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

Rev	Author	Line No.	Line
2233	-	1	///============================================================================
		2	/// MKLiveView
		3	/// Copyright © 2016 Steph
		4	///
		5	///This file is part of MKLiveView.
		6	///
		7	///MKLiveView is free software: you can redistribute it and/or modify
		8	///it under the terms of the GNU General Public License as published by
		9	///the Free Software Foundation, either version 3 of the License, or
		10	///(at your option) any later version.
		11	///
		12	///MKLiveView is distributed in the hope that it will be useful,
		13	///but WITHOUT ANY WARRANTY; without even the implied warranty of
		14	///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		15	///GNU General Public License for more details.
		16	///
		17	///You should have received a copy of the GNU General Public License
		18	///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
		19	///
		20	///============================================================================
		21	///Credits:
		22	///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
		23	///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
		24	///I used some of his code for displaying the compass
		25	///
		26	///Tom Pyke (http://tom.pycke.be)
		27	///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
		28	///Great job!
		29	///
		30	/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
		31	/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
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)
		35	/// and the FilghtControllerMessage class
		36	///
		37	///============================================================================
2259	-	38	/// DISCLAIMER
		39	/// ===========
		40	///
		41	/// I created this software with my best knowledge and belief.
		42	///
		43	/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
		44	/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
		45	/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
		46	/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
		47	/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
		48	/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
		49	/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
		50	///
		51	/// This means: use it & have fun (but @ Your own risk...)
		52	/// ===========================================================================
2233	-	53
		54	using System;
		55	using System.Data;
		56	using System.Drawing;
		57	using System.Text;
		58	using System.Windows.Forms;
		59	using System.IO;
		60	using System.Threading;
		61	using System.Diagnostics;
		62	using System.Runtime.InteropServices;
		63
		64	namespace MKLiveView
		65	{
		66	public partial class MainForm : Form
		67	{
2250	-	68	String[] NC_Error = new string[44]
		69	{
		70	"No Error",
		71	"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
		72	"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
		73	"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
		74	"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
		75	"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
		76	"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
		77	"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
		78	"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
		79	"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
		80	"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
		81	"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
		82	"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
		83	"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
		84	"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
		85	"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
		86	"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
		87	"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
		88	"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
		89	"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
		90	"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
		91	"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
		92	"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
		93	"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
		94	"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
		95	"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
		96	"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
		97	"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
		98	"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
		99	"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
		100	"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
		101	"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
		102	"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
		103	"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
		104	"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
		105	"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
		106	"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
		107	"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
		108	"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
		109	"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
		110	"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
		111	"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
		112	"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
		113	"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
		114	};
2233	-	115
		116	[FlagsAttribute]
		117	enum NC_HWError0 : short
		118	{
		119	None = 0,
		120	SPI_RX = 1,
		121	COMPASS_RX = 2,
		122	FC_INCOMPATIBLE = 4,
		123	COMPASS_INCOMPATIBLE = 8,
		124	GPS_RX = 16,
		125	COMPASS_VALUE = 32
		126	};
		127	[FlagsAttribute]
		128	enum FC_HWError0 : short
		129	{
		130	None = 0,
		131	GYRO_NICK = 1,
		132	GYRO_ROLL = 2,
		133	GYRO_YAW = 4,
		134	ACC_NICK = 8,
		135	ACC_ROLL = 16,
		136	ACC_TOP = 32,
		137	PRESSURE = 64,
		138	CAREFREE = 128
		139	};
		140	[FlagsAttribute]
		141	enum FC_HWError1 : short
		142	{
		143	None = 0,
		144	I2C = 1,
		145	BL_MISSING = 2,
		146	SPI_RX = 4,
		147	PPM = 8,
		148	MIXER = 16,
		149	RC_VOLTAGE = 32,
		150	ACC_NOT_CAL = 64,
		151	RES3 = 128
		152	};
		153	public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
		154	// Various colors for logging info
		155	private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };
		156
		157	string[] sAnalogLabel = new string[32];
		158	string[] sAnalogData = new string[32];
		159	bool bReadContinously = false;
		160	bool check_HWError = false;
		161	bool _bCBInit = true;
		162	bool _init = true;
		163	bool _debugDataAutorefresh = true;
		164	bool _navCtrlDataAutorefresh = true;
		165	bool _blctrlDataAutorefresh = true;
		166	bool _OSDAutorefresh = true;
2254	-	167	bool _bErrorLog = false;
2233	-	168	int crcError = 0;
		169	int iLableIndex = 0;
		170	string filePath = Directory.GetCurrentDirectory();
		171	string fileName = "NCLabelTexts.txt";
		172	int _iCtrlAct = 0;
		173	int _iLifeCounter = 0;
		174	int iOSDPage = 0;
		175	int iOSDMax = 0;
2257	-	176	int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
2280	-	177	int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
2257	-	178	string[] serChanTitle = new string[12];
2233	-	179	/// <summary>
		180	/// interval for sending debugdata (multiplied by 10ms)
		181	/// </summary>
2265	-	182	byte debugInterval = 10; //(=> 100ms)
2233	-	183	/// <summary>
		184	/// interval for sending BL-CTRL status (multiplied by 10ms)
		185	/// </summary>
2265	-	186	byte blctrlInterval = 75;
2233	-	187	/// <summary>
		188	/// interval for sending NAV-CTRL status (multiplied by 10ms)
		189	/// </summary>
		190	byte navctrlInterval = 80;
		191	/// <summary>
		192	/// interval for sending OSD page update (multiplied by 10ms)
		193	/// </summary>
		194	byte OSDInterval = 85;
		195	/// <summary>
		196	/// datatable for the debug data array - displayed on settings tabpage in datagridview
		197	/// </summary>
		198	DataTable dtAnalog = new DataTable();
2254	-	199	/// <summary>
		200	/// datatable for motordata (current,temp)
		201	/// </summary>
2250	-	202	DataTable dtMotors1 = new DataTable();
		203	DataTable dtMotors2 = new DataTable();
		204
2257	-	205	DataTable dtWaypoints = new DataTable();
		206
2233	-	207	public MainForm()
		208	{
		209	InitializeComponent();
2274	-	210	_initForm();
		211	}
		212	void _initForm()
		213	{
2257	-	214	serChanTitle.Initialize();
		215
2233	-	216	_readIni();
2257	-	217
2259	-	218	_dataTablesInit();
2257	-	219
2233	-	220	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		221	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		222	simpleSerialPort.DataReceived += processMessage;
2265	-	223
2233	-	224	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		225	chkbAutoDbg.Checked = _debugDataAutorefresh;
		226	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		227	chkbAutoOSD.Checked = _OSDAutorefresh;
2265	-	228
2233	-	229	labelTimingDebug.Text = (debugInterval * 10).ToString();
		230	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		231	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		232	labelTimingOSD.Text = (OSDInterval * 10).ToString();
2265	-	233
		234	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
2233	-	235	}
		236	#region events
		237	private void MainForm_Shown(object sender, EventArgs e)
		238	{
		239	_loadLabelNames();
2257	-	240	_initSerialCtrl();
2233	-	241	_init = false;
2265	-	242	splitContainer1.SplitterDistance = 510;
2233	-	243	}
		244	private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
		245	{
		246	_writeIni();
2274	-	247	// after adding a second language the programm didn't close properly anymore
		248	// so this is kinda workaround...
		249	Dispose(true);
		250	Environment.Exit(0);
2233	-	251	}
		252	private void SimpleSerialPort_PortOpened()
		253	{
		254	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
2274	-	255	if(Thread.CurrentThread.CurrentUICulture.Name== "")
		256	btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
		257	else
		258	btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "schliessen"));
2233	-	259	_getVersion();
		260	Thread.Sleep(100);
		261	_OSDMenue(0);
2257	-	262	Thread.Sleep(200);
		263	_sendSerialData();
2233	-	264	// _readCont(true);
		265	}
		266	private void SimpleSerialPort_PortClosed()
		267	{
		268	btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
2274	-	269	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		270	btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
		271	else
		272	btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "öffnen"));
2233	-	273	_readCont(false);
		274	}
		275	/// <summary>
		276	/// timer for refreshing subscription of subscribed data
		277	/// query lifecounter for connection failure
		278	/// </summary>
		279	private void timer1_Tick(object sender, EventArgs e)
		280	{
		281	if(bReadContinously)
		282	{
		283	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		284
2250	-	285	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
2233	-	286
		287	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		288	check_HWError = true;
		289	_getVersion();
		290	Thread.Sleep(10);
		291	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
		292	if (_iLifeCounter > 0)
		293	{
		294	lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
		295	_iLifeCounter = 0;
		296	}
		297	else
		298	{
		299	Log(LogMsgType.Error, "No communication to NC/FC!");
		300	lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
		301	}
		302	}
		303	}
		304	private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
		305	{
		306	if (!_bCBInit && cbOSD.SelectedIndex > -1)
		307	_OSDMenue(cbOSD.SelectedIndex);
		308	}
		309	private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
		310	{
		311	if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
		312	}
		313	private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
		314	{
		315	if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
		316	}
		317	private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
		318	{
		319	if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
		320	}
		321	private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
		322	{
		323	if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
		324	}
		325	private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
		326	{
		327	if (cbTimingDebug.SelectedIndex > -1)
		328	{
		329	debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
		330	labelTimingDebug.Text = (debugInterval * 10).ToString();
		331	}
		332	}
		333	private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
		334	{
		335	if (cbTimingNAV.SelectedIndex > -1)
		336	{
		337	navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
		338	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		339	}
		340	}
		341	private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
		342	{
		343	if (cbTimingBLCTRL.SelectedIndex > -1)
		344	{
		345	blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
		346	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		347	}
		348	}
		349	private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
		350	{
		351	if (cbTimingOSD.SelectedIndex > -1)
		352	{
		353	OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
		354	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		355	}
		356	}
2254	-	357	private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
		358	{
		359	System.Diagnostics.Process.Start(e.LinkText);
		360	}
2274	-	361	/// <summary>
		362	/// Combobox for selecting UI language
		363	/// </summary>
		364	/// <param name="sender"></param>
		365	/// <param name="e"></param>
		366	private void cbLanguage_SelectedIndexChanged(object sender, EventArgs e)
		367	{
		368	if (cbLanguage.SelectedIndex == 1)
		369	Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("de-DE");
		370	else
		371	Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("");
		372	updateStringRessource();
		373	}
		374	/// <summary>
		375	/// the form has to be recreated when changing the language of the UI
		376	/// </summary>
		377	private void updateStringRessource()
		378	{
		379	try
		380	{
		381	Point pt = this.Location;// memorize location of form
		382	Size sz = this.Size;// memorize size of form
		383
		384	if (simpleSerialPort.Port.IsOpen)
		385	{
		386	simpleSerialPort.Port.Close();
		387	Thread.Sleep(200);
		388	_readCont(false);
		389	Thread.Sleep(100);
		390	while (simpleSerialPort.Port.IsOpen \| bReadContinously)
		391	Thread.Sleep(100);
		392	}
		393
		394	this.Controls.Clear();// clear all controls of form
		395	components.Dispose();// dispose all components and release resources
		396	// delete all events to avoid double instances when calling InitializeComponent();
		397	this.Events.Dispose();
		398	if (timer1 != null)
		399	{
		400	timer1.Dispose();
		401	timer1 = null;
		402	}
		403	_init = true;
		404	timer1 = new System.Windows.Forms.Timer();
		405
		406	dtAnalog = new DataTable();
		407	dtMotors1 = new DataTable();
		408	dtMotors2 = new DataTable();
		409	dtWaypoints = new DataTable();
		410
		411	InitializeComponent(); // reload UI
		412
		413	_dataTablesInit();
		414
		415	simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
		416	simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
		417	simpleSerialPort.DataReceived += processMessage;
		418
		419	chkbAutoBL.Checked = _blctrlDataAutorefresh;
		420	chkbAutoDbg.Checked = _debugDataAutorefresh;
		421	chkbAutoNav.Checked = _navCtrlDataAutorefresh;
		422	chkbAutoOSD.Checked = _OSDAutorefresh;
		423
		424	labelTimingDebug.Text = (debugInterval * 10).ToString();
		425	labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
		426	labelTimingNAV.Text = (navctrlInterval * 10).ToString();
		427	labelTimingOSD.Text = (OSDInterval * 10).ToString();
		428
		429	TabControl1.TabPages.Remove(tabPageTesting); //a testing page
		430
		431	this.Size = sz;// set size
		432	this.Location = pt;// position form
		433	_loadLabelNames();
		434	_initSerialCtrl();
		435	_init = false;
		436
		437	}
		438	catch (Exception ex)
		439	{
		440	MessageBox.Show(ex.Message);
		441	}
		442	}
		443
2233	-	444	#endregion events
		445
		446	/// <summary> Log data to the terminal window. </summary>
		447	/// <param name="msgtype"> The type of message to be written. </param>
		448	/// <param name="msg"> The string containing the message to be shown. </param>
		449	private void Log(LogMsgType msgtype, string msg)
		450	{
		451	rtfTerminal.Invoke(new EventHandler(delegate
		452	{
		453	if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
		454	rtfTerminal.Select(42, (500 * 129)); //500 löschen
		455	rtfTerminal.Select(rtfTerminal.Text.Length, 0);
		456	rtfTerminal.SelectedText = string.Empty;
		457	rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
		458	rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
		459	rtfTerminal.AppendText(msg + Environment.NewLine);
		460	rtfTerminal.ScrollToCaret();
		461	}));
		462	}
		463	/// <summary> display the OSD text in 4 lines à 20 chars </summary>
		464	/// <param name="msgtype"> The type of message to be written. </param>
		465	/// <param name="msg"> The string containing the message to be shown. </param>
		466	private void OSD(LogMsgType msgtype, string msg)
		467	{
		468	rtfOSD.Invoke(new EventHandler(delegate
		469	{
		470	if (rtfOSD.Lines.Length > 4)
		471	rtfOSD.Clear();
		472	rtfOSD.Select(rtfOSD.Text.Length,0);
		473	rtfOSD.SelectedText = string.Empty;
		474	rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
		475	rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
		476	rtfOSD.AppendText(msg + Environment.NewLine);
		477	if (rtfOSD.Text.IndexOf("ERR") > 0)
		478	{
		479	rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
		480	rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
		481	}
		482	}));
		483	}
		484	private void ErrorLog(LogMsgType msgtype, string msg)
		485	{
		486	rtfError.Invoke(new EventHandler(delegate
		487	{
		488	if (rtfError.Lines.Length > 4)
		489	rtfError.Clear();
		490	rtfError.Focus();
		491	rtfError.Select(rtfError.Text.Length, 0);
		492	rtfError.SelectedText = string.Empty;
		493	rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
		494	rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
		495	rtfError.AppendText(msg + Environment.NewLine);
		496
		497	}));
2254	-	498	_bErrorLog = true;
2233	-	499	}
		500
		501	#region functions
		502
2250	-	503	#region processing received data
		504	/// <summary> Processing the messages and displaying them in the according form controls
		505	/// function called by simpleSerialPort.DataReceived event
		506	/// </summary>
2233	-	507	/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
		508	private void processMessage(byte[] message)
		509	{
		510	if (message.Length > 0)
		511	{
		512	_iLifeCounter++;
		513	//Log(LogMsgType.Incoming, BitConverter.ToString(message));
		514	//Log(LogMsgType.Incoming, message.Length.ToString());
		515	string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
		516	char cmdID;
		517	byte adr;
		518	byte[] data;
2257	-	519	byte[] tmp = null;
2233	-	520	if (message[0] != '#')
2257	-	521	{
		522	int iFound = -1;
		523	for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
		524	{ //so this is a workaround to not spam the log box
		525	if (message[i] == 35)
		526	{
		527	iFound = i;
		528	break;
		529	}
		530	}
		531	if(iFound>0)
		532	{
		533	s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
		534	tmp = new byte[message.Length - iFound];
		535	Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
		536	}
		537	s = s.Trim('\0', '\n', '\r');
		538	if(s.Length > 0)
		539	Log(LogMsgType.Normal, s);
		540	if (tmp != null)
		541	{
		542	s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
		543	processMessage(tmp);
		544	}
		545	}
2233	-	546	//Debug.Print(s);
		547	else
		548	{
		549	FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);
		550
		551	if (adr == 255) { crcError++; }
		552	else crcError = 0;
		553	lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));
2250	-	554	//display the active controller (FC / NC)
2233	-	555	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...???
		556	{
		557	_iCtrlAct = adr;
		558	switch (adr)
		559	{
		560	case 1:
		561	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
		562	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
		563	_setFieldsNA(); //display fields NA for FC
		564	break;
		565	case 2:
		566	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
		567	lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
		568	break;
		569	case 3:
		570	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
		571	break;
		572	case 4:
		573	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
		574	break;
		575	default:
		576	lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
		577	break;
		578	}
2257	-	579	_loadLabelNames();
2233	-	580	}
2257	-	581	// else
		582	// Debug.Print("Address == 0?");
2233	-	583
		584	if (data != null && data.Length > 0)
		585	{
		586	s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
		587	s = s.Trim('\0', '\n');
		588
		589	switch (cmdID)
		590	{
2250	-	591	case 'A': //Label names
		592	_processLabelNames(s);
2233	-	593	break;
		594
2250	-	595	case 'D': //Debug data
2257	-	596	_processDebugVals(adr, data);
2233	-	597	break;
		598
2250	-	599	case 'V': //Version
		600	_processVersion(adr, data);
2233	-	601	break;
		602
2250	-	603	case 'K'://BL-CTRL data
		604	_processBLCtrl(data);
2233	-	605	break;
		606
		607	case 'O': //NC Data
2250	-	608	_processNCData(data);
2233	-	609	break;
		610
		611	case 'E': //NC error-string
		612	ErrorLog(LogMsgType.Error, "NC Error: " + s);
		613	break;
		614
2250	-	615	case 'L': //OSD Menue (called by pagenumber)
		616	_processOSDSingle(data);
2233	-	617	break;
		618
2250	-	619	case 'H': //OSD Menue (with autoupdate - called by Key)
		620	_processOSDAuto(data);
2233	-	621	break;
		622
2257	-	623	case 'X': //Waypoint data
		624	_processWPData(data);
		625	break;
		626
2233	-	627	//default:
		628	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		629	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		630	// break;
		631	}
		632	}
		633	//else
		634	//{
		635	// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
		636	// Log(LogMsgType.Incoming, BitConverter.ToString(data));
		637	//}
		638	}
		639	}
		640	}
2250	-	641	/// <summary>
		642	/// Analog label names 'A'
		643	/// each label name is returned as a single string
		644	/// and added to string array sAnalogLabel[]
		645	/// and the datatable dtAnalog
		646	/// </summary>
		647	/// <param name="s">the label name</param>
		648	void _processLabelNames(string s)
		649	{
		650	if (iLableIndex < 32)
		651	{
		652	sAnalogLabel[iLableIndex] = s;
		653	if (dtAnalog.Rows.Count < 32)
		654	dtAnalog.Rows.Add(s, "");
		655	else
		656	dtAnalog.Rows[iLableIndex].SetField(0, s);
2233	-	657
2250	-	658	_getAnalogLabels(iLableIndex + 1);
		659	}
		660	Debug.Print(s);
		661	}
		662	/// <summary>
		663	/// Debug values 'D'
		664	/// </summary>
		665	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		666	/// <param name="data">the received byte array to process</param>
		667	void _processDebugVals(byte adr,byte[] data)
		668	{
		669	if (data.Length == 66)
		670	{
		671	int[] iAnalogData = new int[32];
		672
		673	int index = 0;
		674	Int16 i16 = 0;
		675	double dTemp = 0;
		676	for (int i = 2; i < 66; i += 2)
		677	{
		678	i16 = data[i + 1];
		679	i16 = (Int16)(i16 << 8);
		680	iAnalogData[index] = data[i] + i16;
		681	sAnalogData[index] = (data[i] + i16).ToString();
		682	dtAnalog.Rows[index].SetField(1, sAnalogData[index]);
		683
		684	if (adr == 2) //NC
		685	{
		686	switch (index)
		687	{
		688	case 0: //pitch (German: nick)
		689	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		690	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		691	break;
		692	case 1: //roll
		693	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		694	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		695	break;
		696	case 4: //altitude
		697	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		698	break;
		699	case 7: //Voltage
		700	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		701	break;
		702	case 8: // Current
		703	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		704	break;
		705	case 10: //heading
		706	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		707	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		708	break;
		709	case 12: // SPI error
		710	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		711	break;
		712	case 14: //i2c error
		713	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		714	break;
		715	case 20: //Earthmagnet field
		716	lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
		717	break;
		718	case 21: //GroundSpeed
		719	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
		720	break;
		721	case 28: //Distance East from saved home position -> calculate distance with distance N + height
		722	dTemp = Math.Pow((double)iAnalogData[index], 2) + Math.Pow((double)iAnalogData[index - 1], 2);
		723	dTemp = Math.Sqrt(dTemp) / (double)10; //'flat' distance from HP with N/E
		724	// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
		725	dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
2254	-	726	dTemp = Math.Sqrt(dTemp) / (double)10;
		727	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 m")));
2250	-	728	break;
		729	case 31: //Sats used
		730	lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
		731	break;
		732	}
		733	}
		734	if (adr == 1) //FC
		735	{
		736	switch (index)
		737	{
		738	case 0: //pitch (German: nick)
		739	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
		740	lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		741	break;
		742	case 1: //roll
		743	artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
		744	lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
		745	break;
		746	case 5: //altitude
		747	lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
		748	break;
		749	case 8: //heading
		750	lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
		751	headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
		752	break;
		753	case 9: //Voltage
		754	lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
		755	break;
		756	case 10: //Receiver quality
		757	lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
		758	break;
		759	case 22: // Current
		760	lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
		761	break;
		762	case 23: //capacity used
		763	lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
		764	break;
		765	case 27: // SPI error
		766	lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
		767	break;
		768	case 28: //i2c error
		769	lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
		770	break;
		771	}
		772	}
		773	index++;
		774	}
		775	}
		776	else
		777	Debug.Print("wrong data-length (66): " + data.Length.ToString());
		778	}
		779	/// <summary>
		780	/// Version string 'V'
		781	/// </summary>
		782	/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
		783	/// <param name="data">the received byte array to process</param>
		784	void _processVersion(byte adr,byte[] data)
		785	{
		786	if (data.Length == 12)
		787	{
		788	if (!check_HWError)
		789	{
		790	string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
		791	string sVersion = "";
		792	//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
		793	Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
		794	sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
		795	Log(LogMsgType.Incoming, sVersion);
		796	sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
		797	Log(LogMsgType.Incoming, sVersion);
		798	Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
		799	}
		800	if (data[5] > 0) //error0
		801	{
		802	if (adr == 1)
		803	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
		804	if (adr == 2)
		805	ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
		806	}
		807	if (data[6] > 0) //error1
		808	{
		809	if (adr == 1)
		810	ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
		811	if (adr == 2)
		812	ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
		813	}
2254	-	814	if((data[5] + data[6] == 0) && _bErrorLog)
		815	_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");
2250	-	816
		817	}
		818	check_HWError = false;
		819	}
		820	/// <summary>
		821	/// BL-Ctrl data 'K'
		822	/// for FC you have to use a customized firmware
		823	/// </summary>
		824	/// <param name="data">the received byte array to process</param>
		825	void _processBLCtrl(byte[] data)
		826	{
		827	if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
		828	{
		829	bool bAvailable = false;
		830	for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
		831	{
		832
		833	if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
		834	bAvailable = true;
		835	else
		836	bAvailable = false;
		837
		838	if (data[i] < 4)
		839	{
		840	if (bAvailable)
		841	{
		842	dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		843	dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
		844	}
		845	else
		846	{
		847	dtMotors1.Rows[data[i]].SetField(1, "NA");
		848	dtMotors1.Rows[data[i]].SetField(2, "NA");
		849	}
		850	}
		851	if (data[i] > 3 && data[i] < 8)
		852	{
		853	if (bAvailable)
		854	{
		855	dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
		856	dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
		857	}
		858	else
		859	{
		860	dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
		861	dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
		862	}
		863	}
		864	}
		865	}
		866
		867	}
		868	/// <summary>
		869	/// Navi-Ctrl data 'O'
		870	/// GPS-Position, capacatiy, flying time...
		871	/// </summary>
		872	/// <param name="data">the received byte array to process</param>
		873	void _processNCData(byte[] data)
		874	{
		875	int i_32, i_16, iVal;
		876	double d;
		877	i_32 = data[4];
		878	iVal = i_32 << 24;
		879	i_32 = data[3];
		880	iVal += i_32 << 16;
		881	i_32 = data[2];
		882	iVal += i_32 << 8;
		883	iVal += data[1];
		884	d = (double)iVal / Math.Pow(10, 7);
		885	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
		886	//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds
		887
		888	i_32 = data[8];
		889	iVal = i_32 << 24;
		890	i_32 = data[7];
		891	iVal += i_32 << 16;
		892	i_32 = data[6];
		893	iVal += i_32 << 8;
		894	iVal += data[5];
		895	d = (double)iVal / Math.Pow(10, 7);
		896	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
2254	-	897	//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds
2250	-	898
2254	-	899	i_16 = data[28];
		900	i_16 = (Int16)(i_16 << 8);
		901	iVal = data[27] + i_16;
		902	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		903
		904	i_16 = data[45];
		905	i_16 = (Int16)(i_16 << 8);
		906	iVal = data[44] + i_16;
		907	lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP
		908
		909	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
		910	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count
		911
2250	-	912	i_16 = data[81];
		913	i_16 = (Int16)(i_16 << 8);
		914	iVal = data[80] + i_16;
		915	lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used
		916
		917	i_16 = data[56];
		918	i_16 = (Int16)(i_16 << 8);
		919	iVal = data[55] + i_16;
		920	TimeSpan t = TimeSpan.FromSeconds(iVal);
		921	string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
		922	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time
		923
		924	lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
		925	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
		926	//if (data[69] > 0)
		927	// _readNCError();
		928	//break;
		929	if (data[69] > 0 & data[69] < 44)
		930	ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
2254	-	931	else
		932	if(_bErrorLog) _clearErrorLog("NC Error");
2250	-	933
		934	}
		935	/// <summary>
2257	-	936	/// Navi-Ctrl WP data struct 'X'
		937	/// called by index
		938	/// </summary>
		939	/// <param name="data">the received byte array to process</param>
		940	void _processWPData(byte[] data)
		941	{
		942	if (data.Length >= 28)
		943	{
		944	int count = data[0];
		945	int index = data[1];
		946	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
		947	for (int i = 0; i < count; i++)
		948	cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
		949	cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
		950	DataRow dr = dtWaypoints.NewRow();
		951	dr = Waypoints.toDataRow(data, dr);
		952	dtWaypoints.Rows.Add(dr);
		953	dgvWP.Invoke((Action)(() => dgvWP.Update()));
		954	}
		955	else
		956	Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
		957	}
		958	/// <summary>
2250	-	959	/// OSD Menue 'L'
		960	/// single page called by pagenumber
		961	/// no autoupdate
		962	/// </summary>
		963	/// <param name="data">the received byte array to process</param>
		964	void _processOSDSingle(byte[] data)
		965	{
		966	if (data.Length == 84)
		967	{
		968	string sMessage = "";
		969	iOSDPage = data[0];
		970	iOSDMax = data[1];
		971	if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
		972	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
		973	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		974	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		975	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		976	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		977	lblOSDPageNr.Invoke((Action)(() => lblOSDPageNr.Text = iOSDPage.ToString("[0]")));
		978
		979	}
		980	else
		981	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 84)");
		982
		983	}
		984	/// <summary>
		985	/// OSD Menue 'H'
		986	/// called by keys (0x01,0x02,0x03,0x04)
		987	/// autoupdate
		988	/// </summary>
		989	/// <param name="data">the received byte array to process</param>
		990	void _processOSDAuto(byte[] data)
		991	{
		992	if (data.Length == 81)
		993	{
		994	string sMessage = "";
		995	sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
		996	OSD(LogMsgType.Incoming, sMessage.Substring(0, 20));
		997	OSD(LogMsgType.Incoming, sMessage.Substring(20, 20));
		998	OSD(LogMsgType.Incoming, sMessage.Substring(40, 20));
		999	OSD(LogMsgType.Incoming, sMessage.Substring(60, 20));
		1000
		1001	}
		1002	else
		1003	OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
		1004	}
		1005	#endregion processing received data
		1006
2233	-	1007	/// <summary> send message to controller to request data
		1008	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1009	/// </summary>
		1010	/// <param name="CMDID"> the command ID </param>
		1011	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1012	private void _sendControllerMessage(char CMDID, byte address)
		1013	{
		1014	if (simpleSerialPort.Port.IsOpen)
		1015	{
		1016	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1017	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
		1018	serialStream.Write(bytes, 0, bytes.Length);
		1019
		1020	}
		1021	else
		1022	Log(LogMsgType.Error, "NOT CONNECTED!");
		1023	}
		1024	/// <summary> send message to controller to request data
		1025	/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
		1026	/// </summary>
		1027	/// <param name="CMDID"> the command ID </param>
		1028	/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
		1029	/// <param name="data"> additional data for the request</param>
		1030	private void _sendControllerMessage(char CMDID, byte address, byte[]data)
		1031	{
		1032	if (simpleSerialPort.Port.IsOpen)
		1033	{
		1034	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1035	byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
		1036	serialStream.Write(bytes, 0, bytes.Length);
		1037
		1038	}
		1039	else
		1040	Log(LogMsgType.Error, "NOT CONNECTED!");
		1041	}
		1042
		1043	/// <summary>
		1044	/// read the analog-label names for the actual controller
		1045	/// and load it into listbox
		1046	/// </summary>
		1047	void _loadLabelNames()
		1048	{
		1049	if (_iCtrlAct > 0 && _iCtrlAct < 3)
		1050	{
		1051	switch (_iCtrlAct)
		1052	{
		1053	case 1:
		1054	sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		1055	break;
		1056	case 2:
		1057	sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
		1058	break;
		1059	}
		1060	for (int i = 0; i < 32; i++)
		1061	{
		1062	if (dtAnalog.Rows.Count < 32)
		1063	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1064	else
		1065	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1066	}
		1067	dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
		1068	}
		1069	}
		1070	/// <summary>
		1071	/// no longer used...
		1072	/// read the analog-label textfile for the actual controller
		1073	/// </summary>
		1074	private void _loadLabelFile()
		1075	{
		1076	switch (_iCtrlAct)
		1077	{
		1078	case 1:
		1079	fileName = "FCLabelTexts.txt";
		1080	break;
		1081	case 2:
		1082	fileName = "NCLabelTexts.txt";
		1083	break;
		1084	//default:
		1085	// fileName = "NCLabelTexts.txt";
		1086	// break;
		1087	}
		1088
		1089	if (File.Exists(filePath + "\\" + fileName))
		1090	{
		1091	sAnalogLabel.Initialize();
		1092	sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
		1093	lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
		1094	lbLabels.Invoke((Action)(() => lbLabels.Update()));
		1095	lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
		1096	Console.WriteLine("Names loaded from file");
		1097	lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
		1098	}
		1099	else
		1100	{
		1101	_readCont(false);
		1102	Log(LogMsgType.Error, "Label-file not found!");
		1103	Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
		1104	Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
		1105	}
		1106	}
		1107	/// <summary>
		1108	/// no longer used...
		1109	/// assign the analog-label names from the textfile to the datatable
		1110	///
		1111	/// </summary>
		1112	private void _assignLabelNames()
		1113	{
		1114	if (lbLabels.Items.Count == 32)
		1115	{
		1116	lbLabels.Items.CopyTo(sAnalogLabel, 0);
		1117	for (int i = 0; i < 32; i++)
		1118	{
		1119	if (dtAnalog.Rows.Count < 32)
		1120	dtAnalog.Rows.Add(sAnalogLabel[i], "");
		1121	else
		1122	dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
		1123
		1124	}
		1125	}
		1126	}
		1127	/// <summary>
		1128	/// get the version struct of actual controller
		1129	/// </summary>
		1130	/// <summary>
		1131	/// get the labeltexts for the analog values
		1132	/// </summary>
		1133	private void _getAnalogLabels()
		1134	{
		1135	if (simpleSerialPort.Port.IsOpen)
		1136	{
		1137	iLableIndex = 0;
		1138	for (int i = 0; i < 32; i++)
		1139	{
		1140	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1141	byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
		1142	serialStream.Write(bytes, 0, bytes.Length);
		1143	Thread.Sleep(10);
		1144	}
		1145	}
		1146	else
		1147	Log(LogMsgType.Error, "NOT CONNECTED!");
		1148	}
		1149	/// <summary>
		1150	/// get the labeltext for a single label
		1151	/// </summary>
		1152	/// <param name="iIndex">index of the label</param>
		1153	private void _getAnalogLabels(int iIndex)
		1154	{
		1155	if (simpleSerialPort.Port.IsOpen)
		1156	{
		1157	if (iIndex < 32)
		1158	{
		1159	iLableIndex = iIndex;
		1160	_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
		1161	}
		1162	}
		1163	else
		1164	Log(LogMsgType.Error, "NOT CONNECTED!");
		1165	}
		1166	private void _getVersion()
		1167	{
		1168	_sendControllerMessage('v', 0);
		1169	}
		1170	/// <summary>
		1171	/// get FC version struct via NC
		1172	/// by sending '1' as data (not documented in wiki...)
		1173	/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
		1174	/// </summary>
		1175	/// <param name="ctrl">controller number 1=FC</param>
		1176	private void _getVersion(byte ctrl)
		1177	{
		1178	_sendControllerMessage('v', 0, new byte[1] {ctrl});
		1179	}
		1180	/// <summary>
		1181	/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
		1182	/// </summary>
		1183	private void _switchToNC()
		1184	{
		1185	if (simpleSerialPort.Port.IsOpen)
		1186	{
		1187	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1188	byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
		1189	serialStream.Write(bytes, 0, bytes.Length);
		1190
		1191	Thread.Sleep(100);
		1192	_getVersion();
		1193	Thread.Sleep(100);
		1194	_OSDMenue(0);
		1195	}
		1196	else
		1197	Log(LogMsgType.Error, "NOT CONNECTED!");
		1198	}
		1199	/// <summary>
		1200	/// switch to FC
		1201	/// </summary>
		1202	private void _switchToFC()
		1203	{
		1204	_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
		1205	Thread.Sleep(100);
		1206	_getVersion();
		1207	Thread.Sleep(100);
		1208	_OSDMenue(0);
		1209	}
		1210	/// <summary>
		1211	/// send RESET signal to FC
		1212	/// </summary>
		1213	private void _resetCtrl()
		1214	{
		1215	_sendControllerMessage('R', 1);
		1216	}
		1217	/// <summary>
		1218	/// poll the debug data (4sec subscription)
		1219	/// </summary>
		1220	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1221	private void _readDebugData(bool auto)
		1222	{
		1223	byte interval = auto ? debugInterval : (byte)0;
		1224	_sendControllerMessage('d', 0, new byte[1] { debugInterval });
		1225	}
		1226	/// <summary>
		1227	/// poll the BL-CTRL status via NC (4sec subscription)
		1228	/// </summary>
		1229	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1230	private void _readBLCtrl(bool auto)
		1231	{
		1232	byte interval = auto ? blctrlInterval : (byte)0;
		1233	_sendControllerMessage('k', 0, new byte[1] { interval });
		1234	}
		1235	/// <summary>
		1236	/// poll the NC data struct (4sec subscription)
		1237	/// </summary>
		1238	/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
		1239	private void _readNavData(bool auto)
		1240	{
		1241	byte interval = auto ? navctrlInterval : (byte)0;
		1242	_sendControllerMessage('o', 2, new byte[1] { interval });
		1243	}
		1244	/// <summary>
		1245	/// get the errortext for pending NC error
		1246	/// </summary>
		1247	private void _readNCError()
		1248	{
		1249	_sendControllerMessage('e', 2);
		1250	}
		1251	/// <summary>
		1252	/// start/stop continous polling of controller values
		1253	/// </summary>
		1254	/// <param name="b">start/stop switch</param>
		1255	void _readCont(bool b)
		1256	{
		1257	bReadContinously = b;
2274	-	1258
		1259	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		1260	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
		1261	else
		1262	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "Aktualisierung" + Environment.NewLine + "beenden" : "Aktualisierung" + Environment.NewLine + "starten"));
2233	-	1263	btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
		1264	if (bReadContinously)
		1265	{
2250	-	1266	if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
		1267	if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
		1268	if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
		1269	if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
2233	-	1270	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
		1271	}
		1272	else
		1273	lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
		1274	_iLifeCounter = 0;
		1275	}
		1276	/// <summary>
2250	-	1277	/// set values to "NA" when not available with FC
2233	-	1278	/// </summary>
		1279	void _setFieldsNA()
		1280	{
		1281	Thread.Sleep(100);
2250	-	1282	_initDTMotors();
2233	-	1283	lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
2250	-	1284	lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
		1285	lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
		1286	lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
		1287	lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
		1288	lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
		1289	lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
		1290	lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
2254	-	1291	lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
		1292	lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
		1293	lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
2233	-	1294	}
		1295	/// <summary>
		1296	/// one time query of the OSD Menue with pagenumber
		1297	/// </summary>
		1298	/// <param name="iMenue">Menue page</param>
		1299	void _OSDMenue(int iMenue)
		1300	{
		1301	if (simpleSerialPort.Port.IsOpen)
		1302	{
		1303	if (iMenue > iOSDMax)
		1304	iMenue = 0;
		1305	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1306	byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
		1307	serialStream.Write(bytes, 0, bytes.Length);
		1308	}
		1309	else
		1310	Log(LogMsgType.Error, "NOT CONNECTED!");
		1311
		1312	}
		1313	/// <summary>
		1314	/// call the OSDMenue and start autorefresh
		1315	/// usually by sending a menuekey
		1316	/// 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)
		1317	/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
		1318	/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
		1319	/// </summary>
		1320	void _OSDMenueAutoRefresh()
		1321	{
		1322	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
		1323	}
		1324	void _OSDMenueAutoRefresh(byte key)
		1325	{
		1326	_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
		1327	}
		1328	/// <summary>
		1329	/// initialize the OSD menue combobox
		1330	/// combox is filled by numbers from 0 to max pagenumber
		1331	/// </summary>
		1332	void _initOSDCB()
		1333	{
		1334	_bCBInit = true;
		1335	if(iOSDMax == 0)
		1336	{
		1337	_OSDMenue(0);
		1338	Thread.Sleep(10);
		1339	}
		1340	cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
		1341	for(int i = 0; i <= iOSDMax;i++)
		1342	{
		1343	cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
		1344	}
		1345	cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
		1346	_bCBInit = false;
		1347	}
2259	-	1348	/// <summary>
		1349	/// initialize the datatables
		1350	/// with columnnames etc
		1351	/// </summary>
		1352	void _dataTablesInit()
		1353	{
		1354	dtAnalog.Columns.Add("ID");
		1355	dtAnalog.Columns.Add("Value");
		1356	dataGridView1.DataSource = dtAnalog;
		1357
		1358	dtMotors1.Columns.Add("#");
2274	-	1359	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		1360	dtMotors1.Columns.Add("Current");
		1361	else
		1362	dtMotors1.Columns.Add("Strom");
2259	-	1363	dtMotors1.Columns.Add("Temp");
		1364	dtMotors2.Columns.Add("#");
2274	-	1365	if (Thread.CurrentThread.CurrentUICulture.Name == "")
		1366	dtMotors2.Columns.Add("Current");
		1367	else
		1368	dtMotors2.Columns.Add("Strom");
2259	-	1369	dtMotors2.Columns.Add("Temp");
		1370	dgvMotors1.DataSource = dtMotors1;
		1371	dgvMotors2.DataSource = dtMotors2;
		1372	_initDTMotors();
		1373	dgvMotors1.Columns[0].Width = 24;
		1374	dgvMotors1.Columns[1].Width = 74;
		1375	dgvMotors1.Columns[2].Width = 74;
		1376	dgvMotors2.Columns[0].Width = 24;
		1377	dgvMotors2.Columns[1].Width = 74;
		1378	dgvMotors2.Columns[2].Width = 74;
		1379
		1380	dtWaypoints.Columns.Add("Index");
		1381	dtWaypoints.Columns.Add("Type");
		1382	dtWaypoints.Columns.Add("Name");
		1383	dtWaypoints.Columns.Add("Latitude");
		1384	dtWaypoints.Columns.Add("Longitude");
		1385	dtWaypoints.Columns.Add("Altitude");
		1386	dtWaypoints.Columns.Add("Heading");
		1387	dtWaypoints.Columns.Add("Speed");
		1388	dtWaypoints.Columns.Add("Altitude rate");
		1389	dtWaypoints.Columns.Add("Tol.radius");
		1390	dtWaypoints.Columns.Add("Hold time");
		1391	dtWaypoints.Columns.Add("AutoTrigger");
		1392	dtWaypoints.Columns.Add("Cam angle");
		1393	dtWaypoints.Columns.Add("Event");
		1394	dtWaypoints.Columns.Add("Eventchan. Val.");
		1395	dtWaypoints.Columns.Add("Status");
		1396	dgvWP.DataSource = dtWaypoints;
		1397	}
		1398	/// <summary>
		1399	/// read settings from ini-file
		1400	/// </summary>
2233	-	1401	void _readIni()
		1402	{
		1403	if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
		1404	_writeIni();
		1405	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1406	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1407
		1408	string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
		1409	_debugDataAutorefresh = Convert.ToBoolean(sVal);
		1410	sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
		1411	_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
		1412	sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
		1413	_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
		1414	sVal = ini.IniReadValue("default", "AutorefreshOSDData");
		1415	_OSDAutorefresh = Convert.ToBoolean(sVal);
		1416
		1417	sVal = ini.IniReadValue("default", "IntervalDebugData");
		1418	debugInterval = (byte)Convert.ToInt16(sVal);
		1419	sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
		1420	navctrlInterval = (byte)Convert.ToInt16(sVal);
		1421	sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
		1422	blctrlInterval = (byte)Convert.ToInt16(sVal);
		1423	sVal = ini.IniReadValue("default", "IntervalOSDData");
		1424	OSDInterval = (byte)Convert.ToInt16(sVal);
2257	-	1425	for(int i = 0; i < 12; i++)
		1426	{
		1427	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
		1428	if(sVal != "")
		1429	serChan[i] = Convert.ToInt16(sVal);
		1430	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
		1431	if(sVal != "")
		1432	serChanTitle[i] = sVal;
2280	-	1433	for (int y = 0; i < 4 && y < 3; y++)
		1434	{
		1435	sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
		1436	if (sVal != "")
		1437	serChan_sub[(i*3) + y] = Convert.ToInt16(sVal);
		1438	}
2257	-	1439	}
2233	-	1440	}
2259	-	1441	/// <summary>
		1442	/// save settings to ini-file
		1443	/// </summary>
2233	-	1444	void _writeIni()
		1445	{
		1446
		1447	IniFile ini = new IniFile("MKLiveViewSettings.ini");
		1448	ini.path = filePath + "\\MKLiveViewSettings.ini";
		1449
		1450	ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
		1451	ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
		1452	ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
		1453	ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");
		1454
		1455	ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
		1456	ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
		1457	ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
		1458	ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
2257	-	1459
		1460	for (int i = 0; i < 12; i++)
		1461	{
		1462	ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
		1463	ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
2280	-	1464	for (int y = 0; i < 4 && y < 3; y++)
		1465	{
		1466	ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
		1467	}
2257	-	1468	}
		1469
2233	-	1470	}
		1471
2250	-	1472	/// <summary>
		1473	/// initialize the 2 datatables for motor values
		1474	/// dtMotors1 - motor 1 - 4
		1475	/// dtMotors2 - motor 5 - 8
		1476	/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
		1477	/// </summary>
		1478	void _initDTMotors()
		1479	{
		1480	for(int i = 0; i < 4; i++)
		1481	{
		1482	if (dtMotors1.Rows.Count < 4)
		1483	dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
		1484	else
		1485	{
		1486	dtMotors1.Rows[i].SetField(1, "NA");
		1487	dtMotors1.Rows[i].SetField(2, "NA");
		1488	}
		1489	if (dtMotors2.Rows.Count < 4)
		1490	dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
		1491	else
		1492	{
		1493	dtMotors2.Rows[i].SetField(1, "NA");
		1494	dtMotors2.Rows[i].SetField(2, "NA");
		1495	}
		1496	}
		1497	dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
		1498	dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
		1499	}
		1500
		1501	/// <summary>
		1502	/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
		1503	/// </summary>
		1504	/// <param name="coord">the degree value as double</param>
		1505	/// <returns>0° 0' 0,0"</returns>
		1506	string _convertDegree(double coord)
		1507	{
		1508	//double minutes = (degree - Math.Floor(degree)) * 60.0;
		1509	//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
		1510	//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
		1511	//// get rid of fractional part
		1512	//minutes = Math.Floor(minutes);
		1513	//seconds = Math.Floor(seconds);
		1514	//tenths = Math.Floor(tenths);
		1515
		1516
		1517	//int sec = (int)Math.Round(coord * 3600);
		1518	//int deg = sec / 3600;
		1519	//sec = Math.Abs(sec % 3600);
		1520	//int min = sec / 60;
		1521	//sec %= 60;
		1522
		1523	var ts = TimeSpan.FromHours(Math.Abs(coord));
		1524	double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
		1525	int min = ts.Minutes;
		1526	int sec = ts.Seconds;
		1527	int milli = ts.Milliseconds;
		1528
		1529	return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
		1530	}
2257	-	1531	/// <summary>
		1532	/// Clear the line in the errorlog window
		1533	/// containing the error string when error has ceased
		1534	/// </summary>
		1535	/// <param name="s">substring of errrormessage</param>
2254	-	1536	void _clearErrorLog(string s)
		1537	{
		1538	rtfError.Invoke((Action)(() =>
		1539	{
		1540	if (rtfError.Text.Contains(s))
		1541	{
		1542	int iLength = 0;
		1543	int iStart = rtfError.Text.IndexOf(s);
		1544	int iEnd = rtfError.Text.IndexOf('\n', iStart);
		1545	if (iEnd > 0)
		1546	{
		1547	iLength = iEnd + 1;
		1548	int iHttp = rtfError.Text.IndexOf("http", iEnd);
		1549	if (iHttp == iLength)
		1550	{
		1551	int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
		1552	if (iEnd2 > iLength)
		1553	{
		1554	iLength = iEnd2 + 1;
		1555	rtfError.Select(iStart, iLength);
		1556	rtfError.SelectedText = string.Empty;
		1557	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1558	}
		1559
		1560	}
		1561	else
		1562	{
		1563	rtfError.Select(iStart, iLength);
		1564	rtfError.SelectedText = string.Empty;
		1565	if(rtfError.Text.Length < 2) _bErrorLog = false;
		1566	}
		1567	}
		1568	}
		1569	}));
		1570
		1571	}
2257	-	1572	/// <summary>
		1573	/// request the Waypoint at index
		1574	/// </summary>
		1575	/// <param name="index"></param>
		1576	void _getpWP(int index)
		1577	{
		1578	if (simpleSerialPort.Port.IsOpen)
		1579	{
		1580	Stream serialStream = simpleSerialPort.Port.BaseStream;
		1581	byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
		1582	serialStream.Write(bytes, 0, bytes.Length);
		1583	}
		1584	else
		1585	Log(LogMsgType.Error, "NOT CONNECTED!");
		1586
		1587	}
		1588	/// <summary>
		1589	/// Sending the serial channel values
		1590	/// </summary>
		1591	void _sendSerialData()
		1592	{
		1593	byte[] serData = new byte[12];
		1594	for(int i = 0; i < 12; i++)
		1595	{
		1596	serData[i] = unchecked((byte)(serChan[i] - 127));
		1597	}
		1598	_sendControllerMessage('y', 1, serData);
		1599	}
2259	-	1600	/// <summary>
		1601	/// init the controls for displaying
		1602	/// and setting serial control channels
		1603	/// </summary>
2257	-	1604	void _initSerialCtrl()
		1605	{
		1606	trckbarSerial1.Value = serChan[0];
		1607	textBoxSerial1.Text = serChanTitle[0];
		1608	lblTbSerial1.Text = serChan[0].ToString();
		1609	trckbarSerial2.Value = serChan[1];
		1610	textBoxSerial2.Text = serChanTitle[1];
		1611	lblTbSerial2.Text = serChan[1].ToString();
2259	-	1612	trckbarSerial3.Value = serChan[2];
		1613	textBoxSerial3.Text = serChanTitle[2];
		1614	lblTbSerial3.Text = serChan[2].ToString();
		1615	trckbarSerial4.Value = serChan[3];
		1616	textBoxSerial4.Text = serChanTitle[3];
		1617	lblTbSerial4.Text = serChan[3].ToString();
2265	-	1618	trckbarSerial5.Value = serChan[4];
		1619	textBoxSerial5.Text = serChanTitle[4];
		1620	lblTbSerial5.Text = serChan[4].ToString();
		1621	trckbarSerial6.Value = serChan[5];
		1622	textBoxSerial6.Text = serChanTitle[5];
		1623	lblTbSerial6.Text = serChan[5].ToString();
		1624	trckbarSerial7.Value = serChan[6];
		1625	textBoxSerial7.Text = serChanTitle[6];
		1626	lblTbSerial7.Text = serChan[6].ToString();
		1627	trckbarSerial8.Value = serChan[7];
		1628	textBoxSerial8.Text = serChanTitle[7];
		1629	lblTbSerial8.Text = serChan[7].ToString();
2280	-	1630
		1631	textBoxSerial1_val1.Text = serChan_sub[0].ToString();
		1632	textBoxSerial1_val2.Text = serChan_sub[1].ToString();
		1633	textBoxSerial1_val3.Text = serChan_sub[2].ToString();
		1634	textBoxSerial2_val1.Text = serChan_sub[3].ToString();
		1635	textBoxSerial2_val2.Text = serChan_sub[4].ToString();
		1636	textBoxSerial2_val3.Text = serChan_sub[5].ToString();
		1637	textBoxSerial3_val1.Text = serChan_sub[6].ToString();
		1638	textBoxSerial3_val2.Text = serChan_sub[7].ToString();
		1639	textBoxSerial3_val3.Text = serChan_sub[8].ToString();
		1640	textBoxSerial4_val1.Text = serChan_sub[9].ToString();
		1641	textBoxSerial4_val2.Text = serChan_sub[10].ToString();
		1642	textBoxSerial4_val3.Text = serChan_sub[11].ToString();
2257	-	1643	}
2233	-	1644	#endregion functions
		1645
		1646	#region buttons
		1647	private void buttonReset_Click(object sender, EventArgs e)
		1648	{
		1649	_resetCtrl();
		1650	}
		1651	private void btnVersion_Click(object sender, EventArgs e)
		1652	{
		1653	_getVersion();
		1654	}
		1655	private void btnAnalogLabels_Click(object sender, EventArgs e)
		1656	{
		1657	_getAnalogLabels(0);
		1658	}
		1659	private void btnDbgData_Click(object sender, EventArgs e)
		1660	{
		1661	_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
		1662	}
		1663	private void btnSaveLabels_Click(object sender, EventArgs e)
		1664	{
		1665	switch (_iCtrlAct)
		1666	{
		1667	case 1:
		1668	fileName = "FCLabelTexts.txt";
		1669	break;
		1670	case 2:
		1671	fileName = "NCLabelTexts.txt";
		1672	break;
		1673	default:
		1674	fileName = "NCLabelTexts.txt";
		1675	break;
		1676	}
		1677	if (sAnalogLabel[0] != null)
		1678	{
		1679	File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
		1680	Console.WriteLine("Names saved to file");
		1681	_loadLabelFile();
		1682	}
		1683	else
		1684	Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
		1685	}
		1686	private void btnLoadLabels_Click(object sender, EventArgs e)
		1687	{
		1688	_assignLabelNames();
		1689	}
		1690	private void btnReadLabelFile_Click(object sender, EventArgs e)
		1691	{
		1692	_loadLabelFile();
		1693	}
		1694	private void btnSwitchFC_Click(object sender, EventArgs e)
		1695	{
		1696	_switchToFC();
		1697	}
		1698	private void btnSwitchNC_Click(object sender, EventArgs e)
		1699	{
		1700	_switchToNC();
		1701	}
		1702	private void btnReadDbgCont_Click(object sender, EventArgs e)
		1703	{
		1704	_readCont(!bReadContinously);
		1705	}
		1706	private void btnReadBLCtrl_Click(object sender, EventArgs e)
		1707	{
		1708
		1709	if (_iCtrlAct == 2) _readBLCtrl(false);
		1710	else Log(LogMsgType.Warning, "only available when connected to NC");
		1711	}
		1712	private void btnGetNaviData_Click(object sender, EventArgs e)
		1713	{
		1714	if (_iCtrlAct == 2) _readNavData(false);
		1715	else Log(LogMsgType.Warning, "only available when connected to NC");
		1716	}
		1717	private void btnConn_Click(object sender, EventArgs e)
		1718	{
		1719	simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
		1720	}
		1721	private void button3_Click(object sender, EventArgs e)
		1722	{
		1723	_getVersion(1);
		1724	}
		1725	private void button4_Click(object sender, EventArgs e)
		1726	{
		1727	_getVersion(2);
		1728	}
		1729	private void btnOSD_Click(object sender, EventArgs e)
		1730	{
		1731	if (iOSDPage > iOSDMax)
		1732	iOSDPage = 0;
		1733	_OSDMenue(iOSDPage);
		1734	}
		1735	private void btnOSDForward_Click(object sender, EventArgs e)
		1736	{
		1737	iOSDPage++;
		1738	if (iOSDPage > iOSDMax)
		1739	iOSDPage = 0;
		1740
		1741	_OSDMenue(iOSDPage);
		1742	}
		1743	private void btnOSDBackward_Click(object sender, EventArgs e)
		1744	{
		1745	iOSDPage--;
		1746	if (iOSDPage < 0)
		1747	iOSDPage = iOSDMax;
		1748
		1749	_OSDMenue(iOSDPage);
		1750	}
		1751	private void btnOSDAuto_Click(object sender, EventArgs e)
		1752	{
		1753	_OSDMenueAutoRefresh();
		1754	}
		1755	/// call the OSDMenue with Key 0x8
		1756	private void btnOSDLeave_Click(object sender, EventArgs e)
		1757	{
		1758	_OSDMenueAutoRefresh(8);
		1759	}
		1760	/// call the OSDMenue with Key 0x4
		1761	private void btnOSDEnter_Click(object sender, EventArgs e)
		1762	{
		1763	_OSDMenueAutoRefresh(4);
		1764	}
2257	-	1765	private void btnGetWP_Click(object sender, EventArgs e)
		1766	{
		1767	if(cbWPIndex.Items.Count >0)
		1768	_getpWP((int)cbWPIndex.SelectedItem);
		1769	else
		1770	_getpWP(1);
		1771	}
2233	-	1772	#endregion buttons
2259	-	1773	#region serial control channels - buttons & events
2257	-	1774	private void tbSerial1_Scroll(object sender, EventArgs e)
		1775	{
		1776	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1777	serChan[0] = trckbarSerial1.Value;
		1778	if (!_init) _sendSerialData();
		1779	}
		1780	private void textBoxSerial1_TextChanged(object sender, EventArgs e)
		1781	{
		1782	serChanTitle[0] = textBoxSerial1.Text;
		1783	}
		1784	private void btnSer1_0_Click(object sender, EventArgs e)
		1785	{
		1786	trckbarSerial1.Value = 0;
		1787	}
		1788	private void btnSer1_127_Click(object sender, EventArgs e)
		1789	{
		1790	trckbarSerial1.Value = 127;
		1791	}
		1792	private void btnSer1_254_Click(object sender, EventArgs e)
		1793	{
		1794	trckbarSerial1.Value = 254;
		1795	}
		1796	private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
		1797	{
		1798	lblTbSerial1.Text = trckbarSerial1.Value.ToString();
		1799	serChan[0] = trckbarSerial1.Value;
		1800	if (!_init) _sendSerialData();
		1801	}
		1802	private void textBoxSerial2_TextChanged(object sender, EventArgs e)
		1803	{
2259	-	1804	serChanTitle[1] = textBoxSerial2.Text;
2257	-	1805	}
		1806	private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
		1807	{
		1808	lblTbSerial2.Text = trckbarSerial2.Value.ToString();
		1809	serChan[1] = trckbarSerial2.Value;
		1810	if (!_init) _sendSerialData();
		1811	}
		1812	private void btnSer2_0_Click(object sender, EventArgs e)
		1813	{
		1814	trckbarSerial2.Value = 0;
		1815	}
		1816	private void btnSer2_127_Click(object sender, EventArgs e)
		1817	{
		1818	trckbarSerial2.Value = 127;
		1819	}
		1820	private void btnSer2_254_Click(object sender, EventArgs e)
		1821	{
		1822	trckbarSerial2.Value = 254;
		1823	}
2259	-	1824	private void textBoxSerial3_TextChanged(object sender, EventArgs e)
		1825	{
		1826	serChanTitle[2] = textBoxSerial3.Text;
		1827	}
		1828	private void trckbarSerial3_ValueChanged(object sender, EventArgs e)
		1829	{
		1830	lblTbSerial3.Text = trckbarSerial3.Value.ToString();
		1831	serChan[2] = trckbarSerial3.Value;
		1832	if (!_init) _sendSerialData();
		1833	}
		1834	private void btnSer3_0_Click(object sender, EventArgs e)
		1835	{
		1836	trckbarSerial3.Value = 0;
		1837	}
		1838	private void btnSer3_127_Click(object sender, EventArgs e)
		1839	{
		1840	trckbarSerial3.Value = 127;
		1841	}
		1842	private void btnSer3_254_Click(object sender, EventArgs e)
		1843	{
		1844	trckbarSerial3.Value = 254;
		1845	}
		1846	private void textBoxSerial4_TextChanged(object sender, EventArgs e)
		1847	{
		1848	serChanTitle[3] = textBoxSerial4.Text;
		1849	}
		1850	private void trckbarSerial4_ValueChanged(object sender, EventArgs e)
		1851	{
		1852	lblTbSerial4.Text = trckbarSerial4.Value.ToString();
		1853	serChan[3] = trckbarSerial4.Value;
		1854	if (!_init) _sendSerialData();
		1855	}
		1856	private void btnSer4_0_Click(object sender, EventArgs e)
		1857	{
		1858	trckbarSerial4.Value = 0;
		1859	}
		1860	private void btnSer4_127_Click(object sender, EventArgs e)
		1861	{
		1862	trckbarSerial4.Value = 127;
		1863	}
		1864	private void btnSer4_254_Click(object sender, EventArgs e)
		1865	{
		1866	trckbarSerial4.Value = 254;
		1867	}
2265	-	1868	private void tbSerial5_Scroll(object sender, EventArgs e)
		1869	{
		1870	lblTbSerial5.Text = trckbarSerial5.Value.ToString();
		1871	serChan[4] = trckbarSerial5.Value;
		1872	if (!_init) _sendSerialData();
		1873	}
		1874	private void textBoxSerial5_TextChanged(object sender, EventArgs e)
		1875	{
		1876	serChanTitle[4] = textBoxSerial5.Text;
		1877	}
		1878	private void btnSer5_0_Click(object sender, EventArgs e)
		1879	{
		1880	trckbarSerial5.Value = 0;
		1881	}
		1882	private void btnSer5_127_Click(object sender, EventArgs e)
		1883	{
		1884	trckbarSerial5.Value = 127;
		1885	}
		1886	private void btnSer5_254_Click(object sender, EventArgs e)
		1887	{
		1888	trckbarSerial5.Value = 254;
		1889	}
		1890	private void trckbarSerial5_ValueChanged(object sender, EventArgs e)
		1891	{
		1892	lblTbSerial5.Text = trckbarSerial5.Value.ToString();
		1893	serChan[4] = trckbarSerial5.Value;
		1894	if (!_init) _sendSerialData();
		1895	}
		1896	private void tbSerial6_Scroll(object sender, EventArgs e)
		1897	{
		1898	lblTbSerial6.Text = trckbarSerial6.Value.ToString();
		1899	serChan[5] = trckbarSerial6.Value;
		1900	if (!_init) _sendSerialData();
		1901	}
		1902	private void textBoxSerial6_TextChanged(object sender, EventArgs e)
		1903	{
		1904	serChanTitle[5] = textBoxSerial6.Text;
		1905	}
		1906	private void btnSer6_0_Click(object sender, EventArgs e)
		1907	{
		1908	trckbarSerial6.Value = 0;
		1909	}
		1910	private void btnSer6_127_Click(object sender, EventArgs e)
		1911	{
		1912	trckbarSerial6.Value = 127;
		1913	}
		1914	private void btnSer6_254_Click(object sender, EventArgs e)
		1915	{
		1916	trckbarSerial6.Value = 254;
		1917	}
		1918	private void trckbarSerial6_ValueChanged(object sender, EventArgs e)
		1919	{
		1920	lblTbSerial6.Text = trckbarSerial6.Value.ToString();
		1921	serChan[5] = trckbarSerial6.Value;
		1922	if (!_init) _sendSerialData();
		1923	}
		1924	private void tbSerial7_Scroll(object sender, EventArgs e)
		1925	{
		1926	lblTbSerial7.Text = trckbarSerial7.Value.ToString();
		1927	serChan[6] = trckbarSerial7.Value;
		1928	if (!_init) _sendSerialData();
		1929	}
		1930	private void textBoxSerial7_TextChanged(object sender, EventArgs e)
		1931	{
		1932	serChanTitle[6] = textBoxSerial7.Text;
		1933	}
		1934	private void btnSer7_0_Click(object sender, EventArgs e)
		1935	{
		1936	trckbarSerial7.Value = 0;
		1937	}
		1938	private void btnSer7_127_Click(object sender, EventArgs e)
		1939	{
		1940	trckbarSerial7.Value = 127;
		1941	}
		1942	private void btnSer7_254_Click(object sender, EventArgs e)
		1943	{
		1944	trckbarSerial7.Value = 254;
		1945	}
		1946	private void trckbarSerial7_ValueChanged(object sender, EventArgs e)
		1947	{
		1948	lblTbSerial7.Text = trckbarSerial7.Value.ToString();
		1949	serChan[6] = trckbarSerial7.Value;
		1950	if (!_init) _sendSerialData();
		1951	}
		1952	private void tbSerial8_Scroll(object sender, EventArgs e)
		1953	{
		1954	lblTbSerial8.Text = trckbarSerial8.Value.ToString();
		1955	serChan[7] = trckbarSerial8.Value;
		1956	if (!_init) _sendSerialData();
		1957	}
		1958	private void textBoxSerial8_TextChanged(object sender, EventArgs e)
		1959	{
		1960	serChanTitle[7] = textBoxSerial8.Text;
		1961	}
		1962	private void btnSer8_0_Click(object sender, EventArgs e)
		1963	{
		1964	trckbarSerial8.Value = 0;
		1965	}
		1966	private void btnSer8_127_Click(object sender, EventArgs e)
		1967	{
		1968	trckbarSerial8.Value = 127;
		1969	}
		1970	private void btnSer8_254_Click(object sender, EventArgs e)
		1971	{
		1972	trckbarSerial8.Value = 254;
		1973	}
		1974	private void trckbarSerial8_ValueChanged(object sender, EventArgs e)
		1975	{
		1976	lblTbSerial8.Text = trckbarSerial8.Value.ToString();
		1977	serChan[7] = trckbarSerial8.Value;
		1978	if (!_init) _sendSerialData();
		1979	}
2280	-	1980	/// <summary>
		1981	/// checks the input of a textbox
		1982	/// for valid data
		1983	/// in this case values 0-254
		1984	/// </summary>
		1985	/// <param name="sender"></param>
		1986	/// <param name="e"></param>
		1987	private void textBox_serial_KeyPress(object sender, KeyPressEventArgs e)
		1988	{
		1989	if ("1234567890,\b".IndexOf(e.KeyChar.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
		1990	e.Handled = true;
		1991	else
		1992	if ("\b".IndexOf(e.KeyChar.ToString()) < 0)
		1993	if (Convert.ToInt16(((TextBox)sender).Text + e.KeyChar) > 254) //if valid and not backspace, check for upper limit of the resulting number
		1994	e.Handled = true;
		1995	else
		1996	{
		1997	int i = -1;
		1998	switch (((TextBox)sender).Name)
		1999	{
		2000	case "textBoxSerial1_val1":
		2001	i = 0;
		2002	break;
		2003	case "textBoxSerial1_val2":
		2004	i = 1;
		2005	break;
		2006	case "textBoxSerial1_val3":
		2007	i = 2;
		2008	break;
		2009	case "textBoxSerial2_val1":
		2010	i = 3;
		2011	break;
		2012	case "textBoxSerial2_val2":
		2013	i = 4;
		2014	break;
		2015	case "textBoxSerial2_val3":
		2016	i = 5;
		2017	break;
		2018	case "textBoxSerial3_val1":
		2019	i = 6;
		2020	break;
		2021	case "textBoxSerial3_val2":
		2022	i = 7;
		2023	break;
		2024	case "textBoxSerial3_val3":
		2025	i = 8;
		2026	break;
		2027	case "textBoxSerial4_val1":
		2028	i = 9;
		2029	break;
		2030	case "textBoxSerial4_val2":
		2031	i = 10;
		2032	break;
		2033	case "textBoxSerial4_val3":
		2034	i = 11;
		2035	break;
		2036	}
		2037	if (i > -1)
		2038	serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.KeyChar);
		2039	}
		2040	}
		2041
		2042	private void btnSer1_val1_Click(object sender, EventArgs e)
		2043	{
		2044	if(textBoxSerial1_val1.Text.Length > 0)
		2045	{
		2046	trckbarSerial1.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
		2047	}
		2048	}
		2049	private void btnSer1_val2_Click(object sender, EventArgs e)
		2050	{
		2051	if(textBoxSerial1_val2.Text.Length > 0)
		2052	{
		2053	trckbarSerial1.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
		2054	}
		2055	}
		2056	private void btnSer1_val3_Click(object sender, EventArgs e)
		2057	{
		2058	if(textBoxSerial1_val3.Text.Length > 0)
		2059	{
		2060	trckbarSerial1.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
		2061	}
		2062	}
		2063	private void btnSer2_val1_Click(object sender, EventArgs e)
		2064	{
		2065	if(textBoxSerial2_val1.Text.Length > 0)
		2066	{
		2067	trckbarSerial2.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
		2068	}
		2069	}
		2070	private void btnSer2_val2_Click(object sender, EventArgs e)
		2071	{
		2072	if(textBoxSerial2_val2.Text.Length > 0)
		2073	{
		2074	trckbarSerial2.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
		2075	}
		2076	}
		2077	private void btnSer2_val3_Click(object sender, EventArgs e)
		2078	{
		2079	if(textBoxSerial2_val3.Text.Length > 0)
		2080	{
		2081	trckbarSerial2.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
		2082	}
		2083	}
		2084	private void btnSer3_val1_Click(object sender, EventArgs e)
		2085	{
		2086	if(textBoxSerial3_val1.Text.Length > 0)
		2087	{
		2088	trckbarSerial3.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
		2089	}
		2090	}
		2091	private void btnSer3_val2_Click(object sender, EventArgs e)
		2092	{
		2093	if(textBoxSerial3_val2.Text.Length > 0)
		2094	{
		2095	trckbarSerial3.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
		2096	}
		2097	}
		2098	private void btnSer3_val3_Click(object sender, EventArgs e)
		2099	{
		2100	if(textBoxSerial3_val3.Text.Length > 0)
		2101	{
		2102	trckbarSerial3.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
		2103	}
		2104	}
		2105	private void btnSer4_val1_Click(object sender, EventArgs e)
		2106	{
		2107	if(textBoxSerial4_val1.Text.Length > 0)
		2108	{
		2109	trckbarSerial4.Value = Convert.ToInt16(textBoxSerial4_val1.Text);
		2110	}
		2111	}
		2112	private void btnSer4_val2_Click(object sender, EventArgs e)
		2113	{
		2114	if(textBoxSerial4_val2.Text.Length > 0)
		2115	{
		2116	trckbarSerial4.Value = Convert.ToInt16(textBoxSerial4_val2.Text);
		2117	}
		2118	}
		2119	private void btnSer4_val3_Click(object sender, EventArgs e)
		2120	{
		2121	if(textBoxSerial4_val3.Text.Length > 0)
		2122	{
		2123	trckbarSerial4.Value = Convert.ToInt16(textBoxSerial4_val3.Text);
		2124	}
		2125	}
2259	-	2126	#endregion serial control channels
2233	-	2127	}
		2128	public class IniFile
		2129	{
		2130	public string path;
		2131
		2132	[DllImport("kernel32")]
		2133	private static extern long WritePrivateProfileString(string section,
		2134	string key, string val, string filePath);
		2135
		2136	[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
		2137	static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
		2138	uint nSize, string lpFileName);
		2139
		2140	[DllImport("kernel32")]
		2141	private static extern int GetPrivateProfileString(string section,
		2142	string key, string def, StringBuilder retVal,
		2143	int size, string filePath);
		2144
		2145	public IniFile(string INIPath)
		2146	{
		2147	path = INIPath;
		2148	}
		2149
		2150	public void IniWriteValue(string Section, string Key, string Value)
		2151	{
		2152	WritePrivateProfileString(Section, Key, Value, this.path);
		2153	}
		2154
		2155	public string IniReadValue(string Section, string Key)
		2156	{
		2157	StringBuilder temp = new StringBuilder(255);
		2158	int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
		2159	return temp.ToString();
		2160	}
		2161	//Ini_sections auslesen in String-Array
		2162	public string[] IniSectionNames()
		2163	{
		2164
		2165	// uint MAX_BUFFER = 32767;
		2166	uint MAX_BUFFER = 8388608;
		2167	IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
		2168	uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
		2169	if (bytesReturned == 0)
		2170	{
		2171	Marshal.FreeCoTaskMem(pReturnedString);
		2172	return null;
		2173	}
		2174	string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
		2175	Marshal.FreeCoTaskMem(pReturnedString);
		2176	//use of Substring below removes terminating null for split
		2177	return local.Substring(0, local.Length - 1).Split('\0');
		2178
		2179
		2180	}
		2181	}
		2182	public static class ControlExtensions
		2183	{
		2184	/// <summary>
		2185	/// Execute a threadsafe operation, when accessing a control via another thread
		2186	/// action is a lamdaexpression
		2187	/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
		2188	/// </summary>
		2189	/// <param name="control"> The control </param>
		2190	/// <param name="action"> The 'action' to perform </param>
		2191	public static void ExecuteThreadSafe(this Control control, Action action)
		2192	{
		2193	if (control.InvokeRequired)
		2194	{
		2195	control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
		2196	}
		2197	else
		2198	{
		2199	action.Invoke();
		2200	}
		2201	}
		2202	}
		2203
		2204	}

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(root)/MKLiveView/Source/MainForm.cs @ 2465 - Rev