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158 | KeyOz | 1 | /*************************************************************************** |
2 | * Copyright (C) 2008 by Manuel Schrape * |
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3 | * manuel.schrape@gmx.de * |
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4 | * * |
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5 | * This program is free software; you can redistribute it and/or modify * |
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6 | * it under the terms of the GNU General Public License as published by * |
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7 | * the Free Software Foundation; either version 2 of the License. * |
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8 | * * |
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9 | * This program is distributed in the hope that it will be useful, * |
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10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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12 | * GNU General Public License for more details. * |
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13 | * * |
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14 | * You should have received a copy of the GNU General Public License * |
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15 | * along with this program; if not, write to the * |
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16 | * Free Software Foundation, Inc., * |
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17 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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18 | ***************************************************************************/ |
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19 | |||
250 | KeyOz | 20 | // TODO: Wiederholungssenden wieder einbauen |
21 | |||
158 | KeyOz | 22 | #include <QtGui> |
23 | |||
24 | #include <QLineEdit> |
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25 | #include <QString> |
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26 | #include <QTimer> |
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27 | #include <QIcon> |
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28 | #include <QToolButton> |
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29 | #include <QSpinBox> |
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199 | KeyOz | 30 | #include <QAction> |
227 | KeyOz | 31 | #include <QPalette> |
158 | KeyOz | 32 | |
33 | #include "mktool.h" |
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34 | #include "dlg_Config.h" |
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35 | #include "dlg_Motortest.h" |
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159 | KeyOz | 36 | #include "dlg_Preferences.h" |
158 | KeyOz | 37 | #include "../global.h" |
227 | KeyOz | 38 | #include "../Classes/ToolBox.h" |
158 | KeyOz | 39 | |
40 | #include <stdlib.h> |
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41 | |||
42 | MKTool::MKTool() |
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43 | { |
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44 | setupUi(this); |
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45 | |||
46 | Settings = new cSettings; |
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47 | |||
48 | init_Arrays(); |
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49 | init_GUI(); |
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306 | KeyOz | 50 | init_Cockpit(); |
158 | KeyOz | 51 | |
52 | init_Objects(); |
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53 | init_Connections(); |
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54 | |||
55 | init_Plot(); |
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56 | } |
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57 | |||
58 | void MKTool::init_GUI() |
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59 | { |
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60 | setWindowTitle(QA_NAME + " v" + QA_VERSION); |
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61 | |||
167 | KeyOz | 62 | // Tab mit Debug-Elementen verbergen |
272 | KeyOz | 63 | tab_Main->removeTab(6); |
64 | // Develop - Nicht gebrauchte sachen abschalten. |
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65 | pb_SettingsReset->hide(); |
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66 | pb_Flash->hide(); |
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67 | rb_NC->hide(); |
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167 | KeyOz | 68 | |
279 | KeyOz | 69 | // Beta-Sachen einschalten. |
70 | #ifdef _BETA_ |
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71 | ac_QMKServer->setEnabled(true); |
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72 | #endif |
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167 | KeyOz | 73 | // Settings-Tab hinzufügen. |
74 | f_Settings = new wdg_Settings( this ); |
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227 | KeyOz | 75 | f_Settings->set_Config(Settings); |
76 | tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings"); |
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167 | KeyOz | 77 | tab_Main->widget(2)->setObjectName("Tab_2"); |
78 | |||
79 | // Zusätzliche Widgets in die Toolbar. |
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227 | KeyOz | 80 | tb_TTY->addWidget(lb_Port); |
81 | tb_TTY->addWidget(le_Port); |
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166 | KeyOz | 82 | |
227 | KeyOz | 83 | tb_Hardware->addWidget(rb_SelFC); |
84 | tb_Hardware->addWidget(rb_SelNC); |
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85 | tb_Hardware->addWidget(rb_SelMag); |
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166 | KeyOz | 86 | |
227 | KeyOz | 87 | tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]); |
88 | tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]); |
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89 | tb_Debug->setVisible(Settings->GUI.ToolViews[2]); |
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90 | tb_TTY->setVisible(Settings->GUI.ToolViews[3]); |
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91 | tb_Hardware->setVisible(Settings->GUI.ToolViews[4]); |
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92 | |||
272 | KeyOz | 93 | #ifdef _EEEPC_ |
94 | lb_Status->hide(); |
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95 | #endif |
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96 | |||
199 | KeyOz | 97 | lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!")); |
98 | |||
158 | KeyOz | 99 | resize(Settings->GUI.Size); |
100 | move(Settings->GUI.Point); |
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101 | |||
102 | if (Settings->GUI.isMax) |
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103 | { |
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104 | showMaximized(); |
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105 | } |
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106 | |||
199 | KeyOz | 107 | // Analoglabels anzeigen |
158 | KeyOz | 108 | for (int a = 0; a < MaxAnalog; a++) |
109 | { |
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162 | KeyOz | 110 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
158 | KeyOz | 111 | } |
112 | |||
199 | KeyOz | 113 | // Kopie der Tabs anlegen |
272 | KeyOz | 114 | for (int b = 0; b < 7; b++) |
158 | KeyOz | 115 | { |
116 | TabWidgets[b] = tab_Main->widget(b); |
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117 | } |
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118 | |||
199 | KeyOz | 119 | // Ausgeblendete Tabs ausblenden |
272 | KeyOz | 120 | for (int c = 0; c < 7; c++) |
158 | KeyOz | 121 | { |
122 | if (Settings->GUI.TabViews[c] == false) |
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123 | { |
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124 | QString TabName = QString("Tab_%1").arg(c); |
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125 | |||
126 | for (int d = 0; d < tab_Main->count(); d++) |
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127 | { |
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128 | if (tab_Main->widget(d)->objectName() == TabName) |
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129 | { |
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130 | tab_Main->removeTab(d); |
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131 | } |
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132 | } |
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133 | } |
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134 | } |
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135 | |||
136 | ac_View0->setChecked(Settings->GUI.TabViews[0]); |
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137 | ac_View1->setChecked(Settings->GUI.TabViews[1]); |
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138 | ac_View2->setChecked(Settings->GUI.TabViews[2]); |
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139 | ac_View3->setChecked(Settings->GUI.TabViews[3]); |
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140 | ac_View4->setChecked(Settings->GUI.TabViews[4]); |
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141 | ac_View5->setChecked(Settings->GUI.TabViews[5]); |
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272 | KeyOz | 142 | ac_View6->setChecked(Settings->GUI.TabViews[6]); |
158 | KeyOz | 143 | |
144 | le_Port->setText(Settings->TTY.Port); |
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162 | KeyOz | 145 | |
146 | cb_ShowMSG->setChecked(Settings->GUI.Term_Info); |
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147 | cb_ShowData->setChecked(Settings->GUI.Term_Data); |
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148 | cb_ShowAlways->setChecked(Settings->GUI.Term_Always); |
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158 | KeyOz | 149 | } |
150 | |||
306 | KeyOz | 151 | void MKTool::init_Cockpit() |
152 | { |
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153 | // Cockpit-Elemente |
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154 | QPalette newPalette; |
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155 | |||
156 | newPalette.setColor(QPalette::Base, Qt::darkBlue); |
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157 | newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120)); |
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158 | newPalette.setColor(QPalette::Text, Qt::white); |
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159 | |||
160 | Compass->setScaleOptions(QwtDial::ScaleTicks | QwtDial::ScaleLabel); |
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161 | Compass->setScaleTicks(0, 0, 3); |
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162 | Compass->setScale(36, 5, 0); |
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163 | |||
164 | Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130))); |
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165 | Compass->setPalette(newPalette); |
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166 | Compass->setMaximumSize(QSize(MeterSize, MeterSize)); |
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167 | Compass->setMinimumSize(QSize(MeterSize, MeterSize)); |
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168 | |||
169 | QPalette newPalette1; |
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170 | |||
171 | newPalette1.setColor(QPalette::Base, Qt::darkBlue); |
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172 | newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120)); |
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173 | newPalette1.setColor(QPalette::Text, Qt::white); |
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174 | |||
175 | Attitude = new AttitudeIndicator(this); |
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176 | Attitude->setMaximumSize(QSize(MeterSize, MeterSize)); |
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177 | Attitude->setMinimumSize(QSize(MeterSize, MeterSize)); |
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178 | Attitude->setPalette(newPalette1); |
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179 | |||
180 | verticalLayout->addWidget(Attitude); |
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181 | |||
182 | qwt_Rate->setRange(-10.0, 10.0, 0.1, 0); |
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183 | |||
184 | newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120)); |
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185 | |||
186 | SpeedMeter = new cSpeedMeter(this); |
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187 | SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize)); |
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188 | SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize)); |
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189 | SpeedMeter->setPalette(newPalette1); |
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190 | SpeedMeter->setRange(0.0, 5.0); |
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191 | SpeedMeter->setScale(1, 2, 0.5); |
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192 | SpeedMeter->setProperty("END", 5); |
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193 | |||
194 | LayOut_Speed->addWidget(SpeedMeter); |
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195 | } |
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196 | |||
158 | KeyOz | 197 | void MKTool::init_Objects() |
198 | { |
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199 | // QTimer-Instanzen |
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199 | KeyOz | 200 | Ticker = new QTimer(this); |
158 | KeyOz | 201 | |
306 | KeyOz | 202 | // Verbindungsobject |
203 | o_Connection = new cConnection(); |
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250 | KeyOz | 204 | |
239 | Brean | 205 | // neuer Logger |
240 | Brean | 206 | logger = new Logger(Settings, &Mode); |
159 | KeyOz | 207 | |
227 | KeyOz | 208 | // LCD-Dialog |
209 | f_LCD = new dlg_LCD(this); |
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210 | |||
305 | KeyOz | 211 | // LCD-Dialog |
212 | f_Map = new dlg_Map(this); |
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306 | KeyOz | 213 | f_Map->create_Map(Settings); |
305 | KeyOz | 214 | |
306 | KeyOz | 215 | KML_Server = new cKML_Server(); |
199 | KeyOz | 216 | |
272 | KeyOz | 217 | QMK_Server = new cQMK_Server(); |
218 | QMK_Server->setProperty("Connect", false); |
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199 | KeyOz | 219 | |
220 | if (Settings->Server.StartServer) |
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221 | { |
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222 | ac_StartServer->setChecked(true); |
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306 | KeyOz | 223 | KML_Server->start_Server(Settings->Server.Port.toInt(), Settings); |
199 | KeyOz | 224 | } |
158 | KeyOz | 225 | } |
226 | |||
227 | void MKTool::init_Connections() |
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228 | { |
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250 | KeyOz | 229 | connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test())); |
199 | KeyOz | 230 | |
306 | KeyOz | 231 | // Waypoints übergeben |
232 | connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint))); |
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233 | |||
250 | KeyOz | 234 | // Daten Senden / Empfangen |
306 | KeyOz | 235 | connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData))); |
236 | connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString))); |
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158 | KeyOz | 237 | |
199 | KeyOz | 238 | // Serielle Verbundung öffnen / schließen |
239 | connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort())); |
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240 | |||
227 | KeyOz | 241 | // TCP-Connection verbinden / trennen |
242 | connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect())); |
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243 | |||
167 | KeyOz | 244 | // Buttons Settings lesen / schreiben |
199 | KeyOz | 245 | connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings())); |
246 | connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings())); |
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158 | KeyOz | 247 | |
248 | // Actions |
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249 | connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config())); |
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159 | KeyOz | 250 | connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences())); |
158 | KeyOz | 251 | connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest())); |
227 | KeyOz | 252 | connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD())); |
305 | KeyOz | 253 | connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map())); |
199 | KeyOz | 254 | connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug())); |
255 | connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug())); |
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256 | connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi())); |
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257 | connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi())); |
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158 | KeyOz | 258 | connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels())); |
259 | |||
167 | KeyOz | 260 | // Plotter starten / scrollen |
261 | connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int))); |
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262 | connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter())); |
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199 | KeyOz | 263 | connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer())); |
167 | KeyOz | 264 | |
158 | KeyOz | 265 | // Tabs ein & ausblenden |
266 | connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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267 | connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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268 | connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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269 | connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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270 | connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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271 | connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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227 | KeyOz | 272 | connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
158 | KeyOz | 273 | |
199 | KeyOz | 274 | connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
275 | connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
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276 | connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
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277 | |||
278 | connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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279 | connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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280 | connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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281 | |||
167 | KeyOz | 282 | // firmeware Updateen / flashen |
199 | KeyOz | 283 | connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update())); |
166 | KeyOz | 284 | connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile())); |
158 | KeyOz | 285 | |
250 | KeyOz | 286 | // Wegpunkt-Befehl |
287 | connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint())); |
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288 | |||
167 | KeyOz | 289 | // CVS-Record starten / stoppen |
239 | Brean | 290 | connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog())); |
158 | KeyOz | 291 | |
292 | // Timer-Events |
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293 | connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker())); |
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294 | |||
167 | KeyOz | 295 | // Seitenwechsel |
199 | KeyOz | 296 | connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int))); |
306 | KeyOz | 297 | // connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int))); |
298 | connect(f_Settings->listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int))); |
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158 | KeyOz | 299 | |
167 | KeyOz | 300 | // About QMK & About-QT Dialog einfügen |
301 | connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About())); |
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158 | KeyOz | 302 | menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt())); |
303 | } |
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304 | |||
305 | void MKTool::init_Arrays() |
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306 | { |
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307 | lb_Analog[0] = lb_A_0; |
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308 | lb_Analog[1] = lb_A_1; |
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309 | lb_Analog[2] = lb_A_2; |
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310 | lb_Analog[3] = lb_A_3; |
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311 | lb_Analog[4] = lb_A_4; |
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312 | lb_Analog[5] = lb_A_5; |
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313 | lb_Analog[6] = lb_A_6; |
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314 | lb_Analog[7] = lb_A_7; |
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315 | lb_Analog[8] = lb_A_8; |
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316 | lb_Analog[9] = lb_A_9; |
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317 | lb_Analog[10] = lb_A_10; |
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318 | lb_Analog[11] = lb_A_11; |
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319 | lb_Analog[12] = lb_A_12; |
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320 | lb_Analog[13] = lb_A_13; |
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321 | lb_Analog[14] = lb_A_14; |
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322 | lb_Analog[15] = lb_A_15; |
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323 | lb_Analog[16] = lb_A_16; |
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324 | lb_Analog[17] = lb_A_17; |
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325 | lb_Analog[18] = lb_A_18; |
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326 | lb_Analog[19] = lb_A_19; |
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327 | lb_Analog[20] = lb_A_20; |
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328 | lb_Analog[21] = lb_A_21; |
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329 | lb_Analog[22] = lb_A_22; |
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330 | lb_Analog[23] = lb_A_23; |
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331 | lb_Analog[24] = lb_A_24; |
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332 | lb_Analog[25] = lb_A_25; |
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333 | lb_Analog[26] = lb_A_26; |
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334 | lb_Analog[27] = lb_A_27; |
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335 | lb_Analog[28] = lb_A_28; |
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336 | lb_Analog[29] = lb_A_29; |
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337 | lb_Analog[30] = lb_A_30; |
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338 | lb_Analog[31] = lb_A_31; |
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339 | } |
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340 | |||
341 | void MKTool::init_Plot() |
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342 | { |
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343 | NextPlot = 0; |
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344 | |||
345 | qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000))); |
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346 | |||
347 | qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend); |
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348 | |||
349 | QwtPlotGrid *Grid = new QwtPlotGrid(); |
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350 | Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine)); |
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351 | |||
352 | Grid->attach(qwtPlot); |
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353 | |||
166 | KeyOz | 354 | qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0); |
158 | KeyOz | 355 | |
356 | for (int a = 0; a < MaxAnalog; a++) |
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357 | { |
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162 | KeyOz | 358 | Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]); |
359 | Plot[a]->setPen(QPen(QColor(Def_Colors[a]))); |
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250 | KeyOz | 360 | // Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased); |
158 | KeyOz | 361 | |
162 | KeyOz | 362 | if (Settings->Analog1.PlotView[a]) |
158 | KeyOz | 363 | Plot[a]->attach(qwtPlot); |
364 | } |
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365 | qwtPlot->replot(); |
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366 | } |
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367 | |||
306 | KeyOz | 368 | void MKTool::slot_set_Settings(cSettings *t_Settings) |
369 | { |
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370 | Settings = t_Settings; |
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371 | } |
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372 | |||
199 | KeyOz | 373 | void MKTool::slot_Test() |
158 | KeyOz | 374 | { |
272 | KeyOz | 375 | // qDebug("Decode Data"); |
376 | sRxData RX; |
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377 | |||
378 | RX.String = IN->text(); |
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379 | |||
380 | // qDebug(RX.String.toLatin1().data()); |
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381 | |||
382 | // if (ToolBox::check_CRC(RX.String)) |
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383 | { |
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384 | qDebug("Decode Data CRC OK"); |
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385 | RX.Input = RX.String.toLatin1().data(); |
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386 | |||
387 | // qDebug(RX.Input); |
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388 | |||
389 | slot_newData(RX); |
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390 | } |
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250 | KeyOz | 391 | } |
158 | KeyOz | 392 | |
272 | KeyOz | 393 | // KML-Datei nach Wegpunkt parsen |
394 | // TODO: Richtigen KML-Parser bauen |
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250 | KeyOz | 395 | void MKTool::parse_TargetKML() |
396 | { |
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397 | QString Tmp = te_KML->toPlainText().simplified(); |
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398 | QStringList List; |
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158 | KeyOz | 399 | |
250 | KeyOz | 400 | if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>"))) |
401 | { |
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402 | List = Tmp.split("<coordinates>"); |
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403 | List = List[1].split(","); |
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404 | |||
405 | le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 10000000)); |
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406 | le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 10000000)); |
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407 | } |
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158 | KeyOz | 408 | } |
409 | |||
272 | KeyOz | 410 | // Waypoint zur NC Senden. |
250 | KeyOz | 411 | void MKTool::slot_pb_SendWaypoint() |
412 | { |
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413 | if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0)) |
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414 | { |
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415 | QMessageBox msgB; |
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416 | QString msg; |
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417 | msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden"); |
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418 | msgB.exec(); |
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419 | return; |
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420 | } |
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272 | KeyOz | 421 | |
250 | KeyOz | 422 | //erstelle einen Wegpunkt, den die NaviCtrl auswerten kann |
423 | Waypoint_t desired_pos; |
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424 | bool ok_lat, ok_lon; |
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425 | |||
426 | //eingegebene Daten holen |
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427 | double desired_long, desired_lat; |
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428 | |||
429 | desired_long = le_TarLong->text().toDouble(&ok_lon); |
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430 | desired_lat = le_TarLat->text().toDouble(&ok_lat); |
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431 | |||
432 | if (ok_lon && desired_long < 100) |
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433 | desired_long *= 10000000+0.5; |
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434 | |||
435 | if (ok_lat && desired_lat < 100) |
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436 | desired_lat *= 10000000+0.5; |
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437 | |||
438 | //fülle Wegpunkt-Daten |
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439 | desired_pos.Position.Altitude = 0; |
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440 | desired_pos.Position.Longitude = int32_t(desired_long); |
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441 | desired_pos.Position.Latitude = int32_t(desired_lat); |
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442 | desired_pos.Position.Status = NEWDATA; |
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443 | desired_pos.Heading = -1; |
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444 | desired_pos.ToleranceRadius = 1; |
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445 | desired_pos.HoldTime = 60; |
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446 | desired_pos.Event_Flag = 0; |
||
447 | desired_pos.reserve[0] = 0; // reserve |
||
448 | desired_pos.reserve[1] = 0; // reserve |
||
449 | desired_pos.reserve[2] = 0; // reserve |
||
450 | desired_pos.reserve[3] = 0; // reserve |
||
451 | |||
452 | //...und sende ihn an die NaviCtrl |
||
453 | int max_radius = 10000; |
||
454 | if (ok_lat && ok_lon && |
||
455 | abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius && |
||
456 | abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius) |
||
457 | { |
||
306 | KeyOz | 458 | o_Connection->send_Cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
250 | KeyOz | 459 | } |
460 | else |
||
461 | { |
||
462 | QMessageBox msgB; |
||
463 | QString msg; |
||
464 | msg += "Bitte die Eingabe ueberpruefen!\n"; |
||
465 | msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n"; |
||
466 | msg += "(Lon: "; |
||
467 | msg += ToolBox::get_Float(Navi.Current.Longitude,10000000); |
||
468 | msg += ", "; |
||
469 | msg += "Lat: "; |
||
470 | msg += ToolBox::get_Float(Navi.Current.Latitude,10000000); |
||
471 | msg += ")"; |
||
472 | msgB.setText(msg); |
||
473 | msgB.exec(); |
||
474 | } |
||
475 | } |
||
476 | |||
199 | KeyOz | 477 | void MKTool::slot_ac_Hardware() |
478 | { |
||
479 | QAction *Action = (QAction*)sender(); |
||
158 | KeyOz | 480 | |
199 | KeyOz | 481 | if (Action->isChecked() == false) |
482 | { |
||
483 | Action->setChecked(true); |
||
484 | } |
||
485 | |||
486 | slot_rb_Hardware(); |
||
487 | } |
||
488 | |||
489 | void MKTool::slot_rb_Hardware() |
||
490 | { |
||
491 | if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC)) |
||
492 | { |
||
493 | lb_Status->setText(tr("Schalte um auf NaviCtrl.")); |
||
494 | TX_Data[0] = 0x1B; |
||
495 | TX_Data[1] = 0x1B; |
||
496 | TX_Data[2] = 0x55; |
||
497 | TX_Data[3] = 0xAA; |
||
498 | TX_Data[4] = 0x00; |
||
499 | TX_Data[5] = '\r'; |
||
306 | KeyOz | 500 | o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false); |
227 | KeyOz | 501 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 502 | } |
503 | |||
504 | if (rb_SelFC->isChecked()) |
||
505 | { |
||
506 | lb_Status->setText(tr("Schalte um auf FlightCtrl.")); |
||
507 | TX_Data[0] = 0; |
||
306 | KeyOz | 508 | o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 509 | } |
510 | else |
||
511 | if (rb_SelMag->isChecked()) |
||
512 | { |
||
513 | lb_Status->setText(tr("Schalte um auf MK3MAG.")); |
||
514 | TX_Data[0] = 1; |
||
306 | KeyOz | 515 | o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 516 | } |
517 | else |
||
518 | if (rb_SelNC->isChecked()) |
||
519 | { |
||
520 | lb_Status->setText(tr("Schalte um auf NaviCtrl.")); |
||
521 | TX_Data[0] = 0x1B; |
||
522 | TX_Data[1] = 0x1B; |
||
523 | TX_Data[2] = 0x55; |
||
524 | TX_Data[3] = 0xAA; |
||
525 | TX_Data[4] = 0x00; |
||
526 | TX_Data[5] = '\r'; |
||
306 | KeyOz | 527 | o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false); |
199 | KeyOz | 528 | } |
227 | KeyOz | 529 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 530 | |
531 | // qDebug("Select RB Hardware"); |
||
306 | KeyOz | 532 | o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true); |
199 | KeyOz | 533 | } |
534 | |||
158 | KeyOz | 535 | // Ticker-Event |
536 | /////////////// |
||
537 | void MKTool::slot_Ticker() |
||
538 | { |
||
539 | if (TickerDiv) |
||
540 | TickerDiv = false; |
||
541 | else |
||
542 | TickerDiv = true; |
||
543 | |||
250 | KeyOz | 544 | if (cb_ClipBoard->isChecked()) |
545 | { |
||
546 | QString s_OLD = te_KML->toPlainText(); |
||
547 | te_KML->clear(); |
||
548 | te_KML->paste(); |
||
549 | if (s_OLD != te_KML->toPlainText()) |
||
550 | { |
||
551 | parse_TargetKML(); |
||
552 | } |
||
553 | } |
||
554 | |||
158 | KeyOz | 555 | for (int a = 0; a < MaxTickerEvents; a++) |
556 | { |
||
557 | if (TickerEvent[a] == true) |
||
558 | { |
||
559 | switch(a) |
||
560 | { |
||
561 | case 0 : |
||
562 | if (TickerDiv) |
||
563 | { |
||
564 | QByteArray Temp(LastSend.toUtf8()); |
||
250 | KeyOz | 565 | // serialPort->sendData(Temp); |
158 | KeyOz | 566 | } |
567 | break; |
||
568 | case 1 : |
||
159 | KeyOz | 569 | TX_Data[0] = 0; |
306 | KeyOz | 570 | o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false); |
158 | KeyOz | 571 | break; |
159 | KeyOz | 572 | case 2 : |
227 | KeyOz | 573 | if (f_LCD->cb_LCD->isChecked()) |
167 | KeyOz | 574 | { |
227 | KeyOz | 575 | if (!f_LCD->isVisible()) |
576 | { |
||
577 | Ticker->setInterval(2000); |
||
578 | TickerEvent[2] = false; |
||
579 | } |
||
167 | KeyOz | 580 | TX_Data[0] = LCD_Page; |
581 | TX_Data[1] = 0; |
||
306 | KeyOz | 582 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
167 | KeyOz | 583 | } |
159 | KeyOz | 584 | break; |
167 | KeyOz | 585 | case 3 : |
199 | KeyOz | 586 | if (ac_FastDebug->isChecked()) |
167 | KeyOz | 587 | { |
588 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
||
306 | KeyOz | 589 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
167 | KeyOz | 590 | } |
591 | else |
||
592 | { |
||
593 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
||
306 | KeyOz | 594 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
167 | KeyOz | 595 | } |
596 | break; |
||
158 | KeyOz | 597 | } |
598 | } |
||
599 | } |
||
600 | } |
||
601 | |||
227 | KeyOz | 602 | void MKTool::slot_QMKS_Connect() |
603 | { |
||
604 | if (ac_QMKServer->isChecked()) |
||
605 | { |
||
606 | lb_Status->setText(tr("Verbinde zum QMK-Datenserver.")); |
||
158 | KeyOz | 607 | |
272 | KeyOz | 608 | QMK_Server->Connect(Settings->Server.QMKS_Host, Settings->Server.QMKS_Port.toInt(), Settings->Server.QMKS_Login, Settings->Server.QMKS_Password); |
227 | KeyOz | 609 | |
272 | KeyOz | 610 | connect(QMK_Server, SIGNAL(sig_Connected()), this, SLOT(slot_QMKS_Connected())); |
611 | connect(QMK_Server, SIGNAL(sig_Disconnected(int)), this, SLOT(slot_QMKS_Disconnected(int))); |
||
227 | KeyOz | 612 | } |
613 | else |
||
614 | { |
||
272 | KeyOz | 615 | if ((QMK_Server->property("Connect")) == true) |
227 | KeyOz | 616 | { |
272 | KeyOz | 617 | disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0); |
227 | KeyOz | 618 | lb_Status->setText(tr("Trenne vom QMK-Datenserver.")); |
619 | |||
272 | KeyOz | 620 | QMK_Server->Disconnect(); |
621 | QMK_Server->setProperty("Connect", false); |
||
227 | KeyOz | 622 | ac_QMKServer->setText("QMK-Server Verbinden"); |
623 | } |
||
624 | } |
||
625 | } |
||
626 | |||
627 | void MKTool::slot_QMKS_Connected() |
||
628 | { |
||
272 | KeyOz | 629 | QMK_Server->setProperty("Connect", true); |
227 | KeyOz | 630 | ac_QMKServer->setText("QMK-Server Trennnen"); |
631 | lb_Status->setText(tr("Verbunden mit QMK-Datenserver.")); |
||
632 | } |
||
633 | |||
634 | void MKTool::slot_QMKS_Disconnected(int Error) |
||
635 | { |
||
272 | KeyOz | 636 | QMK_Server->setProperty("Connect", false); |
227 | KeyOz | 637 | ac_QMKServer->setText("QMK-Server Verbinden"); |
638 | ac_QMKServer->setChecked(false); |
||
639 | |||
272 | KeyOz | 640 | disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0); |
227 | KeyOz | 641 | |
642 | switch (Error) |
||
643 | { |
||
644 | case 1 : |
||
645 | { |
||
646 | lb_Status->setText(tr("Verbindung vom Server beendet.")); |
||
647 | QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Verbindung wurde vom Server beendet.", QMessageBox::Ok); |
||
648 | } |
||
649 | break; |
||
650 | case 2 : |
||
651 | { |
||
652 | lb_Status->setText(tr("Server nicht gefunden.")); |
||
653 | QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Kann nicht zum Server verbinden.", QMessageBox::Ok); |
||
654 | } |
||
655 | break; |
||
656 | case 3 : |
||
657 | { |
||
658 | lb_Status->setText(tr("Serververbindung getrennt. Logindaten falsch.")); |
||
659 | QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Loginname oder Password falsch.", QMessageBox::Ok); |
||
660 | } |
||
661 | break; |
||
662 | default : |
||
663 | { |
||
664 | lb_Status->setText(tr("Getrennt vom QMK-Datenserver.")); |
||
665 | } |
||
666 | break; |
||
667 | } |
||
668 | } |
||
669 | |||
158 | KeyOz | 670 | // Slots der Actions (Menüpunkte, Buttons) |
671 | ////////////////////////////////////////// |
||
672 | void MKTool::slot_ac_Motortest() |
||
673 | { |
||
674 | dlg_Motortest *f_Motortest = new dlg_Motortest(this); |
||
675 | |||
676 | connect(f_Motortest, SIGNAL(updateMotor(int, int, int, int)), this, SLOT(slot_Motortest(int, int, int, int))); |
||
677 | |||
678 | if (f_Motortest->exec()==QDialog::Accepted) |
||
679 | { |
||
680 | } |
||
681 | |||
682 | disconnect(f_Motortest, 0,0,0); |
||
683 | slot_Motortest(0,0,0,0); |
||
684 | } |
||
685 | |||
227 | KeyOz | 686 | void MKTool::slot_ac_LCD() |
687 | { |
||
688 | if (!f_LCD->isVisible()) |
||
689 | { |
||
306 | KeyOz | 690 | delete f_LCD; |
227 | KeyOz | 691 | f_LCD = new dlg_LCD(this); |
692 | |||
693 | // LCD auf / ab |
||
694 | connect(f_LCD->pb_LCDup, SIGNAL(clicked()), this, SLOT(slot_LCD_UP())); |
||
695 | connect(f_LCD->pb_LCDdown, SIGNAL(clicked()), this, SLOT(slot_LCD_DOWN())); |
||
696 | |||
697 | f_LCD->show(); |
||
698 | TX_Data[0] = 0; |
||
699 | TX_Data[1] = 0; |
||
306 | KeyOz | 700 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
227 | KeyOz | 701 | |
702 | Ticker->setInterval(500); |
||
703 | TickerEvent[2] = true; |
||
704 | } |
||
705 | } |
||
706 | |||
305 | KeyOz | 707 | void MKTool::slot_ac_Map() |
708 | { |
||
709 | if (!f_Map->isVisible()) |
||
710 | { |
||
306 | KeyOz | 711 | // delete f_Map; |
712 | // f_Map = new dlg_Map(this); |
||
713 | // f_Map->create_Map(Settings); |
||
305 | KeyOz | 714 | |
715 | f_Map->show(); |
||
716 | } |
||
717 | } |
||
718 | |||
306 | KeyOz | 719 | void MKTool::slot_MAP_SetTarget(sWayPoint Target) |
720 | { |
||
721 | le_TarLong->setText(QString("%1").arg(Target.Longitude)); |
||
722 | le_TarLat->setText(QString("%1").arg(Target.Latitude)); |
||
723 | sb_TarTime->setValue(Target.Time); |
||
305 | KeyOz | 724 | |
306 | KeyOz | 725 | slot_pb_SendWaypoint(); |
726 | } |
||
727 | |||
158 | KeyOz | 728 | void MKTool::slot_Motortest(int Motor1, int Motor2, int Motor3, int Motor4) |
729 | { |
||
730 | TX_Data[0] = Motor1; |
||
731 | TX_Data[1] = Motor2; |
||
732 | TX_Data[2] = Motor3; |
||
733 | TX_Data[3] = Motor4; |
||
306 | KeyOz | 734 | o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false); |
158 | KeyOz | 735 | } |
736 | |||
737 | void MKTool::slot_ac_Config() |
||
738 | { |
||
162 | KeyOz | 739 | set_Analog Old_Analog1; |
158 | KeyOz | 740 | |
162 | KeyOz | 741 | Old_Analog1 = Settings->Analog1; |
742 | |||
158 | KeyOz | 743 | dlg_Config *f_Config = new dlg_Config(this); |
162 | KeyOz | 744 | f_Config->set_Settings(Settings, Mode.ID); |
158 | KeyOz | 745 | |
746 | if (f_Config->exec()==QDialog::Accepted) |
||
747 | { |
||
748 | Settings = f_Config->get_Settings(); |
||
162 | KeyOz | 749 | Settings->write_Settings_Analog(Mode.ID); |
158 | KeyOz | 750 | |
163 | KeyOz | 751 | // Plotter neu einrichten |
752 | if (Old_Analog1.PlotView != Settings->Analog1.PlotView) |
||
158 | KeyOz | 753 | { |
163 | KeyOz | 754 | config_Plot(); |
158 | KeyOz | 755 | } |
756 | |||
163 | KeyOz | 757 | // CVS-Datei neu anlegen. |
241 | KeyOz | 758 | if ((logger->is_active()) && (Old_Analog1.LogView != Settings->Analog1.LogView)) |
158 | KeyOz | 759 | { |
239 | Brean | 760 | logger->close(); |
240 | Brean | 761 | logger->start_Log(); |
158 | KeyOz | 762 | } |
763 | |||
764 | } |
||
765 | } |
||
766 | |||
239 | Brean | 767 | //aktualisiere Logging-Status |
241 | KeyOz | 768 | void MKTool::update_Log() |
769 | { |
||
239 | Brean | 770 | if (logger->is_active()) |
771 | { |
||
272 | KeyOz | 772 | |
239 | Brean | 773 | ac_RecordCSV->setText("Log Stop"); |
774 | lb_Status->setText(tr("Log-Record gestartet.")); |
||
775 | } |
||
776 | else |
||
777 | { |
||
241 | KeyOz | 778 | ac_RecordCSV->setText("Log Aufzeichnen"); |
239 | Brean | 779 | lb_Status->setText(tr("Log-Record gestopt.")); |
780 | } |
||
781 | } |
||
782 | |||
783 | //starte/stoppe Logging, wenn auf den entsprechenden Button gedrückt wurde |
||
784 | void MKTool::slot_RecordLog() |
||
785 | { |
||
786 | if (!logger->is_active()) |
||
787 | logger->start_Log(); |
||
788 | else |
||
789 | logger->close(); |
||
241 | KeyOz | 790 | |
239 | Brean | 791 | update_Log(); |
792 | } |
||
793 | |||
159 | KeyOz | 794 | void MKTool::slot_ac_Preferences() |
795 | { |
||
796 | dlg_Preferences *f_Preferences = new dlg_Preferences(this); |
||
797 | |||
166 | KeyOz | 798 | Settings->TTY.Port = le_Port->text(); |
163 | KeyOz | 799 | f_Preferences->set_Settings(Settings); |
800 | |||
159 | KeyOz | 801 | if (f_Preferences->exec()==QDialog::Accepted) |
802 | { |
||
163 | KeyOz | 803 | Settings = f_Preferences->get_Settings(); |
804 | Settings->write_Settings(); |
||
166 | KeyOz | 805 | le_Port->setText(Settings->TTY.Port); |
806 | config_Plot(); |
||
159 | KeyOz | 807 | } |
808 | } |
||
809 | |||
158 | KeyOz | 810 | void MKTool::slot_ac_StartPlotter() |
811 | { |
||
812 | if (ac_StartPlotter->isChecked()) |
||
813 | { |
||
199 | KeyOz | 814 | lb_Status->setText(tr("Datenplotter gestartet.")); |
158 | KeyOz | 815 | ac_StartPlotter->setText("Stop Plotter"); |
816 | pb_StartPlotter->setText("Stop Plotter"); |
||
817 | } |
||
818 | else |
||
819 | { |
||
199 | KeyOz | 820 | lb_Status->setText(tr("Datenplotter gestopt.")); |
158 | KeyOz | 821 | ac_StartPlotter->setText("Start Plotter"); |
822 | pb_StartPlotter->setText("Start Plotter"); |
||
823 | } |
||
824 | } |
||
825 | |||
826 | void MKTool::slot_ac_View() |
||
827 | { |
||
227 | KeyOz | 828 | int Aktive = -1; |
158 | KeyOz | 829 | |
830 | QAction *Action = (QAction*)sender(); |
||
831 | |||
832 | if (Action->objectName() == QString("ac_View0")) |
||
833 | Aktive = 0; |
||
834 | if (Action->objectName() == QString("ac_View1")) |
||
835 | Aktive = 1; |
||
836 | if (Action->objectName() == QString("ac_View2")) |
||
837 | Aktive = 2; |
||
838 | if (Action->objectName() == QString("ac_View3")) |
||
839 | Aktive = 3; |
||
840 | if (Action->objectName() == QString("ac_View4")) |
||
841 | Aktive = 4; |
||
842 | if (Action->objectName() == QString("ac_View5")) |
||
843 | Aktive = 5; |
||
272 | KeyOz | 844 | if (Action->objectName() == QString("ac_View6")) |
845 | Aktive = 6; |
||
158 | KeyOz | 846 | |
847 | QString TabName = QString("Tab_%1").arg(Aktive); |
||
848 | |||
849 | if (!Action->isChecked()) |
||
850 | { |
||
851 | for (int a = 0; a < tab_Main->count(); a++) |
||
852 | { |
||
853 | if (tab_Main->widget(a)->objectName() == TabName) |
||
854 | { |
||
855 | tab_Main->removeTab(a); |
||
856 | } |
||
857 | } |
||
858 | } |
||
859 | else |
||
860 | { |
||
227 | KeyOz | 861 | tab_Main->insertTab(Aktive, TabWidgets[Aktive], Action->icon(), Action->text()); |
158 | KeyOz | 862 | } |
863 | } |
||
864 | |||
199 | KeyOz | 865 | void MKTool::slot_ac_FastNavi() // DONE NC 0.12i |
158 | KeyOz | 866 | { |
199 | KeyOz | 867 | if (!ac_NoNavi->isChecked()) |
158 | KeyOz | 868 | { |
199 | KeyOz | 869 | if (ac_FastNavi->isChecked()) |
166 | KeyOz | 870 | { |
199 | KeyOz | 871 | lb_Status->setText(tr("Fordere schnelle NaviDaten an.")); |
872 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
||
873 | } |
||
874 | else |
||
875 | { |
||
876 | lb_Status->setText(tr("Fordere langsame NaviDaten an.")); |
||
877 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
||
878 | } |
||
306 | KeyOz | 879 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 880 | } |
881 | } |
||
882 | |||
883 | void MKTool::slot_ac_NoNavi() // DONE NC 0.12i |
||
884 | { |
||
885 | if (ac_NoNavi->isChecked()) |
||
886 | { |
||
887 | lb_Status->setText(tr("NaviDaten abstellen.")); |
||
888 | TX_Data[0] = 0; |
||
889 | } |
||
890 | else |
||
891 | { |
||
892 | if (ac_FastNavi->isChecked()) |
||
893 | { |
||
894 | lb_Status->setText(tr("Fordere schnelle NaviDaten an.")); |
||
895 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
||
896 | } |
||
897 | else |
||
898 | { |
||
899 | lb_Status->setText(tr("Fordere langsame NaviDaten an.")); |
||
900 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
||
901 | } |
||
902 | } |
||
306 | KeyOz | 903 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 904 | } |
905 | |||
906 | void MKTool::slot_ac_FastDebug() // DONE 0.71g |
||
907 | { |
||
908 | if (!ac_NoDebug->isChecked()) |
||
909 | { |
||
910 | if (ac_FastDebug->isChecked()) |
||
911 | { |
||
912 | lb_Status->setText(tr("Fordere schnelle DebugDaten an.")); |
||
166 | KeyOz | 913 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
914 | } |
||
915 | else |
||
916 | { |
||
199 | KeyOz | 917 | lb_Status->setText(tr("Fordere langsame DebugDaten an.")); |
166 | KeyOz | 918 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
919 | } |
||
306 | KeyOz | 920 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
166 | KeyOz | 921 | } |
922 | } |
||
923 | |||
199 | KeyOz | 924 | void MKTool::slot_ac_NoDebug() // DONE 0.71g |
166 | KeyOz | 925 | { |
199 | KeyOz | 926 | if (ac_NoDebug->isChecked()) |
166 | KeyOz | 927 | { |
199 | KeyOz | 928 | lb_Status->setText(tr("DebugDaten abstellen.")); |
167 | KeyOz | 929 | TickerEvent[3] = false; |
166 | KeyOz | 930 | TX_Data[0] = 0; |
931 | } |
||
158 | KeyOz | 932 | else |
933 | { |
||
167 | KeyOz | 934 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
935 | if (Mode.ID == ADDRESS_MK3MAG) |
||
936 | TickerEvent[3] = true; |
||
937 | |||
199 | KeyOz | 938 | if (ac_FastDebug->isChecked()) |
166 | KeyOz | 939 | { |
199 | KeyOz | 940 | lb_Status->setText(tr("Fordere schnelle DebugDaten an.")); |
166 | KeyOz | 941 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
942 | } |
||
943 | else |
||
944 | { |
||
199 | KeyOz | 945 | lb_Status->setText(tr("Fordere langsame DebugDaten an.")); |
166 | KeyOz | 946 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
947 | } |
||
948 | } |
||
306 | KeyOz | 949 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
158 | KeyOz | 950 | } |
951 | |||
952 | void MKTool::slot_ac_About() |
||
953 | { |
||
954 | QMessageBox::about(this, trUtf8(("Über ")) + QA_NAME, QA_ABOUT); |
||
955 | } |
||
956 | |||
159 | KeyOz | 957 | void MKTool::slot_ac_GetLabels() // DONE 0.71g |
158 | KeyOz | 958 | { |
199 | KeyOz | 959 | lb_Status->setText(tr("Analoglabels auslesen.")); |
158 | KeyOz | 960 | TX_Data[0] = 0; |
306 | KeyOz | 961 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true); |
158 | KeyOz | 962 | } |
963 | |||
199 | KeyOz | 964 | void MKTool::slot_ac_StartServer() |
965 | { |
||
966 | if (ac_StartServer->isChecked()) |
||
967 | { |
||
306 | KeyOz | 968 | lb_Status->setText(tr("KML-Server gestartet.")); |
969 | KML_Server->start_Server(Settings->Server.Port.toInt(), Settings); |
||
199 | KeyOz | 970 | } |
971 | else |
||
972 | { |
||
306 | KeyOz | 973 | lb_Status->setText(tr("KML-Server gestopt.")); |
974 | KML_Server->stop_Server(); |
||
199 | KeyOz | 975 | } |
976 | } |
||
159 | KeyOz | 977 | |
227 | KeyOz | 978 | |
158 | KeyOz | 979 | // Daten-Plotter |
980 | ///////////////// |
||
981 | void MKTool::update_Plot() |
||
982 | { |
||
983 | for (int a = 0; a < MaxAnalog; a++) |
||
984 | { |
||
985 | Plot[a]->setData(aID,aData[a],NextPlot - 1); |
||
986 | } |
||
987 | |||
166 | KeyOz | 988 | if ((NextPlot > Settings->Data.Plotter_Count)) |
158 | KeyOz | 989 | { |
166 | KeyOz | 990 | scroll_plot->setMaximum(NextPlot - Settings->Data.Plotter_Count); |
158 | KeyOz | 991 | } |
992 | |||
166 | KeyOz | 993 | if ((scroll_plot->value() == NextPlot - (Settings->Data.Plotter_Count + 1))) |
158 | KeyOz | 994 | { |
166 | KeyOz | 995 | qwtPlot->setAxisScale(QwtPlot::xBottom,NextPlot - Settings->Data.Plotter_Count,NextPlot,0); |
996 | scroll_plot->setValue(NextPlot - Settings->Data.Plotter_Count); |
||
158 | KeyOz | 997 | } |
998 | |||
999 | qwtPlot->replot(); |
||
1000 | } |
||
1001 | |||
1002 | void MKTool::config_Plot() |
||
1003 | { |
||
166 | KeyOz | 1004 | // qDebug("Plotter rekonfiguriert..!!"); |
1005 | qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0); |
||
1006 | |||
158 | KeyOz | 1007 | for (int a = 0; a < MaxAnalog; a++) |
1008 | { |
||
1009 | Plot[a]->detach(); |
||
162 | KeyOz | 1010 | Plot[a]->setPen(QPen(QColor(Def_Colors[a]))); |
158 | KeyOz | 1011 | |
162 | KeyOz | 1012 | if (Settings->Analog1.PlotView[a]) |
1013 | { |
||
1014 | Plot[a]->setTitle(Settings->Analog1.Label[a]); |
||
158 | KeyOz | 1015 | Plot[a]->attach(qwtPlot); |
162 | KeyOz | 1016 | } |
158 | KeyOz | 1017 | } |
166 | KeyOz | 1018 | qwtPlot->replot(); |
158 | KeyOz | 1019 | } |
1020 | |||
1021 | void MKTool::slot_ScrollPlot(int Pos) |
||
1022 | { |
||
166 | KeyOz | 1023 | qwtPlot->setAxisScale(QwtPlot::xBottom,Pos,Pos + Settings->Data.Plotter_Count,0); |
158 | KeyOz | 1024 | qwtPlot->replot(); |
1025 | } |
||
1026 | |||
1027 | |||
1028 | // Firmeware-Update |
||
1029 | /////////////////// |
||
1030 | void MKTool::slot_pb_Update() |
||
1031 | { |
||
167 | KeyOz | 1032 | QString Device; |
1033 | QString Hardware; |
||
158 | KeyOz | 1034 | |
167 | KeyOz | 1035 | if (rb_FC->isChecked()) |
1036 | { |
||
1037 | Device = "m644"; |
||
1038 | Hardware = "FlightCtrl"; |
||
1039 | } |
||
1040 | else if (rb_MK3MAG->isChecked()) |
||
1041 | { |
||
1042 | Device = "m168"; |
||
1043 | Hardware = "MK3MAG"; |
||
1044 | } |
||
1045 | else if (rb_BL->isChecked()) |
||
1046 | { |
||
1047 | Device = "m8"; |
||
1048 | Hardware = "BL-Ctrl"; |
||
1049 | } |
||
166 | KeyOz | 1050 | |
1051 | QString Message = "Firmeware-Datei \n\n"; |
||
1052 | Message = Message + le_HexFile->text() + "\n\n"; |
||
167 | KeyOz | 1053 | Message = Message + "an " + Hardware + trUtf8(" mit AVRDUDE - Seriel & Bootloader über ") + le_Port->text() + trUtf8(" übertragen?\n"); |
166 | KeyOz | 1054 | |
1055 | if (le_HexFile->text() == "") |
||
162 | KeyOz | 1056 | { |
166 | KeyOz | 1057 | QMessageBox::warning(this, QA_NAME, trUtf8("Bitte Firmeware-Datei wählen."), QMessageBox::Ok); |
162 | KeyOz | 1058 | } |
166 | KeyOz | 1059 | else if (QMessageBox::warning(this, QA_NAME, Message, QMessageBox::Yes | QMessageBox::No) == QMessageBox::Yes) |
1060 | { |
||
306 | KeyOz | 1061 | QString Programm = Settings->DIR.AVRDUDE; |
162 | KeyOz | 1062 | |
166 | KeyOz | 1063 | QStringList Argumente; |
162 | KeyOz | 1064 | |
166 | KeyOz | 1065 | Update = new QProcess(); |
162 | KeyOz | 1066 | |
306 | KeyOz | 1067 | if (o_Connection->isOpen()) |
166 | KeyOz | 1068 | { |
1069 | slot_OpenPort(); |
||
1070 | } |
||
1071 | |||
1072 | Argumente << "-P"; |
||
1073 | Argumente << le_Port->text(); |
||
1074 | Argumente << "-p"; |
||
1075 | Argumente << Device; |
||
1076 | Argumente << "-c"; |
||
1077 | Argumente << "butterfly"; |
||
1078 | Argumente << "-b"; |
||
1079 | Argumente << "57600"; |
||
1080 | Argumente << "-U"; |
||
1081 | Argumente << "flash:w:" + le_HexFile->text(); |
||
1082 | |||
1083 | // QString Programm = "/home/Manuel/bin/avrdude -p m644 -P /dev/ttyS0 -c butterfly -b 57600 -U flash:w:/home/Manuel/Documents/Mikrokopter/Firmeware/FlightCtrl/Flight-Ctrl_MEGA644_V0_71h.hex"; |
||
1084 | |||
1085 | te_Shell->setText(""); // Ausgabefenster säubern |
||
1086 | |||
1087 | connect(Update, SIGNAL(readyReadStandardOutput()), this, SLOT(slot_UpdateShell()) ); |
||
1088 | connect(Update, SIGNAL(readyReadStandardError()), this, SLOT(slot_UpdateShell()) ); |
||
1089 | |||
1090 | Update->start(Programm, Argumente); // Programmaufruf |
||
1091 | } |
||
158 | KeyOz | 1092 | } |
1093 | |||
1094 | void MKTool::slot_UpdateShell() |
||
1095 | { |
||
162 | KeyOz | 1096 | QByteArray Output; |
158 | KeyOz | 1097 | |
166 | KeyOz | 1098 | Output = Update->readAllStandardError(); // Shellausgabe an Variable |
162 | KeyOz | 1099 | te_Shell->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1100 | te_Shell->insertPlainText(QString::fromUtf8(Output)); |
||
158 | KeyOz | 1101 | |
166 | KeyOz | 1102 | Output = Update->readAll(); |
1103 | te_Shell->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
||
1104 | te_Shell->insertPlainText(QString::fromUtf8(Output)); |
||
158 | KeyOz | 1105 | } |
1106 | |||
166 | KeyOz | 1107 | void MKTool::slot_pb_HexFile() |
1108 | { |
||
1109 | QString FileName = QFileDialog::getOpenFileName(this,trUtf8(("Firmeware-Datei wählen")),"", |
||
1110 | tr("Intel Hex(*.hex);;Alle Dateien (*)")); |
||
1111 | if (!FileName.isEmpty()) |
||
1112 | { |
||
1113 | le_HexFile->setText(FileName); |
||
1114 | } |
||
1115 | } |
||
158 | KeyOz | 1116 | |
1117 | |||
167 | KeyOz | 1118 | // Wechsel der Tabs erkennen |
159 | KeyOz | 1119 | void MKTool::slot_TabChanged(int Tab) // DONE 0.71g |
158 | KeyOz | 1120 | { |
1121 | Tab = Tab; |
||
162 | KeyOz | 1122 | if (tab_Main->count() != 0) |
158 | KeyOz | 1123 | { |
306 | KeyOz | 1124 | if ((tab_Main->currentWidget()->objectName() == QString("Tab_2")) && (f_Settings->listWidget->currentRow() == 1)) |
162 | KeyOz | 1125 | { |
1126 | TX_Data[0] = 0; |
||
306 | KeyOz | 1127 | o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, true); |
159 | KeyOz | 1128 | |
162 | KeyOz | 1129 | Ticker->setInterval(500); |
1130 | TickerEvent[1] = true; |
||
1131 | } |
||
1132 | else |
||
1133 | { |
||
1134 | Ticker->setInterval(2000); |
||
1135 | TickerEvent[1] = false; |
||
1136 | } |
||
159 | KeyOz | 1137 | } |
158 | KeyOz | 1138 | } |
1139 | |||
167 | KeyOz | 1140 | // LCD-Seiten weiterschalten |
159 | KeyOz | 1141 | void MKTool::slot_LCD_UP() // DONE 0.71g |
158 | KeyOz | 1142 | { |
159 | KeyOz | 1143 | if (LCD_Page == LCD_MAX_Page) |
1144 | TX_Data[0] = 0; |
||
1145 | else |
||
1146 | TX_Data[0] = LCD_Page + 1; |
||
1147 | |||
1148 | TX_Data[1] = 0; |
||
306 | KeyOz | 1149 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
159 | KeyOz | 1150 | } |
1151 | |||
1152 | void MKTool::slot_LCD_DOWN() // DONE 0.71g |
||
1153 | { |
||
1154 | if (LCD_Page == 0) |
||
1155 | TX_Data[0] = LCD_MAX_Page; |
||
1156 | else |
||
1157 | TX_Data[0] = LCD_Page - 1; |
||
1158 | |||
1159 | TX_Data[1] = 0; |
||
306 | KeyOz | 1160 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
159 | KeyOz | 1161 | } |
1162 | |||
167 | KeyOz | 1163 | // Settings aus MK lesen / in MK schreiben |
199 | KeyOz | 1164 | void MKTool::slot_GetFCSettings() // DONE 0.71g |
159 | KeyOz | 1165 | { |
199 | KeyOz | 1166 | lb_Status->setText(tr("Lese FlightCtrl-Settings aus.")); |
167 | KeyOz | 1167 | TX_Data[0] = f_Settings->sb_Set->value(); |
158 | KeyOz | 1168 | TX_Data[1] = 0; |
306 | KeyOz | 1169 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1); |
158 | KeyOz | 1170 | } |
1171 | |||
199 | KeyOz | 1172 | void MKTool::slot_SetFCSettings() // DONE 0.71g |
158 | KeyOz | 1173 | { |
199 | KeyOz | 1174 | char *TX_Data2 = f_Settings->GetFCSettings(); |
158 | KeyOz | 1175 | |
199 | KeyOz | 1176 | lb_Status->setText(tr("Schreibe FlightCtrl-Settings.")); |
167 | KeyOz | 1177 | |
306 | KeyOz | 1178 | o_Connection->send_Cmd('s', ADDRESS_FC, TX_Data2, MaxParameter + 2, false); |
158 | KeyOz | 1179 | } |
1180 | |||
159 | KeyOz | 1181 | |
167 | KeyOz | 1182 | // Save GUI-Preferences |
1183 | /////////////////////// |
||
1184 | void MKTool::set_Preferences() |
||
158 | KeyOz | 1185 | { |
163 | KeyOz | 1186 | Settings->GUI.TabViews.setBit(0, ac_View0->isChecked()); |
1187 | Settings->GUI.TabViews.setBit(1, ac_View1->isChecked()); |
||
1188 | Settings->GUI.TabViews.setBit(2, ac_View2->isChecked()); |
||
1189 | Settings->GUI.TabViews.setBit(3, ac_View3->isChecked()); |
||
1190 | Settings->GUI.TabViews.setBit(4, ac_View4->isChecked()); |
||
1191 | Settings->GUI.TabViews.setBit(5, ac_View5->isChecked()); |
||
227 | KeyOz | 1192 | Settings->GUI.TabViews.setBit(6, ac_View6->isChecked()); |
158 | KeyOz | 1193 | |
227 | KeyOz | 1194 | Settings->GUI.ToolViews.setBit(0, tb_Allgemein->isVisibleTo(this)); |
1195 | Settings->GUI.ToolViews.setBit(1, tb_Werkzeuge->isVisibleTo(this)); |
||
1196 | Settings->GUI.ToolViews.setBit(2, tb_Debug->isVisibleTo(this)); |
||
1197 | Settings->GUI.ToolViews.setBit(3, tb_TTY->isVisibleTo(this)); |
||
1198 | Settings->GUI.ToolViews.setBit(4, tb_Hardware->isVisibleTo(this)); |
||
1199 | |||
162 | KeyOz | 1200 | Settings->GUI.Term_Info = cb_ShowMSG->isChecked(); |
1201 | Settings->GUI.Term_Data = cb_ShowData->isChecked(); |
||
1202 | Settings->GUI.Term_Always = cb_ShowAlways->isChecked(); |
||
166 | KeyOz | 1203 | Settings->GUI.Term_Send = cb_ShowSend->isChecked(); |
167 | KeyOz | 1204 | Settings->GUI.isMax = isMaximized(); |
1205 | Settings->GUI.Size = size(); |
||
1206 | Settings->GUI.Point = pos(); |
||
162 | KeyOz | 1207 | |
163 | KeyOz | 1208 | Settings->TTY.Port = le_Port->text(); |
158 | KeyOz | 1209 | } |
1210 | |||
1211 | void MKTool::show_DebugData() |
||
1212 | { |
||
241 | KeyOz | 1213 | if (logger->is_active()) |
1214 | logger->write(AnalogData); |
||
158 | KeyOz | 1215 | |
1216 | if (ac_StartPlotter->isChecked()) |
||
1217 | { |
||
1218 | aID[NextPlot] = NextPlot; |
||
1219 | |||
1220 | for (int a = 0; a < MaxAnalog; a++) |
||
1221 | { |
||
1222 | aData[a][NextPlot] = AnalogData[a]; |
||
1223 | } |
||
1224 | NextPlot++; |
||
1225 | |||
1226 | if ((tab_Main->currentWidget()->objectName() == QString("Tab_1"))) |
||
1227 | update_Plot(); |
||
1228 | } |
||
1229 | |||
1230 | le_A_0->setText(QString("%1").arg(AnalogData[0])); |
||
1231 | le_A_1->setText(QString("%1").arg(AnalogData[1])); |
||
1232 | le_A_2->setText(QString("%1").arg(AnalogData[2])); |
||
1233 | le_A_3->setText(QString("%1").arg(AnalogData[3])); |
||
1234 | le_A_4->setText(QString("%1").arg(AnalogData[4])); |
||
1235 | le_A_5->setText(QString("%1").arg(AnalogData[5])); |
||
1236 | le_A_6->setText(QString("%1").arg(AnalogData[6])); |
||
1237 | le_A_7->setText(QString("%1").arg(AnalogData[7])); |
||
1238 | le_A_8->setText(QString("%1").arg(AnalogData[8])); |
||
1239 | le_A_9->setText(QString("%1").arg(AnalogData[9])); |
||
1240 | le_A_10->setText(QString("%1").arg(AnalogData[10])); |
||
1241 | le_A_11->setText(QString("%1").arg(AnalogData[11])); |
||
1242 | le_A_12->setText(QString("%1").arg(AnalogData[12])); |
||
1243 | le_A_13->setText(QString("%1").arg(AnalogData[13])); |
||
1244 | le_A_14->setText(QString("%1").arg(AnalogData[14])); |
||
1245 | le_A_15->setText(QString("%1").arg(AnalogData[15])); |
||
1246 | le_A_16->setText(QString("%1").arg(AnalogData[16])); |
||
1247 | le_A_17->setText(QString("%1").arg(AnalogData[17])); |
||
1248 | le_A_18->setText(QString("%1").arg(AnalogData[18])); |
||
1249 | le_A_19->setText(QString("%1").arg(AnalogData[19])); |
||
1250 | le_A_20->setText(QString("%1").arg(AnalogData[20])); |
||
1251 | le_A_21->setText(QString("%1").arg(AnalogData[21])); |
||
1252 | le_A_22->setText(QString("%1").arg(AnalogData[22])); |
||
1253 | le_A_23->setText(QString("%1").arg(AnalogData[23])); |
||
1254 | le_A_24->setText(QString("%1").arg(AnalogData[24])); |
||
1255 | le_A_25->setText(QString("%1").arg(AnalogData[25])); |
||
1256 | le_A_26->setText(QString("%1").arg(AnalogData[26])); |
||
1257 | le_A_27->setText(QString("%1").arg(AnalogData[27])); |
||
1258 | le_A_28->setText(QString("%1").arg(AnalogData[28])); |
||
1259 | le_A_29->setText(QString("%1").arg(AnalogData[29])); |
||
1260 | le_A_30->setText(QString("%1").arg(AnalogData[30])); |
||
1261 | le_A_31->setText(QString("%1").arg(AnalogData[31])); |
||
227 | KeyOz | 1262 | |
1263 | if ((Mode.ID == ADDRESS_FC) && (FCSettings[P_GYRO_ACC_FAKTOR] > 0)) |
||
1264 | { |
||
1265 | bar_UBAT->setValue(AnalogData[9]); |
||
1266 | bar_RX->setValue(AnalogData[10]); |
||
1267 | |||
1268 | Compass->setValue(AnalogData[8]); |
||
1269 | |||
1270 | int Roll = (AnalogData[1] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024; |
||
1271 | int Nick = (AnalogData[0] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024; |
||
1272 | |||
1273 | if (Roll > 128) |
||
1274 | Roll = Roll - 255; |
||
1275 | |||
1276 | if (Nick > 128) |
||
1277 | Nick = Nick - 255; |
||
1278 | |||
1279 | Attitude->setAngle(Roll); |
||
1280 | Attitude->setGradient(double(double(Nick) / 100.0)); |
||
1281 | } |
||
158 | KeyOz | 1282 | } |
1283 | |||
199 | KeyOz | 1284 | void MKTool::new_NaviData(sRxData RX) |
1285 | { |
||
306 | KeyOz | 1286 | // qDebug("Navi-Data"); |
1287 | |||
1288 | switch(RX.Decode[N_NC_FLAGS]) |
||
1289 | { |
||
1290 | case 1 : lb_Mode->setText("Free"); break; |
||
1291 | case 2 : lb_Mode->setText("Position Hold"); break; |
||
1292 | case 4 : lb_Mode->setText("Coming Home"); break; |
||
1293 | case 8 : lb_Mode->setText("Range Limit"); break; |
||
1294 | } |
||
1295 | |||
246 | KeyOz | 1296 | Navi.Current.Longitude = ToolBox::Data2Long(RX.Decode, N_CUR_LONGITUDE, true); |
1297 | Navi.Current.Latitude = ToolBox::Data2Long(RX.Decode, N_CUR_LATITUDE, true); |
||
1298 | Navi.Current.Altitude = ToolBox::Data2Long(RX.Decode, N_CUR_ALTITUDE, true); |
||
1299 | Navi.Target.Longitude = ToolBox::Data2Long(RX.Decode, N_TAR_LONGITUDE, true); |
||
1300 | Navi.Target.Latitude = ToolBox::Data2Long(RX.Decode, N_TAR_LATITUDE, true); |
||
1301 | Navi.Target.Altitude = ToolBox::Data2Long(RX.Decode, N_TAR_ALTITUDE, true); |
||
199 | KeyOz | 1302 | |
246 | KeyOz | 1303 | le_CDistance->setText(QString("%1 cm").arg(ToolBox::Data2Int(RX.Decode, N_HOME_DISTANCE))); |
1304 | le_CWPA->setText(QString("%1").arg(RX.Decode[N_WP_INDEX])); |
||
1305 | le_CWPT->setText(QString("%1").arg(RX.Decode[N_WP_NUMBER])); |
||
1306 | le_CSats->setText(QString("%1").arg(RX.Decode[N_SATS_IN_USER])); |
||
227 | KeyOz | 1307 | |
246 | KeyOz | 1308 | qwt_Rate->setValue(double(ToolBox::Data2Int(RX.Decode, N_VARIOMETER, true))); |
227 | KeyOz | 1309 | |
246 | KeyOz | 1310 | le_CTime->setText(QString("%1 sec.").arg(ToolBox::Data2Int(RX.Decode, N_FLYING_TIME))); |
227 | KeyOz | 1311 | |
246 | KeyOz | 1312 | bar_UBAT->setValue(RX.Decode[N_UBAT]); |
227 | KeyOz | 1313 | |
246 | KeyOz | 1314 | double Speed = double((ToolBox::Data2Int(RX.Decode, N_GROUND_SPEED)) / 10.0); |
227 | KeyOz | 1315 | |
1316 | if ((Speed > 4.5) && SpeedMeter->property("END") == 5) |
||
1317 | { |
||
1318 | SpeedMeter->setRange(0.0, 10.0); |
||
1319 | SpeedMeter->setScale(1, 2, 1); |
||
1320 | SpeedMeter->setProperty("END", 10); |
||
1321 | } |
||
1322 | |||
1323 | if ((Speed > 9) && SpeedMeter->property("END") == 10) |
||
1324 | { |
||
1325 | SpeedMeter->setRange(0.0, 20.0); |
||
1326 | SpeedMeter->setScale(1, 2, 2); |
||
1327 | SpeedMeter->setProperty("END", 20); |
||
1328 | } |
||
1329 | |||
1330 | SpeedMeter->setValue(Speed); |
||
1331 | |||
246 | KeyOz | 1332 | Compass->setValue(ToolBox::Data2Int(RX.Decode, N_COMAPSS_HEADING)); //(68) |
227 | KeyOz | 1333 | |
246 | KeyOz | 1334 | bar_RX->setValue(RX.Decode[N_RC_QUALITY]); |
227 | KeyOz | 1335 | |
246 | KeyOz | 1336 | int Nick = RX.Decode[N_ANGLE_NICK]; |
1337 | int Roll = RX.Decode[N_ANGLE_ROLL]; |
||
227 | KeyOz | 1338 | |
1339 | if (Roll > 128) |
||
1340 | Roll = Roll - 255; |
||
1341 | |||
1342 | if (Nick > 128) |
||
1343 | Nick = Nick - 255; |
||
1344 | |||
1345 | Attitude->setAngle(Roll); |
||
234 | KeyOz | 1346 | Attitude->setGradient(double(0.0 - (double(Nick) / 100.0))); |
227 | KeyOz | 1347 | |
199 | KeyOz | 1348 | sNaviString NaviString; |
1349 | |||
1350 | NaviString.Longitude = ToolBox::get_Float(Navi.Current.Longitude,10000000); |
||
1351 | NaviString.Latitude = ToolBox::get_Float(Navi.Current.Latitude,10000000); |
||
1352 | NaviString.Altitude = ToolBox::get_Float(Navi.Current.Altitude,1000); |
||
1353 | |||
306 | KeyOz | 1354 | le_CurLong->setText(NaviString.Longitude); |
1355 | le_CurLat->setText(NaviString.Latitude); |
||
199 | KeyOz | 1356 | |
306 | KeyOz | 1357 | KML_Server->store_NaviString(NaviString); |
1358 | |||
305 | KeyOz | 1359 | f_Map->add_Position(NaviString.Longitude.toDouble(), NaviString.Latitude.toDouble()); |
1360 | |||
272 | KeyOz | 1361 | if ((QMK_Server->property("Connect")) == true) |
227 | KeyOz | 1362 | { |
272 | KeyOz | 1363 | // qDebug("Send Data to Server..!!"); |
1364 | QMK_Server->NewPosition(NaviString); |
||
227 | KeyOz | 1365 | } |
199 | KeyOz | 1366 | } |
1367 | |||
272 | KeyOz | 1368 | // Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen |
1369 | //////////////////////////////////////////////////////////////////// |
||
158 | KeyOz | 1370 | |
1371 | // Neues Datenpacket empfangen -> Verarbeiten |
||
250 | KeyOz | 1372 | void MKTool::slot_newData(sRxData RX) // DONE 0.71g |
158 | KeyOz | 1373 | { |
1374 | if (LastSend.length() > 2) |
||
1375 | { |
||
1376 | } |
||
162 | KeyOz | 1377 | int HardwareID = RX.Input[1] - 'a'; |
1378 | |||
167 | KeyOz | 1379 | switch(HardwareID) |
158 | KeyOz | 1380 | { |
167 | KeyOz | 1381 | case ADDRESS_FC : |
1382 | switch(RX.Input[2]) |
||
1383 | { |
||
1384 | // Stick-Belegung der Fernsteuerung |
||
1385 | case 'P' : // DONE 0.71g |
||
1386 | if (ToolBox::Decode64(RX)) |
||
158 | KeyOz | 1387 | { |
167 | KeyOz | 1388 | f_Settings->pb_K1->setValue(ToolBox::Data2Int(RX.Decode, 2,true)); |
1389 | f_Settings->pb_K2->setValue(ToolBox::Data2Int(RX.Decode, 4,true)); |
||
1390 | f_Settings->pb_K3->setValue(ToolBox::Data2Int(RX.Decode, 6,true)); |
||
1391 | f_Settings->pb_K4->setValue(ToolBox::Data2Int(RX.Decode, 8,true)); |
||
1392 | f_Settings->pb_K5->setValue(ToolBox::Data2Int(RX.Decode, 10 ,true)); |
||
1393 | f_Settings->pb_K6->setValue(ToolBox::Data2Int(RX.Decode, 12,true)); |
||
1394 | f_Settings->pb_K7->setValue(ToolBox::Data2Int(RX.Decode, 14,true)); |
||
1395 | f_Settings->pb_K8->setValue(ToolBox::Data2Int(RX.Decode, 16,true)); |
||
1396 | } |
||
1397 | break; |
||
1398 | // Settings lesen |
||
1399 | case 'Q' : // DONE 0.71g |
||
1400 | if (ToolBox::Decode64(RX)) |
||
1401 | { |
||
1402 | TickerEvent[0] = false; |
||
1403 | |||
1404 | if (RX.Decode[1] == VERSION_SETTINGS) |
||
1405 | { |
||
1406 | int Settings_ID = RX.Decode[0]; |
||
1407 | for (int a = 0; a < MaxParameter; a++) |
||
1408 | { |
||
199 | KeyOz | 1409 | FCSettings[a] = RX.Decode[a + 2]; |
167 | KeyOz | 1410 | } |
1411 | //show_ParameterSet(Settings_ID); |
||
199 | KeyOz | 1412 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
1413 | f_Settings->pb_Read->setEnabled(true); |
||
1414 | f_Settings->pb_Write->setEnabled(true); |
||
167 | KeyOz | 1415 | } |
1416 | else |
||
1417 | { |
||
1418 | f_Settings->pb_Read->setDisabled(true); |
||
1419 | f_Settings->pb_Write->setDisabled(true); |
||
1420 | |||
1421 | QMessageBox::warning(this, QA_NAME, |
||
1422 | "Versionen inkompatibel. \nParameterbearbeitung nicht moeglich.", QMessageBox::Ok); |
||
1423 | } |
||
1424 | } |
||
1425 | break; |
||
1426 | // Settings geschrieben |
||
1427 | case 'S' : // DONE 0.71g |
||
1428 | TickerEvent[0] = false; |
||
1429 | break; |
||
1430 | } |
||
1431 | |||
1432 | case ADDRESS_NC : |
||
1433 | switch(RX.Input[2]) |
||
1434 | { |
||
1435 | // Navigationsdaten |
||
1436 | case 'O' : // NOT DONE 0.12h |
||
1437 | if (ToolBox::Decode64(RX)) |
||
1438 | { |
||
199 | KeyOz | 1439 | new_NaviData(RX); |
167 | KeyOz | 1440 | } |
1441 | break; |
||
1442 | } |
||
1443 | // case ADDRESS_MK3MAG : |
||
1444 | |||
1445 | default : |
||
1446 | switch(RX.Input[2]) |
||
1447 | { |
||
1448 | // LCD-Anzeige |
||
1449 | case 'L' : // DONE 0.71g |
||
1450 | if (ToolBox::Decode64(RX)) |
||
1451 | { |
||
159 | KeyOz | 1452 | int LCD[150]; |
1453 | memcpy(LCD,RX.Decode, sizeof(RX.Decode)); |
||
1454 | |||
227 | KeyOz | 1455 | f_LCD->show_Data(LCD); |
1456 | |||
159 | KeyOz | 1457 | LCD_Page = RX.Decode[0]; |
1458 | LCD_MAX_Page = RX.Decode[1]; |
||
1459 | |||
1460 | TickerEvent[0] = false; |
||
158 | KeyOz | 1461 | } |
1462 | break; |
||
167 | KeyOz | 1463 | // Analoglabels |
1464 | case 'A' : // DONE 0.71g |
||
1465 | if (ToolBox::Decode64(RX)) |
||
158 | KeyOz | 1466 | { |
159 | KeyOz | 1467 | int Position = RX.Decode[0]; |
163 | KeyOz | 1468 | if (Position != 31) |
158 | KeyOz | 1469 | { |
162 | KeyOz | 1470 | Settings->Analog1.Label[Position] = ToolBox::Data2QString(RX.Decode,1,17).trimmed(); |
167 | KeyOz | 1471 | if (Settings->Analog1.Label[Position] == "") |
1472 | { |
||
1473 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
||
1474 | } |
||
158 | KeyOz | 1475 | Position ++; |
1476 | TX_Data[0] = Position; |
||
306 | KeyOz | 1477 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true); |
158 | KeyOz | 1478 | } |
166 | KeyOz | 1479 | if (Position == 31) |
158 | KeyOz | 1480 | { |
1481 | for (int a = 0; a < MaxAnalog; a++) |
||
1482 | { |
||
162 | KeyOz | 1483 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
158 | KeyOz | 1484 | } |
163 | KeyOz | 1485 | Settings->Analog1.Version = Mode.Version; |
162 | KeyOz | 1486 | Settings->write_Settings_AnalogLabels(HardwareID); |
158 | KeyOz | 1487 | config_Plot(); |
1488 | } |
||
1489 | } |
||
1490 | break; |
||
167 | KeyOz | 1491 | // Debug-Daten |
1492 | case 'D' : // DONE 0.71g |
||
1493 | if (ToolBox::Decode64(RX)) |
||
158 | KeyOz | 1494 | { |
1495 | for (int i = 0; i < MaxAnalog; i++) |
||
1496 | { |
||
1497 | AnalogData[i] = ToolBox::Data2Int(RX.Decode, (i * 2) + 2); |
||
1498 | } |
||
1499 | show_DebugData(); |
||
1500 | } |
||
1501 | break; |
||
167 | KeyOz | 1502 | // Version |
1503 | case 'V' : // DONE 0.71h |
||
1504 | if (ToolBox::Decode64(RX)) |
||
159 | KeyOz | 1505 | { |
167 | KeyOz | 1506 | TickerEvent[0] = false; |
159 | KeyOz | 1507 | |
167 | KeyOz | 1508 | Mode.ID = HardwareID; |
1509 | Mode.VERSION_MAJOR = RX.Decode[0]; |
||
1510 | Mode.VERSION_MINOR = RX.Decode[1]; |
||
1511 | Mode.VERSION_PATCH = RX.Decode[4]; |
||
1512 | Mode.VERSION_SERIAL_MAJOR = RX.Decode[2]; |
||
1513 | Mode.VERSION_SERIAL_MINOR = RX.Decode[3]; |
||
159 | KeyOz | 1514 | |
167 | KeyOz | 1515 | Mode.Hardware = HardwareType[Mode.ID]; |
1516 | Mode.Version = QString("%1").arg(RX.Decode[0]) + "." + QString("%1").arg(RX.Decode[1]) + QString(RX.Decode[4] + 'a'); |
||
158 | KeyOz | 1517 | |
167 | KeyOz | 1518 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + Mode.Hardware + " " + Mode.Version); |
158 | KeyOz | 1519 | |
167 | KeyOz | 1520 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
1521 | { |
||
272 | KeyOz | 1522 | // AllowSend = false; |
167 | KeyOz | 1523 | QMessageBox::warning(this, QA_NAME, |
1524 | "Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,", QMessageBox::Ok); |
||
1525 | } |
||
159 | KeyOz | 1526 | |
199 | KeyOz | 1527 | if (ac_NoDebug->isChecked()) |
1528 | { |
||
1529 | TX_Data[0] = 0; |
||
1530 | } |
||
1531 | else |
||
1532 | if (ac_FastDebug->isChecked()) |
||
1533 | { |
||
1534 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
||
1535 | } |
||
1536 | else |
||
1537 | { |
||
1538 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
||
1539 | } |
||
1540 | |||
306 | KeyOz | 1541 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
199 | KeyOz | 1542 | |
167 | KeyOz | 1543 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
1544 | if (Mode.ID == ADDRESS_MK3MAG) |
||
1545 | { |
||
1546 | TickerEvent[3] = true; |
||
199 | KeyOz | 1547 | rb_SelMag->setChecked(true); |
167 | KeyOz | 1548 | } |
158 | KeyOz | 1549 | |
199 | KeyOz | 1550 | // Wenn NaviCtrl dann hier. |
1551 | if (Mode.ID == ADDRESS_NC) |
||
1552 | { |
||
1553 | rb_SelNC->setChecked(true); |
||
158 | KeyOz | 1554 | |
199 | KeyOz | 1555 | if (ac_NoNavi->isChecked()) |
1556 | { |
||
1557 | TX_Data[0] = 0; |
||
1558 | } |
||
1559 | else |
||
1560 | if (ac_FastNavi->isChecked()) |
||
1561 | { |
||
1562 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
||
1563 | } |
||
1564 | else |
||
1565 | { |
||
1566 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
||
1567 | } |
||
1568 | |||
306 | KeyOz | 1569 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 1570 | } |
1571 | |||
1572 | |||
167 | KeyOz | 1573 | // Wenn FlightCtrl dann Settings abfragen. |
1574 | if (Mode.ID == ADDRESS_FC) |
||
1575 | { |
||
199 | KeyOz | 1576 | rb_SelFC->setChecked(true); |
167 | KeyOz | 1577 | { |
1578 | TX_Data[0] = 0xff; |
||
1579 | TX_Data[1] = 0; |
||
250 | KeyOz | 1580 | |
1581 | // DEP: Raus wenn Resend implementiert. |
||
1582 | ToolBox::Wait(SLEEP); |
||
306 | KeyOz | 1583 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
250 | KeyOz | 1584 | qDebug("FC - Get Settings"); |
167 | KeyOz | 1585 | } |
1586 | } |
||
1587 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
||
1588 | else |
||
1589 | { |
||
1590 | f_Settings->pb_Read->setDisabled(true); |
||
1591 | f_Settings->pb_Write->setDisabled(true); |
||
1592 | } |
||
158 | KeyOz | 1593 | |
167 | KeyOz | 1594 | Settings->read_Settings_Analog(HardwareID); |
1595 | Settings->read_Settings_AnalogLabels(HardwareID); |
||
159 | KeyOz | 1596 | |
167 | KeyOz | 1597 | if (Settings->Analog1.Version != Mode.Version) |
158 | KeyOz | 1598 | { |
167 | KeyOz | 1599 | lb_Status->setText("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus."); |
1600 | slot_ac_GetLabels(); |
||
158 | KeyOz | 1601 | } |
167 | KeyOz | 1602 | else |
1603 | for (int a = 0; a < MaxAnalog; a++) |
||
1604 | { |
||
1605 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
||
1606 | } |
||
1607 | config_Plot(); |
||
158 | KeyOz | 1608 | } |
1609 | break; |
||
167 | KeyOz | 1610 | } |
158 | KeyOz | 1611 | } |
272 | KeyOz | 1612 | |
1613 | // TODO: Roh-Daten senden zum QMK-Server dazu Sendebuffer bauen. |
||
1614 | if ((QMK_Server->property("Connect")) == true) |
||
1615 | { |
||
1616 | // QMK_Server->send_RawData(RX.String); |
||
1617 | } |
||
1618 | |||
1619 | slot_showTerminal(1, RX.String); |
||
158 | KeyOz | 1620 | } |
1621 | |||
250 | KeyOz | 1622 | void MKTool::slot_showTerminal(int Typ, QString Text) |
158 | KeyOz | 1623 | { |
250 | KeyOz | 1624 | switch(Typ) |
158 | KeyOz | 1625 | { |
250 | KeyOz | 1626 | case 1 : |
158 | KeyOz | 1627 | { |
250 | KeyOz | 1628 | if ((cb_ShowData->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked()))) |
158 | KeyOz | 1629 | { |
250 | KeyOz | 1630 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1631 | te_RX->insertHtml("<span style=\"color:#00008b;\">" + Text + "<br /></span>"); |
||
158 | KeyOz | 1632 | } |
250 | KeyOz | 1633 | } |
1634 | break; |
||
1635 | case 2 : |
||
1636 | { |
||
1637 | if ((cb_ShowMSG->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked()))) |
||
158 | KeyOz | 1638 | { |
250 | KeyOz | 1639 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1640 | te_RX->insertHtml("<span style=\"color:#008b00;\">" + Text + "</span>"); |
||
158 | KeyOz | 1641 | } |
1642 | } |
||
250 | KeyOz | 1643 | break; |
1644 | case 3 : |
||
158 | KeyOz | 1645 | { |
250 | KeyOz | 1646 | if (cb_ShowSend->isChecked()) |
158 | KeyOz | 1647 | { |
250 | KeyOz | 1648 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1649 | te_RX->insertHtml("<span style='color:#8b0000;'>" + Text + "<br /></span>"); |
||
158 | KeyOz | 1650 | } |
1651 | } |
||
250 | KeyOz | 1652 | break; |
158 | KeyOz | 1653 | } |
1654 | } |
||
1655 | |||
272 | KeyOz | 1656 | // Verbindung zum Kopter herstellen / Trennen |
158 | KeyOz | 1657 | void MKTool::slot_OpenPort() |
1658 | { |
||
306 | KeyOz | 1659 | if (o_Connection->isOpen()) |
250 | KeyOz | 1660 | { |
199 | KeyOz | 1661 | TX_Data[0] = Settings->Data.Debug_Off / 10; |
306 | KeyOz | 1662 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
227 | KeyOz | 1663 | ToolBox::Wait(SLEEP); |
158 | KeyOz | 1664 | |
199 | KeyOz | 1665 | if (Mode.ID == ADDRESS_NC) |
1666 | { |
||
1667 | TX_Data[0] = Settings->Data.Navi_Off / 10; |
||
306 | KeyOz | 1668 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
227 | KeyOz | 1669 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 1670 | } |
1671 | |||
272 | KeyOz | 1672 | if (Mode.ID == ADDRESS_FC) |
199 | KeyOz | 1673 | { |
1674 | TX_Data[0] = 0; |
||
1675 | TX_Data[1] = 0; |
||
1676 | TX_Data[2] = 0; |
||
1677 | TX_Data[3] = 0; |
||
306 | KeyOz | 1678 | o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false); |
227 | KeyOz | 1679 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 1680 | } |
250 | KeyOz | 1681 | |
306 | KeyOz | 1682 | o_Connection->Close(); |
250 | KeyOz | 1683 | |
263 | KeyOz | 1684 | ac_ConnectTTY->setText("Kopter Verbinden"); |
199 | KeyOz | 1685 | le_Port->setEnabled(true); |
1686 | |||
167 | KeyOz | 1687 | Ticker->stop(); |
158 | KeyOz | 1688 | } |
1689 | else |
||
1690 | { |
||
263 | KeyOz | 1691 | int i_Type; |
1692 | if (le_Port->text().contains(QString("IP:"))) |
||
158 | KeyOz | 1693 | { |
263 | KeyOz | 1694 | i_Type = C_IP; |
1695 | } |
||
1696 | else |
||
1697 | { |
||
1698 | i_Type = C_TTY; |
||
1699 | } |
||
1700 | |||
306 | KeyOz | 1701 | if (o_Connection->Open(i_Type, le_Port->text())) |
263 | KeyOz | 1702 | { |
1703 | ac_ConnectTTY->setText("Kopter Trennen"); |
||
199 | KeyOz | 1704 | le_Port->setEnabled(false); |
158 | KeyOz | 1705 | |
306 | KeyOz | 1706 | o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true); |
159 | KeyOz | 1707 | |
167 | KeyOz | 1708 | Ticker->start(2000); |
158 | KeyOz | 1709 | } |
1710 | } |
||
1711 | } |
||
1712 | |||
1713 | // Programm beenden |
||
1714 | /////////////////// |
||
162 | KeyOz | 1715 | |
1716 | MKTool::~MKTool() |
||
158 | KeyOz | 1717 | { |
306 | KeyOz | 1718 | if (o_Connection->isOpen()) |
158 | KeyOz | 1719 | { |
306 | KeyOz | 1720 | o_Connection->Close(); |
158 | KeyOz | 1721 | } |
1722 | |||
167 | KeyOz | 1723 | set_Preferences(); |
162 | KeyOz | 1724 | Settings->write_Settings(); |
158 | KeyOz | 1725 | |
239 | Brean | 1726 | logger->close(); |
158 | KeyOz | 1727 | } |