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This looks great! My only problem with using DR1000's uds and modified popupmenu is that, sometimes, yes sometimes, when DR800 is disconnected from the PC, the menu are screwed up, the only way to restore the menu is rebooting, which is quite long and annoying.
Since I modified the popupmenu source code and still compiled for DR1000, I guess it is related to some DR1000 specific code. Do you have this problem in your current implementation? I assume you are modifying the DR800's code of popupmenu?
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