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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 449 | Brean | 1 | #include "QTSerialCommunication.h" |
| 2 | #include "../libMK/Parser.h" |
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| 450 | Brean | 3 | #include "../Classes/ToolBox.h" |
| 392 | Brean | 4 | |
| 397 | Brean | 5 | /** |
| 449 | Brean | 6 | * initiate connection and stuff |
| 7 | */ |
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| 8 | QTSerialCommunication::QTSerialCommunication() { |
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| 451 | Brean | 9 | connection_lost(); |
| 449 | Brean | 10 | serial = new ManageSerialPort(); |
| 11 | serial->setBaudRate(BAUD57600); //BaudRate |
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| 12 | serial->setDataBits(DATA_8); //DataBits |
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| 13 | serial->setParity(PAR_NONE); //Parity |
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| 14 | serial->setStopBits(STOP_1); //StopBits |
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| 15 | serial->setFlowControl(FLOW_OFF); //FlowControl |
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| 16 | |||
| 17 | serial->setTimeout(0, 10); |
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| 18 | serial->enableSending(); |
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| 19 | serial->enableReceiving(); |
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| 20 | } |
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| 21 | |||
| 22 | /** |
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| 397 | Brean | 23 | * connect to Mikrokopter |
| 24 | */ |
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| 450 | Brean | 25 | void QTSerialCommunication::connect_MK(char * addr) { |
| 26 | serial->setPort(addr); |
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| 27 | serial->open(); |
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| 28 | int timeout = 5; |
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| 29 | while (timeout > 0) { |
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| 30 | ToolBox::wait(200); |
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| 31 | timeout--; |
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| 32 | if (serial->isOpen()) { |
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| 33 | serial->receiveData(); |
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| 34 | connection_established(); |
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| 35 | //break while loop |
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| 36 | return; |
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| 37 | } |
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| 38 | } |
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| 39 | //TODO: Error message, because communication could not established |
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| 392 | Brean | 40 | }; |
| 41 | |||
| 397 | Brean | 42 | /** |
| 451 | Brean | 43 | * received new data from MK |
| 44 | */ |
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| 45 | |||
| 46 | |||
| 47 | /** |
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| 397 | Brean | 48 | * send command to Mikrokopter |
| 49 | */ |
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| 450 | Brean | 50 | void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
| 449 | Brean | 51 | if (is_connected()) { |
| 450 | Brean | 52 | Parser::create_frame(cmd, address, data, length); |
| 53 | if (resend) { |
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| 451 | Brean | 54 | //resend evrey 2 seconds |
| 55 | resendTimer.start(2000); |
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| 56 | resendData = data; |
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| 450 | Brean | 57 | } |
| 58 | QByteArray temp(data); |
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| 59 | serial->sendData(temp); |
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| 451 | Brean | 60 | } else { |
| 61 | //FIXME: Error message: not connected |
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| 449 | Brean | 62 | } |
| 396 | Brean | 63 | }; |
| 64 | |||
| 399 | Brean | 65 | /** |
| 66 | * stop sending commands to Mikrokopter |
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| 67 | * stop timer |
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| 68 | */ |
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| 449 | Brean | 69 | void QTSerialCommunication::stop_resend() { |
| 396 | Brean | 70 | |
| 451 | Brean | 71 | }; |
| 72 | |||
| 73 | /** |
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| 74 | * resend timer timout |
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| 75 | */ |
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| 76 | void QTSerialCommunication::slot_resend_timer() { |
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| 462 | Brean | 77 | } |
| 78 | |||
| 79 | void QTSerialCommunication::received_data(char * data) { |
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| 451 | Brean | 80 | } |