WebSVN - Projects - Blame - Rev 2250 - /MKLiveView/Source/MainForm.cs

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

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(root)/MKLiveView/Source/MainForm.cs - Rev 2250