From 58f97915368802983027d3557f8155f42deb0cfc Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Wed, 25 Sep 2024 21:51:59 +1000
Subject: [PATCH 1/2] ConfigDroneCAN: allow disconnect

---
 GCSViews/ConfigurationView/ConfigDroneCAN.cs | 24 ++++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/GCSViews/ConfigurationView/ConfigDroneCAN.cs b/GCSViews/ConfigurationView/ConfigDroneCAN.cs
index 3065b71769..452ec55a14 100644
--- a/GCSViews/ConfigurationView/ConfigDroneCAN.cs
+++ b/GCSViews/ConfigurationView/ConfigDroneCAN.cs
@@ -466,6 +466,7 @@ private void SetupSLCanPort(ICommsSerial port)
         private TcpListener listener;
         private bool mavlinkCANRun;
         private byte BusInUse;
+        private bool isConnected = false;
 
         private void myDataGridView1_CellClick(object sender, DataGridViewCellEventArgs e)
         {
@@ -649,6 +650,12 @@ private void GetParameters(byte nodeID)
         }
 
         public void Deactivate()
+        {
+            Disconnect();
+            timer?.Stop();
+        }
+
+        public void Disconnect()
         {
             mavlinkCANRun = false;
             try
@@ -663,7 +670,11 @@ public void Deactivate()
             listener = null;
             can?.Stop(chk_canonclose.Checked);
             can = null;
-            timer?.Stop();
+
+            cmb_interfacetype.Enabled = true;
+            cmb_networkinterface.Enabled = true;
+            but_connect.Text = "Connect";
+            isConnected = false;
         }
 
         private void myDataGridView1_RowsAdded(object sender, DataGridViewRowsAddedEventArgs e)
@@ -1593,6 +1604,12 @@ private void StartmcastCAN(byte bus = 0, NetworkInterface inter = null)
 
         private void but_connect_Click(object sender, EventArgs e)
         {
+            if (isConnected)
+            {
+                Disconnect();
+                return;
+            }
+
             mavlinkCANRun = false;
 
             var selected = cmb_interfacetype.SelectedValue;
@@ -1603,7 +1620,10 @@ private void but_connect_Click(object sender, EventArgs e)
                 return;
             }
 
-            but_connect.Enabled = false;
+            cmb_interfacetype.Enabled = false;
+            cmb_networkinterface.Enabled = false;
+            but_connect.Text = "Disconnect";
+            isConnected = true;
 
             var type = (ConnectionTypes)selected;
 

From fb1afb0dd402058950c2bfd332a23767bb967356 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Wed, 25 Sep 2024 21:52:39 +1000
Subject: [PATCH 2/2] ConfigDroneCAN: reset grid view on connect

---
 GCSViews/ConfigurationView/ConfigDroneCAN.cs | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/GCSViews/ConfigurationView/ConfigDroneCAN.cs b/GCSViews/ConfigurationView/ConfigDroneCAN.cs
index 452ec55a14..08b33c3c76 100644
--- a/GCSViews/ConfigurationView/ConfigDroneCAN.cs
+++ b/GCSViews/ConfigurationView/ConfigDroneCAN.cs
@@ -1620,6 +1620,9 @@ private void but_connect_Click(object sender, EventArgs e)
                 return;
             }
 
+            // Reset the table of nodes
+            myDataGridView1.Rows.Clear();
+
             cmb_interfacetype.Enabled = false;
             cmb_networkinterface.Enabled = false;
             but_connect.Text = "Disconnect";