Rev 462 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 449 | Brean | 1 | #include "QTSerialCommunication.h" |
| 2 | #include "../libMK/Parser.h" |
||
| 450 | Brean | 3 | #include "../Classes/ToolBox.h" |
| 500 | Brean | 4 | #include <iostream> |
| 392 | Brean | 5 | |
| 500 | Brean | 6 | |
| 397 | Brean | 7 | /** |
| 449 | Brean | 8 | * initiate connection and stuff |
| 9 | */ |
||
| 500 | Brean | 10 | QTSerialCommunication::QTSerialCommunication(Handler * handler) { |
| 11 | this->handler = handler; |
||
| 451 | Brean | 12 | connection_lost(); |
| 449 | Brean | 13 | serial = new ManageSerialPort(); |
| 14 | serial->setBaudRate(BAUD57600); //BaudRate |
||
| 15 | serial->setDataBits(DATA_8); //DataBits |
||
| 16 | serial->setParity(PAR_NONE); //Parity |
||
| 17 | serial->setStopBits(STOP_1); //StopBits |
||
| 18 | serial->setFlowControl(FLOW_OFF); //FlowControl |
||
| 19 | |||
| 20 | serial->setTimeout(0, 10); |
||
| 21 | serial->enableSending(); |
||
| 22 | serial->enableReceiving(); |
||
| 23 | } |
||
| 24 | |||
| 25 | /** |
||
| 397 | Brean | 26 | * connect to Mikrokopter |
| 27 | */ |
||
| 450 | Brean | 28 | void QTSerialCommunication::connect_MK(char * addr) { |
| 29 | serial->setPort(addr); |
||
| 30 | serial->open(); |
||
| 31 | int timeout = 5; |
||
| 32 | while (timeout > 0) { |
||
| 33 | ToolBox::wait(200); |
||
| 34 | timeout--; |
||
| 35 | if (serial->isOpen()) { |
||
| 36 | serial->receiveData(); |
||
| 500 | Brean | 37 | connect(serial, SIGNAL(newDataReceived(const QByteArray &)), this, SLOT(slot_received_data(const QByteArray &))); |
| 450 | Brean | 38 | connection_established(); |
| 39 | //break while loop |
||
| 40 | return; |
||
| 41 | } |
||
| 42 | } |
||
| 43 | //TODO: Error message, because communication could not established |
||
| 392 | Brean | 44 | }; |
| 45 | |||
| 397 | Brean | 46 | /** |
| 451 | Brean | 47 | * received new data from MK |
| 48 | */ |
||
| 49 | |||
| 50 | |||
| 51 | /** |
||
| 397 | Brean | 52 | * send command to Mikrokopter |
| 53 | */ |
||
| 450 | Brean | 54 | void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
| 449 | Brean | 55 | if (is_connected()) { |
| 450 | Brean | 56 | Parser::create_frame(cmd, address, data, length); |
| 57 | if (resend) { |
||
| 500 | Brean | 58 | //resend every 2 seconds |
| 451 | Brean | 59 | resendTimer.start(2000); |
| 60 | resendData = data; |
||
| 450 | Brean | 61 | } |
| 500 | Brean | 62 | //TODO: save outgoing data for debug purpose |
| 63 | std::cout << "send: " << data << std::endl; |
||
| 450 | Brean | 64 | QByteArray temp(data); |
| 65 | serial->sendData(temp); |
||
| 451 | Brean | 66 | } else { |
| 67 | //FIXME: Error message: not connected |
||
| 449 | Brean | 68 | } |
| 396 | Brean | 69 | }; |
| 70 | |||
| 399 | Brean | 71 | /** |
| 72 | * stop sending commands to Mikrokopter |
||
| 73 | * stop timer |
||
| 74 | */ |
||
| 449 | Brean | 75 | void QTSerialCommunication::stop_resend() { |
| 500 | Brean | 76 | resendTimer.stop(); |
| 451 | Brean | 77 | }; |
| 78 | |||
| 79 | /** |
||
| 80 | * resend timer timout |
||
| 81 | */ |
||
| 82 | void QTSerialCommunication::slot_resend_timer() { |
||
| 462 | Brean | 83 | } |
| 84 | |||
| 500 | Brean | 85 | /** |
| 86 | * get incomming data from QT-Serial-Manager |
||
| 87 | * and just give it to the handler. |
||
| 88 | */ |
||
| 89 | void QTSerialCommunication::slot_received_data(const QByteArray & data) { |
||
| 90 | received_data((char *)data.data(), data.length()); |
||
| 91 | } |
||
| 92 | |||
| 93 | /** |
||
| 94 | * handel received data |
||
| 95 | */ |
||
| 96 | void QTSerialCommunication::received_data(char * data, int length) { |
||
| 97 | //Debug: print oud debug data |
||
| 98 | //TODO: save data in a file for debug purposes |
||
| 99 | std::cout << "receive: " << data << std::endl; |
||
| 100 | //handle incomming data |
||
| 101 | //FIXME: HIER! Hardware-Id = Mode.id |
||
| 102 | |||
| 103 | handler->receive_data(data, length); |
||
| 451 | Brean | 104 | } |