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/***************************************************************************
* 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(), tr("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()
{
//new KopterData object that contains all data from MK
data = new KopterData();
//new QT-Communication object
com = new QTCommunication();
//create handler that handles incomming data
handler = new Handler(com, data);
// QTimer-Instanzen
Ticker = new QTimer(this);
// Verbindungsobject
//o_Connection = new cConnection();
// Logger
logger = new Logger(Settings, data);
// 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)));
connect(f_Map, SIGNAL(set_WayPoints(QList<sWayPoint>)), this , SLOT(slot_MAP_SetWayPoints(QList<sWayPoint>)));
// Daten Senden / Empfangen
//FIXME: put this in QTCommunication.cpp
// 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 for other QMK-Groundstations
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_SendTarget()));
// 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()
{
sRxData RX;
RX.str = IN->text().toLatin1().data();
RX.input = (char *)RX.str.c_str();
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( QString::number( list[0].toDouble() ) );
le_TarLat->setText( QString::number( list[1].toDouble() ) );
//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.
//FIXME: put this in cpp/NaviCtrl.cpp?
void MKTool::slot_pb_SendTarget()
{
sNaviData navi = data->navi;
if ((navi.Current.Longitude == 0) && (navi.Current.Latitude == 0))
{
QMessageBox msgB;
QString msg;
msgB.setText(tr("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 = sb_TarTime->value();
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((double)(navi.Current.Longitude - desired_pos.Position.Longitude)) < max_radius &&
abs((double)(navi.Current.Latitude - desired_pos.Position.Latitude)) < max_radius)
{
handler->send_waypoint(desired_pos);
}
else
{
QMessageBox msgB;
QString msg;
msg += tr("Bitte die Eingabe ueberpruefen!\n");
msg += tr("Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n");
msg += "(Lon: ";
msg += QString::number(navi.Current.Longitude);
msg += ", ";
msg += "Lat: ";
msg += QString::number(navi.Current.Latitude);
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) && (data->mode.ID != ADDRESS_NC))
{
lb_Status->setText(tr("Schalte um auf NaviCtrl."));
handler->switch_navictrl();
//FIXME: remove wait?
ToolBox::wait(SLEEP);
}
if (rb_SelFC->isChecked())
{
lb_Status->setText(tr("Schalte um auf FlightCtrl."));
handler->switch_flightctrl();
}
else
if (rb_SelMag->isChecked())
{
lb_Status->setText(tr("Schalte um auf MK3MAG."));
handler->switch_mk3mag();
}
else
if (rb_SelNC->isChecked())
{
lb_Status->setText(tr("Schalte um auf NaviCtrl."));
handler->switch_navictrl();
}
ToolBox::wait(SLEEP);
// qDebug("Select RB Hardware");
handler->get_version();
}
// Ticker-Event
///////////////
void MKTool::slot_Ticker()
{
//FIXME: Put this somewhere in libMK/QTCommunication.cpp
/*
if (TickerDiv)
TickerDiv = false;
else
TickerDiv = true;
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(tr("QMK-Server Verbinden"));
}
}
}
// Verbindung zum QMK-Server hergestellt.
void MKTool::slot_QMKS_Connected()
{
QMK_Server->setProperty("Connect", true);
ac_QMKServer->setText(tr("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(tr("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,tr("QMK-Datenserver: Verbindung wurde vom Server beendet."), QMessageBox::Ok);
}
break;
case 2 :
{
lb_Status->setText(tr("Server nicht gefunden."));
QMessageBox::warning(this, QA_NAME,tr("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,tr("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);
handler->reset_motor();
Ticker->setInterval(2000);
TickerEvent[4] = false;
}
void MKTool::slot_Motortest(sMotor p_Motor)
{
handler->motor_test(p_Motor);
}
// Motormixer-Einstellungen anzeigen
void MKTool::slot_ac_MotorMixer()
{
f_MotorMixer->set_Objects(handler, Settings);
handler->read_motor_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()));
//FIXME: put this in libMK/Handler.cpp
f_LCD->show();
handler->show_lcd();
//FIXME: replace ticker with something else???
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_SetWayPoints(QList<sWayPoint> l_WayPoints)
{
//FIXME: Put this in libMK/Handler.cpp or libMK/NaviCtrl.cpp
double Longitude, Latitude;
// delete waypoint-list
handler->delete_waypoints();
ToolBox::wait(SLEEP);
for (int z = 0; z < l_WayPoints.count(); z++)
{
Longitude = l_WayPoints[z].Longitude;
Latitude = l_WayPoints[z].Latitude;
if (Longitude < 100)
Longitude *= 10000000+0.5;
if (Latitude < 100)
Latitude *= 10000000+0.5;
Waypoint_t WayPoint;
//fülle Wegpunkt-Daten
WayPoint.Position.Altitude = 0;
WayPoint.Position.Longitude = int32_t(Longitude);
WayPoint.Position.Latitude = int32_t(Latitude);
WayPoint.Position.Status = NEWDATA;
WayPoint.Heading = -1;
WayPoint.ToleranceRadius = 5;
WayPoint.HoldTime = l_WayPoints[z].Time;
WayPoint.Event_Flag = 0;
WayPoint.reserve[0] = 0; // reserve
WayPoint.reserve[1] = 0; // reserve
WayPoint.reserve[2] = 0; // reserve
WayPoint.reserve[3] = 0; // reserve
handler->add_waypoint(WayPoint);
// ToolBox::Wait(SLEEP);
}
}
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_SendTarget();
}
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, data->mode.ID);
if (f_Config->exec()==QDialog::Accepted)
{
Settings = f_Config->get_Settings();
Settings->write_Settings_Analog(data->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(tr("Log Stop"));
lb_Status->setText(tr("Log-Record gestartet."));
}
else
{
ac_RecordCSV->setText(tr("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(tr("Stop Plotter"));
pb_StartPlotter->setText(tr("Stop Plotter"));
}
else
{
lb_Status->setText(tr("Datenplotter gestopt."));
ac_StartPlotter->setText(tr("Start Plotter"));
pb_StartPlotter->setText(tr("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."));
handler->set_navictrl_debug(Settings->Data.Navi_Fast / 10);
}
else
{
lb_Status->setText(tr("Fordere langsame NaviDaten an."));
handler->set_navictrl_debug(Settings->Data.Navi_Slow / 10);
}
}
}
void MKTool::slot_ac_NoNavi() // DONE NC 0.12i
{
if (ac_NoNavi->isChecked())
{
lb_Status->setText(tr("NaviDaten abstellen."));
handler->stop_navictrl_debug();
}
else
{
if (ac_FastNavi->isChecked())
{
lb_Status->setText(tr("Fordere schnelle NaviDaten an."));
handler->set_navictrl_debug(Settings->Data.Navi_Fast / 10);
}
else
{
lb_Status->setText(tr("Fordere langsame NaviDaten an."));
handler->set_navictrl_debug(Settings->Data.Navi_Slow / 10);
}
}
}
void MKTool::slot_ac_FastDebug() // DONE 0.71g
{
if (!ac_NoDebug->isChecked())
{
if (ac_FastDebug->isChecked())
{
lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
handler->set_all_debug(Settings->Data.Debug_Fast / 10);
}
else
{
lb_Status->setText(tr("Fordere langsame DebugDaten an."));
handler->set_all_debug(Settings->Data.Debug_Slow / 10);
}
}
}
void MKTool::slot_ac_NoDebug() // DONE 0.71g
{
if (ac_NoDebug->isChecked())
{
lb_Status->setText(tr("DebugDaten abstellen."));
TickerEvent[3] = false;
handler->stop_all_debug();
}
else
{
// Wenn MK3MAG dann andauernd Daten neu anfragen.
//FIXME: TickerEvent in Communication oder so
/* if (Mode.ID == ADDRESS_MK3MAG)
TickerEvent[3] = true;*/
if (ac_FastDebug->isChecked())
{
lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
handler->set_all_debug(Settings->Data.Debug_Fast / 10);
}
else
{
lb_Status->setText(tr("Fordere langsame DebugDaten an."));
handler->set_all_debug(Settings->Data.Debug_Slow / 10);
}
}
}
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."));
handler->get_analog();
}
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 = trUtf8("Firmeware-Datei \n\n");
Message = Message + le_HexFile->text() + "\n\n";
Message = Message + trUtf8("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();
//FIXME: put this in QTCommunication.cpp
/* 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))
{
//FIXME: Do we really need the ppm-channels if we change the page?
// maybe this is a bug or the description on
// http://www.mikrokopter.com/ucwiki/en/SerialCommands
// is WRONG!
handler->get_ppm_channels();
Ticker->setInterval(500);
TickerEvent[1] = true;
}
else
{
Ticker->setInterval(2000);
TickerEvent[1] = false;
}
}
}
// LCD-Seiten weiterschalten
void MKTool::slot_LCD_UP() // DONE 0.71g
{
handler->lcd_up();
}
void MKTool::slot_LCD_DOWN() // DONE 0.71g
{
handler->lcd_down();
}
// Settings aus MK lesen / in MK schreiben
void MKTool::slot_GetFCSettings() // DONE 0.71g
{
lb_Status->setText(tr("Lese FlightCtrl-Settings aus."));
handler->get_flightctrl_settings(f_Settings->sb_Set->value());
}
void MKTool::slot_SetFCSettings() // DONE 0.71g
{
handler->set_flightctrl_settings(f_Settings->GetFCSettings());
lb_Status->setText(tr("Schreibe FlightCtrl-Settings."));
}
// 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()
{
//FIXME: log analogdata in Communication
/* if (logger->is_active())
logger->write(AnalogData);*/
if (ac_StartPlotter->isChecked())
{
aID[NextPlot] = NextPlot;
//FIXME: get analogData from handler
/*
for (int a = 0; a < MaxAnalog; a++)
{
aData[a][NextPlot] = AnalogData[a];
}*/
NextPlot++;
if ((tab_Main->currentWidget()->objectName() == QString("Tab_1")))
update_Plot();
}
//FIXME: get analogdata from handler
/*
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");
sNaviData navi = data->navi;
switch(RX.decode[N_NC_FLAGS])
{
case 0x01 : lb_Mode->setText(tr("Free")); break;
case 0x02 : lb_Mode->setText(tr("Position Hold")); break;
case 0x04 : lb_Mode->setText(tr("Coming Home")); break;
case 0x08 : lb_Mode->setText(tr("Range Limit")); break;
case 0x10 : lb_Mode->setText(tr("Serial Error")); break;
case 0x20 : lb_Mode->setText(tr("Target reached")); break;
case 0x40 : lb_Mode->setText(tr("Manual Control")); break;
}
navi.Current.Longitude = Parser::dataToLong(RX.decode, N_CUR_LONGITUDE, true);
navi.Current.Latitude = Parser::dataToLong(RX.decode, N_CUR_LATITUDE, true);
navi.Current.Altitude = Parser::dataToLong(RX.decode, N_CUR_ALTITUDE, true);
navi.Target.Longitude = Parser::dataToLong(RX.decode, N_TAR_LONGITUDE, true);
navi.Target.Latitude = Parser::dataToLong(RX.decode, N_TAR_LATITUDE, true);
navi.Target.Altitude = Parser::dataToLong(RX.decode, N_TAR_ALTITUDE, true);
le_CDistance->setText(QString("%1 cm").arg(Parser::dataToInt(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(Parser::dataToInt(RX.decode, N_VARIOMETER, true)));
le_CTime->setText(QString("%1 sec.").arg(Parser::dataToInt(RX.decode, N_FLYING_TIME)));
bar_UBAT->setValue(RX.decode[N_UBAT]);
double Speed = double((Parser::dataToLong(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(Parser::dataToInt(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)));
sNaviData naviData;
naviData.Longitude = Parser::getFloat(navi.Current.Longitude,7);
naviData.Latitude = Parser::getFloat(navi.Current.Latitude,7);
naviData.Altitude = Parser::getFloat(navi.Current.Altitude,3);
le_CurLong->setText(QString::number(naviData.Longitude));
le_CurLat->setText(QString::number(naviData.Latitude));
KML_Server->store_NaviString(naviData);
f_Map->add_Position(naviData.Longitude, naviData.Latitude);
if ((QMK_Server->property("Connect")) == true)
{
// qDebug("Send Data to Server...");
QMK_Server->NewPosition(naviData);
}
}
// Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen
////////////////////////////////////////////////////////////////////
// Neues Datenpacket empfangen -> Verarbeiten
void MKTool::slot_newData(sRxData RX) // DONE 0.71g
{
//handler->receiveData(RX)
// 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, QString(RX.str.c_str()));
}
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()
{
//FIXME: Put this in libMK/QTCommunication.cpp
/*
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(tr("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(tr("Kopter Trennen"));
le_Port->setEnabled(false);
o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true);
Ticker->start(2000);
}
}
*/
}
// Programm beenden
///////////////////
MKTool::~MKTool()
{
//FIXME: Put this in libMK/QTCommunication.cpp
/*
if (o_Connection->isOpen())
{
o_Connection->Close();
}
*/
set_Preferences();
Settings->write_Settings();
logger->close();
}