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    }
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    }
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    //TODO: Error message, because communication could not established
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    //TODO: Error message, because communication could not established
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};
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};
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/**
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 * received new data from MK
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 */
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/**
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/**
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 * send command to Mikrokopter
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 * send command to Mikrokopter
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 */
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 */
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void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) {
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void QTSerialCommunication::send_cmd(char cmd, int address, char data[150], unsigned int length, bool resend) {
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    char send_data[150];
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    if (is_connected()) {
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    if (is_connected()) {
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        Parser::create_frame(cmd, address, data, length);
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        Parser::create_frame(send_data, cmd, address, data, length);
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        if (resend) {
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        if (resend) {
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            //resend every 2 seconds
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            //resend every 2 seconds
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            resendTimer.start(2000);
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            resendTimer.start(2000);
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            resendData = data;
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            resendData = send_data;
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        }
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        }
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        //TODO: save outgoing data for debug purpose
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        //TODO: save outgoing data for debug purpose
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        std::cout << "send: ";
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        std::cout << "send: " << data << std::endl;
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        FlightLog::log_data(send_data, length+3);
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        QByteArray temp(data);
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        QByteArray temp(send_data);
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        serial->sendData(temp);
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        serial->sendData(temp);
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    } else {
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    } else {
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        //FIXME: Error message: not connected
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        //FIXME: Error message: not connected
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    }
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    }
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/**
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/**
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 * get incomming data from QT-Serial-Manager
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 * get incomming data from QT-Serial-Manager
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 * and just give it to the handler.
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 * and just give it to the handler.
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 */
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 */
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void QTSerialCommunication::slot_received_data(const QByteArray & data) {
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void QTSerialCommunication::slot_received_data(const QByteArray & data) {
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    std::cout << "receive something" << std::endl;
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    received_data((char *)data.data(), data.length());
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    received_data((char *)data.data(), data.length());
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}
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}
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/**
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/**
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 * handel received data
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 * handel received data from MK
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 */
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 */
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void QTSerialCommunication::received_data(char * data, int length) {
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void QTSerialCommunication::received_data(char * data, int length) {
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    //Debug: print oud debug data
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    //Debug: print oud debug data
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    //TODO: save data in a file for debug purposes
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    //TODO: save data in a file for debug purposes
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    std::cout << "receive: ";
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    std::cout << "receive: " << data << std::endl;
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    FlightLog::log_data(data, length);
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    //handle incomming data
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    //FIXME: HIER! Hardware-Id = Mode.id
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    //handle incomming data
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    handler->receive_data(data, length);
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    handler->receive_data(data, length);
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}
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}