Improved UdpDiscoveryClient (I Think...).

Improved PPC NavigationManager by providing a way to navigate by module/view paths..

19 files changed, 380 insertions, 56 deletions

diff --git a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Tango.PPC.Jobs.csproj b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Tango.PPC.Jobs.csproj
index 48826d1f4..0f5a698d0 100644
--- a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Tango.PPC.Jobs.csproj
+++ b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Tango.PPC.Jobs.csproj
@@ -72,6 +72,10 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\JobView.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
     <Page Include="Views\MainView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
@@ -96,11 +100,15 @@
       <DesignTimeSharedInput>True</DesignTimeSharedInput>
     </Compile>
     <Compile Include="ViewModelLocator.cs" />
+    <Compile Include="ViewModels\JobViewVM.cs" />
     <Compile Include="ViewModels\JobsViewVM.cs" />
     <Compile Include="ViewModels\MainViewVM.cs" />
     <Compile Include="Views\JobsView.xaml.cs">
       <DependentUpon>JobsView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\JobView.xaml.cs">
+      <DependentUpon>JobView.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\MainView.xaml.cs">
       <DependentUpon>MainView.xaml</DependentUpon>
     </Compile>
diff --git a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModelLocator.cs b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModelLocator.cs
index e9f636b80..171c35846 100644
--- a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModelLocator.cs
+++ b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModelLocator.cs
@@ -17,6 +17,7 @@ namespace Tango.PPC.Jobs
         {
             TangoIOC.Default.Register<MainViewVM>();
             TangoIOC.Default.Register<JobsViewVM>();
+            TangoIOC.Default.Register<JobViewVM>();
         }
 
         /// <summary>
@@ -31,7 +32,7 @@ namespace Tango.PPC.Jobs
         }
 
         /// <summary>
-        /// Gets the main view VM.
+        /// Gets the jobs list VM.
         /// </summary>
         public static JobsViewVM JobsViewVM
         {
@@ -40,5 +41,16 @@ namespace Tango.PPC.Jobs
                 return TangoIOC.Default.GetInstance<JobsViewVM>();
             }
         }
+
+        /// <summary>
+        /// Gets the job details VM.
+        /// </summary>
+        public static JobViewVM JobViewVM
+        {
+            get
+            {
+                return TangoIOC.Default.GetInstance<JobViewVM>();
+            }
+        }
     }
 }
diff --git a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModels/JobViewVM.cs b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModels/JobViewVM.cs
new file mode 100644
index 000000000..55c5850f2
--- /dev/null
+++ b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/ViewModels/JobViewVM.cs
@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Tango.PPC.Common;
+
+namespace Tango.PPC.Jobs.ViewModels
+{
+    public class JobViewVM : PPCViewModel
+    {
+        public override void OnApplicationStarted()
+        {
+            
+        }
+    }
+}
diff --git a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/JobView.xaml b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/JobView.xaml
new file mode 100644
index 000000000..993b2365a
--- /dev/null
+++ b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/JobView.xaml
@@ -0,0 +1,14 @@
+<UserControl x:Class="Tango.PPC.Jobs.Views.JobView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:vm="clr-namespace:Tango.PPC.Jobs.ViewModels"
+             xmlns:global="clr-namespace:Tango.PPC.Jobs"
+             xmlns:local="clr-namespace:Tango.PPC.Jobs.Views"
+             mc:Ignorable="d" 
+             d:DesignHeight="1280" d:DesignWidth="800" d:DataContext="{d:DesignInstance Type=vm:JobViewVM, IsDesignTimeCreatable=False}" DataContext="{x:Static global:ViewModelLocator.JobViewVM}">
+    <Grid>
+            
+    </Grid>
+</UserControl>
diff --git a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/JobView.xaml.cs b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/JobView.xaml.cs
new file mode 100644
index 000000000..c3e3ab688
--- /dev/null
+++ b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/JobView.xaml.cs
@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Tango.PPC.Jobs.Views
+{
+    /// <summary>
+    /// Interaction logic for JobView.xaml
+    /// </summary>
+    public partial class JobView : UserControl
+    {
+        public JobView()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/MainView.xaml b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/MainView.xaml
index 4c9f432cb..6b62bcc30 100644
--- a/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/MainView.xaml
+++ b/Software/Visual_Studio/PPC/Modules/Tango.PPC.Jobs/Views/MainView.xaml
@@ -7,9 +7,13 @@
              xmlns:views="clr-namespace:Tango.PPC.Jobs.Views"
              xmlns:global="clr-namespace:Tango.PPC.Jobs"
              xmlns:local="clr-namespace:Tango.PPC.Jobs.Views"
+             xmlns:controls="clr-namespace:Tango.SharedUI.Controls;assembly=Tango.SharedUI"
              mc:Ignorable="d" 
              d:DesignHeight="1280" d:DesignWidth="800" d:DataContext="{d:DesignInstance Type=vm:MainViewVM, IsDesignTimeCreatable=False}" DataContext="{x:Static global:ViewModelLocator.MainViewVM}">
     <Grid>
-        <views:JobsView/>
+        <controls:NavigationControl TransitionType="Slide">
+            <views:JobsView />
+            <views:JobView />
+        </controls:NavigationControl>
     </Grid>
 </UserControl>
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/INavigationManager.cs b/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/INavigationManager.cs
index 60ca12530..c0f7265fb 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/INavigationManager.cs
+++ b/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/INavigationManager.cs
@@ -22,5 +22,26 @@ namespace Tango.PPC.Common.Navigation
         /// </summary>
         /// <typeparam name="T"></typeparam>
         void NavigateTo<T>() where T : IPPCModule;
+
+        /// <summary>
+        /// Navigates to the specified module using the view path (e.g MainView.JobsView).
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="viewPath">The view path.</param>
+        void NavigateTo<T>(String viewPath) where T : IPPCModule;
+
+        /// <summary>
+        /// Navigates to the specified module using the view path (e.g MainView,JobsView).
+        /// This method makes it easy to do stuff like NavigateTo(nameof(MainView),nameof(JobsView));
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="viewPath">The view path.</param>
+        void NavigateTo<T>(params String[] viewPath) where T : IPPCModule;
+
+        /// <summary>
+        /// Navigates to the specified module name.
+        /// </summary>
+        /// <param name="moduleName">Name of the module.</param>
+        void NavigateTo(String moduleName);
     }
 }
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/NavigationView.cs b/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/NavigationView.cs
index d860bce76..457aaf0ab 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/NavigationView.cs
+++ b/Software/Visual_Studio/PPC/Tango.PPC.Common/Navigation/NavigationView.cs
@@ -13,6 +13,7 @@ namespace Tango.PPC.Common.Navigation
     {
         LoadingView,
         LayoutView,
-        JobsView,
+        HomeModule,
+        ShutdownView,
     }
 }
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.UI/Navigation/DefaultNavigationManager.cs b/Software/Visual_Studio/PPC/Tango.PPC.UI/Navigation/DefaultNavigationManager.cs
index 12c759c1a..8c42a3a44 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.UI/Navigation/DefaultNavigationManager.cs
+++ b/Software/Visual_Studio/PPC/Tango.PPC.UI/Navigation/DefaultNavigationManager.cs
@@ -3,7 +3,10 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Media;
 using Tango.PPC.Common;
+using Tango.PPC.Common.Modules;
 using Tango.PPC.Common.Navigation;
 using Tango.PPC.UI.Views;
 using Tango.SharedUI.Controls;
@@ -12,23 +15,68 @@ namespace Tango.PPC.UI.Navigation
 {
     public class DefaultNavigationManager : INavigationManager
     {
+        private IPPCModuleLoader _moduleLoader;
+
+        public DefaultNavigationManager(IPPCModuleLoader moduleLoader)
+        {
+            _moduleLoader = moduleLoader;
+        }
+
         public void NavigateTo(NavigationView view)
         {
-            NavigationControl[] controls = new NavigationControl[]
+            if (view == NavigationView.HomeModule)
             {
-                MainView.Instance.NavigationControl,
-                LayoutView.Instance.NavigationControl
-            };
-
-            var control = controls.Where(x => x.Elements.ToList().Exists(y => NavigationControl.GetNavigationName(y) == view.ToString())).SingleOrDefault();
-            control.NavigateTo(view.ToString());
+                MainView.Instance.NavigationControl.NavigateTo(NavigationView.LayoutView.ToString());
+                var firstModule = _moduleLoader.UserModules.FirstOrDefault();
+                LayoutView.Instance.NavigationControl.NavigateTo(firstModule.Name);
+            }
+            else
+            {
+                MainView.Instance.NavigationControl.NavigateTo(view.ToString());
+            }
         }
 
         public void NavigateTo<T>() where T : IPPCModule
         {
+            MainView.Instance.NavigationControl.NavigateTo(NavigationView.LayoutView.ToString());
             var navigationControl = LayoutView.Instance.NavigationControl;
+            var module = _moduleLoader.UserModules.SingleOrDefault(x => x.GetType() == typeof(T));
+            navigationControl.NavigateTo(module.Name);
+        }
 
+        public void NavigateTo<T>(string viewPath) where T : IPPCModule
+        {
+            NavigateTo<T>(viewPath.Split(','));
+        }
 
+        public void NavigateTo<T>(params String[] viewPath) where T : IPPCModule
+        {
+            MainView.Instance.NavigationControl.NavigateTo(NavigationView.LayoutView.ToString());
+            var navigationControl = LayoutView.Instance.NavigationControl;
+            var module = _moduleLoader.UserModules.SingleOrDefault(x => x.GetType() == typeof(T));
+            var moduleView = navigationControl.NavigateTo(module.Name);
+
+            var moduleNavigation = moduleView.FindChildOffline<NavigationControl>();
+
+            foreach (var view in viewPath)
+            {
+                moduleNavigation.RegisterForLoadedOrNow(async (x, e) =>
+                {
+                    await Task.Delay(100);
+                    var v = moduleNavigation.NavigateTo(view);
+
+                    if (view != viewPath.Last())
+                    {
+                        moduleNavigation = v.FindChildOffline<NavigationControl>();
+                    }
+                });
+            }
+        }
+
+        public void NavigateTo(string moduleName)
+        {
+            var navigationControl = LayoutView.Instance.NavigationControl;
+            navigationControl.NavigateTo(moduleName);
         }
     }
 }
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.UI/PPCApplication/DefaultPPCApplicationManager.cs b/Software/Visual_Studio/PPC/Tango.PPC.UI/PPCApplication/DefaultPPCApplicationManager.cs
index 8b772b8bc..2fbc6c34e 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.UI/PPCApplication/DefaultPPCApplicationManager.cs
+++ b/Software/Visual_Studio/PPC/Tango.PPC.UI/PPCApplication/DefaultPPCApplicationManager.cs
@@ -15,6 +15,7 @@ using Tango.Core;
 using System.IO;
 using Tango.Core.Helpers;
 using Tango.PPC.Common.Modules;
+using System.Windows.Threading;
 
 namespace Tango.PPC.UI.PPCApplication
 {
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.UI/ViewModels/LoadingViewVM.cs b/Software/Visual_Studio/PPC/Tango.PPC.UI/ViewModels/LoadingViewVM.cs
index 20752ac71..588cc8b64 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.UI/ViewModels/LoadingViewVM.cs
+++ b/Software/Visual_Studio/PPC/Tango.PPC.UI/ViewModels/LoadingViewVM.cs
@@ -6,18 +6,24 @@ using System.Text;
 using System.Threading.Tasks;
 using Tango.BL;
 using Tango.Core;
+using Tango.Core.DI;
 using Tango.Core.Helpers;
 using Tango.PPC.Common;
 using Tango.PPC.Common.Application;
 using Tango.PPC.Common.Authentication;
+using Tango.PPC.Common.Modules;
 using Tango.PPC.Common.Navigation;
 using Tango.PPC.Common.Notifications;
+using Tango.PPC.Jobs;
 using Tango.SharedUI;
 
 namespace Tango.PPC.UI.ViewModels
 {
     public class LoadingViewVM : PPCViewModel
     {
+        [TangoInject]
+        public IPPCModuleLoader ModuleLoader { get; set; }
+
         public async override void OnApplicationStarted()
         {
             await Task.Factory.StartNew(() =>
@@ -27,7 +33,7 @@ namespace Tango.PPC.UI.ViewModels
 
             ApplicationManager.ModulesInitialized += (_, __) =>
             {
-                NavigationManager.NavigateTo(NavigationView.LayoutView);
+                NavigationManager.NavigateTo(NavigationView.HomeModule);
             };
 
             await AuthenticationProvider.Login("roy@twine-s.com", "1234");
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml b/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml
index 46e104627..8baeab6a4 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml
+++ b/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml
@@ -97,7 +97,7 @@
                 <Grid Background="{StaticResource TangoKeyboardBackground}">
                     <Grid>
                         <keyboard:KeyboardView>
-                            <controls:NavigationControl x:Name="NavigationControl" x:FieldModifier="public" TransitionAlwaysFades="False" TransitionType="Slide">
+                            <controls:NavigationControl x:Name="NavigationControl" x:FieldModifier="public" TransitionAlwaysFades="False" TransitionType="Zoom">
                                 
                             </controls:NavigationControl>
                         </keyboard:KeyboardView>
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml.cs b/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml.cs
index 8ab602f2c..18ffa8ab2 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml.cs
+++ b/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/LayoutView.xaml.cs
@@ -46,11 +46,6 @@ namespace Tango.PPC.UI.Views
                         module.Initialize();
                     }
                 }
-
-                if (modules.Count() > 0)
-                {
-                    NavigationControl.NavigateTo(modules.First().Name);
-                }
             });
         }
     }
diff --git a/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/MainView.xaml b/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/MainView.xaml
index 8da05f0dd..1bfdda517 100644
--- a/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/MainView.xaml
+++ b/Software/Visual_Studio/PPC/Tango.PPC.UI/Views/MainView.xaml
@@ -11,9 +11,9 @@
              mc:Ignorable="d" 
              d:DesignHeight="1280" d:DesignWidth="800" d:DataContext="{d:DesignInstance Type=vm:MainViewVM, IsDesignTimeCreatable=False}" DataContext="{x:Static global:ViewModelLocator.MainViewVM}">
 	<Grid>
-        <controls:NavigationControl TransitionAlwaysFades="True" TransitionType="Zoom" x:Name="NavigationControl" x:FieldModifier="public">
-            <local:LoadingView controls:NavigationControl.NavigationName="LoadingView"></local:LoadingView>
-			<local:LayoutView controls:NavigationControl.NavigationName="LayoutView"></local:LayoutView>
+        <controls:NavigationControl TransitionAlwaysFades="True" TransitionType="Zoom" x:Name="NavigationControl" x:FieldModifier="public" KeepElementsAttached="True">
+            <local:LoadingView></local:LoadingView>
+			<local:LayoutView></local:LayoutView>
 		</controls:NavigationControl>
 
         <Grid Background="#9E000000">
diff --git a/Software/Visual_Studio/Tango.Core/ExtensionMethods/DependencyObjectExtensions.cs b/Software/Visual_Studio/Tango.Core/ExtensionMethods/DependencyObjectExtensions.cs
index a12ca4f7f..12eba6bb3 100644
--- a/Software/Visual_Studio/Tango.Core/ExtensionMethods/DependencyObjectExtensions.cs
+++ b/Software/Visual_Studio/Tango.Core/ExtensionMethods/DependencyObjectExtensions.cs
@@ -2,9 +2,11 @@
 using System.Collections.Generic;
 using System.ComponentModel;
 using System.Linq;
+using System.Reflection;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows;
+using System.Windows.Controls;
 using System.Windows.Data;
 using System.Windows.Media;
 using System.Windows.Media.Animation;
diff --git a/Software/Visual_Studio/Tango.Core/ExtensionMethods/FrameworkElementExtensions.cs b/Software/Visual_Studio/Tango.Core/ExtensionMethods/FrameworkElementExtensions.cs
index 216f6ae0c..2193127cf 100644
--- a/Software/Visual_Studio/Tango.Core/ExtensionMethods/FrameworkElementExtensions.cs
+++ b/Software/Visual_Studio/Tango.Core/ExtensionMethods/FrameworkElementExtensions.cs
@@ -1,11 +1,14 @@
 using System;
+using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
+using System.Reflection;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
 using System.Windows.Controls.Primitives;
+using System.Windows.Markup;
 using Tango.Core.EventArguments;
 
 public static class FrameworkElementExtensions
@@ -309,5 +312,135 @@ public static class FrameworkElementExtensions
 
     #endregion
 
+    #region Loaded
 
+    /// <summary>
+    /// Registers for the element loaded event. if the element is already loaded will invoke the handler immediately.
+    /// </summary>
+    /// <param name="element">The element.</param>
+    /// <param name="handler">The handler.</param>
+    public static void RegisterForLoadedOrNow(this FrameworkElement element, EventHandler handler)
+    {
+        if (element.IsLoaded)
+        {
+            handler(element, new EventArgs());
+        }
+        else
+        {
+            bool isLoaded = false;
+
+            element.Loaded += (sender, e) =>
+            {
+                if (!isLoaded)
+                {
+                    isLoaded = true;
+
+                    handler(element, new EventArgs());
+                }
+            };
+        }
+    }
+
+    #endregion
+
+    /// <summary>
+    /// A recursive search for a child of type T in memory and not on logical/visual tree.
+    /// </summary>
+    /// <typeparam name="T"></typeparam>
+    /// <param name="element">The element.</param>
+    /// <returns></returns>
+    public static T FindChildOffline<T>(this FrameworkElement element) where T : DependencyObject
+    {
+        if (element == null) return null;
+
+        PropertyInfo contentProp = element.GetType().GetProperty("Child");
+
+        if (contentProp == null)
+        {
+            contentProp = element.GetType().GetProperty("Content");
+        }
+
+        if (contentProp != null)
+        {
+            var value = contentProp.GetValue(element);
+
+            if (value != null)
+            {
+                if (value.GetType() == typeof(T))
+                {
+                    return (T)value;
+                }
+                else
+                {
+                    return FindChildOffline<T>(value as FrameworkElement);
+                }
+            }
+        }
+
+        if (element is Panel)
+        {
+            foreach (var child in (element as Panel).Children.OfType<FrameworkElement>())
+            {
+                if (child.GetType() == typeof(T))
+                {
+                    return child as T;
+                }
+                else
+                {
+                    var result = FindChildOffline<T>(child);
+
+                    if (result != null)
+                    {
+                        return result;
+                    }
+                }
+            }
+        }
+
+        var contentAtt = element.GetType().GetCustomAttribute<ContentPropertyAttribute>();
+
+        if (contentAtt != null)
+        {
+            contentProp = element.GetType().GetProperty(contentAtt.Name);
+
+            if (contentProp != null)
+            {
+                var content = contentProp.GetValue(element);
+
+                if (content != null)
+                {
+                    if (content is IEnumerable)
+                    {
+                        foreach (var child in (content as IEnumerable))
+                        {
+                            if (child.GetType() == typeof(T))
+                            {
+                                return child as T;
+                            }
+                            else
+                            {
+                                var result = FindChildOffline<T>(child as FrameworkElement);
+
+                                if (result != null)
+                                {
+                                    return result;
+                                }
+                            }
+                        }
+                    }
+                    else
+                    {
+                        var result = FindChildOffline<T>(content as FrameworkElement);
+
+                        if (result != null)
+                        {
+                            return result;
+                        }
+                    }
+                }
+            }
+        }
+
+        return null;
+    }
 }
diff --git a/Software/Visual_Studio/Tango.SharedUI/Controls/NavigationControl.cs b/Software/Visual_Studio/Tango.SharedUI/Controls/NavigationControl.cs
index 5a39948b2..72e7e50c8 100644
--- a/Software/Visual_Studio/Tango.SharedUI/Controls/NavigationControl.cs
+++ b/Software/Visual_Studio/Tango.SharedUI/Controls/NavigationControl.cs
@@ -9,6 +9,7 @@ using System.Windows.Controls;
 using System.Windows.Markup;
 using System.Windows.Media;
 using System.Windows.Media.Animation;
+using System.Windows.Threading;
 using Tango.SharedUI.Helpers;
 
 namespace Tango.SharedUI.Controls
@@ -228,7 +229,7 @@ namespace Tango.SharedUI.Controls
         /// <returns></returns>
         public static String GetNavigationName(FrameworkElement element)
         {
-            return element.GetValue(NavigationName).ToString();
+            return element.GetValue(NavigationName).ToStringSafe();
         }
 
         #endregion
@@ -438,12 +439,24 @@ namespace Tango.SharedUI.Controls
 
         public void NavigateTo(FrameworkElement element)
         {
-            SelectedElement = element;
+            var e = Elements.SingleOrDefault(x => x == element);
+
+            if (e != null)
+            {
+                SelectedElement = element;
+            }
         }
 
-        public void NavigateTo(String navigationName)
+        public FrameworkElement NavigateTo(String navigationName)
         {
-            SelectedElement = Elements.SingleOrDefault(x => GetNavigationName(x) == navigationName);
+            var element = Elements.SingleOrDefault(x => GetNavigationName(x) == navigationName || x.GetType().Name == navigationName);
+
+            if (element != null)
+            {
+                SelectedElement = element;
+            }
+
+            return element;
         }
 
         public FrameworkElement GetAndDetach(String navigationName)
diff --git a/Software/Visual_Studio/Tango.SharedUI/ExtensionMethods/FrameworkElementExtensions.cs b/Software/Visual_Studio/Tango.SharedUI/ExtensionMethods/FrameworkElementExtensions.cs
index 422b078a4..8bfc9149a 100644
--- a/Software/Visual_Studio/Tango.SharedUI/ExtensionMethods/FrameworkElementExtensions.cs
+++ b/Software/Visual_Studio/Tango.SharedUI/ExtensionMethods/FrameworkElementExtensions.cs
@@ -1,15 +1,28 @@
 using System;
+using System.Collections;
 using System.Collections.Generic;
 using System.Drawing.Imaging;
 using System.Linq;
+using System.Reflection;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Markup;
 using System.Windows.Media.Imaging;
+using Tango.SharedUI.Controls;
 using Tango.SharedUI.Rendering;
 
 public static class FrameworkElementExtensions
 {
+    /// <summary>
+    /// Renders the element to bitmap file.
+    /// </summary>
+    /// <param name="element">The element.</param>
+    /// <param name="filePath">The file path.</param>
+    /// <param name="format">The format.</param>
+    /// <param name="renderSize">Size of the render.</param>
+    /// <param name="quality">The quality.</param>
     public static void RenderToFile(this FrameworkElement element, String filePath, ImageFormat format, Size renderSize, int quality)
     {
         RenderWindow renderer = new RenderWindow(element);
diff --git a/Software/Visual_Studio/Tango.Transport/Discovery/UdpDiscoveryClient.cs b/Software/Visual_Studio/Tango.Transport/Discovery/UdpDiscoveryClient.cs
index ee3f4cc58..9d043023b 100644
--- a/Software/Visual_Studio/Tango.Transport/Discovery/UdpDiscoveryClient.cs
+++ b/Software/Visual_Studio/Tango.Transport/Discovery/UdpDiscoveryClient.cs
@@ -5,6 +5,7 @@ using System.Linq;
 using System.Net;
 using System.Net.Sockets;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 using System.Timers;
 using Tango.PMR.Discovery;
@@ -13,7 +14,7 @@ namespace Tango.Transport.Discovery
 {
     public class UdpDiscoveryClient<DiscoveryMessage> : IDiscoveryClient<DiscoveryMessage> where DiscoveryMessage : IMessage
     {
-        private Timer _timer;
+        private Thread _receiveThread;
 
         /// <summary>
         /// Occurs when a matching service has been discovered.
@@ -59,13 +60,11 @@ namespace Tango.Transport.Discovery
         {
             if (!IsStarted)
             {
-                _timer = new Timer();
-                _timer.Interval = 10;
-                _timer.Elapsed += _timer_Elapsed;
-                _timer.Enabled = true;
-                _timer.Start();
-
                 IsStarted = true;
+
+                _receiveThread = new Thread(ReceiveThreadLoop);
+                _receiveThread.IsBackground = true;
+                _receiveThread.Start();
             }
         }
 
@@ -76,7 +75,6 @@ namespace Tango.Transport.Discovery
         {
             if (IsStarted)
             {
-                _timer.Stop();
                 IsStarted = false;
             }
         }
@@ -86,41 +84,51 @@ namespace Tango.Transport.Discovery
         /// </summary>
         /// <param name="sender">The source of the event.</param>
         /// <param name="e">The <see cref="ElapsedEventArgs"/> instance containing the event data.</param>
-        private void _timer_Elapsed(object sender, ElapsedEventArgs e)
+        private void ReceiveThreadLoop()
         {
-            _timer.Interval = Interval.TotalMilliseconds;
-
-            if (!IsStarted) return;
-
             UdpClient udpClient = new UdpClient(Port);
-            udpClient.Client.ReceiveTimeout = (int)_timer.Interval;
+            udpClient.Client.ReceiveTimeout = (int)Interval.TotalMilliseconds;
             var endPoint = new IPEndPoint(IPAddress.Any, 0);
 
-            try
+            while (IsStarted)
             {
-                var data = udpClient.Receive(ref endPoint);
-                udpClient.Close();
+                try
+                {
+                    byte[] data = null;
 
-                if (!IsStarted) return;
+                    do
+                    {
+                        data = udpClient.Receive(ref endPoint);
 
-                DiscoveryMessage message = Activator.CreateInstance<DiscoveryMessage>();
-                var parser = message.GetParser();
+                        if (IsStarted)
+                        {
+                            if (data != null && data.Length > 0)
+                            {
+                                DiscoveryMessage message = Activator.CreateInstance<DiscoveryMessage>();
+                                var parser = message.GetParser();
 
-                message = (DiscoveryMessage)parser.ParseFrom(data);
+                                message = (DiscoveryMessage)parser.ParseFrom(data);
 
-                var host = Dns.GetHostEntry(endPoint.Address);
+                                var host = Dns.GetHostEntry(endPoint.Address);
 
-                ServiceDiscovered?.Invoke(this,
-                    new DiscoveredService<DiscoveryMessage>(
-                        endPoint.Address.ToString(),
-                        host != null ? host.HostName : "Unresolved",
-                        message));
-            }
-            catch { }
-            finally
-            {
-                udpClient.Close();
+                                ServiceDiscovered?.Invoke(this,
+                                    new DiscoveredService<DiscoveryMessage>(
+                                        endPoint.Address.ToString(),
+                                        host != null ? host.HostName : "Unresolved",
+                                        message));
+                            }
+                        }
+
+                    } while (IsStarted && data != null && data.Length > 0);
+                }
+                catch { }
+
+                if (!IsStarted) break;
+
+                Thread.Sleep(Interval);
             }
+
+            udpClient.Close();
         }
 
         /// <summary>