WebSVN - Projects - Blame - /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	///============================================================================
2259	-	38	/// DISCLAIMER
		39	/// ===========
		40	///
		41	/// I created this software with my best knowledge and belief.
		42	///
		43	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
		44	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
		45	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
		46	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
		47	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
		48	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
		49	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
		50	///
		51	/// This means: use it & have fun (but @ Your own risk...)
		52	/// ===========================================================================
2233	-	53
		54	using System;
		55	using System.Data;
		56	using System.Drawing;
		57	using System.Text;
		58	using System.Windows.Forms;
		59	using System.IO;
		60	using System.Threading;
		61	using System.Diagnostics;
		62	using System.Runtime.InteropServices;
		63
		64	namespace MKLiveView
		65	{
		66	public partial class MainForm : Form
		67	{
2250	-	68	String[] NC_Error = new string[44]
		69	{
		70	"No Error",
		71	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		72	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		73	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		74	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		75	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		76	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		77	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		78	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		79	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		80	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		81	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		82	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		83	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		84	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		85	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		86	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		87	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		88	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		89	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		90	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		91	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		92	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		93	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		94	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		95	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		96	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		97	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		98	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		99	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		100	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		101	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		102	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		103	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		104	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		105	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		106	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		107	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		108	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		109	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		110	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		111	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		112	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		113	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		114	};
2233	-	115
		116	[FlagsAttribute]
		117	enum NC_HWError0 : short
		118	{
		119	None = 0,
		120	SPI_RX = 1,
		121	COMPASS_RX = 2,
		122	FC_INCOMPATIBLE = 4,
		123	COMPASS_INCOMPATIBLE = 8,
		124	GPS_RX = 16,
		125	COMPASS_VALUE = 32
		126	};
		127	[FlagsAttribute]
		128	enum FC_HWError0 : short
		129	{
		130	None = 0,
		131	GYRO_NICK = 1,
		132	GYRO_ROLL = 2,
		133	GYRO_YAW = 4,
		134	ACC_NICK = 8,
		135	ACC_ROLL = 16,
		136	ACC_TOP = 32,
		137	PRESSURE = 64,
		138	CAREFREE = 128
		139	};
		140	[FlagsAttribute]
		141	enum FC_HWError1 : short
		142	{
		143	None = 0,
		144	I2C = 1,
		145	BL_MISSING = 2,
		146	SPI_RX = 4,
		147	PPM = 8,
		148	MIXER = 16,
		149	RC_VOLTAGE = 32,
		150	ACC_NOT_CAL = 64,
		151	RES3 = 128
		152	};
		153	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		154	// Various colors for logging info
		155	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
		156
		157	string[] sAnalogLabel = new string[32];
		158	string[] sAnalogData = new string[32];
		159	bool bReadContinously = false;
		160	bool check_HWError = false;
		161	bool _bCBInit = true;
		162	bool _init = true;
		163	bool _debugDataAutorefresh = true;
		164	bool _navCtrlDataAutorefresh = true;
		165	bool _blctrlDataAutorefresh = true;
		166	bool _OSDAutorefresh = true;
2254	-	167	bool _bErrorLog = false;
2233	-	168	int crcError = 0;
		169	int iLableIndex = 0;
		170	string filePath = Directory.GetCurrentDirectory();
		171	string fileName = "NCLabelTexts.txt";
		172	int _iCtrlAct = 0;
		173	int _iLifeCounter = 0;
		174	int iOSDPage = 0;
		175	int iOSDMax = 0;
2257	-	176	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
		177	string[] serChanTitle = new string[12];
2233	-	178	/// <summary>
		179	/// interval for sending debugdata (multiplied by 10ms)
		180	/// </summary>
		181	byte debugInterval = 25; //(=> 250ms)
		182	/// <summary>
		183	/// interval for sending BL-CTRL status (multiplied by 10ms)
		184	/// </summary>
		185	byte blctrlInterval = 45;
		186	/// <summary>
		187	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		188	/// </summary>
		189	byte navctrlInterval = 80;
		190	/// <summary>
		191	/// interval for sending OSD page update (multiplied by 10ms)
		192	/// </summary>
		193	byte OSDInterval = 85;
		194	/// <summary>
		195	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		196	/// </summary>
		197	DataTable dtAnalog = new DataTable();
2254	-	198	/// <summary>
		199	/// datatable for motordata (current,temp)
		200	/// </summary>
2250	-	201	DataTable dtMotors1 = new DataTable();
		202	DataTable dtMotors2 = new DataTable();
		203
2257	-	204	DataTable dtWaypoints = new DataTable();
		205
2233	-	206	public MainForm()
		207	{
		208	InitializeComponent();
2257	-	209	serChanTitle.Initialize();
		210
2233	-	211	_readIni();
2257	-	212
2259	-	213	_dataTablesInit();
2257	-	214
2233	-	215	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		216	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		217	simpleSerialPort.DataReceived += processMessage;
		218	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		219	chkbAutoDbg.Checked = _debugDataAutorefresh;
		220	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		221	chkbAutoOSD.Checked = _OSDAutorefresh;
		222	labelTimingDebug.Text = (debugInterval * 10).ToString();
		223	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		224	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		225	labelTimingOSD.Text = (OSDInterval * 10).ToString();
2257	-	226	TabControl1.TabPages.Remove(tabPageTesting);
2233	-	227	}
2257	-	228
2233	-	229	#region events
		230	private void MainForm_Shown(object sender, EventArgs e)
		231	{
		232	_loadLabelNames();
2257	-	233	_initSerialCtrl();
2233	-	234	_init = false;
2250	-	235	splitContainer1.SplitterDistance = 514;
2233	-	236	}
		237	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
		238	{
		239	_writeIni();
		240	}
		241	private void SimpleSerialPort_PortOpened()
		242	{
		243	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
		244	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
		245	_getVersion();
		246	Thread.Sleep(100);
		247	_OSDMenue(0);
2257	-	248	Thread.Sleep(200);
		249	_sendSerialData();
2233	-	250	// _readCont(true);
		251	}
		252	private void SimpleSerialPort_PortClosed()
		253	{
		254	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
		255	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
		256	_readCont(false);
		257	}
		258	/// <summary>
		259	/// timer for refreshing subscription of subscribed data
		260	/// query lifecounter for connection failure
		261	/// </summary>
		262	private void timer1_Tick(object sender, EventArgs e)
		263	{
		264	if(bReadContinously)
		265	{
		266	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		267
2250	-	268	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
2233	-	269
		270	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		271	check_HWError = true;
		272	_getVersion();
		273	Thread.Sleep(10);
		274	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
		275	if (_iLifeCounter > 0)
		276	{
		277	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
		278	_iLifeCounter = 0;
		279	}
		280	else
		281	{
		282	Log(LogMsgType.Error, "No communication to NC/FC!");
		283	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
		284	}
		285	}
		286	}
		287	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
		288	{
		289	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		290	_OSDMenue(cbOSD.SelectedIndex);
		291	}
		292	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
		293	{
		294	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
		295	}
		296	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
		297	{
		298	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
		299	}
		300	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
		301	{
		302	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
		303	}
		304	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
		305	{
		306	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
		307	}
		308	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
		309	{
		310	if (cbTimingDebug.SelectedIndex > -1)
		311	{
		312	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
		313	labelTimingDebug.Text = (debugInterval * 10).ToString();
		314	}
		315	}
		316	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
		317	{
		318	if (cbTimingNAV.SelectedIndex > -1)
		319	{
		320	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
		321	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		322	}
		323	}
		324	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
		325	{
		326	if (cbTimingBLCTRL.SelectedIndex > -1)
		327	{
		328	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
		329	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		330	}
		331	}
		332	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
		333	{
		334	if (cbTimingOSD.SelectedIndex > -1)
		335	{
		336	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
		337	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		338	}
		339	}
2254	-	340	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
		341	{
		342	System.Diagnostics.Process.Start(e.LinkText);
		343	}
2257	-	344
2233	-	345	#endregion events
		346
		347	/// <summary> Log data to the terminal window. </summary>
		348	/// <param name="msgtype"> The type of message to be written. </param>
		349	/// <param name="msg"> The string containing the message to be shown. </param>
		350	private void Log(LogMsgType msgtype, string msg)
		351	{
		352	rtfTerminal.Invoke(new EventHandler(delegate
		353	{
		354	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
		355	rtfTerminal.Select(42, (500 * 129)); //500 löschen
		356	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
		357	rtfTerminal.SelectedText = string.Empty;
		358	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
		359	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
		360	rtfTerminal.AppendText(msg + Environment.NewLine);
		361	rtfTerminal.ScrollToCaret();
		362	}));
		363	}
		364	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
		365	/// <param name="msgtype"> The type of message to be written. </param>
		366	/// <param name="msg"> The string containing the message to be shown. </param>
		367	private void OSD(LogMsgType msgtype, string msg)
		368	{
		369	rtfOSD.Invoke(new EventHandler(delegate
		370	{
		371	if (rtfOSD.Lines.Length > 4)
		372	rtfOSD.Clear();
		373	rtfOSD.Select(rtfOSD.Text.Length,0);
		374	rtfOSD.SelectedText = string.Empty;
		375	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
		376	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
		377	rtfOSD.AppendText(msg + Environment.NewLine);
		378	if (rtfOSD.Text.IndexOf("ERR") > 0)
		379	{
		380	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
		381	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
		382	}
		383	}));
		384	}
		385	private void ErrorLog(LogMsgType msgtype, string msg)
		386	{
		387	rtfError.Invoke(new EventHandler(delegate
		388	{
		389	if (rtfError.Lines.Length > 4)
		390	rtfError.Clear();
		391	rtfError.Focus();
		392	rtfError.Select(rtfError.Text.Length, 0);
		393	rtfError.SelectedText = string.Empty;
		394	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
		395	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
		396	rtfError.AppendText(msg + Environment.NewLine);
		397
		398	}));
2254	-	399	_bErrorLog = true;
2233	-	400	}
		401
		402	#region functions
		403
2250	-	404	#region processing received data
		405	/// <summary> Processing the messages and displaying them in the according form controls
		406	/// function called by simpleSerialPort.DataReceived event
		407	/// </summary>
2233	-	408	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
		409	private void processMessage(byte[] message)
		410	{
		411	if (message.Length > 0)
		412	{
		413	_iLifeCounter++;
		414	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		415	//Log(LogMsgType.Incoming, message.Length.ToString());
		416	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		417	char cmdID;
		418	byte adr;
		419	byte[] data;
2257	-	420	byte[] tmp = null;
2233	-	421	if (message[0] != '#')
2257	-	422	{
		423	int iFound = -1;
		424	for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		425	{ //so this is a workaround to not spam the log box
		426	if (message[i] == 35)
		427	{
		428	iFound = i;
		429	break;
		430	}
		431	}
		432	if(iFound>0)
		433	{
		434	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
		435	tmp = new byte[message.Length - iFound];
		436	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		437	}
		438	s = s.Trim('\0', '\n', '\r');
		439	if(s.Length > 0)
		440	Log(LogMsgType.Normal, s);
		441	if (tmp != null)
		442	{
		443	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		444	processMessage(tmp);
		445	}
		446	}
2233	-	447	//Debug.Print(s);
		448	else
		449	{
		450	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		451
		452	if (adr == 255) { crcError++; }
		453	else crcError = 0;
		454	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
2250	-	455	//display the active controller (FC / NC)
2233	-	456	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...???
		457	{
		458	_iCtrlAct = adr;
		459	switch (adr)
		460	{
		461	case 1:
		462	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
		463	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
		464	_setFieldsNA(); //display fields NA for FC
		465	break;
		466	case 2:
		467	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
		468	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
		469	break;
		470	case 3:
		471	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		472	break;
		473	case 4:
		474	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		475	break;
		476	default:
		477	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
		478	break;
		479	}
2257	-	480	_loadLabelNames();
2233	-	481	}
2257	-	482	// else
		483	// Debug.Print("Address == 0?");
2233	-	484
		485	if (data != null && data.Length > 0)
		486	{
		487	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		488	s = s.Trim('\0', '\n');
		489
		490	switch (cmdID)
		491	{
2250	-	492	case 'A': //Label names
		493	_processLabelNames(s);
2233	-	494	break;
		495
2250	-	496	case 'D': //Debug data
2257	-	497	_processDebugVals(adr, data);
2233	-	498	break;
		499
2250	-	500	case 'V': //Version
		501	_processVersion(adr, data);
2233	-	502	break;
		503
2250	-	504	case 'K'://BL-CTRL data
		505	_processBLCtrl(data);
2233	-	506	break;
		507
		508	case 'O': //NC Data
2250	-	509	_processNCData(data);
2233	-	510	break;
		511
		512	case 'E': //NC error-string
		513	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		514	break;
		515
2250	-	516	case 'L': //OSD Menue (called by pagenumber)
		517	_processOSDSingle(data);
2233	-	518	break;
		519
2250	-	520	case 'H': //OSD Menue (with autoupdate - called by Key)
		521	_processOSDAuto(data);
2233	-	522	break;
		523
2257	-	524	case 'X': //Waypoint data
		525	_processWPData(data);
		526	break;
		527
2233	-	528	//default:
		529	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		530	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		531	// break;
		532	}
		533	}
		534	//else
		535	//{
		536	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		537	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		538	//}
		539	}
		540	}
		541	}
2250	-	542	/// <summary>
		543	/// Analog label names 'A'
		544	/// each label name is returned as a single string
		545	/// and added to string array sAnalogLabel[]
		546	/// and the datatable dtAnalog
		547	/// </summary>
		548	/// <param name="s">the label name</param>
		549	void _processLabelNames(string s)
		550	{
		551	if (iLableIndex < 32)
		552	{
		553	sAnalogLabel[iLableIndex] = s;
		554	if (dtAnalog.Rows.Count < 32)
		555	dtAnalog.Rows.Add(s, "");
		556	else
		557	dtAnalog.Rows[iLableIndex].SetField(0, s);
2233	-	558
2250	-	559	_getAnalogLabels(iLableIndex + 1);
		560	}
		561	Debug.Print(s);
		562	}
		563	/// <summary>
		564	/// Debug values 'D'
		565	/// </summary>
		566	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		567	/// <param name="data">the received byte array to process</param>
		568	void _processDebugVals(byte adr,byte[] data)
		569	{
		570	if (data.Length == 66)
		571	{
		572	int[] iAnalogData = new int[32];
		573
		574	int index = 0;
		575	Int16 i16 = 0;
		576	double dTemp = 0;
		577	for (int i = 2; i < 66; i += 2)
		578	{
		579	i16 = data[i + 1];
		580	i16 = (Int16)(i16 << 8);
		581	iAnalogData[index] = data[i] + i16;
		582	sAnalogData[index] = (data[i] + i16).ToString();
		583	dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		584
		585	if (adr == 2) //NC
		586	{
		587	switch (index)
		588	{
		589	case 0: //pitch (German: nick)
		590	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		591	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		592	break;
		593	case 1: //roll
		594	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		595	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		596	break;
		597	case 4: //altitude
		598	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		599	break;
		600	case 7: //Voltage
		601	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		602	break;
		603	case 8: // Current
		604	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		605	break;
		606	case 10: //heading
		607	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		608	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		609	break;
		610	case 12: // SPI error
		611	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		612	break;
		613	case 14: //i2c error
		614	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		615	break;
		616	case 20: //Earthmagnet field
		617	lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
		618	break;
		619	case 21: //GroundSpeed
		620	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		621	break;
		622	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		623	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		624	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		625	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		626	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
2254	-	627	dTemp = Math.Sqrt(dTemp) / (double)10;
		628	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
2250	-	629	break;
		630	case 31: //Sats used
		631	lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
		632	break;
		633	}
		634	}
		635	if (adr == 1) //FC
		636	{
		637	switch (index)
		638	{
		639	case 0: //pitch (German: nick)
		640	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		641	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		642	break;
		643	case 1: //roll
		644	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		645	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		646	break;
		647	case 5: //altitude
		648	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		649	break;
		650	case 8: //heading
		651	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		652	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		653	break;
		654	case 9: //Voltage
		655	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		656	break;
		657	case 10: //Receiver quality
		658	lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		659	break;
		660	case 22: // Current
		661	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		662	break;
		663	case 23: //capacity used
		664	lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		665	break;
		666	case 27: // SPI error
		667	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		668	break;
		669	case 28: //i2c error
		670	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		671	break;
		672	}
		673	}
		674	index++;
		675	}
		676	}
		677	else
		678	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		679	}
		680	/// <summary>
		681	/// Version string 'V'
		682	/// </summary>
		683	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		684	/// <param name="data">the received byte array to process</param>
		685	void _processVersion(byte adr,byte[] data)
		686	{
		687	if (data.Length == 12)
		688	{
		689	if (!check_HWError)
		690	{
		691	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		692	string sVersion = "";
		693	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		694	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		695	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		696	Log(LogMsgType.Incoming, sVersion);
		697	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		698	Log(LogMsgType.Incoming, sVersion);
		699	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		700	}
		701	if (data[5] > 0) //error0
		702	{
		703	if (adr == 1)
		704	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		705	if (adr == 2)
		706	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		707	}
		708	if (data[6] > 0) //error1
		709	{
		710	if (adr == 1)
		711	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		712	if (adr == 2)
		713	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		714	}
2254	-	715	if((data[5] + data[6] == 0) && _bErrorLog)
		716	_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
2250	-	717
		718	}
		719	check_HWError = false;
		720	}
		721	/// <summary>
		722	/// BL-Ctrl data 'K'
		723	/// for FC you have to use a customized firmware
		724	/// </summary>
		725	/// <param name="data">the received byte array to process</param>
		726	void _processBLCtrl(byte[] data)
		727	{
		728	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		729	{
		730	bool bAvailable = false;
		731	for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
		732	{
		733
		734	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		735	bAvailable = true;
		736	else
		737	bAvailable = false;
		738
		739	if (data[i] < 4)
		740	{
		741	if (bAvailable)
		742	{
		743	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		744	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		745	}
		746	else
		747	{
		748	dtMotors1.Rows[data[i]].SetField(1, "NA");
		749	dtMotors1.Rows[data[i]].SetField(2, "NA");
		750	}
		751	}
		752	if (data[i] > 3 && data[i] < 8)
		753	{
		754	if (bAvailable)
		755	{
		756	dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		757	dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		758	}
		759	else
		760	{
		761	dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		762	dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		763	}
		764	}
		765	}
		766	}
		767
		768	}
		769	/// <summary>
		770	/// Navi-Ctrl data 'O'
		771	/// GPS-Position, capacatiy, flying time...
		772	/// </summary>
		773	/// <param name="data">the received byte array to process</param>
		774	void _processNCData(byte[] data)
		775	{
		776	int i_32, i_16, iVal;
		777	double d;
		778	i_32 = data[4];
		779	iVal = i_32 << 24;
		780	i_32 = data[3];
		781	iVal += i_32 << 16;
		782	i_32 = data[2];
		783	iVal += i_32 << 8;
		784	iVal += data[1];
		785	d = (double)iVal / Math.Pow(10, 7);
		786	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		787	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		788
		789	i_32 = data[8];
		790	iVal = i_32 << 24;
		791	i_32 = data[7];
		792	iVal += i_32 << 16;
		793	i_32 = data[6];
		794	iVal += i_32 << 8;
		795	iVal += data[5];
		796	d = (double)iVal / Math.Pow(10, 7);
		797	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
2254	-	798	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
2250	-	799
2254	-	800	i_16 = data[28];
		801	i_16 = (Int16)(i_16 << 8);
		802	iVal = data[27] + i_16;
		803	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		804
		805	i_16 = data[45];
		806	i_16 = (Int16)(i_16 << 8);
		807	iVal = data[44] + i_16;
		808	lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		809
		810	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
		811	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
		812
2250	-	813	i_16 = data[81];
		814	i_16 = (Int16)(i_16 << 8);
		815	iVal = data[80] + i_16;
		816	lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
		817
		818	i_16 = data[56];
		819	i_16 = (Int16)(i_16 << 8);
		820	iVal = data[55] + i_16;
		821	TimeSpan t = TimeSpan.FromSeconds(iVal);
		822	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		823	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
		824
		825	lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
		826	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
		827	//if (data[69] > 0)
		828	// _readNCError();
		829	//break;
		830	if (data[69] > 0 & data[69] < 44)
		831	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
2254	-	832	else
		833	if(_bErrorLog) _clearErrorLog("NC Error");
2250	-	834
		835	}
		836	/// <summary>
2257	-	837	/// Navi-Ctrl WP data struct 'X'
		838	/// called by index
		839	/// </summary>
		840	/// <param name="data">the received byte array to process</param>
		841	void _processWPData(byte[] data)
		842	{
		843	if (data.Length >= 28)
		844	{
		845	int count = data[0];
		846	int index = data[1];
		847	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		848	for (int i = 0; i < count; i++)
		849	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		850	cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		851	DataRow dr = dtWaypoints.NewRow();
		852	dr = Waypoints.toDataRow(data, dr);
		853	dtWaypoints.Rows.Add(dr);
		854	dgvWP.Invoke((Action)(() => dgvWP.Update()));
		855	}
		856	else
		857	Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		858	}
		859	/// <summary>
2250	-	860	/// OSD Menue 'L'
		861	/// single page called by pagenumber
		862	/// no autoupdate
		863	/// </summary>
		864	/// <param name="data">the received byte array to process</param>
		865	void _processOSDSingle(byte[] data)
		866	{
		867	if (data.Length == 84)
		868	{
		869	string sMessage = "";
		870	iOSDPage = data[0];
		871	iOSDMax = data[1];
		872	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		873	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		874	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		875	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		876	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		877	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		878	lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		879
		880	}
		881	else
		882	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		883
		884	}
		885	/// <summary>
		886	/// OSD Menue 'H'
		887	/// called by keys (0x01,0x02,0x03,0x04)
		888	/// autoupdate
		889	/// </summary>
		890	/// <param name="data">the received byte array to process</param>
		891	void _processOSDAuto(byte[] data)
		892	{
		893	if (data.Length == 81)
		894	{
		895	string sMessage = "";
		896	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		897	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		898	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		899	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		900	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		901
		902	}
		903	else
		904	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		905	}
		906	#endregion processing received data
		907
2233	-	908	/// <summary> send message to controller to request data
		909	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		910	/// </summary>
		911	/// <param name="CMDID"> the command ID </param>
		912	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		913	private void _sendControllerMessage(char CMDID, byte address)
		914	{
		915	if (simpleSerialPort.Port.IsOpen)
		916	{
		917	Stream serialStream = simpleSerialPort.Port.BaseStream;
		918	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		919	serialStream.Write(bytes, 0, bytes.Length);
		920
		921	}
		922	else
		923	Log(LogMsgType.Error, "NOT CONNECTED!");
		924	}
		925	/// <summary> send message to controller to request data
		926	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		927	/// </summary>
		928	/// <param name="CMDID"> the command ID </param>
		929	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		930	/// <param name="data"> additional data for the request</param>
		931	private void _sendControllerMessage(char CMDID, byte address, byte[]data)
		932	{
		933	if (simpleSerialPort.Port.IsOpen)
		934	{
		935	Stream serialStream = simpleSerialPort.Port.BaseStream;
		936	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
		937	serialStream.Write(bytes, 0, bytes.Length);
		938
		939	}
		940	else
		941	Log(LogMsgType.Error, "NOT CONNECTED!");
		942	}
		943
		944	/// <summary>
		945	/// read the analog-label names for the actual controller
		946	/// and load it into listbox
		947	/// </summary>
		948	void _loadLabelNames()
		949	{
		950	if (_iCtrlAct > 0 && _iCtrlAct < 3)
		951	{
		952	switch (_iCtrlAct)
		953	{
		954	case 1:
		955	sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		956	break;
		957	case 2:
		958	sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		959	break;
		960	}
		961	for (int i = 0; i < 32; i++)
		962	{
		963	if (dtAnalog.Rows.Count < 32)
		964	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		965	else
		966	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		967	}
		968	dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
		969	}
		970	}
		971	/// <summary>
		972	/// no longer used...
		973	/// read the analog-label textfile for the actual controller
		974	/// </summary>
		975	private void _loadLabelFile()
		976	{
		977	switch (_iCtrlAct)
		978	{
		979	case 1:
		980	fileName = "FCLabelTexts.txt";
		981	break;
		982	case 2:
		983	fileName = "NCLabelTexts.txt";
		984	break;
		985	//default:
		986	// fileName = "NCLabelTexts.txt";
		987	// break;
		988	}
		989
		990	if (File.Exists(filePath + "\\" + fileName))
		991	{
		992	sAnalogLabel.Initialize();
		993	sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
		994	lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
		995	lbLabels.Invoke((Action)(() => lbLabels.Update()));
		996	lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
		997	Console.WriteLine("Names loaded from file");
		998	lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
		999	}
		1000	else
		1001	{
		1002	_readCont(false);
		1003	Log(LogMsgType.Error, "Label-file not found!");
		1004	Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
		1005	Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
		1006	}
		1007	}
		1008	/// <summary>
		1009	/// no longer used...
		1010	/// assign the analog-label names from the textfile to the datatable
		1011	///
		1012	/// </summary>
		1013	private void _assignLabelNames()
		1014	{
		1015	if (lbLabels.Items.Count == 32)
		1016	{
		1017	lbLabels.Items.CopyTo(sAnalogLabel, 0);
		1018	for (int i = 0; i < 32; i++)
		1019	{
		1020	if (dtAnalog.Rows.Count < 32)
		1021	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1022	else
		1023	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1024
		1025	}
		1026	}
		1027	}
		1028	/// <summary>
		1029	/// get the version struct of actual controller
		1030	/// </summary>
		1031	/// <summary>
		1032	/// get the labeltexts for the analog values
		1033	/// </summary>
		1034	private void _getAnalogLabels()
		1035	{
		1036	if (simpleSerialPort.Port.IsOpen)
		1037	{
		1038	iLableIndex = 0;
		1039	for (int i = 0; i < 32; i++)
		1040	{
		1041	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1042	byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
		1043	serialStream.Write(bytes, 0, bytes.Length);
		1044	Thread.Sleep(10);
		1045	}
		1046	}
		1047	else
		1048	Log(LogMsgType.Error, "NOT CONNECTED!");
		1049	}
		1050	/// <summary>
		1051	/// get the labeltext for a single label
		1052	/// </summary>
		1053	/// <param name="iIndex">index of the label</param>
		1054	private void _getAnalogLabels(int iIndex)
		1055	{
		1056	if (simpleSerialPort.Port.IsOpen)
		1057	{
		1058	if (iIndex < 32)
		1059	{
		1060	iLableIndex = iIndex;
		1061	_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
		1062	}
		1063	}
		1064	else
		1065	Log(LogMsgType.Error, "NOT CONNECTED!");
		1066	}
		1067	private void _getVersion()
		1068	{
		1069	_sendControllerMessage('v', 0);
		1070	}
		1071	/// <summary>
		1072	/// get FC version struct via NC
		1073	/// by sending '1' as data (not documented in wiki...)
		1074	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1075	/// </summary>
		1076	/// <param name="ctrl">controller number 1=FC</param>
		1077	private void _getVersion(byte ctrl)
		1078	{
		1079	_sendControllerMessage('v', 0, new byte[1] {ctrl});
		1080	}
		1081	/// <summary>
		1082	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1083	/// </summary>
		1084	private void _switchToNC()
		1085	{
		1086	if (simpleSerialPort.Port.IsOpen)
		1087	{
		1088	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1089	byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
		1090	serialStream.Write(bytes, 0, bytes.Length);
		1091
		1092	Thread.Sleep(100);
		1093	_getVersion();
		1094	Thread.Sleep(100);
		1095	_OSDMenue(0);
		1096	}
		1097	else
		1098	Log(LogMsgType.Error, "NOT CONNECTED!");
		1099	}
		1100	/// <summary>
		1101	/// switch to FC
		1102	/// </summary>
		1103	private void _switchToFC()
		1104	{
		1105	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1106	Thread.Sleep(100);
		1107	_getVersion();
		1108	Thread.Sleep(100);
		1109	_OSDMenue(0);
		1110	}
		1111	/// <summary>
		1112	/// send RESET signal to FC
		1113	/// </summary>
		1114	private void _resetCtrl()
		1115	{
		1116	_sendControllerMessage('R', 1);
		1117	}
		1118	/// <summary>
		1119	/// poll the debug data (4sec subscription)
		1120	/// </summary>
		1121	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1122	private void _readDebugData(bool auto)
		1123	{
		1124	byte interval = auto ? debugInterval : (byte)0;
		1125	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1126	}
		1127	/// <summary>
		1128	/// poll the BL-CTRL status via NC (4sec subscription)
		1129	/// </summary>
		1130	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1131	private void _readBLCtrl(bool auto)
		1132	{
		1133	byte interval = auto ? blctrlInterval : (byte)0;
		1134	_sendControllerMessage('k', 0, new byte[1] { interval });
		1135	}
		1136	/// <summary>
		1137	/// poll the NC data struct (4sec subscription)
		1138	/// </summary>
		1139	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1140	private void _readNavData(bool auto)
		1141	{
		1142	byte interval = auto ? navctrlInterval : (byte)0;
		1143	_sendControllerMessage('o', 2, new byte[1] { interval });
		1144	}
		1145	/// <summary>
		1146	/// get the errortext for pending NC error
		1147	/// </summary>
		1148	private void _readNCError()
		1149	{
		1150	_sendControllerMessage('e', 2);
		1151	}
		1152	/// <summary>
		1153	/// start/stop continous polling of controller values
		1154	/// </summary>
		1155	/// <param name="b">start/stop switch</param>
		1156	void _readCont(bool b)
		1157	{
		1158	bReadContinously = b;
		1159	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
		1160	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
		1161	if (bReadContinously)
		1162	{
2250	-	1163	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1164	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1165	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1166	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
2233	-	1167	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
		1168	}
		1169	else
		1170	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
		1171	_iLifeCounter = 0;
		1172	}
		1173	/// <summary>
2250	-	1174	/// set values to "NA" when not available with FC
2233	-	1175	/// </summary>
		1176	void _setFieldsNA()
		1177	{
		1178	Thread.Sleep(100);
2250	-	1179	_initDTMotors();
2233	-	1180	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
2250	-	1181	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
		1182	lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
		1183	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
		1184	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
		1185	lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
		1186	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
		1187	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
2254	-	1188	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
		1189	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
		1190	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
2233	-	1191	}
		1192	/// <summary>
		1193	/// one time query of the OSD Menue with pagenumber
		1194	/// </summary>
		1195	/// <param name="iMenue">Menue page</param>
		1196	void _OSDMenue(int iMenue)
		1197	{
		1198	if (simpleSerialPort.Port.IsOpen)
		1199	{
		1200	if (iMenue > iOSDMax)
		1201	iMenue = 0;
		1202	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1203	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1204	serialStream.Write(bytes, 0, bytes.Length);
		1205	}
		1206	else
		1207	Log(LogMsgType.Error, "NOT CONNECTED!");
		1208
		1209	}
		1210	/// <summary>
		1211	/// call the OSDMenue and start autorefresh
		1212	/// usually by sending a menuekey
		1213	/// 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)
		1214	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1215	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1216	/// </summary>
		1217	void _OSDMenueAutoRefresh()
		1218	{
		1219	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
		1220	}
		1221	void _OSDMenueAutoRefresh(byte key)
		1222	{
		1223	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1224	}
		1225	/// <summary>
		1226	/// initialize the OSD menue combobox
		1227	/// combox is filled by numbers from 0 to max pagenumber
		1228	/// </summary>
		1229	void _initOSDCB()
		1230	{
		1231	_bCBInit = true;
		1232	if(iOSDMax == 0)
		1233	{
		1234	_OSDMenue(0);
		1235	Thread.Sleep(10);
		1236	}
		1237	cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
		1238	for(int i = 0; i <= iOSDMax;i++)
		1239	{
		1240	cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1241	}
		1242	cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1243	_bCBInit = false;
		1244	}
2259	-	1245	/// <summary>
		1246	/// initialize the datatables
		1247	/// with columnnames etc
		1248	/// </summary>
		1249	void _dataTablesInit()
		1250	{
		1251	dtAnalog.Columns.Add("ID");
		1252	dtAnalog.Columns.Add("Value");
		1253	dataGridView1.DataSource = dtAnalog;
		1254
		1255	dtMotors1.Columns.Add("#");
		1256	dtMotors1.Columns.Add("Current");
		1257	dtMotors1.Columns.Add("Temp");
		1258	dtMotors2.Columns.Add("#");
		1259	dtMotors2.Columns.Add("Current");
		1260	dtMotors2.Columns.Add("Temp");
		1261	dgvMotors1.DataSource = dtMotors1;
		1262	dgvMotors2.DataSource = dtMotors2;
		1263	_initDTMotors();
		1264	dgvMotors1.Columns[0].Width = 24;
		1265	dgvMotors1.Columns[1].Width = 74;
		1266	dgvMotors1.Columns[2].Width = 74;
		1267	dgvMotors2.Columns[0].Width = 24;
		1268	dgvMotors2.Columns[1].Width = 74;
		1269	dgvMotors2.Columns[2].Width = 74;
		1270
		1271	dtWaypoints.Columns.Add("Index");
		1272	dtWaypoints.Columns.Add("Type");
		1273	dtWaypoints.Columns.Add("Name");
		1274	dtWaypoints.Columns.Add("Latitude");
		1275	dtWaypoints.Columns.Add("Longitude");
		1276	dtWaypoints.Columns.Add("Altitude");
		1277	dtWaypoints.Columns.Add("Heading");
		1278	dtWaypoints.Columns.Add("Speed");
		1279	dtWaypoints.Columns.Add("Altitude rate");
		1280	dtWaypoints.Columns.Add("Tol.radius");
		1281	dtWaypoints.Columns.Add("Hold time");
		1282	dtWaypoints.Columns.Add("AutoTrigger");
		1283	dtWaypoints.Columns.Add("Cam angle");
		1284	dtWaypoints.Columns.Add("Event");
		1285	dtWaypoints.Columns.Add("Eventchan. Val.");
		1286	dtWaypoints.Columns.Add("Status");
		1287	dgvWP.DataSource = dtWaypoints;
		1288	}
		1289	/// <summary>
		1290	/// read settings from ini-file
		1291	/// </summary>
2233	-	1292	void _readIni()
		1293	{
		1294	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		1295	_writeIni();
		1296	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1297	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1298
		1299	string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
		1300	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		1301	sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
		1302	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		1303	sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
		1304	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		1305	sVal = ini.IniReadValue("default", "AutorefreshOSDData");
		1306	_OSDAutorefresh = Convert.ToBoolean(sVal);
		1307
		1308	sVal = ini.IniReadValue("default", "IntervalDebugData");
		1309	debugInterval = (byte)Convert.ToInt16(sVal);
		1310	sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
		1311	navctrlInterval = (byte)Convert.ToInt16(sVal);
		1312	sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
		1313	blctrlInterval = (byte)Convert.ToInt16(sVal);
		1314	sVal = ini.IniReadValue("default", "IntervalOSDData");
		1315	OSDInterval = (byte)Convert.ToInt16(sVal);
2257	-	1316	for(int i = 0; i < 12; i++)
		1317	{
		1318	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		1319	if(sVal != "")
		1320	serChan[i] = Convert.ToInt16(sVal);
		1321	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		1322	if(sVal != "")
		1323	serChanTitle[i] = sVal;
		1324	}
2233	-	1325	}
2259	-	1326	/// <summary>
		1327	/// save settings to ini-file
		1328	/// </summary>
2233	-	1329	void _writeIni()
		1330	{
		1331
		1332	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1333	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1334
		1335	ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
		1336	ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
		1337	ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
		1338	ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
		1339
		1340	ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
		1341	ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
		1342	ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
		1343	ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
2257	-	1344
		1345	for (int i = 0; i < 12; i++)
		1346	{
		1347	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		1348	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
		1349	}
		1350
2233	-	1351	}
		1352
2250	-	1353	/// <summary>
		1354	/// initialize the 2 datatables for motor values
		1355	/// dtMotors1 - motor 1 - 4
		1356	/// dtMotors2 - motor 5 - 8
		1357	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		1358	/// </summary>
		1359	void _initDTMotors()
		1360	{
		1361	for(int i = 0; i < 4; i++)
		1362	{
		1363	if (dtMotors1.Rows.Count < 4)
		1364	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		1365	else
		1366	{
		1367	dtMotors1.Rows[i].SetField(1, "NA");
		1368	dtMotors1.Rows[i].SetField(2, "NA");
		1369	}
		1370	if (dtMotors2.Rows.Count < 4)
		1371	dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		1372	else
		1373	{
		1374	dtMotors2.Rows[i].SetField(1, "NA");
		1375	dtMotors2.Rows[i].SetField(2, "NA");
		1376	}
		1377	}
		1378	dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
		1379	dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		1380	}
		1381
		1382	/// <summary>
		1383	/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
		1384	/// </summary>
		1385	/// <param name="coord">the degree value as double</param>
		1386	/// <returns>0° 0' 0,0"</returns>
		1387	string _convertDegree(double coord)
		1388	{
		1389	//double minutes = (degree - Math.Floor(degree)) * 60.0;
		1390	//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
		1391	//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
		1392	//// get rid of fractional part
		1393	//minutes = Math.Floor(minutes);
		1394	//seconds = Math.Floor(seconds);
		1395	//tenths = Math.Floor(tenths);
		1396
		1397
		1398	//int sec = (int)Math.Round(coord * 3600);
		1399	//int deg = sec / 3600;
		1400	//sec = Math.Abs(sec % 3600);
		1401	//int min = sec / 60;
		1402	//sec %= 60;
		1403
		1404	var ts = TimeSpan.FromHours(Math.Abs(coord));
		1405	double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
		1406	int min = ts.Minutes;
		1407	int sec = ts.Seconds;
		1408	int milli = ts.Milliseconds;
		1409
		1410	return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
		1411	}
2257	-	1412	/// <summary>
		1413	/// Clear the line in the errorlog window
		1414	/// containing the error string when error has ceased
		1415	/// </summary>
		1416	/// <param name="s">substring of errrormessage</param>
2254	-	1417	void _clearErrorLog(string s)
		1418	{
		1419	rtfError.Invoke((Action)(() =>
		1420	{
		1421	if (rtfError.Text.Contains(s))
		1422	{
		1423	int iLength = 0;
		1424	int iStart = rtfError.Text.IndexOf(s);
		1425	int iEnd = rtfError.Text.IndexOf('\n', iStart);
		1426	if (iEnd > 0)
		1427	{
		1428	iLength = iEnd + 1;
		1429	int iHttp = rtfError.Text.IndexOf("http", iEnd);
		1430	if (iHttp == iLength)
		1431	{
		1432	int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
		1433	if (iEnd2 > iLength)
		1434	{
		1435	iLength = iEnd2 + 1;
		1436	rtfError.Select(iStart, iLength);
		1437	rtfError.SelectedText = string.Empty;
		1438	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1439	}
		1440
		1441	}
		1442	else
		1443	{
		1444	rtfError.Select(iStart, iLength);
		1445	rtfError.SelectedText = string.Empty;
		1446	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1447	}
		1448	}
		1449	}
		1450	}));
		1451
		1452	}
2257	-	1453	/// <summary>
		1454	/// request the Waypoint at index
		1455	/// </summary>
		1456	/// <param name="index"></param>
		1457	void _getpWP(int index)
		1458	{
		1459	if (simpleSerialPort.Port.IsOpen)
		1460	{
		1461	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1462	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		1463	serialStream.Write(bytes, 0, bytes.Length);
		1464	}
		1465	else
		1466	Log(LogMsgType.Error, "NOT CONNECTED!");
		1467
		1468	}
		1469	/// <summary>
		1470	/// Sending the serial channel values
		1471	/// </summary>
		1472	void _sendSerialData()
		1473	{
		1474	byte[] serData = new byte[12];
		1475	for(int i = 0; i < 12; i++)
		1476	{
		1477	serData[i] = unchecked((byte)(serChan[i] - 127));
		1478	}
		1479	_sendControllerMessage('y', 1, serData);
		1480	}
2259	-	1481	/// <summary>
		1482	/// init the controls for displaying
		1483	/// and setting serial control channels
		1484	/// </summary>
2257	-	1485	void _initSerialCtrl()
		1486	{
		1487	trckbarSerial1.Value = serChan[0];
		1488	textBoxSerial1.Text = serChanTitle[0];
		1489	lblTbSerial1.Text = serChan[0].ToString();
		1490	trckbarSerial2.Value = serChan[1];
		1491	textBoxSerial2.Text = serChanTitle[1];
		1492	lblTbSerial2.Text = serChan[1].ToString();
2259	-	1493	trckbarSerial3.Value = serChan[2];
		1494	textBoxSerial3.Text = serChanTitle[2];
		1495	lblTbSerial3.Text = serChan[2].ToString();
		1496	trckbarSerial4.Value = serChan[3];
		1497	textBoxSerial4.Text = serChanTitle[3];
		1498	lblTbSerial4.Text = serChan[3].ToString();
2257	-	1499	}
2233	-	1500	#endregion functions
		1501
		1502	#region buttons
		1503	private void buttonReset_Click(object sender, EventArgs e)
		1504	{
		1505	_resetCtrl();
		1506	}
		1507	private void btnVersion_Click(object sender, EventArgs e)
		1508	{
		1509	_getVersion();
		1510	}
		1511	private void btnAnalogLabels_Click(object sender, EventArgs e)
		1512	{
		1513	_getAnalogLabels(0);
		1514	}
		1515	private void btnDbgData_Click(object sender, EventArgs e)
		1516	{
		1517	_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
		1518	}
		1519	private void btnSaveLabels_Click(object sender, EventArgs e)
		1520	{
		1521	switch (_iCtrlAct)
		1522	{
		1523	case 1:
		1524	fileName = "FCLabelTexts.txt";
		1525	break;
		1526	case 2:
		1527	fileName = "NCLabelTexts.txt";
		1528	break;
		1529	default:
		1530	fileName = "NCLabelTexts.txt";
		1531	break;
		1532	}
		1533	if (sAnalogLabel[0] != null)
		1534	{
		1535	File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
		1536	Console.WriteLine("Names saved to file");
		1537	_loadLabelFile();
		1538	}
		1539	else
		1540	Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
		1541	}
		1542	private void btnLoadLabels_Click(object sender, EventArgs e)
		1543	{
		1544	_assignLabelNames();
		1545	}
		1546	private void btnReadLabelFile_Click(object sender, EventArgs e)
		1547	{
		1548	_loadLabelFile();
		1549	}
		1550	private void btnSwitchFC_Click(object sender, EventArgs e)
		1551	{
		1552	_switchToFC();
		1553	}
		1554	private void btnSwitchNC_Click(object sender, EventArgs e)
		1555	{
		1556	_switchToNC();
		1557	}
		1558	private void btnReadDbgCont_Click(object sender, EventArgs e)
		1559	{
		1560	_readCont(!bReadContinously);
		1561	}
		1562	private void btnReadBLCtrl_Click(object sender, EventArgs e)
		1563	{
		1564
		1565	if (_iCtrlAct == 2) _readBLCtrl(false);
		1566	else Log(LogMsgType.Warning, "only available when connected to NC");
		1567	}
		1568	private void btnGetNaviData_Click(object sender, EventArgs e)
		1569	{
		1570	if (_iCtrlAct == 2) _readNavData(false);
		1571	else Log(LogMsgType.Warning, "only available when connected to NC");
		1572	}
		1573	private void btnConn_Click(object sender, EventArgs e)
		1574	{
		1575	simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
		1576	}
		1577	private void button3_Click(object sender, EventArgs e)
		1578	{
		1579	_getVersion(1);
		1580	}
		1581	private void button4_Click(object sender, EventArgs e)
		1582	{
		1583	_getVersion(2);
		1584	}
		1585	private void btnOSD_Click(object sender, EventArgs e)
		1586	{
		1587	if (iOSDPage > iOSDMax)
		1588	iOSDPage = 0;
		1589	_OSDMenue(iOSDPage);
		1590	}
		1591	private void btnOSDForward_Click(object sender, EventArgs e)
		1592	{
		1593	iOSDPage++;
		1594	if (iOSDPage > iOSDMax)
		1595	iOSDPage = 0;
		1596
		1597	_OSDMenue(iOSDPage);
		1598	}
		1599	private void btnOSDBackward_Click(object sender, EventArgs e)
		1600	{
		1601	iOSDPage--;
		1602	if (iOSDPage < 0)
		1603	iOSDPage = iOSDMax;
		1604
		1605	_OSDMenue(iOSDPage);
		1606	}
		1607	private void btnOSDAuto_Click(object sender, EventArgs e)
		1608	{
		1609	_OSDMenueAutoRefresh();
		1610	}
		1611	/// call the OSDMenue with Key 0x8
		1612	private void btnOSDLeave_Click(object sender, EventArgs e)
		1613	{
		1614	_OSDMenueAutoRefresh(8);
		1615	}
		1616	/// call the OSDMenue with Key 0x4
		1617	private void btnOSDEnter_Click(object sender, EventArgs e)
		1618	{
		1619	_OSDMenueAutoRefresh(4);
		1620	}
2257	-	1621	private void btnGetWP_Click(object sender, EventArgs e)
		1622	{
		1623	if(cbWPIndex.Items.Count >0)
		1624	_getpWP((int)cbWPIndex.SelectedItem);
		1625	else
		1626	_getpWP(1);
		1627	}
2233	-	1628	#endregion buttons
2259	-	1629	#region serial control channels - buttons & events
2257	-	1630	private void tbSerial1_Scroll(object sender, EventArgs e)
		1631	{
		1632	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1633	serChan[0] = trckbarSerial1.Value;
		1634	if (!_init) _sendSerialData();
		1635	}
		1636	private void textBoxSerial1_TextChanged(object sender, EventArgs e)
		1637	{
		1638	serChanTitle[0] = textBoxSerial1.Text;
		1639	}
		1640	private void btnSer1_0_Click(object sender, EventArgs e)
		1641	{
		1642	trckbarSerial1.Value = 0;
		1643	}
		1644	private void btnSer1_127_Click(object sender, EventArgs e)
		1645	{
		1646	trckbarSerial1.Value = 127;
		1647	}
		1648	private void btnSer1_254_Click(object sender, EventArgs e)
		1649	{
		1650	trckbarSerial1.Value = 254;
		1651	}
		1652	private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
		1653	{
		1654	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1655	serChan[0] = trckbarSerial1.Value;
		1656	if (!_init) _sendSerialData();
		1657	}
		1658	private void textBoxSerial2_TextChanged(object sender, EventArgs e)
		1659	{
2259	-	1660	serChanTitle[1] = textBoxSerial2.Text;
2257	-	1661	}
		1662	private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
		1663	{
		1664	lblTbSerial2.Text = trckbarSerial2.Value.ToString();
		1665	serChan[1] = trckbarSerial2.Value;
		1666	if (!_init) _sendSerialData();
		1667	}
		1668	private void btnSer2_0_Click(object sender, EventArgs e)
		1669	{
		1670	trckbarSerial2.Value = 0;
		1671	}
		1672	private void btnSer2_127_Click(object sender, EventArgs e)
		1673	{
		1674	trckbarSerial2.Value = 127;
		1675	}
		1676	private void btnSer2_254_Click(object sender, EventArgs e)
		1677	{
		1678	trckbarSerial2.Value = 254;
		1679	}
2259	-	1680	private void textBoxSerial3_TextChanged(object sender, EventArgs e)
		1681	{
		1682	serChanTitle[2] = textBoxSerial3.Text;
		1683	}
		1684	private void trckbarSerial3_ValueChanged(object sender, EventArgs e)
		1685	{
		1686	lblTbSerial3.Text = trckbarSerial3.Value.ToString();
		1687	serChan[2] = trckbarSerial3.Value;
		1688	if (!_init) _sendSerialData();
		1689	}
		1690	private void btnSer3_0_Click(object sender, EventArgs e)
		1691	{
		1692	trckbarSerial3.Value = 0;
		1693	}
		1694	private void btnSer3_127_Click(object sender, EventArgs e)
		1695	{
		1696	trckbarSerial3.Value = 127;
		1697	}
		1698	private void btnSer3_254_Click(object sender, EventArgs e)
		1699	{
		1700	trckbarSerial3.Value = 254;
		1701	}
		1702	private void textBoxSerial4_TextChanged(object sender, EventArgs e)
		1703	{
		1704	serChanTitle[3] = textBoxSerial4.Text;
		1705	}
		1706	private void trckbarSerial4_ValueChanged(object sender, EventArgs e)
		1707	{
		1708	lblTbSerial4.Text = trckbarSerial4.Value.ToString();
		1709	serChan[3] = trckbarSerial4.Value;
		1710	if (!_init) _sendSerialData();
		1711	}
		1712	private void btnSer4_0_Click(object sender, EventArgs e)
		1713	{
		1714	trckbarSerial4.Value = 0;
		1715	}
		1716	private void btnSer4_127_Click(object sender, EventArgs e)
		1717	{
		1718	trckbarSerial4.Value = 127;
		1719	}
		1720	private void btnSer4_254_Click(object sender, EventArgs e)
		1721	{
		1722	trckbarSerial4.Value = 254;
		1723	}
		1724	#endregion serial control channels
		1725
2233	-	1726	}
		1727	public class IniFile
		1728	{
		1729	public string path;
		1730
		1731	[DllImport("kernel32")]
		1732	private static extern long WritePrivateProfileString(string section,
		1733	string key, string val, string filePath);
		1734
		1735	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		1736	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		1737	uint nSize, string lpFileName);
		1738
		1739	[DllImport("kernel32")]
		1740	private static extern int GetPrivateProfileString(string section,
		1741	string key, string def, StringBuilder retVal,
		1742	int size, string filePath);
		1743
		1744	public IniFile(string INIPath)
		1745	{
		1746	path = INIPath;
		1747	}
		1748
		1749	public void IniWriteValue(string Section, string Key, string Value)
		1750	{
		1751	WritePrivateProfileString(Section, Key, Value, this.path);
		1752	}
		1753
		1754	public string IniReadValue(string Section, string Key)
		1755	{
		1756	StringBuilder temp = new StringBuilder(255);
		1757	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		1758	return temp.ToString();
		1759	}
		1760	//Ini_sections auslesen in String-Array
		1761	public string[] IniSectionNames()
		1762	{
		1763
		1764	// uint MAX_BUFFER = 32767;
		1765	uint MAX_BUFFER = 8388608;
		1766	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		1767	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		1768	if (bytesReturned == 0)
		1769	{
		1770	Marshal.FreeCoTaskMem(pReturnedString);
		1771	return null;
		1772	}
		1773	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		1774	Marshal.FreeCoTaskMem(pReturnedString);
		1775	//use of Substring below removes terminating null for split
		1776	return local.Substring(0, local.Length - 1).Split('\0');
		1777
		1778
		1779	}
		1780	}
		1781	public static class ControlExtensions
		1782	{
		1783	/// <summary>
		1784	/// Execute a threadsafe operation, when accessing a control via another thread
		1785	/// action is a lamdaexpression
		1786	/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
		1787	/// </summary>
		1788	/// <param name="control"> The control </param>
		1789	/// <param name="action"> The 'action' to perform </param>
		1790	public static void ExecuteThreadSafe(this Control control, Action action)
		1791	{
		1792	if (control.InvokeRequired)
		1793	{
		1794	control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
		1795	}
		1796	else
		1797	{
		1798	action.Invoke();
		1799	}
		1800	}
		1801	}
		1802
		1803	}

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(root)/MKLiveView/Source/MainForm.cs @ 2260 - Rev