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Ignore whitespace Rev 439 → Rev 440

/QMK-Groundstation/branches/libMK/libMK/Handler.cpp
0,0 → 1,470
#include<Handler.h>
 
/**
* Constructor that gets a communication instance
*/
Handler::Handler(Communication * com, KopterData * data) {
this->com = com;
this->data = data;
}
 
//-------------FlightCtrl commands--------------------
/**
* read settings from FlightCtrl (settings index 0x00-0x05)
*/
void Handler::get_flightctrl_settings(int index) {
char tx_data[2] = {index, 0};
com->send_cmd('q', ADDRESS_FC, tx_data, 1, true);
}
 
/**
* write settings to FlightCtrl
*/
void Handler::set_flightctrl_settings(char * tx_data) {
com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true);
}
 
/**
* test one or more motors
*/
void Handler::motor_test(sMotor motor) {
char tx_data[12];
for (int z = 0; z<12; z++)
{
tx_data[z] = motor.Speed[z];
}
com->send_cmd('t', ADDRESS_FC, tx_data, 12, false);
}
 
void Handler::reset_motor() {
sMotor motor;
for (int z = 0; z<12; z++)
{
motor.Speed[z] = 0;
}
 
motor_test(motor);
}
 
/**
* read mixer values from FlightCtrl
*/
void Handler::read_motor_mixer() {
char tx_data[1] = {0};
//com->log("read motor mixer");
com->send_cmd('n', ADDRESS_FC, tx_data, 1, true);
}
 
/**
* write motor mixer values to FlightCtrl
*/
void Handler::write_motor_mixer(char * tx_data, int length) {
com->send_cmd('m', ADDRESS_FC, tx_data, length, true);
}
 
int Handler::get_motor_config(char * tx_data) {
return -1;
}
 
//-------------NaviCtrl commands--------------------
/**
* set debug values for NaviCtrl
*/
void Handler::set_navictrl_debug(int speed) {
char tx_data[1] = { speed };
com->send_cmd('o', ADDRESS_NC, tx_data, 1, false);
}
 
/**
* stop debug for NaviCtrl
*/
void Handler::stop_navictrl_debug() {
set_navictrl_debug(0);
}
 
/**
* send a waypoint to the NaviCtrl (the copter 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);
}
 
/**
* add waypoint to waypoint list
*/
void Handler::add_waypoint(Waypoint_t wp) {
com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false);
}
 
/**
* clear waypoint list on MK
*/
void Handler::delete_waypoints() {
Waypoint_t wp;
wp.Position.Status = INVALID;
send_waypoint(wp);
}
//-------------switch between Hardware--------------------
void Handler::switch_navictrl() {
char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'};
com->send_cmd('#', ADDRESS_NC, tx_data, 6, false);
}
 
void Handler::switch_flightctrl() {
char tx_data[1] = { 0 };
com->send_cmd('u', ADDRESS_NC, tx_data, 1, false);
}
 
void Handler::switch_mk3mag() {
char tx_data[1] = { 1 };
com->send_cmd('u', ADDRESS_NC, tx_data, 1, false);
}
 
//-------------commands for MK3MAG-----------------
 
 
//-------------commands for all--------------------
 
/**
* set debug values for all components
*/
void Handler::set_all_debug(int speed) {
char tx_data[1] = { speed };
com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false);
}
 
/**
* stop debug for all components
*/
void Handler::stop_all_debug() {
set_all_debug(0);
}
 
/**
* get all analog labels
*/
void Handler::get_analog() {
char tx_data[1] = { 0 };
com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true);
}
 
/**
* get values from LCD / show LCD
*/
void Handler::show_lcd() {
char tx_data[1] = {0};
com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
}
 
/**
* got to next LCD Page
*/
void Handler::lcd_up() {
char tx_data[2] = { 0, 0 };
if (data->lcd_cur != data->lcd_max)
tx_data[0] = data->lcd_cur+1;
com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
}
 
/**
* got to previous LCD Page
*/
void Handler::lcd_down() {
char tx_data[2] = { 0, 0 };
if (data->lcd_cur != 0)
tx_data[0] = data->lcd_cur-1;
com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
}
 
void Handler::get_version() {
//TODO: Check if is this correct or do we need data from switch_...
char tx_data[1] = { 0 };
com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true);
}
 
void Handler::get_ppm_channels() {
char tx_data[1] = { 0 };
com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false);
}
 
/**
* receive data
*/
void Handler::receive_data(sRxData RX) {
//extract hardware ID from received Data
int hardwareID = RX.input[1] - 'a';
switch(hardwareID)
{
case ADDRESS_FC :
switch(RX.input[2])
{
// Motor-Mixer
case 'N' :
if (Parser::decode64(RX))
{
com->stop_resend();
 
if (RX.decode[0] == VERSION_MIXER)
{
//f_MotorMixer->set_MotorConfig(RX);
}
}
break;
// Motor-Mixer Schreib-Bestätigung
case 'M' :
if (Parser::decode64(RX))
{
com->stop_resend();
 
if (RX.decode[0] == 1)
{
//lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben."));
}
}
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;
// Settings lesen
case 'Q' : // DONE 0.71g
if (Parser::decode64(RX))
{
com->stop_resend();
 
if (RX.decode[1] == VERSION_SETTINGS)
{
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);*/
}
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);*/
}
}
break;
// Settings written
case 'S' : // DONE 0.71g
com->stop_resend();
//TODO: QMessagebox("settings written successful") ?
break;
}
 
case ADDRESS_NC :
switch(RX.input[2])
{
// Navigationsdaten
case 'O' : // NOT DONE 0.12h
if (Parser::decode64(RX))
{
//new_NaviData(RX);
}
break;
}
// case ADDRESS_MK3MAG :
 
default :
switch(RX.input[2])
{
// LCD-Anzeige
case 'L' : // DONE 0.71g
if (Parser::decode64(RX))
{
com->stop_resend();
 
/*int LCD[150];
memcpy(LCD,RX.decode, sizeof(RX.decode));
 
f_LCD->show_Data(LCD);
 
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();
 
int Position = RX.decode[0];
if (Position != 31)
{
/*
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);*/
}
if (Position == 31)
{
/*
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();*/
}
}
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();
}
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];
 
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)
{
// AllowSend = false;
QMessageBox::warning(this, QA_NAME,
tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok);
}
 
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_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.
// ToolBox::Wait(SLEEP);
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);
}
 
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();*/
}
break;
}
}
}