eventLoop::eventLoop(QObject *parent) : QObject(parent)
{
int i;
navRoute = new route;
navRoute->setDataStore(&vesselData);
navRoute->loadRouteFromKML("ComparisonRoute.kml", QString());
loadGPSData();
nmeaParser = new NMEA(0, &vesselData);
GPStimer = new QTimer;
GPStimer->setInterval(50);
GPStimer->start();
connect(GPStimer, SIGNAL(timeout()), this, SLOT(sendGPSData()));
connect(nmeaParser, SIGNAL(location(QPointF)), navRoute, SLOT(update()));
// routeTimer = new QTimer;
// routeTimer->setInterval(1000);
// routeTimer->start();
// connect(routeTimer, SIGNAL(timeout()), this, SLOT(processRoute()));
}
/**
* UART 3 - for wifi
*/
void uart3InturruptHandle(void) {
unsigned long ulStatus;
unsigned char ble[15];
ble[14] = '\0';
unsigned long val;
bool msg = false;
//
// Get the interrrupt status.
//
ulStatus = ROM_UARTIntStatus(UART3_BASE, true);
//
// Clear the asserted interrupts.
//
ROM_UARTIntClear(UART3_BASE, ulStatus);
//
// Loop while there are characters in the receive FIFO.
//
while (UARTCharsAvail(UART3_BASE)) {
//
// Read the next character from the UART and write it back to the UART.
//
val = UARTCharGetNonBlocking(UART3_BASE);
ble[i] = val;
if (val == '\n' || val == '\r' || i == 13) {
i = -1;
msg = true;
}
// UARTCharPutNonBlocking(UART3_BASE, val);
i++;
}
if (msg) {
if (strncmp((char*) ble, "gps", 3) == 0) {// && (strncmp((char*) ble, "accl", 4) == 0)
// UARTCharPutNonBlocking(UART3_BASE, 'p');
sendGPSData();
msg = false;
//
} else if (strncmp((char*) ble, "accl", 4) == 0) {
sendAcclData();
msg = false;
} else if (strncmp((char*) ble, "mag", 3) == 0) {
//sendMagnetoData();
sendHeading();
msg = false;
} else if (strncmp((char*) ble, "ser", 3) == 0) {
if (ble[3] == '+') {
servoSet(servo, 1800);
} else if (ble[3] == '-') {
servoSet(servo, 1388);
} else {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
//Delay for 1 millisecond. Each SysCtlDelay is about 3 clocks.
SysCtlDelay(SysCtlClockGet() / (1000 * 3));
//Turn off the LED
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
servoSet(servo, 1500);
}
}
msg = false;
}
}
void portAIntHandler(void) {
GPIOPinIntClear(GPIO_PORTA_BASE, GPIO_PIN_5);
unsigned char irq = 0;
nRF24L01_IRQ(&irq, recDataBuffer);
if (irq & (1 << RX_DR)) {
delay_ms(1); //IMPORTANT, delay > max retransmission delay
if (strncmp((char*) recDataBuffer, "gps", 3) == 0) { // && (strncmp((char*) ble, "accl", 4) == 0)
//nrf24l01p_send((unsigned char*) "lablala");
// UARTCharPutNonBlocking(UART3_BASE, 'p');
sendGPSData();
//
} else if (strncmp((char*) recDataBuffer, "accl", 4) == 0) {
sendAcclData();
} else if (strncmp((char*) recDataBuffer, "mag", 3) == 0) {
//sendMagnetoData();
sendHeading();
} else if (strncmp((char*) recDataBuffer, "ser", 3) == 0) {
if (recDataBuffer[3] == '+') {
servoSet(servo, 1800);
} else if (recDataBuffer[3] == '-') {
servoSet(servo, 1388);
} else {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2);
//Delay for 1 millisecond. Each SysCtlDelay is about 3 clocks.
SysCtlDelay(SysCtlClockGet() / (1000 * 3));
//Turn off the LED
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0);
servoSet(servo, 1500);
}
}
}
//UARTprintf("irq %x", irq);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3);
SysCtlDelay(SysCtlClockGet() / (1000 * 2));
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0);
#ifdef DEBUG
if (irq & (1 << MAX_RT)) {
UARTprintf("Max_RT.\n");
}
if (irq & (1 << TX_DS)) {
//UARTprintf("TX_DS.\n");
}
if (irq & (1 << RX_DR)) {
UARTprintf("RX_DR\n");
}
#endif
}
