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#include "QTSerialCommunication.h"
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#include "QTSerialCommunication.h"
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#include "../libMK/Parser.h"
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#include "../libMK/Parser.h"
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#include "../Classes/ToolBox.h"
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#include "../Classes/ToolBox.h"
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#include <iostream>
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/**
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/**
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 * initiate connection and stuff
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 * initiate connection and stuff
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 */
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 */
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QTSerialCommunication::QTSerialCommunication() {
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QTSerialCommunication::QTSerialCommunication(Handler * handler) {
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    this->handler = handler;
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    connection_lost();
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    connection_lost();
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    serial = new ManageSerialPort();
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    serial = new ManageSerialPort();
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    serial->setBaudRate(BAUD57600);   //BaudRate
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    serial->setBaudRate(BAUD57600);   //BaudRate
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    serial->setDataBits(DATA_8);      //DataBits
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    serial->setDataBits(DATA_8);      //DataBits
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    serial->setParity(PAR_NONE);      //Parity
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    serial->setParity(PAR_NONE);      //Parity
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    serial->setStopBits(STOP_1);      //StopBits
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    serial->setStopBits(STOP_1);      //StopBits
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    serial->setFlowControl(FLOW_OFF); //FlowControl
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    serial->setFlowControl(FLOW_OFF); //FlowControl
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    serial->setTimeout(0, 10);
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    serial->setTimeout(0, 10);
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    serial->enableSending();
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    serial->enableSending();
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    serial->enableReceiving();
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    serial->enableReceiving();
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}
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}
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/**
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/**
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 * connect to Mikrokopter
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 * connect to Mikrokopter
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 */
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 */
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void QTSerialCommunication::connect_MK(char * addr) {
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void QTSerialCommunication::connect_MK(char * addr) {
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    serial->setPort(addr);
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    serial->setPort(addr);
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    serial->open();
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    serial->open();
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    int timeout = 5;
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    int timeout = 5;
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    while (timeout > 0) {
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    while (timeout > 0) {
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        ToolBox::wait(200);
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        ToolBox::wait(200);
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        timeout--;
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        timeout--;
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        if (serial->isOpen()) {
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        if (serial->isOpen()) {
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            serial->receiveData();
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            serial->receiveData();
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            connect(serial, SIGNAL(newDataReceived(const QByteArray &)), this, SLOT(slot_received_data(const QByteArray &)));
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            connection_established();
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            connection_established();
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            //break while loop
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            //break while loop
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            return;
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            return;
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        }
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        }
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    }
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    }
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    //TODO: Error message, because communication could not established
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    //TODO: Error message, because communication could not established
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};
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};
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/**
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/**
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 * received new data from MK
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 * received new data from MK
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 */
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 */
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/**
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/**
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 * send command to Mikrokopter
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 * send command to Mikrokopter
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 */
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 */
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void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) {
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void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) {
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    if (is_connected()) {
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    if (is_connected()) {
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        Parser::create_frame(cmd, address, data, length);
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        Parser::create_frame(cmd, address, data, length);
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        if (resend) {
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        if (resend) {
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            //resend evrey 2 seconds
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            //resend every 2 seconds
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            resendTimer.start(2000);
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            resendTimer.start(2000);
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            resendData = data;
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            resendData = data;
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        }
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        }
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        //TODO: save outgoing data for debug purpose
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        std::cout << "send: " << data << std::endl;
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        QByteArray temp(data);
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        QByteArray temp(data);
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        serial->sendData(temp);
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        serial->sendData(temp);
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    } else {
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    } else {
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        //FIXME: Error message: not connected
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        //FIXME: Error message: not connected
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    }
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    }
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};
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};
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/**
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/**
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 * stop sending commands to Mikrokopter
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 * stop sending commands to Mikrokopter
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 * stop timer
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 * stop timer
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 */
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 */
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void QTSerialCommunication::stop_resend() {
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void QTSerialCommunication::stop_resend() {
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    resendTimer.stop();
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};
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};
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/**
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/**
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 * resend timer timout
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 * resend timer timout
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 */
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 */
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void QTSerialCommunication::slot_resend_timer() {
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void QTSerialCommunication::slot_resend_timer() {
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}
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}
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/**
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 * get incomming data from QT-Serial-Manager
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 * and just give it to the handler.
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 */
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void QTSerialCommunication::slot_received_data(const QByteArray & data) {
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    received_data((char *)data.data(), data.length());
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}
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/**
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 * handel received data
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 */
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void QTSerialCommunication::received_data(char * data, int length) {
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    //Debug: print oud debug data
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    //TODO: save data in a file for debug purposes
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    std::cout << "receive: " << data << std::endl;
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    //handle incomming data
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    //FIXME: HIER! Hardware-Id = Mode.id
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void QTSerialCommunication::received_data(char * data) {
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    handler->receive_data(data, length);
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}
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}