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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 |
307 | 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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307 | KeyOz | 72 | #else |
73 | ac_MotorMixer->setVisible(false); |
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279 | KeyOz | 74 | #endif |
167 | KeyOz | 75 | // Settings-Tab hinzufügen. |
76 | f_Settings = new wdg_Settings( this ); |
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227 | KeyOz | 77 | f_Settings->set_Config(Settings); |
78 | tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings"); |
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167 | KeyOz | 79 | tab_Main->widget(2)->setObjectName("Tab_2"); |
80 | |||
81 | // Zusätzliche Widgets in die Toolbar. |
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227 | KeyOz | 82 | tb_TTY->addWidget(lb_Port); |
83 | tb_TTY->addWidget(le_Port); |
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166 | KeyOz | 84 | |
227 | KeyOz | 85 | tb_Hardware->addWidget(rb_SelFC); |
86 | tb_Hardware->addWidget(rb_SelNC); |
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87 | tb_Hardware->addWidget(rb_SelMag); |
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166 | KeyOz | 88 | |
227 | KeyOz | 89 | tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]); |
90 | tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]); |
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91 | tb_Debug->setVisible(Settings->GUI.ToolViews[2]); |
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92 | tb_TTY->setVisible(Settings->GUI.ToolViews[3]); |
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93 | tb_Hardware->setVisible(Settings->GUI.ToolViews[4]); |
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94 | |||
272 | KeyOz | 95 | #ifdef _EEEPC_ |
96 | lb_Status->hide(); |
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97 | #endif |
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98 | |||
199 | KeyOz | 99 | lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!")); |
100 | |||
158 | KeyOz | 101 | resize(Settings->GUI.Size); |
102 | move(Settings->GUI.Point); |
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103 | |||
104 | if (Settings->GUI.isMax) |
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105 | { |
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106 | showMaximized(); |
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107 | } |
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108 | |||
199 | KeyOz | 109 | // Analoglabels anzeigen |
158 | KeyOz | 110 | for (int a = 0; a < MaxAnalog; a++) |
111 | { |
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162 | KeyOz | 112 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
158 | KeyOz | 113 | } |
114 | |||
199 | KeyOz | 115 | // Kopie der Tabs anlegen |
272 | KeyOz | 116 | for (int b = 0; b < 7; b++) |
158 | KeyOz | 117 | { |
118 | TabWidgets[b] = tab_Main->widget(b); |
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119 | } |
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120 | |||
199 | KeyOz | 121 | // Ausgeblendete Tabs ausblenden |
272 | KeyOz | 122 | for (int c = 0; c < 7; c++) |
158 | KeyOz | 123 | { |
124 | if (Settings->GUI.TabViews[c] == false) |
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125 | { |
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126 | QString TabName = QString("Tab_%1").arg(c); |
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127 | |||
128 | for (int d = 0; d < tab_Main->count(); d++) |
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129 | { |
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130 | if (tab_Main->widget(d)->objectName() == TabName) |
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131 | { |
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132 | tab_Main->removeTab(d); |
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133 | } |
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134 | } |
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135 | } |
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136 | } |
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137 | |||
138 | ac_View0->setChecked(Settings->GUI.TabViews[0]); |
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139 | ac_View1->setChecked(Settings->GUI.TabViews[1]); |
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140 | ac_View2->setChecked(Settings->GUI.TabViews[2]); |
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141 | ac_View3->setChecked(Settings->GUI.TabViews[3]); |
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142 | ac_View4->setChecked(Settings->GUI.TabViews[4]); |
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143 | ac_View5->setChecked(Settings->GUI.TabViews[5]); |
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272 | KeyOz | 144 | ac_View6->setChecked(Settings->GUI.TabViews[6]); |
158 | KeyOz | 145 | |
146 | le_Port->setText(Settings->TTY.Port); |
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162 | KeyOz | 147 | |
148 | cb_ShowMSG->setChecked(Settings->GUI.Term_Info); |
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149 | cb_ShowData->setChecked(Settings->GUI.Term_Data); |
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150 | cb_ShowAlways->setChecked(Settings->GUI.Term_Always); |
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158 | KeyOz | 151 | } |
152 | |||
306 | KeyOz | 153 | void MKTool::init_Cockpit() |
154 | { |
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155 | // Cockpit-Elemente |
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156 | QPalette newPalette; |
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157 | |||
158 | newPalette.setColor(QPalette::Base, Qt::darkBlue); |
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159 | newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120)); |
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160 | newPalette.setColor(QPalette::Text, Qt::white); |
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161 | |||
162 | Compass->setScaleOptions(QwtDial::ScaleTicks | QwtDial::ScaleLabel); |
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163 | Compass->setScaleTicks(0, 0, 3); |
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164 | Compass->setScale(36, 5, 0); |
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165 | |||
166 | Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130))); |
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167 | Compass->setPalette(newPalette); |
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168 | Compass->setMaximumSize(QSize(MeterSize, MeterSize)); |
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169 | Compass->setMinimumSize(QSize(MeterSize, MeterSize)); |
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170 | |||
171 | QPalette newPalette1; |
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172 | |||
173 | newPalette1.setColor(QPalette::Base, Qt::darkBlue); |
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174 | newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120)); |
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175 | newPalette1.setColor(QPalette::Text, Qt::white); |
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176 | |||
177 | Attitude = new AttitudeIndicator(this); |
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178 | Attitude->setMaximumSize(QSize(MeterSize, MeterSize)); |
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179 | Attitude->setMinimumSize(QSize(MeterSize, MeterSize)); |
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180 | Attitude->setPalette(newPalette1); |
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181 | |||
182 | verticalLayout->addWidget(Attitude); |
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183 | |||
184 | qwt_Rate->setRange(-10.0, 10.0, 0.1, 0); |
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185 | |||
186 | newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120)); |
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187 | |||
188 | SpeedMeter = new cSpeedMeter(this); |
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189 | SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize)); |
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190 | SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize)); |
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191 | SpeedMeter->setPalette(newPalette1); |
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192 | SpeedMeter->setRange(0.0, 5.0); |
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193 | SpeedMeter->setScale(1, 2, 0.5); |
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194 | SpeedMeter->setProperty("END", 5); |
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195 | |||
196 | LayOut_Speed->addWidget(SpeedMeter); |
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197 | } |
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198 | |||
158 | KeyOz | 199 | void MKTool::init_Objects() |
200 | { |
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201 | // QTimer-Instanzen |
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199 | KeyOz | 202 | Ticker = new QTimer(this); |
158 | KeyOz | 203 | |
306 | KeyOz | 204 | // Verbindungsobject |
205 | o_Connection = new cConnection(); |
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250 | KeyOz | 206 | |
239 | Brean | 207 | // neuer Logger |
240 | Brean | 208 | logger = new Logger(Settings, &Mode); |
159 | KeyOz | 209 | |
227 | KeyOz | 210 | // LCD-Dialog |
211 | f_LCD = new dlg_LCD(this); |
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212 | |||
305 | KeyOz | 213 | // LCD-Dialog |
307 | KeyOz | 214 | f_MotorMixer = new dlg_MotorMixer(this); |
215 | |||
216 | // LCD-Dialog |
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305 | KeyOz | 217 | f_Map = new dlg_Map(this); |
306 | KeyOz | 218 | f_Map->create_Map(Settings); |
305 | KeyOz | 219 | |
306 | KeyOz | 220 | KML_Server = new cKML_Server(); |
199 | KeyOz | 221 | |
272 | KeyOz | 222 | QMK_Server = new cQMK_Server(); |
223 | QMK_Server->setProperty("Connect", false); |
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199 | KeyOz | 224 | |
225 | if (Settings->Server.StartServer) |
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226 | { |
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227 | ac_StartServer->setChecked(true); |
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306 | KeyOz | 228 | KML_Server->start_Server(Settings->Server.Port.toInt(), Settings); |
199 | KeyOz | 229 | } |
158 | KeyOz | 230 | } |
231 | |||
232 | void MKTool::init_Connections() |
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233 | { |
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250 | KeyOz | 234 | connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test())); |
199 | KeyOz | 235 | |
306 | KeyOz | 236 | // Waypoints übergeben |
237 | connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint))); |
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238 | |||
250 | KeyOz | 239 | // Daten Senden / Empfangen |
306 | KeyOz | 240 | connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData))); |
241 | connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString))); |
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158 | KeyOz | 242 | |
199 | KeyOz | 243 | // Serielle Verbundung öffnen / schließen |
244 | connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort())); |
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245 | |||
227 | KeyOz | 246 | // TCP-Connection verbinden / trennen |
247 | connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect())); |
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248 | |||
167 | KeyOz | 249 | // Buttons Settings lesen / schreiben |
199 | KeyOz | 250 | connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings())); |
251 | connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings())); |
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158 | KeyOz | 252 | |
253 | // Actions |
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254 | connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config())); |
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159 | KeyOz | 255 | connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences())); |
158 | KeyOz | 256 | connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest())); |
307 | KeyOz | 257 | connect(ac_MotorMixer, SIGNAL(triggered()), this, SLOT(slot_ac_MotorMixer())); |
227 | KeyOz | 258 | connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD())); |
305 | KeyOz | 259 | connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map())); |
199 | KeyOz | 260 | connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug())); |
261 | connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug())); |
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262 | connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi())); |
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263 | connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi())); |
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158 | KeyOz | 264 | connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels())); |
265 | |||
167 | KeyOz | 266 | // Plotter starten / scrollen |
267 | connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int))); |
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268 | connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter())); |
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199 | KeyOz | 269 | connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer())); |
167 | KeyOz | 270 | |
158 | KeyOz | 271 | // Tabs ein & ausblenden |
272 | connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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273 | connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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274 | connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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275 | connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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276 | connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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277 | connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
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227 | KeyOz | 278 | connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View())); |
158 | KeyOz | 279 | |
199 | KeyOz | 280 | connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
281 | connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
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282 | connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware())); |
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283 | |||
284 | connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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285 | connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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286 | connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware())); |
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287 | |||
167 | KeyOz | 288 | // firmeware Updateen / flashen |
199 | KeyOz | 289 | connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update())); |
166 | KeyOz | 290 | connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile())); |
158 | KeyOz | 291 | |
250 | KeyOz | 292 | // Wegpunkt-Befehl |
293 | connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint())); |
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294 | |||
167 | KeyOz | 295 | // CVS-Record starten / stoppen |
239 | Brean | 296 | connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog())); |
158 | KeyOz | 297 | |
298 | // Timer-Events |
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299 | connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker())); |
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300 | |||
167 | KeyOz | 301 | // Seitenwechsel |
199 | KeyOz | 302 | connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int))); |
306 | KeyOz | 303 | // connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int))); |
304 | connect(f_Settings->listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int))); |
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158 | KeyOz | 305 | |
167 | KeyOz | 306 | // About QMK & About-QT Dialog einfügen |
307 | connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About())); |
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158 | KeyOz | 308 | menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt())); |
309 | } |
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310 | |||
311 | void MKTool::init_Arrays() |
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312 | { |
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313 | lb_Analog[0] = lb_A_0; |
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314 | lb_Analog[1] = lb_A_1; |
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315 | lb_Analog[2] = lb_A_2; |
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316 | lb_Analog[3] = lb_A_3; |
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317 | lb_Analog[4] = lb_A_4; |
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318 | lb_Analog[5] = lb_A_5; |
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319 | lb_Analog[6] = lb_A_6; |
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320 | lb_Analog[7] = lb_A_7; |
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321 | lb_Analog[8] = lb_A_8; |
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322 | lb_Analog[9] = lb_A_9; |
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323 | lb_Analog[10] = lb_A_10; |
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324 | lb_Analog[11] = lb_A_11; |
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325 | lb_Analog[12] = lb_A_12; |
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326 | lb_Analog[13] = lb_A_13; |
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327 | lb_Analog[14] = lb_A_14; |
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328 | lb_Analog[15] = lb_A_15; |
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329 | lb_Analog[16] = lb_A_16; |
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330 | lb_Analog[17] = lb_A_17; |
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331 | lb_Analog[18] = lb_A_18; |
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332 | lb_Analog[19] = lb_A_19; |
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333 | lb_Analog[20] = lb_A_20; |
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334 | lb_Analog[21] = lb_A_21; |
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335 | lb_Analog[22] = lb_A_22; |
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336 | lb_Analog[23] = lb_A_23; |
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337 | lb_Analog[24] = lb_A_24; |
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338 | lb_Analog[25] = lb_A_25; |
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339 | lb_Analog[26] = lb_A_26; |
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340 | lb_Analog[27] = lb_A_27; |
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341 | lb_Analog[28] = lb_A_28; |
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342 | lb_Analog[29] = lb_A_29; |
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343 | lb_Analog[30] = lb_A_30; |
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344 | lb_Analog[31] = lb_A_31; |
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345 | } |
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346 | |||
347 | void MKTool::init_Plot() |
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348 | { |
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349 | NextPlot = 0; |
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350 | |||
351 | qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000))); |
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352 | |||
353 | qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend); |
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354 | |||
355 | QwtPlotGrid *Grid = new QwtPlotGrid(); |
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356 | Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine)); |
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357 | |||
358 | Grid->attach(qwtPlot); |
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359 | |||
166 | KeyOz | 360 | qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0); |
158 | KeyOz | 361 | |
362 | for (int a = 0; a < MaxAnalog; a++) |
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363 | { |
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162 | KeyOz | 364 | Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]); |
365 | Plot[a]->setPen(QPen(QColor(Def_Colors[a]))); |
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250 | KeyOz | 366 | // Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased); |
158 | KeyOz | 367 | |
162 | KeyOz | 368 | if (Settings->Analog1.PlotView[a]) |
158 | KeyOz | 369 | Plot[a]->attach(qwtPlot); |
370 | } |
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371 | qwtPlot->replot(); |
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372 | } |
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373 | |||
306 | KeyOz | 374 | void MKTool::slot_set_Settings(cSettings *t_Settings) |
375 | { |
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376 | Settings = t_Settings; |
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377 | } |
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378 | |||
199 | KeyOz | 379 | void MKTool::slot_Test() |
158 | KeyOz | 380 | { |
272 | KeyOz | 381 | // qDebug("Decode Data"); |
382 | sRxData RX; |
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383 | |||
384 | RX.String = IN->text(); |
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385 | |||
386 | // qDebug(RX.String.toLatin1().data()); |
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387 | |||
388 | // if (ToolBox::check_CRC(RX.String)) |
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389 | { |
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390 | qDebug("Decode Data CRC OK"); |
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391 | RX.Input = RX.String.toLatin1().data(); |
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392 | |||
393 | // qDebug(RX.Input); |
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394 | |||
395 | slot_newData(RX); |
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396 | } |
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250 | KeyOz | 397 | } |
158 | KeyOz | 398 | |
272 | KeyOz | 399 | // KML-Datei nach Wegpunkt parsen |
400 | // TODO: Richtigen KML-Parser bauen |
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250 | KeyOz | 401 | void MKTool::parse_TargetKML() |
402 | { |
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403 | QString Tmp = te_KML->toPlainText().simplified(); |
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404 | QStringList List; |
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158 | KeyOz | 405 | |
250 | KeyOz | 406 | if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>"))) |
407 | { |
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408 | List = Tmp.split("<coordinates>"); |
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409 | List = List[1].split(","); |
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410 | |||
411 | le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 10000000)); |
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412 | le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 10000000)); |
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413 | } |
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158 | KeyOz | 414 | } |
415 | |||
272 | KeyOz | 416 | // Waypoint zur NC Senden. |
250 | KeyOz | 417 | void MKTool::slot_pb_SendWaypoint() |
418 | { |
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419 | if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0)) |
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420 | { |
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421 | QMessageBox msgB; |
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422 | QString msg; |
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423 | msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden"); |
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424 | msgB.exec(); |
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425 | return; |
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426 | } |
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272 | KeyOz | 427 | |
250 | KeyOz | 428 | //erstelle einen Wegpunkt, den die NaviCtrl auswerten kann |
429 | Waypoint_t desired_pos; |
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430 | bool ok_lat, ok_lon; |
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431 | |||
432 | //eingegebene Daten holen |
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433 | double desired_long, desired_lat; |
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434 | |||
435 | desired_long = le_TarLong->text().toDouble(&ok_lon); |
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436 | desired_lat = le_TarLat->text().toDouble(&ok_lat); |
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437 | |||
438 | if (ok_lon && desired_long < 100) |
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439 | desired_long *= 10000000+0.5; |
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440 | |||
441 | if (ok_lat && desired_lat < 100) |
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442 | desired_lat *= 10000000+0.5; |
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443 | |||
444 | //fülle Wegpunkt-Daten |
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445 | desired_pos.Position.Altitude = 0; |
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446 | desired_pos.Position.Longitude = int32_t(desired_long); |
||
447 | desired_pos.Position.Latitude = int32_t(desired_lat); |
||
448 | desired_pos.Position.Status = NEWDATA; |
||
449 | desired_pos.Heading = -1; |
||
450 | desired_pos.ToleranceRadius = 1; |
||
451 | desired_pos.HoldTime = 60; |
||
452 | desired_pos.Event_Flag = 0; |
||
453 | desired_pos.reserve[0] = 0; // reserve |
||
454 | desired_pos.reserve[1] = 0; // reserve |
||
455 | desired_pos.reserve[2] = 0; // reserve |
||
456 | desired_pos.reserve[3] = 0; // reserve |
||
457 | |||
458 | //...und sende ihn an die NaviCtrl |
||
459 | int max_radius = 10000; |
||
460 | if (ok_lat && ok_lon && |
||
461 | abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius && |
||
462 | abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius) |
||
463 | { |
||
306 | KeyOz | 464 | o_Connection->send_Cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
250 | KeyOz | 465 | } |
466 | else |
||
467 | { |
||
468 | QMessageBox msgB; |
||
469 | QString msg; |
||
470 | msg += "Bitte die Eingabe ueberpruefen!\n"; |
||
471 | msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n"; |
||
472 | msg += "(Lon: "; |
||
473 | msg += ToolBox::get_Float(Navi.Current.Longitude,10000000); |
||
474 | msg += ", "; |
||
475 | msg += "Lat: "; |
||
476 | msg += ToolBox::get_Float(Navi.Current.Latitude,10000000); |
||
477 | msg += ")"; |
||
478 | msgB.setText(msg); |
||
479 | msgB.exec(); |
||
480 | } |
||
481 | } |
||
482 | |||
199 | KeyOz | 483 | void MKTool::slot_ac_Hardware() |
484 | { |
||
485 | QAction *Action = (QAction*)sender(); |
||
158 | KeyOz | 486 | |
199 | KeyOz | 487 | if (Action->isChecked() == false) |
488 | { |
||
489 | Action->setChecked(true); |
||
490 | } |
||
491 | |||
492 | slot_rb_Hardware(); |
||
493 | } |
||
494 | |||
495 | void MKTool::slot_rb_Hardware() |
||
496 | { |
||
497 | if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC)) |
||
498 | { |
||
499 | lb_Status->setText(tr("Schalte um auf NaviCtrl.")); |
||
500 | TX_Data[0] = 0x1B; |
||
501 | TX_Data[1] = 0x1B; |
||
502 | TX_Data[2] = 0x55; |
||
503 | TX_Data[3] = 0xAA; |
||
504 | TX_Data[4] = 0x00; |
||
505 | TX_Data[5] = '\r'; |
||
306 | KeyOz | 506 | o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false); |
227 | KeyOz | 507 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 508 | } |
509 | |||
510 | if (rb_SelFC->isChecked()) |
||
511 | { |
||
512 | lb_Status->setText(tr("Schalte um auf FlightCtrl.")); |
||
513 | TX_Data[0] = 0; |
||
306 | KeyOz | 514 | o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 515 | } |
516 | else |
||
517 | if (rb_SelMag->isChecked()) |
||
518 | { |
||
519 | lb_Status->setText(tr("Schalte um auf MK3MAG.")); |
||
520 | TX_Data[0] = 1; |
||
306 | KeyOz | 521 | o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 522 | } |
523 | else |
||
524 | if (rb_SelNC->isChecked()) |
||
525 | { |
||
526 | lb_Status->setText(tr("Schalte um auf NaviCtrl.")); |
||
527 | TX_Data[0] = 0x1B; |
||
528 | TX_Data[1] = 0x1B; |
||
529 | TX_Data[2] = 0x55; |
||
530 | TX_Data[3] = 0xAA; |
||
531 | TX_Data[4] = 0x00; |
||
532 | TX_Data[5] = '\r'; |
||
306 | KeyOz | 533 | o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false); |
199 | KeyOz | 534 | } |
227 | KeyOz | 535 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 536 | |
537 | // qDebug("Select RB Hardware"); |
||
306 | KeyOz | 538 | o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true); |
199 | KeyOz | 539 | } |
540 | |||
158 | KeyOz | 541 | // Ticker-Event |
542 | /////////////// |
||
543 | void MKTool::slot_Ticker() |
||
544 | { |
||
545 | if (TickerDiv) |
||
546 | TickerDiv = false; |
||
547 | else |
||
548 | TickerDiv = true; |
||
549 | |||
250 | KeyOz | 550 | if (cb_ClipBoard->isChecked()) |
551 | { |
||
552 | QString s_OLD = te_KML->toPlainText(); |
||
553 | te_KML->clear(); |
||
554 | te_KML->paste(); |
||
555 | if (s_OLD != te_KML->toPlainText()) |
||
556 | { |
||
557 | parse_TargetKML(); |
||
558 | } |
||
559 | } |
||
560 | |||
158 | KeyOz | 561 | for (int a = 0; a < MaxTickerEvents; a++) |
562 | { |
||
563 | if (TickerEvent[a] == true) |
||
564 | { |
||
565 | switch(a) |
||
566 | { |
||
567 | case 0 : |
||
568 | if (TickerDiv) |
||
569 | { |
||
570 | QByteArray Temp(LastSend.toUtf8()); |
||
250 | KeyOz | 571 | // serialPort->sendData(Temp); |
158 | KeyOz | 572 | } |
573 | break; |
||
574 | case 1 : |
||
159 | KeyOz | 575 | TX_Data[0] = 0; |
306 | KeyOz | 576 | o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false); |
158 | KeyOz | 577 | break; |
159 | KeyOz | 578 | case 2 : |
227 | KeyOz | 579 | if (f_LCD->cb_LCD->isChecked()) |
167 | KeyOz | 580 | { |
227 | KeyOz | 581 | if (!f_LCD->isVisible()) |
582 | { |
||
583 | Ticker->setInterval(2000); |
||
584 | TickerEvent[2] = false; |
||
585 | } |
||
167 | KeyOz | 586 | TX_Data[0] = LCD_Page; |
587 | TX_Data[1] = 0; |
||
306 | KeyOz | 588 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
167 | KeyOz | 589 | } |
159 | KeyOz | 590 | break; |
167 | KeyOz | 591 | case 3 : |
199 | KeyOz | 592 | if (ac_FastDebug->isChecked()) |
167 | KeyOz | 593 | { |
594 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
||
306 | KeyOz | 595 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
167 | KeyOz | 596 | } |
597 | else |
||
598 | { |
||
599 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
||
306 | KeyOz | 600 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
167 | KeyOz | 601 | } |
602 | break; |
||
158 | KeyOz | 603 | } |
604 | } |
||
605 | } |
||
606 | } |
||
607 | |||
227 | KeyOz | 608 | void MKTool::slot_QMKS_Connect() |
609 | { |
||
610 | if (ac_QMKServer->isChecked()) |
||
611 | { |
||
612 | lb_Status->setText(tr("Verbinde zum QMK-Datenserver.")); |
||
158 | KeyOz | 613 | |
272 | KeyOz | 614 | QMK_Server->Connect(Settings->Server.QMKS_Host, Settings->Server.QMKS_Port.toInt(), Settings->Server.QMKS_Login, Settings->Server.QMKS_Password); |
227 | KeyOz | 615 | |
272 | KeyOz | 616 | connect(QMK_Server, SIGNAL(sig_Connected()), this, SLOT(slot_QMKS_Connected())); |
617 | connect(QMK_Server, SIGNAL(sig_Disconnected(int)), this, SLOT(slot_QMKS_Disconnected(int))); |
||
227 | KeyOz | 618 | } |
619 | else |
||
620 | { |
||
272 | KeyOz | 621 | if ((QMK_Server->property("Connect")) == true) |
227 | KeyOz | 622 | { |
272 | KeyOz | 623 | disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0); |
227 | KeyOz | 624 | lb_Status->setText(tr("Trenne vom QMK-Datenserver.")); |
625 | |||
272 | KeyOz | 626 | QMK_Server->Disconnect(); |
627 | QMK_Server->setProperty("Connect", false); |
||
227 | KeyOz | 628 | ac_QMKServer->setText("QMK-Server Verbinden"); |
629 | } |
||
630 | } |
||
631 | } |
||
632 | |||
633 | void MKTool::slot_QMKS_Connected() |
||
634 | { |
||
272 | KeyOz | 635 | QMK_Server->setProperty("Connect", true); |
227 | KeyOz | 636 | ac_QMKServer->setText("QMK-Server Trennnen"); |
637 | lb_Status->setText(tr("Verbunden mit QMK-Datenserver.")); |
||
638 | } |
||
639 | |||
640 | void MKTool::slot_QMKS_Disconnected(int Error) |
||
641 | { |
||
272 | KeyOz | 642 | QMK_Server->setProperty("Connect", false); |
227 | KeyOz | 643 | ac_QMKServer->setText("QMK-Server Verbinden"); |
644 | ac_QMKServer->setChecked(false); |
||
645 | |||
272 | KeyOz | 646 | disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0); |
227 | KeyOz | 647 | |
648 | switch (Error) |
||
649 | { |
||
650 | case 1 : |
||
651 | { |
||
652 | lb_Status->setText(tr("Verbindung vom Server beendet.")); |
||
653 | QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Verbindung wurde vom Server beendet.", QMessageBox::Ok); |
||
654 | } |
||
655 | break; |
||
656 | case 2 : |
||
657 | { |
||
658 | lb_Status->setText(tr("Server nicht gefunden.")); |
||
659 | QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Kann nicht zum Server verbinden.", QMessageBox::Ok); |
||
660 | } |
||
661 | break; |
||
662 | case 3 : |
||
663 | { |
||
664 | lb_Status->setText(tr("Serververbindung getrennt. Logindaten falsch.")); |
||
665 | QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Loginname oder Password falsch.", QMessageBox::Ok); |
||
666 | } |
||
667 | break; |
||
668 | default : |
||
669 | { |
||
670 | lb_Status->setText(tr("Getrennt vom QMK-Datenserver.")); |
||
671 | } |
||
672 | break; |
||
673 | } |
||
674 | } |
||
675 | |||
158 | KeyOz | 676 | // Slots der Actions (Menüpunkte, Buttons) |
677 | ////////////////////////////////////////// |
||
678 | void MKTool::slot_ac_Motortest() |
||
679 | { |
||
680 | dlg_Motortest *f_Motortest = new dlg_Motortest(this); |
||
681 | |||
682 | connect(f_Motortest, SIGNAL(updateMotor(int, int, int, int)), this, SLOT(slot_Motortest(int, int, int, int))); |
||
683 | |||
684 | if (f_Motortest->exec()==QDialog::Accepted) |
||
685 | { |
||
686 | } |
||
687 | |||
688 | disconnect(f_Motortest, 0,0,0); |
||
689 | slot_Motortest(0,0,0,0); |
||
690 | } |
||
691 | |||
307 | KeyOz | 692 | void MKTool::slot_ac_MotorMixer() |
693 | { |
||
694 | f_MotorMixer->set_Objects(o_Connection, Settings); |
||
695 | f_MotorMixer->read_Mixer(); |
||
696 | |||
697 | if (f_MotorMixer->exec()==QDialog::Accepted) |
||
698 | { |
||
699 | } |
||
700 | } |
||
701 | |||
227 | KeyOz | 702 | void MKTool::slot_ac_LCD() |
703 | { |
||
704 | if (!f_LCD->isVisible()) |
||
705 | { |
||
306 | KeyOz | 706 | delete f_LCD; |
227 | KeyOz | 707 | f_LCD = new dlg_LCD(this); |
708 | |||
709 | // LCD auf / ab |
||
710 | connect(f_LCD->pb_LCDup, SIGNAL(clicked()), this, SLOT(slot_LCD_UP())); |
||
711 | connect(f_LCD->pb_LCDdown, SIGNAL(clicked()), this, SLOT(slot_LCD_DOWN())); |
||
712 | |||
713 | f_LCD->show(); |
||
714 | TX_Data[0] = 0; |
||
715 | TX_Data[1] = 0; |
||
306 | KeyOz | 716 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
227 | KeyOz | 717 | |
718 | Ticker->setInterval(500); |
||
719 | TickerEvent[2] = true; |
||
720 | } |
||
721 | } |
||
722 | |||
305 | KeyOz | 723 | void MKTool::slot_ac_Map() |
724 | { |
||
725 | if (!f_Map->isVisible()) |
||
726 | { |
||
727 | f_Map->show(); |
||
728 | } |
||
729 | } |
||
730 | |||
306 | KeyOz | 731 | void MKTool::slot_MAP_SetTarget(sWayPoint Target) |
732 | { |
||
733 | le_TarLong->setText(QString("%1").arg(Target.Longitude)); |
||
734 | le_TarLat->setText(QString("%1").arg(Target.Latitude)); |
||
735 | sb_TarTime->setValue(Target.Time); |
||
305 | KeyOz | 736 | |
306 | KeyOz | 737 | slot_pb_SendWaypoint(); |
738 | } |
||
739 | |||
158 | KeyOz | 740 | void MKTool::slot_Motortest(int Motor1, int Motor2, int Motor3, int Motor4) |
741 | { |
||
742 | TX_Data[0] = Motor1; |
||
743 | TX_Data[1] = Motor2; |
||
744 | TX_Data[2] = Motor3; |
||
745 | TX_Data[3] = Motor4; |
||
306 | KeyOz | 746 | o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false); |
158 | KeyOz | 747 | } |
748 | |||
749 | void MKTool::slot_ac_Config() |
||
750 | { |
||
162 | KeyOz | 751 | set_Analog Old_Analog1; |
158 | KeyOz | 752 | |
162 | KeyOz | 753 | Old_Analog1 = Settings->Analog1; |
754 | |||
158 | KeyOz | 755 | dlg_Config *f_Config = new dlg_Config(this); |
162 | KeyOz | 756 | f_Config->set_Settings(Settings, Mode.ID); |
158 | KeyOz | 757 | |
758 | if (f_Config->exec()==QDialog::Accepted) |
||
759 | { |
||
760 | Settings = f_Config->get_Settings(); |
||
162 | KeyOz | 761 | Settings->write_Settings_Analog(Mode.ID); |
158 | KeyOz | 762 | |
163 | KeyOz | 763 | // Plotter neu einrichten |
764 | if (Old_Analog1.PlotView != Settings->Analog1.PlotView) |
||
158 | KeyOz | 765 | { |
163 | KeyOz | 766 | config_Plot(); |
158 | KeyOz | 767 | } |
768 | |||
163 | KeyOz | 769 | // CVS-Datei neu anlegen. |
241 | KeyOz | 770 | if ((logger->is_active()) && (Old_Analog1.LogView != Settings->Analog1.LogView)) |
158 | KeyOz | 771 | { |
239 | Brean | 772 | logger->close(); |
240 | Brean | 773 | logger->start_Log(); |
158 | KeyOz | 774 | } |
775 | |||
776 | } |
||
777 | } |
||
778 | |||
239 | Brean | 779 | //aktualisiere Logging-Status |
241 | KeyOz | 780 | void MKTool::update_Log() |
781 | { |
||
239 | Brean | 782 | if (logger->is_active()) |
783 | { |
||
272 | KeyOz | 784 | |
239 | Brean | 785 | ac_RecordCSV->setText("Log Stop"); |
786 | lb_Status->setText(tr("Log-Record gestartet.")); |
||
787 | } |
||
788 | else |
||
789 | { |
||
241 | KeyOz | 790 | ac_RecordCSV->setText("Log Aufzeichnen"); |
239 | Brean | 791 | lb_Status->setText(tr("Log-Record gestopt.")); |
792 | } |
||
793 | } |
||
794 | |||
795 | //starte/stoppe Logging, wenn auf den entsprechenden Button gedrückt wurde |
||
796 | void MKTool::slot_RecordLog() |
||
797 | { |
||
798 | if (!logger->is_active()) |
||
799 | logger->start_Log(); |
||
800 | else |
||
801 | logger->close(); |
||
241 | KeyOz | 802 | |
239 | Brean | 803 | update_Log(); |
804 | } |
||
805 | |||
159 | KeyOz | 806 | void MKTool::slot_ac_Preferences() |
807 | { |
||
808 | dlg_Preferences *f_Preferences = new dlg_Preferences(this); |
||
809 | |||
166 | KeyOz | 810 | Settings->TTY.Port = le_Port->text(); |
163 | KeyOz | 811 | f_Preferences->set_Settings(Settings); |
812 | |||
159 | KeyOz | 813 | if (f_Preferences->exec()==QDialog::Accepted) |
814 | { |
||
163 | KeyOz | 815 | Settings = f_Preferences->get_Settings(); |
816 | Settings->write_Settings(); |
||
166 | KeyOz | 817 | le_Port->setText(Settings->TTY.Port); |
818 | config_Plot(); |
||
159 | KeyOz | 819 | } |
820 | } |
||
821 | |||
158 | KeyOz | 822 | void MKTool::slot_ac_StartPlotter() |
823 | { |
||
824 | if (ac_StartPlotter->isChecked()) |
||
825 | { |
||
199 | KeyOz | 826 | lb_Status->setText(tr("Datenplotter gestartet.")); |
158 | KeyOz | 827 | ac_StartPlotter->setText("Stop Plotter"); |
828 | pb_StartPlotter->setText("Stop Plotter"); |
||
829 | } |
||
830 | else |
||
831 | { |
||
199 | KeyOz | 832 | lb_Status->setText(tr("Datenplotter gestopt.")); |
158 | KeyOz | 833 | ac_StartPlotter->setText("Start Plotter"); |
834 | pb_StartPlotter->setText("Start Plotter"); |
||
835 | } |
||
836 | } |
||
837 | |||
838 | void MKTool::slot_ac_View() |
||
839 | { |
||
227 | KeyOz | 840 | int Aktive = -1; |
158 | KeyOz | 841 | |
842 | QAction *Action = (QAction*)sender(); |
||
843 | |||
844 | if (Action->objectName() == QString("ac_View0")) |
||
845 | Aktive = 0; |
||
846 | if (Action->objectName() == QString("ac_View1")) |
||
847 | Aktive = 1; |
||
848 | if (Action->objectName() == QString("ac_View2")) |
||
849 | Aktive = 2; |
||
850 | if (Action->objectName() == QString("ac_View3")) |
||
851 | Aktive = 3; |
||
852 | if (Action->objectName() == QString("ac_View4")) |
||
853 | Aktive = 4; |
||
854 | if (Action->objectName() == QString("ac_View5")) |
||
855 | Aktive = 5; |
||
272 | KeyOz | 856 | if (Action->objectName() == QString("ac_View6")) |
857 | Aktive = 6; |
||
158 | KeyOz | 858 | |
859 | QString TabName = QString("Tab_%1").arg(Aktive); |
||
860 | |||
861 | if (!Action->isChecked()) |
||
862 | { |
||
863 | for (int a = 0; a < tab_Main->count(); a++) |
||
864 | { |
||
865 | if (tab_Main->widget(a)->objectName() == TabName) |
||
866 | { |
||
867 | tab_Main->removeTab(a); |
||
868 | } |
||
869 | } |
||
870 | } |
||
871 | else |
||
872 | { |
||
227 | KeyOz | 873 | tab_Main->insertTab(Aktive, TabWidgets[Aktive], Action->icon(), Action->text()); |
158 | KeyOz | 874 | } |
875 | } |
||
876 | |||
199 | KeyOz | 877 | void MKTool::slot_ac_FastNavi() // DONE NC 0.12i |
158 | KeyOz | 878 | { |
199 | KeyOz | 879 | if (!ac_NoNavi->isChecked()) |
158 | KeyOz | 880 | { |
199 | KeyOz | 881 | if (ac_FastNavi->isChecked()) |
166 | KeyOz | 882 | { |
199 | KeyOz | 883 | lb_Status->setText(tr("Fordere schnelle NaviDaten an.")); |
884 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
||
885 | } |
||
886 | else |
||
887 | { |
||
888 | lb_Status->setText(tr("Fordere langsame NaviDaten an.")); |
||
889 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
||
890 | } |
||
306 | KeyOz | 891 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 892 | } |
893 | } |
||
894 | |||
895 | void MKTool::slot_ac_NoNavi() // DONE NC 0.12i |
||
896 | { |
||
897 | if (ac_NoNavi->isChecked()) |
||
898 | { |
||
899 | lb_Status->setText(tr("NaviDaten abstellen.")); |
||
900 | TX_Data[0] = 0; |
||
901 | } |
||
902 | else |
||
903 | { |
||
904 | if (ac_FastNavi->isChecked()) |
||
905 | { |
||
906 | lb_Status->setText(tr("Fordere schnelle NaviDaten an.")); |
||
907 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
||
908 | } |
||
909 | else |
||
910 | { |
||
911 | lb_Status->setText(tr("Fordere langsame NaviDaten an.")); |
||
912 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
||
913 | } |
||
914 | } |
||
306 | KeyOz | 915 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 916 | } |
917 | |||
918 | void MKTool::slot_ac_FastDebug() // DONE 0.71g |
||
919 | { |
||
920 | if (!ac_NoDebug->isChecked()) |
||
921 | { |
||
922 | if (ac_FastDebug->isChecked()) |
||
923 | { |
||
924 | lb_Status->setText(tr("Fordere schnelle DebugDaten an.")); |
||
166 | KeyOz | 925 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
926 | } |
||
927 | else |
||
928 | { |
||
199 | KeyOz | 929 | lb_Status->setText(tr("Fordere langsame DebugDaten an.")); |
166 | KeyOz | 930 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
931 | } |
||
306 | KeyOz | 932 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
166 | KeyOz | 933 | } |
934 | } |
||
935 | |||
199 | KeyOz | 936 | void MKTool::slot_ac_NoDebug() // DONE 0.71g |
166 | KeyOz | 937 | { |
199 | KeyOz | 938 | if (ac_NoDebug->isChecked()) |
166 | KeyOz | 939 | { |
199 | KeyOz | 940 | lb_Status->setText(tr("DebugDaten abstellen.")); |
167 | KeyOz | 941 | TickerEvent[3] = false; |
166 | KeyOz | 942 | TX_Data[0] = 0; |
943 | } |
||
158 | KeyOz | 944 | else |
945 | { |
||
167 | KeyOz | 946 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
947 | if (Mode.ID == ADDRESS_MK3MAG) |
||
948 | TickerEvent[3] = true; |
||
949 | |||
199 | KeyOz | 950 | if (ac_FastDebug->isChecked()) |
166 | KeyOz | 951 | { |
199 | KeyOz | 952 | lb_Status->setText(tr("Fordere schnelle DebugDaten an.")); |
166 | KeyOz | 953 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
954 | } |
||
955 | else |
||
956 | { |
||
199 | KeyOz | 957 | lb_Status->setText(tr("Fordere langsame DebugDaten an.")); |
166 | KeyOz | 958 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
959 | } |
||
960 | } |
||
306 | KeyOz | 961 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
158 | KeyOz | 962 | } |
963 | |||
964 | void MKTool::slot_ac_About() |
||
965 | { |
||
966 | QMessageBox::about(this, trUtf8(("Über ")) + QA_NAME, QA_ABOUT); |
||
967 | } |
||
968 | |||
159 | KeyOz | 969 | void MKTool::slot_ac_GetLabels() // DONE 0.71g |
158 | KeyOz | 970 | { |
199 | KeyOz | 971 | lb_Status->setText(tr("Analoglabels auslesen.")); |
158 | KeyOz | 972 | TX_Data[0] = 0; |
306 | KeyOz | 973 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true); |
158 | KeyOz | 974 | } |
975 | |||
199 | KeyOz | 976 | void MKTool::slot_ac_StartServer() |
977 | { |
||
978 | if (ac_StartServer->isChecked()) |
||
979 | { |
||
306 | KeyOz | 980 | lb_Status->setText(tr("KML-Server gestartet.")); |
981 | KML_Server->start_Server(Settings->Server.Port.toInt(), Settings); |
||
199 | KeyOz | 982 | } |
983 | else |
||
984 | { |
||
306 | KeyOz | 985 | lb_Status->setText(tr("KML-Server gestopt.")); |
986 | KML_Server->stop_Server(); |
||
199 | KeyOz | 987 | } |
988 | } |
||
159 | KeyOz | 989 | |
227 | KeyOz | 990 | |
158 | KeyOz | 991 | // Daten-Plotter |
992 | ///////////////// |
||
993 | void MKTool::update_Plot() |
||
994 | { |
||
995 | for (int a = 0; a < MaxAnalog; a++) |
||
996 | { |
||
997 | Plot[a]->setData(aID,aData[a],NextPlot - 1); |
||
998 | } |
||
999 | |||
166 | KeyOz | 1000 | if ((NextPlot > Settings->Data.Plotter_Count)) |
158 | KeyOz | 1001 | { |
166 | KeyOz | 1002 | scroll_plot->setMaximum(NextPlot - Settings->Data.Plotter_Count); |
158 | KeyOz | 1003 | } |
1004 | |||
166 | KeyOz | 1005 | if ((scroll_plot->value() == NextPlot - (Settings->Data.Plotter_Count + 1))) |
158 | KeyOz | 1006 | { |
166 | KeyOz | 1007 | qwtPlot->setAxisScale(QwtPlot::xBottom,NextPlot - Settings->Data.Plotter_Count,NextPlot,0); |
1008 | scroll_plot->setValue(NextPlot - Settings->Data.Plotter_Count); |
||
158 | KeyOz | 1009 | } |
1010 | |||
1011 | qwtPlot->replot(); |
||
1012 | } |
||
1013 | |||
1014 | void MKTool::config_Plot() |
||
1015 | { |
||
166 | KeyOz | 1016 | // qDebug("Plotter rekonfiguriert..!!"); |
1017 | qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0); |
||
1018 | |||
158 | KeyOz | 1019 | for (int a = 0; a < MaxAnalog; a++) |
1020 | { |
||
1021 | Plot[a]->detach(); |
||
162 | KeyOz | 1022 | Plot[a]->setPen(QPen(QColor(Def_Colors[a]))); |
158 | KeyOz | 1023 | |
162 | KeyOz | 1024 | if (Settings->Analog1.PlotView[a]) |
1025 | { |
||
1026 | Plot[a]->setTitle(Settings->Analog1.Label[a]); |
||
158 | KeyOz | 1027 | Plot[a]->attach(qwtPlot); |
162 | KeyOz | 1028 | } |
158 | KeyOz | 1029 | } |
166 | KeyOz | 1030 | qwtPlot->replot(); |
158 | KeyOz | 1031 | } |
1032 | |||
1033 | void MKTool::slot_ScrollPlot(int Pos) |
||
1034 | { |
||
166 | KeyOz | 1035 | qwtPlot->setAxisScale(QwtPlot::xBottom,Pos,Pos + Settings->Data.Plotter_Count,0); |
158 | KeyOz | 1036 | qwtPlot->replot(); |
1037 | } |
||
1038 | |||
1039 | |||
1040 | // Firmeware-Update |
||
1041 | /////////////////// |
||
1042 | void MKTool::slot_pb_Update() |
||
1043 | { |
||
167 | KeyOz | 1044 | QString Device; |
1045 | QString Hardware; |
||
158 | KeyOz | 1046 | |
167 | KeyOz | 1047 | if (rb_FC->isChecked()) |
1048 | { |
||
1049 | Device = "m644"; |
||
1050 | Hardware = "FlightCtrl"; |
||
1051 | } |
||
1052 | else if (rb_MK3MAG->isChecked()) |
||
1053 | { |
||
1054 | Device = "m168"; |
||
1055 | Hardware = "MK3MAG"; |
||
1056 | } |
||
1057 | else if (rb_BL->isChecked()) |
||
1058 | { |
||
1059 | Device = "m8"; |
||
1060 | Hardware = "BL-Ctrl"; |
||
1061 | } |
||
166 | KeyOz | 1062 | |
1063 | QString Message = "Firmeware-Datei \n\n"; |
||
1064 | Message = Message + le_HexFile->text() + "\n\n"; |
||
167 | KeyOz | 1065 | Message = Message + "an " + Hardware + trUtf8(" mit AVRDUDE - Seriel & Bootloader über ") + le_Port->text() + trUtf8(" übertragen?\n"); |
166 | KeyOz | 1066 | |
1067 | if (le_HexFile->text() == "") |
||
162 | KeyOz | 1068 | { |
166 | KeyOz | 1069 | QMessageBox::warning(this, QA_NAME, trUtf8("Bitte Firmeware-Datei wählen."), QMessageBox::Ok); |
162 | KeyOz | 1070 | } |
166 | KeyOz | 1071 | else if (QMessageBox::warning(this, QA_NAME, Message, QMessageBox::Yes | QMessageBox::No) == QMessageBox::Yes) |
1072 | { |
||
306 | KeyOz | 1073 | QString Programm = Settings->DIR.AVRDUDE; |
162 | KeyOz | 1074 | |
166 | KeyOz | 1075 | QStringList Argumente; |
162 | KeyOz | 1076 | |
166 | KeyOz | 1077 | Update = new QProcess(); |
162 | KeyOz | 1078 | |
306 | KeyOz | 1079 | if (o_Connection->isOpen()) |
166 | KeyOz | 1080 | { |
1081 | slot_OpenPort(); |
||
1082 | } |
||
1083 | |||
1084 | Argumente << "-P"; |
||
1085 | Argumente << le_Port->text(); |
||
1086 | Argumente << "-p"; |
||
1087 | Argumente << Device; |
||
1088 | Argumente << "-c"; |
||
1089 | Argumente << "butterfly"; |
||
1090 | Argumente << "-b"; |
||
1091 | Argumente << "57600"; |
||
1092 | Argumente << "-U"; |
||
1093 | Argumente << "flash:w:" + le_HexFile->text(); |
||
1094 | |||
1095 | // 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"; |
||
1096 | |||
1097 | te_Shell->setText(""); // Ausgabefenster säubern |
||
1098 | |||
1099 | connect(Update, SIGNAL(readyReadStandardOutput()), this, SLOT(slot_UpdateShell()) ); |
||
1100 | connect(Update, SIGNAL(readyReadStandardError()), this, SLOT(slot_UpdateShell()) ); |
||
1101 | |||
1102 | Update->start(Programm, Argumente); // Programmaufruf |
||
1103 | } |
||
158 | KeyOz | 1104 | } |
1105 | |||
1106 | void MKTool::slot_UpdateShell() |
||
1107 | { |
||
162 | KeyOz | 1108 | QByteArray Output; |
158 | KeyOz | 1109 | |
166 | KeyOz | 1110 | Output = Update->readAllStandardError(); // Shellausgabe an Variable |
162 | KeyOz | 1111 | te_Shell->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1112 | te_Shell->insertPlainText(QString::fromUtf8(Output)); |
||
158 | KeyOz | 1113 | |
166 | KeyOz | 1114 | Output = Update->readAll(); |
1115 | te_Shell->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
||
1116 | te_Shell->insertPlainText(QString::fromUtf8(Output)); |
||
158 | KeyOz | 1117 | } |
1118 | |||
166 | KeyOz | 1119 | void MKTool::slot_pb_HexFile() |
1120 | { |
||
1121 | QString FileName = QFileDialog::getOpenFileName(this,trUtf8(("Firmeware-Datei wählen")),"", |
||
1122 | tr("Intel Hex(*.hex);;Alle Dateien (*)")); |
||
1123 | if (!FileName.isEmpty()) |
||
1124 | { |
||
1125 | le_HexFile->setText(FileName); |
||
1126 | } |
||
1127 | } |
||
158 | KeyOz | 1128 | |
1129 | |||
167 | KeyOz | 1130 | // Wechsel der Tabs erkennen |
159 | KeyOz | 1131 | void MKTool::slot_TabChanged(int Tab) // DONE 0.71g |
158 | KeyOz | 1132 | { |
1133 | Tab = Tab; |
||
162 | KeyOz | 1134 | if (tab_Main->count() != 0) |
158 | KeyOz | 1135 | { |
306 | KeyOz | 1136 | if ((tab_Main->currentWidget()->objectName() == QString("Tab_2")) && (f_Settings->listWidget->currentRow() == 1)) |
162 | KeyOz | 1137 | { |
1138 | TX_Data[0] = 0; |
||
313 | KeyOz | 1139 | o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false); |
159 | KeyOz | 1140 | |
162 | KeyOz | 1141 | Ticker->setInterval(500); |
1142 | TickerEvent[1] = true; |
||
1143 | } |
||
1144 | else |
||
1145 | { |
||
1146 | Ticker->setInterval(2000); |
||
1147 | TickerEvent[1] = false; |
||
1148 | } |
||
159 | KeyOz | 1149 | } |
158 | KeyOz | 1150 | } |
1151 | |||
167 | KeyOz | 1152 | // LCD-Seiten weiterschalten |
159 | KeyOz | 1153 | void MKTool::slot_LCD_UP() // DONE 0.71g |
158 | KeyOz | 1154 | { |
159 | KeyOz | 1155 | if (LCD_Page == LCD_MAX_Page) |
1156 | TX_Data[0] = 0; |
||
1157 | else |
||
1158 | TX_Data[0] = LCD_Page + 1; |
||
1159 | |||
1160 | TX_Data[1] = 0; |
||
306 | KeyOz | 1161 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
159 | KeyOz | 1162 | } |
1163 | |||
1164 | void MKTool::slot_LCD_DOWN() // DONE 0.71g |
||
1165 | { |
||
1166 | if (LCD_Page == 0) |
||
1167 | TX_Data[0] = LCD_MAX_Page; |
||
1168 | else |
||
1169 | TX_Data[0] = LCD_Page - 1; |
||
1170 | |||
1171 | TX_Data[1] = 0; |
||
306 | KeyOz | 1172 | o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true); |
159 | KeyOz | 1173 | } |
1174 | |||
167 | KeyOz | 1175 | // Settings aus MK lesen / in MK schreiben |
199 | KeyOz | 1176 | void MKTool::slot_GetFCSettings() // DONE 0.71g |
159 | KeyOz | 1177 | { |
199 | KeyOz | 1178 | lb_Status->setText(tr("Lese FlightCtrl-Settings aus.")); |
167 | KeyOz | 1179 | TX_Data[0] = f_Settings->sb_Set->value(); |
158 | KeyOz | 1180 | TX_Data[1] = 0; |
313 | KeyOz | 1181 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
158 | KeyOz | 1182 | } |
1183 | |||
199 | KeyOz | 1184 | void MKTool::slot_SetFCSettings() // DONE 0.71g |
158 | KeyOz | 1185 | { |
199 | KeyOz | 1186 | char *TX_Data2 = f_Settings->GetFCSettings(); |
158 | KeyOz | 1187 | |
199 | KeyOz | 1188 | lb_Status->setText(tr("Schreibe FlightCtrl-Settings.")); |
167 | KeyOz | 1189 | |
313 | KeyOz | 1190 | o_Connection->send_Cmd('s', ADDRESS_FC, TX_Data2, MaxParameter + 2, true); |
158 | KeyOz | 1191 | } |
1192 | |||
159 | KeyOz | 1193 | |
167 | KeyOz | 1194 | // Save GUI-Preferences |
1195 | /////////////////////// |
||
1196 | void MKTool::set_Preferences() |
||
158 | KeyOz | 1197 | { |
163 | KeyOz | 1198 | Settings->GUI.TabViews.setBit(0, ac_View0->isChecked()); |
1199 | Settings->GUI.TabViews.setBit(1, ac_View1->isChecked()); |
||
1200 | Settings->GUI.TabViews.setBit(2, ac_View2->isChecked()); |
||
1201 | Settings->GUI.TabViews.setBit(3, ac_View3->isChecked()); |
||
1202 | Settings->GUI.TabViews.setBit(4, ac_View4->isChecked()); |
||
1203 | Settings->GUI.TabViews.setBit(5, ac_View5->isChecked()); |
||
227 | KeyOz | 1204 | Settings->GUI.TabViews.setBit(6, ac_View6->isChecked()); |
158 | KeyOz | 1205 | |
227 | KeyOz | 1206 | Settings->GUI.ToolViews.setBit(0, tb_Allgemein->isVisibleTo(this)); |
1207 | Settings->GUI.ToolViews.setBit(1, tb_Werkzeuge->isVisibleTo(this)); |
||
1208 | Settings->GUI.ToolViews.setBit(2, tb_Debug->isVisibleTo(this)); |
||
1209 | Settings->GUI.ToolViews.setBit(3, tb_TTY->isVisibleTo(this)); |
||
1210 | Settings->GUI.ToolViews.setBit(4, tb_Hardware->isVisibleTo(this)); |
||
1211 | |||
162 | KeyOz | 1212 | Settings->GUI.Term_Info = cb_ShowMSG->isChecked(); |
1213 | Settings->GUI.Term_Data = cb_ShowData->isChecked(); |
||
1214 | Settings->GUI.Term_Always = cb_ShowAlways->isChecked(); |
||
166 | KeyOz | 1215 | Settings->GUI.Term_Send = cb_ShowSend->isChecked(); |
167 | KeyOz | 1216 | Settings->GUI.isMax = isMaximized(); |
1217 | Settings->GUI.Size = size(); |
||
1218 | Settings->GUI.Point = pos(); |
||
162 | KeyOz | 1219 | |
163 | KeyOz | 1220 | Settings->TTY.Port = le_Port->text(); |
158 | KeyOz | 1221 | } |
1222 | |||
1223 | void MKTool::show_DebugData() |
||
1224 | { |
||
241 | KeyOz | 1225 | if (logger->is_active()) |
1226 | logger->write(AnalogData); |
||
158 | KeyOz | 1227 | |
1228 | if (ac_StartPlotter->isChecked()) |
||
1229 | { |
||
1230 | aID[NextPlot] = NextPlot; |
||
1231 | |||
1232 | for (int a = 0; a < MaxAnalog; a++) |
||
1233 | { |
||
1234 | aData[a][NextPlot] = AnalogData[a]; |
||
1235 | } |
||
1236 | NextPlot++; |
||
1237 | |||
1238 | if ((tab_Main->currentWidget()->objectName() == QString("Tab_1"))) |
||
1239 | update_Plot(); |
||
1240 | } |
||
1241 | |||
1242 | le_A_0->setText(QString("%1").arg(AnalogData[0])); |
||
1243 | le_A_1->setText(QString("%1").arg(AnalogData[1])); |
||
1244 | le_A_2->setText(QString("%1").arg(AnalogData[2])); |
||
1245 | le_A_3->setText(QString("%1").arg(AnalogData[3])); |
||
1246 | le_A_4->setText(QString("%1").arg(AnalogData[4])); |
||
1247 | le_A_5->setText(QString("%1").arg(AnalogData[5])); |
||
1248 | le_A_6->setText(QString("%1").arg(AnalogData[6])); |
||
1249 | le_A_7->setText(QString("%1").arg(AnalogData[7])); |
||
1250 | le_A_8->setText(QString("%1").arg(AnalogData[8])); |
||
1251 | le_A_9->setText(QString("%1").arg(AnalogData[9])); |
||
1252 | le_A_10->setText(QString("%1").arg(AnalogData[10])); |
||
1253 | le_A_11->setText(QString("%1").arg(AnalogData[11])); |
||
1254 | le_A_12->setText(QString("%1").arg(AnalogData[12])); |
||
1255 | le_A_13->setText(QString("%1").arg(AnalogData[13])); |
||
1256 | le_A_14->setText(QString("%1").arg(AnalogData[14])); |
||
1257 | le_A_15->setText(QString("%1").arg(AnalogData[15])); |
||
1258 | le_A_16->setText(QString("%1").arg(AnalogData[16])); |
||
1259 | le_A_17->setText(QString("%1").arg(AnalogData[17])); |
||
1260 | le_A_18->setText(QString("%1").arg(AnalogData[18])); |
||
1261 | le_A_19->setText(QString("%1").arg(AnalogData[19])); |
||
1262 | le_A_20->setText(QString("%1").arg(AnalogData[20])); |
||
1263 | le_A_21->setText(QString("%1").arg(AnalogData[21])); |
||
1264 | le_A_22->setText(QString("%1").arg(AnalogData[22])); |
||
1265 | le_A_23->setText(QString("%1").arg(AnalogData[23])); |
||
1266 | le_A_24->setText(QString("%1").arg(AnalogData[24])); |
||
1267 | le_A_25->setText(QString("%1").arg(AnalogData[25])); |
||
1268 | le_A_26->setText(QString("%1").arg(AnalogData[26])); |
||
1269 | le_A_27->setText(QString("%1").arg(AnalogData[27])); |
||
1270 | le_A_28->setText(QString("%1").arg(AnalogData[28])); |
||
1271 | le_A_29->setText(QString("%1").arg(AnalogData[29])); |
||
1272 | le_A_30->setText(QString("%1").arg(AnalogData[30])); |
||
1273 | le_A_31->setText(QString("%1").arg(AnalogData[31])); |
||
227 | KeyOz | 1274 | |
1275 | if ((Mode.ID == ADDRESS_FC) && (FCSettings[P_GYRO_ACC_FAKTOR] > 0)) |
||
1276 | { |
||
1277 | bar_UBAT->setValue(AnalogData[9]); |
||
1278 | bar_RX->setValue(AnalogData[10]); |
||
1279 | |||
1280 | Compass->setValue(AnalogData[8]); |
||
1281 | |||
1282 | int Roll = (AnalogData[1] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024; |
||
1283 | int Nick = (AnalogData[0] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024; |
||
1284 | |||
1285 | if (Roll > 128) |
||
1286 | Roll = Roll - 255; |
||
1287 | |||
1288 | if (Nick > 128) |
||
1289 | Nick = Nick - 255; |
||
1290 | |||
1291 | Attitude->setAngle(Roll); |
||
1292 | Attitude->setGradient(double(double(Nick) / 100.0)); |
||
1293 | } |
||
158 | KeyOz | 1294 | } |
1295 | |||
199 | KeyOz | 1296 | void MKTool::new_NaviData(sRxData RX) |
1297 | { |
||
306 | KeyOz | 1298 | // qDebug("Navi-Data"); |
1299 | |||
1300 | switch(RX.Decode[N_NC_FLAGS]) |
||
1301 | { |
||
1302 | case 1 : lb_Mode->setText("Free"); break; |
||
1303 | case 2 : lb_Mode->setText("Position Hold"); break; |
||
1304 | case 4 : lb_Mode->setText("Coming Home"); break; |
||
1305 | case 8 : lb_Mode->setText("Range Limit"); break; |
||
1306 | } |
||
1307 | |||
246 | KeyOz | 1308 | Navi.Current.Longitude = ToolBox::Data2Long(RX.Decode, N_CUR_LONGITUDE, true); |
1309 | Navi.Current.Latitude = ToolBox::Data2Long(RX.Decode, N_CUR_LATITUDE, true); |
||
1310 | Navi.Current.Altitude = ToolBox::Data2Long(RX.Decode, N_CUR_ALTITUDE, true); |
||
1311 | Navi.Target.Longitude = ToolBox::Data2Long(RX.Decode, N_TAR_LONGITUDE, true); |
||
1312 | Navi.Target.Latitude = ToolBox::Data2Long(RX.Decode, N_TAR_LATITUDE, true); |
||
1313 | Navi.Target.Altitude = ToolBox::Data2Long(RX.Decode, N_TAR_ALTITUDE, true); |
||
199 | KeyOz | 1314 | |
246 | KeyOz | 1315 | le_CDistance->setText(QString("%1 cm").arg(ToolBox::Data2Int(RX.Decode, N_HOME_DISTANCE))); |
1316 | le_CWPA->setText(QString("%1").arg(RX.Decode[N_WP_INDEX])); |
||
1317 | le_CWPT->setText(QString("%1").arg(RX.Decode[N_WP_NUMBER])); |
||
1318 | le_CSats->setText(QString("%1").arg(RX.Decode[N_SATS_IN_USER])); |
||
227 | KeyOz | 1319 | |
246 | KeyOz | 1320 | qwt_Rate->setValue(double(ToolBox::Data2Int(RX.Decode, N_VARIOMETER, true))); |
227 | KeyOz | 1321 | |
246 | KeyOz | 1322 | le_CTime->setText(QString("%1 sec.").arg(ToolBox::Data2Int(RX.Decode, N_FLYING_TIME))); |
227 | KeyOz | 1323 | |
246 | KeyOz | 1324 | bar_UBAT->setValue(RX.Decode[N_UBAT]); |
227 | KeyOz | 1325 | |
246 | KeyOz | 1326 | double Speed = double((ToolBox::Data2Int(RX.Decode, N_GROUND_SPEED)) / 10.0); |
227 | KeyOz | 1327 | |
1328 | if ((Speed > 4.5) && SpeedMeter->property("END") == 5) |
||
1329 | { |
||
1330 | SpeedMeter->setRange(0.0, 10.0); |
||
1331 | SpeedMeter->setScale(1, 2, 1); |
||
1332 | SpeedMeter->setProperty("END", 10); |
||
1333 | } |
||
1334 | |||
1335 | if ((Speed > 9) && SpeedMeter->property("END") == 10) |
||
1336 | { |
||
1337 | SpeedMeter->setRange(0.0, 20.0); |
||
1338 | SpeedMeter->setScale(1, 2, 2); |
||
1339 | SpeedMeter->setProperty("END", 20); |
||
1340 | } |
||
1341 | |||
1342 | SpeedMeter->setValue(Speed); |
||
1343 | |||
246 | KeyOz | 1344 | Compass->setValue(ToolBox::Data2Int(RX.Decode, N_COMAPSS_HEADING)); //(68) |
227 | KeyOz | 1345 | |
246 | KeyOz | 1346 | bar_RX->setValue(RX.Decode[N_RC_QUALITY]); |
227 | KeyOz | 1347 | |
246 | KeyOz | 1348 | int Nick = RX.Decode[N_ANGLE_NICK]; |
1349 | int Roll = RX.Decode[N_ANGLE_ROLL]; |
||
227 | KeyOz | 1350 | |
1351 | if (Roll > 128) |
||
1352 | Roll = Roll - 255; |
||
1353 | |||
1354 | if (Nick > 128) |
||
1355 | Nick = Nick - 255; |
||
1356 | |||
1357 | Attitude->setAngle(Roll); |
||
234 | KeyOz | 1358 | Attitude->setGradient(double(0.0 - (double(Nick) / 100.0))); |
227 | KeyOz | 1359 | |
199 | KeyOz | 1360 | sNaviString NaviString; |
1361 | |||
1362 | NaviString.Longitude = ToolBox::get_Float(Navi.Current.Longitude,10000000); |
||
1363 | NaviString.Latitude = ToolBox::get_Float(Navi.Current.Latitude,10000000); |
||
1364 | NaviString.Altitude = ToolBox::get_Float(Navi.Current.Altitude,1000); |
||
1365 | |||
306 | KeyOz | 1366 | le_CurLong->setText(NaviString.Longitude); |
1367 | le_CurLat->setText(NaviString.Latitude); |
||
199 | KeyOz | 1368 | |
306 | KeyOz | 1369 | KML_Server->store_NaviString(NaviString); |
1370 | |||
305 | KeyOz | 1371 | f_Map->add_Position(NaviString.Longitude.toDouble(), NaviString.Latitude.toDouble()); |
1372 | |||
272 | KeyOz | 1373 | if ((QMK_Server->property("Connect")) == true) |
227 | KeyOz | 1374 | { |
272 | KeyOz | 1375 | // qDebug("Send Data to Server..!!"); |
1376 | QMK_Server->NewPosition(NaviString); |
||
227 | KeyOz | 1377 | } |
199 | KeyOz | 1378 | } |
1379 | |||
272 | KeyOz | 1380 | // Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen |
1381 | //////////////////////////////////////////////////////////////////// |
||
158 | KeyOz | 1382 | |
1383 | // Neues Datenpacket empfangen -> Verarbeiten |
||
250 | KeyOz | 1384 | void MKTool::slot_newData(sRxData RX) // DONE 0.71g |
158 | KeyOz | 1385 | { |
1386 | if (LastSend.length() > 2) |
||
1387 | { |
||
1388 | } |
||
162 | KeyOz | 1389 | int HardwareID = RX.Input[1] - 'a'; |
1390 | |||
167 | KeyOz | 1391 | switch(HardwareID) |
158 | KeyOz | 1392 | { |
167 | KeyOz | 1393 | case ADDRESS_FC : |
1394 | switch(RX.Input[2]) |
||
1395 | { |
||
307 | KeyOz | 1396 | // Motor-Mixer |
1397 | case 'N' : |
||
1398 | if (ToolBox::Decode64(RX)) |
||
1399 | { |
||
313 | KeyOz | 1400 | o_Connection->stop_ReSend(); |
1401 | |||
307 | KeyOz | 1402 | if (RX.Decode[0] == VERSION_MIXER) |
1403 | { |
||
1404 | f_MotorMixer->set_MotorConfig(RX); |
||
1405 | } |
||
1406 | } |
||
1407 | break; |
||
1408 | // Motor-Mixer Schreib-Bestätigung |
||
1409 | case 'M' : |
||
1410 | if (ToolBox::Decode64(RX)) |
||
1411 | { |
||
313 | KeyOz | 1412 | o_Connection->stop_ReSend(); |
1413 | |||
307 | KeyOz | 1414 | if (RX.Decode[0] == 1) |
1415 | { |
||
1416 | lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
||
1417 | } |
||
1418 | } |
||
1419 | break; |
||
1420 | |||
167 | KeyOz | 1421 | // Stick-Belegung der Fernsteuerung |
1422 | case 'P' : // DONE 0.71g |
||
1423 | if (ToolBox::Decode64(RX)) |
||
158 | KeyOz | 1424 | { |
167 | KeyOz | 1425 | f_Settings->pb_K1->setValue(ToolBox::Data2Int(RX.Decode, 2,true)); |
1426 | f_Settings->pb_K2->setValue(ToolBox::Data2Int(RX.Decode, 4,true)); |
||
1427 | f_Settings->pb_K3->setValue(ToolBox::Data2Int(RX.Decode, 6,true)); |
||
1428 | f_Settings->pb_K4->setValue(ToolBox::Data2Int(RX.Decode, 8,true)); |
||
1429 | f_Settings->pb_K5->setValue(ToolBox::Data2Int(RX.Decode, 10 ,true)); |
||
1430 | f_Settings->pb_K6->setValue(ToolBox::Data2Int(RX.Decode, 12,true)); |
||
1431 | f_Settings->pb_K7->setValue(ToolBox::Data2Int(RX.Decode, 14,true)); |
||
1432 | f_Settings->pb_K8->setValue(ToolBox::Data2Int(RX.Decode, 16,true)); |
||
1433 | } |
||
1434 | break; |
||
1435 | // Settings lesen |
||
1436 | case 'Q' : // DONE 0.71g |
||
1437 | if (ToolBox::Decode64(RX)) |
||
1438 | { |
||
313 | KeyOz | 1439 | o_Connection->stop_ReSend(); |
167 | KeyOz | 1440 | |
1441 | if (RX.Decode[1] == VERSION_SETTINGS) |
||
1442 | { |
||
1443 | int Settings_ID = RX.Decode[0]; |
||
1444 | for (int a = 0; a < MaxParameter; a++) |
||
1445 | { |
||
199 | KeyOz | 1446 | FCSettings[a] = RX.Decode[a + 2]; |
167 | KeyOz | 1447 | } |
199 | KeyOz | 1448 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
1449 | f_Settings->pb_Read->setEnabled(true); |
||
1450 | f_Settings->pb_Write->setEnabled(true); |
||
167 | KeyOz | 1451 | } |
1452 | else |
||
1453 | { |
||
1454 | f_Settings->pb_Read->setDisabled(true); |
||
1455 | f_Settings->pb_Write->setDisabled(true); |
||
1456 | |||
1457 | QMessageBox::warning(this, QA_NAME, |
||
1458 | "Versionen inkompatibel. \nParameterbearbeitung nicht moeglich.", QMessageBox::Ok); |
||
1459 | } |
||
1460 | } |
||
1461 | break; |
||
1462 | // Settings geschrieben |
||
1463 | case 'S' : // DONE 0.71g |
||
313 | KeyOz | 1464 | o_Connection->stop_ReSend(); |
167 | KeyOz | 1465 | break; |
1466 | } |
||
1467 | |||
1468 | case ADDRESS_NC : |
||
1469 | switch(RX.Input[2]) |
||
1470 | { |
||
1471 | // Navigationsdaten |
||
1472 | case 'O' : // NOT DONE 0.12h |
||
1473 | if (ToolBox::Decode64(RX)) |
||
1474 | { |
||
199 | KeyOz | 1475 | new_NaviData(RX); |
167 | KeyOz | 1476 | } |
1477 | break; |
||
1478 | } |
||
1479 | // case ADDRESS_MK3MAG : |
||
1480 | |||
1481 | default : |
||
1482 | switch(RX.Input[2]) |
||
1483 | { |
||
1484 | // LCD-Anzeige |
||
1485 | case 'L' : // DONE 0.71g |
||
1486 | if (ToolBox::Decode64(RX)) |
||
1487 | { |
||
313 | KeyOz | 1488 | o_Connection->stop_ReSend(); |
1489 | |||
159 | KeyOz | 1490 | int LCD[150]; |
1491 | memcpy(LCD,RX.Decode, sizeof(RX.Decode)); |
||
1492 | |||
227 | KeyOz | 1493 | f_LCD->show_Data(LCD); |
1494 | |||
159 | KeyOz | 1495 | LCD_Page = RX.Decode[0]; |
1496 | LCD_MAX_Page = RX.Decode[1]; |
||
158 | KeyOz | 1497 | } |
1498 | break; |
||
167 | KeyOz | 1499 | // Analoglabels |
1500 | case 'A' : // DONE 0.71g |
||
1501 | if (ToolBox::Decode64(RX)) |
||
158 | KeyOz | 1502 | { |
313 | KeyOz | 1503 | o_Connection->stop_ReSend(); |
1504 | |||
159 | KeyOz | 1505 | int Position = RX.Decode[0]; |
163 | KeyOz | 1506 | if (Position != 31) |
158 | KeyOz | 1507 | { |
162 | KeyOz | 1508 | Settings->Analog1.Label[Position] = ToolBox::Data2QString(RX.Decode,1,17).trimmed(); |
167 | KeyOz | 1509 | if (Settings->Analog1.Label[Position] == "") |
1510 | { |
||
1511 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
||
1512 | } |
||
158 | KeyOz | 1513 | Position ++; |
1514 | TX_Data[0] = Position; |
||
306 | KeyOz | 1515 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true); |
158 | KeyOz | 1516 | } |
166 | KeyOz | 1517 | if (Position == 31) |
158 | KeyOz | 1518 | { |
1519 | for (int a = 0; a < MaxAnalog; a++) |
||
1520 | { |
||
162 | KeyOz | 1521 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
158 | KeyOz | 1522 | } |
163 | KeyOz | 1523 | Settings->Analog1.Version = Mode.Version; |
162 | KeyOz | 1524 | Settings->write_Settings_AnalogLabels(HardwareID); |
158 | KeyOz | 1525 | config_Plot(); |
1526 | } |
||
1527 | } |
||
1528 | break; |
||
167 | KeyOz | 1529 | // Debug-Daten |
1530 | case 'D' : // DONE 0.71g |
||
1531 | if (ToolBox::Decode64(RX)) |
||
158 | KeyOz | 1532 | { |
1533 | for (int i = 0; i < MaxAnalog; i++) |
||
1534 | { |
||
1535 | AnalogData[i] = ToolBox::Data2Int(RX.Decode, (i * 2) + 2); |
||
1536 | } |
||
1537 | show_DebugData(); |
||
1538 | } |
||
1539 | break; |
||
167 | KeyOz | 1540 | // Version |
1541 | case 'V' : // DONE 0.71h |
||
1542 | if (ToolBox::Decode64(RX)) |
||
159 | KeyOz | 1543 | { |
313 | KeyOz | 1544 | o_Connection->stop_ReSend(); |
159 | KeyOz | 1545 | |
167 | KeyOz | 1546 | Mode.ID = HardwareID; |
1547 | Mode.VERSION_MAJOR = RX.Decode[0]; |
||
1548 | Mode.VERSION_MINOR = RX.Decode[1]; |
||
1549 | Mode.VERSION_PATCH = RX.Decode[4]; |
||
1550 | Mode.VERSION_SERIAL_MAJOR = RX.Decode[2]; |
||
1551 | Mode.VERSION_SERIAL_MINOR = RX.Decode[3]; |
||
159 | KeyOz | 1552 | |
167 | KeyOz | 1553 | Mode.Hardware = HardwareType[Mode.ID]; |
1554 | Mode.Version = QString("%1").arg(RX.Decode[0]) + "." + QString("%1").arg(RX.Decode[1]) + QString(RX.Decode[4] + 'a'); |
||
158 | KeyOz | 1555 | |
167 | KeyOz | 1556 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + Mode.Hardware + " " + Mode.Version); |
158 | KeyOz | 1557 | |
167 | KeyOz | 1558 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
1559 | { |
||
272 | KeyOz | 1560 | // AllowSend = false; |
167 | KeyOz | 1561 | QMessageBox::warning(this, QA_NAME, |
1562 | "Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,", QMessageBox::Ok); |
||
1563 | } |
||
159 | KeyOz | 1564 | |
199 | KeyOz | 1565 | if (ac_NoDebug->isChecked()) |
1566 | { |
||
1567 | TX_Data[0] = 0; |
||
1568 | } |
||
1569 | else |
||
1570 | if (ac_FastDebug->isChecked()) |
||
1571 | { |
||
1572 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
||
1573 | } |
||
1574 | else |
||
1575 | { |
||
1576 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
||
1577 | } |
||
1578 | |||
306 | KeyOz | 1579 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
199 | KeyOz | 1580 | |
167 | KeyOz | 1581 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
1582 | if (Mode.ID == ADDRESS_MK3MAG) |
||
1583 | { |
||
1584 | TickerEvent[3] = true; |
||
199 | KeyOz | 1585 | rb_SelMag->setChecked(true); |
167 | KeyOz | 1586 | } |
158 | KeyOz | 1587 | |
199 | KeyOz | 1588 | // Wenn NaviCtrl dann hier. |
1589 | if (Mode.ID == ADDRESS_NC) |
||
1590 | { |
||
1591 | rb_SelNC->setChecked(true); |
||
158 | KeyOz | 1592 | |
199 | KeyOz | 1593 | if (ac_NoNavi->isChecked()) |
1594 | { |
||
1595 | TX_Data[0] = 0; |
||
1596 | } |
||
1597 | else |
||
1598 | if (ac_FastNavi->isChecked()) |
||
1599 | { |
||
1600 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
||
1601 | } |
||
1602 | else |
||
1603 | { |
||
1604 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
||
1605 | } |
||
1606 | |||
306 | KeyOz | 1607 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
199 | KeyOz | 1608 | } |
1609 | |||
1610 | |||
167 | KeyOz | 1611 | // Wenn FlightCtrl dann Settings abfragen. |
1612 | if (Mode.ID == ADDRESS_FC) |
||
1613 | { |
||
199 | KeyOz | 1614 | rb_SelFC->setChecked(true); |
167 | KeyOz | 1615 | { |
1616 | TX_Data[0] = 0xff; |
||
1617 | TX_Data[1] = 0; |
||
250 | KeyOz | 1618 | |
1619 | // DEP: Raus wenn Resend implementiert. |
||
1620 | ToolBox::Wait(SLEEP); |
||
306 | KeyOz | 1621 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
250 | KeyOz | 1622 | qDebug("FC - Get Settings"); |
167 | KeyOz | 1623 | } |
1624 | } |
||
1625 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
||
1626 | else |
||
1627 | { |
||
1628 | f_Settings->pb_Read->setDisabled(true); |
||
1629 | f_Settings->pb_Write->setDisabled(true); |
||
1630 | } |
||
158 | KeyOz | 1631 | |
167 | KeyOz | 1632 | Settings->read_Settings_Analog(HardwareID); |
1633 | Settings->read_Settings_AnalogLabels(HardwareID); |
||
159 | KeyOz | 1634 | |
167 | KeyOz | 1635 | if (Settings->Analog1.Version != Mode.Version) |
158 | KeyOz | 1636 | { |
167 | KeyOz | 1637 | lb_Status->setText("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus."); |
1638 | slot_ac_GetLabels(); |
||
158 | KeyOz | 1639 | } |
167 | KeyOz | 1640 | else |
1641 | for (int a = 0; a < MaxAnalog; a++) |
||
1642 | { |
||
1643 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
||
1644 | } |
||
1645 | config_Plot(); |
||
158 | KeyOz | 1646 | } |
1647 | break; |
||
167 | KeyOz | 1648 | } |
158 | KeyOz | 1649 | } |
272 | KeyOz | 1650 | |
1651 | // TODO: Roh-Daten senden zum QMK-Server dazu Sendebuffer bauen. |
||
1652 | if ((QMK_Server->property("Connect")) == true) |
||
1653 | { |
||
1654 | // QMK_Server->send_RawData(RX.String); |
||
1655 | } |
||
1656 | |||
1657 | slot_showTerminal(1, RX.String); |
||
158 | KeyOz | 1658 | } |
1659 | |||
250 | KeyOz | 1660 | void MKTool::slot_showTerminal(int Typ, QString Text) |
158 | KeyOz | 1661 | { |
250 | KeyOz | 1662 | switch(Typ) |
158 | KeyOz | 1663 | { |
250 | KeyOz | 1664 | case 1 : |
158 | KeyOz | 1665 | { |
250 | KeyOz | 1666 | if ((cb_ShowData->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked()))) |
158 | KeyOz | 1667 | { |
250 | KeyOz | 1668 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1669 | te_RX->insertHtml("<span style=\"color:#00008b;\">" + Text + "<br /></span>"); |
||
158 | KeyOz | 1670 | } |
250 | KeyOz | 1671 | } |
1672 | break; |
||
1673 | case 2 : |
||
1674 | { |
||
1675 | if ((cb_ShowMSG->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked()))) |
||
158 | KeyOz | 1676 | { |
307 | KeyOz | 1677 | if (Text.length() > 0) |
1678 | { |
||
1679 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
||
1680 | te_RX->insertHtml("<span style=\"color:#008b00;\">" + Text + "</span><br />"); |
||
1681 | } |
||
158 | KeyOz | 1682 | } |
1683 | } |
||
250 | KeyOz | 1684 | break; |
1685 | case 3 : |
||
158 | KeyOz | 1686 | { |
250 | KeyOz | 1687 | if (cb_ShowSend->isChecked()) |
158 | KeyOz | 1688 | { |
250 | KeyOz | 1689 | te_RX->moveCursor(QTextCursor::End, QTextCursor::MoveAnchor); |
1690 | te_RX->insertHtml("<span style='color:#8b0000;'>" + Text + "<br /></span>"); |
||
158 | KeyOz | 1691 | } |
1692 | } |
||
250 | KeyOz | 1693 | break; |
158 | KeyOz | 1694 | } |
1695 | } |
||
1696 | |||
272 | KeyOz | 1697 | // Verbindung zum Kopter herstellen / Trennen |
158 | KeyOz | 1698 | void MKTool::slot_OpenPort() |
1699 | { |
||
306 | KeyOz | 1700 | if (o_Connection->isOpen()) |
250 | KeyOz | 1701 | { |
199 | KeyOz | 1702 | TX_Data[0] = Settings->Data.Debug_Off / 10; |
306 | KeyOz | 1703 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
227 | KeyOz | 1704 | ToolBox::Wait(SLEEP); |
158 | KeyOz | 1705 | |
199 | KeyOz | 1706 | if (Mode.ID == ADDRESS_NC) |
1707 | { |
||
1708 | TX_Data[0] = Settings->Data.Navi_Off / 10; |
||
306 | KeyOz | 1709 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
227 | KeyOz | 1710 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 1711 | } |
1712 | |||
272 | KeyOz | 1713 | if (Mode.ID == ADDRESS_FC) |
199 | KeyOz | 1714 | { |
1715 | TX_Data[0] = 0; |
||
1716 | TX_Data[1] = 0; |
||
1717 | TX_Data[2] = 0; |
||
1718 | TX_Data[3] = 0; |
||
306 | KeyOz | 1719 | o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false); |
227 | KeyOz | 1720 | ToolBox::Wait(SLEEP); |
199 | KeyOz | 1721 | } |
250 | KeyOz | 1722 | |
306 | KeyOz | 1723 | o_Connection->Close(); |
250 | KeyOz | 1724 | |
263 | KeyOz | 1725 | ac_ConnectTTY->setText("Kopter Verbinden"); |
199 | KeyOz | 1726 | le_Port->setEnabled(true); |
1727 | |||
167 | KeyOz | 1728 | Ticker->stop(); |
158 | KeyOz | 1729 | } |
1730 | else |
||
1731 | { |
||
263 | KeyOz | 1732 | int i_Type; |
1733 | if (le_Port->text().contains(QString("IP:"))) |
||
158 | KeyOz | 1734 | { |
263 | KeyOz | 1735 | i_Type = C_IP; |
1736 | } |
||
1737 | else |
||
1738 | { |
||
1739 | i_Type = C_TTY; |
||
1740 | } |
||
1741 | |||
306 | KeyOz | 1742 | if (o_Connection->Open(i_Type, le_Port->text())) |
263 | KeyOz | 1743 | { |
1744 | ac_ConnectTTY->setText("Kopter Trennen"); |
||
199 | KeyOz | 1745 | le_Port->setEnabled(false); |
158 | KeyOz | 1746 | |
306 | KeyOz | 1747 | o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true); |
159 | KeyOz | 1748 | |
167 | KeyOz | 1749 | Ticker->start(2000); |
158 | KeyOz | 1750 | } |
1751 | } |
||
1752 | } |
||
1753 | |||
1754 | // Programm beenden |
||
1755 | /////////////////// |
||
162 | KeyOz | 1756 | |
1757 | MKTool::~MKTool() |
||
158 | KeyOz | 1758 | { |
306 | KeyOz | 1759 | if (o_Connection->isOpen()) |
158 | KeyOz | 1760 | { |
306 | KeyOz | 1761 | o_Connection->Close(); |
158 | KeyOz | 1762 | } |
1763 | |||
167 | KeyOz | 1764 | set_Preferences(); |
162 | KeyOz | 1765 | Settings->write_Settings(); |
158 | KeyOz | 1766 | |
239 | Brean | 1767 | logger->close(); |
158 | KeyOz | 1768 | } |