WebSVN - Projects - Blame - Rev 2274 - /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();
2274	-	209	_initForm();
		210	}
		211	void _initForm()
		212	{
2257	-	213	serChanTitle.Initialize();
		214
2233	-	215	_readIni();
2257	-	216
2259	-	217	_dataTablesInit();
2257	-	218
2233	-	219	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		220	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		221	simpleSerialPort.DataReceived += processMessage;
2265	-	222
2233	-	223	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		224	chkbAutoDbg.Checked = _debugDataAutorefresh;
		225	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		226	chkbAutoOSD.Checked = _OSDAutorefresh;
2265	-	227
2233	-	228	labelTimingDebug.Text = (debugInterval * 10).ToString();
		229	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		230	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		231	labelTimingOSD.Text = (OSDInterval * 10).ToString();
2265	-	232
		233	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
2233	-	234	}
		235	#region events
		236	private void MainForm_Shown(object sender, EventArgs e)
		237	{
		238	_loadLabelNames();
2257	-	239	_initSerialCtrl();
2233	-	240	_init = false;
2265	-	241	splitContainer1.SplitterDistance = 510;
2233	-	242	}
		243	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
		244	{
		245	_writeIni();
2274	-	246	// after adding a second language the programm didn't close properly anymore
		247	// so this is kinda workaround...
		248	Dispose(true);
		249	Environment.Exit(0);
2233	-	250	}
		251	private void SimpleSerialPort_PortOpened()
		252	{
		253	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
2274	-	254	if(Thread.CurrentThread.CurrentUICulture.Name== "")
		255	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
		256	else
		257	btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "schliessen"));
2233	-	258	_getVersion();
		259	Thread.Sleep(100);
		260	_OSDMenue(0);
2257	-	261	Thread.Sleep(200);
		262	_sendSerialData();
2233	-	263	// _readCont(true);
		264	}
		265	private void SimpleSerialPort_PortClosed()
		266	{
		267	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
2274	-	268	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		269	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
		270	else
		271	btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "öffnen"));
2233	-	272	_readCont(false);
		273	}
		274	/// <summary>
		275	/// timer for refreshing subscription of subscribed data
		276	/// query lifecounter for connection failure
		277	/// </summary>
		278	private void timer1_Tick(object sender, EventArgs e)
		279	{
		280	if(bReadContinously)
		281	{
		282	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		283
2250	-	284	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
2233	-	285
		286	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		287	check_HWError = true;
		288	_getVersion();
		289	Thread.Sleep(10);
		290	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
		291	if (_iLifeCounter > 0)
		292	{
		293	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
		294	_iLifeCounter = 0;
		295	}
		296	else
		297	{
		298	Log(LogMsgType.Error, "No communication to NC/FC!");
		299	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
		300	}
		301	}
		302	}
		303	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
		304	{
		305	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		306	_OSDMenue(cbOSD.SelectedIndex);
		307	}
		308	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
		309	{
		310	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
		311	}
		312	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
		313	{
		314	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
		315	}
		316	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
		317	{
		318	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
		319	}
		320	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
		321	{
		322	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
		323	}
		324	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
		325	{
		326	if (cbTimingDebug.SelectedIndex > -1)
		327	{
		328	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
		329	labelTimingDebug.Text = (debugInterval * 10).ToString();
		330	}
		331	}
		332	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
		333	{
		334	if (cbTimingNAV.SelectedIndex > -1)
		335	{
		336	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
		337	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		338	}
		339	}
		340	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
		341	{
		342	if (cbTimingBLCTRL.SelectedIndex > -1)
		343	{
		344	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
		345	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		346	}
		347	}
		348	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
		349	{
		350	if (cbTimingOSD.SelectedIndex > -1)
		351	{
		352	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
		353	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		354	}
		355	}
2254	-	356	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
		357	{
		358	System.Diagnostics.Process.Start(e.LinkText);
		359	}
2274	-	360	/// <summary>
		361	/// Combobox for selecting UI language
		362	/// </summary>
		363	/// <param name="sender"></param>
		364	/// <param name="e"></param>
		365	private void cbLanguage_SelectedIndexChanged(object sender, EventArgs e)
		366	{
		367	if (cbLanguage.SelectedIndex == 1)
		368	Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("de-DE");
		369	else
		370	Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("");
		371	updateStringRessource();
		372	}
		373	/// <summary>
		374	/// the form has to be recreated when changing the language of the UI
		375	/// </summary>
		376	private void updateStringRessource()
		377	{
		378	try
		379	{
		380	Point pt = this.Location;// memorize location of form
		381	Size sz = this.Size;// memorize size of form
		382
		383	if (simpleSerialPort.Port.IsOpen)
		384	{
		385	simpleSerialPort.Port.Close();
		386	Thread.Sleep(200);
		387	_readCont(false);
		388	Thread.Sleep(100);
		389	while (simpleSerialPort.Port.IsOpen \| bReadContinously)
		390	Thread.Sleep(100);
		391	}
		392
		393	this.Controls.Clear();// clear all controls of form
		394	components.Dispose();// dispose all components and release resources
		395	// delete all events to avoid double instances when calling InitializeComponent();
		396	this.Events.Dispose();
		397	if (timer1 != null)
		398	{
		399	timer1.Dispose();
		400	timer1 = null;
		401	}
		402	_init = true;
		403	timer1 = new System.Windows.Forms.Timer();
		404
		405	dtAnalog = new DataTable();
		406	dtMotors1 = new DataTable();
		407	dtMotors2 = new DataTable();
		408	dtWaypoints = new DataTable();
		409
		410	InitializeComponent(); // reload UI
		411
		412	_dataTablesInit();
		413
		414	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		415	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		416	simpleSerialPort.DataReceived += processMessage;
		417
		418	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		419	chkbAutoDbg.Checked = _debugDataAutorefresh;
		420	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		421	chkbAutoOSD.Checked = _OSDAutorefresh;
		422
		423	labelTimingDebug.Text = (debugInterval * 10).ToString();
		424	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		425	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		426	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		427
		428	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
		429
		430	this.Size = sz;// set size
		431	this.Location = pt;// position form
		432	_loadLabelNames();
		433	_initSerialCtrl();
		434	_init = false;
		435
		436	}
		437	catch (Exception ex)
		438	{
		439	MessageBox.Show(ex.Message);
		440	}
		441	}
		442
2233	-	443	#endregion events
		444
		445	/// <summary> Log data to the terminal window. </summary>
		446	/// <param name="msgtype"> The type of message to be written. </param>
		447	/// <param name="msg"> The string containing the message to be shown. </param>
		448	private void Log(LogMsgType msgtype, string msg)
		449	{
		450	rtfTerminal.Invoke(new EventHandler(delegate
		451	{
		452	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
		453	rtfTerminal.Select(42, (500 * 129)); //500 löschen
		454	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
		455	rtfTerminal.SelectedText = string.Empty;
		456	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
		457	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
		458	rtfTerminal.AppendText(msg + Environment.NewLine);
		459	rtfTerminal.ScrollToCaret();
		460	}));
		461	}
		462	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
		463	/// <param name="msgtype"> The type of message to be written. </param>
		464	/// <param name="msg"> The string containing the message to be shown. </param>
		465	private void OSD(LogMsgType msgtype, string msg)
		466	{
		467	rtfOSD.Invoke(new EventHandler(delegate
		468	{
		469	if (rtfOSD.Lines.Length > 4)
		470	rtfOSD.Clear();
		471	rtfOSD.Select(rtfOSD.Text.Length,0);
		472	rtfOSD.SelectedText = string.Empty;
		473	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
		474	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
		475	rtfOSD.AppendText(msg + Environment.NewLine);
		476	if (rtfOSD.Text.IndexOf("ERR") > 0)
		477	{
		478	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
		479	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
		480	}
		481	}));
		482	}
		483	private void ErrorLog(LogMsgType msgtype, string msg)
		484	{
		485	rtfError.Invoke(new EventHandler(delegate
		486	{
		487	if (rtfError.Lines.Length > 4)
		488	rtfError.Clear();
		489	rtfError.Focus();
		490	rtfError.Select(rtfError.Text.Length, 0);
		491	rtfError.SelectedText = string.Empty;
		492	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
		493	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
		494	rtfError.AppendText(msg + Environment.NewLine);
		495
		496	}));
2254	-	497	_bErrorLog = true;
2233	-	498	}
		499
		500	#region functions
		501
2250	-	502	#region processing received data
		503	/// <summary> Processing the messages and displaying them in the according form controls
		504	/// function called by simpleSerialPort.DataReceived event
		505	/// </summary>
2233	-	506	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
		507	private void processMessage(byte[] message)
		508	{
		509	if (message.Length > 0)
		510	{
		511	_iLifeCounter++;
		512	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		513	//Log(LogMsgType.Incoming, message.Length.ToString());
		514	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		515	char cmdID;
		516	byte adr;
		517	byte[] data;
2257	-	518	byte[] tmp = null;
2233	-	519	if (message[0] != '#')
2257	-	520	{
		521	int iFound = -1;
		522	for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		523	{ //so this is a workaround to not spam the log box
		524	if (message[i] == 35)
		525	{
		526	iFound = i;
		527	break;
		528	}
		529	}
		530	if(iFound>0)
		531	{
		532	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
		533	tmp = new byte[message.Length - iFound];
		534	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		535	}
		536	s = s.Trim('\0', '\n', '\r');
		537	if(s.Length > 0)
		538	Log(LogMsgType.Normal, s);
		539	if (tmp != null)
		540	{
		541	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		542	processMessage(tmp);
		543	}
		544	}
2233	-	545	//Debug.Print(s);
		546	else
		547	{
		548	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		549
		550	if (adr == 255) { crcError++; }
		551	else crcError = 0;
		552	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
2250	-	553	//display the active controller (FC / NC)
2233	-	554	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...???
		555	{
		556	_iCtrlAct = adr;
		557	switch (adr)
		558	{
		559	case 1:
		560	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
		561	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
		562	_setFieldsNA(); //display fields NA for FC
		563	break;
		564	case 2:
		565	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
		566	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
		567	break;
		568	case 3:
		569	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		570	break;
		571	case 4:
		572	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		573	break;
		574	default:
		575	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
		576	break;
		577	}
2257	-	578	_loadLabelNames();
2233	-	579	}
2257	-	580	// else
		581	// Debug.Print("Address == 0?");
2233	-	582
		583	if (data != null && data.Length > 0)
		584	{
		585	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		586	s = s.Trim('\0', '\n');
		587
		588	switch (cmdID)
		589	{
2250	-	590	case 'A': //Label names
		591	_processLabelNames(s);
2233	-	592	break;
		593
2250	-	594	case 'D': //Debug data
2257	-	595	_processDebugVals(adr, data);
2233	-	596	break;
		597
2250	-	598	case 'V': //Version
		599	_processVersion(adr, data);
2233	-	600	break;
		601
2250	-	602	case 'K'://BL-CTRL data
		603	_processBLCtrl(data);
2233	-	604	break;
		605
		606	case 'O': //NC Data
2250	-	607	_processNCData(data);
2233	-	608	break;
		609
		610	case 'E': //NC error-string
		611	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		612	break;
		613
2250	-	614	case 'L': //OSD Menue (called by pagenumber)
		615	_processOSDSingle(data);
2233	-	616	break;
		617
2250	-	618	case 'H': //OSD Menue (with autoupdate - called by Key)
		619	_processOSDAuto(data);
2233	-	620	break;
		621
2257	-	622	case 'X': //Waypoint data
		623	_processWPData(data);
		624	break;
		625
2233	-	626	//default:
		627	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		628	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		629	// break;
		630	}
		631	}
		632	//else
		633	//{
		634	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		635	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		636	//}
		637	}
		638	}
		639	}
2250	-	640	/// <summary>
		641	/// Analog label names 'A'
		642	/// each label name is returned as a single string
		643	/// and added to string array sAnalogLabel[]
		644	/// and the datatable dtAnalog
		645	/// </summary>
		646	/// <param name="s">the label name</param>
		647	void _processLabelNames(string s)
		648	{
		649	if (iLableIndex < 32)
		650	{
		651	sAnalogLabel[iLableIndex] = s;
		652	if (dtAnalog.Rows.Count < 32)
		653	dtAnalog.Rows.Add(s, "");
		654	else
		655	dtAnalog.Rows[iLableIndex].SetField(0, s);
2233	-	656
2250	-	657	_getAnalogLabels(iLableIndex + 1);
		658	}
		659	Debug.Print(s);
		660	}
		661	/// <summary>
		662	/// Debug values 'D'
		663	/// </summary>
		664	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		665	/// <param name="data">the received byte array to process</param>
		666	void _processDebugVals(byte adr,byte[] data)
		667	{
		668	if (data.Length == 66)
		669	{
		670	int[] iAnalogData = new int[32];
		671
		672	int index = 0;
		673	Int16 i16 = 0;
		674	double dTemp = 0;
		675	for (int i = 2; i < 66; i += 2)
		676	{
		677	i16 = data[i + 1];
		678	i16 = (Int16)(i16 << 8);
		679	iAnalogData[index] = data[i] + i16;
		680	sAnalogData[index] = (data[i] + i16).ToString();
		681	dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		682
		683	if (adr == 2) //NC
		684	{
		685	switch (index)
		686	{
		687	case 0: //pitch (German: nick)
		688	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		689	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		690	break;
		691	case 1: //roll
		692	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		693	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		694	break;
		695	case 4: //altitude
		696	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		697	break;
		698	case 7: //Voltage
		699	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		700	break;
		701	case 8: // Current
		702	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		703	break;
		704	case 10: //heading
		705	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		706	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		707	break;
		708	case 12: // SPI error
		709	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		710	break;
		711	case 14: //i2c error
		712	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		713	break;
		714	case 20: //Earthmagnet field
		715	lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
		716	break;
		717	case 21: //GroundSpeed
		718	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		719	break;
		720	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		721	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		722	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		723	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		724	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
2254	-	725	dTemp = Math.Sqrt(dTemp) / (double)10;
		726	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
2250	-	727	break;
		728	case 31: //Sats used
		729	lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
		730	break;
		731	}
		732	}
		733	if (adr == 1) //FC
		734	{
		735	switch (index)
		736	{
		737	case 0: //pitch (German: nick)
		738	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		739	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		740	break;
		741	case 1: //roll
		742	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		743	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		744	break;
		745	case 5: //altitude
		746	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		747	break;
		748	case 8: //heading
		749	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		750	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		751	break;
		752	case 9: //Voltage
		753	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		754	break;
		755	case 10: //Receiver quality
		756	lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		757	break;
		758	case 22: // Current
		759	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		760	break;
		761	case 23: //capacity used
		762	lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		763	break;
		764	case 27: // SPI error
		765	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		766	break;
		767	case 28: //i2c error
		768	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		769	break;
		770	}
		771	}
		772	index++;
		773	}
		774	}
		775	else
		776	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		777	}
		778	/// <summary>
		779	/// Version string 'V'
		780	/// </summary>
		781	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		782	/// <param name="data">the received byte array to process</param>
		783	void _processVersion(byte adr,byte[] data)
		784	{
		785	if (data.Length == 12)
		786	{
		787	if (!check_HWError)
		788	{
		789	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		790	string sVersion = "";
		791	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		792	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		793	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		794	Log(LogMsgType.Incoming, sVersion);
		795	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		796	Log(LogMsgType.Incoming, sVersion);
		797	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		798	}
		799	if (data[5] > 0) //error0
		800	{
		801	if (adr == 1)
		802	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		803	if (adr == 2)
		804	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		805	}
		806	if (data[6] > 0) //error1
		807	{
		808	if (adr == 1)
		809	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		810	if (adr == 2)
		811	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		812	}
2254	-	813	if((data[5] + data[6] == 0) && _bErrorLog)
		814	_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
2250	-	815
		816	}
		817	check_HWError = false;
		818	}
		819	/// <summary>
		820	/// BL-Ctrl data 'K'
		821	/// for FC you have to use a customized firmware
		822	/// </summary>
		823	/// <param name="data">the received byte array to process</param>
		824	void _processBLCtrl(byte[] data)
		825	{
		826	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		827	{
		828	bool bAvailable = false;
		829	for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
		830	{
		831
		832	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		833	bAvailable = true;
		834	else
		835	bAvailable = false;
		836
		837	if (data[i] < 4)
		838	{
		839	if (bAvailable)
		840	{
		841	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		842	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		843	}
		844	else
		845	{
		846	dtMotors1.Rows[data[i]].SetField(1, "NA");
		847	dtMotors1.Rows[data[i]].SetField(2, "NA");
		848	}
		849	}
		850	if (data[i] > 3 && data[i] < 8)
		851	{
		852	if (bAvailable)
		853	{
		854	dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		855	dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		856	}
		857	else
		858	{
		859	dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		860	dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		861	}
		862	}
		863	}
		864	}
		865
		866	}
		867	/// <summary>
		868	/// Navi-Ctrl data 'O'
		869	/// GPS-Position, capacatiy, flying time...
		870	/// </summary>
		871	/// <param name="data">the received byte array to process</param>
		872	void _processNCData(byte[] data)
		873	{
		874	int i_32, i_16, iVal;
		875	double d;
		876	i_32 = data[4];
		877	iVal = i_32 << 24;
		878	i_32 = data[3];
		879	iVal += i_32 << 16;
		880	i_32 = data[2];
		881	iVal += i_32 << 8;
		882	iVal += data[1];
		883	d = (double)iVal / Math.Pow(10, 7);
		884	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		885	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		886
		887	i_32 = data[8];
		888	iVal = i_32 << 24;
		889	i_32 = data[7];
		890	iVal += i_32 << 16;
		891	i_32 = data[6];
		892	iVal += i_32 << 8;
		893	iVal += data[5];
		894	d = (double)iVal / Math.Pow(10, 7);
		895	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
2254	-	896	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
2250	-	897
2254	-	898	i_16 = data[28];
		899	i_16 = (Int16)(i_16 << 8);
		900	iVal = data[27] + i_16;
		901	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		902
		903	i_16 = data[45];
		904	i_16 = (Int16)(i_16 << 8);
		905	iVal = data[44] + i_16;
		906	lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		907
		908	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
		909	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
		910
2250	-	911	i_16 = data[81];
		912	i_16 = (Int16)(i_16 << 8);
		913	iVal = data[80] + i_16;
		914	lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
		915
		916	i_16 = data[56];
		917	i_16 = (Int16)(i_16 << 8);
		918	iVal = data[55] + i_16;
		919	TimeSpan t = TimeSpan.FromSeconds(iVal);
		920	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		921	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
		922
		923	lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
		924	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
		925	//if (data[69] > 0)
		926	// _readNCError();
		927	//break;
		928	if (data[69] > 0 & data[69] < 44)
		929	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
2254	-	930	else
		931	if(_bErrorLog) _clearErrorLog("NC Error");
2250	-	932
		933	}
		934	/// <summary>
2257	-	935	/// Navi-Ctrl WP data struct 'X'
		936	/// called by index
		937	/// </summary>
		938	/// <param name="data">the received byte array to process</param>
		939	void _processWPData(byte[] data)
		940	{
		941	if (data.Length >= 28)
		942	{
		943	int count = data[0];
		944	int index = data[1];
		945	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		946	for (int i = 0; i < count; i++)
		947	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		948	cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		949	DataRow dr = dtWaypoints.NewRow();
		950	dr = Waypoints.toDataRow(data, dr);
		951	dtWaypoints.Rows.Add(dr);
		952	dgvWP.Invoke((Action)(() => dgvWP.Update()));
		953	}
		954	else
		955	Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		956	}
		957	/// <summary>
2250	-	958	/// OSD Menue 'L'
		959	/// single page called by pagenumber
		960	/// no autoupdate
		961	/// </summary>
		962	/// <param name="data">the received byte array to process</param>
		963	void _processOSDSingle(byte[] data)
		964	{
		965	if (data.Length == 84)
		966	{
		967	string sMessage = "";
		968	iOSDPage = data[0];
		969	iOSDMax = data[1];
		970	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		971	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		972	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		973	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		974	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		975	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		976	lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		977
		978	}
		979	else
		980	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		981
		982	}
		983	/// <summary>
		984	/// OSD Menue 'H'
		985	/// called by keys (0x01,0x02,0x03,0x04)
		986	/// autoupdate
		987	/// </summary>
		988	/// <param name="data">the received byte array to process</param>
		989	void _processOSDAuto(byte[] data)
		990	{
		991	if (data.Length == 81)
		992	{
		993	string sMessage = "";
		994	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		995	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		996	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		997	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		998	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		999
		1000	}
		1001	else
		1002	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1003	}
		1004	#endregion processing received data
		1005
2233	-	1006	/// <summary> send message to controller to request data
		1007	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1008	/// </summary>
		1009	/// <param name="CMDID"> the command ID </param>
		1010	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1011	private void _sendControllerMessage(char CMDID, byte address)
		1012	{
		1013	if (simpleSerialPort.Port.IsOpen)
		1014	{
		1015	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1016	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1017	serialStream.Write(bytes, 0, bytes.Length);
		1018
		1019	}
		1020	else
		1021	Log(LogMsgType.Error, "NOT CONNECTED!");
		1022	}
		1023	/// <summary> send message to controller to request data
		1024	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1025	/// </summary>
		1026	/// <param name="CMDID"> the command ID </param>
		1027	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1028	/// <param name="data"> additional data for the request</param>
		1029	private void _sendControllerMessage(char CMDID, byte address, byte[]data)
		1030	{
		1031	if (simpleSerialPort.Port.IsOpen)
		1032	{
		1033	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1034	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
		1035	serialStream.Write(bytes, 0, bytes.Length);
		1036
		1037	}
		1038	else
		1039	Log(LogMsgType.Error, "NOT CONNECTED!");
		1040	}
		1041
		1042	/// <summary>
		1043	/// read the analog-label names for the actual controller
		1044	/// and load it into listbox
		1045	/// </summary>
		1046	void _loadLabelNames()
		1047	{
		1048	if (_iCtrlAct > 0 && _iCtrlAct < 3)
		1049	{
		1050	switch (_iCtrlAct)
		1051	{
		1052	case 1:
		1053	sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		1054	break;
		1055	case 2:
		1056	sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		1057	break;
		1058	}
		1059	for (int i = 0; i < 32; i++)
		1060	{
		1061	if (dtAnalog.Rows.Count < 32)
		1062	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1063	else
		1064	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1065	}
		1066	dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
		1067	}
		1068	}
		1069	/// <summary>
		1070	/// no longer used...
		1071	/// read the analog-label textfile for the actual controller
		1072	/// </summary>
		1073	private void _loadLabelFile()
		1074	{
		1075	switch (_iCtrlAct)
		1076	{
		1077	case 1:
		1078	fileName = "FCLabelTexts.txt";
		1079	break;
		1080	case 2:
		1081	fileName = "NCLabelTexts.txt";
		1082	break;
		1083	//default:
		1084	// fileName = "NCLabelTexts.txt";
		1085	// break;
		1086	}
		1087
		1088	if (File.Exists(filePath + "\\" + fileName))
		1089	{
		1090	sAnalogLabel.Initialize();
		1091	sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
		1092	lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
		1093	lbLabels.Invoke((Action)(() => lbLabels.Update()));
		1094	lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
		1095	Console.WriteLine("Names loaded from file");
		1096	lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
		1097	}
		1098	else
		1099	{
		1100	_readCont(false);
		1101	Log(LogMsgType.Error, "Label-file not found!");
		1102	Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
		1103	Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
		1104	}
		1105	}
		1106	/// <summary>
		1107	/// no longer used...
		1108	/// assign the analog-label names from the textfile to the datatable
		1109	///
		1110	/// </summary>
		1111	private void _assignLabelNames()
		1112	{
		1113	if (lbLabels.Items.Count == 32)
		1114	{
		1115	lbLabels.Items.CopyTo(sAnalogLabel, 0);
		1116	for (int i = 0; i < 32; i++)
		1117	{
		1118	if (dtAnalog.Rows.Count < 32)
		1119	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1120	else
		1121	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1122
		1123	}
		1124	}
		1125	}
		1126	/// <summary>
		1127	/// get the version struct of actual controller
		1128	/// </summary>
		1129	/// <summary>
		1130	/// get the labeltexts for the analog values
		1131	/// </summary>
		1132	private void _getAnalogLabels()
		1133	{
		1134	if (simpleSerialPort.Port.IsOpen)
		1135	{
		1136	iLableIndex = 0;
		1137	for (int i = 0; i < 32; i++)
		1138	{
		1139	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1140	byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
		1141	serialStream.Write(bytes, 0, bytes.Length);
		1142	Thread.Sleep(10);
		1143	}
		1144	}
		1145	else
		1146	Log(LogMsgType.Error, "NOT CONNECTED!");
		1147	}
		1148	/// <summary>
		1149	/// get the labeltext for a single label
		1150	/// </summary>
		1151	/// <param name="iIndex">index of the label</param>
		1152	private void _getAnalogLabels(int iIndex)
		1153	{
		1154	if (simpleSerialPort.Port.IsOpen)
		1155	{
		1156	if (iIndex < 32)
		1157	{
		1158	iLableIndex = iIndex;
		1159	_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
		1160	}
		1161	}
		1162	else
		1163	Log(LogMsgType.Error, "NOT CONNECTED!");
		1164	}
		1165	private void _getVersion()
		1166	{
		1167	_sendControllerMessage('v', 0);
		1168	}
		1169	/// <summary>
		1170	/// get FC version struct via NC
		1171	/// by sending '1' as data (not documented in wiki...)
		1172	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1173	/// </summary>
		1174	/// <param name="ctrl">controller number 1=FC</param>
		1175	private void _getVersion(byte ctrl)
		1176	{
		1177	_sendControllerMessage('v', 0, new byte[1] {ctrl});
		1178	}
		1179	/// <summary>
		1180	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1181	/// </summary>
		1182	private void _switchToNC()
		1183	{
		1184	if (simpleSerialPort.Port.IsOpen)
		1185	{
		1186	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1187	byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
		1188	serialStream.Write(bytes, 0, bytes.Length);
		1189
		1190	Thread.Sleep(100);
		1191	_getVersion();
		1192	Thread.Sleep(100);
		1193	_OSDMenue(0);
		1194	}
		1195	else
		1196	Log(LogMsgType.Error, "NOT CONNECTED!");
		1197	}
		1198	/// <summary>
		1199	/// switch to FC
		1200	/// </summary>
		1201	private void _switchToFC()
		1202	{
		1203	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1204	Thread.Sleep(100);
		1205	_getVersion();
		1206	Thread.Sleep(100);
		1207	_OSDMenue(0);
		1208	}
		1209	/// <summary>
		1210	/// send RESET signal to FC
		1211	/// </summary>
		1212	private void _resetCtrl()
		1213	{
		1214	_sendControllerMessage('R', 1);
		1215	}
		1216	/// <summary>
		1217	/// poll the debug data (4sec subscription)
		1218	/// </summary>
		1219	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1220	private void _readDebugData(bool auto)
		1221	{
		1222	byte interval = auto ? debugInterval : (byte)0;
		1223	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1224	}
		1225	/// <summary>
		1226	/// poll the BL-CTRL status via NC (4sec subscription)
		1227	/// </summary>
		1228	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1229	private void _readBLCtrl(bool auto)
		1230	{
		1231	byte interval = auto ? blctrlInterval : (byte)0;
		1232	_sendControllerMessage('k', 0, new byte[1] { interval });
		1233	}
		1234	/// <summary>
		1235	/// poll the NC data struct (4sec subscription)
		1236	/// </summary>
		1237	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1238	private void _readNavData(bool auto)
		1239	{
		1240	byte interval = auto ? navctrlInterval : (byte)0;
		1241	_sendControllerMessage('o', 2, new byte[1] { interval });
		1242	}
		1243	/// <summary>
		1244	/// get the errortext for pending NC error
		1245	/// </summary>
		1246	private void _readNCError()
		1247	{
		1248	_sendControllerMessage('e', 2);
		1249	}
		1250	/// <summary>
		1251	/// start/stop continous polling of controller values
		1252	/// </summary>
		1253	/// <param name="b">start/stop switch</param>
		1254	void _readCont(bool b)
		1255	{
		1256	bReadContinously = b;
2274	-	1257
		1258	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		1259	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
		1260	else
		1261	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "Aktualisierung" + Environment.NewLine + "beenden" : "Aktualisierung" + Environment.NewLine + "starten"));
2233	-	1262	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
		1263	if (bReadContinously)
		1264	{
2250	-	1265	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1266	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1267	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1268	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
2233	-	1269	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
		1270	}
		1271	else
		1272	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
		1273	_iLifeCounter = 0;
		1274	}
		1275	/// <summary>
2250	-	1276	/// set values to "NA" when not available with FC
2233	-	1277	/// </summary>
		1278	void _setFieldsNA()
		1279	{
		1280	Thread.Sleep(100);
2250	-	1281	_initDTMotors();
2233	-	1282	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
2250	-	1283	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
		1284	lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
		1285	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
		1286	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
		1287	lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
		1288	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
		1289	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
2254	-	1290	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
		1291	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
		1292	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
2233	-	1293	}
		1294	/// <summary>
		1295	/// one time query of the OSD Menue with pagenumber
		1296	/// </summary>
		1297	/// <param name="iMenue">Menue page</param>
		1298	void _OSDMenue(int iMenue)
		1299	{
		1300	if (simpleSerialPort.Port.IsOpen)
		1301	{
		1302	if (iMenue > iOSDMax)
		1303	iMenue = 0;
		1304	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1305	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1306	serialStream.Write(bytes, 0, bytes.Length);
		1307	}
		1308	else
		1309	Log(LogMsgType.Error, "NOT CONNECTED!");
		1310
		1311	}
		1312	/// <summary>
		1313	/// call the OSDMenue and start autorefresh
		1314	/// usually by sending a menuekey
		1315	/// 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)
		1316	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1317	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1318	/// </summary>
		1319	void _OSDMenueAutoRefresh()
		1320	{
		1321	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
		1322	}
		1323	void _OSDMenueAutoRefresh(byte key)
		1324	{
		1325	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1326	}
		1327	/// <summary>
		1328	/// initialize the OSD menue combobox
		1329	/// combox is filled by numbers from 0 to max pagenumber
		1330	/// </summary>
		1331	void _initOSDCB()
		1332	{
		1333	_bCBInit = true;
		1334	if(iOSDMax == 0)
		1335	{
		1336	_OSDMenue(0);
		1337	Thread.Sleep(10);
		1338	}
		1339	cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
		1340	for(int i = 0; i <= iOSDMax;i++)
		1341	{
		1342	cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1343	}
		1344	cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1345	_bCBInit = false;
		1346	}
2259	-	1347	/// <summary>
		1348	/// initialize the datatables
		1349	/// with columnnames etc
		1350	/// </summary>
		1351	void _dataTablesInit()
		1352	{
		1353	dtAnalog.Columns.Add("ID");
		1354	dtAnalog.Columns.Add("Value");
		1355	dataGridView1.DataSource = dtAnalog;
		1356
		1357	dtMotors1.Columns.Add("#");
2274	-	1358	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		1359	dtMotors1.Columns.Add("Current");
		1360	else
		1361	dtMotors1.Columns.Add("Strom");
2259	-	1362	dtMotors1.Columns.Add("Temp");
		1363	dtMotors2.Columns.Add("#");
2274	-	1364	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		1365	dtMotors2.Columns.Add("Current");
		1366	else
		1367	dtMotors2.Columns.Add("Strom");
2259	-	1368	dtMotors2.Columns.Add("Temp");
		1369	dgvMotors1.DataSource = dtMotors1;
		1370	dgvMotors2.DataSource = dtMotors2;
		1371	_initDTMotors();
		1372	dgvMotors1.Columns[0].Width = 24;
		1373	dgvMotors1.Columns[1].Width = 74;
		1374	dgvMotors1.Columns[2].Width = 74;
		1375	dgvMotors2.Columns[0].Width = 24;
		1376	dgvMotors2.Columns[1].Width = 74;
		1377	dgvMotors2.Columns[2].Width = 74;
		1378
		1379	dtWaypoints.Columns.Add("Index");
		1380	dtWaypoints.Columns.Add("Type");
		1381	dtWaypoints.Columns.Add("Name");
		1382	dtWaypoints.Columns.Add("Latitude");
		1383	dtWaypoints.Columns.Add("Longitude");
		1384	dtWaypoints.Columns.Add("Altitude");
		1385	dtWaypoints.Columns.Add("Heading");
		1386	dtWaypoints.Columns.Add("Speed");
		1387	dtWaypoints.Columns.Add("Altitude rate");
		1388	dtWaypoints.Columns.Add("Tol.radius");
		1389	dtWaypoints.Columns.Add("Hold time");
		1390	dtWaypoints.Columns.Add("AutoTrigger");
		1391	dtWaypoints.Columns.Add("Cam angle");
		1392	dtWaypoints.Columns.Add("Event");
		1393	dtWaypoints.Columns.Add("Eventchan. Val.");
		1394	dtWaypoints.Columns.Add("Status");
		1395	dgvWP.DataSource = dtWaypoints;
		1396	}
		1397	/// <summary>
		1398	/// read settings from ini-file
		1399	/// </summary>
2233	-	1400	void _readIni()
		1401	{
		1402	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		1403	_writeIni();
		1404	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1405	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1406
		1407	string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
		1408	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		1409	sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
		1410	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		1411	sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
		1412	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		1413	sVal = ini.IniReadValue("default", "AutorefreshOSDData");
		1414	_OSDAutorefresh = Convert.ToBoolean(sVal);
		1415
		1416	sVal = ini.IniReadValue("default", "IntervalDebugData");
		1417	debugInterval = (byte)Convert.ToInt16(sVal);
		1418	sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
		1419	navctrlInterval = (byte)Convert.ToInt16(sVal);
		1420	sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
		1421	blctrlInterval = (byte)Convert.ToInt16(sVal);
		1422	sVal = ini.IniReadValue("default", "IntervalOSDData");
		1423	OSDInterval = (byte)Convert.ToInt16(sVal);
2257	-	1424	for(int i = 0; i < 12; i++)
		1425	{
		1426	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		1427	if(sVal != "")
		1428	serChan[i] = Convert.ToInt16(sVal);
		1429	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		1430	if(sVal != "")
		1431	serChanTitle[i] = sVal;
		1432	}
2233	-	1433	}
2259	-	1434	/// <summary>
		1435	/// save settings to ini-file
		1436	/// </summary>
2233	-	1437	void _writeIni()
		1438	{
		1439
		1440	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1441	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1442
		1443	ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
		1444	ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
		1445	ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
		1446	ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
		1447
		1448	ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
		1449	ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
		1450	ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
		1451	ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
2257	-	1452
		1453	for (int i = 0; i < 12; i++)
		1454	{
		1455	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		1456	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		1457	}
		1458
2233	-	1459	}
		1460
2250	-	1461	/// <summary>
		1462	/// initialize the 2 datatables for motor values
		1463	/// dtMotors1 - motor 1 - 4
		1464	/// dtMotors2 - motor 5 - 8
		1465	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		1466	/// </summary>
		1467	void _initDTMotors()
		1468	{
		1469	for(int i = 0; i < 4; i++)
		1470	{
		1471	if (dtMotors1.Rows.Count < 4)
		1472	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		1473	else
		1474	{
		1475	dtMotors1.Rows[i].SetField(1, "NA");
		1476	dtMotors1.Rows[i].SetField(2, "NA");
		1477	}
		1478	if (dtMotors2.Rows.Count < 4)
		1479	dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		1480	else
		1481	{
		1482	dtMotors2.Rows[i].SetField(1, "NA");
		1483	dtMotors2.Rows[i].SetField(2, "NA");
		1484	}
		1485	}
		1486	dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
		1487	dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		1488	}
		1489
		1490	/// <summary>
		1491	/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
		1492	/// </summary>
		1493	/// <param name="coord">the degree value as double</param>
		1494	/// <returns>0° 0' 0,0"</returns>
		1495	string _convertDegree(double coord)
		1496	{
		1497	//double minutes = (degree - Math.Floor(degree)) * 60.0;
		1498	//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
		1499	//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
		1500	//// get rid of fractional part
		1501	//minutes = Math.Floor(minutes);
		1502	//seconds = Math.Floor(seconds);
		1503	//tenths = Math.Floor(tenths);
		1504
		1505
		1506	//int sec = (int)Math.Round(coord * 3600);
		1507	//int deg = sec / 3600;
		1508	//sec = Math.Abs(sec % 3600);
		1509	//int min = sec / 60;
		1510	//sec %= 60;
		1511
		1512	var ts = TimeSpan.FromHours(Math.Abs(coord));
		1513	double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
		1514	int min = ts.Minutes;
		1515	int sec = ts.Seconds;
		1516	int milli = ts.Milliseconds;
		1517
		1518	return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
		1519	}
2257	-	1520	/// <summary>
		1521	/// Clear the line in the errorlog window
		1522	/// containing the error string when error has ceased
		1523	/// </summary>
		1524	/// <param name="s">substring of errrormessage</param>
2254	-	1525	void _clearErrorLog(string s)
		1526	{
		1527	rtfError.Invoke((Action)(() =>
		1528	{
		1529	if (rtfError.Text.Contains(s))
		1530	{
		1531	int iLength = 0;
		1532	int iStart = rtfError.Text.IndexOf(s);
		1533	int iEnd = rtfError.Text.IndexOf('\n', iStart);
		1534	if (iEnd > 0)
		1535	{
		1536	iLength = iEnd + 1;
		1537	int iHttp = rtfError.Text.IndexOf("http", iEnd);
		1538	if (iHttp == iLength)
		1539	{
		1540	int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
		1541	if (iEnd2 > iLength)
		1542	{
		1543	iLength = iEnd2 + 1;
		1544	rtfError.Select(iStart, iLength);
		1545	rtfError.SelectedText = string.Empty;
		1546	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1547	}
		1548
		1549	}
		1550	else
		1551	{
		1552	rtfError.Select(iStart, iLength);
		1553	rtfError.SelectedText = string.Empty;
		1554	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1555	}
		1556	}
		1557	}
		1558	}));
		1559
		1560	}
2257	-	1561	/// <summary>
		1562	/// request the Waypoint at index
		1563	/// </summary>
		1564	/// <param name="index"></param>
		1565	void _getpWP(int index)
		1566	{
		1567	if (simpleSerialPort.Port.IsOpen)
		1568	{
		1569	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1570	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		1571	serialStream.Write(bytes, 0, bytes.Length);
		1572	}
		1573	else
		1574	Log(LogMsgType.Error, "NOT CONNECTED!");
		1575
		1576	}
		1577	/// <summary>
		1578	/// Sending the serial channel values
		1579	/// </summary>
		1580	void _sendSerialData()
		1581	{
		1582	byte[] serData = new byte[12];
		1583	for(int i = 0; i < 12; i++)
		1584	{
		1585	serData[i] = unchecked((byte)(serChan[i] - 127));
		1586	}
		1587	_sendControllerMessage('y', 1, serData);
		1588	}
2259	-	1589	/// <summary>
		1590	/// init the controls for displaying
		1591	/// and setting serial control channels
		1592	/// </summary>
2257	-	1593	void _initSerialCtrl()
		1594	{
		1595	trckbarSerial1.Value = serChan[0];
		1596	textBoxSerial1.Text = serChanTitle[0];
		1597	lblTbSerial1.Text = serChan[0].ToString();
		1598	trckbarSerial2.Value = serChan[1];
		1599	textBoxSerial2.Text = serChanTitle[1];
		1600	lblTbSerial2.Text = serChan[1].ToString();
2259	-	1601	trckbarSerial3.Value = serChan[2];
		1602	textBoxSerial3.Text = serChanTitle[2];
		1603	lblTbSerial3.Text = serChan[2].ToString();
		1604	trckbarSerial4.Value = serChan[3];
		1605	textBoxSerial4.Text = serChanTitle[3];
		1606	lblTbSerial4.Text = serChan[3].ToString();
2265	-	1607	trckbarSerial5.Value = serChan[4];
		1608	textBoxSerial5.Text = serChanTitle[4];
		1609	lblTbSerial5.Text = serChan[4].ToString();
		1610	trckbarSerial6.Value = serChan[5];
		1611	textBoxSerial6.Text = serChanTitle[5];
		1612	lblTbSerial6.Text = serChan[5].ToString();
		1613	trckbarSerial7.Value = serChan[6];
		1614	textBoxSerial7.Text = serChanTitle[6];
		1615	lblTbSerial7.Text = serChan[6].ToString();
		1616	trckbarSerial8.Value = serChan[7];
		1617	textBoxSerial8.Text = serChanTitle[7];
		1618	lblTbSerial8.Text = serChan[7].ToString();
2257	-	1619	}
2233	-	1620	#endregion functions
		1621
		1622	#region buttons
		1623	private void buttonReset_Click(object sender, EventArgs e)
		1624	{
		1625	_resetCtrl();
		1626	}
		1627	private void btnVersion_Click(object sender, EventArgs e)
		1628	{
		1629	_getVersion();
		1630	}
		1631	private void btnAnalogLabels_Click(object sender, EventArgs e)
		1632	{
		1633	_getAnalogLabels(0);
		1634	}
		1635	private void btnDbgData_Click(object sender, EventArgs e)
		1636	{
		1637	_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
		1638	}
		1639	private void btnSaveLabels_Click(object sender, EventArgs e)
		1640	{
		1641	switch (_iCtrlAct)
		1642	{
		1643	case 1:
		1644	fileName = "FCLabelTexts.txt";
		1645	break;
		1646	case 2:
		1647	fileName = "NCLabelTexts.txt";
		1648	break;
		1649	default:
		1650	fileName = "NCLabelTexts.txt";
		1651	break;
		1652	}
		1653	if (sAnalogLabel[0] != null)
		1654	{
		1655	File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
		1656	Console.WriteLine("Names saved to file");
		1657	_loadLabelFile();
		1658	}
		1659	else
		1660	Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
		1661	}
		1662	private void btnLoadLabels_Click(object sender, EventArgs e)
		1663	{
		1664	_assignLabelNames();
		1665	}
		1666	private void btnReadLabelFile_Click(object sender, EventArgs e)
		1667	{
		1668	_loadLabelFile();
		1669	}
		1670	private void btnSwitchFC_Click(object sender, EventArgs e)
		1671	{
		1672	_switchToFC();
		1673	}
		1674	private void btnSwitchNC_Click(object sender, EventArgs e)
		1675	{
		1676	_switchToNC();
		1677	}
		1678	private void btnReadDbgCont_Click(object sender, EventArgs e)
		1679	{
		1680	_readCont(!bReadContinously);
		1681	}
		1682	private void btnReadBLCtrl_Click(object sender, EventArgs e)
		1683	{
		1684
		1685	if (_iCtrlAct == 2) _readBLCtrl(false);
		1686	else Log(LogMsgType.Warning, "only available when connected to NC");
		1687	}
		1688	private void btnGetNaviData_Click(object sender, EventArgs e)
		1689	{
		1690	if (_iCtrlAct == 2) _readNavData(false);
		1691	else Log(LogMsgType.Warning, "only available when connected to NC");
		1692	}
		1693	private void btnConn_Click(object sender, EventArgs e)
		1694	{
		1695	simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
		1696	}
		1697	private void button3_Click(object sender, EventArgs e)
		1698	{
		1699	_getVersion(1);
		1700	}
		1701	private void button4_Click(object sender, EventArgs e)
		1702	{
		1703	_getVersion(2);
		1704	}
		1705	private void btnOSD_Click(object sender, EventArgs e)
		1706	{
		1707	if (iOSDPage > iOSDMax)
		1708	iOSDPage = 0;
		1709	_OSDMenue(iOSDPage);
		1710	}
		1711	private void btnOSDForward_Click(object sender, EventArgs e)
		1712	{
		1713	iOSDPage++;
		1714	if (iOSDPage > iOSDMax)
		1715	iOSDPage = 0;
		1716
		1717	_OSDMenue(iOSDPage);
		1718	}
		1719	private void btnOSDBackward_Click(object sender, EventArgs e)
		1720	{
		1721	iOSDPage--;
		1722	if (iOSDPage < 0)
		1723	iOSDPage = iOSDMax;
		1724
		1725	_OSDMenue(iOSDPage);
		1726	}
		1727	private void btnOSDAuto_Click(object sender, EventArgs e)
		1728	{
		1729	_OSDMenueAutoRefresh();
		1730	}
		1731	/// call the OSDMenue with Key 0x8
		1732	private void btnOSDLeave_Click(object sender, EventArgs e)
		1733	{
		1734	_OSDMenueAutoRefresh(8);
		1735	}
		1736	/// call the OSDMenue with Key 0x4
		1737	private void btnOSDEnter_Click(object sender, EventArgs e)
		1738	{
		1739	_OSDMenueAutoRefresh(4);
		1740	}
2257	-	1741	private void btnGetWP_Click(object sender, EventArgs e)
		1742	{
		1743	if(cbWPIndex.Items.Count >0)
		1744	_getpWP((int)cbWPIndex.SelectedItem);
		1745	else
		1746	_getpWP(1);
		1747	}
2233	-	1748	#endregion buttons
2259	-	1749	#region serial control channels - buttons & events
2257	-	1750	private void tbSerial1_Scroll(object sender, EventArgs e)
		1751	{
		1752	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1753	serChan[0] = trckbarSerial1.Value;
		1754	if (!_init) _sendSerialData();
		1755	}
		1756	private void textBoxSerial1_TextChanged(object sender, EventArgs e)
		1757	{
		1758	serChanTitle[0] = textBoxSerial1.Text;
		1759	}
		1760	private void btnSer1_0_Click(object sender, EventArgs e)
		1761	{
		1762	trckbarSerial1.Value = 0;
		1763	}
		1764	private void btnSer1_127_Click(object sender, EventArgs e)
		1765	{
		1766	trckbarSerial1.Value = 127;
		1767	}
		1768	private void btnSer1_254_Click(object sender, EventArgs e)
		1769	{
		1770	trckbarSerial1.Value = 254;
		1771	}
		1772	private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
		1773	{
		1774	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1775	serChan[0] = trckbarSerial1.Value;
		1776	if (!_init) _sendSerialData();
		1777	}
		1778	private void textBoxSerial2_TextChanged(object sender, EventArgs e)
		1779	{
2259	-	1780	serChanTitle[1] = textBoxSerial2.Text;
2257	-	1781	}
		1782	private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
		1783	{
		1784	lblTbSerial2.Text = trckbarSerial2.Value.ToString();
		1785	serChan[1] = trckbarSerial2.Value;
		1786	if (!_init) _sendSerialData();
		1787	}
		1788	private void btnSer2_0_Click(object sender, EventArgs e)
		1789	{
		1790	trckbarSerial2.Value = 0;
		1791	}
		1792	private void btnSer2_127_Click(object sender, EventArgs e)
		1793	{
		1794	trckbarSerial2.Value = 127;
		1795	}
		1796	private void btnSer2_254_Click(object sender, EventArgs e)
		1797	{
		1798	trckbarSerial2.Value = 254;
		1799	}
2259	-	1800	private void textBoxSerial3_TextChanged(object sender, EventArgs e)
		1801	{
		1802	serChanTitle[2] = textBoxSerial3.Text;
		1803	}
		1804	private void trckbarSerial3_ValueChanged(object sender, EventArgs e)
		1805	{
		1806	lblTbSerial3.Text = trckbarSerial3.Value.ToString();
		1807	serChan[2] = trckbarSerial3.Value;
		1808	if (!_init) _sendSerialData();
		1809	}
		1810	private void btnSer3_0_Click(object sender, EventArgs e)
		1811	{
		1812	trckbarSerial3.Value = 0;
		1813	}
		1814	private void btnSer3_127_Click(object sender, EventArgs e)
		1815	{
		1816	trckbarSerial3.Value = 127;
		1817	}
		1818	private void btnSer3_254_Click(object sender, EventArgs e)
		1819	{
		1820	trckbarSerial3.Value = 254;
		1821	}
		1822	private void textBoxSerial4_TextChanged(object sender, EventArgs e)
		1823	{
		1824	serChanTitle[3] = textBoxSerial4.Text;
		1825	}
		1826	private void trckbarSerial4_ValueChanged(object sender, EventArgs e)
		1827	{
		1828	lblTbSerial4.Text = trckbarSerial4.Value.ToString();
		1829	serChan[3] = trckbarSerial4.Value;
		1830	if (!_init) _sendSerialData();
		1831	}
		1832	private void btnSer4_0_Click(object sender, EventArgs e)
		1833	{
		1834	trckbarSerial4.Value = 0;
		1835	}
		1836	private void btnSer4_127_Click(object sender, EventArgs e)
		1837	{
		1838	trckbarSerial4.Value = 127;
		1839	}
		1840	private void btnSer4_254_Click(object sender, EventArgs e)
		1841	{
		1842	trckbarSerial4.Value = 254;
		1843	}
2265	-	1844	private void tbSerial5_Scroll(object sender, EventArgs e)
		1845	{
		1846	lblTbSerial5.Text = trckbarSerial5.Value.ToString();
		1847	serChan[4] = trckbarSerial5.Value;
		1848	if (!_init) _sendSerialData();
		1849	}
		1850	private void textBoxSerial5_TextChanged(object sender, EventArgs e)
		1851	{
		1852	serChanTitle[4] = textBoxSerial5.Text;
		1853	}
		1854	private void btnSer5_0_Click(object sender, EventArgs e)
		1855	{
		1856	trckbarSerial5.Value = 0;
		1857	}
		1858	private void btnSer5_127_Click(object sender, EventArgs e)
		1859	{
		1860	trckbarSerial5.Value = 127;
		1861	}
		1862	private void btnSer5_254_Click(object sender, EventArgs e)
		1863	{
		1864	trckbarSerial5.Value = 254;
		1865	}
		1866	private void trckbarSerial5_ValueChanged(object sender, EventArgs e)
		1867	{
		1868	lblTbSerial5.Text = trckbarSerial5.Value.ToString();
		1869	serChan[4] = trckbarSerial5.Value;
		1870	if (!_init) _sendSerialData();
		1871	}
		1872	private void tbSerial6_Scroll(object sender, EventArgs e)
		1873	{
		1874	lblTbSerial6.Text = trckbarSerial6.Value.ToString();
		1875	serChan[5] = trckbarSerial6.Value;
		1876	if (!_init) _sendSerialData();
		1877	}
		1878	private void textBoxSerial6_TextChanged(object sender, EventArgs e)
		1879	{
		1880	serChanTitle[5] = textBoxSerial6.Text;
		1881	}
		1882	private void btnSer6_0_Click(object sender, EventArgs e)
		1883	{
		1884	trckbarSerial6.Value = 0;
		1885	}
		1886	private void btnSer6_127_Click(object sender, EventArgs e)
		1887	{
		1888	trckbarSerial6.Value = 127;
		1889	}
		1890	private void btnSer6_254_Click(object sender, EventArgs e)
		1891	{
		1892	trckbarSerial6.Value = 254;
		1893	}
		1894	private void trckbarSerial6_ValueChanged(object sender, EventArgs e)
		1895	{
		1896	lblTbSerial6.Text = trckbarSerial6.Value.ToString();
		1897	serChan[5] = trckbarSerial6.Value;
		1898	if (!_init) _sendSerialData();
		1899	}
		1900	private void tbSerial7_Scroll(object sender, EventArgs e)
		1901	{
		1902	lblTbSerial7.Text = trckbarSerial7.Value.ToString();
		1903	serChan[6] = trckbarSerial7.Value;
		1904	if (!_init) _sendSerialData();
		1905	}
		1906	private void textBoxSerial7_TextChanged(object sender, EventArgs e)
		1907	{
		1908	serChanTitle[6] = textBoxSerial7.Text;
		1909	}
		1910	private void btnSer7_0_Click(object sender, EventArgs e)
		1911	{
		1912	trckbarSerial7.Value = 0;
		1913	}
		1914	private void btnSer7_127_Click(object sender, EventArgs e)
		1915	{
		1916	trckbarSerial7.Value = 127;
		1917	}
		1918	private void btnSer7_254_Click(object sender, EventArgs e)
		1919	{
		1920	trckbarSerial7.Value = 254;
		1921	}
		1922	private void trckbarSerial7_ValueChanged(object sender, EventArgs e)
		1923	{
		1924	lblTbSerial7.Text = trckbarSerial7.Value.ToString();
		1925	serChan[6] = trckbarSerial7.Value;
		1926	if (!_init) _sendSerialData();
		1927	}
		1928	private void tbSerial8_Scroll(object sender, EventArgs e)
		1929	{
		1930	lblTbSerial8.Text = trckbarSerial8.Value.ToString();
		1931	serChan[7] = trckbarSerial8.Value;
		1932	if (!_init) _sendSerialData();
		1933	}
		1934	private void textBoxSerial8_TextChanged(object sender, EventArgs e)
		1935	{
		1936	serChanTitle[7] = textBoxSerial8.Text;
		1937	}
		1938	private void btnSer8_0_Click(object sender, EventArgs e)
		1939	{
		1940	trckbarSerial8.Value = 0;
		1941	}
		1942	private void btnSer8_127_Click(object sender, EventArgs e)
		1943	{
		1944	trckbarSerial8.Value = 127;
		1945	}
		1946	private void btnSer8_254_Click(object sender, EventArgs e)
		1947	{
		1948	trckbarSerial8.Value = 254;
		1949	}
		1950	private void trckbarSerial8_ValueChanged(object sender, EventArgs e)
		1951	{
		1952	lblTbSerial8.Text = trckbarSerial8.Value.ToString();
		1953	serChan[7] = trckbarSerial8.Value;
		1954	if (!_init) _sendSerialData();
		1955	}
2259	-	1956	#endregion serial control channels
		1957
2233	-	1958	}
		1959	public class IniFile
		1960	{
		1961	public string path;
		1962
		1963	[DllImport("kernel32")]
		1964	private static extern long WritePrivateProfileString(string section,
		1965	string key, string val, string filePath);
		1966
		1967	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		1968	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		1969	uint nSize, string lpFileName);
		1970
		1971	[DllImport("kernel32")]
		1972	private static extern int GetPrivateProfileString(string section,
		1973	string key, string def, StringBuilder retVal,
		1974	int size, string filePath);
		1975
		1976	public IniFile(string INIPath)
		1977	{
		1978	path = INIPath;
		1979	}
		1980
		1981	public void IniWriteValue(string Section, string Key, string Value)
		1982	{
		1983	WritePrivateProfileString(Section, Key, Value, this.path);
		1984	}
		1985
		1986	public string IniReadValue(string Section, string Key)
		1987	{
		1988	StringBuilder temp = new StringBuilder(255);
		1989	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		1990	return temp.ToString();
		1991	}
		1992	//Ini_sections auslesen in String-Array
		1993	public string[] IniSectionNames()
		1994	{
		1995
		1996	// uint MAX_BUFFER = 32767;
		1997	uint MAX_BUFFER = 8388608;
		1998	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		1999	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2000	if (bytesReturned == 0)
		2001	{
		2002	Marshal.FreeCoTaskMem(pReturnedString);
		2003	return null;
		2004	}
		2005	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2006	Marshal.FreeCoTaskMem(pReturnedString);
		2007	//use of Substring below removes terminating null for split
		2008	return local.Substring(0, local.Length - 1).Split('\0');
		2009
		2010
		2011	}
		2012	}
		2013	public static class ControlExtensions
		2014	{
		2015	/// <summary>
		2016	/// Execute a threadsafe operation, when accessing a control via another thread
		2017	/// action is a lamdaexpression
		2018	/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
		2019	/// </summary>
		2020	/// <param name="control"> The control </param>
		2021	/// <param name="action"> The 'action' to perform </param>
		2022	public static void ExecuteThreadSafe(this Control control, Action action)
		2023	{
		2024	if (control.InvokeRequired)
		2025	{
		2026	control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
		2027	}
		2028	else
		2029	{
		2030	action.Invoke();
		2031	}
		2032	}
		2033	}
		2034
		2035	}

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(root)/MKLiveView/Source/MainForm.cs - Rev 2274