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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 391 | Brean | 1 | #include<Handler.h> |
| 2 | |||
| 3 | /** |
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| 392 | Brean | 4 | * Constructor that gets a communication instance |
| 5 | */ |
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| 440 | Brean | 6 | Handler::Handler(Communication * com, KopterData * data) { |
| 392 | Brean | 7 | this->com = com; |
| 440 | Brean | 8 | this->data = data; |
| 392 | Brean | 9 | } |
| 10 | |||
| 399 | Brean | 11 | //-------------FlightCtrl commands-------------------- |
| 392 | Brean | 12 | /** |
| 399 | Brean | 13 | * read settings from FlightCtrl (settings index 0x00-0x05) |
| 14 | */ |
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| 15 | void Handler::get_flightctrl_settings(int index) { |
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| 16 | char tx_data[2] = {index, 0}; |
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| 17 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
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| 18 | } |
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| 19 | |||
| 20 | /** |
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| 21 | * write settings to FlightCtrl |
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| 22 | */ |
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| 23 | void Handler::set_flightctrl_settings(char * tx_data) { |
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| 24 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
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| 25 | } |
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| 26 | |||
| 27 | /** |
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| 28 | * test one or more motors |
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| 29 | */ |
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| 442 | Brean | 30 | void Handler::motor_test(sMotorData motor) { |
| 31 | char tx_data[MAX_MOTORS]; |
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| 32 | for (int z = 0; z<MAX_MOTORS; z++) |
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| 399 | Brean | 33 | { |
| 442 | Brean | 34 | tx_data[z] = motor.desired_speed[z]; |
| 399 | Brean | 35 | } |
| 442 | Brean | 36 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
| 399 | Brean | 37 | } |
| 38 | |||
| 440 | Brean | 39 | void Handler::reset_motor() { |
| 442 | Brean | 40 | for (int z = 0; z<MAX_MOTORS; z++) |
| 440 | Brean | 41 | { |
| 442 | Brean | 42 | data->motor.desired_speed[z] = 0; |
| 440 | Brean | 43 | } |
| 44 | |||
| 442 | Brean | 45 | motor_test(data->motor); |
| 440 | Brean | 46 | } |
| 47 | |||
| 399 | Brean | 48 | /** |
| 391 | Brean | 49 | * read mixer values from FlightCtrl |
| 50 | */ |
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| 440 | Brean | 51 | void Handler::read_motor_mixer() { |
| 396 | Brean | 52 | char tx_data[1] = {0}; |
| 53 | //com->log("read motor mixer"); |
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| 397 | Brean | 54 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
| 393 | Brean | 55 | } |
| 56 | |||
| 399 | Brean | 57 | /** |
| 58 | * write motor mixer values to FlightCtrl |
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| 59 | */ |
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| 440 | Brean | 60 | void Handler::write_motor_mixer(char * tx_data, int length) { |
| 399 | Brean | 61 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
| 62 | } |
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| 63 | |||
| 440 | Brean | 64 | int Handler::get_motor_config(char * tx_data) { |
| 65 | return -1; |
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| 396 | Brean | 66 | } |
| 67 | |||
| 399 | Brean | 68 | //-------------NaviCtrl commands-------------------- |
| 69 | /** |
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| 70 | * set debug values for NaviCtrl |
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| 71 | */ |
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| 72 | void Handler::set_navictrl_debug(int speed) { |
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| 73 | char tx_data[1] = { speed }; |
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| 74 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
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| 75 | } |
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| 76 | |||
| 77 | /** |
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| 78 | * stop debug for NaviCtrl |
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| 79 | */ |
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| 80 | void Handler::stop_navictrl_debug() { |
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| 81 | set_navictrl_debug(0); |
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| 82 | } |
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| 83 | |||
| 84 | /** |
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| 449 | Brean | 85 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
| 399 | Brean | 86 | */ |
| 87 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
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| 88 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
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| 89 | } |
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| 90 | |||
| 91 | /** |
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| 92 | * add waypoint to waypoint list |
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| 93 | */ |
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| 94 | void Handler::add_waypoint(Waypoint_t wp) { |
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| 95 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
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| 96 | } |
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| 97 | |||
| 98 | /** |
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| 99 | * clear waypoint list on MK |
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| 100 | */ |
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| 101 | void Handler::delete_waypoints() { |
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| 102 | Waypoint_t wp; |
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| 103 | wp.Position.Status = INVALID; |
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| 104 | send_waypoint(wp); |
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| 105 | } |
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| 106 | //-------------switch between Hardware-------------------- |
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| 107 | void Handler::switch_navictrl() { |
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| 108 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
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| 109 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
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| 110 | } |
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| 111 | |||
| 112 | void Handler::switch_flightctrl() { |
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| 113 | char tx_data[1] = { 0 }; |
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| 114 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
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| 115 | } |
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| 116 | |||
| 117 | void Handler::switch_mk3mag() { |
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| 118 | char tx_data[1] = { 1 }; |
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| 119 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
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| 120 | } |
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| 121 | |||
| 122 | //-------------commands for MK3MAG----------------- |
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| 123 | |||
| 124 | |||
| 125 | //-------------commands for all-------------------- |
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| 126 | |||
| 127 | /** |
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| 128 | * set debug values for all components |
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| 129 | */ |
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| 130 | void Handler::set_all_debug(int speed) { |
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| 131 | char tx_data[1] = { speed }; |
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| 132 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
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| 133 | } |
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| 134 | |||
| 135 | /** |
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| 136 | * stop debug for all components |
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| 137 | */ |
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| 138 | void Handler::stop_all_debug() { |
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| 139 | set_all_debug(0); |
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| 140 | } |
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| 141 | |||
| 142 | /** |
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| 143 | * get all analog labels |
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| 144 | */ |
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| 145 | void Handler::get_analog() { |
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| 146 | char tx_data[1] = { 0 }; |
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| 147 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
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| 148 | } |
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| 149 | |||
| 150 | /** |
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| 151 | * get values from LCD / show LCD |
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| 152 | */ |
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| 153 | void Handler::show_lcd() { |
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| 154 | char tx_data[1] = {0}; |
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| 155 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
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| 156 | } |
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| 157 | |||
| 158 | /** |
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| 159 | * got to next LCD Page |
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| 160 | */ |
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| 161 | void Handler::lcd_up() { |
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| 162 | char tx_data[2] = { 0, 0 }; |
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| 440 | Brean | 163 | if (data->lcd_cur != data->lcd_max) |
| 164 | tx_data[0] = data->lcd_cur+1; |
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| 399 | Brean | 165 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
| 166 | } |
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| 167 | |||
| 168 | /** |
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| 169 | * got to previous LCD Page |
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| 170 | */ |
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| 171 | void Handler::lcd_down() { |
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| 172 | char tx_data[2] = { 0, 0 }; |
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| 440 | Brean | 173 | if (data->lcd_cur != 0) |
| 174 | tx_data[0] = data->lcd_cur-1; |
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| 399 | Brean | 175 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
| 176 | } |
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| 177 | |||
| 178 | void Handler::get_version() { |
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| 179 | //TODO: Check if is this correct or do we need data from switch_... |
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| 180 | char tx_data[1] = { 0 }; |
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| 181 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
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| 182 | } |
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| 183 | |||
| 184 | void Handler::get_ppm_channels() { |
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| 185 | char tx_data[1] = { 0 }; |
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| 186 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
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| 187 | } |
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| 188 | |||
| 189 | /** |
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| 190 | * receive data |
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| 191 | */ |
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| 449 | Brean | 192 | //Parser::decode64(data); |
| 193 | void Handler::receive_data(int hardwareID, int cmd, char * data) { |
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| 393 | Brean | 194 | switch(hardwareID) |
| 195 | { |
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| 196 | case ADDRESS_FC : |
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| 449 | Brean | 197 | switch(cmd) |
| 393 | Brean | 198 | { |
| 199 | // Motor-Mixer |
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| 200 | case 'N' : |
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| 449 | Brean | 201 | //if (Parser::decode64(RX)) |
| 202 | //{ |
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| 397 | Brean | 203 | com->stop_resend(); |
| 449 | Brean | 204 | //decoded data |
| 205 | if (data[0] == VERSION_MIXER) |
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| 393 | Brean | 206 | { |
| 396 | Brean | 207 | //f_MotorMixer->set_MotorConfig(RX); |
| 393 | Brean | 208 | } |
| 449 | Brean | 209 | //} |
| 210 | break; |
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| 393 | Brean | 211 | // Motor-Mixer Schreib-Bestätigung |
| 212 | case 'M' : |
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| 449 | Brean | 213 | com->stop_resend(); |
| 214 | |||
| 215 | if (data[0] == 1) |
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| 393 | Brean | 216 | { |
| 449 | Brean | 217 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
| 393 | Brean | 218 | } |
| 449 | Brean | 219 | break; |
| 393 | Brean | 220 | |
| 221 | // Stick-Belegung der Fernsteuerung |
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| 222 | case 'P' : // DONE 0.71g |
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| 449 | Brean | 223 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
| 224 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
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| 225 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
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| 226 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
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| 227 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
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| 228 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
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| 229 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
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| 230 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
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| 231 | break; |
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| 393 | Brean | 232 | // Settings lesen |
| 233 | case 'Q' : // DONE 0.71g |
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| 449 | Brean | 234 | com->stop_resend(); |
| 235 | |||
| 236 | if (data[1] == VERSION_SETTINGS) |
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| 393 | Brean | 237 | { |
| 449 | Brean | 238 | int Settings_ID = data[0]; |
| 239 | /*for (int a = 0; a < MaxParameter; a++) |
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| 393 | Brean | 240 | { |
| 449 | Brean | 241 | FCSettings[a] = RX.decode[a + 2]; |
| 393 | Brean | 242 | } |
| 449 | Brean | 243 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
| 244 | f_Settings->pb_Read->setEnabled(true); |
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| 245 | f_Settings->pb_Write->setEnabled(true);*/ |
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| 246 | } |
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| 247 | else |
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| 248 | { |
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| 249 | /*f_Settings->pb_Read->setDisabled(true); |
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| 250 | f_Settings->pb_Write->setDisabled(true); |
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| 393 | Brean | 251 | |
| 449 | Brean | 252 | QString name = QString("Versionen inkompatibel.\n") + |
| 253 | QString("Version von GroundStation benoetigt: ") + |
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| 254 | QString(VERSION_SETTINGS) + |
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| 255 | QString("\nVersion auf der FlightCtrl: ") + |
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| 256 | QString(RX.decode[1]) + |
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| 257 | QString("\nParameterbearbeitung nicht moeglich."); |
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| 258 | QMessageBox::warning(this, QA_NAME, |
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| 259 | name, QMessageBox::Ok);*/ |
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| 393 | Brean | 260 | } |
| 449 | Brean | 261 | break; |
| 396 | Brean | 262 | // Settings written |
| 393 | Brean | 263 | case 'S' : // DONE 0.71g |
| 397 | Brean | 264 | com->stop_resend(); |
| 396 | Brean | 265 | //TODO: QMessagebox("settings written successful") ? |
| 449 | Brean | 266 | break; |
| 393 | Brean | 267 | } |
| 268 | |||
| 269 | case ADDRESS_NC : |
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| 449 | Brean | 270 | switch(cmd) |
| 393 | Brean | 271 | { |
| 272 | // Navigationsdaten |
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| 273 | case 'O' : // NOT DONE 0.12h |
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| 449 | Brean | 274 | //new_NaviData(RX); |
| 275 | break; |
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| 393 | Brean | 276 | } |
| 277 | // case ADDRESS_MK3MAG : |
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| 278 | |||
| 279 | default : |
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| 449 | Brean | 280 | switch(cmd) |
| 393 | Brean | 281 | { |
| 282 | // LCD-Anzeige |
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| 283 | case 'L' : // DONE 0.71g |
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| 449 | Brean | 284 | com->stop_resend(); |
| 393 | Brean | 285 | |
| 449 | Brean | 286 | /*int LCD[150]; |
| 287 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
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| 393 | Brean | 288 | |
| 449 | Brean | 289 | f_LCD->show_Data(LCD); |
| 393 | Brean | 290 | |
| 449 | Brean | 291 | LCD_Page = RX.decode[0]; |
| 292 | LCD_MAX_Page = RX.decode[1]; |
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| 293 | */ |
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| 294 | break; |
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| 393 | Brean | 295 | // Analoglabels |
| 296 | case 'A' : // DONE 0.71g |
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| 449 | Brean | 297 | com->stop_resend(); |
| 393 | Brean | 298 | |
| 449 | Brean | 299 | //check position |
| 300 | if (data[0] != 31) { |
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| 301 | /* |
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| 302 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
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| 303 | if (Settings->Analog1.Label[Position] == "") |
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| 393 | Brean | 304 | { |
| 449 | Brean | 305 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
| 393 | Brean | 306 | } |
| 449 | Brean | 307 | Position ++; |
| 308 | TX_Data[0] = Position; |
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| 309 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
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| 310 | } else { |
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| 311 | /* |
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| 312 | for (int a = 0; a < MaxAnalog; a++) |
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| 393 | Brean | 313 | { |
| 449 | Brean | 314 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
| 393 | Brean | 315 | } |
| 449 | Brean | 316 | Settings->Analog1.Version = QString(Mode.Version); |
| 317 | Settings->write_Settings_AnalogLabels(HardwareID); |
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| 318 | config_Plot();*/ |
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| 393 | Brean | 319 | } |
| 449 | Brean | 320 | break; |
| 393 | Brean | 321 | // Debug-Daten |
| 322 | case 'D' : // DONE 0.71g |
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| 449 | Brean | 323 | for (int i = 0; i < MaxAnalog; i++) { |
| 324 | //AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
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| 393 | Brean | 325 | } |
| 449 | Brean | 326 | //show_DebugData(); |
| 327 | break; |
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| 393 | Brean | 328 | // Version |
| 329 | case 'V' : // DONE 0.71h |
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| 449 | Brean | 330 | com->stop_resend(); |
| 331 | /* |
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| 332 | Mode.ID = HardwareID; |
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| 333 | Mode.VERSION_MAJOR = RX.decode[0]; |
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| 334 | Mode.VERSION_MINOR = RX.decode[1]; |
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| 335 | Mode.VERSION_PATCH = RX.decode[4]; |
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| 336 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
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| 337 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
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| 393 | Brean | 338 | |
| 449 | Brean | 339 | Mode.Hardware = HardwareType[Mode.ID]; |
| 340 | //TODO: Funktion im Handler get_version() oder sowas |
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| 341 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
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| 342 | QString("%1").arg(RX.decode[1]) + |
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| 343 | QString(RX.decode[4] + 'a'); |
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| 344 | Mode.Version = version.toLatin1().data; |
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| 345 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
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| 346 | Mode.Hardware + " " + |
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| 347 | Mode.Version); |
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| 393 | Brean | 348 | |
| 449 | Brean | 349 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
| 350 | { |
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| 393 | Brean | 351 | // AllowSend = false; |
| 449 | Brean | 352 | QMessageBox::warning(this, QA_NAME, |
| 353 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
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| 354 | } |
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| 393 | Brean | 355 | |
| 449 | Brean | 356 | if (ac_NoDebug->isChecked()) |
| 357 | { |
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| 358 | TX_Data[0] = 0; |
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| 359 | } |
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| 360 | else |
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| 361 | if (ac_FastDebug->isChecked()) |
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| 362 | { |
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| 363 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
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| 364 | } |
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| 365 | else |
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| 366 | { |
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| 367 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
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| 368 | } |
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| 369 | |||
| 370 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
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| 371 | |||
| 372 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
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| 373 | if (Mode.ID == ADDRESS_MK3MAG) |
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| 374 | { |
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| 375 | TickerEvent[3] = true; |
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| 376 | rb_SelMag->setChecked(true); |
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| 377 | } |
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| 378 | |||
| 379 | // Wenn NaviCtrl dann hier. |
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| 380 | if (Mode.ID == ADDRESS_NC) |
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| 381 | { |
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| 382 | rb_SelNC->setChecked(true); |
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| 383 | |||
| 384 | if (ac_NoNavi->isChecked()) |
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| 393 | Brean | 385 | { |
| 386 | TX_Data[0] = 0; |
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| 387 | } |
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| 388 | else |
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| 449 | Brean | 389 | if (ac_FastNavi->isChecked()) |
| 393 | Brean | 390 | { |
| 449 | Brean | 391 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
| 393 | Brean | 392 | } |
| 393 | else |
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| 394 | { |
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| 449 | Brean | 395 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
| 393 | Brean | 396 | } |
| 397 | |||
| 449 | Brean | 398 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
| 399 | } |
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| 393 | Brean | 400 | |
| 401 | |||
| 449 | Brean | 402 | // Wenn FlightCtrl dann Settings abfragen. |
| 403 | if (Mode.ID == ADDRESS_FC) |
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| 404 | { |
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| 405 | rb_SelFC->setChecked(true); |
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| 393 | Brean | 406 | { |
| 449 | Brean | 407 | TX_Data[0] = 0xff; |
| 408 | TX_Data[1] = 0; |
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| 393 | Brean | 409 | |
| 449 | Brean | 410 | // DEP: Raus wenn Resend implementiert. |
| 393 | Brean | 411 | // ToolBox::Wait(SLEEP); |
| 449 | Brean | 412 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
| 413 | qDebug("FC - Get Settings"); |
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| 393 | Brean | 414 | } |
| 449 | Brean | 415 | } |
| 416 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
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| 417 | else |
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| 418 | { |
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| 419 | f_Settings->pb_Read->setDisabled(true); |
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| 420 | f_Settings->pb_Write->setDisabled(true); |
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| 421 | } |
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| 393 | Brean | 422 | |
| 449 | Brean | 423 | Settings->read_Settings_Analog(HardwareID); |
| 424 | Settings->read_Settings_AnalogLabels(HardwareID); |
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| 393 | Brean | 425 | |
| 449 | Brean | 426 | if (Settings->Analog1.Version != QString(Mode.Version)) |
| 427 | { |
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| 428 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
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| 429 | slot_ac_GetLabels(); |
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| 393 | Brean | 430 | } |
| 449 | Brean | 431 | else |
| 432 | for (int a = 0; a < MaxAnalog; a++) |
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| 433 | { |
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| 434 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
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| 435 | } |
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| 436 | config_Plot();*/ |
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| 437 | break; |
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| 393 | Brean | 438 | } |
| 439 | } |
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| 391 | Brean | 440 | } |