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Ignore whitespace Rev 512 → Rev 513

/QMK-Groundstation/branches/libMK/libMK/Handler.cpp
1,5 → 1,7
#include "Handler.h"
#include "FlightLog.h"
#include <sstream>
#include <string>
 
/**
* Constructor that gets a communication instance
14,6 → 16,7
* read settings from FlightCtrl (settings index 0x00-0x05)
*/
void Handler::get_flightctrl_settings(int index) {
FlightLog::info_FC("getting FlightCtrl settings");
char tx_data[2] = {index, 0};
com->send_cmd('q', ADDRESS_FC, tx_data, 1, true);
}
22,6 → 25,7
* write settings to FlightCtrl
*/
void Handler::set_flightctrl_settings(char * tx_data) {
FlightLog::info_FC("setting FlightCtrl settings");
com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true);
}
 
34,6 → 38,7
{
tx_data[z] = motor.desired_speed[z];
}
FlightLog::info_FC("testing motor");
com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false);
}
 
50,6 → 55,7
* read mixer values from FlightCtrl
*/
void Handler::read_motor_mixer() {
FlightLog::info_FC("reading motor mixer values");
char tx_data[1] = {0};
//com->log("read motor mixer");
com->send_cmd('n', ADDRESS_FC, tx_data, 1, true);
59,6 → 65,7
* write motor mixer values to FlightCtrl
*/
void Handler::write_motor_mixer(char * tx_data, int length) {
FlightLog::info_FC("setting motor mixer values");
com->send_cmd('m', ADDRESS_FC, tx_data, length, true);
}
 
71,6 → 78,7
* set debug values for NaviCtrl
*/
void Handler::set_navictrl_debug(int speed) {
FlightLog::info_NC("setting NaviCtrl debug speed");
char tx_data[1] = { speed };
com->send_cmd('o', ADDRESS_NC, tx_data, 1, false);
}
86,6 → 94,7
* send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately)
*/
void Handler::send_waypoint(Waypoint_t desired_pos) {
FlightLog::info_GPS("sending Waypoint");
com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);
}
 
93,6 → 102,7
* add waypoint to waypoint list
*/
void Handler::add_waypoint(Waypoint_t wp) {
FlightLog::info_GPS("adding Waypoint");
com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false);
}
 
106,16 → 116,19
}
//-------------switch between Hardware--------------------
void Handler::switch_navictrl() {
FlightLog::info("switching to NaviCtrl");
char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'};
com->send_cmd('#', ADDRESS_NC, tx_data, 6, false);
}
 
void Handler::switch_flightctrl() {
FlightLog::info("switching to FlightCtrl");
char tx_data[1] = { 0 };
com->send_cmd('u', ADDRESS_NC, tx_data, 1, false);
}
 
void Handler::switch_mk3mag() {
FlightLog::info("switching to MK3MAG");
char tx_data[1] = { 1 };
com->send_cmd('u', ADDRESS_NC, tx_data, 1, false);
}
129,6 → 142,7
* set debug values for all components
*/
void Handler::set_all_debug(int speed) {
FlightLog::info("setting debug speed");
char tx_data[1] = { speed };
com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false);
}
144,6 → 158,7
* get all analog labels
*/
void Handler::get_analog() {
FlightLog::info("get analog values");
char tx_data[1] = { 0 };
com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true);
}
152,6 → 167,7
* get values from LCD / show LCD
*/
void Handler::show_lcd() {
FlightLog::info("show LCD");
char tx_data[1] = {0};
com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
}
160,6 → 176,7
* got to next LCD Page
*/
void Handler::lcd_up() {
FlightLog::info("going up one LCD page");
char tx_data[2] = { 0, 0 };
if (data->lcd_cur != data->lcd_max)
tx_data[0] = data->lcd_cur+1;
170,6 → 187,7
* got to previous LCD Page
*/
void Handler::lcd_down() {
FlightLog::info("going down one LCD page");
char tx_data[2] = { 0, 0 };
if (data->lcd_cur != 0)
tx_data[0] = data->lcd_cur-1;
177,6 → 195,7
}
 
void Handler::get_version() {
FlightLog::info("get version");
//TODO: Check if is this correct or do we need data from switch_...
char tx_data[1] = { 0 };
com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true);
183,24 → 202,41
}
 
void Handler::get_ppm_channels() {
FlightLog::info("get PPM channels");
char tx_data[1] = { 0 };
com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false);
}
 
void Handler::new_navi_data(char * data) {
std::string mode;
switch(data[N_NC_FLAGS])
{
case 0x01 : mode = "Free"; break;
case 0x02 : mode = "Position Hold"; break;
case 0x04 : mode = "Coming Home"; break;
case 0x08 : mode = "Range Limit"; break;
case 0x10 : mode = "Serial Error"; break;
case 0x20 : mode = "Target reached"; break;
case 0x40 : mode = "Manual Control"; break;
}
}
 
/**
* receive data
*/
void Handler::receive_data(char * incomming, int length) {
if (incomming[0] != '#')
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];
//decoded data
unsigned char data[MAX_DATA_SIZE];
 
Parser::decode64(incomming, length, data, 3);
 
211,16 → 247,14
{
// Motor-Mixer
case 'N' :
//if (Parser::decode64(RX))
//{
com->stop_resend();
//decoded data
FlightLog::info("received motortest values from FlightCtrl");
if (data[0] == VERSION_MIXER)
{
//f_MotorMixer->set_MotorConfig(RX);
}
//}
com->stop_resend();
//decoded data
FlightLog::info_FC("received motortest values from FlightCtrl");
if (data[0] == VERSION_MIXER)
{
//TODO: Handler::receivedMotorConfig(incomming)
//f_MotorMixer->set_MotorConfig(RX);
}
break;
// Motor-Mixer Schreib-Best├Ątigung
case 'M' :
228,7 → 262,7
 
if (data[0] == 1)
{
FlightLog::info("motor values written to FlightCtrl.");
FlightLog::info_FC("motor values written to FlightCtrl.");
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben."));
} else {
FlightLog::warning("could not write motor values to FlightCtrl!");
237,7 → 271,14
 
// Stick-Belegung der Fernsteuerung
case 'P' : // DONE 0.71g
FlightLog::info("received stick-settings from FlightCtrl:");
FlightLog::info_FC("received stick-settings:");
for (int i = 1; i <= 8; i++) {
std::stringstream d;
d << "Stickvalue for Stick nr. " << i << ": " << Parser::dataToInt((char *)data, i*2, true);;
std::string val;
d >> val;
FlightLog::info_FC((char *)val.c_str());
}
/*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));
250,10 → 291,22
// Settings lesen
case 'Q' : // DONE 0.71g
com->stop_resend();
FlightLog::info("received settings from FlightCtrl");
FlightLog::info_FC("received settings");
if (data[1] == VERSION_SETTINGS)
{
int Settings_ID = data[0];
int settings_id = data[0];
std::stringstream d;
d << "Settings-ID: " << settings_id;
std::string val;
d >> val;
FlightLog::info_FC((char *)val.c_str());
for (int i = 0; i < MaxParameter; i++) {
d.flush();
d << "Value for Parameter nr. " << i << ": " << (int)data[i+2];
d >> val;
FlightLog::info_FC((char *)val.c_str());
}
/*for (int a = 0; a < MaxParameter; a++)
{
FCSettings[a] = RX.decode[a + 2];
281,7 → 334,7
// Settings written
case 'S' : // DONE 0.71g
com->stop_resend();
FlightLog::info("settings written successfully to FlightCtrl");
FlightLog::info_FC("settings written successfully");
//TODO: QMessagebox("settings written successful") ?
break;
}
292,7 → 345,7
// Navigationsdaten
case 'O' : // NOT DONE 0.12h
//new_NaviData(RX);
FlightLog::info("received navigation data from NaviCtrl");
FlightLog::info_NC("received navigation data");
break;
}
// case ADDRESS_MK3MAG :
304,7 → 357,7
case 'L' : // DONE 0.71g
com->stop_resend();
FlightLog::info("received LCD page.");
/*int LCD[150];
/*int LCD[MAX_DATA_SIZE];
memcpy(LCD,RX.decode, sizeof(RX.decode));
 
f_LCD->show_Data(LCD);