using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Media;
using System.IO.Ports;
using System.Globalization;
using System.Diagnostics;
using Microsoft.Web.WebView2.Core;


namespace Test_1
{
    public partial class Scherm_1 : Form{
        static SerialPort port;
        string datain;
        byte cmdsendstatus=48;

        public Scherm_1(){												//Initialization
            InitializeComponent();
            port = new SerialPort();
			InitializeWebView2();		//NEW
            received_data = 2;
            textBox10.Text = (zoom - 14).ToString();
            yoLabel01.Text = "Yo The KING!";
			//button6.Enabled = true;			
        }
		private async void InitializeWebView2(){	//NEW
            await webView21.EnsureCoreWebView2Async(null);
            string hostedUrl = "https://demo.mugenros.com.my/index5.html";
            webView21.CoreWebView2.Navigate(hostedUrl);
			webView21.CoreWebView2.WebMessageReceived += WebView21_WebMessageReceived;
        }
		private void AddMarker(string color, string latText, string lngText, int index, bool center){
            if (double.TryParse(latText.Trim(), out double lat) &&
                double.TryParse(lngText.Trim(), out double lng)){
                webView21.CoreWebView2.ExecuteScriptAsync($"addMarker({index}, {lat}, {lng}, '{color}', {center.ToString().ToLower()})");
            }else{
                MessageBox.Show($"Please enter valid coordinates for Marker {index + 1}.", "Invalid Input", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
        }
        private void ComboBox1_Click(object sender, EventArgs e){		//Declare Serial port
            string[] ports = SerialPort.GetPortNames();
            PortNumber.Items.Clear();
            PortNumber.Items.AddRange(ports);
        }
		
		private void Port_DataReceived(object sender, SerialDataReceivedEventArgs e)
		{
            while (port.BytesToRead > 0)  // Process incoming bytes
            {
                int receivedByte = port.ReadByte(); // Read one byte
                receive_buffer[receive_buffer_counter++] = (byte)receivedByte;

                if (receive_buffer_counter >= 35)  // Full packet received
                {
                    Invoke(new Action(() =>
                    {
                        Console.WriteLine("Received: " + BitConverter.ToString(receive_buffer));
                        datain = "";
                        for (int i = 0; i < 35; i++)
                        {
                            datain += receive_buffer[i] + " ";
                        }
                        if (yoLabel01.InvokeRequired) { yoLabel01.Invoke(new Action(() => yoLabel01.Text = datain)); } else { yoLabel01.Text = datain; }

                        if (receive_buffer[0]=='J' && receive_buffer[1] == 'B')
                        {
                            if (receive_buffer[34] == 50)
                            {
                                cmdsendstatus = receive_buffer[34]; // Should be 50
                                /*Invoke(new Action(() =>
                                {
                                    Console.WriteLine("Before assignment: cmdsendstatus = " + cmdsendstatus);
                                    Console.WriteLine("receive_buffer[34] = " + receive_buffer[34]);

                                    cmdsendstatus = receive_buffer[34]; // Should be 50
                                    Console.WriteLine("After assignment: cmdsendstatus = " + cmdsendstatus);

                                    if (cmdsendstatus == 50)
                                    {
                                        Console.WriteLine("cmdsendstatus successfully set to 50!");
                                    }
                                }));*/
                            }
                            else
                            {
                                get_data();
                            }
                        }
                    }));
                    receive_buffer_counter = 0; // Reset for next packet
                }
            }

            /*if (port.IsOpen)
			{
				byte[] receivedData = new byte[port.BytesToRead];
				port.Read(receivedData, 0, receivedData.Length);
				Console.WriteLine("Received: " + BitConverter.ToString(receivedData));

                datain = BitConverter.ToString(receivedData) + " "+ receivedData.Length.ToString(new CultureInfo("en-US"));
                if (yoLabel01.InvokeRequired) { yoLabel01.Invoke(new Action(() => yoLabel01.Text = datain)); } else { yoLabel01.Text = datain; }
            }*/
		}

        private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e){
            try{
                SerialPort sp = (SerialPort)sender;
                //datain = "";
                while (sp.BytesToRead > 0){
                    int nextByte = sp.ReadByte();
					datain+=nextByte.ToString(new CultureInfo("en-US")) + " ";
                    /*if (nextByte >= 0){
                        receive_buffer[receive_buffer_counter] = (byte)nextByte;
						datain+=receive_buffer[receive_buffer_counter].ToString(new CultureInfo("en-US")) + " ";
						if (yoLabel01.InvokeRequired){yoLabel01.Invoke(new Action(() => yoLabel01.Text = datain));}else{yoLabel01.Text = datain;}
						
                        if (receive_byte_previous == 'J' && receive_buffer[receive_buffer_counter] == 'B'){
                            receive_buffer_counter = 0;
                            receive_start_detect++;
                            if (receive_start_detect >= 2){
                                //int temcmdstatus = (int)receive_buffer[32] - 48;
                                //if (temcmdstatus < 2)
								if ((int)receive_buffer[32] < 50)
                                {
                                    get_data();
                                }else{
									cmdsendstatus = (int)receive_buffer[32] - 48;
								}
                            }
                            

                        }
                        else{
                            receive_byte_previous = receive_buffer[receive_buffer_counter];
                            receive_buffer_counter++;
                            if (receive_buffer_counter > 48) receive_buffer_counter = 0;
                        }
                    }*/
                }
				if (yoLabel01.InvokeRequired){yoLabel01.Invoke(new Action(() => yoLabel01.Text = datain));}else{yoLabel01.Text = datain;}
            }catch (Exception ex){
                MessageBox.Show("Error receiving data: " + ex.Message);
            }
        }
        private void OpenClose_Click(object sender, EventArgs e){		// Open close serial port
            if (OpenClose.Text == "Open"){
                if (PortNumber.Text.Length > 1){
                    port = new SerialPort(PortNumber.Text, 9600, Parity.None, 8, StopBits.One);
                    //port.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
					port.DataReceived += Port_DataReceived;

                    port.Open();
                    OpenClose.Text = "Close";
                    Location_update_timer.Enabled = true;
                }else{
                    string message = "No port selected";
                    string title = "Error";
                    MessageBox.Show(message, title);
                    return;
                }
            }else{
                clear_waypoint_labels();
                port.Close();
                OpenClose.Text = "Open";
                Location_update_timer.Enabled = false;
                label12.Visible = false; 	//Home Marker
                label24.Visible = false;	//Connection LOST Label
                first_receive = 0;
                button6.Enabled = false;	//Create List Button
                flight_timer.Enabled = false;	//
            }
        }
        private void get_data(){										//Get data from Drone to display
            check_byte = 0;
            for (temp_byte = 0+2; temp_byte <= 30 + 2; temp_byte++) check_byte ^= receive_buffer[temp_byte];
            if (check_byte == receive_buffer[31 + 2]){
                first_receive = 1;
                last_receive = milliseconds;
                receive_start_detect = 1;

                error = receive_buffer[0 + 2];
                flight_mode = receive_buffer[1 + 2];
                battery_voltage = (float)receive_buffer[2 + 2] / 10.0f;
                battery_bar_level = receive_buffer[2 + 2];

                temperature = (short)(receive_buffer[3 + 2] | receive_buffer[4 + 2] << 8);
                roll_angle = receive_buffer[5 + 2] - 100;
                pitch_angle = receive_buffer[6 + 2] - 100;
                start = receive_buffer[7 + 2];
                altitude_meters = (receive_buffer[8 + 2] | receive_buffer[9 + 2] << 8) - 1000;
                if (altitude_meters > max_altitude_meters) max_altitude_meters = altitude_meters;
                takeoff_throttle = receive_buffer[10 + 2] | receive_buffer[11 + 2] << 8;
                actual_compass_heading = receive_buffer[12 + 2] | receive_buffer[13 + 2] << 8;
                heading_lock = receive_buffer[14 + 2];
                number_used_sats = receive_buffer[15 + 2];
                fix_type = receive_buffer[16 + 2];
                l_lat_gps = (int)receive_buffer[17 + 2] | (int)receive_buffer[18 + 2] << 8 | (int)receive_buffer[19 + 2] << 16 | (int)receive_buffer[20 + 2] << 24;
                l_lon_gps = (int)receive_buffer[21 + 2] | (int)receive_buffer[22 + 2] << 8 | (int)receive_buffer[23 + 2] << 16 | (int)receive_buffer[24 + 2] << 24;

                adjustable_setting_1 = (float)(receive_buffer[25 + 2] | receive_buffer[26 + 2] << 8) / 100.0f;
                adjustable_setting_2 = (float)(receive_buffer[27 + 2] | receive_buffer[28 + 2] << 8) / 100.0f;
                adjustable_setting_3 = (float)(receive_buffer[29 + 2] | receive_buffer[30 + 2] << 8) / 100.0f;
                ground_distance = Math.Pow((float)((l_lat_gps - home_lat_gps) ^ 2) * 0.111, 2);
                ground_distance += Math.Pow((float)(l_lon_gps - home_lon_gps) * (Math.Cos((l_lat_gps / 1000000) * 0.017453) * 0.111), 2);
                ground_distance = Math.Sqrt(ground_distance);
                los_distance = Math.Sqrt(Math.Pow(ground_distance, 2) + Math.Pow(altitude_meters, 2));   				
            }
        }
        private void Timer2_Tick(object sender, EventArgs e){			//Loop program
            if (start == 2 && flight_mode == 3 && fly_waypoint_list.Enabled == false){ 
				button6.Enabled = true;	//Create List Button
				webView21.CoreWebView2.ExecuteScriptAsync("enableMapClick()");
			}
            else button6.Enabled = false;	//Create List Button

            if (start != 2) clear_waypoint_labels();            

            if(port.IsOpen && first_receive == 0){
                label27.Visible = true;		//Waiting for telemetry signal Label
            }else label27.Visible = false;	//Waiting for telemetry signal Label
            
            milliseconds += 100;
            if (first_receive == 1){		//Display data
                if (milliseconds - last_receive > 2000 && label24.Visible == false) label24.Visible = true;	//Connection LOST Label
                if (milliseconds - last_receive < 1000 && label24.Visible == true) label24.Visible = false;	//Connection LOST Label

                if (flight_mode == 1) textBox2.Text = "1-Auto level";
                if (flight_mode == 2) textBox2.Text = "2-Altutude hold";
                if (flight_mode == 3) textBox2.Text = "3-GPS hold";
                if (flight_mode == 4) textBox2.Text = "4-RTH active";
                if (flight_mode == 5) textBox2.Text = "5-RTH Increase altitude";
                if (flight_mode == 6) textBox2.Text = "6-RTH Returning to home position";
                if (flight_mode == 7) textBox2.Text = "7-RTH Landing";
                if (flight_mode == 8) textBox2.Text = "8-RTH finished";
                if (flight_mode == 9) textBox2.Text = "9-Fly to waypoint";

                if (start == 0){
                    pictureBox1.Visible = true;		//Motor Status
                    pictureBox2.Visible = false;
                    pictureBox3.Visible = false;
                }
                if (start == 1){
                    pictureBox1.Visible = false;
                    pictureBox2.Visible = false;
                    pictureBox3.Visible = true;
                }
                if (start == 2){
                    pictureBox1.Visible = false;
                    pictureBox2.Visible = true;
                    pictureBox3.Visible = false;
                }

                if (error == 0) textBox3.Text = "No error";
                if (error == 1) textBox3.Text = "Battery LOW";
                if (error == 2) textBox3.Text = "Program loop time";
                if (error == 3) textBox3.Text = "ACC cal error";
                if (error == 4) textBox3.Text = "GPS watchdog time";
                if (error == 5) textBox3.Text = "Manual take-off thr error";
                if (error == 6) textBox3.Text = "No take-off detected";
                if (error == 7) textBox3.Text = "Auto throttle error";

                label15.Text = number_used_sats.ToString();	//Satelite  Numbers
                if (number_used_sats > 6){
                    pictureBox4.Visible = false;	//Satelite Status
                    pictureBox5.Visible = false;
                    pictureBox6.Visible = true;

                }else if (number_used_sats > 3){
                    pictureBox4.Visible = false;
                    pictureBox5.Visible = true;
                    pictureBox6.Visible = false;

                }else{
                    pictureBox4.Visible = true;
                    pictureBox5.Visible = false;
                    pictureBox6.Visible = false;
                }

                label16.Text = ((float)l_lat_gps / 1000000.0).ToString(new CultureInfo("en-US"));
                label17.Text = ((float)l_lon_gps / 1000000.0).ToString(new CultureInfo("en-US"));
                label18.Text = actual_compass_heading.ToString();
                label19.Text = altitude_meters.ToString() + "m";
                label20.Text = max_altitude_meters.ToString() + "m";
                label21.Text = battery_voltage.ToString("00.0") + "V";
                label4.Text = pitch_angle.ToString();
                label14.Text = roll_angle.ToString();
                label37.Text = ((float)temperature / 340.0 + 36.53).ToString("00.0") + "C";

                if (battery_bar_level > 124) battery_bar_level = 124;
                if (battery_bar_level < 85) battery_bar_level = 85;
                if (battery_bar_level > 108) panel5.BackColor = Color.Lime;
                else if (battery_bar_level > 100) panel5.BackColor = Color.Yellow;
                else panel5.BackColor = Color.Red;

                panel6.Size = new Size(34,134 - ((battery_bar_level - 80)*3));

                if (home_gps_set == 1) label22.Text = los_distance.ToString("0.") + "m";
                else label22.Text = "0m";

                if (home_gps_set == 0 && number_used_sats > 4 && start == 2){	//First Step set home location
                    home_gps_set = 1;
                    home_lat_gps = l_lat_gps;	//FROM Drone
                    home_lon_gps = l_lon_gps;	//FROM Drone
                    //label12.Visible = true;		//Home Marker					
                }
                if (home_gps_set == 1 && start == 0){
                    home_gps_set = 0;
                    label12.Visible = false;	//Home Marker
                }
                if(start == 2){
                    if (flight_timer.Enabled == false) flight_timer.Enabled = true;
                }
                if(start == 0){
                    if (flight_timer.Enabled == true) flight_timer.Enabled = false;
                }
            }
        }
        private void Location_update_timer_Tick(object sender, EventArgs e){	//update coordinate in the map.
            if (number_used_sats > 4 && l_lat_gps != 0){
                if (home_gps_set == 0){		//Set home location to the map
                    AddMarker("green", ((float)(l_lat_gps) / 1000000.0).ToString(new CultureInfo("en-US")), ((float)l_lon_gps / 1000000.0).ToString(new CultureInfo("en-US")), 0, true);
                }
                else{		//Set running location to the map
					AddMarker("red", ((float)(l_lat_gps) / 1000000.0).ToString(new CultureInfo("en-US")), ((float)l_lon_gps / 1000000.0).ToString(new CultureInfo("en-US")), 1, true);
					AddMarker("green", ((float)(home_lat_gps) / 1000000.0).ToString(new CultureInfo("en-US")), ((float)home_lon_gps / 1000000.0).ToString(new CultureInfo("en-US")), 0, true);
                }
            }
        }
        private void Rx_timer_blink_Tick(object sender, EventArgs e){
            if (received_data > 0) received_data++;
            if (received_data == 2){
                indicator_on();
            }
            if (received_data == 3){
                indicator_off();
            }
            if (received_data == 10){
                received_data = 0;
            }
        }
        private void clear_waypoint_labels(){
            label23.Visible = false;
            label28.Visible = false;
            label29.Visible = false;
            label30.Visible = false;
            label31.Visible = false;
            label32.Visible = false;
            label33.Visible = false;
            label34.Visible = false;
            label35.Visible = false;
            button1.Enabled = true;		//Zoom Button
            button4.Enabled = true;		//Zoom Button
        }
        private void indicator_on(){
            Graphics g = panel1.CreateGraphics();
            Pen p = new Pen(Color.Blue);
            SolidBrush sb = new SolidBrush(Color.LightBlue);
            g.DrawEllipse(p, 1, 1, 10, 10);
            g.FillEllipse(sb, 1, 1, 10, 10);
        }
        private void indicator_off(){
            Graphics g = panel1.CreateGraphics();
            Pen p = new Pen(Color.DarkBlue);
            SolidBrush sb = new SolidBrush(Color.DarkBlue);
            g.DrawEllipse(p, 1, 1, 10, 10);
            g.FillEllipse(sb, 1, 1, 10, 10);
        }
        private void Button1_Click(object sender, EventArgs e){	//Zoom Button
            if (zoom > 14) zoom--;
            textBox10.Text = (zoom - 14).ToString();
        }
        private void Button4_Click(object sender, EventArgs e){	//Zoom Button
            if (zoom < 19) zoom++;
            textBox10.Text = (zoom - 14).ToString();
        }
        /*private void Send_telemetry_data_Tick(object sender, EventArgs e)
        {
            // Sending telemetry data when cmdsendstatus is 0 and flight_mode is 3
            if (cmdsendstatus == 48 && flight_mode == 3 && new_telemetry_data_to_send > 0 && new_telemetry_data_to_send <= 10)
            {
                if (port.IsOpen)
                {
                    try
                    {
                        port.Write(send_buffer, 0, 13);
                    }
                    catch (Exception ex)
                    {
                        MessageBox.Show("Error sending data: " + ex.Message);
                    }
                    new_telemetry_data_to_send++;
                    label26.Text = "Try " + new_telemetry_data_to_send.ToString();
                }
            }
            else if (cmdsendstatus == 49 && new_telemetry_data_to_send > 0 && new_telemetry_data_to_send <= 10)
            {
                if (port.IsOpen)
                {
                    try
                    {
                        port.Write(send_buffer, 0, 13);
                    }
                    catch (Exception ex)
                    {
                        MessageBox.Show("Error sending data: " + ex.Message);
                    }
                    new_telemetry_data_to_send++;
                    label26.Text = "Sending " + new_telemetry_data_to_send.ToString();
                }
            }
            else // If conditions fail, disable timer and update status
            {
                Send_telemetry_data.Enabled = false;
                if (flight_mode == 3 || cmdsendstatus == 49)
                {
                    label26.Text = "Fail";
                }
                else if (flight_mode == 9 || cmdsendstatus == 50)
                {
                    label26.Text = "Received";
                    if (waypoint_send_step == 2) waypoint_send_step = 3;
                }
                new_telemetry_data_to_send = 0;
            }
        }*/
        private void Send_telemetry_data_Tick(object sender, EventArgs e){	//Send telemetry data to drone
            //Console.WriteLine("cmdsendstatus changed to: " + cmdsendstatus);

            if (cmdsendstatus==48 && flight_mode == 3 && new_telemetry_data_to_send > 0 && new_telemetry_data_to_send <= 10){
                if (port.IsOpen){
					try{
						if (port.IsOpen){
							port.Write(send_buffer, 0, 13);
						}else{
							MessageBox.Show("Serial port is not open.");
						}
					}catch (Exception ex){
						MessageBox.Show("Error sending data: " + ex.Message);
					}
                    new_telemetry_data_to_send++;
                    label26.Text = "Try " + new_telemetry_data_to_send.ToString();
                }
            }
            else if (cmdsendstatus == 48 && flight_mode == 3 && new_telemetry_data_to_send > 10)
            {
                new_telemetry_data_to_send = 0;
                Send_telemetry_data.Enabled = false;
                label26.Text = "Fail";

            }
            else if (cmdsendstatus == 48 && flight_mode == 9)
            {
                new_telemetry_data_to_send = 0;
                Send_telemetry_data.Enabled = false;
                label26.Text = "Received";
                if (waypoint_send_step == 2) waypoint_send_step = 3;

            }

			else if(cmdsendstatus==49 && new_telemetry_data_to_send > 0 && new_telemetry_data_to_send <= 10){
				if (port.IsOpen){
					try{
						if (port.IsOpen){
							port.Write(send_buffer, 0, 13);
						}else{
							MessageBox.Show("Serial port is not open.");
						}
					}catch (Exception ex){
						MessageBox.Show("Error sending data: " + ex.Message);
					}
                    new_telemetry_data_to_send++;
                    label26.Text = "Sending " + new_telemetry_data_to_send.ToString();
                }
            }
            else if (cmdsendstatus == 49 && new_telemetry_data_to_send > 10)
            {
                new_telemetry_data_to_send = 0;
                Send_telemetry_data.Enabled = false;
                label26.Text = "Fail";
                cmdsendstatus = 48;
            }
            else if (cmdsendstatus == 50)
            {
                new_telemetry_data_to_send = 0;
                Send_telemetry_data.Enabled = false;
                label26.Text = "Received";
                cmdsendstatus = 48;
                /*/// Ensure UI updates correctly
                Invoke(new Action(() =>
                {
                    label26.Text = "Received";
                }));

                // Delay reset to 48
                Task.Delay(100).ContinueWith(_ =>
                {
                    cmdsendstatus = 48;
                    Console.WriteLine("cmdsendstatus reset to 48 after delay.");
                });*/

            }
        }
        private void BT_reset_waypoints(object sender, EventArgs e){	//Reset
            clear_waypoint_labels();
            create_waypoint_list = false;
            fly_waypoint_list.Enabled = false;
            Send_telemetry_data.Enabled = false;
            label26.Text = "-";

            webView21.CoreWebView2.ExecuteScriptAsync("resetMap()");
            yoLabel01.Text = "Yo is King";
        }

        private void Button6_Click(object sender, EventArgs e){			//Createlist Waypoint Button
            clear_waypoint_labels();
            create_waypoint_list = true;
            waypoint_list_counter = 0;
			datain="Createlist Ready";
			if (yoLabel01.InvokeRequired){yoLabel01.Invoke(new Action(() => yoLabel01.Text = datain));}else{yoLabel01.Text = datain;}
			datain="";
        }
        private void Fly_waypoint_list_Tick(object sender, EventArgs e){	//Way point Running flow
            if(flight_mode != 3 && flight_mode != 9){
                fly_waypoint_list.Enabled = false;
                label26.Text = "Aborted";
            }            
            if (waypoint_send_step == 1) {
                click_lat = waypoint_click_lat[send_telemetry_data_counter];
                click_lon = waypoint_click_lon[send_telemetry_data_counter];

                new_telemetry_data_to_send = 1;

                send_buffer[0] = (byte)'W';
                send_buffer[1] = (byte)'P';

                send_buffer[5] = (byte)(click_lat >> 24);
                send_buffer[4] = (byte)(click_lat >> 16);
                send_buffer[3] = (byte)(click_lat >> 8);
                send_buffer[2] = (byte)(click_lat);

                send_buffer[9] = (byte)(click_lon >> 24);
                send_buffer[8] = (byte)(click_lon >> 16);
                send_buffer[7] = (byte)(click_lon >> 8);
                send_buffer[6] = (byte)(click_lon);

                send_buffer[10] = (byte)'-';
                check_byte = 0;
                for (temp_byte = 0; temp_byte <= 10; temp_byte++){
                    check_byte ^= send_buffer[temp_byte];
                }
                send_buffer[11] = check_byte;
                send_buffer[12] = (byte)'0';

                Send_telemetry_data.Enabled = true;
                waypoint_send_step = 2;
            }
            if(waypoint_send_step == 3){
                if (flight_mode == 3) waypoint_send_step = 4;
            }
            if (waypoint_send_step == 4){
                if (waypoint_list_counter == send_telemetry_data_counter){
                    label26.Text = "Waypoints ready";
                    fly_waypoint_list.Enabled = false;
                }else{
                    waypoint_send_step = 1;
                    send_telemetry_data_counter++;
                }
            }
        }
        private void Button7_Click(object sender, EventArgs e){			//Flylist Button for start fly
            send_telemetry_data_counter = 1;
            waypoint_send_step = 1;
            fly_waypoint_list.Enabled = true;
        }
        private void Flight_timer_Tick(object sender, EventArgs e){		//Fly time
            flight_timer_seconds++;
            label36.Text = ("00:" + (flight_timer_seconds / 60).ToString("00.") + ":" + (flight_timer_seconds % 60).ToString("00."));
        }

		private void WebView21_WebMessageReceived(object sender, CoreWebView2WebMessageReceivedEventArgs e){
			if (port.IsOpen && first_receive == 1 && start == 2 && flight_mode == 3 && fly_waypoint_list.Enabled == false){
				var message = e.TryGetWebMessageAsString();
				if (!string.IsNullOrEmpty(message)){
					var coordinates = message.Split(',');
					if (coordinates.Length == 2){
						if (double.TryParse(coordinates[0].Split(':')[1].Trim(), out double latitude) &&
                            double.TryParse(coordinates[1].Split(':')[1].Trim(), out double longitude)){
							click_lat = (int)(latitude * 1000000);
							click_lon = (int)(longitude * 1000000);
							
							//AddMarker("blue", ((float)(click_lat) / 1000000.0).ToString(new CultureInfo("en-US")), ((float)click_lon / 1000000.0).ToString(new CultureInfo("en-US")), 2, true);
							button1.Enabled = false;	//Zoom Button
							button4.Enabled = false;	//Zoom Button

							send_buffer[0] = (byte)'W';
							send_buffer[1] = (byte)'P';

							send_buffer[5] = (byte)(click_lat >> 24);
							send_buffer[4] = (byte)(click_lat >> 16);
							send_buffer[3] = (byte)(click_lat >> 8);
							send_buffer[2] = (byte)(click_lat);

							send_buffer[9] = (byte)(click_lon >> 24);
							send_buffer[8] = (byte)(click_lon >> 16);
							send_buffer[7] = (byte)(click_lon >> 8);
							send_buffer[6] = (byte)(click_lon);

							send_buffer[10] = (byte)'-';
							check_byte = 0;
							for (temp_byte = 0; temp_byte <= 10; temp_byte++){
								check_byte ^= send_buffer[temp_byte];
							}
							send_buffer[11] = check_byte;
                            send_buffer[12] = (byte)'0';

                            if (create_waypoint_list){
								if (waypoint_list_counter < 5){
									waypoint_list_counter++;
									waypoint_click_lat[waypoint_list_counter] = click_lat;
									waypoint_click_lon[waypoint_list_counter] = click_lon;
									AddMarker("blue", ((float)(click_lat) / 1000000.0).ToString(new CultureInfo("en-US")), ((float)click_lon / 1000000.0).ToString(new CultureInfo("en-US")), waypoint_list_counter+1, true);
									datain+=waypoint_click_lat[waypoint_list_counter]+","+waypoint_click_lon[waypoint_list_counter]+"\n";
									if (yoLabel01.InvokeRequired){yoLabel01.Invoke(new Action(() => yoLabel01.Text = datain));}else{yoLabel01.Text = datain;}
								}
							}else{
								try{
									if (port.IsOpen){
										port.Write(send_buffer, 0, 13);
									}else{
										MessageBox.Show("Serial port is not open.");
									}
								}catch (Exception ex){
									MessageBox.Show("Error sending data: " + ex.Message);
								}
								label26.Text = "Try 1";
								new_telemetry_data_to_send = 1;
								Send_telemetry_data.Enabled = true;
							}
							
						}
					}
				}
            }
        }
        private void btnOffMotor_Click(object sender, EventArgs e){            	
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'q';

            cmdsendstatus = 49;
            new_telemetry_data_to_send = 1;
            Send_telemetry_data.Enabled = true;
        }

        private void btnTakeOff_Click(object sender, EventArgs e){
            send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'p';

            
			cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnOnMotor_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'e';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnCallAcc_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'f';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnStartGpsCal_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'g';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnFinishGpsCal_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'h';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnRTH_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'v';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnGpsHold_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'c';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnAltHold_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'x';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }

        private void btnAutoLvl_Click(object sender, EventArgs e)
        {
			send_buffer[0] = (byte)'W';
			send_buffer[1] = (byte)'P';
			send_buffer[10] = (byte)'-';
			check_byte = 0;
			for (temp_byte = 0; temp_byte <= 10; temp_byte++){
				check_byte ^= send_buffer[temp_byte];
			}
			send_buffer[11] = check_byte;
			send_buffer[12] = (byte)'z';

            cmdsendstatus= 49;
			new_telemetry_data_to_send = 1;
			Send_telemetry_data.Enabled = true;
        }        
    }
}