/**
* @brief MainWindow::~MainWindow
*/
MainWindow::~MainWindow()
{
if (fConnected) {
HandleSerialConnection();
}
delete ui;
}
/**
* @brief MainWindow::MainWindow
* @param parent
*/
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
fConnected(false),
bytesRequired(0),
boardStatus(0)
{
ui->setupUi(this);
cbDevList = new QComboBox(ui->mainToolBar);
cbDevList->setMinimumWidth(250);
cbDevList->setEnabled(false);
ui->mainToolBar->insertWidget(ui->actionHandleConnection, cbDevList);
ui->mainToolBar->insertSeparator(ui->actionHandleConnection);
lbI2CErrors = new QLabel(ui->statusBar);
lbI2CErrors->setText("I2C Errors: 0");
ui->statusBar->insertPermanentWidget(0, lbI2CErrors);
serial = new QSerialPort(this);
connect(ui->actionHandleConnection, SIGNAL(triggered()), this,
SLOT(HandleSerialConnection()));
connect(ui->actionRead, SIGNAL(triggered()), this, SLOT(HandleReadSettings()));
connect(ui->actionSet, SIGNAL(triggered()), this, SLOT(HandleApplySettings()));
connect(ui->actionSave, SIGNAL(triggered()), this, SLOT(HandleSaveSettings()));
connect(&timer, SIGNAL(timeout()), this, SLOT(ProcessTimeout()));
connect(serial, SIGNAL(readyRead()), this, SLOT(ReadSerialData()));
connect(serial, SIGNAL(error(QSerialPort::SerialPortError)), this,
SLOT(HandleSerialError(QSerialPort::SerialPortError)));
connect(ui->pushSensor1AccCalibrate, SIGNAL(clicked()), this, SLOT(HandleAccCalibrate()));
connect(ui->pushSensor1GyroCalibrate, SIGNAL(clicked()), this, SLOT(HandleGyroCalibrate()));
FillPortsInfo();
for(int i = 0; i < 4; i++) {
ui->comboPitchCommand->addItem(OutputCommands[i].item_name, OutputCommands[i].item_id);
ui->comboRollCommand->addItem(OutputCommands[i].item_name, OutputCommands[i].item_id);
ui->comboYawCommand->addItem(OutputCommands[i].item_name, OutputCommands[i].item_id);
}
ui->comboPitchCommand->setCurrentIndex(3);
ui->comboRollCommand->setCurrentIndex(3);
ui->comboYawCommand->setCurrentIndex(3);
for(int i = 0; i < 5; i++) {
ui->comboPitchDeadTime->addItem(OutputDeadTime[i].item_name, OutputDeadTime[i].item_id);
ui->comboRollDeadTime->addItem(OutputDeadTime[i].item_name, OutputDeadTime[i].item_id);
ui->comboYawDeadTime->addItem(OutputDeadTime[i].item_name, OutputDeadTime[i].item_id);
}
ui->comboPitchDeadTime->setCurrentIndex(4);
ui->comboRollDeadTime->setCurrentIndex(4);
ui->comboYawDeadTime->setCurrentIndex(4);
for(int i = 0; i < 6; i++) {
ui->comboInputChannelPitch->addItem(InputChannel[i].item_name, InputChannel[i].item_id);
ui->comboInputChannelRoll->addItem(InputChannel[i].item_name, InputChannel[i].item_id);
ui->comboInputChannelYaw->addItem(InputChannel[i].item_name, InputChannel[i].item_id);
}
ui->comboInputChannelPitch->setCurrentIndex(5);
ui->comboInputChannelRoll->setCurrentIndex(5);
ui->comboInputChannelYaw->setCurrentIndex(5);
for(int i = 0; i < 3; i++) {
ui->comboInputModePitch->addItem(InputMode[i].item_name, InputMode[i].item_id);
ui->comboInputModeRoll->addItem(InputMode[i].item_name, InputMode[i].item_id);
ui->comboInputModeYaw->addItem(InputMode[i].item_name, InputMode[i].item_id);
}
ui->comboInputModePitch->setCurrentIndex(0);
ui->comboInputModeRoll->setCurrentIndex(0);
ui->comboInputModeYaw->setCurrentIndex(0);
for(int i = 0; i < 6; i++) {
ui->comboSensor1AxisTOP->addItem(SensorAxis[i].item_name, SensorAxis[i].item_id);
ui->comboSensor1AxisRIGHT->addItem(SensorAxis[i].item_name, SensorAxis[i].item_id);
}
ui->comboSensor1AxisTOP->setCurrentIndex(2);
ui->comboSensor1AxisRIGHT->setCurrentIndex(3);
ui->comboData->addItem(PlotData[0].item_name, PlotData[0].item_id);
ui->comboData->setCurrentIndex(0);
ui->plotData->addGraph();
/* line color red for first graph. */
ui->plotData->graph(0)->setPen(QPen(Qt::red));
ui->plotData->addGraph();
/* line color green for second graph. */
ui->plotData->graph(1)->setPen(QPen(Qt::green));
ui->plotData->addGraph();
/* line color blue for third graph. */
ui->plotData->graph(2)->setPen(QPen(Qt::blue));
ui->plotData->xAxis->setTickLabelType(QCPAxis::ltDateTime);
ui->plotData->xAxis->setDateTimeFormat("hh:mm:ss");
ui->plotData->xAxis->setAutoTickStep(false);
ui->plotData->xAxis->setTickStep(2);
ui->plotData->axisRect()->setupFullAxesBox();
ui->plotData->yAxis->setLabel("Attitude, deg");
/* make left and bottom axes transfer their ranges to right and top axes: */
connect(ui->plotData->xAxis, SIGNAL(rangeChanged(QCPRange)),
ui->plotData->xAxis2, SLOT(setRange(QCPRange)));
connect(ui->plotData->yAxis, SIGNAL(rangeChanged(QCPRange)),
ui->plotData->yAxis2, SLOT(setRange(QCPRange)));
connect(ui->checkDataX, SIGNAL(clicked()), this, SLOT(HandleDataXClicked()));
connect(ui->checkDataY, SIGNAL(clicked()), this, SLOT(HandleDataYClicked()));
connect(ui->checkDataZ, SIGNAL(clicked()), this, SLOT(HandleDataZClicked()));
}
int listen_com(char* portName, int baudRate, int stopBits, int parity, int byteSize, int timeout) {
// adapted from: http://stackoverflow.com/questions/6947413/how-to-open-read-and-write-from-serial-port-in-c
struct termios tty;
int err = 0;
int fd = open(portName, O_RDWR | O_NOCTTY | O_SYNC);
if (fd < 0)
{
printf("error %d opening %s: %s", errno, portName, strerror (errno));
err = OPDI_DEVICE_ERROR;
goto FINISH;
}
memset (&tty, 0, sizeof tty);
if (tcgetattr(fd, &tty) != 0)
{
printf("error %d from tcgetattr", errno);
err = OPDI_DEVICE_ERROR;
goto FINISH;
}
if (baudRate != -1)
{
// TODO calculate call constant from baud rate
cfsetospeed(&tty, B9600);
cfsetispeed(&tty, B9600);
}
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
// disable IGNBRK for mismatched speed tests; otherwise receive break
// as \000 chars
tty.c_iflag &= ~IGNBRK; // ignore break signal
tty.c_lflag = 0; // no signaling chars, no echo,
// no canonical processing
tty.c_oflag = 0; // no remapping, no delays
tty.c_cc[VMIN] = (timeout < 1 ? 1 : 0); // block if no timeout specified
tty.c_cc[VTIME] = (timeout < 1 ? 0 : (timeout / 100)); // read timeout
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
tty.c_cflag |= (CLOCAL | CREAD);// ignore modem controls,
// enable reading
if (parity == 0)
tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
else
if (parity == 1) {
tty.c_cflag |= PARENB | PARODD; // parity odd
} else
if (parity == 2) {
tty.c_cflag &= ~(PARODD); // parity even
tty.c_cflag |= PARENB;
}
if (stopBits == 2) {
tty.c_cflag |= CSTOPB;
} else
if (stopBits == 1) {
tty.c_cflag &= ~CSTOPB;
}
if (byteSize == 5) {
tty.c_cflag &= ~CSIZE;
tty.c_cflag |= CS5;
} else
if (byteSize == 6) {
tty.c_cflag &= ~CSIZE;
tty.c_cflag |= CS6;
} else
if (byteSize == 7) {
tty.c_cflag &= ~CSIZE;
tty.c_cflag |= CS7;
} else
if (byteSize == 8) {
tty.c_cflag &= ~CSIZE;
tty.c_cflag |= CS8;
}
tty.c_cflag &= ~CRTSCTS;
if (tcsetattr (fd, TCSANOW, &tty) != 0)
{
printf("error %d from tcsetattr", errno);
err = OPDI_DEVICE_ERROR;
goto FINISH;
}
// wait for connections
char inputData;
int bytesRead;
while (true) {
printf("listening for a connection on serial port %s\n", portName);
while (true) {
// try to read a byte
if ((bytesRead = read(fd, &inputData, 1)) >= 0) {
if (bytesRead > 0) {
printf("Connection attempt on serial port\n");
err = HandleSerialConnection(inputData, fd);
fprintf(stderr, "Result: %d\n", err);
}
}
else {
// timeouts are expected here
// TODO
}
}
}
FINISH:
// cleanup
if (fd > 0) {
close(fd);
}
return err;
}
