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Rev 500 | Rev 513 | ||
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1 | #include "Handler.h" |
1 | #include "Handler.h" |
2 | #include "FlightLog.h" |
2 | #include "FlightLog.h" |
- | 3 | #include <sstream> |
|
- | 4 | #include <string> |
|
3 | 5 | ||
4 | /** |
6 | /** |
5 | * Constructor that gets a communication instance |
7 | * Constructor that gets a communication instance |
6 | */ |
8 | */ |
7 | Handler::Handler(Communication * com, KopterData * data) { |
9 | Handler::Handler(Communication * com, KopterData * data) { |
8 | this->com = com; |
10 | this->com = com; |
9 | this->data = data; |
11 | this->data = data; |
10 | } |
12 | } |
11 | 13 | ||
12 | //-------------FlightCtrl commands-------------------- |
14 | //-------------FlightCtrl commands-------------------- |
13 | /** |
15 | /** |
14 | * read settings from FlightCtrl (settings index 0x00-0x05) |
16 | * read settings from FlightCtrl (settings index 0x00-0x05) |
15 | */ |
17 | */ |
16 | void Handler::get_flightctrl_settings(int index) { |
18 | void Handler::get_flightctrl_settings(int index) { |
- | 19 | FlightLog::info_FC("getting FlightCtrl settings"); |
|
17 | char tx_data[2] = {index, 0}; |
20 | char tx_data[2] = {index, 0}; |
18 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
21 | com->send_cmd('q', ADDRESS_FC, tx_data, 1, true); |
19 | } |
22 | } |
20 | 23 | ||
21 | /** |
24 | /** |
22 | * write settings to FlightCtrl |
25 | * write settings to FlightCtrl |
23 | */ |
26 | */ |
24 | void Handler::set_flightctrl_settings(char * tx_data) { |
27 | void Handler::set_flightctrl_settings(char * tx_data) { |
- | 28 | FlightLog::info_FC("setting FlightCtrl settings"); |
|
25 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
29 | com->send_cmd('s', ADDRESS_FC, tx_data, MaxParameter+2, true); |
26 | } |
30 | } |
27 | 31 | ||
28 | /** |
32 | /** |
29 | * test one or more motors |
33 | * test one or more motors |
30 | */ |
34 | */ |
31 | void Handler::motor_test(sMotorData motor) { |
35 | void Handler::motor_test(sMotorData motor) { |
32 | char tx_data[MAX_MOTORS]; |
36 | char tx_data[MAX_MOTORS]; |
33 | for (int z = 0; z<MAX_MOTORS; z++) |
37 | for (int z = 0; z<MAX_MOTORS; z++) |
34 | { |
38 | { |
35 | tx_data[z] = motor.desired_speed[z]; |
39 | tx_data[z] = motor.desired_speed[z]; |
36 | } |
40 | } |
- | 41 | FlightLog::info_FC("testing motor"); |
|
37 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
42 | com->send_cmd('t', ADDRESS_FC, tx_data, MAX_MOTORS, false); |
38 | } |
43 | } |
39 | 44 | ||
40 | void Handler::reset_motor() { |
45 | void Handler::reset_motor() { |
41 | for (int z = 0; z<MAX_MOTORS; z++) |
46 | for (int z = 0; z<MAX_MOTORS; z++) |
42 | { |
47 | { |
43 | data->motor.desired_speed[z] = 0; |
48 | data->motor.desired_speed[z] = 0; |
44 | } |
49 | } |
45 | 50 | ||
46 | motor_test(data->motor); |
51 | motor_test(data->motor); |
47 | } |
52 | } |
48 | 53 | ||
49 | /** |
54 | /** |
50 | * read mixer values from FlightCtrl |
55 | * read mixer values from FlightCtrl |
51 | */ |
56 | */ |
52 | void Handler::read_motor_mixer() { |
57 | void Handler::read_motor_mixer() { |
- | 58 | FlightLog::info_FC("reading motor mixer values"); |
|
53 | char tx_data[1] = {0}; |
59 | char tx_data[1] = {0}; |
54 | //com->log("read motor mixer"); |
60 | //com->log("read motor mixer"); |
55 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
61 | com->send_cmd('n', ADDRESS_FC, tx_data, 1, true); |
56 | } |
62 | } |
57 | 63 | ||
58 | /** |
64 | /** |
59 | * write motor mixer values to FlightCtrl |
65 | * write motor mixer values to FlightCtrl |
60 | */ |
66 | */ |
61 | void Handler::write_motor_mixer(char * tx_data, int length) { |
67 | void Handler::write_motor_mixer(char * tx_data, int length) { |
- | 68 | FlightLog::info_FC("setting motor mixer values"); |
|
62 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
69 | com->send_cmd('m', ADDRESS_FC, tx_data, length, true); |
63 | } |
70 | } |
64 | 71 | ||
65 | int Handler::get_motor_config(char * tx_data) { |
72 | int Handler::get_motor_config(char * tx_data) { |
66 | return -1; |
73 | return -1; |
67 | } |
74 | } |
68 | 75 | ||
69 | //-------------NaviCtrl commands-------------------- |
76 | //-------------NaviCtrl commands-------------------- |
70 | /** |
77 | /** |
71 | * set debug values for NaviCtrl |
78 | * set debug values for NaviCtrl |
72 | */ |
79 | */ |
73 | void Handler::set_navictrl_debug(int speed) { |
80 | void Handler::set_navictrl_debug(int speed) { |
- | 81 | FlightLog::info_NC("setting NaviCtrl debug speed"); |
|
74 | char tx_data[1] = { speed }; |
82 | char tx_data[1] = { speed }; |
75 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
83 | com->send_cmd('o', ADDRESS_NC, tx_data, 1, false); |
76 | } |
84 | } |
77 | 85 | ||
78 | /** |
86 | /** |
79 | * stop debug for NaviCtrl |
87 | * stop debug for NaviCtrl |
80 | */ |
88 | */ |
81 | void Handler::stop_navictrl_debug() { |
89 | void Handler::stop_navictrl_debug() { |
82 | set_navictrl_debug(0); |
90 | set_navictrl_debug(0); |
83 | } |
91 | } |
84 | 92 | ||
85 | /** |
93 | /** |
86 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
94 | * send a waypoint to the NaviCtrl (the MikroKopter will fly to the position emidiately) |
87 | */ |
95 | */ |
88 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
96 | void Handler::send_waypoint(Waypoint_t desired_pos) { |
- | 97 | FlightLog::info_GPS("sending Waypoint"); |
|
89 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
98 | com->send_cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false); |
90 | } |
99 | } |
91 | 100 | ||
92 | /** |
101 | /** |
93 | * add waypoint to waypoint list |
102 | * add waypoint to waypoint list |
94 | */ |
103 | */ |
95 | void Handler::add_waypoint(Waypoint_t wp) { |
104 | void Handler::add_waypoint(Waypoint_t wp) { |
- | 105 | FlightLog::info_GPS("adding Waypoint"); |
|
96 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
106 | com->send_cmd('w', ADDRESS_NC, (char *)&wp, sizeof(wp), false); |
97 | } |
107 | } |
98 | 108 | ||
99 | /** |
109 | /** |
100 | * clear waypoint list on MK |
110 | * clear waypoint list on MK |
101 | */ |
111 | */ |
102 | void Handler::delete_waypoints() { |
112 | void Handler::delete_waypoints() { |
103 | Waypoint_t wp; |
113 | Waypoint_t wp; |
104 | wp.Position.Status = INVALID; |
114 | wp.Position.Status = INVALID; |
105 | send_waypoint(wp); |
115 | send_waypoint(wp); |
106 | } |
116 | } |
107 | //-------------switch between Hardware-------------------- |
117 | //-------------switch between Hardware-------------------- |
108 | void Handler::switch_navictrl() { |
118 | void Handler::switch_navictrl() { |
- | 119 | FlightLog::info("switching to NaviCtrl"); |
|
109 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
120 | char tx_data[6] = { 0x1B, 0x1B, 0x55, 0xAA, 0x00, '\r'}; |
110 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
121 | com->send_cmd('#', ADDRESS_NC, tx_data, 6, false); |
111 | } |
122 | } |
112 | 123 | ||
113 | void Handler::switch_flightctrl() { |
124 | void Handler::switch_flightctrl() { |
- | 125 | FlightLog::info("switching to FlightCtrl"); |
|
114 | char tx_data[1] = { 0 }; |
126 | char tx_data[1] = { 0 }; |
115 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
127 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
116 | } |
128 | } |
117 | 129 | ||
118 | void Handler::switch_mk3mag() { |
130 | void Handler::switch_mk3mag() { |
- | 131 | FlightLog::info("switching to MK3MAG"); |
|
119 | char tx_data[1] = { 1 }; |
132 | char tx_data[1] = { 1 }; |
120 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
133 | com->send_cmd('u', ADDRESS_NC, tx_data, 1, false); |
121 | } |
134 | } |
122 | 135 | ||
123 | //-------------commands for MK3MAG----------------- |
136 | //-------------commands for MK3MAG----------------- |
124 | 137 | ||
125 | 138 | ||
126 | //-------------commands for all-------------------- |
139 | //-------------commands for all-------------------- |
127 | 140 | ||
128 | /** |
141 | /** |
129 | * set debug values for all components |
142 | * set debug values for all components |
130 | */ |
143 | */ |
131 | void Handler::set_all_debug(int speed) { |
144 | void Handler::set_all_debug(int speed) { |
- | 145 | FlightLog::info("setting debug speed"); |
|
132 | char tx_data[1] = { speed }; |
146 | char tx_data[1] = { speed }; |
133 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
147 | com->send_cmd('d', ADDRESS_ALL, tx_data, 1, false); |
134 | } |
148 | } |
135 | 149 | ||
136 | /** |
150 | /** |
137 | * stop debug for all components |
151 | * stop debug for all components |
138 | */ |
152 | */ |
139 | void Handler::stop_all_debug() { |
153 | void Handler::stop_all_debug() { |
140 | set_all_debug(0); |
154 | set_all_debug(0); |
141 | } |
155 | } |
142 | 156 | ||
143 | /** |
157 | /** |
144 | * get all analog labels |
158 | * get all analog labels |
145 | */ |
159 | */ |
146 | void Handler::get_analog() { |
160 | void Handler::get_analog() { |
- | 161 | FlightLog::info("get analog values"); |
|
147 | char tx_data[1] = { 0 }; |
162 | char tx_data[1] = { 0 }; |
148 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
163 | com->send_cmd('a', ADDRESS_ALL, tx_data, 1, true); |
149 | } |
164 | } |
150 | 165 | ||
151 | /** |
166 | /** |
152 | * get values from LCD / show LCD |
167 | * get values from LCD / show LCD |
153 | */ |
168 | */ |
154 | void Handler::show_lcd() { |
169 | void Handler::show_lcd() { |
- | 170 | FlightLog::info("show LCD"); |
|
155 | char tx_data[1] = {0}; |
171 | char tx_data[1] = {0}; |
156 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
172 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
157 | } |
173 | } |
158 | 174 | ||
159 | /** |
175 | /** |
160 | * got to next LCD Page |
176 | * got to next LCD Page |
161 | */ |
177 | */ |
162 | void Handler::lcd_up() { |
178 | void Handler::lcd_up() { |
- | 179 | FlightLog::info("going up one LCD page"); |
|
163 | char tx_data[2] = { 0, 0 }; |
180 | char tx_data[2] = { 0, 0 }; |
164 | if (data->lcd_cur != data->lcd_max) |
181 | if (data->lcd_cur != data->lcd_max) |
165 | tx_data[0] = data->lcd_cur+1; |
182 | tx_data[0] = data->lcd_cur+1; |
166 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
183 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
167 | } |
184 | } |
168 | 185 | ||
169 | /** |
186 | /** |
170 | * got to previous LCD Page |
187 | * got to previous LCD Page |
171 | */ |
188 | */ |
172 | void Handler::lcd_down() { |
189 | void Handler::lcd_down() { |
- | 190 | FlightLog::info("going down one LCD page"); |
|
173 | char tx_data[2] = { 0, 0 }; |
191 | char tx_data[2] = { 0, 0 }; |
174 | if (data->lcd_cur != 0) |
192 | if (data->lcd_cur != 0) |
175 | tx_data[0] = data->lcd_cur-1; |
193 | tx_data[0] = data->lcd_cur-1; |
176 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
194 | com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true); |
177 | } |
195 | } |
178 | 196 | ||
179 | void Handler::get_version() { |
197 | void Handler::get_version() { |
- | 198 | FlightLog::info("get version"); |
|
180 | //TODO: Check if is this correct or do we need data from switch_... |
199 | //TODO: Check if is this correct or do we need data from switch_... |
181 | char tx_data[1] = { 0 }; |
200 | char tx_data[1] = { 0 }; |
182 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
201 | com->send_cmd('v', ADDRESS_ALL, tx_data, 0, true); |
183 | } |
202 | } |
184 | 203 | ||
185 | void Handler::get_ppm_channels() { |
204 | void Handler::get_ppm_channels() { |
- | 205 | FlightLog::info("get PPM channels"); |
|
186 | char tx_data[1] = { 0 }; |
206 | char tx_data[1] = { 0 }; |
187 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
207 | com->send_cmd('p', ADDRESS_ALL, tx_data, 0, false); |
188 | } |
208 | } |
- | 209 | ||
- | 210 | void Handler::new_navi_data(char * data) { |
|
- | 211 | std::string mode; |
|
- | 212 | switch(data[N_NC_FLAGS]) |
|
- | 213 | { |
|
- | 214 | case 0x01 : mode = "Free"; break; |
|
- | 215 | case 0x02 : mode = "Position Hold"; break; |
|
- | 216 | case 0x04 : mode = "Coming Home"; break; |
|
- | 217 | case 0x08 : mode = "Range Limit"; break; |
|
- | 218 | case 0x10 : mode = "Serial Error"; break; |
|
- | 219 | case 0x20 : mode = "Target reached"; break; |
|
- | 220 | case 0x40 : mode = "Manual Control"; break; |
|
- | 221 | } |
|
- | 222 | ||
- | 223 | } |
|
189 | 224 | ||
190 | /** |
225 | /** |
191 | * receive data |
226 | * receive data |
192 | */ |
227 | */ |
193 | void Handler::receive_data(char * incomming, int length) { |
228 | void Handler::receive_data(char * incomming, int length) { |
194 | if (incomming[0] != '#') |
229 | if (incomming[0] != '#') { |
195 | FlightLog::error("this frame is not correct"); |
230 | FlightLog::error("this frame is not correct"); |
196 | FlightLog::info(incomming); |
231 | FlightLog::info(incomming); |
197 | return; |
232 | return; |
- | 233 | } |
|
198 | int hardwareID = incomming[1] - 'a'; |
234 | int hardwareID = incomming[1] - 'a'; |
199 | 235 | ||
200 | //The cmd is also known as ID-Byte (or ID for short) in the wiki-dokumentation |
236 | //The cmd is also known as ID-Byte (or ID for short) in the wiki-dokumentation |
201 | char cmd = incomming[2]; |
237 | char cmd = incomming[2]; |
202 | //decode data |
238 | //decoded data |
203 | unsigned char data[150]; |
239 | unsigned char data[MAX_DATA_SIZE]; |
204 | 240 | ||
205 | Parser::decode64(incomming, length, data, 3); |
241 | Parser::decode64(incomming, length, data, 3); |
206 | 242 | ||
207 | switch(hardwareID) |
243 | switch(hardwareID) |
208 | { |
244 | { |
209 | case ADDRESS_FC : |
245 | case ADDRESS_FC : |
210 | switch(cmd) |
246 | switch(cmd) |
211 | { |
247 | { |
212 | // Motor-Mixer |
248 | // Motor-Mixer |
213 | case 'N' : |
249 | case 'N' : |
214 | //if (Parser::decode64(RX)) |
- | |
215 | //{ |
- | |
216 | com->stop_resend(); |
250 | com->stop_resend(); |
217 | //decoded data |
251 | //decoded data |
218 | FlightLog::info("received motortest values from FlightCtrl"); |
252 | FlightLog::info_FC("received motortest values from FlightCtrl"); |
219 | if (data[0] == VERSION_MIXER) |
253 | if (data[0] == VERSION_MIXER) |
220 | { |
254 | { |
221 | //f_MotorMixer->set_MotorConfig(RX); |
255 | //TODO: Handler::receivedMotorConfig(incomming) |
222 | } |
256 | //f_MotorMixer->set_MotorConfig(RX); |
223 | //} |
257 | } |
224 | break; |
258 | break; |
225 | // Motor-Mixer Schreib-Bestätigung |
259 | // Motor-Mixer Schreib-Bestätigung |
226 | case 'M' : |
260 | case 'M' : |
227 | com->stop_resend(); |
261 | com->stop_resend(); |
228 | 262 | ||
229 | if (data[0] == 1) |
263 | if (data[0] == 1) |
230 | { |
264 | { |
231 | FlightLog::info("motor values written to FlightCtrl."); |
265 | FlightLog::info_FC("motor values written to FlightCtrl."); |
232 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
266 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
233 | } else { |
267 | } else { |
234 | FlightLog::warning("could not write motor values to FlightCtrl!"); |
268 | FlightLog::warning("could not write motor values to FlightCtrl!"); |
235 | } |
269 | } |
236 | break; |
270 | break; |
237 | 271 | ||
238 | // Stick-Belegung der Fernsteuerung |
272 | // Stick-Belegung der Fernsteuerung |
239 | case 'P' : // DONE 0.71g |
273 | case 'P' : // DONE 0.71g |
240 | FlightLog::info("received stick-settings from FlightCtrl:"); |
274 | FlightLog::info_FC("received stick-settings:"); |
- | 275 | for (int i = 1; i <= 8; i++) { |
|
- | 276 | std::stringstream d; |
|
- | 277 | d << "Stickvalue for Stick nr. " << i << ": " << Parser::dataToInt((char *)data, i*2, true);; |
|
- | 278 | std::string val; |
|
- | 279 | d >> val; |
|
- | 280 | FlightLog::info_FC((char *)val.c_str()); |
|
- | 281 | } |
|
241 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
282 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
242 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
283 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
243 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
284 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
244 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
285 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
245 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
286 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
246 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
287 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
247 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
288 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
248 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
289 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
249 | break; |
290 | break; |
250 | // Settings lesen |
291 | // Settings lesen |
251 | case 'Q' : // DONE 0.71g |
292 | case 'Q' : // DONE 0.71g |
252 | com->stop_resend(); |
293 | com->stop_resend(); |
253 | FlightLog::info("received settings from FlightCtrl"); |
294 | FlightLog::info_FC("received settings"); |
254 | if (data[1] == VERSION_SETTINGS) |
295 | if (data[1] == VERSION_SETTINGS) |
255 | { |
296 | { |
256 | int Settings_ID = data[0]; |
297 | int settings_id = data[0]; |
- | 298 | std::stringstream d; |
|
- | 299 | d << "Settings-ID: " << settings_id; |
|
- | 300 | std::string val; |
|
- | 301 | d >> val; |
|
- | 302 | FlightLog::info_FC((char *)val.c_str()); |
|
- | 303 | for (int i = 0; i < MaxParameter; i++) { |
|
- | 304 | d.flush(); |
|
- | 305 | d << "Value for Parameter nr. " << i << ": " << (int)data[i+2]; |
|
- | 306 | d >> val; |
|
- | 307 | FlightLog::info_FC((char *)val.c_str()); |
|
- | 308 | } |
|
- | 309 | ||
257 | /*for (int a = 0; a < MaxParameter; a++) |
310 | /*for (int a = 0; a < MaxParameter; a++) |
258 | { |
311 | { |
259 | FCSettings[a] = RX.decode[a + 2]; |
312 | FCSettings[a] = RX.decode[a + 2]; |
260 | } |
313 | } |
261 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
314 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
262 | f_Settings->pb_Read->setEnabled(true); |
315 | f_Settings->pb_Read->setEnabled(true); |
263 | f_Settings->pb_Write->setEnabled(true);*/ |
316 | f_Settings->pb_Write->setEnabled(true);*/ |
264 | } |
317 | } |
265 | else |
318 | else |
266 | { |
319 | { |
267 | FlightLog::error("wrong FlightCtrl version"); |
320 | FlightLog::error("wrong FlightCtrl version"); |
268 | /*f_Settings->pb_Read->setDisabled(true); |
321 | /*f_Settings->pb_Read->setDisabled(true); |
269 | f_Settings->pb_Write->setDisabled(true); |
322 | f_Settings->pb_Write->setDisabled(true); |
270 | 323 | ||
271 | QString name = QString("Versionen inkompatibel.\n") + |
324 | QString name = QString("Versionen inkompatibel.\n") + |
272 | QString("Version von GroundStation benoetigt: ") + |
325 | QString("Version von GroundStation benoetigt: ") + |
273 | QString(VERSION_SETTINGS) + |
326 | QString(VERSION_SETTINGS) + |
274 | QString("\nVersion auf der FlightCtrl: ") + |
327 | QString("\nVersion auf der FlightCtrl: ") + |
275 | QString(RX.decode[1]) + |
328 | QString(RX.decode[1]) + |
276 | QString("\nParameterbearbeitung nicht moeglich."); |
329 | QString("\nParameterbearbeitung nicht moeglich."); |
277 | QMessageBox::warning(this, QA_NAME, |
330 | QMessageBox::warning(this, QA_NAME, |
278 | name, QMessageBox::Ok);*/ |
331 | name, QMessageBox::Ok);*/ |
279 | } |
332 | } |
280 | break; |
333 | break; |
281 | // Settings written |
334 | // Settings written |
282 | case 'S' : // DONE 0.71g |
335 | case 'S' : // DONE 0.71g |
283 | com->stop_resend(); |
336 | com->stop_resend(); |
284 | FlightLog::info("settings written successfully to FlightCtrl"); |
337 | FlightLog::info_FC("settings written successfully"); |
285 | //TODO: QMessagebox("settings written successful") ? |
338 | //TODO: QMessagebox("settings written successful") ? |
286 | break; |
339 | break; |
287 | } |
340 | } |
288 | 341 | ||
289 | case ADDRESS_NC : |
342 | case ADDRESS_NC : |
290 | switch(cmd) |
343 | switch(cmd) |
291 | { |
344 | { |
292 | // Navigationsdaten |
345 | // Navigationsdaten |
293 | case 'O' : // NOT DONE 0.12h |
346 | case 'O' : // NOT DONE 0.12h |
294 | //new_NaviData(RX); |
347 | //new_NaviData(RX); |
295 | FlightLog::info("received navigation data from NaviCtrl"); |
348 | FlightLog::info_NC("received navigation data"); |
296 | break; |
349 | break; |
297 | } |
350 | } |
298 | // case ADDRESS_MK3MAG : |
351 | // case ADDRESS_MK3MAG : |
299 | 352 | ||
300 | default : |
353 | default : |
301 | switch(cmd) |
354 | switch(cmd) |
302 | { |
355 | { |
303 | // LCD-Anzeige |
356 | // LCD-Anzeige |
304 | case 'L' : // DONE 0.71g |
357 | case 'L' : // DONE 0.71g |
305 | com->stop_resend(); |
358 | com->stop_resend(); |
306 | FlightLog::info("received LCD page."); |
359 | FlightLog::info("received LCD page."); |
307 | /*int LCD[150]; |
360 | /*int LCD[MAX_DATA_SIZE]; |
308 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
361 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
309 | 362 | ||
310 | f_LCD->show_Data(LCD); |
363 | f_LCD->show_Data(LCD); |
311 | 364 | ||
312 | LCD_Page = RX.decode[0]; |
365 | LCD_Page = RX.decode[0]; |
313 | LCD_MAX_Page = RX.decode[1]; |
366 | LCD_MAX_Page = RX.decode[1]; |
314 | */ |
367 | */ |
315 | break; |
368 | break; |
316 | // Analoglabels |
369 | // Analoglabels |
317 | case 'A' : // DONE 0.71g |
370 | case 'A' : // DONE 0.71g |
318 | com->stop_resend(); |
371 | com->stop_resend(); |
319 | FlightLog::info("received analog labels"); |
372 | FlightLog::info("received analog labels"); |
320 | //check position |
373 | //check position |
321 | if (data[0] != 31) { |
374 | if (data[0] != 31) { |
322 | /* |
375 | /* |
323 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
376 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
324 | if (Settings->Analog1.Label[Position] == "") |
377 | if (Settings->Analog1.Label[Position] == "") |
325 | { |
378 | { |
326 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
379 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
327 | } |
380 | } |
328 | Position ++; |
381 | Position ++; |
329 | TX_Data[0] = Position; |
382 | TX_Data[0] = Position; |
330 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
383 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
331 | } else { |
384 | } else { |
332 | /* |
385 | /* |
333 | for (int a = 0; a < MaxAnalog; a++) |
386 | for (int a = 0; a < MaxAnalog; a++) |
334 | { |
387 | { |
335 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
388 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
336 | } |
389 | } |
337 | Settings->Analog1.Version = QString(Mode.Version); |
390 | Settings->Analog1.Version = QString(Mode.Version); |
338 | Settings->write_Settings_AnalogLabels(HardwareID); |
391 | Settings->write_Settings_AnalogLabels(HardwareID); |
339 | config_Plot();*/ |
392 | config_Plot();*/ |
340 | } |
393 | } |
341 | break; |
394 | break; |
342 | // Debug-Daten |
395 | // Debug-Daten |
343 | case 'D' : // DONE 0.71g |
396 | case 'D' : // DONE 0.71g |
344 | FlightLog::info("received debug data:"); |
397 | FlightLog::info("received debug data:"); |
345 | for (int i = 0; i < MaxAnalog; i++) { |
398 | for (int i = 0; i < MaxAnalog; i++) { |
346 | /* |
399 | /* |
347 | Parser::dataToInt((char *)data, (i * 2) + 2, false); |
400 | Parser::dataToInt((char *)data, (i * 2) + 2, false); |
348 | */ |
401 | */ |
349 | } |
402 | } |
350 | //show_DebugData(); |
403 | //show_DebugData(); |
351 | break; |
404 | break; |
352 | // Version |
405 | // Version |
353 | case 'V' : // DONE 0.71h |
406 | case 'V' : // DONE 0.71h |
354 | com->stop_resend(); |
407 | com->stop_resend(); |
355 | FlightLog::info("received version"); |
408 | FlightLog::info("received version"); |
356 | /* |
409 | /* |
357 | Mode.ID = HardwareID; |
410 | Mode.ID = HardwareID; |
358 | Mode.VERSION_MAJOR = RX.decode[0]; |
411 | Mode.VERSION_MAJOR = RX.decode[0]; |
359 | Mode.VERSION_MINOR = RX.decode[1]; |
412 | Mode.VERSION_MINOR = RX.decode[1]; |
360 | Mode.VERSION_PATCH = RX.decode[4]; |
413 | Mode.VERSION_PATCH = RX.decode[4]; |
361 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
414 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
362 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
415 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
363 | 416 | ||
364 | Mode.Hardware = HardwareType[Mode.ID]; |
417 | Mode.Hardware = HardwareType[Mode.ID]; |
365 | //TODO: Funktion im Handler get_version() oder sowas |
418 | //TODO: Funktion im Handler get_version() oder sowas |
366 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
419 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
367 | QString("%1").arg(RX.decode[1]) + |
420 | QString("%1").arg(RX.decode[1]) + |
368 | QString(RX.decode[4] + 'a'); |
421 | QString(RX.decode[4] + 'a'); |
369 | Mode.Version = version.toLatin1().data; |
422 | Mode.Version = version.toLatin1().data; |
370 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
423 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
371 | Mode.Hardware + " " + |
424 | Mode.Hardware + " " + |
372 | Mode.Version); |
425 | Mode.Version); |
373 | 426 | ||
374 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
427 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
375 | { |
428 | { |
376 | // AllowSend = false; |
429 | // AllowSend = false; |
377 | QMessageBox::warning(this, QA_NAME, |
430 | QMessageBox::warning(this, QA_NAME, |
378 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
431 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
379 | } |
432 | } |
380 | 433 | ||
381 | if (ac_NoDebug->isChecked()) |
434 | if (ac_NoDebug->isChecked()) |
382 | { |
435 | { |
383 | TX_Data[0] = 0; |
436 | TX_Data[0] = 0; |
384 | } |
437 | } |
385 | else |
438 | else |
386 | if (ac_FastDebug->isChecked()) |
439 | if (ac_FastDebug->isChecked()) |
387 | { |
440 | { |
388 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
441 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
389 | } |
442 | } |
390 | else |
443 | else |
391 | { |
444 | { |
392 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
445 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
393 | } |
446 | } |
394 | 447 | ||
395 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
448 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
396 | 449 | ||
397 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
450 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
398 | if (Mode.ID == ADDRESS_MK3MAG) |
451 | if (Mode.ID == ADDRESS_MK3MAG) |
399 | { |
452 | { |
400 | TickerEvent[3] = true; |
453 | TickerEvent[3] = true; |
401 | rb_SelMag->setChecked(true); |
454 | rb_SelMag->setChecked(true); |
402 | } |
455 | } |
403 | 456 | ||
404 | // Wenn NaviCtrl dann hier. |
457 | // Wenn NaviCtrl dann hier. |
405 | if (Mode.ID == ADDRESS_NC) |
458 | if (Mode.ID == ADDRESS_NC) |
406 | { |
459 | { |
407 | rb_SelNC->setChecked(true); |
460 | rb_SelNC->setChecked(true); |
408 | 461 | ||
409 | if (ac_NoNavi->isChecked()) |
462 | if (ac_NoNavi->isChecked()) |
410 | { |
463 | { |
411 | TX_Data[0] = 0; |
464 | TX_Data[0] = 0; |
412 | } |
465 | } |
413 | else |
466 | else |
414 | if (ac_FastNavi->isChecked()) |
467 | if (ac_FastNavi->isChecked()) |
415 | { |
468 | { |
416 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
469 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
417 | } |
470 | } |
418 | else |
471 | else |
419 | { |
472 | { |
420 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
473 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
421 | } |
474 | } |
422 | 475 | ||
423 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
476 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
424 | } |
477 | } |
425 | 478 | ||
426 | 479 | ||
427 | // Wenn FlightCtrl dann Settings abfragen. |
480 | // Wenn FlightCtrl dann Settings abfragen. |
428 | if (Mode.ID == ADDRESS_FC) |
481 | if (Mode.ID == ADDRESS_FC) |
429 | { |
482 | { |
430 | rb_SelFC->setChecked(true); |
483 | rb_SelFC->setChecked(true); |
431 | { |
484 | { |
432 | TX_Data[0] = 0xff; |
485 | TX_Data[0] = 0xff; |
433 | TX_Data[1] = 0; |
486 | TX_Data[1] = 0; |
434 | 487 | ||
435 | // DEP: Raus wenn Resend implementiert. |
488 | // DEP: Raus wenn Resend implementiert. |
436 | // ToolBox::Wait(SLEEP); |
489 | // ToolBox::Wait(SLEEP); |
437 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
490 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
438 | qDebug("FC - Get Settings"); |
491 | qDebug("FC - Get Settings"); |
439 | } |
492 | } |
440 | } |
493 | } |
441 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
494 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
442 | else |
495 | else |
443 | { |
496 | { |
444 | f_Settings->pb_Read->setDisabled(true); |
497 | f_Settings->pb_Read->setDisabled(true); |
445 | f_Settings->pb_Write->setDisabled(true); |
498 | f_Settings->pb_Write->setDisabled(true); |
446 | } |
499 | } |
447 | 500 | ||
448 | Settings->read_Settings_Analog(HardwareID); |
501 | Settings->read_Settings_Analog(HardwareID); |
449 | Settings->read_Settings_AnalogLabels(HardwareID); |
502 | Settings->read_Settings_AnalogLabels(HardwareID); |
450 | 503 | ||
451 | if (Settings->Analog1.Version != QString(Mode.Version)) |
504 | if (Settings->Analog1.Version != QString(Mode.Version)) |
452 | { |
505 | { |
453 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
506 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
454 | slot_ac_GetLabels(); |
507 | slot_ac_GetLabels(); |
455 | } |
508 | } |
456 | else |
509 | else |
457 | for (int a = 0; a < MaxAnalog; a++) |
510 | for (int a = 0; a < MaxAnalog; a++) |
458 | { |
511 | { |
459 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
512 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
460 | } |
513 | } |
461 | config_Plot();*/ |
514 | config_Plot();*/ |
462 | break; |
515 | break; |
463 | } |
516 | } |
464 | } |
517 | } |
465 | } |
518 | } |