#!/usr/bin/perl
#!/usr/bin/perl -d:ptkdb

###############################################################################
#
# mkcockpit.pl -  MK Mission Cockpit - GUI
#
# Copyright (C) 2009  Rainer Walther  (rainerwalther-mail@web.de)
#
# Creative Commons Lizenz mit den Zusaetzen (by, nc, sa)
#
# Es ist Ihnen gestattet: 
#     * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen
#     * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen
# 
# Zu den folgenden Bedingungen:
#     * Namensnennung.
#       Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen.
#     * Keine kommerzielle Nutzung.
#       Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden.
#     * Weitergabe unter gleichen Bedingungen.
#       Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten,
#       verändern oder als Grundlage für einen anderen Inhalt verwenden,
#       dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen
#       weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind.
# 
# Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses
# Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden.
# 
# Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung
# des Rechteinhabers dazu erhalten.
# 
# Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt.
# 
# Weitere Details zur Lizenzbestimmung gibt es hier:
#   Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/
#   Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode
#
###############################################################################
# 2009-02-20 0.0.1 rw created
# 2009-04-01 0.1.0 rw RC1
#
###############################################################################

$Version = "0.1.0 - 2009-04-01";
 
use threads;            # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm
                        # http://perldoc.perl.org/threads.html
use threads::shared;    # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm
use Thread::Queue;      # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm
use Tk;
use Tk::Balloon;
use Tk::Dialog;
use Tk::Notebook;
use Math::Trig;
use Time::HiRes qw(usleep);  # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm
use XML::Simple;             # http://search.cpan.org/dist/XML-Simple-2.18/lib/XML/Simple.pm

# change working directory to program path
my $Cwd = substr ($0, 0, rindex ($0, "mkcockpit.pl"));
chdir $Cwd;

# set path for local Perl libs
push @INC, $Cwd . "perl/lib", $Cwd . "perl/site/lib";

# Version setting
share (%Version);
$Version{'mkcockpit.pl'}  = $Version;

# Read configuration

$XmlConfigFile = "mkcockpit.xml";
$Cfg = XMLin($XmlConfigFile);

require "track.pl";     # Tracking antenna
require "mkcomm.pl";    # MK communication
require "logging.pl";   # CSV and GPX Logging
require "geserver.pl";  # Google Earth Server
require "$Cfg->{'map'}->{'MapDir'}/map.pl";   # Landkarte
require "libmap.pl";    # map subs
require "translate.pl"; # Übersetzungstable

# Thread fuer Kommunikation mit MK starten
# Output: %MkOsd, %MkTarget, %MkNcDebug, %Mk
# Input:  Thread-Queue: $MkSendQueue
$mk_thr = threads->create (\&MkCommLoop) -> detach();

# Start Logging Thread
$log_thr = threads->create (\&MkLogLoop) -> detach(); 

# Start GoogleEarth Thread
$ge_thr = threads->create (\&GeServer) -> detach();

# Aktuell gültige Karte
my %Map = %{$Maps{'Current'}};
	
# Hauptfenster
my $main = new MainWindow;
$main->title ("MK Mission Cockpit");

#-----------------------------------------------------------------
# Menu
#-----------------------------------------------------------------

# Menu bar
my $menu_bar = $main->Menu;
$main->optionAdd("*tearOff", "false");
$main->configure ('-menu' => $menu_bar);

my $menu_file = $menu_bar->cascade('-label' => "~Datei");
    $menu_file->command('-label' => 'Einstellungen',
                        '-command' => [\&Configure],
                       );
    $menu_file->command('-label' => 'Ende',
                        '-command' => sub{exit(0)},
                        );

my $menu_debug = $menu_bar->cascade(-label => "D~ebug");
    $menu_debug->command('-label' => 'NC ~OSD Datensatz (O)', 
                         '-command' => [\&DisplayHash, \%MkOsd, "NC OSD Datensatz (O)", "Display Refresh Heartbeat"],
                        );
    $menu_debug->command('-label' => 'NC ~Target Datensatz (s)', 
                         '-command' => [\&DisplayHash, \%MkTarget, "NC Target Datensatz (s)", "Display Refresh Heartbeat"],
                        );
    $menu_debug->command('-label' => 'NC ~Debug Datensatz (D)', 
                         '-command' => [\&DisplayHash, \%MkNcDebug, "NC Debug Datensatz (D)", "Display Refresh Heartbeat"],
		     			);		
    $menu_debug->command('-label' => 'NC ~Sonstiges', 
                         '-command' => [\&DisplayHash, \%Mk, "NC Sonstiges", "Display Refresh Heartbeat"],
		     			);
    $menu_debug->separator;					
    $menu_debug->command('-label' => 'Tracking ~Antenne Debug Datensatz', 
                         '-command' => [\&DisplayHash, \%MkTrack, "Tracking Antenne Debug Datensatz", "Display Refresh Heartbeat"],
                        );

my $menu_help = $menu_bar->cascade(-label => "~Hilfe");
    $menu_help->command('-label' => 'Version',
	                '-command' => [\&DisplayHash, \%Version, "Version", "Display"],
	               );
    $menu_help->separator;
    $menu_help->command('-label' => 'Über',
                        '-command' => sub
        {
        my $License = <<EOF;
Copyright (C) 2009  Rainer Walther (rainerwalther-mail\@web.de)

Creative Commons Lizenz mit den Zusaetzen (by, nc, sa)

Siehe LICENSE.TXT
EOF

        my $DlgAbout = $frame_map->Dialog('-title' => 'Über MK Mission Cockpit',
                                          '-text' => "$License",
                                          '-buttons' => ['OK'],
                                          '-bitmap' => 'info',
                                         );
        $DlgAbout->Show;
        });  


# Hauptfenster Statuszeile
$frame_status = $main->Frame( '-background' => 'lightgray',
                         ) -> pack('-side' => 'bottom',
                                   '-anchor' => 'w',
                                   '-fill' => 'none',
                                   '-expand' => 'y',
                                    );
$status_line = $frame_status->Label ('-text' => 'Statuszeile',
                                    ) -> pack ('-side' => 'bottom', 
                                               );

											   
#-----------------------------------------------------------------
# Frames
#-----------------------------------------------------------------			  

#
# Frame: Map
#
				 
$frame_map = $main->Frame( '-background' => 'lightgray',
                           '-relief' => 'sunken',
                           '-borderwidth' => 5,
                          ) -> pack('-side' => 'top',
                                    '-fill' => 'x',
                                    );

# Map Überschrift
$frame_map_top = $frame_map->Frame() -> pack( '-side' => 'top',
                                              '-expand' => 'x', 
                                              '-anchor' => 'w',
                                            );

$frame_map_top->Label ('-text' => "Karte: $Map{'Name'} ($Map{'File'})",
                       '-background' => 'lightgray',
                       '-relief' => 'flat',
                       ) -> pack( '-side' => 'left' );

# Map Statuszeile
$map_status = $frame_map->Frame( '-background' => 'lightgray',
                               ) -> pack('-side' => 'bottom',
                                         '-anchor' => 'w',
                                         '-fill' => 'none',
                                         '-expand' => 'y',
                                        );
$map_status_line = $map_status->Label ( '-text' => 'Statuszeile',
                                        '-background' => 'lightgray',
                                       ) -> pack ('-side' => 'bottom',);

# Map Canvas

# Canvas size
$MapSizeX  = $Map{'Size_X'};
$MapSizeY  = $Map{'Size_Y'};

$map_canvas = $frame_map->Canvas( '-width'  => $MapSizeX,
                                  '-height' => $MapSizeY,
                                  '-cursor' => 'cross',
                                ) -> pack();

# load Map photo
$map_canvas->Photo( 'Map',
                    '-file' => "$Cfg->{'map'}->{'MapDir'}/$Map{'File'}",
                  );
								
$map_canvas->createImage( 0, 0,
                          '-tags' => 'Map',
                          '-anchor' => 'nw',
                          '-image'  => 'Map',
                        );		

# border polygon
$map_canvas->createPolygon( @Map{'Border'},
                           '-tags' => 'Map-Border',
                           '-fill' => '',
                           '-outline' => $Cfg->{'mkcockpit'}->{'ColorAirfield'}, '-width' => 2,
                          );
			    
# load Heartbeat icon
$map_canvas->Photo( 'HeartbeatSmall',
                    '-file' => "$Cfg->{'mkcockpit'}->{'IconHeartSmall'}",
                  );
$map_canvas->Photo( 'HeartbeatLarge',
                    '-file' => "$Cfg->{'mkcockpit'}->{'IconHeartLarge'}",
                  );
$map_canvas->createImage( $MapSizeX/4, 10,
                          '-tags' => 'Heartbeat',
                          '-anchor' => 'nw',
                          '-image'  => 'HeartbeatSmall',
                        );

# load Satellite icon
$map_canvas->Photo( 'Satellite-Photo',
                    '-file' => "$Cfg->{'mkcockpit'}->{'IconSatellite'}",
			       );
$map_canvas->createImage($MapSizeX-180, -100,   # hide photo 
                         '-tags' => 'Satellite',
                         '-anchor' => 'nw',
                         '-image'  => 'Satellite-Photo',
                        );

# load Waypoint icon
$map_canvas->Photo( 'Waypoint-Photo',
                    '-file' => "$Cfg->{'mkcockpit'}->{'IconWaypoint'}",
                  );
# load Target icon
$map_canvas->Photo( 'Target-Photo',
                    '-file' => "$Cfg->{'mkcockpit'}->{'IconTarget'}",
                  );
					
$map_canvas->createImage(0, -100,   # hide photo 
                         '-tags' => 'Target',
                         '-anchor' => 'nw',
                         '-image'  => 'Target-Photo',
                        );

# load Fox icon
$map_canvas->Photo( 'Fox-Photo',
                    '-file' => "$Cfg->{'mkcockpit'}->{'IconFox'}",
                  );
$map_canvas->createImage($MapSizeX/2+50, $MapSizeY/2,
                         '-tags' => 'Fox',
                         '-anchor' => 'nw',
                         '-image'  => 'Fox-Photo',
                        );
							
# Balloon attached to Canvas
$map_balloon = $frame_map->Balloon('-statusbar' => $status_line, );
$map_balloon->attach($map_canvas,
                     '-balloonposition' => 'mouse',
                     '-state' => 'balloon',
                     '-msg' => { 'MK-Arrow' => "MikroKopter",
                                 'MK-Home-Line' => "Hier gehts nach Hause",
                                 'MK-Home-Dist' => "Entfernung nach Hause",
                                 'MK-Target-Line' => "Hier gehts zum Ziel",
                                 'MK-Target-Dist' => "Entfernung zum Ziel",
                                 'MK-Speed' => 'Geschwindigkeits-Vektor',
                                 'Map-Variometer' => 'Variometer',
                                 'Map-Variometer-Pointer' => 'Variometer',
                                 'Map-Variometer-Skala' => 'Variometer',
                                 'Fox' => 'Ziel für Fuchsjagd',
                                 'Heartbeat' => 'Aktivität Datenübertragung zum MK',
                                 'Satellite' => 'Guter Satelliten-Empfang',
                                 'Waypoint' => 'Wegpunkt',
                                 'Map-Border' => 'Flugplatz',
                                 'Waypoint-Connector' => 'Verbinder Wegpunkte',
                               },
                    );
#
# Mouse buttons
#
					
# general Mouse button 1
$map_canvas->CanvasBind("<Button-1>", sub
    {
    # print coords in status line
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    my ($Lat, $Lon) = &MapXY2Gps($x, $y);
    $map_status_line->configure ('-text' => "Lat: $Lat  Lon: $Lon     x: $x  y: $y");
    });
	
# Mouse button 1 for Fox
my $FoxOldx = 0;
my $FoxOldy = 0;

# Pick Fox
$map_canvas->bind('Fox' => '<Button-1>' => sub
    {
    # prepare to move Fox
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    $FoxOldx = $x;
    $FoxOldy = $y;
    $FoxTime = time;
    });

# Move Fox
$map_canvas->bind('Fox' => '<Button1-Motion>' => sub
    {
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    my $id      = $map_canvas->find('withtag', 'current');

    $map_canvas->move($id => $x - $FoxOldx, $y - $FoxOldy);
    $FoxOldx = $x;
    $FoxOldy = $y;
	
    if ( time > $FoxTime )
        {
	  # wenn in Bewegung Koordinaten nur 1/s senden
        my ($x0, $y0, $x1, $y1) = $map_canvas->bbox ($id);
        $x = $x0 + ($x1 - $x0)/2;
        $y = $y1;

        &MkFlyTo ( '-x' => $x,
                   '-y' => $y,
                   '-mode' => "Target",
                 );
        $FoxTime = time;

        $map_status_line->configure ('-text' => "Ziel-Koordinaten gesendet -> Lat: $Lat  Lon: $Lon     x: $x  y: $y");
        }
    });

# Release Fox
$map_canvas->bind('Fox' => '<Button1-ButtonRelease>' => sub
    {
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    my $id      = $map_canvas->find('withtag', 'current');

    my ($x0, $y0, $x1, $y1) = $map_canvas->bbox ($id);
    $x = $x0 + ($x1 - $x0)/2;
    $y = $y1;
	
    &MkFlyTo ( '-x' => $x,
               '-y' => $y,
               '-mode' => "Target"
             );

    # Show user that Waypoints in MK are cleared
    $WaypointsModified = 1;
    &WpRedrawLines();

    $map_status_line->configure ('-text' => "Ziel-Koordinaten gesendet -> Lat: $Lat  Lon: $Lon     x: $x  y: $y");
    });

# Pick Waypoint
$map_canvas->bind('Waypoint' => '<Button-1>' => sub
    {
    # prepare to move
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    $WpOldx = $x;
    $WpOldy = $y;
    });
	
# Move Waypoint
$map_canvas->bind('Waypoint' => '<Button1-Motion>' => sub
    {
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    my $id      = $map_canvas->find('withtag', 'current');

    # move icon and Wp-Number
    my $WpIndex = &WpGetIndexFromId($id);
    if ( $WpIndex >= 0 )
        {
        my $Tag = $Waypoints[$WpIndex]{'Tag'};
        $map_canvas->move($Tag => $x - $WpOldx, $y - $WpOldy);
        }

    $WpOldx = $x;
    $WpOldy = $y;
    });

# Release Wp
$map_canvas->bind('Waypoint' => '<Button1-ButtonRelease>' => sub
    {
    my ($x, $y) = ($Tk::event->x, $Tk::event->y);
    my $id      = $map_canvas->find('withtag', 'current');

    # take coords from lower/middle icon position
    my ($x0, $y0, $x1, $y1) = $map_canvas->bbox ($id);
    $x = $x0 + ($x1 - $x0)/2;
    $y = $y1;

    # update Waypoint-Array
    my $WpIndex = &WpGetIndexFromId($id);
    if ( $WpIndex >= 0 )
	{
        # got it: set new coords

        my ($Lat, $Lon) = &MapXY2Gps($x, $y);
        my $Wp = $Waypoints[$WpIndex];
        $Wp->{'MapX'} = $x;
        $Wp->{'MapY'} = $y;
        $Wp->{'Pos_Lat'} = $Lat;
        $Wp->{'Pos_Lon'} = $Lon;
		
        # redraw connector-lines
        &WpRedrawLines();

        # red connectors: Wp still have to be sent to MK
        $map_canvas->itemconfigure('Waypoint-Connector',
		                       '-fill' => $Cfg->{'mkcockpit'}->{'ColorWpResend'},
                                      );
        $WaypointsModified = 1;
			
        my $WpNum = $WpIndex + 1;
        $map_status_line->configure ('-text' => "Wegpunkt $WpNum verschoben  Lat: $Lat  Lon: $Lon     x: $x  y: $y");
        }
    });
	
# Mouse button 3 context menu
my $map_menu = $map_canvas->Menu('-tearoff' => 0,
                                 '-title' =>'None',
                                 '-menuitems' =>
    [
     [Button => "Wegpunkt hinzufügen und senden",  -command => sub
        {
        my $Tag = sprintf "Waypoint-%d.%d", time, int (rand(9)) ;   # kind of unique Tag for this Wp

        # Waypoint Icon
        my $IconHeight = 48;
        my $IconWidth = 48;
        $map_canvas->createImage($MapCanvasX-$IconWidth/2, $MapCanvasY-$IconHeight,
                                 '-tags' => ['Waypoint', $Tag],
                                 '-anchor' => 'nw',
                                 '-image'  => 'Waypoint-Photo',
                                );

        # Waypoint Number
        my $WpNumber = scalar @Waypoints + 1;
        $map_canvas->createText ( $MapCanvasX+3, $MapCanvasY-$IconHeight/2+12,
                                  '-tags' => ['WaypointNumber', $Tag],
                                  '-text' => $WpNumber,
                                  '-font' => '-*-Arial-Bold-R-Normal--*-100-*',
                                  '-fill' => $Cfg->{'mkcockpit'}->{'ColorWpNumber'},
                                  '-anchor' => 'w',
                                 );	

        $map_canvas->lower('Waypoint', 'Fox');            # waypoint below Fox
        $map_canvas->lower('WaypointNumber', 'Waypoint'); # Nr below waypoint

        # send Wp to MK		
        ($Lat, $Lon) = &MapXY2Gps($MapCanvasX, $MapCanvasY);
        &MkFlyTo ( '-lat' => $Lat,
                   '-lon' => $Lon,
                   '-mode' => "Waypoint"
                 );
	
        # save Wp-Hash in Waypoint-Array
        my $Wp = {};        
        $Wp->{'Tag'} = $Tag;
        $Wp->{'MapX'} = $MapCanvasX;
        $Wp->{'MapY'} = $MapCanvasY;
        $Wp->{'Pos_Lat'} = $Lat;
        $Wp->{'Pos_Lon'} = $Lon;
        $Wp->{'Pos_Alt'} = $MkOsd{'CurPos_Alt'};
        $Wp->{'Heading'}         = $Cfg->{'waypoint'}->{'DefaultHeading'};
        $Wp->{'ToleranceRadius'} = $Cfg->{'waypoint'}->{'DefaultToleranceRadius'};
        $Wp->{'Holdtime'}        = $Cfg->{'waypoint'}->{'DefaultHoldtime'};
        $Wp->{'Event_Flag'}      = $Cfg->{'waypoint'}->{'DefaultEventFlag'};
        push @Waypoints, $Wp;

        # redraw connector-lines
        &WpRedrawLines();  

        $map_status_line->configure ('-text' => "Wegpunkt gespeichert und gesendet -> Lat: $Lat Lon: $Lon");
        }],


     [Button => "Wegpunkt Eigenschaften",  -command => sub
        {

	
        # find Wp-Hash for selected icon/tag
        my $WpIndex = &WpGetIndexFromId($MapCanvasId);
        if ( $WpIndex >= 0 )
            {
            my $Wp = $Waypoints[$WpIndex];
            my $WpNum = $WpIndex + 1;

            &DisplayHash ($Wp, "Eigenschaften Wegpunkt $WpNum", "Edit Waypoint Refresh");

            $map_status_line->configure ('-text' => "Wegpunkt $WpNum Eigenschaften"); 
            }
        }],
		
     [Button => "Alle Wegpunkte erneut senden",  -command => sub
        {
        &WpSendAll();
		
        $map_status_line->configure ('-text' => "Alle Wegpunkte gesendet"); 
        }],

      '',   # Separator
	
     [Button => "Wegpunkte laden und senden",  -command => sub
        {
        $WpFile = $main->getOpenFile('-defaultextension' => ".xml",
                                     '-filetypes'        =>
                                         [['Waypoints',     '.xml' ],
                                          ['All Files',     '*', ],
                                         ],
                                     '-initialdir' => $Cfg->{'waypoint'}->{'WpDir'},
                                     '-title' => "Wegpunkte laden",
                                    );
        if ( -f $WpFile )
            {
            # XML in Hash-Ref lesen
            my $Wp = XMLin($WpFile, ForceArray => 1);

            # XML Hash-Ref in Wp-Array umkopieren
            undef @Waypoints;
            foreach $key (sort keys %$Wp)
                {
                my $Point = $Wp->{$key}->[0];

                # GPS Koordinaten für die aktuelle Karte neu aus Map x/y berechnen
                my ($Lat, $Lon) = &MapXY2Gps($Point->{'MapX'}, $Point->{'MapY'});
                $Point->{'Pos_Lat'} = $Lat;
                $Point->{'Pos_Lon'} = $Lon;

                push @Waypoints, $Point;
                }

            &WpSendAll();
            &WpRedrawLines();
            &WpRedrawIcons();
	
            $map_status_line->configure ('-text' => "Wegpunkte aus $WpFile geladen und gesendet"); 
            }
        }],	
	
     [Button => "Wegpunkte speichern",  -command => sub
        {
        $WpFile = $main->getSaveFile('-defaultextension' => ".xml",
                                     '-filetypes'        =>
                                       [['Waypoints',     '.xml' ],
                                        ['All Files',     '*', ],
                                       ],
                                     '-initialdir' => $Cfg->{'waypoint'}->{'WpDir'},
                                     '-title' => "Wegpunkte speichern",
                                    );

        # Waypoint-Array in Hash umkopieren
        my %Wp;
        for  $i ( 0 .. $#Waypoints )
            {
            my $key = sprintf ("WP-%04d", $i);
            $Wp{$key} = $Waypoints[$i];
            }

        # WP-Hash als XML speichern
        &XMLout (\%Wp,
                 'OutputFile' => $WpFile,
                 'AttrIndent' => '1',
                 'RootName' => 'Waypoints',
                );
		
        $map_status_line->configure ('-text' => "Wegpunkte in $WpFile gespeichert"); 
        }],
		
     '',   # Separator

     [Button => "Wegpunkt löschen",  -command => sub
        {
        # find Wp-Hash for selected icon/tag
        my $WpIndex = &WpGetIndexFromId($MapCanvasId);
        if ( $WpIndex >= 0 )
            {
            my $Wp = $Waypoints[$WpIndex];

            # remove icon and Wp-Number on canvas;
            $map_canvas->delete($Wp->{'Tag'});

            # delete Wp in Waypoint-Array
            splice @Waypoints, $WpIndex, 1;

            # redraw connector-lines
            $WaypointsModified = 1;
            &WpRedrawLines();  
            &WpRedrawIcons();  # wg. Wp-Nummern

            $WpNum = $WpIndex + 1;
            $map_status_line->configure ('-text' => "Wegpunkt $WpNum gelöscht");
            }
        }],

     [Button => "Alle Wegpunkte löschen und senden",  -command => sub
        {
        undef @Waypoints;

        # remove all Wp-Icons and Wp-Number on canvas
        $map_canvas->delete('Waypoint');
        $map_canvas->delete('WaypointNumber');
		
        # redraw connector-lines
        &WpRedrawLines();  

        &WpSendAll();

        $map_status_line->configure ('-text' => "Alle Wegpunkte $WpIndex gelöscht");
        }],

    '',   # Separator
	 
     [Button => "Ziel sofort anfliegen",  -command => sub
        {
        &MkFlyTo ( '-x' => $MapCanvasX,
                   '-y' => $MapCanvasY,
                   '-mode' => "Target"
                 );

        # redraw connector-lines
        $WaypointsModified = 1;
        &WpRedrawLines();  

        $map_status_line->configure ('-text' => "Ziel-Koordinaten gesendet -> Lat: $Lat  Lon: $Lon     x: $x  y: $y");
        }],
    ]
                                    );
$map_canvas->CanvasBind("<Button-3>" => [ sub
    {
    $map_canvas->focus;
    my($w, $x, $y) = @_;
    ($MapCanvasX, $MapCanvasY) = ($Tk::event->x, $Tk::event->y);
    $MapCanvasId = $map_canvas->find('withtag', 'current');
    $map_menu->post($x, $y);
    }, Ev('X'), Ev('Y') ] );


#
# Objects on canvas
#

# Line from MK to Home
$map_canvas->createLine ( $MapSizeX/2, $MapSizeY/2, $MapSizeX/2, $MapSizeY/2,
                          '-tags' => 'MK-Home-Line',
                          '-arrow' => 'none',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorHomeLine'},
                          '-width' => 3,
                         );
										  
# Text Entfernung positioniert an der Home-Linie
$map_canvas->createText ( $MapSizeX/2 + 8, $MapSizeY/2 - 8,
                          '-tags' => 'MK-Home-Dist',
                          '-text' => '0 m',
                          '-anchor' => 'w',
                          '-font' => '-*-Arial-Bold-R-Normal--*-200-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorHomeDist'},
                          );

# Line from MK to Target, draw invisible out of sight
$map_canvas->createLine ( 0, -100, 0, -100,
                          '-tags' => 'MK-Target-Line',
                          '-arrow' => 'none',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorTargetLine'},
                          '-width' => 3,
                         );
										  
# Text Entfernung positioniert an der Target-Linie
$map_canvas->createText ( 0, -100,
                          '-tags' => 'MK-Target-Dist',
                          '-text' => '0 m',
                          '-anchor' => 'w',
                          '-font' => '-*-Arial-Bold-R-Normal--*-200-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorTargetDist'},
                          );
						  
# MK Geschwindigkeits-Vektor
$MapMkSpeedLen = 60;    # Länge Speed-Zeiger
my $x0 = $MapSizeX/2;
my $y0 = $MapSizeY/2;
my $x1 = $MapSizeX/2;
my $y1 = $MapSizeY/2 - $MapMkSpeedLen;
$map_canvas->createLine ( $x0, $y0, $x1, $y1,
                          '-tags' => 'MK-Speed',
                          '-arrow' => 'last',
                          '-arrowshape' => [10, 10, 3 ],
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorSpeedVector'},
                          '-width' => 4,
                         );

# MK als Pfeilspitze einer Linie darstellen
$MapMkLen = 25;
my $x0 = $MapSizeX/2;
my $y0 = $MapSizeY/2 + $MapMkLen/2;
my $x1 = $MapSizeX/2;
my $y1 = $MapSizeY/2 - $MapMkLen/2;
$map_canvas->createLine ( $x0, $y0, $x1, $y1,
                          '-tags' => 'MK-Arrow',
                          '-arrow' => 'last',
                          '-arrowshape' => [25, 30, 10 ],
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorMkSatNo'},
                          '-width' => 1
                         );

						 
# OSD Daten auf Karte anzeigen

# Flugzeit
$map_canvas->createText ( $MapSizeX/2 - 40, 20,
                          '-tags' => 'MK-OSD-Tim-Label',
                          '-text' => 'TIM',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( $MapSizeX/2, 20,
                          '-tags' => 'MK-OSD-Tim-Value',
                          '-text' => $MkFlyingTime,            # $MkOsd{'FlyingTime'},
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

# Batterie Spannung
$map_canvas->createText ( $MapSizeX/2 - 40, 50,
                          '-tags' => 'MK-OSD-Bat-Label',
                          '-text' => 'BAT',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( $MapSizeX/2, 50,
                          '-tags' => 'MK-OSD-Bat-Value',
                          '-text' => sprintf ("%3.1f V", $MkOsd{'UBat'}),
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

# Ground speed
$map_canvas->createText ( 10,  20,
                          '-tags' => 'MK-OSD-Spd-Label',
                          '-text' => 'SPD',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( 50,  20,
                          '-tags' => 'MK-OSD-Spd-Value',
                          '-text' => sprintf ("%3d km/h", $MkOsd{'GroundSpeed'} * 0.036),
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

# Hoehe (Luftdruck)
$map_canvas->createText ( 10,  50,
                          '-tags' => 'MK-OSD-Alt-Label',
                          '-text' => 'ALT',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( 50,  50,
                          '-tags' => 'MK-OSD-Alt-Value',
                          '-text' => sprintf ("%3d m", $MkOsd{'Altimeter'}/$Cfg->{'mkcockpit'}->{'AltFactor'}),
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

# Variometer 
$map_canvas->createText ( 10,  80,
                          '-tags' => 'MK-OSD-Vsi-Label',
                          '-text' => 'VSI',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( 50,  80,
                          '-tags' => 'MK-OSD-Vsi-Value',
                          '-text' => sprintf ("%3d", $MkOsd{'Variometer'}),
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

# Anzahl Satelitten
$map_canvas->createText ( $MapSizeX - 120, 20,
                          '-tags' => 'MK-OSD-Sat-Label',
                          '-text' => 'SAT',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( $MapSizeX - 70, 20,
                          '-tags' => 'MK-OSD-Sat-Value',
                          '-text' => "$MkOsd{'SatsInUse'}",
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

# Wegpunkte
$map_canvas->createText ( $MapSizeX - 120, 50,
                          '-tags' => 'MK-OSD-Wp-Label',
                          '-text' => 'WPT',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( $MapSizeX - 70, 50,
                          '-tags' => 'MK-OSD-Wp-Value',
                          '-text' => $MkOsd{'WaypointIndex'} . "/" . $MkOsd{'WaypointNumber'} ,
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );
# Navigation Mode
$map_canvas->createText ( $MapSizeX - 120, 80,
                          '-tags' => 'MK-OSD-Mode-Label',
                          '-text' => 'MOD',
                          '-font' => '-*-Arial-Bold-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );

$map_canvas->createText ( $MapSizeX - 70, 80,
                          '-tags' => 'MK-OSD-Mode-Value',
                          '-text' => '' ,
                          '-font' => '-*-Arial-Bold-R-Normal--*-270-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'},
                          '-anchor' => 'w',
                         );
						 
# Variometer on canvas
my @Polygon;
for ( $y = -100; $y <= 100; $y += 10)
    {
    my $Len = 5;
    if ( ($y % 50) == 0 ) 
        {
        $Len = 10;
        $map_canvas->createText ( $Len+5, $MapSizeY/2 + $y,
                                  '-tags' => 'Map-Variometer-Skala',
                                  '-text' => sprintf ("%3d", -$y / 10),
                                  '-anchor' => 'w',
                                  '-font' => '-*-Arial-Normal-R-Normal--*-150-*',
                          '-fill' => $Cfg->{'mkcockpit'}->{'ColorVariometer'},
                          );
	}
    push @Polygon, (   0, $MapSizeY/2 + $y);
    push @Polygon, ($Len, $MapSizeY/2 + $y);
    push @Polygon, (   0, $MapSizeY/2 + $y);
    }

$map_canvas->createLine(@Polygon,
                        '-tags' => 'Map-Variometer',
                        '-fill' => $Cfg->{'mkcockpit'}->{'ColorVariometer'},
                        '-width' => 2,
                        '-arrow' => 'none',
                       ); 
# Vario Pointer
$map_canvas->createPolygon( 5, $MapSizeY/2, 20, $MapSizeY/2+10, 20, $MapSizeY/2-10,
                           '-tags' => 'Map-Variometer-Pointer',
                           '-fill' => $Cfg->{'mkcockpit'}->{'ColorVariometerPointer'},
                           '-outline' => 'black', '-width' => 1,
                          );

# Tracking Canvas

if ( $Cfg->{'track'}->{'Active'} =~ /y/i )
    {
    # Canvas size
    $TrackSizeX  = 125;
    $TrackSizeY  = 100;
    $TrackOffY   = $TrackSizeY - $MapSizeY + 20;
    $TrackPtrLen = 50;    # Länge Zeiger

    # draw in map-canvas
    $track_canvas = $map_canvas;

    # Ziffernblatt
    my $x0 = $TrackSizeX/2 - $TrackPtrLen;
    my $y0 = $TrackSizeY + $TrackPtrLen - $TrackOffY;
    my $x1 = $TrackSizeX/2 + $TrackPtrLen;
    my $y1 = $TrackSizeY   - $TrackPtrLen - $TrackOffY;
    $track_canvas->createArc ( $x0, $y0, $x1, $y1,
                               '-extent' => '200',
                               '-start' => '-10', 
                               '-style' => 'chord',
                               '-outline' => 'gray', '-width' => '1',
                             );

    # Skala Ziffernblatt
    for ($i=0; $i<=180; $i+=15)
        {
        my $pi = 3.14159265358979;
        my $x0 = $TrackSizeX/2 - ($TrackPtrLen - 20) * cos($i / 180 * $pi);
        my $y0 = $TrackSizeY   - ($TrackPtrLen - 20) * sin($i / 180 * $pi) - $TrackOffY;
        my $x1 = $TrackSizeX/2 - ($TrackPtrLen - 28) * cos($i / 180 * $pi);
        my $y1 = $TrackSizeY   - ($TrackPtrLen - 28) * sin($i / 180 * $pi) - $TrackOffY;
        $track_canvas->createLine ( $x0, $y0, $x1, $y1,
                                   '-fill' => 'white',
                                   '-width' => 1,
                                  );
        }

    # Skala Beschriftung Ziffernblatt
    for ($i=0; $i<=180; $i+=45)
        {
        my $pi = 3.14159265358979;
        my $x0 = $TrackSizeX/2 - ($TrackPtrLen - 12) * cos($i / 180 * $pi);
        my $y0 = $TrackSizeY   - ($TrackPtrLen - 12) * sin($i / 180 * $pi) - $TrackOffY;
        $track_canvas->createText ( $x0, $y0,
                                   '-text' => $i - 90,
                                   '-fill' => 'white',
                                  );
        }

    # Ziffernblatt Beschriftung Einheit
    my $x0 = $TrackSizeX/2;
    my $y0 = $MapSizeY -6;
    $track_canvas->createText ( $x0, $y0,
                                '-text' => "Antenne Winkel",
                                '-justify' => 'center',
                                '-fill' => 'white',
                                );
					  
    # Zeiger
    my $x0 = $TrackSizeX/2;
    my $y0 = $TrackSizeY - 0 - $TrackOffY;
    my $x1 = $TrackSizeX/2;
    my $y1 = $TrackSizeY - ($TrackPtrLen - 22) - $TrackOffY;
    $track_ptr_id= $track_canvas->createLine ( $x0, $y0, $x1, $y1,
                                               '-tags' => 'Track-Ptr',
                                               '-arrow' => 'last',
                                               '-arrowshape' => [20, 30, 5 ],
                                               '-fill' => 'red',
                                               '-width' => 8,
                                              );
    # Zeiger Center
    my $Dia = 7;
    my $x0 = $TrackSizeX/2 - $Dia;
    my $y0 = $TrackSizeY + $Dia - $TrackOffY;
    my $x1 = $TrackSizeX/2 + $Dia;
    my $y1 = $TrackSizeY   - $Dia - $TrackOffY;
    $track_canvas->createArc ( $x0, $y0, $x1, $y1,
                               '-extent' => '359',
                               '-outline' => 'gray', '-width' => 1,
                               '-fill' => 'gray',
                             );
    }
										 
#-----------------------------------------------------------------
# Timer
#-----------------------------------------------------------------			  

#
# Timer: 5s
#
$main->repeat (5000, sub 
    {
    if ( ! $MkSendWp )
        {
        # Abfragefrequenz OSD und Debug regelmäßig neu einstellen, falls Übertragungsfehler
        $MkSendQueue->enqueue( "o", "$AddrNC", pack ("C", 10) );   # Frequenz OSD Datensatz, * 10ms
        $MkSendQueue->enqueue( "d", "$AddrNC", pack ("C", 10) );   # Frequenz MK Debug Datensatz, * 10ms
        $MkSendQueue->enqueue( "v", "$AddrNC", "");   # Version
        $MkSendQueue->enqueue( "e", "$AddrNC", "");   # Error Text Request
        }
    });

#	
# Timer: 0.1s - Map Overlay aktualisieren
#
$frame_map_top->repeat (100, sub
    {
    lock (%MkOsd);              # until end of block

    # Aktuell gültige Karte
    my %Map = %{$Maps{'Current'}};

    if ( $MkOsd{'_Timestamp'} >= time-2 )
        {
        # Gueltige OSD Daten
        my $SatsInUse = $MkOsd{'SatsInUse'};
        if ( $SatsInUse > 0  and  $MkOsd{'CurPos_Stat'} == 1 and $MkOsd{'HomePos_Stat'} == 1 )
            {
            # ausreichender GPS Empfang

            # get x,y map coords of current position
            my ($C_x, $C_y, $C_Angel) = &MapGps2XY($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}, $MkOsd{'CompassHeading'});
		
            # rotate MK arrow
            my $dy = sin (deg2rad $C_Angel) * ($MapMkLen/2);
            my $dx = cos (deg2rad $C_Angel) * ($MapMkLen/2);
            my $x0 = $C_x - $dx;
            my $y0 = $C_y - $dy;
            my $x1 = $C_x + $dx;
            my $y1 = $C_y + $dy;
            $map_canvas->coords ('MK-Arrow', $x0, $y0, $x1, $y1);

            # Update speed vector
            my $MapAngel = &MapAngel();   # Norh to Map-Horizont
            my $GpsSpeedNorth = $MkNcDebug{'Analog_21'};
            my $GpsSpeedEast  = $MkNcDebug{'Analog_22'};
            my $PhiGpsSpeed = rad2deg atan2 ( $GpsSpeedEast, $GpsSpeedNorth );
            $PhiMapSpeed = $PhiGpsSpeed - $MapAngel;

            # 555 cm/s ~ 20 km/h -> Zeigerlänge = $MkSpeedLen bei 20 km/h
            my $dy = sin (deg2rad $PhiMapSpeed) * $MapMkSpeedLen * $MkOsd{'GroundSpeed'} / 555;
            my $dx = cos (deg2rad $PhiMapSpeed) * $MapMkSpeedLen * $MkOsd{'GroundSpeed'} / 555;
            my $x0 = $C_x;
            my $y0 = $C_y;
            my $x1 = $C_x + $dx;
            my $y1 = $C_y + $dy;
            $map_canvas->coords ('MK-Speed', $x0, $y0, $x1, $y1);
 
            # Update Line between Home and MK
            my ($H_x, $H_y) = &MapGps2XY($MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'});
            $map_canvas->coords ('MK-Home-Line', $H_x, $H_y, $C_x, $C_y);

            # Update Distance between Home and MK
            my ($Dist, $Bearing) = MapGpsTo($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'},
		                                   $MkOsd{'HomePos_Lat'}, $MkOsd{'HomePos_Lon'} );
            my $x = ($C_x - $H_x) / 2 + $H_x + 8;
            my $y = ($C_y - $H_y) / 2 + $H_y + 8;
            $map_canvas->coords ('MK-Home-Dist', $x, $y);
            $map_canvas->itemconfigure ('MK-Home-Dist',
                                        '-text' => sprintf ("%4d m", $Dist),
                                       );

            if ( $MkOsd{'TargetPos_Stat'} == 1 )
                {
                # Valid Target
                # Update Line between Target and MK
                my ($T_x, $T_y) = &MapGps2XY($MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'});
                $map_canvas->coords ('MK-Target-Line', $C_x, $C_y, $T_x, $T_y);

                # Update Distance between Target and MK
                my ($Dist, $Bearing) = MapGpsTo($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'},
		                                        $MkOsd{'TargetPos_Lat'}, $MkOsd{'TargetPos_Lon'} );
                my $x = ($C_x - $T_x) / 2 + $T_x - 8;
                my $y = ($C_y - $T_y) / 2 + $T_y + 8;
                $map_canvas->coords ('MK-Target-Dist', $x, $y);
                $map_canvas->itemconfigure ('MK-Target-Dist',
                                            '-text' => sprintf ("%4d m", $Dist),
                                           );
                # show target icon
                my $IconHeight = 48;
                my $IconWidth = 48;
                $map_canvas->coords('Target', $T_x - $IconWidth/2, $T_y - $IconHeight );
                }
            else
                {
                # No valid Target, move target line out of sight/canvas
                $map_canvas->coords ('MK-Target-Line', 0, -100, 0, -100);
				     $map_canvas->coords ('MK-Home-Dist', 0, -100);

                # hide target icon
                $map_canvas->coords('Target', 0, -100, );
                }

            # Update OSD - Sat dependent values
            $map_canvas->itemconfigure ('MK-OSD-Spd-Value', '-text' => sprintf ("%3d km/h", $MkOsd{'GroundSpeed'} * 0.036) );
            }
        else
            {
            # kein ausreichender Sat-Empfang
            $map_canvas->itemconfigure ('MK-OSD-Spd-Value', '-text' => sprintf ("%3d km/h", 0 ) );
            }

        # Update OSD - non Sat dependent values
        $map_canvas->itemconfigure ('MK-OSD-Sat-Value', '-text' => "$MkOsd{'SatsInUse'}" );
        $map_canvas->itemconfigure ('MK-OSD-Wp-Value',  '-text' => $MkOsd{'WaypointIndex'} . "/" . $MkOsd{'WaypointNumber'});
        $map_canvas->itemconfigure ('MK-OSD-Bat-Value', '-text' => sprintf ("%3.1f V", $MkOsd{'UBat'}) );
        $map_canvas->itemconfigure ('MK-OSD-Alt-Value', '-text' => sprintf ("%3d m", $MkOsd{'Altimeter'}/$Cfg->{'mkcockpit'}->{'AltFactor'}) );
        $map_canvas->itemconfigure ('MK-OSD-Vsi-Value', '-text' => sprintf ("%3d", $MkOsd{'Variometer'}) );
        $map_canvas->itemconfigure ('MK-OSD-Tim-Value', '-text' => sprintf ("%02d:%02d", $MkFlyingTime / 60, $MkFlyingTime % 60) );

        # blink battery warning
        $map_canvas->itemconfigure ('MK-OSD-Bat-Value', '-fill' => $Cfg->{'mkcockpit'}->{'ColorOsd'});
        if ( $MkOsd{'UBat'}  <  $Cfg->{'mkcockpit'}->{'UBatWarning'} )
            {
            if ( time %2 )
                {
                $map_canvas->itemconfigure ('MK-OSD-Bat-Value', '-fill' => 'red');
                }
            }

        my $Mode = "";
        if ($MkOsd{'NCFlags'} & 0x01) { $Mode = "Free"};
        if ($MkOsd{'NCFlags'} & 0x02) { $Mode = "PH"};
        if ($MkOsd{'NCFlags'} & 0x04) { $Mode = "WPT"};
        if ($MkOsd{'NCFlags'} & 0x08) { $Mode = "$Mode" . " !"};  # Range Warning
        $map_canvas->itemconfigure ('MK-OSD-Mode-Value', '-text' => "$Mode" );

        # Farbe MK-Zeiger abhängig vom GPS Empfang
        my $MkCol= $Cfg->{'mkcockpit'}->{'ColorMkSatNo'};
        if ( $SatsInUse >= 1 ) { $MkCol = $Cfg->{'mkcockpit'}->{'ColorMkSatLow'} ; }
        if ( $SatsInUse >= 6 ) { $MkCol = $Cfg->{'mkcockpit'}->{'ColorMkSatGood'}; }
        $map_canvas->itemconfigure ('MK-Arrow', '-fill' => $MkCol);

        # Variometer Pointer
        my $dy = -$MkOsd{'Variometer'} * 10;
        $map_canvas->coords('Map-Variometer-Pointer', 5, $MapSizeY/2+$dy, 20, $MapSizeY/2+10+$dy, 20, $MapSizeY/2-10+$dy);
		
        # Show/Hide SatFix Icon
        if ($MkOsd{'SatsInUse'} >= 6 )
            {
            $map_canvas->coords('Satellite', $MapSizeX-180, 10, );
            }
        else
            {
            # move icon out of sight
            $map_canvas->coords('Satellite', 0, -100, );
            }
        }
    else
        {
        # keine aktuellen OSD Daten vom MK verfügbar
        }

    });

#	
# Timer: 0.1s - Tracking Anzeige aktualisieren
#
if ( $Cfg->{'track'}->{'Active'} =~ /y/i )
    {
    $frame_map_top->repeat (100, sub
        {
        # Aktuell gültige Karte
        my %Map = %{$Maps{'Current'}};

        # Zeiger neu zeichnen
        my $ServoPan = @ServoPos[$MkTrack{'ServoPan'}];
        if ( $ServoPan ne ""  )
            {
            my $x0 = $TrackSizeX/2;     
            my $y0 = $TrackSizeY - 0 - $TrackOffY;
            my $x1 = $TrackSizeX/2 - ($TrackPtrLen-22) * cos( deg2rad $ServoPan);
            my $y1 = $TrackSizeY   - ($TrackPtrLen-22) * sin (deg2rad $ServoPan) - $TrackOffY;
            $track_canvas->coords ('Track-Ptr', $x0, $y0, $x1, $y1);
            }

        # Farbe Zeiger abhängig vom GPS Empfang
        my $SatsInUse = $MkOsd{'SatsInUse'};
        my $TrackPtrCol= 'red';
        if ( $SatsInUse >= 1 ) { $TrackPtrCol = 'orange'; }
        if ( $SatsInUse >= 6 ) { $TrackPtrCol = 'green'; }
        $track_canvas->itemconfigure ('Track-Ptr', '-fill' => $TrackPtrCol);
        });
    }

#	
# Timer: 1s
#
$frame_map_top->repeat (1000, sub
    {
    # Aktuell gültige Karte
    my %Map = %{$Maps{'Current'}};

    if ( $MkOsd{'_Timestamp'} >= time -2 )
        {

        # Heartbeat MK Datenübertragung
        if ( time %2 )
            {
            $map_canvas->itemconfigure('Heartbeat', '-image' => 'HeartbeatLarge', );
            }
        else
            {
            $map_canvas->itemconfigure('Heartbeat', '-image' => 'HeartbeatSmall', );
            }

        # Flugzeit aktualisieren
        # Flugzeit selber mitzählen, da $MkOsd{'FlyingTime'} immer 0 (0.14b)
        if ( $MkOsd{'MKFlags'} & 0x02 )
            {
            $MkFlyingTime += 1;
            }

        # Footprint
        if ( $Cfg->{'mkcockpit'}->{'FootprintLength'} > 0 )
            {
            if ( $MkOsd{'SatsInUse'} > 0  and  $MkOsd{'CurPos_Stat'} == 1 )
                {
                # neuen Footprint hinten anhaengen
                my ($x, $y) = &MapGps2XY($MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'});
                push @Footprint, $x, $y;
                }

            while ( $#Footprint / 2  >  $Cfg->{'mkcockpit'}->{'FootprintLength'} )
                {
                # alte Footprints entfernen
                splice @Footprint, 0, 2;
                }

            &FootprintRedraw();
            }

 
        # tracking antenne
        if ( $MkOsd{'MKFlags'} & 0x01  and  ! $MkTrack{'IsRunning'} and
             $Cfg->{'track'}->{'Active'} =~ /y/i )
            {
            # start track at 1st motor start
            $track_thr = threads->create (\&TrackAntennaGps)->detach();
            $MkTrack{'IsRunning'} = "Running";
            }
        }
    });


MainLoop();   # should never end


#-----------------------------------------------------------------
# Subroutines
#-----------------------------------------------------------------			  

# Get Wp Index from Canvas Id
sub WpGetIndexFromId()
    {
    my ($id) = @_;

    my @Tags = $map_canvas->gettags($id);
    my $WpTag = $Tags[1];

    for $i (0 .. $#Waypoints)
        {
        my $Wp = $Waypoints[$i];
        if ( $Wp->{'Tag'} eq $WpTag )
            {
            # got it
            return $i;
            }
        }
    return -1;
    }

	
# Resend all Waypoints to MK
sub WpSendAll()
    {
    # OSD/Debug Abfragefrequenz verringern, sonst kommen nicht alle Wp im MK an
    # Sicherheitshalber doppelt senden
    $MkSendWp = 1;       # verhindert ueberschreiben im Timer
    $MkSendQueue->enqueue( "o", "$AddrNC", pack ("C", 1000) );   # Frequenz OSD Datensatz, * 10ms
    $MkSendQueue->enqueue( "d", "$AddrNC", pack ("C", 1000) );   # Frequenz MK Debug Datensatz, * 10ms
    usleep (200000);
    $MkSendQueue->enqueue( "o", "$AddrNC", pack ("C", 1000) );   # Frequenz OSD Datensatz, * 10ms
    $MkSendQueue->enqueue( "d", "$AddrNC", pack ("C", 1000) );   # Frequenz MK Debug Datensatz, * 10ms
    usleep (200000);

    # Alte WP-Liste im MK löschen
    my $Wp = $Waypoints[0];
    &MkFlyTo ( '-lat'  => $Wp->{'Pos_Lat'},
               '-lon'  => Wp->{'Pos_Lon'},
               '-mode' => "Waypoint Delete"
             );
		
    for $i (0 .. $#Waypoints)
        {
        my $Wp = $Waypoints[$i];
        &MkFlyTo ( '-lat'             => $Wp->{'Pos_Lat'},
                   '-lon'             => $Wp->{'Pos_Lon'},
                   '-alt'             => $Wp->{'Pos_Alt'},
                   '-heading'         => $Wp->{'Heading'},
                   '-toleranceradius' => $Wp->{'ToleranceRadius'},
                   '-holdtime'        => $Wp->{'Holdtime'},
                   '-eventflag'       => $Wp->{'Event_Flag'},
                   '-mode'            => "Waypoint"
                 );
		
        usleep (150000)  # NC Zeit zum Verarbeiten geben
        }

    $MkSendWp = 0;  # normale OSD/Debug Abfragefrequenz wird automatisch im Timer wieder eingestellt

    # gray connectors: Wp are sent to MK
    $map_canvas->itemconfigure('Waypoint-Connector',
                               '-fill' => $Cfg->{'mkcockpit'}->{'ColorWpConnector'},
                              );

    # MK ist nun synchron mit @Waypoints
    $WaypointsModified = 0;
    }		

	
# Redraw Waypoint Icons
sub WpRedrawIcons()
    {
    # delete old icons and Wp-Number from canvas
    $map_canvas->delete('Waypoint');
    $map_canvas->delete('WaypointNumber');

    # create new icons
    for $i (0 .. $#Waypoints)
        {
        my $Wp = $Waypoints[$i];
        my $x = $Wp->{'MapX'};
        my $y = $Wp->{'MapY'};
        my $Tag = $Wp->{'Tag'};

        # Waypoint Icon
        my $IconHeight = 48;
        my $IconWidth = 48;
        $map_canvas->createImage($x-$IconWidth/2, $y-$IconHeight,
                                 '-tags' => ['Waypoint', $Tag],
                                 '-anchor' => 'nw',
                                 '-image'  => 'Waypoint-Photo',
                                );
        # Waypoint Number
        my $WpNumber = $i + 1;
        $map_canvas->createText ( $x+3, $y-$IconHeight/2+12,
                                  '-tags' => ['WaypointNumber', $Tag],
                                  '-text' => $WpNumber,
                                  '-font' => '-*-Arial-Bold-R-Normal--*-100-*',
                                  '-fill' => $Cfg->{'mkcockpit'}->{'ColorWpNumber'},
                                  '-anchor' => 'w',
                                 );	

        }	
    $map_canvas->lower('Waypoint', 'Fox');              # waypoint below Fox
    $map_canvas->lower('WaypointNumber', 'Waypoint');   # waypoint-number below waypoint
    }

	
# Redraw Waypoint connectors
sub WpRedrawLines()
    {
    # delete old connectors from canvas
    $map_canvas->delete('Waypoint-Connector');  

    my $Color = $Cfg->{'mkcockpit'}->{'ColorWpConnector'};
    if ( $WaypointsModified )
        {
        $Color = $Cfg->{'mkcockpit'}->{'ColorWpResend'};
        }

    my $Wp = $Waypoints[0];
    my $x_last = $Wp->{'MapX'};
    my $y_last = $Wp->{'MapY'};
    for $i (1 .. $#Waypoints)
        {
        my $Wp = $Waypoints[$i];
        my $x = $Wp->{'MapX'};
        my $y = $Wp->{'MapY'};

        $map_canvas->createLine ( $x_last, $y_last, $x, $y,
                                  '-tags' => 'Waypoint-Connector',
                                  '-arrow' => 'last',
                                  '-arrowshape' => [10, 10, 3 ],
                                  '-fill' => $Color,
                                  '-width' => 1,
                                );						 
        $x_last = $x;
        $y_last = $y;
        }
		
    $map_canvas->lower('Waypoint-Connector', 'Waypoint');   # connector below waypoint
    }


# Redraw Footprint
sub FootprintRedraw()
    {
    # delete old Footprint fom canvas
    $map_canvas->delete('Footprint');  

    if ( scalar @Footprint >= 4 )
        {
        $map_canvas->createLine ( @Footprint,
                                  '-tags' => 'Footprint',
                                  '-fill' => $Cfg->{'mkcockpit'}->{'ColorFootprint'},
                                  '-width' => 1,
                                );	 
        }
		
    $map_canvas->lower('Footprint', 'Fox');
    }


# Display or Modify Hash
sub DisplayHash()
    {
    my ($hrefData, $Titel, $Mode) = @_;

    # $Mode: Display, Edit, Waypoint, Refresh

    my %Id;
    my $Label;
    my $Value;

    # Neues Fenster aufmachen
    my $popup = $main->Toplevel();
    $popup->title($Titel);
	
    # Buttons
    my $popup_button = $popup->Frame() -> pack('-side' => 'bottom',
                                               '-expand' => 'y',
                                               '-anchor' => 's',
                                               '-padx' => 5,
                                               '-pady' => 5,
                                               );
    $popup_button->Button('-text'    => 'Schließen',
                          '-command' => sub
        {
        if ( $Mode =~ /edit/i  and  $Mode =~ /waypoint/i )
            {
            $WaypointsModified = 1;            
            &WpRedrawLines();
            &WpRedrawIcons();
            }

        $popup->destroy()
        })->pack;

    # Frame mit den Labels
    my $popup_label = $popup->Frame() -> pack('-side' => 'left',
                                              '-expand' => 'y',
                                              '-anchor' => 'w',
                                              '-padx' => 10,
                                              '-pady' => 10,
                                              );
    # Labels anzeigen			 
    foreach $Label ( sort keys %{$hrefData})
        {
        if ( $Translate{$Label} ne "" )
            {
            $Label = $Translate{$Label};
            }
			
        $popup_label->Label ('-text' => $Label,
                             '-width' => 25,
                             '-anchor' => 'w',
                             ) -> pack();
        }
	
    # Frame mit den Daten
    my $popup_values = $popup->Frame() -> pack('-side' => 'left',
                                               '-expand' => 'y',
                                               '-anchor' => 'w',
                                               '-padx' => 10,
                                               '-pady' => 10,
                                               );
    # Daten anzeigen
    foreach $Value ( sort keys %{$hrefData})
        {				
        if ( $Mode =~ /display/i )
            {
            # Display
            $Id{$Value} = $popup_values->Label ('-text' => ${$hrefData}{$Value},
                                                '-width' => 20,
                                                '-anchor' => 'e',
                                                '-relief' => 'sunken',
                                                ) -> pack();
            }
        if ( $Mode =~ /edit/i )
            {
            # Edit
            $Id{$Value} = $popup_values->Entry ('-textvariable' => \${$hrefData}{$Value},
                                                '-exportselection' => '1',
                                                '-width' => 20,
                                                '-relief' => 'sunken',
                                               ) -> pack();
            if ( $Mode =~ /waypoint/i )
                {
                # einige Waypoint-Felder nicht aenderbar einstellen
                if ( "MapX MapY Pos_Lat Pos_Lon Tag" =~ /$Value/i )
                    {
                    $Id{$Value}->configure('-state' => 'disabled', );
                    }
                }	
            }
        }

    if ( $Mode =~ /refresh/i )
        {
        # Timer: 0.1s
        $popup_values->repeat (100, sub 
            {
            # Datenfelder alle 100ms aktualisieren

            my $BgColor = 'white';
            if ( $Mode =~ /heartbeat/i )
                {
                $BgColor = 'red';
                if ( $MkOsd{'_Timestamp'} >= time-2 )
    	            {
                    # gültige daten vom MK
                    $BgColor = 'white';
                    }
                }
                
            foreach $Value ( sort keys %{$hrefData} )
                {
                $Id{$Value}->configure('-text' => ${$hrefData}{$Value},
                                       '-background' => "$BgColor",
                                      );
                }
            });
        }

    return 0;
    }



# Konfigurationsdatei mkcockpit.xml im Popup-Fenster editieren
sub Configure()
    {

    # Copy Cfg-Hash for editing
    my $CfgEdit = {%{$Cfg}};
    foreach $key (keys %{$Cfg})
        {
        if ( ref $Cfg->{$key} )
            {
            $CfgEdit->{$key} = {%{$Cfg->{$key}}};
            }
        }

    # Neues Fenster aufmachen
    my $popup = $main->Toplevel();
    $popup->title("Einstellungen - $XmlConfigFile");

    my $book = $popup->NoteBook()->pack( -fill=>'both', -expand=>1 );

    # jede Sektion in einem Tab anzeigen
    foreach $key (sort keys %{$CfgEdit})
        {    
        if ( ! ref $CfgEdit->{$key} )
            {
            next;
            }

        my $TabLabel = "$key";
        if ( $Translate{$key} ne "" )
                {
                $TabLabel = $Translate{$key};
                }

        my $Tab = $book->add( "$key", -label=>"$TabLabel", );

        # Frame fuer Buttons
        my $book_button = $Tab->Frame() -> pack('-side' => 'bottom',
                                                '-expand' => 'y',
                                                '-anchor' => 's',
                                                '-padx' => 5,
                                                '-pady' => 5,
                                                );

        $book_button->Button('-text'    => 'OK',
                             '-width' => '10',
                             '-command' => sub
            {
            # Copy back CfgEdit-Hash
            $Cfg = {%{$CfgEdit}};
            foreach $key (keys %{$CfgEdit})
                {
                if ( ref $CfgEdit->{$key} )
                    {
                    $Cfg->{$key} = {%{$CfgEdit->{$key}}};
                    }
                }

            # set new timestamp
            my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time);
            my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec);
            $Cfg->{'CreationDate'} = $TimeStamp;

            # Cfg in mkcockpit.xml speichern
            &XMLout ($Cfg,
                     'OutputFile' => $XmlConfigFile,
                     'AttrIndent' => '1',
                     'RootName' => 'mkcockpit-Config',
                    );

            $popup->destroy();
            } )->pack ('-side' => 'left',
                       '-expand' => 'y',
                       '-anchor' => 's',
                       '-padx' => 5,
                       '-pady' => 5,
                      );
        $book_button->Button('-text'    => 'Abbruch',
                             '-width' => '10',
                             '-command' => sub { $popup->destroy() },
                            )->pack ('-side' => 'left',
                                     '-expand' => 'y',
                                     '-anchor' => 's',
                                     '-padx' => 5,
                                     '-pady' => 5,
                                     );
        $book_button->Label ('-text' => "*) Aenderungen werden erst nach Programm-Neustart wirksam!",
                             '-anchor' => 'w',
                             '-foreground' => 'red',
                            ) ->pack ('-side' => 'left',
                                      '-expand' => 'y',
                                      '-anchor' => 's',
                                      '-padx' => 10,
                                      '-pady' => 5,
                                      );

        # Frame mit den Labels
        my $popup_label = $Tab->Frame() -> pack('-side' => 'left',
                                                '-expand' => 'y',
                                                '-anchor' => 'w',
                                                '-padx' => 10,
                                                '-pady' => 10,
                                                );
        # Labels anzeigen			 
        foreach $Label ( sort keys %{$CfgEdit->{$key}})
            {
            if ( $Translate{$Label} ne "" )
                {
                $Label = $Translate{$Label};
                }
		
            $popup_label->Label ('-text' => $Label,
                                 '-width' => 30,
                                 '-anchor' => 'w',
                                ) -> pack();
            }
 
        # Frame mit den Daten
        my $popup_values = $Tab->Frame() -> pack('-side' => 'left',
                                                 '-expand' => 'y',
                                                 '-anchor' => 'w',
                                                 '-padx' => 10,
                                                 '-pady' => 10,
                                                 );
        # Eingabefelder mit Daten anzeigen
        foreach $Value ( sort keys %{$CfgEdit->{$key}})
            {				
            $popup_values->Entry ('-textvariable' => \$CfgEdit->{$key}->{$Value},
                                  '-exportselection' => '1',
                                  '-width' => 30,
                                  '-relief' => 'sunken',
                                 ) -> pack();	
            }
        }
    }

1;
__END__
