44,24 → 44,21 |
}; |
|
/** |
* received new data from MK |
*/ |
|
|
/** |
* send command to Mikrokopter |
*/ |
void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) { |
char send_data[150]; |
if (is_connected()) { |
Parser::create_frame(cmd, address, data, length); |
Parser::create_frame(send_data, cmd, address, data, length); |
if (resend) { |
//resend every 2 seconds |
resendTimer.start(2000); |
resendData = data; |
resendData = send_data; |
} |
//TODO: save outgoing data for debug purpose |
std::cout << "send: " << data << std::endl; |
QByteArray temp(data); |
std::cout << "send: "; |
FlightLog::log_data(send_data, length+3); |
QByteArray temp(send_data); |
serial->sendData(temp); |
} else { |
//FIXME: Error message: not connected |
87,18 → 84,18 |
* and just give it to the handler. |
*/ |
void QTSerialCommunication::slot_received_data(const QByteArray & data) { |
std::cout << "receive something" << std::endl; |
received_data((char *)data.data(), data.length()); |
} |
|
/** |
* handel received data |
* handel received data from MK |
*/ |
void QTSerialCommunication::received_data(char * data, int length) { |
//Debug: print oud debug data |
//TODO: save data in a file for debug purposes |
std::cout << "receive: " << data << std::endl; |
std::cout << "receive: "; |
FlightLog::log_data(data, length); |
//handle incomming data |
//FIXME: HIER! Hardware-Id = Mode.id |
|
handler->receive_data(data, length); |
} |