void MainWindow::connectPixy(bool state)
{
if (state) // connect
{
try
{
if (m_pixyDFUConnected) // we're in programming mode
{
m_flash = new Flash();
if (m_argvFirmwareFile!="")
program(m_argvFirmwareFile);
else if (m_firmwareFile!="")
{
program(m_firmwareFile);
m_firmwareFile = "";
}
else
{
QString dir;
QFileDialog fd(this);
dir = m_settings->value("fw_dialog").toString();
fd.setWindowTitle("Select a Firmware File");
fd.setDirectory(QDir(dir));
fd.setNameFilter("Firmware (*.hex)");
if (fd.exec())
{
QStringList slist = fd.selectedFiles();
if (slist.size()==1 && m_flash)
{
program(slist.at(0));
}
}
dir = fd.directory().absolutePath();
m_settings->setValue("fw_dialog", QVariant(dir));
}
}
else if (m_interpreter==NULL)
{
m_console->print("Pixy detected.\n");
clearActions();
m_interpreter = new Interpreter(m_console, m_video, &m_parameters, m_initScript);
connect(m_interpreter, SIGNAL(runState(int)), this, SLOT(handleRunState(int)));
connect(m_interpreter, SIGNAL(finished()), this, SLOT(interpreterFinished())); // thread will send finished event when it exits
connect(m_interpreter, SIGNAL(connected(Device,bool)), this, SLOT(handleConnected(Device,bool)));
connect(m_interpreter, SIGNAL(actionScriptlet(QString,QStringList)), this, SLOT(handleActionScriptlet(QString,QStringList)));
connect(m_interpreter, SIGNAL(paramLoaded()), this, SLOT(handleLoadParams()));
connect(m_interpreter, SIGNAL(version(ushort,ushort,ushort)), this, SLOT(handleVersion(ushort,ushort,ushort)));
m_interpreter->start();
}
m_pixyConnected = true;
}
catch (std::runtime_error &exception)
void Interpreter::handleLoadParams()
{
DBG("loading...");
uint i;
char *id, *desc;
uint32_t len;
uint32_t flags;
int response, res;
uint8_t *data, *argList;
int running;
// if we're running, stop so this doesn't take too long....
// (ie it would proceed with 1 property to returned frame, which could take 1 second or 2)
running = m_running;
if (running==1) // only if we're running and not in forced state (running==2)
sendStop();
for (i=0; true; i++)
{
QString category;
res = m_chirp->callSync(m_getAll_param, UINT16(i), END_OUT_ARGS, &response, &flags, &argList, &id, &desc, &len, &data, END_IN_ARGS);
if (res<0)
break;
if (response<0)
break;
QString sdesc(desc);
Parameter parameter(id, (PType)argList[0]);
parameter.setProperty(PP_FLAGS, flags);
handleProperties(argList, ¶meter, &sdesc);
parameter.setHelp(sdesc);
// deal with param category
if (strlen((char *)argList)>1)
{
QByteArray a((char *)data, len);
parameter.set(a);
}
else
{
if (argList[0]==CRP_INT8 || argList[0]==CRP_INT16 || argList[0]==CRP_INT32)
{
int32_t val = 0;
Chirp::deserialize(data, len, &val, END);
parameter.set(val);
}
else if (argList[0]==CRP_FLT32)
{
float val;
Chirp::deserialize(data, len, &val, END);
parameter.set(val);
}
else // not sure what to do with it, so we'll save it as binary
{
QByteArray a((char *)data, len);
parameter.set(a);
}
}
// it's changed! (ie, it's been loaded)
parameter.setDirty(true);
m_pixyParameters.add(parameter);
}
// if we're running, we've stopped, now resume
if (running==1)
{
sendRun();
m_fastPoll = false; // turn off fast polling...
}
DBG("loaded");
emit paramLoaded();
sendMonModulesParamChange();
m_pixyParameters.clean();
}
void ParamLoader::_parameterUpdated(QVariant value)
{
Q_UNUSED(value);
emit paramLoaded(true, _autopilot->getParameterFact(_paramName)->value().toFloat(), "");
}
void Interpreter::handleLoadParams()
{
qDebug("loading...");
uint i;
char *id, *desc;
uint32_t len;
uint32_t flags;
int response, res;
uint8_t *data, *argList;
int running;
// if we're running, stop so this doesn't take too long....
// (ie it would proceed with 1 property to returned frame, which could take 1 second or 2)
running = m_running;
if (running==1) // only if we're running and not in forced state (running==2)
sendStop();
for (i=0; true; i++)
{
QString category;
res = m_chirp->callSync(m_getAll_param, UINT16(i), END_OUT_ARGS, &response, &flags, &argList, &id, &desc, &len, &data, END_IN_ARGS);
if (res<0)
break;
if (response<0)
break;
QString sdesc(desc);
// deal with param category
QStringList words = QString(desc).split(QRegExp("\\s+"));
int i = words.indexOf("@c");
if (i>=0 && words.size()>i+1)
{
category = words[i+1];
sdesc = sdesc.remove("@c "); // remove form description
sdesc = sdesc.remove(category + " "); // remove from description
category = category.replace('_', ' '); // make it look prettier
}
else
category = CD_GENERAL;
Parameter parameter(id, (PType)argList[0], "("+printArgType(argList[0], flags)+") "+sdesc);
parameter.setProperty(PP_CATEGORY, category);
parameter.setProperty(PP_FLAGS, flags);
if (strlen((char *)argList)>1)
{
QByteArray a((char *)data, len);
parameter.set(a);
}
else
{
if (argList[0]==CRP_INT8 || argList[0]==CRP_INT16 || argList[0]==CRP_INT32)
{
int32_t val = 0;
Chirp::deserialize(data, len, &val, END);
parameter.set(val);
}
else if (argList[0]==CRP_FLT32)
{
float val;
Chirp::deserialize(data, len, &val, END);
parameter.set(val);
}
else // not sure what to do with it, so we'll save it as binary
{
QByteArray a((char *)data, len);
parameter.set(a);
}
}
m_pixyParameters.add(parameter);
}
// if we're running, we've stopped, now resume
if (running==1)
{
sendRun();
m_fastPoll = false; // turn off fast polling...
}
qDebug("loaded");
emit paramLoaded();
if (m_paramDirty) // emit first time to update any modules waiting to get paramter info
{
m_paramDirty = false;
emit paramChange();
}
}
