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1 | #include<Handler.h> |
1 | #include<Handler.h> |
2 | 2 | ||
3 | /** |
3 | /** |
4 | * Constructor that gets a communication instance |
4 | * Constructor that gets a communication instance |
5 | */ |
5 | */ |
6 | Handler::Handler(Communication * com) { |
6 | Handler::Handler(Communication * com) { |
7 | this->com = com; |
7 | this->com = com; |
8 | } |
8 | } |
9 | 9 | ||
10 | /** |
10 | /** |
11 | * read mixer values from FlightCtrl |
11 | * read mixer values from FlightCtrl |
12 | */ |
12 | */ |
13 | void Handler::read_mixer() { |
13 | void Handler::read_mixer() { |
14 | char tx_data[1] = {0}; |
14 | char tx_data[1] = {0}; |
15 | //com->log("read motor mixer"); |
15 | //com->log("read motor mixer"); |
16 | com->sendCmd('n', ADDRESS_FC, tx_data, 1, true); |
16 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
17 | } |
17 | } |
18 | 18 | ||
19 | void Handler::get_motor_config() { |
19 | void Handler::get_motor_config() { |
20 | } |
20 | } |
21 | 21 | ||
22 | void Handler::receive_data(sRxData RX) { |
22 | void Handler::receive_data(sRxData RX) { |
23 | //extract hardware ID from received Data |
23 | //extract hardware ID from received Data |
24 | int hardwareID = RX.input[1] - 'a'; |
24 | int hardwareID = RX.input[1] - 'a'; |
25 | switch(hardwareID) |
25 | switch(hardwareID) |
26 | { |
26 | { |
27 | case ADDRESS_FC : |
27 | case ADDRESS_FC : |
28 | switch(RX.input[2]) |
28 | switch(RX.input[2]) |
29 | { |
29 | { |
30 | // Motor-Mixer |
30 | // Motor-Mixer |
31 | case 'N' : |
31 | case 'N' : |
32 | if (Parser::decode64(RX)) |
32 | if (Parser::decode64(RX)) |
33 | { |
33 | { |
34 | com->stopReSend(); |
34 | com->stop_resend(); |
35 | 35 | ||
36 | if (RX.decode[0] == VERSION_MIXER) |
36 | if (RX.decode[0] == VERSION_MIXER) |
37 | { |
37 | { |
38 | //f_MotorMixer->set_MotorConfig(RX); |
38 | //f_MotorMixer->set_MotorConfig(RX); |
39 | } |
39 | } |
40 | } |
40 | } |
41 | break; |
41 | break; |
42 | // Motor-Mixer Schreib-Bestätigung |
42 | // Motor-Mixer Schreib-Bestätigung |
43 | case 'M' : |
43 | case 'M' : |
44 | if (Parser::decode64(RX)) |
44 | if (Parser::decode64(RX)) |
45 | { |
45 | { |
46 | com->stopReSend(); |
46 | com->stop_resend(); |
47 | 47 | ||
48 | if (RX.decode[0] == 1) |
48 | if (RX.decode[0] == 1) |
49 | { |
49 | { |
50 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
50 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
51 | } |
51 | } |
52 | } |
52 | } |
53 | break; |
53 | break; |
54 | 54 | ||
55 | // Stick-Belegung der Fernsteuerung |
55 | // Stick-Belegung der Fernsteuerung |
56 | case 'P' : // DONE 0.71g |
56 | case 'P' : // DONE 0.71g |
57 | if (Parser::decode64(RX)) |
57 | if (Parser::decode64(RX)) |
58 | { |
58 | { |
59 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
59 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
60 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
60 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
61 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
61 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
62 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
62 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
63 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
63 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
64 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
64 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
65 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
65 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
66 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
66 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
67 | } |
67 | } |
68 | break; |
68 | break; |
69 | // Settings lesen |
69 | // Settings lesen |
70 | case 'Q' : // DONE 0.71g |
70 | case 'Q' : // DONE 0.71g |
71 | if (Parser::decode64(RX)) |
71 | if (Parser::decode64(RX)) |
72 | { |
72 | { |
73 | com->stopReSend(); |
73 | com->stop_resend(); |
74 | 74 | ||
75 | if (RX.decode[1] == VERSION_SETTINGS) |
75 | if (RX.decode[1] == VERSION_SETTINGS) |
76 | { |
76 | { |
77 | int Settings_ID = RX.decode[0]; |
77 | int Settings_ID = RX.decode[0]; |
78 | /*for (int a = 0; a < MaxParameter; a++) |
78 | /*for (int a = 0; a < MaxParameter; a++) |
79 | { |
79 | { |
80 | FCSettings[a] = RX.decode[a + 2]; |
80 | FCSettings[a] = RX.decode[a + 2]; |
81 | } |
81 | } |
82 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
82 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
83 | f_Settings->pb_Read->setEnabled(true); |
83 | f_Settings->pb_Read->setEnabled(true); |
84 | f_Settings->pb_Write->setEnabled(true);*/ |
84 | f_Settings->pb_Write->setEnabled(true);*/ |
85 | } |
85 | } |
86 | else |
86 | else |
87 | { |
87 | { |
88 | /*f_Settings->pb_Read->setDisabled(true); |
88 | /*f_Settings->pb_Read->setDisabled(true); |
89 | f_Settings->pb_Write->setDisabled(true); |
89 | f_Settings->pb_Write->setDisabled(true); |
90 | 90 | ||
91 | QString name = QString("Versionen inkompatibel.\n") + |
91 | QString name = QString("Versionen inkompatibel.\n") + |
92 | QString("Version von GroundStation benoetigt: ") + |
92 | QString("Version von GroundStation benoetigt: ") + |
93 | QString(VERSION_SETTINGS) + |
93 | QString(VERSION_SETTINGS) + |
94 | QString("\nVersion auf der FlightCtrl: ") + |
94 | QString("\nVersion auf der FlightCtrl: ") + |
95 | QString(RX.decode[1]) + |
95 | QString(RX.decode[1]) + |
96 | QString("\nParameterbearbeitung nicht moeglich."); |
96 | QString("\nParameterbearbeitung nicht moeglich."); |
97 | QMessageBox::warning(this, QA_NAME, |
97 | QMessageBox::warning(this, QA_NAME, |
98 | name, QMessageBox::Ok);*/ |
98 | name, QMessageBox::Ok);*/ |
99 | } |
99 | } |
100 | } |
100 | } |
101 | break; |
101 | break; |
102 | // Settings written |
102 | // Settings written |
103 | case 'S' : // DONE 0.71g |
103 | case 'S' : // DONE 0.71g |
104 | com->stopReSend(); |
104 | com->stop_resend(); |
105 | //TODO: QMessagebox("settings written successful") ? |
105 | //TODO: QMessagebox("settings written successful") ? |
106 | break; |
106 | break; |
107 | } |
107 | } |
108 | 108 | ||
109 | case ADDRESS_NC : |
109 | case ADDRESS_NC : |
110 | switch(RX.input[2]) |
110 | switch(RX.input[2]) |
111 | { |
111 | { |
112 | // Navigationsdaten |
112 | // Navigationsdaten |
113 | case 'O' : // NOT DONE 0.12h |
113 | case 'O' : // NOT DONE 0.12h |
114 | if (Parser::decode64(RX)) |
114 | if (Parser::decode64(RX)) |
115 | { |
115 | { |
116 | //new_NaviData(RX); |
116 | //new_NaviData(RX); |
117 | } |
117 | } |
118 | break; |
118 | break; |
119 | } |
119 | } |
120 | // case ADDRESS_MK3MAG : |
120 | // case ADDRESS_MK3MAG : |
121 | 121 | ||
122 | default : |
122 | default : |
123 | switch(RX.input[2]) |
123 | switch(RX.input[2]) |
124 | { |
124 | { |
125 | // LCD-Anzeige |
125 | // LCD-Anzeige |
126 | case 'L' : // DONE 0.71g |
126 | case 'L' : // DONE 0.71g |
127 | if (Parser::decode64(RX)) |
127 | if (Parser::decode64(RX)) |
128 | { |
128 | { |
129 | com->stopReSend(); |
129 | com->stop_resend(); |
130 | 130 | ||
131 | /*int LCD[150]; |
131 | /*int LCD[150]; |
132 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
132 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
133 | 133 | ||
134 | f_LCD->show_Data(LCD); |
134 | f_LCD->show_Data(LCD); |
135 | 135 | ||
136 | LCD_Page = RX.decode[0]; |
136 | LCD_Page = RX.decode[0]; |
137 | LCD_MAX_Page = RX.decode[1]; |
137 | LCD_MAX_Page = RX.decode[1]; |
138 | */ |
138 | */ |
139 | } |
139 | } |
140 | break; |
140 | break; |
141 | // Analoglabels |
141 | // Analoglabels |
142 | case 'A' : // DONE 0.71g |
142 | case 'A' : // DONE 0.71g |
143 | if (Parser::decode64(RX)) |
143 | if (Parser::decode64(RX)) |
144 | { |
144 | { |
145 | com->stopReSend(); |
145 | com->stop_resend(); |
146 | 146 | ||
147 | int Position = RX.decode[0]; |
147 | int Position = RX.decode[0]; |
148 | if (Position != 31) |
148 | if (Position != 31) |
149 | { |
149 | { |
150 | /* |
150 | /* |
151 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
151 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
152 | if (Settings->Analog1.Label[Position] == "") |
152 | if (Settings->Analog1.Label[Position] == "") |
153 | { |
153 | { |
154 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
154 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
155 | } |
155 | } |
156 | Position ++; |
156 | Position ++; |
157 | TX_Data[0] = Position; |
157 | TX_Data[0] = Position; |
158 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
158 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
159 | } |
159 | } |
160 | if (Position == 31) |
160 | if (Position == 31) |
161 | { |
161 | { |
162 | /* |
162 | /* |
163 | for (int a = 0; a < MaxAnalog; a++) |
163 | for (int a = 0; a < MaxAnalog; a++) |
164 | { |
164 | { |
165 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
165 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
166 | } |
166 | } |
167 | Settings->Analog1.Version = QString(Mode.Version); |
167 | Settings->Analog1.Version = QString(Mode.Version); |
168 | Settings->write_Settings_AnalogLabels(HardwareID); |
168 | Settings->write_Settings_AnalogLabels(HardwareID); |
169 | config_Plot();*/ |
169 | config_Plot();*/ |
170 | } |
170 | } |
171 | } |
171 | } |
172 | break; |
172 | break; |
173 | // Debug-Daten |
173 | // Debug-Daten |
174 | case 'D' : // DONE 0.71g |
174 | case 'D' : // DONE 0.71g |
175 | if (Parser::decode64(RX)) |
175 | if (Parser::decode64(RX)) |
176 | { |
176 | { |
177 | for (int i = 0; i < MaxAnalog; i++) |
177 | for (int i = 0; i < MaxAnalog; i++) |
178 | { |
178 | { |
179 | //AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
179 | //AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
180 | } |
180 | } |
181 | //show_DebugData(); |
181 | //show_DebugData(); |
182 | } |
182 | } |
183 | break; |
183 | break; |
184 | // Version |
184 | // Version |
185 | case 'V' : // DONE 0.71h |
185 | case 'V' : // DONE 0.71h |
186 | if (Parser::decode64(RX)) |
186 | if (Parser::decode64(RX)) |
187 | { |
187 | { |
188 | com->stopReSend(); |
188 | com->stop_resend(); |
189 | /* |
189 | /* |
190 | Mode.ID = HardwareID; |
190 | Mode.ID = HardwareID; |
191 | Mode.VERSION_MAJOR = RX.decode[0]; |
191 | Mode.VERSION_MAJOR = RX.decode[0]; |
192 | Mode.VERSION_MINOR = RX.decode[1]; |
192 | Mode.VERSION_MINOR = RX.decode[1]; |
193 | Mode.VERSION_PATCH = RX.decode[4]; |
193 | Mode.VERSION_PATCH = RX.decode[4]; |
194 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
194 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
195 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
195 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
196 | 196 | ||
197 | Mode.Hardware = HardwareType[Mode.ID]; |
197 | Mode.Hardware = HardwareType[Mode.ID]; |
198 | //TODO: Funktion im Handler get_version() oder sowas |
198 | //TODO: Funktion im Handler get_version() oder sowas |
199 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
199 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
200 | QString("%1").arg(RX.decode[1]) + |
200 | QString("%1").arg(RX.decode[1]) + |
201 | QString(RX.decode[4] + 'a'); |
201 | QString(RX.decode[4] + 'a'); |
202 | Mode.Version = version.toLatin1().data; |
202 | Mode.Version = version.toLatin1().data; |
203 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
203 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
204 | Mode.Hardware + " " + |
204 | Mode.Hardware + " " + |
205 | Mode.Version); |
205 | Mode.Version); |
206 | 206 | ||
207 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
207 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
208 | { |
208 | { |
209 | // AllowSend = false; |
209 | // AllowSend = false; |
210 | QMessageBox::warning(this, QA_NAME, |
210 | QMessageBox::warning(this, QA_NAME, |
211 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
211 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
212 | } |
212 | } |
213 | 213 | ||
214 | if (ac_NoDebug->isChecked()) |
214 | if (ac_NoDebug->isChecked()) |
215 | { |
215 | { |
216 | TX_Data[0] = 0; |
216 | TX_Data[0] = 0; |
217 | } |
217 | } |
218 | else |
218 | else |
219 | if (ac_FastDebug->isChecked()) |
219 | if (ac_FastDebug->isChecked()) |
220 | { |
220 | { |
221 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
221 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
222 | } |
222 | } |
223 | else |
223 | else |
224 | { |
224 | { |
225 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
225 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
226 | } |
226 | } |
227 | 227 | ||
228 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
228 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
229 | 229 | ||
230 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
230 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
231 | if (Mode.ID == ADDRESS_MK3MAG) |
231 | if (Mode.ID == ADDRESS_MK3MAG) |
232 | { |
232 | { |
233 | TickerEvent[3] = true; |
233 | TickerEvent[3] = true; |
234 | rb_SelMag->setChecked(true); |
234 | rb_SelMag->setChecked(true); |
235 | } |
235 | } |
236 | 236 | ||
237 | // Wenn NaviCtrl dann hier. |
237 | // Wenn NaviCtrl dann hier. |
238 | if (Mode.ID == ADDRESS_NC) |
238 | if (Mode.ID == ADDRESS_NC) |
239 | { |
239 | { |
240 | rb_SelNC->setChecked(true); |
240 | rb_SelNC->setChecked(true); |
241 | 241 | ||
242 | if (ac_NoNavi->isChecked()) |
242 | if (ac_NoNavi->isChecked()) |
243 | { |
243 | { |
244 | TX_Data[0] = 0; |
244 | TX_Data[0] = 0; |
245 | } |
245 | } |
246 | else |
246 | else |
247 | if (ac_FastNavi->isChecked()) |
247 | if (ac_FastNavi->isChecked()) |
248 | { |
248 | { |
249 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
249 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
250 | } |
250 | } |
251 | else |
251 | else |
252 | { |
252 | { |
253 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
253 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
254 | } |
254 | } |
255 | 255 | ||
256 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
256 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
257 | } |
257 | } |
258 | 258 | ||
259 | 259 | ||
260 | // Wenn FlightCtrl dann Settings abfragen. |
260 | // Wenn FlightCtrl dann Settings abfragen. |
261 | if (Mode.ID == ADDRESS_FC) |
261 | if (Mode.ID == ADDRESS_FC) |
262 | { |
262 | { |
263 | rb_SelFC->setChecked(true); |
263 | rb_SelFC->setChecked(true); |
264 | { |
264 | { |
265 | TX_Data[0] = 0xff; |
265 | TX_Data[0] = 0xff; |
266 | TX_Data[1] = 0; |
266 | TX_Data[1] = 0; |
267 | 267 | ||
268 | // DEP: Raus wenn Resend implementiert. |
268 | // DEP: Raus wenn Resend implementiert. |
269 | // ToolBox::Wait(SLEEP); |
269 | // ToolBox::Wait(SLEEP); |
270 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
270 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
271 | qDebug("FC - Get Settings"); |
271 | qDebug("FC - Get Settings"); |
272 | } |
272 | } |
273 | } |
273 | } |
274 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
274 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
275 | else |
275 | else |
276 | { |
276 | { |
277 | f_Settings->pb_Read->setDisabled(true); |
277 | f_Settings->pb_Read->setDisabled(true); |
278 | f_Settings->pb_Write->setDisabled(true); |
278 | f_Settings->pb_Write->setDisabled(true); |
279 | } |
279 | } |
280 | 280 | ||
281 | Settings->read_Settings_Analog(HardwareID); |
281 | Settings->read_Settings_Analog(HardwareID); |
282 | Settings->read_Settings_AnalogLabels(HardwareID); |
282 | Settings->read_Settings_AnalogLabels(HardwareID); |
283 | 283 | ||
284 | if (Settings->Analog1.Version != QString(Mode.Version)) |
284 | if (Settings->Analog1.Version != QString(Mode.Version)) |
285 | { |
285 | { |
286 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
286 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
287 | slot_ac_GetLabels(); |
287 | slot_ac_GetLabels(); |
288 | } |
288 | } |
289 | else |
289 | else |
290 | for (int a = 0; a < MaxAnalog; a++) |
290 | for (int a = 0; a < MaxAnalog; a++) |
291 | { |
291 | { |
292 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
292 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
293 | } |
293 | } |
294 | config_Plot();*/ |
294 | config_Plot();*/ |
295 | } |
295 | } |
296 | break; |
296 | break; |
297 | } |
297 | } |
298 | } |
298 | } |
299 | } |
299 | } |