WebSVN - Projects - /MKLiveView/Source/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 sourcecode (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
///
///============================================================================
/// DISCLAIMER
/// ===========
///
/// I created this software with my best knowledge and belief.
///
/// IN NO EVENT, UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING,
/// SHALL I, OR ANY PERSON BE LIABLE FOR ANY LOSS, EXPENSE OR DAMAGE,
/// OF ANY TYPE OR NATURE ARISING OUT OF THE USE OF,
/// OR INABILITY TO USE THIS SOFTWARE OR PROGRAM,
/// INCLUDING, BUT NOT LIMITED TO, CLAIMS, SUITS OR CAUSES OF ACTION
/// INVOLVING ALLEGED INFRINGEMENT OF COPYRIGHTS,
/// PATENTS, TRADEMARKS, TRADE SECRETS, OR UNFAIR COMPETITION.
///
/// This means: use it & have fun (but @ Your own risk...)
/// ===========================================================================

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
{
String[] NC_Error = new string[44]
{
"No Error",
"FC not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A1_.22FC_not_compatible_.22",
"MK3Mag not compatible" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A2_.22MK3Mag_not_compatible_.22",
"no FC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A3_.22no_FC_communication_.22",
"no compass communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A4_.22no_compass_communication_.22",
"no GPS communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A5_.22no_GPS_communication_.22",
"bad compass value" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A6_.22bad_compass_value.22",
"RC Signal lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A7_.22RC_Signal_lost_.22",
"FC spi rx error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A8_.22FC_spi_rx_error_.22",
"ERR: no NC communication" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A9:_.22ERR:_no_NC_communication.22",
"ERR: FC Nick Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A10_.22ERR:_FC_Nick_Gyro.22",
"ERR: FC Roll Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A11_.22ERR:_FC_Roll_Gyro.22",
"ERR: FC Yaw Gyro" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A12_.22ERR:_FC_Yaw_Gyro.22",
"ERR: FC Nick ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A13_.22ERR:_FC_Nick_ACC.22",
"ERR: FC Roll ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A14_.22ERR:_FC_Roll_ACC.22",
"ERR: FC Z-ACC" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A15_.22ERR:_FC_Z-ACC.22",
"ERR: Pressure sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A16_.22ERR:_Pressure_sensor.22",
"ERR: FC I2C" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A17_.22ERR:_FC_I2C.22",
"ERR: Bl Missing" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A18_.22ERR:_Bl_Missing.22",
"Mixer Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A19_.22Mixer_Error.22",
"FC: Carefree Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A20_.22FC:_Carefree_Error.22",
"ERR: GPS lost" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A21_.22ERR:_GPS_lost.22",
"ERR: Magnet Error" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A22_.22ERR:_Magnet_Error.22",
"Motor restart" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A23_.22Motor_restart.22",
"BL Limitation" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A24_.22BL_Limitation.22",
"Waypoint range" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A25_.22Waypoint_range.22",
"ERR:No SD-Card" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A26_.22ERR:No_SD-Card.22",
"ERR:SD Logging aborted" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A27_.22ERR:SD_Logging_aborted.22",
"ERR:Flying range!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A28_.22ERR:Flying_range.21.22",
"ERR:Max Altitude" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A29_.22ERR:Max_Altitude.22",
"No GPS Fix" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A30_.22No_GPS_Fix.22",
"compass not calibrated" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A31_.22compass_not_calibrated.22",
"ERR:BL selftest" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A32_.22ERR:BL_selftest.22",
"no ext. compass" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A33_.22no_ext._compass.22",
"compass sensor" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A34_.22compass_sensor.22",
"FAILSAFE pos.!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A35_.22FAILSAFE_pos..21__.22",
"ERR:Redundancy" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A36_.22ERR:Redundancy__.22",
"Redundancy test" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A37_.22Redundancy_test_.22",
"GPS Update rate" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A38_.22GPS_Update_rate.22",
"ERR:Canbus" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A39_.22ERR:Canbus.22",
"ERR: 5V RC-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A40_.22ERR:_5V_RC-Supply.22",
"ERR:Power-Supply" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A41_.22ERR:Power-Supply.22",
"ACC not calibr." + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A42_.22ACC_not_calibr..22",
"ERR:Parachute!" + Environment.NewLine + "http://wiki.mikrokopter.de/ErrorCodes#A43_.22ERR:Parachute.21.22"
};

[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;
bool _bErrorLog = false;
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;
int[] serChan = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int[] serChan_sub = new int[12] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
string[] serChanTitle = new string[12];
/// <summary>
/// interval for sending debugdata (multiplied by 10ms)
/// </summary>
byte debugInterval = 10; //(=> 100ms)
/// <summary>
/// interval for sending BL-CTRL status (multiplied by 10ms)
/// </summary>
byte blctrlInterval = 75;
/// <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();
/// <summary>
/// datatable for motordata (current,temp)
/// </summary>
DataTable dtMotors1 = new DataTable();
DataTable dtMotors2 = new DataTable();

DataTable dtWaypoints = new DataTable();

public MainForm()
{
InitializeComponent();
_initForm();
}
void _initForm()
{
serChanTitle.Initialize();

_readIni();

_dataTablesInit();

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); //a testing page
}
#region events
private void MainForm_Shown(object sender, EventArgs e)
{
_loadLabelNames();
_initSerialCtrl();
_init = false;
splitContainer1.SplitterDistance = 510;
}
private void MainForm_FormClosed(object sender, FormClosedEventArgs e)
{
_writeIni();
// after adding a second language the programm didn't close properly anymore
// so this is kinda workaround...
Dispose(true);
Environment.Exit(0);
}
private void SimpleSerialPort_PortOpened()
{
btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(192, 255, 192)));
if(Thread.CurrentThread.CurrentUICulture.Name== "")
btnConn.Invoke((Action)(() => btnConn.Text = "close" + Environment.NewLine + "serial port"));
else
btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "schliessen"));
_getVersion();
Thread.Sleep(100);
_OSDMenue(0);
Thread.Sleep(200);
_sendSerialData();
// _readCont(true);
}
private void SimpleSerialPort_PortClosed()
{
btnConn.Invoke((Action)(() => btnConn.BackColor = Color.FromArgb(224, 224, 224)));
if (Thread.CurrentThread.CurrentUICulture.Name == "")
btnConn.Invoke((Action)(() => btnConn.Text = "open" + Environment.NewLine + "serial port"));
else
btnConn.Invoke((Action)(() => btnConn.Text = "COM-Port" + Environment.NewLine + "öffnen"));
_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) { _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();
}
}
private void rtfError_LinkClicked(object sender, LinkClickedEventArgs e)
{
System.Diagnostics.Process.Start(e.LinkText);
}
/// <summary>
/// Combobox for selecting UI language
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void cbLanguage_SelectedIndexChanged(object sender, EventArgs e)
{
if (cbLanguage.SelectedIndex == 1)
Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("de-DE");
else
Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("");
updateStringRessource();
}
/// <summary>
/// the form has to be recreated when changing the language of the UI
/// </summary>
private void updateStringRessource()
{
try
{
Point pt = this.Location;// memorize location of form
Size sz = this.Size;// memorize size of form

if (simpleSerialPort.Port.IsOpen)
{
simpleSerialPort.Port.Close();
Thread.Sleep(200);
_readCont(false);
Thread.Sleep(100);
while (simpleSerialPort.Port.IsOpen | bReadContinously)
Thread.Sleep(100);
}

this.Controls.Clear();// clear all controls of form
components.Dispose();// dispose all components and release resources
// delete all events to avoid double instances when calling InitializeComponent();
this.Events.Dispose();
if (timer1 != null)
{
timer1.Dispose();
timer1 = null;
}
_init = true;
timer1 = new System.Windows.Forms.Timer();

dtAnalog = new DataTable();
dtMotors1 = new DataTable();
dtMotors2 = new DataTable();
dtWaypoints = new DataTable();

InitializeComponent(); // reload UI

_dataTablesInit();

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); //a testing page

this.Size = sz;// set size
this.Location = pt;// position form
_loadLabelNames();
_initSerialCtrl();
_init = false;

}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}

#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);

}));
_bErrorLog = true;
}

#region functions

#region processing received data
/// <summary> Processing the messages and displaying them in the according form controls
/// function called by simpleSerialPort.DataReceived event
/// </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;
byte[] tmp = null;
if (message[0] != '#')
{
int iFound = -1;
for(int i=0;i<message.Length;i++) //Sometimes the FC/NC sends strings without termination (like WP messages)
{ //so this is a workaround to not spam the log box
if (message[i] == 35)
{
iFound = i;
break;
}
}
if(iFound>0)
{
s = new string(ASCIIEncoding.ASCII.GetChars(message, 0,iFound));
tmp = new byte[message.Length - iFound];
Buffer.BlockCopy(message, iFound, tmp, 0, message.Length - iFound);
}
s = s.Trim('\0', '\n', '\r');
if(s.Length > 0)
Log(LogMsgType.Normal, s);
if (tmp != null)
{
s = new string(ASCIIEncoding.ASCII.GetChars(tmp, 0, tmp.Length));
processMessage(tmp);
}
}
//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()));
//display the active controller (FC / NC)
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': //Label names
_processLabelNames(s);
break;

case 'D': //Debug data
_processDebugVals(adr, data);
break;

case 'V': //Version
_processVersion(adr, data);
break;

case 'K'://BL-CTRL data
_processBLCtrl(data);
break;

case 'O': //NC Data
_processNCData(data);
break;

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

case 'L': //OSD Menue (called by pagenumber)
_processOSDSingle(data);
break;

case 'H': //OSD Menue (with autoupdate - called by Key)
_processOSDAuto(data);
break;

case 'X': //Waypoint data
_processWPData(data);
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>
/// Analog label names 'A'
/// each label name is returned as a single string
/// and added to string array sAnalogLabel[]
/// and the datatable dtAnalog
/// </summary>
/// <param name="s">the label name</param>
void _processLabelNames(string s)
{
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);
}
/// <summary>
/// Debug values 'D'
/// </summary>
/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
/// <param name="data">the received byte array to process</param>
void _processDebugVals(byte adr,byte[] data)
{
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) / (double)10;
lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = dTemp.ToString("0.0 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());
}
/// <summary>
/// Version string 'V'
/// </summary>
/// <param name="adr">adress of the active controller (1-FC, 2-NC)</param>
/// <param name="data">the received byte array to process</param>
void _processVersion(byte adr,byte[] data)
{
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
}
if((data[5] + data[6] == 0) && _bErrorLog)
_clearErrorLog(adr==1 ? "FC - HW-Error" : "FC - HW-Error");

}
check_HWError = false;
}
/// <summary>
/// BL-Ctrl data 'K'
/// for FC you have to use a customized firmware
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processBLCtrl(byte[] data)
{
if (data.Length % 6 == 0) //data.Length up to 96 (16 motors x 6 byte data) --> new datastruct in FC -> not standard!
{
bool bAvailable = false;
for (int i = 0; i < data.Length && data[i] < 8; i += 6) // data[i] < 8 --> at moment there are 8 display fields for motors
{

if ((data[i + 4] & 128) == 128) //Status bit at pos 7 = 128 dec -- if true, motor is available
bAvailable = true;
else
bAvailable = false;

if (data[i] < 4)
{
if (bAvailable)
{
dtMotors1.Rows[data[i]].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
dtMotors1.Rows[data[i]].SetField(2, data[i + 2].ToString("0 °C"));
}
else
{
dtMotors1.Rows[data[i]].SetField(1, "NA");
dtMotors1.Rows[data[i]].SetField(2, "NA");
}
}
if (data[i] > 3 && data[i] < 8)
{
if (bAvailable)
{
dtMotors2.Rows[data[i] - 4].SetField(1, ((double)data[i + 1] / (double)10).ToString("0.0 A"));
dtMotors2.Rows[data[i] - 4].SetField(2, data[i + 2].ToString("0 °C"));
}
else
{
dtMotors2.Rows[data[i] - 4].SetField(1, "NA");
dtMotors2.Rows[data[i] - 4].SetField(2, "NA");
}
}
}
}

}
/// <summary>
/// Navi-Ctrl data 'O'
/// GPS-Position, capacatiy, flying time...
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processNCData(byte[] data)
{
int i_32, i_16, iVal;
double d;
i_32 = data[4];
iVal = i_32 << 24;
i_32 = data[3];
iVal += i_32 << 16;
i_32 = data[2];
iVal += i_32 << 8;
iVal += data[1];
d = (double)iVal / Math.Pow(10, 7);
lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = d.ToString("0.######°"))); //GPS-Position: Longitude in decimal degree
//lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = _convertDegree(d))); //GPS-Position: Longitude in minutes, seconds

i_32 = data[8];
iVal = i_32 << 24;
i_32 = data[7];
iVal += i_32 << 16;
i_32 = data[6];
iVal += i_32 << 8;
iVal += data[5];
d = (double)iVal / Math.Pow(10, 7);
lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = d.ToString("0.######°"))); //GPS-Position: Latitude in decimal degree
//lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = _convertDegree(d))); //GPS-Position: Latitude in minutes, seconds

i_16 = data[28];
i_16 = (Int16)(i_16 << 8);
iVal = data[27] + i_16;
lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP

i_16 = data[45];
i_16 = (Int16)(i_16 << 8);
iVal = data[44] + i_16;
lblNCDistHP1.Invoke((Action)(() => lblNCDistHP1.Text = ((double)iVal/ (double)10).ToString("0.0 m"))); //Distance to next WP

lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = data[48].ToString())); //Waypoint index
lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = data[49].ToString())); //Waypoints count

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;
if (data[69] > 0 & data[69] < 44)
ErrorLog(LogMsgType.Error, "NC Error [" + data[69].ToString() + "]: " + NC_Error[data[69]]);
else
if(_bErrorLog) _clearErrorLog("NC Error");

}
/// <summary>
/// Navi-Ctrl WP data struct 'X'
/// called by index
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processWPData(byte[] data)
{
if (data.Length >= 28)
{
int count = data[0];
int index = data[1];
cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Clear()));
for (int i = 0; i < count; i++)
cbWPIndex.Invoke((Action)(() => cbWPIndex.Items.Add(i + 1)));
cbWPIndex.Invoke((Action)(() => cbWPIndex.SelectedItem = index));
DataRow dr = dtWaypoints.NewRow();
dr = Waypoints.toDataRow(data, dr);
dtWaypoints.Rows.Add(dr);
dgvWP.Invoke((Action)(() => dgvWP.Update()));
}
else
Debug.Print(new string(ASCIIEncoding.ASCII.GetChars(data, 0, data.Length)));
}
/// <summary>
/// OSD Menue 'L'
/// single page called by pagenumber
/// no autoupdate
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processOSDSingle(byte[] data)
{
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)");

}
/// <summary>
/// OSD Menue 'H'
/// called by keys (0x01,0x02,0x03,0x04)
/// autoupdate
/// </summary>
/// <param name="data">the received byte array to process</param>
void _processOSDAuto(byte[] data)
{
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)");
}
#endregion processing received 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;

if (Thread.CurrentThread.CurrentUICulture.Name == "")
btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "stop automatic" + Environment.NewLine + "data refresh" : "start automatic" + Environment.NewLine + "data refresh"));
else
btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.Text = bReadContinously ? "Aktualisierung" + Environment.NewLine + "beenden" : "Aktualisierung" + Environment.NewLine + "starten"));
btnReadDebugCont.Invoke((Action)(() => btnReadDebugCont.BackColor = bReadContinously ? Color.FromArgb(192, 255, 192) : Color.FromArgb(224, 224, 224)));
if (bReadContinously)
{
if (_debugDataAutorefresh) { _readDebugData(true); Thread.Sleep(10); }
if (_blctrlDataAutorefresh) { _readBLCtrl(true); Thread.Sleep(10); }
if (_navCtrlDataAutorefresh && _iCtrlAct == 2) { _readNavData(true); Thread.Sleep(10); }
if (_OSDAutorefresh) { _OSDMenueAutoRefresh(); Thread.Sleep(10);}
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 values to "NA" when not available with FC
/// </summary>
void _setFieldsNA()
{
Thread.Sleep(100);
_initDTMotors();
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
lblNCDistHP.Invoke((Action)(() => lblNCDistHP.Text = "NA")); //Distance to HP
lblNCSat.Invoke((Action)(() => lblNCSat.Text = "NA")); //Sats used
lblNCGPSLong.Invoke((Action)(() => lblNCGPSLong.Text = "NA")); //GPS position - longitude
lblNCGPSLat.Invoke((Action)(() => lblNCGPSLat.Text = "NA")); //GPS position - latitude
lblNCDistWP.Invoke((Action)(() => lblNCDistWP.Text = "NA")); //next WP distance
lblNCWPIndex.Invoke((Action)(() => lblNCWPIndex.Text = "NA")); //index of actual WP
lblNCWPCount.Invoke((Action)(() => lblNCWPCount.Text = "NA")); //count of items in WP list
}
/// <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;
}
/// <summary>
/// initialize the datatables
/// with columnnames etc
/// </summary>
void _dataTablesInit()
{
dtAnalog.Columns.Add("ID");
dtAnalog.Columns.Add("Value");
dataGridView1.DataSource = dtAnalog;

dtMotors1.Columns.Add("#");
if (Thread.CurrentThread.CurrentUICulture.Name == "")
dtMotors1.Columns.Add("Current");
else
dtMotors1.Columns.Add("Strom");
dtMotors1.Columns.Add("Temp");
dtMotors2.Columns.Add("#");
if (Thread.CurrentThread.CurrentUICulture.Name == "")
dtMotors2.Columns.Add("Current");
else
dtMotors2.Columns.Add("Strom");
dtMotors2.Columns.Add("Temp");
dgvMotors1.DataSource = dtMotors1;
dgvMotors2.DataSource = dtMotors2;
_initDTMotors();
dgvMotors1.Columns[0].Width = 24;
dgvMotors1.Columns[1].Width = 74;
dgvMotors1.Columns[2].Width = 74;
dgvMotors2.Columns[0].Width = 24;
dgvMotors2.Columns[1].Width = 74;
dgvMotors2.Columns[2].Width = 74;

dtWaypoints.Columns.Add("Index");
dtWaypoints.Columns.Add("Type");
dtWaypoints.Columns.Add("Name");
dtWaypoints.Columns.Add("Latitude");
dtWaypoints.Columns.Add("Longitude");
dtWaypoints.Columns.Add("Altitude");
dtWaypoints.Columns.Add("Heading");
dtWaypoints.Columns.Add("Speed");
dtWaypoints.Columns.Add("Altitude rate");
dtWaypoints.Columns.Add("Tol.radius");
dtWaypoints.Columns.Add("Hold time");
dtWaypoints.Columns.Add("AutoTrigger");
dtWaypoints.Columns.Add("Cam angle");
dtWaypoints.Columns.Add("Event");
dtWaypoints.Columns.Add("Eventchan. Val.");
dtWaypoints.Columns.Add("Status");
dgvWP.DataSource = dtWaypoints;
}
/// <summary>
/// read settings from ini-file
/// </summary>
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);
for(int i = 0; i < 12; i++)
{
sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Val");
if(sVal != "")
serChan[i] = Convert.ToInt16(sVal);
sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "Title");
if(sVal != "")
serChanTitle[i] = sVal;
for (int y = 0; i < 4 && y < 3; y++)
{
sVal = ini.IniReadValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString());
if (sVal != "")
serChan_sub[(i*3) + y] = Convert.ToInt16(sVal);
}
}
}
/// <summary>
/// save settings to ini-file
/// </summary>
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());

for (int i = 0; i < 12; i++)
{
ini.IniWriteValue("serial", "ch" + i.ToString() + "Val", serChan[i].ToString());
ini.IniWriteValue("serial", "ch" + i.ToString() + "Title", serChanTitle[i]);
for (int y = 0; i < 4 && y < 3; y++)
{
ini.IniWriteValue("serial", "ch" + i.ToString() + "ValSub" + y.ToString(), serChan_sub[(i * 3) + y].ToString());
}
}

}

/// <summary>
/// initialize the 2 datatables for motor values
/// dtMotors1 - motor 1 - 4
/// dtMotors2 - motor 5 - 8
/// DataGridView dgvMotors1/2 are bound to dtMotors1/2
/// </summary>
void _initDTMotors()
{
for(int i = 0; i < 4; i++)
{
if (dtMotors1.Rows.Count < 4)
dtMotors1.Rows.Add((i + 1).ToString(), "NA", "NA");
else
{
dtMotors1.Rows[i].SetField(1, "NA");
dtMotors1.Rows[i].SetField(2, "NA");
}
if (dtMotors2.Rows.Count < 4)
dtMotors2.Rows.Add((i + 5).ToString(), "NA", "NA");
else
{
dtMotors2.Rows[i].SetField(1, "NA");
dtMotors2.Rows[i].SetField(2, "NA");
}
}
dgvMotors1.Invoke((Action)(() => dgvMotors1.Refresh()));
dgvMotors2.Invoke((Action)(() => dgvMotors2.Refresh()));
}

/// <summary>
/// Convert decimal degrees to degrees, minutes, seconds, milliseconds
/// </summary>
/// <param name="coord">the degree value as double</param>
/// <returns>0° 0' 0,0"</returns>
string _convertDegree(double coord)
{
//double minutes = (degree - Math.Floor(degree)) * 60.0;
//double seconds = (minutes - Math.Floor(minutes)) * 60.0;
//double tenths = (seconds - Math.Floor(seconds)) * 10.0;
//// get rid of fractional part
//minutes = Math.Floor(minutes);
//seconds = Math.Floor(seconds);
//tenths = Math.Floor(tenths);

//int sec = (int)Math.Round(coord * 3600);
//int deg = sec / 3600;
//sec = Math.Abs(sec % 3600);
//int min = sec / 60;
//sec %= 60;

var ts = TimeSpan.FromHours(Math.Abs(coord));
double deg = Math.Sign(coord) * Math.Floor(ts.TotalHours);
int min = ts.Minutes;
int sec = ts.Seconds;
int milli = ts.Milliseconds;

return deg.ToString("0° ") + min.ToString("0") + "' " + sec.ToString("0") + "," + milli.ToString() + "\"";
}
/// <summary>
/// Clear the line in the errorlog window
/// containing the error string when error has ceased
/// </summary>
/// <param name="s">substring of errrormessage</param>
void _clearErrorLog(string s)
{
rtfError.Invoke((Action)(() =>
{
if (rtfError.Text.Contains(s))
{
int iLength = 0;
int iStart = rtfError.Text.IndexOf(s);
int iEnd = rtfError.Text.IndexOf('\n', iStart);
if (iEnd > 0)
{
iLength = iEnd + 1;
int iHttp = rtfError.Text.IndexOf("http", iEnd);
if (iHttp == iLength)
{
int iEnd2 = rtfError.Text.IndexOf('\n', iLength);
if (iEnd2 > iLength)
{
iLength = iEnd2 + 1;
rtfError.Select(iStart, iLength);
rtfError.SelectedText = string.Empty;
if(rtfError.Text.Length < 2) _bErrorLog = false;
}

}
else
{
rtfError.Select(iStart, iLength);
rtfError.SelectedText = string.Empty;
if(rtfError.Text.Length < 2) _bErrorLog = false;
}
}
}
}));

}
/// <summary>
/// request the Waypoint at index
/// </summary>
/// <param name="index"></param>
void _getpWP(int index)
{
if (simpleSerialPort.Port.IsOpen)
{
Stream serialStream = simpleSerialPort.Port.BaseStream;
byte[] bytes = FlightControllerMessage.CreateMessage('x', 2, new byte[1] { (byte)index });
serialStream.Write(bytes, 0, bytes.Length);
}
else
Log(LogMsgType.Error, "NOT CONNECTED!");

}
/// <summary>
/// Sending the serial channel values
/// </summary>
void _sendSerialData()
{
byte[] serData = new byte[12];
for(int i = 0; i < 12; i++)
{
serData[i] = unchecked((byte)(serChan[i] - 127));
}
_sendControllerMessage('y', 1, serData);
}
/// <summary>
/// init the controls for displaying
/// and setting serial control channels
/// </summary>
void _initSerialCtrl()
{
trckbarSerial1.Value = serChan[0];
textBoxSerial1.Text = serChanTitle[0];
lblTbSerial1.Text = serChan[0].ToString();
trckbarSerial2.Value = serChan[1];
textBoxSerial2.Text = serChanTitle[1];
lblTbSerial2.Text = serChan[1].ToString();
trckbarSerial3.Value = serChan[2];
textBoxSerial3.Text = serChanTitle[2];
lblTbSerial3.Text = serChan[2].ToString();
trckbarSerial4.Value = serChan[3];
textBoxSerial4.Text = serChanTitle[3];
lblTbSerial4.Text = serChan[3].ToString();
trckbarSerial5.Value = serChan[4];
textBoxSerial5.Text = serChanTitle[4];
lblTbSerial5.Text = serChan[4].ToString();
trckbarSerial6.Value = serChan[5];
textBoxSerial6.Text = serChanTitle[5];
lblTbSerial6.Text = serChan[5].ToString();
trckbarSerial7.Value = serChan[6];
textBoxSerial7.Text = serChanTitle[6];
lblTbSerial7.Text = serChan[6].ToString();
trckbarSerial8.Value = serChan[7];
textBoxSerial8.Text = serChanTitle[7];
lblTbSerial8.Text = serChan[7].ToString();

textBoxSerial1_val1.Text = serChan_sub[0].ToString();
textBoxSerial1_val2.Text = serChan_sub[1].ToString();
textBoxSerial1_val3.Text = serChan_sub[2].ToString();
textBoxSerial2_val1.Text = serChan_sub[3].ToString();
textBoxSerial2_val2.Text = serChan_sub[4].ToString();
textBoxSerial2_val3.Text = serChan_sub[5].ToString();
textBoxSerial3_val1.Text = serChan_sub[6].ToString();
textBoxSerial3_val2.Text = serChan_sub[7].ToString();
textBoxSerial3_val3.Text = serChan_sub[8].ToString();
textBoxSerial4_val1.Text = serChan_sub[9].ToString();
textBoxSerial4_val2.Text = serChan_sub[10].ToString();
textBoxSerial4_val3.Text = serChan_sub[11].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);
}
private void btnGetWP_Click(object sender, EventArgs e)
{
if(cbWPIndex.Items.Count >0)
_getpWP((int)cbWPIndex.SelectedItem);
else
_getpWP(1);
}
#endregion buttons
#region serial control channels - buttons & events
private void tbSerial1_Scroll(object sender, EventArgs e)
{
lblTbSerial1.Text = trckbarSerial1.Value.ToString();
serChan[0] = trckbarSerial1.Value;
if (!_init) _sendSerialData();
}
private void textBoxSerial1_TextChanged(object sender, EventArgs e)
{
serChanTitle[0] = textBoxSerial1.Text;
}
private void btnSer1_0_Click(object sender, EventArgs e)
{
trckbarSerial1.Value = 0;
}
private void btnSer1_127_Click(object sender, EventArgs e)
{
trckbarSerial1.Value = 127;
}
private void btnSer1_254_Click(object sender, EventArgs e)
{
trckbarSerial1.Value = 254;
}
private void trckbarSerial1_ValueChanged(object sender, EventArgs e)
{
lblTbSerial1.Text = trckbarSerial1.Value.ToString();
serChan[0] = trckbarSerial1.Value;
if (!_init) _sendSerialData();
}
private void textBoxSerial2_TextChanged(object sender, EventArgs e)
{
serChanTitle[1] = textBoxSerial2.Text;
}
private void trckbarSerial2_ValueChanged(object sender, EventArgs e)
{
lblTbSerial2.Text = trckbarSerial2.Value.ToString();
serChan[1] = trckbarSerial2.Value;
if (!_init) _sendSerialData();
}
private void btnSer2_0_Click(object sender, EventArgs e)
{
trckbarSerial2.Value = 0;
}
private void btnSer2_127_Click(object sender, EventArgs e)
{
trckbarSerial2.Value = 127;
}
private void btnSer2_254_Click(object sender, EventArgs e)
{
trckbarSerial2.Value = 254;
}
private void textBoxSerial3_TextChanged(object sender, EventArgs e)
{
serChanTitle[2] = textBoxSerial3.Text;
}
private void trckbarSerial3_ValueChanged(object sender, EventArgs e)
{
lblTbSerial3.Text = trckbarSerial3.Value.ToString();
serChan[2] = trckbarSerial3.Value;
if (!_init) _sendSerialData();
}
private void btnSer3_0_Click(object sender, EventArgs e)
{
trckbarSerial3.Value = 0;
}
private void btnSer3_127_Click(object sender, EventArgs e)
{
trckbarSerial3.Value = 127;
}
private void btnSer3_254_Click(object sender, EventArgs e)
{
trckbarSerial3.Value = 254;
}
private void textBoxSerial4_TextChanged(object sender, EventArgs e)
{
serChanTitle[3] = textBoxSerial4.Text;
}
private void trckbarSerial4_ValueChanged(object sender, EventArgs e)
{
lblTbSerial4.Text = trckbarSerial4.Value.ToString();
serChan[3] = trckbarSerial4.Value;
if (!_init) _sendSerialData();
}
private void btnSer4_0_Click(object sender, EventArgs e)
{
trckbarSerial4.Value = 0;
}
private void btnSer4_127_Click(object sender, EventArgs e)
{
trckbarSerial4.Value = 127;
}
private void btnSer4_254_Click(object sender, EventArgs e)
{
trckbarSerial4.Value = 254;
}
private void tbSerial5_Scroll(object sender, EventArgs e)
{
lblTbSerial5.Text = trckbarSerial5.Value.ToString();
serChan[4] = trckbarSerial5.Value;
if (!_init) _sendSerialData();
}
private void textBoxSerial5_TextChanged(object sender, EventArgs e)
{
serChanTitle[4] = textBoxSerial5.Text;
}
private void btnSer5_0_Click(object sender, EventArgs e)
{
trckbarSerial5.Value = 0;
}
private void btnSer5_127_Click(object sender, EventArgs e)
{
trckbarSerial5.Value = 127;
}
private void btnSer5_254_Click(object sender, EventArgs e)
{
trckbarSerial5.Value = 254;
}
private void trckbarSerial5_ValueChanged(object sender, EventArgs e)
{
lblTbSerial5.Text = trckbarSerial5.Value.ToString();
serChan[4] = trckbarSerial5.Value;
if (!_init) _sendSerialData();
}
private void tbSerial6_Scroll(object sender, EventArgs e)
{
lblTbSerial6.Text = trckbarSerial6.Value.ToString();
serChan[5] = trckbarSerial6.Value;
if (!_init) _sendSerialData();
}
private void textBoxSerial6_TextChanged(object sender, EventArgs e)
{
serChanTitle[5] = textBoxSerial6.Text;
}
private void btnSer6_0_Click(object sender, EventArgs e)
{
trckbarSerial6.Value = 0;
}
private void btnSer6_127_Click(object sender, EventArgs e)
{
trckbarSerial6.Value = 127;
}
private void btnSer6_254_Click(object sender, EventArgs e)
{
trckbarSerial6.Value = 254;
}
private void trckbarSerial6_ValueChanged(object sender, EventArgs e)
{
lblTbSerial6.Text = trckbarSerial6.Value.ToString();
serChan[5] = trckbarSerial6.Value;
if (!_init) _sendSerialData();
}
private void tbSerial7_Scroll(object sender, EventArgs e)
{
lblTbSerial7.Text = trckbarSerial7.Value.ToString();
serChan[6] = trckbarSerial7.Value;
if (!_init) _sendSerialData();
}
private void textBoxSerial7_TextChanged(object sender, EventArgs e)
{
serChanTitle[6] = textBoxSerial7.Text;
}
private void btnSer7_0_Click(object sender, EventArgs e)
{
trckbarSerial7.Value = 0;
}
private void btnSer7_127_Click(object sender, EventArgs e)
{
trckbarSerial7.Value = 127;
}
private void btnSer7_254_Click(object sender, EventArgs e)
{
trckbarSerial7.Value = 254;
}
private void trckbarSerial7_ValueChanged(object sender, EventArgs e)
{
lblTbSerial7.Text = trckbarSerial7.Value.ToString();
serChan[6] = trckbarSerial7.Value;
if (!_init) _sendSerialData();
}
private void tbSerial8_Scroll(object sender, EventArgs e)
{
lblTbSerial8.Text = trckbarSerial8.Value.ToString();
serChan[7] = trckbarSerial8.Value;
if (!_init) _sendSerialData();
}
private void textBoxSerial8_TextChanged(object sender, EventArgs e)
{
serChanTitle[7] = textBoxSerial8.Text;
}
private void btnSer8_0_Click(object sender, EventArgs e)
{
trckbarSerial8.Value = 0;
}
private void btnSer8_127_Click(object sender, EventArgs e)
{
trckbarSerial8.Value = 127;
}
private void btnSer8_254_Click(object sender, EventArgs e)
{
trckbarSerial8.Value = 254;
}
private void trckbarSerial8_ValueChanged(object sender, EventArgs e)
{
lblTbSerial8.Text = trckbarSerial8.Value.ToString();
serChan[7] = trckbarSerial8.Value;
if (!_init) _sendSerialData();
}
/// <summary>
/// checks the input of a textbox
/// for valid data
/// in this case values 0-254
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void textBox_serial_KeyPress(object sender, KeyPressEventArgs e)
{
if ("1234567890,\b".IndexOf(e.KeyChar.ToString()) < 0) //general check for valid chars(0-9) and backspace (\b)
e.Handled = true;
else
if ("\b".IndexOf(e.KeyChar.ToString()) < 0)
if (Convert.ToInt16(((TextBox)sender).Text + e.KeyChar) > 254) //if valid and not backspace, check for upper limit of the resulting number
e.Handled = true;
else
{
int i = -1;
switch (((TextBox)sender).Name)
{
case "textBoxSerial1_val1":
i = 0;
break;
case "textBoxSerial1_val2":
i = 1;
break;
case "textBoxSerial1_val3":
i = 2;
break;
case "textBoxSerial2_val1":
i = 3;
break;
case "textBoxSerial2_val2":
i = 4;
break;
case "textBoxSerial2_val3":
i = 5;
break;
case "textBoxSerial3_val1":
i = 6;
break;
case "textBoxSerial3_val2":
i = 7;
break;
case "textBoxSerial3_val3":
i = 8;
break;
case "textBoxSerial4_val1":
i = 9;
break;
case "textBoxSerial4_val2":
i = 10;
break;
case "textBoxSerial4_val3":
i = 11;
break;
}
if (i > -1)
serChan_sub[i] = Convert.ToInt16(((TextBox)sender).Text + e.KeyChar);
}
}

private void btnSer1_val1_Click(object sender, EventArgs e)
{
if(textBoxSerial1_val1.Text.Length > 0)
{
trckbarSerial1.Value = Convert.ToInt16(textBoxSerial1_val1.Text);
}
}
private void btnSer1_val2_Click(object sender, EventArgs e)
{
if(textBoxSerial1_val2.Text.Length > 0)
{
trckbarSerial1.Value = Convert.ToInt16(textBoxSerial1_val2.Text);
}
}
private void btnSer1_val3_Click(object sender, EventArgs e)
{
if(textBoxSerial1_val3.Text.Length > 0)
{
trckbarSerial1.Value = Convert.ToInt16(textBoxSerial1_val3.Text);
}
}
private void btnSer2_val1_Click(object sender, EventArgs e)
{
if(textBoxSerial2_val1.Text.Length > 0)
{
trckbarSerial2.Value = Convert.ToInt16(textBoxSerial2_val1.Text);
}
}
private void btnSer2_val2_Click(object sender, EventArgs e)
{
if(textBoxSerial2_val2.Text.Length > 0)
{
trckbarSerial2.Value = Convert.ToInt16(textBoxSerial2_val2.Text);
}
}
private void btnSer2_val3_Click(object sender, EventArgs e)
{
if(textBoxSerial2_val3.Text.Length > 0)
{
trckbarSerial2.Value = Convert.ToInt16(textBoxSerial2_val3.Text);
}
}
private void btnSer3_val1_Click(object sender, EventArgs e)
{
if(textBoxSerial3_val1.Text.Length > 0)
{
trckbarSerial3.Value = Convert.ToInt16(textBoxSerial3_val1.Text);
}
}
private void btnSer3_val2_Click(object sender, EventArgs e)
{
if(textBoxSerial3_val2.Text.Length > 0)
{
trckbarSerial3.Value = Convert.ToInt16(textBoxSerial3_val2.Text);
}
}
private void btnSer3_val3_Click(object sender, EventArgs e)
{
if(textBoxSerial3_val3.Text.Length > 0)
{
trckbarSerial3.Value = Convert.ToInt16(textBoxSerial3_val3.Text);
}
}
private void btnSer4_val1_Click(object sender, EventArgs e)
{
if(textBoxSerial4_val1.Text.Length > 0)
{
trckbarSerial4.Value = Convert.ToInt16(textBoxSerial4_val1.Text);
}
}
private void btnSer4_val2_Click(object sender, EventArgs e)
{
if(textBoxSerial4_val2.Text.Length > 0)
{
trckbarSerial4.Value = Convert.ToInt16(textBoxSerial4_val2.Text);
}
}
private void btnSer4_val3_Click(object sender, EventArgs e)
{
if(textBoxSerial4_val3.Text.Length > 0)
{
trckbarSerial4.Value = Convert.ToInt16(textBoxSerial4_val3.Text);
}
}
#endregion serial control channels
}
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/Source/MainForm.cs @ 2444 - Rev