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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 |
314 | KeyOz | 63 | tab_Main->removeTab(6); |
272 | KeyOz | 64 | // Develop - Nicht gebrauchte sachen abschalten. |
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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337 | KeyOz | 73 | |
167 | KeyOz | 74 | // Settings-Tab hinzufügen. |
75 | f_Settings = new wdg_Settings( this ); |
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227 | KeyOz | 76 | f_Settings->set_Config(Settings); |
358 | KeyOz | 77 | tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), tr("FC-Settings")); |
167 | KeyOz | 78 | tab_Main->widget(2)->setObjectName("Tab_2"); |
79 | |||
80 | // Zusätzliche Widgets in die Toolbar. |
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227 | KeyOz | 81 | tb_TTY->addWidget(lb_Port); |
82 | tb_TTY->addWidget(le_Port); |
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166 | KeyOz | 83 | |
227 | KeyOz | 84 | tb_Hardware->addWidget(rb_SelFC); |
85 | tb_Hardware->addWidget(rb_SelNC); |
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86 | tb_Hardware->addWidget(rb_SelMag); |
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166 | KeyOz | 87 | |
227 | KeyOz | 88 | tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]); |
89 | tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]); |
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90 | tb_Debug->setVisible(Settings->GUI.ToolViews[2]); |
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91 | tb_TTY->setVisible(Settings->GUI.ToolViews[3]); |
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92 | tb_Hardware->setVisible(Settings->GUI.ToolViews[4]); |
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93 | |||
272 | KeyOz | 94 | #ifdef _EEEPC_ |
95 | lb_Status->hide(); |
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96 | #endif |
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97 | |||
199 | KeyOz | 98 | lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!")); |
99 | |||
158 | KeyOz | 100 | resize(Settings->GUI.Size); |
101 | move(Settings->GUI.Point); |
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102 | |||
103 | if (Settings->GUI.isMax) |
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104 | { |
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105 | showMaximized(); |
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106 | } |
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107 | |||
199 | KeyOz | 108 | // Analoglabels anzeigen |
158 | KeyOz | 109 | for (int a = 0; a < MaxAnalog; a++) |
110 | { |
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162 | KeyOz | 111 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
158 | KeyOz | 112 | } |
113 | |||
199 | KeyOz | 114 | // Kopie der Tabs anlegen |
272 | KeyOz | 115 | for (int b = 0; b < 7; b++) |
158 | KeyOz | 116 | { |
117 | TabWidgets[b] = tab_Main->widget(b); |
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118 | } |
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119 | |||
199 | KeyOz | 120 | // Ausgeblendete Tabs ausblenden |
272 | KeyOz | 121 | for (int c = 0; c < 7; c++) |
158 | KeyOz | 122 | { |
123 | if (Settings->GUI.TabViews[c] == false) |
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124 | { |
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125 | QString TabName = QString("Tab_%1").arg(c); |
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126 | |||
127 | for (int d = 0; d < tab_Main->count(); d++) |
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128 | { |
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129 | if (tab_Main->widget(d)->objectName() == TabName) |
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130 | { |
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131 | tab_Main->removeTab(d); |
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132 | } |
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133 | } |
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134 | } |
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135 | } |
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136 | |||
137 | ac_View0->setChecked(Settings->GUI.TabViews[0]); |
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138 | ac_View1->setChecked(Settings->GUI.TabViews[1]); |
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139 | ac_View2->setChecked(Settings->GUI.TabViews[2]); |
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140 | ac_View3->setChecked(Settings->GUI.TabViews[3]); |
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141 | ac_View4->setChecked(Settings->GUI.TabViews[4]); |
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142 | ac_View5->setChecked(Settings->GUI.TabViews[5]); |
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272 | KeyOz | 143 | ac_View6->setChecked(Settings->GUI.TabViews[6]); |
158 | KeyOz | 144 | |
145 | le_Port->setText(Settings->TTY.Port); |
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162 | KeyOz | 146 | |
147 | cb_ShowMSG->setChecked(Settings->GUI.Term_Info); |
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148 | cb_ShowData->setChecked(Settings->GUI.Term_Data); |
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149 | cb_ShowAlways->setChecked(Settings->GUI.Term_Always); |
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158 | KeyOz | 150 | } |
151 | |||
306 | KeyOz | 152 | void MKTool::init_Cockpit() |
153 | { |
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154 | // Cockpit-Elemente |
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155 | QPalette newPalette; |
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156 | |||
157 | newPalette.setColor(QPalette::Base, Qt::darkBlue); |
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158 | newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120)); |
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159 | newPalette.setColor(QPalette::Text, Qt::white); |
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160 | |||
161 | Compass->setScaleOptions(QwtDial::ScaleTicks | QwtDial::ScaleLabel); |
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162 | Compass->setScaleTicks(0, 0, 3); |
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163 | Compass->setScale(36, 5, 0); |
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164 | |||
165 | Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130))); |
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166 | Compass->setPalette(newPalette); |
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167 | Compass->setMaximumSize(QSize(MeterSize, MeterSize)); |
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168 | Compass->setMinimumSize(QSize(MeterSize, MeterSize)); |
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169 | |||
170 | QPalette newPalette1; |
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171 | |||
172 | newPalette1.setColor(QPalette::Base, Qt::darkBlue); |
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173 | newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120)); |
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174 | newPalette1.setColor(QPalette::Text, Qt::white); |
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175 | |||
176 | Attitude = new AttitudeIndicator(this); |
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177 | Attitude->setMaximumSize(QSize(MeterSize, MeterSize)); |
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178 | Attitude->setMinimumSize(QSize(MeterSize, MeterSize)); |
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179 | Attitude->setPalette(newPalette1); |
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180 | |||
181 | verticalLayout->addWidget(Attitude); |
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182 | |||
183 | qwt_Rate->setRange(-10.0, 10.0, 0.1, 0); |
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184 | |||
185 | newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120)); |
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186 | |||
187 | SpeedMeter = new cSpeedMeter(this); |
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188 | SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize)); |
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189 | SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize)); |
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190 | SpeedMeter->setPalette(newPalette1); |
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191 | SpeedMeter->setRange(0.0, 5.0); |
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192 | SpeedMeter->setScale(1, 2, 0.5); |
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193 | SpeedMeter->setProperty("END", 5); |
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194 | |||
195 | LayOut_Speed->addWidget(SpeedMeter); |
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196 | } |
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197 | |||
158 | KeyOz | 198 | void MKTool::init_Objects() |
199 | { |
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440 | Brean | 200 | //new KopterData object that contains all data from MK |
201 | data = new KopterData(); |
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202 | |||
396 | Brean | 203 | //new QT-Communication object |
204 | com = new QTCommunication(); |
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205 | |||
206 | //create handler that handles incomming data |
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440 | Brean | 207 | handler = new Handler(com, data); |
396 | Brean | 208 | |
158 | KeyOz | 209 | // QTimer-Instanzen |
441 | Brean | 210 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
211 | //Ticker = new QTimer(this); |
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158 | KeyOz | 212 | |
396 | Brean | 213 | // Logger |
440 | Brean | 214 | logger = new Logger(Settings, data); |
159 | KeyOz | 215 | |
227 | KeyOz | 216 | // LCD-Dialog |
217 | f_LCD = new dlg_LCD(this); |
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218 | |||
305 | KeyOz | 219 | // LCD-Dialog |
307 | KeyOz | 220 | f_MotorMixer = new dlg_MotorMixer(this); |
221 | |||
222 | // LCD-Dialog |
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305 | KeyOz | 223 | f_Map = new dlg_Map(this); |
306 | KeyOz | 224 | f_Map->create_Map(Settings); |
305 | KeyOz | 225 | |
306 | KeyOz | 226 | KML_Server = new cKML_Server(); |
199 | KeyOz | 227 | |
272 | KeyOz | 228 | QMK_Server = new cQMK_Server(); |
229 | QMK_Server->setProperty("Connect", false); |
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199 | KeyOz | 230 | |
231 | if (Settings->Server.StartServer) |
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232 | { |
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233 | ac_StartServer->setChecked(true); |
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306 | KeyOz | 234 | KML_Server->start_Server(Settings->Server.Port.toInt(), Settings); |
199 | KeyOz | 235 | } |
158 | KeyOz | 236 | } |
237 | |||
238 | void MKTool::init_Connections() |
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239 | { |
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250 | KeyOz | 240 | connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test())); |
199 | KeyOz | 241 | |
306 | KeyOz | 242 | // Waypoints übergeben |
243 | connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint))); |
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358 | KeyOz | 244 | connect(f_Map, SIGNAL(set_WayPoints(QList<sWayPoint>)), this , SLOT(slot_MAP_SetWayPoints(QList<sWayPoint>))); |
306 | KeyOz | 245 | |
250 | KeyOz | 246 | // Daten Senden / Empfangen |
396 | Brean | 247 | //FIXME: put this in QTCommunication.cpp |
248 | // connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData))); |
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249 | // connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString))); |
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158 | KeyOz | 250 | |
199 | KeyOz | 251 | // Serielle Verbundung öffnen / schließen |
252 | connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort())); |
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253 | |||
396 | Brean | 254 | // TCP-Connection for other QMK-Groundstations |
227 | KeyOz | 255 | connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect())); |
256 | |||
167 | KeyOz | 257 | // Buttons Settings lesen / schreiben |
199 | KeyOz | 258 | connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings())); |
259 | connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings())); |
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158 | KeyOz | 260 | |
261 | // Actions |
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262 | connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config())); |
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159 | KeyOz | 263 | connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences())); |
158 | KeyOz | 264 | connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest())); |
307 | KeyOz | 265 | connect(ac_MotorMixer, SIGNAL(triggered()), this, SLOT(slot_ac_MotorMixer())); |
227 | KeyOz | 266 | connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD())); |
305 | KeyOz | 267 | connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map())); |
199 | KeyOz | 268 | connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug())); |
269 | connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug())); |
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270 | connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi())); |
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271 | connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi())); |
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158 | KeyOz | 272 | connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels())); |
273 | |||
167 | KeyOz | 274 | // Plotter starten / scrollen |
275 | connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int))); |
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276 | connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter())); |
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199 | KeyOz | 277 | connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer())); |
167 | KeyOz | 278 | |
158 | KeyOz | 279 | // Tabs ein & ausblenden |
280 | connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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281 | connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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282 | connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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283 | connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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284 | connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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285 | connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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227 | KeyOz | 286 | connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
158 | KeyOz | 287 | |
199 | KeyOz | 288 | connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
289 | connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
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290 | connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
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291 | |||
292 | connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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293 | connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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294 | connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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295 | |||
167 | KeyOz | 296 | // firmeware Updateen / flashen |
199 | KeyOz | 297 | connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update())); |
166 | KeyOz | 298 | connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile())); |
158 | KeyOz | 299 | |
250 | KeyOz | 300 | // Wegpunkt-Befehl |
358 | KeyOz | 301 | connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendTarget())); |
250 | KeyOz | 302 | |
167 | KeyOz | 303 | // CVS-Record starten / stoppen |
239 | Brean | 304 | connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog())); |
158 | KeyOz | 305 | |
306 | // Timer-Events |
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441 | Brean | 307 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
308 | //connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker())); |
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158 | KeyOz | 309 | |
167 | KeyOz | 310 | // Seitenwechsel |
199 | KeyOz | 311 | connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int))); |
306 | KeyOz | 312 | // connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int))); |
313 | connect(f_Settings->listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int))); |
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158 | KeyOz | 314 | |
167 | KeyOz | 315 | // About QMK & About-QT Dialog einfügen |
316 | connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About())); |
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158 | KeyOz | 317 | menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt())); |
318 | } |
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319 | |||
320 | void MKTool::init_Arrays() |
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321 | { |
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322 | lb_Analog[0] = lb_A_0; |
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323 | lb_Analog[1] = lb_A_1; |
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324 | lb_Analog[2] = lb_A_2; |
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325 | lb_Analog[3] = lb_A_3; |
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326 | lb_Analog[4] = lb_A_4; |
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327 | lb_Analog[5] = lb_A_5; |
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328 | lb_Analog[6] = lb_A_6; |
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329 | lb_Analog[7] = lb_A_7; |
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330 | lb_Analog[8] = lb_A_8; |
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331 | lb_Analog[9] = lb_A_9; |
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332 | lb_Analog[10] = lb_A_10; |
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333 | lb_Analog[11] = lb_A_11; |
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334 | lb_Analog[12] = lb_A_12; |
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335 | lb_Analog[13] = lb_A_13; |
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336 | lb_Analog[14] = lb_A_14; |
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337 | lb_Analog[15] = lb_A_15; |
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338 | lb_Analog[16] = lb_A_16; |
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339 | lb_Analog[17] = lb_A_17; |
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340 | lb_Analog[18] = lb_A_18; |
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341 | lb_Analog[19] = lb_A_19; |
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342 | lb_Analog[20] = lb_A_20; |
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343 | lb_Analog[21] = lb_A_21; |
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344 | lb_Analog[22] = lb_A_22; |
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345 | lb_Analog[23] = lb_A_23; |
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346 | lb_Analog[24] = lb_A_24; |
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347 | lb_Analog[25] = lb_A_25; |
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348 | lb_Analog[26] = lb_A_26; |
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349 | lb_Analog[27] = lb_A_27; |
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350 | lb_Analog[28] = lb_A_28; |
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351 | lb_Analog[29] = lb_A_29; |
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352 | lb_Analog[30] = lb_A_30; |
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353 | lb_Analog[31] = lb_A_31; |
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441 | Brean | 354 | le_Analog[0] = le_A_0; |
355 | le_Analog[1] = le_A_1; |
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356 | le_Analog[2] = le_A_2; |
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357 | le_Analog[3] = le_A_3; |
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358 | le_Analog[4] = le_A_4; |
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359 | le_Analog[5] = le_A_5; |
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360 | le_Analog[6] = le_A_6; |
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361 | le_Analog[7] = le_A_7; |
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362 | le_Analog[8] = le_A_8; |
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363 | le_Analog[9] = le_A_9; |
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364 | le_Analog[10] = le_A_10; |
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365 | le_Analog[11] = le_A_11; |
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366 | le_Analog[12] = le_A_12; |
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367 | le_Analog[13] = le_A_13; |
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368 | le_Analog[14] = le_A_14; |
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369 | le_Analog[15] = le_A_15; |
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370 | le_Analog[16] = le_A_16; |
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371 | le_Analog[17] = le_A_17; |
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372 | le_Analog[18] = le_A_18; |
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373 | le_Analog[19] = le_A_19; |
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374 | le_Analog[20] = le_A_20; |
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375 | le_Analog[21] = le_A_21; |
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376 | le_Analog[22] = le_A_22; |
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377 | le_Analog[23] = le_A_23; |
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378 | le_Analog[24] = le_A_24; |
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379 | le_Analog[25] = le_A_25; |
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380 | le_Analog[26] = le_A_26; |
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381 | le_Analog[27] = le_A_27; |
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382 | le_Analog[28] = le_A_28; |
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383 | le_Analog[29] = le_A_29; |
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384 | le_Analog[30] = le_A_30; |
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385 | le_Analog[31] = le_A_31; |
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158 | KeyOz | 386 | } |
387 | |||
388 | void MKTool::init_Plot() |
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389 | { |
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390 | NextPlot = 0; |
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391 | |||
392 | qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000))); |
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393 | |||
394 | qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend); |
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395 | |||
396 | QwtPlotGrid *Grid = new QwtPlotGrid(); |
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397 | Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine)); |
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398 | |||
399 | Grid->attach(qwtPlot); |
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400 | |||
166 | KeyOz | 401 | qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0); |
158 | KeyOz | 402 | |
403 | for (int a = 0; a < MaxAnalog; a++) |
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404 | { |
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162 | KeyOz | 405 | Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]); |
406 | Plot[a]->setPen(QPen(QColor(Def_Colors[a]))); |
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250 | KeyOz | 407 | // Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased); |
158 | KeyOz | 408 | |
162 | KeyOz | 409 | if (Settings->Analog1.PlotView[a]) |
158 | KeyOz | 410 | Plot[a]->attach(qwtPlot); |
411 | } |
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412 | qwtPlot->replot(); |
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413 | } |
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414 | |||
306 | KeyOz | 415 | void MKTool::slot_set_Settings(cSettings *t_Settings) |
416 | { |
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417 | Settings = t_Settings; |
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418 | } |
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419 | |||
199 | KeyOz | 420 | void MKTool::slot_Test() |
158 | KeyOz | 421 | { |
272 | KeyOz | 422 | sRxData RX; |
423 | |||
391 | Brean | 424 | RX.str = IN->text().toLatin1().data(); |
272 | KeyOz | 425 | |
391 | Brean | 426 | RX.input = (char *)RX.str.c_str(); |
272 | KeyOz | 427 | |
358 | KeyOz | 428 | slot_newData(RX); |
250 | KeyOz | 429 | } |
158 | KeyOz | 430 | |
272 | KeyOz | 431 | // KML-Datei nach Wegpunkt parsen |
432 | // TODO: Richtigen KML-Parser bauen |
||
250 | KeyOz | 433 | void MKTool::parse_TargetKML() |
434 | { |
||
435 | QString Tmp = te_KML->toPlainText().simplified(); |
||
397 | Brean | 436 | QStringList list; |
158 | KeyOz | 437 | |
250 | KeyOz | 438 | if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>"))) |
439 | { |
||
397 | Brean | 440 | list = Tmp.split("<coordinates>"); |
441 | list = list[1].split(","); |
||
250 | KeyOz | 442 | |
397 | Brean | 443 | le_TarLong->setText( QString::number( list[0].toDouble() ) ); |
444 | le_TarLat->setText( QString::number( list[1].toDouble() ) ); |
||
442 | Brean | 445 | //le_TarLong->setText(ToolBox::get_Float((List[0] * 10000000), 7)); |
446 | //le_TarLat->setText(ToolBox::get_Float((List[1] * 10000000), 7)); |
||
250 | KeyOz | 447 | } |
158 | KeyOz | 448 | } |
449 | |||
441 | Brean | 450 | // send waypoint to NaviCtrl. |
358 | KeyOz | 451 | void MKTool::slot_pb_SendTarget() |
250 | KeyOz | 452 | { |
440 | Brean | 453 | sNaviData navi = data->navi; |
454 | if ((navi.Current.Longitude == 0) && (navi.Current.Latitude == 0)) |
||
250 | KeyOz | 455 | { |
456 | QMessageBox msgB; |
||
457 | QString msg; |
||
358 | KeyOz | 458 | msgB.setText(tr("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden")); |
250 | KeyOz | 459 | msgB.exec(); |
460 | return; |
||
461 | } |
||
272 | KeyOz | 462 | |
441 | Brean | 463 | //create a waypoint that can be understood by NaviCtrl |
250 | KeyOz | 464 | Waypoint_t desired_pos; |
465 | bool ok_lat, ok_lon; |
||
466 | |||
441 | Brean | 467 | //get data from QT-GUI |
250 | KeyOz | 468 | double desired_long, desired_lat; |
469 | |||
470 | desired_long = le_TarLong->text().toDouble(&ok_lon); |
||
471 | desired_lat = le_TarLat->text().toDouble(&ok_lat); |
||
472 | |||
473 | if (ok_lon && desired_long < 100) |
||
474 | desired_long *= 10000000+0.5; |
||
475 | |||
476 | if (ok_lat && desired_lat < 100) |
||
477 | desired_lat *= 10000000+0.5; |
||
478 | |||
441 | Brean | 479 | //fill WayPoint struct |
250 | KeyOz | 480 | desired_pos.Position.Altitude = 0; |
481 | desired_pos.Position.Longitude = int32_t(desired_long); |
||
482 | desired_pos.Position.Latitude = int32_t(desired_lat); |
||
483 | desired_pos.Position.Status = NEWDATA; |
||
484 | desired_pos.Heading = -1; |
||
334 | KeyOz | 485 | desired_pos.ToleranceRadius = 5; |
358 | KeyOz | 486 | desired_pos.HoldTime = sb_TarTime->value(); |
250 | KeyOz | 487 | desired_pos.Event_Flag = 0; |
488 | desired_pos.reserve[0] = 0; // reserve |
||
489 | desired_pos.reserve[1] = 0; // reserve |
||
490 | desired_pos.reserve[2] = 0; // reserve |
||
491 | desired_pos.reserve[3] = 0; // reserve |
||
492 | |||
441 | Brean | 493 | //...and send it to NaviCtrl |
250 | KeyOz | 494 | int max_radius = 10000; |
495 | if (ok_lat && ok_lon && |
||
440 | Brean | 496 | abs((double)(navi.Current.Longitude - desired_pos.Position.Longitude)) < max_radius && |
497 | abs((double)(navi.Current.Latitude - desired_pos.Position.Latitude)) < max_radius) |
||
250 | KeyOz | 498 | { |
399 | Brean | 499 | handler->send_waypoint(desired_pos); |
250 | KeyOz | 500 | } |
501 | else |
||
502 | { |
||
503 | QMessageBox msgB; |
||
504 | QString msg; |
||
358 | KeyOz | 505 | msg += tr("Bitte die Eingabe ueberpruefen!\n"); |
506 | msg += tr("Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n"); |
||
250 | KeyOz | 507 | msg += "(Lon: "; |
440 | Brean | 508 | msg += QString::number(navi.Current.Longitude); |
250 | KeyOz | 509 | msg += ", "; |
510 | msg += "Lat: "; |
||
440 | Brean | 511 | msg += QString::number(navi.Current.Latitude); |
250 | KeyOz | 512 | msg += ")"; |
513 | msgB.setText(msg); |
||
514 | msgB.exec(); |
||
515 | } |
||
516 | } |
||
517 | |||
337 | KeyOz | 518 | // Hardware-Auswahl im Menp |
199 | KeyOz | 519 | void MKTool::slot_ac_Hardware() |
520 | { |
||
521 | QAction *Action = (QAction*)sender(); |
||
158 | KeyOz | 522 | |
199 | KeyOz | 523 | if (Action->isChecked() == false) |
524 | { |
||
525 | Action->setChecked(true); |
||
526 | } |
||
527 | |||
528 | slot_rb_Hardware(); |
||
529 | } |
||
530 | |||
337 | KeyOz | 531 | // Hardware Auswahl und umschalten |
199 | KeyOz | 532 | void MKTool::slot_rb_Hardware() |
533 | { |
||
442 | Brean | 534 | if ((rb_SelNC->isChecked() == false) && (data->mode.id != ADDRESS_NC)) |
199 | KeyOz | 535 | { |
536 | lb_Status->setText(tr("Schalte um auf NaviCtrl.")); |
||
399 | Brean | 537 | handler->switch_navictrl(); |
538 | //FIXME: remove wait? |
||
539 | ToolBox::wait(SLEEP); |
||
199 | KeyOz | 540 | } |
541 | |||
542 | if (rb_SelFC->isChecked()) |
||
543 | { |
||
544 | lb_Status->setText(tr("Schalte um auf FlightCtrl.")); |
||
399 | Brean | 545 | handler->switch_flightctrl(); |
199 | KeyOz | 546 | } |
547 | else |
||
548 | if (rb_SelMag->isChecked()) |
||
549 | { |
||
550 | lb_Status->setText(tr("Schalte um auf MK3MAG.")); |
||
399 | Brean | 551 | handler->switch_mk3mag(); |
199 | KeyOz | 552 | } |
553 | else |
||
554 | if (rb_SelNC->isChecked()) |
||
555 | { |
||
556 | lb_Status->setText(tr("Schalte um auf NaviCtrl.")); |
||
399 | Brean | 557 | handler->switch_navictrl(); |
199 | KeyOz | 558 | } |
391 | Brean | 559 | ToolBox::wait(SLEEP); |
199 | KeyOz | 560 | |
561 | // qDebug("Select RB Hardware"); |
||
399 | Brean | 562 | handler->get_version(); |
199 | KeyOz | 563 | } |
564 | |||
442 | Brean | 565 | //FIXME: Put this somewhere in libMK/QTCommunication.cpp |
158 | KeyOz | 566 | // Ticker-Event |
567 | /////////////// |
||
442 | Brean | 568 | /*void MKTool::slot_Ticker() |
158 | KeyOz | 569 | { |
442 | Brean | 570 | |
571 | |||
158 | KeyOz | 572 | if (TickerDiv) |
573 | TickerDiv = false; |
||
574 | else |
||
575 | TickerDiv = true; |
||
396 | Brean | 576 | |
158 | KeyOz | 577 | for (int a = 0; a < MaxTickerEvents; a++) |
578 | { |
||
579 | if (TickerEvent[a] == true) |
||
580 | { |
||
581 | switch(a) |
||
582 | { |
||
583 | case 0 : |
||
584 | { |
||
585 | } |
||
586 | break; |
||
587 | case 1 : |
||
159 | KeyOz | 588 | TX_Data[0] = 0; |
306 | KeyOz | 589 | o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false); |
158 | KeyOz | 590 | break; |
159 | KeyOz | 591 | case 2 : |
227 | KeyOz | 592 | if (f_LCD->cb_LCD->isChecked()) |
167 | KeyOz | 593 | { |
227 | KeyOz | 594 | if (!f_LCD->isVisible()) |
595 | { |
||
596 | Ticker->setInterval(2000); |
||
597 | TickerEvent[2] = false; |
||
598 | } |
||
167 | KeyOz | 599 | TX_Data[0] = LCD_Page; |
600 | TX_Data[1] = 0; |
||
306 | KeyOz | 601 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
167 | KeyOz | 602 | } |
159 | KeyOz | 603 | break; |
167 | KeyOz | 604 | case 3 : |
199 | KeyOz | 605 | if (ac_FastDebug->isChecked()) |
167 | KeyOz | 606 | { |
607 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
||
306 | KeyOz | 608 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
167 | KeyOz | 609 | } |
610 | else |
||
611 | { |
||
612 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
||
306 | KeyOz | 613 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
167 | KeyOz | 614 | } |
615 | break; |
||
337 | KeyOz | 616 | case 4 : |
617 | { |
||
618 | for (int z = 0; z<12; z++) |
||
619 | { |
||
620 | TX_Data[z] = Motor.Speed[z]; |
||
621 | } |
||
622 | o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 12, false); |
||
623 | } |
||
624 | |||
158 | KeyOz | 625 | } |
626 | } |
||
627 | } |
||
442 | Brean | 628 | } |
396 | Brean | 629 | */ |
158 | KeyOz | 630 | |
442 | Brean | 631 | // connect to QMK dataserver |
227 | KeyOz | 632 | void MKTool::slot_QMKS_Connect() |
633 | { |
||
634 | if (ac_QMKServer->isChecked()) |
||
635 | { |
||
636 | lb_Status->setText(tr("Verbinde zum QMK-Datenserver.")); |
||
158 | KeyOz | 637 | |
272 | KeyOz | 638 | QMK_Server->Connect(Settings->Server.QMKS_Host, Settings->Server.QMKS_Port.toInt(), Settings->Server.QMKS_Login, Settings->Server.QMKS_Password); |
227 | KeyOz | 639 | |
272 | KeyOz | 640 | connect(QMK_Server, SIGNAL(sig_Connected()), this, SLOT(slot_QMKS_Connected())); |
641 | connect(QMK_Server, SIGNAL(sig_Disconnected(int)), this, SLOT(slot_QMKS_Disconnected(int))); |
||
227 | KeyOz | 642 | } |
643 | else |
||
644 | { |
||
272 | KeyOz | 645 | if ((QMK_Server->property("Connect")) == true) |
227 | KeyOz | 646 | { |
272 | KeyOz | 647 | disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0); |
227 | KeyOz | 648 | lb_Status->setText(tr("Trenne vom QMK-Datenserver.")); |
649 | |||
272 | KeyOz | 650 | QMK_Server->Disconnect(); |
651 | QMK_Server->setProperty("Connect", false); |
||
358 | KeyOz | 652 | ac_QMKServer->setText(tr("QMK-Server Verbinden")); |
227 | KeyOz | 653 | } |
654 | } |
||
655 | } |
||
656 | |||
337 | KeyOz | 657 | // Verbindung zum QMK-Server hergestellt. |
227 | KeyOz | 658 | void MKTool::slot_QMKS_Connected() |
659 | { |
||
272 | KeyOz | 660 | QMK_Server->setProperty("Connect", true); |
358 | KeyOz | 661 | ac_QMKServer->setText(tr("QMK-Server Trennnen")); |
227 | KeyOz | 662 | lb_Status->setText(tr("Verbunden mit QMK-Datenserver.")); |
663 | } |
||
664 | |||
337 | KeyOz | 665 | // QMK-Serververbindung getrennt |
227 | KeyOz | 666 | void MKTool::slot_QMKS_Disconnected(int Error) |
667 | { |
||
272 | KeyOz | 668 | QMK_Server->setProperty("Connect", false); |
358 | KeyOz | 669 | ac_QMKServer->setText(tr("QMK-Server Verbinden")); |
227 | KeyOz | 670 | ac_QMKServer->setChecked(false); |
671 | |||
272 | KeyOz | 672 | disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0); |
227 | KeyOz | 673 | |
674 | switch (Error) |
||
675 | { |
||
676 | case 1 : |
||
677 | { |
||
678 | lb_Status->setText(tr("Verbindung vom Server beendet.")); |
||
358 | KeyOz | 679 | QMessageBox::warning(this, QA_NAME,tr("QMK-Datenserver: Verbindung wurde vom Server beendet."), QMessageBox::Ok); |
227 | KeyOz | 680 | } |
681 | break; |
||
682 | case 2 : |
||
683 | { |
||
684 | lb_Status->setText(tr("Server nicht gefunden.")); |
||
358 | KeyOz | 685 | QMessageBox::warning(this, QA_NAME,tr("QMK-Datenserver: Kann nicht zum Server verbinden."), QMessageBox::Ok); |
227 | KeyOz | 686 | } |
687 | break; |
||
688 | case 3 : |
||
689 | { |
||
690 | lb_Status->setText(tr("Serververbindung getrennt. Logindaten falsch.")); |
||
358 | KeyOz | 691 | QMessageBox::warning(this, QA_NAME,tr("QMK-Datenserver: Loginname oder Password falsch."), QMessageBox::Ok); |
227 | KeyOz | 692 | } |
693 | break; |
||
694 | default : |
||
695 | { |
||
696 | lb_Status->setText(tr("Getrennt vom QMK-Datenserver.")); |
||
697 | } |
||
698 | break; |
||
699 | } |
||
700 | } |
||
701 | |||
158 | KeyOz | 702 | // Slots der Actions (Menüpunkte, Buttons) |
703 | ////////////////////////////////////////// |
||
704 | void MKTool::slot_ac_Motortest() |
||
705 | { |
||
706 | dlg_Motortest *f_Motortest = new dlg_Motortest(this); |
||
707 | |||
337 | KeyOz | 708 | // connect(f_Motortest, SIGNAL(updateMotor(int, int, int, int)), this, SLOT(slot_Motortest(int, int, int, int))); |
709 | connect(f_Motortest, SIGNAL(updateMotor(sMotor)), this, SLOT(slot_Motortest(sMotor))); |
||
158 | KeyOz | 710 | |
441 | Brean | 711 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
712 | // Ticker->setInterval(500); |
||
713 | // TickerEvent[4] = true; |
||
337 | KeyOz | 714 | |
158 | KeyOz | 715 | if (f_Motortest->exec()==QDialog::Accepted) |
716 | { |
||
717 | } |
||
718 | |||
719 | disconnect(f_Motortest, 0,0,0); |
||
337 | KeyOz | 720 | |
440 | Brean | 721 | handler->reset_motor(); |
441 | Brean | 722 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
723 | // Ticker->setInterval(2000); |
||
724 | // TickerEvent[4] = false; |
||
158 | KeyOz | 725 | } |
726 | |||
442 | Brean | 727 | void MKTool::slot_Motortest(sMotorData p_Motor) |
337 | KeyOz | 728 | { |
399 | Brean | 729 | handler->motor_test(p_Motor); |
337 | KeyOz | 730 | } |
731 | |||
732 | // Motormixer-Einstellungen anzeigen |
||
307 | KeyOz | 733 | void MKTool::slot_ac_MotorMixer() |
734 | { |
||
396 | Brean | 735 | f_MotorMixer->set_Objects(handler, Settings); |
440 | Brean | 736 | handler->read_motor_mixer(); |
307 | KeyOz | 737 | |
738 | if (f_MotorMixer->exec()==QDialog::Accepted) |
||
739 | { |
||
740 | } |
||
741 | } |
||
742 | |||
337 | KeyOz | 743 | // LCD Anzeigen |
227 | KeyOz | 744 | void MKTool::slot_ac_LCD() |
745 | { |
||
746 | if (!f_LCD->isVisible()) |
||
747 | { |
||
306 | KeyOz | 748 | delete f_LCD; |
227 | KeyOz | 749 | f_LCD = new dlg_LCD(this); |
750 | |||
751 | // LCD auf / ab |
||
752 | connect(f_LCD->pb_LCDup, SIGNAL(clicked()), this, SLOT(slot_LCD_UP())); |
||
753 | connect(f_LCD->pb_LCDdown, SIGNAL(clicked()), this, SLOT(slot_LCD_DOWN())); |
||
754 | f_LCD->show(); |
||
399 | Brean | 755 | handler->show_lcd(); |
440 | Brean | 756 | //FIXME: replace ticker with something else??? |
441 | Brean | 757 | //Ticker->setInterval(500); |
758 | //TickerEvent[2] = true; |
||
227 | KeyOz | 759 | } |
760 | } |
||
761 | |||
337 | KeyOz | 762 | // Map-Fenster anzeigen |
305 | KeyOz | 763 | void MKTool::slot_ac_Map() |
764 | { |
||
765 | if (!f_Map->isVisible()) |
||
766 | { |
||
767 | f_Map->show(); |
||
768 | } |
||
769 | } |
||
770 | |||
358 | KeyOz | 771 | void MKTool::slot_MAP_SetWayPoints(QList<sWayPoint> l_WayPoints) |
772 | { |
||
440 | Brean | 773 | //FIXME: Put this in libMK/Handler.cpp or libMK/NaviCtrl.cpp |
399 | Brean | 774 | |
358 | KeyOz | 775 | double Longitude, Latitude; |
776 | |||
399 | Brean | 777 | // delete waypoint-list |
778 | handler->delete_waypoints(); |
||
391 | Brean | 779 | ToolBox::wait(SLEEP); |
358 | KeyOz | 780 | |
781 | for (int z = 0; z < l_WayPoints.count(); z++) |
||
782 | { |
||
783 | Longitude = l_WayPoints[z].Longitude; |
||
784 | Latitude = l_WayPoints[z].Latitude; |
||
785 | |||
786 | if (Longitude < 100) |
||
787 | Longitude *= 10000000+0.5; |
||
788 | |||
789 | if (Latitude < 100) |
||
790 | Latitude *= 10000000+0.5; |
||
791 | |||
399 | Brean | 792 | Waypoint_t WayPoint; |
358 | KeyOz | 793 | //fülle Wegpunkt-Daten |
794 | WayPoint.Position.Altitude = 0; |
||
795 | WayPoint.Position.Longitude = int32_t(Longitude); |
||
796 | WayPoint.Position.Latitude = int32_t(Latitude); |
||
797 | WayPoint.Position.Status = NEWDATA; |
||
798 | WayPoint.Heading = -1; |
||
799 | WayPoint.ToleranceRadius = 5; |
||
800 | WayPoint.HoldTime = l_WayPoints[z].Time; |
||
801 | WayPoint.Event_Flag = 0; |
||
802 | WayPoint.reserve[0] = 0; // reserve |
||
803 | WayPoint.reserve[1] = 0; // reserve |
||
804 | WayPoint.reserve[2] = 0; // reserve |
||
805 | WayPoint.reserve[3] = 0; // reserve |
||
806 | |||
399 | Brean | 807 | handler->add_waypoint(WayPoint); |
358 | KeyOz | 808 | // ToolBox::Wait(SLEEP); |
809 | } |
||
810 | } |
||
811 | |||
306 | KeyOz | 812 | void MKTool::slot_MAP_SetTarget(sWayPoint Target) |
813 | { |
||
315 | KeyOz | 814 | |
815 | QString s_Lon, s_Lat; |
||
816 | QTextStream t_Lon(&s_Lon); |
||
817 | QTextStream t_Lat(&s_Lat); |
||
818 | |||
819 | t_Lon.setRealNumberPrecision(9); |
||
820 | t_Lat.setRealNumberPrecision(9); |
||
821 | t_Lon << Target.Longitude; |
||
822 | t_Lat << Target.Latitude; |
||
823 | |||
824 | le_TarLong->setText(s_Lon); |
||
825 | le_TarLat->setText(s_Lat); |
||
306 | KeyOz | 826 | sb_TarTime->setValue(Target.Time); |
305 | KeyOz | 827 | |
358 | KeyOz | 828 | slot_pb_SendTarget(); |
306 | KeyOz | 829 | } |
830 | |||
158 | KeyOz | 831 | void MKTool::slot_ac_Config() |
832 | { |
||
162 | KeyOz | 833 | set_Analog Old_Analog1; |
158 | KeyOz | 834 | |
162 | KeyOz | 835 | Old_Analog1 = Settings->Analog1; |
836 | |||
158 | KeyOz | 837 | dlg_Config *f_Config = new dlg_Config(this); |
442 | Brean | 838 | f_Config->set_Settings(Settings, data->mode.id); |
158 | KeyOz | 839 | |
840 | if (f_Config->exec()==QDialog::Accepted) |
||
841 | { |
||
842 | Settings = f_Config->get_Settings(); |
||
442 | Brean | 843 | Settings->write_Settings_Analog(data->mode.id); |
158 | KeyOz | 844 | |
163 | KeyOz | 845 | // Plotter neu einrichten |
846 | if (Old_Analog1.PlotView != Settings->Analog1.PlotView) |
||
158 | KeyOz | 847 | { |
163 | KeyOz | 848 | config_Plot(); |
158 | KeyOz | 849 | } |
850 | |||
163 | KeyOz | 851 | // CVS-Datei neu anlegen. |
241 | KeyOz | 852 | if ((logger->is_active()) && (Old_Analog1.LogView != Settings->Analog1.LogView)) |
158 | KeyOz | 853 | { |
239 | Brean | 854 | logger->close(); |
240 | Brean | 855 | logger->start_Log(); |
158 | KeyOz | 856 | } |
857 | |||
858 | } |
||
859 | } |
||
860 | |||
239 | Brean | 861 | //aktualisiere Logging-Status |
241 | KeyOz | 862 | void MKTool::update_Log() |
863 | { |
||
239 | Brean | 864 | if (logger->is_active()) |
865 | { |
||
272 | KeyOz | 866 | |
358 | KeyOz | 867 | ac_RecordCSV->setText(tr("Log Stop")); |
239 | Brean | 868 | lb_Status->setText(tr("Log-Record gestartet.")); |
869 | } |
||
870 | else |
||
871 | { |
||
358 | KeyOz | 872 | ac_RecordCSV->setText(tr("Log Aufzeichnen")); |
239 | Brean | 873 | lb_Status->setText(tr("Log-Record gestopt.")); |
874 | } |
||
875 | } |
||
876 | |||
877 | //starte/stoppe Logging, wenn auf den entsprechenden Button gedrückt wurde |
||
878 | void MKTool::slot_RecordLog() |
||
879 | { |
||
880 | if (!logger->is_active()) |
||
881 | logger->start_Log(); |
||
882 | else |
||
883 | logger->close(); |
||
241 | KeyOz | 884 | |
239 | Brean | 885 | update_Log(); |
886 | } |
||
887 | |||
159 | KeyOz | 888 | void MKTool::slot_ac_Preferences() |
889 | { |
||
890 | dlg_Preferences *f_Preferences = new dlg_Preferences(this); |
||
891 | |||
166 | KeyOz | 892 | Settings->TTY.Port = le_Port->text(); |
163 | KeyOz | 893 | f_Preferences->set_Settings(Settings); |
894 | |||
159 | KeyOz | 895 | if (f_Preferences->exec()==QDialog::Accepted) |
896 | { |
||
163 | KeyOz | 897 | Settings = f_Preferences->get_Settings(); |
898 | Settings->write_Settings(); |
||
166 | KeyOz | 899 | le_Port->setText(Settings->TTY.Port); |
900 | config_Plot(); |
||
159 | KeyOz | 901 | } |
902 | } |
||
903 | |||
158 | KeyOz | 904 | void MKTool::slot_ac_StartPlotter() |
905 | { |
||
906 | if (ac_StartPlotter->isChecked()) |
||
907 | { |
||
199 | KeyOz | 908 | lb_Status->setText(tr("Datenplotter gestartet.")); |
358 | KeyOz | 909 | ac_StartPlotter->setText(tr("Stop Plotter")); |
910 | pb_StartPlotter->setText(tr("Stop Plotter")); |
||
158 | KeyOz | 911 | } |
912 | else |
||
913 | { |
||
199 | KeyOz | 914 | lb_Status->setText(tr("Datenplotter gestopt.")); |
358 | KeyOz | 915 | ac_StartPlotter->setText(tr("Start Plotter")); |
916 | pb_StartPlotter->setText(tr("Start Plotter")); |
||
158 | KeyOz | 917 | } |
918 | } |
||
919 | |||
920 | void MKTool::slot_ac_View() |
||
921 | { |
||
227 | KeyOz | 922 | int Aktive = -1; |
158 | KeyOz | 923 | |
924 | QAction *Action = (QAction*)sender(); |
||
925 | |||
926 | if (Action->objectName() == QString("ac_View0")) |
||
927 | Aktive = 0; |
||
928 | if (Action->objectName() == QString("ac_View1")) |
||
929 | Aktive = 1; |
||
930 | if (Action->objectName() == QString("ac_View2")) |
||
931 | Aktive = 2; |
||
932 | if (Action->objectName() == QString("ac_View3")) |
||
933 | Aktive = 3; |
||
934 | if (Action->objectName() == QString("ac_View4")) |
||
935 | Aktive = 4; |
||
936 | if (Action->objectName() == QString("ac_View5")) |
||
937 | Aktive = 5; |
||
272 | KeyOz | 938 | if (Action->objectName() == QString("ac_View6")) |
939 | Aktive = 6; |
||
158 | KeyOz | 940 | |
941 | QString TabName = QString("Tab_%1").arg(Aktive); |
||
942 | |||
943 | if (!Action->isChecked()) |
||
944 | { |
||
945 | for (int a = 0; a < tab_Main->count(); a++) |
||
946 | { |
||
947 | if (tab_Main->widget(a)->objectName() == TabName) |
||
948 | { |
||
949 | tab_Main->removeTab(a); |
||
950 | } |
||
951 | } |
||
952 | } |
||
953 | else |
||
954 | { |
||
227 | KeyOz | 955 | tab_Main->insertTab(Aktive, TabWidgets[Aktive], Action->icon(), Action->text()); |
158 | KeyOz | 956 | } |
957 | } |
||
958 | |||
199 | KeyOz | 959 | void MKTool::slot_ac_FastNavi() // DONE NC 0.12i |
158 | KeyOz | 960 | { |
199 | KeyOz | 961 | if (!ac_NoNavi->isChecked()) |
158 | KeyOz | 962 | { |
199 | KeyOz | 963 | if (ac_FastNavi->isChecked()) |
166 | KeyOz | 964 | { |
199 | KeyOz | 965 | lb_Status->setText(tr("Fordere schnelle NaviDaten an.")); |
399 | Brean | 966 | handler->set_navictrl_debug(Settings->Data.Navi_Fast / 10); |
199 | KeyOz | 967 | } |
968 | else |
||
969 | { |
||
970 | lb_Status->setText(tr("Fordere langsame NaviDaten an.")); |
||
399 | Brean | 971 | handler->set_navictrl_debug(Settings->Data.Navi_Slow / 10); |
199 | KeyOz | 972 | } |
973 | } |
||
974 | } |
||
975 | |||
976 | void MKTool::slot_ac_NoNavi() // DONE NC 0.12i |
||
977 | { |
||
978 | if (ac_NoNavi->isChecked()) |
||
979 | { |
||
980 | lb_Status->setText(tr("NaviDaten abstellen.")); |
||
399 | Brean | 981 | handler->stop_navictrl_debug(); |
199 | KeyOz | 982 | } |
983 | else |
||
984 | { |
||
985 | if (ac_FastNavi->isChecked()) |
||
986 | { |
||
987 | lb_Status->setText(tr("Fordere schnelle NaviDaten an.")); |
||
399 | Brean | 988 | handler->set_navictrl_debug(Settings->Data.Navi_Fast / 10); |
199 | KeyOz | 989 | } |
990 | else |
||
991 | { |
||
992 | lb_Status->setText(tr("Fordere langsame NaviDaten an.")); |
||
399 | Brean | 993 | handler->set_navictrl_debug(Settings->Data.Navi_Slow / 10); |
199 | KeyOz | 994 | } |
995 | } |
||
996 | } |
||
997 | |||
998 | void MKTool::slot_ac_FastDebug() // DONE 0.71g |
||
999 | { |
||
1000 | if (!ac_NoDebug->isChecked()) |
||
1001 | { |
||
1002 | if (ac_FastDebug->isChecked()) |
||
1003 | { |
||
1004 | lb_Status->setText(tr("Fordere schnelle DebugDaten an.")); |
||
399 | Brean | 1005 | handler->set_all_debug(Settings->Data.Debug_Fast / 10); |
166 | KeyOz | 1006 | } |
1007 | else |
||
1008 | { |
||
199 | KeyOz | 1009 | lb_Status->setText(tr("Fordere langsame DebugDaten an.")); |
399 | Brean | 1010 | handler->set_all_debug(Settings->Data.Debug_Slow / 10); |
166 | KeyOz | 1011 | } |
1012 | } |
||
1013 | } |
||
1014 | |||
199 | KeyOz | 1015 | void MKTool::slot_ac_NoDebug() // DONE 0.71g |
166 | KeyOz | 1016 | { |
199 | KeyOz | 1017 | if (ac_NoDebug->isChecked()) |
166 | KeyOz | 1018 | { |
199 | KeyOz | 1019 | lb_Status->setText(tr("DebugDaten abstellen.")); |
441 | Brean | 1020 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
1021 | // TickerEvent[3] = false; |
||
399 | Brean | 1022 | handler->stop_all_debug(); |
166 | KeyOz | 1023 | } |
158 | KeyOz | 1024 | else |
1025 | { |
||
167 | KeyOz | 1026 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
441 | Brean | 1027 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
440 | Brean | 1028 | /* if (Mode.ID == ADDRESS_MK3MAG) |
1029 | TickerEvent[3] = true;*/ |
||
167 | KeyOz | 1030 | |
199 | KeyOz | 1031 | if (ac_FastDebug->isChecked()) |
166 | KeyOz | 1032 | { |
199 | KeyOz | 1033 | lb_Status->setText(tr("Fordere schnelle DebugDaten an.")); |
399 | Brean | 1034 | handler->set_all_debug(Settings->Data.Debug_Fast / 10); |
166 | KeyOz | 1035 | } |
1036 | else |
||
1037 | { |
||
199 | KeyOz | 1038 | lb_Status->setText(tr("Fordere langsame DebugDaten an.")); |
399 | Brean | 1039 | handler->set_all_debug(Settings->Data.Debug_Slow / 10); |
166 | KeyOz | 1040 | } |
1041 | } |
||
158 | KeyOz | 1042 | } |
1043 | |||
1044 | void MKTool::slot_ac_About() |
||
1045 | { |
||
1046 | QMessageBox::about(this, trUtf8(("Über ")) + QA_NAME, QA_ABOUT); |
||
1047 | } |
||
1048 | |||
159 | KeyOz | 1049 | void MKTool::slot_ac_GetLabels() // DONE 0.71g |
158 | KeyOz | 1050 | { |
199 | KeyOz | 1051 | lb_Status->setText(tr("Analoglabels auslesen.")); |
399 | Brean | 1052 | handler->get_analog(); |
158 | KeyOz | 1053 | } |
1054 | |||
199 | KeyOz | 1055 | void MKTool::slot_ac_StartServer() |
1056 | { |
||
1057 | if (ac_StartServer->isChecked()) |
||
1058 | { |
||
306 | KeyOz | 1059 | lb_Status->setText(tr("KML-Server gestartet.")); |
1060 | KML_Server->start_Server(Settings->Server.Port.toInt(), Settings); |
||
199 | KeyOz | 1061 | } |
1062 | else |
||
1063 | { |
||
306 | KeyOz | 1064 | lb_Status->setText(tr("KML-Server gestopt.")); |
1065 | KML_Server->stop_Server(); |
||
199 | KeyOz | 1066 | } |
1067 | } |
||
159 | KeyOz | 1068 | |
227 | KeyOz | 1069 | |
158 | KeyOz | 1070 | // Daten-Plotter |
1071 | ///////////////// |
||
1072 | void MKTool::update_Plot() |
||
1073 | { |
||
1074 | for (int a = 0; a < MaxAnalog; a++) |
||
1075 | { |
||
1076 | Plot[a]->setData(aID,aData[a],NextPlot - 1); |
||
1077 | } |
||
1078 | |||
166 | KeyOz | 1079 | if ((NextPlot > Settings->Data.Plotter_Count)) |
158 | KeyOz | 1080 | { |
166 | KeyOz | 1081 | scroll_plot->setMaximum(NextPlot - Settings->Data.Plotter_Count); |
158 | KeyOz | 1082 | } |
1083 | |||
166 | KeyOz | 1084 | if ((scroll_plot->value() == NextPlot - (Settings->Data.Plotter_Count + 1))) |
158 | KeyOz | 1085 | { |
166 | KeyOz | 1086 | qwtPlot->setAxisScale(QwtPlot::xBottom,NextPlot - Settings->Data.Plotter_Count,NextPlot,0); |
1087 | scroll_plot->setValue(NextPlot - Settings->Data.Plotter_Count); |
||
158 | KeyOz | 1088 | } |
1089 | |||
1090 | qwtPlot->replot(); |
||
1091 | } |
||
1092 | |||
1093 | void MKTool::config_Plot() |
||
1094 | { |
||
166 | KeyOz | 1095 | // qDebug("Plotter rekonfiguriert..!!"); |
1096 | qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0); |
||
1097 | |||
158 | KeyOz | 1098 | for (int a = 0; a < MaxAnalog; a++) |
1099 | { |
||
1100 | Plot[a]->detach(); |
||
162 | KeyOz | 1101 | Plot[a]->setPen(QPen(QColor(Def_Colors[a]))); |
158 | KeyOz | 1102 | |
162 | KeyOz | 1103 | if (Settings->Analog1.PlotView[a]) |
1104 | { |
||
1105 | Plot[a]->setTitle(Settings->Analog1.Label[a]); |
||
158 | KeyOz | 1106 | Plot[a]->attach(qwtPlot); |
162 | KeyOz | 1107 | } |
158 | KeyOz | 1108 | } |
166 | KeyOz | 1109 | qwtPlot->replot(); |
158 | KeyOz | 1110 | } |
1111 | |||
1112 | void MKTool::slot_ScrollPlot(int Pos) |
||
1113 | { |
||
166 | KeyOz | 1114 | qwtPlot->setAxisScale(QwtPlot::xBottom,Pos,Pos + Settings->Data.Plotter_Count,0); |
158 | KeyOz | 1115 | qwtPlot->replot(); |
1116 | } |
||
1117 | |||
1118 | |||
1119 | // Firmeware-Update |
||
1120 | /////////////////// |
||
1121 | void MKTool::slot_pb_Update() |
||
1122 | { |
||
167 | KeyOz | 1123 | QString Device; |
1124 | QString Hardware; |
||
158 | KeyOz | 1125 | |
167 | KeyOz | 1126 | if (rb_FC->isChecked()) |
1127 | { |
||
1128 | Device = "m644"; |
||
1129 | Hardware = "FlightCtrl"; |
||
1130 | } |
||
1131 | else if (rb_MK3MAG->isChecked()) |
||
1132 | { |
||
1133 | Device = "m168"; |
||
1134 | Hardware = "MK3MAG"; |
||
1135 | } |
||
1136 | else if (rb_BL->isChecked()) |
||
1137 | { |
||
1138 | Device = "m8"; |
||
1139 | Hardware = "BL-Ctrl"; |
||
1140 | } |
||
166 | KeyOz | 1141 | |
358 | KeyOz | 1142 | QString Message = trUtf8("Firmeware-Datei \n\n"); |
166 | KeyOz | 1143 | Message = Message + le_HexFile->text() + "\n\n"; |
358 | KeyOz | 1144 | Message = Message + trUtf8("an ") + Hardware + trUtf8(" mit AVRDUDE - Seriel & Bootloader über ") + le_Port->text() + trUtf8(" übertragen?\n"); |
166 | KeyOz | 1145 | |
1146 | if (le_HexFile->text() == "") |
||
162 | KeyOz | 1147 | { |
166 | KeyOz | 1148 | QMessageBox::warning(this, QA_NAME, trUtf8("Bitte Firmeware-Datei wählen."), QMessageBox::Ok); |
162 | KeyOz | 1149 | } |
166 | KeyOz | 1150 | else if (QMessageBox::warning(this, QA_NAME, Message, QMessageBox::Yes | QMessageBox::No) == QMessageBox::Yes) |
1151 | { |
||
306 | KeyOz | 1152 | QString Programm = Settings->DIR.AVRDUDE; |
162 | KeyOz | 1153 | |
166 | KeyOz | 1154 | QStringList Argumente; |
162 | KeyOz | 1155 | |
166 | KeyOz | 1156 | Update = new QProcess(); |
162 | KeyOz | 1157 | |
396 | Brean | 1158 | //FIXME: put this in QTCommunication.cpp |
1159 | /* if (o_Connection->isOpen()) |
||
166 | KeyOz | 1160 | { |
1161 | slot_OpenPort(); |
||
1162 | } |
||
396 | Brean | 1163 | */ |
166 | KeyOz | 1164 | Argumente << "-P"; |
1165 | Argumente << le_Port->text(); |
||
1166 | Argumente << "-p"; |
||
1167 | Argumente << Device; |
||
1168 | Argumente << "-c"; |
||
1169 | Argumente << "butterfly"; |
||
1170 | Argumente << "-b"; |
||
1171 | Argumente << "57600"; |
||
1172 | Argumente << "-U"; |
||
1173 | Argumente << "flash:w:" + le_HexFile->text(); |
||
1174 | |||
1175 | // 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"; |
||
1176 | |||
1177 | te_Shell->setText(""); // Ausgabefenster säubern |
||
1178 | |||
1179 | connect(Update, SIGNAL(readyReadStandardOutput()), this, SLOT(slot_UpdateShell()) ); |
||
1180 | connect(Update, SIGNAL(readyReadStandardError()), this, SLOT(slot_UpdateShell()) ); |
||
1181 | |||
1182 | Update->start(Programm, Argumente); // Programmaufruf |
||
1183 | } |
||
158 | KeyOz | 1184 | } |
1185 | |||
1186 | void MKTool::slot_UpdateShell() |
||
1187 | { |
||
162 | KeyOz | 1188 | QByteArray Output; |
158 | KeyOz | 1189 | |
166 | KeyOz | 1190 | Output = Update->readAllStandardError(); // Shellausgabe an Variable |
162 | KeyOz | 1191 | te_Shell->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1192 | te_Shell->insertPlainText(QString::fromUtf8(Output)); |
||
158 | KeyOz | 1193 | |
166 | KeyOz | 1194 | Output = Update->readAll(); |
1195 | te_Shell->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
||
1196 | te_Shell->insertPlainText(QString::fromUtf8(Output)); |
||
158 | KeyOz | 1197 | } |
1198 | |||
166 | KeyOz | 1199 | void MKTool::slot_pb_HexFile() |
1200 | { |
||
1201 | QString FileName = QFileDialog::getOpenFileName(this,trUtf8(("Firmeware-Datei wählen")),"", |
||
1202 | tr("Intel Hex(*.hex);;Alle Dateien (*)")); |
||
1203 | if (!FileName.isEmpty()) |
||
1204 | { |
||
1205 | le_HexFile->setText(FileName); |
||
1206 | } |
||
1207 | } |
||
158 | KeyOz | 1208 | |
1209 | |||
167 | KeyOz | 1210 | // Wechsel der Tabs erkennen |
159 | KeyOz | 1211 | void MKTool::slot_TabChanged(int Tab) // DONE 0.71g |
158 | KeyOz | 1212 | { |
1213 | Tab = Tab; |
||
162 | KeyOz | 1214 | if (tab_Main->count() != 0) |
158 | KeyOz | 1215 | { |
306 | KeyOz | 1216 | if ((tab_Main->currentWidget()->objectName() == QString("Tab_2")) && (f_Settings->listWidget->currentRow() == 1)) |
162 | KeyOz | 1217 | { |
399 | Brean | 1218 | //FIXME: Do we really need the ppm-channels if we change the page? |
1219 | // maybe this is a bug or the description on |
||
1220 | // http://www.mikrokopter.com/ucwiki/en/SerialCommands |
||
1221 | // is WRONG! |
||
1222 | handler->get_ppm_channels(); |
||
441 | Brean | 1223 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
1224 | // Ticker->setInterval(500); |
||
1225 | // TickerEvent[1] = true; |
||
162 | KeyOz | 1226 | } |
1227 | else |
||
1228 | { |
||
441 | Brean | 1229 | //FIXME: Move Ticker to libMK/QTCommunication.cpp |
1230 | // Ticker->setInterval(2000); |
||
1231 | // TickerEvent[1] = false; |
||
162 | KeyOz | 1232 | } |
159 | KeyOz | 1233 | } |
158 | KeyOz | 1234 | } |
1235 | |||
167 | KeyOz | 1236 | // LCD-Seiten weiterschalten |
159 | KeyOz | 1237 | void MKTool::slot_LCD_UP() // DONE 0.71g |
158 | KeyOz | 1238 | { |
399 | Brean | 1239 | handler->lcd_up(); |
159 | KeyOz | 1240 | } |
1241 | |||
1242 | void MKTool::slot_LCD_DOWN() // DONE 0.71g |
||
1243 | { |
||
399 | Brean | 1244 | handler->lcd_down(); |
159 | KeyOz | 1245 | } |
1246 | |||
167 | KeyOz | 1247 | // Settings aus MK lesen / in MK schreiben |
199 | KeyOz | 1248 | void MKTool::slot_GetFCSettings() // DONE 0.71g |
159 | KeyOz | 1249 | { |
199 | KeyOz | 1250 | lb_Status->setText(tr("Lese FlightCtrl-Settings aus.")); |
399 | Brean | 1251 | handler->get_flightctrl_settings(f_Settings->sb_Set->value()); |
158 | KeyOz | 1252 | } |
1253 | |||
199 | KeyOz | 1254 | void MKTool::slot_SetFCSettings() // DONE 0.71g |
158 | KeyOz | 1255 | { |
399 | Brean | 1256 | handler->set_flightctrl_settings(f_Settings->GetFCSettings()); |
199 | KeyOz | 1257 | lb_Status->setText(tr("Schreibe FlightCtrl-Settings.")); |
158 | KeyOz | 1258 | } |
1259 | |||
159 | KeyOz | 1260 | |
167 | KeyOz | 1261 | // Save GUI-Preferences |
1262 | /////////////////////// |
||
1263 | void MKTool::set_Preferences() |
||
158 | KeyOz | 1264 | { |
163 | KeyOz | 1265 | Settings->GUI.TabViews.setBit(0, ac_View0->isChecked()); |
1266 | Settings->GUI.TabViews.setBit(1, ac_View1->isChecked()); |
||
1267 | Settings->GUI.TabViews.setBit(2, ac_View2->isChecked()); |
||
1268 | Settings->GUI.TabViews.setBit(3, ac_View3->isChecked()); |
||
1269 | Settings->GUI.TabViews.setBit(4, ac_View4->isChecked()); |
||
1270 | Settings->GUI.TabViews.setBit(5, ac_View5->isChecked()); |
||
227 | KeyOz | 1271 | Settings->GUI.TabViews.setBit(6, ac_View6->isChecked()); |
158 | KeyOz | 1272 | |
227 | KeyOz | 1273 | Settings->GUI.ToolViews.setBit(0, tb_Allgemein->isVisibleTo(this)); |
1274 | Settings->GUI.ToolViews.setBit(1, tb_Werkzeuge->isVisibleTo(this)); |
||
1275 | Settings->GUI.ToolViews.setBit(2, tb_Debug->isVisibleTo(this)); |
||
1276 | Settings->GUI.ToolViews.setBit(3, tb_TTY->isVisibleTo(this)); |
||
1277 | Settings->GUI.ToolViews.setBit(4, tb_Hardware->isVisibleTo(this)); |
||
1278 | |||
162 | KeyOz | 1279 | Settings->GUI.Term_Info = cb_ShowMSG->isChecked(); |
1280 | Settings->GUI.Term_Data = cb_ShowData->isChecked(); |
||
1281 | Settings->GUI.Term_Always = cb_ShowAlways->isChecked(); |
||
166 | KeyOz | 1282 | Settings->GUI.Term_Send = cb_ShowSend->isChecked(); |
167 | KeyOz | 1283 | Settings->GUI.isMax = isMaximized(); |
1284 | Settings->GUI.Size = size(); |
||
1285 | Settings->GUI.Point = pos(); |
||
162 | KeyOz | 1286 | |
163 | KeyOz | 1287 | Settings->TTY.Port = le_Port->text(); |
158 | KeyOz | 1288 | } |
1289 | |||
1290 | void MKTool::show_DebugData() |
||
1291 | { |
||
441 | Brean | 1292 | //FIXME: log analogdata in libMK/Communication.h or libMK/Parser.h |
440 | Brean | 1293 | /* if (logger->is_active()) |
1294 | logger->write(AnalogData);*/ |
||
158 | KeyOz | 1295 | |
1296 | if (ac_StartPlotter->isChecked()) |
||
1297 | { |
||
1298 | aID[NextPlot] = NextPlot; |
||
440 | Brean | 1299 | //FIXME: get analogData from handler |
1300 | /* |
||
158 | KeyOz | 1301 | for (int a = 0; a < MaxAnalog; a++) |
1302 | { |
||
1303 | aData[a][NextPlot] = AnalogData[a]; |
||
440 | Brean | 1304 | }*/ |
158 | KeyOz | 1305 | NextPlot++; |
1306 | |||
1307 | if ((tab_Main->currentWidget()->objectName() == QString("Tab_1"))) |
||
1308 | update_Plot(); |
||
1309 | } |
||
1310 | |||
441 | Brean | 1311 | //fill labels with analog values from data |
1312 | for (int i = 0; i < 32; i++) { |
||
1313 | le_Analog[i]->setText(QString("%1").arg(data->analogData[i])); |
||
1314 | } |
||
227 | KeyOz | 1315 | |
442 | Brean | 1316 | if ((data->mode.id == ADDRESS_FC) && (FCSettings[P_GYRO_ACC_FAKTOR] > 0)) |
227 | KeyOz | 1317 | { |
441 | Brean | 1318 | //set battery |
1319 | //TODO: save battery, compas and link quality directly in data (data->battery) |
||
1320 | bar_UBAT->setValue(data->analogData[9]); |
||
1321 | //link quality |
||
1322 | bar_RX->setValue(data->analogData[10]); |
||
1323 | //compas |
||
1324 | Compass->setValue(data->analogData[8]); |
||
227 | KeyOz | 1325 | |
441 | Brean | 1326 | int Roll = (data->analogData[1] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024; |
1327 | int Nick = (data->analogData[0] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024; |
||
227 | KeyOz | 1328 | |
1329 | if (Roll > 128) |
||
1330 | Roll = Roll - 255; |
||
1331 | |||
1332 | if (Nick > 128) |
||
1333 | Nick = Nick - 255; |
||
1334 | |||
1335 | Attitude->setAngle(Roll); |
||
1336 | Attitude->setGradient(double(double(Nick) / 100.0)); |
||
1337 | } |
||
158 | KeyOz | 1338 | } |
1339 | |||
199 | KeyOz | 1340 | void MKTool::new_NaviData(sRxData RX) |
1341 | { |
||
306 | KeyOz | 1342 | // qDebug("Navi-Data"); |
440 | Brean | 1343 | sNaviData navi = data->navi; |
391 | Brean | 1344 | switch(RX.decode[N_NC_FLAGS]) |
306 | KeyOz | 1345 | { |
358 | KeyOz | 1346 | case 0x01 : lb_Mode->setText(tr("Free")); break; |
1347 | case 0x02 : lb_Mode->setText(tr("Position Hold")); break; |
||
1348 | case 0x04 : lb_Mode->setText(tr("Coming Home")); break; |
||
1349 | case 0x08 : lb_Mode->setText(tr("Range Limit")); break; |
||
1350 | case 0x10 : lb_Mode->setText(tr("Serial Error")); break; |
||
1351 | case 0x20 : lb_Mode->setText(tr("Target reached")); break; |
||
1352 | case 0x40 : lb_Mode->setText(tr("Manual Control")); break; |
||
306 | KeyOz | 1353 | } |
1354 | |||
440 | Brean | 1355 | navi.Current.Longitude = Parser::dataToLong(RX.decode, N_CUR_LONGITUDE, true); |
1356 | navi.Current.Latitude = Parser::dataToLong(RX.decode, N_CUR_LATITUDE, true); |
||
1357 | navi.Current.Altitude = Parser::dataToLong(RX.decode, N_CUR_ALTITUDE, true); |
||
1358 | navi.Target.Longitude = Parser::dataToLong(RX.decode, N_TAR_LONGITUDE, true); |
||
1359 | navi.Target.Latitude = Parser::dataToLong(RX.decode, N_TAR_LATITUDE, true); |
||
1360 | navi.Target.Altitude = Parser::dataToLong(RX.decode, N_TAR_ALTITUDE, true); |
||
199 | KeyOz | 1361 | |
391 | Brean | 1362 | le_CDistance->setText(QString("%1 cm").arg(Parser::dataToInt(RX.decode, N_HOME_DISTANCE))); |
1363 | le_CWPA->setText(QString("%1").arg(RX.decode[N_WP_INDEX])); |
||
1364 | le_CWPT->setText(QString("%1").arg(RX.decode[N_WP_NUMBER])); |
||
1365 | le_CSats->setText(QString("%1").arg(RX.decode[N_SATS_IN_USER])); |
||
227 | KeyOz | 1366 | |
391 | Brean | 1367 | qwt_Rate->setValue(double(Parser::dataToInt(RX.decode, N_VARIOMETER, true))); |
227 | KeyOz | 1368 | |
391 | Brean | 1369 | le_CTime->setText(QString("%1 sec.").arg(Parser::dataToInt(RX.decode, N_FLYING_TIME))); |
227 | KeyOz | 1370 | |
391 | Brean | 1371 | bar_UBAT->setValue(RX.decode[N_UBAT]); |
227 | KeyOz | 1372 | |
391 | Brean | 1373 | double Speed = double((Parser::dataToLong(RX.decode, N_GROUND_SPEED)) / 10.0); |
227 | KeyOz | 1374 | |
1375 | if ((Speed > 4.5) && SpeedMeter->property("END") == 5) |
||
1376 | { |
||
1377 | SpeedMeter->setRange(0.0, 10.0); |
||
1378 | SpeedMeter->setScale(1, 2, 1); |
||
1379 | SpeedMeter->setProperty("END", 10); |
||
1380 | } |
||
1381 | |||
1382 | if ((Speed > 9) && SpeedMeter->property("END") == 10) |
||
1383 | { |
||
1384 | SpeedMeter->setRange(0.0, 20.0); |
||
1385 | SpeedMeter->setScale(1, 2, 2); |
||
1386 | SpeedMeter->setProperty("END", 20); |
||
1387 | } |
||
1388 | |||
1389 | SpeedMeter->setValue(Speed); |
||
1390 | |||
391 | Brean | 1391 | Compass->setValue(Parser::dataToInt(RX.decode, N_COMAPSS_HEADING)); //(68) |
227 | KeyOz | 1392 | |
391 | Brean | 1393 | bar_RX->setValue(RX.decode[N_RC_QUALITY]); |
227 | KeyOz | 1394 | |
391 | Brean | 1395 | int Nick = RX.decode[N_ANGLE_NICK]; |
1396 | int Roll = RX.decode[N_ANGLE_ROLL]; |
||
227 | KeyOz | 1397 | |
1398 | if (Roll > 128) |
||
1399 | Roll = Roll - 255; |
||
1400 | |||
1401 | if (Nick > 128) |
||
1402 | Nick = Nick - 255; |
||
1403 | |||
1404 | Attitude->setAngle(Roll); |
||
234 | KeyOz | 1405 | Attitude->setGradient(double(0.0 - (double(Nick) / 100.0))); |
227 | KeyOz | 1406 | |
440 | Brean | 1407 | sNaviData naviData; |
1408 | |||
1409 | naviData.Longitude = Parser::getFloat(navi.Current.Longitude,7); |
||
1410 | naviData.Latitude = Parser::getFloat(navi.Current.Latitude,7); |
||
1411 | naviData.Altitude = Parser::getFloat(navi.Current.Altitude,3); |
||
199 | KeyOz | 1412 | |
440 | Brean | 1413 | le_CurLong->setText(QString::number(naviData.Longitude)); |
1414 | le_CurLat->setText(QString::number(naviData.Latitude)); |
||
199 | KeyOz | 1415 | |
440 | Brean | 1416 | KML_Server->store_NaviString(naviData); |
199 | KeyOz | 1417 | |
440 | Brean | 1418 | f_Map->add_Position(naviData.Longitude, naviData.Latitude); |
306 | KeyOz | 1419 | |
272 | KeyOz | 1420 | if ((QMK_Server->property("Connect")) == true) |
227 | KeyOz | 1421 | { |
440 | Brean | 1422 | // qDebug("Send Data to Server..."); |
1423 | QMK_Server->NewPosition(naviData); |
||
227 | KeyOz | 1424 | } |
199 | KeyOz | 1425 | } |
1426 | |||
272 | KeyOz | 1427 | // Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen |
1428 | //////////////////////////////////////////////////////////////////// |
||
158 | KeyOz | 1429 | |
1430 | // Neues Datenpacket empfangen -> Verarbeiten |
||
250 | KeyOz | 1431 | void MKTool::slot_newData(sRxData RX) // DONE 0.71g |
158 | KeyOz | 1432 | { |
393 | Brean | 1433 | //handler->receiveData(RX) |
162 | KeyOz | 1434 | |
272 | KeyOz | 1435 | // TODO: Roh-Daten senden zum QMK-Server dazu Sendebuffer bauen. |
1436 | if ((QMK_Server->property("Connect")) == true) |
||
1437 | { |
||
1438 | // QMK_Server->send_RawData(RX.String); |
||
1439 | } |
||
1440 | |||
393 | Brean | 1441 | slot_showTerminal(1, QString(RX.str.c_str())); |
158 | KeyOz | 1442 | } |
1443 | |||
250 | KeyOz | 1444 | void MKTool::slot_showTerminal(int Typ, QString Text) |
158 | KeyOz | 1445 | { |
250 | KeyOz | 1446 | switch(Typ) |
158 | KeyOz | 1447 | { |
250 | KeyOz | 1448 | case 1 : |
158 | KeyOz | 1449 | { |
250 | KeyOz | 1450 | if ((cb_ShowData->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked()))) |
158 | KeyOz | 1451 | { |
250 | KeyOz | 1452 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1453 | te_RX->insertHtml("<span style=\"color:#00008b;\">" + Text + "<br /></span>"); |
||
158 | KeyOz | 1454 | } |
250 | KeyOz | 1455 | } |
1456 | break; |
||
1457 | case 2 : |
||
1458 | { |
||
1459 | if ((cb_ShowMSG->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked()))) |
||
158 | KeyOz | 1460 | { |
307 | KeyOz | 1461 | if (Text.length() > 0) |
1462 | { |
||
1463 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
||
1464 | te_RX->insertHtml("<span style=\"color:#008b00;\">" + Text + "</span><br />"); |
||
1465 | } |
||
158 | KeyOz | 1466 | } |
1467 | } |
||
250 | KeyOz | 1468 | break; |
1469 | case 3 : |
||
158 | KeyOz | 1470 | { |
250 | KeyOz | 1471 | if (cb_ShowSend->isChecked()) |
158 | KeyOz | 1472 | { |
250 | KeyOz | 1473 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1474 | te_RX->insertHtml("<span style='color:#8b0000;'>" + Text + "<br /></span>"); |
||
158 | KeyOz | 1475 | } |
1476 | } |
||
250 | KeyOz | 1477 | break; |
158 | KeyOz | 1478 | } |
1479 | } |
||
1480 | |||
272 | KeyOz | 1481 | // Verbindung zum Kopter herstellen / Trennen |
158 | KeyOz | 1482 | void MKTool::slot_OpenPort() |
1483 | { |
||
440 | Brean | 1484 | //FIXME: Put this in libMK/QTCommunication.cpp |
396 | Brean | 1485 | /* |
306 | KeyOz | 1486 | if (o_Connection->isOpen()) |
250 | KeyOz | 1487 | { |
199 | KeyOz | 1488 | TX_Data[0] = Settings->Data.Debug_Off / 10; |
306 | KeyOz | 1489 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
391 | Brean | 1490 | ToolBox::wait(SLEEP); |
158 | KeyOz | 1491 | |
199 | KeyOz | 1492 | if (Mode.ID == ADDRESS_NC) |
1493 | { |
||
1494 | TX_Data[0] = Settings->Data.Navi_Off / 10; |
||
306 | KeyOz | 1495 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
391 | Brean | 1496 | ToolBox::wait(SLEEP); |
199 | KeyOz | 1497 | } |
1498 | |||
272 | KeyOz | 1499 | if (Mode.ID == ADDRESS_FC) |
199 | KeyOz | 1500 | { |
1501 | TX_Data[0] = 0; |
||
1502 | TX_Data[1] = 0; |
||
1503 | TX_Data[2] = 0; |
||
1504 | TX_Data[3] = 0; |
||
306 | KeyOz | 1505 | o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false); |
391 | Brean | 1506 | ToolBox::wait(SLEEP); |
199 | KeyOz | 1507 | } |
250 | KeyOz | 1508 | |
306 | KeyOz | 1509 | o_Connection->Close(); |
250 | KeyOz | 1510 | |
358 | KeyOz | 1511 | ac_ConnectTTY->setText(tr("Kopter Verbinden")); |
199 | KeyOz | 1512 | le_Port->setEnabled(true); |
1513 | |||
167 | KeyOz | 1514 | Ticker->stop(); |
158 | KeyOz | 1515 | } |
1516 | else |
||
1517 | { |
||
263 | KeyOz | 1518 | int i_Type; |
1519 | if (le_Port->text().contains(QString("IP:"))) |
||
158 | KeyOz | 1520 | { |
263 | KeyOz | 1521 | i_Type = C_IP; |
1522 | } |
||
1523 | else |
||
1524 | { |
||
1525 | i_Type = C_TTY; |
||
1526 | } |
||
1527 | |||
306 | KeyOz | 1528 | if (o_Connection->Open(i_Type, le_Port->text())) |
263 | KeyOz | 1529 | { |
358 | KeyOz | 1530 | ac_ConnectTTY->setText(tr("Kopter Trennen")); |
199 | KeyOz | 1531 | le_Port->setEnabled(false); |
158 | KeyOz | 1532 | |
306 | KeyOz | 1533 | o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true); |
159 | KeyOz | 1534 | |
167 | KeyOz | 1535 | Ticker->start(2000); |
158 | KeyOz | 1536 | } |
1537 | } |
||
396 | Brean | 1538 | */ |
158 | KeyOz | 1539 | } |
1540 | |||
1541 | // Programm beenden |
||
1542 | /////////////////// |
||
162 | KeyOz | 1543 | |
1544 | MKTool::~MKTool() |
||
158 | KeyOz | 1545 | { |
440 | Brean | 1546 | //FIXME: Put this in libMK/QTCommunication.cpp |
396 | Brean | 1547 | /* |
306 | KeyOz | 1548 | if (o_Connection->isOpen()) |
158 | KeyOz | 1549 | { |
306 | KeyOz | 1550 | o_Connection->Close(); |
158 | KeyOz | 1551 | } |
396 | Brean | 1552 | */ |
167 | KeyOz | 1553 | set_Preferences(); |
162 | KeyOz | 1554 | Settings->write_Settings(); |
158 | KeyOz | 1555 | |
239 | Brean | 1556 | logger->close(); |
158 | KeyOz | 1557 | } |