bool CommInterface::openPort(const QString& portname, const QString& baudrate)
{
QSerialPort* port = new QSerialPort(portname);
_port = port;
connect(port, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(handleSerialError(QSerialPort::SerialPortError)));
_protocol = new Comm::RobotProtocol(port, 0, true);
_protocol->beQuiet(true);
_protocol->setDebugMode(true, false, false);
if (_protocol->open())
{
port->setBaudRate(baudrate.toInt());
port->setFlowControl(QSerialPort::NoFlowControl);
port->setParity(QSerialPort::NoParity);
port->setDataBits(QSerialPort::Data8);
port->setStopBits(QSerialPort::OneStop);
}
else
{
delete _protocol; _protocol = 0;
return false;
}
_comm = new Comm::RobotCommInterface(_protocol, new Comm::AX12CommManager, 0, this, this);
changeStatus(true);
return true;
}
SerialCommandQueue::SerialCommandQueue(QObject *parent) : QObject(parent)
{
serial = new QSerialPort(this);
serial->setSettingsRestoredOnClose(false);
connect(serial, SIGNAL(error(QSerialPort::SerialPortError)),
this, SLOT(handleSerialError(QSerialPort::SerialPortError)));
connect(serial, SIGNAL(readyRead()), this, SLOT(handleReadData()));
commandTimeoutTimer.setSingleShot(true);
connect(&commandTimeoutTimer, SIGNAL(timeout()),
this, SLOT(handleCommandTimeout()));
}