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Ignore whitespace Rev 448 → Rev 449

/QMK-Groundstation/branches/libMK/libMK/Handler.cpp
82,7 → 82,7
}
 
/**
* send a waypoint to the NaviCtrl (the copter will fly to the position emidiately)
* send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately)
*/
void Handler::send_waypoint(Waypoint_t desired_pos) {
com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);
189,281 → 189,252
/**
* receive data
*/
void Handler::receive_data(sRxData RX) {
//extract hardware ID from received Data
int hardwareID = RX.input[1] - 'a';
//Parser::decode64(data);
void Handler::receive_data(int hardwareID, int cmd, char * data) {
switch(hardwareID)
{
case ADDRESS_FC :
switch(RX.input[2])
switch(cmd)
{
// Motor-Mixer
case 'N' :
if (Parser::decode64(RX))
{
//if (Parser::decode64(RX))
//{
com->stop_resend();
 
if (RX.decode[0] == VERSION_MIXER)
//decoded data
if (data[0] == VERSION_MIXER)
{
//f_MotorMixer->set_MotorConfig(RX);
}
}
break;
//}
break;
// Motor-Mixer Schreib-Best├Ątigung
case 'M' :
if (Parser::decode64(RX))
com->stop_resend();
 
if (data[0] == 1)
{
com->stop_resend();
 
if (RX.decode[0] == 1)
{
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben."));
}
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben."));
}
break;
break;
 
// Stick-Belegung der Fernsteuerung
case 'P' : // DONE 0.71g
if (Parser::decode64(RX))
{
/*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));
f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true));
f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true));
f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true));
f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true));
f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/
}
break;
/*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));
f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true));
f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true));
f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true));
f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true));
f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/
break;
// Settings lesen
case 'Q' : // DONE 0.71g
if (Parser::decode64(RX))
com->stop_resend();
 
if (data[1] == VERSION_SETTINGS)
{
com->stop_resend();
 
if (RX.decode[1] == VERSION_SETTINGS)
int Settings_ID = data[0];
/*for (int a = 0; a < MaxParameter; a++)
{
int Settings_ID = RX.decode[0];
/*for (int a = 0; a < MaxParameter; a++)
{
FCSettings[a] = RX.decode[a + 2];
}
f_Settings->show_FCSettings(Settings_ID, FCSettings);
f_Settings->pb_Read->setEnabled(true);
f_Settings->pb_Write->setEnabled(true);*/
FCSettings[a] = RX.decode[a + 2];
}
else
{
/*f_Settings->pb_Read->setDisabled(true);
f_Settings->pb_Write->setDisabled(true);
f_Settings->show_FCSettings(Settings_ID, FCSettings);
f_Settings->pb_Read->setEnabled(true);
f_Settings->pb_Write->setEnabled(true);*/
}
else
{
/*f_Settings->pb_Read->setDisabled(true);
f_Settings->pb_Write->setDisabled(true);
 
QString name = QString("Versionen inkompatibel.\n") +
QString("Version von GroundStation benoetigt: ") +
QString(VERSION_SETTINGS) +
QString("\nVersion auf der FlightCtrl: ") +
QString(RX.decode[1]) +
QString("\nParameterbearbeitung nicht moeglich.");
QMessageBox::warning(this, QA_NAME,
name, QMessageBox::Ok);*/
}
QString name = QString("Versionen inkompatibel.\n") +
QString("Version von GroundStation benoetigt: ") +
QString(VERSION_SETTINGS) +
QString("\nVersion auf der FlightCtrl: ") +
QString(RX.decode[1]) +
QString("\nParameterbearbeitung nicht moeglich.");
QMessageBox::warning(this, QA_NAME,
name, QMessageBox::Ok);*/
}
break;
break;
// Settings written
case 'S' : // DONE 0.71g
com->stop_resend();
//TODO: QMessagebox("settings written successful") ?
break;
break;
}
 
case ADDRESS_NC :
switch(RX.input[2])
switch(cmd)
{
// Navigationsdaten
case 'O' : // NOT DONE 0.12h
if (Parser::decode64(RX))
{
//new_NaviData(RX);
}
break;
//new_NaviData(RX);
break;
}
// case ADDRESS_MK3MAG :
 
default :
switch(RX.input[2])
switch(cmd)
{
// LCD-Anzeige
case 'L' : // DONE 0.71g
if (Parser::decode64(RX))
{
com->stop_resend();
com->stop_resend();
 
/*int LCD[150];
memcpy(LCD,RX.decode, sizeof(RX.decode));
/*int LCD[150];
memcpy(LCD,RX.decode, sizeof(RX.decode));
 
f_LCD->show_Data(LCD);
f_LCD->show_Data(LCD);
 
LCD_Page = RX.decode[0];
LCD_MAX_Page = RX.decode[1];
*/
}
break;
LCD_Page = RX.decode[0];
LCD_MAX_Page = RX.decode[1];
*/
break;
// Analoglabels
case 'A' : // DONE 0.71g
if (Parser::decode64(RX))
{
com->stop_resend();
com->stop_resend();
 
int Position = RX.decode[0];
if (Position != 31)
//check position
if (data[0] != 31) {
/*
Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed();
if (Settings->Analog1.Label[Position] == "")
{
/*
Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed();
if (Settings->Analog1.Label[Position] == "")
{
Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position);
}
Position ++;
TX_Data[0] = Position;
o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/
Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position);
}
if (Position == 31)
Position ++;
TX_Data[0] = Position;
o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/
} else {
/*
for (int a = 0; a < MaxAnalog; a++)
{
/*
for (int a = 0; a < MaxAnalog; a++)
{
lb_Analog[a]->setText(Settings->Analog1.Label[a]);
}
Settings->Analog1.Version = QString(Mode.Version);
Settings->write_Settings_AnalogLabels(HardwareID);
config_Plot();*/
lb_Analog[a]->setText(Settings->Analog1.Label[a]);
}
Settings->Analog1.Version = QString(Mode.Version);
Settings->write_Settings_AnalogLabels(HardwareID);
config_Plot();*/
}
break;
break;
// Debug-Daten
case 'D' : // DONE 0.71g
if (Parser::decode64(RX))
{
for (int i = 0; i < MaxAnalog; i++)
{
//AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2);
}
//show_DebugData();
for (int i = 0; i < MaxAnalog; i++) {
//AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2);
}
break;
//show_DebugData();
break;
// Version
case 'V' : // DONE 0.71h
if (Parser::decode64(RX))
{
com->stop_resend();
/*
Mode.ID = HardwareID;
Mode.VERSION_MAJOR = RX.decode[0];
Mode.VERSION_MINOR = RX.decode[1];
Mode.VERSION_PATCH = RX.decode[4];
Mode.VERSION_SERIAL_MAJOR = RX.decode[2];
Mode.VERSION_SERIAL_MINOR = RX.decode[3];
com->stop_resend();
/*
Mode.ID = HardwareID;
Mode.VERSION_MAJOR = RX.decode[0];
Mode.VERSION_MINOR = RX.decode[1];
Mode.VERSION_PATCH = RX.decode[4];
Mode.VERSION_SERIAL_MAJOR = RX.decode[2];
Mode.VERSION_SERIAL_MINOR = RX.decode[3];
 
Mode.Hardware = HardwareType[Mode.ID];
//TODO: Funktion im Handler get_version() oder sowas
QString version = QString("%1").arg(RX.decode[0]) + "." +
QString("%1").arg(RX.decode[1]) +
QString(RX.decode[4] + 'a');
Mode.Version = version.toLatin1().data;
setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " +
Mode.Hardware + " " +
Mode.Version);
Mode.Hardware = HardwareType[Mode.ID];
//TODO: Funktion im Handler get_version() oder sowas
QString version = QString("%1").arg(RX.decode[0]) + "." +
QString("%1").arg(RX.decode[1]) +
QString(RX.decode[4] + 'a');
Mode.Version = version.toLatin1().data;
setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " +
Mode.Hardware + " " +
Mode.Version);
 
if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR)
{
if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR)
{
// AllowSend = false;
QMessageBox::warning(this, QA_NAME,
tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok);
}
QMessageBox::warning(this, QA_NAME,
tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok);
}
 
if (ac_NoDebug->isChecked())
if (ac_NoDebug->isChecked())
{
TX_Data[0] = 0;
}
else
if (ac_FastDebug->isChecked())
{
TX_Data[0] = Settings->Data.Debug_Fast / 10;
}
else
{
TX_Data[0] = Settings->Data.Debug_Slow / 10;
}
 
o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
 
// Wenn MK3MAG dann andauernd Daten neu anfragen.
if (Mode.ID == ADDRESS_MK3MAG)
{
TickerEvent[3] = true;
rb_SelMag->setChecked(true);
}
 
// Wenn NaviCtrl dann hier.
if (Mode.ID == ADDRESS_NC)
{
rb_SelNC->setChecked(true);
 
if (ac_NoNavi->isChecked())
{
TX_Data[0] = 0;
}
else
if (ac_FastDebug->isChecked())
if (ac_FastNavi->isChecked())
{
TX_Data[0] = Settings->Data.Debug_Fast / 10;
TX_Data[0] = Settings->Data.Navi_Fast / 10;
}
else
{
TX_Data[0] = Settings->Data.Debug_Slow / 10;
TX_Data[0] = Settings->Data.Navi_Slow / 10;
}
 
o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
}
 
// Wenn MK3MAG dann andauernd Daten neu anfragen.
if (Mode.ID == ADDRESS_MK3MAG)
{
TickerEvent[3] = true;
rb_SelMag->setChecked(true);
}
 
// Wenn NaviCtrl dann hier.
if (Mode.ID == ADDRESS_NC)
// Wenn FlightCtrl dann Settings abfragen.
if (Mode.ID == ADDRESS_FC)
{
rb_SelFC->setChecked(true);
{
rb_SelNC->setChecked(true);
TX_Data[0] = 0xff;
TX_Data[1] = 0;
 
if (ac_NoNavi->isChecked())
{
TX_Data[0] = 0;
}
else
if (ac_FastNavi->isChecked())
{
TX_Data[0] = Settings->Data.Navi_Fast / 10;
}
else
{
TX_Data[0] = Settings->Data.Navi_Slow / 10;
}
 
o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
}
 
 
// Wenn FlightCtrl dann Settings abfragen.
if (Mode.ID == ADDRESS_FC)
{
rb_SelFC->setChecked(true);
{
TX_Data[0] = 0xff;
TX_Data[1] = 0;
 
// DEP: Raus wenn Resend implementiert.
// DEP: Raus wenn Resend implementiert.
// ToolBox::Wait(SLEEP);
o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true);
qDebug("FC - Get Settings");
}
o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true);
qDebug("FC - Get Settings");
}
// Wenn nicht Lesen und Schreiben der Settings deaktivieren.
else
{
f_Settings->pb_Read->setDisabled(true);
f_Settings->pb_Write->setDisabled(true);
}
}
// Wenn nicht Lesen und Schreiben der Settings deaktivieren.
else
{
f_Settings->pb_Read->setDisabled(true);
f_Settings->pb_Write->setDisabled(true);
}
 
Settings->read_Settings_Analog(HardwareID);
Settings->read_Settings_AnalogLabels(HardwareID);
Settings->read_Settings_Analog(HardwareID);
Settings->read_Settings_AnalogLabels(HardwareID);
 
if (Settings->Analog1.Version != QString(Mode.Version))
{
lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus."));
slot_ac_GetLabels();
}
else
for (int a = 0; a < MaxAnalog; a++)
{
lb_Analog[a]->setText(Settings->Analog1.Label[a]);
}
config_Plot();*/
if (Settings->Analog1.Version != QString(Mode.Version))
{
lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus."));
slot_ac_GetLabels();
}
break;
else
for (int a = 0; a < MaxAnalog; a++)
{
lb_Analog[a]->setText(Settings->Analog1.Label[a]);
}
config_Plot();*/
break;
}
}
}