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Ignore whitespace Rev 499 → Rev 500

/QMK-Groundstation/branches/libMK/Forms/mktool.cpp
60,7 → 60,7
setWindowTitle(QA_NAME + " v" + QA_VERSION);
 
// Tab mit Debug-Elementen verbergen
tab_Main->removeTab(6);
//tab_Main->removeTab(6);
 
// Develop - Nicht gebrauchte sachen abschalten.
pb_SettingsReset->hide();
202,7 → 202,7
data = new KopterData();
 
//new QT-Communication object
com = new QTSerialCommunication();
com = new QTSerialCommunication(handler);
 
//create handler that handles incomming data
handler = new Handler(com, data);
249,10 → 249,10
// connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));
// connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));
 
// Serielle Verbundung öffnen / schließen
connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));
// click on button to open/close serial connection
connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_serial_connect()));
 
// TCP-Connection for other QMK-Groundstations
// clock on button for the TCP-Connection to other QMK-Groundstations
connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));
 
// Buttons Settings lesen / schreiben
568,8 → 568,6
///////////////
/*void MKTool::slot_Ticker()
{
 
 
if (TickerDiv)
TickerDiv = false;
else
1480,10 → 1478,23
}
}
 
// Verbindung zum Kopter herstellen / Trennen
void MKTool::slot_OpenPort()
// connect to MK
void MKTool::slot_serial_connect()
{
//FIXME: Put this in libMK/QTCommunication.cpp
//connect to Mikrokopter
com->connect_MK(le_Port->text().toAscii().data());
//TODO: check, if connection really is established
ac_ConnectTTY->setText(tr("Kopter Trennen"));
 
le_Port->setEnabled(false);
 
//send command to get version of MK
handler->get_version();
 
//TODO: Ticker->start(2000);
//TODO: disconnect
 
//FIXME: Put this in libMK/QTCommunication.cpp
/*
if (o_Connection->isOpen())
{
/QMK-Groundstation/branches/libMK/Forms/mktool.h
214,7 → 214,8
 
// Seriell-Port Slots
// void slot_newData(sRxData RX);
void slot_OpenPort();
//connect to serial port
void slot_serial_connect();
 
void slot_TabChanged(int Tab);
 
/QMK-Groundstation/branches/libMK/libMK/Colors.h
0,0 → 1,55
/*
* Colors.h
*
* show some colors in a terminal
*/
 
#ifndef COLORS_H_
#define COLORS_H_
 
// colors
#define COLOR_ESC "\033"
#define COLOR_NORMAL COLOR_ESC"[m"
#define COLOR_BIG COLOR_ESC"[1;1m" //big
#define COLOR_LIGHT COLOR_ESC"[1;2m" //italic?
#define COLOR_UNDERLINE COLOR_ESC"[1;4m" //underscored
#define COLOR_BG_BLACK COLOR_ESC"[1;7m" //background black, foreground white(?)
#define COLOR_BG_WHITE COLOR_ESC"[1;8m" //background white, foreground white(?)
#define COLOR_SCORED COLOR_ESC"[1;4m" //scored
// font colors
#define COLOR_FG_DARKGREY COLOR_ESC"[1;30m"
#define COLOR_FG_DARKRED COLOR_ESC"[1;31m"
#define COLOR_FG_DARKGREEN COLOR_ESC"[1;32m"
#define COLOR_FG_DARKYELLOW COLOR_ESC"[1;33m"
#define COLOR_FG_DARKBLUE COLOR_ESC"[1;34m"
#define COLOR_FG_DARKVIOLET COLOR_ESC"[1;35m"
#define COLOR_FG_LIGHTBLUE COLOR_ESC"[1;36m"
#define COLOR_FG_WHITE COLOR_ESC"[1;37m"
#define COLOR_FG_BLACK COLOR_ESC"[1;38m"
 
#define COLOR_FG_MIDGREY COLOR_ESC"[1;90m"
#define COLOR_FG_LIGHTRED COLOR_ESC"[1;91m"
#define COLOR_FG_LIGHTGREEN COLOR_ESC"[1;92m"
#define COLOR_FG_LIGHTYELLOW COLOR_ESC"[1;93m"
#define COLOR_FG_LIGHTVIOLET COLOR_ESC"[1;95m"
 
// background colors
#define COLOR_BG_DARKGREY COLOR_ESC"[1;40m"
#define COLOR_BG_DARKRED COLOR_ESC"[1;41m"
#define COLOR_BG_DARKGREEN COLOR_ESC"[1;42m"
#define COLOR_BG_DARKYELLOW COLOR_ESC"[1;43m"
#define COLOR_BG_DARKBLUE COLOR_ESC"[1;44m"
#define COLOR_BG_DARKVIOLET COLOR_ESC"[1;45m"
#define COLOR_BG_DARKBLUE2 COLOR_ESC"[1;46m"
#define COLOR_BG_LIGHTGREY COLOR_ESC"[1;47m"
 
#define COLOR_BG_MIDGREY COLOR_ESC"[1;100m"
#define COLOR_BG_LIGHTRED COLOR_ESC"[1;101m"
#define COLOR_BG_LIGHTGREEN COLOR_ESC"[1;102m"
#define COLOR_BG_LIGHTYELLOW COLOR_ESC"[1;103m"
#define COLOR_BG_LIGHTBLUE COLOR_ESC"[1;104m"
#define COLOR_BG_LIGHTVIOLET COLOR_ESC"[1;105m"
#define COLOR_BG_LIGHTBLUE2 COLOR_ESC"[1;106m"
 
#endif
 
/QMK-Groundstation/branches/libMK/libMK/Communication.cpp
10,4 → 10,4
 
void Communication::connection_lost() {
connected = false;
}
}
/QMK-Groundstation/branches/libMK/libMK/FlightLog.cpp
0,0 → 1,46
#include "FlightLog.h"
//TODO: real logging with
// * more log levels (arent info, warning and error enough?)
// * logging in file
// * the current timestamp
// * normal difference between log and error messages
// * and so on
#include <iostream>
#include "Colors.h"
#include <string>
 
//#include <ctime>
#include <sys/time.h>
 
void print_data(char * data, std::string type, char * color) {
char buffer [100];
timeval timestamp;
gettimeofday(&timestamp, 0);
sprintf(buffer, "%i.%03i", timestamp.tv_sec, (timestamp.tv_usec+500)/1000);
/*
time_t rawtime;
struct tm * timeinfo;
time ( &rawtime );
timeinfo = localtime ( &rawtime );
 
strftime(buffer, 100, "%x %X", timeinfo);
*/
 
#ifdef USE_COLOR
std::cout << color << buffer << " " << type << ": " << data << COLOR_NORMAL << std::endl;
#else
std::cout << buffer << " " << type << ": " << data << std::endl;
#endif
}
 
void FlightLog::info(char * data) {
print_data(data, "INFO", INFO_COLOR);
}
 
void FlightLog::warning(char * data) {
print_data(data, "WARNING", WARNING_COLOR);
}
 
void FlightLog::error(char * data) {
print_data(data, "ERROR", ERROR_COLOR);
}
/QMK-Groundstation/branches/libMK/libMK/FlightLog.h
0,0 → 1,27
#ifndef FLIGHTLOG_H
#define FLIGHTLOG_H
#include "Kopter.h"
#include "../typedefs.h"
#include <string>
 
#define USE_COLOR
#define ERROR_COLOR COLOR_FG_DARKRED
#define WARNING_COLOR COLOR_BG_LIGHTYELLOW
#define INFO_COLOR COLOR_NORMAL
 
/**
* The FlightLog saves a human-readable log, so that we can see, what happened.
*/
 
class FlightLog {
private:
//TODO: use a struct that contains timestamp and encoded data?
static char * log_str;
 
public:
static void info(char * dat);
static void warning(char * dat);
static void error(char * dat);
};
 
#endif
/QMK-Groundstation/branches/libMK/libMK/Handler.cpp
1,5 → 1,5
#include "Handler.h"
#include <iostream>
#include "FlightLog.h"
 
/**
* Constructor that gets a communication instance
190,8 → 190,20
/**
* receive data
*/
//Parser::decode64(data);
void Handler::receive_data(int hardwareID, int cmd, char * data) {
void Handler::receive_data(char * incomming, int length) {
if (incomming[0] != '#')
FlightLog::error("this frame is not correct");
FlightLog::info(incomming);
return;
int hardwareID = incomming[1] - 'a';
 
//The cmd is also known as ID-Byte (or ID for short) in the wiki-dokumentation
char cmd = incomming[2];
//decode data
unsigned char data[150];
 
Parser::decode64(incomming, length, data, 3);
 
switch(hardwareID)
{
case ADDRESS_FC :
203,6 → 215,7
//{
com->stop_resend();
//decoded data
FlightLog::info("received motortest values from FlightCtrl");
if (data[0] == VERSION_MIXER)
{
//f_MotorMixer->set_MotorConfig(RX);
215,12 → 228,16
 
if (data[0] == 1)
{
FlightLog::info("motor values written to FlightCtrl.");
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben."));
} else {
FlightLog::warning("could not write motor values to FlightCtrl!");
}
break;
 
// Stick-Belegung der Fernsteuerung
case 'P' : // DONE 0.71g
FlightLog::info("received stick-settings from FlightCtrl:");
/*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true));
f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true));
f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true));
233,7 → 250,7
// Settings lesen
case 'Q' : // DONE 0.71g
com->stop_resend();
 
FlightLog::info("received settings from FlightCtrl");
if (data[1] == VERSION_SETTINGS)
{
int Settings_ID = data[0];
247,6 → 264,7
}
else
{
FlightLog::error("wrong FlightCtrl version");
/*f_Settings->pb_Read->setDisabled(true);
f_Settings->pb_Write->setDisabled(true);
 
263,6 → 281,7
// Settings written
case 'S' : // DONE 0.71g
com->stop_resend();
FlightLog::info("settings written successfully to FlightCtrl");
//TODO: QMessagebox("settings written successful") ?
break;
}
273,6 → 292,7
// Navigationsdaten
case 'O' : // NOT DONE 0.12h
//new_NaviData(RX);
FlightLog::info("received navigation data from NaviCtrl");
break;
}
// case ADDRESS_MK3MAG :
283,7 → 303,7
// LCD-Anzeige
case 'L' : // DONE 0.71g
com->stop_resend();
 
FlightLog::info("received LCD page.");
/*int LCD[150];
memcpy(LCD,RX.decode, sizeof(RX.decode));
 
296,7 → 316,7
// Analoglabels
case 'A' : // DONE 0.71g
com->stop_resend();
 
FlightLog::info("received analog labels");
//check position
if (data[0] != 31) {
/*
321,8 → 341,11
break;
// Debug-Daten
case 'D' : // DONE 0.71g
FlightLog::info("received debug data:");
for (int i = 0; i < MaxAnalog; i++) {
std::cout << Parser::dataToInt(data, (i * 2) + 2) << std::endl;
/*
Parser::dataToInt((char *)data, (i * 2) + 2, false);
*/
}
//show_DebugData();
break;
329,6 → 352,7
// Version
case 'V' : // DONE 0.71h
com->stop_resend();
FlightLog::info("received version");
/*
Mode.ID = HardwareID;
Mode.VERSION_MAJOR = RX.decode[0];
/QMK-Groundstation/branches/libMK/libMK/Handler.h
53,7 → 53,7
void get_version();
void get_ppm_channels();
 
void receive_data(int hardwareID, int cmd, char * data);
void receive_data(char * incomming, int length);
};
 
#endif
/QMK-Groundstation/branches/libMK/libMK/QTSerialCommunication.cpp
1,11 → 1,14
#include "QTSerialCommunication.h"
#include "../libMK/Parser.h"
#include "../Classes/ToolBox.h"
#include <iostream>
 
 
/**
* initiate connection and stuff
*/
QTSerialCommunication::QTSerialCommunication() {
QTSerialCommunication::QTSerialCommunication(Handler * handler) {
this->handler = handler;
connection_lost();
serial = new ManageSerialPort();
serial->setBaudRate(BAUD57600); //BaudRate
31,6 → 34,7
timeout--;
if (serial->isOpen()) {
serial->receiveData();
connect(serial, SIGNAL(newDataReceived(const QByteArray &)), this, SLOT(slot_received_data(const QByteArray &)));
connection_established();
//break while loop
return;
51,10 → 55,12
if (is_connected()) {
Parser::create_frame(cmd, address, data, length);
if (resend) {
//resend evrey 2 seconds
//resend every 2 seconds
resendTimer.start(2000);
resendData = data;
}
//TODO: save outgoing data for debug purpose
std::cout << "send: " << data << std::endl;
QByteArray temp(data);
serial->sendData(temp);
} else {
67,7 → 73,7
* stop timer
*/
void QTSerialCommunication::stop_resend() {
resendTimer.stop();
};
 
/**
76,5 → 82,23
void QTSerialCommunication::slot_resend_timer() {
}
 
void QTSerialCommunication::received_data(char * data) {
/**
* get incomming data from QT-Serial-Manager
* and just give it to the handler.
*/
void QTSerialCommunication::slot_received_data(const QByteArray & data) {
received_data((char *)data.data(), data.length());
}
 
/**
* handel received data
*/
void QTSerialCommunication::received_data(char * data, int length) {
//Debug: print oud debug data
//TODO: save data in a file for debug purposes
std::cout << "receive: " << data << std::endl;
//handle incomming data
//FIXME: HIER! Hardware-Id = Mode.id
 
handler->receive_data(data, length);
}
/QMK-Groundstation/branches/libMK/libMK/QTSerialCommunication.h
3,6 → 3,7
#include <QObject>
#include <QTimer>
#include "Communication.h"
#include "Handler.h"
#include "../SerialPort/ManageSerialPort.h"
 
/**
17,6 → 18,7
Q_OBJECT
 
private:
Handler * handler;
//timer to resend data if necessary
QTimer resendTimer;
//data that will be resended if the timer
27,10 → 29,11
ManageSerialPort * serial;
private slots:
void slot_resend_timer();
void slot_received_data(const QByteArray & data);
public:
QTSerialCommunication();
QTSerialCommunication(Handler * handler);
void connect_MK(char * addr);
void received_data(char * data);
void received_data(char * data, int length);
void send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend);
void stop_resend();
};
/QMK-Groundstation/branches/libMK/eeepc.pro
8,3 → 8,7
INCLUDEPATH += $(HOME)/include /usr/include/qwt-qt4
 
include(global.pri)
HEADERS += libMK/FlightLog.h
 
SOURCES += libMK/FlightLog.cpp