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Rev | Author | Line No. | Line |
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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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2274 | - | 209 | _initForm(); |
210 | } |
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211 | void _initForm() |
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212 | { |
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2257 | - | 213 | serChanTitle.Initialize(); |
214 | |||
2233 | - | 215 | _readIni(); |
2257 | - | 216 | |
2259 | - | 217 | _dataTablesInit(); |
2257 | - | 218 | |
2233 | - | 219 | simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed; |
220 | simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened; |
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221 | simpleSerialPort.DataReceived += processMessage; |
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2265 | - | 222 | |
2233 | - | 223 | chkbAutoBL.Checked = _blctrlDataAutorefresh; |
224 | chkbAutoDbg.Checked = _debugDataAutorefresh; |
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225 | chkbAutoNav.Checked = _navCtrlDataAutorefresh; |
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226 | chkbAutoOSD.Checked = _OSDAutorefresh; |
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2265 | - | 227 | |
2233 | - | 228 | labelTimingDebug.Text = (debugInterval * 10).ToString(); |
229 | labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString(); |
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230 | labelTimingNAV.Text = (navctrlInterval * 10).ToString(); |
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231 | labelTimingOSD.Text = (OSDInterval * 10).ToString(); |
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2265 | - | 232 | |
233 | TabControl1.TabPages.Remove(tabPageTesting); //a testing page |
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2233 | - | 234 | } |
235 | #region events |
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236 | private void MainForm_Shown(object sender, EventArgs e) |
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237 | { |
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238 | _loadLabelNames(); |
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2257 | - | 239 | _initSerialCtrl(); |
2233 | - | 240 | _init = false; |
2265 | - | 241 | splitContainer1.SplitterDistance = 510; |
2233 | - | 242 | } |
243 | private void MainForm_FormClosed(object sender, FormClosedEventArgs e) |
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244 | { |
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245 | _writeIni(); |
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2274 | - | 246 | // after adding a second language the programm didn't close properly anymore |
247 | // so this is kinda workaround... |
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248 | Dispose(true); |
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249 | Environment.Exit(0); |
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2233 | - | 250 | } |
251 | private void SimpleSerialPort_PortOpened() |
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252 | { |
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253 | btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192))); |
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2274 | - | 254 | if(Thread.CurrentThread.CurrentUICulture.Name== "") |
255 | btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port")); |
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256 | else |
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257 | btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "schliessen")); |
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2233 | - | 258 | _getVersion(); |
259 | Thread.Sleep(100); |
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260 | _OSDMenue(0); |
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2257 | - | 261 | Thread.Sleep(200); |
262 | _sendSerialData(); |
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2233 | - | 263 | // _readCont(true); |
264 | } |
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265 | private void SimpleSerialPort_PortClosed() |
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266 | { |
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267 | btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224))); |
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2274 | - | 268 | if (Thread.CurrentThread.CurrentUICulture.Name == "") |
269 | btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port")); |
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270 | else |
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271 | btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "öffnen")); |
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2233 | - | 272 | _readCont(false); |
273 | } |
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274 | /// <summary> |
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275 | /// timer for refreshing subscription of subscribed data |
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276 | /// query lifecounter for connection failure |
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277 | /// </summary> |
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278 | private void timer1_Tick(object sender, EventArgs e) |
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279 | { |
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280 | if(bReadContinously) |
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281 | { |
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282 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
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283 | |||
2250 | - | 284 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
2233 | - | 285 | |
286 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
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287 | check_HWError = true; |
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288 | _getVersion(); |
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289 | Thread.Sleep(10); |
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290 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); } |
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291 | if (_iLifeCounter > 0) |
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292 | { |
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293 | lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0); |
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294 | _iLifeCounter = 0; |
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295 | } |
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296 | else |
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297 | { |
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298 | Log(LogMsgType.Error, "No communication to NC/FC!"); |
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299 | lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0); |
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300 | } |
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301 | } |
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302 | } |
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303 | private void cbOSD_SelectedIndexChanged(object sender, EventArgs e) |
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304 | { |
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305 | if (!_bCBInit && cbOSD.SelectedIndex > -1) |
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306 | _OSDMenue(cbOSD.SelectedIndex); |
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307 | } |
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308 | private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e) |
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309 | { |
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310 | if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked; |
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311 | } |
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312 | private void chkbAutoNav_CheckedChanged(object sender, EventArgs e) |
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313 | { |
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314 | if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked; |
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315 | } |
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316 | private void chkbAutoBL_CheckedChanged(object sender, EventArgs e) |
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317 | { |
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318 | if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked; |
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319 | } |
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320 | private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e) |
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321 | { |
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322 | if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked; |
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323 | } |
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324 | private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e) |
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325 | { |
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326 | if (cbTimingDebug.SelectedIndex > -1) |
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327 | { |
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328 | debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10); |
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329 | labelTimingDebug.Text = (debugInterval * 10).ToString(); |
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330 | } |
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331 | } |
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332 | private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e) |
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333 | { |
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334 | if (cbTimingNAV.SelectedIndex > -1) |
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335 | { |
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336 | navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10); |
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337 | labelTimingNAV.Text = (navctrlInterval * 10).ToString(); |
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338 | } |
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339 | } |
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340 | private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e) |
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341 | { |
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342 | if (cbTimingBLCTRL.SelectedIndex > -1) |
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343 | { |
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344 | blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10); |
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345 | labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString(); |
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346 | } |
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347 | } |
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348 | private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e) |
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349 | { |
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350 | if (cbTimingOSD.SelectedIndex > -1) |
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351 | { |
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352 | OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10); |
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353 | labelTimingOSD.Text = (OSDInterval * 10).ToString(); |
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354 | } |
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355 | } |
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2254 | - | 356 | private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e) |
357 | { |
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358 | System.Diagnostics.Process.Start(e.LinkText); |
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359 | } |
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2274 | - | 360 | /// <summary> |
361 | /// Combobox for selecting UI language |
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362 | /// </summary> |
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363 | /// <param name="sender"></param> |
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364 | /// <param name="e"></param> |
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365 | private void cbLanguage_SelectedIndexChanged(object sender, EventArgs e) |
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366 | { |
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367 | if (cbLanguage.SelectedIndex == 1) |
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368 | Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("de-DE"); |
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369 | else |
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370 | Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo(""); |
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371 | updateStringRessource(); |
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372 | } |
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373 | /// <summary> |
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374 | /// the form has to be recreated when changing the language of the UI |
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375 | /// </summary> |
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376 | private void updateStringRessource() |
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377 | { |
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378 | try |
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379 | { |
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380 | Point pt = this.Location;// memorize location of form |
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381 | Size sz = this.Size;// memorize size of form |
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382 | |||
383 | if (simpleSerialPort.Port.IsOpen) |
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384 | { |
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385 | simpleSerialPort.Port.Close(); |
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386 | Thread.Sleep(200); |
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387 | _readCont(false); |
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388 | Thread.Sleep(100); |
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389 | while (simpleSerialPort.Port.IsOpen | bReadContinously) |
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390 | Thread.Sleep(100); |
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391 | } |
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392 | |||
393 | this.Controls.Clear();// clear all controls of form |
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394 | components.Dispose();// dispose all components and release resources |
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395 | // delete all events to avoid double instances when calling InitializeComponent(); |
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396 | this.Events.Dispose(); |
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397 | if (timer1 != null) |
||
398 | { |
||
399 | timer1.Dispose(); |
||
400 | timer1 = null; |
||
401 | } |
||
402 | _init = true; |
||
403 | timer1 = new System.Windows.Forms.Timer(); |
||
404 | |||
405 | dtAnalog = new DataTable(); |
||
406 | dtMotors1 = new DataTable(); |
||
407 | dtMotors2 = new DataTable(); |
||
408 | dtWaypoints = new DataTable(); |
||
409 | |||
410 | InitializeComponent(); // reload UI |
||
411 | |||
412 | _dataTablesInit(); |
||
413 | |||
414 | simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed; |
||
415 | simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened; |
||
416 | simpleSerialPort.DataReceived += processMessage; |
||
417 | |||
418 | chkbAutoBL.Checked = _blctrlDataAutorefresh; |
||
419 | chkbAutoDbg.Checked = _debugDataAutorefresh; |
||
420 | chkbAutoNav.Checked = _navCtrlDataAutorefresh; |
||
421 | chkbAutoOSD.Checked = _OSDAutorefresh; |
||
422 | |||
423 | labelTimingDebug.Text = (debugInterval * 10).ToString(); |
||
424 | labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString(); |
||
425 | labelTimingNAV.Text = (navctrlInterval * 10).ToString(); |
||
426 | labelTimingOSD.Text = (OSDInterval * 10).ToString(); |
||
427 | |||
428 | TabControl1.TabPages.Remove(tabPageTesting); //a testing page |
||
429 | |||
430 | this.Size = sz;// set size |
||
431 | this.Location = pt;// position form |
||
432 | _loadLabelNames(); |
||
433 | _initSerialCtrl(); |
||
434 | _init = false; |
||
435 | |||
436 | } |
||
437 | catch (Exception ex) |
||
438 | { |
||
439 | MessageBox.Show(ex.Message); |
||
440 | } |
||
441 | } |
||
442 | |||
2233 | - | 443 | #endregion events |
444 | |||
445 | /// <summary> Log data to the terminal window. </summary> |
||
446 | /// <param name="msgtype"> The type of message to be written. </param> |
||
447 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
448 | private void Log(LogMsgType msgtype, string msg) |
||
449 | { |
||
450 | rtfTerminal.Invoke(new EventHandler(delegate |
||
451 | { |
||
452 | if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat |
||
453 | rtfTerminal.Select(42, (500 * 129)); //500 löschen |
||
454 | rtfTerminal.Select(rtfTerminal.Text.Length, 0); |
||
455 | rtfTerminal.SelectedText = string.Empty; |
||
456 | rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular); |
||
457 | rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype]; |
||
458 | rtfTerminal.AppendText(msg + Environment.NewLine); |
||
459 | rtfTerminal.ScrollToCaret(); |
||
460 | })); |
||
461 | } |
||
462 | /// <summary> display the OSD text in 4 lines à 20 chars </summary> |
||
463 | /// <param name="msgtype"> The type of message to be written. </param> |
||
464 | /// <param name="msg"> The string containing the message to be shown. </param> |
||
465 | private void OSD(LogMsgType msgtype, string msg) |
||
466 | { |
||
467 | rtfOSD.Invoke(new EventHandler(delegate |
||
468 | { |
||
469 | if (rtfOSD.Lines.Length > 4) |
||
470 | rtfOSD.Clear(); |
||
471 | rtfOSD.Select(rtfOSD.Text.Length,0); |
||
472 | rtfOSD.SelectedText = string.Empty; |
||
473 | rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular); |
||
474 | rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype]; |
||
475 | rtfOSD.AppendText(msg + Environment.NewLine); |
||
476 | if (rtfOSD.Text.IndexOf("ERR") > 0) |
||
477 | { |
||
478 | rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40); |
||
479 | rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error]; |
||
480 | } |
||
481 | })); |
||
482 | } |
||
483 | private void ErrorLog(LogMsgType msgtype, string msg) |
||
484 | { |
||
485 | rtfError.Invoke(new EventHandler(delegate |
||
486 | { |
||
487 | if (rtfError.Lines.Length > 4) |
||
488 | rtfError.Clear(); |
||
489 | rtfError.Focus(); |
||
490 | rtfError.Select(rtfError.Text.Length, 0); |
||
491 | rtfError.SelectedText = string.Empty; |
||
492 | rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular); |
||
493 | rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype]; |
||
494 | rtfError.AppendText(msg + Environment.NewLine); |
||
495 | |||
496 | })); |
||
2254 | - | 497 | _bErrorLog = true; |
2233 | - | 498 | } |
499 | |||
500 | #region functions |
||
501 | |||
2250 | - | 502 | #region processing received data |
503 | /// <summary> Processing the messages and displaying them in the according form controls |
||
504 | /// function called by simpleSerialPort.DataReceived event |
||
505 | /// </summary> |
||
2233 | - | 506 | /// <param name="message"> message bytearray recieved by SimpleSerialPort class </param> |
507 | private void processMessage(byte[] message) |
||
508 | { |
||
509 | if (message.Length > 0) |
||
510 | { |
||
511 | _iLifeCounter++; |
||
512 | //Log(LogMsgType.Incoming, BitConverter.ToString(message)); |
||
513 | //Log(LogMsgType.Incoming, message.Length.ToString()); |
||
514 | string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length)); |
||
515 | char cmdID; |
||
516 | byte adr; |
||
517 | byte[] data; |
||
2257 | - | 518 | byte[] tmp = null; |
2233 | - | 519 | if (message[0] != '#') |
2257 | - | 520 | { |
521 | int iFound = -1; |
||
522 | for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages) |
||
523 | { //so this is a workaround to not spam the log box |
||
524 | if (message[i] == 35) |
||
525 | { |
||
526 | iFound = i; |
||
527 | break; |
||
528 | } |
||
529 | } |
||
530 | if(iFound>0) |
||
531 | { |
||
532 | s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound)); |
||
533 | tmp = new byte[message.Length - iFound]; |
||
534 | Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound); |
||
535 | } |
||
536 | s = s.Trim('\0', '\n', '\r'); |
||
537 | if(s.Length > 0) |
||
538 | Log(LogMsgType.Normal, s); |
||
539 | if (tmp != null) |
||
540 | { |
||
541 | s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length)); |
||
542 | processMessage(tmp); |
||
543 | } |
||
544 | } |
||
2233 | - | 545 | //Debug.Print(s); |
546 | else |
||
547 | { |
||
548 | FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data); |
||
549 | |||
550 | if (adr == 255) { crcError++; } |
||
551 | else crcError = 0; |
||
552 | lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString())); |
||
2250 | - | 553 | //display the active controller (FC / NC) |
2233 | - | 554 | 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...??? |
555 | { |
||
556 | _iCtrlAct = adr; |
||
557 | switch (adr) |
||
558 | { |
||
559 | case 1: |
||
560 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC")); |
||
561 | lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC")); |
||
562 | _setFieldsNA(); //display fields NA for FC |
||
563 | break; |
||
564 | case 2: |
||
565 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC")); |
||
566 | lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC")); |
||
567 | break; |
||
568 | case 3: |
||
569 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG")); |
||
570 | break; |
||
571 | case 4: |
||
572 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL")); |
||
573 | break; |
||
574 | default: |
||
575 | lblCtrl.Invoke((Action)(() => lblCtrl.Text = "....")); |
||
576 | break; |
||
577 | } |
||
2257 | - | 578 | _loadLabelNames(); |
2233 | - | 579 | } |
2257 | - | 580 | // else |
581 | // Debug.Print("Address == 0?"); |
||
2233 | - | 582 | |
583 | if (data != null && data.Length > 0) |
||
584 | { |
||
585 | s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1)); |
||
586 | s = s.Trim('\0', '\n'); |
||
587 | |||
588 | switch (cmdID) |
||
589 | { |
||
2250 | - | 590 | case 'A': //Label names |
591 | _processLabelNames(s); |
||
2233 | - | 592 | break; |
593 | |||
2250 | - | 594 | case 'D': //Debug data |
2257 | - | 595 | _processDebugVals(adr, data); |
2233 | - | 596 | break; |
597 | |||
2250 | - | 598 | case 'V': //Version |
599 | _processVersion(adr, data); |
||
2233 | - | 600 | break; |
601 | |||
2250 | - | 602 | case 'K'://BL-CTRL data |
603 | _processBLCtrl(data); |
||
2233 | - | 604 | break; |
605 | |||
606 | case 'O': //NC Data |
||
2250 | - | 607 | _processNCData(data); |
2233 | - | 608 | break; |
609 | |||
610 | case 'E': //NC error-string |
||
611 | ErrorLog(LogMsgType.Error, "NC Error: " + s); |
||
612 | break; |
||
613 | |||
2250 | - | 614 | case 'L': //OSD Menue (called by pagenumber) |
615 | _processOSDSingle(data); |
||
2233 | - | 616 | break; |
617 | |||
2250 | - | 618 | case 'H': //OSD Menue (with autoupdate - called by Key) |
619 | _processOSDAuto(data); |
||
2233 | - | 620 | break; |
621 | |||
2257 | - | 622 | case 'X': //Waypoint data |
623 | _processWPData(data); |
||
624 | break; |
||
625 | |||
2233 | - | 626 | //default: |
627 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
628 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
629 | // break; |
||
630 | } |
||
631 | } |
||
632 | //else |
||
633 | //{ |
||
634 | // Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString()); |
||
635 | // Log(LogMsgType.Incoming, BitConverter.ToString(data)); |
||
636 | //} |
||
637 | } |
||
638 | } |
||
639 | } |
||
2250 | - | 640 | /// <summary> |
641 | /// Analog label names 'A' |
||
642 | /// each label name is returned as a single string |
||
643 | /// and added to string array sAnalogLabel[] |
||
644 | /// and the datatable dtAnalog |
||
645 | /// </summary> |
||
646 | /// <param name="s">the label name</param> |
||
647 | void _processLabelNames(string s) |
||
648 | { |
||
649 | if (iLableIndex < 32) |
||
650 | { |
||
651 | sAnalogLabel[iLableIndex] = s; |
||
652 | if (dtAnalog.Rows.Count < 32) |
||
653 | dtAnalog.Rows.Add(s, ""); |
||
654 | else |
||
655 | dtAnalog.Rows[iLableIndex].SetField(0, s); |
||
2233 | - | 656 | |
2250 | - | 657 | _getAnalogLabels(iLableIndex + 1); |
658 | } |
||
659 | Debug.Print(s); |
||
660 | } |
||
661 | /// <summary> |
||
662 | /// Debug values 'D' |
||
663 | /// </summary> |
||
664 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
665 | /// <param name="data">the received byte array to process</param> |
||
666 | void _processDebugVals(byte adr,byte[] data) |
||
667 | { |
||
668 | if (data.Length == 66) |
||
669 | { |
||
670 | int[] iAnalogData = new int[32]; |
||
671 | |||
672 | int index = 0; |
||
673 | Int16 i16 = 0; |
||
674 | double dTemp = 0; |
||
675 | for (int i = 2; i < 66; i += 2) |
||
676 | { |
||
677 | i16 = data[i + 1]; |
||
678 | i16 = (Int16)(i16 << 8); |
||
679 | iAnalogData[index] = data[i] + i16; |
||
680 | sAnalogData[index] = (data[i] + i16).ToString(); |
||
681 | dtAnalog.Rows[index].SetField(1, sAnalogData[index]); |
||
682 | |||
683 | if (adr == 2) //NC |
||
684 | { |
||
685 | switch (index) |
||
686 | { |
||
687 | case 0: //pitch (German: nick) |
||
688 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
||
689 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
690 | break; |
||
691 | case 1: //roll |
||
692 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
||
693 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
694 | break; |
||
695 | case 4: //altitude |
||
696 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
||
697 | break; |
||
698 | case 7: //Voltage |
||
699 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
||
700 | break; |
||
701 | case 8: // Current |
||
702 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
||
703 | break; |
||
704 | case 10: //heading |
||
705 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
||
706 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
||
707 | break; |
||
708 | case 12: // SPI error |
||
709 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
||
710 | break; |
||
711 | case 14: //i2c error |
||
712 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
||
713 | break; |
||
714 | case 20: //Earthmagnet field |
||
715 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%")); |
||
716 | break; |
||
717 | case 21: //GroundSpeed |
||
718 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s"))); |
||
719 | break; |
||
720 | case 28: //Distance East from saved home position -> calculate distance with distance N + height |
||
721 | dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2); |
||
722 | dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E |
||
723 | // lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00"))); |
||
724 | dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation |
||
2254 | - | 725 | dTemp = Math.Sqrt(dTemp) / (double)10; |
726 | lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m"))); |
||
2250 | - | 727 | break; |
728 | case 31: //Sats used |
||
729 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index])); |
||
730 | break; |
||
731 | } |
||
732 | } |
||
733 | if (adr == 1) //FC |
||
734 | { |
||
735 | switch (index) |
||
736 | { |
||
737 | case 0: //pitch (German: nick) |
||
738 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10))); |
||
739 | lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
740 | break; |
||
741 | case 1: //roll |
||
742 | artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10))); |
||
743 | lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°"))); |
||
744 | break; |
||
745 | case 5: //altitude |
||
746 | lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m"))); |
||
747 | break; |
||
748 | case 8: //heading |
||
749 | lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°")); |
||
750 | headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index]))); |
||
751 | break; |
||
752 | case 9: //Voltage |
||
753 | lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V"))); |
||
754 | break; |
||
755 | case 10: //Receiver quality |
||
756 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index])); |
||
757 | break; |
||
758 | case 22: // Current |
||
759 | lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A"))); |
||
760 | break; |
||
761 | case 23: //capacity used |
||
762 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh"))); |
||
763 | break; |
||
764 | case 27: // SPI error |
||
765 | lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index])); |
||
766 | break; |
||
767 | case 28: //i2c error |
||
768 | lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index])); |
||
769 | break; |
||
770 | } |
||
771 | } |
||
772 | index++; |
||
773 | } |
||
774 | } |
||
775 | else |
||
776 | Debug.Print("wrong data-length (66): " + data.Length.ToString()); |
||
777 | } |
||
778 | /// <summary> |
||
779 | /// Version string 'V' |
||
780 | /// </summary> |
||
781 | /// <param name="adr">adress of the active controller (1-FC, 2-NC)</param> |
||
782 | /// <param name="data">the received byte array to process</param> |
||
783 | void _processVersion(byte adr,byte[] data) |
||
784 | { |
||
785 | if (data.Length == 12) |
||
786 | { |
||
787 | if (!check_HWError) |
||
788 | { |
||
789 | string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " }; |
||
790 | string sVersion = ""; |
||
791 | //sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b)); |
||
792 | Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: "); |
||
793 | sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString(); |
||
794 | Log(LogMsgType.Incoming, sVersion); |
||
795 | sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString(); |
||
796 | Log(LogMsgType.Incoming, sVersion); |
||
797 | Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString()); |
||
798 | } |
||
799 | if (data[5] > 0) //error0 |
||
800 | { |
||
801 | if (adr == 1) |
||
802 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString()); |
||
803 | if (adr == 2) |
||
804 | ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString()); |
||
805 | } |
||
806 | if (data[6] > 0) //error1 |
||
807 | { |
||
808 | if (adr == 1) |
||
809 | ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString()); |
||
810 | if (adr == 2) |
||
811 | ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field |
||
812 | } |
||
2254 | - | 813 | if((data[5] + data[6] == 0) && _bErrorLog) |
814 | _clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error"); |
||
2250 | - | 815 | |
816 | } |
||
817 | check_HWError = false; |
||
818 | } |
||
819 | /// <summary> |
||
820 | /// BL-Ctrl data 'K' |
||
821 | /// for FC you have to use a customized firmware |
||
822 | /// </summary> |
||
823 | /// <param name="data">the received byte array to process</param> |
||
824 | void _processBLCtrl(byte[] data) |
||
825 | { |
||
826 | if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard! |
||
827 | { |
||
828 | bool bAvailable = false; |
||
829 | for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors |
||
830 | { |
||
831 | |||
832 | if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available |
||
833 | bAvailable = true; |
||
834 | else |
||
835 | bAvailable = false; |
||
836 | |||
837 | if (data[i] < 4) |
||
838 | { |
||
839 | if (bAvailable) |
||
840 | { |
||
841 | dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
842 | dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C")); |
||
843 | } |
||
844 | else |
||
845 | { |
||
846 | dtMotors1.Rows[data[i]].SetField(1, "NA"); |
||
847 | dtMotors1.Rows[data[i]].SetField(2, "NA"); |
||
848 | } |
||
849 | } |
||
850 | if (data[i] > 3 && data[i] < 8) |
||
851 | { |
||
852 | if (bAvailable) |
||
853 | { |
||
854 | dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A")); |
||
855 | dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C")); |
||
856 | } |
||
857 | else |
||
858 | { |
||
859 | dtMotors2.Rows[data[i] - 4].SetField(1, "NA"); |
||
860 | dtMotors2.Rows[data[i] - 4].SetField(2, "NA"); |
||
861 | } |
||
862 | } |
||
863 | } |
||
864 | } |
||
865 | |||
866 | } |
||
867 | /// <summary> |
||
868 | /// Navi-Ctrl data 'O' |
||
869 | /// GPS-Position, capacatiy, flying time... |
||
870 | /// </summary> |
||
871 | /// <param name="data">the received byte array to process</param> |
||
872 | void _processNCData(byte[] data) |
||
873 | { |
||
874 | int i_32, i_16, iVal; |
||
875 | double d; |
||
876 | i_32 = data[4]; |
||
877 | iVal = i_32 << 24; |
||
878 | i_32 = data[3]; |
||
879 | iVal += i_32 << 16; |
||
880 | i_32 = data[2]; |
||
881 | iVal += i_32 << 8; |
||
882 | iVal += data[1]; |
||
883 | d = (double)iVal / Math.Pow(10, 7); |
||
884 | lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree |
||
885 | //lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds |
||
886 | |||
887 | i_32 = data[8]; |
||
888 | iVal = i_32 << 24; |
||
889 | i_32 = data[7]; |
||
890 | iVal += i_32 << 16; |
||
891 | i_32 = data[6]; |
||
892 | iVal += i_32 << 8; |
||
893 | iVal += data[5]; |
||
894 | d = (double)iVal / Math.Pow(10, 7); |
||
895 | lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree |
||
2254 | - | 896 | //lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds |
2250 | - | 897 | |
2254 | - | 898 | i_16 = data[28]; |
899 | i_16 = (Int16)(i_16 << 8); |
||
900 | iVal = data[27] + i_16; |
||
901 | lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP |
||
902 | |||
903 | i_16 = data[45]; |
||
904 | i_16 = (Int16)(i_16 << 8); |
||
905 | iVal = data[44] + i_16; |
||
906 | lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP |
||
907 | |||
908 | lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index |
||
909 | lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count |
||
910 | |||
2250 | - | 911 | i_16 = data[81]; |
912 | i_16 = (Int16)(i_16 << 8); |
||
913 | iVal = data[80] + i_16; |
||
914 | lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used |
||
915 | |||
916 | i_16 = data[56]; |
||
917 | i_16 = (Int16)(i_16 << 8); |
||
918 | iVal = data[55] + i_16; |
||
919 | TimeSpan t = TimeSpan.FromSeconds(iVal); |
||
920 | string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2"); |
||
921 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time |
||
922 | |||
923 | lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality |
||
924 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber |
||
925 | //if (data[69] > 0) |
||
926 | // _readNCError(); |
||
927 | //break; |
||
928 | if (data[69] > 0 & data[69] < 44) |
||
929 | ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]); |
||
2254 | - | 930 | else |
931 | if(_bErrorLog) _clearErrorLog("NC Error"); |
||
2250 | - | 932 | |
933 | } |
||
934 | /// <summary> |
||
2257 | - | 935 | /// Navi-Ctrl WP data struct 'X' |
936 | /// called by index |
||
937 | /// </summary> |
||
938 | /// <param name="data">the received byte array to process</param> |
||
939 | void _processWPData(byte[] data) |
||
940 | { |
||
941 | if (data.Length >= 28) |
||
942 | { |
||
943 | int count = data[0]; |
||
944 | int index = data[1]; |
||
945 | cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear())); |
||
946 | for (int i = 0; i < count; i++) |
||
947 | cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1))); |
||
948 | cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index)); |
||
949 | DataRow dr = dtWaypoints.NewRow(); |
||
950 | dr = Waypoints.toDataRow(data, dr); |
||
951 | dtWaypoints.Rows.Add(dr); |
||
952 | dgvWP.Invoke((Action)(() => dgvWP.Update())); |
||
953 | } |
||
954 | else |
||
955 | Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length))); |
||
956 | } |
||
957 | /// <summary> |
||
2250 | - | 958 | /// OSD Menue 'L' |
959 | /// single page called by pagenumber |
||
960 | /// no autoupdate |
||
961 | /// </summary> |
||
962 | /// <param name="data">the received byte array to process</param> |
||
963 | void _processOSDSingle(byte[] data) |
||
964 | { |
||
965 | if (data.Length == 84) |
||
966 | { |
||
967 | string sMessage = ""; |
||
968 | iOSDPage = data[0]; |
||
969 | iOSDMax = data[1]; |
||
970 | if (cbOSD.Items.Count != iOSDMax) _initOSDCB(); |
||
971 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4)); |
||
972 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)); |
||
973 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)); |
||
974 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)); |
||
975 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20)); |
||
976 | lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]"))); |
||
977 | |||
978 | } |
||
979 | else |
||
980 | OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)"); |
||
981 | |||
982 | } |
||
983 | /// <summary> |
||
984 | /// OSD Menue 'H' |
||
985 | /// called by keys (0x01,0x02,0x03,0x04) |
||
986 | /// autoupdate |
||
987 | /// </summary> |
||
988 | /// <param name="data">the received byte array to process</param> |
||
989 | void _processOSDAuto(byte[] data) |
||
990 | { |
||
991 | if (data.Length == 81) |
||
992 | { |
||
993 | string sMessage = ""; |
||
994 | sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1)); |
||
995 | OSD(LogMsgType.Incoming, sMessage.Substring(0, 20)); |
||
996 | OSD(LogMsgType.Incoming, sMessage.Substring(20, 20)); |
||
997 | OSD(LogMsgType.Incoming, sMessage.Substring(40, 20)); |
||
998 | OSD(LogMsgType.Incoming, sMessage.Substring(60, 20)); |
||
999 | |||
1000 | } |
||
1001 | else |
||
1002 | OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)"); |
||
1003 | } |
||
1004 | #endregion processing received data |
||
1005 | |||
2233 | - | 1006 | /// <summary> send message to controller to request data |
1007 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1008 | /// </summary> |
||
1009 | /// <param name="CMDID"> the command ID </param> |
||
1010 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1011 | private void _sendControllerMessage(char CMDID, byte address) |
||
1012 | { |
||
1013 | if (simpleSerialPort.Port.IsOpen) |
||
1014 | { |
||
1015 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1016 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address); |
||
1017 | serialStream.Write(bytes, 0, bytes.Length); |
||
1018 | |||
1019 | } |
||
1020 | else |
||
1021 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1022 | } |
||
1023 | /// <summary> send message to controller to request data |
||
1024 | /// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/ |
||
1025 | /// </summary> |
||
1026 | /// <param name="CMDID"> the command ID </param> |
||
1027 | /// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param> |
||
1028 | /// <param name="data"> additional data for the request</param> |
||
1029 | private void _sendControllerMessage(char CMDID, byte address, byte[]data) |
||
1030 | { |
||
1031 | if (simpleSerialPort.Port.IsOpen) |
||
1032 | { |
||
1033 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1034 | byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data); |
||
1035 | serialStream.Write(bytes, 0, bytes.Length); |
||
1036 | |||
1037 | } |
||
1038 | else |
||
1039 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1040 | } |
||
1041 | |||
1042 | /// <summary> |
||
1043 | /// read the analog-label names for the actual controller |
||
1044 | /// and load it into listbox |
||
1045 | /// </summary> |
||
1046 | void _loadLabelNames() |
||
1047 | { |
||
1048 | if (_iCtrlAct > 0 && _iCtrlAct < 3) |
||
1049 | { |
||
1050 | switch (_iCtrlAct) |
||
1051 | { |
||
1052 | case 1: |
||
1053 | sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None); |
||
1054 | break; |
||
1055 | case 2: |
||
1056 | sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None); |
||
1057 | break; |
||
1058 | } |
||
1059 | for (int i = 0; i < 32; i++) |
||
1060 | { |
||
1061 | if (dtAnalog.Rows.Count < 32) |
||
1062 | dtAnalog.Rows.Add(sAnalogLabel[i], ""); |
||
1063 | else |
||
1064 | dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]); |
||
1065 | } |
||
1066 | dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh())); |
||
1067 | } |
||
1068 | } |
||
1069 | /// <summary> |
||
1070 | /// no longer used... |
||
1071 | /// read the analog-label textfile for the actual controller |
||
1072 | /// </summary> |
||
1073 | private void _loadLabelFile() |
||
1074 | { |
||
1075 | switch (_iCtrlAct) |
||
1076 | { |
||
1077 | case 1: |
||
1078 | fileName = "FCLabelTexts.txt"; |
||
1079 | break; |
||
1080 | case 2: |
||
1081 | fileName = "NCLabelTexts.txt"; |
||
1082 | break; |
||
1083 | //default: |
||
1084 | // fileName = "NCLabelTexts.txt"; |
||
1085 | // break; |
||
1086 | } |
||
1087 | |||
1088 | if (File.Exists(filePath + "\\" + fileName)) |
||
1089 | { |
||
1090 | sAnalogLabel.Initialize(); |
||
1091 | sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName); |
||
1092 | lbLabels.Invoke((Action)(() => lbLabels.Items.Clear())); |
||
1093 | lbLabels.Invoke((Action)(() => lbLabels.Update())); |
||
1094 | lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel))); |
||
1095 | Console.WriteLine("Names loaded from file"); |
||
1096 | lblFileName.Invoke((Action)(() => lblFileName.Text = fileName)); |
||
1097 | } |
||
1098 | else |
||
1099 | { |
||
1100 | _readCont(false); |
||
1101 | Log(LogMsgType.Error, "Label-file not found!"); |
||
1102 | Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)"); |
||
1103 | Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!"); |
||
1104 | } |
||
1105 | } |
||
1106 | /// <summary> |
||
1107 | /// no longer used... |
||
1108 | /// assign the analog-label names from the textfile to the datatable |
||
1109 | /// |
||
1110 | /// </summary> |
||
1111 | private void _assignLabelNames() |
||
1112 | { |
||
1113 | if (lbLabels.Items.Count == 32) |
||
1114 | { |
||
1115 | lbLabels.Items.CopyTo(sAnalogLabel, 0); |
||
1116 | for (int i = 0; i < 32; i++) |
||
1117 | { |
||
1118 | if (dtAnalog.Rows.Count < 32) |
||
1119 | dtAnalog.Rows.Add(sAnalogLabel[i], ""); |
||
1120 | else |
||
1121 | dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]); |
||
1122 | |||
1123 | } |
||
1124 | } |
||
1125 | } |
||
1126 | /// <summary> |
||
1127 | /// get the version struct of actual controller |
||
1128 | /// </summary> |
||
1129 | /// <summary> |
||
1130 | /// get the labeltexts for the analog values |
||
1131 | /// </summary> |
||
1132 | private void _getAnalogLabels() |
||
1133 | { |
||
1134 | if (simpleSerialPort.Port.IsOpen) |
||
1135 | { |
||
1136 | iLableIndex = 0; |
||
1137 | for (int i = 0; i < 32; i++) |
||
1138 | { |
||
1139 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1140 | byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i }); |
||
1141 | serialStream.Write(bytes, 0, bytes.Length); |
||
1142 | Thread.Sleep(10); |
||
1143 | } |
||
1144 | } |
||
1145 | else |
||
1146 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1147 | } |
||
1148 | /// <summary> |
||
1149 | /// get the labeltext for a single label |
||
1150 | /// </summary> |
||
1151 | /// <param name="iIndex">index of the label</param> |
||
1152 | private void _getAnalogLabels(int iIndex) |
||
1153 | { |
||
1154 | if (simpleSerialPort.Port.IsOpen) |
||
1155 | { |
||
1156 | if (iIndex < 32) |
||
1157 | { |
||
1158 | iLableIndex = iIndex; |
||
1159 | _sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex }); |
||
1160 | } |
||
1161 | } |
||
1162 | else |
||
1163 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1164 | } |
||
1165 | private void _getVersion() |
||
1166 | { |
||
1167 | _sendControllerMessage('v', 0); |
||
1168 | } |
||
1169 | /// <summary> |
||
1170 | /// get FC version struct via NC |
||
1171 | /// by sending '1' as data (not documented in wiki...) |
||
1172 | /// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version) |
||
1173 | /// </summary> |
||
1174 | /// <param name="ctrl">controller number 1=FC</param> |
||
1175 | private void _getVersion(byte ctrl) |
||
1176 | { |
||
1177 | _sendControllerMessage('v', 0, new byte[1] {ctrl}); |
||
1178 | } |
||
1179 | /// <summary> |
||
1180 | /// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00 |
||
1181 | /// </summary> |
||
1182 | private void _switchToNC() |
||
1183 | { |
||
1184 | if (simpleSerialPort.Port.IsOpen) |
||
1185 | { |
||
1186 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1187 | byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 }; |
||
1188 | serialStream.Write(bytes, 0, bytes.Length); |
||
1189 | |||
1190 | Thread.Sleep(100); |
||
1191 | _getVersion(); |
||
1192 | Thread.Sleep(100); |
||
1193 | _OSDMenue(0); |
||
1194 | } |
||
1195 | else |
||
1196 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1197 | } |
||
1198 | /// <summary> |
||
1199 | /// switch to FC |
||
1200 | /// </summary> |
||
1201 | private void _switchToFC() |
||
1202 | { |
||
1203 | _sendControllerMessage('u', 2, new byte[1] { (byte)0 }); |
||
1204 | Thread.Sleep(100); |
||
1205 | _getVersion(); |
||
1206 | Thread.Sleep(100); |
||
1207 | _OSDMenue(0); |
||
1208 | } |
||
1209 | /// <summary> |
||
1210 | /// send RESET signal to FC |
||
1211 | /// </summary> |
||
1212 | private void _resetCtrl() |
||
1213 | { |
||
1214 | _sendControllerMessage('R', 1); |
||
1215 | } |
||
1216 | /// <summary> |
||
1217 | /// poll the debug data (4sec subscription) |
||
1218 | /// </summary> |
||
1219 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1220 | private void _readDebugData(bool auto) |
||
1221 | { |
||
1222 | byte interval = auto ? debugInterval : (byte)0; |
||
1223 | _sendControllerMessage('d', 0, new byte[1] { debugInterval }); |
||
1224 | } |
||
1225 | /// <summary> |
||
1226 | /// poll the BL-CTRL status via NC (4sec subscription) |
||
1227 | /// </summary> |
||
1228 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1229 | private void _readBLCtrl(bool auto) |
||
1230 | { |
||
1231 | byte interval = auto ? blctrlInterval : (byte)0; |
||
1232 | _sendControllerMessage('k', 0, new byte[1] { interval }); |
||
1233 | } |
||
1234 | /// <summary> |
||
1235 | /// poll the NC data struct (4sec subscription) |
||
1236 | /// </summary> |
||
1237 | /// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param> |
||
1238 | private void _readNavData(bool auto) |
||
1239 | { |
||
1240 | byte interval = auto ? navctrlInterval : (byte)0; |
||
1241 | _sendControllerMessage('o', 2, new byte[1] { interval }); |
||
1242 | } |
||
1243 | /// <summary> |
||
1244 | /// get the errortext for pending NC error |
||
1245 | /// </summary> |
||
1246 | private void _readNCError() |
||
1247 | { |
||
1248 | _sendControllerMessage('e', 2); |
||
1249 | } |
||
1250 | /// <summary> |
||
1251 | /// start/stop continous polling of controller values |
||
1252 | /// </summary> |
||
1253 | /// <param name="b">start/stop switch</param> |
||
1254 | void _readCont(bool b) |
||
1255 | { |
||
1256 | bReadContinously = b; |
||
2274 | - | 1257 | |
1258 | if (Thread.CurrentThread.CurrentUICulture.Name == "") |
||
1259 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh")); |
||
1260 | else |
||
1261 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "Aktualisierung" + Environment.NewLine + "beenden" : "Aktualisierung" + Environment.NewLine + "starten")); |
||
2233 | - | 1262 | btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224))); |
1263 | if (bReadContinously) |
||
1264 | { |
||
2250 | - | 1265 | if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); } |
1266 | if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); } |
||
1267 | if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); } |
||
1268 | if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);} |
||
2233 | - | 1269 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0))); |
1270 | } |
||
1271 | else |
||
1272 | lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224))); |
||
1273 | _iLifeCounter = 0; |
||
1274 | } |
||
1275 | /// <summary> |
||
2250 | - | 1276 | /// set values to "NA" when not available with FC |
2233 | - | 1277 | /// </summary> |
1278 | void _setFieldsNA() |
||
1279 | { |
||
1280 | Thread.Sleep(100); |
||
2250 | - | 1281 | _initDTMotors(); |
2233 | - | 1282 | lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime |
2250 | - | 1283 | lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr |
1284 | lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field |
||
1285 | lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed |
||
1286 | lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP |
||
1287 | lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used |
||
1288 | lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude |
||
1289 | lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude |
||
2254 | - | 1290 | lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance |
1291 | lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP |
||
1292 | lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list |
||
2233 | - | 1293 | } |
1294 | /// <summary> |
||
1295 | /// one time query of the OSD Menue with pagenumber |
||
1296 | /// </summary> |
||
1297 | /// <param name="iMenue">Menue page</param> |
||
1298 | void _OSDMenue(int iMenue) |
||
1299 | { |
||
1300 | if (simpleSerialPort.Port.IsOpen) |
||
1301 | { |
||
1302 | if (iMenue > iOSDMax) |
||
1303 | iMenue = 0; |
||
1304 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1305 | byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue }); |
||
1306 | serialStream.Write(bytes, 0, bytes.Length); |
||
1307 | } |
||
1308 | else |
||
1309 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1310 | |||
1311 | } |
||
1312 | /// <summary> |
||
1313 | /// call the OSDMenue and start autorefresh |
||
1314 | /// usually by sending a menuekey |
||
1315 | /// 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) |
||
1316 | /// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle |
||
1317 | /// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33 |
||
1318 | /// </summary> |
||
1319 | void _OSDMenueAutoRefresh() |
||
1320 | { |
||
1321 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval }); |
||
1322 | } |
||
1323 | void _OSDMenueAutoRefresh(byte key) |
||
1324 | { |
||
1325 | _sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval }); |
||
1326 | } |
||
1327 | /// <summary> |
||
1328 | /// initialize the OSD menue combobox |
||
1329 | /// combox is filled by numbers from 0 to max pagenumber |
||
1330 | /// </summary> |
||
1331 | void _initOSDCB() |
||
1332 | { |
||
1333 | _bCBInit = true; |
||
1334 | if(iOSDMax == 0) |
||
1335 | { |
||
1336 | _OSDMenue(0); |
||
1337 | Thread.Sleep(10); |
||
1338 | } |
||
1339 | cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear())); |
||
1340 | for(int i = 0; i <= iOSDMax;i++) |
||
1341 | { |
||
1342 | cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i))); |
||
1343 | } |
||
1344 | cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage)); |
||
1345 | _bCBInit = false; |
||
1346 | } |
||
2259 | - | 1347 | /// <summary> |
1348 | /// initialize the datatables |
||
1349 | /// with columnnames etc |
||
1350 | /// </summary> |
||
1351 | void _dataTablesInit() |
||
1352 | { |
||
1353 | dtAnalog.Columns.Add("ID"); |
||
1354 | dtAnalog.Columns.Add("Value"); |
||
1355 | dataGridView1.DataSource = dtAnalog; |
||
1356 | |||
1357 | dtMotors1.Columns.Add("#"); |
||
2274 | - | 1358 | if (Thread.CurrentThread.CurrentUICulture.Name == "") |
1359 | dtMotors1.Columns.Add("Current"); |
||
1360 | else |
||
1361 | dtMotors1.Columns.Add("Strom"); |
||
2259 | - | 1362 | dtMotors1.Columns.Add("Temp"); |
1363 | dtMotors2.Columns.Add("#"); |
||
2274 | - | 1364 | if (Thread.CurrentThread.CurrentUICulture.Name == "") |
1365 | dtMotors2.Columns.Add("Current"); |
||
1366 | else |
||
1367 | dtMotors2.Columns.Add("Strom"); |
||
2259 | - | 1368 | dtMotors2.Columns.Add("Temp"); |
1369 | dgvMotors1.DataSource = dtMotors1; |
||
1370 | dgvMotors2.DataSource = dtMotors2; |
||
1371 | _initDTMotors(); |
||
1372 | dgvMotors1.Columns[0].Width = 24; |
||
1373 | dgvMotors1.Columns[1].Width = 74; |
||
1374 | dgvMotors1.Columns[2].Width = 74; |
||
1375 | dgvMotors2.Columns[0].Width = 24; |
||
1376 | dgvMotors2.Columns[1].Width = 74; |
||
1377 | dgvMotors2.Columns[2].Width = 74; |
||
1378 | |||
1379 | dtWaypoints.Columns.Add("Index"); |
||
1380 | dtWaypoints.Columns.Add("Type"); |
||
1381 | dtWaypoints.Columns.Add("Name"); |
||
1382 | dtWaypoints.Columns.Add("Latitude"); |
||
1383 | dtWaypoints.Columns.Add("Longitude"); |
||
1384 | dtWaypoints.Columns.Add("Altitude"); |
||
1385 | dtWaypoints.Columns.Add("Heading"); |
||
1386 | dtWaypoints.Columns.Add("Speed"); |
||
1387 | dtWaypoints.Columns.Add("Altitude rate"); |
||
1388 | dtWaypoints.Columns.Add("Tol.radius"); |
||
1389 | dtWaypoints.Columns.Add("Hold time"); |
||
1390 | dtWaypoints.Columns.Add("AutoTrigger"); |
||
1391 | dtWaypoints.Columns.Add("Cam angle"); |
||
1392 | dtWaypoints.Columns.Add("Event"); |
||
1393 | dtWaypoints.Columns.Add("Eventchan. Val."); |
||
1394 | dtWaypoints.Columns.Add("Status"); |
||
1395 | dgvWP.DataSource = dtWaypoints; |
||
1396 | } |
||
1397 | /// <summary> |
||
1398 | /// read settings from ini-file |
||
1399 | /// </summary> |
||
2233 | - | 1400 | void _readIni() |
1401 | { |
||
1402 | if (!File.Exists(filePath + "\\MKLiveViewSettings.ini")) |
||
1403 | _writeIni(); |
||
1404 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
1405 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
1406 | |||
1407 | string sVal = ini.IniReadValue("default", "AutorefreshDebugData"); |
||
1408 | _debugDataAutorefresh = Convert.ToBoolean(sVal); |
||
1409 | sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData"); |
||
1410 | _navCtrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
1411 | sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData"); |
||
1412 | _blctrlDataAutorefresh = Convert.ToBoolean(sVal); |
||
1413 | sVal = ini.IniReadValue("default", "AutorefreshOSDData"); |
||
1414 | _OSDAutorefresh = Convert.ToBoolean(sVal); |
||
1415 | |||
1416 | sVal = ini.IniReadValue("default", "IntervalDebugData"); |
||
1417 | debugInterval = (byte)Convert.ToInt16(sVal); |
||
1418 | sVal = ini.IniReadValue("default", "IntervalNavCtrlData"); |
||
1419 | navctrlInterval = (byte)Convert.ToInt16(sVal); |
||
1420 | sVal = ini.IniReadValue("default", "IntervalBLCtrlData"); |
||
1421 | blctrlInterval = (byte)Convert.ToInt16(sVal); |
||
1422 | sVal = ini.IniReadValue("default", "IntervalOSDData"); |
||
1423 | OSDInterval = (byte)Convert.ToInt16(sVal); |
||
2257 | - | 1424 | for(int i = 0; i < 12; i++) |
1425 | { |
||
1426 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val"); |
||
1427 | if(sVal != "") |
||
1428 | serChan[i] = Convert.ToInt16(sVal); |
||
1429 | sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title"); |
||
1430 | if(sVal != "") |
||
1431 | serChanTitle[i] = sVal; |
||
1432 | } |
||
2233 | - | 1433 | } |
2259 | - | 1434 | /// <summary> |
1435 | /// save settings to ini-file |
||
1436 | /// </summary> |
||
2233 | - | 1437 | void _writeIni() |
1438 | { |
||
1439 | |||
1440 | IniFile ini = new IniFile("MKLiveViewSettings.ini"); |
||
1441 | ini.path = filePath + "\\MKLiveViewSettings.ini"; |
||
1442 | |||
1443 | ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false"); |
||
1444 | ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false"); |
||
1445 | ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false"); |
||
1446 | ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false"); |
||
1447 | |||
1448 | ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString()); |
||
1449 | ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString()); |
||
1450 | ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString()); |
||
1451 | ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString()); |
||
2257 | - | 1452 | |
1453 | for (int i = 0; i < 12; i++) |
||
1454 | { |
||
1455 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString()); |
||
1456 | ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]); |
||
1457 | } |
||
1458 | |||
2233 | - | 1459 | } |
1460 | |||
2250 | - | 1461 | /// <summary> |
1462 | /// initialize the 2 datatables for motor values |
||
1463 | /// dtMotors1 - motor 1 - 4 |
||
1464 | /// dtMotors2 - motor 5 - 8 |
||
1465 | /// DataGridView dgvMotors1/2 are bound to dtMotors1/2 |
||
1466 | /// </summary> |
||
1467 | void _initDTMotors() |
||
1468 | { |
||
1469 | for(int i = 0; i < 4; i++) |
||
1470 | { |
||
1471 | if (dtMotors1.Rows.Count < 4) |
||
1472 | dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA"); |
||
1473 | else |
||
1474 | { |
||
1475 | dtMotors1.Rows[i].SetField(1, "NA"); |
||
1476 | dtMotors1.Rows[i].SetField(2, "NA"); |
||
1477 | } |
||
1478 | if (dtMotors2.Rows.Count < 4) |
||
1479 | dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA"); |
||
1480 | else |
||
1481 | { |
||
1482 | dtMotors2.Rows[i].SetField(1, "NA"); |
||
1483 | dtMotors2.Rows[i].SetField(2, "NA"); |
||
1484 | } |
||
1485 | } |
||
1486 | dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh())); |
||
1487 | dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh())); |
||
1488 | } |
||
1489 | |||
1490 | /// <summary> |
||
1491 | /// Convert decimal degrees to degrees, minutes, seconds, milliseconds |
||
1492 | /// </summary> |
||
1493 | /// <param name="coord">the degree value as double</param> |
||
1494 | /// <returns>0° 0' 0,0"</returns> |
||
1495 | string _convertDegree(double coord) |
||
1496 | { |
||
1497 | //double minutes = (degree - Math.Floor(degree)) * 60.0; |
||
1498 | //double seconds = (minutes - Math.Floor(minutes)) * 60.0; |
||
1499 | //double tenths = (seconds - Math.Floor(seconds)) * 10.0; |
||
1500 | //// get rid of fractional part |
||
1501 | //minutes = Math.Floor(minutes); |
||
1502 | //seconds = Math.Floor(seconds); |
||
1503 | //tenths = Math.Floor(tenths); |
||
1504 | |||
1505 | |||
1506 | //int sec = (int)Math.Round(coord * 3600); |
||
1507 | //int deg = sec / 3600; |
||
1508 | //sec = Math.Abs(sec % 3600); |
||
1509 | //int min = sec / 60; |
||
1510 | //sec %= 60; |
||
1511 | |||
1512 | var ts = TimeSpan.FromHours(Math.Abs(coord)); |
||
1513 | double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours); |
||
1514 | int min = ts.Minutes; |
||
1515 | int sec = ts.Seconds; |
||
1516 | int milli = ts.Milliseconds; |
||
1517 | |||
1518 | return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\""; |
||
1519 | } |
||
2257 | - | 1520 | /// <summary> |
1521 | /// Clear the line in the errorlog window |
||
1522 | /// containing the error string when error has ceased |
||
1523 | /// </summary> |
||
1524 | /// <param name="s">substring of errrormessage</param> |
||
2254 | - | 1525 | void _clearErrorLog(string s) |
1526 | { |
||
1527 | rtfError.Invoke((Action)(() => |
||
1528 | { |
||
1529 | if (rtfError.Text.Contains(s)) |
||
1530 | { |
||
1531 | int iLength = 0; |
||
1532 | int iStart = rtfError.Text.IndexOf(s); |
||
1533 | int iEnd = rtfError.Text.IndexOf('\n', iStart); |
||
1534 | if (iEnd > 0) |
||
1535 | { |
||
1536 | iLength = iEnd + 1; |
||
1537 | int iHttp = rtfError.Text.IndexOf("http", iEnd); |
||
1538 | if (iHttp == iLength) |
||
1539 | { |
||
1540 | int iEnd2 = rtfError.Text.IndexOf('\n', iLength); |
||
1541 | if (iEnd2 > iLength) |
||
1542 | { |
||
1543 | iLength = iEnd2 + 1; |
||
1544 | rtfError.Select(iStart, iLength); |
||
1545 | rtfError.SelectedText = string.Empty; |
||
1546 | if(rtfError.Text.Length < 2) _bErrorLog = false; |
||
1547 | } |
||
1548 | |||
1549 | } |
||
1550 | else |
||
1551 | { |
||
1552 | rtfError.Select(iStart, iLength); |
||
1553 | rtfError.SelectedText = string.Empty; |
||
1554 | if(rtfError.Text.Length < 2) _bErrorLog = false; |
||
1555 | } |
||
1556 | } |
||
1557 | } |
||
1558 | })); |
||
1559 | |||
1560 | } |
||
2257 | - | 1561 | /// <summary> |
1562 | /// request the Waypoint at index |
||
1563 | /// </summary> |
||
1564 | /// <param name="index"></param> |
||
1565 | void _getpWP(int index) |
||
1566 | { |
||
1567 | if (simpleSerialPort.Port.IsOpen) |
||
1568 | { |
||
1569 | Stream serialStream = simpleSerialPort.Port.BaseStream; |
||
1570 | byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index }); |
||
1571 | serialStream.Write(bytes, 0, bytes.Length); |
||
1572 | } |
||
1573 | else |
||
1574 | Log(LogMsgType.Error, "NOT CONNECTED!"); |
||
1575 | |||
1576 | } |
||
1577 | /// <summary> |
||
1578 | /// Sending the serial channel values |
||
1579 | /// </summary> |
||
1580 | void _sendSerialData() |
||
1581 | { |
||
1582 | byte[] serData = new byte[12]; |
||
1583 | for(int i = 0; i < 12; i++) |
||
1584 | { |
||
1585 | serData[i] = unchecked((byte)(serChan[i] - 127)); |
||
1586 | } |
||
1587 | _sendControllerMessage('y', 1, serData); |
||
1588 | } |
||
2259 | - | 1589 | /// <summary> |
1590 | /// init the controls for displaying |
||
1591 | /// and setting serial control channels |
||
1592 | /// </summary> |
||
2257 | - | 1593 | void _initSerialCtrl() |
1594 | { |
||
1595 | trckbarSerial1.Value = serChan[0]; |
||
1596 | textBoxSerial1.Text = serChanTitle[0]; |
||
1597 | lblTbSerial1.Text = serChan[0].ToString(); |
||
1598 | trckbarSerial2.Value = serChan[1]; |
||
1599 | textBoxSerial2.Text = serChanTitle[1]; |
||
1600 | lblTbSerial2.Text = serChan[1].ToString(); |
||
2259 | - | 1601 | trckbarSerial3.Value = serChan[2]; |
1602 | textBoxSerial3.Text = serChanTitle[2]; |
||
1603 | lblTbSerial3.Text = serChan[2].ToString(); |
||
1604 | trckbarSerial4.Value = serChan[3]; |
||
1605 | textBoxSerial4.Text = serChanTitle[3]; |
||
1606 | lblTbSerial4.Text = serChan[3].ToString(); |
||
2265 | - | 1607 | trckbarSerial5.Value = serChan[4]; |
1608 | textBoxSerial5.Text = serChanTitle[4]; |
||
1609 | lblTbSerial5.Text = serChan[4].ToString(); |
||
1610 | trckbarSerial6.Value = serChan[5]; |
||
1611 | textBoxSerial6.Text = serChanTitle[5]; |
||
1612 | lblTbSerial6.Text = serChan[5].ToString(); |
||
1613 | trckbarSerial7.Value = serChan[6]; |
||
1614 | textBoxSerial7.Text = serChanTitle[6]; |
||
1615 | lblTbSerial7.Text = serChan[6].ToString(); |
||
1616 | trckbarSerial8.Value = serChan[7]; |
||
1617 | textBoxSerial8.Text = serChanTitle[7]; |
||
1618 | lblTbSerial8.Text = serChan[7].ToString(); |
||
2257 | - | 1619 | } |
2233 | - | 1620 | #endregion functions |
1621 | |||
1622 | #region buttons |
||
1623 | private void buttonReset_Click(object sender, EventArgs e) |
||
1624 | { |
||
1625 | _resetCtrl(); |
||
1626 | } |
||
1627 | private void btnVersion_Click(object sender, EventArgs e) |
||
1628 | { |
||
1629 | _getVersion(); |
||
1630 | } |
||
1631 | private void btnAnalogLabels_Click(object sender, EventArgs e) |
||
1632 | { |
||
1633 | _getAnalogLabels(0); |
||
1634 | } |
||
1635 | private void btnDbgData_Click(object sender, EventArgs e) |
||
1636 | { |
||
1637 | _readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds |
||
1638 | } |
||
1639 | private void btnSaveLabels_Click(object sender, EventArgs e) |
||
1640 | { |
||
1641 | switch (_iCtrlAct) |
||
1642 | { |
||
1643 | case 1: |
||
1644 | fileName = "FCLabelTexts.txt"; |
||
1645 | break; |
||
1646 | case 2: |
||
1647 | fileName = "NCLabelTexts.txt"; |
||
1648 | break; |
||
1649 | default: |
||
1650 | fileName = "NCLabelTexts.txt"; |
||
1651 | break; |
||
1652 | } |
||
1653 | if (sAnalogLabel[0] != null) |
||
1654 | { |
||
1655 | File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel); |
||
1656 | Console.WriteLine("Names saved to file"); |
||
1657 | _loadLabelFile(); |
||
1658 | } |
||
1659 | else |
||
1660 | Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!"); |
||
1661 | } |
||
1662 | private void btnLoadLabels_Click(object sender, EventArgs e) |
||
1663 | { |
||
1664 | _assignLabelNames(); |
||
1665 | } |
||
1666 | private void btnReadLabelFile_Click(object sender, EventArgs e) |
||
1667 | { |
||
1668 | _loadLabelFile(); |
||
1669 | } |
||
1670 | private void btnSwitchFC_Click(object sender, EventArgs e) |
||
1671 | { |
||
1672 | _switchToFC(); |
||
1673 | } |
||
1674 | private void btnSwitchNC_Click(object sender, EventArgs e) |
||
1675 | { |
||
1676 | _switchToNC(); |
||
1677 | } |
||
1678 | private void btnReadDbgCont_Click(object sender, EventArgs e) |
||
1679 | { |
||
1680 | _readCont(!bReadContinously); |
||
1681 | } |
||
1682 | private void btnReadBLCtrl_Click(object sender, EventArgs e) |
||
1683 | { |
||
1684 | |||
1685 | if (_iCtrlAct == 2) _readBLCtrl(false); |
||
1686 | else Log(LogMsgType.Warning, "only available when connected to NC"); |
||
1687 | } |
||
1688 | private void btnGetNaviData_Click(object sender, EventArgs e) |
||
1689 | { |
||
1690 | if (_iCtrlAct == 2) _readNavData(false); |
||
1691 | else Log(LogMsgType.Warning, "only available when connected to NC"); |
||
1692 | } |
||
1693 | private void btnConn_Click(object sender, EventArgs e) |
||
1694 | { |
||
1695 | simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen); |
||
1696 | } |
||
1697 | private void button3_Click(object sender, EventArgs e) |
||
1698 | { |
||
1699 | _getVersion(1); |
||
1700 | } |
||
1701 | private void button4_Click(object sender, EventArgs e) |
||
1702 | { |
||
1703 | _getVersion(2); |
||
1704 | } |
||
1705 | private void btnOSD_Click(object sender, EventArgs e) |
||
1706 | { |
||
1707 | if (iOSDPage > iOSDMax) |
||
1708 | iOSDPage = 0; |
||
1709 | _OSDMenue(iOSDPage); |
||
1710 | } |
||
1711 | private void btnOSDForward_Click(object sender, EventArgs e) |
||
1712 | { |
||
1713 | iOSDPage++; |
||
1714 | if (iOSDPage > iOSDMax) |
||
1715 | iOSDPage = 0; |
||
1716 | |||
1717 | _OSDMenue(iOSDPage); |
||
1718 | } |
||
1719 | private void btnOSDBackward_Click(object sender, EventArgs e) |
||
1720 | { |
||
1721 | iOSDPage--; |
||
1722 | if (iOSDPage < 0) |
||
1723 | iOSDPage = iOSDMax; |
||
1724 | |||
1725 | _OSDMenue(iOSDPage); |
||
1726 | } |
||
1727 | private void btnOSDAuto_Click(object sender, EventArgs e) |
||
1728 | { |
||
1729 | _OSDMenueAutoRefresh(); |
||
1730 | } |
||
1731 | /// call the OSDMenue with Key 0x8 |
||
1732 | private void btnOSDLeave_Click(object sender, EventArgs e) |
||
1733 | { |
||
1734 | _OSDMenueAutoRefresh(8); |
||
1735 | } |
||
1736 | /// call the OSDMenue with Key 0x4 |
||
1737 | private void btnOSDEnter_Click(object sender, EventArgs e) |
||
1738 | { |
||
1739 | _OSDMenueAutoRefresh(4); |
||
1740 | } |
||
2257 | - | 1741 | private void btnGetWP_Click(object sender, EventArgs e) |
1742 | { |
||
1743 | if(cbWPIndex.Items.Count >0) |
||
1744 | _getpWP((int)cbWPIndex.SelectedItem); |
||
1745 | else |
||
1746 | _getpWP(1); |
||
1747 | } |
||
2233 | - | 1748 | #endregion buttons |
2259 | - | 1749 | #region serial control channels - buttons & events |
2257 | - | 1750 | private void tbSerial1_Scroll(object sender, EventArgs e) |
1751 | { |
||
1752 | lblTbSerial1.Text = trckbarSerial1.Value.ToString(); |
||
1753 | serChan[0] = trckbarSerial1.Value; |
||
1754 | if (!_init) _sendSerialData(); |
||
1755 | } |
||
1756 | private void textBoxSerial1_TextChanged(object sender, EventArgs e) |
||
1757 | { |
||
1758 | serChanTitle[0] = textBoxSerial1.Text; |
||
1759 | } |
||
1760 | private void btnSer1_0_Click(object sender, EventArgs e) |
||
1761 | { |
||
1762 | trckbarSerial1.Value = 0; |
||
1763 | } |
||
1764 | private void btnSer1_127_Click(object sender, EventArgs e) |
||
1765 | { |
||
1766 | trckbarSerial1.Value = 127; |
||
1767 | } |
||
1768 | private void btnSer1_254_Click(object sender, EventArgs e) |
||
1769 | { |
||
1770 | trckbarSerial1.Value = 254; |
||
1771 | } |
||
1772 | private void trckbarSerial1_ValueChanged(object sender, EventArgs e) |
||
1773 | { |
||
1774 | lblTbSerial1.Text = trckbarSerial1.Value.ToString(); |
||
1775 | serChan[0] = trckbarSerial1.Value; |
||
1776 | if (!_init) _sendSerialData(); |
||
1777 | } |
||
1778 | private void textBoxSerial2_TextChanged(object sender, EventArgs e) |
||
1779 | { |
||
2259 | - | 1780 | serChanTitle[1] = textBoxSerial2.Text; |
2257 | - | 1781 | } |
1782 | private void trckbarSerial2_ValueChanged(object sender, EventArgs e) |
||
1783 | { |
||
1784 | lblTbSerial2.Text = trckbarSerial2.Value.ToString(); |
||
1785 | serChan[1] = trckbarSerial2.Value; |
||
1786 | if (!_init) _sendSerialData(); |
||
1787 | } |
||
1788 | private void btnSer2_0_Click(object sender, EventArgs e) |
||
1789 | { |
||
1790 | trckbarSerial2.Value = 0; |
||
1791 | } |
||
1792 | private void btnSer2_127_Click(object sender, EventArgs e) |
||
1793 | { |
||
1794 | trckbarSerial2.Value = 127; |
||
1795 | } |
||
1796 | private void btnSer2_254_Click(object sender, EventArgs e) |
||
1797 | { |
||
1798 | trckbarSerial2.Value = 254; |
||
1799 | } |
||
2259 | - | 1800 | private void textBoxSerial3_TextChanged(object sender, EventArgs e) |
1801 | { |
||
1802 | serChanTitle[2] = textBoxSerial3.Text; |
||
1803 | } |
||
1804 | private void trckbarSerial3_ValueChanged(object sender, EventArgs e) |
||
1805 | { |
||
1806 | lblTbSerial3.Text = trckbarSerial3.Value.ToString(); |
||
1807 | serChan[2] = trckbarSerial3.Value; |
||
1808 | if (!_init) _sendSerialData(); |
||
1809 | } |
||
1810 | private void btnSer3_0_Click(object sender, EventArgs e) |
||
1811 | { |
||
1812 | trckbarSerial3.Value = 0; |
||
1813 | } |
||
1814 | private void btnSer3_127_Click(object sender, EventArgs e) |
||
1815 | { |
||
1816 | trckbarSerial3.Value = 127; |
||
1817 | } |
||
1818 | private void btnSer3_254_Click(object sender, EventArgs e) |
||
1819 | { |
||
1820 | trckbarSerial3.Value = 254; |
||
1821 | } |
||
1822 | private void textBoxSerial4_TextChanged(object sender, EventArgs e) |
||
1823 | { |
||
1824 | serChanTitle[3] = textBoxSerial4.Text; |
||
1825 | } |
||
1826 | private void trckbarSerial4_ValueChanged(object sender, EventArgs e) |
||
1827 | { |
||
1828 | lblTbSerial4.Text = trckbarSerial4.Value.ToString(); |
||
1829 | serChan[3] = trckbarSerial4.Value; |
||
1830 | if (!_init) _sendSerialData(); |
||
1831 | } |
||
1832 | private void btnSer4_0_Click(object sender, EventArgs e) |
||
1833 | { |
||
1834 | trckbarSerial4.Value = 0; |
||
1835 | } |
||
1836 | private void btnSer4_127_Click(object sender, EventArgs e) |
||
1837 | { |
||
1838 | trckbarSerial4.Value = 127; |
||
1839 | } |
||
1840 | private void btnSer4_254_Click(object sender, EventArgs e) |
||
1841 | { |
||
1842 | trckbarSerial4.Value = 254; |
||
1843 | } |
||
2265 | - | 1844 | private void tbSerial5_Scroll(object sender, EventArgs e) |
1845 | { |
||
1846 | lblTbSerial5.Text = trckbarSerial5.Value.ToString(); |
||
1847 | serChan[4] = trckbarSerial5.Value; |
||
1848 | if (!_init) _sendSerialData(); |
||
1849 | } |
||
1850 | private void textBoxSerial5_TextChanged(object sender, EventArgs e) |
||
1851 | { |
||
1852 | serChanTitle[4] = textBoxSerial5.Text; |
||
1853 | } |
||
1854 | private void btnSer5_0_Click(object sender, EventArgs e) |
||
1855 | { |
||
1856 | trckbarSerial5.Value = 0; |
||
1857 | } |
||
1858 | private void btnSer5_127_Click(object sender, EventArgs e) |
||
1859 | { |
||
1860 | trckbarSerial5.Value = 127; |
||
1861 | } |
||
1862 | private void btnSer5_254_Click(object sender, EventArgs e) |
||
1863 | { |
||
1864 | trckbarSerial5.Value = 254; |
||
1865 | } |
||
1866 | private void trckbarSerial5_ValueChanged(object sender, EventArgs e) |
||
1867 | { |
||
1868 | lblTbSerial5.Text = trckbarSerial5.Value.ToString(); |
||
1869 | serChan[4] = trckbarSerial5.Value; |
||
1870 | if (!_init) _sendSerialData(); |
||
1871 | } |
||
1872 | private void tbSerial6_Scroll(object sender, EventArgs e) |
||
1873 | { |
||
1874 | lblTbSerial6.Text = trckbarSerial6.Value.ToString(); |
||
1875 | serChan[5] = trckbarSerial6.Value; |
||
1876 | if (!_init) _sendSerialData(); |
||
1877 | } |
||
1878 | private void textBoxSerial6_TextChanged(object sender, EventArgs e) |
||
1879 | { |
||
1880 | serChanTitle[5] = textBoxSerial6.Text; |
||
1881 | } |
||
1882 | private void btnSer6_0_Click(object sender, EventArgs e) |
||
1883 | { |
||
1884 | trckbarSerial6.Value = 0; |
||
1885 | } |
||
1886 | private void btnSer6_127_Click(object sender, EventArgs e) |
||
1887 | { |
||
1888 | trckbarSerial6.Value = 127; |
||
1889 | } |
||
1890 | private void btnSer6_254_Click(object sender, EventArgs e) |
||
1891 | { |
||
1892 | trckbarSerial6.Value = 254; |
||
1893 | } |
||
1894 | private void trckbarSerial6_ValueChanged(object sender, EventArgs e) |
||
1895 | { |
||
1896 | lblTbSerial6.Text = trckbarSerial6.Value.ToString(); |
||
1897 | serChan[5] = trckbarSerial6.Value; |
||
1898 | if (!_init) _sendSerialData(); |
||
1899 | } |
||
1900 | private void tbSerial7_Scroll(object sender, EventArgs e) |
||
1901 | { |
||
1902 | lblTbSerial7.Text = trckbarSerial7.Value.ToString(); |
||
1903 | serChan[6] = trckbarSerial7.Value; |
||
1904 | if (!_init) _sendSerialData(); |
||
1905 | } |
||
1906 | private void textBoxSerial7_TextChanged(object sender, EventArgs e) |
||
1907 | { |
||
1908 | serChanTitle[6] = textBoxSerial7.Text; |
||
1909 | } |
||
1910 | private void btnSer7_0_Click(object sender, EventArgs e) |
||
1911 | { |
||
1912 | trckbarSerial7.Value = 0; |
||
1913 | } |
||
1914 | private void btnSer7_127_Click(object sender, EventArgs e) |
||
1915 | { |
||
1916 | trckbarSerial7.Value = 127; |
||
1917 | } |
||
1918 | private void btnSer7_254_Click(object sender, EventArgs e) |
||
1919 | { |
||
1920 | trckbarSerial7.Value = 254; |
||
1921 | } |
||
1922 | private void trckbarSerial7_ValueChanged(object sender, EventArgs e) |
||
1923 | { |
||
1924 | lblTbSerial7.Text = trckbarSerial7.Value.ToString(); |
||
1925 | serChan[6] = trckbarSerial7.Value; |
||
1926 | if (!_init) _sendSerialData(); |
||
1927 | } |
||
1928 | private void tbSerial8_Scroll(object sender, EventArgs e) |
||
1929 | { |
||
1930 | lblTbSerial8.Text = trckbarSerial8.Value.ToString(); |
||
1931 | serChan[7] = trckbarSerial8.Value; |
||
1932 | if (!_init) _sendSerialData(); |
||
1933 | } |
||
1934 | private void textBoxSerial8_TextChanged(object sender, EventArgs e) |
||
1935 | { |
||
1936 | serChanTitle[7] = textBoxSerial8.Text; |
||
1937 | } |
||
1938 | private void btnSer8_0_Click(object sender, EventArgs e) |
||
1939 | { |
||
1940 | trckbarSerial8.Value = 0; |
||
1941 | } |
||
1942 | private void btnSer8_127_Click(object sender, EventArgs e) |
||
1943 | { |
||
1944 | trckbarSerial8.Value = 127; |
||
1945 | } |
||
1946 | private void btnSer8_254_Click(object sender, EventArgs e) |
||
1947 | { |
||
1948 | trckbarSerial8.Value = 254; |
||
1949 | } |
||
1950 | private void trckbarSerial8_ValueChanged(object sender, EventArgs e) |
||
1951 | { |
||
1952 | lblTbSerial8.Text = trckbarSerial8.Value.ToString(); |
||
1953 | serChan[7] = trckbarSerial8.Value; |
||
1954 | if (!_init) _sendSerialData(); |
||
1955 | } |
||
2259 | - | 1956 | #endregion serial control channels |
1957 | |||
2233 | - | 1958 | } |
1959 | public class IniFile |
||
1960 | { |
||
1961 | public string path; |
||
1962 | |||
1963 | [DllImport("kernel32")] |
||
1964 | private static extern long WritePrivateProfileString(string section, |
||
1965 | string key, string val, string filePath); |
||
1966 | |||
1967 | [DllImport("kernel32.dll", CharSet = CharSet.Auto)] |
||
1968 | static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer, |
||
1969 | uint nSize, string lpFileName); |
||
1970 | |||
1971 | [DllImport("kernel32")] |
||
1972 | private static extern int GetPrivateProfileString(string section, |
||
1973 | string key, string def, StringBuilder retVal, |
||
1974 | int size, string filePath); |
||
1975 | |||
1976 | public IniFile(string INIPath) |
||
1977 | { |
||
1978 | path = INIPath; |
||
1979 | } |
||
1980 | |||
1981 | public void IniWriteValue(string Section, string Key, string Value) |
||
1982 | { |
||
1983 | WritePrivateProfileString(Section, Key, Value, this.path); |
||
1984 | } |
||
1985 | |||
1986 | public string IniReadValue(string Section, string Key) |
||
1987 | { |
||
1988 | StringBuilder temp = new StringBuilder(255); |
||
1989 | int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path); |
||
1990 | return temp.ToString(); |
||
1991 | } |
||
1992 | //Ini_sections auslesen in String-Array |
||
1993 | public string[] IniSectionNames() |
||
1994 | { |
||
1995 | |||
1996 | // uint MAX_BUFFER = 32767; |
||
1997 | uint MAX_BUFFER = 8388608; |
||
1998 | IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER); |
||
1999 | uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path); |
||
2000 | if (bytesReturned == 0) |
||
2001 | { |
||
2002 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2003 | return null; |
||
2004 | } |
||
2005 | string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString(); |
||
2006 | Marshal.FreeCoTaskMem(pReturnedString); |
||
2007 | //use of Substring below removes terminating null for split |
||
2008 | return local.Substring(0, local.Length - 1).Split('\0'); |
||
2009 | |||
2010 | |||
2011 | } |
||
2012 | } |
||
2013 | public static class ControlExtensions |
||
2014 | { |
||
2015 | /// <summary> |
||
2016 | /// Execute a threadsafe operation, when accessing a control via another thread |
||
2017 | /// action is a lamdaexpression |
||
2018 | /// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true); |
||
2019 | /// </summary> |
||
2020 | /// <param name="control"> The control </param> |
||
2021 | /// <param name="action"> The 'action' to perform </param> |
||
2022 | public static void ExecuteThreadSafe(this Control control, Action action) |
||
2023 | { |
||
2024 | if (control.InvokeRequired) |
||
2025 | { |
||
2026 | control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke" |
||
2027 | } |
||
2028 | else |
||
2029 | { |
||
2030 | action.Invoke(); |
||
2031 | } |
||
2032 | } |
||
2033 | } |
||
2034 | |||
2035 | } |