDInterval = 85;
		179	/// <summary>
		180	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		181	/// </summary>
		182	DataTable dtAnalog = new DataTable();
2254	-	183	/// <summary>
		184	/// datatable for motordata (current,temp)
		185	/// </summary>
2250	-	186	DataTable dtMotors1 = new DataTable();
		187	DataTable dtMotors2 = new DataTable();
		188
2257	-	189	DataTable dtWaypoints = new DataTable();
		190
2233	-	191	public MainForm()
		192	{
		193	InitializeComponent();
2257	-	194	serChanTitle.Initialize();
		195
2233	-	196	_readIni();
2257	-	197
2233	-	198	dtAnalog.Columns.Add("ID");
		199	dtAnalog.Columns.Add("Value");
		200	dataGridView1.DataSource = dtAnalog;
2257	-	201
2250	-	202	dtMotors1.Columns.Add("#");
		203	dtMotors1.Columns.Add("Current");
		204	dtMotors1.Columns.Add("Temp");
		205	dtMotors2.Columns.Add("#");
		206	dtMotors2.Columns.Add("Current");
		207	dtMotors2.Columns.Add("Temp");
		208	dgvMotors1.DataSource = dtMotors1;
		209	dgvMotors2.DataSource = dtMotors2;
		210	_initDTMotors();
		211	dgvMotors1.Columns[0].Width = 24;
		212	dgvMotors1.Columns[1].Width = 74;
		213	dgvMotors1.Columns[2].Width = 74;
		214	dgvMotors2.Columns[0].Width = 24;
		215	dgvMotors2.Columns[1].Width = 74;
		216	dgvMotors2.Columns[2].Width = 74;
2257	-	217
		218	dtWaypoints.Columns.Add("Index");
		219	dtWaypoints.Columns.Add("Type");
		220	dtWaypoints.Columns.Add("Name");
		221	dtWaypoints.Columns.Add("Latitude");
		222	dtWaypoints.Columns.Add("Longitude");
		223	dtWaypoints.Columns.Add("Altitude");
		224	dtWaypoints.Columns.Add("Heading");
		225	dtWaypoints.Columns.Add("Speed");
		226	dtWaypoints.Columns.Add("Altitude rate");
		227	dtWaypoints.Columns.Add("Tol.radius");
		228	dtWaypoints.Columns.Add("Hold time");
		229	dtWaypoints.Columns.Add("AutoTrigger");
		230	dtWaypoints.Columns.Add("Cam angle");
		231	dtWaypoints.Columns.Add("Event");
		232	dtWaypoints.Columns.Add("Eventchan. Val.");
		233	dtWaypoints.Columns.Add("Status");
		234	dgvWP.DataSource = dtWaypoints;
		235
2233	-	236	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		237	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		238	simpleSerialPort.DataReceived += processMessage;
		239	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		240	chkbAutoDbg.Checked = _debugDataAutorefresh;
		241	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		242	chkbAutoOSD.Checked = _OSDAutorefresh;
		243	labelTimingDebug.Text = (debugInterval * 10).ToString();
		244	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		245	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		246	labelTimingOSD.Text = (OSDInterval * 10).ToString();
2257	-	247	TabControl1.TabPages.Remove(tabPageTesting);
2233	-	248	}
2257	-	249
2233	-	250	#region events
		251	private void MainForm_Shown(object sender, EventArgs e)
		252	{
		253	_loadLabelNames();
2257	-	254	_initSerialCtrl();
2233	-	255	_init = false;
2250	-	256	splitContainer1.SplitterDistance = 514;
2233	-	257	}
		258	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
		259	{
		260	_writeIni();
		261	}
		262	private void SimpleSerialPort_PortOpened()
		263	{
		264	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
		265	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
		266	_getVersion();
		267	Thread.Sleep(100);
		268	_OSDMenue(0);
2257	-	269	Thread.Sleep(200);
		270	_sendSerialData();
2233	-	271	// _readCont(true);
		272	}
		273	private void SimpleSerialPort_PortClosed()
		274	{
		275	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
		276	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
		277	_readCont(false);
		278	}
		279	/// <summary>
		280	/// timer for refreshing subscription of subscribed data
		281	/// query lifecounter for connection failure
		282	/// </summary>
		283	private void timer1_Tick(object sender, EventArgs e)
		284	{
		285	if(bReadContinously)
		286	{
		287	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		288
2250	-	289	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
2233	-	290
		291	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		292	check_HWError = true;
		293	_getVersion();
		294	Thread.Sleep(10);
		295	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
		296	if (_iLifeCounter > 0)
		297	{
		298	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
		299	_iLifeCounter = 0;
		300	}
		301	else
		302	{
		303	Log(LogMsgType.Error, "No communication to NC/FC!");
		304	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
		305	}
		306	}
		307	}
		308	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
		309	{
		310	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		311	_OSDMenue(cbOSD.SelectedIndex);
		312	}
		313	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
		314	{
		315	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
		316	}
		317	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
		318	{
		319	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
		320	}
		321	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
		322	{
		323	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
		324	}
		325	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
		326	{
		327	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
		328	}
		329	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
		330	{
		331	if (cbTimingDebug.SelectedIndex > -1)
		332	{
		333	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
		334	labelTimingDebug.Text = (debugInterval * 10).ToString();
		335	}
		336	}
		337	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
		338	{
		339	if (cbTimingNAV.SelectedIndex > -1)
		340	{
		341	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
		342	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		343	}
		344	}
		345	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
		346	{
		347	if (cbTimingBLCTRL.SelectedIndex > -1)
		348	{
		349	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
		350	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		351	}
		352	}
		353	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
		354	{
		355	if (cbTimingOSD.SelectedIndex > -1)
		356	{
		357	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
		358	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		359	}
		360	}
2254	-	361	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
		362	{
		363	System.Diagnostics.Process.Start(e.LinkText);
		364	}
2257	-	365
2233	-	366	#endregion events
		367
		368	/// <summary> Log data to the terminal window. </summary>
		369	/// <param name="msgtype"> The type of message to be written. </param>
		370	/// <param name="msg"> The string containing the message to be shown. </param>
		371	private void Log(LogMsgType msgtype, string msg)
		372	{
		373	rtfTerminal.Invoke(new EventHandler(delegate
		374	{
		375	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
		376	rtfTerminal.Select(42, (500 * 129)); //500 löschen
		377	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
		378	rtfTerminal.SelectedText = string.Empty;
		379	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
		380	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
		381	rtfTerminal.AppendText(msg + Environment.NewLine);
		382	rtfTerminal.ScrollToCaret();
		383	}));
		384	}
		385	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
		386	/// <param name="msgtype"> The type of message to be written. </param>
		387	/// <param name="msg"> The string containing the message to be shown. </param>
		388	private void OSD(LogMsgType msgtype, string msg)
		389	{
		390	rtfOSD.Invoke(new EventHandler(delegate
		391	{
		392	if (rtfOSD.Lines.Length > 4)
		393	rtfOSD.Clear();
		394	rtfOSD.Select(rtfOSD.Text.Length,0);
		395	rtfOSD.SelectedText = string.Empty;
		396	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
		397	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
		398	rtfOSD.AppendText(msg + Environment.NewLine);
		399	if (rtfOSD.Text.IndexOf("ERR") > 0)
		400	{
		401	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
		402	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
		403	}
		404	}));
		405	}
		406	private void ErrorLog(LogMsgType msgtype, string msg)
		407	{
		408	rtfError.Invoke(new EventHandler(delegate
		409	{
		410	if (rtfError.Lines.Length > 4)
		411	rtfError.Clear();
		412	rtfError.Focus();
		413	rtfError.Select(rtfError.Text.Length, 0);
		414	rtfError.SelectedText = string.Empty;
		415	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
		416	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
		417	rtfError.AppendText(msg + Environment.NewLine);
		418
		419	}));
2254	-	420	_bErrorLog = true;
2233	-	421	}
		422
		423	#region functions
		424
2250	-	425	#region processing received data
		426	/// <summary> Processing the messages and displaying them in the according form controls
		427	/// function called by simpleSerialPort.DataReceived event
		428	/// </summary>
2233	-	429	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
		430	private void processMessage(byte[] message)
		431	{
		432	if (message.Length > 0)
		433	{
		434	_iLifeCounter++;
		435	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		436	//Log(LogMsgType.Incoming, message.Length.ToString());
		437	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		438	char cmdID;
		439	byte adr;
		440	byte[] data;
2257	-	441	byte[] tmp = null;
2233	-	442	if (message[0] != '#')
2257	-	443	{
		444	int iFound = -1;
		445	for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		446	{ //so this is a workaround to not spam the log box
		447	if (message[i] == 35)
		448	{
		449	iFound = i;
		450	break;
		451	}
		452	}
		453	if(iFound>0)
		454	{
		455	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
		456	tmp = new byte[message.Length - iFound];
		457	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		458	}
		459	s = s.Trim('\0', '\n', '\r');
		460	if(s.Length > 0)
		461	Log(LogMsgType.Normal, s);
		462	if (tmp != null)
		463	{
		464	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		465	processMessage(tmp);
		466	}
		467	}
2233	-	468	//Debug.Print(s);
		469	else
		470	{
		471	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		472
		473	if (adr == 255) { crcError++; }
		474	else crcError = 0;
		475	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
2250	-	476	//display the active controller (FC / NC)
2233	-	477	if (adr > 0 && adr < 3 && adr != _iCtrlAct) //adr < 3: temporary workaround cause when I've connected the FC alone it always switches between mk3mag & FC every second...???
		478	{
		479	_iCtrlAct = adr;
		480	switch (adr)
		481	{
		482	case 1:
		483	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
		484	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
		485	_setFieldsNA(); //display fields NA for FC
		486	break;
		487	case 2:
		488	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
		489	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
		490	break;
		491	case 3:
		492	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		493	break;
		494	case 4:
		495	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		496	break;
		497	default:
		498	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
		499	break;
		500	}
2257	-	501	_loadLabelNames();
2233	-	502	}
2257	-	503	// else
		504	// Debug.Print("Address == 0?");
2233	-	505
		506	if (data != null && data.Length > 0)
		507	{
		508	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		509	s = s.Trim('\0', '\n');
		510
		511	switch (cmdID)
		512	{
2250	-	513	case 'A': //Label names
		514	_processLabelNames(s);
2233	-	515	break;
		516
2250	-	517	case 'D': //Debug data
2257	-	518	_processDebugVals(adr, data);
2233	-	519	break;
		520
2250	-	521	case 'V': //Version
		522	_processVersion(adr, data);
2233	-	523	break;
		524
2250	-	525	case 'K'://BL-CTRL data
		526	_processBLCtrl(data);
2233	-	527	break;
		528
		529	case 'O': //NC Data
2250	-	530	_processNCData(data);
2233	-	531	break;
		532
		533	case 'E': //NC error-string
		534	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		535	break;
		536
2250	-	537	case 'L': //OSD Menue (called by pagenumber)
		538	_processOSDSingle(data);
2233	-	539	break;
		540
2250	-	541	case 'H': //OSD Menue (with autoupdate - called by Key)
		542	_processOSDAuto(data);
2233	-	543	break;
		544
2257	-	545	case 'X': //Waypoint data
		546	_processWPData(data);
		547	break;
		548
2233	-	549	//default:
		550	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		551	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		552	// break;
		553	}
		554	}
		555	//else
		556	//{
		557	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		558	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		559	//}
		560	}
		561	}
		562	}
2250	-	563	/// <summary>
		564	/// Analog label names 'A'
		565	/// each label name is returned as a single string
		566	/// and added to string array sAnalogLabel[]
		567	/// and the datatable dtAnalog
		568	/// </summary>
		569	/// <param name="s">the label name</param>
		570	void _processLabelNames(string s)
		571	{
		572	if (iLableIndex < 32)
		573	{
		574	sAnalogLabel[iLableIndex] = s;
		575	if (dtAnalog.Rows.Count < 32)
		576	dtAnalog.Rows.Add(s, "");
		577	else
		578	dtAnalog.Rows[iLableIndex].SetField(0, s);
2233	-	579
2250	-	580	_getAnalogLabels(iLableIndex + 1);
		581	}
		582	Debug.Print(s);
		583	}
		584	/// <summary>
		585	/// Debug values 'D'
		586	/// </summary>
		587	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		588	/// <param name="data">the received byte array to process</param>
		589	void _processDebugVals(byte adr,byte[] data)
		590	{
		591	if (data.Length == 66)
		592	{
		593	int[] iAnalogData = new int[32];
		594
		595	int index = 0;
		596	Int16 i16 = 0;
		597	double dTemp = 0;
		598	for (int i = 2; i < 66; i += 2)
		599	{
		600	i16 = data[i + 1];
		601	i16 = (Int16)(i16 << 8);
		602	iAnalogData[index] = data[i] + i16;
		603	sAnalogData[index] = (data[i] + i16).ToString();
		604	dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		605
		606	if (adr == 2) //NC
		607	{
		608	switch (index)
		609	{
		610	case 0: //pitch (German: nick)
		611	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		612	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		613	break;
		614	case 1: //roll
		615	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		616	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		617	break;
		618	case 4: //altitude
		619	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		620	break;
		621	case 7: //Voltage
		622	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		623	break;
		624	case 8: // Current
		625	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		626	break;
		627	case 10: //heading
		628	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		629	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		630	break;
		631	case 12: // SPI error
		632	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		633	break;
		634	case 14: //i2c error
		635	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		636	break;
		637	case 20: //Earthmagnet field
		638	lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
		639	break;
		640	case 21: //GroundSpeed
		641	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		642	break;
		643	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		644	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		645	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		646	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		647	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
2254	-	648	dTemp = Math.Sqrt(dTemp) / (double)10;
		649	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
2250	-	650	break;
		651	case 31: //Sats used
		652	lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
		653	break;
		654	}
		655	}
		656	if (adr == 1) //FC
		657	{
		658	switch (index)
		659	{
		660	case 0: //pitch (German: nick)
		661	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		662	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		663	break;
		664	case 1: //roll
		665	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		666	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		667	break;
		668	case 5: //altitude
		669	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		670	break;
		671	case 8: //heading
		672	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		673	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		674	break;
		675	case 9: //Voltage
		676	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		677	break;
		678	case 10: //Receiver quality
		679	lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		680	break;
		681	case 22: // Current
		682	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		683	break;
		684	case 23: //capacity used
		685	lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		686	break;
		687	case 27: // SPI error
		688	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		689	break;
		690	case 28: //i2c error
		691	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		692	break;
		693	}
		694	}
		695	index++;
		696	}
		697	}
		698	else
		699	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		700	}
		701	/// <summary>
		702	/// Version string 'V'
		703	/// </summary>
		704	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		705	/// <param name="data">the received byte array to process</param>
		706	void _processVersion(byte adr,byte[] data)
		707	{
		708	if (data.Length == 12)
		709	{
		710	if (!check_HWError)
		711	{
		712	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		713	string sVersion = "";
		714	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		715	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		716	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		717	Log(LogMsgType.Incoming, sVersion);
		718	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		719	Log(LogMsgType.Incoming, sVersion);
		720	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		721	}
		722	if (data[5] > 0) //error0
		723	{
		724	if (adr == 1)
		725	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		726	if (adr == 2)
		727	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		728	}
		729	if (data[6] > 0) //error1
		730	{
		731	if (adr == 1)
		732	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		733	if (adr == 2)
		734	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		735	}
2254	-	736	if((data[5] + data[6] == 0) && _bErrorLog)
		737	_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
2250	-	738
		739	}
		740	check_HWError = false;
		741	}
		742	/// <summary>
		743	/// BL-Ctrl data 'K'
		744	/// for FC you have to use a customized firmware
		745	/// </summary>
		746	/// <param name="data">the received byte array to process</param>
		747	void _processBLCtrl(byte[] data)
		748	{
		749	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		750	{
		751	bool bAvailable = false;
		752	for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
		753	{
		754
		755	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		756	bAvailable = true;
		757	else
		758	bAvailable = false;
		759
		760	if (data[i] < 4)
		761	{
		762	if (bAvailable)
		763	{
		764	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		765	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		766	}
		767	else
		768	{
		769	dtMotors1.Rows[data[i]].SetField(1, "NA");
		770	dtMotors1.Rows[data[i]].SetField(2, "NA");
		771	}
		772	}
		773	if (data[i] > 3 && data[i] < 8)
		774	{
		775	if (bAvailable)
		776	{
		777	dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		778	dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		779	}
		780	else
		781	{
		782	dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		783	dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		784	}
		785	}
		786	}
		787	}
		788
		789	}
		790	/// <summary>
		791	/// Navi-Ctrl data 'O'
		792	/// GPS-Position, capacatiy, flying time...
		793	/// </summary>
		794	/// <param name="data">the received byte array to process</param>
		795	void _processNCData(byte[] data)
		796	{
		797	int i_32, i_16, iVal;
		798	double d;
		799	i_32 = data[4];
		800	iVal = i_32 << 24;
		801	i_32 = data[3];
		802	iVal += i_32 << 16;
		803	i_32 = data[2];
		804	iVal += i_32 << 8;
		805	iVal += data[1];
		806	d = (double)iVal / Math.Pow(10, 7);
		807	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		808	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		809
		810	i_32 = data[8];
		811	iVal = i_32 << 24;
		812	i_32 = data[7];
		813	iVal += i_32 << 16;
		814	i_32 = data[6];
		815	iVal += i_32 << 8;
		816	iVal += data[5];
		817	d = (double)iVal / Math.Pow(10, 7);
		818	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
2254	-	819	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
2250	-	820
2254	-	821	i_16 = data[28];
		822	i_16 = (Int16)(i_16 << 8);
		823	iVal = data[27] + i_16;
		824	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		825
		826	i_16 = data[45];
		827	i_16 = (Int16)(i_16 << 8);
		828	iVal = data[44] + i_16;
		829	lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		830
		831	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
		832	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
		833
2250	-	834	i_16 = data[81];
		835	i_16 = (Int16)(i_16 << 8);
		836	iVal = data[80] + i_16;
		837	lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
		838
		839	i_16 = data[56];
		840	i_16 = (Int16)(i_16 << 8);
		841	iVal = data[55] + i_16;
		842	TimeSpan t = TimeSpan.FromSeconds(iVal);
		843	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		844	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
		845
		846	lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
		847	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
		848	//if (data[69] > 0)
		849	// _readNCError();
		850	//break;
		851	if (data[69] > 0 & data[69] < 44)
		852	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
2254	-	853	else
		854	if(_bErrorLog) _clearErrorLog("NC Error");
2250	-	855
		856	}
		857	/// <summary>
2257	-	858	/// Navi-Ctrl WP data struct 'X'
		859	/// called by index
		860	/// </summary>
		861	/// <param name="data">the received byte array to process</param>
		862	void _processWPData(byte[] data)
		863	{
		864	if (data.Length >= 28)
		865	{
		866	int count = data[0];
		867	int index = data[1];
		868	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		869	for (int i = 0; i < count; i++)
		870	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		871	cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		872	DataRow dr = dtWaypoints.NewRow();
		873	dr = Waypoints.toDataRow(data, dr);
		874	dtWaypoints.Rows.Add(dr);
		875	dgvWP.Invoke((Action)(() => dgvWP.Update()));
		876	}
		877	else
		878	Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		879	}
		880	/// <summary>
2250	-	881	/// OSD Menue 'L'
		882	/// single page called by pagenumber
		883	/// no autoupdate
		884	/// </summary>
		885	/// <param name="data">the received byte array to process</param>
		886	void _processOSDSingle(byte[] data)
		887	{
		888	if (data.Length == 84)
		889	{
		890	string sMessage = "";
		891	iOSDPage = data[0];
		892	iOSDMax = data[1];
		893	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		894	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		895	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		896	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		897	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		898	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		899	lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		900
		901	}
		902	else
		903	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		904
		905	}
		906	/// <summary>
		907	/// OSD Menue 'H'
		908	/// called by keys (0x01,0x02,0x03,0x04)
		909	/// autoupdate
		910	/// </summary>
		911	/// <param name="data">the received byte array to process</param>
		912	void _processOSDAuto(byte[] data)
		913	{
		914	if (data.Length == 81)
		915	{
		916	string sMessage = "";
		917	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		918	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		919	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		920	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		921	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		922
		923	}
		924	else
		925	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		926	}
		927	#endregion processing received data
		928
2233	-	929	/// <summary> send message to controller to request data
		930	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		931	/// </summary>
		932	/// <param name="CMDID"> the command ID </param>
		933	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		934	private void _sendControllerMessage(char CMDID, byte address)
		935	{
		936	if (simpleSerialPort.Port.IsOpen)
		937	{
		938	Stream serialStream = simpleSerialPort.Port.BaseStream;
		939	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		940	serialStream.Write(bytes, 0, bytes.Length);
		941
		942	}
		943	else
		944	Log(LogMsgType.Error, "NOT CONNECTED!");
		945	}
		946	/// <summary> send message to controller to request data
		947	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		948	/// </summary>
		949	/// <param name="CMDID"> the command ID </param>
		950	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		951	/// <param name="data"> additional data for the request</param>
		952	private void _sendControllerMessage(char CMDID, byte address, byte[]data)
		953	{
		954	if (simpleSerialPort.Port.IsOpen)
		955	{
		956	Stream serialStream = simpleSerialPort.Port.BaseStream;
		957	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
		958	serialStream.Write(bytes, 0, bytes.Length);
		959
		960	}
		961	else
		962	Log(LogMsgType.Error, "NOT CONNECTED!");
		963	}
		964
		965	/// <summary>
		966	/// read the analog-label names for the actual controller
		967	/// and load it into listbox
		968	/// </summary>
		969	void _loadLabelNames()
		970	{
		971	if (_iCtrlAct > 0 && _iCtrlAct < 3)
		972	{
		973	switch (_iCtrlAct)
		974	{
		975	case 1:
		976	sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		977	break;
		978	case 2:
		979	sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		980	break;
		981	}
		982	for (int i = 0; i < 32; i++)
		983	{
		984	if (dtAnalog.Rows.Count < 32)
		985	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		986	else
		987	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		988	}
		989	dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
		990	}
		991	}
		992	/// <summary>
		993	/// no longer used...
		994	/// read the analog-label textfile for the actual controller
		995	/// </summary>
		996	private void _loadLabelFile()
		997	{
		998	switch (_iCtrlAct)
		999	{
		1000	case 1:
		1001	fileName = "FCLabelTexts.txt";
		1002	break;
		1003	case 2:
		1004	fileName = "NCLabelTexts.txt";
		1005	break;
		1006	//default:
		1007	// fileName = "NCLabelTexts.txt";
		1008	// break;
		1009	}
		1010
		1011	if (File.Exists(filePath + "\\" + fileName))
		1012	{
		1013	sAnalogLabel.Initialize();
		1014	sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
		1015	lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
		1016	lbLabels.Invoke((Action)(() => lbLabels.Update()));
		1017	lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
		1018	Console.WriteLine("Names loaded from file");
		1019	lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
		1020	}
		1021	else
		1022	{
		1023	_readCont(false);
		1024	Log(LogMsgType.Error, "Label-file not found!");
		1025	Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
		1026	Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
		1027	}
		1028	}
		1029	/// <summary>
		1030	/// no longer used...
		1031	/// assign the analog-label names from the textfile to the datatable
		1032	///
		1033	/// </summary>
		1034	private void _assignLabelNames()
		1035	{
		1036	if (lbLabels.Items.Count == 32)
		1037	{
		1038	lbLabels.Items.CopyTo(sAnalogLabel, 0);
		1039	for (int i = 0; i < 32; i++)
		1040	{
		1041	if (dtAnalog.Rows.Count < 32)
		1042	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1043	else
		1044	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1045
		1046	}
		1047	}
		1048	}
		1049	/// <summary>
		1050	/// get the version struct of actual controller
		1051	/// </summary>
		1052	/// <summary>
		1053	/// get the labeltexts for the analog values
		1054	/// </summary>
		1055	private void _getAnalogLabels()
		1056	{
		1057	if (simpleSerialPort.Port.IsOpen)
		1058	{
		1059	iLableIndex = 0;
		1060	for (int i = 0; i < 32; i++)
		1061	{
		1062	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1063	byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
		1064	serialStream.Write(bytes, 0, bytes.Length);
		1065	Thread.Sleep(10);
		1066	}
		1067	}
		1068	else
		1069	Log(LogMsgType.Error, "NOT CONNECTED!");
		1070	}
		1071	/// <summary>
		1072	/// get the labeltext for a single label
		1073	/// </summary>
		1074	/// <param name="iIndex">index of the label</param>
		1075	private void _getAnalogLabels(int iIndex)
		1076	{
		1077	if (simpleSerialPort.Port.IsOpen)
		1078	{
		1079	if (iIndex < 32)
		1080	{
		1081	iLableIndex = iIndex;
		1082	_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
		1083	}
		1084	}
		1085	else
		1086	Log(LogMsgType.Error, "NOT CONNECTED!");
		1087	}
		1088	private void _getVersion()
		1089	{
		1090	_sendControllerMessage('v', 0);
		1091	}
		1092	/// <summary>
		1093	/// get FC version struct via NC
		1094	/// by sending '1' as data (not documented in wiki...)
		1095	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1096	/// </summary>
		1097	/// <param name="ctrl">controller number 1=FC</param>
		1098	private void _getVersion(byte ctrl)
		1099	{
		1100	_sendControllerMessage('v', 0, new byte[1] {ctrl});
		1101	}
		1102	/// <summary>
		1103	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1104	/// </summary>
		1105	private void _switchToNC()
		1106	{
		1107	if (simpleSerialPort.Port.IsOpen)
		1108	{
		1109	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1110	byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
		1111	serialStream.Write(bytes, 0, bytes.Length);
		1112
		1113	Thread.Sleep(100);
		1114	_getVersion();
		1115	Thread.Sleep(100);
		1116	_OSDMenue(0);
		1117	}
		1118	else
		1119	Log(LogMsgType.Error, "NOT CONNECTED!");
		1120	}
		1121	/// <summary>
		1122	/// switch to FC
		1123	/// </summary>
		1124	private void _switchToFC()
		1125	{
		1126	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1127	Thread.Sleep(100);
		1128	_getVersion();
		1129	Thread.Sleep(100);
		1130	_OSDMenue(0);
		1131	}
		1132	/// <summary>
		1133	/// send RESET signal to FC
		1134	/// </summary>
		1135	private void _resetCtrl()
		1136	{
		1137	_sendControllerMessage('R', 1);
		1138	}
		1139	/// <summary>
		1140	/// poll the debug data (4sec subscription)
		1141	/// </summary>
		1142	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1143	private void _readDebugData(bool auto)
		1144	{
		1145	byte interval = auto ? debugInterval : (byte)0;
		1146	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1147	}
		1148	/// <summary>
		1149	/// poll the BL-CTRL status via NC (4sec subscription)
		1150	/// </summary>
		1151	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1152	private void _readBLCtrl(bool auto)
		1153	{
		1154	byte interval = auto ? blctrlInterval : (byte)0;
		1155	_sendControllerMessage('k', 0, new byte[1] { interval });
		1156	}
		1157	/// <summary>
		1158	/// poll the NC data struct (4sec subscription)
		1159	/// </summary>
		1160	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1161	private void _readNavData(bool auto)
		1162	{
		1163	byte interval = auto ? navctrlInterval : (byte)0;
		1164	_sendControllerMessage('o', 2, new byte[1] { interval });
		1165	}
		1166	/// <summary>
		1167	/// get the errortext for pending NC error
		1168	/// </summary>
		1169	private void _readNCError()
		1170	{
		1171	_sendControllerMessage('e', 2);
		1172	}
		1173	/// <summary>
		1174	/// start/stop continous polling of controller values
		1175	/// </summary>
		1176	/// <param name="b">start/stop switch</param>
		1177	void _readCont(bool b)
		1178	{
		1179	bReadContinously = b;
		1180	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
		1181	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
		1182	if (bReadContinously)
		1183	{
2250	-	1184	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1185	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1186	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1187	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
2233	-	1188	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
		1189	}
		1190	else
		1191	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
		1192	_iLifeCounter = 0;
		1193	}
		1194	/// <summary>
2250	-	1195	/// set values to "NA" when not available with FC
2233	-	1196	/// </summary>
		1197	void _setFieldsNA()
		1198	{
		1199	Thread.Sleep(100);
2250	-	1200	_initDTMotors();
2233	-	1201	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
2250	-	1202	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
		1203	lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
		1204	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
		1205	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
		1206	lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
		1207	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
		1208	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
2254	-	1209	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
		1210	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
		1211	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
2233	-	1212	}
		1213	/// <summary>
		1214	/// one time query of the OSD Menue with pagenumber
		1215	/// </summary>
		1216	/// <param name="iMenue">Menue page</param>
		1217	void _OSDMenue(int iMenue)
		1218	{
		1219	if (simpleSerialPort.Port.IsOpen)
		1220	{
		1221	if (iMenue > iOSDMax)
		1222	iMenue = 0;
		1223	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1224	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1225	serialStream.Write(bytes, 0, bytes.Length);
		1226	}
		1227	else
		1228	Log(LogMsgType.Error, "NOT CONNECTED!");
		1229
		1230	}
		1231	/// <summary>
		1232	/// call the OSDMenue and start autorefresh
		1233	/// usually by sending a menuekey
		1234	/// a bit tricky - but by sending inverted value of 32 (32 = 0010 0000) you can start the OSD menue with autoupdate (abo) without switching the page with the keyvalues (0x1, 0x2)
		1235	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1236	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1237	/// </summary>
		1238	void _OSDMenueAutoRefresh()
		1239	{
		1240	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
		1241	}
		1242	void _OSDMenueAutoRefresh(byte key)
		1243	{
		1244	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1245	}
		1246	/// <summary>
		1247	/// initialize the OSD menue combobox
		1248	/// combox is filled by numbers from 0 to max pagenumber
		1249	/// </summary>
		1250	void _initOSDCB()
		1251	{
		1252	_bCBInit = true;
		1253	if(iOSDMax == 0)
		1254	{
		1255	_OSDMenue(0);
		1256	Thread.Sleep(10);
		1257	}
		1258	cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
		1259	for(int i = 0; i <= iOSDMax;i++)
		1260	{
		1261	cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1262	}
		1263	cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1264	_bCBInit = false;
		1265	}
		1266	void _readIni()
		1267	{
		1268	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		1269	_writeIni();
		1270	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1271	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1272
		1273	string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
		1274	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		1275	sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
		1276	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		1277	sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
		1278	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		1279	sVal = ini.IniReadValue("default", "AutorefreshOSDData");
		1280	_OSDAutorefresh = Convert.ToBoolean(sVal);
		1281
		1282	sVal = ini.IniReadValue("default", "IntervalDebugData");
		1283	debugInterval = (byte)Convert.ToInt16(sVal);
		1284	sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
		1285	navctrlInterval = (byte)Convert.ToInt16(sVal);
		1286	sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
		1287	blctrlInterval = (byte)Convert.ToInt16(sVal);
		1288	sVal = ini.IniReadValue("default", "IntervalOSDData");
		1289	OSDInterval = (byte)Convert.ToInt16(sVal);
2257	-	1290	for(int i = 0; i < 12; i++)
		1291	{
		1292	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		1293	if(sVal != "")
		1294	serChan[i] = Convert.ToInt16(sVal);
		1295	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		1296	if(sVal != "")
		1297	serChanTitle[i] = sVal;
		1298	}
2233	-	1299	}
		1300	void _writeIni()
		1301	{
		1302
		1303	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1304	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1305
		1306	ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
		1307	ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
		1308	ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
		1309	ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
		1310
		1311	ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
		1312	ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
		1313	ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
		1314	ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
2257	-	1315
		1316	for (int i = 0; i < 12; i++)
		1317	{
		1318	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		1319	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		1320	}
		1321
2233	-	1322	}
		1323
2250	-	1324	/// <summary>
		1325	/// initialize the 2 datatables for motor values
		1326	/// dtMotors1 - motor 1 - 4
		1327	/// dtMotors2 - motor 5 - 8
		1328	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		1329	/// </summary>
		1330	void _initDTMotors()
		1331	{
		1332	for(int i = 0; i < 4; i++)
		1333	{
		1334	if (dtMotors1.Rows.Count < 4)
		1335	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		1336	else
		1337	{
		1338	dtMotors1.Rows[i].SetField(1, "NA");
		1339	dtMotors1.Rows[i].SetField(2, "NA");
		1340	}
		1341	if (dtMotors2.Rows.Count < 4)
		1342	dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		1343	else
		1344	{
		1345	dtMotors2.Rows[i].SetField(1, "NA");
		1346	dtMotors2.Rows[i].SetField(2, "NA");
		1347	}
		1348	}
		1349	dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
		1350	dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		1351	}
		1352
		1353	/// <summary>
		1354	/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
		1355	/// </summary>
		1356	/// <param name="coord">the degree value as double</param>
		1357	/// <returns>0° 0' 0,0"</returns>
		1358	string _convertDegree(double coord)
		1359	{
		1360	//double minutes = (degree - Math.Floor(degree)) * 60.0;
		1361	//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
		1362	//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
		1363	//// get rid of fractional part
		1364	//minutes = Math.Floor(minutes);
		1365	//seconds = Math.Floor(seconds);
		1366	//tenths = Math.Floor(tenths);
		1367
		1368
		1369	//int sec = (int)Math.Round(coord * 3600);
		1370	//int deg = sec / 3600;
		1371	//sec = Math.Abs(sec % 3600);
		1372	//int min = sec / 60;
		1373	//sec %= 60;
		1374
		1375	var ts = TimeSpan.FromHours(Math.Abs(coord));
		1376	double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
		1377	int min = ts.Minutes;
		1378	int sec = ts.Seconds;
		1379	int milli = ts.Milliseconds;
		1380
		1381	return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
		1382	}
2257	-	1383	/// <summary>
		1384	/// Clear the line in the errorlog window
		1385	/// containing the error string when error has ceased
		1386	/// </summary>
		1387	/// <param name="s">substring of errrormessage</param>
2254	-	1388	void _clearErrorLog(string s)
		1389	{
		1390	rtfError.Invoke((Action)(() =>
		1391	{
		1392	if (rtfError.Text.Contains(s))
		1393	{
		1394	int iLength = 0;
		1395	int iStart = rtfError.Text.IndexOf(s);
		1396	int iEnd = rtfError.Text.IndexOf('\n', iStart);
		1397	if (iEnd > 0)
		1398	{
		1399	iLength = iEnd + 1;
		1400	int iHttp = rtfError.Text.IndexOf("http", iEnd);
		1401	if (iHttp == iLength)
		1402	{
		1403	int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
		1404	if (iEnd2 > iLength)
		1405	{
		1406	iLength = iEnd2 + 1;
		1407	rtfError.Select(iStart, iLength);
		1408	rtfError.SelectedText = string.Empty;
		1409	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1410	}
		1411
		1412	}
		1413	else
		1414	{
		1415	rtfError.Select(iStart, iLength);
		1416	rtfError.SelectedText = string.Empty;
		1417	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1418	}
		1419	}
		1420	}
		1421	}));
		1422
		1423	}
2257	-	1424	/// <summary>
		1425	/// request the Waypoint at index
		1426	/// </summary>
		1427	/// <param name="index"></param>
		1428	void _getpWP(int index)
		1429	{
		1430	if (simpleSerialPort.Port.IsOpen)
		1431	{
		1432	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1433	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		1434	serialStream.Write(bytes, 0, bytes.Length);
		1435	}
		1436	else
		1437	Log(LogMsgType.Error, "NOT CONNECTED!");
		1438
		1439	}
		1440	/// <summary>
		1441	/// Sending the serial channel values
		1442	/// </summary>
		1443	void _sendSerialData()
		1444	{
		1445	byte[] serData = new byte[12];
		1446	for(int i = 0; i < 12; i++)
		1447	{
		1448	serData[i] = unchecked((byte)(serChan[i] - 127));
		1449	}
		1450	_sendControllerMessage('y', 1, serData);
		1451	}
		1452
		1453	void _initSerialCtrl()
		1454	{
		1455	trckbarSerial1.Value = serChan[0];
		1456	textBoxSerial1.Text = serChanTitle[0];
		1457	lblTbSerial1.Text = serChan[0].ToString();
		1458	trckbarSerial2.Value = serChan[1];
		1459	textBoxSerial2.Text = serChanTitle[1];
		1460	lblTbSerial2.Text = serChan[1].ToString();
		1461	}
2233	-	1462	#endregion functions
		1463
		1464	#region buttons
		1465	private void buttonReset_Click(object sender, EventArgs e)
		1466	{
		1467	_resetCtrl();
		1468	}
		1469	private void btnVersion_Click(object sender, EventArgs e)
		1470	{
		1471	_getVersion();
		1472	}
		1473	private void btnAnalogLabels_Click(object sender, EventArgs e)
		1474	{
		1475	_getAnalogLabels(0);
		1476	}
		1477	private void btnDbgData_Click(object sender, EventArgs e)
		1478	{
		1479	_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
		1480	}
		1481	private void btnSaveLabels_Click(object sender, EventArgs e)
		1482	{
		1483	switch (_iCtrlAct)
		1484	{
		1485	case 1:
		1486	fileName = "FCLabelTexts.txt";
		1487	break;
		1488	case 2:
		1489	fileName = "NCLabelTexts.txt";
		1490	break;
		1491	default:
		1492	fileName = "NCLabelTexts.txt";
		1493	break;
		1494	}
		1495	if (sAnalogLabel[0] != null)
		1496	{
		1497	File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
		1498	Console.WriteLine("Names saved to file");
		1499	_loadLabelFile();
		1500	}
		1501	else
		1502	Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
		1503	}
		1504	private void btnLoadLabels_Click(object sender, EventArgs e)
		1505	{
		1506	_assignLabelNames();
		1507	}
		1508	private void btnReadLabelFile_Click(object sender, EventArgs e)
		1509	{
		1510	_loadLabelFile();
		1511	}
		1512	private void btnSwitchFC_Click(object sender, EventArgs e)
		1513	{
		1514	_switchToFC();
		1515	}
		1516	private void btnSwitchNC_Click(object sender, EventArgs e)
		1517	{
		1518	_switchToNC();
		1519	}
		1520	private void btnReadDbgCont_Click(object sender, EventArgs e)
		1521	{
		1522	_readCont(!bReadContinously);
		1523	}
		1524	private void btnReadBLCtrl_Click(object sender, EventArgs e)
		1525	{
		1526
		1527	if (_iCtrlAct == 2) _readBLCtrl(false);
		1528	else Log(LogMsgType.Warning, "only available when connected to NC");
		1529	}
		1530	private void btnGetNaviData_Click(object sender, EventArgs e)
		1531	{
		1532	if (_iCtrlAct == 2) _readNavData(false);
		1533	else Log(LogMsgType.Warning, "only available when connected to NC");
		1534	}
		1535	private void btnConn_Click(object sender, EventArgs e)
		1536	{
		1537	simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
		1538	}
		1539	private void button3_Click(object sender, EventArgs e)
		1540	{
		1541	_getVersion(1);
		1542	}
		1543	private void button4_Click(object sender, EventArgs e)
		1544	{
		1545	_getVersion(2);
		1546	}
		1547	private void btnOSD_Click(object sender, EventArgs e)
		1548	{
		1549	if (iOSDPage > iOSDMax)
		1550	iOSDPage = 0;
		1551	_OSDMenue(iOSDPage);
		1552	}
		1553	private void btnOSDForward_Click(object sender, EventArgs e)
		1554	{
		1555	iOSDPage++;
		1556	if (iOSDPage > iOSDMax)
		1557	iOSDPage = 0;
		1558
		1559	_OSDMenue(iOSDPage);
		1560	}
		1561	private void btnOSDBackward_Click(object sender, EventArgs e)
		1562	{
		1563	iOSDPage--;
		1564	if (iOSDPage < 0)
		1565	iOSDPage = iOSDMax;
		1566
		1567	_OSDMenue(iOSDPage);
		1568	}
		1569	private void btnOSDAuto_Click(object sender, EventArgs e)
		1570	{
		1571	_OSDMenueAutoRefresh();
		1572	}
		1573	/// call the OSDMenue with Key 0x8
		1574	private void btnOSDLeave_Click(object sender, EventArgs e)
		1575	{
		1576	_OSDMenueAutoRefresh(8);
		1577	}
		1578	/// call the OSDMenue with Key 0x4
		1579	private void btnOSDEnter_Click(object sender, EventArgs e)
		1580	{
		1581	_OSDMenueAutoRefresh(4);
		1582	}
2257	-	1583	private void btnGetWP_Click(object sender, EventArgs e)
		1584	{
		1585	if(cbWPIndex.Items.Count >0)
		1586	_getpWP((int)cbWPIndex.SelectedItem);
		1587	else
		1588	_getpWP(1);
		1589	}
2233	-	1590	#endregion buttons
2254	-	1591
2257	-	1592	private void tbSerial1_Scroll(object sender, EventArgs e)
		1593	{
		1594	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1595	serChan[0] = trckbarSerial1.Value;
		1596	if (!_init) _sendSerialData();
		1597	}
		1598	private void textBoxSerial1_TextChanged(object sender, EventArgs e)
		1599	{
		1600	serChanTitle[0] = textBoxSerial1.Text;
		1601	}
		1602	private void btnSer1_0_Click(object sender, EventArgs e)
		1603	{
		1604	trckbarSerial1.Value = 0;
		1605	}
		1606
		1607	private void btnSer1_127_Click(object sender, EventArgs e)
		1608	{
		1609	trckbarSerial1.Value = 127;
		1610	}
		1611
		1612	private void btnSer1_254_Click(object sender, EventArgs e)
		1613	{
		1614	trckbarSerial1.Value = 254;
		1615	}
		1616
		1617	private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
		1618	{
		1619	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1620	serChan[0] = trckbarSerial1.Value;
		1621	if (!_init) _sendSerialData();
		1622	}
		1623
		1624	private void textBoxSerial2_TextChanged(object sender, EventArgs e)
		1625	{
		1626	serChanTitle[2] = textBoxSerial2.Text;
		1627	}
		1628
		1629	private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
		1630	{
		1631	lblTbSerial2.Text = trckbarSerial2.Value.ToString();
		1632	serChan[1] = trckbarSerial2.Value;
		1633	if (!_init) _sendSerialData();
		1634
		1635	}
		1636
		1637	private void btnSer2_0_Click(object sender, EventArgs e)
		1638	{
		1639	trckbarSerial2.Value = 0;
		1640	}
		1641
		1642	private void btnSer2_127_Click(object sender, EventArgs e)
		1643	{
		1644	trckbarSerial2.Value = 127;
		1645	}
		1646
		1647	private void btnSer2_254_Click(object sender, EventArgs e)
		1648	{
		1649	trckbarSerial2.Value = 254;
		1650	}
2233	-	1651	}
		1652	public class IniFile
		1653	{
		1654	public string path;
		1655
		1656	[DllImport("kernel32")]
		1657	private static extern long WritePrivateProfileString(string section,
		1658	string key, string val, string filePath);
		1659
		1660	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		1661	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		1662	uint nSize, string lpFileName);
		1663
		1664	[DllImport("kernel32")]
		1665	private static extern int GetPrivateProfileString(string section,
		1666	string key, string def, StringBuilder retVal,
		1667	int size, string filePath);
		1668
		1669	public IniFile(string INIPath)
		1670	{
		1671	path = INIPath;
		1672	}
		1673
		1674	public void IniWriteValue(string Section, string Key, string Value)
		1675	{
		1676	WritePrivateProfileString(Section, Key, Value, this.path);
		1677	}
		1678
		1679	public string IniReadValue(string Section, string Key)
		1680	{
		1681	StringBuilder temp = new StringBuilder(255);
		1682	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		1683	return temp.ToString();
		1684	}
		1685	//Ini_sections auslesen in String-Array
		1686	public string[] IniSectionNames()
		1687	{
		1688
		1689	// uint MAX_BUFFER = 32767;
		1690	uint MAX_BUFFER = 8388608;
		1691	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		1692	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		1693	if (bytesReturned == 0)
		1694	{
		1695	Marshal.FreeCoTaskMem(pReturnedString);
		1696	return null;
		1697	}
		1698	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		1699	Marshal.FreeCoTaskMem(pReturnedString);
		1700	//use of Substring below removes terminating null for split
		1701	return local.Substring(0, local.Length - 1).Split('\0');
		1702
		1703
		1704	}
		1705	}
		1706	public static class ControlExtensions
		1707	{
		1708	/// <summary>
		1709	/// Execute a threadsafe operation, when accessing a control via another thread
		1710	/// action is a lamdaexpression
		1711	/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
		1712	/// </summary>
		1713	/// <param name="control"> The control </param>
		1714	/// <param name="action"> The 'action' to perform </param>
		1715	public static void ExecuteThreadSafe(this Control control, Action action)
		1716	{
		1717	if (control.InvokeRequired)
		1718	{
		1719	control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
		1720	}
		1721	else
		1722	{
		1723	action.Invoke();
		1724	}
		1725	}
		1726	}
		1727
		1728	}

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(root)/MKLiveView/Source/MainForm.cs - Rev 2257