WebSVN - Projects - Blame - Rev 2287 - /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
		170	int _iMotors = 4;
		171	int _LipoCells = 4;
		172
		173	double _dLipoVMax = 16.88;
		174	double _dLipoVMin = 12;
		175	double _dThresholdVoltageWarn = 0;
		176	double _dThresholdVoltageCrit = 0;
		177	Storyboard stbVoltageCritAnim;
		178	bool _bCritAnimVoltActive = false;
		179	bool _bCritVoiceVoltActive = false;
		180	bool _bCWarnVoiceVoltActive = false;
		181	bool _bVoiceVoltPlay = false;
		182	double _dVoltLast = 0;
		183	int _iVoltJitter = 0;
		184
		185	double _dTopHeight = 36;
		186
		187	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		188	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		189	string[] serChanTitle = new string[12];
		190
		191	string[] sAnalogLabel = new string[32];
		192	string[] sAnalogData = new string[32];
		193
		194	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 };
		195	int[] iMotors = new int[] {3,4,5,6,7,8,9,10,11,12 };
		196	string[] sLiPoCells = new string[] { "3s", "4s", "5s", "6s" };
		197	/// <summary>
		198	/// interval for sending debugdata (multiplied by 10ms)
		199	/// </summary>
		200	byte debugInterval = 10; //(=> 100ms)
		201	/// <summary>
		202	/// interval for sending BL-CTRL status (multiplied by 10ms)
		203	/// </summary>
		204	byte blctrlInterval = 75;
		205	/// <summary>
		206	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		207	/// </summary>
		208	byte navctrlInterval = 80;
		209	/// <summary>
		210	/// interval for sending OSD page update (multiplied by 10ms)
		211	/// </summary>
		212	byte OSDInterval = 85;
		213	/// <summary>
		214	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		215	/// </summary>
		216	DataTable dtAnalog = new DataTable();
		217	/// <summary>
		218	/// datatable for motordata (current,temp)
		219	/// </summary>
		220	DataTable dtMotors1 = new DataTable();
		221	// DataTable dtMotors2 = new DataTable();
		222
		223	DataTable dtWaypoints = new DataTable();
		224	static volatile int _iWP = -1;
		225	bool _bGetWP = false;
		226	static volatile bool _bGetWPCount = false;
		227
		228	DispatcherTimer timer = new DispatcherTimer();
		229
		230	/// <summary>
		231	/// stuff for enabeling touch zoom for the map
		232	/// </summary>
		233	Point pTouch1 = new Point(0,0), pTouch2 = new Point(0,0);
		234	int iFirstStylusID = -1;
		235	public string connectButtonText
		236	{
		237	get
		238	{
		239	return bReadContinously ? "stop polling data" + System.Environment.NewLine + "from copter" : "start polling data" + System.Environment.NewLine + "from copter";
		240	}
		241	}
		242
		243	WinState winState = new WinState();
		244
		245	public MainWindow()
		246	{
		247	InitializeComponent();
		248	_initForm();
		249	_dataTablesInit();
		250	_setupMap();
		251	_init = false;
		252	timer.Tick += new EventHandler(timerEvent);
		253	timer.Interval = new TimeSpan(0, 0, 1);
		254	timer.Start();
		255	}
		256
		257	#region init
		258	void _initForm()
		259	{
		260	_readIni();
		261	if (_bSaveWinStateNormal)
		262	_setScaleSliders(false);
		263	cBoxTimingsDebug.ItemsSource =
		264	cBoxTimingsNav.ItemsSource =
		265	cBoxTimingsBl.ItemsSource =
		266	cBoxTimingsOSD.ItemsSource =
		267	iTimings;
		268	cBoxLiPoCells.ItemsSource = sLiPoCells;
		269	cBoxLiPoCells.SelectedItem = _LipoCells.ToString() + "s";
		270	_LipoMinMax();
		271	sliderThresholdVoltageWarn.Value = _dThresholdVoltageWarn;
		272	sliderThresholdVoltageCrit.Value = _dThresholdVoltageCrit;
		273	checkBoxThresholdVoltageVoice.IsChecked = _bVoiceVoltPlay;
		274
		275	cBoxMotors.ItemsSource = iMotors;
		276	cBoxMotors.SelectedItem = _iMotors;
		277
		278	serialPortCtrl.PortClosed += serialPortCtrl_PortClosed;
		279	serialPortCtrl.PortOpened += serialPortCtrl_PortOpened;
		280	serialPortCtrl.DataReceived += processMessage;
		281
		282	chkbAutoBL.IsChecked = _blctrlDataAutorefresh;
		283	chkbAutoDbg.IsChecked = _debugDataAutorefresh;
		284	chkbAutoNav.IsChecked = _navCtrlDataAutorefresh;
		285	chkbAutoOSD.IsChecked = _OSDAutorefresh;
		286
		287	cBoxTimingsDebug.SelectedItem = debugInterval * 10;
		288	cBoxTimingsNav.SelectedItem = navctrlInterval * 10;
		289	cBoxTimingsBl.SelectedItem = blctrlInterval * 10;
		290	cBoxTimingsOSD.SelectedItem = OSDInterval * 10;
		291
		292	checkBoxFollowCopter.IsChecked = _bFollowCopter;
		293
		294
		295	}
		296	/// <summary>
		297	/// initialize the datatables
		298	/// with columnnames etc
		299	/// </summary>
		300	void _dataTablesInit()
		301	{
		302	//dtAnalog.Columns.Add("ID");
		303	//dtAnalog.Columns.Add("Value");
		304	// dataGridView1.DataSource = dtAnalog;
		305
		306	dtMotors1.Columns.Add("#");
		307	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		308	dtMotors1.Columns.Add("Current");
		309	else
		310	dtMotors1.Columns.Add("Strom");
		311	dtMotors1.Columns.Add("Temp");
		312	//dtMotors2.Columns.Add("#");
		313	//if (Thread.CurrentThread.CurrentUICulture.Name == "")
		314	// dtMotors2.Columns.Add("Current");
		315	//else
		316	// dtMotors2.Columns.Add("Strom");
		317	//dtMotors2.Columns.Add("Temp");
		318	dgvMotors1.DataContext = dtMotors1.DefaultView;
		319	//dgvMotors2.DataContext = dtMotors2.DefaultView;
		320	_initDTMotors();
		321	//dgvMotors1.Columns[0].Width = 24;
		322	//dgvMotors1.Columns[1].Width = 74;
		323	//dgvMotors1.Columns[2].Width = 74;
		324	//dgvMotors2.Columns[0].Width = 24;
		325	//dgvMotors2.Columns[1].Width = 74;
		326	//dgvMotors2.Columns[2].Width = 74;
		327
		328	dtWaypoints.Columns.Add("Index");
		329	dtWaypoints.Columns.Add("Type");
		330	dtWaypoints.Columns.Add("Name");
		331	dtWaypoints.Columns.Add("Latitude");
		332	dtWaypoints.Columns.Add("Longitude");
		333	dtWaypoints.Columns.Add("Altitude");
		334	dtWaypoints.Columns.Add("Heading");
		335	dtWaypoints.Columns.Add("Speed");
		336	dtWaypoints.Columns.Add("Altitude rate");
		337	dtWaypoints.Columns.Add("Tol radius");
		338	dtWaypoints.Columns.Add("Hold time");
		339	dtWaypoints.Columns.Add("AutoTrigger");
		340	dtWaypoints.Columns.Add("Cam angle");
		341	dtWaypoints.Columns.Add("Event");
		342	dtWaypoints.Columns.Add("Eventchan Val");
		343	dtWaypoints.Columns.Add("Status");
		344	dtWaypoints.PrimaryKey = new DataColumn[] { dtWaypoints.Columns["Index"] };
		345	dgvWP.DataContext = dtWaypoints.DefaultView;
		346	Setter setter = new Setter(ContentControl.PaddingProperty, new Thickness(5,0,5,0));
		347	Style style = new Style(typeof(System.Windows.Controls.Primitives.DataGridColumnHeader));
		348	style.Setters.Add(setter);
		349	setter = new Setter(ContentControl.BackgroundProperty, new SolidColorBrush(Colors.Transparent));
		350	style.Setters.Add(setter);
		351	setter = new Setter(ContentControl.ForegroundProperty, new SolidColorBrush(Colors.White));
		352	style.Setters.Add(setter);
		353	dgvWP.ColumnHeaderStyle = new Style();
		354	dgvWP.ColumnHeaderStyle = style;
		355	}
		356	/// <summary>
		357	/// initialize the 2 datatables for motor values
		358	/// dtMotors1 - motor 1 - 4
		359	/// dtMotors2 - motor 5 - 8
		360	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		361	/// </summary>
		362	void _initDTMotors()
		363	{
		364	for (int i = 0; i < 12; i++)
		365	{
		366	if (dtMotors1.Rows.Count < 12)
		367	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		368	else
		369	{
		370	dtMotors1.Rows[i].SetField(1, "NA");
		371	dtMotors1.Rows[i].SetField(2, "NA");
		372	}
		373	//if (dtMotors2.Rows.Count < 4)
		374	// dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		375	//else
		376	//{
		377	// dtMotors2.Rows[i].SetField(1, "NA");
		378	// dtMotors2.Rows[i].SetField(2, "NA");
		379	//}
		380	}
		381	// Dispatcher.Invoke((Action)(() => dgvMotors1.UpdateLayout()));
		382	//dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		383	}
		384
		385	#endregion init
		386
		387	#region events
		388	private void serialPortCtrl_PortOpened()
		389	{
		390	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_G.png", UriKind.Relative)));
		391	_getVersion();
		392	Thread.Sleep(100);
		393	//_OSDMenue(0);
		394	//Thread.Sleep(200);
		395	//_sendSerialData();
		396	_readCont(true);
		397	}
		398	private void serialPortCtrl_PortClosed()
		399	{
		400	Dispatcher.Invoke(() => imageWiFi.Source = new BitmapImage(new Uri("Images/WiFi_W.png", UriKind.Relative)));
		401	_readCont(false);
		402	}
		403	void timerEvent(object sender, EventArgs e)
		404	{
		405	if (bReadContinously)
		406	{
		407	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		408
		409	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		410
		411	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		412	check_HWError = true;
		413	_getVersion();
		414	Thread.Sleep(10);
		415	if (_OSDAutorefresh)
		416	{
		417	if (iOSDMax == 0 \| cbOSD.Items.Count != iOSDMax)
		418	_initOSDCB();
		419	_OSDMenueAutoRefresh();
		420	}
		421	if (_iLifeCounter > 0)
		422	{
		423	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		424	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		425	_iLifeCounter = 0;
		426	_bConnErr = false;
		427	}
		428	else
		429	{
		430	if (!_bConnErr)
		431	{
		432	Log(LogMsgType.Error, "No communication to NC/FC!");
		433	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_R.png", UriKind.Relative)));
		434	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.Red));
		435	_bConnErr = true;
		436	}
		437	}
		438	}
		439	}
		440
		441	private void labelData_MouseDown(object sender, MouseButtonEventArgs e)
		442	{
		443	GridData.Visibility = GridData.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		444	GridSettings.Visibility = GridWP.Visibility = Visibility.Collapsed;
		445	}
		446	private void labelMotorData_MouseDown(object sender, MouseButtonEventArgs e)
		447	{
		448	GridMotors.Visibility = GridMotors.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		449	if (GridMotors.IsVisible)
		450	_setMotorGridSize();
		451	}
		452	private void labelSettings_MouseDown(object sender, MouseButtonEventArgs e)
		453	{
		454	GridData.Visibility = GridWP.Visibility = Visibility.Collapsed;
		455	GridSettings.Visibility = GridSettings.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		456	}
		457	private void labelLog_MouseDown(object sender, MouseButtonEventArgs e)
		458	{
		459	GridLog.Visibility = GridLog.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		460	}
		461	private void labelOSD_MouseDown(object sender, MouseButtonEventArgs e)
		462	{
		463	GridOSD.Visibility = GridOSD.Visibility == Visibility.Hidden ? Visibility.Visible : Visibility.Hidden;
		464	}
		465	private void labelWaypoints_MouseDown(object sender, MouseButtonEventArgs e)
		466	{
		467	GridData.Visibility = GridSettings.Visibility = Visibility.Collapsed;
		468	GridWP.Visibility = GridWP.Visibility == Visibility.Collapsed ? Visibility.Visible : Visibility.Collapsed;
		469	}
		470
		471	private void btnGetWP_Click(object sender, RoutedEventArgs e)
		472	{
		473	Thread t = new Thread(new ThreadStart(_getWP));
		474	t.Start();
		475	}
		476	private void btnSendWPList_Click(object sender, RoutedEventArgs e)
		477	{
		478
		479	}
		480
		481	private void btnConnectToCopter_Click(object sender, RoutedEventArgs e)
		482	{
		483	if (!serialPortCtrl.Port.IsOpen)
		484	serialPortCtrl.Connect(true);
		485	else
		486	_readCont(!bReadContinously);
		487	}
		488	private void btnSetHP_Click(object sender, RoutedEventArgs e)
		489	{
		490	setHomePos();
		491	}
		492	private void btnClearHP_Click(object sender, RoutedEventArgs e)
		493	{
		494	clearHomePos();
		495	}
		496	private void btnGotoHP_Click(object sender, RoutedEventArgs e)
		497	{
		498	if (home != null && MainMap.Markers.Contains(home))
		499	MainMap.Position = home.Position;
		500	}
		501	private void chkBoxSaveNormalState_Click(object sender, RoutedEventArgs e)
		502	{
		503	_bSaveWinStateNormal = (bool)chkBoxSaveNormalState.IsChecked;
		504	}
		505	private void chkBoxSaveFullScreenState_Click(object sender, RoutedEventArgs e)
		506	{
		507	_bSaveWinStateFull = (bool)chkBoxSaveFullScreenState.IsChecked;
		508	}
		509
		510	private void sliderThresholdVoltageWarn_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		511	{
		512	if(!_init)
		513	_dThresholdVoltageWarn = sliderThresholdVoltageWarn.Value;
		514	}
		515	private void sliderThresholdVoltageCrit_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		516	{
		517	if(!_init)
		518	_dThresholdVoltageCrit = sliderThresholdVoltageCrit.Value;
		519	}
		520	private void checkBoxThresholdVoltageVoice_Click(object sender, RoutedEventArgs e)
		521	{
		522	_bVoiceVoltPlay = (bool)checkBoxThresholdVoltageVoice.IsChecked;
		523	}
		524	private void buttonSwitchNC_Click(object sender, RoutedEventArgs e)
		525	{
		526	_switchToNC();
		527	}
		528
		529	private void Window_Loaded(object sender, RoutedEventArgs e)
		530	{
		531	stbVoltageCritAnim = TryFindResource("VoltageCritAnim") as Storyboard;
		532	_setMotorGridSize();
		533	}
		534	#endregion events
		535
		536	#region GMap
		537
		538	void _setupMap()
		539	{
		540	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		541	MainMap.MapProvider = GMapProviders.BingHybridMap;
		542	MainMap.SetPositionByKeywords("Landshut");
		543	MainMap.MinZoom = 0;
		544	MainMap.MaxZoom = 24;
		545	MainMap.Zoom = 16;
		546	MainMap.ShowCenter = true;
		547	MainMap.ShowTileGridLines = false;
		548	sliderMapZoom.Value = 16;
		549	comboBoxMapType.ItemsSource = providerList;
		550	comboBoxMapType.DisplayMemberPath = "Name";
		551	comboBoxMapType.SelectedItem = MainMap.MapProvider;
		552
		553	// acccess mode
		554	comboBoxMode.ItemsSource = Enum.GetValues(typeof(AccessMode));
		555	comboBoxMode.SelectedItem = MainMap.Manager.Mode;
		556
		557	}
		558
		559	/// <summary>
		560	/// selection of relevant map providers --> if You need more, You can change the line:
		561	/// comboBoxMapType.ItemsSource = providerList;
		562	/// to:
		563	/// comboBoxMapType.ItemsSource = GMapProviders.List;
		564	/// in _setupMap()
		565	/// or add items here:
		566	/// </summary>
		567	List<GMap.NET.MapProviders.GMapProvider> providerList = new List<GMap.NET.MapProviders.GMapProvider>
		568	{ GMap.NET.MapProviders.GMapProviders.OpenCycleMap, GMap.NET.MapProviders.GMapProviders.OpenCycleLandscapeMap, GMap.NET.MapProviders.GMapProviders.OpenCycleTransportMap,
		569	GMap.NET.MapProviders.GMapProviders.BingMap,GMap.NET.MapProviders.GMapProviders.BingSatelliteMap,GMap.NET.MapProviders.GMapProviders.BingHybridMap,
		570	GMap.NET.MapProviders.GMapProviders.GoogleMap,GMap.NET.MapProviders.GMapProviders.GoogleSatelliteMap,GMap.NET.MapProviders.GMapProviders.GoogleHybridMap,GMap.NET.MapProviders.GMapProviders.GoogleTerrainMap,
		571	GMap.NET.MapProviders.GMapProviders.OviMap,GMap.NET.MapProviders.GMapProviders.OviSatelliteMap,GMap.NET.MapProviders.GMapProviders.OviHybridMap,GMap.NET.MapProviders.GMapProviders.OviTerrainMap};
		572
		573	private void MainMap_Loaded(object sender, RoutedEventArgs e)
		574	{
		575	MainMap.Manager.Mode = AccessMode.ServerAndCache;
		576	copter = new GMapMarker(MainMap.Position);
		577	copter.Shape = new CustomMarkerCopter(this, copter, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		578	copter.Offset = new System.Windows.Point(-18, -18);
		579	copter.ZIndex = int.MaxValue;
		580	MainMap.Markers.Add(copter);
		581	copter.Position = MainMap.Position;
		582	}
		583	void setHomePos()
		584	{
		585	pHome = MainMap.Position;
		586	if (!MainMap.Markers.Contains(home))
		587	{
		588	home = new GMapMarker(MainMap.Position);
		589	home.Shape = new CustomMarkerHome(this, home, MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		590	home.Offset = new System.Windows.Point(-18, -18);
		591	// home.ZIndex = int.MaxValue;
		592	MainMap.Markers.Add(home);
		593	}
		594	home.Position = MainMap.Position;
		595	((CustomMarkerHome)(home.Shape)).setText(MainMap.Position.Lat.ToString("0.#######°") + System.Environment.NewLine + MainMap.Position.Lng.ToString("0.#######°"));
		596	}
		597	void clearHomePos()
		598	{
		599	MainMap.Markers.Remove(home);
		600	}
		601
		602	// access mode
		603	private void comboBoxMode_DropDownClosed(object sender, EventArgs e)
		604	{
		605	MainMap.Manager.Mode = (AccessMode)comboBoxMode.SelectedItem;
		606	MainMap.ReloadMap();
		607	}
		608	// zoom up
		609	private void czuZoomUp_Click(object sender, RoutedEventArgs e)
		610	{
		611	MainMap.Zoom = ((int)MainMap.Zoom) + 1;
		612	}
		613
		614	// zoom down
		615	private void czuZoomDown_Click(object sender, RoutedEventArgs e)
		616	{
		617	MainMap.Zoom = ((int)(MainMap.Zoom + 0.99)) - 1;
		618	}
		619
		620	// prefetch
		621	private void buttonPrefetch_Click(object sender, RoutedEventArgs e)
		622	{
		623	RectLatLng area = MainMap.SelectedArea;
		624	if (!area.IsEmpty)
		625	{
		626	for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
		627	{
		628	MessageBoxResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButton.YesNoCancel);
		629
		630	if (res == MessageBoxResult.Yes)
		631	{
		632	TilePrefetcher obj = new TilePrefetcher();
		633	obj.Owner = this;
		634	obj.ShowCompleteMessage = true;
		635	obj.Start(area, i, MainMap.MapProvider, 100);
		636	}
		637	else if (res == MessageBoxResult.No)
		638	{
		639	continue;
		640	}
		641	else if (res == MessageBoxResult.Cancel)
		642	{
		643	break;
		644	}
		645	}
		646	}
		647	else
		648	{
		649	MessageBox.Show("Select map area holding ALT", "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		650	}
		651	}
		652
		653	// goto by geocoder
		654	private void buttonGeoCoding_Click(object sender, RoutedEventArgs e)
		655	{
		656	_goto_byGeoCoder();
		657	}
		658	// goto by geocoder
		659	private void textBoxGeo_KeyUp(object sender, System.Windows.Input.KeyEventArgs e)
		660	{
		661	if (e.Key == System.Windows.Input.Key.Enter)
		662	_goto_byGeoCoder();
		663	}
		664	void _goto_byGeoCoder()
		665	{
		666	GeoCoderStatusCode status = MainMap.SetPositionByKeywords(textBoxGeo.Text);
		667	if (status != GeoCoderStatusCode.G_GEO_SUCCESS)
		668	{
		669	MessageBox.Show("Geocoder can't find: '" + textBoxGeo.Text + "', reason: " + status.ToString(), "GMap.NET", MessageBoxButton.OK, MessageBoxImage.Exclamation);
		670	}
		671	}
		672	private void buttonGeoLoc_Click(object sender, RoutedEventArgs e)
		673	{
		674	try
		675	{
		676	double lat = double.Parse(textBoxLat.Text, System.Globalization.CultureInfo.InvariantCulture);
		677	double lng = double.Parse(textBoxLng.Text, System.Globalization.CultureInfo.InvariantCulture);
		678
		679	MainMap.Position = new PointLatLng(lat, lng);
		680	}
		681	catch (Exception ex)
		682	{
		683	MessageBox.Show("incorrect coordinate format: " + ex.Message);
		684	}
		685
		686	}
		687
		688	private void ReloadMap_Click(object sender, RoutedEventArgs e)
		689	{
		690	MainMap.ReloadMap();
		691	}
		692
		693	private void MainMap_OnPositionChanged(PointLatLng point)
		694	{
		695	if (_bFollowCopter)
		696	_setCopterData(MainMap.Position);
		697	}
		698
		699	private void MainMap_OnMapZoomChanged()
		700	{
		701	if (_bFollowCopter)
		702	_setCopterData(MainMap.Position);
		703	if((int)sliderMapZoom.Value != MainMap.Zoom)
		704	sliderMapZoom.Value = MainMap.Zoom;
		705	}
		706
		707	void _setCopterData(PointLatLng p)
		708	{
		709	Dispatcher.Invoke(() =>
		710	{
		711	copter.Position = p;
		712	((CustomMarkerCopter)(copter.Shape)).setText(p.Lat.ToString("0.#######°") + System.Environment.NewLine + p.Lng.ToString("0.#######°"));
		713	textBoxLat_currentPos.Text = p.Lat.ToString() + "°";
		714	textBoxLng_currentPos.Text = p.Lng.ToString() + "°";
		715	});
		716	if (home != null && MainMap.Markers.Contains(home))
		717	{
		718	Dispatcher.Invoke(() => ArtHor.rotateHome = GMapProviders.EmptyProvider.Projection.GetBearing(copter.Position, home.Position));
		719	double d = GMapProviders.EmptyProvider.Projection.GetDistance(home.Position, copter.Position);
		720	Dispatcher.Invoke(() => tbTopDistanceHP.Text = (d * 1000).ToString("0.0 m"));
		721	}
		722	}
		723
		724	private void checkBoxFollowCopter_Click(object sender, RoutedEventArgs e)
		725	{
		726	_bFollowCopter = (bool)checkBoxFollowCopter.IsChecked;
		727	}
		728
		729	private void sliderMapZoom_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		730	{
		731	if (MainMap.Zoom != sliderMapZoom.Value)
		732	MainMap.Zoom = (int)sliderMapZoom.Value;
		733	}
		734	#region Touch zooming hackattack ;)
		735	/// <summary>
		736	/// inspired by http://www.codeproject.com/Articles/692286/WPF-and-multi-touch
		737	/// </summary>
		738	bool bFirstAccess = true;
		739	double dDistance = 0;
		740	int iZoom;
		741	private void MainMap_StylusDown(object sender, StylusDownEventArgs e)
		742	{
		743	var id = e.StylusDevice.Id;
		744	e.StylusDevice.Capture(MainMap);
		745	if (iFirstStylusID == -1)
		746	{
		747	iFirstStylusID = id;
		748	}
		749	else
		750	{
		751
		752	MainMap.CanDragMap = false;
		753	}
		754	}
		755	private void MainMap_StylusUp(object sender, StylusEventArgs e)
		756	{
		757	MainMap.ReleaseStylusCapture();
		758	iFirstStylusID = -1;
		759	bFirstAccess = true;
		760	MainMap.CanDragMap = true;
		761	iZoom = 0;
		762	}
		763	private void MainMap_StylusMove(object sender, StylusEventArgs e)
		764	{
		765	var id = e.StylusDevice.Id;
		766	var tp = e.GetPosition(MainMap);
		767
		768	// This is the first Stylus point; just record its position.
		769	if (id == iFirstStylusID)
		770	{
		771	pTouch1.X = tp.X;
		772	pTouch1.Y = tp.Y;
		773	}
		774	else
		775	if (iFirstStylusID > -1)
		776	{
		777	pTouch2.X = tp.X;
		778	pTouch2.Y = tp.Y;
		779	double distance = Point.Subtract(pTouch1, pTouch2).Length;
		780	if (!bFirstAccess)
		781	{
		782	if (distance > dDistance)
		783	iZoom++;
		784	else
		785	if (distance < dDistance)
		786	iZoom--;
		787	}
		788	if (iZoom > 30)
		789	{
		790	iZoom = 0;
		791	Dispatcher.Invoke(() => sliderMapZoom.Value += 1);
		792	}
		793	if (iZoom < -30)
		794	{
		795	iZoom = 0;
		796	Dispatcher.Invoke(() => sliderMapZoom.Value -= 1);
		797	}
		798	dDistance = distance;
		799	bFirstAccess = false;
		800	}
		801	}
		802	#endregion Touch zooming hackattack ;)
		803
		804	#endregion GMap
		805
		806	#region settings
		807	private void cBoxTimingsDebug_DropDownClosed(object sender, EventArgs e)
		808	{
		809	if(! _bCBInit && cBoxTimingsDebug.SelectedIndex > -1)
		810	debugInterval = (byte)(Convert.ToInt16(cBoxTimingsDebug.SelectedItem) / 10);
		811	}
		812	private void cBoxTimingsNav_DropDownClosed(object sender, EventArgs e)
		813	{
		814	if(! _bCBInit && cBoxTimingsNav.SelectedIndex > -1)
		815	navctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsNav.SelectedItem) / 10);
		816	}
		817	private void cBoxTimingsBl_DropDownClosed(object sender, EventArgs e)
		818	{
		819	if (!_bCBInit && cBoxTimingsBl.SelectedIndex > -1)
		820	blctrlInterval = (byte)(Convert.ToInt16(cBoxTimingsBl.SelectedItem) / 10);
		821	}
		822	private void cBoxTimingsOSD_DropDownClosed(object sender, EventArgs e)
		823	{
		824	if (!_bCBInit && cBoxTimingsOSD.SelectedIndex > -1)
		825	OSDInterval = (byte)(Convert.ToInt16(cBoxTimingsOSD.SelectedItem) / 10);
		826	}
		827	private void chkbAutoDbg_Click(object sender, RoutedEventArgs e)
		828	{
		829	if (!_init) _debugDataAutorefresh = (bool)chkbAutoDbg.IsChecked;
		830	}
		831	private void chkbAutoNav_Click(object sender, RoutedEventArgs e)
		832	{
		833	if (!_init) _navCtrlDataAutorefresh = (bool)chkbAutoNav.IsChecked;
		834	}
		835	private void chkbAutoBL_Click(object sender, RoutedEventArgs e)
		836	{
		837	if (!_init) _blctrlDataAutorefresh = (bool)chkbAutoBL.IsChecked;
		838	}
		839	private void chkbAutoOSD_Click(object sender, RoutedEventArgs e)
		840	{
		841	if (!_init) _OSDAutorefresh = (bool)chkbAutoOSD.IsChecked;
		842	}
		843
		844	private void cBoxLiPoCells_DropDownClosed(object sender, EventArgs e)
		845	{
		846	if (cBoxLiPoCells.SelectedIndex > -1)
		847	{
		848	_LipoCells = cBoxLiPoCells.SelectedIndex + 3;
		849	_LipoMinMax();
		850	}
		851	}
		852	void _LipoMinMax()
		853	{
		854	_dLipoVMax = (double)(_LipoCells) * 4.22;
		855	_dLipoVMin = (double)_LipoCells * 3;
		856	pbTopVoltage.Maximum = _dLipoVMax;
		857	pbTopVoltage.Minimum = _dLipoVMin;
		858	sliderThresholdVoltageWarn.Maximum = _dLipoVMax;
		859	sliderThresholdVoltageWarn.Minimum = _dLipoVMin;
		860	}
		861	private void cBoxMotors_DropDownClosed(object sender, EventArgs e)
		862	{
		863	if (cBoxMotors.SelectedIndex > -1)
		864	{
		865	_iMotors = cBoxMotors.SelectedIndex + 3;
		866	Dispatcher.Invoke(() =>
		867	{
		868	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1); //272 / 12.6 --> Workaround, cause the headerheight = NaN...?
		869	GridMotors.Height = dgvMotors1.Height + 10;
		870	});
		871	}
		872	}
		873	void _setMotorGridSize()
		874	{
		875	if (dgvMotors1.Columns.Count > 2)
		876	{
		877	dgvMotors1.Columns[0].Width = 24;
		878	dgvMotors1.Columns[1].Width = 50;
		879	dgvMotors1.Columns[2].Width = 50;
		880	dgvMotors1.Height = (272 / 12.6) * (_iMotors + 1);
		881	GridMotors.Height = dgvMotors1.Height + 10;
		882	}
		883
		884	}
		885	#endregion settings
		886
		887	#region functions
		888
		889	#region logging
		890	/// <summary> Log data to the terminal window. </summary>
		891	/// <param name="msgtype"> The type of message to be written. </param>
		892	/// <param name="msg"> The string containing the message to be shown. </param>
		893	private void Log(LogMsgType msgtype, string msg)
		894	{
		895	Dispatcher.Invoke(() =>
		896	{
		897	// rtfTerminal.CaretPosition = rtfTerminal.CaretPosition.DocumentEnd;
		898	// rtfTerminal.Foreground = new SolidColorBrush(LogMsgTypeColor[(int)msgtype]);
		899	// rtfTerminal.AppendText(msg + "\r");
		900	TextRange tr = new TextRange(rtfTerminal.Document.ContentEnd,rtfTerminal.Document.ContentEnd);
		901	tr.Text = msg;
		902	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		903	rtfTerminal.AppendText("\r");
		904	rtfTerminal.ScrollToEnd();
		905	});
		906	}
		907	private void ErrorLog(LogMsgType msgtype, string msg)
		908	{
		909	Dispatcher.Invoke(() =>
		910	{
		911	TextRange tr = new TextRange(rtfError.Document.ContentEnd, rtfError.Document.ContentEnd);
		912	tr.Text = msg;
		913	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		914	rtfError.AppendText("\r");
		915	rtfError.ScrollToEnd();
		916
		917	_bErrorLog = true;
		918	});
		919	}
		920	/// <summary>
		921	/// Clear the line in the errorlog window
		922	/// containing the error string when error has ceased
		923	/// </summary>
		924	/// <param name="s">substring of errrormessage</param>
		925	void _clearErrorLog(string s)
		926	{
		927	Dispatcher.Invoke((Action)(() =>
		928	{
		929	TextRange searchRange = new TextRange(rtfError.Document.ContentStart, rtfError.Document.ContentEnd);
		930	TextRange foundRange = FindTextInRange(searchRange, s);
		931
		932	int iStart = searchRange.Text.IndexOf(s, StringComparison.OrdinalIgnoreCase);
		933
		934
		935	if (iStart > -1)
		936	{
		937	int iLength = 0;
		938	int iEnd = searchRange.Text.IndexOf('\r', iStart);
		939	if (iEnd > 0)
		940	{
		941	iLength = iEnd + 1;
		942	int iHttp = searchRange.Text.IndexOf("http", iEnd);
		943	if (iHttp == iLength)
		944	{
		945	int iEnd2 = searchRange.Text.IndexOf('\r', iLength);
		946	if (iEnd2 > iLength)
		947	{
		948	iLength = iEnd2 + 1;
		949	// TextRange result = new TextRange(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		950
		951	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		952	rtfError.Selection.Text = string.Empty;
		953	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		954	}
		955
		956	}
		957	else
		958	{
		959	rtfError.Selection.Select(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), GetTextPositionAtOffset(rtfError.Document.ContentStart.GetPositionAtOffset(iStart), iLength));
		960	rtfError.Selection.Text = string.Empty;
		961	if (rtfError.Document.ContentEnd.GetTextRunLength(LogicalDirection.Backward) < 2) _bErrorLog = false;
		962	}
		963	}
		964	}
		965	}));
		966
		967	}
		968	public TextRange FindTextInRange(TextRange searchRange, string searchText)
		969	{
		970	int offset = searchRange.Text.IndexOf(searchText, StringComparison.OrdinalIgnoreCase);
		971	if (offset < 0)
		972	return null; // Not found
		973
		974	var start = GetTextPositionAtOffset(searchRange.Start, offset);
		975	TextRange result = new TextRange(start, GetTextPositionAtOffset(start, searchText.Length));
		976
		977	return result;
		978	}
		979	TextPointer GetTextPositionAtOffset(TextPointer position, int characterCount)
		980	{
		981	while (position != null)
		982	{
		983	if (position.GetPointerContext(LogicalDirection.Forward) == TextPointerContext.Text)
		984	{
		985	int count = position.GetTextRunLength(LogicalDirection.Forward);
		986	if (characterCount <= count)
		987	{
		988	return position.GetPositionAtOffset(characterCount);
		989	}
		990
		991	characterCount -= count;
		992	}
		993
		994	TextPointer nextContextPosition = position.GetNextContextPosition(LogicalDirection.Forward);
		995	if (nextContextPosition == null)
		996	return position;
		997
		998	position = nextContextPosition;
		999	}
		1000
		1001	return position;
		1002	}
		1003	#endregion logging
		1004
		1005	#region processing received data
		1006
		1007	private void processMessage(byte[] message)
		1008	{
		1009	if (message.Length > 0)
		1010	{
		1011	_iLifeCounter++;
		1012	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		1013	//Log(LogMsgType.Incoming, message.Length.ToString());
		1014	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		1015	char cmdID;
		1016	byte adr;
		1017	byte[] data;
		1018	byte[] tmp = null;
		1019	if (message[0] != '#')
		1020	{
		1021	int iFound = -1;
		1022	for (int i = 0; i < message.Length; i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		1023	{ //so this is a workaround to not spam the log box
		1024	if (message[i] == 35)
		1025	{
		1026	iFound = i;
		1027	break;
		1028	}
		1029	}
		1030	if (iFound > 0)
		1031	{
		1032	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, iFound));
		1033	tmp = new byte[message.Length - iFound];
		1034	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		1035	}
		1036	s = s.Trim('\0', '\n', '\r');
		1037	if (s.Length > 0)
		1038	Log(LogMsgType.Normal, s);
		1039	if (tmp != null)
		1040	{
		1041	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		1042	processMessage(tmp);
		1043	}
		1044	}
		1045	//Debug.Print(s);
		1046	else
		1047	{
		1048	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		1049
		1050	if (adr == 255) { crcError++; }
		1051	else crcError = 0;
		1052	Dispatcher.Invoke(() => tbCrc.Text = crcError.ToString());
		1053	//display the active controller (FC / NC)
		1054	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...???
		1055	{
		1056	_iCtrlAct = adr;
		1057	switch (adr)
		1058	{
		1059	case 1:
		1060	Dispatcher.Invoke(() => tbCtrl.Text = "FC");
		1061	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Visible);
		1062	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Visible);
		1063	// _setFieldsNA(); //display fields NA for FC
		1064	break;
		1065	case 2:
		1066	Dispatcher.Invoke(() => tbCtrl.Text = "NC");
		1067	//Dispatcher.Invoke(() => buttonSwitchNC.Visibility = Visibility.Hidden);
		1068	//Dispatcher.Invoke(() => labelSwitchToNavi.Visibility = Visibility.Hidden);
		1069	break;
		1070	//case 3:
		1071	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		1072	// break;
		1073	//case 4:
		1074	// lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		1075	// break;
		1076	default:
		1077	Dispatcher.Invoke(() => tbCtrl.Text = "NA");
		1078	break;
		1079	}
		1080	// _loadLabelNames();
		1081	}
		1082	// else
		1083	// Debug.Print("Address == 0?");
		1084
		1085	if (data != null && data.Length > 0)
		1086	{
		1087	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		1088	s = s.Trim('\0', '\n');
		1089
		1090	switch (cmdID)
		1091	{
		1092	//case 'A': //Label names
		1093	// _processLabelNames(s);
		1094	// break;
		1095
		1096	case 'D': //Debug data
		1097	_processDebugVals(adr, data);
		1098	break;
		1099
		1100	case 'V': //Version
		1101	_processVersion(adr, data);
		1102	break;
		1103
		1104	case 'K'://BL-CTRL data
		1105	_processBLCtrl(data);
		1106	break;
		1107
		1108	case 'O': //NC Data
		1109	_processNCData(data);
		1110	break;
		1111
		1112	case 'E': //NC error-string
		1113	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		1114	break;
		1115
		1116	case 'L': //OSD Menue (called by pagenumber)
		1117	_processOSDSingle(data);
		1118	break;
		1119
		1120	case 'H': //OSD Menue (with autoupdate - called by Key)
		1121	_processOSDAuto(data);
		1122	break;
		1123
		1124	case 'X': //Waypoint data
		1125	_processWPData(data);
		1126	break;
		1127
		1128	//default:
		1129	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1130	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1131	// break;
		1132	}
		1133	}
		1134	//else
		1135	//{
		1136	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		1137	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		1138	//}
		1139	}
		1140	}
		1141	}
		1142	/// <summary>
		1143	/// Analog label names 'A'
		1144	/// each label name is returned as a single string
		1145	/// and added to string array sAnalogLabel[]
		1146	/// and the datatable dtAnalog
		1147	/// </summary>
		1148	/// <param name="s">the label name</param>
		1149	void _processLabelNames(string s)
		1150	{
		1151	//if (iLableIndex < 32)
		1152	//{
		1153	// sAnalogLabel[iLableIndex] = s;
		1154	// if (dtAnalog.Rows.Count < 32)
		1155	// dtAnalog.Rows.Add(s, "");
		1156	// else
		1157	// dtAnalog.Rows[iLableIndex].SetField(0, s);
		1158
		1159	// // _getAnalogLabels(iLableIndex + 1);
		1160	//}
		1161	//Debug.Print(s);
		1162	}
		1163	/// <summary>
		1164	/// Debug values 'D'
		1165	/// </summary>
		1166	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1167	/// <param name="data">the received byte array to process</param>
		1168	void _processDebugVals(byte adr, byte[] data)
		1169	{
		1170	if (data.Length == 66)
		1171	{
		1172	int[] iAnalogData = new int[32];
		1173	double v;
		1174	int index = 0;
		1175	Int16 i16 = 0;
		1176	double dTemp = 0;
		1177	for (int i = 2; i < 66; i += 2)
		1178	{
		1179	i16 = data[i + 1];
		1180	i16 = (Int16)(i16 << 8);
		1181	iAnalogData[index] = data[i] + i16;
		1182	sAnalogData[index] = (data[i] + i16).ToString();
		1183	// dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		1184
		1185	if (adr == 2) //NC
		1186	{
		1187	switch (index)
		1188	{
		1189	case 0: //pitch (German: nick)
		1190	Dispatcher.Invoke(() => ArtHor.Pitch = ((double)iAnalogData[index] / (double)10));
		1191	Dispatcher.Invoke((Action)(() => tbPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1192	break;
		1193	case 1: //roll
		1194	Dispatcher.Invoke(() => ArtHor.Roll = ((double)iAnalogData[index] / (double)10));
		1195	Dispatcher.Invoke((Action)(() => tbRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1196	break;
		1197	case 4: //altitude
		1198	Dispatcher.Invoke(() => tbAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1199	Dispatcher.Invoke(() => tbTopHeight.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"));
		1200	break;
		1201	case 7: //Voltage
		1202	v = (double)iAnalogData[index] / (double)10;
		1203	Dispatcher.Invoke(() => tbVolt.Text = v.ToString("0.0 V"));
		1204	Dispatcher.Invoke(() => tbTopVoltage.Text = v.ToString("0.0 V"));
		1205	Dispatcher.Invoke(() => pbTopVoltage.Value = v);
		1206	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageWarn)
		1207	{
		1208	if (v == _dVoltLast)
		1209	if(_iVoltJitter < 20) _iVoltJitter++;
		1210	else
		1211	{
		1212	_iVoltJitter = 0;
		1213	_dVoltLast = v;
		1214	}
		1215	if (_iVoltJitter == 20)
		1216	{
		1217	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Orange);
		1218
		1219	if (v - _dLipoVMin < 1 \| v < _dThresholdVoltageCrit)
		1220	{
		1221	Dispatcher.Invoke(() => pbTopVoltage.Foreground = Brushes.Red);
		1222	if (stbVoltageCritAnim != null && !_bCritAnimVoltActive)
		1223	{
		1224	Dispatcher.Invoke(() => stbVoltageCritAnim.Begin());
		1225	_bCritAnimVoltActive = true;
		1226	}
		1227	if (_bVoiceVoltPlay && !_bCritVoiceVoltActive)
		1228	{
		1229	if (File.Exists("Voice\\CriticalBattery.mp3"))
		1230	{
		1231
		1232	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1233	mp.Open("Voice\\CriticalBattery.mp3");
		1234	mp.Play();
		1235	}
		1236	_bCritVoiceVoltActive = true;
		1237	}
		1238	}
		1239	else
		1240	{
		1241	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1242	{
		1243	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1244	_bCritAnimVoltActive = false;
		1245	}
		1246	_bCritVoiceVoltActive = false;
		1247
		1248	if (_bVoiceVoltPlay && !_bCWarnVoiceVoltActive)
		1249	{
		1250	if (File.Exists("Voice\\LowBattery.mp3"))
		1251	{
		1252
		1253	MediaPlayer.MediaPlayer mp = new MediaPlayer.MediaPlayer();
		1254	mp.Open("Voice\\LowBattery.mp3");
		1255	mp.Play();
		1256	}
		1257	_bCWarnVoiceVoltActive = true;
		1258	}
		1259	}
		1260	}
		1261	}
		1262	else
		1263	{
		1264	Dispatcher.Invoke(() => pbTopVoltage.Foreground = new SolidColorBrush(Color.FromArgb(255, 107, 195, 123)));
		1265	if (stbVoltageCritAnim != null && _bCritAnimVoltActive)
		1266	{
		1267	Dispatcher.Invoke(() => stbVoltageCritAnim.Stop());
		1268	_bCritAnimVoltActive = false;
		1269	}
		1270	_bCritVoiceVoltActive = false;
		1271	_bCWarnVoiceVoltActive = false;
		1272	_iVoltJitter = 0;
		1273	}
		1274	break;
		1275	case 8: // Current
		1276	Dispatcher.Invoke(() => tbCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1277	Dispatcher.Invoke(() => tbTopCurrent.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"));
		1278	break;
		1279	case 10: //heading
		1280	Dispatcher.Invoke((Action)(() => tbHeading.Text = sAnalogData[index] + "°"));
		1281	Dispatcher.Invoke(() => ArtHor.rotate = iAnalogData[index]);
		1282	break;
		1283	case 12: // SPI error
		1284	Dispatcher.Invoke((Action)(() => tbSPI.Text = sAnalogData[index]));
		1285	break;
		1286	case 14: //i2c error
		1287	Dispatcher.Invoke((Action)(() => tbI2C.Text = sAnalogData[index]));
		1288	break;
		1289	case 20: //Earthmagnet field
		1290	Dispatcher.Invoke((Action)(() => tbMagF.Text = sAnalogData[index] + "%"));
		1291	Dispatcher.Invoke((Action)(() => tbTopEarthMag.Text = sAnalogData[index] + "%"));
		1292	if(iAnalogData[index] > 115 \| iAnalogData[index] < 85)
		1293	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag_R.png", UriKind.Relative)));
		1294	else
		1295	Dispatcher.Invoke(() => imageEarthMag.Source = new BitmapImage(new Uri("Images/EarthMag.png", UriKind.Relative)));
		1296	break;
		1297	case 21: //GroundSpeed
		1298	Dispatcher.Invoke((Action)(() => tbSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1299	Dispatcher.Invoke((Action)(() => tbTopSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		1300	break;
		1301	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		1302	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		1303	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		1304	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		1305	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
		1306	dTemp = Math.Sqrt(dTemp) / (double)10;
		1307	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = dTemp.ToString("0.0 m")));
		1308	Dispatcher.Invoke((Action)(() => tbHP1.Text = dTemp.ToString("0.0 m")));
		1309	break;
		1310	case 31: //Sats used
		1311	Dispatcher.Invoke((Action)(() => tbSats.Text = sAnalogData[index]));
		1312	// Dispatcher.Invoke((Action)(() => tbTopSats.Text = sAnalogData[index]));
		1313	break;
		1314	}
		1315	}
		1316	//if (adr == 1) //FC
		1317	//{
		1318	// switch (index)
		1319	// {
		1320	// case 0: //pitch (German: nick)
		1321	// artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		1322	// lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1323	// break;
		1324	// case 1: //roll
		1325	// artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		1326	// lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		1327	// break;
		1328	// case 5: //altitude
		1329	// lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		1330	// break;
		1331	// case 8: //heading
		1332	// lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		1333	// headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		1334	// break;
		1335	// case 9: //Voltage
		1336	// lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		1337	// break;
		1338	// case 10: //Receiver quality
		1339	// lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		1340	// break;
		1341	// case 22: // Current
		1342	// lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		1343	// break;
		1344	// case 23: //capacity used
		1345	// lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		1346	// break;
		1347	// case 27: // SPI error
		1348	// lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		1349	// break;
		1350	// case 28: //i2c error
		1351	// lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		1352	// break;
		1353	// }
		1354	//}
		1355	index++;
		1356	}
		1357	}
		1358	else
		1359	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		1360	}
		1361	/// <summary>
		1362	/// Version string 'V'
		1363	/// </summary>
		1364	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		1365	/// <param name="data">the received byte array to process</param>
		1366	void _processVersion(byte adr, byte[] data)
		1367	{
		1368	if (data.Length == 12)
		1369	{
		1370	if (!check_HWError)
		1371	{
		1372	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		1373	string sVersion = "";
		1374	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		1375	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		1376	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		1377	Log(LogMsgType.Incoming, sVersion);
		1378	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		1379	Log(LogMsgType.Incoming, sVersion);
		1380	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		1381	}
		1382	if (data[5] > 0) //error0
		1383	{
		1384	if (adr == 1)
		1385	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		1386	if (adr == 2)
		1387	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		1388	}
		1389	if (data[6] > 0) //error1
		1390	{
		1391	if (adr == 1)
		1392	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		1393	if (adr == 2)
		1394	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		1395	}
		1396	if ((data[5] + data[6] == 0) && _bErrorLog)
		1397	_clearErrorLog(adr == 1 ? "FC - HW-Error" : "NC - HW-Error");
		1398
		1399	}
		1400	check_HWError = false;
		1401	}
		1402	/// <summary>
		1403	/// BL-Ctrl data 'K'
		1404	/// for FC you have to use a customized firmware
		1405	/// </summary>
		1406	/// <param name="data">the received byte array to process</param>
		1407	void _processBLCtrl(byte[] data)
		1408	{
		1409	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		1410	{
		1411	bool bAvailable = false;
		1412	for (int i = 0; i < data.Length && data[i] < _iMotors; i += 6) // data[i] < _iMotors -- only show set number of motors (12 max @ moment)
		1413	{
		1414
		1415	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		1416	bAvailable = true;
		1417	else
		1418	bAvailable = false;
		1419
		1420	if (data[i] < _iMotors)
		1421	{
		1422	if (bAvailable)
		1423	{
		1424	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1425	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		1426	}
		1427	else
		1428	{
		1429	dtMotors1.Rows[data[i]].SetField(1, "NA");
		1430	dtMotors1.Rows[data[i]].SetField(2, "NA");
		1431	}
		1432	}
		1433	//if (data[i] > 3 && data[i] < 8)
		1434	//{
		1435	// if (bAvailable)
		1436	// {
		1437	// dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		1438	// dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		1439	// }
		1440	// else
		1441	// {
		1442	// dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		1443	// dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		1444	// }
		1445	//}
		1446	}
		1447	}
		1448	}
		1449	/// <summary>
		1450	/// Navi-Ctrl data 'O'
		1451	/// GPS-Position, capacatiy, flying time...
		1452	/// </summary>
		1453	/// <param name="data">the received byte array to process</param>
		1454	void _processNCData(byte[] data)
		1455	{
		1456	int i_32, i_16, iVal;
		1457	double d;
		1458	i_32 = data[4];
		1459	iVal = i_32 << 24;
		1460	i_32 = data[3];
		1461	iVal += i_32 << 16;
		1462	i_32 = data[2];
		1463	iVal += i_32 << 8;
		1464	iVal += data[1];
		1465	d = (double)iVal / Math.Pow(10, 7);
		1466
		1467	PointLatLng p = new PointLatLng();
		1468
		1469	p.Lng = d;
		1470	// lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		1471	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		1472
		1473	i_32 = data[8];
		1474	iVal = i_32 << 24;
		1475	i_32 = data[7];
		1476	iVal += i_32 << 16;
		1477	i_32 = data[6];
		1478	iVal += i_32 << 8;
		1479	iVal += data[5];
		1480	d = (double)iVal / Math.Pow(10, 7);
		1481	p.Lat = d;
		1482
		1483	if (!_bFollowCopter && data[50] > 4) //if more than 4 sats in use . otherwise the map would jump and scroll insane
		1484	{
		1485	_setCopterData(p);
		1486	if(!MainMap.ViewArea.Contains(p))
		1487	Dispatcher.Invoke(() => MainMap.Position = p);
		1488
		1489	}
		1490	else
		1491	if(data[50] > 4) //if more than 4 sats in use . otherwise the map would jump and scroll insane
		1492	Dispatcher.Invoke(() => MainMap.Position = p);
		1493
		1494
		1495	// lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
		1496	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
		1497
		1498	i_16 = data[28];
		1499	i_16 = (Int16)(i_16 << 8);
		1500	iVal = data[27] + i_16;
		1501	Dispatcher.Invoke((Action)(() => tbWP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to next WP
		1502
		1503	i_16 = data[45];
		1504	i_16 = (Int16)(i_16 << 8);
		1505	iVal = data[44] + i_16;
		1506	// Dispatcher.Invoke((Action)(() => tbTopDistanceHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1507	Dispatcher.Invoke((Action)(() => tbHP.Text = ((double)iVal / (double)10).ToString("0.0 m"))); //Distance to HP set by GPS on
		1508
		1509	Dispatcher.Invoke((Action)(() => tbWPIndex.Text = data[48].ToString())); //Waypoint index
		1510	Dispatcher.Invoke((Action)(() => tbWPCount.Text = data[49].ToString())); //Waypoints count
		1511
		1512	Dispatcher.Invoke((Action)(() => tbTopSats.Text = data[50].ToString())); //Satellites
		1513
		1514
		1515	//--------------- Capacity used ------------------------
		1516	i_16 = data[81];
		1517	i_16 = (Int16)(i_16 << 8);
		1518	iVal = data[80] + i_16;
		1519	Dispatcher.Invoke((Action)(() => tbCapacity.Text = iVal.ToString() + " mAh"));
		1520	Dispatcher.Invoke((Action)(() => tbTopCapacity.Text = iVal.ToString() + " mAh"));
		1521
		1522	//--------------- Flying time ------------------------
		1523	i_16 = data[56];
		1524	i_16 = (Int16)(i_16 << 8);
		1525	iVal = data[55] + i_16;
		1526	TimeSpan t = TimeSpan.FromSeconds(iVal);
		1527	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		1528	Dispatcher.Invoke((Action)(() => tbFTime.Text = Text.ToString()));
		1529	Dispatcher.Invoke((Action)(() => tbTopFTime.Text = Text.ToString()));
		1530
		1531	//--------------- RC quality ------------------------
		1532	Dispatcher.Invoke((Action)(() => tbRCQ.Text = data[66].ToString()));
		1533	Dispatcher.Invoke((Action)(() => tbTopRC.Text = data[66].ToString()));
		1534
		1535
		1536	//--------------- NC Error ------------------------
		1537	Dispatcher.Invoke((Action)(() => tbNCErr.Text = data[69].ToString())); //NC Errornumber
		1538	if (data[69] > 0)
		1539	_readNCError();
		1540	if (data[69] > 0 & data[69] < 44)
		1541	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
		1542	else
		1543	if (_bErrorLog) _clearErrorLog("NC Error");
		1544
		1545	}
		1546	/// <summary>
		1547	/// Navi-Ctrl WP data struct 'X'
		1548	/// called by index
		1549	/// </summary>
		1550	/// <param name="data">the received byte array to process</param>
		1551	void _processWPData(byte[] data)
		1552	{
		1553	_iWP = data[0];
		1554	_bGetWPCount = false;
		1555	if (data.Length >= 28)
		1556	{
		1557	//int count = data[0];
		1558	//int index = data[1];
		1559	//cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		1560	//for (int i = 0; i < count; i++)
		1561	// cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		1562	//cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		1563	Dispatcher.Invoke(() => lblWPIndex.Content = data[1].ToString());
		1564	Dispatcher.Invoke(() => lblWPCount.Content = data[0].ToString());
		1565	if (_bGetWP)
		1566	{
		1567	if (data[1] == 1)
		1568	dtWaypoints.Rows.Clear();
		1569	DataRow dr = dtWaypoints.NewRow();
		1570	dr = Waypoints.toDataRow(data, dr);
		1571	//if (dtWaypoints.Rows.Contains(data[1]))
		1572	//{
		1573	// dtWaypoints.Rows.Find(data[1]).Delete();
		1574	// dtWaypoints.Rows.InsertAt(dr, data[1] - 1);
		1575	//}
		1576	//else
		1577	dtWaypoints.Rows.Add(dr);
		1578
		1579	if (data[1] == data[0])
		1580	{
		1581	_bGetWP = false;
		1582	Dispatcher.Invoke(() => dgvWP.Items.Refresh());
		1583	}
		1584
		1585	}
		1586	}
		1587	else
		1588	{
		1589	Dispatcher.Invoke(() => lblWPIndex.Content = 0);
		1590	Dispatcher.Invoke(() => lblWPCount.Content = 0);
		1591	// Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		1592	}
		1593	}
		1594	/// <summary>
		1595	/// OSD Menue 'L'
		1596	/// single page called by pagenumber
		1597	/// no autoupdate
		1598	/// </summary>
		1599	/// <param name="data">the received byte array to process</param>
		1600	void _processOSDSingle(byte[] data)
		1601	{
		1602	if (data.Length == 84)
		1603	{
		1604	string sMessage = "";
		1605	iOSDPage = data[0];
		1606	iOSDMax = data[1];
		1607	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		1608	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		1609	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1610	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1611	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1612	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1613	Dispatcher.Invoke(() => { cbOSD.SelectedValue = iOSDPage; });
		1614	// lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		1615
		1616	}
		1617	//else
		1618	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		1619
		1620	}
		1621	/// <summary>
		1622	/// OSD Menue 'H'
		1623	/// called by keys (0x01,0x02,0x03,0x04)
		1624	/// autoupdate
		1625	/// </summary>
		1626	/// <param name="data">the received byte array to process</param>
		1627	void _processOSDAuto(byte[] data)
		1628	{
		1629	if (data.Length == 81)
		1630	{
		1631	string sMessage = "";
		1632	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		1633	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)+ "\r", true);
		1634	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)+ "\r", false);
		1635	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)+ "\r", false);
		1636	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20), false);
		1637
		1638	}
		1639	//else
		1640	// OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1641	}
		1642
		1643	#endregion processing received data
		1644
		1645	#region controller messages
		1646	/// <summary> send message to controller to request data
		1647	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1648	/// </summary>
		1649	/// <param name="CMDID"> the command ID </param>
		1650	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1651	private void _sendControllerMessage(char CMDID, byte address)
		1652	{
		1653	if (serialPortCtrl.Port.IsOpen)
		1654	{
		1655	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1656	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1657	serialStream.Write(bytes, 0, bytes.Length);
		1658
		1659	}
		1660	else
		1661	Log(LogMsgType.Error, "NOT CONNECTED!");
		1662	}
		1663	/// <summary> send message to controller to request data
		1664	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1665	/// </summary>
		1666	/// <param name="CMDID"> the command ID </param>
		1667	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1668	/// <param name="data"> additional data for the request</param>
		1669	private void _sendControllerMessage(char CMDID, byte address, byte[] data)
		1670	{
		1671	if (serialPortCtrl.Port.IsOpen)
		1672	{
		1673	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1674	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address, data);
		1675	serialStream.Write(bytes, 0, bytes.Length);
		1676
		1677	}
		1678	else
		1679	Log(LogMsgType.Error, "NOT CONNECTED!");
		1680	}
		1681
		1682	/// <summary>
		1683	/// start/stop continous polling of controller values
		1684	/// </summary>
		1685	/// <param name="b">start/stop switch</param>
		1686	void _readCont(bool b)
		1687	{
		1688	bReadContinously = b;
		1689	if (bReadContinously)
		1690	{
		1691	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1692	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1693	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1694	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10); }
		1695	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGreen));
		1696	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_G.png", UriKind.Relative)));
		1697	}
		1698	else
		1699	{
		1700	// Dispatcher.Invoke((Action)(() => rctConnection.Fill = Brushes.LightGray));
		1701	Dispatcher.Invoke(() => imageConn.Source = new BitmapImage(new Uri("Images/Data_W.png", UriKind.Relative)));
		1702	_bConnErr = false;
		1703	}
		1704	_iLifeCounter = 0;
		1705	}
		1706
		1707	private void _getVersion()
		1708	{
		1709	_sendControllerMessage('v', 0);
		1710	}
		1711	/// <summary>
		1712	/// get FC version struct via NC
		1713	/// by sending '1' as data (not documented in wiki...)
		1714	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1715	/// </summary>
		1716	/// <param name="ctrl">controller number 1=FC</param>
		1717	private void _getVersion(byte ctrl)
		1718	{
		1719	_sendControllerMessage('v', 0, new byte[1] { ctrl });
		1720	}
		1721	/// <summary>
		1722	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1723	/// </summary>
		1724	private void _switchToNC()
		1725	{
		1726	if (serialPortCtrl.Port.IsOpen)
		1727	{
		1728	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1729	byte[] bytes = new byte[5] { 0x1B, 0x1B, 0x55, 0xAA, 0x00 };
		1730	serialStream.Write(bytes, 0, bytes.Length);
		1731
		1732	Thread.Sleep(100);
		1733	_getVersion();
		1734	Thread.Sleep(100);
		1735	// _OSDMenue(0);
		1736	}
		1737	else
		1738	Log(LogMsgType.Error, "NOT CONNECTED!");
		1739	}
		1740	/// <summary>
		1741	/// switch to FC
		1742	/// </summary>
		1743	private void _switchToFC()
		1744	{
		1745	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1746	Thread.Sleep(100);
		1747	_getVersion();
		1748	Thread.Sleep(100);
		1749	// _OSDMenue(0);
		1750	}
		1751	/// <summary>
		1752	/// send RESET signal to FC
		1753	/// </summary>
		1754	private void _resetCtrl()
		1755	{
		1756	_sendControllerMessage('R', 1);
		1757	}
		1758	/// <summary>
		1759	/// poll the debug data (4sec subscription)
		1760	/// </summary>
		1761	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1762	private void _readDebugData(bool auto)
		1763	{
		1764	byte interval = auto ? debugInterval : (byte)0;
		1765	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1766	}
		1767	/// <summary>
		1768	/// poll the BL-CTRL status via NC (4sec subscription)
		1769	/// </summary>
		1770	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1771	private void _readBLCtrl(bool auto)
		1772	{
		1773	byte interval = auto ? blctrlInterval : (byte)0;
		1774	_sendControllerMessage('k', 0, new byte[1] { interval });
		1775	}
		1776	/// <summary>
		1777	/// poll the NC data struct (4sec subscription)
		1778	/// </summary>
		1779	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1780	private void _readNavData(bool auto)
		1781	{
		1782	byte interval = auto ? navctrlInterval : (byte)0;
		1783	_sendControllerMessage('o', 2, new byte[1] { interval });
		1784	}
		1785	/// <summary>
		1786	/// get the errortext for pending NC error
		1787	/// </summary>
		1788	private void _readNCError()
		1789	{
		1790	_sendControllerMessage('e', 2);
		1791	}
		1792	/// <summary>
		1793	/// request the Waypoint at index
		1794	/// </summary>
		1795	/// <param name="index"></param>
		1796	void _getpWP(int index)
		1797	{
		1798	if (serialPortCtrl.Port.IsOpen)
		1799	{
		1800	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1801	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		1802	serialStream.Write(bytes, 0, bytes.Length);
		1803	}
		1804	else
		1805	Log(LogMsgType.Error, "NOT CONNECTED!");
		1806
		1807	}
		1808	void _getWP()
		1809	{
		1810	//if (_iWP > 0)
		1811	//{
		1812	// _getWPList();
		1813	//}
		1814	//else
		1815	//{
		1816	// if (_iWP == -1)
		1817	// {
		1818	_bGetWPCount = true;
		1819	_getpWP(1);
		1820	while (_bGetWPCount)
		1821	Thread.Sleep(100);
		1822	if (_iWP > 0)
		1823	_getWPList();
		1824	// }
		1825	//}
		1826	}
		1827	void _getWPList()
		1828	{
		1829	_bGetWP = true;
		1830	for (int j = 0; j < _iWP; j++)
		1831	{
		1832	_getpWP(j + 1);
		1833	Thread.Sleep(10);
		1834	}
		1835	}
		1836
		1837
		1838	#region OSD-Menue
		1839
		1840	/// <summary>
		1841	/// one time query of the OSD Menue with pagenumber
		1842	/// </summary>
		1843	/// <param name="iMenue">Menue page</param>
		1844	void _OSDMenue(int iMenue)
		1845	{
		1846	if (serialPortCtrl.Port.IsOpen)
		1847	{
		1848	if (iMenue > iOSDMax)
		1849	iMenue = 0;
		1850	Stream serialStream = serialPortCtrl.Port.BaseStream;
		1851	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1852	serialStream.Write(bytes, 0, bytes.Length);
		1853	}
		1854	else
		1855	Log(LogMsgType.Error, "NOT CONNECTED!");
		1856
		1857	}
		1858	/// <summary>
		1859	/// call the OSDMenue and start autorefresh
		1860	/// usually by sending a menuekey
		1861	/// 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)
		1862	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1863	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1864	/// </summary>
		1865	void _OSDMenueAutoRefresh()
		1866	{
		1867	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)), OSDInterval });
		1868	}
		1869	void _OSDMenueAutoRefresh(byte key)
		1870	{
		1871	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1872	}
		1873	/// <summary>
		1874	/// initialize the OSD menue combobox
		1875	/// combox is filled by numbers from 0 to max pagenumber
		1876	/// </summary>
		1877	void _initOSDCB()
		1878	{
		1879	_bCBInit = true;
		1880	if (iOSDMax == 0)
		1881	{
		1882	_OSDMenue(0);
		1883	Thread.Sleep(10);
		1884	}
		1885	Dispatcher.Invoke((Action)(() => cbOSD.Items.Clear()));
		1886	for (int i = 0; i <= iOSDMax; i++)
		1887	{
		1888	Dispatcher.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1889	}
		1890	Dispatcher.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1891	_bCBInit = false;
		1892	}
		1893	private void btnOSDForward_Click(object sender, RoutedEventArgs e)
		1894	{
		1895	iOSDPage++;
		1896	if (iOSDPage > iOSDMax)
		1897	iOSDPage = 0;
		1898
		1899	_OSDMenue(iOSDPage);
		1900	}
		1901	private void btnOSDBackward_Click(object sender, RoutedEventArgs e)
		1902	{
		1903	iOSDPage--;
		1904	if (iOSDPage < 0)
		1905	iOSDPage = iOSDMax;
		1906
		1907	_OSDMenue(iOSDPage);
		1908	}
		1909	private void btnOSDLeave_Click(object sender, RoutedEventArgs e)
		1910	{
		1911	_OSDMenueAutoRefresh(8);
		1912	}
		1913	private void btnOSDEnter_Click(object sender, RoutedEventArgs e)
		1914	{
		1915	_OSDMenueAutoRefresh(4);
		1916	}
		1917	private void cbOSD_DropDownClosing(object sender, EventArgs e)
		1918	{
		1919	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		1920	_OSDMenue(cbOSD.SelectedIndex);
		1921	}
		1922	private void OSD(LogMsgType msgtype, string msg, bool bNew)
		1923	{
		1924	Dispatcher.Invoke(() =>
		1925	{
		1926	TextRange tr;
		1927	if (bNew)
		1928	{
		1929	rtfOSD.SelectAll();
		1930	rtfOSD.Selection.Text = string.Empty;
		1931	}
		1932	tr = new TextRange(rtfOSD.Document.ContentEnd, rtfOSD.Document.ContentEnd);
		1933	tr.Text = msg;
		1934	tr.ApplyPropertyValue(TextElement.ForegroundProperty, new SolidColorBrush(LogMsgTypeColor[(int)msgtype]));
		1935	// rtfOSD.AppendText("\r");
		1936	rtfOSD.ScrollToEnd();
		1937
		1938	});
		1939	}
		1940
		1941	#endregion OSD-Menue
		1942
		1943	#endregion controller messages
		1944
		1945	private void imageFullscreen_MouseDown(object sender, MouseButtonEventArgs e)
		1946	{
		1947	if (winState.isMaximized)
		1948	{
		1949	winState.Restore(this);
		1950	imageFullscreen.Source = new BitmapImage(new Uri("Images/Fullscreen.png", UriKind.Relative));
		1951	if(_bSaveWinStateFull)
		1952	_saveScaleSliders(true);
		1953	if(_bSaveWinStateNormal)
		1954	_setScaleSliders(false);
		1955	}
		1956	else
		1957	{
		1958	winState.Maximize(this);
		1959	imageFullscreen.Source = new BitmapImage(new Uri("Images/RestoreScreen.png", UriKind.Relative));
		1960	if(_bSaveWinStateNormal)
		1961	_saveScaleSliders(false);
		1962	if(_bSaveWinStateFull)
		1963	_setScaleSliders(true);
		1964	}
		1965	}
		1966
		1967	/// <summary>
		1968	/// reset the scaling of all UI elements to default
		1969	/// </summary>
		1970	/// <param name="sender"></param>
		1971	/// <param name="e"></param>
		1972	private void buttonUIScaleReset_Click(object sender, RoutedEventArgs e)
		1973	{
		1974	UIScaleHorizonSlider.Value =
		1975	UIScaleLOGSlider.Value =
		1976	UIScaleMotorsSlider.Value =
		1977	UIScaleOSDSlider.Value =
		1978	UIScaleSlider.Value =
		1979	UIScaleTopSlider.Value = 1;
		1980	}
		1981	/// <summary>
		1982	/// adjust the top postion of UI elements below the top bar to fit the bottom position of the bar when scaling the top bar
		1983	/// </summary>
		1984	/// <param name="sender"></param>
		1985	/// <param name="e"></param>
		1986	private void UIScaleTopSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
		1987	{
		1988	GridSettings.Margin = new Thickness(GridSettings.Margin.Left, 36 * UIScaleTopSlider.Value, GridSettings.Margin.Right, GridSettings.Margin.Bottom);
		1989	if (GridMotors != null)
		1990	GridMotors.Margin = new Thickness(GridMotors.Margin.Left, 36 * UIScaleTopSlider.Value, GridMotors.Margin.Right, GridMotors.Margin.Bottom);
		1991	if (GridSideBar != null)
		1992	GridSideBar.Margin = new Thickness(GridSideBar.Margin.Left, 36 * UIScaleTopSlider.Value, GridSideBar.Margin.Right, GridSideBar.Margin.Bottom);
		1993	if (GridOSD != null)
		1994	GridOSD.Margin = new Thickness(GridOSD.Margin.Left, 36 * UIScaleTopSlider.Value, GridOSD.Margin.Right, GridOSD.Margin.Bottom);
		1995	if (GridData != null)
		1996	GridData.Margin = new Thickness(GridData.Margin.Left, 36 * UIScaleTopSlider.Value, GridData.Margin.Right, GridData.Margin.Bottom);
		1997	if (GridWP != null)
		1998	GridWP.Margin = new Thickness(GridWP.Margin.Left, 36 * UIScaleTopSlider.Value, GridWP.Margin.Right, GridWP.Margin.Bottom);
		1999	}
		2000
		2001	void _setScaleSliders(bool bFull)
		2002	{
		2003	if(bFull)
		2004	{
		2005	UIScaleSlider.Value = scaleFullAll;
		2006	UIScaleTopSlider.Value = scaleFullTopBar;
		2007	UIScaleMotorsSlider.Value = scaleFullMotors;
		2008	UIScaleOSDSlider.Value = scaleFullOSD;
		2009	UIScaleLOGSlider.Value = scaleFullLOG;
		2010	UIScaleHorizonSlider.Value = scaleFullHorizon;
		2011	}
		2012	else
		2013	{
		2014	UIScaleSlider.Value = scaleNormalAll;
		2015	UIScaleTopSlider.Value = scaleNormalTopBar;
		2016	UIScaleMotorsSlider.Value = scaleNormalMotors;
		2017	UIScaleOSDSlider.Value = scaleNormalOSD;
		2018	UIScaleLOGSlider.Value = scaleNormalLOG;
		2019	UIScaleHorizonSlider.Value = scaleNormalHorizon;
		2020	}
		2021	}
		2022
		2023	void _saveScaleSliders(bool bFull)
		2024	{
		2025
		2026	if (bFull)
		2027	{
		2028	scaleFullAll = UIScaleSlider.Value;
		2029	scaleFullTopBar = UIScaleTopSlider.Value;
		2030	scaleFullMotors = UIScaleMotorsSlider.Value;
		2031	scaleFullOSD = UIScaleOSDSlider.Value;
		2032	scaleFullLOG = UIScaleLOGSlider.Value;
		2033	scaleFullHorizon = UIScaleHorizonSlider.Value;
		2034	}
		2035	else
		2036	{
		2037	scaleNormalAll = UIScaleSlider.Value;
		2038	scaleNormalTopBar = UIScaleTopSlider.Value;
		2039	scaleNormalMotors = UIScaleMotorsSlider.Value;
		2040	scaleNormalOSD = UIScaleOSDSlider.Value;
		2041	scaleNormalLOG = UIScaleLOGSlider.Value;
		2042	scaleNormalHorizon = UIScaleHorizonSlider.Value;
		2043	}
		2044	}
		2045
		2046	/// <summary>
		2047	/// read settings from ini-file
		2048	/// </summary>
		2049	void _readIni()
		2050	{
		2051	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		2052	_writeIni();
		2053	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2054	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2055
		2056	string sVal = ini.IniReadValue("timings", "AutorefreshDebugData");
		2057	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		2058	sVal = ini.IniReadValue("timings", "AutorefreshNavCtrlData");
		2059	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		2060	sVal = ini.IniReadValue("timings", "AutorefreshBLCtrlData");
		2061	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		2062	sVal = ini.IniReadValue("timings", "AutorefreshOSDData");
		2063	_OSDAutorefresh = Convert.ToBoolean(sVal);
		2064
		2065	sVal = ini.IniReadValue("timings", "IntervalDebugData");
		2066	debugInterval = (byte)Convert.ToInt16(sVal);
		2067	sVal = ini.IniReadValue("timings", "IntervalNavCtrlData");
		2068	navctrlInterval = (byte)Convert.ToInt16(sVal);
		2069	sVal = ini.IniReadValue("timings", "IntervalBLCtrlData");
		2070	blctrlInterval = (byte)Convert.ToInt16(sVal);
		2071	sVal = ini.IniReadValue("timings", "IntervalOSDData");
		2072	OSDInterval = (byte)Convert.ToInt16(sVal);
		2073
		2074	sVal = ini.IniReadValue("topBar", "voltage");
		2075	chkBoxTopBarShowVoltage.IsChecked = Convert.ToBoolean(sVal);
		2076	sVal = ini.IniReadValue("topBar", "capacity");
		2077	chkBoxTopBarShowCapacity.IsChecked = Convert.ToBoolean(sVal);
		2078	sVal = ini.IniReadValue("topBar", "current");
		2079	chkBoxTopBarShowCurrent.IsChecked = Convert.ToBoolean(sVal);
		2080	sVal = ini.IniReadValue("topBar", "flightTime");
		2081	chkBoxTopBarShowFlightTime.IsChecked = Convert.ToBoolean(sVal);
		2082	sVal = ini.IniReadValue("topBar", "distanceHP");
		2083	chkBoxTopBarShowDistanceHP.IsChecked = Convert.ToBoolean(sVal);
		2084	sVal = ini.IniReadValue("topBar", "height");
		2085	chkBoxTopBarShowHeight.IsChecked = Convert.ToBoolean(sVal);
		2086	sVal = ini.IniReadValue("topBar", "speed");
		2087	chkBoxTopBarShowSpeed.IsChecked = Convert.ToBoolean(sVal);
		2088	sVal = ini.IniReadValue("topBar", "magneticField");
		2089	chkBoxTopBarShowMF.IsChecked = Convert.ToBoolean(sVal);
		2090	sVal = ini.IniReadValue("topBar", "satellites");
		2091	chkBoxTopBarShowSatellites.IsChecked = Convert.ToBoolean(sVal);
		2092	sVal = ini.IniReadValue("topBar", "rc");
		2093	chkBoxTopBarShowRC.IsChecked = Convert.ToBoolean(sVal);
		2094
		2095	sVal = ini.IniReadValue("style", "saveFullScreen");
		2096	chkBoxSaveFullScreenState.IsChecked = Convert.ToBoolean(sVal);
		2097	sVal = ini.IniReadValue("style", "saveNormalState");
		2098	chkBoxSaveNormalState.IsChecked = Convert.ToBoolean(sVal);
		2099
		2100	sVal = ini.IniReadValue("style", "scaleNormalAll");
		2101	scaleNormalAll = Convert.ToDouble(sVal);
		2102	sVal = ini.IniReadValue("style", "scaleNormalTopBar");
		2103	scaleNormalTopBar = Convert.ToDouble(sVal);
		2104	sVal = ini.IniReadValue("style", "scaleNormalMotors");
		2105	scaleNormalMotors = Convert.ToDouble(sVal);
		2106	sVal = ini.IniReadValue("style", "scaleNormalOSD");
		2107	scaleNormalOSD = Convert.ToDouble(sVal);
		2108	sVal = ini.IniReadValue("style", "scaleNormalLOG");
		2109	scaleNormalLOG = Convert.ToDouble(sVal);
		2110	sVal = ini.IniReadValue("style", "scaleNormalHorizon");
		2111	scaleNormalHorizon = Convert.ToDouble(sVal);
		2112
		2113	sVal = ini.IniReadValue("style", "scaleFullAll");
		2114	scaleFullAll = Convert.ToDouble(sVal);
		2115	sVal = ini.IniReadValue("style", "scaleFullTopBar");
		2116	scaleFullTopBar = Convert.ToDouble(sVal);
		2117	sVal = ini.IniReadValue("style", "scaleFullMotors");
		2118	scaleFullMotors = Convert.ToDouble(sVal);
		2119	sVal = ini.IniReadValue("style", "scaleFullOSD");
		2120	scaleFullOSD = Convert.ToDouble(sVal);
		2121	sVal = ini.IniReadValue("style", "scaleFullLOG");
		2122	scaleFullLOG = Convert.ToDouble(sVal);
		2123	sVal = ini.IniReadValue("style", "scaleFullHorizon");
		2124	scaleFullHorizon = Convert.ToDouble(sVal);
		2125
		2126	sVal = ini.IniReadValue("general", "LiPoCells");
		2127	_LipoCells = Convert.ToInt16(sVal);
		2128	sVal = ini.IniReadValue("general", "Motors");
		2129	_iMotors = Convert.ToInt16(sVal);
		2130
		2131	sVal = ini.IniReadValue("map", "followMe");
		2132	_bFollowCopter = Convert.ToBoolean(sVal);
		2133
		2134	sVal = ini.IniReadValue("threshold", "VoltageWarning");
		2135	if(sVal != "") _dThresholdVoltageWarn = Convert.ToDouble(sVal);
		2136	sVal = ini.IniReadValue("threshold", "VoltageCritical");
		2137	if(sVal != "") _dThresholdVoltageCrit = Convert.ToDouble(sVal);
		2138	sVal = ini.IniReadValue("threshold", "VoiceEnable");
		2139	if(sVal != "") _bVoiceVoltPlay = Convert.ToBoolean(sVal);
		2140
		2141	}
		2142
		2143	/// <summary>
		2144	/// save settings to ini-file
		2145	/// </summary>
		2146	void _writeIni()
		2147	{
		2148
		2149	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		2150	ini.path = filePath + "\\MKLiveViewSettings.ini";
		2151
		2152	ini.IniWriteValue("timings", "AutorefreshDebugData", _debugDataAutorefresh ? "true" : "false");
		2153	ini.IniWriteValue("timings", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true" : "false");
		2154	ini.IniWriteValue("timings", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true" : "false");
		2155	ini.IniWriteValue("timings", "AutorefreshOSDData", _OSDAutorefresh ? "true" : "false");
		2156
		2157	ini.IniWriteValue("timings", "IntervalDebugData", debugInterval.ToString());
		2158	ini.IniWriteValue("timings", "IntervalNavCtrlData", navctrlInterval.ToString());
		2159	ini.IniWriteValue("timings", "IntervalBLCtrlData", blctrlInterval.ToString());
		2160	ini.IniWriteValue("timings", "IntervalOSDData", OSDInterval.ToString());
		2161
		2162	ini.IniWriteValue("general", "LiPoCells", _LipoCells.ToString());
		2163	ini.IniWriteValue("general", "Motors", _iMotors.ToString());
		2164
		2165	ini.IniWriteValue("map", "followMe", _bFollowCopter.ToString());
		2166
		2167	ini.IniWriteValue("topBar", "voltage", chkBoxTopBarShowVoltage.IsChecked.ToString());
		2168	ini.IniWriteValue("topBar", "capacity", chkBoxTopBarShowCapacity.IsChecked.ToString());
		2169	ini.IniWriteValue("topBar", "current", chkBoxTopBarShowCurrent.IsChecked.ToString());
		2170	ini.IniWriteValue("topBar", "flightTime", chkBoxTopBarShowFlightTime.IsChecked.ToString());
		2171	ini.IniWriteValue("topBar", "distanceHP", chkBoxTopBarShowDistanceHP.IsChecked.ToString());
		2172	ini.IniWriteValue("topBar", "height", chkBoxTopBarShowHeight.IsChecked.ToString());
		2173	ini.IniWriteValue("topBar", "speed", chkBoxTopBarShowSpeed.IsChecked.ToString());
		2174	ini.IniWriteValue("topBar", "magneticField", chkBoxTopBarShowMF.IsChecked.ToString());
		2175	ini.IniWriteValue("topBar", "satellites", chkBoxTopBarShowSatellites.IsChecked.ToString());
		2176	ini.IniWriteValue("topBar", "rc", chkBoxTopBarShowRC.IsChecked.ToString());
		2177
		2178	ini.IniWriteValue("style", "saveFullScreen", chkBoxSaveFullScreenState.IsChecked.ToString());
		2179	ini.IniWriteValue("style", "saveNormalState", chkBoxSaveNormalState.IsChecked.ToString());
		2180
		2181	ini.IniWriteValue("style", "scaleNormalAll", scaleNormalAll.ToString());
		2182	ini.IniWriteValue("style", "scaleNormalTopBar", scaleNormalTopBar.ToString());
		2183	ini.IniWriteValue("style", "scaleNormalMotors", scaleNormalMotors.ToString());
		2184	ini.IniWriteValue("style", "scaleNormalOSD", scaleNormalOSD.ToString());
		2185	ini.IniWriteValue("style", "scaleNormalLOG", scaleNormalLOG.ToString());
		2186	ini.IniWriteValue("style", "scaleNormalHorizon", scaleNormalHorizon.ToString());
		2187
		2188	ini.IniWriteValue("style", "scaleFullAll", scaleFullAll.ToString());
		2189	ini.IniWriteValue("style", "scaleFullTopBar", scaleFullTopBar.ToString());
		2190	ini.IniWriteValue("style", "scaleFullMotors", scaleFullMotors.ToString());
		2191	ini.IniWriteValue("style", "scaleFullOSD", scaleFullOSD.ToString());
		2192	ini.IniWriteValue("style", "scaleFullLOG", scaleFullLOG.ToString());
		2193	ini.IniWriteValue("style", "scaleFullHorizon", scaleFullHorizon.ToString());
		2194
		2195	ini.IniWriteValue("style", "horizon", chkBoxShowHorizon.IsChecked.ToString());
		2196
		2197	ini.IniWriteValue("threshold", "VoltageWarning", _dThresholdVoltageWarn.ToString());
		2198	ini.IniWriteValue("threshold", "VoltageCritical", _dThresholdVoltageCrit.ToString());
		2199	ini.IniWriteValue("threshold", "VoiceEnable", _bVoiceVoltPlay.ToString());
		2200
		2201	}
		2202	#endregion functions
		2203
		2204	private void Window_Closing(object sender, CancelEventArgs e)
		2205	{
		2206	_writeIni();
		2207	}
		2208	}
		2209	public class BooleanToVisibilityConverter : IValueConverter
		2210	{
		2211
		2212	public object Convert(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
		2213	{
		2214	return (bool)value ? Visibility.Visible : Visibility.Collapsed;
		2215	}
		2216
		2217	public object ConvertBack(object value, Type targetType, object parameter, System.Globalization.CultureInfo culture)
		2218	{
		2219	throw new NotImplementedException();
		2220	}
		2221	}
		2222
		2223	public class IniFile
		2224	{
		2225	public string path;
		2226
		2227	[DllImport("kernel32")]
		2228	private static extern long WritePrivateProfileString(string section,
		2229	string key, string val, string filePath);
		2230
		2231	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		2232	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		2233	uint nSize, string lpFileName);
		2234
		2235	[DllImport("kernel32")]
		2236	private static extern int GetPrivateProfileString(string section,
		2237	string key, string def, StringBuilder retVal,
		2238	int size, string filePath);
		2239
		2240	public IniFile(string INIPath)
		2241	{
		2242	path = INIPath;
		2243	}
		2244
		2245	public void IniWriteValue(string Section, string Key, string Value)
		2246	{
		2247	WritePrivateProfileString(Section, Key, Value, this.path);
		2248	}
		2249
		2250	public string IniReadValue(string Section, string Key)
		2251	{
		2252	StringBuilder temp = new StringBuilder(255);
		2253	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		2254	return temp.ToString();
		2255	}
		2256	//Ini_sections auslesen in String-Array
		2257	public string[] IniSectionNames()
		2258	{
		2259
		2260	// uint MAX_BUFFER = 32767;
		2261	uint MAX_BUFFER = 8388608;
		2262	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		2263	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2264	if (bytesReturned == 0)
		2265	{
		2266	Marshal.FreeCoTaskMem(pReturnedString);
		2267	return null;
		2268	}
		2269	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2270	Marshal.FreeCoTaskMem(pReturnedString);
		2271	//use of Substring below removes terminating null for split
		2272	return local.Substring(0, local.Length - 1).Split('\0');
		2273
		2274
		2275	}
		2276	}
		2277
		2278	/// <summary>
		2279	/// Selected Win AI Function Calls
		2280	/// </summary>
		2281	public class WinApi
		2282	{
		2283	[DllImport("user32.dll", EntryPoint = "GetSystemMetrics")]
		2284	public static extern int GetSystemMetrics(int which);
		2285	[DllImport("user32.dll")]
		2286	public static extern void
		2287	SetWindowPos(IntPtr hwnd, IntPtr hwndInsertAfter,
		2288	int X, int Y, int width, int height, uint flags);
		2289
		2290	private const int SM_CXSCREEN = 0;
		2291	private const int SM_CYSCREEN = 1;
		2292	private static IntPtr HWND_TOP = IntPtr.Zero;
		2293	private const int SWP_SHOWWINDOW = 64; // 0x0040
		2294
		2295	public static int ScreenX
		2296	{
		2297	get { return GetSystemMetrics(SM_CXSCREEN); }
		2298	}
		2299
		2300	public static int ScreenY
		2301	{
		2302	get { return GetSystemMetrics(SM_CYSCREEN); }
		2303	}
		2304
		2305	public static void SetWinFullScreen(IntPtr hwnd)
		2306	{
		2307	SetWindowPos(hwnd, HWND_TOP, -8, -7, ScreenX+15, ScreenY+14, SWP_SHOWWINDOW);
		2308	}
		2309	}
		2310	/// <summary>
		2311	/// Class used to preserve / restore state of the window
		2312	/// </summary>
		2313	public class WinState
		2314	{
		2315	private WindowState winState;
		2316	private WindowStyle brdStyle;
		2317	private bool topMost;
		2318	private Rect restore;
		2319	private bool IsMaximized = false;
		2320
		2321	public bool isMaximized
		2322	{
		2323	get { return IsMaximized; }
		2324	}
		2325	public void Maximize(Window targetForm)
		2326	{
		2327	if (!IsMaximized)
		2328	{
		2329	IsMaximized = true;
		2330	Save(targetForm);
		2331	targetForm.WindowState = WindowState.Maximized;
		2332	targetForm.WindowStyle = WindowStyle.None;
		2333	targetForm.Topmost = true;
		2334	WinApi.SetWinFullScreen(new WindowInteropHelper(targetForm).Handle);
		2335	}
		2336	}
		2337
		2338	public void Save(Window targetForm)
		2339	{
		2340	winState = targetForm.WindowState;
		2341	brdStyle = targetForm.WindowStyle;
		2342	topMost = targetForm.Topmost;
		2343	restore = targetForm.RestoreBounds;
		2344	}
		2345	public void Restore(Window targetForm)
		2346	{
		2347	targetForm.WindowState = winState;
		2348	targetForm.WindowStyle = brdStyle;
		2349	targetForm.Topmost = topMost;
		2350
		2351	targetForm.Left = restore.Left;
		2352	targetForm.Top = restore.Top;
		2353	targetForm.Height = restore.Height;
		2354	targetForm.Width = restore.Width;
		2355	IsMaximized = false;
		2356	}
		2357	}
		2358
		2359	}

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(root)/MKLiveView/v1.0/Source/MainWindow.xaml.cs @ 2340 - Rev 2287