WebSVN - Projects - Diff - Rev 399 and 440 - /QMK-Groundstation/branches/libMK/Forms/mktool.cpp

     LayOut_Speed->addWidget(SpeedMeter);
+}
 void MKTool::init_Objects()
+{
+    //new KopterData object that contains all data from MK
+    data = new KopterData();
     //new QT-Communication object
     com = new QTCommunication();
     //create handler that handles incomming data
-    handler = new Handler(com);
+    handler = new Handler(com, data);
     // QTimer-Instanzen
     Ticker = new QTimer(this);
     // Verbindungsobject
     //o_Connection = new cConnection();
 // Waypoint zur NC Senden.
 //FIXME: put this in cpp/NaviCtrl.cpp?
 void MKTool::slot_pb_SendTarget()
+{
-{
+    sNaviData navi = data->navi;
-    if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))
+    if ((navi.Current.Longitude == 0) && (navi.Current.Latitude == 0))
+    {
         QMessageBox msgB;
         QString msg;
         msgB.setText(tr("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden"));
     desired_pos.reserve[3] = 0; // reserve
     //...und sende ihn an die NaviCtrl
     int max_radius = 10000;
     if (ok_lat && ok_lon &&
-        abs((double)(Navi.Current.Longitude - desired_pos.Position.Longitude)) < max_radius &&
+        abs((double)(navi.Current.Longitude - desired_pos.Position.Longitude)) < max_radius &&
-        abs((double)(Navi.Current.Latitude  - desired_pos.Position.Latitude)) < max_radius)
+        abs((double)(navi.Current.Latitude  - desired_pos.Position.Latitude)) < max_radius)
+    {
         handler->send_waypoint(desired_pos);
+    }
     else
+    {
         QMessageBox msgB;
         QString msg;
         msg += tr("Bitte die Eingabe ueberpruefen!\n");
         msg += tr("Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n");
         msg += "(Lon: ";
-        msg += QString::number(Navi.Current.Longitude);
+        msg += QString::number(navi.Current.Longitude);
         msg += ", ";
         msg += "Lat: ";
-        msg += QString::number(Navi.Current.Latitude);
+        msg += QString::number(navi.Current.Latitude);
         msg += ")";
         msgB.setText(msg);
         msgB.exec();
+    }
+}
 // Hardware Auswahl und umschalten
 void MKTool::slot_rb_Hardware()
 {
-    if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC))
+    if ((rb_SelNC->isChecked() == false) && (data->mode.ID != ADDRESS_NC))
+    {
         lb_Status->setText(tr("Schalte um auf NaviCtrl."));
         handler->switch_navictrl();
         //FIXME: remove wait?
 // Ticker-Event
 ///////////////
 void MKTool::slot_Ticker()
 {
-//FIXME: Put this somewhere in Handler.cpp
+//FIXME: Put this somewhere in libMK/QTCommunication.cpp
 /*
     if (TickerDiv)
         TickerDiv = false;
     else
+    {
+    }
-    disconnect(f_Motortest, 0,0,0);
-    for (int z = 0; z<12; z++)
-    {
-        Motor.Speed[z] = 0;
-    }
+    disconnect(f_Motortest, 0,0,0);
-    slot_Motortest(Motor);
+    handler->reset_motor();
 // Motormixer-Einstellungen anzeigen
 void MKTool::slot_ac_MotorMixer()
+{
     f_MotorMixer->set_Objects(handler, Settings);
-    handler->read_mixer();
+    handler->read_motor_mixer();
     if (f_MotorMixer->exec()==QDialog::Accepted)
+    {
         f_LCD = new dlg_LCD(this);
         // LCD auf / ab
         connect(f_LCD->pb_LCDup,   SIGNAL(clicked()), this, SLOT(slot_LCD_UP()));
         connect(f_LCD->pb_LCDdown, SIGNAL(clicked()), this, SLOT(slot_LCD_DOWN()));
-        //FIXME: put this in com/Handler.cpp
+        //FIXME: put this in libMK/Handler.cpp
         f_LCD->show();
         handler->show_lcd();
-        //FIXME: replace ticker with something else
+        //FIXME: replace ticker with something else???
         Ticker->setInterval(500);
         TickerEvent[2] = true;
+    }
+    }
+}
 void MKTool::slot_MAP_SetWayPoints(QList<sWayPoint> l_WayPoints)
 {
-//FIXME: Put this in com/Handler.cpp or com/NaviCtrl.cpp
+//FIXME: Put this in libMK/Handler.cpp or libMK/NaviCtrl.cpp
     double Longitude, Latitude;
     set_Analog Old_Analog1;
     Old_Analog1 = Settings->Analog1;
     dlg_Config *f_Config = new dlg_Config(this);
-    f_Config->set_Settings(Settings, Mode.ID);
+    f_Config->set_Settings(Settings, data->mode.ID);
     if (f_Config->exec()==QDialog::Accepted)
+    {
         Settings = f_Config->get_Settings();
-        Settings->write_Settings_Analog(Mode.ID);
+        Settings->write_Settings_Analog(data->mode.ID);
         handler->stop_all_debug();
+    }
     else
+    {
         // Wenn MK3MAG dann andauernd Daten neu anfragen.
+//FIXME: TickerEvent in Communication oder so
-        if (Mode.ID == ADDRESS_MK3MAG)
+/*        if (Mode.ID == ADDRESS_MK3MAG)
-            TickerEvent[3] = true;
+            TickerEvent[3] = true;*/
         if (ac_FastDebug->isChecked())
+        {
             lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
     Settings->TTY.Port = le_Port->text();
+}
 void MKTool::show_DebugData()
+{
-{
+//FIXME: log analogdata in Communication
-    if (logger->is_active())
+/*    if (logger->is_active())
-        logger->write(AnalogData);
+        logger->write(AnalogData);*/
     if (ac_StartPlotter->isChecked())
+    {
-    {
+        aID[NextPlot] = NextPlot;
-        aID[NextPlot] = NextPlot;
+        //FIXME: get analogData from handler
         /*
         for (int a = 0; a < MaxAnalog; a++)
         {
             aData[a][NextPlot] = AnalogData[a];
         }*/
         NextPlot++;
+        if ((tab_Main->currentWidget()->objectName() == QString("Tab_1")))
+            update_Plot();
         if ((tab_Main->currentWidget()->objectName() == QString("Tab_1")))
             update_Plot();
 //FIXME: get analogdata from handler
 /*
     le_A_0->setText(QString("%1").arg(AnalogData[0]));
             Nick = Nick - 255;
         Attitude->setAngle(Roll);
         Attitude->setGradient(double(double(Nick) / 100.0));
+    }
 */
+}
 void MKTool::new_NaviData(sRxData RX)
-{
+{
 //    qDebug("Navi-Data");
     sNaviData navi = data->navi;
     switch(RX.decode[N_NC_FLAGS])
+    {
         case 0x01 : lb_Mode->setText(tr("Free")); break;
         case 0x10 : lb_Mode->setText(tr("Serial Error")); break;
         case 0x20 : lb_Mode->setText(tr("Target reached")); break;
         case 0x40 : lb_Mode->setText(tr("Manual Control")); break;
+    }
-    Navi.Current.Longitude = Parser::dataToLong(RX.decode, N_CUR_LONGITUDE, true);
+    navi.Current.Longitude = Parser::dataToLong(RX.decode, N_CUR_LONGITUDE, true);
-    Navi.Current.Latitude  = Parser::dataToLong(RX.decode, N_CUR_LATITUDE,  true);
+    navi.Current.Latitude  = Parser::dataToLong(RX.decode, N_CUR_LATITUDE,  true);
-    Navi.Current.Altitude  = Parser::dataToLong(RX.decode, N_CUR_ALTITUDE,  true);
+    navi.Current.Altitude  = Parser::dataToLong(RX.decode, N_CUR_ALTITUDE,  true);
-    Navi.Target.Longitude  = Parser::dataToLong(RX.decode, N_TAR_LONGITUDE, true);
+    navi.Target.Longitude  = Parser::dataToLong(RX.decode, N_TAR_LONGITUDE, true);
-    Navi.Target.Latitude   = Parser::dataToLong(RX.decode, N_TAR_LATITUDE,  true);
+    navi.Target.Latitude   = Parser::dataToLong(RX.decode, N_TAR_LATITUDE,  true);
-    Navi.Target.Altitude   = Parser::dataToLong(RX.decode, N_TAR_ALTITUDE,  true);
+    navi.Target.Altitude   = Parser::dataToLong(RX.decode, N_TAR_ALTITUDE,  true);
     le_CDistance->setText(QString("%1 cm").arg(Parser::dataToInt(RX.decode, N_HOME_DISTANCE)));
     le_CWPA->setText(QString("%1").arg(RX.decode[N_WP_INDEX]));
         Nick = Nick - 255;
     Attitude->setAngle(Roll);
     Attitude->setGradient(double(0.0 - (double(Nick) / 100.0)));
-    sNaviString NaviString;
+    sNaviData naviData;
-    NaviString.Longitude = Parser::getFloat(Navi.Current.Longitude,7);
+    naviData.Longitude = Parser::getFloat(navi.Current.Longitude,7);
-    NaviString.Latitude  = Parser::getFloat(Navi.Current.Latitude,7);
+    naviData.Latitude  = Parser::getFloat(navi.Current.Latitude,7);
-    NaviString.Altitude  = Parser::getFloat(Navi.Current.Altitude,3);
+    naviData.Altitude  = Parser::getFloat(navi.Current.Altitude,3);
-    le_CurLong->setText(QString::number(NaviString.Longitude));
+    le_CurLong->setText(QString::number(naviData.Longitude));
-    le_CurLat->setText(QString::number(NaviString.Latitude));
+    le_CurLat->setText(QString::number(naviData.Latitude));
-    KML_Server->store_NaviString(NaviString);
+    KML_Server->store_NaviString(naviData);
-    f_Map->add_Position(NaviString.Longitude, NaviString.Latitude);
+    f_Map->add_Position(naviData.Longitude, naviData.Latitude);
     if ((QMK_Server->property("Connect")) == true)
+    {
+}
 // Verbindung zum Kopter herstellen / Trennen
 void MKTool::slot_OpenPort()
 {
-//FIXME: Put this in com/QTCommunication.cpp
+//FIXME: Put this in libMK/QTCommunication.cpp
 /*
     if (o_Connection->isOpen())
+    {
         TX_Data[0] = Settings->Data.Debug_Off / 10;
 // Programm beenden
 ///////////////////
 MKTool::~MKTool()
 {
-//FIXME: Put this in com/QTCommunication.cpp
+//FIXME: Put this in libMK/QTCommunication.cpp
 /*
     if (o_Connection->isOpen())
+    {
         o_Connection->Close();

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