WebSVN - Projects - Blame - Rev 2265 - /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)
2265	-	32	/// and the sourcecode (http://hdl.lib.byu.edu/1877/2748)
2233	-	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	///============================================================================
2259	-	38	/// DISCLAIMER
		39	/// ===========
		40	///
		41	/// I created this software with my best knowledge and belief.
		42	///
		43	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
		44	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
		45	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
		46	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
		47	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
		48	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
		49	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
		50	///
		51	/// This means: use it & have fun (but @ Your own risk...)
		52	/// ===========================================================================
2233	-	53
		54	using System;
		55	using System.Data;
		56	using System.Drawing;
		57	using System.Text;
		58	using System.Windows.Forms;
		59	using System.IO;
		60	using System.Threading;
		61	using System.Diagnostics;
		62	using System.Runtime.InteropServices;
		63
		64	namespace MKLiveView
		65	{
		66	public partial class MainForm : Form
		67	{
2250	-	68	String[] NC_Error = new string[44]
		69	{
		70	"No Error",
		71	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		72	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		73	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		74	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		75	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		76	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		77	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		78	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		79	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		80	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		81	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		82	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		83	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		84	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		85	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		86	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		87	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		88	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		89	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		90	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		91	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		92	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		93	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		94	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		95	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		96	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		97	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		98	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		99	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		100	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		101	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		102	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		103	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		104	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		105	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		106	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		107	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		108	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		109	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		110	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		111	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		112	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		113	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		114	};
2233	-	115
		116	[FlagsAttribute]
		117	enum NC_HWError0 : short
		118	{
		119	None = 0,
		120	SPI_RX = 1,
		121	COMPASS_RX = 2,
		122	FC_INCOMPATIBLE = 4,
		123	COMPASS_INCOMPATIBLE = 8,
		124	GPS_RX = 16,
		125	COMPASS_VALUE = 32
		126	};
		127	[FlagsAttribute]
		128	enum FC_HWError0 : short
		129	{
		130	None = 0,
		131	GYRO_NICK = 1,
		132	GYRO_ROLL = 2,
		133	GYRO_YAW = 4,
		134	ACC_NICK = 8,
		135	ACC_ROLL = 16,
		136	ACC_TOP = 32,
		137	PRESSURE = 64,
		138	CAREFREE = 128
		139	};
		140	[FlagsAttribute]
		141	enum FC_HWError1 : short
		142	{
		143	None = 0,
		144	I2C = 1,
		145	BL_MISSING = 2,
		146	SPI_RX = 4,
		147	PPM = 8,
		148	MIXER = 16,
		149	RC_VOLTAGE = 32,
		150	ACC_NOT_CAL = 64,
		151	RES3 = 128
		152	};
		153	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		154	// Various colors for logging info
		155	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
		156
		157	string[] sAnalogLabel = new string[32];
		158	string[] sAnalogData = new string[32];
		159	bool bReadContinously = false;
		160	bool check_HWError = false;
		161	bool _bCBInit = true;
		162	bool _init = true;
		163	bool _debugDataAutorefresh = true;
		164	bool _navCtrlDataAutorefresh = true;
		165	bool _blctrlDataAutorefresh = true;
		166	bool _OSDAutorefresh = true;
2254	-	167	bool _bErrorLog = false;
2233	-	168	int crcError = 0;
		169	int iLableIndex = 0;
		170	string filePath = Directory.GetCurrentDirectory();
		171	string fileName = "NCLabelTexts.txt";
		172	int _iCtrlAct = 0;
		173	int _iLifeCounter = 0;
		174	int iOSDPage = 0;
		175	int iOSDMax = 0;
2257	-	176	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		177	string[] serChanTitle = new string[12];
2233	-	178	/// <summary>
		179	/// interval for sending debugdata (multiplied by 10ms)
		180	/// </summary>
2265	-	181	byte debugInterval = 10; //(=> 100ms)
2233	-	182	/// <summary>
		183	/// interval for sending BL-CTRL status (multiplied by 10ms)
		184	/// </summary>
2265	-	185	byte blctrlInterval = 75;
2233	-	186	/// <summary>
		187	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		188	/// </summary>
		189	byte navctrlInterval = 80;
		190	/// <summary>
		191	/// interval for sending OSD page update (multiplied by 10ms)
		192	/// </summary>
		193	byte OSDInterval = 85;
		194	/// <summary>
		195	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		196	/// </summary>
		197	DataTable dtAnalog = new DataTable();
2254	-	198	/// <summary>
		199	/// datatable for motordata (current,temp)
		200	/// </summary>
2250	-	201	DataTable dtMotors1 = new DataTable();
		202	DataTable dtMotors2 = new DataTable();
		203
2257	-	204	DataTable dtWaypoints = new DataTable();
		205
2233	-	206	public MainForm()
		207	{
		208	InitializeComponent();
2257	-	209	serChanTitle.Initialize();
		210
2233	-	211	_readIni();
2257	-	212
2259	-	213	_dataTablesInit();
2257	-	214
2233	-	215	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		216	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		217	simpleSerialPort.DataReceived += processMessage;
2265	-	218
2233	-	219	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		220	chkbAutoDbg.Checked = _debugDataAutorefresh;
		221	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		222	chkbAutoOSD.Checked = _OSDAutorefresh;
2265	-	223
2233	-	224	labelTimingDebug.Text = (debugInterval * 10).ToString();
		225	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		226	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		227	labelTimingOSD.Text = (OSDInterval * 10).ToString();
2265	-	228
		229	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
2233	-	230	}
2257	-	231
2233	-	232	#region events
		233	private void MainForm_Shown(object sender, EventArgs e)
		234	{
		235	_loadLabelNames();
2257	-	236	_initSerialCtrl();
2233	-	237	_init = false;
2265	-	238	splitContainer1.SplitterDistance = 510;
2233	-	239	}
		240	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
		241	{
		242	_writeIni();
		243	}
		244	private void SimpleSerialPort_PortOpened()
		245	{
		246	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
		247	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
		248	_getVersion();
		249	Thread.Sleep(100);
		250	_OSDMenue(0);
2257	-	251	Thread.Sleep(200);
		252	_sendSerialData();
2233	-	253	// _readCont(true);
		254	}
		255	private void SimpleSerialPort_PortClosed()
		256	{
		257	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
		258	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
		259	_readCont(false);
		260	}
		261	/// <summary>
		262	/// timer for refreshing subscription of subscribed data
		263	/// query lifecounter for connection failure
		264	/// </summary>
		265	private void timer1_Tick(object sender, EventArgs e)
		266	{
		267	if(bReadContinously)
		268	{
		269	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		270
2250	-	271	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
2233	-	272
		273	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		274	check_HWError = true;
		275	_getVersion();
		276	Thread.Sleep(10);
		277	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
		278	if (_iLifeCounter > 0)
		279	{
		280	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
		281	_iLifeCounter = 0;
		282	}
		283	else
		284	{
		285	Log(LogMsgType.Error, "No communication to NC/FC!");
		286	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
		287	}
		288	}
		289	}
		290	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
		291	{
		292	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		293	_OSDMenue(cbOSD.SelectedIndex);
		294	}
		295	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
		296	{
		297	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
		298	}
		299	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
		300	{
		301	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
		302	}
		303	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
		304	{
		305	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
		306	}
		307	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
		308	{
		309	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
		310	}
		311	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
		312	{
		313	if (cbTimingDebug.SelectedIndex > -1)
		314	{
		315	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
		316	labelTimingDebug.Text = (debugInterval * 10).ToString();
		317	}
		318	}
		319	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
		320	{
		321	if (cbTimingNAV.SelectedIndex > -1)
		322	{
		323	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
		324	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		325	}
		326	}
		327	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
		328	{
		329	if (cbTimingBLCTRL.SelectedIndex > -1)
		330	{
		331	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
		332	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		333	}
		334	}
		335	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
		336	{
		337	if (cbTimingOSD.SelectedIndex > -1)
		338	{
		339	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
		340	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		341	}
		342	}
2254	-	343	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
		344	{
		345	System.Diagnostics.Process.Start(e.LinkText);
		346	}
2257	-	347
2233	-	348	#endregion events
		349
		350	/// <summary> Log data to the terminal window. </summary>
		351	/// <param name="msgtype"> The type of message to be written. </param>
		352	/// <param name="msg"> The string containing the message to be shown. </param>
		353	private void Log(LogMsgType msgtype, string msg)
		354	{
		355	rtfTerminal.Invoke(new EventHandler(delegate
		356	{
		357	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
		358	rtfTerminal.Select(42, (500 * 129)); //500 löschen
		359	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
		360	rtfTerminal.SelectedText = string.Empty;
		361	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
		362	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
		363	rtfTerminal.AppendText(msg + Environment.NewLine);
		364	rtfTerminal.ScrollToCaret();
		365	}));
		366	}
		367	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
		368	/// <param name="msgtype"> The type of message to be written. </param>
		369	/// <param name="msg"> The string containing the message to be shown. </param>
		370	private void OSD(LogMsgType msgtype, string msg)
		371	{
		372	rtfOSD.Invoke(new EventHandler(delegate
		373	{
		374	if (rtfOSD.Lines.Length > 4)
		375	rtfOSD.Clear();
		376	rtfOSD.Select(rtfOSD.Text.Length,0);
		377	rtfOSD.SelectedText = string.Empty;
		378	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
		379	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
		380	rtfOSD.AppendText(msg + Environment.NewLine);
		381	if (rtfOSD.Text.IndexOf("ERR") > 0)
		382	{
		383	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
		384	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
		385	}
		386	}));
		387	}
		388	private void ErrorLog(LogMsgType msgtype, string msg)
		389	{
		390	rtfError.Invoke(new EventHandler(delegate
		391	{
		392	if (rtfError.Lines.Length > 4)
		393	rtfError.Clear();
		394	rtfError.Focus();
		395	rtfError.Select(rtfError.Text.Length, 0);
		396	rtfError.SelectedText = string.Empty;
		397	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
		398	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
		399	rtfError.AppendText(msg + Environment.NewLine);
		400
		401	}));
2254	-	402	_bErrorLog = true;
2233	-	403	}
		404
		405	#region functions
		406
2250	-	407	#region processing received data
		408	/// <summary> Processing the messages and displaying them in the according form controls
		409	/// function called by simpleSerialPort.DataReceived event
		410	/// </summary>
2233	-	411	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
		412	private void processMessage(byte[] message)
		413	{
		414	if (message.Length > 0)
		415	{
		416	_iLifeCounter++;
		417	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		418	//Log(LogMsgType.Incoming, message.Length.ToString());
		419	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		420	char cmdID;
		421	byte adr;
		422	byte[] data;
2257	-	423	byte[] tmp = null;
2233	-	424	if (message[0] != '#')
2257	-	425	{
		426	int iFound = -1;
		427	for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		428	{ //so this is a workaround to not spam the log box
		429	if (message[i] == 35)
		430	{
		431	iFound = i;
		432	break;
		433	}
		434	}
		435	if(iFound>0)
		436	{
		437	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
		438	tmp = new byte[message.Length - iFound];
		439	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		440	}
		441	s = s.Trim('\0', '\n', '\r');
		442	if(s.Length > 0)
		443	Log(LogMsgType.Normal, s);
		444	if (tmp != null)
		445	{
		446	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		447	processMessage(tmp);
		448	}
		449	}
2233	-	450	//Debug.Print(s);
		451	else
		452	{
		453	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		454
		455	if (adr == 255) { crcError++; }
		456	else crcError = 0;
		457	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
2250	-	458	//display the active controller (FC / NC)
2233	-	459	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...???
		460	{
		461	_iCtrlAct = adr;
		462	switch (adr)
		463	{
		464	case 1:
		465	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
		466	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
		467	_setFieldsNA(); //display fields NA for FC
		468	break;
		469	case 2:
		470	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
		471	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
		472	break;
		473	case 3:
		474	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		475	break;
		476	case 4:
		477	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		478	break;
		479	default:
		480	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
		481	break;
		482	}
2257	-	483	_loadLabelNames();
2233	-	484	}
2257	-	485	// else
		486	// Debug.Print("Address == 0?");
2233	-	487
		488	if (data != null && data.Length > 0)
		489	{
		490	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		491	s = s.Trim('\0', '\n');
		492
		493	switch (cmdID)
		494	{
2250	-	495	case 'A': //Label names
		496	_processLabelNames(s);
2233	-	497	break;
		498
2250	-	499	case 'D': //Debug data
2257	-	500	_processDebugVals(adr, data);
2233	-	501	break;
		502
2250	-	503	case 'V': //Version
		504	_processVersion(adr, data);
2233	-	505	break;
		506
2250	-	507	case 'K'://BL-CTRL data
		508	_processBLCtrl(data);
2233	-	509	break;
		510
		511	case 'O': //NC Data
2250	-	512	_processNCData(data);
2233	-	513	break;
		514
		515	case 'E': //NC error-string
		516	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		517	break;
		518
2250	-	519	case 'L': //OSD Menue (called by pagenumber)
		520	_processOSDSingle(data);
2233	-	521	break;
		522
2250	-	523	case 'H': //OSD Menue (with autoupdate - called by Key)
		524	_processOSDAuto(data);
2233	-	525	break;
		526
2257	-	527	case 'X': //Waypoint data
		528	_processWPData(data);
		529	break;
		530
2233	-	531	//default:
		532	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		533	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		534	// break;
		535	}
		536	}
		537	//else
		538	//{
		539	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		540	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		541	//}
		542	}
		543	}
		544	}
2250	-	545	/// <summary>
		546	/// Analog label names 'A'
		547	/// each label name is returned as a single string
		548	/// and added to string array sAnalogLabel[]
		549	/// and the datatable dtAnalog
		550	/// </summary>
		551	/// <param name="s">the label name</param>
		552	void _processLabelNames(string s)
		553	{
		554	if (iLableIndex < 32)
		555	{
		556	sAnalogLabel[iLableIndex] = s;
		557	if (dtAnalog.Rows.Count < 32)
		558	dtAnalog.Rows.Add(s, "");
		559	else
		560	dtAnalog.Rows[iLableIndex].SetField(0, s);
2233	-	561
2250	-	562	_getAnalogLabels(iLableIndex + 1);
		563	}
		564	Debug.Print(s);
		565	}
		566	/// <summary>
		567	/// Debug values 'D'
		568	/// </summary>
		569	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		570	/// <param name="data">the received byte array to process</param>
		571	void _processDebugVals(byte adr,byte[] data)
		572	{
		573	if (data.Length == 66)
		574	{
		575	int[] iAnalogData = new int[32];
		576
		577	int index = 0;
		578	Int16 i16 = 0;
		579	double dTemp = 0;
		580	for (int i = 2; i < 66; i += 2)
		581	{
		582	i16 = data[i + 1];
		583	i16 = (Int16)(i16 << 8);
		584	iAnalogData[index] = data[i] + i16;
		585	sAnalogData[index] = (data[i] + i16).ToString();
		586	dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		587
		588	if (adr == 2) //NC
		589	{
		590	switch (index)
		591	{
		592	case 0: //pitch (German: nick)
		593	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		594	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		595	break;
		596	case 1: //roll
		597	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		598	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		599	break;
		600	case 4: //altitude
		601	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		602	break;
		603	case 7: //Voltage
		604	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		605	break;
		606	case 8: // Current
		607	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		608	break;
		609	case 10: //heading
		610	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		611	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		612	break;
		613	case 12: // SPI error
		614	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		615	break;
		616	case 14: //i2c error
		617	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		618	break;
		619	case 20: //Earthmagnet field
		620	lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
		621	break;
		622	case 21: //GroundSpeed
		623	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		624	break;
		625	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		626	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		627	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		628	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		629	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
2254	-	630	dTemp = Math.Sqrt(dTemp) / (double)10;
		631	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
2250	-	632	break;
		633	case 31: //Sats used
		634	lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
		635	break;
		636	}
		637	}
		638	if (adr == 1) //FC
		639	{
		640	switch (index)
		641	{
		642	case 0: //pitch (German: nick)
		643	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		644	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		645	break;
		646	case 1: //roll
		647	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		648	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		649	break;
		650	case 5: //altitude
		651	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		652	break;
		653	case 8: //heading
		654	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		655	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		656	break;
		657	case 9: //Voltage
		658	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		659	break;
		660	case 10: //Receiver quality
		661	lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		662	break;
		663	case 22: // Current
		664	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		665	break;
		666	case 23: //capacity used
		667	lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		668	break;
		669	case 27: // SPI error
		670	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		671	break;
		672	case 28: //i2c error
		673	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		674	break;
		675	}
		676	}
		677	index++;
		678	}
		679	}
		680	else
		681	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		682	}
		683	/// <summary>
		684	/// Version string 'V'
		685	/// </summary>
		686	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		687	/// <param name="data">the received byte array to process</param>
		688	void _processVersion(byte adr,byte[] data)
		689	{
		690	if (data.Length == 12)
		691	{
		692	if (!check_HWError)
		693	{
		694	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		695	string sVersion = "";
		696	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		697	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		698	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		699	Log(LogMsgType.Incoming, sVersion);
		700	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		701	Log(LogMsgType.Incoming, sVersion);
		702	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		703	}
		704	if (data[5] > 0) //error0
		705	{
		706	if (adr == 1)
		707	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		708	if (adr == 2)
		709	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		710	}
		711	if (data[6] > 0) //error1
		712	{
		713	if (adr == 1)
		714	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		715	if (adr == 2)
		716	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		717	}
2254	-	718	if((data[5] + data[6] == 0) && _bErrorLog)
		719	_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
2250	-	720
		721	}
		722	check_HWError = false;
		723	}
		724	/// <summary>
		725	/// BL-Ctrl data 'K'
		726	/// for FC you have to use a customized firmware
		727	/// </summary>
		728	/// <param name="data">the received byte array to process</param>
		729	void _processBLCtrl(byte[] data)
		730	{
		731	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		732	{
		733	bool bAvailable = false;
		734	for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
		735	{
		736
		737	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		738	bAvailable = true;
		739	else
		740	bAvailable = false;
		741
		742	if (data[i] < 4)
		743	{
		744	if (bAvailable)
		745	{
		746	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		747	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		748	}
		749	else
		750	{
		751	dtMotors1.Rows[data[i]].SetField(1, "NA");
		752	dtMotors1.Rows[data[i]].SetField(2, "NA");
		753	}
		754	}
		755	if (data[i] > 3 && data[i] < 8)
		756	{
		757	if (bAvailable)
		758	{
		759	dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		760	dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		761	}
		762	else
		763	{
		764	dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		765	dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		766	}
		767	}
		768	}
		769	}
		770
		771	}
		772	/// <summary>
		773	/// Navi-Ctrl data 'O'
		774	/// GPS-Position, capacatiy, flying time...
		775	/// </summary>
		776	/// <param name="data">the received byte array to process</param>
		777	void _processNCData(byte[] data)
		778	{
		779	int i_32, i_16, iVal;
		780	double d;
		781	i_32 = data[4];
		782	iVal = i_32 << 24;
		783	i_32 = data[3];
		784	iVal += i_32 << 16;
		785	i_32 = data[2];
		786	iVal += i_32 << 8;
		787	iVal += data[1];
		788	d = (double)iVal / Math.Pow(10, 7);
		789	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		790	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		791
		792	i_32 = data[8];
		793	iVal = i_32 << 24;
		794	i_32 = data[7];
		795	iVal += i_32 << 16;
		796	i_32 = data[6];
		797	iVal += i_32 << 8;
		798	iVal += data[5];
		799	d = (double)iVal / Math.Pow(10, 7);
		800	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
2254	-	801	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
2250	-	802
2254	-	803	i_16 = data[28];
		804	i_16 = (Int16)(i_16 << 8);
		805	iVal = data[27] + i_16;
		806	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		807
		808	i_16 = data[45];
		809	i_16 = (Int16)(i_16 << 8);
		810	iVal = data[44] + i_16;
		811	lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		812
		813	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
		814	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
		815
2250	-	816	i_16 = data[81];
		817	i_16 = (Int16)(i_16 << 8);
		818	iVal = data[80] + i_16;
		819	lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
		820
		821	i_16 = data[56];
		822	i_16 = (Int16)(i_16 << 8);
		823	iVal = data[55] + i_16;
		824	TimeSpan t = TimeSpan.FromSeconds(iVal);
		825	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		826	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
		827
		828	lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
		829	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
		830	//if (data[69] > 0)
		831	// _readNCError();
		832	//break;
		833	if (data[69] > 0 & data[69] < 44)
		834	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
2254	-	835	else
		836	if(_bErrorLog) _clearErrorLog("NC Error");
2250	-	837
		838	}
		839	/// <summary>
2257	-	840	/// Navi-Ctrl WP data struct 'X'
		841	/// called by index
		842	/// </summary>
		843	/// <param name="data">the received byte array to process</param>
		844	void _processWPData(byte[] data)
		845	{
		846	if (data.Length >= 28)
		847	{
		848	int count = data[0];
		849	int index = data[1];
		850	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		851	for (int i = 0; i < count; i++)
		852	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		853	cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		854	DataRow dr = dtWaypoints.NewRow();
		855	dr = Waypoints.toDataRow(data, dr);
		856	dtWaypoints.Rows.Add(dr);
		857	dgvWP.Invoke((Action)(() => dgvWP.Update()));
		858	}
		859	else
		860	Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		861	}
		862	/// <summary>
2250	-	863	/// OSD Menue 'L'
		864	/// single page called by pagenumber
		865	/// no autoupdate
		866	/// </summary>
		867	/// <param name="data">the received byte array to process</param>
		868	void _processOSDSingle(byte[] data)
		869	{
		870	if (data.Length == 84)
		871	{
		872	string sMessage = "";
		873	iOSDPage = data[0];
		874	iOSDMax = data[1];
		875	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		876	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		877	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		878	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		879	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		880	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		881	lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		882
		883	}
		884	else
		885	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		886
		887	}
		888	/// <summary>
		889	/// OSD Menue 'H'
		890	/// called by keys (0x01,0x02,0x03,0x04)
		891	/// autoupdate
		892	/// </summary>
		893	/// <param name="data">the received byte array to process</param>
		894	void _processOSDAuto(byte[] data)
		895	{
		896	if (data.Length == 81)
		897	{
		898	string sMessage = "";
		899	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		900	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		901	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		902	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		903	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		904
		905	}
		906	else
		907	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		908	}
		909	#endregion processing received data
		910
2233	-	911	/// <summary> send message to controller to request data
		912	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		913	/// </summary>
		914	/// <param name="CMDID"> the command ID </param>
		915	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		916	private void _sendControllerMessage(char CMDID, byte address)
		917	{
		918	if (simpleSerialPort.Port.IsOpen)
		919	{
		920	Stream serialStream = simpleSerialPort.Port.BaseStream;
		921	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		922	serialStream.Write(bytes, 0, bytes.Length);
		923
		924	}
		925	else
		926	Log(LogMsgType.Error, "NOT CONNECTED!");
		927	}
		928	/// <summary> send message to controller to request data
		929	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		930	/// </summary>
		931	/// <param name="CMDID"> the command ID </param>
		932	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		933	/// <param name="data"> additional data for the request</param>
		934	private void _sendControllerMessage(char CMDID, byte address, byte[]data)
		935	{
		936	if (simpleSerialPort.Port.IsOpen)
		937	{
		938	Stream serialStream = simpleSerialPort.Port.BaseStream;
		939	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
		940	serialStream.Write(bytes, 0, bytes.Length);
		941
		942	}
		943	else
		944	Log(LogMsgType.Error, "NOT CONNECTED!");
		945	}
		946
		947	/// <summary>
		948	/// read the analog-label names for the actual controller
		949	/// and load it into listbox
		950	/// </summary>
		951	void _loadLabelNames()
		952	{
		953	if (_iCtrlAct > 0 && _iCtrlAct < 3)
		954	{
		955	switch (_iCtrlAct)
		956	{
		957	case 1:
		958	sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		959	break;
		960	case 2:
		961	sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		962	break;
		963	}
		964	for (int i = 0; i < 32; i++)
		965	{
		966	if (dtAnalog.Rows.Count < 32)
		967	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		968	else
		969	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		970	}
		971	dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
		972	}
		973	}
		974	/// <summary>
		975	/// no longer used...
		976	/// read the analog-label textfile for the actual controller
		977	/// </summary>
		978	private void _loadLabelFile()
		979	{
		980	switch (_iCtrlAct)
		981	{
		982	case 1:
		983	fileName = "FCLabelTexts.txt";
		984	break;
		985	case 2:
		986	fileName = "NCLabelTexts.txt";
		987	break;
		988	//default:
		989	// fileName = "NCLabelTexts.txt";
		990	// break;
		991	}
		992
		993	if (File.Exists(filePath + "\\" + fileName))
		994	{
		995	sAnalogLabel.Initialize();
		996	sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
		997	lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
		998	lbLabels.Invoke((Action)(() => lbLabels.Update()));
		999	lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
		1000	Console.WriteLine("Names loaded from file");
		1001	lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
		1002	}
		1003	else
		1004	{
		1005	_readCont(false);
		1006	Log(LogMsgType.Error, "Label-file not found!");
		1007	Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
		1008	Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
		1009	}
		1010	}
		1011	/// <summary>
		1012	/// no longer used...
		1013	/// assign the analog-label names from the textfile to the datatable
		1014	///
		1015	/// </summary>
		1016	private void _assignLabelNames()
		1017	{
		1018	if (lbLabels.Items.Count == 32)
		1019	{
		1020	lbLabels.Items.CopyTo(sAnalogLabel, 0);
		1021	for (int i = 0; i < 32; i++)
		1022	{
		1023	if (dtAnalog.Rows.Count < 32)
		1024	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1025	else
		1026	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1027
		1028	}
		1029	}
		1030	}
		1031	/// <summary>
		1032	/// get the version struct of actual controller
		1033	/// </summary>
		1034	/// <summary>
		1035	/// get the labeltexts for the analog values
		1036	/// </summary>
		1037	private void _getAnalogLabels()
		1038	{
		1039	if (simpleSerialPort.Port.IsOpen)
		1040	{
		1041	iLableIndex = 0;
		1042	for (int i = 0; i < 32; i++)
		1043	{
		1044	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1045	byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
		1046	serialStream.Write(bytes, 0, bytes.Length);
		1047	Thread.Sleep(10);
		1048	}
		1049	}
		1050	else
		1051	Log(LogMsgType.Error, "NOT CONNECTED!");
		1052	}
		1053	/// <summary>
		1054	/// get the labeltext for a single label
		1055	/// </summary>
		1056	/// <param name="iIndex">index of the label</param>
		1057	private void _getAnalogLabels(int iIndex)
		1058	{
		1059	if (simpleSerialPort.Port.IsOpen)
		1060	{
		1061	if (iIndex < 32)
		1062	{
		1063	iLableIndex = iIndex;
		1064	_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
		1065	}
		1066	}
		1067	else
		1068	Log(LogMsgType.Error, "NOT CONNECTED!");
		1069	}
		1070	private void _getVersion()
		1071	{
		1072	_sendControllerMessage('v', 0);
		1073	}
		1074	/// <summary>
		1075	/// get FC version struct via NC
		1076	/// by sending '1' as data (not documented in wiki...)
		1077	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1078	/// </summary>
		1079	/// <param name="ctrl">controller number 1=FC</param>
		1080	private void _getVersion(byte ctrl)
		1081	{
		1082	_sendControllerMessage('v', 0, new byte[1] {ctrl});
		1083	}
		1084	/// <summary>
		1085	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1086	/// </summary>
		1087	private void _switchToNC()
		1088	{
		1089	if (simpleSerialPort.Port.IsOpen)
		1090	{
		1091	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1092	byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
		1093	serialStream.Write(bytes, 0, bytes.Length);
		1094
		1095	Thread.Sleep(100);
		1096	_getVersion();
		1097	Thread.Sleep(100);
		1098	_OSDMenue(0);
		1099	}
		1100	else
		1101	Log(LogMsgType.Error, "NOT CONNECTED!");
		1102	}
		1103	/// <summary>
		1104	/// switch to FC
		1105	/// </summary>
		1106	private void _switchToFC()
		1107	{
		1108	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1109	Thread.Sleep(100);
		1110	_getVersion();
		1111	Thread.Sleep(100);
		1112	_OSDMenue(0);
		1113	}
		1114	/// <summary>
		1115	/// send RESET signal to FC
		1116	/// </summary>
		1117	private void _resetCtrl()
		1118	{
		1119	_sendControllerMessage('R', 1);
		1120	}
		1121	/// <summary>
		1122	/// poll the debug data (4sec subscription)
		1123	/// </summary>
		1124	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1125	private void _readDebugData(bool auto)
		1126	{
		1127	byte interval = auto ? debugInterval : (byte)0;
		1128	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1129	}
		1130	/// <summary>
		1131	/// poll the BL-CTRL status via NC (4sec subscription)
		1132	/// </summary>
		1133	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1134	private void _readBLCtrl(bool auto)
		1135	{
		1136	byte interval = auto ? blctrlInterval : (byte)0;
		1137	_sendControllerMessage('k', 0, new byte[1] { interval });
		1138	}
		1139	/// <summary>
		1140	/// poll the NC data struct (4sec subscription)
		1141	/// </summary>
		1142	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1143	private void _readNavData(bool auto)
		1144	{
		1145	byte interval = auto ? navctrlInterval : (byte)0;
		1146	_sendControllerMessage('o', 2, new byte[1] { interval });
		1147	}
		1148	/// <summary>
		1149	/// get the errortext for pending NC error
		1150	/// </summary>
		1151	private void _readNCError()
		1152	{
		1153	_sendControllerMessage('e', 2);
		1154	}
		1155	/// <summary>
		1156	/// start/stop continous polling of controller values
		1157	/// </summary>
		1158	/// <param name="b">start/stop switch</param>
		1159	void _readCont(bool b)
		1160	{
		1161	bReadContinously = b;
		1162	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
		1163	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
		1164	if (bReadContinously)
		1165	{
2250	-	1166	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1167	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1168	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1169	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
2233	-	1170	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
		1171	}
		1172	else
		1173	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
		1174	_iLifeCounter = 0;
		1175	}
		1176	/// <summary>
2250	-	1177	/// set values to "NA" when not available with FC
2233	-	1178	/// </summary>
		1179	void _setFieldsNA()
		1180	{
		1181	Thread.Sleep(100);
2250	-	1182	_initDTMotors();
2233	-	1183	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
2250	-	1184	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
		1185	lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
		1186	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
		1187	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
		1188	lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
		1189	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
		1190	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
2254	-	1191	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
		1192	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
		1193	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
2233	-	1194	}
		1195	/// <summary>
		1196	/// one time query of the OSD Menue with pagenumber
		1197	/// </summary>
		1198	/// <param name="iMenue">Menue page</param>
		1199	void _OSDMenue(int iMenue)
		1200	{
		1201	if (simpleSerialPort.Port.IsOpen)
		1202	{
		1203	if (iMenue > iOSDMax)
		1204	iMenue = 0;
		1205	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1206	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1207	serialStream.Write(bytes, 0, bytes.Length);
		1208	}
		1209	else
		1210	Log(LogMsgType.Error, "NOT CONNECTED!");
		1211
		1212	}
		1213	/// <summary>
		1214	/// call the OSDMenue and start autorefresh
		1215	/// usually by sending a menuekey
		1216	/// 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)
		1217	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1218	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1219	/// </summary>
		1220	void _OSDMenueAutoRefresh()
		1221	{
		1222	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
		1223	}
		1224	void _OSDMenueAutoRefresh(byte key)
		1225	{
		1226	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1227	}
		1228	/// <summary>
		1229	/// initialize the OSD menue combobox
		1230	/// combox is filled by numbers from 0 to max pagenumber
		1231	/// </summary>
		1232	void _initOSDCB()
		1233	{
		1234	_bCBInit = true;
		1235	if(iOSDMax == 0)
		1236	{
		1237	_OSDMenue(0);
		1238	Thread.Sleep(10);
		1239	}
		1240	cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
		1241	for(int i = 0; i <= iOSDMax;i++)
		1242	{
		1243	cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1244	}
		1245	cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1246	_bCBInit = false;
		1247	}
2259	-	1248	/// <summary>
		1249	/// initialize the datatables
		1250	/// with columnnames etc
		1251	/// </summary>
		1252	void _dataTablesInit()
		1253	{
		1254	dtAnalog.Columns.Add("ID");
		1255	dtAnalog.Columns.Add("Value");
		1256	dataGridView1.DataSource = dtAnalog;
		1257
		1258	dtMotors1.Columns.Add("#");
		1259	dtMotors1.Columns.Add("Current");
		1260	dtMotors1.Columns.Add("Temp");
		1261	dtMotors2.Columns.Add("#");
		1262	dtMotors2.Columns.Add("Current");
		1263	dtMotors2.Columns.Add("Temp");
		1264	dgvMotors1.DataSource = dtMotors1;
		1265	dgvMotors2.DataSource = dtMotors2;
		1266	_initDTMotors();
		1267	dgvMotors1.Columns[0].Width = 24;
		1268	dgvMotors1.Columns[1].Width = 74;
		1269	dgvMotors1.Columns[2].Width = 74;
		1270	dgvMotors2.Columns[0].Width = 24;
		1271	dgvMotors2.Columns[1].Width = 74;
		1272	dgvMotors2.Columns[2].Width = 74;
		1273
		1274	dtWaypoints.Columns.Add("Index");
		1275	dtWaypoints.Columns.Add("Type");
		1276	dtWaypoints.Columns.Add("Name");
		1277	dtWaypoints.Columns.Add("Latitude");
		1278	dtWaypoints.Columns.Add("Longitude");
		1279	dtWaypoints.Columns.Add("Altitude");
		1280	dtWaypoints.Columns.Add("Heading");
		1281	dtWaypoints.Columns.Add("Speed");
		1282	dtWaypoints.Columns.Add("Altitude rate");
		1283	dtWaypoints.Columns.Add("Tol.radius");
		1284	dtWaypoints.Columns.Add("Hold time");
		1285	dtWaypoints.Columns.Add("AutoTrigger");
		1286	dtWaypoints.Columns.Add("Cam angle");
		1287	dtWaypoints.Columns.Add("Event");
		1288	dtWaypoints.Columns.Add("Eventchan. Val.");
		1289	dtWaypoints.Columns.Add("Status");
		1290	dgvWP.DataSource = dtWaypoints;
		1291	}
		1292	/// <summary>
		1293	/// read settings from ini-file
		1294	/// </summary>
2233	-	1295	void _readIni()
		1296	{
		1297	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		1298	_writeIni();
		1299	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1300	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1301
		1302	string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
		1303	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		1304	sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
		1305	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		1306	sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
		1307	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		1308	sVal = ini.IniReadValue("default", "AutorefreshOSDData");
		1309	_OSDAutorefresh = Convert.ToBoolean(sVal);
		1310
		1311	sVal = ini.IniReadValue("default", "IntervalDebugData");
		1312	debugInterval = (byte)Convert.ToInt16(sVal);
		1313	sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
		1314	navctrlInterval = (byte)Convert.ToInt16(sVal);
		1315	sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
		1316	blctrlInterval = (byte)Convert.ToInt16(sVal);
		1317	sVal = ini.IniReadValue("default", "IntervalOSDData");
		1318	OSDInterval = (byte)Convert.ToInt16(sVal);
2257	-	1319	for(int i = 0; i < 12; i++)
		1320	{
		1321	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		1322	if(sVal != "")
		1323	serChan[i] = Convert.ToInt16(sVal);
		1324	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		1325	if(sVal != "")
		1326	serChanTitle[i] = sVal;
		1327	}
2233	-	1328	}
2259	-	1329	/// <summary>
		1330	/// save settings to ini-file
		1331	/// </summary>
2233	-	1332	void _writeIni()
		1333	{
		1334
		1335	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1336	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1337
		1338	ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
		1339	ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
		1340	ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
		1341	ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
		1342
		1343	ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
		1344	ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
		1345	ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
		1346	ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
2257	-	1347
		1348	for (int i = 0; i < 12; i++)
		1349	{
		1350	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		1351	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		1352	}
		1353
2233	-	1354	}
		1355
2250	-	1356	/// <summary>
		1357	/// initialize the 2 datatables for motor values
		1358	/// dtMotors1 - motor 1 - 4
		1359	/// dtMotors2 - motor 5 - 8
		1360	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		1361	/// </summary>
		1362	void _initDTMotors()
		1363	{
		1364	for(int i = 0; i < 4; i++)
		1365	{
		1366	if (dtMotors1.Rows.Count < 4)
		1367	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		1368	else
		1369	{
		1370	dtMotors1.Rows[i].SetField(1, "NA");
		1371	dtMotors1.Rows[i].SetField(2, "NA");
		1372	}
		1373	if (dtMotors2.Rows.Count < 4)
		1374	dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		1375	else
		1376	{
		1377	dtMotors2.Rows[i].SetField(1, "NA");
		1378	dtMotors2.Rows[i].SetField(2, "NA");
		1379	}
		1380	}
		1381	dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
		1382	dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		1383	}
		1384
		1385	/// <summary>
		1386	/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
		1387	/// </summary>
		1388	/// <param name="coord">the degree value as double</param>
		1389	/// <returns>0° 0' 0,0"</returns>
		1390	string _convertDegree(double coord)
		1391	{
		1392	//double minutes = (degree - Math.Floor(degree)) * 60.0;
		1393	//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
		1394	//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
		1395	//// get rid of fractional part
		1396	//minutes = Math.Floor(minutes);
		1397	//seconds = Math.Floor(seconds);
		1398	//tenths = Math.Floor(tenths);
		1399
		1400
		1401	//int sec = (int)Math.Round(coord * 3600);
		1402	//int deg = sec / 3600;
		1403	//sec = Math.Abs(sec % 3600);
		1404	//int min = sec / 60;
		1405	//sec %= 60;
		1406
		1407	var ts = TimeSpan.FromHours(Math.Abs(coord));
		1408	double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
		1409	int min = ts.Minutes;
		1410	int sec = ts.Seconds;
		1411	int milli = ts.Milliseconds;
		1412
		1413	return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
		1414	}
2257	-	1415	/// <summary>
		1416	/// Clear the line in the errorlog window
		1417	/// containing the error string when error has ceased
		1418	/// </summary>
		1419	/// <param name="s">substring of errrormessage</param>
2254	-	1420	void _clearErrorLog(string s)
		1421	{
		1422	rtfError.Invoke((Action)(() =>
		1423	{
		1424	if (rtfError.Text.Contains(s))
		1425	{
		1426	int iLength = 0;
		1427	int iStart = rtfError.Text.IndexOf(s);
		1428	int iEnd = rtfError.Text.IndexOf('\n', iStart);
		1429	if (iEnd > 0)
		1430	{
		1431	iLength = iEnd + 1;
		1432	int iHttp = rtfError.Text.IndexOf("http", iEnd);
		1433	if (iHttp == iLength)
		1434	{
		1435	int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
		1436	if (iEnd2 > iLength)
		1437	{
		1438	iLength = iEnd2 + 1;
		1439	rtfError.Select(iStart, iLength);
		1440	rtfError.SelectedText = string.Empty;
		1441	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1442	}
		1443
		1444	}
		1445	else
		1446	{
		1447	rtfError.Select(iStart, iLength);
		1448	rtfError.SelectedText = string.Empty;
		1449	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1450	}
		1451	}
		1452	}
		1453	}));
		1454
		1455	}
2257	-	1456	/// <summary>
		1457	/// request the Waypoint at index
		1458	/// </summary>
		1459	/// <param name="index"></param>
		1460	void _getpWP(int index)
		1461	{
		1462	if (simpleSerialPort.Port.IsOpen)
		1463	{
		1464	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1465	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		1466	serialStream.Write(bytes, 0, bytes.Length);
		1467	}
		1468	else
		1469	Log(LogMsgType.Error, "NOT CONNECTED!");
		1470
		1471	}
		1472	/// <summary>
		1473	/// Sending the serial channel values
		1474	/// </summary>
		1475	void _sendSerialData()
		1476	{
		1477	byte[] serData = new byte[12];
		1478	for(int i = 0; i < 12; i++)
		1479	{
		1480	serData[i] = unchecked((byte)(serChan[i] - 127));
		1481	}
		1482	_sendControllerMessage('y', 1, serData);
		1483	}
2259	-	1484	/// <summary>
		1485	/// init the controls for displaying
		1486	/// and setting serial control channels
		1487	/// </summary>
2257	-	1488	void _initSerialCtrl()
		1489	{
		1490	trckbarSerial1.Value = serChan[0];
		1491	textBoxSerial1.Text = serChanTitle[0];
		1492	lblTbSerial1.Text = serChan[0].ToString();
		1493	trckbarSerial2.Value = serChan[1];
		1494	textBoxSerial2.Text = serChanTitle[1];
		1495	lblTbSerial2.Text = serChan[1].ToString();
2259	-	1496	trckbarSerial3.Value = serChan[2];
		1497	textBoxSerial3.Text = serChanTitle[2];
		1498	lblTbSerial3.Text = serChan[2].ToString();
		1499	trckbarSerial4.Value = serChan[3];
		1500	textBoxSerial4.Text = serChanTitle[3];
		1501	lblTbSerial4.Text = serChan[3].ToString();
2265	-	1502	trckbarSerial5.Value = serChan[4];
		1503	textBoxSerial5.Text = serChanTitle[4];
		1504	lblTbSerial5.Text = serChan[4].ToString();
		1505	trckbarSerial6.Value = serChan[5];
		1506	textBoxSerial6.Text = serChanTitle[5];
		1507	lblTbSerial6.Text = serChan[5].ToString();
		1508	trckbarSerial7.Value = serChan[6];
		1509	textBoxSerial7.Text = serChanTitle[6];
		1510	lblTbSerial7.Text = serChan[6].ToString();
		1511	trckbarSerial8.Value = serChan[7];
		1512	textBoxSerial8.Text = serChanTitle[7];
		1513	lblTbSerial8.Text = serChan[7].ToString();
2257	-	1514	}
2233	-	1515	#endregion functions
		1516
		1517	#region buttons
		1518	private void buttonReset_Click(object sender, EventArgs e)
		1519	{
		1520	_resetCtrl();
		1521	}
		1522	private void btnVersion_Click(object sender, EventArgs e)
		1523	{
		1524	_getVersion();
		1525	}
		1526	private void btnAnalogLabels_Click(object sender, EventArgs e)
		1527	{
		1528	_getAnalogLabels(0);
		1529	}
		1530	private void btnDbgData_Click(object sender, EventArgs e)
		1531	{
		1532	_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
		1533	}
		1534	private void btnSaveLabels_Click(object sender, EventArgs e)
		1535	{
		1536	switch (_iCtrlAct)
		1537	{
		1538	case 1:
		1539	fileName = "FCLabelTexts.txt";
		1540	break;
		1541	case 2:
		1542	fileName = "NCLabelTexts.txt";
		1543	break;
		1544	default:
		1545	fileName = "NCLabelTexts.txt";
		1546	break;
		1547	}
		1548	if (sAnalogLabel[0] != null)
		1549	{
		1550	File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
		1551	Console.WriteLine("Names saved to file");
		1552	_loadLabelFile();
		1553	}
		1554	else
		1555	Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
		1556	}
		1557	private void btnLoadLabels_Click(object sender, EventArgs e)
		1558	{
		1559	_assignLabelNames();
		1560	}
		1561	private void btnReadLabelFile_Click(object sender, EventArgs e)
		1562	{
		1563	_loadLabelFile();
		1564	}
		1565	private void btnSwitchFC_Click(object sender, EventArgs e)
		1566	{
		1567	_switchToFC();
		1568	}
		1569	private void btnSwitchNC_Click(object sender, EventArgs e)
		1570	{
		1571	_switchToNC();
		1572	}
		1573	private void btnReadDbgCont_Click(object sender, EventArgs e)
		1574	{
		1575	_readCont(!bReadContinously);
		1576	}
		1577	private void btnReadBLCtrl_Click(object sender, EventArgs e)
		1578	{
		1579
		1580	if (_iCtrlAct == 2) _readBLCtrl(false);
		1581	else Log(LogMsgType.Warning, "only available when connected to NC");
		1582	}
		1583	private void btnGetNaviData_Click(object sender, EventArgs e)
		1584	{
		1585	if (_iCtrlAct == 2) _readNavData(false);
		1586	else Log(LogMsgType.Warning, "only available when connected to NC");
		1587	}
		1588	private void btnConn_Click(object sender, EventArgs e)
		1589	{
		1590	simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
		1591	}
		1592	private void button3_Click(object sender, EventArgs e)
		1593	{
		1594	_getVersion(1);
		1595	}
		1596	private void button4_Click(object sender, EventArgs e)
		1597	{
		1598	_getVersion(2);
		1599	}
		1600	private void btnOSD_Click(object sender, EventArgs e)
		1601	{
		1602	if (iOSDPage > iOSDMax)
		1603	iOSDPage = 0;
		1604	_OSDMenue(iOSDPage);
		1605	}
		1606	private void btnOSDForward_Click(object sender, EventArgs e)
		1607	{
		1608	iOSDPage++;
		1609	if (iOSDPage > iOSDMax)
		1610	iOSDPage = 0;
		1611
		1612	_OSDMenue(iOSDPage);
		1613	}
		1614	private void btnOSDBackward_Click(object sender, EventArgs e)
		1615	{
		1616	iOSDPage--;
		1617	if (iOSDPage < 0)
		1618	iOSDPage = iOSDMax;
		1619
		1620	_OSDMenue(iOSDPage);
		1621	}
		1622	private void btnOSDAuto_Click(object sender, EventArgs e)
		1623	{
		1624	_OSDMenueAutoRefresh();
		1625	}
		1626	/// call the OSDMenue with Key 0x8
		1627	private void btnOSDLeave_Click(object sender, EventArgs e)
		1628	{
		1629	_OSDMenueAutoRefresh(8);
		1630	}
		1631	/// call the OSDMenue with Key 0x4
		1632	private void btnOSDEnter_Click(object sender, EventArgs e)
		1633	{
		1634	_OSDMenueAutoRefresh(4);
		1635	}
2257	-	1636	private void btnGetWP_Click(object sender, EventArgs e)
		1637	{
		1638	if(cbWPIndex.Items.Count >0)
		1639	_getpWP((int)cbWPIndex.SelectedItem);
		1640	else
		1641	_getpWP(1);
		1642	}
2233	-	1643	#endregion buttons
2259	-	1644	#region serial control channels - buttons & events
2257	-	1645	private void tbSerial1_Scroll(object sender, EventArgs e)
		1646	{
		1647	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1648	serChan[0] = trckbarSerial1.Value;
		1649	if (!_init) _sendSerialData();
		1650	}
		1651	private void textBoxSerial1_TextChanged(object sender, EventArgs e)
		1652	{
		1653	serChanTitle[0] = textBoxSerial1.Text;
		1654	}
		1655	private void btnSer1_0_Click(object sender, EventArgs e)
		1656	{
		1657	trckbarSerial1.Value = 0;
		1658	}
		1659	private void btnSer1_127_Click(object sender, EventArgs e)
		1660	{
		1661	trckbarSerial1.Value = 127;
		1662	}
		1663	private void btnSer1_254_Click(object sender, EventArgs e)
		1664	{
		1665	trckbarSerial1.Value = 254;
		1666	}
		1667	private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
		1668	{
		1669	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1670	serChan[0] = trckbarSerial1.Value;
		1671	if (!_init) _sendSerialData();
		1672	}
		1673	private void textBoxSerial2_TextChanged(object sender, EventArgs e)
		1674	{
2259	-	1675	serChanTitle[1] = textBoxSerial2.Text;
2257	-	1676	}
		1677	private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
		1678	{
		1679	lblTbSerial2.Text = trckbarSerial2.Value.ToString();
		1680	serChan[1] = trckbarSerial2.Value;
		1681	if (!_init) _sendSerialData();
		1682	}
		1683	private void btnSer2_0_Click(object sender, EventArgs e)
		1684	{
		1685	trckbarSerial2.Value = 0;
		1686	}
		1687	private void btnSer2_127_Click(object sender, EventArgs e)
		1688	{
		1689	trckbarSerial2.Value = 127;
		1690	}
		1691	private void btnSer2_254_Click(object sender, EventArgs e)
		1692	{
		1693	trckbarSerial2.Value = 254;
		1694	}
2259	-	1695	private void textBoxSerial3_TextChanged(object sender, EventArgs e)
		1696	{
		1697	serChanTitle[2] = textBoxSerial3.Text;
		1698	}
		1699	private void trckbarSerial3_ValueChanged(object sender, EventArgs e)
		1700	{
		1701	lblTbSerial3.Text = trckbarSerial3.Value.ToString();
		1702	serChan[2] = trckbarSerial3.Value;
		1703	if (!_init) _sendSerialData();
		1704	}
		1705	private void btnSer3_0_Click(object sender, EventArgs e)
		1706	{
		1707	trckbarSerial3.Value = 0;
		1708	}
		1709	private void btnSer3_127_Click(object sender, EventArgs e)
		1710	{
		1711	trckbarSerial3.Value = 127;
		1712	}
		1713	private void btnSer3_254_Click(object sender, EventArgs e)
		1714	{
		1715	trckbarSerial3.Value = 254;
		1716	}
		1717	private void textBoxSerial4_TextChanged(object sender, EventArgs e)
		1718	{
		1719	serChanTitle[3] = textBoxSerial4.Text;
		1720	}
		1721	private void trckbarSerial4_ValueChanged(object sender, EventArgs e)
		1722	{
		1723	lblTbSerial4.Text = trckbarSerial4.Value.ToString();
		1724	serChan[3] = trckbarSerial4.Value;
		1725	if (!_init) _sendSerialData();
		1726	}
		1727	private void btnSer4_0_Click(object sender, EventArgs e)
		1728	{
		1729	trckbarSerial4.Value = 0;
		1730	}
		1731	private void btnSer4_127_Click(object sender, EventArgs e)
		1732	{
		1733	trckbarSerial4.Value = 127;
		1734	}
		1735	private void btnSer4_254_Click(object sender, EventArgs e)
		1736	{
		1737	trckbarSerial4.Value = 254;
		1738	}
2265	-	1739	private void tbSerial5_Scroll(object sender, EventArgs e)
		1740	{
		1741	lblTbSerial5.Text = trckbarSerial5.Value.ToString();
		1742	serChan[4] = trckbarSerial5.Value;
		1743	if (!_init) _sendSerialData();
		1744	}
		1745	private void textBoxSerial5_TextChanged(object sender, EventArgs e)
		1746	{
		1747	serChanTitle[4] = textBoxSerial5.Text;
		1748	}
		1749	private void btnSer5_0_Click(object sender, EventArgs e)
		1750	{
		1751	trckbarSerial5.Value = 0;
		1752	}
		1753	private void btnSer5_127_Click(object sender, EventArgs e)
		1754	{
		1755	trckbarSerial5.Value = 127;
		1756	}
		1757	private void btnSer5_254_Click(object sender, EventArgs e)
		1758	{
		1759	trckbarSerial5.Value = 254;
		1760	}
		1761	private void trckbarSerial5_ValueChanged(object sender, EventArgs e)
		1762	{
		1763	lblTbSerial5.Text = trckbarSerial5.Value.ToString();
		1764	serChan[4] = trckbarSerial5.Value;
		1765	if (!_init) _sendSerialData();
		1766	}
		1767	private void tbSerial6_Scroll(object sender, EventArgs e)
		1768	{
		1769	lblTbSerial6.Text = trckbarSerial6.Value.ToString();
		1770	serChan[5] = trckbarSerial6.Value;
		1771	if (!_init) _sendSerialData();
		1772	}
		1773	private void textBoxSerial6_TextChanged(object sender, EventArgs e)
		1774	{
		1775	serChanTitle[5] = textBoxSerial6.Text;
		1776	}
		1777	private void btnSer6_0_Click(object sender, EventArgs e)
		1778	{
		1779	trckbarSerial6.Value = 0;
		1780	}
		1781	private void btnSer6_127_Click(object sender, EventArgs e)
		1782	{
		1783	trckbarSerial6.Value = 127;
		1784	}
		1785	private void btnSer6_254_Click(object sender, EventArgs e)
		1786	{
		1787	trckbarSerial6.Value = 254;
		1788	}
		1789	private void trckbarSerial6_ValueChanged(object sender, EventArgs e)
		1790	{
		1791	lblTbSerial6.Text = trckbarSerial6.Value.ToString();
		1792	serChan[5] = trckbarSerial6.Value;
		1793	if (!_init) _sendSerialData();
		1794	}
		1795	private void tbSerial7_Scroll(object sender, EventArgs e)
		1796	{
		1797	lblTbSerial7.Text = trckbarSerial7.Value.ToString();
		1798	serChan[6] = trckbarSerial7.Value;
		1799	if (!_init) _sendSerialData();
		1800	}
		1801	private void textBoxSerial7_TextChanged(object sender, EventArgs e)
		1802	{
		1803	serChanTitle[6] = textBoxSerial7.Text;
		1804	}
		1805	private void btnSer7_0_Click(object sender, EventArgs e)
		1806	{
		1807	trckbarSerial7.Value = 0;
		1808	}
		1809	private void btnSer7_127_Click(object sender, EventArgs e)
		1810	{
		1811	trckbarSerial7.Value = 127;
		1812	}
		1813	private void btnSer7_254_Click(object sender, EventArgs e)
		1814	{
		1815	trckbarSerial7.Value = 254;
		1816	}
		1817	private void trckbarSerial7_ValueChanged(object sender, EventArgs e)
		1818	{
		1819	lblTbSerial7.Text = trckbarSerial7.Value.ToString();
		1820	serChan[6] = trckbarSerial7.Value;
		1821	if (!_init) _sendSerialData();
		1822	}
		1823	private void tbSerial8_Scroll(object sender, EventArgs e)
		1824	{
		1825	lblTbSerial8.Text = trckbarSerial8.Value.ToString();
		1826	serChan[7] = trckbarSerial8.Value;
		1827	if (!_init) _sendSerialData();
		1828	}
		1829	private void textBoxSerial8_TextChanged(object sender, EventArgs e)
		1830	{
		1831	serChanTitle[7] = textBoxSerial8.Text;
		1832	}
		1833	private void btnSer8_0_Click(object sender, EventArgs e)
		1834	{
		1835	trckbarSerial8.Value = 0;
		1836	}
		1837	private void btnSer8_127_Click(object sender, EventArgs e)
		1838	{
		1839	trckbarSerial8.Value = 127;
		1840	}
		1841	private void btnSer8_254_Click(object sender, EventArgs e)
		1842	{
		1843	trckbarSerial8.Value = 254;
		1844	}
		1845	private void trckbarSerial8_ValueChanged(object sender, EventArgs e)
		1846	{
		1847	lblTbSerial8.Text = trckbarSerial8.Value.ToString();
		1848	serChan[7] = trckbarSerial8.Value;
		1849	if (!_init) _sendSerialData();
		1850	}
2259	-	1851	#endregion serial control channels
		1852
2233	-	1853	}
		1854	public class IniFile
		1855	{
		1856	public string path;
		1857
		1858	[DllImport("kernel32")]
		1859	private static extern long WritePrivateProfileString(string section,
		1860	string key, string val, string filePath);
		1861
		1862	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		1863	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		1864	uint nSize, string lpFileName);
		1865
		1866	[DllImport("kernel32")]
		1867	private static extern int GetPrivateProfileString(string section,
		1868	string key, string def, StringBuilder retVal,
		1869	int size, string filePath);
		1870
		1871	public IniFile(string INIPath)
		1872	{
		1873	path = INIPath;
		1874	}
		1875
		1876	public void IniWriteValue(string Section, string Key, string Value)
		1877	{
		1878	WritePrivateProfileString(Section, Key, Value, this.path);
		1879	}
		1880
		1881	public string IniReadValue(string Section, string Key)
		1882	{
		1883	StringBuilder temp = new StringBuilder(255);
		1884	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		1885	return temp.ToString();
		1886	}
		1887	//Ini_sections auslesen in String-Array
		1888	public string[] IniSectionNames()
		1889	{
		1890
		1891	// uint MAX_BUFFER = 32767;
		1892	uint MAX_BUFFER = 8388608;
		1893	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		1894	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		1895	if (bytesReturned == 0)
		1896	{
		1897	Marshal.FreeCoTaskMem(pReturnedString);
		1898	return null;
		1899	}
		1900	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		1901	Marshal.FreeCoTaskMem(pReturnedString);
		1902	//use of Substring below removes terminating null for split
		1903	return local.Substring(0, local.Length - 1).Split('\0');
		1904
		1905
		1906	}
		1907	}
		1908	public static class ControlExtensions
		1909	{
		1910	/// <summary>
		1911	/// Execute a threadsafe operation, when accessing a control via another thread
		1912	/// action is a lamdaexpression
		1913	/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
		1914	/// </summary>
		1915	/// <param name="control"> The control </param>
		1916	/// <param name="action"> The 'action' to perform </param>
		1917	public static void ExecuteThreadSafe(this Control control, Action action)
		1918	{
		1919	if (control.InvokeRequired)
		1920	{
		1921	control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
		1922	}
		1923	else
		1924	{
		1925	action.Invoke();
		1926	}
		1927	}
		1928	}
		1929
		1930	}

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(root)/MKLiveView/Source/MainForm.cs - Rev 2265