WebSVN - Projects - Blame - /MKLiveView/v1.0/Source/MainWindow.xaml.cs

Rev	Author	Line No.	Line
2287	-	1	using GMap.NET;
		2	using GMap.NET.MapProviders;
		3	using GMap.NET.WindowsPresentation;
		4	using MKLiveView.GMapCustomMarkers;
		5	using System;
		6	using System.Collections.Generic;
		7	using System.ComponentModel;
		8	using System.Data;
		9	using System.Diagnostics;
		10	using System.IO;
		11	using System.Linq;
		12	using System.Linq.Expressions;
		13	using System.Runtime.InteropServices;
		14	using System.Text;
		15	using System.Threading;
		16	using System.Threading.Tasks;
		17	using System.Windows;
		18	using System.Windows.Controls;
		19	using System.Windows.Data;
		20	using System.Windows.Documents;
		21	using System.Windows.Input;
		22	using System.Windows.Interop;
		23	using System.Windows.Media;
		24	using System.Windows.Media.Animation;
		25	using System.Windows.Media.Imaging;
		26	using System.Windows.Navigation;
		27	using System.Windows.Shapes;
		28	using System.Windows.Threading;
		29
		30	namespace MKLiveView
		31	{
		32	/// <summary>
		33	/// Interaktionslogik für MainWindow.xaml
		34	/// </summary>
		35	public partial class MainWindow : Window
		36	{
		37	GMapMarker copter;
		38	GMapMarker home;
		39	PointLatLng start;
		40	PointLatLng end;
		41	PointLatLng pHome;
		42
		43
		44	String[] NC_Error = new string[44]
		45	{
		46	"No Error",
		47	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		48	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		49	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		50	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		51	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		52	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		53	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		54	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		55	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		56	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		57	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		58	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		59	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		60	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		61	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		62	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		63	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		64	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		65	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		66	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		67	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		68	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		69	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		70	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		71	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		72	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		73	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		74	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		75	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		76	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		77	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		78	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		79	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		80	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		81	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		82	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		83	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		84	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		85	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		86	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		87	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		88	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		89	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		90	};
		91
		92	[FlagsAttribute]
		93	enum NC_HWError0 : short
		94	{
		95	None = 0,
		96	SPI_RX = 1,
		97	COMPASS_RX = 2,
		98	FC_INCOMPATIBLE = 4,
		99	COMPASS_INCOMPATIBLE = 8,
		100	GPS_RX = 16,
		101	COMPASS_VALUE = 32
		102	};
		103	[FlagsAttribute]
		104	enum FC_HWError0 : short
		105	{
		106	None = 0,
		107	GYRO_NICK = 1,
		108	GYRO_ROLL = 2,
		109	GYRO_YAW = 4,
		110	ACC_NICK = 8,
		111	ACC_ROLL = 16,
		112	ACC_TOP = 32,
		113	PRESSURE = 64,
		114	CAREFREE = 128
		115	};
		116	[FlagsAttribute]
		117	enum FC_HWError1 : short
		118	{
		119	None = 0,
		120	I2C = 1,
		121	BL_MISSING = 2,
		122	SPI_RX = 4,
		123	PPM = 8,
		124	MIXER = 16,
		125	RC_VOLTAGE = 32,
		126	ACC_NOT_CAL = 64,
		127	RES3 = 128
		128	};
		129	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		130	// Various colors for logging info
		131	private Color[] LogMsgTypeColor = { Color.FromArgb(255, 43, 145, 175), Colors.Green, Colors.Black, Colors.Orange, Colors.Red };
		132
		133	bool _bCBInit = true;
		134	bool _init = true;
		135	bool check_HWError = false;
		136
		137	string filePath = Directory.GetCurrentDirectory();
		138	bool bReadContinously = false;
		139	bool _debugDataAutorefresh = true;
		140	bool _navCtrlDataAutorefresh = true;
		141	bool _blctrlDataAutorefresh = true;
		142	bool _OSDAutorefresh = true;
		143	bool _bErrorLog = false;
		144	bool _bConnErr = false;
		145	bool _bFollowCopter = false;
		146
		147	bool _bSaveWinStateNormal = true;
		148	bool _bSaveWinStateFull = true;
		149
		150	double scaleNormalAll = 1;
		151	double scaleNormalTopBar = 1;
		152	double scaleNormalMotors = 1;
		153	double scaleNormalOSD = 1;
		154	double scaleNormalLOG = 1;
		155	double scaleNormalHorizon = 1;
		156
		157	double scaleFullAll = 1;
		158	double scaleFullTopBar = 1;
		159	double scaleFullMotors = 1;
		160	double scaleFullOSD = 1;
		161	double scaleFullLOG = 1;
		162	double scaleFullHorizon = 1;
		163
		164	int _iCtrlAct = 0;
		165	int iOSDPage = 0;
		166	int iOSDMax = 0;
		167	int _iLifeCounter = 0;
		168	int crcError = 0;
		169
2291	-	170	bool _bSatFix = false;
		171	Storyboard stbSatFixLostAnim;
		172	bool _bAnimSatFixActive = false;
		173	bool _bVoiceSatFixActive = false;
		174	bool _bVoiceSatFixPlay = false;
		175	int _iSatsLast = 0;
		176	int _iSatsJitter = 0;
		177
		178	bool _bMagneticFieldOK = false;
		179	Storyboard stbMagneticFieldAnim;
		180	bool _bAnimMagneticFieldActive = false;
		181	bool _bVoiceMagneticFieldActive = false;
		182	bool _bVoiceMagneticFieldPlay = false;
		183	int _iMagneticFieldLast = 0;
		184	int _iMagneticFieldJitter = 0;
		185
		186	bool _bRCLevelOK = false;
		187	Storyboard stbRCLevelAnim;
		188	bool _bAnimRCLevelActive = false;
		189	bool _bVoiceRCLevelActive = false;
		190	bool _bVoiceRCLevelPlay = false;
		191	int _iRCLevelLast = 0;
		192	int _iRCLevelJitter = 0;
		193
2287	-	194	int _iMotors = 4;
		195	int _LipoCells = 4;
		196
		197	double _dLipoVMax = 16.88;
		198	double _dLipoVMin = 12;
		199	double _dThresholdVoltageWarn = 0;
		200	double _dThresholdVoltageCrit = 0;
		201	Storyboard stbVoltageCritAnim;
		202	bool _bCritAnimVoltActive = false;
		203	bool _bCritVoiceVoltActive = false;
2291	-	204	bool _bWarnVoiceVoltActive = false;
2287	-	205	bool _bVoiceVoltPlay = false;
		206	double _dVoltLast = 0;
		207	int _iVoltJitter = 0;
		208
2291	-	209	double _dThresholdDistanceWarn = 100;
		210	Storyboard stbDistanceWarnAnim;
		211	bool _bAnimDistanceActive = false;
		212	bool _bVoiceDistanceActive = false;
		213	bool _bVoiceDistancePlay = false;
		214	double _dDistanceLast = 0;
		215	int _iDistanceJitter = 0;
		216
		217	double _dThresholdDistanceMax = 1000;
		218	int _iThresholdRC = 160;
		219	int _iThresholdMagField = 15;
		220
		221
2287	-	222	double _dTopHeight = 36;
		223
		224	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		225	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		226	string[] serChanTitle = new string[12];
		227
		228	string[] sAnalogLabel = new string[32];
		229	string[] sAnalogData = new string[32];
		230
		231	int[] iTimings = new int[] {100,150,200,250,300,350,400,450,500,550,600,650,700,750,800,850,900,950,1000,1100,1200,1300,1400,1500,1600,1700,1800,1900,2000 };
		232	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		233	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		234	/// <summary>
		235	/// interval for sending debugdata (multiplied by 10ms)
		236	/// </summary>
		237	byte debugInterval = 10; //(=> 100ms)
		238	/// <summary>
		239	/// interval for sending BL-CTRL status (multiplied by 10ms)
		240	/// </summary>
		241	byte blctrlInterval = 75;
		242	/// <summary>
		243	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		244	/// </summary>
		245	byte navctrlInterval = 80;
		246	/// <summary>
		247	/// interval for sending OSD page update (multiplied by 10ms)
		248	/// </summary>
		249	byte OSDInterval = 85;
		250	/// <summary>
		251	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		252	/// </summary>
		253	DataTable dtAnalog = new DataTable();
		254	/// <summary>
		255	/// datatable for motordata (current,temp)
		256	/// </summary>
		257	DataTable dtMotors1 = new DataTable();
		258	// DataTable dtMotors2 = new DataTable();
		259
		260	DataTable dtWaypoints = new DataTable();
		261	static volatile int _iWP = -1;
		262	bool _bGetWP = false;
		263	static volatile bool _bGetWPCount = false;
		264
		265	DispatcherTimer timer = new DispatcherTimer();
		266
		267	/// <summary>
		268	/// stuff for enabeling touch zoom for the map
		269	/// </summary>
		270	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		271	int iFirstStylusID = -1;
		272	public string connectButtonText
		273	{
		274	get
		275	{
		276	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		277	}
		278	}
		279
		280	WinState winState = new WinState();
		281
		282	public MainWindow()
		283	{
		284	InitializeComponent();
		285	_initForm();
		286	_dataTablesInit();
		287	_setupMap();
		288	_init = false;
		289	timer.Tick += new EventHandler(timerEvent);
		290	timer.Interval = new TimeSpan(0, 0, 1);
		291	timer.Start();
		292	}
		293
		294	#region init
		295	void _initForm()
		296	{
		297	_readIni();
		298	if (_bSaveWinStateNormal)
		299	_setScaleSliders(false);
		300	cBoxTimingsDebug.ItemsSource =
		301	cBoxTimingsNav.ItemsSource =
		302	cBoxTimingsBl.ItemsSource =
		303	cBoxTimingsOSD.ItemsSource =
		304	iTimings;
		305	cBoxLiPoCells.ItemsSource = sLiPoCells;
		306	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		307	_LipoMinMax();
		308	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		309	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		310	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
2291	-	311	checkBoxSatfixLost.IsChecked = _bVoiceSatFixPlay;
		312	checkBoxMagneticField.IsChecked = _bVoiceMagneticFieldPlay;
		313	checkBoxThresholdDistanceVoice.IsChecked = _bVoiceDistancePlay;
		314	sliderThresholdDistanceWarn.Value = _dThresholdDistanceWarn;
		315	checkBoxRClevel.IsChecked = _bVoiceRCLevelPlay;
2287	-	316
2291	-	317	sliderThresholdDistanceWarn.Maximum = _dThresholdDistanceMax;
		318
2287	-	319	cBoxMotors.ItemsSource = iMotors;
		320	cBoxMotors.SelectedItem = _iMotors;
		321
		322	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		323	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		324	serialPortCtrl.DataReceived += processMessage;
		325
		326	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		327	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		328	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		329	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		330
		331	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		332	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		333	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		334	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
		335
		336	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		337
		338
		339	}
		340	/// <summary>
		341	/// initialize the datatables
		342	/// with columnnames etc
		343	/// </summary>
		344	void _dataTablesInit()
		345	{
		346	//dtAnalog.Columns.Add("ID");
		347	//dtAnalog.Columns.Add("Value");
		348	// dataGridView1.DataSource = dtAnalog;
		349
		350	dtMotors1.Columns.Add("#");
		351	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		352	dtMotors1.Columns.Add("Current");
		353	else
		354	dtMotors1.Columns.Add("Strom");
		355	dtMotors1.Columns.Add("Temp");
		356	//dtMotors2.Columns.Add("#");
		357	//if (Thread.CurrentThread.CurrentUICulture.Name == "")
		358	// dtMotors2.Columns.Add("Current");
		359	//else
		360	// dtMotors2.Columns.Add("Strom");
		361	//dtMotors2.Columns.Add("Temp");
		362	dgvMotors1.DataContext = dtMotors1.DefaultView;
		363	//dgvMotors2.DataContext = dtMotors2.DefaultView;
		364	_initDTMotors();
		365	//dgvMotors1.Columns[0].Width = 24;
		366	//dgvMotors1.Columns[1].Width = 74;
		367	//dgvMotors1.Columns[2].Width = 74;
		368	//dgvMotors2.Columns[0].Width = 24;
		369	//dgvMotors2.Columns[1].Width = 74;
		370	//dgvMotors2.Columns[2].Width = 74;
		371
		372	dtWaypoints.Columns.Add("Index");
		373	dtWaypoints.Columns.Add("Type");
		374	dtWaypoints.Columns.Add("Name");
		375	dtWaypoints.Columns.Add("Latitude");
		376	dtWaypoints.Columns.Add("Longitude");
		377	dtWaypoints.Columns.Add("Altitude");
		378	dtWaypoints.Columns.Add("Heading");
		379	dtWaypoints.Columns.Add("Speed");
		380	dtWaypoints.Columns.Add("Altitude rate");
		381	dtWaypoints.Columns.Add("Tol radius");
		382	dtWaypoints.Columns.Add("Hold time");
		383	dtWaypoints.Columns.Add("AutoTrigger");
		384	dtWaypoints.Columns.Add("Cam angle");
		385	dtWaypoints.Columns.Add("Event");
		386	dtWaypoints.Columns.Add("Eventchan Val");
		387	dtWaypoints.Columns.Add("Status");
		388	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		389	dgvWP.DataContext = dtWaypoints.DefaultView;
		390	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		391	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		392	style.Setters.Add(setter);
		393	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		394	style.Setters.Add(setter);
		395	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		396	style.Setters.Add(setter);
		397	dgvWP.ColumnHeaderStyle = new Style();
		398	dgvWP.ColumnHeaderStyle = style;
		399	}
		400	/// <summary>
		401	/// initialize the 2 datatables for motor values
		402	/// dtMotors1 - motor 1 - 4
		403	/// dtMotors2 - motor 5 - 8
		404	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		405	/// </summary>
		406	void _initDTMotors()
		407	{
		408	for (int i = 0; i < 12; i++)
		409	{
		410	if (dtMotors1.Rows.Count < 12)
		411	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		412	else
		413	{
		414	dtMotors1.Rows[i].SetField(1, "NA");
		415	dtMotors1.Rows[i].SetField(2, "NA");
		416	}
		417	//if (dtMotors2.Rows.Count < 4)
		418	// dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		419	//else
		420	//{
		421	// dtMotors2.Rows[i].SetField(1, "NA");
		422	// dtMotors2.Rows[i].SetField(2, "NA");
		423	//}
		424	}
		425	// Dispatcher.Invoke((Action)(() => dgvMotors1.UpdateLayout()));
		426	//dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		427	}
		428
		429	#endregion init
		430
		431	#region events
		432	private void serialPortCtrl_PortOpened()
		433	{
		434	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		435	_getVersion();
		436	Thread.Sleep(100);
		437	//_OSDMenue(0);
		438	//Thread.Sleep(200);
		439	//_sendSerialData();
		440	_readCont(true);
		441	}
		442	private void serialPortCtrl_PortClosed()
		443	{
		444	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		445	_readCont(false);
		446	}
		447	void timerEvent(object sender, EventArgs e)
		448	{
		449	if (bReadContinously)
		450	{
		451	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		452
		453	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		454
		455	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		456	check_HWError = true;
		457	_getVersion();
		458	Thread.Sleep(10);
		459	if (_OSDAutorefresh)
		460	{
		461	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		462	_initOSDCB();
		463	_OSDMenueAutoRefresh();
		464	}
		465	if (_iLifeCounter > 0)
		466	{
		467	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		468	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		469	_iLifeCounter = 0;
		470	_bConnErr = false;
		471	}
		472	else
		473	{
		474	if (!_bConnErr)
		475	{
		476	Log(LogMsgType.Error, "No communication to NC/FC!");
		477	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		478	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		479	_bConnErr = true;
		480	}
		481	}
		482	}
		483	}
		484
		485	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		486	{
		487	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		488	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		489	}
		490	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		491	{
		492	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		493	if (GridMotors.IsVisible)
		494	_setMotorGridSize();
		495	}
		496	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		497	{
		498	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		499	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		500	}
		501	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		502	{
		503	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		504	}
		505	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		506	{
		507	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		508	}
		509	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		510	{
		511	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		512	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		513	}
		514
		515	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		516	{
		517	Thread t = new Thread(new ThreadStart(_getWP));
		518	t.Start();
		519	}
		520	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		521	{
		522
		523	}
		524
		525	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		526	{
		527	if (!serialPortCtrl.Port.IsOpen)
		528	serialPortCtrl.Connect(true);
		529	else
		530	_readCont(!bReadContinously);
		531	}
		532	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		533	{
		534	setHomePos();
		535	}
		536	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		537	{
		538	clearHomePos();
		539	}
		540	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		541	{
		542	if (home != null && MainMap.Markers.Contains(home))
		543	MainMap.Position = home.Position;
		544	}
		545	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		546	{
		547	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		548	}
		549	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		550	{
		551	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		552	}
		553
2291	-	554	#region thresholds
2287	-	555	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		556	{
		557	if(!_init)
		558	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		559	}
		560	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		561	{
		562	if(!_init)
		563	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		564	}
		565	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		566	{
		567	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		568	}
2291	-	569
		570	private void sliderThresholdDistanceWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		571	{
		572	if(!_init)
		573	_dThresholdDistanceWarn = sliderThresholdDistanceWarn.Value;
		574	}
		575	private void checkBoxThresholdDistanceVoice_Click(object sender, RoutedEventArgs e)
		576	{
		577	_bVoiceDistancePlay = (bool)checkBoxThresholdDistanceVoice.IsChecked;
		578	}
		579
		580	private void checkBoxSatfixLost_Click(object sender, RoutedEventArgs e)
		581	{
		582	_bVoiceSatFixPlay = (bool)checkBoxSatfixLost.IsChecked;
		583	}
		584	private void checkBoxMagneticField_Click(object sender, RoutedEventArgs e)
		585	{
		586	_bVoiceMagneticFieldPlay = (bool)checkBoxMagneticField.IsChecked;
		587	}
		588	private void checkBoxRClevel_Click(object sender, RoutedEventArgs e)
		589	{
		590	_bVoiceRCLevelPlay = (bool)checkBoxRClevel.IsChecked;
		591	}
		592	#endregion thresholds
		593
2287	-	594	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		595	{
		596	_switchToNC();
		597	}
		598
		599	private void Window_Loaded(object sender, RoutedEventArgs e)
		600	{
		601	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
2291	-	602	stbSatFixLostAnim = TryFindResource("SatFixLostAnim") as Storyboard;
		603	stbMagneticFieldAnim = TryFindResource("MagneticFieldCritAnim") as Storyboard;
		604	stbDistanceWarnAnim = TryFindResource("DistanceCritAnim") as Storyboard;
		605	stbRCLevelAnim = TryFindResource("RCCritAnim") as Storyboard;
2287	-	606	_setMotorGridSize();
		607	}
		608	#endregion events
		609
		610	#region GMap
		611
		612	void _setupMap()
		613	{
		614	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		615	MainMap.MapProvider = GMapProviders.BingHybridMap;
		616	MainMap.SetPositionByKeywords("Landshut");
		617	MainMap.MinZoom = 0;
		618	MainMap.MaxZoom = 24;
		619	MainMap.Zoom = 16;
		620	MainMap.ShowCenter = true;
		621	MainMap.ShowTileGridLines = false;
		622	sliderMapZoom.Value = 16;
		623	comboBoxMapType.ItemsSource = providerList;
		624	comboBoxMapType.DisplayMemberPath = "Name";
		625	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		626
		627	// acccess mode
		628	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		629	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		630
		631	}
		632
		633	/// <summary>
		634	/// selection of relevant map providers --> if You need more, You can change the line:
		635	/// comboBoxMapType.ItemsSource = providerList;
		636	/// to:
		637	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		638	/// in _setupMap()
		639	/// or add items here:
		640	/// </summary>
		641	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		642	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		643	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		644	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		645	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		646
		647	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		648	{
		649	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		650	copter = new GMapMarker(MainMap.Position);
		651	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		652	copter.Offset = new System.Windows.Point(-18, -18);
		653	copter.ZIndex = int.MaxValue;
		654	MainMap.Markers.Add(copter);
		655	copter.Position = MainMap.Position;
		656	}
		657	void setHomePos()
		658	{
		659	pHome = MainMap.Position;
		660	if (!MainMap.Markers.Contains(home))
		661	{
		662	home = new GMapMarker(MainMap.Position);
		663	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		664	home.Offset = new System.Windows.Point(-18, -18);
		665	// home.ZIndex = int.MaxValue;
		666	MainMap.Markers.Add(home);
		667	}
		668	home.Position = MainMap.Position;
		669	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		670	}
		671	void clearHomePos()
		672	{
		673	MainMap.Markers.Remove(home);
		674	}
		675
		676	// access mode
		677	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		678	{
		679	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		680	MainMap.ReloadMap();
		681	}
		682	// zoom up
		683	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		684	{
		685	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		686	}
		687
		688	// zoom down
		689	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		690	{
		691	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		692	}
		693
		694	// prefetch
		695	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		696	{
		697	RectLatLng area = MainMap.SelectedArea;
		698	if (!area.IsEmpty)
		699	{
		700	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		701	{
		702	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		703
		704	if (res == MessageBoxResult.Yes)
		705	{
		706	TilePrefetcher obj = new TilePrefetcher();
		707	obj.Owner = this;
		708	obj.ShowCompleteMessage = true;
		709	obj.Start(area, i, MainMap.MapProvider, 100);
		710	}
		711	else if (res == MessageBoxResult.No)
		712	{
		713	continue;
		714	}
		715	else if (res == MessageBoxResult.Cancel)
		716	{
		717	break;
		718	}
		719	}
		720	}
		721	else
		722	{
		723	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		724	}
		725	}
		726
		727	// goto by geocoder
		728	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		729	{
		730	_goto_byGeoCoder();
		731	}
		732	// goto by geocoder
		733	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		734	{
		735	if (e.Key == System.Windows.Input.Key.Enter)
		736	_goto_byGeoCoder();
		737	}
		738	void _goto_byGeoCoder()
		739	{
		740	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		741	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		742	{
		743	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		744	}
		745	}
		746	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		747	{
		748	try
		749	{
		750	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		751	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		752
		753	MainMap.Position = new PointLatLng(lat, lng);
		754	}
		755	catch (Exception ex)
		756	{
		757	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		758	}
		759
		760	}
		761
		762	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		763	{
		764	MainMap.ReloadMap();
		765	}
		766
		767	private void MainMap_OnPositionChanged(PointLatLng point)
		768	{
		769	if (_bFollowCopter)
		770	_setCopterData(MainMap.Position);
		771	}
		772
		773	private void MainMap_OnMapZoomChanged()
		774	{
		775	if (_bFollowCopter)
		776	_setCopterData(MainMap.Position);
		777	if((int)sliderMapZoom.Value != MainMap.Zoom)
		778	sliderMapZoom.Value = MainMap.Zoom;
		779	}
		780
		781	void _setCopterData(PointLatLng p)
		782	{
		783	Dispatcher.Invoke(() =>
		784	{
		785	copter.Position = p;
		786	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		787	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		788	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		789	});
		790	if (home != null && MainMap.Markers.Contains(home))
		791	{
		792	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		793	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		794	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
2291	-	795
		796	if(d*1000 < _dThresholdDistanceWarn)
		797	{
		798	_iDistanceJitter = 0; _bVoiceDistanceActive = false;
		799	if (stbDistanceWarnAnim != null && _bAnimDistanceActive)
		800	{
		801	Dispatcher.Invoke(() => stbDistanceWarnAnim.Stop());
		802	_bAnimDistanceActive = false;
		803	}
		804	}
		805	else
		806	{
		807	//if (d * 1000 == _dDistanceLast)
		808	//{
		809	// if (_iDistanceJitter < 20)
		810	// { _iDistanceJitter++; }
		811	//}
		812	//else
		813	//{
		814	// _iDistanceJitter = 0;
		815	// _dDistanceLast = d * 1000;
		816	//}
		817	if (_iDistanceJitter < 20)
		818	{ _iDistanceJitter++; }
		819	if (_iDistanceJitter == 20)
		820	{
		821	if (stbDistanceWarnAnim != null && !_bAnimDistanceActive)
		822	{
		823	Dispatcher.Invoke(() => stbDistanceWarnAnim.Begin());
		824	_bAnimDistanceActive = true;
		825	}
		826	if (_bVoiceDistancePlay && !_bVoiceDistanceActive)
		827	{
		828	if (File.Exists("Voice\\Distance.mp3"))
		829	{
		830
		831	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		832	mp.Open("Voice\\Distance.mp3");
		833	mp.Play();
		834	}
		835	_bVoiceDistanceActive = true;
		836	}
		837	_iDistanceJitter++;
		838	}
		839	}
		840
2287	-	841	}
		842	}
		843
		844	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		845	{
		846	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		847	}
		848
		849	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		850	{
		851	if (MainMap.Zoom != sliderMapZoom.Value)
		852	MainMap.Zoom = (int)sliderMapZoom.Value;
		853	}
		854	#region Touch zooming hackattack ;)
		855	/// <summary>
		856	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		857	/// </summary>
		858	bool bFirstAccess = true;
		859	double dDistance = 0;
		860	int iZoom;
		861	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		862	{
		863	var id = e.StylusDevice.Id;
		864	e.StylusDevice.Capture(MainMap);
		865	if (iFirstStylusID == -1)
		866	{
		867	iFirstStylusID = id;
		868	}
		869	else
		870	{
		871
		872	MainMap.CanDragMap = false;
		873	}
		874	}
		875	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		876	{
		877	MainMap.ReleaseStylusCapture();
		878	iFirstStylusID = -1;
		879	bFirstAccess = true;
		880	MainMap.CanDragMap = true;
		881	iZoom = 0;
		882	}
		883	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		884	{
		885	var id = e.StylusDevice.Id;
		886	var tp = e.GetPosition(MainMap);
		887
		888	// This is the first Stylus point; just record its position.
		889	if (id == iFirstStylusID)
		890	{
		891	pTouch1.X = tp.X;
		892	pTouch1.Y = tp.Y;
		893	}
		894	else
		895	if (iFirstStylusID > -1)
		896	{
		897	pTouch2.X = tp.X;
		898	pTouch2.Y = tp.Y;
		899	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		900	if (!bFirstAccess)
		901	{
		902	if (distance > dDistance)
		903	iZoom++;
		904	else
		905	if (distance < dDistance)
		906	iZoom--;
		907	}
		908	if (iZoom > 30)
		909	{
		910	iZoom = 0;
		911	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		912	}
		913	if (iZoom < -30)
		914	{
		915	iZoom = 0;
		916	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		917	}
		918	dDistance = distance;
		919	bFirstAccess = false;
		920	}
		921	}
		922	#endregion Touch zooming hackattack ;)
		923
		924	#endregion GMap
		925
		926	#region settings
		927	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		928	{
		929	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		930	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		931	}
		932	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		933	{
		934	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		935	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		936	}
		937	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		938	{
		939	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		940	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		941	}
		942	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		943	{
		944	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		945	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		946	}
		947	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		948	{
		949	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		950	}
		951	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		952	{
		953	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		954	}
		955	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		956	{
		957	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		958	}
		959	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		960	{
		961	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		962	}
		963
		964	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		965	{
		966	if (cBoxLiPoCells.SelectedIndex > -1)
		967	{
		968	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		969	_LipoMinMax();
		970	}
		971	}
		972	void _LipoMinMax()
		973	{
		974	_dLipoVMax = (double)(_LipoCells) * 4.22;
		975	_dLipoVMin = (double)_LipoCells * 3;
		976	pbTopVoltage.Maximum = _dLipoVMax;
		977	pbTopVoltage.Minimum = _dLipoVMin;
		978	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		979	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		980	}
		981	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		982	{
		983	if (cBoxMotors.SelectedIndex > -1)
		984	{
		985	_iMotors = cBoxMotors.SelectedIndex + 3;
		986	Dispatcher.Invoke(() =>
		987	{
		988	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		989	GridMotors.Height = dgvMotors1.Height + 10;
		990	});
		991	}
		992	}
		993	void _setMotorGridSize()
		994	{
		995	if (dgvMotors1.Columns.Count > 2)
		996	{
		997	dgvMotors1.Columns[0].Width = 24;
		998	dgvMotors1.Columns[1].Width = 50;
		999	dgvMotors1.Columns[2].Width = 50;
		1000	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		1001	GridMotors.Height = dgvMotors1.Height + 10;
		1002	}
		1003
		1004	}
		1005	#endregion settings
		1006
		1007	#region functions
		1008
		1009	#region logging
		1010	/// <summary> Log data to the terminal window. </summary>
		1011	/// <param name="msgtype"> The type of message to be written. </param>
		1012	/// <param name="msg"> The string containing the message to be shown. </param>
		1013	private void Log(LogMsgType msgtype, string msg)
		1014	{
		1015	Dispatcher.Invoke(() =>
		1016	{
		1017	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		1018	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		1019	// rtfTerminal.AppendText(msg + "\r");
		1020	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		1021	tr.Text = msg;
		1022	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1023	rtfTerminal.AppendText("\r");
		1024	rtfTerminal.ScrollToEnd();
		1025	});
		1026	}
		1027	private void ErrorLog(LogMsgType msgtype, string msg)
		1028	{
		1029	Dispatcher.Invoke(() =>
		1030	{
		1031	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		1032	tr.Text = msg;
		1033	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1034	rtfError.AppendText("\r");
		1035	rtfError.ScrollToEnd();
		1036
		1037	_bErrorLog = true;
		1038	});
		1039	}
		1040	/// <summary>
		1041	/// Clear the line in the errorlog window
		1042	/// containing the error string when error has ceased
		1043	/// </summary>
		1044	/// <param name="s">substring of errrormessage</param>
		1045	void _clearErrorLog(string s)
		1046	{
		1047	Dispatcher.Invoke((Action)(() =>
		1048	{
		1049	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		1050	TextRange foundRange = FindTextInRange(searchRange, s);
		1051
		1052	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		1053
		1054
		1055	if (iStart > -1)
		1056	{
		1057	int iLength = 0;
		1058	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		1059	if (iEnd > 0)
		1060	{
		1061	iLength = iEnd + 1;
		1062	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		1063	if (iHttp == iLength)
		1064	{
		1065	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		1066	if (iEnd2 > iLength)
		1067	{
		1068	iLength = iEnd2 + 1;
		1069	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1070
		1071	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1072	rtfError.Selection.Text = string.Empty;
		1073	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1074	}
		1075
		1076	}
		1077	else
		1078	{
		1079	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		1080	rtfError.Selection.Text = string.Empty;
		1081	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		1082	}
		1083	}
		1084	}
		1085	}));
		1086
		1087	}
		1088	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		1089	{
		1090	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		1091	if (offset < 0)
		1092	return null; // Not found
		1093
		1094	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		1095	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		1096
		1097	return result;
		1098	}
		1099	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		1100	{
		1101	while (position != null)
		1102	{
		1103	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		1104	{
		1105	int count = position.GetTextRunLength(LogicalDirection.Forward);
		1106	if (characterCount <= count)
		1107	{
		1108	return position.GetPositionAtOffset(characterCount);
		1109	}
		1110
		1111	characterCount -= count;
		1112	}
		1113
		1114	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		1115	if (nextContextPosition == null)
		1116	return position;
		1117
		1118	position = nextContextPosition;
		1119	}
		1120
		1121	return position;
		1122	}
		1123	#endregion logging
		1124
		1125	#region processing received data
		1126
		1127	private void processMessage(byte[] message)
		1128	{
		1129	if (message.Length > 0)
		1130	{
		1131	_iLifeCounter++;
		1132	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1133	//Log(LogMsgType.Incoming, message.Length.ToString());
		1134	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1135	char cmdID;
		1136	byte adr;
		1137	byte[] data;
		1138	byte[] tmp = null;
		1139	if (message[0] != '#')
		1140	{
		1141	int iFound = -1;
		1142	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1143	{ //so this is a workaround to not spam the log box
		1144	if (message[i] == 35)
		1145	{
		1146	iFound = i;
		1147	break;
		1148	}
		1149	}
		1150	if (iFound > 0)
		1151	{
		1152	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1153	tmp = new byte[message.Length - iFound];
		1154	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1155	}
		1156	s = s.Trim('\0', '\n', '\r');
		1157	if (s.Length > 0)
		1158	Log(LogMsgType.Normal, s);
		1159	if (tmp != null)
		1160	{
		1161	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1162	processMessage(tmp);
		1163	}
		1164	}
		1165	//Debug.Print(s);
		1166	else
		1167	{
		1168	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1169
		1170	if (adr == 255) { crcError++; }
		1171	else crcError = 0;
		1172	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1173	//display the active controller (FC / NC)
		1174	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...???
		1175	{
		1176	_iCtrlAct = adr;
		1177	switch (adr)
		1178	{
		1179	case 1:
		1180	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
		1181	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1182	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1183	// _setFieldsNA(); //display fields NA for FC
		1184	break;
		1185	case 2:
		1186	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1187	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1188	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1189	break;
		1190	//case 3:
		1191	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1192	// break;
		1193	//case 4:
		1194	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1195	// break;
		1196	default:
		1197	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1198	break;
		1199	}
		1200	// _loadLabelNames();
		1201	}
		1202	// else
		1203	// Debug.Print("Address == 0?");
		1204
		1205	if (data != null && data.Length > 0)
		1206	{
		1207	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1208	s = s.Trim('\0', '\n');
		1209
		1210	switch (cmdID)
		1211	{
		1212	//case 'A': //Label names
		1213	// _processLabelNames(s);
		1214	// break;
		1215
		1216	case 'D': //Debug data
		1217	_processDebugVals(adr, data);
		1218	break;
		1219
		1220	case 'V': //Version
		1221	_processVersion(adr, data);
		1222	break;
		1223
		1224	case 'K'://BL-CTRL data
		1225	_processBLCtrl(data);
		1226	break;
		1227
		1228	case 'O': //NC Data
		1229	_processNCData(data);
		1230	break;
		1231
		1232	case 'E': //NC error-string
		1233	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1234	break;
		1235
		1236	case 'L': //OSD Menue (called by pagenumber)
		1237	_processOSDSingle(data);
		1238	break;
		1239
		1240	case 'H': //OSD Menue (with autoupdate - called by Key)
		1241	_processOSDAuto(data);
		1242	break;
		1243
		1244	case 'X': //Waypoint data
		1245	_processWPData(data);
		1246	break;
		1247
		1248	//default:
		1249	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1250	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1251	// break;
		1252	}
		1253	}
		1254	//else
		1255	//{
		1256	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1257	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1258	//}
		1259	}
		1260	}
		1261	}
		1262	/// <summary>
		1263	/// Analog label names 'A'
		1264	/// each label name is returned as a single string
		1265	/// and added to string array sAnalogLabel[]
		1266	/// and the datatable dtAnalog
		1267	/// </summary>
		1268	/// <param name="s">the label name</param>
		1269	void _processLabelNames(string s)
		1270	{
		1271	//if (iLableIndex < 32)
		1272	//{
		1273	// sAnalogLabel[iLableIndex] = s;
		1274	// if (dtAnalog.Rows.Count < 32)
		1275	// dtAnalog.Rows.Add(s, "");
		1276	// else
		1277	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1278
		1279	// // _getAnalogLabels(iLableIndex + 1);
		1280	//}
		1281	//Debug.Print(s);
		1282	}
		1283	/// <summary>
		1284	/// Debug values 'D'
		1285	/// </summary>
		1286	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1287	/// <param name="data">the received byte array to process</param>
		1288	void _processDebugVals(byte adr, byte[] data)
		1289	{
		1290	if (data.Length == 66)
		1291	{
		1292	int[] iAnalogData = new int[32];
		1293	double v;
		1294	int index = 0;
		1295	Int16 i16 = 0;
		1296	double dTemp = 0;
		1297	for (int i = 2; i < 66; i += 2)
		1298	{
		1299	i16 = data[i + 1];
		1300	i16 = (Int16)(i16 << 8);
		1301	iAnalogData[index] = data[i] + i16;
		1302	sAnalogData[index] = (data[i] + i16).ToString();
		1303	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1304
		1305	if (adr == 2) //NC
		1306	{
		1307	switch (index)
		1308	{
		1309	case 0: //pitch (German: nick)
		1310	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1311	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1312	break;
		1313	case 1: //roll
		1314	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1315	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1316	break;
		1317	case 4: //altitude
		1318	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1319	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1320	break;
		1321	case 7: //Voltage
		1322	v = (double)iAnalogData[index] / (double)10;
		1323	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1324	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1325	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1326	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1327	{
		1328	if (v == _dVoltLast)
		1329	if(_iVoltJitter < 20) _iVoltJitter++;
		1330	else
		1331	{
		1332	_iVoltJitter = 0;
		1333	_dVoltLast = v;
		1334	}
		1335	if (_iVoltJitter == 20)
		1336	{
		1337	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1338
		1339	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1340	{
		1341	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1342	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1343	{
		1344	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1345	_bCritAnimVoltActive = true;
		1346	}
		1347	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1348	{
		1349	if (File.Exists("Voice\\CriticalBattery.mp3"))
		1350	{
		1351
		1352	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1353	mp.Open("Voice\\CriticalBattery.mp3");
		1354	mp.Play();
		1355	}
		1356	_bCritVoiceVoltActive = true;
		1357	}
		1358	}
		1359	else
		1360	{
		1361	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1362	{
		1363	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1364	_bCritAnimVoltActive = false;
		1365	}
		1366	_bCritVoiceVoltActive = false;
		1367
2291	-	1368	if (_bVoiceVoltPlay && !_bWarnVoiceVoltActive)
2287	-	1369	{
		1370	if (File.Exists("Voice\\LowBattery.mp3"))
		1371	{
		1372
		1373	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1374	mp.Open("Voice\\LowBattery.mp3");
		1375	mp.Play();
		1376	}
2291	-	1377	_bWarnVoiceVoltActive = true;
2287	-	1378	}
		1379	}
		1380	}
		1381	}
		1382	else
		1383	{
		1384	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1385	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1386	{
		1387	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1388	_bCritAnimVoltActive = false;
		1389	}
		1390	_bCritVoiceVoltActive = false;
2291	-	1391	_bWarnVoiceVoltActive = false;
2287	-	1392	_iVoltJitter = 0;
		1393	}
		1394	break;
		1395	case 8: // Current
		1396	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1397	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1398	break;
		1399	case 10: //heading
2291	-	1400	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
2287	-	1401	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1402	break;
		1403	case 12: // SPI error
2291	-	1404	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
2287	-	1405	break;
		1406	case 14: //i2c error
2291	-	1407	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
2287	-	1408	break;
		1409	case 20: //Earthmagnet field
2291	-	1410	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1411	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1412
		1413	if (Math.Abs(100 - iAnalogData[index]) < _iThresholdMagField)
		1414	{
		1415	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1416	_iMagneticFieldJitter = 0; _bVoiceMagneticFieldActive = false;
		1417	if (stbMagneticFieldAnim != null && _bAnimMagneticFieldActive)
		1418	{
		1419	Dispatcher.Invoke(() => stbMagneticFieldAnim.Stop());
		1420	_bAnimMagneticFieldActive = false;
		1421	}
		1422	}
		1423	else
		1424	{
		1425	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1426	if(_iMagneticFieldLast >= Math.Abs(100 - iAnalogData[index]))
		1427	{
		1428	if (_iMagneticFieldJitter < 20)
		1429	_iMagneticFieldJitter++;
		1430	}
		1431	else
		1432	{
		1433	_iMagneticFieldJitter = 0;
		1434	_iMagneticFieldLast = Math.Abs(100 - iAnalogData[index]);
		1435	}
		1436	if(_iMagneticFieldJitter == 20)
		1437	{
		1438	if (stbMagneticFieldAnim != null && !_bAnimMagneticFieldActive)
		1439	{
		1440	Dispatcher.Invoke(() => stbMagneticFieldAnim.Begin());
		1441	_bAnimMagneticFieldActive = true;
		1442	}
		1443	if (_bVoiceMagneticFieldPlay && !_bVoiceMagneticFieldActive)
		1444	{
		1445	if (File.Exists("Voice\\MagneticField.mp3"))
		1446	{
		1447
		1448	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1449	mp.Open("Voice\\MagneticField.mp3");
		1450	mp.Play();
		1451	}
		1452	_bVoiceMagneticFieldActive = true;
		1453	}
		1454	}
		1455	}
2287	-	1456	break;
		1457	case 21: //GroundSpeed
		1458	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1459	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1460	break;
2291	-	1461
		1462	///******** needs testing --> not sure what position this is *************
2287	-	1463	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1464	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1465	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1466	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1467	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1468	dTemp = Math.Sqrt(dTemp) / (double)10;
		1469	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1470	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1471	break;
2291	-	1472
2287	-	1473	case 31: //Sats used
		1474	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1475	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1476	break;
		1477	}
		1478	}
		1479	index++;
		1480	}
		1481	}
		1482	else
		1483	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1484	}
		1485	/// <summary>
		1486	/// Version string 'V'
		1487	/// </summary>
		1488	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1489	/// <param name="data">the received byte array to process</param>
		1490	void _processVersion(byte adr, byte[] data)
		1491	{
		1492	if (data.Length == 12)
		1493	{
		1494	if (!check_HWError)
		1495	{
		1496	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1497	string sVersion = "";
		1498	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1499	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1500	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1501	Log(LogMsgType.Incoming, sVersion);
		1502	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1503	Log(LogMsgType.Incoming, sVersion);
		1504	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1505	}
		1506	if (data[5] > 0) //error0
		1507	{
		1508	if (adr == 1)
		1509	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1510	if (adr == 2)
		1511	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1512	}
		1513	if (data[6] > 0) //error1
		1514	{
		1515	if (adr == 1)
		1516	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1517	if (adr == 2)
		1518	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1519	}
		1520	if ((data[5] + data[6] == 0) && _bErrorLog)
		1521	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1522
		1523	}
		1524	check_HWError = false;
		1525	}
		1526	/// <summary>
		1527	/// BL-Ctrl data 'K'
		1528	/// for FC you have to use a customized firmware
		1529	/// </summary>
		1530	/// <param name="data">the received byte array to process</param>
		1531	void _processBLCtrl(byte[] data)
		1532	{
		1533	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1534	{
		1535	bool bAvailable = false;
		1536	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1537	{
		1538
		1539	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1540	bAvailable = true;
		1541	else
		1542	bAvailable = false;
		1543
		1544	if (data[i] < _iMotors)
		1545	{
		1546	if (bAvailable)
		1547	{
		1548	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1549	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		1550	}
		1551	else
		1552	{
		1553	dtMotors1.Rows[data[i]].SetField(1, "NA");
		1554	dtMotors1.Rows[data[i]].SetField(2, "NA");
		1555	}
		1556	}
		1557	//if (data[i] > 3 && data[i] < 8)
		1558	//{
		1559	// if (bAvailable)
		1560	// {
		1561	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1562	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1563	// }
		1564	// else
		1565	// {
		1566	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1567	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1568	// }
		1569	//}
		1570	}
		1571	}
		1572	}
		1573	/// <summary>
		1574	/// Navi-Ctrl data 'O'
		1575	/// GPS-Position, capacatiy, flying time...
		1576	/// </summary>
		1577	/// <param name="data">the received byte array to process</param>
		1578	void _processNCData(byte[] data)
		1579	{
		1580	int i_32, i_16, iVal;
		1581	double d;
		1582	i_32 = data[4];
		1583	iVal = i_32 << 24;
		1584	i_32 = data[3];
		1585	iVal += i_32 << 16;
		1586	i_32 = data[2];
		1587	iVal += i_32 << 8;
		1588	iVal += data[1];
		1589	d = (double)iVal / Math.Pow(10, 7);
		1590
		1591	PointLatLng p = new PointLatLng();
		1592
		1593	p.Lng = d;
		1594	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1595	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1596
		1597	i_32 = data[8];
		1598	iVal = i_32 << 24;
		1599	i_32 = data[7];
		1600	iVal += i_32 << 16;
		1601	i_32 = data[6];
		1602	iVal += i_32 << 8;
		1603	iVal += data[5];
		1604	d = (double)iVal / Math.Pow(10, 7);
		1605	p.Lat = d;
2291	-	1606	if (data[50] > 4)//if more than 4 sats in use . otherwise the map would jump and scroll insane at beginning
		1607	{
		1608	_bSatFix = true; _iSatsJitter = 0; _bVoiceSatFixActive = false;
		1609	if (stbSatFixLostAnim != null && _bAnimSatFixActive)
		1610	{
		1611	Dispatcher.Invoke(() => stbSatFixLostAnim.Stop());
		1612	_bAnimSatFixActive = false;
		1613	}
		1614	if (!_bFollowCopter)
		1615	{
		1616	_setCopterData(p);
		1617	if (!MainMap.ViewArea.Contains(p))
		1618	Dispatcher.Invoke(() => MainMap.Position = p);
2287	-	1619
2291	-	1620	}
		1621	else
2287	-	1622	Dispatcher.Invoke(() => MainMap.Position = p);
		1623	}
		1624	else
2291	-	1625	{
		1626	if(_bSatFix)
		1627	{
		1628	if (data[50] == _iSatsLast)
		1629	{
		1630	if (_iSatsJitter < 20) _iSatsJitter++;
		1631	}
		1632	else
		1633	{
		1634	_iSatsJitter = 0;
		1635	_iSatsLast = data[50];
		1636	}
2287	-	1637
2291	-	1638	if (_iSatsJitter == 20)
		1639	{
		1640	if (stbSatFixLostAnim != null && !_bAnimSatFixActive)
		1641	{
		1642	Dispatcher.Invoke(() => stbSatFixLostAnim.Begin());
		1643	_bAnimSatFixActive = true;
		1644	}
		1645	if (_bVoiceSatFixPlay && !_bVoiceSatFixActive)
		1646	{
		1647	if (File.Exists("Voice\\CriticalBattery.mp3"))
		1648	{
2287	-	1649
2291	-	1650	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1651	mp.Open("Voice\\CriticalBattery.mp3");
		1652	mp.Play();
		1653	}
		1654	_bVoiceSatFixActive = true;
		1655	}
		1656
		1657	_bSatFix = false;
		1658	}
		1659	}
		1660	}
		1661
2287	-	1662	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1663	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1664
		1665	i_16 = data[28];
		1666	i_16 = (Int16)(i_16 << 8);
		1667	iVal = data[27] + i_16;
		1668	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1669
		1670	i_16 = data[45];
		1671	i_16 = (Int16)(i_16 << 8);
		1672	iVal = data[44] + i_16;
		1673	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1674	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1675
		1676	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1677	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1678
		1679	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1680
		1681
		1682	//--------------- Capacity used ------------------------
		1683	i_16 = data[81];
		1684	i_16 = (Int16)(i_16 << 8);
		1685	iVal = data[80] + i_16;
		1686	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1687	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1688
		1689	//--------------- Flying time ------------------------
		1690	i_16 = data[56];
		1691	i_16 = (Int16)(i_16 << 8);
		1692	iVal = data[55] + i_16;
		1693	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1694	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1695	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1696	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1697
		1698	//--------------- RC quality ------------------------
		1699	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1700	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1701
2291	-	1702	if(data[66] > _iThresholdRC)
		1703	{
		1704	_iRCLevelJitter = 0; _bVoiceRCLevelActive = false;
		1705	if (stbRCLevelAnim != null && _bAnimRCLevelActive)
		1706	{
		1707	Dispatcher.Invoke(() => stbRCLevelAnim.Stop());
		1708	_bAnimRCLevelActive = false;
		1709	}
		1710	}
		1711	else
		1712	{
		1713	if (_iRCLevelJitter < 20) _iRCLevelJitter++;
		1714	if (_iRCLevelJitter == 20)
		1715	{
		1716	if (stbRCLevelAnim != null && !_bAnimRCLevelActive)
		1717	{
		1718	Dispatcher.Invoke(() => stbRCLevelAnim.Begin());
		1719	_bAnimRCLevelActive = true;
		1720	}
		1721	if (_bVoiceRCLevelPlay && !_bVoiceRCLevelActive)
		1722	{
		1723	if (File.Exists("Voice\\RCLevel.mp3"))
		1724	{
2287	-	1725
2291	-	1726	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1727	mp.Open("Voice\\RCLevel.mp3");
		1728	mp.Play();
		1729	}
		1730	_bVoiceRCLevelActive = true;
		1731	}
		1732	_iRCLevelJitter++;
		1733	}
		1734	}
		1735
2287	-	1736	//--------------- NC Error ------------------------
		1737	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1738	if (data[69] > 0)
		1739	_readNCError();
		1740	if (data[69] > 0 & data[69] < 44)
		1741	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1742	else
		1743	if (_bErrorLog) _clearErrorLog("NC Error");
		1744
		1745	}
		1746	/// <summary>
		1747	/// Navi-Ctrl WP data struct 'X'
		1748	/// called by index
		1749	/// </summary>
		1750	/// <param name="data">the received byte array to process</param>
		1751	void _processWPData(byte[] data)
		1752	{
		1753	_iWP = data[0];
		1754	_bGetWPCount = false;
		1755	if (data.Length >= 28)
		1756	{
		1757	//int count = data[0];
		1758	//int index = data[1];
		1759	//cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		1760	//for (int i = 0; i < count; i++)
		1761	// cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		1762	//cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		1763	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1764	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1765	if (_bGetWP)
		1766	{
		1767	if (data[1] == 1)
		1768	dtWaypoints.Rows.Clear();
		1769	DataRow dr = dtWaypoints.NewRow();
		1770	dr = Waypoints.toDataRow(data, dr);
		1771	//if (dtWaypoints.Rows.Contains(data[1]))
		1772	//{
		1773	// dtWaypoints.Rows.Find(data[1]).Delete();
		1774	// dtWaypoints.Rows.InsertAt(dr, data[1] - 1);
		1775	//}
		1776	//else
		1777	dtWaypoints.Rows.Add(dr);
		1778
		1779	if (data[1] == data[0])
		1780	{
		1781	_bGetWP = false;
		1782	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1783	}
		1784
		1785	}
		1786	}
		1787	else
		1788	{
		1789	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1790	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1791	// Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		1792	}
		1793	}
		1794	/// <summary>
		1795	/// OSD Menue 'L'
		1796	/// single page called by pagenumber
		1797	/// no autoupdate
		1798	/// </summary>
		1799	/// <param name="data">the received byte array to process</param>
		1800	void _processOSDSingle(byte[] data)
		1801	{
		1802	if (data.Length == 84)
		1803	{
		1804	string sMessage = "";
		1805	iOSDPage = data[0];
		1806	iOSDMax = data[1];
		1807	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1808	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1809	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1810	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1811	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1812	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1813	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1814	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1815
		1816	}
		1817	//else
		1818	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1819
		1820	}
		1821	/// <summary>
		1822	/// OSD Menue 'H'
		1823	/// called by keys (0x01,0x02,0x03,0x04)
		1824	/// autoupdate
		1825	/// </summary>
		1826	/// <param name="data">the received byte array to process</param>
		1827	void _processOSDAuto(byte[] data)
		1828	{
		1829	if (data.Length == 81)
		1830	{
		1831	string sMessage = "";
		1832	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1833	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1834	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1835	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1836	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1837
		1838	}
		1839	//else
		1840	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1841	}
		1842
		1843	#endregion processing received data
		1844
		1845	#region controller messages
		1846	/// <summary> send message to controller to request data
		1847	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1848	/// </summary>
		1849	/// <param name="CMDID"> the command ID </param>
		1850	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1851	private void _sendControllerMessage(char CMDID, byte address)
		1852	{
		1853	if (serialPortCtrl.Port.IsOpen)
		1854	{
		1855	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1856	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1857	serialStream.Write(bytes, 0, bytes.Length);
		1858
		1859	}
		1860	else
		1861	Log(LogMsgType.Error, "NOT CONNECTED!");
		1862	}
		1863	/// <summary> send message to controller to request data
		1864	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1865	/// </summary>
		1866	/// <param name="CMDID"> the command ID </param>
		1867	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1868	/// <param name="data"> additional data for the request</param>
		1869	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1870	{
		1871	if (serialPortCtrl.Port.IsOpen)
		1872	{
		1873	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1874	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1875	serialStream.Write(bytes, 0, bytes.Length);
		1876
		1877	}
		1878	else
		1879	Log(LogMsgType.Error, "NOT CONNECTED!");
		1880	}
		1881
		1882	/// <summary>
		1883	/// start/stop continous polling of controller values
		1884	/// </summary>
		1885	/// <param name="b">start/stop switch</param>
		1886	void _readCont(bool b)
		1887	{
		1888	bReadContinously = b;
		1889	if (bReadContinously)
		1890	{
		1891	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1892	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1893	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1894	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1895	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1896	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1897	}
		1898	else
		1899	{
		1900	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1901	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1902	_bConnErr = false;
		1903	}
		1904	_iLifeCounter = 0;
		1905	}
		1906
		1907	private void _getVersion()
		1908	{
		1909	_sendControllerMessage('v', 0);
		1910	}
		1911	/// <summary>
		1912	/// get FC version struct via NC
		1913	/// by sending '1' as data (not documented in wiki...)
		1914	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1915	/// </summary>
		1916	/// <param name="ctrl">controller number 1=FC</param>
		1917	private void _getVersion(byte ctrl)
		1918	{
		1919	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1920	}
		1921	/// <summary>
		1922	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1923	/// </summary>
		1924	private void _switchToNC()
		1925	{
		1926	if (serialPortCtrl.Port.IsOpen)
		1927	{
		1928	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1929	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		1930	serialStream.Write(bytes, 0, bytes.Length);
		1931
		1932	Thread.Sleep(100);
		1933	_getVersion();
		1934	Thread.Sleep(100);
		1935	// _OSDMenue(0);
		1936	}
		1937	else
		1938	Log(LogMsgType.Error, "NOT CONNECTED!");
		1939	}
		1940	/// <summary>
		1941	/// switch to FC
		1942	/// </summary>
		1943	private void _switchToFC()
		1944	{
		1945	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1946	Thread.Sleep(100);
		1947	_getVersion();
		1948	Thread.Sleep(100);
		1949	// _OSDMenue(0);
		1950	}
		1951	/// <summary>
		1952	/// send RESET signal to FC
		1953	/// </summary>
		1954	private void _resetCtrl()
		1955	{
		1956	_sendControllerMessage('R', 1);
		1957	}
		1958	/// <summary>
		1959	/// poll the debug data (4sec subscription)
		1960	/// </summary>
		1961	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1962	private void _readDebugData(bool auto)
		1963	{
		1964	byte interval = auto ? debugInterval : (byte)0;
		1965	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1966	}
		1967	/// <summary>
		1968	/// poll the BL-CTRL status via NC (4sec subscription)
		1969	/// </summary>
		1970	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1971	private void _readBLCtrl(bool auto)
		1972	{
		1973	byte interval = auto ? blctrlInterval : (byte)0;
		1974	_sendControllerMessage('k', 0, new byte[1] { interval });
		1975	}
		1976	/// <summary>
		1977	/// poll the NC data struct (4sec subscription)
		1978	/// </summary>
		1979	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1980	private void _readNavData(bool auto)
		1981	{
		1982	byte interval = auto ? navctrlInterval : (byte)0;
		1983	_sendControllerMessage('o', 2, new byte[1] { interval });
		1984	}
		1985	/// <summary>
		1986	/// get the errortext for pending NC error
		1987	/// </summary>
		1988	private void _readNCError()
		1989	{
		1990	_sendControllerMessage('e', 2);
		1991	}
		1992	/// <summary>
		1993	/// request the Waypoint at index
		1994	/// </summary>
		1995	/// <param name="index"></param>
		1996	void _getpWP(int index)
		1997	{
		1998	if (serialPortCtrl.Port.IsOpen)
		1999	{
		2000	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2001	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		2002	serialStream.Write(bytes, 0, bytes.Length);
		2003	}
		2004	else
		2005	Log(LogMsgType.Error, "NOT CONNECTED!");
		2006
		2007	}
		2008	void _getWP()
		2009	{
		2010	//if (_iWP > 0)
		2011	//{
		2012	// _getWPList();
		2013	//}
		2014	//else
		2015	//{
		2016	// if (_iWP == -1)
		2017	// {
		2018	_bGetWPCount = true;
		2019	_getpWP(1);
		2020	while (_bGetWPCount)
		2021	Thread.Sleep(100);
		2022	if (_iWP > 0)
		2023	_getWPList();
		2024	// }
		2025	//}
		2026	}
		2027	void _getWPList()
		2028	{
		2029	_bGetWP = true;
		2030	for (int j = 0; j < _iWP; j++)
		2031	{
		2032	_getpWP(j + 1);
		2033	Thread.Sleep(10);
		2034	}
		2035	}
		2036
		2037
		2038	#region OSD-Menue
		2039
		2040	/// <summary>
		2041	/// one time query of the OSD Menue with pagenumber
		2042	/// </summary>
		2043	/// <param name="iMenue">Menue page</param>
		2044	void _OSDMenue(int iMenue)
		2045	{
		2046	if (serialPortCtrl.Port.IsOpen)
		2047	{
		2048	if (iMenue > iOSDMax)
		2049	iMenue = 0;
		2050	Stream serialStream = serialPortCtrl.Port.BaseStream;
		2051	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		2052	serialStream.Write(bytes, 0, bytes.Length);
		2053	}
		2054	else
		2055	Log(LogMsgType.Error, "NOT CONNECTED!");
		2056
		2057	}
		2058	/// <summary>
		2059	/// call the OSDMenue and start autorefresh
		2060	/// usually by sending a menuekey
		2061	/// 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)
		2062	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		2063	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		2064	/// </summary>
		2065	void _OSDMenueAutoRefresh()
		2066	{
		2067	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		2068	}
		2069	void _OSDMenueAutoRefresh(byte key)
		2070	{
		2071	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		2072	}
		2073	/// <summary>
		2074	/// initialize the OSD menue combobox
		2075	/// combox is filled by numbers from 0 to max pagenumber
		2076	/// </summary>
		2077	void _initOSDCB()
		2078	{
		2079	_bCBInit = true;
		2080	if (iOSDMax == 0)
		2081	{
		2082	_OSDMenue(0);
		2083	Thread.Sleep(10);
		2084	}
		2085	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		2086	for (int i = 0; i <= iOSDMax; i++)
		2087	{
		2088	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		2089	}
		2090	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		2091	_bCBInit = false;
		2092	}
		2093	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		2094	{
		2095	iOSDPage++;
		2096	if (iOSDPage > iOSDMax)
		2097	iOSDPage = 0;
		2098
		2099	_OSDMenue(iOSDPage);
		2100	}
		2101	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		2102	{
		2103	iOSDPage--;
		2104	if (iOSDPage < 0)
		2105	iOSDPage = iOSDMax;
		2106
		2107	_OSDMenue(iOSDPage);
		2108	}
		2109	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		2110	{
		2111	_OSDMenueAutoRefresh(8);
		2112	}
		2113	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		2114	{
		2115	_OSDMenueAutoRefresh(4);
		2116	}
		2117	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		2118	{
		2119	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		2120	_OSDMenue(cbOSD.SelectedIndex);
		2121	}
		2122	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		2123	{
		2124	Dispatcher.Invoke(() =>
		2125	{
		2126	TextRange tr;
		2127	if (bNew)
		2128	{
		2129	rtfOSD.SelectAll();
		2130	rtfOSD.Selection.Text = string.Empty;
		2131	}
		2132	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		2133	tr.Text = msg;
		2134	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		2135	// rtfOSD.AppendText("\r");
		2136	rtfOSD.ScrollToEnd();
		2137
		2138	});
		2139	}
		2140
		2141	#endregion OSD-Menue
		2142
		2143	#endregion controller messages
		2144
		2145	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		2146	{
		2147	if (winState.isMaximized)
		2148	{
		2149	winState.Restore(this);
		2150	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		2151	if(_bSaveWinStateFull)
		2152	_saveScaleSliders(true);
		2153	if(_bSaveWinStateNormal)
		2154	_setScaleSliders(false);
		2155	}
		2156	else
		2157	{
		2158	winState.Maximize(this);
		2159	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		2160	if(_bSaveWinStateNormal)
		2161	_saveScaleSliders(false);
		2162	if(_bSaveWinStateFull)
		2163	_setScaleSliders(true);
		2164	}
		2165	}
		2166
		2167	/// <summary>
		2168	/// reset the scaling of all UI elements to default
		2169	/// </summary>
		2170	/// <param name="sender"></param>
		2171	/// <param name="e"></param>
		2172	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		2173	{
		2174	UIScaleHorizonSlider.Value =
		2175	UIScaleLOGSlider.Value =
		2176	UIScaleMotorsSlider.Value =
		2177	UIScaleOSDSlider.Value =
		2178	UIScaleSlider.Value =
		2179	UIScaleTopSlider.Value = 1;
		2180	}
		2181	/// <summary>
		2182	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		2183	/// </summary>
		2184	/// <param name="sender"></param>
		2185	/// <param name="e"></param>
		2186	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		2187	{
		2188	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		2189	if (GridMotors != null)
		2190	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		2191	if (GridSideBar != null)
		2192	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		2193	if (GridOSD != null)
		2194	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		2195	if (GridData != null)
		2196	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		2197	if (GridWP != null)
		2198	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		2199	}
		2200
		2201	void _setScaleSliders(bool bFull)
		2202	{
		2203	if(bFull)
		2204	{
		2205	UIScaleSlider.Value = scaleFullAll;
		2206	UIScaleTopSlider.Value = scaleFullTopBar;
		2207	UIScaleMotorsSlider.Value = scaleFullMotors;
		2208	UIScaleOSDSlider.Value = scaleFullOSD;
		2209	UIScaleLOGSlider.Value = scaleFullLOG;
		2210	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2211	}
		2212	else
		2213	{
		2214	UIScaleSlider.Value = scaleNormalAll;
		2215	UIScaleTopSlider.Value = scaleNormalTopBar;
		2216	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2217	UIScaleOSDSlider.Value = scaleNormalOSD;
		2218	UIScaleLOGSlider.Value = scaleNormalLOG;
		2219	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2220	}
		2221	}
		2222
		2223	void _saveScaleSliders(bool bFull)
		2224	{
		2225
		2226	if (bFull)
		2227	{
		2228	scaleFullAll = UIScaleSlider.Value;
		2229	scaleFullTopBar = UIScaleTopSlider.Value;
		2230	scaleFullMotors = UIScaleMotorsSlider.Value;
		2231	scaleFullOSD = UIScaleOSDSlider.Value;
		2232	scaleFullLOG = UIScaleLOGSlider.Value;
		2233	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2234	}
		2235	else
		2236	{
		2237	scaleNormalAll = UIScaleSlider.Value;
		2238	scaleNormalTopBar = UIScaleTopSlider.Value;
		2239	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2240	scaleNormalOSD = UIScaleOSDSlider.Value;
		2241	scaleNormalLOG = UIScaleLOGSlider.Value;
		2242	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2243	}
		2244	}
		2245
		2246	/// <summary>
		2247	/// read settings from ini-file
		2248	/// </summary>
		2249	void _readIni()
		2250	{
		2251	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2252	_writeIni();
		2253	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2254	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2255
		2256	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2257	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		2258	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2259	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2260	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2261	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2262	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2263	_OSDAutorefresh = Convert.ToBoolean(sVal);
		2264
		2265	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2266	debugInterval = (byte)Convert.ToInt16(sVal);
		2267	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2268	navctrlInterval = (byte)Convert.ToInt16(sVal);
		2269	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2270	blctrlInterval = (byte)Convert.ToInt16(sVal);
		2271	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2272	OSDInterval = (byte)Convert.ToInt16(sVal);
		2273
		2274	sVal = ini.IniReadValue("topBar", "voltage");
		2275	chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2276	sVal = ini.IniReadValue("topBar", "capacity");
		2277	chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2278	sVal = ini.IniReadValue("topBar", "current");
		2279	chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2280	sVal = ini.IniReadValue("topBar", "flightTime");
		2281	chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2282	sVal = ini.IniReadValue("topBar", "distanceHP");
		2283	chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2284	sVal = ini.IniReadValue("topBar", "height");
		2285	chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2286	sVal = ini.IniReadValue("topBar", "speed");
		2287	chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2288	sVal = ini.IniReadValue("topBar", "magneticField");
		2289	chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2290	sVal = ini.IniReadValue("topBar", "satellites");
		2291	chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2292	sVal = ini.IniReadValue("topBar", "rc");
		2293	chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
		2294
		2295	sVal = ini.IniReadValue("style", "saveFullScreen");
		2296	chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2297	sVal = ini.IniReadValue("style", "saveNormalState");
		2298	chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
		2299
		2300	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2301	scaleNormalAll = Convert.ToDouble(sVal);
		2302	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2303	scaleNormalTopBar = Convert.ToDouble(sVal);
		2304	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2305	scaleNormalMotors = Convert.ToDouble(sVal);
		2306	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2307	scaleNormalOSD = Convert.ToDouble(sVal);
		2308	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2309	scaleNormalLOG = Convert.ToDouble(sVal);
		2310	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2311	scaleNormalHorizon = Convert.ToDouble(sVal);
		2312
		2313	sVal = ini.IniReadValue("style", "scaleFullAll");
		2314	scaleFullAll = Convert.ToDouble(sVal);
		2315	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2316	scaleFullTopBar = Convert.ToDouble(sVal);
		2317	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2318	scaleFullMotors = Convert.ToDouble(sVal);
		2319	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2320	scaleFullOSD = Convert.ToDouble(sVal);
		2321	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2322	scaleFullLOG = Convert.ToDouble(sVal);
		2323	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2324	scaleFullHorizon = Convert.ToDouble(sVal);
		2325
		2326	sVal = ini.IniReadValue("general", "LiPoCells");
		2327	_LipoCells = Convert.ToInt16(sVal);
		2328	sVal = ini.IniReadValue("general", "Motors");
		2329	_iMotors = Convert.ToInt16(sVal);
		2330
		2331	sVal = ini.IniReadValue("map", "followMe");
		2332	_bFollowCopter = Convert.ToBoolean(sVal);
		2333
		2334	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2335	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2336	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2337	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
2291	-	2338	sVal = ini.IniReadValue("threshold", "VoiceVoltageEnable");
2287	-	2339	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
2291	-	2340	sVal = ini.IniReadValue("threshold", "VoiceSatFixEnable");
		2341	if(sVal != "") _bVoiceSatFixPlay = Convert.ToBoolean(sVal);
		2342	sVal = ini.IniReadValue("threshold", "VoiceMagFieldEnable");
		2343	if(sVal != "") _bVoiceMagneticFieldPlay = Convert.ToBoolean(sVal);
		2344	sVal = ini.IniReadValue("threshold", "DistanceWarning");
		2345	if(sVal != "") _dThresholdDistanceWarn = Convert.ToDouble(sVal);
		2346	sVal = ini.IniReadValue("threshold", "VoiceDistanceWarnEnable");
		2347	if(sVal != "") _bVoiceDistancePlay = Convert.ToBoolean(sVal);
		2348	sVal = ini.IniReadValue("threshold", "VoiceRCLevelWarnEnable");
		2349	if(sVal != "") _bVoiceRCLevelPlay = Convert.ToBoolean(sVal);
		2350	sVal = ini.IniReadValue("threshold", "MaxDistance");
		2351	if(sVal != "") _dThresholdDistanceMax = Convert.ToDouble(sVal);
		2352	sVal = ini.IniReadValue("threshold", "RCThreshold");
		2353	if(sVal != "") _iThresholdRC = Convert.ToInt32(sVal);
		2354	sVal = ini.IniReadValue("threshold", "MagFieldThreshold");
		2355	if(sVal != "") _iThresholdMagField = Convert.ToInt32(sVal);
2287	-	2356
		2357	}
		2358
2291	-	2359
2287	-	2360	/// <summary>
		2361	/// save settings to ini-file
		2362	/// </summary>
		2363	void _writeIni()
		2364	{
		2365
		2366	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2367	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2368
		2369	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2370	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2371	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2372	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		2373
		2374	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2375	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2376	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2377	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		2378
		2379	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2380	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		2381
		2382	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2383
		2384	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2385	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2386	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2387	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2388	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2389	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2390	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2391	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2392	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2393	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
		2394
		2395	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2396	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
		2397
		2398	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2399	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2400	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2401	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2402	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2403	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
		2404
		2405	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2406	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2407	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2408	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2409	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2410	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
		2411
		2412	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2413
		2414	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2415	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
2291	-	2416	ini.IniWriteValue("threshold", "VoiceVoltageEnable", _bVoiceVoltPlay.ToString());
		2417	ini.IniWriteValue("threshold", "VoiceSatFixEnable", _bVoiceSatFixPlay.ToString());
		2418	ini.IniWriteValue("threshold", "VoiceMagFieldEnable", _bVoiceMagneticFieldPlay.ToString());
		2419	ini.IniWriteValue("threshold", "VoiceDistanceWarnEnable", _bVoiceDistancePlay.ToString());
		2420	ini.IniWriteValue("threshold", "VoiceRCLevelWarnEnable", _bVoiceRCLevelPlay.ToString());
		2421	ini.IniWriteValue("threshold", "DistanceWarning", _dThresholdDistanceWarn.ToString());
		2422	ini.IniWriteValue("threshold", "MaxDistance", _dThresholdDistanceMax.ToString());
		2423	ini.IniWriteValue("threshold", "RCThreshold", _iThresholdRC.ToString());
		2424	ini.IniWriteValue("threshold", "MagFieldThreshold", _iThresholdMagField.ToString());
2287	-	2425	}
		2426	#endregion functions
		2427
		2428	private void Window_Closing(object sender, CancelEventArgs e)
		2429	{
		2430	_writeIni();
		2431	}
		2432	}
		2433	public class BooleanToVisibilityConverter : IValueConverter
		2434	{
		2435
		2436	public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
		2437	{
		2438	return (bool)value ? Visibility.Visible : Visibility.Collapsed;
		2439	}
		2440
		2441	public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
		2442	{
		2443	throw new NotImplementedException();
		2444	}
		2445	}
		2446
		2447	public class IniFile
		2448	{
		2449	public string path;
		2450
		2451	[DllImport("kernel32")]
		2452	private static extern long WritePrivateProfileString(string section,
		2453	string key, string val, string filePath);
		2454
		2455	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		2456	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		2457	uint nSize, string lpFileName);
		2458
		2459	[DllImport("kernel32")]
		2460	private static extern int GetPrivateProfileString(string section,
		2461	string key, string def, StringBuilder retVal,
		2462	int size, string filePath);
		2463
		2464	public IniFile(string INIPath)
		2465	{
		2466	path = INIPath;
		2467	}
		2468
		2469	public void IniWriteValue(string Section, string Key, string Value)
		2470	{
		2471	WritePrivateProfileString(Section, Key, Value, this.path);
		2472	}
		2473
		2474	public string IniReadValue(string Section, string Key)
		2475	{
		2476	StringBuilder temp = new StringBuilder(255);
		2477	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		2478	return temp.ToString();
		2479	}
		2480	//Ini_sections auslesen in String-Array
		2481	public string[] IniSectionNames()
		2482	{
		2483
		2484	// uint MAX_BUFFER = 32767;
		2485	uint MAX_BUFFER = 8388608;
		2486	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		2487	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2488	if (bytesReturned == 0)
		2489	{
		2490	Marshal.FreeCoTaskMem(pReturnedString);
		2491	return null;
		2492	}
		2493	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2494	Marshal.FreeCoTaskMem(pReturnedString);
		2495	//use of Substring below removes terminating null for split
		2496	return local.Substring(0, local.Length - 1).Split('\0');
		2497
		2498
		2499	}
		2500	}
		2501
		2502	/// <summary>
		2503	/// Selected Win AI Function Calls
		2504	/// </summary>
		2505	public class WinApi
		2506	{
		2507	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		2508	public static extern int GetSystemMetrics(int which);
		2509	[DllImport("user32.dll")]
		2510	public static extern void
		2511	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		2512	int X, int Y, int width, int height, uint flags);
		2513
		2514	private const int SM_CXSCREEN = 0;
		2515	private const int SM_CYSCREEN = 1;
		2516	private static IntPtr HWND_TOP = IntPtr.Zero;
		2517	private const int SWP_SHOWWINDOW = 64; // 0x0040
		2518
		2519	public static int ScreenX
		2520	{
		2521	get { return GetSystemMetrics(SM_CXSCREEN); }
		2522	}
		2523
		2524	public static int ScreenY
		2525	{
		2526	get { return GetSystemMetrics(SM_CYSCREEN); }
		2527	}
		2528
		2529	public static void SetWinFullScreen(IntPtr hwnd)
		2530	{
		2531	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		2532	}
		2533	}
		2534	/// <summary>
		2535	/// Class used to preserve / restore state of the window
		2536	/// </summary>
		2537	public class WinState
		2538	{
		2539	private WindowState winState;
		2540	private WindowStyle brdStyle;
		2541	private bool topMost;
		2542	private Rect restore;
		2543	private bool IsMaximized = false;
		2544
		2545	public bool isMaximized
		2546	{
		2547	get { return IsMaximized; }
		2548	}
		2549	public void Maximize(Window targetForm)
		2550	{
		2551	if (!IsMaximized)
		2552	{
		2553	IsMaximized = true;
		2554	Save(targetForm);
		2555	targetForm.WindowState = WindowState.Maximized;
		2556	targetForm.WindowStyle = WindowStyle.None;
		2557	targetForm.Topmost = true;
		2558	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		2559	}
		2560	}
		2561
		2562	public void Save(Window targetForm)
		2563	{
		2564	winState = targetForm.WindowState;
		2565	brdStyle = targetForm.WindowStyle;
		2566	topMost = targetForm.Topmost;
		2567	restore = targetForm.RestoreBounds;
		2568	}
		2569	public void Restore(Window targetForm)
		2570	{
		2571	targetForm.WindowState = winState;
		2572	targetForm.WindowStyle = brdStyle;
		2573	targetForm.Topmost = topMost;
		2574
		2575	targetForm.Left = restore.Left;
		2576	targetForm.Top = restore.Top;
		2577	targetForm.Height = restore.Height;
		2578	targetForm.Width = restore.Width;
		2579	IsMaximized = false;
		2580	}
		2581	}
		2582
		2583	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2294 - Rev