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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 462 | Brean | 1 | #include "Handler.h" |
| 500 | Brean | 2 | #include "FlightLog.h" |
| 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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| 500 | Brean | 193 | void Handler::receive_data(char * incomming, int length) { |
| 194 | if (incomming[0] != '#') |
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| 195 | FlightLog::error("this frame is not correct"); |
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| 196 | FlightLog::info(incomming); |
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| 197 | return; |
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| 198 | int hardwareID = incomming[1] - 'a'; |
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| 199 | |||
| 200 | //The cmd is also known as ID-Byte (or ID for short) in the wiki-dokumentation |
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| 201 | char cmd = incomming[2]; |
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| 202 | //decode data |
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| 203 | unsigned char data[150]; |
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| 204 | |||
| 205 | Parser::decode64(incomming, length, data, 3); |
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| 206 | |||
| 393 | Brean | 207 | switch(hardwareID) |
| 208 | { |
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| 209 | case ADDRESS_FC : |
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| 449 | Brean | 210 | switch(cmd) |
| 393 | Brean | 211 | { |
| 212 | // Motor-Mixer |
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| 213 | case 'N' : |
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| 449 | Brean | 214 | //if (Parser::decode64(RX)) |
| 215 | //{ |
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| 397 | Brean | 216 | com->stop_resend(); |
| 449 | Brean | 217 | //decoded data |
| 500 | Brean | 218 | FlightLog::info("received motortest values from FlightCtrl"); |
| 449 | Brean | 219 | if (data[0] == VERSION_MIXER) |
| 393 | Brean | 220 | { |
| 396 | Brean | 221 | //f_MotorMixer->set_MotorConfig(RX); |
| 393 | Brean | 222 | } |
| 449 | Brean | 223 | //} |
| 224 | break; |
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| 393 | Brean | 225 | // Motor-Mixer Schreib-Bestätigung |
| 226 | case 'M' : |
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| 449 | Brean | 227 | com->stop_resend(); |
| 228 | |||
| 229 | if (data[0] == 1) |
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| 393 | Brean | 230 | { |
| 500 | Brean | 231 | FlightLog::info("motor values written to FlightCtrl."); |
| 449 | Brean | 232 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
| 500 | Brean | 233 | } else { |
| 234 | FlightLog::warning("could not write motor values to FlightCtrl!"); |
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| 393 | Brean | 235 | } |
| 449 | Brean | 236 | break; |
| 393 | Brean | 237 | |
| 238 | // Stick-Belegung der Fernsteuerung |
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| 239 | case 'P' : // DONE 0.71g |
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| 500 | Brean | 240 | FlightLog::info("received stick-settings from FlightCtrl:"); |
| 449 | Brean | 241 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
| 242 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
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| 243 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
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| 244 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
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| 245 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
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| 246 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
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| 247 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
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| 248 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
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| 249 | break; |
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| 393 | Brean | 250 | // Settings lesen |
| 251 | case 'Q' : // DONE 0.71g |
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| 449 | Brean | 252 | com->stop_resend(); |
| 500 | Brean | 253 | FlightLog::info("received settings from FlightCtrl"); |
| 449 | Brean | 254 | if (data[1] == VERSION_SETTINGS) |
| 393 | Brean | 255 | { |
| 449 | Brean | 256 | int Settings_ID = data[0]; |
| 257 | /*for (int a = 0; a < MaxParameter; a++) |
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| 393 | Brean | 258 | { |
| 449 | Brean | 259 | FCSettings[a] = RX.decode[a + 2]; |
| 393 | Brean | 260 | } |
| 449 | Brean | 261 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
| 262 | f_Settings->pb_Read->setEnabled(true); |
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| 263 | f_Settings->pb_Write->setEnabled(true);*/ |
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| 264 | } |
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| 265 | else |
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| 266 | { |
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| 500 | Brean | 267 | FlightLog::error("wrong FlightCtrl version"); |
| 449 | Brean | 268 | /*f_Settings->pb_Read->setDisabled(true); |
| 269 | f_Settings->pb_Write->setDisabled(true); |
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| 393 | Brean | 270 | |
| 449 | Brean | 271 | QString name = QString("Versionen inkompatibel.\n") + |
| 272 | QString("Version von GroundStation benoetigt: ") + |
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| 273 | QString(VERSION_SETTINGS) + |
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| 274 | QString("\nVersion auf der FlightCtrl: ") + |
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| 275 | QString(RX.decode[1]) + |
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| 276 | QString("\nParameterbearbeitung nicht moeglich."); |
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| 277 | QMessageBox::warning(this, QA_NAME, |
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| 278 | name, QMessageBox::Ok);*/ |
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| 393 | Brean | 279 | } |
| 449 | Brean | 280 | break; |
| 396 | Brean | 281 | // Settings written |
| 393 | Brean | 282 | case 'S' : // DONE 0.71g |
| 397 | Brean | 283 | com->stop_resend(); |
| 500 | Brean | 284 | FlightLog::info("settings written successfully to FlightCtrl"); |
| 396 | Brean | 285 | //TODO: QMessagebox("settings written successful") ? |
| 449 | Brean | 286 | break; |
| 393 | Brean | 287 | } |
| 288 | |||
| 289 | case ADDRESS_NC : |
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| 449 | Brean | 290 | switch(cmd) |
| 393 | Brean | 291 | { |
| 292 | // Navigationsdaten |
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| 293 | case 'O' : // NOT DONE 0.12h |
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| 449 | Brean | 294 | //new_NaviData(RX); |
| 500 | Brean | 295 | FlightLog::info("received navigation data from NaviCtrl"); |
| 449 | Brean | 296 | break; |
| 393 | Brean | 297 | } |
| 298 | // case ADDRESS_MK3MAG : |
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| 299 | |||
| 300 | default : |
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| 449 | Brean | 301 | switch(cmd) |
| 393 | Brean | 302 | { |
| 303 | // LCD-Anzeige |
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| 304 | case 'L' : // DONE 0.71g |
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| 449 | Brean | 305 | com->stop_resend(); |
| 500 | Brean | 306 | FlightLog::info("received LCD page."); |
| 449 | Brean | 307 | /*int LCD[150]; |
| 308 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
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| 393 | Brean | 309 | |
| 449 | Brean | 310 | f_LCD->show_Data(LCD); |
| 393 | Brean | 311 | |
| 449 | Brean | 312 | LCD_Page = RX.decode[0]; |
| 313 | LCD_MAX_Page = RX.decode[1]; |
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| 314 | */ |
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| 315 | break; |
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| 393 | Brean | 316 | // Analoglabels |
| 317 | case 'A' : // DONE 0.71g |
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| 449 | Brean | 318 | com->stop_resend(); |
| 500 | Brean | 319 | FlightLog::info("received analog labels"); |
| 449 | Brean | 320 | //check position |
| 321 | if (data[0] != 31) { |
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| 322 | /* |
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| 323 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
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| 324 | if (Settings->Analog1.Label[Position] == "") |
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| 393 | Brean | 325 | { |
| 449 | Brean | 326 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
| 393 | Brean | 327 | } |
| 449 | Brean | 328 | Position ++; |
| 329 | TX_Data[0] = Position; |
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| 330 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
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| 331 | } else { |
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| 332 | /* |
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| 333 | for (int a = 0; a < MaxAnalog; a++) |
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| 393 | Brean | 334 | { |
| 449 | Brean | 335 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
| 393 | Brean | 336 | } |
| 449 | Brean | 337 | Settings->Analog1.Version = QString(Mode.Version); |
| 338 | Settings->write_Settings_AnalogLabels(HardwareID); |
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| 339 | config_Plot();*/ |
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| 393 | Brean | 340 | } |
| 449 | Brean | 341 | break; |
| 393 | Brean | 342 | // Debug-Daten |
| 343 | case 'D' : // DONE 0.71g |
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| 500 | Brean | 344 | FlightLog::info("received debug data:"); |
| 449 | Brean | 345 | for (int i = 0; i < MaxAnalog; i++) { |
| 500 | Brean | 346 | /* |
| 347 | Parser::dataToInt((char *)data, (i * 2) + 2, false); |
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| 348 | */ |
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| 393 | Brean | 349 | } |
| 449 | Brean | 350 | //show_DebugData(); |
| 351 | break; |
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| 393 | Brean | 352 | // Version |
| 353 | case 'V' : // DONE 0.71h |
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| 449 | Brean | 354 | com->stop_resend(); |
| 500 | Brean | 355 | FlightLog::info("received version"); |
| 449 | Brean | 356 | /* |
| 357 | Mode.ID = HardwareID; |
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| 358 | Mode.VERSION_MAJOR = RX.decode[0]; |
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| 359 | Mode.VERSION_MINOR = RX.decode[1]; |
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| 360 | Mode.VERSION_PATCH = RX.decode[4]; |
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| 361 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
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| 362 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
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| 393 | Brean | 363 | |
| 449 | Brean | 364 | Mode.Hardware = HardwareType[Mode.ID]; |
| 365 | //TODO: Funktion im Handler get_version() oder sowas |
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| 366 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
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| 367 | QString("%1").arg(RX.decode[1]) + |
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| 368 | QString(RX.decode[4] + 'a'); |
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| 369 | Mode.Version = version.toLatin1().data; |
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| 370 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
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| 371 | Mode.Hardware + " " + |
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| 372 | Mode.Version); |
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| 393 | Brean | 373 | |
| 449 | Brean | 374 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
| 375 | { |
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| 393 | Brean | 376 | // AllowSend = false; |
| 449 | Brean | 377 | QMessageBox::warning(this, QA_NAME, |
| 378 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
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| 379 | } |
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| 393 | Brean | 380 | |
| 449 | Brean | 381 | if (ac_NoDebug->isChecked()) |
| 382 | { |
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| 383 | TX_Data[0] = 0; |
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| 384 | } |
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| 385 | else |
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| 386 | if (ac_FastDebug->isChecked()) |
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| 387 | { |
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| 388 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
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| 389 | } |
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| 390 | else |
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| 391 | { |
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| 392 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
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| 393 | } |
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| 394 | |||
| 395 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
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| 396 | |||
| 397 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
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| 398 | if (Mode.ID == ADDRESS_MK3MAG) |
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| 399 | { |
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| 400 | TickerEvent[3] = true; |
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| 401 | rb_SelMag->setChecked(true); |
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| 402 | } |
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| 403 | |||
| 404 | // Wenn NaviCtrl dann hier. |
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| 405 | if (Mode.ID == ADDRESS_NC) |
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| 406 | { |
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| 407 | rb_SelNC->setChecked(true); |
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| 408 | |||
| 409 | if (ac_NoNavi->isChecked()) |
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| 393 | Brean | 410 | { |
| 411 | TX_Data[0] = 0; |
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| 412 | } |
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| 413 | else |
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| 449 | Brean | 414 | if (ac_FastNavi->isChecked()) |
| 393 | Brean | 415 | { |
| 449 | Brean | 416 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
| 393 | Brean | 417 | } |
| 418 | else |
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| 419 | { |
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| 449 | Brean | 420 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
| 393 | Brean | 421 | } |
| 422 | |||
| 449 | Brean | 423 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
| 424 | } |
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| 393 | Brean | 425 | |
| 426 | |||
| 449 | Brean | 427 | // Wenn FlightCtrl dann Settings abfragen. |
| 428 | if (Mode.ID == ADDRESS_FC) |
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| 429 | { |
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| 430 | rb_SelFC->setChecked(true); |
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| 393 | Brean | 431 | { |
| 449 | Brean | 432 | TX_Data[0] = 0xff; |
| 433 | TX_Data[1] = 0; |
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| 393 | Brean | 434 | |
| 449 | Brean | 435 | // DEP: Raus wenn Resend implementiert. |
| 393 | Brean | 436 | // ToolBox::Wait(SLEEP); |
| 449 | Brean | 437 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
| 438 | qDebug("FC - Get Settings"); |
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| 393 | Brean | 439 | } |
| 449 | Brean | 440 | } |
| 441 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
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| 442 | else |
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| 443 | { |
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| 444 | f_Settings->pb_Read->setDisabled(true); |
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| 445 | f_Settings->pb_Write->setDisabled(true); |
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| 446 | } |
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| 393 | Brean | 447 | |
| 449 | Brean | 448 | Settings->read_Settings_Analog(HardwareID); |
| 449 | Settings->read_Settings_AnalogLabels(HardwareID); |
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| 393 | Brean | 450 | |
| 449 | Brean | 451 | if (Settings->Analog1.Version != QString(Mode.Version)) |
| 452 | { |
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| 453 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
||
| 454 | slot_ac_GetLabels(); |
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| 393 | Brean | 455 | } |
| 449 | Brean | 456 | else |
| 457 | for (int a = 0; a < MaxAnalog; a++) |
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| 458 | { |
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| 459 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
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| 460 | } |
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| 461 | config_Plot();*/ |
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| 462 | break; |
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| 393 | Brean | 463 | } |
| 464 | } |
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| 391 | Brean | 465 | } |