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| 1 | #include "QTSerialCommunication.h" |
1 | #include "QTSerialCommunication.h" |
| 2 | #include "../libMK/Parser.h" |
2 | #include "../libMK/Parser.h" |
| 3 | #include "../Classes/ToolBox.h" |
3 | #include "../Classes/ToolBox.h" |
| 4 | 4 | ||
| 5 | /** |
5 | /** |
| 6 | * initiate connection and stuff |
6 | * initiate connection and stuff |
| 7 | */ |
7 | */ |
| 8 | QTSerialCommunication::QTSerialCommunication() { |
8 | QTSerialCommunication::QTSerialCommunication() { |
| - | 9 | connection_lost(); |
|
| 9 | serial = new ManageSerialPort(); |
10 | serial = new ManageSerialPort(); |
| 10 | serial->setBaudRate(BAUD57600); //BaudRate |
11 | serial->setBaudRate(BAUD57600); //BaudRate |
| 11 | serial->setDataBits(DATA_8); //DataBits |
12 | serial->setDataBits(DATA_8); //DataBits |
| 12 | serial->setParity(PAR_NONE); //Parity |
13 | serial->setParity(PAR_NONE); //Parity |
| 13 | serial->setStopBits(STOP_1); //StopBits |
14 | serial->setStopBits(STOP_1); //StopBits |
| 14 | serial->setFlowControl(FLOW_OFF); //FlowControl |
15 | serial->setFlowControl(FLOW_OFF); //FlowControl |
| 15 | 16 | ||
| 16 | serial->setTimeout(0, 10); |
17 | serial->setTimeout(0, 10); |
| 17 | serial->enableSending(); |
18 | serial->enableSending(); |
| 18 | serial->enableReceiving(); |
19 | serial->enableReceiving(); |
| 19 | } |
20 | } |
| 20 | 21 | ||
| 21 | /** |
22 | /** |
| 22 | * connect to Mikrokopter |
23 | * connect to Mikrokopter |
| 23 | */ |
24 | */ |
| 24 | void QTSerialCommunication::connect_MK(char * addr) { |
25 | void QTSerialCommunication::connect_MK(char * addr) { |
| 25 | serial->setPort(addr); |
26 | serial->setPort(addr); |
| 26 | serial->open(); |
27 | serial->open(); |
| 27 | int timeout = 5; |
28 | int timeout = 5; |
| 28 | while (timeout > 0) { |
29 | while (timeout > 0) { |
| 29 | ToolBox::wait(200); |
30 | ToolBox::wait(200); |
| 30 | timeout--; |
31 | timeout--; |
| 31 | if (serial->isOpen()) { |
32 | if (serial->isOpen()) { |
| 32 | serial->receiveData(); |
33 | serial->receiveData(); |
| 33 | connection_established(); |
34 | connection_established(); |
| 34 | //break while loop |
35 | //break while loop |
| 35 | return; |
36 | return; |
| 36 | } |
37 | } |
| 37 | } |
38 | } |
| 38 | //TODO: Error message, because communication could not established |
39 | //TODO: Error message, because communication could not established |
| 39 | }; |
40 | }; |
| 40 | 41 | ||
| 41 | /** |
42 | /** |
| - | 43 | * received new data from MK |
|
| - | 44 | */ |
|
| - | 45 | ||
| - | 46 | ||
| - | 47 | /** |
|
| 42 | * send command to Mikrokopter |
48 | * send command to Mikrokopter |
| 43 | */ |
49 | */ |
| 44 | void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
50 | void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
| 45 | if (is_connected()) { |
51 | if (is_connected()) { |
| 46 | Parser::create_frame(cmd, address, data, length); |
52 | Parser::create_frame(cmd, address, data, length); |
| 47 | if (resend) { |
53 | if (resend) { |
| 48 | //FIXME: start timer...? |
54 | //resend evrey 2 seconds |
| - | 55 | resendTimer.start(2000); |
|
| - | 56 | resendData = data; |
|
| 49 | } |
57 | } |
| 50 | QByteArray temp(data); |
58 | QByteArray temp(data); |
| 51 | serial->sendData(temp); |
59 | serial->sendData(temp); |
| - | 60 | } else { |
|
| - | 61 | //FIXME: Error message: not connected |
|
| 52 | } |
62 | } |
| 53 | }; |
63 | }; |
| 54 | 64 | ||
| 55 | /** |
65 | /** |
| 56 | * stop sending commands to Mikrokopter |
66 | * stop sending commands to Mikrokopter |
| 57 | * stop timer |
67 | * stop timer |
| 58 | */ |
68 | */ |
| 59 | void QTSerialCommunication::stop_resend() { |
69 | void QTSerialCommunication::stop_resend() { |
| 60 | - | ||
| 61 | }; |
70 | |
| - | 71 | }; |
|
| - | 72 | ||
| - | 73 | /** |
|
| - | 74 | * resend timer timout |
|
| - | 75 | */ |
|
| - | 76 | void QTSerialCommunication::slot_resend_timer() { |
|
| - | 77 | } |
|
| 62 | 78 | ||