WebSVN - Projects - Blame - Rev 2254 - /MKLiveView/Source/MainForm.cs

Rev	Author	Line No.	Line
2233	-	1	///============================================================================
		2	/// MKLiveView
		3	/// Copyright © 2016 Steph
		4	///
		5	///This file is part of MKLiveView.
		6	///
		7	///MKLiveView is free software: you can redistribute it and/or modify
		8	///it under the terms of the GNU General Public License as published by
		9	///the Free Software Foundation, either version 3 of the License, or
		10	///(at your option) any later version.
		11	///
		12	///MKLiveView is distributed in the hope that it will be useful,
		13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
		14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		15	///GNU General Public License for more details.
		16	///
		17	///You should have received a copy of the GNU General Public License
		18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
		19	///
		20	///============================================================================
		21	///Credits:
		22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
		23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
		24	///I used some of his code for displaying the compass
		25	///
		26	///Tom Pyke (http://tom.pycke.be)
		27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
		28	///Great job!
		29	///
		30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
		31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
		32	/// and the sourcode (http://hdl.lib.byu.edu/1877/2748)
		33	/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
		34	/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
		35	/// and the FilghtControllerMessage class
		36	///
		37	///============================================================================
		38
		39	using System;
		40	using System.Data;
		41	using System.Drawing;
		42	using System.Text;
		43	using System.Windows.Forms;
		44	using System.IO;
		45	using System.Threading;
		46	using System.Diagnostics;
		47	using System.Runtime.InteropServices;
		48
		49	namespace MKLiveView
		50	{
		51	public partial class MainForm : Form
		52	{
2250	-	53	String[] NC_Error = new string[44]
		54	{
		55	"No Error",
		56	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		57	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		58	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		59	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		60	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		61	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		62	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		63	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		64	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		65	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		66	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		67	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		68	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		69	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		70	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		71	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		72	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		73	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		74	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		75	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		76	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		77	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		78	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		79	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		80	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		81	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		82	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		83	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		84	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		85	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		86	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		87	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		88	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		89	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		90	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		91	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		92	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		93	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		94	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		95	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		96	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		97	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		98	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		99	};
2233	-	100
		101	[FlagsAttribute]
		102	enum NC_HWError0 : short
		103	{
		104	None = 0,
		105	SPI_RX = 1,
		106	COMPASS_RX = 2,
		107	FC_INCOMPATIBLE = 4,
		108	COMPASS_INCOMPATIBLE = 8,
		109	GPS_RX = 16,
		110	COMPASS_VALUE = 32
		111	};
		112	[FlagsAttribute]
		113	enum FC_HWError0 : short
		114	{
		115	None = 0,
		116	GYRO_NICK = 1,
		117	GYRO_ROLL = 2,
		118	GYRO_YAW = 4,
		119	ACC_NICK = 8,
		120	ACC_ROLL = 16,
		121	ACC_TOP = 32,
		122	PRESSURE = 64,
		123	CAREFREE = 128
		124	};
		125	[FlagsAttribute]
		126	enum FC_HWError1 : short
		127	{
		128	None = 0,
		129	I2C = 1,
		130	BL_MISSING = 2,
		131	SPI_RX = 4,
		132	PPM = 8,
		133	MIXER = 16,
		134	RC_VOLTAGE = 32,
		135	ACC_NOT_CAL = 64,
		136	RES3 = 128
		137	};
		138	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		139	// Various colors for logging info
		140	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
		141
		142	string[] sAnalogLabel = new string[32];
		143	string[] sAnalogData = new string[32];
		144	bool bReadContinously = false;
		145	bool check_HWError = false;
		146	bool _bCBInit = true;
		147	bool _init = true;
		148	bool _debugDataAutorefresh = true;
		149	bool _navCtrlDataAutorefresh = true;
		150	bool _blctrlDataAutorefresh = true;
		151	bool _OSDAutorefresh = true;
2254	-	152	bool _bErrorLog = false;
2233	-	153	int crcError = 0;
		154	int iLableIndex = 0;
		155	string filePath = Directory.GetCurrentDirectory();
		156	string fileName = "NCLabelTexts.txt";
		157	int _iCtrlAct = 0;
		158	int _iLifeCounter = 0;
		159	int iOSDPage = 0;
		160	int iOSDMax = 0;
		161	/// <summary>
		162	/// interval for sending debugdata (multiplied by 10ms)
		163	/// </summary>
		164	byte debugInterval = 25; //(=> 250ms)
		165	/// <summary>
		166	/// interval for sending BL-CTRL status (multiplied by 10ms)
		167	/// </summary>
		168	byte blctrlInterval = 45;
		169	/// <summary>
		170	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		171	/// </summary>
		172	byte navctrlInterval = 80;
		173	/// <summary>
		174	/// interval for sending OSD page update (multiplied by 10ms)
		175	/// </summary>
		176	byte OSDInterval = 85;
		177	/// <summary>
		178	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		179	/// </summary>
		180	DataTable dtAnalog = new DataTable();
2254	-	181	/// <summary>
		182	/// datatable for motordata (current,temp)
		183	/// </summary>
2250	-	184	DataTable dtMotors1 = new DataTable();
		185	DataTable dtMotors2 = new DataTable();
		186
2233	-	187	public MainForm()
		188	{
		189	InitializeComponent();
		190	_readIni();
		191	dtAnalog.Columns.Add("ID");
		192	dtAnalog.Columns.Add("Value");
		193	dataGridView1.DataSource = dtAnalog;
2250	-	194	dtMotors1.Columns.Add("#");
		195	dtMotors1.Columns.Add("Current");
		196	dtMotors1.Columns.Add("Temp");
		197	dtMotors2.Columns.Add("#");
		198	dtMotors2.Columns.Add("Current");
		199	dtMotors2.Columns.Add("Temp");
		200	dgvMotors1.DataSource = dtMotors1;
		201	dgvMotors2.DataSource = dtMotors2;
		202	_initDTMotors();
		203	dgvMotors1.Columns[0].Width = 24;
		204	dgvMotors1.Columns[1].Width = 74;
		205	dgvMotors1.Columns[2].Width = 74;
		206	dgvMotors2.Columns[0].Width = 24;
		207	dgvMotors2.Columns[1].Width = 74;
		208	dgvMotors2.Columns[2].Width = 74;
2233	-	209	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		210	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		211	simpleSerialPort.DataReceived += processMessage;
		212	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		213	chkbAutoDbg.Checked = _debugDataAutorefresh;
		214	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		215	chkbAutoOSD.Checked = _OSDAutorefresh;
		216	labelTimingDebug.Text = (debugInterval * 10).ToString();
		217	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		218	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		219	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		220	tabControl1.TabPages.Remove(tabPageTesting);
		221	}
		222	#region events
		223	private void MainForm_Shown(object sender, EventArgs e)
		224	{
		225	_loadLabelNames();
		226	_init = false;
2250	-	227	splitContainer1.SplitterDistance = 514;
2233	-	228	}
		229	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
		230	{
		231	_writeIni();
		232	}
		233	private void SimpleSerialPort_PortOpened()
		234	{
		235	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
		236	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
		237	_getVersion();
		238	Thread.Sleep(100);
		239	_OSDMenue(0);
		240	// _readCont(true);
		241	}
		242	private void SimpleSerialPort_PortClosed()
		243	{
		244	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
		245	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
		246	_readCont(false);
		247	}
		248	/// <summary>
		249	/// timer for refreshing subscription of subscribed data
		250	/// query lifecounter for connection failure
		251	/// </summary>
		252	private void timer1_Tick(object sender, EventArgs e)
		253	{
		254	if(bReadContinously)
		255	{
		256	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		257
2250	-	258	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
2233	-	259
		260	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		261	check_HWError = true;
		262	_getVersion();
		263	Thread.Sleep(10);
		264	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
		265	if (_iLifeCounter > 0)
		266	{
		267	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
		268	_iLifeCounter = 0;
		269	}
		270	else
		271	{
		272	Log(LogMsgType.Error, "No communication to NC/FC!");
		273	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
		274	}
		275	}
		276	}
		277	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
		278	{
		279	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		280	_OSDMenue(cbOSD.SelectedIndex);
		281	}
		282	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
		283	{
		284	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
		285	}
		286	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
		287	{
		288	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
		289	}
		290	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
		291	{
		292	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
		293	}
		294	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
		295	{
		296	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
		297	}
		298	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
		299	{
		300	if (cbTimingDebug.SelectedIndex > -1)
		301	{
		302	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
		303	labelTimingDebug.Text = (debugInterval * 10).ToString();
		304	}
		305	}
		306	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
		307	{
		308	if (cbTimingNAV.SelectedIndex > -1)
		309	{
		310	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
		311	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		312	}
		313	}
		314	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
		315	{
		316	if (cbTimingBLCTRL.SelectedIndex > -1)
		317	{
		318	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
		319	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		320	}
		321	}
		322	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
		323	{
		324	if (cbTimingOSD.SelectedIndex > -1)
		325	{
		326	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
		327	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		328	}
		329	}
2254	-	330	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
		331	{
		332	System.Diagnostics.Process.Start(e.LinkText);
		333	}
2233	-	334	#endregion events
		335
		336	/// <summary> Log data to the terminal window. </summary>
		337	/// <param name="msgtype"> The type of message to be written. </param>
		338	/// <param name="msg"> The string containing the message to be shown. </param>
		339	private void Log(LogMsgType msgtype, string msg)
		340	{
		341	rtfTerminal.Invoke(new EventHandler(delegate
		342	{
		343	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
		344	rtfTerminal.Select(42, (500 * 129)); //500 löschen
		345	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
		346	rtfTerminal.SelectedText = string.Empty;
		347	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
		348	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
		349	rtfTerminal.AppendText(msg + Environment.NewLine);
		350	rtfTerminal.ScrollToCaret();
		351	}));
		352	}
		353	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
		354	/// <param name="msgtype"> The type of message to be written. </param>
		355	/// <param name="msg"> The string containing the message to be shown. </param>
		356	private void OSD(LogMsgType msgtype, string msg)
		357	{
		358	rtfOSD.Invoke(new EventHandler(delegate
		359	{
		360	if (rtfOSD.Lines.Length > 4)
		361	rtfOSD.Clear();
		362	rtfOSD.Select(rtfOSD.Text.Length,0);
		363	rtfOSD.SelectedText = string.Empty;
		364	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
		365	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
		366	rtfOSD.AppendText(msg + Environment.NewLine);
		367	if (rtfOSD.Text.IndexOf("ERR") > 0)
		368	{
		369	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
		370	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
		371	}
		372	}));
		373	}
		374	private void ErrorLog(LogMsgType msgtype, string msg)
		375	{
		376	rtfError.Invoke(new EventHandler(delegate
		377	{
		378	if (rtfError.Lines.Length > 4)
		379	rtfError.Clear();
		380	rtfError.Focus();
		381	rtfError.Select(rtfError.Text.Length, 0);
		382	rtfError.SelectedText = string.Empty;
		383	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
		384	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
		385	rtfError.AppendText(msg + Environment.NewLine);
		386
		387	}));
2254	-	388	_bErrorLog = true;
2233	-	389	}
		390
		391	#region functions
		392
2250	-	393	#region processing received data
		394	/// <summary> Processing the messages and displaying them in the according form controls
		395	/// function called by simpleSerialPort.DataReceived event
		396	/// </summary>
2233	-	397	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
		398	private void processMessage(byte[] message)
		399	{
		400	if (message.Length > 0)
		401	{
		402	_iLifeCounter++;
		403	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		404	//Log(LogMsgType.Incoming, message.Length.ToString());
		405	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		406	char cmdID;
		407	byte adr;
		408	byte[] data;
		409	if (message[0] != '#')
		410	Log(LogMsgType.Normal, s.Trim('\0', '\n','\r'));
		411	//Debug.Print(s);
		412	else
		413	{
		414	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		415
		416	if (adr == 255) { crcError++; }
		417	else crcError = 0;
		418	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
2250	-	419	//display the active controller (FC / NC)
2233	-	420	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...???
		421	{
		422	_iCtrlAct = adr;
		423	switch (adr)
		424	{
		425	case 1:
		426	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
		427	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
		428	_setFieldsNA(); //display fields NA for FC
		429	break;
		430	case 2:
		431	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
		432	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
		433	break;
		434	case 3:
		435	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		436	break;
		437	case 4:
		438	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		439	break;
		440	default:
		441	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
		442	break;
		443	}
2250	-	444	_loadLabelNames();
2233	-	445	}
		446	// else
		447	// Debug.Print("Address == 0?");
		448
		449	if (data != null && data.Length > 0)
		450	{
		451	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		452	s = s.Trim('\0', '\n');
		453
		454	switch (cmdID)
		455	{
2250	-	456	case 'A': //Label names
		457	_processLabelNames(s);
2233	-	458	break;
		459
2250	-	460	case 'D': //Debug data
		461	_processDebugVals(adr,data);
2233	-	462	break;
		463
2250	-	464	case 'V': //Version
		465	_processVersion(adr, data);
2233	-	466	break;
		467
2250	-	468	case 'K'://BL-CTRL data
		469	_processBLCtrl(data);
2233	-	470	break;
		471
		472	case 'O': //NC Data
2250	-	473	_processNCData(data);
2233	-	474	break;
		475
		476	case 'E': //NC error-string
		477	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		478	break;
		479
2250	-	480	case 'L': //OSD Menue (called by pagenumber)
		481	_processOSDSingle(data);
2233	-	482	break;
		483
2250	-	484	case 'H': //OSD Menue (with autoupdate - called by Key)
		485	_processOSDAuto(data);
2233	-	486	break;
		487
		488	//default:
		489	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		490	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		491	// break;
		492	}
		493	}
		494	//else
		495	//{
		496	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		497	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		498	//}
		499	}
		500	}
		501	}
2250	-	502	/// <summary>
		503	/// Analog label names 'A'
		504	/// each label name is returned as a single string
		505	/// and added to string array sAnalogLabel[]
		506	/// and the datatable dtAnalog
		507	/// </summary>
		508	/// <param name="s">the label name</param>
		509	void _processLabelNames(string s)
		510	{
		511	if (iLableIndex < 32)
		512	{
		513	sAnalogLabel[iLableIndex] = s;
		514	if (dtAnalog.Rows.Count < 32)
		515	dtAnalog.Rows.Add(s, "");
		516	else
		517	dtAnalog.Rows[iLableIndex].SetField(0, s);
2233	-	518
2250	-	519	_getAnalogLabels(iLableIndex + 1);
		520	}
		521	Debug.Print(s);
		522	}
		523	/// <summary>
		524	/// Debug values 'D'
		525	/// </summary>
		526	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		527	/// <param name="data">the received byte array to process</param>
		528	void _processDebugVals(byte adr,byte[] data)
		529	{
		530	if (data.Length == 66)
		531	{
		532	int[] iAnalogData = new int[32];
		533
		534	int index = 0;
		535	Int16 i16 = 0;
		536	double dTemp = 0;
		537	for (int i = 2; i < 66; i += 2)
		538	{
		539	i16 = data[i + 1];
		540	i16 = (Int16)(i16 << 8);
		541	iAnalogData[index] = data[i] + i16;
		542	sAnalogData[index] = (data[i] + i16).ToString();
		543	dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		544
		545	if (adr == 2) //NC
		546	{
		547	switch (index)
		548	{
		549	case 0: //pitch (German: nick)
		550	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		551	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		552	break;
		553	case 1: //roll
		554	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		555	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		556	break;
		557	case 4: //altitude
		558	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		559	break;
		560	case 7: //Voltage
		561	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		562	break;
		563	case 8: // Current
		564	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		565	break;
		566	case 10: //heading
		567	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		568	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		569	break;
		570	case 12: // SPI error
		571	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		572	break;
		573	case 14: //i2c error
		574	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		575	break;
		576	case 20: //Earthmagnet field
		577	lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
		578	break;
		579	case 21: //GroundSpeed
		580	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		581	break;
		582	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		583	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		584	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		585	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		586	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
2254	-	587	dTemp = Math.Sqrt(dTemp) / (double)10;
		588	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
2250	-	589	break;
		590	case 31: //Sats used
		591	lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
		592	break;
		593	}
		594	}
		595	if (adr == 1) //FC
		596	{
		597	switch (index)
		598	{
		599	case 0: //pitch (German: nick)
		600	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		601	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		602	break;
		603	case 1: //roll
		604	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		605	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		606	break;
		607	case 5: //altitude
		608	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		609	break;
		610	case 8: //heading
		611	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		612	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		613	break;
		614	case 9: //Voltage
		615	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		616	break;
		617	case 10: //Receiver quality
		618	lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		619	break;
		620	case 22: // Current
		621	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		622	break;
		623	case 23: //capacity used
		624	lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		625	break;
		626	case 27: // SPI error
		627	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		628	break;
		629	case 28: //i2c error
		630	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		631	break;
		632	}
		633	}
		634	index++;
		635	}
		636	}
		637	else
		638	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		639	}
		640	/// <summary>
		641	/// Version string 'V'
		642	/// </summary>
		643	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		644	/// <param name="data">the received byte array to process</param>
		645	void _processVersion(byte adr,byte[] data)
		646	{
		647	if (data.Length == 12)
		648	{
		649	if (!check_HWError)
		650	{
		651	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		652	string sVersion = "";
		653	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		654	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		655	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		656	Log(LogMsgType.Incoming, sVersion);
		657	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		658	Log(LogMsgType.Incoming, sVersion);
		659	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		660	}
		661	if (data[5] > 0) //error0
		662	{
		663	if (adr == 1)
		664	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		665	if (adr == 2)
		666	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		667	}
		668	if (data[6] > 0) //error1
		669	{
		670	if (adr == 1)
		671	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		672	if (adr == 2)
		673	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		674	}
2254	-	675	if((data[5] + data[6] == 0) && _bErrorLog)
		676	_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
2250	-	677
		678	}
		679	check_HWError = false;
		680	}
		681	/// <summary>
		682	/// BL-Ctrl data 'K'
		683	/// for FC you have to use a customized firmware
		684	/// </summary>
		685	/// <param name="data">the received byte array to process</param>
		686	void _processBLCtrl(byte[] data)
		687	{
		688	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		689	{
		690	bool bAvailable = false;
		691	for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
		692	{
		693
		694	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		695	bAvailable = true;
		696	else
		697	bAvailable = false;
		698
		699	if (data[i] < 4)
		700	{
		701	if (bAvailable)
		702	{
		703	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		704	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		705	}
		706	else
		707	{
		708	dtMotors1.Rows[data[i]].SetField(1, "NA");
		709	dtMotors1.Rows[data[i]].SetField(2, "NA");
		710	}
		711	}
		712	if (data[i] > 3 && data[i] < 8)
		713	{
		714	if (bAvailable)
		715	{
		716	dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		717	dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		718	}
		719	else
		720	{
		721	dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		722	dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		723	}
		724	}
		725	}
		726	}
		727
		728	}
		729	/// <summary>
		730	/// Navi-Ctrl data 'O'
		731	/// GPS-Position, capacatiy, flying time...
		732	/// </summary>
		733	/// <param name="data">the received byte array to process</param>
		734	void _processNCData(byte[] data)
		735	{
		736	int i_32, i_16, iVal;
		737	double d;
		738	i_32 = data[4];
		739	iVal = i_32 << 24;
		740	i_32 = data[3];
		741	iVal += i_32 << 16;
		742	i_32 = data[2];
		743	iVal += i_32 << 8;
		744	iVal += data[1];
		745	d = (double)iVal / Math.Pow(10, 7);
		746	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		747	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		748
		749	i_32 = data[8];
		750	iVal = i_32 << 24;
		751	i_32 = data[7];
		752	iVal += i_32 << 16;
		753	i_32 = data[6];
		754	iVal += i_32 << 8;
		755	iVal += data[5];
		756	d = (double)iVal / Math.Pow(10, 7);
		757	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
2254	-	758	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
2250	-	759
2254	-	760	i_16 = data[28];
		761	i_16 = (Int16)(i_16 << 8);
		762	iVal = data[27] + i_16;
		763	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		764
		765	i_16 = data[45];
		766	i_16 = (Int16)(i_16 << 8);
		767	iVal = data[44] + i_16;
		768	lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		769
		770	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
		771	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
		772
2250	-	773	i_16 = data[81];
		774	i_16 = (Int16)(i_16 << 8);
		775	iVal = data[80] + i_16;
		776	lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
		777
		778	i_16 = data[56];
		779	i_16 = (Int16)(i_16 << 8);
		780	iVal = data[55] + i_16;
		781	TimeSpan t = TimeSpan.FromSeconds(iVal);
		782	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		783	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
		784
		785	lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
		786	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
		787	//if (data[69] > 0)
		788	// _readNCError();
		789	//break;
		790	if (data[69] > 0 & data[69] < 44)
		791	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
2254	-	792	else
		793	if(_bErrorLog) _clearErrorLog("NC Error");
2250	-	794
		795	}
		796	/// <summary>
		797	/// OSD Menue 'L'
		798	/// single page called by pagenumber
		799	/// no autoupdate
		800	/// </summary>
		801	/// <param name="data">the received byte array to process</param>
		802	void _processOSDSingle(byte[] data)
		803	{
		804	if (data.Length == 84)
		805	{
		806	string sMessage = "";
		807	iOSDPage = data[0];
		808	iOSDMax = data[1];
		809	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		810	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		811	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		812	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		813	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		814	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		815	lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		816
		817	}
		818	else
		819	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		820
		821	}
		822	/// <summary>
		823	/// OSD Menue 'H'
		824	/// called by keys (0x01,0x02,0x03,0x04)
		825	/// autoupdate
		826	/// </summary>
		827	/// <param name="data">the received byte array to process</param>
		828	void _processOSDAuto(byte[] data)
		829	{
		830	if (data.Length == 81)
		831	{
		832	string sMessage = "";
		833	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		834	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		835	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		836	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		837	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		838
		839	}
		840	else
		841	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		842	}
		843	#endregion processing received data
		844
2233	-	845	/// <summary> send message to controller to request data
		846	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		847	/// </summary>
		848	/// <param name="CMDID"> the command ID </param>
		849	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		850	private void _sendControllerMessage(char CMDID, byte address)
		851	{
		852	if (simpleSerialPort.Port.IsOpen)
		853	{
		854	Stream serialStream = simpleSerialPort.Port.BaseStream;
		855	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		856	serialStream.Write(bytes, 0, bytes.Length);
		857
		858	}
		859	else
		860	Log(LogMsgType.Error, "NOT CONNECTED!");
		861	}
		862	/// <summary> send message to controller to request data
		863	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		864	/// </summary>
		865	/// <param name="CMDID"> the command ID </param>
		866	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		867	/// <param name="data"> additional data for the request</param>
		868	private void _sendControllerMessage(char CMDID, byte address, byte[]data)
		869	{
		870	if (simpleSerialPort.Port.IsOpen)
		871	{
		872	Stream serialStream = simpleSerialPort.Port.BaseStream;
		873	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
		874	serialStream.Write(bytes, 0, bytes.Length);
		875
		876	}
		877	else
		878	Log(LogMsgType.Error, "NOT CONNECTED!");
		879	}
		880
		881	/// <summary>
		882	/// read the analog-label names for the actual controller
		883	/// and load it into listbox
		884	/// </summary>
		885	void _loadLabelNames()
		886	{
		887	if (_iCtrlAct > 0 && _iCtrlAct < 3)
		888	{
		889	switch (_iCtrlAct)
		890	{
		891	case 1:
		892	sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		893	break;
		894	case 2:
		895	sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		896	break;
		897	}
		898	for (int i = 0; i < 32; i++)
		899	{
		900	if (dtAnalog.Rows.Count < 32)
		901	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		902	else
		903	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		904	}
		905	dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
		906	}
		907	}
		908	/// <summary>
		909	/// no longer used...
		910	/// read the analog-label textfile for the actual controller
		911	/// </summary>
		912	private void _loadLabelFile()
		913	{
		914	switch (_iCtrlAct)
		915	{
		916	case 1:
		917	fileName = "FCLabelTexts.txt";
		918	break;
		919	case 2:
		920	fileName = "NCLabelTexts.txt";
		921	break;
		922	//default:
		923	// fileName = "NCLabelTexts.txt";
		924	// break;
		925	}
		926
		927	if (File.Exists(filePath + "\\" + fileName))
		928	{
		929	sAnalogLabel.Initialize();
		930	sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
		931	lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
		932	lbLabels.Invoke((Action)(() => lbLabels.Update()));
		933	lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
		934	Console.WriteLine("Names loaded from file");
		935	lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
		936	}
		937	else
		938	{
		939	_readCont(false);
		940	Log(LogMsgType.Error, "Label-file not found!");
		941	Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
		942	Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
		943	}
		944	}
		945	/// <summary>
		946	/// no longer used...
		947	/// assign the analog-label names from the textfile to the datatable
		948	///
		949	/// </summary>
		950	private void _assignLabelNames()
		951	{
		952	if (lbLabels.Items.Count == 32)
		953	{
		954	lbLabels.Items.CopyTo(sAnalogLabel, 0);
		955	for (int i = 0; i < 32; i++)
		956	{
		957	if (dtAnalog.Rows.Count < 32)
		958	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		959	else
		960	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		961
		962	}
		963	}
		964	}
		965	/// <summary>
		966	/// get the version struct of actual controller
		967	/// </summary>
		968	/// <summary>
		969	/// get the labeltexts for the analog values
		970	/// </summary>
		971	private void _getAnalogLabels()
		972	{
		973	if (simpleSerialPort.Port.IsOpen)
		974	{
		975	iLableIndex = 0;
		976	for (int i = 0; i < 32; i++)
		977	{
		978	Stream serialStream = simpleSerialPort.Port.BaseStream;
		979	byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
		980	serialStream.Write(bytes, 0, bytes.Length);
		981	Thread.Sleep(10);
		982	}
		983	}
		984	else
		985	Log(LogMsgType.Error, "NOT CONNECTED!");
		986	}
		987	/// <summary>
		988	/// get the labeltext for a single label
		989	/// </summary>
		990	/// <param name="iIndex">index of the label</param>
		991	private void _getAnalogLabels(int iIndex)
		992	{
		993	if (simpleSerialPort.Port.IsOpen)
		994	{
		995	if (iIndex < 32)
		996	{
		997	iLableIndex = iIndex;
		998	_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
		999	}
		1000	}
		1001	else
		1002	Log(LogMsgType.Error, "NOT CONNECTED!");
		1003	}
		1004	private void _getVersion()
		1005	{
		1006	_sendControllerMessage('v', 0);
		1007	}
		1008	/// <summary>
		1009	/// get FC version struct via NC
		1010	/// by sending '1' as data (not documented in wiki...)
		1011	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1012	/// </summary>
		1013	/// <param name="ctrl">controller number 1=FC</param>
		1014	private void _getVersion(byte ctrl)
		1015	{
		1016	_sendControllerMessage('v', 0, new byte[1] {ctrl});
		1017	}
		1018	/// <summary>
		1019	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1020	/// </summary>
		1021	private void _switchToNC()
		1022	{
		1023	if (simpleSerialPort.Port.IsOpen)
		1024	{
		1025	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1026	byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
		1027	serialStream.Write(bytes, 0, bytes.Length);
		1028
		1029	Thread.Sleep(100);
		1030	_getVersion();
		1031	Thread.Sleep(100);
		1032	_OSDMenue(0);
		1033	}
		1034	else
		1035	Log(LogMsgType.Error, "NOT CONNECTED!");
		1036	}
		1037	/// <summary>
		1038	/// switch to FC
		1039	/// </summary>
		1040	private void _switchToFC()
		1041	{
		1042	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1043	Thread.Sleep(100);
		1044	_getVersion();
		1045	Thread.Sleep(100);
		1046	_OSDMenue(0);
		1047	}
		1048	/// <summary>
		1049	/// send RESET signal to FC
		1050	/// </summary>
		1051	private void _resetCtrl()
		1052	{
		1053	_sendControllerMessage('R', 1);
		1054	}
		1055	/// <summary>
		1056	/// poll the debug data (4sec subscription)
		1057	/// </summary>
		1058	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1059	private void _readDebugData(bool auto)
		1060	{
		1061	byte interval = auto ? debugInterval : (byte)0;
		1062	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1063	}
		1064	/// <summary>
		1065	/// poll the BL-CTRL status via NC (4sec subscription)
		1066	/// </summary>
		1067	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1068	private void _readBLCtrl(bool auto)
		1069	{
		1070	byte interval = auto ? blctrlInterval : (byte)0;
		1071	_sendControllerMessage('k', 0, new byte[1] { interval });
		1072	}
		1073	/// <summary>
		1074	/// poll the NC data struct (4sec subscription)
		1075	/// </summary>
		1076	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1077	private void _readNavData(bool auto)
		1078	{
		1079	byte interval = auto ? navctrlInterval : (byte)0;
		1080	_sendControllerMessage('o', 2, new byte[1] { interval });
		1081	}
		1082	/// <summary>
		1083	/// get the errortext for pending NC error
		1084	/// </summary>
		1085	private void _readNCError()
		1086	{
		1087	_sendControllerMessage('e', 2);
		1088	}
		1089	/// <summary>
		1090	/// start/stop continous polling of controller values
		1091	/// </summary>
		1092	/// <param name="b">start/stop switch</param>
		1093	void _readCont(bool b)
		1094	{
		1095	bReadContinously = b;
		1096	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
		1097	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
		1098	if (bReadContinously)
		1099	{
2250	-	1100	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1101	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1102	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1103	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
2233	-	1104	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
		1105	}
		1106	else
		1107	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
		1108	_iLifeCounter = 0;
		1109	}
		1110	/// <summary>
2250	-	1111	/// set values to "NA" when not available with FC
2233	-	1112	/// </summary>
		1113	void _setFieldsNA()
		1114	{
		1115	Thread.Sleep(100);
2250	-	1116	_initDTMotors();
2233	-	1117	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
2250	-	1118	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
		1119	lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
		1120	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
		1121	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
		1122	lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
		1123	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
		1124	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
2254	-	1125	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
		1126	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
		1127	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
2233	-	1128	}
		1129	/// <summary>
		1130	/// one time query of the OSD Menue with pagenumber
		1131	/// </summary>
		1132	/// <param name="iMenue">Menue page</param>
		1133	void _OSDMenue(int iMenue)
		1134	{
		1135	if (simpleSerialPort.Port.IsOpen)
		1136	{
		1137	if (iMenue > iOSDMax)
		1138	iMenue = 0;
		1139	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1140	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1141	serialStream.Write(bytes, 0, bytes.Length);
		1142	}
		1143	else
		1144	Log(LogMsgType.Error, "NOT CONNECTED!");
		1145
		1146	}
		1147	/// <summary>
		1148	/// call the OSDMenue and start autorefresh
		1149	/// usually by sending a menuekey
		1150	/// 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)
		1151	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1152	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1153	/// </summary>
		1154	void _OSDMenueAutoRefresh()
		1155	{
		1156	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
		1157	}
		1158	void _OSDMenueAutoRefresh(byte key)
		1159	{
		1160	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1161	}
		1162	/// <summary>
		1163	/// initialize the OSD menue combobox
		1164	/// combox is filled by numbers from 0 to max pagenumber
		1165	/// </summary>
		1166	void _initOSDCB()
		1167	{
		1168	_bCBInit = true;
		1169	if(iOSDMax == 0)
		1170	{
		1171	_OSDMenue(0);
		1172	Thread.Sleep(10);
		1173	}
		1174	cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
		1175	for(int i = 0; i <= iOSDMax;i++)
		1176	{
		1177	cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1178	}
		1179	cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1180	_bCBInit = false;
		1181	}
		1182	void _readIni()
		1183	{
		1184	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		1185	_writeIni();
		1186	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1187	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1188
		1189	string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
		1190	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		1191	sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
		1192	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		1193	sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
		1194	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		1195	sVal = ini.IniReadValue("default", "AutorefreshOSDData");
		1196	_OSDAutorefresh = Convert.ToBoolean(sVal);
		1197
		1198	sVal = ini.IniReadValue("default", "IntervalDebugData");
		1199	debugInterval = (byte)Convert.ToInt16(sVal);
		1200	sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
		1201	navctrlInterval = (byte)Convert.ToInt16(sVal);
		1202	sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
		1203	blctrlInterval = (byte)Convert.ToInt16(sVal);
		1204	sVal = ini.IniReadValue("default", "IntervalOSDData");
		1205	OSDInterval = (byte)Convert.ToInt16(sVal);
		1206	}
		1207	void _writeIni()
		1208	{
		1209
		1210	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1211	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1212
		1213	ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
		1214	ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
		1215	ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
		1216	ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
		1217
		1218	ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
		1219	ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
		1220	ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
		1221	ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
		1222	}
		1223
2250	-	1224	/// <summary>
		1225	/// initialize the 2 datatables for motor values
		1226	/// dtMotors1 - motor 1 - 4
		1227	/// dtMotors2 - motor 5 - 8
		1228	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		1229	/// </summary>
		1230	void _initDTMotors()
		1231	{
		1232	for(int i = 0; i < 4; i++)
		1233	{
		1234	if (dtMotors1.Rows.Count < 4)
		1235	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		1236	else
		1237	{
		1238	dtMotors1.Rows[i].SetField(1, "NA");
		1239	dtMotors1.Rows[i].SetField(2, "NA");
		1240	}
		1241	if (dtMotors2.Rows.Count < 4)
		1242	dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		1243	else
		1244	{
		1245	dtMotors2.Rows[i].SetField(1, "NA");
		1246	dtMotors2.Rows[i].SetField(2, "NA");
		1247	}
		1248	}
		1249	dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
		1250	dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		1251	}
		1252
		1253	/// <summary>
		1254	/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
		1255	/// </summary>
		1256	/// <param name="coord">the degree value as double</param>
		1257	/// <returns>0° 0' 0,0"</returns>
		1258	string _convertDegree(double coord)
		1259	{
		1260	//double minutes = (degree - Math.Floor(degree)) * 60.0;
		1261	//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
		1262	//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
		1263	//// get rid of fractional part
		1264	//minutes = Math.Floor(minutes);
		1265	//seconds = Math.Floor(seconds);
		1266	//tenths = Math.Floor(tenths);
		1267
		1268
		1269	//int sec = (int)Math.Round(coord * 3600);
		1270	//int deg = sec / 3600;
		1271	//sec = Math.Abs(sec % 3600);
		1272	//int min = sec / 60;
		1273	//sec %= 60;
		1274
		1275	var ts = TimeSpan.FromHours(Math.Abs(coord));
		1276	double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
		1277	int min = ts.Minutes;
		1278	int sec = ts.Seconds;
		1279	int milli = ts.Milliseconds;
		1280
		1281	return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
		1282	}
2254	-	1283
		1284	void _clearErrorLog(string s)
		1285	{
		1286	rtfError.Invoke((Action)(() =>
		1287	{
		1288	if (rtfError.Text.Contains(s))
		1289	{
		1290	int iLength = 0;
		1291	int iStart = rtfError.Text.IndexOf(s);
		1292	int iEnd = rtfError.Text.IndexOf('\n', iStart);
		1293	if (iEnd > 0)
		1294	{
		1295	iLength = iEnd + 1;
		1296	int iHttp = rtfError.Text.IndexOf("http", iEnd);
		1297	if (iHttp == iLength)
		1298	{
		1299	int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
		1300	if (iEnd2 > iLength)
		1301	{
		1302	iLength = iEnd2 + 1;
		1303	rtfError.Select(iStart, iLength);
		1304	rtfError.SelectedText = string.Empty;
		1305	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1306	}
		1307
		1308	}
		1309	else
		1310	{
		1311	rtfError.Select(iStart, iLength);
		1312	rtfError.SelectedText = string.Empty;
		1313	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1314	}
		1315	}
		1316	}
		1317	}));
		1318
		1319	}
2233	-	1320	#endregion functions
		1321
		1322	#region buttons
		1323	private void buttonReset_Click(object sender, EventArgs e)
		1324	{
		1325	_resetCtrl();
		1326	}
		1327	private void btnVersion_Click(object sender, EventArgs e)
		1328	{
		1329	_getVersion();
		1330	}
		1331	private void btnAnalogLabels_Click(object sender, EventArgs e)
		1332	{
		1333	_getAnalogLabels(0);
		1334	}
		1335	private void btnDbgData_Click(object sender, EventArgs e)
		1336	{
		1337	_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
		1338	}
		1339	private void btnSaveLabels_Click(object sender, EventArgs e)
		1340	{
		1341	switch (_iCtrlAct)
		1342	{
		1343	case 1:
		1344	fileName = "FCLabelTexts.txt";
		1345	break;
		1346	case 2:
		1347	fileName = "NCLabelTexts.txt";
		1348	break;
		1349	default:
		1350	fileName = "NCLabelTexts.txt";
		1351	break;
		1352	}
		1353	if (sAnalogLabel[0] != null)
		1354	{
		1355	File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
		1356	Console.WriteLine("Names saved to file");
		1357	_loadLabelFile();
		1358	}
		1359	else
		1360	Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
		1361	}
		1362	private void btnLoadLabels_Click(object sender, EventArgs e)
		1363	{
		1364	_assignLabelNames();
		1365	}
		1366	private void btnReadLabelFile_Click(object sender, EventArgs e)
		1367	{
		1368	_loadLabelFile();
		1369	}
		1370	private void btnSwitchFC_Click(object sender, EventArgs e)
		1371	{
		1372	_switchToFC();
		1373	}
		1374	private void btnSwitchNC_Click(object sender, EventArgs e)
		1375	{
		1376	_switchToNC();
		1377	}
		1378	private void btnReadDbgCont_Click(object sender, EventArgs e)
		1379	{
		1380	_readCont(!bReadContinously);
		1381	}
		1382	private void btnReadBLCtrl_Click(object sender, EventArgs e)
		1383	{
		1384
		1385	if (_iCtrlAct == 2) _readBLCtrl(false);
		1386	else Log(LogMsgType.Warning, "only available when connected to NC");
		1387	}
		1388	private void btnGetNaviData_Click(object sender, EventArgs e)
		1389	{
		1390	if (_iCtrlAct == 2) _readNavData(false);
		1391	else Log(LogMsgType.Warning, "only available when connected to NC");
		1392	}
		1393	private void btnConn_Click(object sender, EventArgs e)
		1394	{
		1395	simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
		1396	}
		1397	private void button3_Click(object sender, EventArgs e)
		1398	{
		1399	_getVersion(1);
		1400	}
		1401	private void button4_Click(object sender, EventArgs e)
		1402	{
		1403	_getVersion(2);
		1404	}
		1405	private void btnOSD_Click(object sender, EventArgs e)
		1406	{
		1407	if (iOSDPage > iOSDMax)
		1408	iOSDPage = 0;
		1409	_OSDMenue(iOSDPage);
		1410	}
		1411	private void btnOSDForward_Click(object sender, EventArgs e)
		1412	{
		1413	iOSDPage++;
		1414	if (iOSDPage > iOSDMax)
		1415	iOSDPage = 0;
		1416
		1417	_OSDMenue(iOSDPage);
		1418	}
		1419	private void btnOSDBackward_Click(object sender, EventArgs e)
		1420	{
		1421	iOSDPage--;
		1422	if (iOSDPage < 0)
		1423	iOSDPage = iOSDMax;
		1424
		1425	_OSDMenue(iOSDPage);
		1426	}
		1427	private void btnOSDAuto_Click(object sender, EventArgs e)
		1428	{
		1429	_OSDMenueAutoRefresh();
		1430	}
		1431	/// call the OSDMenue with Key 0x8
		1432	private void btnOSDLeave_Click(object sender, EventArgs e)
		1433	{
		1434	_OSDMenueAutoRefresh(8);
		1435	}
		1436	/// call the OSDMenue with Key 0x4
		1437	private void btnOSDEnter_Click(object sender, EventArgs e)
		1438	{
		1439	_OSDMenueAutoRefresh(4);
		1440	}
		1441	#endregion buttons
2254	-	1442
2233	-	1443	}
		1444	public class IniFile
		1445	{
		1446	public string path;
		1447
		1448	[DllImport("kernel32")]
		1449	private static extern long WritePrivateProfileString(string section,
		1450	string key, string val, string filePath);
		1451
		1452	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		1453	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		1454	uint nSize, string lpFileName);
		1455
		1456	[DllImport("kernel32")]
		1457	private static extern int GetPrivateProfileString(string section,
		1458	string key, string def, StringBuilder retVal,
		1459	int size, string filePath);
		1460
		1461	public IniFile(string INIPath)
		1462	{
		1463	path = INIPath;
		1464	}
		1465
		1466	public void IniWriteValue(string Section, string Key, string Value)
		1467	{
		1468	WritePrivateProfileString(Section, Key, Value, this.path);
		1469	}
		1470
		1471	public string IniReadValue(string Section, string Key)
		1472	{
		1473	StringBuilder temp = new StringBuilder(255);
		1474	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		1475	return temp.ToString();
		1476	}
		1477	//Ini_sections auslesen in String-Array
		1478	public string[] IniSectionNames()
		1479	{
		1480
		1481	// uint MAX_BUFFER = 32767;
		1482	uint MAX_BUFFER = 8388608;
		1483	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		1484	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		1485	if (bytesReturned == 0)
		1486	{
		1487	Marshal.FreeCoTaskMem(pReturnedString);
		1488	return null;
		1489	}
		1490	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		1491	Marshal.FreeCoTaskMem(pReturnedString);
		1492	//use of Substring below removes terminating null for split
		1493	return local.Substring(0, local.Length - 1).Split('\0');
		1494
		1495
		1496	}
		1497	}
		1498	public static class ControlExtensions
		1499	{
		1500	/// <summary>
		1501	/// Execute a threadsafe operation, when accessing a control via another thread
		1502	/// action is a lamdaexpression
		1503	/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
		1504	/// </summary>
		1505	/// <param name="control"> The control </param>
		1506	/// <param name="action"> The 'action' to perform </param>
		1507	public static void ExecuteThreadSafe(this Control control, Action action)
		1508	{
		1509	if (control.InvokeRequired)
		1510	{
		1511	control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
		1512	}
		1513	else
		1514	{
		1515	action.Invoke();
		1516	}
		1517	}
		1518	}
		1519
		1520	}

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(root)/MKLiveView/Source/MainForm.cs - Rev 2254