Rev 500 | 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" |
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| 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 | */ |
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| 500 | Brean | 10 | QTSerialCommunication::QTSerialCommunication(Handler * handler) { |
| 11 | this->handler = handler; |
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| 451 | Brean | 12 | connection_lost(); |
| 449 | Brean | 13 | serial = new ManageSerialPort(); |
| 14 | serial->setBaudRate(BAUD57600); //BaudRate |
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| 15 | serial->setDataBits(DATA_8); //DataBits |
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| 16 | serial->setParity(PAR_NONE); //Parity |
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| 17 | serial->setStopBits(STOP_1); //StopBits |
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| 18 | serial->setFlowControl(FLOW_OFF); //FlowControl |
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| 19 | |||
| 20 | serial->setTimeout(0, 10); |
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| 21 | serial->enableSending(); |
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| 22 | serial->enableReceiving(); |
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| 23 | } |
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| 24 | |||
| 25 | /** |
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| 397 | Brean | 26 | * connect to Mikrokopter |
| 27 | */ |
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| 450 | Brean | 28 | void QTSerialCommunication::connect_MK(char * addr) { |
| 29 | serial->setPort(addr); |
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| 30 | serial->open(); |
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| 31 | int timeout = 5; |
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| 32 | while (timeout > 0) { |
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| 33 | ToolBox::wait(200); |
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| 34 | timeout--; |
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| 35 | if (serial->isOpen()) { |
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| 36 | serial->receiveData(); |
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| 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 |
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| 40 | return; |
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| 41 | } |
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| 42 | } |
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| 43 | //TODO: Error message, because communication could not established |
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| 392 | Brean | 44 | }; |
| 45 | |||
| 397 | Brean | 46 | /** |
| 47 | * send command to Mikrokopter |
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| 48 | */ |
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| 450 | Brean | 49 | void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
| 513 | Brean | 50 | char send_data[150]; |
| 449 | Brean | 51 | if (is_connected()) { |
| 513 | Brean | 52 | Parser::create_frame(send_data, cmd, address, data, length); |
| 450 | Brean | 53 | if (resend) { |
| 500 | Brean | 54 | //resend every 2 seconds |
| 451 | Brean | 55 | resendTimer.start(2000); |
| 513 | Brean | 56 | resendData = send_data; |
| 450 | Brean | 57 | } |
| 500 | Brean | 58 | //TODO: save outgoing data for debug purpose |
| 513 | Brean | 59 | std::cout << "send: "; |
| 60 | FlightLog::log_data(send_data, length+3); |
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| 61 | QByteArray temp(send_data); |
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| 450 | Brean | 62 | serial->sendData(temp); |
| 451 | Brean | 63 | } else { |
| 64 | //FIXME: Error message: not connected |
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| 449 | Brean | 65 | } |
| 396 | Brean | 66 | }; |
| 67 | |||
| 399 | Brean | 68 | /** |
| 69 | * stop sending commands to Mikrokopter |
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| 70 | * stop timer |
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| 71 | */ |
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| 449 | Brean | 72 | void QTSerialCommunication::stop_resend() { |
| 500 | Brean | 73 | resendTimer.stop(); |
| 451 | Brean | 74 | }; |
| 75 | |||
| 76 | /** |
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| 77 | * resend timer timout |
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| 78 | */ |
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| 79 | void QTSerialCommunication::slot_resend_timer() { |
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| 462 | Brean | 80 | } |
| 81 | |||
| 500 | Brean | 82 | /** |
| 83 | * get incomming data from QT-Serial-Manager |
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| 84 | * and just give it to the handler. |
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| 85 | */ |
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| 86 | void QTSerialCommunication::slot_received_data(const QByteArray & data) { |
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| 513 | Brean | 87 | std::cout << "receive something" << std::endl; |
| 500 | Brean | 88 | received_data((char *)data.data(), data.length()); |
| 89 | } |
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| 90 | |||
| 91 | /** |
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| 513 | Brean | 92 | * handel received data from MK |
| 500 | Brean | 93 | */ |
| 94 | void QTSerialCommunication::received_data(char * data, int length) { |
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| 95 | //Debug: print oud debug data |
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| 96 | //TODO: save data in a file for debug purposes |
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| 513 | Brean | 97 | std::cout << "receive: "; |
| 98 | FlightLog::log_data(data, length); |
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| 500 | Brean | 99 | //handle incomming data |
| 100 | handler->receive_data(data, length); |
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| 451 | Brean | 101 | } |