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1 | #include "Handler.h" |
1 | #include "Handler.h" |
2 | #include <iostream> |
2 | #include "FlightLog.h" |
3 | 3 | ||
4 | /** |
4 | /** |
5 | * Constructor that gets a communication instance |
5 | * Constructor that gets a communication instance |
6 | */ |
6 | */ |
7 | Handler::Handler(Communication * com, KopterData * data) { |
7 | Handler::Handler(Communication * com, KopterData * data) { |
8 | this->com = com; |
8 | this->com = com; |
9 | this->data = data; |
9 | this->data = data; |
10 | } |
10 | } |
11 | 11 | ||
12 | //-------------FlightCtrl commands-------------------- |
12 | //-------------FlightCtrl commands-------------------- |
13 | /** |
13 | /** |
14 | * read settings from FlightCtrl (settings index 0x00-0x05) |
14 | * read settings from FlightCtrl (settings index 0x00-0x05) |
15 | */ |
15 | */ |
16 | void Handler::get_flightctrl_settings(int index) { |
16 | void Handler::get_flightctrl_settings(int index) { |
17 | char tx_data[2] = {index, 0}; |
17 | char tx_data[2] = {index, 0}; |
18 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
18 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
19 | } |
19 | } |
20 | 20 | ||
21 | /** |
21 | /** |
22 | * write settings to FlightCtrl |
22 | * write settings to FlightCtrl |
23 | */ |
23 | */ |
24 | void Handler::set_flightctrl_settings(char * tx_data) { |
24 | void Handler::set_flightctrl_settings(char * tx_data) { |
25 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
25 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
26 | } |
26 | } |
27 | 27 | ||
28 | /** |
28 | /** |
29 | * test one or more motors |
29 | * test one or more motors |
30 | */ |
30 | */ |
31 | void Handler::motor_test(sMotorData motor) { |
31 | void Handler::motor_test(sMotorData motor) { |
32 | char tx_data[MAX_MOTORS]; |
32 | char tx_data[MAX_MOTORS]; |
33 | for (int z = 0; z<MAX_MOTORS; z++) |
33 | for (int z = 0; z<MAX_MOTORS; z++) |
34 | { |
34 | { |
35 | tx_data[z] = motor.desired_speed[z]; |
35 | tx_data[z] = motor.desired_speed[z]; |
36 | } |
36 | } |
37 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
37 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
38 | } |
38 | } |
39 | 39 | ||
40 | void Handler::reset_motor() { |
40 | void Handler::reset_motor() { |
41 | for (int z = 0; z<MAX_MOTORS; z++) |
41 | for (int z = 0; z<MAX_MOTORS; z++) |
42 | { |
42 | { |
43 | data->motor.desired_speed[z] = 0; |
43 | data->motor.desired_speed[z] = 0; |
44 | } |
44 | } |
45 | 45 | ||
46 | motor_test(data->motor); |
46 | motor_test(data->motor); |
47 | } |
47 | } |
48 | 48 | ||
49 | /** |
49 | /** |
50 | * read mixer values from FlightCtrl |
50 | * read mixer values from FlightCtrl |
51 | */ |
51 | */ |
52 | void Handler::read_motor_mixer() { |
52 | void Handler::read_motor_mixer() { |
53 | char tx_data[1] = {0}; |
53 | char tx_data[1] = {0}; |
54 | //com->log("read motor mixer"); |
54 | //com->log("read motor mixer"); |
55 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
55 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
56 | } |
56 | } |
57 | 57 | ||
58 | /** |
58 | /** |
59 | * write motor mixer values to FlightCtrl |
59 | * write motor mixer values to FlightCtrl |
60 | */ |
60 | */ |
61 | void Handler::write_motor_mixer(char * tx_data, int length) { |
61 | void Handler::write_motor_mixer(char * tx_data, int length) { |
62 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
62 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
63 | } |
63 | } |
64 | 64 | ||
65 | int Handler::get_motor_config(char * tx_data) { |
65 | int Handler::get_motor_config(char * tx_data) { |
66 | return -1; |
66 | return -1; |
67 | } |
67 | } |
68 | 68 | ||
69 | //-------------NaviCtrl commands-------------------- |
69 | //-------------NaviCtrl commands-------------------- |
70 | /** |
70 | /** |
71 | * set debug values for NaviCtrl |
71 | * set debug values for NaviCtrl |
72 | */ |
72 | */ |
73 | void Handler::set_navictrl_debug(int speed) { |
73 | void Handler::set_navictrl_debug(int speed) { |
74 | char tx_data[1] = { speed }; |
74 | char tx_data[1] = { speed }; |
75 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
75 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
76 | } |
76 | } |
77 | 77 | ||
78 | /** |
78 | /** |
79 | * stop debug for NaviCtrl |
79 | * stop debug for NaviCtrl |
80 | */ |
80 | */ |
81 | void Handler::stop_navictrl_debug() { |
81 | void Handler::stop_navictrl_debug() { |
82 | set_navictrl_debug(0); |
82 | set_navictrl_debug(0); |
83 | } |
83 | } |
84 | 84 | ||
85 | /** |
85 | /** |
86 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
86 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
87 | */ |
87 | */ |
88 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
88 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
89 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
89 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
90 | } |
90 | } |
91 | 91 | ||
92 | /** |
92 | /** |
93 | * add waypoint to waypoint list |
93 | * add waypoint to waypoint list |
94 | */ |
94 | */ |
95 | void Handler::add_waypoint(Waypoint_t wp) { |
95 | void Handler::add_waypoint(Waypoint_t wp) { |
96 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
96 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
97 | } |
97 | } |
98 | 98 | ||
99 | /** |
99 | /** |
100 | * clear waypoint list on MK |
100 | * clear waypoint list on MK |
101 | */ |
101 | */ |
102 | void Handler::delete_waypoints() { |
102 | void Handler::delete_waypoints() { |
103 | Waypoint_t wp; |
103 | Waypoint_t wp; |
104 | wp.Position.Status = INVALID; |
104 | wp.Position.Status = INVALID; |
105 | send_waypoint(wp); |
105 | send_waypoint(wp); |
106 | } |
106 | } |
107 | //-------------switch between Hardware-------------------- |
107 | //-------------switch between Hardware-------------------- |
108 | void Handler::switch_navictrl() { |
108 | void Handler::switch_navictrl() { |
109 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
109 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
110 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
110 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
111 | } |
111 | } |
112 | 112 | ||
113 | void Handler::switch_flightctrl() { |
113 | void Handler::switch_flightctrl() { |
114 | char tx_data[1] = { 0 }; |
114 | char tx_data[1] = { 0 }; |
115 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
115 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
116 | } |
116 | } |
117 | 117 | ||
118 | void Handler::switch_mk3mag() { |
118 | void Handler::switch_mk3mag() { |
119 | char tx_data[1] = { 1 }; |
119 | char tx_data[1] = { 1 }; |
120 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
120 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
121 | } |
121 | } |
122 | 122 | ||
123 | //-------------commands for MK3MAG----------------- |
123 | //-------------commands for MK3MAG----------------- |
124 | 124 | ||
125 | 125 | ||
126 | //-------------commands for all-------------------- |
126 | //-------------commands for all-------------------- |
127 | 127 | ||
128 | /** |
128 | /** |
129 | * set debug values for all components |
129 | * set debug values for all components |
130 | */ |
130 | */ |
131 | void Handler::set_all_debug(int speed) { |
131 | void Handler::set_all_debug(int speed) { |
132 | char tx_data[1] = { speed }; |
132 | char tx_data[1] = { speed }; |
133 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
133 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
134 | } |
134 | } |
135 | 135 | ||
136 | /** |
136 | /** |
137 | * stop debug for all components |
137 | * stop debug for all components |
138 | */ |
138 | */ |
139 | void Handler::stop_all_debug() { |
139 | void Handler::stop_all_debug() { |
140 | set_all_debug(0); |
140 | set_all_debug(0); |
141 | } |
141 | } |
142 | 142 | ||
143 | /** |
143 | /** |
144 | * get all analog labels |
144 | * get all analog labels |
145 | */ |
145 | */ |
146 | void Handler::get_analog() { |
146 | void Handler::get_analog() { |
147 | char tx_data[1] = { 0 }; |
147 | char tx_data[1] = { 0 }; |
148 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
148 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
149 | } |
149 | } |
150 | 150 | ||
151 | /** |
151 | /** |
152 | * get values from LCD / show LCD |
152 | * get values from LCD / show LCD |
153 | */ |
153 | */ |
154 | void Handler::show_lcd() { |
154 | void Handler::show_lcd() { |
155 | char tx_data[1] = {0}; |
155 | char tx_data[1] = {0}; |
156 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
156 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
157 | } |
157 | } |
158 | 158 | ||
159 | /** |
159 | /** |
160 | * got to next LCD Page |
160 | * got to next LCD Page |
161 | */ |
161 | */ |
162 | void Handler::lcd_up() { |
162 | void Handler::lcd_up() { |
163 | char tx_data[2] = { 0, 0 }; |
163 | char tx_data[2] = { 0, 0 }; |
164 | if (data->lcd_cur != data->lcd_max) |
164 | if (data->lcd_cur != data->lcd_max) |
165 | tx_data[0] = data->lcd_cur+1; |
165 | tx_data[0] = data->lcd_cur+1; |
166 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
166 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
167 | } |
167 | } |
168 | 168 | ||
169 | /** |
169 | /** |
170 | * got to previous LCD Page |
170 | * got to previous LCD Page |
171 | */ |
171 | */ |
172 | void Handler::lcd_down() { |
172 | void Handler::lcd_down() { |
173 | char tx_data[2] = { 0, 0 }; |
173 | char tx_data[2] = { 0, 0 }; |
174 | if (data->lcd_cur != 0) |
174 | if (data->lcd_cur != 0) |
175 | tx_data[0] = data->lcd_cur-1; |
175 | tx_data[0] = data->lcd_cur-1; |
176 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
176 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
177 | } |
177 | } |
178 | 178 | ||
179 | void Handler::get_version() { |
179 | void Handler::get_version() { |
180 | //TODO: Check if is this correct or do we need data from switch_... |
180 | //TODO: Check if is this correct or do we need data from switch_... |
181 | char tx_data[1] = { 0 }; |
181 | char tx_data[1] = { 0 }; |
182 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
182 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
183 | } |
183 | } |
184 | 184 | ||
185 | void Handler::get_ppm_channels() { |
185 | void Handler::get_ppm_channels() { |
186 | char tx_data[1] = { 0 }; |
186 | char tx_data[1] = { 0 }; |
187 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
187 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
188 | } |
188 | } |
189 | 189 | ||
190 | /** |
190 | /** |
191 | * receive data |
191 | * receive data |
192 | */ |
192 | */ |
- | 193 | void Handler::receive_data(char * incomming, int length) { |
|
- | 194 | if (incomming[0] != '#') |
|
- | 195 | FlightLog::error("this frame is not correct"); |
|
- | 196 | FlightLog::info(incomming); |
|
- | 197 | return; |
|
- | 198 | int hardwareID = incomming[1] - 'a'; |
|
- | 199 | ||
- | 200 | //The cmd is also known as ID-Byte (or ID for short) in the wiki-dokumentation |
|
- | 201 | char cmd = incomming[2]; |
|
193 | //Parser::decode64(data); |
202 | //decode data |
- | 203 | unsigned char data[150]; |
|
- | 204 | ||
194 | void Handler::receive_data(int hardwareID, int cmd, char * data) { |
205 | Parser::decode64(incomming, length, data, 3); |
- | 206 | ||
195 | switch(hardwareID) |
207 | switch(hardwareID) |
196 | { |
208 | { |
197 | case ADDRESS_FC : |
209 | case ADDRESS_FC : |
198 | switch(cmd) |
210 | switch(cmd) |
199 | { |
211 | { |
200 | // Motor-Mixer |
212 | // Motor-Mixer |
201 | case 'N' : |
213 | case 'N' : |
202 | //if (Parser::decode64(RX)) |
214 | //if (Parser::decode64(RX)) |
203 | //{ |
215 | //{ |
204 | com->stop_resend(); |
216 | com->stop_resend(); |
205 | //decoded data |
217 | //decoded data |
- | 218 | FlightLog::info("received motortest values from FlightCtrl"); |
|
206 | if (data[0] == VERSION_MIXER) |
219 | if (data[0] == VERSION_MIXER) |
207 | { |
220 | { |
208 | //f_MotorMixer->set_MotorConfig(RX); |
221 | //f_MotorMixer->set_MotorConfig(RX); |
209 | } |
222 | } |
210 | //} |
223 | //} |
211 | break; |
224 | break; |
212 | // Motor-Mixer Schreib-Bestätigung |
225 | // Motor-Mixer Schreib-Bestätigung |
213 | case 'M' : |
226 | case 'M' : |
214 | com->stop_resend(); |
227 | com->stop_resend(); |
215 | 228 | ||
216 | if (data[0] == 1) |
229 | if (data[0] == 1) |
217 | { |
230 | { |
- | 231 | FlightLog::info("motor values written to FlightCtrl."); |
|
218 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
232 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
- | 233 | } else { |
|
- | 234 | FlightLog::warning("could not write motor values to FlightCtrl!"); |
|
219 | } |
235 | } |
220 | break; |
236 | break; |
221 | 237 | ||
222 | // Stick-Belegung der Fernsteuerung |
238 | // Stick-Belegung der Fernsteuerung |
223 | case 'P' : // DONE 0.71g |
239 | case 'P' : // DONE 0.71g |
- | 240 | FlightLog::info("received stick-settings from FlightCtrl:"); |
|
224 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
241 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
225 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
242 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
226 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
243 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
227 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
244 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
228 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
245 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
229 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
246 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
230 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
247 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
231 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
248 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
232 | break; |
249 | break; |
233 | // Settings lesen |
250 | // Settings lesen |
234 | case 'Q' : // DONE 0.71g |
251 | case 'Q' : // DONE 0.71g |
235 | com->stop_resend(); |
252 | com->stop_resend(); |
236 | - | ||
- | 253 | FlightLog::info("received settings from FlightCtrl"); |
|
237 | if (data[1] == VERSION_SETTINGS) |
254 | if (data[1] == VERSION_SETTINGS) |
238 | { |
255 | { |
239 | int Settings_ID = data[0]; |
256 | int Settings_ID = data[0]; |
240 | /*for (int a = 0; a < MaxParameter; a++) |
257 | /*for (int a = 0; a < MaxParameter; a++) |
241 | { |
258 | { |
242 | FCSettings[a] = RX.decode[a + 2]; |
259 | FCSettings[a] = RX.decode[a + 2]; |
243 | } |
260 | } |
244 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
261 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
245 | f_Settings->pb_Read->setEnabled(true); |
262 | f_Settings->pb_Read->setEnabled(true); |
246 | f_Settings->pb_Write->setEnabled(true);*/ |
263 | f_Settings->pb_Write->setEnabled(true);*/ |
247 | } |
264 | } |
248 | else |
265 | else |
249 | { |
266 | { |
- | 267 | FlightLog::error("wrong FlightCtrl version"); |
|
250 | /*f_Settings->pb_Read->setDisabled(true); |
268 | /*f_Settings->pb_Read->setDisabled(true); |
251 | f_Settings->pb_Write->setDisabled(true); |
269 | f_Settings->pb_Write->setDisabled(true); |
252 | 270 | ||
253 | QString name = QString("Versionen inkompatibel.\n") + |
271 | QString name = QString("Versionen inkompatibel.\n") + |
254 | QString("Version von GroundStation benoetigt: ") + |
272 | QString("Version von GroundStation benoetigt: ") + |
255 | QString(VERSION_SETTINGS) + |
273 | QString(VERSION_SETTINGS) + |
256 | QString("\nVersion auf der FlightCtrl: ") + |
274 | QString("\nVersion auf der FlightCtrl: ") + |
257 | QString(RX.decode[1]) + |
275 | QString(RX.decode[1]) + |
258 | QString("\nParameterbearbeitung nicht moeglich."); |
276 | QString("\nParameterbearbeitung nicht moeglich."); |
259 | QMessageBox::warning(this, QA_NAME, |
277 | QMessageBox::warning(this, QA_NAME, |
260 | name, QMessageBox::Ok);*/ |
278 | name, QMessageBox::Ok);*/ |
261 | } |
279 | } |
262 | break; |
280 | break; |
263 | // Settings written |
281 | // Settings written |
264 | case 'S' : // DONE 0.71g |
282 | case 'S' : // DONE 0.71g |
265 | com->stop_resend(); |
283 | com->stop_resend(); |
- | 284 | FlightLog::info("settings written successfully to FlightCtrl"); |
|
266 | //TODO: QMessagebox("settings written successful") ? |
285 | //TODO: QMessagebox("settings written successful") ? |
267 | break; |
286 | break; |
268 | } |
287 | } |
269 | 288 | ||
270 | case ADDRESS_NC : |
289 | case ADDRESS_NC : |
271 | switch(cmd) |
290 | switch(cmd) |
272 | { |
291 | { |
273 | // Navigationsdaten |
292 | // Navigationsdaten |
274 | case 'O' : // NOT DONE 0.12h |
293 | case 'O' : // NOT DONE 0.12h |
275 | //new_NaviData(RX); |
294 | //new_NaviData(RX); |
- | 295 | FlightLog::info("received navigation data from NaviCtrl"); |
|
276 | break; |
296 | break; |
277 | } |
297 | } |
278 | // case ADDRESS_MK3MAG : |
298 | // case ADDRESS_MK3MAG : |
279 | 299 | ||
280 | default : |
300 | default : |
281 | switch(cmd) |
301 | switch(cmd) |
282 | { |
302 | { |
283 | // LCD-Anzeige |
303 | // LCD-Anzeige |
284 | case 'L' : // DONE 0.71g |
304 | case 'L' : // DONE 0.71g |
285 | com->stop_resend(); |
305 | com->stop_resend(); |
286 | - | ||
- | 306 | FlightLog::info("received LCD page."); |
|
287 | /*int LCD[150]; |
307 | /*int LCD[150]; |
288 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
308 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
289 | 309 | ||
290 | f_LCD->show_Data(LCD); |
310 | f_LCD->show_Data(LCD); |
291 | 311 | ||
292 | LCD_Page = RX.decode[0]; |
312 | LCD_Page = RX.decode[0]; |
293 | LCD_MAX_Page = RX.decode[1]; |
313 | LCD_MAX_Page = RX.decode[1]; |
294 | */ |
314 | */ |
295 | break; |
315 | break; |
296 | // Analoglabels |
316 | // Analoglabels |
297 | case 'A' : // DONE 0.71g |
317 | case 'A' : // DONE 0.71g |
298 | com->stop_resend(); |
318 | com->stop_resend(); |
299 | - | ||
- | 319 | FlightLog::info("received analog labels"); |
|
300 | //check position |
320 | //check position |
301 | if (data[0] != 31) { |
321 | if (data[0] != 31) { |
302 | /* |
322 | /* |
303 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
323 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
304 | if (Settings->Analog1.Label[Position] == "") |
324 | if (Settings->Analog1.Label[Position] == "") |
305 | { |
325 | { |
306 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
326 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
307 | } |
327 | } |
308 | Position ++; |
328 | Position ++; |
309 | TX_Data[0] = Position; |
329 | TX_Data[0] = Position; |
310 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
330 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
311 | } else { |
331 | } else { |
312 | /* |
332 | /* |
313 | for (int a = 0; a < MaxAnalog; a++) |
333 | for (int a = 0; a < MaxAnalog; a++) |
314 | { |
334 | { |
315 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
335 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
316 | } |
336 | } |
317 | Settings->Analog1.Version = QString(Mode.Version); |
337 | Settings->Analog1.Version = QString(Mode.Version); |
318 | Settings->write_Settings_AnalogLabels(HardwareID); |
338 | Settings->write_Settings_AnalogLabels(HardwareID); |
319 | config_Plot();*/ |
339 | config_Plot();*/ |
320 | } |
340 | } |
321 | break; |
341 | break; |
322 | // Debug-Daten |
342 | // Debug-Daten |
323 | case 'D' : // DONE 0.71g |
343 | case 'D' : // DONE 0.71g |
- | 344 | FlightLog::info("received debug data:"); |
|
324 | for (int i = 0; i < MaxAnalog; i++) { |
345 | for (int i = 0; i < MaxAnalog; i++) { |
- | 346 | /* |
|
325 | std::cout << Parser::dataToInt(data, (i * 2) + 2) << std::endl; |
347 | Parser::dataToInt((char *)data, (i * 2) + 2, false); |
- | 348 | */ |
|
326 | } |
349 | } |
327 | //show_DebugData(); |
350 | //show_DebugData(); |
328 | break; |
351 | break; |
329 | // Version |
352 | // Version |
330 | case 'V' : // DONE 0.71h |
353 | case 'V' : // DONE 0.71h |
331 | com->stop_resend(); |
354 | com->stop_resend(); |
- | 355 | FlightLog::info("received version"); |
|
332 | /* |
356 | /* |
333 | Mode.ID = HardwareID; |
357 | Mode.ID = HardwareID; |
334 | Mode.VERSION_MAJOR = RX.decode[0]; |
358 | Mode.VERSION_MAJOR = RX.decode[0]; |
335 | Mode.VERSION_MINOR = RX.decode[1]; |
359 | Mode.VERSION_MINOR = RX.decode[1]; |
336 | Mode.VERSION_PATCH = RX.decode[4]; |
360 | Mode.VERSION_PATCH = RX.decode[4]; |
337 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
361 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
338 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
362 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
339 | 363 | ||
340 | Mode.Hardware = HardwareType[Mode.ID]; |
364 | Mode.Hardware = HardwareType[Mode.ID]; |
341 | //TODO: Funktion im Handler get_version() oder sowas |
365 | //TODO: Funktion im Handler get_version() oder sowas |
342 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
366 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
343 | QString("%1").arg(RX.decode[1]) + |
367 | QString("%1").arg(RX.decode[1]) + |
344 | QString(RX.decode[4] + 'a'); |
368 | QString(RX.decode[4] + 'a'); |
345 | Mode.Version = version.toLatin1().data; |
369 | Mode.Version = version.toLatin1().data; |
346 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
370 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
347 | Mode.Hardware + " " + |
371 | Mode.Hardware + " " + |
348 | Mode.Version); |
372 | Mode.Version); |
349 | 373 | ||
350 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
374 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
351 | { |
375 | { |
352 | // AllowSend = false; |
376 | // AllowSend = false; |
353 | QMessageBox::warning(this, QA_NAME, |
377 | QMessageBox::warning(this, QA_NAME, |
354 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
378 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
355 | } |
379 | } |
356 | 380 | ||
357 | if (ac_NoDebug->isChecked()) |
381 | if (ac_NoDebug->isChecked()) |
358 | { |
382 | { |
359 | TX_Data[0] = 0; |
383 | TX_Data[0] = 0; |
360 | } |
384 | } |
361 | else |
385 | else |
362 | if (ac_FastDebug->isChecked()) |
386 | if (ac_FastDebug->isChecked()) |
363 | { |
387 | { |
364 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
388 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
365 | } |
389 | } |
366 | else |
390 | else |
367 | { |
391 | { |
368 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
392 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
369 | } |
393 | } |
370 | 394 | ||
371 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
395 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
372 | 396 | ||
373 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
397 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
374 | if (Mode.ID == ADDRESS_MK3MAG) |
398 | if (Mode.ID == ADDRESS_MK3MAG) |
375 | { |
399 | { |
376 | TickerEvent[3] = true; |
400 | TickerEvent[3] = true; |
377 | rb_SelMag->setChecked(true); |
401 | rb_SelMag->setChecked(true); |
378 | } |
402 | } |
379 | 403 | ||
380 | // Wenn NaviCtrl dann hier. |
404 | // Wenn NaviCtrl dann hier. |
381 | if (Mode.ID == ADDRESS_NC) |
405 | if (Mode.ID == ADDRESS_NC) |
382 | { |
406 | { |
383 | rb_SelNC->setChecked(true); |
407 | rb_SelNC->setChecked(true); |
384 | 408 | ||
385 | if (ac_NoNavi->isChecked()) |
409 | if (ac_NoNavi->isChecked()) |
386 | { |
410 | { |
387 | TX_Data[0] = 0; |
411 | TX_Data[0] = 0; |
388 | } |
412 | } |
389 | else |
413 | else |
390 | if (ac_FastNavi->isChecked()) |
414 | if (ac_FastNavi->isChecked()) |
391 | { |
415 | { |
392 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
416 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
393 | } |
417 | } |
394 | else |
418 | else |
395 | { |
419 | { |
396 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
420 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
397 | } |
421 | } |
398 | 422 | ||
399 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
423 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
400 | } |
424 | } |
401 | 425 | ||
402 | 426 | ||
403 | // Wenn FlightCtrl dann Settings abfragen. |
427 | // Wenn FlightCtrl dann Settings abfragen. |
404 | if (Mode.ID == ADDRESS_FC) |
428 | if (Mode.ID == ADDRESS_FC) |
405 | { |
429 | { |
406 | rb_SelFC->setChecked(true); |
430 | rb_SelFC->setChecked(true); |
407 | { |
431 | { |
408 | TX_Data[0] = 0xff; |
432 | TX_Data[0] = 0xff; |
409 | TX_Data[1] = 0; |
433 | TX_Data[1] = 0; |
410 | 434 | ||
411 | // DEP: Raus wenn Resend implementiert. |
435 | // DEP: Raus wenn Resend implementiert. |
412 | // ToolBox::Wait(SLEEP); |
436 | // ToolBox::Wait(SLEEP); |
413 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
437 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
414 | qDebug("FC - Get Settings"); |
438 | qDebug("FC - Get Settings"); |
415 | } |
439 | } |
416 | } |
440 | } |
417 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
441 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
418 | else |
442 | else |
419 | { |
443 | { |
420 | f_Settings->pb_Read->setDisabled(true); |
444 | f_Settings->pb_Read->setDisabled(true); |
421 | f_Settings->pb_Write->setDisabled(true); |
445 | f_Settings->pb_Write->setDisabled(true); |
422 | } |
446 | } |
423 | 447 | ||
424 | Settings->read_Settings_Analog(HardwareID); |
448 | Settings->read_Settings_Analog(HardwareID); |
425 | Settings->read_Settings_AnalogLabels(HardwareID); |
449 | Settings->read_Settings_AnalogLabels(HardwareID); |
426 | 450 | ||
427 | if (Settings->Analog1.Version != QString(Mode.Version)) |
451 | if (Settings->Analog1.Version != QString(Mode.Version)) |
428 | { |
452 | { |
429 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
453 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
430 | slot_ac_GetLabels(); |
454 | slot_ac_GetLabels(); |
431 | } |
455 | } |
432 | else |
456 | else |
433 | for (int a = 0; a < MaxAnalog; a++) |
457 | for (int a = 0; a < MaxAnalog; a++) |
434 | { |
458 | { |
435 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
459 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
436 | } |
460 | } |
437 | config_Plot();*/ |
461 | config_Plot();*/ |
438 | break; |
462 | break; |
439 | } |
463 | } |
440 | } |
464 | } |
441 | } |
465 | } |