Subversion Repositories Projects

/***************************************************************************

 *   Copyright (C) 2008 by Manuel Schrape                                  *

 *   manuel.schrape@gmx.de                                                 *

 *                                                                         *

 *   This program is free software; you can redistribute it and/or modify  *

 *   it under the terms of the GNU General Public License as published by  *

 *   the Free Software Foundation; either version 2 of the License.        *

 *                                                                         *

 *   This program is distributed in the hope that it will be useful,       *

 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *

 *   GNU General Public License for more details.                          *

 *                                                                         *

 *   You should have received a copy of the GNU General Public License     *

 *   along with this program; if not, write to the                         *

 *   Free Software Foundation, Inc.,                                       *

 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *

 ***************************************************************************/

#ifndef MKTOOL_H

#define MKTOOL_H

#include <QMainWindow>

#include <QSettings>

#include <QString>

#include <QTimer>

#include <QComboBox>

#include <QIcon>

#include <QProcess>

#include <qwt_plot_curve.h>

#include <qwt_plot_grid.h>

#include <qwt_legend.h>

#include <qwt_plot.h>

#include <qwt_compass.h>

#include <qwt_compass_rose.h>

#include <qwt_dial_needle.h>

#include "ui_mktool.h"

#include "wdg_Settings.h"

#include "dlg_LCD.h"

#include "dlg_Map.h"

#include "dlg_MotorMixer.h"

#include "../Classes/cSettings.h"

#include "../Classes/cKML_Server.h"

#include "../Classes/cQMK_Server.h"

#include "../Classes/cAttitude.h"

#include "../Classes/cSpeedMeter.h"

#include "../Logger/Logger.h"

#include "../typedefs.h"

//quadcopter lib stuff

#include "../libMK/Handler.h"

#include "../libMK/Communication.h"

#include "../libMK/QTCommunication.h"

class QextSerialPort;

class MKTool : public QMainWindow, public Ui::dlg_mktool_UI

{

      Q_OBJECT

public:

      MKTool();

      ~MKTool();

private:

    // data-exchange from the MK

    KopterData * data;

    // data-handler to send commands to MK

    Handler *handler;

    // connect to MK/disconnect from MK

    Communication *com;

    // settings object (program configuration)

    cSettings *Settings;

    // settings widget (FC settings)

    wdg_Settings *f_Settings;

    // HTTP server object for KML files

    cKML_Server *KML_Server;

    // QMK-serverobjekt

    cQMK_Server *QMK_Server;

    // LCD dialog

    dlg_LCD *f_LCD;

    // MotorMixer dialog

    dlg_MotorMixer *f_MotorMixer;

    // Map dialog

    dlg_Map *f_Map;

    //TCP socket - needed by QMK server

    QTcpSocket *TcpSocket;

    //FIXME: replace ticker with something else

    // Default-Ticker

    //QTimer *Ticker;

    // copy of the tabs from the main widget

    QWidget *TabWidgets[7];

    // analog names (label)

    QLabel *lb_Analog[MaxAnalog];

    // analog values (line edit)

    QLineEdit *le_Analog[MaxAnalog];

    // Plots für die Analogwerte

    QwtPlotCurve *Plot[MaxAnalog];

    // Datenspeicher für die Plots

    double aData[MaxAnalog][MaxPlot];

    double aID[MaxPlot];

    int NextPlot;

    AttitudeIndicator *Attitude;

    cSpeedMeter * SpeedMeter;

    // Ticker-Event-Array

    //FIXME: move ticker to QTCommunication

    //bool TickerEvent[MaxTickerEvents];

    //bool TickerDiv;

    // logger for CVS, MySQL and others

    Logger * logger;

    // software update

    QProcess *Update;

    // FC-Settings

    int FCSettings[MaxParameter];

    // initialize program

    void init_GUI();

    void init_Objects();

    void init_Connections();

    void init_Arrays();

    void init_Plot();

    void init_Cockpit();

    // plot data

    void update_Plot();

    void config_Plot();

    void new_NaviData(sRxData RX);

    void parse_TargetKML();

    // show and save debug/log

    void show_DebugData();

    void update_Log();

    // save program settings

    void set_Preferences();

private slots:

    void slot_QMKS_Connect();

    void slot_QMKS_Connected();

    void slot_QMKS_Disconnected(int Error);

    void slot_set_Settings(cSettings *t_Settings);

    void slot_MAP_SetTarget(sWayPoint Target);

    void slot_MAP_SetWayPoints(QList<sWayPoint> l_WayPoints);

    void slot_showTerminal(int Typ, QString Text);

    void slot_ac_Hardware();

    void slot_rb_Hardware();

    void slot_ac_StartServer();

    void slot_Test();

    void slot_ac_Config();

    void slot_ac_Preferences();

    void slot_ac_StartPlotter();

    void slot_ac_View();

    void slot_ac_FastDebug();

    void slot_ac_NoDebug();

    void slot_ac_FastNavi();

    void slot_ac_NoNavi();

    void slot_ac_About();

    void slot_ac_GetLabels();

    void slot_ac_Motortest();

    void slot_ac_LCD();

    void slot_ac_Map();

    void slot_ac_MotorMixer();

    void slot_pb_HexFile();

    void slot_pb_SendTarget();

    // Default-Ticker

    //FIXME: put this in libMK/QTCommunication.cpp

    //void slot_Ticker();

    // LCD page up / down

    void slot_LCD_UP();

    void slot_LCD_DOWN();

    void slot_Motortest(sMotorData p_Motor);

    // Firmeware-Update

    void slot_pb_Update();

    void slot_UpdateShell();

    // Seriell-Port Slots

    void slot_newData(sRxData RX);

    void slot_OpenPort();

    void slot_TabChanged(int Tab);

    void slot_RecordLog();

    void slot_ScrollPlot(int Pos);

    // FC-Settings lesen / Schreiben

    void slot_GetFCSettings();

    void slot_SetFCSettings();

};

#endif