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