/QMK-Groundstation/branches/libMK/Classes/ToolBox.cpp |
---|
49,9 → 49,10 |
}*/ |
// Datensatz nach QString |
QString ToolBox::dataToQString(int Data[150], int Start, int End) |
QString ToolBox::dataToQString(char data[MAX_DATA_SIZE], int start, int end) |
{ |
return QString(Parser::dataToString(Data, Start, End).c_str()); |
return QString(data); |
//return QString(Parser::dataToString(data, start, end)); |
} |
// Alle Icons |
/QMK-Groundstation/branches/libMK/Classes/ToolBox.h |
---|
27,7 → 27,7 |
class ToolBox |
{ |
public : |
static QString dataToQString(int Data[150], int Start = 0, int End = 150); |
static QString dataToQString(char data[MAX_DATA_SIZE], int Start = 0, int End = 150); |
static QIcon Icon(int ID); |
//static QString get_Float(long Wert, int Count); |
static void wait(int Time); |
/QMK-Groundstation/branches/libMK/Classes/cConnection.cpp |
---|
44,7 → 44,7 |
{ |
//Data = Data; |
while ((RxData.str.size() > 1) && (RxData.str.substr(1,1) == string("#"))) |
/* while ((RxData.str.size() > 1) && (RxData.str.substr(1,1) == string("#"))) |
{ |
RxData.str = RxData.str.substr(1, RxData.str.size()); |
} |
58,11 → 58,12 |
{ |
emit(showTerminal(2, QString(RxData.str.c_str()))); |
} |
*/ |
} |
void cConnection::slot_newDataReceived(const QByteArray &dataReceived) |
{ |
/* |
const char *RXt; |
RXt = dataReceived.data(); |
int a = 0; |
80,6 → 81,7 |
} |
a++; |
} |
*/ |
} |
bool cConnection::isOpen() |
181,26 → 183,25 |
if (Input[z] == '\r') |
{ |
new_Data(QString("")); |
RxData.str = string(""); |
//RxData.str = string(""); |
} |
else |
{ |
RxData.str = RxData.str + Input[z].toAscii(); |
//RxData.str = RxData.str + Input[z].toAscii(); |
} |
} |
} |
bool cConnection::send_Cmd(char CMD, int Address, char Data[150],unsigned int Length, bool Resend) |
bool cConnection::send_Cmd(char CMD, int Address, char Data[MAX_DATA_SIZE],unsigned int Length, bool Resend) |
{ |
if (b_isOpen) |
if (b_isOpen) //is_connected() |
{ |
QByteArray Temp; |
string TX_Data; |
/* |
if (CMD != '#') |
{ |
TX_Data = Parser::encode64(Data, Length); |
string TX_Data; |
char addr = 'a' + Address; |
TX_Data = string("#") + (string(&addr)) + string(&CMD) + TX_Data; |
TX_Data = Parser::add_CRC(TX_Data) + '\r'; |
212,6 → 213,7 |
o_Timer->start(2000); |
s_ReSend = Temp; |
} |
emit(showTerminal(3, QString(TX_Data.c_str()))); |
} |
else |
{ |
220,7 → 222,7 |
Temp[a] = Data[a]; |
} |
} |
*/ |
switch(i_Type) |
{ |
case C_TTY : |
234,8 → 236,6 |
} |
break; |
} |
emit(showTerminal(3, QString(TX_Data.c_str()))); |
} |
return true; |
} |
/QMK-Groundstation/branches/libMK/Classes/cConnection.h |
---|
40,7 → 40,7 |
bool isOpen(); |
bool Open(int Typ, QString Address); |
bool Close(); |
bool send_Cmd(char CMD, int Address, char Data[150],unsigned int Length, bool Resend = true); |
bool send_Cmd(char CMD, int Address, char Data[MAX_DATA_SIZE],unsigned int Length, bool Resend = true); |
void stop_ReSend(); |
private: |
52,7 → 52,7 |
bool b_isOpen; |
int i_Type; |
sRxData RxData; |
// sRxData RxData; |
void new_Data(QString Data); |
66,7 → 66,7 |
// void slot_Error(QAbstractSocket::SocketError Error); |
signals: |
void newData(sRxData RxData); |
// void newData(sRxData RxData); |
void showTerminal(int Typ, QString Text); |
}; |
/QMK-Groundstation/branches/libMK/Classes/cSettings.cpp |
---|
82,7 → 82,7 |
// Config der Analogwert-Anzeige (Plotter / CVS) |
void cSettings::write_Settings_Analog(int ID) |
{ |
QString Hardware = QString(HardwareType[ID].c_str()); |
QString Hardware = QString(HardwareType[ID]); |
QSettings Setting("KeyOz-Net", "QMK-Groundstation"); |
97,7 → 97,7 |
QBitArray Def_View; |
Def_View.fill(true,MaxAnalog); |
QString Hardware = QString(HardwareType[ID].c_str()); |
QString Hardware = QString(HardwareType[ID]); |
QSettings Setting("KeyOz-Net", "QMK-Groundstation"); |
110,7 → 110,7 |
// Labels der Analogwerte. |
void cSettings::write_Settings_AnalogLabels(int ID) |
{ |
QString Hardware = QString(HardwareType[ID].c_str()); |
QString Hardware = QString(HardwareType[ID]); |
QSettings Setting("KeyOz-Net", "QMK-Groundstation-Labels"); |
125,7 → 125,7 |
void cSettings::read_Settings_AnalogLabels(int ID) |
{ |
QString Hardware = QString(HardwareType[ID].c_str()); |
QString Hardware = QString(HardwareType[ID]); |
QSettings Setting("KeyOz-Net", "QMK-Groundstation-Labels"); |
/QMK-Groundstation/branches/libMK/Forms/dlg_Config.cpp |
---|
94,7 → 94,7 |
{ |
Settings = Set; |
lb_Hardware->setText(QString(HardwareType[ID].c_str())); |
lb_Hardware->setText(QString(HardwareType[ID])); |
for (int a = 0; a < MaxAnalog; a++) |
{ |
/QMK-Groundstation/branches/libMK/Forms/dlg_LCD.cpp |
---|
23,10 → 23,10 |
setupUi(this); |
} |
void dlg_LCD::show_Data(int *Data) |
void dlg_LCD::show_Data(char *data) |
{ |
le_LCD0->setText(ToolBox::dataToQString(Data,2,22)); |
le_LCD1->setText(ToolBox::dataToQString(Data,22,42)); |
le_LCD2->setText(ToolBox::dataToQString(Data,42,62)); |
le_LCD3->setText(ToolBox::dataToQString(Data,62,82)); |
le_LCD0->setText(ToolBox::dataToQString(data,2,22)); |
le_LCD1->setText(ToolBox::dataToQString(data,22,42)); |
le_LCD2->setText(ToolBox::dataToQString(data,42,62)); |
le_LCD3->setText(ToolBox::dataToQString(data,62,82)); |
} |
/QMK-Groundstation/branches/libMK/Forms/dlg_LCD.h |
---|
30,7 → 30,7 |
public: |
dlg_LCD(QWidget *parent = 0); |
void show_Data(int *Data); |
void show_Data(char * data); |
}; |
#endif // DLG_LCD_H |
/QMK-Groundstation/branches/libMK/Forms/dlg_MotorMixer.cpp |
---|
76,10 → 76,10 |
} |
// Motordaten übernehmen. |
//FIXME: put this in libMK/Handler.cpp and fill motor values in KopterData |
/* |
void dlg_MotorMixer::set_MotorConfig(sRxData RX) |
{ |
//FIXME: put this in libMK/Handler.cpp and fill motor values in KopterData |
/* |
int Pos = 0; |
MixerName = ToolBox::dataToQString(RX.decode, 1, 12); |
96,8 → 96,8 |
} |
set_MotorData(); |
} |
*/ |
} |
// Motordaten aus GUI übernehmen |
void dlg_MotorMixer::get_MotorData() |
104,8 → 104,7 |
{ |
sMotorData motorData; |
char * mixerName = le_NAME->text().toAscii().data(); |
motorData.mixer_name = string(mixerName); |
motorData.mixer_name = le_NAME->text().toAscii().data(); |
int gas[MAX_MOTORS] = { |
sb_GAS_1->value(), sb_GAS_2->value(), sb_GAS_3->value(), sb_GAS_4->value(), |
140,7 → 139,7 |
void dlg_MotorMixer::set_MotorData() |
{ |
sMotorData motorData = handler->data->motor; |
le_NAME->setText(motorData.mixer_name.c_str()); |
le_NAME->setText(motorData.mixer_name); |
sb_GAS_1->setValue(motorData.mixer_gas[0]); |
sb_GAS_2->setValue(motorData.mixer_gas[1]); |
361,7 → 360,7 |
QSettings Setting(Filename, QSettings::IniFormat); |
Setting.beginGroup("Info"); |
Setting.setValue("Name", data->motor.mixer_name.c_str()); |
Setting.setValue("Name", data->motor.mixer_name); |
Setting.setValue("Version", data->motor.mixer_version); |
Setting.endGroup(); |
/QMK-Groundstation/branches/libMK/Forms/dlg_MotorMixer.h |
---|
36,7 → 36,7 |
public: |
dlg_MotorMixer(QWidget *parent = 0); |
void set_Objects(Handler *handler, cSettings *t_Settings); |
void set_MotorConfig(sRxData RX); |
// void set_MotorConfig(sRxData RX); |
void read_Mixer(); |
private: |
/QMK-Groundstation/branches/libMK/Forms/mktool.cpp |
---|
61,6 → 61,7 |
// Tab mit Debug-Elementen verbergen |
tab_Main->removeTab(6); |
// Develop - Nicht gebrauchte sachen abschalten. |
pb_SettingsReset->hide(); |
pb_Flash->hide(); |
201,7 → 202,7 |
data = new KopterData(); |
//new QT-Communication object |
com = new QTCommunication(); |
com = new QTSerialCommunication(); |
//create handler that handles incomming data |
handler = new Handler(com, data); |
419,13 → 420,13 |
void MKTool::slot_Test() |
{ |
sRxData RX; |
// sRxData RX; |
RX.str = IN->text().toLatin1().data(); |
// RX.str = IN->text().toLatin1().data(); |
RX.input = (char *)RX.str.c_str(); |
// RX.input = (char *)RX.str.c_str(); |
slot_newData(RX); |
// slot_newData(RX); |
} |
// KML-Datei nach Wegpunkt parsen |
770,8 → 771,6 |
void MKTool::slot_MAP_SetWayPoints(QList<sWayPoint> l_WayPoints) |
{ |
//FIXME: Put this in libMK/Handler.cpp or libMK/NaviCtrl.cpp |
double Longitude, Latitude; |
// delete waypoint-list |
1337,6 → 1336,8 |
} |
} |
//FIXME: HERE! |
/* |
void MKTool::new_NaviData(sRxData RX) |
{ |
// qDebug("Navi-Data"); |
1423,12 → 1424,13 |
QMK_Server->NewPosition(naviData); |
} |
} |
*/ |
// Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen |
//////////////////////////////////////////////////////////////////// |
// Neues Datenpacket empfangen -> Verarbeiten |
void MKTool::slot_newData(sRxData RX) // DONE 0.71g |
//FIXME: HERE! |
/*void MKTool::slot_newData(sRxData RX) // DONE 0.71g |
{ |
//handler->receiveData(RX) |
1440,7 → 1442,7 |
slot_showTerminal(1, QString(RX.str.c_str())); |
} |
*/ |
void MKTool::slot_showTerminal(int Typ, QString Text) |
{ |
switch(Typ) |
/QMK-Groundstation/branches/libMK/Forms/mktool.h |
---|
54,7 → 54,7 |
//quadcopter lib stuff |
#include "../libMK/Handler.h" |
#include "../libMK/Communication.h" |
#include "../libMK/QTCommunication.h" |
#include "../libMK/QTSerialCommunication.h" |
class QextSerialPort; |
150,7 → 150,7 |
void update_Plot(); |
void config_Plot(); |
void new_NaviData(sRxData RX); |
// void new_NaviData(sRxData RX); |
void parse_TargetKML(); |
// show and save debug/log |
213,7 → 213,7 |
void slot_UpdateShell(); |
// Seriell-Port Slots |
void slot_newData(sRxData RX); |
// void slot_newData(sRxData RX); |
void slot_OpenPort(); |
void slot_TabChanged(int Tab); |
/QMK-Groundstation/branches/libMK/Forms/wdg_Settings.cpp |
---|
706,7 → 706,7 |
{ |
store_ParameterSet(sb_Set->value()); |
char *TX_Data = new char[150]; |
char *TX_Data = new char[MAX_DATA_SIZE]; |
TX_Data[0] = sb_Set->value(); |
TX_Data[1] = VERSION_SETTINGS; |
/QMK-Groundstation/branches/libMK/Logger/CSVLogger.cpp |
---|
51,7 → 51,7 |
{ |
if (!csvfile->isOpen()) |
{ |
QString mode_name = QString(data->mode.hardware.c_str()); |
QString mode_name = QString(data->mode.hardware); |
if (mode_name.size() == 0) |
{ |
/QMK-Groundstation/branches/libMK/eeepc.pro |
---|
8,3 → 8,7 |
INCLUDEPATH += $(HOME)/include /usr/include/qwt-qt4 |
include(global.pri) |
HEADERS += testing/LibMKTest.h |
SOURCES += testing/LibMKTest.cpp |
/QMK-Groundstation/branches/libMK/libMK/QTCommunication.cpp |
---|
File deleted |
\ No newline at end of file |
/QMK-Groundstation/branches/libMK/libMK/Communication.cpp |
---|
File deleted |
\ No newline at end of file |
/QMK-Groundstation/branches/libMK/libMK/QTCommunication.h |
---|
File deleted |
\ No newline at end of file |
/QMK-Groundstation/branches/libMK/libMK/Communication.h |
---|
File deleted |
\ No newline at end of file |
/QMK-Groundstation/branches/libMK/libMK/Handler.cpp |
---|
82,7 → 82,7 |
} |
/** |
* send a waypoint to the NaviCtrl (the copter will fly to the position emidiately) |
* send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
*/ |
void Handler::send_waypoint(Waypoint_t desired_pos) { |
com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
189,281 → 189,252 |
/** |
* receive data |
*/ |
void Handler::receive_data(sRxData RX) { |
//extract hardware ID from received Data |
int hardwareID = RX.input[1] - 'a'; |
//Parser::decode64(data); |
void Handler::receive_data(int hardwareID, int cmd, char * data) { |
switch(hardwareID) |
{ |
case ADDRESS_FC : |
switch(RX.input[2]) |
switch(cmd) |
{ |
// Motor-Mixer |
case 'N' : |
if (Parser::decode64(RX)) |
{ |
//if (Parser::decode64(RX)) |
//{ |
com->stop_resend(); |
if (RX.decode[0] == VERSION_MIXER) |
//decoded data |
if (data[0] == VERSION_MIXER) |
{ |
//f_MotorMixer->set_MotorConfig(RX); |
} |
} |
break; |
//} |
break; |
// Motor-Mixer Schreib-Bestätigung |
case 'M' : |
if (Parser::decode64(RX)) |
com->stop_resend(); |
if (data[0] == 1) |
{ |
com->stop_resend(); |
if (RX.decode[0] == 1) |
{ |
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
} |
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
} |
break; |
break; |
// Stick-Belegung der Fernsteuerung |
case 'P' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
/*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
} |
break; |
/*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
break; |
// Settings lesen |
case 'Q' : // DONE 0.71g |
if (Parser::decode64(RX)) |
com->stop_resend(); |
if (data[1] == VERSION_SETTINGS) |
{ |
com->stop_resend(); |
if (RX.decode[1] == VERSION_SETTINGS) |
int Settings_ID = data[0]; |
/*for (int a = 0; a < MaxParameter; a++) |
{ |
int Settings_ID = RX.decode[0]; |
/*for (int a = 0; a < MaxParameter; a++) |
{ |
FCSettings[a] = RX.decode[a + 2]; |
} |
f_Settings->show_FCSettings(Settings_ID, FCSettings); |
f_Settings->pb_Read->setEnabled(true); |
f_Settings->pb_Write->setEnabled(true);*/ |
FCSettings[a] = RX.decode[a + 2]; |
} |
else |
{ |
/*f_Settings->pb_Read->setDisabled(true); |
f_Settings->pb_Write->setDisabled(true); |
f_Settings->show_FCSettings(Settings_ID, FCSettings); |
f_Settings->pb_Read->setEnabled(true); |
f_Settings->pb_Write->setEnabled(true);*/ |
} |
else |
{ |
/*f_Settings->pb_Read->setDisabled(true); |
f_Settings->pb_Write->setDisabled(true); |
QString name = QString("Versionen inkompatibel.\n") + |
QString("Version von GroundStation benoetigt: ") + |
QString(VERSION_SETTINGS) + |
QString("\nVersion auf der FlightCtrl: ") + |
QString(RX.decode[1]) + |
QString("\nParameterbearbeitung nicht moeglich."); |
QMessageBox::warning(this, QA_NAME, |
name, QMessageBox::Ok);*/ |
} |
QString name = QString("Versionen inkompatibel.\n") + |
QString("Version von GroundStation benoetigt: ") + |
QString(VERSION_SETTINGS) + |
QString("\nVersion auf der FlightCtrl: ") + |
QString(RX.decode[1]) + |
QString("\nParameterbearbeitung nicht moeglich."); |
QMessageBox::warning(this, QA_NAME, |
name, QMessageBox::Ok);*/ |
} |
break; |
break; |
// Settings written |
case 'S' : // DONE 0.71g |
com->stop_resend(); |
//TODO: QMessagebox("settings written successful") ? |
break; |
break; |
} |
case ADDRESS_NC : |
switch(RX.input[2]) |
switch(cmd) |
{ |
// Navigationsdaten |
case 'O' : // NOT DONE 0.12h |
if (Parser::decode64(RX)) |
{ |
//new_NaviData(RX); |
} |
break; |
//new_NaviData(RX); |
break; |
} |
// case ADDRESS_MK3MAG : |
default : |
switch(RX.input[2]) |
switch(cmd) |
{ |
// LCD-Anzeige |
case 'L' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
com->stop_resend(); |
/*int LCD[150]; |
memcpy(LCD,RX.decode, sizeof(RX.decode)); |
/*int LCD[150]; |
memcpy(LCD,RX.decode, sizeof(RX.decode)); |
f_LCD->show_Data(LCD); |
f_LCD->show_Data(LCD); |
LCD_Page = RX.decode[0]; |
LCD_MAX_Page = RX.decode[1]; |
*/ |
} |
break; |
LCD_Page = RX.decode[0]; |
LCD_MAX_Page = RX.decode[1]; |
*/ |
break; |
// Analoglabels |
case 'A' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
com->stop_resend(); |
int Position = RX.decode[0]; |
if (Position != 31) |
//check position |
if (data[0] != 31) { |
/* |
Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
if (Settings->Analog1.Label[Position] == "") |
{ |
/* |
Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
if (Settings->Analog1.Label[Position] == "") |
{ |
Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
} |
Position ++; |
TX_Data[0] = Position; |
o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
} |
if (Position == 31) |
Position ++; |
TX_Data[0] = Position; |
o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
} else { |
/* |
for (int a = 0; a < MaxAnalog; a++) |
{ |
/* |
for (int a = 0; a < MaxAnalog; a++) |
{ |
lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
} |
Settings->Analog1.Version = QString(Mode.Version); |
Settings->write_Settings_AnalogLabels(HardwareID); |
config_Plot();*/ |
lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
} |
Settings->Analog1.Version = QString(Mode.Version); |
Settings->write_Settings_AnalogLabels(HardwareID); |
config_Plot();*/ |
} |
break; |
break; |
// Debug-Daten |
case 'D' : // DONE 0.71g |
if (Parser::decode64(RX)) |
{ |
for (int i = 0; i < MaxAnalog; i++) |
{ |
//AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
} |
//show_DebugData(); |
for (int i = 0; i < MaxAnalog; i++) { |
//AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
} |
break; |
//show_DebugData(); |
break; |
// Version |
case 'V' : // DONE 0.71h |
if (Parser::decode64(RX)) |
{ |
com->stop_resend(); |
/* |
Mode.ID = HardwareID; |
Mode.VERSION_MAJOR = RX.decode[0]; |
Mode.VERSION_MINOR = RX.decode[1]; |
Mode.VERSION_PATCH = RX.decode[4]; |
Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
com->stop_resend(); |
/* |
Mode.ID = HardwareID; |
Mode.VERSION_MAJOR = RX.decode[0]; |
Mode.VERSION_MINOR = RX.decode[1]; |
Mode.VERSION_PATCH = RX.decode[4]; |
Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
Mode.Hardware = HardwareType[Mode.ID]; |
//TODO: Funktion im Handler get_version() oder sowas |
QString version = QString("%1").arg(RX.decode[0]) + "." + |
QString("%1").arg(RX.decode[1]) + |
QString(RX.decode[4] + 'a'); |
Mode.Version = version.toLatin1().data; |
setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
Mode.Hardware + " " + |
Mode.Version); |
Mode.Hardware = HardwareType[Mode.ID]; |
//TODO: Funktion im Handler get_version() oder sowas |
QString version = QString("%1").arg(RX.decode[0]) + "." + |
QString("%1").arg(RX.decode[1]) + |
QString(RX.decode[4] + 'a'); |
Mode.Version = version.toLatin1().data; |
setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
Mode.Hardware + " " + |
Mode.Version); |
if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
{ |
if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
{ |
// AllowSend = false; |
QMessageBox::warning(this, QA_NAME, |
tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
} |
QMessageBox::warning(this, QA_NAME, |
tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
} |
if (ac_NoDebug->isChecked()) |
if (ac_NoDebug->isChecked()) |
{ |
TX_Data[0] = 0; |
} |
else |
if (ac_FastDebug->isChecked()) |
{ |
TX_Data[0] = Settings->Data.Debug_Fast / 10; |
} |
else |
{ |
TX_Data[0] = Settings->Data.Debug_Slow / 10; |
} |
o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
// Wenn MK3MAG dann andauernd Daten neu anfragen. |
if (Mode.ID == ADDRESS_MK3MAG) |
{ |
TickerEvent[3] = true; |
rb_SelMag->setChecked(true); |
} |
// Wenn NaviCtrl dann hier. |
if (Mode.ID == ADDRESS_NC) |
{ |
rb_SelNC->setChecked(true); |
if (ac_NoNavi->isChecked()) |
{ |
TX_Data[0] = 0; |
} |
else |
if (ac_FastDebug->isChecked()) |
if (ac_FastNavi->isChecked()) |
{ |
TX_Data[0] = Settings->Data.Debug_Fast / 10; |
TX_Data[0] = Settings->Data.Navi_Fast / 10; |
} |
else |
{ |
TX_Data[0] = Settings->Data.Debug_Slow / 10; |
TX_Data[0] = Settings->Data.Navi_Slow / 10; |
} |
o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
} |
// Wenn MK3MAG dann andauernd Daten neu anfragen. |
if (Mode.ID == ADDRESS_MK3MAG) |
{ |
TickerEvent[3] = true; |
rb_SelMag->setChecked(true); |
} |
// Wenn NaviCtrl dann hier. |
if (Mode.ID == ADDRESS_NC) |
// Wenn FlightCtrl dann Settings abfragen. |
if (Mode.ID == ADDRESS_FC) |
{ |
rb_SelFC->setChecked(true); |
{ |
rb_SelNC->setChecked(true); |
TX_Data[0] = 0xff; |
TX_Data[1] = 0; |
if (ac_NoNavi->isChecked()) |
{ |
TX_Data[0] = 0; |
} |
else |
if (ac_FastNavi->isChecked()) |
{ |
TX_Data[0] = Settings->Data.Navi_Fast / 10; |
} |
else |
{ |
TX_Data[0] = Settings->Data.Navi_Slow / 10; |
} |
o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
} |
// Wenn FlightCtrl dann Settings abfragen. |
if (Mode.ID == ADDRESS_FC) |
{ |
rb_SelFC->setChecked(true); |
{ |
TX_Data[0] = 0xff; |
TX_Data[1] = 0; |
// DEP: Raus wenn Resend implementiert. |
// DEP: Raus wenn Resend implementiert. |
// ToolBox::Wait(SLEEP); |
o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
qDebug("FC - Get Settings"); |
} |
o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
qDebug("FC - Get Settings"); |
} |
// Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
else |
{ |
f_Settings->pb_Read->setDisabled(true); |
f_Settings->pb_Write->setDisabled(true); |
} |
} |
// Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
else |
{ |
f_Settings->pb_Read->setDisabled(true); |
f_Settings->pb_Write->setDisabled(true); |
} |
Settings->read_Settings_Analog(HardwareID); |
Settings->read_Settings_AnalogLabels(HardwareID); |
Settings->read_Settings_Analog(HardwareID); |
Settings->read_Settings_AnalogLabels(HardwareID); |
if (Settings->Analog1.Version != QString(Mode.Version)) |
{ |
lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
slot_ac_GetLabels(); |
} |
else |
for (int a = 0; a < MaxAnalog; a++) |
{ |
lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
} |
config_Plot();*/ |
if (Settings->Analog1.Version != QString(Mode.Version)) |
{ |
lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
slot_ac_GetLabels(); |
} |
break; |
else |
for (int a = 0; a < MaxAnalog; a++) |
{ |
lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
} |
config_Plot();*/ |
break; |
} |
} |
} |
/QMK-Groundstation/branches/libMK/libMK/Handler.h |
---|
1,6 → 1,5 |
#ifndef HANDLER_H |
#define HANDLER_H |
#include <string> |
#include "Parser.h" |
#include "Communication.h" |
#include "Kopter.h" |
16,10 → 15,11 |
private: |
Communication * com; |
sRxData rxData; |
public: |
KopterData * data; |
Handler(Communication * com, KopterData * data); |
//FlightCtrl commands |
void get_flightctrl_settings(int index); |
void set_flightctrl_settings(char * tx_data); |
53,7 → 53,7 |
void get_version(); |
void get_ppm_channels(); |
void receive_data(sRxData rx); |
void receive_data(int hardwareID, int cmd, char * data); |
}; |
#endif |
/QMK-Groundstation/branches/libMK/libMK/Kopter.h |
---|
1,13 → 1,12 |
#ifndef COPTER_H |
#define COPTER_H |
#include <string> |
using namespace std; |
/** |
* This file contains informations and configurations from the Mikrokopter |
*/ |
#define MAX_DATA_SIZE 150 |
// version information for the serial connection |
#define VERSION_SERIAL_MAJOR 10 |
#define VERSION_SERIAL_MINOR 0 |
24,7 → 23,7 |
// settings ID |
#define SETTINGS_ID 2 |
static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
static const char * HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"}; |
static const int MaxTickerEvents = 5; |
40,7 → 39,7 |
int mixer_roll[MAX_MOTORS]; |
int mixer_yaw[MAX_MOTORS]; |
int desired_speed[MAX_MOTORS]; |
string mixer_name; |
char * mixer_name; |
int mixer_version; |
}; |
52,8 → 51,8 |
int version_patch; |
int version_serial_major; |
int version_serial_minor; |
string hardware; |
string version; |
char * hardware; |
char * version; |
}; |
struct sGPS_Pos |
/QMK-Groundstation/branches/libMK/libMK/Parser.cpp |
---|
1,34 → 1,73 |
#include <Parser.h> |
// Base64 Decoder |
// see Parser.h for details about sRxData |
bool Parser::decode64(sRxData &rx) |
/** |
* create a frame that can be send to the MK using the |
* connection class. |
* see http://www.mikrokopter.com/ucwiki/en/SerialProtocol |
* how the protocol is encoded and |
* see http://www.mikrokopter.com/ucwiki/en/SerialCommands |
* to look at the possible commands that are already coded |
* in data |
*/ |
void Parser::create_frame(char cmd, int address, char * data, unsigned int length) { |
//if # is cmd we do not touch anything, because |
// the command is already encoded in data |
if (cmd != '#') { |
/* |
//calculate buffer length |
//(4 Bytes for 1-byte '#', 1-byte address, and 2-byte crc) |
//(the rest for the data length - see encode how this is calculated) |
int buff_len = 4+(length/3 + (length%3==0?0:1) )*4; |
//allociate memory for the data we want to send |
char * send_data = (char *)malloc(buf_len); |
*/ |
char send_data[150]; |
send_data[0]='#'; |
send_data[1]=(char)address; |
send_data[2]=cmd; |
for (int i = 0; i < length; i++) |
send_data[i+3] = data[i]; |
//TODO: abgleich mit MKCommunication::send_command |
Parser::encode64(send_data, length); |
address = 'a' + address; |
} |
} |
/** |
* Base64 Decoder |
* see Parser.h for details about sRxData |
* data = data that will be decoded |
* len = length of data |
* ptrOut = pointer to decoded data |
* offset = offset in data |
*/ |
int Parser::decode64(char * data, int len, unsigned char *ptrOut, int offset) |
{ |
int length = rx.str.size(); |
unsigned char a,b,c,d; |
unsigned char ptr = 0; |
unsigned char x,y,z; |
int ptrOut[150]; |
int ptrIn = 3; |
int max = length; |
int len = length; |
int decLen = 0; |
if (rx.input[ptrIn] == 0) { |
return false; |
/* |
//FIXME: dies wieder einklammern! |
if (data[ptrIn] == 0) { |
return -1; |
//TODO: catch error to show that something went wrong during the decode process |
//throw "Nothing received"; |
} |
*/ |
//decode data |
while(len) { |
a = data[offset++] - '='; |
b = data[offset++] - '='; |
c = data[offset++] - '='; |
d = data[offset++] - '='; |
while(len != 0) { |
a = rx.input[ptrIn++] - '='; |
b = rx.input[ptrIn++] - '='; |
c = rx.input[ptrIn++] - '='; |
d = rx.input[ptrIn++] - '='; |
//if(offset > max - 2) break; |
if(ptrIn > max - 2) break; |
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
37,9 → 76,13 |
if(len--) ptrOut[ptr++] = y; else break; |
if(len--) ptrOut[ptr++] = z; else break; |
} |
//decoded data |
unsigned char * decData; |
for (int a=0; a<ptr; a++) { |
if (length == false) { |
if (len) { |
decData[decLen] = ptrOut[a]; |
decLen++; |
} else { |
int b1, b2, b3; |
b1 = ptrOut[a++]; |
50,19 → 93,18 |
if (b3 > 32767) |
b3 = b3 - 65536; |
rx.decode[decLen] = b3; |
decData[decLen] = b3; |
decLen++; |
} else { |
rx.decode[decLen] = ptrOut[a]; |
decLen++; |
} |
rx.decLen = decLen; |
} |
return true; |
ptrOut = decData; |
return decLen; |
} |
// base64 encoder |
string Parser::encode64(char data[150],unsigned int length) |
/** |
* base64 encoder |
*/ |
void Parser::encode64(char data[150],unsigned int length) |
{ |
unsigned int pt = 0; |
unsigned char a,b,c; |
83,7 → 125,8 |
} |
tx_buff[pt] = 0; |
return string(tx_buff); |
//move pointer of tx_buff to data |
data = tx_buff; |
} |
// Datensatz nach 8bit Integer |
96,7 → 139,9 |
return out; |
} |
// received char to 8 bit integer |
/** |
* received char to 8 bit integer |
*/ |
int Parser::charToData(int data) { |
if (data < 0) |
return data + 256; |
103,7 → 148,9 |
return data; |
} |
// convert data to 16bit Integer |
/** |
* convert data to 16bit Integer |
*/ |
int Parser::dataToInt(int *Data , int Start, bool is_signed) |
{ |
int Out = (Data[Start+1]<<8) | (Data[Start+0]); |
115,7 → 162,9 |
} |
// convert data to 32bit Long |
/** |
* convert data to 32bit Long |
*/ |
long Parser::dataToLong(int *Data , int Start, bool is_signed) |
{ |
long Out = (Data[Start+3]<<24) | (Data[Start+2]<<16) | (Data[Start+1]<<8) | (Data[Start+0]); |
135,43 → 184,31 |
return temp / num; |
} |
string Parser::dataToString(int Data[150], int Start, int End) |
/** |
* check CRC |
*/ |
bool Parser::check_CRC(char * rx, int length) |
{ |
char String[150]; |
for (int a = Start; a < End; a++) |
{ |
String[a - Start] = Data[a]; |
} |
String[End - Start] = '\0'; |
return string(String); |
} |
// check CRC |
bool Parser::check_CRC(string RXstr) |
{ |
int length = RXstr.size(); |
int CRC = 0; |
char *RX = (char *)RXstr.c_str(); |
if (RX[1] == 127) |
if (rx[1] == 127) |
{ |
RX[1] = 0; |
rx[1] = 0; |
} |
for(int i=0; i < length-2; i++) |
{ |
CRC+=RX[i]; |
CRC+=rx[i]; |
} |
CRC = CRC % 4096; |
if(RX[length - 2] != ('=' + (CRC / 64))) |
if(rx[length - 2] != ('=' + (CRC / 64))) |
{ |
return false; |
} |
if(RX[length - 1] != ('=' + CRC % 64)) |
if(rx[length - 1] != ('=' + CRC % 64)) |
{ |
return false; |
} |
179,25 → 216,22 |
return true; |
} |
// add CRC |
string Parser::add_CRC(string TX) |
/** |
* create CRC and add it to tx |
*/ |
void Parser::add_CRC(char * tx, int length) |
{ |
int length = TX.size(); |
unsigned int tmpCRC = 0; |
char CRC[2]; |
for(int i = 0; i < length; i++) |
{ |
tmpCRC += TX[i]; |
tmpCRC += tx[i]; |
} |
tmpCRC %= 4096; |
CRC[0] = '=' + tmpCRC / 64; |
CRC[1] = '=' + tmpCRC % 64; |
CRC[2] = '\0'; |
return string(TX) + string(CRC); |
tx[length-2] = '=' + tmpCRC / 64; |
tx[length-1] = '=' + tmpCRC % 64; |
tx[length] = '\0'; |
} |
/QMK-Groundstation/branches/libMK/libMK/Parser.h |
---|
1,6 → 1,5 |
#ifndef PARSER_H |
#define PARSER_H |
#include <string> |
#include <cmath> |
/** |
7,31 → 6,29 |
* The Parser gets values from the Mikrokopter-USART interface |
* and parses them into a sRxData-Struct |
*/ |
using namespace std; |
/* |
struct sRxData |
{ |
char *input; |
string str; |
int decode[150]; |
int decLen; |
}; |
*/ |
class Parser { |
public: |
static bool decode64(sRxData &rx); |
static string encode64(char data[150],unsigned int length); |
void create_frame(char cmd, int address, char * data, unsigned int length); |
static string add_CRC(string TX); |
static bool check_CRC(string RX); |
static int decode64(char * data, int len, unsigned char *ptrOut, int offset); |
static void encode64(char data[150],unsigned int length); |
static void add_CRC(char * tx, int length); |
static bool check_CRC(char * rx, int length); |
static float getFloat(long value, int count); |
static int dataToInt(int *Data , int Start, bool is_signed = true); |
static long dataToLong(int *Data , int Start, bool is_signed = true); |
static int dataToInt(int *data , int start, bool is_signed = true); |
static long dataToLong(int *data , int start, bool is_signed = true); |
static int dataToChar(int *data , int start, bool is_signed = true); |
static string dataToString(int Data[150], int Start = 0, int End = 150); |
static int charToData(int data); |
}; |
/QMK-Groundstation/branches/libMK/libMK/QTSerialCommunication.cpp |
---|
0,0 → 1,43 |
#include "QTSerialCommunication.h" |
#include "../libMK/Parser.h" |
/** |
* initiate connection and stuff |
*/ |
QTSerialCommunication::QTSerialCommunication() { |
serial = new ManageSerialPort(); |
serial->setBaudRate(BAUD57600); //BaudRate |
serial->setDataBits(DATA_8); //DataBits |
serial->setParity(PAR_NONE); //Parity |
serial->setStopBits(STOP_1); //StopBits |
serial->setFlowControl(FLOW_OFF); //FlowControl |
serial->setTimeout(0, 10); |
serial->enableSending(); |
serial->enableReceiving(); |
} |
/** |
* connect to Mikrokopter |
*/ |
void QTSerialCommunication::connect_MK(string addr) { |
}; |
/** |
* send command to Mikrokopter |
*/ |
bool QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
if (is_connected()) { |
//a valid command starts |
} |
return true; |
}; |
/** |
* stop sending commands to Mikrokopter |
* stop timer |
*/ |
void QTSerialCommunication::stop_resend() { |
}; |
/QMK-Groundstation/branches/libMK/libMK/QTSerialCommunication.h |
---|
0,0 → 1,25 |
#ifndef QT_SERIAL_COMMUNICATION_H |
#define QT_SERIAL_COMMUNICATION_H |
#include "Communication.h" |
#include "../SerialPort/ManageSerialPort.h" |
/** |
* QT specific communication class |
* based on the communication interface |
* using the SerialPort implementation |
* by VIANNEY-LIAUD Philippe |
* ( philippe.vianney.liaud gmail.com ) |
*/ |
using namespace std; |
class QTSerialCommunication : public Communication { |
private: |
ManageSerialPort * serial; |
public: |
QTSerialCommunication(); |
void connect_MK(string addr); |
bool send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend); |
void stop_resend(); |
}; |
#endif |
/QMK-Groundstation/branches/libMK/libMK.pri |
---|
8,9 → 8,9 |
Handler.h \ |
Kopter.h \ |
Parser.h \ |
QTCommunication.h |
QTSerialCommunication.h |
SOURCES += Communication.cpp \ |
Handler.cpp \ |
Parser.cpp \ |
QTCommunication.cpp |
QTSerialCommunication.cpp |
QT += network |
/QMK-Groundstation/branches/libMK/typedefs.h |
---|
5,6 → 5,8 |
#define NEWDATA 0x01 |
#define PROCESSED 0x02 |
#include <stdint.h> |
typedef struct |
{ |
int32_t Longitude; // in 1E-7 deg |