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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) { |
6 | Handler::Handler(Communication * com) { |
7 | this->com = com; |
7 | this->com = com; |
8 | } |
8 | } |
9 | 9 | ||
10 | /** |
10 | /** |
11 | * read mixer values from FlightCtrl |
11 | * read mixer values from FlightCtrl |
12 | */ |
12 | */ |
13 | void Handler::read_mixer() { |
13 | void Handler::read_mixer() { |
14 | TX_Data[0] = 0; |
14 | char tx_data[1] = {0}; |
- | 15 | //com->log("read motor mixer"); |
|
15 | com->send_cmd('n', ADDRESS_FC, TX_Data, 1, true); |
16 | com->sendCmd('n', ADDRESS_FC, tx_data, 1, true); |
- | 17 | } |
|
- | 18 | ||
- | 19 | void Handler::get_motor_config() { |
|
16 | } |
20 | } |
17 | 21 | ||
18 | void Handler::receive_data(sRxData RX) { |
22 | void Handler::receive_data(sRxData RX) { |
19 | //extract hardware ID from received Data |
23 | //extract hardware ID from received Data |
20 | int hardwareID = RX.input[1] - 'a'; |
24 | int hardwareID = RX.input[1] - 'a'; |
21 | switch(hardwareID) |
25 | switch(hardwareID) |
22 | { |
26 | { |
23 | case ADDRESS_FC : |
27 | case ADDRESS_FC : |
24 | switch(RX.input[2]) |
28 | switch(RX.input[2]) |
25 | { |
29 | { |
26 | // Motor-Mixer |
30 | // Motor-Mixer |
27 | case 'N' : |
31 | case 'N' : |
28 | if (Parser::decode64(RX)) |
32 | if (Parser::decode64(RX)) |
29 | { |
33 | { |
30 | com->stopReSend(); |
34 | com->stopReSend(); |
31 | 35 | ||
32 | if (RX.decode[0] == VERSION_MIXER) |
36 | if (RX.decode[0] == VERSION_MIXER) |
33 | { |
37 | { |
34 | f_MotorMixer->set_MotorConfig(RX); |
38 | //f_MotorMixer->set_MotorConfig(RX); |
35 | } |
39 | } |
36 | } |
40 | } |
37 | break; |
41 | break; |
38 | // Motor-Mixer Schreib-Bestätigung |
42 | // Motor-Mixer Schreib-Bestätigung |
39 | case 'M' : |
43 | case 'M' : |
40 | if (Parser::decode64(RX)) |
44 | if (Parser::decode64(RX)) |
41 | { |
45 | { |
42 | com->stopReSend(); |
46 | com->stopReSend(); |
43 | 47 | ||
44 | if (RX.decode[0] == 1) |
48 | if (RX.decode[0] == 1) |
45 | { |
49 | { |
46 | lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
50 | //lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben.")); |
47 | } |
51 | } |
48 | } |
52 | } |
49 | break; |
53 | break; |
50 | 54 | ||
51 | // Stick-Belegung der Fernsteuerung |
55 | // Stick-Belegung der Fernsteuerung |
52 | case 'P' : // DONE 0.71g |
56 | case 'P' : // DONE 0.71g |
53 | if (Parser::decode64(RX)) |
57 | if (Parser::decode64(RX)) |
54 | { |
58 | { |
55 | f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
59 | /*f_Settings->pb_K1->setValue(Parser::dataToInt(RX.decode, 2,true)); |
56 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
60 | f_Settings->pb_K2->setValue(Parser::dataToInt(RX.decode, 4,true)); |
57 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
61 | f_Settings->pb_K3->setValue(Parser::dataToInt(RX.decode, 6,true)); |
58 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
62 | f_Settings->pb_K4->setValue(Parser::dataToInt(RX.decode, 8,true)); |
59 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
63 | f_Settings->pb_K5->setValue(Parser::dataToInt(RX.decode, 10 ,true)); |
60 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
64 | f_Settings->pb_K6->setValue(Parser::dataToInt(RX.decode, 12,true)); |
61 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
65 | f_Settings->pb_K7->setValue(Parser::dataToInt(RX.decode, 14,true)); |
62 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true)); |
66 | f_Settings->pb_K8->setValue(Parser::dataToInt(RX.decode, 16,true));*/ |
63 | } |
67 | } |
64 | break; |
68 | break; |
65 | // Settings lesen |
69 | // Settings lesen |
66 | case 'Q' : // DONE 0.71g |
70 | case 'Q' : // DONE 0.71g |
67 | if (Parser::decode64(RX)) |
71 | if (Parser::decode64(RX)) |
68 | { |
72 | { |
69 | o_Connection->stop_ReSend(); |
73 | com->stopReSend(); |
70 | 74 | ||
71 | if (RX.decode[1] == VERSION_SETTINGS) |
75 | if (RX.decode[1] == VERSION_SETTINGS) |
72 | { |
76 | { |
73 | int Settings_ID = RX.decode[0]; |
77 | int Settings_ID = RX.decode[0]; |
74 | for (int a = 0; a < MaxParameter; a++) |
78 | /*for (int a = 0; a < MaxParameter; a++) |
75 | { |
79 | { |
76 | FCSettings[a] = RX.decode[a + 2]; |
80 | FCSettings[a] = RX.decode[a + 2]; |
77 | } |
81 | } |
78 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
82 | f_Settings->show_FCSettings(Settings_ID, FCSettings); |
79 | f_Settings->pb_Read->setEnabled(true); |
83 | f_Settings->pb_Read->setEnabled(true); |
80 | f_Settings->pb_Write->setEnabled(true); |
84 | f_Settings->pb_Write->setEnabled(true);*/ |
81 | } |
85 | } |
82 | else |
86 | else |
83 | { |
87 | { |
84 | f_Settings->pb_Read->setDisabled(true); |
88 | /*f_Settings->pb_Read->setDisabled(true); |
85 | f_Settings->pb_Write->setDisabled(true); |
89 | f_Settings->pb_Write->setDisabled(true); |
86 | 90 | ||
87 | QString name = QString("Versionen inkompatibel.\n") + |
91 | QString name = QString("Versionen inkompatibel.\n") + |
88 | QString("Version von GroundStation benoetigt: ") + |
92 | QString("Version von GroundStation benoetigt: ") + |
89 | QString(VERSION_SETTINGS) + |
93 | QString(VERSION_SETTINGS) + |
90 | QString("\nVersion auf der FlightCtrl: ") + |
94 | QString("\nVersion auf der FlightCtrl: ") + |
91 | QString(RX.decode[1]) + |
95 | QString(RX.decode[1]) + |
92 | QString("\nParameterbearbeitung nicht moeglich."); |
96 | QString("\nParameterbearbeitung nicht moeglich."); |
93 | QMessageBox::warning(this, QA_NAME, |
97 | QMessageBox::warning(this, QA_NAME, |
94 | name, QMessageBox::Ok); |
98 | name, QMessageBox::Ok);*/ |
95 | } |
99 | } |
96 | } |
100 | } |
97 | break; |
101 | break; |
98 | // Settings geschrieben |
102 | // Settings written |
99 | case 'S' : // DONE 0.71g |
103 | case 'S' : // DONE 0.71g |
100 | o_Connection->stop_ReSend(); |
104 | com->stopReSend(); |
- | 105 | //TODO: QMessagebox("settings written successful") ? |
|
101 | break; |
106 | break; |
102 | } |
107 | } |
103 | 108 | ||
104 | case ADDRESS_NC : |
109 | case ADDRESS_NC : |
105 | switch(RX.input[2]) |
110 | switch(RX.input[2]) |
106 | { |
111 | { |
107 | // Navigationsdaten |
112 | // Navigationsdaten |
108 | case 'O' : // NOT DONE 0.12h |
113 | case 'O' : // NOT DONE 0.12h |
109 | if (Parser::decode64(RX)) |
114 | if (Parser::decode64(RX)) |
110 | { |
115 | { |
111 | new_NaviData(RX); |
116 | //new_NaviData(RX); |
112 | } |
117 | } |
113 | break; |
118 | break; |
114 | } |
119 | } |
115 | // case ADDRESS_MK3MAG : |
120 | // case ADDRESS_MK3MAG : |
116 | 121 | ||
117 | default : |
122 | default : |
118 | switch(RX.input[2]) |
123 | switch(RX.input[2]) |
119 | { |
124 | { |
120 | // LCD-Anzeige |
125 | // LCD-Anzeige |
121 | case 'L' : // DONE 0.71g |
126 | case 'L' : // DONE 0.71g |
122 | if (Parser::decode64(RX)) |
127 | if (Parser::decode64(RX)) |
123 | { |
128 | { |
124 | o_Connection->stop_ReSend(); |
129 | com->stopReSend(); |
125 | 130 | ||
126 | int LCD[150]; |
131 | /*int LCD[150]; |
127 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
132 | memcpy(LCD,RX.decode, sizeof(RX.decode)); |
128 | 133 | ||
129 | f_LCD->show_Data(LCD); |
134 | f_LCD->show_Data(LCD); |
130 | 135 | ||
131 | LCD_Page = RX.decode[0]; |
136 | LCD_Page = RX.decode[0]; |
132 | LCD_MAX_Page = RX.decode[1]; |
137 | LCD_MAX_Page = RX.decode[1]; |
- | 138 | */ |
|
133 | } |
139 | } |
134 | break; |
140 | break; |
135 | // Analoglabels |
141 | // Analoglabels |
136 | case 'A' : // DONE 0.71g |
142 | case 'A' : // DONE 0.71g |
137 | if (Parser::decode64(RX)) |
143 | if (Parser::decode64(RX)) |
138 | { |
144 | { |
139 | o_Connection->stop_ReSend(); |
145 | com->stopReSend(); |
140 | 146 | ||
141 | int Position = RX.decode[0]; |
147 | int Position = RX.decode[0]; |
142 | if (Position != 31) |
148 | if (Position != 31) |
143 | { |
149 | { |
- | 150 | /* |
|
144 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
151 | Settings->Analog1.Label[Position] = ToolBox::dataToQString(RX.decode,1,17).trimmed(); |
145 | if (Settings->Analog1.Label[Position] == "") |
152 | if (Settings->Analog1.Label[Position] == "") |
146 | { |
153 | { |
147 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
154 | Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position); |
148 | } |
155 | } |
149 | Position ++; |
156 | Position ++; |
150 | TX_Data[0] = Position; |
157 | TX_Data[0] = Position; |
151 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true); |
158 | o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);*/ |
152 | } |
159 | } |
153 | if (Position == 31) |
160 | if (Position == 31) |
154 | { |
161 | { |
- | 162 | /* |
|
155 | for (int a = 0; a < MaxAnalog; a++) |
163 | for (int a = 0; a < MaxAnalog; a++) |
156 | { |
164 | { |
157 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
165 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
158 | } |
166 | } |
159 | Settings->Analog1.Version = QString(Mode.Version); |
167 | Settings->Analog1.Version = QString(Mode.Version); |
160 | Settings->write_Settings_AnalogLabels(HardwareID); |
168 | Settings->write_Settings_AnalogLabels(HardwareID); |
161 | config_Plot(); |
169 | config_Plot();*/ |
162 | } |
170 | } |
163 | } |
171 | } |
164 | break; |
172 | break; |
165 | // Debug-Daten |
173 | // Debug-Daten |
166 | case 'D' : // DONE 0.71g |
174 | case 'D' : // DONE 0.71g |
167 | if (Parser::decode64(RX)) |
175 | if (Parser::decode64(RX)) |
168 | { |
176 | { |
169 | for (int i = 0; i < MaxAnalog; i++) |
177 | for (int i = 0; i < MaxAnalog; i++) |
170 | { |
178 | { |
171 | AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
179 | //AnalogData[i] = Parser::dataToInt(RX.decode, (i * 2) + 2); |
172 | } |
180 | } |
173 | show_DebugData(); |
181 | //show_DebugData(); |
174 | } |
182 | } |
175 | break; |
183 | break; |
176 | // Version |
184 | // Version |
177 | case 'V' : // DONE 0.71h |
185 | case 'V' : // DONE 0.71h |
178 | if (Parser::decode64(RX)) |
186 | if (Parser::decode64(RX)) |
179 | { |
187 | { |
180 | o_Connection->stop_ReSend(); |
188 | com->stopReSend(); |
181 | - | ||
- | 189 | /* |
|
182 | Mode.ID = HardwareID; |
190 | Mode.ID = HardwareID; |
183 | Mode.VERSION_MAJOR = RX.decode[0]; |
191 | Mode.VERSION_MAJOR = RX.decode[0]; |
184 | Mode.VERSION_MINOR = RX.decode[1]; |
192 | Mode.VERSION_MINOR = RX.decode[1]; |
185 | Mode.VERSION_PATCH = RX.decode[4]; |
193 | Mode.VERSION_PATCH = RX.decode[4]; |
186 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
194 | Mode.VERSION_SERIAL_MAJOR = RX.decode[2]; |
187 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
195 | Mode.VERSION_SERIAL_MINOR = RX.decode[3]; |
188 | 196 | ||
189 | Mode.Hardware = HardwareType[Mode.ID]; |
197 | Mode.Hardware = HardwareType[Mode.ID]; |
190 | //TODO: Funktion im Handler get_version() oder sowas |
198 | //TODO: Funktion im Handler get_version() oder sowas |
191 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
199 | QString version = QString("%1").arg(RX.decode[0]) + "." + |
192 | QString("%1").arg(RX.decode[1]) + |
200 | QString("%1").arg(RX.decode[1]) + |
193 | QString(RX.decode[4] + 'a'); |
201 | QString(RX.decode[4] + 'a'); |
194 | Mode.Version = version.toLatin1().data; |
202 | Mode.Version = version.toLatin1().data; |
195 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
203 | setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + |
196 | Mode.Hardware + " " + |
204 | Mode.Hardware + " " + |
197 | Mode.Version); |
205 | Mode.Version); |
198 | 206 | ||
199 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
207 | if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR) |
200 | { |
208 | { |
201 | // AllowSend = false; |
209 | // AllowSend = false; |
202 | QMessageBox::warning(this, QA_NAME, |
210 | QMessageBox::warning(this, QA_NAME, |
203 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
211 | tr("Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,"), QMessageBox::Ok); |
204 | } |
212 | } |
205 | 213 | ||
206 | if (ac_NoDebug->isChecked()) |
214 | if (ac_NoDebug->isChecked()) |
207 | { |
215 | { |
208 | TX_Data[0] = 0; |
216 | TX_Data[0] = 0; |
209 | } |
217 | } |
210 | else |
218 | else |
211 | if (ac_FastDebug->isChecked()) |
219 | if (ac_FastDebug->isChecked()) |
212 | { |
220 | { |
213 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
221 | TX_Data[0] = Settings->Data.Debug_Fast / 10; |
214 | } |
222 | } |
215 | else |
223 | else |
216 | { |
224 | { |
217 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
225 | TX_Data[0] = Settings->Data.Debug_Slow / 10; |
218 | } |
226 | } |
219 | 227 | ||
220 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
228 | o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false); |
221 | 229 | ||
222 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
230 | // Wenn MK3MAG dann andauernd Daten neu anfragen. |
223 | if (Mode.ID == ADDRESS_MK3MAG) |
231 | if (Mode.ID == ADDRESS_MK3MAG) |
224 | { |
232 | { |
225 | TickerEvent[3] = true; |
233 | TickerEvent[3] = true; |
226 | rb_SelMag->setChecked(true); |
234 | rb_SelMag->setChecked(true); |
227 | } |
235 | } |
228 | 236 | ||
229 | // Wenn NaviCtrl dann hier. |
237 | // Wenn NaviCtrl dann hier. |
230 | if (Mode.ID == ADDRESS_NC) |
238 | if (Mode.ID == ADDRESS_NC) |
231 | { |
239 | { |
232 | rb_SelNC->setChecked(true); |
240 | rb_SelNC->setChecked(true); |
233 | 241 | ||
234 | if (ac_NoNavi->isChecked()) |
242 | if (ac_NoNavi->isChecked()) |
235 | { |
243 | { |
236 | TX_Data[0] = 0; |
244 | TX_Data[0] = 0; |
237 | } |
245 | } |
238 | else |
246 | else |
239 | if (ac_FastNavi->isChecked()) |
247 | if (ac_FastNavi->isChecked()) |
240 | { |
248 | { |
241 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
249 | TX_Data[0] = Settings->Data.Navi_Fast / 10; |
242 | } |
250 | } |
243 | else |
251 | else |
244 | { |
252 | { |
245 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
253 | TX_Data[0] = Settings->Data.Navi_Slow / 10; |
246 | } |
254 | } |
247 | 255 | ||
248 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
256 | o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false); |
249 | } |
257 | } |
250 | 258 | ||
251 | 259 | ||
252 | // Wenn FlightCtrl dann Settings abfragen. |
260 | // Wenn FlightCtrl dann Settings abfragen. |
253 | if (Mode.ID == ADDRESS_FC) |
261 | if (Mode.ID == ADDRESS_FC) |
254 | { |
262 | { |
255 | rb_SelFC->setChecked(true); |
263 | rb_SelFC->setChecked(true); |
256 | { |
264 | { |
257 | TX_Data[0] = 0xff; |
265 | TX_Data[0] = 0xff; |
258 | TX_Data[1] = 0; |
266 | TX_Data[1] = 0; |
259 | 267 | ||
260 | // DEP: Raus wenn Resend implementiert. |
268 | // DEP: Raus wenn Resend implementiert. |
261 | // ToolBox::Wait(SLEEP); |
269 | // ToolBox::Wait(SLEEP); |
262 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
270 | o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true); |
263 | qDebug("FC - Get Settings"); |
271 | qDebug("FC - Get Settings"); |
264 | } |
272 | } |
265 | } |
273 | } |
266 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
274 | // Wenn nicht Lesen und Schreiben der Settings deaktivieren. |
267 | else |
275 | else |
268 | { |
276 | { |
269 | f_Settings->pb_Read->setDisabled(true); |
277 | f_Settings->pb_Read->setDisabled(true); |
270 | f_Settings->pb_Write->setDisabled(true); |
278 | f_Settings->pb_Write->setDisabled(true); |
271 | } |
279 | } |
272 | 280 | ||
273 | Settings->read_Settings_Analog(HardwareID); |
281 | Settings->read_Settings_Analog(HardwareID); |
274 | Settings->read_Settings_AnalogLabels(HardwareID); |
282 | Settings->read_Settings_AnalogLabels(HardwareID); |
275 | 283 | ||
276 | if (Settings->Analog1.Version != QString(Mode.Version)) |
284 | if (Settings->Analog1.Version != QString(Mode.Version)) |
277 | { |
285 | { |
278 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
286 | lb_Status->setText(tr("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.")); |
279 | slot_ac_GetLabels(); |
287 | slot_ac_GetLabels(); |
280 | } |
288 | } |
281 | else |
289 | else |
282 | for (int a = 0; a < MaxAnalog; a++) |
290 | for (int a = 0; a < MaxAnalog; a++) |
283 | { |
291 | { |
284 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
292 | lb_Analog[a]->setText(Settings->Analog1.Label[a]); |
285 | } |
293 | } |
286 | config_Plot(); |
294 | config_Plot();*/ |
287 | } |
295 | } |
288 | break; |
296 | break; |
289 | } |
297 | } |
290 | } |
298 | } |
291 | } |
299 | } |