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2233 | - | 1 | ///============================================================================ |
2 | /// MKLiveView |
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3 | /// Copyright © 2016 Steph |
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4 | /// |
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5 | ///This file is part of MKLiveView. |
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6 | /// |
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7 | ///MKLiveView is free software: you can redistribute it and/or modify |
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8 | ///it under the terms of the GNU General Public License as published by |
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9 | ///the Free Software Foundation, either version 3 of the License, or |
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10 | ///(at your option) any later version. |
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11 | /// |
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12 | ///MKLiveView is distributed in the hope that it will be useful, |
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13 | ///but WITHOUT ANY WARRANTY; without even the implied warranty of |
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14 | ///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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15 | ///GNU General Public License for more details. |
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16 | /// |
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17 | ///You should have received a copy of the GNU General Public License |
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18 | ///along with cssRcon. If not, see <http://www.gnu.org/licenses/>. |
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19 | /// |
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20 | ///============================================================================ |
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21 | ///Credits: |
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22 | ///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737) |
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23 | ///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls) |
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24 | ///I used some of his code for displaying the compass |
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25 | /// |
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26 | ///Tom Pyke (http://tom.pycke.be) |
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27 | ///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon) |
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28 | ///Great job! |
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29 | /// |
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30 | /// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology |
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31 | /// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747) |
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2265 | - | 32 | /// and the sourcecode (http://hdl.lib.byu.edu/1877/2748) |
2233 | - | 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) |
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35 | /// and the FilghtControllerMessage class |
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36 | /// |
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37 | ///============================================================================ |
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2259 | - | 38 | /// DISCLAIMER |
39 | /// =========== |
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40 | /// |
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41 | /// I created this software with my best knowledge and belief. |
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42 | /// |
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43 | /// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING, |
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44 | /// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE, |
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45 | /// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF, |
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46 | /// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM, |
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47 | /// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION |
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48 | /// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS, |
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49 | /// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION. |
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50 | /// |
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51 | /// This means: use it & have fun (but @ Your own risk...) |
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52 | /// =========================================================================== |
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2233 | - | 53 | |
54 | using System; |
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55 | using System.Data; |
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56 | using System.Drawing; |
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57 | using System.Text; |
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58 | using System.Windows.Forms; |
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59 | using System.IO; |
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60 | using System.Threading; |
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61 | using System.Diagnostics; |
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62 | using System.Runtime.InteropServices; |
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63 | |||
64 | namespace MKLiveView |
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65 | { |
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66 | public partial class MainForm : Form |
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67 | { |
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2250 | - | 68 | String[] NC_Error = new string[44] |
69 | { |
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70 | "No Error", |
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71 | "FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22", |
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72 | "MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22", |
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73 | "no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22", |
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74 | "no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22", |
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75 | "no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22", |
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76 | "bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22", |
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77 | "RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22", |
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78 | "FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22", |
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79 | "ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22", |
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80 | "ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22", |
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81 | "ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22", |
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82 | "ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22", |
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83 | "ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22", |
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84 | "ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22", |
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85 | "ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22", |
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86 | "ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22", |
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87 | "ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22", |
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88 | "ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22", |
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89 | "Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22", |
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90 | "FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22", |
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91 | "ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22", |
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92 | "ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22", |
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93 | "Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22", |
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94 | "BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22", |
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95 | "Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22", |
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96 | "ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22", |
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97 | "ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22", |
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98 | "ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22", |
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99 | "ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22", |
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100 | "No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22", |
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101 | "compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22", |
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102 | "ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22", |
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103 | "no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22", |
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104 | "compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22", |
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105 | "FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22", |
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106 | "ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22", |
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107 | "Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22", |
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108 | "GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22", |
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109 | "ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22", |
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110 | "ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22", |
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111 | "ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22", |
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112 | "ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22", |
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113 | "ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22" |
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114 | }; |
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2233 | - | 115 | |
116 | [FlagsAttribute] |
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117 | enum NC_HWError0 : short |
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118 | { |
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119 | None = 0, |
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120 | SPI_RX = 1, |
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121 | COMPASS_RX = 2, |
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122 | FC_INCOMPATIBLE = 4, |
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123 | COMPASS_INCOMPATIBLE = 8, |
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124 | GPS_RX = 16, |
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125 | COMPASS_VALUE = 32 |
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126 | }; |
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127 | [FlagsAttribute] |
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128 | enum FC_HWError0 : short |
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129 | { |
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130 | None = 0, |
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131 | GYRO_NICK = 1, |
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132 | GYRO_ROLL = 2, |
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133 | GYRO_YAW = 4, |
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134 | ACC_NICK = 8, |
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135 | ACC_ROLL = 16, |
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136 | ACC_TOP = 32, |
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137 | PRESSURE = 64, |
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138 | CAREFREE = 128 |
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139 | }; |
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140 | [FlagsAttribute] |
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141 | enum FC_HWError1 : short |
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142 | { |
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143 | None = 0, |
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144 | I2C = 1, |
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145 | BL_MISSING = 2, |
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146 | SPI_RX = 4, |
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147 | PPM = 8, |
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148 | MIXER = 16, |
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149 | RC_VOLTAGE = 32, |
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150 | ACC_NOT_CAL = 64, |
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151 | RES3 = 128 |
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152 | }; |
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153 | public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error }; |
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154 | // Various colors for logging info |
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155 | private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red }; |
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156 | |||
157 | string[] sAnalogLabel = new string[32]; |
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158 | string[] sAnalogData = new string[32]; |
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159 | bool bReadContinously = false; |
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160 | bool check_HWError = false; |
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161 | bool _bCBInit = true; |
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162 | bool _init = true; |
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163 | bool _debugDataAutorefresh = true; |
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164 | bool _navCtrlDataAutorefresh = true; |
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165 | bool _blctrlDataAutorefresh = true; |
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166 | bool _OSDAutorefresh = true; |
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2254 | - | 167 | bool _bErrorLog = false; |
2233 | - | 168 | int crcError = 0; |
169 | int iLableIndex = 0; |
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170 | string filePath = Directory.GetCurrentDirectory(); |
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171 | string fileName = "NCLabelTexts.txt"; |
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172 | int _iCtrlAct = 0; |
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173 | int _iLifeCounter = 0; |
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174 | int iOSDPage = 0; |
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175 | int iOSDMax = 0; |
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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]; |
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2233 | - | 178 | /// <summary> |
179 | /// interval for sending debugdata (multiplied by 10ms) |
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180 | /// </summary> |
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2265 | - | 181 | byte debugInterval = 10; //(=> 100ms) |
2233 | - | 182 | /// <summary> |
183 | /// interval for sending BL-CTRL status (multiplied by 10ms) |
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184 | /// </summary> |
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2265 | - | 185 | byte blctrlInterval = 75; |
2233 | - | 186 | /// <summary> |
187 | /// interval for sending NAV-CTRL status (multiplied by 10ms) |
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188 | /// </summary> |
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189 | byte navctrlInterval = 80; |
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190 | /// <summary> |
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191 | /// interval for sending OSD page update (multiplied by 10ms) |
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192 | /// </summary> |
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193 | byte OSDInterval = 85; |
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194 | /// <summary> |
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195 | /// datatable for the debug data array - displayed on settings tabpage in datagridview |
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196 | /// </summary> |
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197 | DataTable dtAnalog = new DataTable(); |
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2254 | - | 198 | /// <summary> |
199 | /// datatable for motordata (current,temp) |
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200 | /// </summary> |
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2250 | - | 201 | DataTable dtMotors1 = new DataTable(); |
202 | DataTable dtMotors2 = new DataTable(); |
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203 | |||
2257 | - | 204 | DataTable dtWaypoints = new DataTable(); |
205 | |||
2233 | - | 206 | public MainForm() |
207 | { |
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208 | InitializeComponent(); |
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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; |
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217 | simpleSerialPort.DataReceived += processMessage; |
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2265 | - | 218 | |
2233 | - | 219 | chkbAutoBL.Checked = _blctrlDataAutorefresh; |
220 | chkbAutoDbg.Checked = _debugDataAutorefresh; |
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221 | chkbAutoNav.Checked = _navCtrlDataAutorefresh; |
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222 | chkbAutoOSD.Checked = _OSDAutorefresh; |
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2265 | - | 223 | |
2233 | - | 224 | labelTimingDebug.Text = (debugInterval * 10).ToString(); |
225 | labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString(); |
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226 | labelTimingNAV.Text = (navctrlInterval * 10).ToString(); |
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227 | labelTimingOSD.Text = (OSDInterval * 10).ToString(); |
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2265 | - | 228 | |
229 | TabControl1.TabPages.Remove(tabPageTesting); //a testing page |
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2233 | - | 230 | } |
2257 | - | 231 | |
2233 | - | 232 | #region events |
233 | private void MainForm_Shown(object sender, EventArgs e) |
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234 | { |
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235 | _loadLabelNames(); |
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2257 | - | 236 | _initSerialCtrl(); |
2233 | - | 237 | _init = false; |
2265 | - | 238 | splitContainer1.SplitterDistance = 510; |
2233 | - | 239 | } |
240 | private void MainForm_FormClosed(object sender, FormClosedEventArgs e) |
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241 | { |
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242 | _writeIni(); |
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243 | } |
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244 | private void SimpleSerialPort_PortOpened() |
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245 | { |
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246 | btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192))); |
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247 | btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port")); |
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248 | _getVersion(); |
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249 | Thread.Sleep(100); |
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250 | _OSDMenue(0); |
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2257 | - | 251 | Thread.Sleep(200); |
252 | _sendSerialData(); |
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2233 | - | 253 | // _readCont(true); |
254 | } |
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255 | private void SimpleSerialPort_PortClosed() |
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256 | { |
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257 | btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224))); |
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258 | btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port")); |
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259 | _readCont(false); |
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260 | } |
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261 | /// <summary> |
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262 | /// timer for refreshing subscription of subscribed data |
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263 | /// query lifecounter for connection failure |
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264 | /// </summary> |
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265 | private void timer1_Tick(object sender, EventArgs e) |
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266 | { |
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267 | if(bReadContinously) |
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268 | { |
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269 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
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270 | |||
2250 | - | 271 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
2233 | - | 272 | |
273 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
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274 | check_HWError = true; |
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275 | _getVersion(); |
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276 | Thread.Sleep(10); |
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277 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); } |
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278 | if (_iLifeCounter > 0) |
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279 | { |
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280 | lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0); |
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281 | _iLifeCounter = 0; |
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282 | } |
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283 | else |
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284 | { |
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285 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
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286 | lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0); |
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287 | } |
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288 | } |
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289 | } |
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290 | private void cbOSD_SelectedIndexChanged(object sender, EventArgs e) |
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291 | { |
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292 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
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293 | _OSDMenue(cbOSD.SelectedIndex); |
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294 | } |
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295 | private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e) |
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296 | { |
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297 | if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked; |
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298 | } |
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299 | private void chkbAutoNav_CheckedChanged(object sender, EventArgs e) |
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300 | { |
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301 | if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked; |
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302 | } |
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303 | private void chkbAutoBL_CheckedChanged(object sender, EventArgs e) |
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304 | { |
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305 | if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked; |
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306 | } |
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307 | private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e) |
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308 | { |
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309 | if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked; |
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310 | } |
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311 | private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e) |
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312 | { |
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313 | if (cbTimingDebug.SelectedIndex > -1) |
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314 | { |
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315 | debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10); |
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316 | labelTimingDebug.Text = (debugInterval * 10).ToString(); |
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317 | } |
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318 | } |
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319 | private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e) |
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320 | { |
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321 | if (cbTimingNAV.SelectedIndex > -1) |
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322 | { |
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323 | navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10); |
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324 | labelTimingNAV.Text = (navctrlInterval * 10).ToString(); |
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325 | } |
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326 | } |
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327 | private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e) |
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328 | { |
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329 | if (cbTimingBLCTRL.SelectedIndex > -1) |
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330 | { |
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331 | blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10); |
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332 | labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString(); |
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333 | } |
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334 | } |
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335 | private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e) |
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336 | { |
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337 | if (cbTimingOSD.SelectedIndex > -1) |
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338 | { |
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339 | OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10); |
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340 | labelTimingOSD.Text = (OSDInterval * 10).ToString(); |
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341 | } |
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342 | } |
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2254 | - | 343 | private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e) |
344 | { |
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345 | System.Diagnostics.Process.Start(e.LinkText); |
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346 | } |
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2257 | - | 347 | |
2233 | - | 348 | #endregion events |
349 | |||
350 | /// <summary> Log data to the terminal window. </summary> |
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351 | /// <param name="msgtype"> The type of message to be written. </param> |
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352 | /// <param name="msg"> The string containing the message to be shown. </param> |
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353 | private void Log(LogMsgType msgtype, string msg) |
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354 | { |
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355 | rtfTerminal.Invoke(new EventHandler(delegate |
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356 | { |
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357 | if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat |
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358 | rtfTerminal.Select(42, (500 * 129)); //500 löschen |
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359 | rtfTerminal.Select(rtfTerminal.Text.Length, 0); |
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360 | rtfTerminal.SelectedText = string.Empty; |
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361 | rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular); |
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362 | rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype]; |
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363 | rtfTerminal.AppendText(msg + Environment.NewLine); |
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364 | rtfTerminal.ScrollToCaret(); |
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365 | })); |
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366 | } |
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367 | /// <summary> display the OSD text in 4 lines à 20 chars </summary> |
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368 | /// <param name="msgtype"> The type of message to be written. </param> |
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369 | /// <param name="msg"> The string containing the message to be shown. </param> |
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370 | private void OSD(LogMsgType msgtype, string msg) |
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371 | { |
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372 | rtfOSD.Invoke(new EventHandler(delegate |
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373 | { |
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374 | if (rtfOSD.Lines.Length > 4) |
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375 | rtfOSD.Clear(); |
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376 | rtfOSD.Select(rtfOSD.Text.Length,0); |
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377 | rtfOSD.SelectedText = string.Empty; |
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378 | rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular); |
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379 | rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype]; |
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380 | rtfOSD.AppendText(msg + Environment.NewLine); |
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381 | if (rtfOSD.Text.IndexOf("ERR") > 0) |
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382 | { |
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383 | rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40); |
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384 | rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error]; |
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385 | } |
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386 | })); |
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387 | } |
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388 | private void ErrorLog(LogMsgType msgtype, string msg) |
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389 | { |
||
390 | rtfError.Invoke(new EventHandler(delegate |
||
391 | { |
||
392 | if (rtfError.Lines.Length > 4) |
||
393 | rtfError.Clear(); |
||
394 | rtfError.Focus(); |
||
395 | rtfError.Select(rtfError.Text.Length, 0); |
||
396 | rtfError.SelectedText = string.Empty; |
||
397 | rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular); |
||
398 | rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype]; |
||
399 | rtfError.AppendText(msg + Environment.NewLine); |
||
400 | |||
401 | })); |
||
2254 | - | 402 | _bErrorLog = true; |
2233 | - | 403 | } |
404 | |||
405 | #region functions |
||
406 | |||
2250 | - | 407 | #region processing received data |
408 | /// <summary> Processing the messages and displaying them in the according form controls |
||
409 | /// function called by simpleSerialPort.DataReceived event |
||
410 | /// </summary> |
||
2233 | - | 411 | /// <param name="message"> message bytearray recieved by SimpleSerialPort class </param> |
412 | private void processMessage(byte[] message) |
||
413 | { |
||
414 | if (message.Length > 0) |
||
415 | { |
||
416 | _iLifeCounter++; |
||
417 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
418 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
419 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
420 | char cmdID; |
||
421 | byte adr; |
||
422 | byte[] data; |
||
2257 | - | 423 | byte[] tmp = null; |
2233 | - | 424 | if (message[0] != '#') |
2257 | - | 425 | { |
426 | int iFound = -1; |
||
427 | for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
428 | { //so this is a workaround to not spam the log box |
||
429 | if (message[i] == 35) |
||
430 | { |
||
431 | iFound = i; |
||
432 | break; |
||
433 | } |
||
434 | } |
||
435 | if(iFound>0) |
||
436 | { |
||
437 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound)); |
||
438 | tmp = new byte[message.Length - iFound]; |
||
439 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
440 | } |
||
441 | s = s.Trim('\0', '\n', '\r'); |
||
442 | if(s.Length > 0) |
||
443 | Log(LogMsgType.Normal, s); |
||
444 | if (tmp != null) |
||
445 | { |
||
446 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
447 | processMessage(tmp); |
||
448 | } |
||
449 | } |
||
2233 | - | 450 | //Debug.Print(s); |
451 | else |
||
452 | { |
||
453 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
454 | |||
455 | if (adr == 255) { crcError++; } |
||
456 | else crcError = 0; |
||
457 | lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString())); |
||
2250 | - | 458 | //display the active controller (FC / NC) |
2233 | - | 459 | 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...??? |
460 | { |
||
461 | _iCtrlAct = adr; |
||
462 | switch (adr) |
||
463 | { |
||
464 | case 1: |
||
465 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC")); |
||
466 | lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC")); |
||
467 | _setFieldsNA(); //display fields NA for FC |
||
468 | break; |
||
469 | case 2: |
||
470 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC")); |
||
471 | lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC")); |
||
472 | break; |
||
473 | case 3: |
||
474 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
475 | break; |
||
476 | case 4: |
||
477 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
478 | break; |
||
479 | default: |
||
480 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "....")); |
||
481 | break; |
||
482 | } |
||
2257 | - | 483 | _loadLabelNames(); |
2233 | - | 484 | } |
2257 | - | 485 | // else |
486 | // Debug.Print("Address == 0?"); |
||
2233 | - | 487 | |
488 | if (data != null && data.Length > 0) |
||
489 | { |
||
490 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
491 | s = s.Trim('\0', '\n'); |
||
492 | |||
493 | switch (cmdID) |
||
494 | { |
||
2250 | - | 495 | case 'A': //Label names |
496 | _processLabelNames(s); |
||
2233 | - | 497 | break; |
498 | |||
2250 | - | 499 | case 'D': //Debug data |
2257 | - | 500 | _processDebugVals(adr, data); |
2233 | - | 501 | break; |
502 | |||
2250 | - | 503 | case 'V': //Version |
504 | _processVersion(adr, data); |
||
2233 | - | 505 | break; |
506 | |||
2250 | - | 507 | case 'K'://BL-CTRL data |
508 | _processBLCtrl(data); |
||
2233 | - | 509 | break; |
510 | |||
511 | case 'O': //NC Data |
||
2250 | - | 512 | _processNCData(data); |
2233 | - | 513 | break; |
514 | |||
515 | case 'E': //NC error-string |
||
516 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
517 | break; |
||
518 | |||
2250 | - | 519 | case 'L': //OSD Menue (called by pagenumber) |
520 | _processOSDSingle(data); |
||
2233 | - | 521 | break; |
522 | |||
2250 | - | 523 | case 'H': //OSD Menue (with autoupdate - called by Key) |
524 | _processOSDAuto(data); |
||
2233 | - | 525 | break; |
526 | |||
2257 | - | 527 | case 'X': //Waypoint data |
528 | _processWPData(data); |
||
529 | break; |
||
530 | |||
2233 | - | 531 | //default: |
532 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
533 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
534 | // break; |
||
535 | } |
||
536 | } |
||
537 | //else |
||
538 | //{ |
||
539 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
540 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
541 | //} |
||
542 | } |
||
543 | } |
||
544 | } |
||
2250 | - | 545 | /// <summary> |
546 | /// Analog label names 'A' |
||
547 | /// each label name is returned as a single string |
||
548 | /// and added to string array sAnalogLabel[] |
||
549 | /// and the datatable dtAnalog |
||
550 | /// </summary> |
||
551 | /// <param name="s">the label name</param> |
||
552 | void _processLabelNames(string s) |
||
553 | { |
||
554 | if (iLableIndex < 32) |
||
555 | { |
||
556 | sAnalogLabel[iLableIndex] = s; |
||
557 | if (dtAnalog.Rows.Count < 32) |
||
558 | dtAnalog.Rows.Add(s, ""); |
||
559 | else |
||
560 | dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
2233 | - | 561 | |
2250 | - | 562 | _getAnalogLabels(iLableIndex + 1); |
563 | } |
||
564 | Debug.Print(s); |
||
565 | } |
||
566 | /// <summary> |
||
567 | /// Debug values 'D' |
||
568 | /// </summary> |
||
569 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
570 | /// <param name="data">the received byte array to process</param> |
||
571 | void _processDebugVals(byte adr,byte[] data) |
||
572 | { |
||
573 | if (data.Length == 66) |
||
574 | { |
||
575 | int[] iAnalogData = new int[32]; |
||
576 | |||
577 | int index = 0; |
||
578 | Int16 i16 = 0; |
||
579 | double dTemp = 0; |
||
580 | for (int i = 2; i < 66; i += 2) |
||
581 | { |
||
582 | i16 = data[i + 1]; |
||
583 | i16 = (Int16)(i16 << 8); |
||
584 | iAnalogData[index] = data[i] + i16; |
||
585 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
586 | dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
||
587 | |||
588 | if (adr == 2) //NC |
||
589 | { |
||
590 | switch (index) |
||
591 | { |
||
592 | case 0: //pitch (German: nick) |
||
593 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
||
594 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
595 | break; |
||
596 | case 1: //roll |
||
597 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
||
598 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
599 | break; |
||
600 | case 4: //altitude |
||
601 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
||
602 | break; |
||
603 | case 7: //Voltage |
||
604 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
||
605 | break; |
||
606 | case 8: // Current |
||
607 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
||
608 | break; |
||
609 | case 10: //heading |
||
610 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
||
611 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
||
612 | break; |
||
613 | case 12: // SPI error |
||
614 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
||
615 | break; |
||
616 | case 14: //i2c error |
||
617 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
||
618 | break; |
||
619 | case 20: //Earthmagnet field |
||
620 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%")); |
||
621 | break; |
||
622 | case 21: //GroundSpeed |
||
623 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
624 | break; |
||
625 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
||
626 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
||
627 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
628 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
629 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
2254 | - | 630 | dTemp = Math.Sqrt(dTemp) / (double)10; |
631 | lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m"))); |
||
2250 | - | 632 | break; |
633 | case 31: //Sats used |
||
634 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index])); |
||
635 | break; |
||
636 | } |
||
637 | } |
||
638 | if (adr == 1) //FC |
||
639 | { |
||
640 | switch (index) |
||
641 | { |
||
642 | case 0: //pitch (German: nick) |
||
643 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
||
644 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
645 | break; |
||
646 | case 1: //roll |
||
647 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
||
648 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
649 | break; |
||
650 | case 5: //altitude |
||
651 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
||
652 | break; |
||
653 | case 8: //heading |
||
654 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
||
655 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
||
656 | break; |
||
657 | case 9: //Voltage |
||
658 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
||
659 | break; |
||
660 | case 10: //Receiver quality |
||
661 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index])); |
||
662 | break; |
||
663 | case 22: // Current |
||
664 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
||
665 | break; |
||
666 | case 23: //capacity used |
||
667 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh"))); |
||
668 | break; |
||
669 | case 27: // SPI error |
||
670 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
||
671 | break; |
||
672 | case 28: //i2c error |
||
673 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
||
674 | break; |
||
675 | } |
||
676 | } |
||
677 | index++; |
||
678 | } |
||
679 | } |
||
680 | else |
||
681 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
682 | } |
||
683 | /// <summary> |
||
684 | /// Version string 'V' |
||
685 | /// </summary> |
||
686 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
687 | /// <param name="data">the received byte array to process</param> |
||
688 | void _processVersion(byte adr,byte[] data) |
||
689 | { |
||
690 | if (data.Length == 12) |
||
691 | { |
||
692 | if (!check_HWError) |
||
693 | { |
||
694 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
695 | string sVersion = ""; |
||
696 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
697 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
698 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
699 | Log(LogMsgType.Incoming, sVersion); |
||
700 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
701 | Log(LogMsgType.Incoming, sVersion); |
||
702 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
703 | } |
||
704 | if (data[5] > 0) //error0 |
||
705 | { |
||
706 | if (adr == 1) |
||
707 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
||
708 | if (adr == 2) |
||
709 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
||
710 | } |
||
711 | if (data[6] > 0) //error1 |
||
712 | { |
||
713 | if (adr == 1) |
||
714 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
||
715 | if (adr == 2) |
||
716 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
||
717 | } |
||
2254 | - | 718 | if((data[5] + data[6] == 0) && _bErrorLog) |
719 | _clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error"); |
||
2250 | - | 720 | |
721 | } |
||
722 | check_HWError = false; |
||
723 | } |
||
724 | /// <summary> |
||
725 | /// BL-Ctrl data 'K' |
||
726 | /// for FC you have to use a customized firmware |
||
727 | /// </summary> |
||
728 | /// <param name="data">the received byte array to process</param> |
||
729 | void _processBLCtrl(byte[] data) |
||
730 | { |
||
731 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
732 | { |
||
733 | bool bAvailable = false; |
||
734 | for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors |
||
735 | { |
||
736 | |||
737 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
738 | bAvailable = true; |
||
739 | else |
||
740 | bAvailable = false; |
||
741 | |||
742 | if (data[i] < 4) |
||
743 | { |
||
744 | if (bAvailable) |
||
745 | { |
||
746 | dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
747 | dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
748 | } |
||
749 | else |
||
750 | { |
||
751 | dtMotors1.Rows[data[i]].SetField(1, "NA"); |
||
752 | dtMotors1.Rows[data[i]].SetField(2, "NA"); |
||
753 | } |
||
754 | } |
||
755 | if (data[i] > 3 && data[i] < 8) |
||
756 | { |
||
757 | if (bAvailable) |
||
758 | { |
||
759 | dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
760 | dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
761 | } |
||
762 | else |
||
763 | { |
||
764 | dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
765 | dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
766 | } |
||
767 | } |
||
768 | } |
||
769 | } |
||
770 | |||
771 | } |
||
772 | /// <summary> |
||
773 | /// Navi-Ctrl data 'O' |
||
774 | /// GPS-Position, capacatiy, flying time... |
||
775 | /// </summary> |
||
776 | /// <param name="data">the received byte array to process</param> |
||
777 | void _processNCData(byte[] data) |
||
778 | { |
||
779 | int i_32, i_16, iVal; |
||
780 | double d; |
||
781 | i_32 = data[4]; |
||
782 | iVal = i_32 << 24; |
||
783 | i_32 = data[3]; |
||
784 | iVal += i_32 << 16; |
||
785 | i_32 = data[2]; |
||
786 | iVal += i_32 << 8; |
||
787 | iVal += data[1]; |
||
788 | d = (double)iVal / Math.Pow(10, 7); |
||
789 | lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
790 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
791 | |||
792 | i_32 = data[8]; |
||
793 | iVal = i_32 << 24; |
||
794 | i_32 = data[7]; |
||
795 | iVal += i_32 << 16; |
||
796 | i_32 = data[6]; |
||
797 | iVal += i_32 << 8; |
||
798 | iVal += data[5]; |
||
799 | d = (double)iVal / Math.Pow(10, 7); |
||
800 | lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
||
2254 | - | 801 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
2250 | - | 802 | |
2254 | - | 803 | i_16 = data[28]; |
804 | i_16 = (Int16)(i_16 << 8); |
||
805 | iVal = data[27] + i_16; |
||
806 | lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP |
||
807 | |||
808 | i_16 = data[45]; |
||
809 | i_16 = (Int16)(i_16 << 8); |
||
810 | iVal = data[44] + i_16; |
||
811 | lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP |
||
812 | |||
813 | lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index |
||
814 | lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count |
||
815 | |||
2250 | - | 816 | i_16 = data[81]; |
817 | i_16 = (Int16)(i_16 << 8); |
||
818 | iVal = data[80] + i_16; |
||
819 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used |
||
820 | |||
821 | i_16 = data[56]; |
||
822 | i_16 = (Int16)(i_16 << 8); |
||
823 | iVal = data[55] + i_16; |
||
824 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
825 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
826 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time |
||
827 | |||
828 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality |
||
829 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber |
||
830 | //if (data[69] > 0) |
||
831 | // _readNCError(); |
||
832 | //break; |
||
833 | if (data[69] > 0 & data[69] < 44) |
||
834 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
||
2254 | - | 835 | else |
836 | if(_bErrorLog) _clearErrorLog("NC Error"); |
||
2250 | - | 837 | |
838 | } |
||
839 | /// <summary> |
||
2257 | - | 840 | /// Navi-Ctrl WP data struct 'X' |
841 | /// called by index |
||
842 | /// </summary> |
||
843 | /// <param name="data">the received byte array to process</param> |
||
844 | void _processWPData(byte[] data) |
||
845 | { |
||
846 | if (data.Length >= 28) |
||
847 | { |
||
848 | int count = data[0]; |
||
849 | int index = data[1]; |
||
850 | cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear())); |
||
851 | for (int i = 0; i < count; i++) |
||
852 | cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1))); |
||
853 | cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index)); |
||
854 | DataRow dr = dtWaypoints.NewRow(); |
||
855 | dr = Waypoints.toDataRow(data, dr); |
||
856 | dtWaypoints.Rows.Add(dr); |
||
857 | dgvWP.Invoke((Action)(() => dgvWP.Update())); |
||
858 | } |
||
859 | else |
||
860 | Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length))); |
||
861 | } |
||
862 | /// <summary> |
||
2250 | - | 863 | /// OSD Menue 'L' |
864 | /// single page called by pagenumber |
||
865 | /// no autoupdate |
||
866 | /// </summary> |
||
867 | /// <param name="data">the received byte array to process</param> |
||
868 | void _processOSDSingle(byte[] data) |
||
869 | { |
||
870 | if (data.Length == 84) |
||
871 | { |
||
872 | string sMessage = ""; |
||
873 | iOSDPage = data[0]; |
||
874 | iOSDMax = data[1]; |
||
875 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
876 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
877 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)); |
||
878 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)); |
||
879 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)); |
||
880 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20)); |
||
881 | lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
882 | |||
883 | } |
||
884 | else |
||
885 | OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
886 | |||
887 | } |
||
888 | /// <summary> |
||
889 | /// OSD Menue 'H' |
||
890 | /// called by keys (0x01,0x02,0x03,0x04) |
||
891 | /// autoupdate |
||
892 | /// </summary> |
||
893 | /// <param name="data">the received byte array to process</param> |
||
894 | void _processOSDAuto(byte[] data) |
||
895 | { |
||
896 | if (data.Length == 81) |
||
897 | { |
||
898 | string sMessage = ""; |
||
899 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
900 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)); |
||
901 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)); |
||
902 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)); |
||
903 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20)); |
||
904 | |||
905 | } |
||
906 | else |
||
907 | OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
908 | } |
||
909 | #endregion processing received data |
||
910 | |||
2233 | - | 911 | /// <summary> send message to controller to request data |
912 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
913 | /// </summary> |
||
914 | /// <param name="CMDID"> the command ID </param> |
||
915 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
916 | private void _sendControllerMessage(char CMDID, byte address) |
||
917 | { |
||
918 | if (simpleSerialPort.Port.IsOpen) |
||
919 | { |
||
920 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
921 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
922 | serialStream.Write(bytes, 0, bytes.Length); |
||
923 | |||
924 | } |
||
925 | else |
||
926 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
927 | } |
||
928 | /// <summary> send message to controller to request data |
||
929 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
930 | /// </summary> |
||
931 | /// <param name="CMDID"> the command ID </param> |
||
932 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
933 | /// <param name="data"> additional data for the request</param> |
||
934 | private void _sendControllerMessage(char CMDID, byte address, byte[]data) |
||
935 | { |
||
936 | if (simpleSerialPort.Port.IsOpen) |
||
937 | { |
||
938 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
939 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data); |
||
940 | serialStream.Write(bytes, 0, bytes.Length); |
||
941 | |||
942 | } |
||
943 | else |
||
944 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
945 | } |
||
946 | |||
947 | /// <summary> |
||
948 | /// read the analog-label names for the actual controller |
||
949 | /// and load it into listbox |
||
950 | /// </summary> |
||
951 | void _loadLabelNames() |
||
952 | { |
||
953 | if (_iCtrlAct > 0 && _iCtrlAct < 3) |
||
954 | { |
||
955 | switch (_iCtrlAct) |
||
956 | { |
||
957 | case 1: |
||
958 | sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None); |
||
959 | break; |
||
960 | case 2: |
||
961 | sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None); |
||
962 | break; |
||
963 | } |
||
964 | for (int i = 0; i < 32; i++) |
||
965 | { |
||
966 | if (dtAnalog.Rows.Count < 32) |
||
967 | dtAnalog.Rows.Add(sAnalogLabel[i], ""); |
||
968 | else |
||
969 | dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]); |
||
970 | } |
||
971 | dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh())); |
||
972 | } |
||
973 | } |
||
974 | /// <summary> |
||
975 | /// no longer used... |
||
976 | /// read the analog-label textfile for the actual controller |
||
977 | /// </summary> |
||
978 | private void _loadLabelFile() |
||
979 | { |
||
980 | switch (_iCtrlAct) |
||
981 | { |
||
982 | case 1: |
||
983 | fileName = "FCLabelTexts.txt"; |
||
984 | break; |
||
985 | case 2: |
||
986 | fileName = "NCLabelTexts.txt"; |
||
987 | break; |
||
988 | //default: |
||
989 | // fileName = "NCLabelTexts.txt"; |
||
990 | // break; |
||
991 | } |
||
992 | |||
993 | if (File.Exists(filePath + "\\" + fileName)) |
||
994 | { |
||
995 | sAnalogLabel.Initialize(); |
||
996 | sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName); |
||
997 | lbLabels.Invoke((Action)(() => lbLabels.Items.Clear())); |
||
998 | lbLabels.Invoke((Action)(() => lbLabels.Update())); |
||
999 | lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel))); |
||
1000 | Console.WriteLine("Names loaded from file"); |
||
1001 | lblFileName.Invoke((Action)(() => lblFileName.Text = fileName)); |
||
1002 | } |
||
1003 | else |
||
1004 | { |
||
1005 | _readCont(false); |
||
1006 | Log(LogMsgType.Error, "Label-file not found!"); |
||
1007 | Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)"); |
||
1008 | Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!"); |
||
1009 | } |
||
1010 | } |
||
1011 | /// <summary> |
||
1012 | /// no longer used... |
||
1013 | /// assign the analog-label names from the textfile to the datatable |
||
1014 | /// |
||
1015 | /// </summary> |
||
1016 | private void _assignLabelNames() |
||
1017 | { |
||
1018 | if (lbLabels.Items.Count == 32) |
||
1019 | { |
||
1020 | lbLabels.Items.CopyTo(sAnalogLabel, 0); |
||
1021 | for (int i = 0; i < 32; i++) |
||
1022 | { |
||
1023 | if (dtAnalog.Rows.Count < 32) |
||
1024 | dtAnalog.Rows.Add(sAnalogLabel[i], ""); |
||
1025 | else |
||
1026 | dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]); |
||
1027 | |||
1028 | } |
||
1029 | } |
||
1030 | } |
||
1031 | /// <summary> |
||
1032 | /// get the version struct of actual controller |
||
1033 | /// </summary> |
||
1034 | /// <summary> |
||
1035 | /// get the labeltexts for the analog values |
||
1036 | /// </summary> |
||
1037 | private void _getAnalogLabels() |
||
1038 | { |
||
1039 | if (simpleSerialPort.Port.IsOpen) |
||
1040 | { |
||
1041 | iLableIndex = 0; |
||
1042 | for (int i = 0; i < 32; i++) |
||
1043 | { |
||
1044 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1045 | byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i }); |
||
1046 | serialStream.Write(bytes, 0, bytes.Length); |
||
1047 | Thread.Sleep(10); |
||
1048 | } |
||
1049 | } |
||
1050 | else |
||
1051 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1052 | } |
||
1053 | /// <summary> |
||
1054 | /// get the labeltext for a single label |
||
1055 | /// </summary> |
||
1056 | /// <param name="iIndex">index of the label</param> |
||
1057 | private void _getAnalogLabels(int iIndex) |
||
1058 | { |
||
1059 | if (simpleSerialPort.Port.IsOpen) |
||
1060 | { |
||
1061 | if (iIndex < 32) |
||
1062 | { |
||
1063 | iLableIndex = iIndex; |
||
1064 | _sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex }); |
||
1065 | } |
||
1066 | } |
||
1067 | else |
||
1068 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1069 | } |
||
1070 | private void _getVersion() |
||
1071 | { |
||
1072 | _sendControllerMessage('v', 0); |
||
1073 | } |
||
1074 | /// <summary> |
||
1075 | /// get FC version struct via NC |
||
1076 | /// by sending '1' as data (not documented in wiki...) |
||
1077 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
1078 | /// </summary> |
||
1079 | /// <param name="ctrl">controller number 1=FC</param> |
||
1080 | private void _getVersion(byte ctrl) |
||
1081 | { |
||
1082 | _sendControllerMessage('v', 0, new byte[1] {ctrl}); |
||
1083 | } |
||
1084 | /// <summary> |
||
1085 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
1086 | /// </summary> |
||
1087 | private void _switchToNC() |
||
1088 | { |
||
1089 | if (simpleSerialPort.Port.IsOpen) |
||
1090 | { |
||
1091 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1092 | byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 }; |
||
1093 | serialStream.Write(bytes, 0, bytes.Length); |
||
1094 | |||
1095 | Thread.Sleep(100); |
||
1096 | _getVersion(); |
||
1097 | Thread.Sleep(100); |
||
1098 | _OSDMenue(0); |
||
1099 | } |
||
1100 | else |
||
1101 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1102 | } |
||
1103 | /// <summary> |
||
1104 | /// switch to FC |
||
1105 | /// </summary> |
||
1106 | private void _switchToFC() |
||
1107 | { |
||
1108 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
1109 | Thread.Sleep(100); |
||
1110 | _getVersion(); |
||
1111 | Thread.Sleep(100); |
||
1112 | _OSDMenue(0); |
||
1113 | } |
||
1114 | /// <summary> |
||
1115 | /// send RESET signal to FC |
||
1116 | /// </summary> |
||
1117 | private void _resetCtrl() |
||
1118 | { |
||
1119 | _sendControllerMessage('R', 1); |
||
1120 | } |
||
1121 | /// <summary> |
||
1122 | /// poll the debug data (4sec subscription) |
||
1123 | /// </summary> |
||
1124 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1125 | private void _readDebugData(bool auto) |
||
1126 | { |
||
1127 | byte interval = auto ? debugInterval : (byte)0; |
||
1128 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
1129 | } |
||
1130 | /// <summary> |
||
1131 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
1132 | /// </summary> |
||
1133 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1134 | private void _readBLCtrl(bool auto) |
||
1135 | { |
||
1136 | byte interval = auto ? blctrlInterval : (byte)0; |
||
1137 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
1138 | } |
||
1139 | /// <summary> |
||
1140 | /// poll the NC data struct (4sec subscription) |
||
1141 | /// </summary> |
||
1142 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1143 | private void _readNavData(bool auto) |
||
1144 | { |
||
1145 | byte interval = auto ? navctrlInterval : (byte)0; |
||
1146 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
1147 | } |
||
1148 | /// <summary> |
||
1149 | /// get the errortext for pending NC error |
||
1150 | /// </summary> |
||
1151 | private void _readNCError() |
||
1152 | { |
||
1153 | _sendControllerMessage('e', 2); |
||
1154 | } |
||
1155 | /// <summary> |
||
1156 | /// start/stop continous polling of controller values |
||
1157 | /// </summary> |
||
1158 | /// <param name="b">start/stop switch</param> |
||
1159 | void _readCont(bool b) |
||
1160 | { |
||
1161 | bReadContinously = b; |
||
1162 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh")); |
||
1163 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224))); |
||
1164 | if (bReadContinously) |
||
1165 | { |
||
2250 | - | 1166 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
1167 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
1168 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
1169 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);} |
||
2233 | - | 1170 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0))); |
1171 | } |
||
1172 | else |
||
1173 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224))); |
||
1174 | _iLifeCounter = 0; |
||
1175 | } |
||
1176 | /// <summary> |
||
2250 | - | 1177 | /// set values to "NA" when not available with FC |
2233 | - | 1178 | /// </summary> |
1179 | void _setFieldsNA() |
||
1180 | { |
||
1181 | Thread.Sleep(100); |
||
2250 | - | 1182 | _initDTMotors(); |
2233 | - | 1183 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime |
2250 | - | 1184 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr |
1185 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field |
||
1186 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed |
||
1187 | lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP |
||
1188 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used |
||
1189 | lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude |
||
1190 | lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude |
||
2254 | - | 1191 | lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance |
1192 | lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP |
||
1193 | lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list |
||
2233 | - | 1194 | } |
1195 | /// <summary> |
||
1196 | /// one time query of the OSD Menue with pagenumber |
||
1197 | /// </summary> |
||
1198 | /// <param name="iMenue">Menue page</param> |
||
1199 | void _OSDMenue(int iMenue) |
||
1200 | { |
||
1201 | if (simpleSerialPort.Port.IsOpen) |
||
1202 | { |
||
1203 | if (iMenue > iOSDMax) |
||
1204 | iMenue = 0; |
||
1205 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1206 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
1207 | serialStream.Write(bytes, 0, bytes.Length); |
||
1208 | } |
||
1209 | else |
||
1210 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1211 | |||
1212 | } |
||
1213 | /// <summary> |
||
1214 | /// call the OSDMenue and start autorefresh |
||
1215 | /// usually by sending a menuekey |
||
1216 | /// 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) |
||
1217 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
1218 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
1219 | /// </summary> |
||
1220 | void _OSDMenueAutoRefresh() |
||
1221 | { |
||
1222 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval }); |
||
1223 | } |
||
1224 | void _OSDMenueAutoRefresh(byte key) |
||
1225 | { |
||
1226 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
1227 | } |
||
1228 | /// <summary> |
||
1229 | /// initialize the OSD menue combobox |
||
1230 | /// combox is filled by numbers from 0 to max pagenumber |
||
1231 | /// </summary> |
||
1232 | void _initOSDCB() |
||
1233 | { |
||
1234 | _bCBInit = true; |
||
1235 | if(iOSDMax == 0) |
||
1236 | { |
||
1237 | _OSDMenue(0); |
||
1238 | Thread.Sleep(10); |
||
1239 | } |
||
1240 | cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear())); |
||
1241 | for(int i = 0; i <= iOSDMax;i++) |
||
1242 | { |
||
1243 | cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
1244 | } |
||
1245 | cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
1246 | _bCBInit = false; |
||
1247 | } |
||
2259 | - | 1248 | /// <summary> |
1249 | /// initialize the datatables |
||
1250 | /// with columnnames etc |
||
1251 | /// </summary> |
||
1252 | void _dataTablesInit() |
||
1253 | { |
||
1254 | dtAnalog.Columns.Add("ID"); |
||
1255 | dtAnalog.Columns.Add("Value"); |
||
1256 | dataGridView1.DataSource = dtAnalog; |
||
1257 | |||
1258 | dtMotors1.Columns.Add("#"); |
||
1259 | dtMotors1.Columns.Add("Current"); |
||
1260 | dtMotors1.Columns.Add("Temp"); |
||
1261 | dtMotors2.Columns.Add("#"); |
||
1262 | dtMotors2.Columns.Add("Current"); |
||
1263 | dtMotors2.Columns.Add("Temp"); |
||
1264 | dgvMotors1.DataSource = dtMotors1; |
||
1265 | dgvMotors2.DataSource = dtMotors2; |
||
1266 | _initDTMotors(); |
||
1267 | dgvMotors1.Columns[0].Width = 24; |
||
1268 | dgvMotors1.Columns[1].Width = 74; |
||
1269 | dgvMotors1.Columns[2].Width = 74; |
||
1270 | dgvMotors2.Columns[0].Width = 24; |
||
1271 | dgvMotors2.Columns[1].Width = 74; |
||
1272 | dgvMotors2.Columns[2].Width = 74; |
||
1273 | |||
1274 | dtWaypoints.Columns.Add("Index"); |
||
1275 | dtWaypoints.Columns.Add("Type"); |
||
1276 | dtWaypoints.Columns.Add("Name"); |
||
1277 | dtWaypoints.Columns.Add("Latitude"); |
||
1278 | dtWaypoints.Columns.Add("Longitude"); |
||
1279 | dtWaypoints.Columns.Add("Altitude"); |
||
1280 | dtWaypoints.Columns.Add("Heading"); |
||
1281 | dtWaypoints.Columns.Add("Speed"); |
||
1282 | dtWaypoints.Columns.Add("Altitude rate"); |
||
1283 | dtWaypoints.Columns.Add("Tol.radius"); |
||
1284 | dtWaypoints.Columns.Add("Hold time"); |
||
1285 | dtWaypoints.Columns.Add("AutoTrigger"); |
||
1286 | dtWaypoints.Columns.Add("Cam angle"); |
||
1287 | dtWaypoints.Columns.Add("Event"); |
||
1288 | dtWaypoints.Columns.Add("Eventchan. Val."); |
||
1289 | dtWaypoints.Columns.Add("Status"); |
||
1290 | dgvWP.DataSource = dtWaypoints; |
||
1291 | } |
||
1292 | /// <summary> |
||
1293 | /// read settings from ini-file |
||
1294 | /// </summary> |
||
2233 | - | 1295 | void _readIni() |
1296 | { |
||
1297 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
1298 | _writeIni(); |
||
1299 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
1300 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
1301 | |||
1302 | string sVal = ini.IniReadValue("default", "AutorefreshDebugData"); |
||
1303 | _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
1304 | sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData"); |
||
1305 | _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
1306 | sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData"); |
||
1307 | _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
1308 | sVal = ini.IniReadValue("default", "AutorefreshOSDData"); |
||
1309 | _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
1310 | |||
1311 | sVal = ini.IniReadValue("default", "IntervalDebugData"); |
||
1312 | debugInterval = (byte)Convert.ToInt16(sVal); |
||
1313 | sVal = ini.IniReadValue("default", "IntervalNavCtrlData"); |
||
1314 | navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
1315 | sVal = ini.IniReadValue("default", "IntervalBLCtrlData"); |
||
1316 | blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
1317 | sVal = ini.IniReadValue("default", "IntervalOSDData"); |
||
1318 | OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2257 | - | 1319 | for(int i = 0; i < 12; i++) |
1320 | { |
||
1321 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val"); |
||
1322 | if(sVal != "") |
||
1323 | serChan[i] = Convert.ToInt16(sVal); |
||
1324 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title"); |
||
1325 | if(sVal != "") |
||
1326 | serChanTitle[i] = sVal; |
||
1327 | } |
||
2233 | - | 1328 | } |
2259 | - | 1329 | /// <summary> |
1330 | /// save settings to ini-file |
||
1331 | /// </summary> |
||
2233 | - | 1332 | void _writeIni() |
1333 | { |
||
1334 | |||
1335 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
1336 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
1337 | |||
1338 | ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false"); |
||
1339 | ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false"); |
||
1340 | ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false"); |
||
1341 | ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false"); |
||
1342 | |||
1343 | ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString()); |
||
1344 | ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
1345 | ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
1346 | ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString()); |
||
2257 | - | 1347 | |
1348 | for (int i = 0; i < 12; i++) |
||
1349 | { |
||
1350 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString()); |
||
1351 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]); |
||
1352 | } |
||
1353 | |||
2233 | - | 1354 | } |
1355 | |||
2250 | - | 1356 | /// <summary> |
1357 | /// initialize the 2 datatables for motor values |
||
1358 | /// dtMotors1 - motor 1 - 4 |
||
1359 | /// dtMotors2 - motor 5 - 8 |
||
1360 | /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 |
||
1361 | /// </summary> |
||
1362 | void _initDTMotors() |
||
1363 | { |
||
1364 | for(int i = 0; i < 4; i++) |
||
1365 | { |
||
1366 | if (dtMotors1.Rows.Count < 4) |
||
1367 | dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA"); |
||
1368 | else |
||
1369 | { |
||
1370 | dtMotors1.Rows[i].SetField(1, "NA"); |
||
1371 | dtMotors1.Rows[i].SetField(2, "NA"); |
||
1372 | } |
||
1373 | if (dtMotors2.Rows.Count < 4) |
||
1374 | dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA"); |
||
1375 | else |
||
1376 | { |
||
1377 | dtMotors2.Rows[i].SetField(1, "NA"); |
||
1378 | dtMotors2.Rows[i].SetField(2, "NA"); |
||
1379 | } |
||
1380 | } |
||
1381 | dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh())); |
||
1382 | dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh())); |
||
1383 | } |
||
1384 | |||
1385 | /// <summary> |
||
1386 | /// Convert decimal degrees to degrees, minutes, seconds, milliseconds |
||
1387 | /// </summary> |
||
1388 | /// <param name="coord">the degree value as double</param> |
||
1389 | /// <returns>0° 0' 0,0"</returns> |
||
1390 | string _convertDegree(double coord) |
||
1391 | { |
||
1392 | //double minutes = (degree - Math.Floor(degree)) * 60.0; |
||
1393 | //double seconds = (minutes - Math.Floor(minutes)) * 60.0; |
||
1394 | //double tenths = (seconds - Math.Floor(seconds)) * 10.0; |
||
1395 | //// get rid of fractional part |
||
1396 | //minutes = Math.Floor(minutes); |
||
1397 | //seconds = Math.Floor(seconds); |
||
1398 | //tenths = Math.Floor(tenths); |
||
1399 | |||
1400 | |||
1401 | //int sec = (int)Math.Round(coord * 3600); |
||
1402 | //int deg = sec / 3600; |
||
1403 | //sec = Math.Abs(sec % 3600); |
||
1404 | //int min = sec / 60; |
||
1405 | //sec %= 60; |
||
1406 | |||
1407 | var ts = TimeSpan.FromHours(Math.Abs(coord)); |
||
1408 | double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours); |
||
1409 | int min = ts.Minutes; |
||
1410 | int sec = ts.Seconds; |
||
1411 | int milli = ts.Milliseconds; |
||
1412 | |||
1413 | return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\""; |
||
1414 | } |
||
2257 | - | 1415 | /// <summary> |
1416 | /// Clear the line in the errorlog window |
||
1417 | /// containing the error string when error has ceased |
||
1418 | /// </summary> |
||
1419 | /// <param name="s">substring of errrormessage</param> |
||
2254 | - | 1420 | void _clearErrorLog(string s) |
1421 | { |
||
1422 | rtfError.Invoke((Action)(() => |
||
1423 | { |
||
1424 | if (rtfError.Text.Contains(s)) |
||
1425 | { |
||
1426 | int iLength = 0; |
||
1427 | int iStart = rtfError.Text.IndexOf(s); |
||
1428 | int iEnd = rtfError.Text.IndexOf('\n', iStart); |
||
1429 | if (iEnd > 0) |
||
1430 | { |
||
1431 | iLength = iEnd + 1; |
||
1432 | int iHttp = rtfError.Text.IndexOf("http", iEnd); |
||
1433 | if (iHttp == iLength) |
||
1434 | { |
||
1435 | int iEnd2 = rtfError.Text.IndexOf('\n', iLength); |
||
1436 | if (iEnd2 > iLength) |
||
1437 | { |
||
1438 | iLength = iEnd2 + 1; |
||
1439 | rtfError.Select(iStart, iLength); |
||
1440 | rtfError.SelectedText = string.Empty; |
||
1441 | if(rtfError.Text.Length < 2) _bErrorLog = false; |
||
1442 | } |
||
1443 | |||
1444 | } |
||
1445 | else |
||
1446 | { |
||
1447 | rtfError.Select(iStart, iLength); |
||
1448 | rtfError.SelectedText = string.Empty; |
||
1449 | if(rtfError.Text.Length < 2) _bErrorLog = false; |
||
1450 | } |
||
1451 | } |
||
1452 | } |
||
1453 | })); |
||
1454 | |||
1455 | } |
||
2257 | - | 1456 | /// <summary> |
1457 | /// request the Waypoint at index |
||
1458 | /// </summary> |
||
1459 | /// <param name="index"></param> |
||
1460 | void _getpWP(int index) |
||
1461 | { |
||
1462 | if (simpleSerialPort.Port.IsOpen) |
||
1463 | { |
||
1464 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1465 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
1466 | serialStream.Write(bytes, 0, bytes.Length); |
||
1467 | } |
||
1468 | else |
||
1469 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1470 | |||
1471 | } |
||
1472 | /// <summary> |
||
1473 | /// Sending the serial channel values |
||
1474 | /// </summary> |
||
1475 | void _sendSerialData() |
||
1476 | { |
||
1477 | byte[] serData = new byte[12]; |
||
1478 | for(int i = 0; i < 12; i++) |
||
1479 | { |
||
1480 | serData[i] = unchecked((byte)(serChan[i] - 127)); |
||
1481 | } |
||
1482 | _sendControllerMessage('y', 1, serData); |
||
1483 | } |
||
2259 | - | 1484 | /// <summary> |
1485 | /// init the controls for displaying |
||
1486 | /// and setting serial control channels |
||
1487 | /// </summary> |
||
2257 | - | 1488 | void _initSerialCtrl() |
1489 | { |
||
1490 | trckbarSerial1.Value = serChan[0]; |
||
1491 | textBoxSerial1.Text = serChanTitle[0]; |
||
1492 | lblTbSerial1.Text = serChan[0].ToString(); |
||
1493 | trckbarSerial2.Value = serChan[1]; |
||
1494 | textBoxSerial2.Text = serChanTitle[1]; |
||
1495 | lblTbSerial2.Text = serChan[1].ToString(); |
||
2259 | - | 1496 | trckbarSerial3.Value = serChan[2]; |
1497 | textBoxSerial3.Text = serChanTitle[2]; |
||
1498 | lblTbSerial3.Text = serChan[2].ToString(); |
||
1499 | trckbarSerial4.Value = serChan[3]; |
||
1500 | textBoxSerial4.Text = serChanTitle[3]; |
||
1501 | lblTbSerial4.Text = serChan[3].ToString(); |
||
2265 | - | 1502 | trckbarSerial5.Value = serChan[4]; |
1503 | textBoxSerial5.Text = serChanTitle[4]; |
||
1504 | lblTbSerial5.Text = serChan[4].ToString(); |
||
1505 | trckbarSerial6.Value = serChan[5]; |
||
1506 | textBoxSerial6.Text = serChanTitle[5]; |
||
1507 | lblTbSerial6.Text = serChan[5].ToString(); |
||
1508 | trckbarSerial7.Value = serChan[6]; |
||
1509 | textBoxSerial7.Text = serChanTitle[6]; |
||
1510 | lblTbSerial7.Text = serChan[6].ToString(); |
||
1511 | trckbarSerial8.Value = serChan[7]; |
||
1512 | textBoxSerial8.Text = serChanTitle[7]; |
||
1513 | lblTbSerial8.Text = serChan[7].ToString(); |
||
2257 | - | 1514 | } |
2233 | - | 1515 | #endregion functions |
1516 | |||
1517 | #region buttons |
||
1518 | private void buttonReset_Click(object sender, EventArgs e) |
||
1519 | { |
||
1520 | _resetCtrl(); |
||
1521 | } |
||
1522 | private void btnVersion_Click(object sender, EventArgs e) |
||
1523 | { |
||
1524 | _getVersion(); |
||
1525 | } |
||
1526 | private void btnAnalogLabels_Click(object sender, EventArgs e) |
||
1527 | { |
||
1528 | _getAnalogLabels(0); |
||
1529 | } |
||
1530 | private void btnDbgData_Click(object sender, EventArgs e) |
||
1531 | { |
||
1532 | _readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds |
||
1533 | } |
||
1534 | private void btnSaveLabels_Click(object sender, EventArgs e) |
||
1535 | { |
||
1536 | switch (_iCtrlAct) |
||
1537 | { |
||
1538 | case 1: |
||
1539 | fileName = "FCLabelTexts.txt"; |
||
1540 | break; |
||
1541 | case 2: |
||
1542 | fileName = "NCLabelTexts.txt"; |
||
1543 | break; |
||
1544 | default: |
||
1545 | fileName = "NCLabelTexts.txt"; |
||
1546 | break; |
||
1547 | } |
||
1548 | if (sAnalogLabel[0] != null) |
||
1549 | { |
||
1550 | File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel); |
||
1551 | Console.WriteLine("Names saved to file"); |
||
1552 | _loadLabelFile(); |
||
1553 | } |
||
1554 | else |
||
1555 | Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!"); |
||
1556 | } |
||
1557 | private void btnLoadLabels_Click(object sender, EventArgs e) |
||
1558 | { |
||
1559 | _assignLabelNames(); |
||
1560 | } |
||
1561 | private void btnReadLabelFile_Click(object sender, EventArgs e) |
||
1562 | { |
||
1563 | _loadLabelFile(); |
||
1564 | } |
||
1565 | private void btnSwitchFC_Click(object sender, EventArgs e) |
||
1566 | { |
||
1567 | _switchToFC(); |
||
1568 | } |
||
1569 | private void btnSwitchNC_Click(object sender, EventArgs e) |
||
1570 | { |
||
1571 | _switchToNC(); |
||
1572 | } |
||
1573 | private void btnReadDbgCont_Click(object sender, EventArgs e) |
||
1574 | { |
||
1575 | _readCont(!bReadContinously); |
||
1576 | } |
||
1577 | private void btnReadBLCtrl_Click(object sender, EventArgs e) |
||
1578 | { |
||
1579 | |||
1580 | if (_iCtrlAct == 2) _readBLCtrl(false); |
||
1581 | else Log(LogMsgType.Warning, "only available when connected to NC"); |
||
1582 | } |
||
1583 | private void btnGetNaviData_Click(object sender, EventArgs e) |
||
1584 | { |
||
1585 | if (_iCtrlAct == 2) _readNavData(false); |
||
1586 | else Log(LogMsgType.Warning, "only available when connected to NC"); |
||
1587 | } |
||
1588 | private void btnConn_Click(object sender, EventArgs e) |
||
1589 | { |
||
1590 | simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen); |
||
1591 | } |
||
1592 | private void button3_Click(object sender, EventArgs e) |
||
1593 | { |
||
1594 | _getVersion(1); |
||
1595 | } |
||
1596 | private void button4_Click(object sender, EventArgs e) |
||
1597 | { |
||
1598 | _getVersion(2); |
||
1599 | } |
||
1600 | private void btnOSD_Click(object sender, EventArgs e) |
||
1601 | { |
||
1602 | if (iOSDPage > iOSDMax) |
||
1603 | iOSDPage = 0; |
||
1604 | _OSDMenue(iOSDPage); |
||
1605 | } |
||
1606 | private void btnOSDForward_Click(object sender, EventArgs e) |
||
1607 | { |
||
1608 | iOSDPage++; |
||
1609 | if (iOSDPage > iOSDMax) |
||
1610 | iOSDPage = 0; |
||
1611 | |||
1612 | _OSDMenue(iOSDPage); |
||
1613 | } |
||
1614 | private void btnOSDBackward_Click(object sender, EventArgs e) |
||
1615 | { |
||
1616 | iOSDPage--; |
||
1617 | if (iOSDPage < 0) |
||
1618 | iOSDPage = iOSDMax; |
||
1619 | |||
1620 | _OSDMenue(iOSDPage); |
||
1621 | } |
||
1622 | private void btnOSDAuto_Click(object sender, EventArgs e) |
||
1623 | { |
||
1624 | _OSDMenueAutoRefresh(); |
||
1625 | } |
||
1626 | /// call the OSDMenue with Key 0x8 |
||
1627 | private void btnOSDLeave_Click(object sender, EventArgs e) |
||
1628 | { |
||
1629 | _OSDMenueAutoRefresh(8); |
||
1630 | } |
||
1631 | /// call the OSDMenue with Key 0x4 |
||
1632 | private void btnOSDEnter_Click(object sender, EventArgs e) |
||
1633 | { |
||
1634 | _OSDMenueAutoRefresh(4); |
||
1635 | } |
||
2257 | - | 1636 | private void btnGetWP_Click(object sender, EventArgs e) |
1637 | { |
||
1638 | if(cbWPIndex.Items.Count >0) |
||
1639 | _getpWP((int)cbWPIndex.SelectedItem); |
||
1640 | else |
||
1641 | _getpWP(1); |
||
1642 | } |
||
2233 | - | 1643 | #endregion buttons |
2259 | - | 1644 | #region serial control channels - buttons & events |
2257 | - | 1645 | private void tbSerial1_Scroll(object sender, EventArgs e) |
1646 | { |
||
1647 | lblTbSerial1.Text = trckbarSerial1.Value.ToString(); |
||
1648 | serChan[0] = trckbarSerial1.Value; |
||
1649 | if (!_init) _sendSerialData(); |
||
1650 | } |
||
1651 | private void textBoxSerial1_TextChanged(object sender, EventArgs e) |
||
1652 | { |
||
1653 | serChanTitle[0] = textBoxSerial1.Text; |
||
1654 | } |
||
1655 | private void btnSer1_0_Click(object sender, EventArgs e) |
||
1656 | { |
||
1657 | trckbarSerial1.Value = 0; |
||
1658 | } |
||
1659 | private void btnSer1_127_Click(object sender, EventArgs e) |
||
1660 | { |
||
1661 | trckbarSerial1.Value = 127; |
||
1662 | } |
||
1663 | private void btnSer1_254_Click(object sender, EventArgs e) |
||
1664 | { |
||
1665 | trckbarSerial1.Value = 254; |
||
1666 | } |
||
1667 | private void trckbarSerial1_ValueChanged(object sender, EventArgs e) |
||
1668 | { |
||
1669 | lblTbSerial1.Text = trckbarSerial1.Value.ToString(); |
||
1670 | serChan[0] = trckbarSerial1.Value; |
||
1671 | if (!_init) _sendSerialData(); |
||
1672 | } |
||
1673 | private void textBoxSerial2_TextChanged(object sender, EventArgs e) |
||
1674 | { |
||
2259 | - | 1675 | serChanTitle[1] = textBoxSerial2.Text; |
2257 | - | 1676 | } |
1677 | private void trckbarSerial2_ValueChanged(object sender, EventArgs e) |
||
1678 | { |
||
1679 | lblTbSerial2.Text = trckbarSerial2.Value.ToString(); |
||
1680 | serChan[1] = trckbarSerial2.Value; |
||
1681 | if (!_init) _sendSerialData(); |
||
1682 | } |
||
1683 | private void btnSer2_0_Click(object sender, EventArgs e) |
||
1684 | { |
||
1685 | trckbarSerial2.Value = 0; |
||
1686 | } |
||
1687 | private void btnSer2_127_Click(object sender, EventArgs e) |
||
1688 | { |
||
1689 | trckbarSerial2.Value = 127; |
||
1690 | } |
||
1691 | private void btnSer2_254_Click(object sender, EventArgs e) |
||
1692 | { |
||
1693 | trckbarSerial2.Value = 254; |
||
1694 | } |
||
2259 | - | 1695 | private void textBoxSerial3_TextChanged(object sender, EventArgs e) |
1696 | { |
||
1697 | serChanTitle[2] = textBoxSerial3.Text; |
||
1698 | } |
||
1699 | private void trckbarSerial3_ValueChanged(object sender, EventArgs e) |
||
1700 | { |
||
1701 | lblTbSerial3.Text = trckbarSerial3.Value.ToString(); |
||
1702 | serChan[2] = trckbarSerial3.Value; |
||
1703 | if (!_init) _sendSerialData(); |
||
1704 | } |
||
1705 | private void btnSer3_0_Click(object sender, EventArgs e) |
||
1706 | { |
||
1707 | trckbarSerial3.Value = 0; |
||
1708 | } |
||
1709 | private void btnSer3_127_Click(object sender, EventArgs e) |
||
1710 | { |
||
1711 | trckbarSerial3.Value = 127; |
||
1712 | } |
||
1713 | private void btnSer3_254_Click(object sender, EventArgs e) |
||
1714 | { |
||
1715 | trckbarSerial3.Value = 254; |
||
1716 | } |
||
1717 | private void textBoxSerial4_TextChanged(object sender, EventArgs e) |
||
1718 | { |
||
1719 | serChanTitle[3] = textBoxSerial4.Text; |
||
1720 | } |
||
1721 | private void trckbarSerial4_ValueChanged(object sender, EventArgs e) |
||
1722 | { |
||
1723 | lblTbSerial4.Text = trckbarSerial4.Value.ToString(); |
||
1724 | serChan[3] = trckbarSerial4.Value; |
||
1725 | if (!_init) _sendSerialData(); |
||
1726 | } |
||
1727 | private void btnSer4_0_Click(object sender, EventArgs e) |
||
1728 | { |
||
1729 | trckbarSerial4.Value = 0; |
||
1730 | } |
||
1731 | private void btnSer4_127_Click(object sender, EventArgs e) |
||
1732 | { |
||
1733 | trckbarSerial4.Value = 127; |
||
1734 | } |
||
1735 | private void btnSer4_254_Click(object sender, EventArgs e) |
||
1736 | { |
||
1737 | trckbarSerial4.Value = 254; |
||
1738 | } |
||
2265 | - | 1739 | private void tbSerial5_Scroll(object sender, EventArgs e) |
1740 | { |
||
1741 | lblTbSerial5.Text = trckbarSerial5.Value.ToString(); |
||
1742 | serChan[4] = trckbarSerial5.Value; |
||
1743 | if (!_init) _sendSerialData(); |
||
1744 | } |
||
1745 | private void textBoxSerial5_TextChanged(object sender, EventArgs e) |
||
1746 | { |
||
1747 | serChanTitle[4] = textBoxSerial5.Text; |
||
1748 | } |
||
1749 | private void btnSer5_0_Click(object sender, EventArgs e) |
||
1750 | { |
||
1751 | trckbarSerial5.Value = 0; |
||
1752 | } |
||
1753 | private void btnSer5_127_Click(object sender, EventArgs e) |
||
1754 | { |
||
1755 | trckbarSerial5.Value = 127; |
||
1756 | } |
||
1757 | private void btnSer5_254_Click(object sender, EventArgs e) |
||
1758 | { |
||
1759 | trckbarSerial5.Value = 254; |
||
1760 | } |
||
1761 | private void trckbarSerial5_ValueChanged(object sender, EventArgs e) |
||
1762 | { |
||
1763 | lblTbSerial5.Text = trckbarSerial5.Value.ToString(); |
||
1764 | serChan[4] = trckbarSerial5.Value; |
||
1765 | if (!_init) _sendSerialData(); |
||
1766 | } |
||
1767 | private void tbSerial6_Scroll(object sender, EventArgs e) |
||
1768 | { |
||
1769 | lblTbSerial6.Text = trckbarSerial6.Value.ToString(); |
||
1770 | serChan[5] = trckbarSerial6.Value; |
||
1771 | if (!_init) _sendSerialData(); |
||
1772 | } |
||
1773 | private void textBoxSerial6_TextChanged(object sender, EventArgs e) |
||
1774 | { |
||
1775 | serChanTitle[5] = textBoxSerial6.Text; |
||
1776 | } |
||
1777 | private void btnSer6_0_Click(object sender, EventArgs e) |
||
1778 | { |
||
1779 | trckbarSerial6.Value = 0; |
||
1780 | } |
||
1781 | private void btnSer6_127_Click(object sender, EventArgs e) |
||
1782 | { |
||
1783 | trckbarSerial6.Value = 127; |
||
1784 | } |
||
1785 | private void btnSer6_254_Click(object sender, EventArgs e) |
||
1786 | { |
||
1787 | trckbarSerial6.Value = 254; |
||
1788 | } |
||
1789 | private void trckbarSerial6_ValueChanged(object sender, EventArgs e) |
||
1790 | { |
||
1791 | lblTbSerial6.Text = trckbarSerial6.Value.ToString(); |
||
1792 | serChan[5] = trckbarSerial6.Value; |
||
1793 | if (!_init) _sendSerialData(); |
||
1794 | } |
||
1795 | private void tbSerial7_Scroll(object sender, EventArgs e) |
||
1796 | { |
||
1797 | lblTbSerial7.Text = trckbarSerial7.Value.ToString(); |
||
1798 | serChan[6] = trckbarSerial7.Value; |
||
1799 | if (!_init) _sendSerialData(); |
||
1800 | } |
||
1801 | private void textBoxSerial7_TextChanged(object sender, EventArgs e) |
||
1802 | { |
||
1803 | serChanTitle[6] = textBoxSerial7.Text; |
||
1804 | } |
||
1805 | private void btnSer7_0_Click(object sender, EventArgs e) |
||
1806 | { |
||
1807 | trckbarSerial7.Value = 0; |
||
1808 | } |
||
1809 | private void btnSer7_127_Click(object sender, EventArgs e) |
||
1810 | { |
||
1811 | trckbarSerial7.Value = 127; |
||
1812 | } |
||
1813 | private void btnSer7_254_Click(object sender, EventArgs e) |
||
1814 | { |
||
1815 | trckbarSerial7.Value = 254; |
||
1816 | } |
||
1817 | private void trckbarSerial7_ValueChanged(object sender, EventArgs e) |
||
1818 | { |
||
1819 | lblTbSerial7.Text = trckbarSerial7.Value.ToString(); |
||
1820 | serChan[6] = trckbarSerial7.Value; |
||
1821 | if (!_init) _sendSerialData(); |
||
1822 | } |
||
1823 | private void tbSerial8_Scroll(object sender, EventArgs e) |
||
1824 | { |
||
1825 | lblTbSerial8.Text = trckbarSerial8.Value.ToString(); |
||
1826 | serChan[7] = trckbarSerial8.Value; |
||
1827 | if (!_init) _sendSerialData(); |
||
1828 | } |
||
1829 | private void textBoxSerial8_TextChanged(object sender, EventArgs e) |
||
1830 | { |
||
1831 | serChanTitle[7] = textBoxSerial8.Text; |
||
1832 | } |
||
1833 | private void btnSer8_0_Click(object sender, EventArgs e) |
||
1834 | { |
||
1835 | trckbarSerial8.Value = 0; |
||
1836 | } |
||
1837 | private void btnSer8_127_Click(object sender, EventArgs e) |
||
1838 | { |
||
1839 | trckbarSerial8.Value = 127; |
||
1840 | } |
||
1841 | private void btnSer8_254_Click(object sender, EventArgs e) |
||
1842 | { |
||
1843 | trckbarSerial8.Value = 254; |
||
1844 | } |
||
1845 | private void trckbarSerial8_ValueChanged(object sender, EventArgs e) |
||
1846 | { |
||
1847 | lblTbSerial8.Text = trckbarSerial8.Value.ToString(); |
||
1848 | serChan[7] = trckbarSerial8.Value; |
||
1849 | if (!_init) _sendSerialData(); |
||
1850 | } |
||
2259 | - | 1851 | #endregion serial control channels |
1852 | |||
2233 | - | 1853 | } |
1854 | public class IniFile |
||
1855 | { |
||
1856 | public string path; |
||
1857 | |||
1858 | [DllImport("kernel32")] |
||
1859 | private static extern long WritePrivateProfileString(string section, |
||
1860 | string key, string val, string filePath); |
||
1861 | |||
1862 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
1863 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
1864 | uint nSize, string lpFileName); |
||
1865 | |||
1866 | [DllImport("kernel32")] |
||
1867 | private static extern int GetPrivateProfileString(string section, |
||
1868 | string key, string def, StringBuilder retVal, |
||
1869 | int size, string filePath); |
||
1870 | |||
1871 | public IniFile(string INIPath) |
||
1872 | { |
||
1873 | path = INIPath; |
||
1874 | } |
||
1875 | |||
1876 | public void IniWriteValue(string Section, string Key, string Value) |
||
1877 | { |
||
1878 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
1879 | } |
||
1880 | |||
1881 | public string IniReadValue(string Section, string Key) |
||
1882 | { |
||
1883 | StringBuilder temp = new StringBuilder(255); |
||
1884 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
1885 | return temp.ToString(); |
||
1886 | } |
||
1887 | //Ini_sections auslesen in String-Array |
||
1888 | public string[] IniSectionNames() |
||
1889 | { |
||
1890 | |||
1891 | // uint MAX_BUFFER = 32767; |
||
1892 | uint MAX_BUFFER = 8388608; |
||
1893 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
1894 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
1895 | if (bytesReturned == 0) |
||
1896 | { |
||
1897 | Marshal.FreeCoTaskMem(pReturnedString); |
||
1898 | return null; |
||
1899 | } |
||
1900 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
1901 | Marshal.FreeCoTaskMem(pReturnedString); |
||
1902 | //use of Substring below removes terminating null for split |
||
1903 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
1904 | |||
1905 | |||
1906 | } |
||
1907 | } |
||
1908 | public static class ControlExtensions |
||
1909 | { |
||
1910 | /// <summary> |
||
1911 | /// Execute a threadsafe operation, when accessing a control via another thread |
||
1912 | /// action is a lamdaexpression |
||
1913 | /// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true); |
||
1914 | /// </summary> |
||
1915 | /// <param name="control"> The control </param> |
||
1916 | /// <param name="action"> The 'action' to perform </param> |
||
1917 | public static void ExecuteThreadSafe(this Control control, Action action) |
||
1918 | { |
||
1919 | if (control.InvokeRequired) |
||
1920 | { |
||
1921 | control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke" |
||
1922 | } |
||
1923 | else |
||
1924 | { |
||
1925 | action.Invoke(); |
||
1926 | } |
||
1927 | } |
||
1928 | } |
||
1929 | |||
1930 | } |