WebSVN - Projects - /MKLiveView/MainForm.cs

///============================================================================
/// MKLiveView
/// Copyright © 2016 Steph
///
///This file is part of MKLiveView.
///
///MKLiveView is free software: you can redistribute it and/or modify
///it under the terms of the GNU General Public License as published by
///the Free Software Foundation, either version 3 of the License, or
///(at your option) any later version.
///
///MKLiveView is distributed in the hope that it will be useful,
///but WITHOUT ANY WARRANTY; without even the implied warranty of
///MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
///GNU General Public License for more details.
///
///You should have received a copy of the GNU General Public License
///along with cssRcon. If not, see <http://www.gnu.org/licenses/>.
///
///============================================================================
///Credits:
///Chootair (http://www.codeproject.com/script/Membership/View.aspx?mid=3941737)
///for his "C# Avionic Instrument Controls" (http://www.codeproject.com/Articles/27411/C-Avionic-Instrument-Controls)
///I used some of his code for displaying the compass
///
///Tom Pyke (http://tom.pycke.be)
///for his "Artifical horizon" (http://tom.pycke.be/mav/100/artificial-horizon)
///Great job!
///
/// and last but most of all to JOHN C. MACDONALD at Ira A. Fulton College of Engineering and Technology
/// for his MIKROKOPTER SERIAL CONTROL TUTORIAL (http://hdl.lib.byu.edu/1877/2747)
/// and the sourcode (http://hdl.lib.byu.edu/1877/2748)
/// By his work I finally managed to get the communication with the Mikrokopter controllers to run
/// Some of his code was used in this programm like the SimpelSerialPort class (with some changes)
/// and the FilghtControllerMessage class
///
///============================================================================

using System;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Threading;
using System.Diagnostics;
using System.Runtime.InteropServices;

namespace MKLiveView
{
public partial class MainForm : Form
{

[FlagsAttribute]
enum NC_HWError0 : short
{
None = 0,
SPI_RX = 1,
COMPASS_RX = 2,
FC_INCOMPATIBLE = 4,
COMPASS_INCOMPATIBLE = 8,
GPS_RX = 16,
COMPASS_VALUE = 32
};
[FlagsAttribute]
enum FC_HWError0 : short
{
None = 0,
GYRO_NICK = 1,
GYRO_ROLL = 2,
GYRO_YAW = 4,
ACC_NICK = 8,
ACC_ROLL = 16,
ACC_TOP = 32,
PRESSURE = 64,
CAREFREE = 128
};
[FlagsAttribute]
enum FC_HWError1 : short
{
None = 0,
I2C = 1,
BL_MISSING = 2,
SPI_RX = 4,
PPM = 8,
MIXER = 16,
RC_VOLTAGE = 32,
ACC_NOT_CAL = 64,
RES3 = 128
};
public enum LogMsgType { Incoming, Outgoing, Normal, Warning, Error };
// Various colors for logging info
private Color[] LogMsgTypeColor = { Color.FromArgb(43, 145, 175), Color.Green, Color.Black, Color.Orange, Color.Red };

string[] sAnalogLabel = new string[32];
string[] sAnalogData = new string[32];
bool bReadContinously = false;
bool check_HWError = false;
bool _bCBInit = true;
bool _init = true;
bool _debugDataAutorefresh = true;
bool _navCtrlDataAutorefresh = true;
bool _blctrlDataAutorefresh = true;
bool _OSDAutorefresh = true;
int crcError = 0;
int iLableIndex = 0;
string filePath = Directory.GetCurrentDirectory();
string fileName = "NCLabelTexts.txt";
int _iCtrlAct = 0;
int _iLifeCounter = 0;
int iOSDPage = 0;
int iOSDMax = 0;
/// <summary>
/// interval for sending debugdata (multiplied by 10ms)
/// </summary>
byte debugInterval = 25; //(=> 250ms)
/// <summary>
/// interval for sending BL-CTRL status (multiplied by 10ms)
/// </summary>
byte blctrlInterval = 45;
/// <summary>
/// interval for sending NAV-CTRL status (multiplied by 10ms)
/// </summary>
byte navctrlInterval = 80;
/// <summary>
/// interval for sending OSD page update (multiplied by 10ms)
/// </summary>
byte OSDInterval = 85;
/// <summary>
/// datatable for the debug data array - displayed on settings tabpage in datagridview
/// </summary>
DataTable dtAnalog = new DataTable();
public MainForm()
{
InitializeComponent();
_readIni();
dtAnalog.Columns.Add("ID");
dtAnalog.Columns.Add("Value");
dataGridView1.DataSource = dtAnalog;
simpleSerialPort.PortClosed += SimpleSerialPort_PortClosed;
simpleSerialPort.PortOpened += SimpleSerialPort_PortOpened;
simpleSerialPort.DataReceived += processMessage;
chkbAutoBL.Checked = _blctrlDataAutorefresh;
chkbAutoDbg.Checked = _debugDataAutorefresh;
chkbAutoNav.Checked = _navCtrlDataAutorefresh;
chkbAutoOSD.Checked = _OSDAutorefresh;
labelTimingDebug.Text = (debugInterval * 10).ToString();
labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
labelTimingNAV.Text = (navctrlInterval * 10).ToString();
labelTimingOSD.Text = (OSDInterval * 10).ToString();
tabControl1.TabPages.Remove(tabPageTesting);
}
#region events
private void MainForm_Shown(object sender, EventArgs e)
{
_loadLabelNames();
_init = false;
}
private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
{
_writeIni();
}
private void SimpleSerialPort_PortOpened()
{
btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
_getVersion();
Thread.Sleep(100);
_OSDMenue(0);
// _readCont(true);
}
private void SimpleSerialPort_PortClosed()
{
btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
_readCont(false);
}
/// <summary>
/// timer for refreshing subscription of subscribed data
/// query lifecounter for connection failure
/// </summary>
private void timer1_Tick(object sender, EventArgs e)
{
if(bReadContinously)
{
if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }

if (_blctrlDataAutorefresh && _iCtrlAct == 2) { _readBLCtrl(true); Thread.Sleep(10); }

if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
check_HWError = true;
_getVersion();
Thread.Sleep(10);
if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); }
if (_iLifeCounter > 0)
{
lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0);
_iLifeCounter = 0;
}
else
{
Log(LogMsgType.Error, "No communication to NC/FC!");
lblLifeCounter.BackColor = Color.FromArgb(224, 0, 0);
}
}
}
private void cbOSD_SelectedIndexChanged(object sender, EventArgs e)
{
if (!_bCBInit && cbOSD.SelectedIndex > -1)
_OSDMenue(cbOSD.SelectedIndex);
}

private void chkbAutoDbg_CheckedChanged(object sender, EventArgs e)
{
if(!_init) _debugDataAutorefresh = chkbAutoDbg.Checked;
}
private void chkbAutoNav_CheckedChanged(object sender, EventArgs e)
{
if (!_init) _navCtrlDataAutorefresh = chkbAutoNav.Checked;
}
private void chkbAutoBL_CheckedChanged(object sender, EventArgs e)
{
if (!_init) _blctrlDataAutorefresh = chkbAutoBL.Checked;
}
private void chkbAutoOSD_CheckedChanged(object sender, EventArgs e)
{
if (!_init) _OSDAutorefresh = chkbAutoOSD.Checked;
}

private void cbTimingDebug_SelectedIndexChanged(object sender, EventArgs e)
{
if (cbTimingDebug.SelectedIndex > -1)
{
debugInterval = (byte)(Convert.ToInt16(cbTimingDebug.SelectedItem) / 10);
labelTimingDebug.Text = (debugInterval * 10).ToString();
}
}
private void cbTimingNAV_SelectedIndexChanged(object sender, EventArgs e)
{
if (cbTimingNAV.SelectedIndex > -1)
{
navctrlInterval = (byte)(Convert.ToInt16(cbTimingNAV.SelectedItem) / 10);
labelTimingNAV.Text = (navctrlInterval * 10).ToString();
}
}
private void cbTimingBLCTRL_SelectedIndexChanged(object sender, EventArgs e)
{
if (cbTimingBLCTRL.SelectedIndex > -1)
{
blctrlInterval = (byte)(Convert.ToInt16(cbTimingBLCTRL.SelectedItem) / 10);
labelTimingBLCTRL.Text = (blctrlInterval * 10).ToString();
}
}
private void cbTimingOSD_SelectedIndexChanged(object sender, EventArgs e)
{
if (cbTimingOSD.SelectedIndex > -1)
{
OSDInterval = (byte)(Convert.ToInt16(cbTimingOSD.SelectedItem) / 10);
labelTimingOSD.Text = (OSDInterval * 10).ToString();
}
}
#endregion events

/// <summary> Log data to the terminal window. </summary>
/// <param name="msgtype"> The type of message to be written. </param>
/// <param name="msg"> The string containing the message to be shown. </param>
private void Log(LogMsgType msgtype, string msg)
{
rtfTerminal.Invoke(new EventHandler(delegate
{
if (rtfTerminal.Lines.Length >= 1000) //Wenn Terminal mehr als 1000 Zeilen hat
rtfTerminal.Select(42, (500 * 129)); //500 löschen
rtfTerminal.Select(rtfTerminal.Text.Length, 0);
rtfTerminal.SelectedText = string.Empty;
rtfTerminal.SelectionFont = new Font(rtfTerminal.SelectionFont, FontStyle.Regular);
rtfTerminal.SelectionColor = LogMsgTypeColor[(int)msgtype];
rtfTerminal.AppendText(msg + Environment.NewLine);
rtfTerminal.ScrollToCaret();
}));
}
/// <summary> display the OSD text in 4 lines à 20 chars </summary>
/// <param name="msgtype"> The type of message to be written. </param>
/// <param name="msg"> The string containing the message to be shown. </param>
private void OSD(LogMsgType msgtype, string msg)
{
rtfOSD.Invoke(new EventHandler(delegate
{
if (rtfOSD.Lines.Length > 4)
rtfOSD.Clear();
rtfOSD.Select(rtfOSD.Text.Length,0);
rtfOSD.SelectedText = string.Empty;
rtfOSD.SelectionFont = new Font(rtfOSD.SelectionFont, FontStyle.Regular);
rtfOSD.SelectionColor = LogMsgTypeColor[(int)msgtype];
rtfOSD.AppendText(msg + Environment.NewLine);
if (rtfOSD.Text.IndexOf("ERR") > 0)
{
rtfOSD.Select(rtfOSD.Text.IndexOf("ERR"), 40);
rtfOSD.SelectionColor = LogMsgTypeColor[(int)LogMsgType.Error];
}
}));
}
private void ErrorLog(LogMsgType msgtype, string msg)
{
rtfError.Invoke(new EventHandler(delegate
{
if (rtfError.Lines.Length > 4)
rtfError.Clear();
rtfError.Focus();
rtfError.Select(rtfError.Text.Length, 0);
rtfError.SelectedText = string.Empty;
rtfError.SelectionFont = new Font(rtfError.SelectionFont, FontStyle.Regular);
rtfError.SelectionColor = LogMsgTypeColor[(int)msgtype];
rtfError.AppendText(msg + Environment.NewLine);

}));
}

#region functions

/// <summary> Processing the messages and displaying them in the according form controls </summary>
/// <param name="message"> message bytearray recieved by SimpleSerialPort class </param>
private void processMessage(byte[] message)
{
if (message.Length > 0)
{
_iLifeCounter++;
//Log(LogMsgType.Incoming, BitConverter.ToString(message));
//Log(LogMsgType.Incoming, message.Length.ToString());
string s = new string(ASCIIEncoding.ASCII.GetChars(message, 0, message.Length));
char cmdID;
byte adr;
byte[] data;
if (message[0] != '#')
Log(LogMsgType.Normal, s.Trim('\0', '\n','\r'));
//Debug.Print(s);
else
{
FlightControllerMessage.ParseMessage(message, out cmdID, out adr, out data);

if (adr == 255) { crcError++; }
else crcError = 0;
lblCRCErr.Invoke((Action)(() => lblCRCErr.Text = crcError.ToString()));

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...???
{
_iCtrlAct = adr;
switch (adr)
{
case 1:
lblCtrl.Invoke((Action)(() => lblCtrl.Text = "FC"));
lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "FC"));
_setFieldsNA(); //display fields NA for FC
break;
case 2:
lblCtrl.Invoke((Action)(() => lblCtrl.Text = "NC"));
lblNCCtrl.Invoke((Action)(() => lblNCCtrl.Text = "NC"));
break;
case 3:
lblCtrl.Invoke((Action)(() => lblCtrl.Text = "MK3MAG"));
break;
case 4:
lblCtrl.Invoke((Action)(() => lblCtrl.Text = "BL-CTRL"));
break;
default:
lblCtrl.Invoke((Action)(() => lblCtrl.Text = "...."));
break;
}
_loadLabelNames();
}
// else
// Debug.Print("Address == 0?");

if (data != null && data.Length > 0)
{
s = new string(ASCIIEncoding.ASCII.GetChars(data, 1, data.Length - 1));
s = s.Trim('\0', '\n');

switch (cmdID)
{
case 'A':
if (iLableIndex < 32)
{
sAnalogLabel[iLableIndex] = s;
if (dtAnalog.Rows.Count < 32)
dtAnalog.Rows.Add(s, "");
else
dtAnalog.Rows[iLableIndex].SetField(0, s);

_getAnalogLabels(iLableIndex + 1);
}
Debug.Print(s);

break;
case 'D':
if (data.Length == 66)
{
int[] iAnalogData = new int[32];

int index = 0;
Int16 i16 = 0;
double dTemp = 0;
for (int i = 2; i < 66; i += 2)
{
i16 = data[i + 1];
i16 = (Int16)(i16 << 8);
iAnalogData[index] = data[i] + i16;
sAnalogData[index] = (data[i] + i16).ToString();
dtAnalog.Rows[index].SetField(1, sAnalogData[index]);

if (adr == 2) //NC
{
switch (index)
{
case 0: //pitch (German: nick)
artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
break;
case 1: //roll
artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
break;
case 4: //altitude
lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
break;
case 7: //Voltage
lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
break;
case 8: // Current
lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
break;
case 10: //heading
lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
break;
case 12: // SPI error
lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
break;
case 14: //i2c error
lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
break;
case 20: //Earthmagnet field
lblNCMF.Invoke((Action)(() => lblNCMF.Text = sAnalogData[index] + "%"));
break;
case 21: //GroundSpeed
lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = ((double)iAnalogData[index] / (double)100).ToString("0.00 m/s")));
break;
case 28: //Distance East from saved home position -> calculate distance with distance N + height
dTemp = Math.Pow((double)iAnalogData[index],2) + Math.Pow((double)iAnalogData[index - 1],2);
dTemp = Math.Sqrt(dTemp)/ (double)10; //'flat' distance from HP with N/E
// lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0.00")));
dTemp = Math.Pow(dTemp, 2) + Math.Pow(((double)iAnalogData[4] / (double)10), 2); //adding 'height' into calculation
dTemp = Math.Sqrt(dTemp);
lblNCDist.Invoke((Action)(() => lblNCDist.Text = dTemp.ToString("0 m")));
break;
case 31: //Sats used
lblNCSat.Invoke((Action)(() => lblNCSat.Text = sAnalogData[index]));
break;
}
}
if (adr == 1) //FC
{
switch (index)
{
case 0: //pitch (German: nick)
artificialHorizon1.Invoke((Action)(() => artificialHorizon1.pitch_angle = ((double)iAnalogData[index] / (double)10)));
lblNCPitch.Invoke((Action)(() => lblNCPitch.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
break;
case 1: //roll
artificialHorizon1.Invoke((Action)(() => artificialHorizon1.roll_angle = ((double)iAnalogData[index] / (double)10)));
lblNCRoll.Invoke((Action)(() => lblNCRoll.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0°")));
break;
case 5: //altitude
lblNCAlt.Invoke((Action)(() => lblNCAlt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 m")));
break;
case 8: //heading
lblNCCompass.Invoke((Action)(() => lblNCCompass.Text = sAnalogData[index] + "°"));
headingIndicator1.Invoke((Action)(() => headingIndicator1.SetHeadingIndicatorParameters(iAnalogData[index])));
break;
case 9: //Voltage
lblNCVolt.Invoke((Action)(() => lblNCVolt.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 V")));
break;
case 10: //Receiver quality
lblNCRC.Invoke((Action)(() => lblNCRC.Text = sAnalogData[index]));
break;
case 22: // Current
lblNCCur.Invoke((Action)(() => lblNCCur.Text = ((double)iAnalogData[index] / (double)10).ToString("0.0 A")));
break;
case 23: //capacity used
lblNCCap.Invoke((Action)(() => lblNCCap.Text = (iAnalogData[index]).ToString("0 mAh")));
break;
case 27: // SPI error
lblNCSPI.Invoke((Action)(() => lblNCSPI.Text = sAnalogData[index]));
break;
case 28: //i2c error
lblNCI2C.Invoke((Action)(() => lblNCI2C.Text = sAnalogData[index]));
break;
}
}
index++;
}
}
else
Debug.Print("wrong data-length (66): " + data.Length.ToString());
break;

case 'V':
if (data.Length == 12)
{
if (!check_HWError)
{
string[] sVersionStruct = new string[10] { "SWMajor: ", "SWMinor: ", "ProtoMajor: ", "LabelTextCRC: ", "SWPatch: ", "HardwareError 1: ", "HardwareError 2: ", "HWMajor: ", "BL_Firmware: ", "Flags: " };
string sVersion = "";
//sbyte[] signed = Array.ConvertAll(data, b => unchecked((sbyte)b));
Log(LogMsgType.Warning, (adr == 1 ? "FC-" : "NC-") + "Version: ");
sVersion = "HW V" + (data[7] / 10).ToString() + "." + (data[7] % 10).ToString();
Log(LogMsgType.Incoming, sVersion);
sVersion = "SW V" + (data[0]).ToString() + "." + (data[1]).ToString() + ((char)(data[4] + 'a')).ToString();
Log(LogMsgType.Incoming, sVersion);
Log(LogMsgType.Incoming, "BL-Firmware: V" + (data[8] / 100).ToString() + "." + (data[8] % 100).ToString());
}
if(data[5] > 0) //error0
{
if(adr == 1)
ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[5].ToString() + ": " + ((FC_HWError0)data[5]).ToString());
if (adr == 2)
ErrorLog(LogMsgType.Error, "NC - HW-Error " + data[5].ToString() + ": " + ((NC_HWError0)data[5]).ToString());
}
if (data[6] > 0) //error1
{
if (adr == 1)
ErrorLog(LogMsgType.Error, "FC - HW-Error " + data[6].ToString() + ": " + ((FC_HWError1)data[6]).ToString());
if (adr == 2)
ErrorLog(LogMsgType.Error, "NC - Unknown HW-ERROR: " + data[6].ToString()); //@moment NC has only one error field
}

}
check_HWError = false;
break;

case 'K'://BL-CTRL debug data from NC
if (data.Length == 6 && data[0] < 8)
{
Label lbCur = new Label(), lbTemp = new Label();
switch (data[0])
{
case 0:
lbCur = LBLNCM1Cur;
lbTemp = LBLNCM1Temp;
break;
case 1:
lbCur = LBLNCM2Cur;
lbTemp = LBLNCM2Temp;
break;
case 2:
lbCur = LBLNCM3Cur;
lbTemp = LBLNCM3Temp;
break;
case 3:
lbCur = LBLNCM4Cur;
lbTemp = LBLNCM4Temp;
break;
case 4:
lbCur = LBLNCM5Cur;
lbTemp = LBLNCM5Temp;
break;
case 5:
lbCur = LBLNCM6Cur;
lbTemp = LBLNCM6Temp;
break;
case 6:
lbCur = LBLNCM7Cur;
lbTemp = LBLNCM7Temp;
break;
case 7:
lbCur = LBLNCM8Cur;
lbTemp = LBLNCM8Temp;
break;
}
if (lbCur != null)
lbCur.Invoke((Action)(() => lbCur.Text = ((double)data[1] / (double)10).ToString("0.0 A")));
if (lbTemp != null)
lbTemp.Invoke((Action)(() => lbTemp.Text = data[2].ToString("0 °C")));

}

break;

case 'O': //NC Data
int i_16,iVal;
i_16 = data[81];
i_16 = (Int16)(i_16 << 8);
iVal = data[80] + i_16;
lblNCCap.Invoke((Action)(() => lblNCCap.Text = iVal.ToString() + " mAh")); //Capacity used

i_16 = data[56];
i_16 = (Int16)(i_16 << 8);
iVal = data[55] + i_16;
TimeSpan t = TimeSpan.FromSeconds(iVal);
string Text = t.Hours.ToString("D2") + ":" + t.Minutes.ToString("D2") + ":" + t.Seconds.ToString("D2");
lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = Text.ToString())); //Flying time

lblNCRC.Invoke((Action)(() => lblNCRC.Text = data[66].ToString())); //RC quality
lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = data[69].ToString())); //NC Errornumber
if (data[69] > 0)
_readNCError();
break;

case 'E': //NC error-string
ErrorLog(LogMsgType.Error, "NC Error: " + s);

break;

case 'L':
if(data.Length == 84)
{
string sMessage = "";
iOSDPage = data[0];
iOSDMax = data[1];
if (cbOSD.Items.Count != iOSDMax) _initOSDCB();
sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 2, data.Length - 4));
OSD(LogMsgType.Incoming, sMessage.Substring(0,20));
OSD(LogMsgType.Incoming, sMessage.Substring(20,20));
OSD(LogMsgType.Incoming, sMessage.Substring(40,20));
OSD(LogMsgType.Incoming, sMessage.Substring(60,20));
lblOSDPageNr.Invoke((Action)(()=>lblOSDPageNr.Text = iOSDPage.ToString("[0]")));

}
else
OSD(LogMsgType.Incoming,"Wrong length: " + data.Length + " (should be 84)");
break;
case 'H':
if(data.Length == 81)
{
string sMessage = "";
sMessage = new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length - 1));
OSD(LogMsgType.Incoming, sMessage.Substring(0,20));
OSD(LogMsgType.Incoming, sMessage.Substring(20,20));
OSD(LogMsgType.Incoming, sMessage.Substring(40,20));
OSD(LogMsgType.Incoming, sMessage.Substring(60,20));

}
else
OSD(LogMsgType.Incoming, "Wrong length: " + data.Length + " (should be 81)");
break;

//default:
// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
// Log(LogMsgType.Incoming, BitConverter.ToString(data));
// break;
}
}
//else
//{
// Log(LogMsgType.Incoming, "cmd: " + cmdID.ToString());
// Log(LogMsgType.Incoming, BitConverter.ToString(data));
//}
}
}
}

/// <summary> send message to controller to request data
/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
/// </summary>
/// <param name="CMDID"> the command ID </param>
/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
private void _sendControllerMessage(char CMDID, byte address)
{
if (simpleSerialPort.Port.IsOpen)
{
Stream serialStream = simpleSerialPort.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address);
serialStream.Write(bytes, 0, bytes.Length);

}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary> send message to controller to request data
/// for detailed info see http://wiki.mikrokopter.de/en/SerialProtocol/
/// </summary>
/// <param name="CMDID"> the command ID </param>
/// <param name="address"> the address of the controller: 0-any, 1-FC, 2-NC </param>
/// <param name="data"> additional data for the request</param>
private void _sendControllerMessage(char CMDID, byte address, byte[]data)
{
if (simpleSerialPort.Port.IsOpen)
{
Stream serialStream = simpleSerialPort.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage(CMDID, address,data);
serialStream.Write(bytes, 0, bytes.Length);

}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}

/// <summary>
/// read the analog-label names for the actual controller
/// and load it into listbox
/// </summary>
void _loadLabelNames()
{
if (_iCtrlAct > 0 && _iCtrlAct < 3)
{
switch (_iCtrlAct)
{
case 1:
sAnalogLabel = Properties.Resources.FCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
break;
case 2:
sAnalogLabel = Properties.Resources.NCLabelTexts.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
break;
}
for (int i = 0; i < 32; i++)
{
if (dtAnalog.Rows.Count < 32)
dtAnalog.Rows.Add(sAnalogLabel[i], "");
else
dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);
}
dataGridView1.Invoke((Action)(()=>dataGridView1.Refresh()));
}
}
/// <summary>
/// no longer used...
/// read the analog-label textfile for the actual controller
/// </summary>
private void _loadLabelFile()
{
switch (_iCtrlAct)
{
case 1:
fileName = "FCLabelTexts.txt";
break;
case 2:
fileName = "NCLabelTexts.txt";
break;
//default:
// fileName = "NCLabelTexts.txt";
// break;
}

if (File.Exists(filePath + "\\" + fileName))
{
sAnalogLabel.Initialize();
sAnalogLabel = File.ReadAllLines(filePath + "\\" + fileName);
lbLabels.Invoke((Action)(() => lbLabels.Items.Clear()));
lbLabels.Invoke((Action)(() => lbLabels.Update()));
lbLabels.Invoke((Action)(() => lbLabels.Items.AddRange(sAnalogLabel)));
Console.WriteLine("Names loaded from file");
lblFileName.Invoke((Action)(() => lblFileName.Text = fileName));
}
else
{
_readCont(false);
Log(LogMsgType.Error, "Label-file not found!");
Log(LogMsgType.Error, "Please go to settings-tab and load the label texts from the copter control (FC & NC)");
Log(LogMsgType.Error, "When done, you have to save the label texts with the 'save' button!");
}
}
/// <summary>
/// no longer used...
/// assign the analog-label names from the textfile to the datatable
///
/// </summary>
private void _assignLabelNames()
{
if (lbLabels.Items.Count == 32)
{
lbLabels.Items.CopyTo(sAnalogLabel, 0);
for (int i = 0; i < 32; i++)
{
if (dtAnalog.Rows.Count < 32)
dtAnalog.Rows.Add(sAnalogLabel[i], "");
else
dtAnalog.Rows[i].SetField(0, sAnalogLabel[i]);

}
}
}
/// <summary>
/// get the version struct of actual controller
/// </summary>
/// <summary>
/// get the labeltexts for the analog values
/// </summary>
private void _getAnalogLabels()
{
if (simpleSerialPort.Port.IsOpen)
{
iLableIndex = 0;
for (int i = 0; i < 32; i++)
{
Stream serialStream = simpleSerialPort.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage('a', 0, new byte[1] { (byte)i });
serialStream.Write(bytes, 0, bytes.Length);
Thread.Sleep(10);
}
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary>
/// get the labeltext for a single label
/// </summary>
/// <param name="iIndex">index of the label</param>
private void _getAnalogLabels(int iIndex)
{
if (simpleSerialPort.Port.IsOpen)
{
if (iIndex < 32)
{
iLableIndex = iIndex;
_sendControllerMessage('a', 0, new byte[1] { (byte)iLableIndex });
}
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
private void _getVersion()
{
_sendControllerMessage('v', 0);
}
/// <summary>
/// get FC version struct via NC
/// by sending '1' as data (not documented in wiki...)
/// returns HW error 255 (comment in uart1.c : tells the KopterTool that it is the FC-version)
/// </summary>
/// <param name="ctrl">controller number 1=FC</param>
private void _getVersion(byte ctrl)
{
_sendControllerMessage('v', 0, new byte[1] {ctrl});
}
/// <summary>
/// Switch back to NC by sending the 'Magic Packet' 0x1B,0x1B,0x55,0xAA,0x00
/// </summary>
private void _switchToNC()
{
if (simpleSerialPort.Port.IsOpen)
{
Stream serialStream = simpleSerialPort.Port.BaseStream;
byte[] bytes = new byte[5] { 0x1B,0x1B,0x55,0xAA,0x00 };
serialStream.Write(bytes, 0, bytes.Length);

Thread.Sleep(100);
_getVersion();
Thread.Sleep(100);
_OSDMenue(0);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");
}
/// <summary>
/// switch to FC
/// </summary>
private void _switchToFC()
{
_sendControllerMessage('u', 2, new byte[1] { (byte)0 });
Thread.Sleep(100);
_getVersion();
Thread.Sleep(100);
_OSDMenue(0);
}
/// <summary>
/// send RESET signal to FC
/// </summary>
private void _resetCtrl()
{
_sendControllerMessage('R', 1);
}
/// <summary>
/// poll the debug data (4sec subscription)
/// </summary>
/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
private void _readDebugData(bool auto)
{
byte interval = auto ? debugInterval : (byte)0;
_sendControllerMessage('d', 0, new byte[1] { debugInterval });
}
/// <summary>
/// poll the BL-CTRL status via NC (4sec subscription)
/// </summary>
/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
private void _readBLCtrl(bool auto)
{
byte interval = auto ? blctrlInterval : (byte)0;
_sendControllerMessage('k', 0, new byte[1] { interval });
}
/// <summary>
/// poll the NC data struct (4sec subscription)
/// </summary>
/// <param name="auto"> onetimequery(false) or autoupdate(true) with set timing interval </param>
private void _readNavData(bool auto)
{
byte interval = auto ? navctrlInterval : (byte)0;
_sendControllerMessage('o', 2, new byte[1] { interval });
}
/// <summary>
/// get the errortext for pending NC error
/// </summary>
private void _readNCError()
{
_sendControllerMessage('e', 2);
}
/// <summary>
/// start/stop continous polling of controller values
/// </summary>
/// <param name="b">start/stop switch</param>
void _readCont(bool b)
{
bReadContinously = b;
btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
if (bReadContinously)
{
_readDebugData(true);
if (_iCtrlAct == 2) { Thread.Sleep(10); _readBLCtrl(true);}
if (_iCtrlAct == 2) { Thread.Sleep(10); _readNavData(true);}
Thread.Sleep(10);
_OSDMenueAutoRefresh();
lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(0, 224, 0)));
}
else
lblLifeCounter.Invoke((Action)(() => lblLifeCounter.BackColor = Color.FromArgb(224, 224, 224)));
_iLifeCounter = 0;
}
/// <summary>
/// set fieldtexts to "NA" when not available with FC
/// </summary>
void _setFieldsNA()
{
Thread.Sleep(100);
Label lbCur = new Label(), lbTemp = new Label();
for (int i = 0; i < 8; i++)
{
//BL-Ctrl Temp & Current
switch (i)
{
case 0:
lbCur = LBLNCM1Cur;
lbTemp = LBLNCM1Temp;
break;
case 1:
lbCur = LBLNCM2Cur;
lbTemp = LBLNCM2Temp;
break;
case 2:
lbCur = LBLNCM3Cur;
lbTemp = LBLNCM3Temp;
break;
case 3:
lbCur = LBLNCM4Cur;
lbTemp = LBLNCM4Temp;
break;
case 4:
lbCur = LBLNCM5Cur;
lbTemp = LBLNCM5Temp;
break;
case 5:
lbCur = LBLNCM6Cur;
lbTemp = LBLNCM6Temp;
break;
case 6:
lbCur = LBLNCM7Cur;
lbTemp = LBLNCM7Temp;
break;
case 7:
lbCur = LBLNCM8Cur;
lbTemp = LBLNCM8Temp;
break;
}
if (lbCur != null)
lbCur.Invoke((Action)(() => lbCur.Text = "NA"));
if (lbTemp != null)
lbTemp.Invoke((Action)(() => lbTemp.Text = "NA"));

}
lblNCFlTime.Invoke((Action)(() => lblNCFlTime.Text = "NA")); //FlightTime
lblNCErrNmbr.Invoke((Action)(() => lblNCErrNmbr.Text = "NA")); //NC ErrorNr
lblNCMF.Invoke((Action)(() => lblNCMF.Text = "NA")); //earth magnet field
lblNCGSpeed.Invoke((Action)(() => lblNCGSpeed.Text = "NA")); //GroundSpeed
lblNCDist.Invoke((Action)(() => lblNCDist.Text = "NA")); //Distance to HP
lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
}
/// <summary>
/// one time query of the OSD Menue with pagenumber
/// </summary>
/// <param name="iMenue">Menue page</param>
void _OSDMenue(int iMenue)
{
if (simpleSerialPort.Port.IsOpen)
{
if (iMenue > iOSDMax)
iMenue = 0;
Stream serialStream = simpleSerialPort.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage('l', 0, new byte[1] { (byte)iMenue });
serialStream.Write(bytes, 0, bytes.Length);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");

}
/// <summary>
/// call the OSDMenue and start autorefresh
/// usually by sending a menuekey
/// 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)
/// therefore the value has to be negative (inverted) in order to distinguish from old (2 line) menuestyle
/// and must not have any bits of the menue keys 0x1 0x2 0x4 0x8 (0x10?) --> 0x20 = -33
/// </summary>
void _OSDMenueAutoRefresh()
{
_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)(-33)),OSDInterval });
}
void _OSDMenueAutoRefresh(byte key)
{
_sendControllerMessage('h', 0, new byte[2] { unchecked((byte)~key), OSDInterval });
}
/// <summary>
/// initialize the OSD menue combobox
/// combox is filled by numbers from 0 to max pagenumber
/// </summary>
void _initOSDCB()
{
_bCBInit = true;
if(iOSDMax == 0)
{
_OSDMenue(0);
Thread.Sleep(10);
}
cbOSD.Invoke((Action)(()=>cbOSD.Items.Clear()));
for(int i = 0; i <= iOSDMax;i++)
{
cbOSD.Invoke((Action)(() => cbOSD.Items.Add(i)));
}
cbOSD.Invoke((Action)(() => cbOSD.SelectedItem = iOSDPage));
_bCBInit = false;
}
void _readIni()
{
if (!File.Exists(filePath + "\\MKLiveViewSettings.ini"))
_writeIni();
IniFile ini = new IniFile("MKLiveViewSettings.ini");
ini.path = filePath + "\\MKLiveViewSettings.ini";

string sVal = ini.IniReadValue("default", "AutorefreshDebugData");
_debugDataAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("default", "AutorefreshNavCtrlData");
_navCtrlDataAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("default", "AutorefreshBLCtrlData");
_blctrlDataAutorefresh = Convert.ToBoolean(sVal);
sVal = ini.IniReadValue("default", "AutorefreshOSDData");
_OSDAutorefresh = Convert.ToBoolean(sVal);

sVal = ini.IniReadValue("default", "IntervalDebugData");
debugInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("default", "IntervalNavCtrlData");
navctrlInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("default", "IntervalBLCtrlData");
blctrlInterval = (byte)Convert.ToInt16(sVal);
sVal = ini.IniReadValue("default", "IntervalOSDData");
OSDInterval = (byte)Convert.ToInt16(sVal);
}
void _writeIni()
{

IniFile ini = new IniFile("MKLiveViewSettings.ini");
ini.path = filePath + "\\MKLiveViewSettings.ini";

ini.IniWriteValue("default", "AutorefreshDebugData", _debugDataAutorefresh ? "true":"false");
ini.IniWriteValue("default", "AutorefreshNavCtrlData", _navCtrlDataAutorefresh ? "true":"false");
ini.IniWriteValue("default", "AutorefreshBLCtrlData", _blctrlDataAutorefresh ? "true":"false");
ini.IniWriteValue("default", "AutorefreshOSDData", _OSDAutorefresh ? "true":"false");

ini.IniWriteValue("default", "IntervalDebugData", debugInterval.ToString());
ini.IniWriteValue("default", "IntervalNavCtrlData", navctrlInterval.ToString());
ini.IniWriteValue("default", "IntervalBLCtrlData", blctrlInterval.ToString());
ini.IniWriteValue("default", "IntervalOSDData", OSDInterval.ToString());
}

#endregion functions

#region buttons
private void buttonReset_Click(object sender, EventArgs e)
{
_resetCtrl();
}
private void btnVersion_Click(object sender, EventArgs e)
{
_getVersion();
}
private void btnAnalogLabels_Click(object sender, EventArgs e)
{
_getAnalogLabels(0);
}
private void btnDbgData_Click(object sender, EventArgs e)
{
_readDebugData(false); //onetime reading of debug data --> subscription lasts 4sec - this means you will receive data for 4 seconds
}
private void btnSaveLabels_Click(object sender, EventArgs e)
{
switch (_iCtrlAct)
{
case 1:
fileName = "FCLabelTexts.txt";
break;
case 2:
fileName = "NCLabelTexts.txt";
break;
default:
fileName = "NCLabelTexts.txt";
break;
}
if (sAnalogLabel[0] != null)
{
File.WriteAllLines(filePath + "\\" + fileName, sAnalogLabel);
Console.WriteLine("Names saved to file");
_loadLabelFile();
}
else
Log(LogMsgType.Warning, "there's no data -> read first from fc/nc!");
}
private void btnLoadLabels_Click(object sender, EventArgs e)
{
_assignLabelNames();
}
private void btnReadLabelFile_Click(object sender, EventArgs e)
{
_loadLabelFile();
}
private void btnSwitchFC_Click(object sender, EventArgs e)
{
_switchToFC();
}
private void btnSwitchNC_Click(object sender, EventArgs e)
{
_switchToNC();
}
private void btnReadDbgCont_Click(object sender, EventArgs e)
{
_readCont(!bReadContinously);
}
private void btnReadBLCtrl_Click(object sender, EventArgs e)
{

if (_iCtrlAct == 2) _readBLCtrl(false);
else Log(LogMsgType.Warning, "only available when connected to NC");
}
private void btnGetNaviData_Click(object sender, EventArgs e)
{
if (_iCtrlAct == 2) _readNavData(false);
else Log(LogMsgType.Warning, "only available when connected to NC");
}
private void btnConn_Click(object sender, EventArgs e)
{
simpleSerialPort.Connect(!simpleSerialPort.Port.IsOpen);
}
private void button3_Click(object sender, EventArgs e)
{
_getVersion(1);
}
private void button4_Click(object sender, EventArgs e)
{
_getVersion(2);
}
private void btnOSD_Click(object sender, EventArgs e)
{
if (iOSDPage > iOSDMax)
iOSDPage = 0;
_OSDMenue(iOSDPage);
}
private void btnOSDForward_Click(object sender, EventArgs e)
{
iOSDPage++;
if (iOSDPage > iOSDMax)
iOSDPage = 0;

_OSDMenue(iOSDPage);
}
private void btnOSDBackward_Click(object sender, EventArgs e)
{
iOSDPage--;
if (iOSDPage < 0)
iOSDPage = iOSDMax;

_OSDMenue(iOSDPage);
}
private void btnOSDAuto_Click(object sender, EventArgs e)
{
_OSDMenueAutoRefresh();
}
/// call the OSDMenue with Key 0x8
private void btnOSDLeave_Click(object sender, EventArgs e)
{
_OSDMenueAutoRefresh(8);
}
/// call the OSDMenue with Key 0x4
private void btnOSDEnter_Click(object sender, EventArgs e)
{
_OSDMenueAutoRefresh(4);
}
#endregion buttons

}
public class IniFile
{
public string path;

[DllImport("kernel32")]
private static extern long WritePrivateProfileString(string section,
string key, string val, string filePath);

[DllImport("kernel32.dll", CharSet = CharSet.Auto)]
static extern uint GetPrivateProfileSectionNames(IntPtr lpszReturnBuffer,
uint nSize, string lpFileName);

[DllImport("kernel32")]
private static extern int GetPrivateProfileString(string section,
string key, string def, StringBuilder retVal,
int size, string filePath);

public IniFile(string INIPath)
{
path = INIPath;
}

public void IniWriteValue(string Section, string Key, string Value)
{
WritePrivateProfileString(Section, Key, Value, this.path);
}

public string IniReadValue(string Section, string Key)
{
StringBuilder temp = new StringBuilder(255);
int i = GetPrivateProfileString(Section, Key, "", temp, 255, this.path);
return temp.ToString();
}
//Ini_sections auslesen in String-Array
public string[] IniSectionNames()
{

// uint MAX_BUFFER = 32767;
uint MAX_BUFFER = 8388608;
IntPtr pReturnedString = Marshal.AllocCoTaskMem((int)MAX_BUFFER);
uint bytesReturned = GetPrivateProfileSectionNames(pReturnedString, MAX_BUFFER, this.path);
if (bytesReturned == 0)
{
Marshal.FreeCoTaskMem(pReturnedString);
return null;
}
string local = Marshal.PtrToStringAuto(pReturnedString, (int)bytesReturned).ToString();
Marshal.FreeCoTaskMem(pReturnedString);
//use of Substring below removes terminating null for split
return local.Substring(0, local.Length - 1).Split('\0');

}
}
public static class ControlExtensions
{
/// <summary>
/// Execute a threadsafe operation, when accessing a control via another thread
/// action is a lamdaexpression
/// e.g. comboBox1.ExecuteThreadSafe(() => comboBox1.Enabled = true);
/// </summary>
/// <param name="control"> The control </param>
/// <param name="action"> The 'action' to perform </param>
public static void ExecuteThreadSafe(this Control control, Action action)
{
if (control.InvokeRequired)
{
control.BeginInvoke(action); //"BeginInvoke" is an async call -> threadsafety error when called to many times successively -> then take "Invoke"
}
else
{
action.Invoke();
}
}
}

}

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(root)/MKLiveView/MainForm.cs @ 2233 - Rev