WebSVN - Projects - Diff - Rev 334 and 337 - /QMK-Groundstation/trunk/Forms/mktool.cpp


/***************************************************************************
 *   Copyright (C) 2008 by Manuel Schrape                                  *
 *   manuel.schrape@gmx.de                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License.        *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
 
// TODO: Wiederholungssenden wieder einbauen
 
#include <QtGui>
 
#include <QLineEdit>
#include <QString>
#include <QTimer>
#include <QIcon>
#include <QToolButton>
#include <QSpinBox>
#include <QAction>
#include <QPalette>
 
#include "mktool.h"
#include "dlg_Config.h"
#include "dlg_Motortest.h"
#include "dlg_Preferences.h"
#include "../global.h"
#include "../Classes/ToolBox.h"
 
#include <stdlib.h>
 
MKTool::MKTool()
{
    setupUi(this);
 
    Settings = new cSettings;
 
    init_Arrays();
    init_GUI();
    init_Cockpit();
 
    init_Objects();
    init_Connections();
 
    init_Plot();
}
 
void MKTool::init_GUI()
{
    setWindowTitle(QA_NAME + " v" + QA_VERSION);
 
    // Tab mit Debug-Elementen verbergen
    tab_Main->removeTab(6);
    // Develop - Nicht gebrauchte sachen abschalten.
    pb_SettingsReset->hide();
    pb_Flash->hide();
    rb_NC->hide();
 
    // Beta-Sachen einschalten.
#ifdef _BETA_
    ac_QMKServer->setEnabled(true);
 
 
#endif
 
    // Settings-Tab hinzufügen.
    f_Settings = new wdg_Settings( this );
    f_Settings->set_Config(Settings);
    tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings");
    tab_Main->widget(2)->setObjectName("Tab_2");
 
    // Zusätzliche Widgets in die Toolbar.
    tb_TTY->addWidget(lb_Port);
    tb_TTY->addWidget(le_Port);
 
    tb_Hardware->addWidget(rb_SelFC);
    tb_Hardware->addWidget(rb_SelNC);
    tb_Hardware->addWidget(rb_SelMag);
 
    tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]);
    tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]);
    tb_Debug->setVisible(Settings->GUI.ToolViews[2]);
    tb_TTY->setVisible(Settings->GUI.ToolViews[3]);
    tb_Hardware->setVisible(Settings->GUI.ToolViews[4]);
 
#ifdef _EEEPC_
    lb_Status->hide();
#endif
 
    lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!"));
 
    resize(Settings->GUI.Size);
    move(Settings->GUI.Point);
 
    if (Settings->GUI.isMax)
    {
        showMaximized();
    }
 
    // Analoglabels anzeigen
    for (int a = 0; a < MaxAnalog; a++)
    {
        lb_Analog[a]->setText(Settings->Analog1.Label[a]);
    }
 
    // Kopie der Tabs anlegen
    for (int b = 0; b < 7; b++)
    {
        TabWidgets[b] = tab_Main->widget(b);
    }
 
    // Ausgeblendete Tabs ausblenden
    for (int c = 0; c < 7; c++)
    {
        if (Settings->GUI.TabViews[c] == false)
        {
            QString TabName = QString("Tab_%1").arg(c);
 
            for (int d = 0; d < tab_Main->count(); d++)
            {
                if (tab_Main->widget(d)->objectName() == TabName)
                {
                    tab_Main->removeTab(d);
                }
            }
        }
    }
 
    ac_View0->setChecked(Settings->GUI.TabViews[0]);
    ac_View1->setChecked(Settings->GUI.TabViews[1]);
    ac_View2->setChecked(Settings->GUI.TabViews[2]);
    ac_View3->setChecked(Settings->GUI.TabViews[3]);
    ac_View4->setChecked(Settings->GUI.TabViews[4]);
    ac_View5->setChecked(Settings->GUI.TabViews[5]);
    ac_View6->setChecked(Settings->GUI.TabViews[6]);
 
    le_Port->setText(Settings->TTY.Port);
 
    cb_ShowMSG->setChecked(Settings->GUI.Term_Info);
    cb_ShowData->setChecked(Settings->GUI.Term_Data);
    cb_ShowAlways->setChecked(Settings->GUI.Term_Always);
}
 
void MKTool::init_Cockpit()
{
    // Cockpit-Elemente
    QPalette newPalette;
 
    newPalette.setColor(QPalette::Base, Qt::darkBlue);
    newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
    newPalette.setColor(QPalette::Text, Qt::white);
 
    Compass->setScaleOptions(QwtDial::ScaleTicks | QwtDial::ScaleLabel);
    Compass->setScaleTicks(0, 0, 3);
    Compass->setScale(36, 5, 0);
 
    Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));
    Compass->setPalette(newPalette);
    Compass->setMaximumSize(QSize(MeterSize, MeterSize));
    Compass->setMinimumSize(QSize(MeterSize, MeterSize));
 
    QPalette newPalette1;
 
    newPalette1.setColor(QPalette::Base, Qt::darkBlue);
    newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));
    newPalette1.setColor(QPalette::Text, Qt::white);
 
    Attitude = new AttitudeIndicator(this);
    Attitude->setMaximumSize(QSize(MeterSize, MeterSize));
    Attitude->setMinimumSize(QSize(MeterSize, MeterSize));
    Attitude->setPalette(newPalette1);
 
    verticalLayout->addWidget(Attitude);
 
    qwt_Rate->setRange(-10.0, 10.0, 0.1, 0);
 
    newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
 
    SpeedMeter = new cSpeedMeter(this);
    SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize));
    SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize));
    SpeedMeter->setPalette(newPalette1);
    SpeedMeter->setRange(0.0, 5.0);
    SpeedMeter->setScale(1, 2, 0.5);
    SpeedMeter->setProperty("END", 5);
 
    LayOut_Speed->addWidget(SpeedMeter);
}
 
void MKTool::init_Objects()
{
    // QTimer-Instanzen
    Ticker = new QTimer(this);
 
    // Verbindungsobject
    o_Connection = new cConnection();
 
    // neuer Logger
    logger = new Logger(Settings, &Mode);
 
    // LCD-Dialog
    f_LCD = new dlg_LCD(this);
 
    // LCD-Dialog
    f_MotorMixer = new dlg_MotorMixer(this);
 
    // LCD-Dialog
    f_Map = new dlg_Map(this);
    f_Map->create_Map(Settings);
 
    KML_Server = new cKML_Server();
 
    QMK_Server = new cQMK_Server();
    QMK_Server->setProperty("Connect", false);
 
    if (Settings->Server.StartServer)
    {
        ac_StartServer->setChecked(true);
        KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);
    }
}
 
void MKTool::init_Connections()
{
    connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test()));
 
    // Waypoints übergeben
    connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint)));
 
    // Daten Senden / Empfangen
    connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));
    connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));
 
    // Serielle Verbundung öffnen / schließen
    connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));
 
    // TCP-Connection verbinden / trennen
    connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));
 
    // Buttons Settings lesen / schreiben
    connect(f_Settings->pb_Read,   SIGNAL(clicked()), this, SLOT(slot_GetFCSettings()));
    connect(f_Settings->pb_Write,  SIGNAL(clicked()), this, SLOT(slot_SetFCSettings()));
 
    // Actions
    connect(ac_Config,       SIGNAL(triggered()), this, SLOT(slot_ac_Config()));
    connect(ac_Preferences,  SIGNAL(triggered()), this, SLOT(slot_ac_Preferences()));
    connect(ac_Motortest,    SIGNAL(triggered()), this, SLOT(slot_ac_Motortest()));
    connect(ac_MotorMixer,   SIGNAL(triggered()), this, SLOT(slot_ac_MotorMixer()));
    connect(ac_LCD,          SIGNAL(triggered()), this, SLOT(slot_ac_LCD()));
    connect(ac_Map,          SIGNAL(triggered()), this, SLOT(slot_ac_Map()));
    connect(ac_FastDebug,    SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug()));
    connect(ac_NoDebug,      SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug()));
    connect(ac_FastNavi,     SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi()));
    connect(ac_NoNavi,       SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi()));
    connect(ac_GetLabels,    SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels()));
 
    // Plotter starten / scrollen
    connect(scroll_plot,     SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));
    connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));
    connect(ac_StartServer,  SIGNAL(triggered()), this, SLOT(slot_ac_StartServer()));
 
    // Tabs ein & ausblenden
    connect(ac_View0,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View1,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View2,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View3,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View4,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View5,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View6,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
 
    connect(ac_SelNC,        SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
    connect(ac_SelFC,        SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
    connect(ac_SelMag,       SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
 
    connect(rb_SelNC,        SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
    connect(rb_SelFC,        SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
    connect(rb_SelMag,       SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
 
    // firmeware Updateen / flashen
    connect(pb_Update,   SIGNAL(clicked()), this, SLOT(slot_pb_Update()));
    connect(pb_HexFile,  SIGNAL(clicked()), this, SLOT(slot_pb_HexFile()));
 
    // Wegpunkt-Befehl
    connect(pb_FlyTo,        SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint()));
 
    // CVS-Record starten / stoppen
    connect(ac_RecordCSV,  SIGNAL(triggered()), this, SLOT(slot_RecordLog()));
 
    // Timer-Events
    connect(Ticker,   SIGNAL(timeout()),       SLOT(slot_Ticker()));
 
    // Seitenwechsel
    connect(tab_Main,             SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
//    connect(f_Settings->tab_Par,  SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
    connect(f_Settings->listWidget,  SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int)));
 
    // About QMK & About-QT Dialog einfügen
    connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About()));
    menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));
}
 
void MKTool::init_Arrays()
{
    lb_Analog[0]  = lb_A_0;
    lb_Analog[1]  = lb_A_1;
    lb_Analog[2]  = lb_A_2;
    lb_Analog[3]  = lb_A_3;
    lb_Analog[4]  = lb_A_4;
    lb_Analog[5]  = lb_A_5;
    lb_Analog[6]  = lb_A_6;
    lb_Analog[7]  = lb_A_7;
    lb_Analog[8]  = lb_A_8;
    lb_Analog[9]  = lb_A_9;
    lb_Analog[10] = lb_A_10;
    lb_Analog[11] = lb_A_11;
    lb_Analog[12] = lb_A_12;
    lb_Analog[13] = lb_A_13;
    lb_Analog[14] = lb_A_14;
    lb_Analog[15] = lb_A_15;
    lb_Analog[16] = lb_A_16;
    lb_Analog[17] = lb_A_17;
    lb_Analog[18] = lb_A_18;
    lb_Analog[19] = lb_A_19;
    lb_Analog[20] = lb_A_20;
    lb_Analog[21] = lb_A_21;
    lb_Analog[22] = lb_A_22;
    lb_Analog[23] = lb_A_23;
    lb_Analog[24] = lb_A_24;
    lb_Analog[25] = lb_A_25;
    lb_Analog[26] = lb_A_26;
    lb_Analog[27] = lb_A_27;
    lb_Analog[28] = lb_A_28;
    lb_Analog[29] = lb_A_29;
    lb_Analog[30] = lb_A_30;
    lb_Analog[31] = lb_A_31;
}
 
void MKTool::init_Plot()
{
    NextPlot = 0;
 
    qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));
 
    qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);
 
    QwtPlotGrid *Grid = new QwtPlotGrid();
    Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
 
    Grid->attach(qwtPlot);
 
    qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);
 
    for (int a = 0; a < MaxAnalog; a++)
    {
        Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]);
        Plot[a]->setPen(QPen(QColor(Def_Colors[a])));
//        Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);
 
        if (Settings->Analog1.PlotView[a])
            Plot[a]->attach(qwtPlot);
    }
    qwtPlot->replot();
}
 
void MKTool::slot_set_Settings(cSettings *t_Settings)
{
    Settings = t_Settings;
}
 
void MKTool::slot_Test()
{
//    qDebug("Decode Data");
    sRxData RX;
 
    RX.String = IN->text();
 
//    qDebug(RX.String.toLatin1().data());
 
//    if (ToolBox::check_CRC(RX.String))
    {
        qDebug("Decode Data CRC OK");
        RX.Input = RX.String.toLatin1().data();
 
//        qDebug(RX.Input);
 
        slot_newData(RX);
    }
}
 
// KML-Datei nach Wegpunkt parsen
// TODO: Richtigen KML-Parser bauen
void MKTool::parse_TargetKML()
{
    QString Tmp = te_KML->toPlainText().simplified();
    QStringList List;
 
    if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">"))  && (Tmp.contains("<coordinates>")))
    {
        List = Tmp.split("<coordinates>");
        List = List[1].split(",");
 
        le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 7));
        le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 7));
    }
}
 
// Waypoint zur NC Senden.
void MKTool::slot_pb_SendWaypoint()
{
    if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))
    {
        QMessageBox msgB;
        QString msg;
        msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");
        msgB.exec();
        return;
    }
 
    //erstelle einen Wegpunkt, den die NaviCtrl auswerten kann
    Waypoint_t desired_pos;
    bool ok_lat, ok_lon;
 
    //eingegebene Daten holen
    double desired_long, desired_lat;
 
    desired_long = le_TarLong->text().toDouble(&ok_lon);
    desired_lat  = le_TarLat->text().toDouble(&ok_lat);
 
    if (ok_lon && desired_long < 100)
        desired_long *= 10000000+0.5;
 
    if (ok_lat && desired_lat < 100)
        desired_lat *= 10000000+0.5;
 
    //fülle Wegpunkt-Daten
    desired_pos.Position.Altitude = 0;
    desired_pos.Position.Longitude = int32_t(desired_long);
    desired_pos.Position.Latitude =  int32_t(desired_lat);
    desired_pos.Position.Status = NEWDATA;
    desired_pos.Heading = -1;
    desired_pos.ToleranceRadius = 5;
    desired_pos.HoldTime = 60;
    desired_pos.Event_Flag = 0;
    desired_pos.reserve[0] = 0; // reserve
    desired_pos.reserve[1] = 0; // reserve
    desired_pos.reserve[2] = 0; // reserve
    desired_pos.reserve[3] = 0; // reserve
 
    //...und sende ihn an die NaviCtrl
    int max_radius = 10000;
    if (ok_lat && ok_lon &&
        abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&
        abs(Navi.Current.Latitude  - desired_pos.Position.Latitude) < max_radius)
    {
            o_Connection->send_Cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);
    }
    else
    {
        QMessageBox msgB;
        QString msg;
        msg += "Bitte die Eingabe ueberpruefen!\n";
        msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n";
        msg += "(Lon: ";
        msg += ToolBox::get_Float(Navi.Current.Longitude,7);
        msg += ", ";
        msg += "Lat: ";
        msg += ToolBox::get_Float(Navi.Current.Latitude,7);
        msg += ")";
        msgB.setText(msg);
        msgB.exec();
    }
}
 
// Hardware-Auswahl im Menp
void MKTool::slot_ac_Hardware()
{
    QAction *Action = (QAction*)sender();
 
    if (Action->isChecked() == false)
    {
        Action->setChecked(true);
    }
 
    slot_rb_Hardware();
}
 
// Hardware Auswahl und umschalten
void MKTool::slot_rb_Hardware()
{
    if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC))
    {
        lb_Status->setText(tr("Schalte um auf NaviCtrl."));
        TX_Data[0] = 0x1B;
        TX_Data[1] = 0x1B;
        TX_Data[2] = 0x55;
        TX_Data[3] = 0xAA;
        TX_Data[4] = 0x00;
        TX_Data[5] = '\r';
        o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false);
        ToolBox::Wait(SLEEP);
    }
 
    if (rb_SelFC->isChecked())
    {
        lb_Status->setText(tr("Schalte um auf FlightCtrl."));
        TX_Data[0] = 0;
        o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false);
    }
    else
    if (rb_SelMag->isChecked())
    {
        lb_Status->setText(tr("Schalte um auf MK3MAG."));
        TX_Data[0] = 1;
        o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false);
    }
    else
    if (rb_SelNC->isChecked())
    {
        lb_Status->setText(tr("Schalte um auf NaviCtrl."));
        TX_Data[0] = 0x1B;
        TX_Data[1] = 0x1B;
        TX_Data[2] = 0x55;
        TX_Data[3] = 0xAA;
        TX_Data[4] = 0x00;
        TX_Data[5] = '\r';
        o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false);
    }
    ToolBox::Wait(SLEEP);
 
//    qDebug("Select RB Hardware");
    o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true);
}
 
// Ticker-Event
///////////////
void MKTool::slot_Ticker()
{
    if (TickerDiv)
        TickerDiv = false;
    else
        TickerDiv = true;
/*
    if (cb_ClipBoard->isChecked())
    {
        QString s_OLD = te_KML->toPlainText();
        te_KML->clear();
        te_KML->paste();
        if (s_OLD != te_KML->toPlainText())
        {
            parse_TargetKML();
        }
    }
*/
    for (int a = 0; a < MaxTickerEvents; a++)
    {
        if (TickerEvent[a] == true)
        {
            switch(a)
            {
                case 0 :
 
                    {
 
 
                    }
                break;
                case 1 :
                    TX_Data[0] = 0;
                    o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false);
                break;
                case 2 :
                    if (f_LCD->cb_LCD->isChecked())
                    {
                        if (!f_LCD->isVisible())
                        {
                            Ticker->setInterval(2000);
                            TickerEvent[2] = false;
                        }
                        TX_Data[0] = LCD_Page;
                        TX_Data[1] = 0;
                        o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
                    }
                break;
                case 3 :
                    if (ac_FastDebug->isChecked())
                    {
                        TX_Data[0] = Settings->Data.Debug_Fast / 10;
                        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
                    }
                    else
                    {
                        TX_Data[0] = Settings->Data.Debug_Slow / 10;
                        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
                    }
                break;
                case 4 :
                    {
                        for (int z = 0; z<12; z++)
                        {
                            TX_Data[z] = Motor.Speed[z];
                        }
                        o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 12, false);
                    }
 
            }
        }
    }
}
 
// Zum QMK-Datenserver verbinden
void MKTool::slot_QMKS_Connect()
{
    if (ac_QMKServer->isChecked())
    {
        lb_Status->setText(tr("Verbinde zum QMK-Datenserver."));
 
        QMK_Server->Connect(Settings->Server.QMKS_Host, Settings->Server.QMKS_Port.toInt(), Settings->Server.QMKS_Login, Settings->Server.QMKS_Password);
 
        connect(QMK_Server, SIGNAL(sig_Connected()), this, SLOT(slot_QMKS_Connected()));
        connect(QMK_Server, SIGNAL(sig_Disconnected(int)), this, SLOT(slot_QMKS_Disconnected(int)));
    }
    else
    {
        if ((QMK_Server->property("Connect")) == true)
        {
            disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0);
            lb_Status->setText(tr("Trenne vom QMK-Datenserver."));
 
            QMK_Server->Disconnect();
            QMK_Server->setProperty("Connect", false);
            ac_QMKServer->setText("QMK-Server Verbinden");
        }
    }
}
 
// Verbindung zum QMK-Server hergestellt.
void MKTool::slot_QMKS_Connected()
{
    QMK_Server->setProperty("Connect", true);
    ac_QMKServer->setText("QMK-Server Trennnen");
    lb_Status->setText(tr("Verbunden mit QMK-Datenserver."));
}
 
// QMK-Serververbindung getrennt
void MKTool::slot_QMKS_Disconnected(int Error)
{
    QMK_Server->setProperty("Connect", false);
    ac_QMKServer->setText("QMK-Server Verbinden");
    ac_QMKServer->setChecked(false);
 
    disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0);
 
    switch (Error)
    {
        case 1 :
        {
            lb_Status->setText(tr("Verbindung vom Server beendet."));
            QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Verbindung wurde vom Server beendet.", QMessageBox::Ok);
        }
        break;
        case 2 :
        {
            lb_Status->setText(tr("Server nicht gefunden."));
            QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Kann nicht zum Server verbinden.", QMessageBox::Ok);
        }
        break;
        case 3 :
        {
            lb_Status->setText(tr("Serververbindung getrennt. Logindaten falsch."));
            QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Loginname oder Password falsch.", QMessageBox::Ok);
        }
        break;
        default :
        {
            lb_Status->setText(tr("Getrennt vom QMK-Datenserver."));
        }
        break;
    }
}
 
// Slots der Actions (Menüpunkte, Buttons)
//////////////////////////////////////////
void MKTool::slot_ac_Motortest()
{
    dlg_Motortest *f_Motortest = new dlg_Motortest(this);
 
//    connect(f_Motortest, SIGNAL(updateMotor(int, int, int, int)), this, SLOT(slot_Motortest(int, int, int, int)));
    connect(f_Motortest, SIGNAL(updateMotor(sMotor)), this, SLOT(slot_Motortest(sMotor)));
 
 
    Ticker->setInterval(500);
    TickerEvent[4] = true;
 
    if (f_Motortest->exec()==QDialog::Accepted)
    {
    }
 
    disconnect(f_Motortest, 0,0,0);
 
    for (int z = 0; z<12; z++)
    {
        Motor.Speed[z] = 0;
    }
 
    slot_Motortest(Motor);
 
    Ticker->setInterval(2000);
    TickerEvent[4] = false;
}
 
void MKTool::slot_Motortest(sMotor p_Motor)
{
    Motor = p_Motor;
 
    for (int z = 0; z<12; z++)
    {
        TX_Data[z] = Motor.Speed[z];
    }
    o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 12, false);
}
 
// Motormixer-Einstellungen anzeigen
void MKTool::slot_ac_MotorMixer()
{
    f_MotorMixer->set_Objects(o_Connection, Settings);
    f_MotorMixer->read_Mixer();
 
    if (f_MotorMixer->exec()==QDialog::Accepted)
    {
    }
}
 
// LCD Anzeigen
void MKTool::slot_ac_LCD()
{
    if (!f_LCD->isVisible())
    {
        delete f_LCD;
        f_LCD = new dlg_LCD(this);
 
        // LCD auf / ab
        connect(f_LCD->pb_LCDup,   SIGNAL(clicked()), this, SLOT(slot_LCD_UP()));
        connect(f_LCD->pb_LCDdown, SIGNAL(clicked()), this, SLOT(slot_LCD_DOWN()));
 
        f_LCD->show();
        TX_Data[0] = 0;
        TX_Data[1] = 0;
        o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
 
        Ticker->setInterval(500);
        TickerEvent[2] = true;
    }
}
 
// Map-Fenster anzeigen
void MKTool::slot_ac_Map()
{
    if (!f_Map->isVisible())
    {
        f_Map->show();
    }
}
 
void MKTool::slot_MAP_SetTarget(sWayPoint Target)
{
 
    QString s_Lon, s_Lat;
    QTextStream t_Lon(&s_Lon);
    QTextStream t_Lat(&s_Lat);
 
    t_Lon.setRealNumberPrecision(9);
    t_Lat.setRealNumberPrecision(9);
    t_Lon << Target.Longitude;
    t_Lat << Target.Latitude;
 
    le_TarLong->setText(s_Lon);
    le_TarLat->setText(s_Lat);
    sb_TarTime->setValue(Target.Time);
 
    slot_pb_SendWaypoint();
}
 
 
 
 
 
 
 
 
 
 
void MKTool::slot_ac_Config()
{
    set_Analog Old_Analog1;
 
    Old_Analog1 = Settings->Analog1;
 
    dlg_Config *f_Config = new dlg_Config(this);
    f_Config->set_Settings(Settings, Mode.ID);
 
    if (f_Config->exec()==QDialog::Accepted)
    {
        Settings = f_Config->get_Settings();
        Settings->write_Settings_Analog(Mode.ID);
 
        // Plotter neu einrichten
        if (Old_Analog1.PlotView != Settings->Analog1.PlotView)
        {
            config_Plot();
        }
 
        // CVS-Datei neu anlegen.
        if ((logger->is_active()) && (Old_Analog1.LogView != Settings->Analog1.LogView))
        {
            logger->close();
            logger->start_Log();
        }
 
    }
}
 
//aktualisiere Logging-Status
void MKTool::update_Log()
{
    if (logger->is_active())
    {
 
        ac_RecordCSV->setText("Log Stop");
        lb_Status->setText(tr("Log-Record gestartet."));
    }
    else
    {
        ac_RecordCSV->setText("Log Aufzeichnen");
        lb_Status->setText(tr("Log-Record gestopt."));
    }
}
 
//starte/stoppe Logging, wenn auf den entsprechenden Button gedrückt wurde
void MKTool::slot_RecordLog()
{
    if (!logger->is_active())
        logger->start_Log();
    else
        logger->close();
 
    update_Log();
}
 
void MKTool::slot_ac_Preferences()
{
    dlg_Preferences *f_Preferences = new dlg_Preferences(this);
 
    Settings->TTY.Port = le_Port->text();
    f_Preferences->set_Settings(Settings);
 
    if (f_Preferences->exec()==QDialog::Accepted)
    {
        Settings = f_Preferences->get_Settings();
        Settings->write_Settings();
        le_Port->setText(Settings->TTY.Port);
        config_Plot();
    }
}
 
void MKTool::slot_ac_StartPlotter()
{
    if (ac_StartPlotter->isChecked())
    {
        lb_Status->setText(tr("Datenplotter gestartet."));
        ac_StartPlotter->setText("Stop Plotter");
        pb_StartPlotter->setText("Stop Plotter");
    }
    else
    {
        lb_Status->setText(tr("Datenplotter gestopt."));
        ac_StartPlotter->setText("Start Plotter");
        pb_StartPlotter->setText("Start Plotter");
    }
}
 
void MKTool::slot_ac_View()
{
    int Aktive = -1;
 
    QAction *Action = (QAction*)sender();
 
    if (Action->objectName() == QString("ac_View0"))
        Aktive = 0;
    if (Action->objectName() == QString("ac_View1"))
        Aktive = 1;
    if (Action->objectName() == QString("ac_View2"))
        Aktive = 2;
    if (Action->objectName() == QString("ac_View3"))
        Aktive = 3;
    if (Action->objectName() == QString("ac_View4"))
        Aktive = 4;
    if (Action->objectName() == QString("ac_View5"))
        Aktive = 5;
    if (Action->objectName() == QString("ac_View6"))
        Aktive = 6;
 
    QString TabName = QString("Tab_%1").arg(Aktive);
 
    if (!Action->isChecked())
    {
        for (int a = 0; a < tab_Main->count(); a++)
        {
            if (tab_Main->widget(a)->objectName() == TabName)
            {
                tab_Main->removeTab(a);
            }
        }
    }
    else
    {
        tab_Main->insertTab(Aktive, TabWidgets[Aktive], Action->icon(), Action->text());
    }
}
 
void MKTool::slot_ac_FastNavi() // DONE NC 0.12i
{
    if (!ac_NoNavi->isChecked())
    {
        if (ac_FastNavi->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Slow / 10;
        }
        o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
    }
}
 
void MKTool::slot_ac_NoNavi() // DONE NC 0.12i
{
    if (ac_NoNavi->isChecked())
    {
        lb_Status->setText(tr("NaviDaten abstellen."));
        TX_Data[0] = 0;
    }
    else
    {
        if (ac_FastNavi->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Slow / 10;
        }
    }
    o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
}
 
void MKTool::slot_ac_FastDebug() // DONE 0.71g
{
    if (!ac_NoDebug->isChecked())
    {
        if (ac_FastDebug->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Slow / 10;
        }
        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
    }
}
 
void MKTool::slot_ac_NoDebug() // DONE 0.71g
{
    if (ac_NoDebug->isChecked())
    {
        lb_Status->setText(tr("DebugDaten abstellen."));
        TickerEvent[3] = false;
        TX_Data[0] = 0;
    }
    else
    {
        // Wenn MK3MAG dann andauernd Daten neu anfragen.
        if (Mode.ID == ADDRESS_MK3MAG)
            TickerEvent[3] = true;
 
        if (ac_FastDebug->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Slow / 10;
        }
    }
    o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
}
 
void MKTool::slot_ac_About()
{
    QMessageBox::about(this, trUtf8(("Über ")) + QA_NAME, QA_ABOUT);
}
 
void MKTool::slot_ac_GetLabels() // DONE 0.71g
{
    lb_Status->setText(tr("Analoglabels auslesen."));
    TX_Data[0] = 0;
    o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);
}
 
void MKTool::slot_ac_StartServer()
{
    if (ac_StartServer->isChecked())
    {
        lb_Status->setText(tr("KML-Server gestartet."));
        KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);
    }
    else
    {
        lb_Status->setText(tr("KML-Server gestopt."));
        KML_Server->stop_Server();
    }
}
 
 
//  Daten-Plotter
/////////////////
void MKTool::update_Plot()
{
    for (int a = 0; a < MaxAnalog; a++)
    {
        Plot[a]->setData(aID,aData[a],NextPlot - 1);
    }
 
    if ((NextPlot > Settings->Data.Plotter_Count))
    {
        scroll_plot->setMaximum(NextPlot - Settings->Data.Plotter_Count);
    }
 
    if ((scroll_plot->value() == NextPlot - (Settings->Data.Plotter_Count + 1)))
    {
        qwtPlot->setAxisScale(QwtPlot::xBottom,NextPlot - Settings->Data.Plotter_Count,NextPlot,0);
        scroll_plot->setValue(NextPlot - Settings->Data.Plotter_Count);
    }
 
    qwtPlot->replot();
}
 
void MKTool::config_Plot()
{
//    qDebug("Plotter rekonfiguriert..!!");
    qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);
 
    for (int a = 0; a < MaxAnalog; a++)
    {
        Plot[a]->detach();
        Plot[a]->setPen(QPen(QColor(Def_Colors[a])));
 
        if (Settings->Analog1.PlotView[a])
        {
            Plot[a]->setTitle(Settings->Analog1.Label[a]);
            Plot[a]->attach(qwtPlot);
        }
    }
    qwtPlot->replot();
}
 
void MKTool::slot_ScrollPlot(int Pos)
{
    qwtPlot->setAxisScale(QwtPlot::xBottom,Pos,Pos + Settings->Data.Plotter_Count,0);
    qwtPlot->replot();
}
 
 
// Firmeware-Update
///////////////////
void MKTool::slot_pb_Update()
{
    QString Device;
    QString Hardware;
 
    if (rb_FC->isChecked())
    {
        Device   = "m644";
        Hardware = "FlightCtrl";
    }
    else if (rb_MK3MAG->isChecked())
    {
        Device   = "m168";
        Hardware = "MK3MAG";
    }
    else if (rb_BL->isChecked())
    {
        Device   = "m8";
        Hardware = "BL-Ctrl";
    }
 
    QString Message = "Firmeware-Datei \n\n";
    Message = Message + le_HexFile->text() + "\n\n";
    Message = Message + "an " + Hardware + trUtf8(" mit AVRDUDE - Seriel & Bootloader über ") + le_Port->text() + trUtf8(" übertragen?\n");
 
    if (le_HexFile->text() == "")
    {
        QMessageBox::warning(this, QA_NAME, trUtf8("Bitte Firmeware-Datei wählen."), QMessageBox::Ok);
    }
    else if (QMessageBox::warning(this, QA_NAME, Message, QMessageBox::Yes | QMessageBox::No) == QMessageBox::Yes)
    {
        QString Programm = Settings->DIR.AVRDUDE;
 
        QStringList Argumente;
 
        Update = new QProcess();
 
        if (o_Connection->isOpen())
        {
            slot_OpenPort();
        }
 
        Argumente << "-P";
        Argumente << le_Port->text();
        Argumente << "-p";
        Argumente << Device;
        Argumente << "-c";
        Argumente << "butterfly";
        Argumente << "-b";
        Argumente << "57600";
        Argumente << "-U";
        Argumente << "flash:w:" + le_HexFile->text();
 
//    QString Programm = "/home/Manuel/bin/avrdude -p m644 -P /dev/ttyS0 -c butterfly -b 57600 -U flash:w:/home/Manuel/Documents/Mikrokopter/Firmeware/FlightCtrl/Flight-Ctrl_MEGA644_V0_71h.hex";
 
        te_Shell->setText(""); // Ausgabefenster säubern
 
        connect(Update, SIGNAL(readyReadStandardOutput()), this, SLOT(slot_UpdateShell()) );
        connect(Update, SIGNAL(readyReadStandardError()), this, SLOT(slot_UpdateShell()) );
 
        Update->start(Programm, Argumente); // Programmaufruf
    }
}
 
void MKTool::slot_UpdateShell()
{
    QByteArray Output;
 
    Output = Update->readAllStandardError(); // Shellausgabe an Variable
    te_Shell->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
    te_Shell->insertPlainText(QString::fromUtf8(Output));
 
    Output = Update->readAll();
    te_Shell->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
    te_Shell->insertPlainText(QString::fromUtf8(Output));
}
 
void MKTool::slot_pb_HexFile()
{
    QString FileName = QFileDialog::getOpenFileName(this,trUtf8(("Firmeware-Datei wählen")),"",
                                tr("Intel Hex(*.hex);;Alle Dateien (*)"));
    if (!FileName.isEmpty())
    {
        le_HexFile->setText(FileName);
    }
}
 
 
// Wechsel der Tabs erkennen
void MKTool::slot_TabChanged(int Tab) // DONE 0.71g
{
    Tab = Tab;
    if (tab_Main->count() != 0)
    {
        if ((tab_Main->currentWidget()->objectName() == QString("Tab_2")) && (f_Settings->listWidget->currentRow() == 1))
        {
            TX_Data[0] = 0;
            o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false);
 
            Ticker->setInterval(500);
            TickerEvent[1] = true;
        }
        else
        {
            Ticker->setInterval(2000);
            TickerEvent[1] = false;
        }
    }
}
 
// LCD-Seiten weiterschalten
void MKTool::slot_LCD_UP() // DONE 0.71g
{
    if (LCD_Page == LCD_MAX_Page)
        TX_Data[0] = 0;
    else
        TX_Data[0] = LCD_Page + 1;
 
    TX_Data[1] = 0;
    o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
}
 
void MKTool::slot_LCD_DOWN() // DONE 0.71g
{
    if (LCD_Page == 0)
        TX_Data[0] = LCD_MAX_Page;
    else
        TX_Data[0] = LCD_Page - 1;
 
    TX_Data[1] = 0;
    o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
}
 
// Settings aus MK lesen / in MK schreiben
void MKTool::slot_GetFCSettings() // DONE 0.71g
{
    lb_Status->setText(tr("Lese FlightCtrl-Settings aus."));
    TX_Data[0] = f_Settings->sb_Set->value();
    TX_Data[1] = 0;
    o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true);
}
 
void MKTool::slot_SetFCSettings() // DONE 0.71g
{
    char *TX_Data2 = f_Settings->GetFCSettings();
 
    lb_Status->setText(tr("Schreibe FlightCtrl-Settings."));
 
    o_Connection->send_Cmd('s', ADDRESS_FC, TX_Data2, MaxParameter + 2, true);
}
 
 
// Save GUI-Preferences
///////////////////////
void MKTool::set_Preferences()
{
    Settings->GUI.TabViews.setBit(0, ac_View0->isChecked());
    Settings->GUI.TabViews.setBit(1, ac_View1->isChecked());
    Settings->GUI.TabViews.setBit(2, ac_View2->isChecked());
    Settings->GUI.TabViews.setBit(3, ac_View3->isChecked());
    Settings->GUI.TabViews.setBit(4, ac_View4->isChecked());
    Settings->GUI.TabViews.setBit(5, ac_View5->isChecked());
    Settings->GUI.TabViews.setBit(6, ac_View6->isChecked());
 
    Settings->GUI.ToolViews.setBit(0, tb_Allgemein->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(1, tb_Werkzeuge->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(2, tb_Debug->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(3, tb_TTY->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(4, tb_Hardware->isVisibleTo(this));
 
    Settings->GUI.Term_Info   = cb_ShowMSG->isChecked();
    Settings->GUI.Term_Data   = cb_ShowData->isChecked();
    Settings->GUI.Term_Always = cb_ShowAlways->isChecked();
    Settings->GUI.Term_Send   = cb_ShowSend->isChecked();
    Settings->GUI.isMax       = isMaximized();
    Settings->GUI.Size        = size();
    Settings->GUI.Point       = pos();
 
    Settings->TTY.Port = le_Port->text();
}
 
void MKTool::show_DebugData()
{
    if (logger->is_active())
        logger->write(AnalogData);
 
    if (ac_StartPlotter->isChecked())
    {
        aID[NextPlot] = NextPlot;
 
        for (int a = 0; a < MaxAnalog; a++)
        {
            aData[a][NextPlot] = AnalogData[a];
        }
        NextPlot++;
 
        if ((tab_Main->currentWidget()->objectName() == QString("Tab_1")))
            update_Plot();
    }
 
    le_A_0->setText(QString("%1").arg(AnalogData[0]));
    le_A_1->setText(QString("%1").arg(AnalogData[1]));
    le_A_2->setText(QString("%1").arg(AnalogData[2]));
    le_A_3->setText(QString("%1").arg(AnalogData[3]));
    le_A_4->setText(QString("%1").arg(AnalogData[4]));
    le_A_5->setText(QString("%1").arg(AnalogData[5]));
    le_A_6->setText(QString("%1").arg(AnalogData[6]));
    le_A_7->setText(QString("%1").arg(AnalogData[7]));
    le_A_8->setText(QString("%1").arg(AnalogData[8]));
    le_A_9->setText(QString("%1").arg(AnalogData[9]));
    le_A_10->setText(QString("%1").arg(AnalogData[10]));
    le_A_11->setText(QString("%1").arg(AnalogData[11]));
    le_A_12->setText(QString("%1").arg(AnalogData[12]));
    le_A_13->setText(QString("%1").arg(AnalogData[13]));
    le_A_14->setText(QString("%1").arg(AnalogData[14]));
    le_A_15->setText(QString("%1").arg(AnalogData[15]));
    le_A_16->setText(QString("%1").arg(AnalogData[16]));
    le_A_17->setText(QString("%1").arg(AnalogData[17]));
    le_A_18->setText(QString("%1").arg(AnalogData[18]));
    le_A_19->setText(QString("%1").arg(AnalogData[19]));
    le_A_20->setText(QString("%1").arg(AnalogData[20]));
    le_A_21->setText(QString("%1").arg(AnalogData[21]));
    le_A_22->setText(QString("%1").arg(AnalogData[22]));
    le_A_23->setText(QString("%1").arg(AnalogData[23]));
    le_A_24->setText(QString("%1").arg(AnalogData[24]));
    le_A_25->setText(QString("%1").arg(AnalogData[25]));
    le_A_26->setText(QString("%1").arg(AnalogData[26]));
    le_A_27->setText(QString("%1").arg(AnalogData[27]));
    le_A_28->setText(QString("%1").arg(AnalogData[28]));
    le_A_29->setText(QString("%1").arg(AnalogData[29]));
    le_A_30->setText(QString("%1").arg(AnalogData[30]));
    le_A_31->setText(QString("%1").arg(AnalogData[31]));
 
    if ((Mode.ID == ADDRESS_FC) && (FCSettings[P_GYRO_ACC_FAKTOR] > 0))
    {
        bar_UBAT->setValue(AnalogData[9]);
        bar_RX->setValue(AnalogData[10]);
 
        Compass->setValue(AnalogData[8]);
 
        int Roll = (AnalogData[1] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024;
        int Nick = (AnalogData[0] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024;
 
        if (Roll > 128)
            Roll = Roll - 255;
 
        if (Nick > 128)
            Nick = Nick - 255;
 
        Attitude->setAngle(Roll);
        Attitude->setGradient(double(double(Nick) / 100.0));
    }
}
 
void MKTool::new_NaviData(sRxData RX)
{
//    qDebug("Navi-Data");
 
    switch(RX.Decode[N_NC_FLAGS])
    {
        case 0x01 : lb_Mode->setText("Free"); break;
        case 0x02 : lb_Mode->setText("Position Hold"); break;
        case 0x04 : lb_Mode->setText("Coming Home"); break;
        case 0x08 : lb_Mode->setText("Range Limit"); break;
        case 0x10 : lb_Mode->setText("Serial Error"); break;
        case 0x20 : lb_Mode->setText("Target reached"); break;
        case 0x40 : lb_Mode->setText("Manual Control"); break;
    }
 
    Navi.Current.Longitude = ToolBox::Data2Long(RX.Decode, N_CUR_LONGITUDE, true);
    Navi.Current.Latitude  = ToolBox::Data2Long(RX.Decode, N_CUR_LATITUDE,  true);
    Navi.Current.Altitude  = ToolBox::Data2Long(RX.Decode, N_CUR_ALTITUDE,  true);
    Navi.Target.Longitude  = ToolBox::Data2Long(RX.Decode, N_TAR_LONGITUDE, true);
    Navi.Target.Latitude   = ToolBox::Data2Long(RX.Decode, N_TAR_LATITUDE,  true);
    Navi.Target.Altitude   = ToolBox::Data2Long(RX.Decode, N_TAR_ALTITUDE,  true);
 
    le_CDistance->setText(QString("%1 cm").arg(ToolBox::Data2Int(RX.Decode, N_HOME_DISTANCE)));
    le_CWPA->setText(QString("%1").arg(RX.Decode[N_WP_INDEX]));
    le_CWPT->setText(QString("%1").arg(RX.Decode[N_WP_NUMBER]));
    le_CSats->setText(QString("%1").arg(RX.Decode[N_SATS_IN_USER]));
 
    qwt_Rate->setValue(double(ToolBox::Data2Int(RX.Decode, N_VARIOMETER, true)));
 
    le_CTime->setText(QString("%1 sec.").arg(ToolBox::Data2Int(RX.Decode, N_FLYING_TIME)));
 
    bar_UBAT->setValue(RX.Decode[N_UBAT]);
 
    double Speed = double((ToolBox::Data2Int(RX.Decode, N_GROUND_SPEED)) / 10.0);
 
    if ((Speed > 4.5) && SpeedMeter->property("END") == 5)
    {
        SpeedMeter->setRange(0.0, 10.0);
        SpeedMeter->setScale(1, 2, 1);
        SpeedMeter->setProperty("END", 10);
    }
 
    if ((Speed > 9) && SpeedMeter->property("END") == 10)
    {
        SpeedMeter->setRange(0.0, 20.0);
        SpeedMeter->setScale(1, 2, 2);
        SpeedMeter->setProperty("END", 20);
    }
 
    SpeedMeter->setValue(Speed);
 
    Compass->setValue(ToolBox::Data2Int(RX.Decode, N_COMAPSS_HEADING)); //(68)
 
    bar_RX->setValue(RX.Decode[N_RC_QUALITY]);
 
    int Nick = RX.Decode[N_ANGLE_NICK];
    int Roll = RX.Decode[N_ANGLE_ROLL];
 
    if (Roll > 128)
        Roll = Roll - 255;
 
    if (Nick > 128)
        Nick = Nick - 255;
 
    Attitude->setAngle(Roll);
    Attitude->setGradient(double(0.0 - (double(Nick) / 100.0)));
 
    sNaviString NaviString;
 
    NaviString.Longitude = ToolBox::get_Float(Navi.Current.Longitude,7);
    NaviString.Latitude  = ToolBox::get_Float(Navi.Current.Latitude,7);
    NaviString.Altitude  = ToolBox::get_Float(Navi.Current.Altitude,3);
 
    le_CurLong->setText(NaviString.Longitude);
    le_CurLat->setText(NaviString.Latitude);
 
    KML_Server->store_NaviString(NaviString);
 
    f_Map->add_Position(NaviString.Longitude.toDouble(), NaviString.Latitude.toDouble());
 
    if ((QMK_Server->property("Connect")) == true)
    {
//        qDebug("Send Data to Server..!!");
        QMK_Server->NewPosition(NaviString);
    }
}
 
// Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen
////////////////////////////////////////////////////////////////////
 
// Neues Datenpacket empfangen -> Verarbeiten
void MKTool::slot_newData(sRxData RX) // DONE 0.71g
{
    if (LastSend.length() > 2)
    {
    }
    int HardwareID = RX.Input[1] - 'a';
 
    switch(HardwareID)
    {
        case ADDRESS_FC :
            switch(RX.Input[2])
            {
                // Motor-Mixer
                case 'N' :
                    if (ToolBox::Decode64(RX))
                    {
                        o_Connection->stop_ReSend();
 
                        if (RX.Decode[0] == VERSION_MIXER)
                        {
                            f_MotorMixer->set_MotorConfig(RX);
                        }
                    }
                break;
                // Motor-Mixer Schreib-Bestätigung
                case 'M' :
                    if (ToolBox::Decode64(RX))
                    {
                        o_Connection->stop_ReSend();
 
                        if (RX.Decode[0] == 1)
                        {
                            lb_Status->setText(tr("MotorMixer-Daten in FC geschrieben."));
                        }
                    }
                break;
 
                // Stick-Belegung der Fernsteuerung
                case 'P' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        f_Settings->pb_K1->setValue(ToolBox::Data2Int(RX.Decode,  2,true));
                        f_Settings->pb_K2->setValue(ToolBox::Data2Int(RX.Decode,  4,true));
                        f_Settings->pb_K3->setValue(ToolBox::Data2Int(RX.Decode,  6,true));
                        f_Settings->pb_K4->setValue(ToolBox::Data2Int(RX.Decode,  8,true));
                        f_Settings->pb_K5->setValue(ToolBox::Data2Int(RX.Decode, 10 ,true));
                        f_Settings->pb_K6->setValue(ToolBox::Data2Int(RX.Decode, 12,true));
                        f_Settings->pb_K7->setValue(ToolBox::Data2Int(RX.Decode, 14,true));
                        f_Settings->pb_K8->setValue(ToolBox::Data2Int(RX.Decode, 16,true));
                    }
                break;
                // Settings lesen
                case 'Q' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        o_Connection->stop_ReSend();
 
                        if (RX.Decode[1] == VERSION_SETTINGS)
                        {
                            int Settings_ID = RX.Decode[0];
                            for (int a = 0; a < MaxParameter; a++)
                            {
                                FCSettings[a] = RX.Decode[a + 2];
                            }
                            f_Settings->show_FCSettings(Settings_ID, FCSettings);
                            f_Settings->pb_Read->setEnabled(true);
                            f_Settings->pb_Write->setEnabled(true);
                        }
                        else
                        {
                            f_Settings->pb_Read->setDisabled(true);
                            f_Settings->pb_Write->setDisabled(true);
 
                            QMessageBox::warning(this, QA_NAME,
                                   "Versionen inkompatibel. \nParameterbearbeitung nicht moeglich.", QMessageBox::Ok);
                        }
                    }
                break;
                // Settings geschrieben
                case 'S' : // DONE 0.71g
                    o_Connection->stop_ReSend();
                break;
            }
 
        case ADDRESS_NC :
            switch(RX.Input[2])
            {
                // Navigationsdaten
                case 'O' : // NOT DONE 0.12h
                    if (ToolBox::Decode64(RX))
                    {
                        new_NaviData(RX);
                    }
                break;
            }
//        case ADDRESS_MK3MAG :
 
        default :
            switch(RX.Input[2])
            {
                // LCD-Anzeige
                case 'L' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        o_Connection->stop_ReSend();
 
                        int LCD[150];
                        memcpy(LCD,RX.Decode, sizeof(RX.Decode));
 
                        f_LCD->show_Data(LCD);
 
                        LCD_Page     = RX.Decode[0];
                        LCD_MAX_Page = RX.Decode[1];
                    }
                break;
                // Analoglabels
                case 'A' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        o_Connection->stop_ReSend();
 
                        int Position = RX.Decode[0];
                        if (Position != 31)
                        {
                            Settings->Analog1.Label[Position] = ToolBox::Data2QString(RX.Decode,1,17).trimmed();
                            if (Settings->Analog1.Label[Position] == "")
                            {
                                Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position);
                            }
                            Position ++;
                            TX_Data[0] = Position;
                            o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);
                        }
                        if (Position == 31)
                        {
                            for (int a = 0; a < MaxAnalog; a++)
                            {
                                lb_Analog[a]->setText(Settings->Analog1.Label[a]);
                            }
                            Settings->Analog1.Version = Mode.Version;
                            Settings->write_Settings_AnalogLabels(HardwareID);
                            config_Plot();
                        }
                    }
                break;
                // Debug-Daten
                case 'D' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        for (int i = 0; i < MaxAnalog; i++)
                        {
                            AnalogData[i] = ToolBox::Data2Int(RX.Decode, (i * 2) + 2);
                        }
                        show_DebugData();
                    }
                break;
                // Version
                case 'V' : // DONE 0.71h
                    if (ToolBox::Decode64(RX))
                    {
                        o_Connection->stop_ReSend();
 
                        Mode.ID            = HardwareID;
                        Mode.VERSION_MAJOR = RX.Decode[0];
                        Mode.VERSION_MINOR = RX.Decode[1];
                        Mode.VERSION_PATCH = RX.Decode[4];
                        Mode.VERSION_SERIAL_MAJOR = RX.Decode[2];
                        Mode.VERSION_SERIAL_MINOR = RX.Decode[3];
 
                        Mode.Hardware   = HardwareType[Mode.ID];
                        Mode.Version    = QString("%1").arg(RX.Decode[0]) + "." + QString("%1").arg(RX.Decode[1]) + QString(RX.Decode[4] + 'a');
 
                        setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + Mode.Hardware + " " + Mode.Version);
 
                        if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR)
                        {
//                                AllowSend = false;
                                QMessageBox::warning(this, QA_NAME,
                                   "Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,", QMessageBox::Ok);
                        }
 
                        if (ac_NoDebug->isChecked())
                        {
                            TX_Data[0] = 0;
                        }
                        else
                        if (ac_FastDebug->isChecked())
                        {
                            TX_Data[0] = Settings->Data.Debug_Fast / 10;
                        }
                        else
                        {
                            TX_Data[0] = Settings->Data.Debug_Slow / 10;
                        }
 
                        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
 
                        // Wenn MK3MAG dann andauernd Daten neu anfragen.
                        if (Mode.ID == ADDRESS_MK3MAG)
                        {
                            TickerEvent[3] = true;
                            rb_SelMag->setChecked(true);
                        }
 
                        // Wenn NaviCtrl dann hier.
                        if (Mode.ID == ADDRESS_NC)
                        {
                            rb_SelNC->setChecked(true);
 
                            if (ac_NoNavi->isChecked())
                            {
                                TX_Data[0] = 0;
                            }
                            else
                            if (ac_FastNavi->isChecked())
                            {
                                TX_Data[0] = Settings->Data.Navi_Fast / 10;
                            }
                            else
                            {
                                TX_Data[0] = Settings->Data.Navi_Slow / 10;
                            }
 
                            o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
                        }
 
 
                        // Wenn FlightCtrl dann Settings abfragen.
                        if (Mode.ID == ADDRESS_FC)
                        {
                            rb_SelFC->setChecked(true);
                            {
                                TX_Data[0] = 0xff;
                                TX_Data[1] = 0;
 
                                // DEP: Raus wenn Resend implementiert.
                                ToolBox::Wait(SLEEP);
                                o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true);
                                qDebug("FC - Get Settings");
                            }
                        }
                        // Wenn nicht Lesen und Schreiben der Settings deaktivieren.
                        else
                        {
                                f_Settings->pb_Read->setDisabled(true);
                                f_Settings->pb_Write->setDisabled(true);
                        }
 
                        Settings->read_Settings_Analog(HardwareID);
                        Settings->read_Settings_AnalogLabels(HardwareID);
 
                        if (Settings->Analog1.Version != Mode.Version)
                        {
                            lb_Status->setText("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.");
                            slot_ac_GetLabels();
                        }
                        else
                        for (int a = 0; a < MaxAnalog; a++)
                        {
                            lb_Analog[a]->setText(Settings->Analog1.Label[a]);
                        }
                        config_Plot();
                    }
                break;
            }
    }
 
    // TODO: Roh-Daten senden zum QMK-Server dazu Sendebuffer bauen.
    if ((QMK_Server->property("Connect")) == true)
    {
//        QMK_Server->send_RawData(RX.String);
    }
 
    slot_showTerminal(1, RX.String);
}
 
void MKTool::slot_showTerminal(int Typ, QString Text)
{
    switch(Typ)
    {
        case 1 :
        {
            if ((cb_ShowData->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked())))
            {
                te_RX->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
                te_RX->insertHtml("<span style=\"color:#00008b;\">" + Text + "<br /></span>");
            }
        }
        break;
        case 2 :
        {
            if ((cb_ShowMSG->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked())))
            {
                if (Text.length() > 0)
                {
                    te_RX->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
                    te_RX->insertHtml("<span style=\"color:#008b00;\">" + Text + "</span><br />");
                }
            }
        }
        break;
        case 3 :
        {
            if (cb_ShowSend->isChecked())
            {
                te_RX->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
                te_RX->insertHtml("<span style='color:#8b0000;'>" + Text + "<br /></span>");
            }
        }
        break;
    }
}
 
// Verbindung zum Kopter herstellen / Trennen
void MKTool::slot_OpenPort()
{
    if (o_Connection->isOpen())
    {
        TX_Data[0] = Settings->Data.Debug_Off / 10;
        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
        ToolBox::Wait(SLEEP);
 
        if (Mode.ID == ADDRESS_NC)
        {
            TX_Data[0] = Settings->Data.Navi_Off / 10;
            o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
            ToolBox::Wait(SLEEP);
        }
 
        if (Mode.ID == ADDRESS_FC)
        {
            TX_Data[0] = 0;
            TX_Data[1] = 0;
            TX_Data[2] = 0;
            TX_Data[3] = 0;
            o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false);
            ToolBox::Wait(SLEEP);
        }
 
        o_Connection->Close();
 
        ac_ConnectTTY->setText("Kopter Verbinden");
        le_Port->setEnabled(true);
 
        Ticker->stop();
    }
    else
    {
        int i_Type;
        if (le_Port->text().contains(QString("IP:")))
        {
            i_Type = C_IP;
        }
        else
        {
            i_Type = C_TTY;
        }
 
        if (o_Connection->Open(i_Type, le_Port->text()))
        {
            ac_ConnectTTY->setText("Kopter Trennen");
            le_Port->setEnabled(false);
 
            o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true);
 
            Ticker->start(2000);
        }
    }
}
 
// Programm beenden
///////////////////
 
MKTool::~MKTool()
{
    if (o_Connection->isOpen())
    {
        o_Connection->Close();
    }
 
    set_Preferences();
    Settings->write_Settings();
 
    logger->close();
}
 

Rev 334	Rev 337
1	/***************************************************************************	1	/***************************************************************************
2	* Copyright (C) 2008 by Manuel Schrape *	2	* Copyright (C) 2008 by Manuel Schrape *
3	* manuel.schrape@gmx.de *	3	* manuel.schrape@gmx.de *
4	* *	4	* *
5	* This program is free software; you can redistribute it and/or modify *	5	* This program is free software; you can redistribute it and/or modify *
6	* it under the terms of the GNU General Public License as published by *	6	* it under the terms of the GNU General Public License as published by *
7	* the Free Software Foundation; either version 2 of the License. *	7	* the Free Software Foundation; either version 2 of the License. *
8	* *	8	* *
9	* This program is distributed in the hope that it will be useful, *	9	* This program is distributed in the hope that it will be useful, *
10	* but WITHOUT ANY WARRANTY; without even the implied warranty of *	10	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
11	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *	11	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
12	* GNU General Public License for more details. *	12	* GNU General Public License for more details. *
13	* *	13	* *
14	* You should have received a copy of the GNU General Public License *	14	* You should have received a copy of the GNU General Public License *
15	* along with this program; if not, write to the *	15	* along with this program; if not, write to the *
16	* Free Software Foundation, Inc., *	16	* Free Software Foundation, Inc., *
17	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *	17	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
18	***************************************************************************/	18	***************************************************************************/
19		19
20	// TODO: Wiederholungssenden wieder einbauen	20	// TODO: Wiederholungssenden wieder einbauen
21		21
22	#include <QtGui>	22	#include <QtGui>
23		23
24	#include <QLineEdit>	24	#include <QLineEdit>
25	#include <QString>	25	#include <QString>
26	#include <QTimer>	26	#include <QTimer>
27	#include <QIcon>	27	#include <QIcon>
28	#include <QToolButton>	28	#include <QToolButton>
29	#include <QSpinBox>	29	#include <QSpinBox>
30	#include <QAction>	30	#include <QAction>
31	#include <QPalette>	31	#include <QPalette>
32		32
33	#include "mktool.h"	33	#include "mktool.h"
34	#include "dlg_Config.h"	34	#include "dlg_Config.h"
35	#include "dlg_Motortest.h"	35	#include "dlg_Motortest.h"
36	#include "dlg_Preferences.h"	36	#include "dlg_Preferences.h"
37	#include "../global.h"	37	#include "../global.h"
38	#include "../Classes/ToolBox.h"	38	#include "../Classes/ToolBox.h"
39		39
40	#include <stdlib.h>	40	#include <stdlib.h>
41		41
42	MKTool::MKTool()	42	MKTool::MKTool()
43	{	43	{
44	setupUi(this);	44	setupUi(this);
45		45
46	Settings = new cSettings;	46	Settings = new cSettings;
47		47
48	init_Arrays();	48	init_Arrays();
49	init_GUI();	49	init_GUI();
50	init_Cockpit();	50	init_Cockpit();
51		51
52	init_Objects();	52	init_Objects();
53	init_Connections();	53	init_Connections();
54		54
55	init_Plot();	55	init_Plot();
56	}	56	}
57		57
58	void MKTool::init_GUI()	58	void MKTool::init_GUI()
59	{	59	{
60	setWindowTitle(QA_NAME + " v" + QA_VERSION);	60	setWindowTitle(QA_NAME + " v" + QA_VERSION);
61		61
62	// Tab mit Debug-Elementen verbergen	62	// Tab mit Debug-Elementen verbergen
63	tab_Main->removeTab(6);	63	tab_Main->removeTab(6);
64	// Develop - Nicht gebrauchte sachen abschalten.	64	// Develop - Nicht gebrauchte sachen abschalten.
65	pb_SettingsReset->hide();	65	pb_SettingsReset->hide();
66	pb_Flash->hide();	66	pb_Flash->hide();
67	rb_NC->hide();	67	rb_NC->hide();
68		68
69	// Beta-Sachen einschalten.	69	// Beta-Sachen einschalten.
70	#ifdef _BETA_	70	#ifdef _BETA_
71	ac_QMKServer->setEnabled(true);	71	ac_QMKServer->setEnabled(true);
72	#else	-
73	ac_MotorMixer->setVisible(false);	-
74	#endif	72	#endif
-		73
75	// Settings-Tab hinzufügen.	74	// Settings-Tab hinzufügen.
76	f_Settings = new wdg_Settings( this );	75	f_Settings = new wdg_Settings( this );
77	f_Settings->set_Config(Settings);	76	f_Settings->set_Config(Settings);
78	tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings");	77	tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings");
79	tab_Main->widget(2)->setObjectName("Tab_2");	78	tab_Main->widget(2)->setObjectName("Tab_2");
80		79
81	// Zusätzliche Widgets in die Toolbar.	80	// Zusätzliche Widgets in die Toolbar.
82	tb_TTY->addWidget(lb_Port);	81	tb_TTY->addWidget(lb_Port);
83	tb_TTY->addWidget(le_Port);	82	tb_TTY->addWidget(le_Port);
84		83
85	tb_Hardware->addWidget(rb_SelFC);	84	tb_Hardware->addWidget(rb_SelFC);
86	tb_Hardware->addWidget(rb_SelNC);	85	tb_Hardware->addWidget(rb_SelNC);
87	tb_Hardware->addWidget(rb_SelMag);	86	tb_Hardware->addWidget(rb_SelMag);
88		87
89	tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]);	88	tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]);
90	tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]);	89	tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]);
91	tb_Debug->setVisible(Settings->GUI.ToolViews[2]);	90	tb_Debug->setVisible(Settings->GUI.ToolViews[2]);
92	tb_TTY->setVisible(Settings->GUI.ToolViews[3]);	91	tb_TTY->setVisible(Settings->GUI.ToolViews[3]);
93	tb_Hardware->setVisible(Settings->GUI.ToolViews[4]);	92	tb_Hardware->setVisible(Settings->GUI.ToolViews[4]);
94		93
95	#ifdef _EEEPC_	94	#ifdef _EEEPC_
96	lb_Status->hide();	95	lb_Status->hide();
97	#endif	96	#endif
98		97
99	lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!"));	98	lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!"));
100		99
101	resize(Settings->GUI.Size);	100	resize(Settings->GUI.Size);
102	move(Settings->GUI.Point);	101	move(Settings->GUI.Point);
103		102
104	if (Settings->GUI.isMax)	103	if (Settings->GUI.isMax)
105	{	104	{
106	showMaximized();	105	showMaximized();
107	}	106	}
108		107
109	// Analoglabels anzeigen	108	// Analoglabels anzeigen
110	for (int a = 0; a < MaxAnalog; a++)	109	for (int a = 0; a < MaxAnalog; a++)
111	{	110	{
112	lb_Analog[a]->setText(Settings->Analog1.Label[a]);	111	lb_Analog[a]->setText(Settings->Analog1.Label[a]);
113	}	112	}
114		113
115	// Kopie der Tabs anlegen	114	// Kopie der Tabs anlegen
116	for (int b = 0; b < 7; b++)	115	for (int b = 0; b < 7; b++)
117	{	116	{
118	TabWidgets[b] = tab_Main->widget(b);	117	TabWidgets[b] = tab_Main->widget(b);
119	}	118	}
120		119
121	// Ausgeblendete Tabs ausblenden	120	// Ausgeblendete Tabs ausblenden
122	for (int c = 0; c < 7; c++)	121	for (int c = 0; c < 7; c++)
123	{	122	{
124	if (Settings->GUI.TabViews[c] == false)	123	if (Settings->GUI.TabViews[c] == false)
125	{	124	{
126	QString TabName = QString("Tab_%1").arg(c);	125	QString TabName = QString("Tab_%1").arg(c);
127		126
128	for (int d = 0; d < tab_Main->count(); d++)	127	for (int d = 0; d < tab_Main->count(); d++)
129	{	128	{
130	if (tab_Main->widget(d)->objectName() == TabName)	129	if (tab_Main->widget(d)->objectName() == TabName)
131	{	130	{
132	tab_Main->removeTab(d);	131	tab_Main->removeTab(d);
133	}	132	}
134	}	133	}
135	}	134	}
136	}	135	}
137		136
138	ac_View0->setChecked(Settings->GUI.TabViews[0]);	137	ac_View0->setChecked(Settings->GUI.TabViews[0]);
139	ac_View1->setChecked(Settings->GUI.TabViews[1]);	138	ac_View1->setChecked(Settings->GUI.TabViews[1]);
140	ac_View2->setChecked(Settings->GUI.TabViews[2]);	139	ac_View2->setChecked(Settings->GUI.TabViews[2]);
141	ac_View3->setChecked(Settings->GUI.TabViews[3]);	140	ac_View3->setChecked(Settings->GUI.TabViews[3]);
142	ac_View4->setChecked(Settings->GUI.TabViews[4]);	141	ac_View4->setChecked(Settings->GUI.TabViews[4]);
143	ac_View5->setChecked(Settings->GUI.TabViews[5]);	142	ac_View5->setChecked(Settings->GUI.TabViews[5]);
144	ac_View6->setChecked(Settings->GUI.TabViews[6]);	143	ac_View6->setChecked(Settings->GUI.TabViews[6]);
145		144
146	le_Port->setText(Settings->TTY.Port);	145	le_Port->setText(Settings->TTY.Port);
147		146
148	cb_ShowMSG->setChecked(Settings->GUI.Term_Info);	147	cb_ShowMSG->setChecked(Settings->GUI.Term_Info);
149	cb_ShowData->setChecked(Settings->GUI.Term_Data);	148	cb_ShowData->setChecked(Settings->GUI.Term_Data);
150	cb_ShowAlways->setChecked(Settings->GUI.Term_Always);	149	cb_ShowAlways->setChecked(Settings->GUI.Term_Always);
151	}	150	}
152		151
153	void MKTool::init_Cockpit()	152	void MKTool::init_Cockpit()
154	{	153	{
155	// Cockpit-Elemente	154	// Cockpit-Elemente
156	QPalette newPalette;	155	QPalette newPalette;
157		156
158	newPalette.setColor(QPalette::Base, Qt::darkBlue);	157	newPalette.setColor(QPalette::Base, Qt::darkBlue);
159	newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));	158	newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
160	newPalette.setColor(QPalette::Text, Qt::white);	159	newPalette.setColor(QPalette::Text, Qt::white);
161		160
162	Compass->setScaleOptions(QwtDial::ScaleTicks \| QwtDial::ScaleLabel);	161	Compass->setScaleOptions(QwtDial::ScaleTicks \| QwtDial::ScaleLabel);
163	Compass->setScaleTicks(0, 0, 3);	162	Compass->setScaleTicks(0, 0, 3);
164	Compass->setScale(36, 5, 0);	163	Compass->setScale(36, 5, 0);
165		164
166	Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));	165	Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));
167	Compass->setPalette(newPalette);	166	Compass->setPalette(newPalette);
168	Compass->setMaximumSize(QSize(MeterSize, MeterSize));	167	Compass->setMaximumSize(QSize(MeterSize, MeterSize));
169	Compass->setMinimumSize(QSize(MeterSize, MeterSize));	168	Compass->setMinimumSize(QSize(MeterSize, MeterSize));
170		169
171	QPalette newPalette1;	170	QPalette newPalette1;
172		171
173	newPalette1.setColor(QPalette::Base, Qt::darkBlue);	172	newPalette1.setColor(QPalette::Base, Qt::darkBlue);
174	newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));	173	newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));
175	newPalette1.setColor(QPalette::Text, Qt::white);	174	newPalette1.setColor(QPalette::Text, Qt::white);
176		175
177	Attitude = new AttitudeIndicator(this);	176	Attitude = new AttitudeIndicator(this);
178	Attitude->setMaximumSize(QSize(MeterSize, MeterSize));	177	Attitude->setMaximumSize(QSize(MeterSize, MeterSize));
179	Attitude->setMinimumSize(QSize(MeterSize, MeterSize));	178	Attitude->setMinimumSize(QSize(MeterSize, MeterSize));
180	Attitude->setPalette(newPalette1);	179	Attitude->setPalette(newPalette1);
181		180
182	verticalLayout->addWidget(Attitude);	181	verticalLayout->addWidget(Attitude);
183		182
184	qwt_Rate->setRange(-10.0, 10.0, 0.1, 0);	183	qwt_Rate->setRange(-10.0, 10.0, 0.1, 0);
185		184
186	newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));	185	newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
187		186
188	SpeedMeter = new cSpeedMeter(this);	187	SpeedMeter = new cSpeedMeter(this);
189	SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize));	188	SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize));
190	SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize));	189	SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize));
191	SpeedMeter->setPalette(newPalette1);	190	SpeedMeter->setPalette(newPalette1);
192	SpeedMeter->setRange(0.0, 5.0);	191	SpeedMeter->setRange(0.0, 5.0);
193	SpeedMeter->setScale(1, 2, 0.5);	192	SpeedMeter->setScale(1, 2, 0.5);
194	SpeedMeter->setProperty("END", 5);	193	SpeedMeter->setProperty("END", 5);
195		194
196	LayOut_Speed->addWidget(SpeedMeter);	195	LayOut_Speed->addWidget(SpeedMeter);
197	}	196	}
198		197
199	void MKTool::init_Objects()	198	void MKTool::init_Objects()
200	{	199	{
201	// QTimer-Instanzen	200	// QTimer-Instanzen
202	Ticker = new QTimer(this);	201	Ticker = new QTimer(this);
203		202
204	// Verbindungsobject	203	// Verbindungsobject
205	o_Connection = new cConnection();	204	o_Connection = new cConnection();
206		205
207	// neuer Logger	206	// neuer Logger
208	logger = new Logger(Settings, &Mode);	207	logger = new Logger(Settings, &Mode);
209		208
210	// LCD-Dialog	209	// LCD-Dialog
211	f_LCD = new dlg_LCD(this);	210	f_LCD = new dlg_LCD(this);
212		211
213	// LCD-Dialog	212	// LCD-Dialog
214	f_MotorMixer = new dlg_MotorMixer(this);	213	f_MotorMixer = new dlg_MotorMixer(this);
215		214
216	// LCD-Dialog	215	// LCD-Dialog
217	f_Map = new dlg_Map(this);	216	f_Map = new dlg_Map(this);
218	f_Map->create_Map(Settings);	217	f_Map->create_Map(Settings);
219		218
220	KML_Server = new cKML_Server();	219	KML_Server = new cKML_Server();
221		220
222	QMK_Server = new cQMK_Server();	221	QMK_Server = new cQMK_Server();
223	QMK_Server->setProperty("Connect", false);	222	QMK_Server->setProperty("Connect", false);
224		223
225	if (Settings->Server.StartServer)	224	if (Settings->Server.StartServer)
226	{	225	{
227	ac_StartServer->setChecked(true);	226	ac_StartServer->setChecked(true);
228	KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);	227	KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);
229	}	228	}
230	}	229	}
231		230
232	void MKTool::init_Connections()	231	void MKTool::init_Connections()
233	{	232	{
234	connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test()));	233	connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test()));
235		234
236	// Waypoints übergeben	235	// Waypoints übergeben
237	connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint)));	236	connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint)));
238		237
239	// Daten Senden / Empfangen	238	// Daten Senden / Empfangen
240	connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));	239	connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));
241	connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));	240	connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));
242		241
243	// Serielle Verbundung öffnen / schließen	242	// Serielle Verbundung öffnen / schließen
244	connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));	243	connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));
245		244
246	// TCP-Connection verbinden / trennen	245	// TCP-Connection verbinden / trennen
247	connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));	246	connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));
248		247
249	// Buttons Settings lesen / schreiben	248	// Buttons Settings lesen / schreiben
250	connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings()));	249	connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings()));
251	connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings()));	250	connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings()));
252		251
253	// Actions	252	// Actions
254	connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config()));	253	connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config()));
255	connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences()));	254	connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences()));
256	connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest()));	255	connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest()));
257	connect(ac_MotorMixer, SIGNAL(triggered()), this, SLOT(slot_ac_MotorMixer()));	256	connect(ac_MotorMixer, SIGNAL(triggered()), this, SLOT(slot_ac_MotorMixer()));
258	connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD()));	257	connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD()));
259	connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map()));	258	connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map()));
260	connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug()));	259	connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug()));
261	connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug()));	260	connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug()));
262	connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi()));	261	connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi()));
263	connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi()));	262	connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi()));
264	connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels()));	263	connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels()));
265		264
266	// Plotter starten / scrollen	265	// Plotter starten / scrollen
267	connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));	266	connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));
268	connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));	267	connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));
269	connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer()));	268	connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer()));
270		269
271	// Tabs ein & ausblenden	270	// Tabs ein & ausblenden
272	connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	271	connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
273	connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	272	connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
274	connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	273	connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
275	connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	274	connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
276	connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	275	connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
277	connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	276	connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
278	connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	277	connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
279		278
280	connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));	279	connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
281	connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));	280	connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
282	connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));	281	connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
283		282
284	connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));	283	connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
285	connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));	284	connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
286	connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));	285	connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
287		286
288	// firmeware Updateen / flashen	287	// firmeware Updateen / flashen
289	connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update()));	288	connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update()));
290	connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile()));	289	connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile()));
291		290
292	// Wegpunkt-Befehl	291	// Wegpunkt-Befehl
293	connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint()));	292	connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint()));
294		293
295	// CVS-Record starten / stoppen	294	// CVS-Record starten / stoppen
296	connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog()));	295	connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog()));
297		296
298	// Timer-Events	297	// Timer-Events
299	connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker()));	298	connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker()));
300		299
301	// Seitenwechsel	300	// Seitenwechsel
302	connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));	301	connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
303	// connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));	302	// connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
304	connect(f_Settings->listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int)));	303	connect(f_Settings->listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int)));
305		304
306	// About QMK & About-QT Dialog einfügen	305	// About QMK & About-QT Dialog einfügen
307	connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About()));	306	connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About()));
308	menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));	307	menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));
309	}	308	}
310		309
311	void MKTool::init_Arrays()	310	void MKTool::init_Arrays()
312	{	311	{
313	lb_Analog[0] = lb_A_0;	312	lb_Analog[0] = lb_A_0;
314	lb_Analog[1] = lb_A_1;	313	lb_Analog[1] = lb_A_1;
315	lb_Analog[2] = lb_A_2;	314	lb_Analog[2] = lb_A_2;
316	lb_Analog[3] = lb_A_3;	315	lb_Analog[3] = lb_A_3;
317	lb_Analog[4] = lb_A_4;	316	lb_Analog[4] = lb_A_4;
318	lb_Analog[5] = lb_A_5;	317	lb_Analog[5] = lb_A_5;
319	lb_Analog[6] = lb_A_6;	318	lb_Analog[6] = lb_A_6;
320	lb_Analog[7] = lb_A_7;	319	lb_Analog[7] = lb_A_7;
321	lb_Analog[8] = lb_A_8;	320	lb_Analog[8] = lb_A_8;
322	lb_Analog[9] = lb_A_9;	321	lb_Analog[9] = lb_A_9;
323	lb_Analog[10] = lb_A_10;	322	lb_Analog[10] = lb_A_10;
324	lb_Analog[11] = lb_A_11;	323	lb_Analog[11] = lb_A_11;
325	lb_Analog[12] = lb_A_12;	324	lb_Analog[12] = lb_A_12;
326	lb_Analog[13] = lb_A_13;	325	lb_Analog[13] = lb_A_13;
327	lb_Analog[14] = lb_A_14;	326	lb_Analog[14] = lb_A_14;
328	lb_Analog[15] = lb_A_15;	327	lb_Analog[15] = lb_A_15;
329	lb_Analog[16] = lb_A_16;	328	lb_Analog[16] = lb_A_16;
330	lb_Analog[17] = lb_A_17;	329	lb_Analog[17] = lb_A_17;
331	lb_Analog[18] = lb_A_18;	330	lb_Analog[18] = lb_A_18;
332	lb_Analog[19] = lb_A_19;	331	lb_Analog[19] = lb_A_19;
333	lb_Analog[20] = lb_A_20;	332	lb_Analog[20] = lb_A_20;
334	lb_Analog[21] = lb_A_21;	333	lb_Analog[21] = lb_A_21;
335	lb_Analog[22] = lb_A_22;	334	lb_Analog[22] = lb_A_22;
336	lb_Analog[23] = lb_A_23;	335	lb_Analog[23] = lb_A_23;
337	lb_Analog[24] = lb_A_24;	336	lb_Analog[24] = lb_A_24;
338	lb_Analog[25] = lb_A_25;	337	lb_Analog[25] = lb_A_25;
339	lb_Analog[26] = lb_A_26;	338	lb_Analog[26] = lb_A_26;
340	lb_Analog[27] = lb_A_27;	339	lb_Analog[27] = lb_A_27;
341	lb_Analog[28] = lb_A_28;	340	lb_Analog[28] = lb_A_28;
342	lb_Analog[29] = lb_A_29;	341	lb_Analog[29] = lb_A_29;
343	lb_Analog[30] = lb_A_30;	342	lb_Analog[30] = lb_A_30;
344	lb_Analog[31] = lb_A_31;	343	lb_Analog[31] = lb_A_31;
345	}	344	}
346		345
347	void MKTool::init_Plot()	346	void MKTool::init_Plot()
348	{	347	{
349	NextPlot = 0;	348	NextPlot = 0;
350		349
351	qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));	350	qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));
352		351
353	qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);	352	qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);
354		353
355	QwtPlotGrid *Grid = new QwtPlotGrid();	354	QwtPlotGrid *Grid = new QwtPlotGrid();
356	Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));	355	Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
357		356
358	Grid->attach(qwtPlot);	357	Grid->attach(qwtPlot);
359		358
360	qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);	359	qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);
361		360
362	for (int a = 0; a < MaxAnalog; a++)	361	for (int a = 0; a < MaxAnalog; a++)
363	{	362	{
364	Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]);	363	Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]);
365	Plot[a]->setPen(QPen(QColor(Def_Colors[a])));	364	Plot[a]->setPen(QPen(QColor(Def_Colors[a])));
366	// Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);	365	// Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);
367		366
368	if (Settings->Analog1.PlotView[a])	367	if (Settings->Analog1.PlotView[a])
369	Plot[a]->attach(qwtPlot);	368	Plot[a]->attach(qwtPlot);
370	}	369	}
371	qwtPlot->replot();	370	qwtPlot->replot();
372	}	371	}
373		372
374	void MKTool::slot_set_Settings(cSettings *t_Settings)	373	void MKTool::slot_set_Settings(cSettings *t_Settings)
375	{	374	{
376	Settings = t_Settings;	375	Settings = t_Settings;
377	}	376	}
378		377
379	void MKTool::slot_Test()	378	void MKTool::slot_Test()
380	{	379	{
381	// qDebug("Decode Data");	380	// qDebug("Decode Data");
382	sRxData RX;	381	sRxData RX;
383		382
384	RX.String = IN->text();	383	RX.String = IN->text();
385		384
386	// qDebug(RX.String.toLatin1().data());	385	// qDebug(RX.String.toLatin1().data());
387		386
388	// if (ToolBox::check_CRC(RX.String))	387	// if (ToolBox::check_CRC(RX.String))
389	{	388	{
390	qDebug("Decode Data CRC OK");	389	qDebug("Decode Data CRC OK");
391	RX.Input = RX.String.toLatin1().data();	390	RX.Input = RX.String.toLatin1().data();
392		391
393	// qDebug(RX.Input);	392	// qDebug(RX.Input);
394		393
395	slot_newData(RX);	394	slot_newData(RX);
396	}	395	}
397	}	396	}
398		397
399	// KML-Datei nach Wegpunkt parsen	398	// KML-Datei nach Wegpunkt parsen
400	// TODO: Richtigen KML-Parser bauen	399	// TODO: Richtigen KML-Parser bauen
401	void MKTool::parse_TargetKML()	400	void MKTool::parse_TargetKML()
402	{	401	{
403	QString Tmp = te_KML->toPlainText().simplified();	402	QString Tmp = te_KML->toPlainText().simplified();
404	QStringList List;	403	QStringList List;
405		404
406	if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>")))	405	if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>")))
407	{	406	{
408	List = Tmp.split("<coordinates>");	407	List = Tmp.split("<coordinates>");
409	List = List[1].split(",");	408	List = List[1].split(",");
410		409
411	le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 7));	410	le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 7));
412	le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 7));	411	le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 7));
413	}	412	}
414	}	413	}
415		414
416	// Waypoint zur NC Senden.	415	// Waypoint zur NC Senden.
417	void MKTool::slot_pb_SendWaypoint()	416	void MKTool::slot_pb_SendWaypoint()
418	{	417	{
419	if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))	418	if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))
420	{	419	{
421	QMessageBox msgB;	420	QMessageBox msgB;
422	QString msg;	421	QString msg;
423	msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");	422	msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");
424	msgB.exec();	423	msgB.exec();
425	return;	424	return;
426	}	425	}
427		426
428	//erstelle einen Wegpunkt, den die NaviCtrl auswerten kann	427	//erstelle einen Wegpunkt, den die NaviCtrl auswerten kann
429	Waypoint_t desired_pos;	428	Waypoint_t desired_pos;
430	bool ok_lat, ok_lon;	429	bool ok_lat, ok_lon;
431		430
432	//eingegebene Daten holen	431	//eingegebene Daten holen
433	double desired_long, desired_lat;	432	double desired_long, desired_lat;
434		433
435	desired_long = le_TarLong->text().toDouble(&ok_lon);	434	desired_long = le_TarLong->text().toDouble(&ok_lon);
436	desired_lat = le_TarLat->text().toDouble(&ok_lat);	435	desired_lat = le_TarLat->text().toDouble(&ok_lat);
437		436
438	if (ok_lon && desired_long < 100)	437	if (ok_lon && desired_long < 100)
439	desired_long *= 10000000+0.5;	438	desired_long *= 10000000+0.5;
440		439
441	if (ok_lat && desired_lat < 100)	440	if (ok_lat && desired_lat < 100)
442	desired_lat *= 10000000+0.5;	441	desired_lat *= 10000000+0.5;
443		442
444	//fülle Wegpunkt-Daten	443	//fülle Wegpunkt-Daten
445	desired_pos.Position.Altitude = 0;	444	desired_pos.Position.Altitude = 0;
446	desired_pos.Position.Longitude = int32_t(desired_long);	445	desired_pos.Position.Longitude = int32_t(desired_long);
447	desired_pos.Position.Latitude = int32_t(desired_lat);	446	desired_pos.Position.Latitude = int32_t(desired_lat);
448	desired_pos.Position.Status = NEWDATA;	447	desired_pos.Position.Status = NEWDATA;
449	desired_pos.Heading = -1;	448	desired_pos.Heading = -1;
450	desired_pos.ToleranceRadius = 5;	449	desired_pos.ToleranceRadius = 5;
451	desired_pos.HoldTime = 60;	450	desired_pos.HoldTime = 60;
452	desired_pos.Event_Flag = 0;	451	desired_pos.Event_Flag = 0;
453	desired_pos.reserve[0] = 0; // reserve	452	desired_pos.reserve[0] = 0; // reserve
454	desired_pos.reserve[1] = 0; // reserve	453	desired_pos.reserve[1] = 0; // reserve
455	desired_pos.reserve[2] = 0; // reserve	454	desired_pos.reserve[2] = 0; // reserve
456	desired_pos.reserve[3] = 0; // reserve	455	desired_pos.reserve[3] = 0; // reserve
457		456
458	//...und sende ihn an die NaviCtrl	457	//...und sende ihn an die NaviCtrl
459	int max_radius = 10000;	458	int max_radius = 10000;
460	if (ok_lat && ok_lon &&	459	if (ok_lat && ok_lon &&
461	abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&	460	abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&
462	abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius)	461	abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius)
463	{	462	{
464	o_Connection->send_Cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);	463	o_Connection->send_Cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);
465	}	464	}
466	else	465	else
467	{	466	{
468	QMessageBox msgB;	467	QMessageBox msgB;
469	QString msg;	468	QString msg;
470	msg += "Bitte die Eingabe ueberpruefen!\n";	469	msg += "Bitte die Eingabe ueberpruefen!\n";
471	msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n";	470	msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n";
472	msg += "(Lon: ";	471	msg += "(Lon: ";
473	msg += ToolBox::get_Float(Navi.Current.Longitude,7);	472	msg += ToolBox::get_Float(Navi.Current.Longitude,7);
474	msg += ", ";	473	msg += ", ";
475	msg += "Lat: ";	474	msg += "Lat: ";
476	msg += ToolBox::get_Float(Navi.Current.Latitude,7);	475	msg += ToolBox::get_Float(Navi.Current.Latitude,7);
477	msg += ")";	476	msg += ")";
478	msgB.setText(msg);	477	msgB.setText(msg);
479	msgB.exec();	478	msgB.exec();
480	}	479	}
481	}	480	}
-		481
482		482	// Hardware-Auswahl im Menp
483	void MKTool::slot_ac_Hardware()	483	void MKTool::slot_ac_Hardware()
484	{	484	{
485	QAction Action = (QAction)sender();	485	QAction Action = (QAction)sender();
486		486
487	if (Action->isChecked() == false)	487	if (Action->isChecked() == false)
488	{	488	{
489	Action->setChecked(true);	489	Action->setChecked(true);
490	}	490	}
491		491
492	slot_rb_Hardware();	492	slot_rb_Hardware();
493	}	493	}
-		494
494		495	// Hardware Auswahl und umschalten
495	void MKTool::slot_rb_Hardware()	496	void MKTool::slot_rb_Hardware()
496	{	497	{
497	if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC))	498	if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC))

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(root)/QMK-Groundstation/trunk/Forms/mktool.cpp - Rev 334 → 337