void MainWindow::baroboInit () {
Mobot_init(m_dongle.get());
char tty[64];
if (-1 == Mobot_dongleGetTTY(tty, sizeof(tty))) {
qWarning("(barobolab) WARNING: Mobot_dongleGetTTY failed\n");
}
if (-1 == Mobot_connectWithTTY(m_dongle.get(), tty)) {
qWarning("(barobolab) WARNING: Mobot_connectWithTTY failed\n");
}
Mobot_setDongleMobot(m_dongle.get());
}
void Dialog::beginProgramming()
{
int numTries = 0;
char buf[1024];
int rc;
QMessageBox msgbox;
#ifdef _WIN32
Sleep(3000);
#else
usleep(3000000);
#endif
rc = Mobot_dongleGetTTY(buf, 1024);
if(rc) {
msgbox.setText("No connected robots detected.");
msgbox.exec();
return;
}
while(1) {
qDebug() << "Connecting to: " << buf;
stk_ = new CStkComms();
rc = stk_->connectWithTTY(buf);
qDebug() << "Connection finish with code: " << rc;
if(rc) {
if(numTries > 20) {
msgbox.setText("Detected robot not running valid bootloader. Please make "
"sure that the \"Program Firmware\" button is being clicked after "
"the red LED flashes but before the solid blue LED is showing. 1");
msgbox.exec();
return;
} else {
#ifdef _WIN32
Sleep(100);
#else
usleep(100000);
#endif
numTries++;
}
} else {
break;
}
numTries = 0;
#if 0
qDebug() << "Attempting handshake...";
rc = stk_->handshake();
qDebug() << "Handshake finished with code " << rc;
if(rc) {
if(numTries > 5) {
msgbox.setText("Detected robot not running valid bootloader. Please make "
"sure that the \"Program Firmware\" button is being clicked after "
"the red LED flashes but before the solid blue LED is showing. 2");
msgbox.exec();
return;
} else {
#ifdef _WIN32
Sleep(500);
#else
usleep(500000);
#endif
numTries++;
}
}
#endif
}
qDebug() << "Attempting to begin programming...";
stk_->programAllAsync(g_hexfilename.c_str());
ui->progressBar->setEnabled(true);
/* Start a timer to update the progress bar */
timer_ = new QTimer(this);
QObject::connect(timer_, SIGNAL(timeout()), this, SLOT(update_progress_bar()));
timer_->start(1000);
}