task main()
{
int t;
int direction= TURN_RIGHT;
while(true)
{
//estado = camino
goFast();
while(SensorValue[lightSensor] < LIGHT_WHITE);
goStop();
//estado = correccion optimista
//giro 1
t= TURN_INIT_TIME;
turn(direction);
if(stopWhenBlackOrTimeout(t))
continue;
//giro 2
turn*= -1;
turn(direction);
if(stopWhenBlackOrTimeout(t*2))
continue;
//estado = correccion pesimista
//deshace giro
direction*= -1;
turn(direction);
wait1Msec(t);
goStop();
//regresa
goBackwards();
while(SensorValue[lightSensor] >= LIGHT_WHITE);
goStop();
//find other wall
while(SensorValue[lightSensor] < LIGHT_WHITE)
{
turn(direction);
wait1Msec(t);
goStop();
t+=20;
direction*=-1;
}
//center in path
turn(-direction);
wait1Msec(CENTER_TIME);
goStop();
}
}
bool stopWhenBlackOrTimeout(int t)
{
int delay=0;
while(SensorValue[lightSensor] >= LIGHT_WHITE)
{
wait1Msec(10);
delay+=10;
if( delay>= t)
{
goStop();
return false;
}
}
goStop();
return true;
}
// constructor
// ------------------------------------------------------------------
rigctl::rigctl(QWidget * parent) : QDialog(parent),
settings(QSettings::IniFormat, QSettings::UserScope,"QtLog", "qtlog")
{
setupUi(this);
int n = settings.value("FontSize").toString().toInt();
QFont font;
font.setPointSize(n);
setFont(font);
connect(ButtonESC, SIGNAL(pressed()), this, SLOT(goExit()));
connect(ButtonHilfe, SIGNAL(pressed()), this, SLOT(goHilfe()));
connect(ButtonRigList, SIGNAL(pressed()), this, SLOT(showRigList()));
connect(ButtonInit, SIGNAL(pressed()), this, SLOT(hamlibServerInit()));
connect(ButtonStart, SIGNAL(pressed()), this, SLOT(goStart()));
connect(ButtonStop, SIGNAL(pressed()), this, SLOT(goStop()));
connect(buttonReturn, SIGNAL(pressed()), this, SLOT(showRigPage()));
connect(InterfaceBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(intefaceBoxChanged(QString)));
connect(wrigList, SIGNAL(itemClicked(QTreeWidgetItem *,int)), this, SLOT(itemClickedCb(QTreeWidgetItem *,int)));
tcpSocket = new QTcpSocket(this); // tspSocket
connect(tcpSocket, SIGNAL(connected()), this, SLOT(sentCommand()));
connect(tcpSocket, SIGNAL(readyRead()), this, SLOT(readRigReply()));
connect(tcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(displayError(QAbstractSocket::SocketError)));
QString home = getenv("HOME"); // lade alle devices
s = "ls /dev/ttyS* > "+home+"/.qtlog/rigstatus";
i = system(s.toAscii()); // suche device ttyS0 .. n
home += "/.qtlog/rigstatus"; // prüfe rigstatus
QFile iniFile(home);
iniFile.open(QIODevice::ReadOnly);
QTextStream istream( &iniFile); // lese device_file
RigDevBox->clear();
PttBitDevBox->clear();
i = 0;
while(istream.atEnd() != true) { // RigBox_dev füllen
s = istream.readLine(0);
RigDevBox->insertItem(i,s);
PttBitDevBox->insertItem(i++,s);
}
iniFile.close();
home = getenv("HOME");
s = "ls /dev/ttyU* > "+home+"/.qtlog/rigstatus";
n = system(s.toAscii()); // suche device ttyUSB0 .. n
home += "/.qtlog/rigstatus";
QFile inuFile(home);
inuFile.open(QIODevice::ReadOnly);
QTextStream iustream( &inuFile); // oeffne device_file
while(iustream.atEnd() != true) {
s = iustream.readLine(0);
RigDevBox->insertItem(i,s); // alle vorhndenen USB0 .. n devices übenehmen
PttBitDevBox->insertItem(i++,s);
}
inuFile.close();
Retry = 0;
Runing = 0;
r = 0;
Runing = -1;
i = getRigModell(); // lade alle Rig_Modelle
if(i != 0) { // falls hamlib installiert ist - lade Rig_Modelle
if(settings.value("RigPid").toString().count() != 0) { // und Rig configuriert wurde
QSqlQuery query; // hole config_parameter_discriptor
qy = "SELECT * FROM wproz WHERE rigpid='"+settings.value("RigPid").toString()+"'";
query.exec(qy);
while(query.next()) {
proz = query.value(r++).toString(); // proz
owner = query.value(r++).toString(); // owner
editRig->setText(query.value(r++).toString()); // Rig
editPid->setText(query.value(r++).toString()); // Pid
editRetry->setText(query.value(r++).toString()); // retry
Retry = editRetry->text().toInt();
i = RigDevBox->findText(query.value(r++).toString());
RigDevBox->setCurrentIndex(i); // Rig_device_Box
i = BaudBox->findText(query.value(r++).toString());
BaudBox->setCurrentIndex(i); // Baud_device_box
// -
i = InterfaceBox->findText(query.value(r++).toString()); // FAM_Interface ONE
InterfaceBox->setCurrentIndex(i);
i = PttBitDevBox->findText(query.value(r++).toString());
PttBitDevBox->setCurrentIndex(i); // PTT_device_Box
editRts->setText(query.value(r++).toString()); // RTS = OFF
editDtr->setText(query.value(r++).toString()); // DTR = OFF
editCts->setText(query.value(r++).toString()); // CTS = OFF
// -
if(InterfaceBox->currentText().compare("NO") == 0) {
PttBitDevBox->setEnabled(FALSE);
editRts->setEnabled(FALSE);
editDtr->setEnabled(FALSE);
editCts->setEnabled(FALSE);
}
editHost->setText(query.value(r++).toString()); // localhost
editPort->setText(query.value(r++).toString()); // port
Runing = query.value(r).toInt(); // runing_bit
}
}
updateFlg = 0; // alles ok
if( Runing == -1 )
ButtonInit->setPalette( QPalette(QColor(180, 210, 200))); // grün
else
if( Runing )
ButtonStop->setPalette( QPalette(QColor(180, 210, 200))); // STOP grün
else
ButtonStart->setPalette( QPalette(QColor(180, 210, 200))); // grün
}
else
QTimer::singleShot(10, this, SLOT(hlibNoInstalled())); // Hamlib nicht installiert
}