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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 462 | Brean | 1 | #include "Handler.h" |
| 2 | #include <iostream> |
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| 391 | Brean | 3 | |
| 4 | /** |
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| 392 | Brean | 5 | * Constructor that gets a communication instance |
| 6 | */ |
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| 440 | Brean | 7 | Handler::Handler(Communication * com, KopterData * data) { |
| 392 | Brean | 8 | this->com = com; |
| 440 | Brean | 9 | this->data = data; |
| 392 | Brean | 10 | } |
| 11 | |||
| 399 | Brean | 12 | //-------------FlightCtrl commands-------------------- |
| 392 | Brean | 13 | /** |
| 399 | Brean | 14 | * read settings from FlightCtrl (settings index 0x00-0x05) |
| 15 | */ |
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| 16 | void Handler::get_flightctrl_settings(int index) { |
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| 17 | char tx_data[2] = {index, 0}; |
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| 18 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
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| 19 | } |
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| 20 | |||
| 21 | /** |
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| 22 | * write settings to FlightCtrl |
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| 23 | */ |
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| 24 | void Handler::set_flightctrl_settings(char * tx_data) { |
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| 25 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
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| 26 | } |
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| 27 | |||
| 28 | /** |
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| 29 | * test one or more motors |
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| 30 | */ |
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| 442 | Brean | 31 | void Handler::motor_test(sMotorData motor) { |
| 32 | char tx_data[MAX_MOTORS]; |
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| 33 | for (int z = 0; z<MAX_MOTORS; z++) |
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| 399 | Brean | 34 | { |
| 442 | Brean | 35 | tx_data[z] = motor.desired_speed[z]; |
| 399 | Brean | 36 | } |
| 442 | Brean | 37 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
| 399 | Brean | 38 | } |
| 39 | |||
| 440 | Brean | 40 | void Handler::reset_motor() { |
| 442 | Brean | 41 | for (int z = 0; z<MAX_MOTORS; z++) |
| 440 | Brean | 42 | { |
| 442 | Brean | 43 | data->motor.desired_speed[z] = 0; |
| 440 | Brean | 44 | } |
| 45 | |||
| 442 | Brean | 46 | motor_test(data->motor); |
| 440 | Brean | 47 | } |
| 48 | |||
| 399 | Brean | 49 | /** |
| 391 | Brean | 50 | * read mixer values from FlightCtrl |
| 51 | */ |
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| 440 | Brean | 52 | void Handler::read_motor_mixer() { |
| 396 | Brean | 53 | char tx_data[1] = {0}; |
| 54 | //com->log("read motor mixer"); |
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| 397 | Brean | 55 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
| 393 | Brean | 56 | } |
| 57 | |||
| 399 | Brean | 58 | /** |
| 59 | * write motor mixer values to FlightCtrl |
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| 60 | */ |
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| 440 | Brean | 61 | void Handler::write_motor_mixer(char * tx_data, int length) { |
| 399 | Brean | 62 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
| 63 | } |
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| 64 | |||
| 440 | Brean | 65 | int Handler::get_motor_config(char * tx_data) { |
| 66 | return -1; |
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| 396 | Brean | 67 | } |
| 68 | |||
| 399 | Brean | 69 | //-------------NaviCtrl commands-------------------- |
| 70 | /** |
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| 71 | * set debug values for NaviCtrl |
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| 72 | */ |
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| 73 | void Handler::set_navictrl_debug(int speed) { |
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| 74 | char tx_data[1] = { speed }; |
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| 75 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
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| 76 | } |
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| 77 | |||
| 78 | /** |
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| 79 | * stop debug for NaviCtrl |
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| 80 | */ |
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| 81 | void Handler::stop_navictrl_debug() { |
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| 82 | set_navictrl_debug(0); |
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| 83 | } |
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| 84 | |||
| 85 | /** |
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| 449 | Brean | 86 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
| 399 | Brean | 87 | */ |
| 88 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
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| 89 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
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| 90 | } |
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| 91 | |||
| 92 | /** |
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| 93 | * add waypoint to waypoint list |
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| 94 | */ |
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| 95 | void Handler::add_waypoint(Waypoint_t wp) { |
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| 96 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
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| 97 | } |
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| 98 | |||
| 99 | /** |
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| 100 | * clear waypoint list on MK |
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| 101 | */ |
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| 102 | void Handler::delete_waypoints() { |
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| 103 | Waypoint_t wp; |
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| 104 | wp.Position.Status = INVALID; |
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| 105 | send_waypoint(wp); |
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| 106 | } |
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| 107 | //-------------switch between Hardware-------------------- |
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| 108 | void Handler::switch_navictrl() { |
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| 109 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
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| 110 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
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| 111 | } |
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| 112 | |||
| 113 | void Handler::switch_flightctrl() { |
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| 114 | char tx_data[1] = { 0 }; |
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| 115 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
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| 116 | } |
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| 117 | |||
| 118 | void Handler::switch_mk3mag() { |
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| 119 | char tx_data[1] = { 1 }; |
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| 120 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
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| 121 | } |
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| 122 | |||
| 123 | //-------------commands for MK3MAG----------------- |
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| 124 | |||
| 125 | |||
| 126 | //-------------commands for all-------------------- |
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| 127 | |||
| 128 | /** |
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| 129 | * set debug values for all components |
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| 130 | */ |
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| 131 | void Handler::set_all_debug(int speed) { |
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| 132 | char tx_data[1] = { speed }; |
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| 133 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
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| 134 | } |
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| 135 | |||
| 136 | /** |
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| 137 | * stop debug for all components |
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| 138 | */ |
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| 139 | void Handler::stop_all_debug() { |
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| 140 | set_all_debug(0); |
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| 141 | } |
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| 142 | |||
| 143 | /** |
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| 144 | * get all analog labels |
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| 145 | */ |
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| 146 | void Handler::get_analog() { |
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| 147 | char tx_data[1] = { 0 }; |
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| 148 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
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| 149 | } |
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| 150 | |||
| 151 | /** |
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| 152 | * get values from LCD / show LCD |
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| 153 | */ |
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| 154 | void Handler::show_lcd() { |
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| 155 | char tx_data[1] = {0}; |
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| 156 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
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| 157 | } |
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| 158 | |||
| 159 | /** |
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| 160 | * got to next LCD Page |
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| 161 | */ |
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| 162 | void Handler::lcd_up() { |
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| 163 | char tx_data[2] = { 0, 0 }; |
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| 440 | Brean | 164 | if (data->lcd_cur != data->lcd_max) |
| 165 | tx_data[0] = data->lcd_cur+1; |
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| 399 | Brean | 166 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
| 167 | } |
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| 168 | |||
| 169 | /** |
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| 170 | * got to previous LCD Page |
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| 171 | */ |
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| 172 | void Handler::lcd_down() { |
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| 173 | char tx_data[2] = { 0, 0 }; |
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| 440 | Brean | 174 | if (data->lcd_cur != 0) |
| 175 | tx_data[0] = data->lcd_cur-1; |
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| 399 | Brean | 176 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
| 177 | } |
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| 178 | |||
| 179 | void Handler::get_version() { |
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| 180 | //TODO: Check if is this correct or do we need data from switch_... |
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| 181 | char tx_data[1] = { 0 }; |
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| 182 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
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| 183 | } |
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| 184 | |||
| 185 | void Handler::get_ppm_channels() { |
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| 186 | char tx_data[1] = { 0 }; |
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| 187 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
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| 188 | } |
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| 189 | |||
| 190 | /** |
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| 191 | * receive data |
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| 192 | */ |
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| 449 | Brean | 193 | //Parser::decode64(data); |
| 194 | void Handler::receive_data(int hardwareID, int cmd, char * data) { |
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| 393 | Brean | 195 | switch(hardwareID) |
| 196 | { |
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| 197 | case ADDRESS_FC : |
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| 449 | Brean | 198 | switch(cmd) |
| 393 | Brean | 199 | { |
| 200 | // Motor-Mixer |
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| 201 | case 'N' : |
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| 449 | Brean | 202 | //if (Parser::decode64(RX)) |
| 203 | //{ |
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| 397 | Brean | 204 | com->stop_resend(); |
| 449 | Brean | 205 | //decoded data |
| 206 | if (data[0] == VERSION_MIXER) |
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| 393 | Brean | 207 | { |
| 396 | Brean | 208 | //f_MotorMixer->set_MotorConfig(RX); |
| 393 | Brean | 209 | } |
| 449 | Brean | 210 | //} |
| 211 | break; |
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| 393 | Brean | 212 | // Motor-Mixer Schreib-Bestätigung |
| 213 | case 'M' : |
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| 449 | Brean | 214 | com->stop_resend(); |
| 215 | |||
| 216 | if (data[0] == 1) |
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| 393 | Brean | 217 | { |
| 449 | Brean | 218 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
| 393 | Brean | 219 | } |
| 449 | Brean | 220 | break; |
| 393 | Brean | 221 | |
| 222 | // Stick-Belegung der Fernsteuerung |
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| 223 | case 'P' : // DONE 0.71g |
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| 449 | Brean | 224 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
| 225 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
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| 226 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
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| 227 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
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| 228 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
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| 229 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
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| 230 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
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| 231 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
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| 232 | break; |
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| 393 | Brean | 233 | // Settings lesen |
| 234 | case 'Q' : // DONE 0.71g |
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| 449 | Brean | 235 | com->stop_resend(); |
| 236 | |||
| 237 | if (data[1] == VERSION_SETTINGS) |
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| 393 | Brean | 238 | { |
| 449 | Brean | 239 | int Settings_ID = data[0]; |
| 240 | /*for (int a = 0; a < MaxParameter; a++) |
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| 393 | Brean | 241 | { |
| 449 | Brean | 242 | FCSettings[a] = RX.decode[a + 2]; |
| 393 | Brean | 243 | } |
| 449 | Brean | 244 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
| 245 | f_Settings->pb_Read->setEnabled(true); |
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| 246 | f_Settings->pb_Write->setEnabled(true);*/ |
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| 247 | } |
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| 248 | else |
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| 249 | { |
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| 250 | /*f_Settings->pb_Read->setDisabled(true); |
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| 251 | f_Settings->pb_Write->setDisabled(true); |
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| 393 | Brean | 252 | |
| 449 | Brean | 253 | QString name = QString("Versionen inkompatibel.\n") + |
| 254 | QString("Version von GroundStation benoetigt: ") + |
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| 255 | QString(VERSION_SETTINGS) + |
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| 256 | QString("\nVersion auf der FlightCtrl: ") + |
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| 257 | QString(RX.decode[1]) + |
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| 258 | QString("\nParameterbearbeitung nicht moeglich."); |
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| 259 | QMessageBox::warning(this, QA_NAME, |
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| 260 | name, QMessageBox::Ok);*/ |
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| 393 | Brean | 261 | } |
| 449 | Brean | 262 | break; |
| 396 | Brean | 263 | // Settings written |
| 393 | Brean | 264 | case 'S' : // DONE 0.71g |
| 397 | Brean | 265 | com->stop_resend(); |
| 396 | Brean | 266 | //TODO: QMessagebox("settings written successful") ? |
| 449 | Brean | 267 | break; |
| 393 | Brean | 268 | } |
| 269 | |||
| 270 | case ADDRESS_NC : |
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| 449 | Brean | 271 | switch(cmd) |
| 393 | Brean | 272 | { |
| 273 | // Navigationsdaten |
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| 274 | case 'O' : // NOT DONE 0.12h |
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| 449 | Brean | 275 | //new_NaviData(RX); |
| 276 | break; |
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| 393 | Brean | 277 | } |
| 278 | // case ADDRESS_MK3MAG : |
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| 279 | |||
| 280 | default : |
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| 449 | Brean | 281 | switch(cmd) |
| 393 | Brean | 282 | { |
| 283 | // LCD-Anzeige |
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| 284 | case 'L' : // DONE 0.71g |
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| 449 | Brean | 285 | com->stop_resend(); |
| 393 | Brean | 286 | |
| 449 | Brean | 287 | /*int LCD[150]; |
| 288 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
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| 393 | Brean | 289 | |
| 449 | Brean | 290 | f_LCD->show_Data(LCD); |
| 393 | Brean | 291 | |
| 449 | Brean | 292 | LCD_Page = RX.decode[0]; |
| 293 | LCD_MAX_Page = RX.decode[1]; |
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| 294 | */ |
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| 295 | break; |
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| 393 | Brean | 296 | // Analoglabels |
| 297 | case 'A' : // DONE 0.71g |
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| 449 | Brean | 298 | com->stop_resend(); |
| 393 | Brean | 299 | |
| 449 | Brean | 300 | //check position |
| 301 | if (data[0] != 31) { |
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| 302 | /* |
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| 303 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
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| 304 | if (Settings->Analog1.Label[Position] == "") |
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| 393 | Brean | 305 | { |
| 449 | Brean | 306 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
| 393 | Brean | 307 | } |
| 449 | Brean | 308 | Position ++; |
| 309 | TX_Data[0] = Position; |
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| 310 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
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| 311 | } else { |
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| 312 | /* |
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| 313 | for (int a = 0; a < MaxAnalog; a++) |
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| 393 | Brean | 314 | { |
| 449 | Brean | 315 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
| 393 | Brean | 316 | } |
| 449 | Brean | 317 | Settings->Analog1.Version = QString(Mode.Version); |
| 318 | Settings->write_Settings_AnalogLabels(HardwareID); |
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| 319 | config_Plot();*/ |
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| 393 | Brean | 320 | } |
| 449 | Brean | 321 | break; |
| 393 | Brean | 322 | // Debug-Daten |
| 323 | case 'D' : // DONE 0.71g |
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| 449 | Brean | 324 | for (int i = 0; i < MaxAnalog; i++) { |
| 462 | Brean | 325 | std::cout << Parser::dataToInt(data, (i * 2) + 2) << std::endl; |
| 393 | Brean | 326 | } |
| 449 | Brean | 327 | //show_DebugData(); |
| 328 | break; |
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| 393 | Brean | 329 | // Version |
| 330 | case 'V' : // DONE 0.71h |
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| 449 | Brean | 331 | com->stop_resend(); |
| 332 | /* |
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| 333 | Mode.ID = HardwareID; |
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| 334 | Mode.VERSION_MAJOR = RX.decode[0]; |
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| 335 | Mode.VERSION_MINOR = RX.decode[1]; |
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| 336 | Mode.VERSION_PATCH = RX.decode[4]; |
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| 337 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
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| 338 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
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| 393 | Brean | 339 | |
| 449 | Brean | 340 | Mode.Hardware = HardwareType[Mode.ID]; |
| 341 | //TODO: Funktion im Handler get_version() oder sowas |
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| 342 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
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| 343 | QString("%1").arg(RX.decode[1]) + |
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| 344 | QString(RX.decode[4] + 'a'); |
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| 345 | Mode.Version = version.toLatin1().data; |
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| 346 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
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| 347 | Mode.Hardware + " " + |
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| 348 | Mode.Version); |
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| 393 | Brean | 349 | |
| 449 | Brean | 350 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
| 351 | { |
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| 393 | Brean | 352 | // AllowSend = false; |
| 449 | Brean | 353 | QMessageBox::warning(this, QA_NAME, |
| 354 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
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| 355 | } |
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| 393 | Brean | 356 | |
| 449 | Brean | 357 | if (ac_NoDebug->isChecked()) |
| 358 | { |
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| 359 | TX_Data[0] = 0; |
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| 360 | } |
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| 361 | else |
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| 362 | if (ac_FastDebug->isChecked()) |
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| 363 | { |
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| 364 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
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| 365 | } |
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| 366 | else |
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| 367 | { |
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| 368 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
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| 369 | } |
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| 370 | |||
| 371 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
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| 372 | |||
| 373 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
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| 374 | if (Mode.ID == ADDRESS_MK3MAG) |
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| 375 | { |
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| 376 | TickerEvent[3] = true; |
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| 377 | rb_SelMag->setChecked(true); |
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| 378 | } |
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| 379 | |||
| 380 | // Wenn NaviCtrl dann hier. |
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| 381 | if (Mode.ID == ADDRESS_NC) |
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| 382 | { |
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| 383 | rb_SelNC->setChecked(true); |
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| 384 | |||
| 385 | if (ac_NoNavi->isChecked()) |
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| 393 | Brean | 386 | { |
| 387 | TX_Data[0] = 0; |
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| 388 | } |
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| 389 | else |
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| 449 | Brean | 390 | if (ac_FastNavi->isChecked()) |
| 393 | Brean | 391 | { |
| 449 | Brean | 392 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
| 393 | Brean | 393 | } |
| 394 | else |
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| 395 | { |
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| 449 | Brean | 396 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
| 393 | Brean | 397 | } |
| 398 | |||
| 449 | Brean | 399 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
| 400 | } |
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| 393 | Brean | 401 | |
| 402 | |||
| 449 | Brean | 403 | // Wenn FlightCtrl dann Settings abfragen. |
| 404 | if (Mode.ID == ADDRESS_FC) |
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| 405 | { |
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| 406 | rb_SelFC->setChecked(true); |
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| 393 | Brean | 407 | { |
| 449 | Brean | 408 | TX_Data[0] = 0xff; |
| 409 | TX_Data[1] = 0; |
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| 393 | Brean | 410 | |
| 449 | Brean | 411 | // DEP: Raus wenn Resend implementiert. |
| 393 | Brean | 412 | // ToolBox::Wait(SLEEP); |
| 449 | Brean | 413 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
| 414 | qDebug("FC - Get Settings"); |
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| 393 | Brean | 415 | } |
| 449 | Brean | 416 | } |
| 417 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
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| 418 | else |
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| 419 | { |
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| 420 | f_Settings->pb_Read->setDisabled(true); |
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| 421 | f_Settings->pb_Write->setDisabled(true); |
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| 422 | } |
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| 393 | Brean | 423 | |
| 449 | Brean | 424 | Settings->read_Settings_Analog(HardwareID); |
| 425 | Settings->read_Settings_AnalogLabels(HardwareID); |
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| 393 | Brean | 426 | |
| 449 | Brean | 427 | if (Settings->Analog1.Version != QString(Mode.Version)) |
| 428 | { |
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| 429 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
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| 430 | slot_ac_GetLabels(); |
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| 393 | Brean | 431 | } |
| 449 | Brean | 432 | else |
| 433 | for (int a = 0; a < MaxAnalog; a++) |
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| 434 | { |
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| 435 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
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| 436 | } |
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| 437 | config_Plot();*/ |
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| 438 | break; |
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| 393 | Brean | 439 | } |
| 440 | } |
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| 391 | Brean | 441 | } |