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DevDriver.cpp
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#include "DevDriver.h"
#include <time.h>
#include <core.h>
#include <QXmlStreamWriter>
extern Core core;
DevDriver::DevDriver(QObject *parent) :
QObject(parent),
datasetState_(false),
distSetupState_(false),
chartSetupState_(false),
dspSetupState_(false),
transcState_(false),
soundSpeedState_(false),
uartState_(false)
{
qRegisterMetaType<ProtoBinOut>("ProtoBinOut");
regID(idTimestamp = new IDBinTimestamp(), &DevDriver::receivedTimestamp);
regID(idDist = new IDBinDist(), &DevDriver::receivedDist);
regID(idChart = new IDBinChart(), &DevDriver::receivedChart);
connect(idChart, &IDBinChart::rawDataRecieved, this, &DevDriver::rawDataRecieved);
regID(idAtt = new IDBinAttitude(), &DevDriver::receivedAtt);
regID(idTemp = new IDBinTemp(), &DevDriver::receivedTemp);
regID(idDataset = new IDBinDataset(), &DevDriver::receivedDataset, true);
regID(idDistSetup = new IDBinDistSetup(), &DevDriver::receivedDistSetup, true);
regID(idChartSetup = new IDBinChartSetup(), &DevDriver::receivedChartSetup, true);
regID(idDSPSetup = new IDBinDSPSetup(), &DevDriver::receivedDSPSetup, true);
regID(idTransc = new IDBinTransc(), &DevDriver::receivedTransc, true);
regID(idSoundSpeed = new IDBinSoundSpeed(), &DevDriver::receivedSoundSpeed, true);
regID(idUART = new IDBinUART(), &DevDriver::receivedUART, true);
regID(idVersion = new IDBinVersion(), &DevDriver::receivedVersion, true);
regID(idMark = new IDBinMark(), &DevDriver::receivedMark);
regID(idFlash = new IDBinFlash(), &DevDriver::receivedFlash);
regID(idBoot = new IDBinBoot(), &DevDriver::receivedBoot);
regID(idUpdate = new IDBinUpdate(), &DevDriver::receivedUpdate);
regID(idNav = new IDBinNav(), &DevDriver::receivedNav);
regID(idDVL = new IDBinDVL(), &DevDriver::receivedDVL);
regID(idDVLMode = new IDBinDVLMode(), &DevDriver::receivedDVLMode);
regID(idUSBL = new IDBinUsblSolution(), &DevDriver::receivedUSBL);
#ifndef SEPARATE_READING
connect(&m_processTimer, &QTimer::timeout, this, &DevDriver::process);
#endif
QObject::connect(idDataset, &IDBin::notifyDevDriver, this, &DevDriver::setDatasetState);
QObject::connect(idDistSetup, &IDBin::notifyDevDriver, this, &DevDriver::setDistSetupState);
QObject::connect(idChartSetup, &IDBin::notifyDevDriver, this, &DevDriver::setChartSetupState);
QObject::connect(idDSPSetup, &IDBin::notifyDevDriver, this, &DevDriver::setDspSetupState);
QObject::connect(idTransc, &IDBin::notifyDevDriver, this, &DevDriver::setTranscState);
QObject::connect(idSoundSpeed, &IDBin::notifyDevDriver, this, &DevDriver::setSoundSpeedState);
QObject::connect(idUART, &IDBin::notifyDevDriver, this, &DevDriver::setUartState);
}
DevDriver::~DevDriver()
{
#ifdef SEPARATE_READING
QList<QTimer*> timers = getChildTimers();
foreach (QTimer* timer, timers) {
if (timer->isActive()) {
timer->stop();
}
}
if (m_processTimer.isActive()) {
m_processTimer.stop();
}
#endif
}
#ifdef SEPARATE_READING
QTimer *DevDriver::getProcessTimer()
{
return &m_processTimer;
}
QList<QTimer *> DevDriver::getChildTimers()
{
QList<QTimer*> timers;
if (idTimestamp) {
timers.append(idTimestamp->getSetTimer());
timers.append(idTimestamp->getColdStartTimer());
}
if (idDist) {
timers.append(idDist->getSetTimer());
timers.append(idDist->getColdStartTimer());
}
if (idChart) {
timers.append(idChart->getSetTimer());
timers.append(idChart->getColdStartTimer());
}
if (idAtt) {
timers.append(idAtt->getSetTimer());
timers.append(idAtt->getColdStartTimer());
}
if (idTemp) {
timers.append(idTemp->getSetTimer());
timers.append(idTemp->getColdStartTimer());
}
if (idDataset) {
timers.append(idDataset->getSetTimer());
timers.append(idDataset->getColdStartTimer());
}
if (idDistSetup) {
timers.append(idDistSetup->getSetTimer());
timers.append(idDistSetup->getColdStartTimer());
}
if (idChartSetup) {
timers.append(idChartSetup->getSetTimer());
timers.append(idChartSetup->getColdStartTimer());
}
if (idDSPSetup) {
timers.append(idDSPSetup->getSetTimer());
timers.append(idDSPSetup->getColdStartTimer());
}
if (idTransc) {
timers.append(idTransc->getSetTimer());
timers.append(idTransc->getColdStartTimer());
}
if (idSoundSpeed) {
timers.append(idSoundSpeed->getSetTimer());
timers.append(idSoundSpeed->getColdStartTimer());
}
if (idUART) {
timers.append(idUART->getSetTimer());
timers.append(idUART->getColdStartTimer());
}
if (idVersion) {
timers.append(idVersion->getSetTimer());
timers.append(idVersion->getColdStartTimer());
}
if (idMark) {
timers.append(idMark->getSetTimer());
timers.append(idMark->getColdStartTimer());
}
if (idFlash) {
timers.append(idFlash->getSetTimer());
timers.append(idFlash->getColdStartTimer());
}
if (idBoot) {
timers.append(idBoot->getSetTimer());
timers.append(idBoot->getColdStartTimer());
}
if (idUpdate) {
timers.append(idUpdate->getSetTimer());
timers.append(idUpdate->getColdStartTimer());
}
if (idNav) {
timers.append(idNav->getSetTimer());
timers.append(idNav->getColdStartTimer());
}
if (idDVL) {
timers.append(idDVL->getSetTimer());
timers.append(idDVL->getColdStartTimer());
}
if (idDVLMode) {
timers.append(idDVLMode->getSetTimer());
timers.append(idDVLMode->getColdStartTimer());
}
if (idUSBL) {
timers.append(idUSBL->getSetTimer());
timers.append(idUSBL->getColdStartTimer());
}
return timers;
}
#endif
void DevDriver::regID(IDBin* id_bin, ParseCallback method, bool is_setup) {
// hashIDParsing[id_bin->id()] = id_bin;
// hashIDCallback[id_bin->id()] = method;
_hashID[id_bin->id()] = ID_Instance(id_bin, method, is_setup);
// if(is_setup) {
// hashIDSetup[id_bin->id()] = id_bin;
// }
connect(id_bin, &IDBin::binFrameOut, this, &DevDriver::binFrameOut);
}
void DevDriver::requestSetup() {
QHashIterator<ID, ID_Instance> i(_hashID);
while (i.hasNext()) {
i.next();
if(i.value().isSetup) {
i.value().instance->startColdStartTimer();
i.value().instance->requestAll();
}
}
m_state.conf = ConfRequest;
}
void DevDriver::setConsoleOut(bool is_console) {
QHashIterator<ID, ID_Instance> i(_hashID);
while (i.hasNext()) {
i.next();
i.value().instance->setConsoleOut(is_console);
}
m_isConsole = is_console;
}
void DevDriver::setBusAddress(int addr) {
m_busAddress = addr;
QHashIterator<ID, ID_Instance> i(_hashID);
while (i.hasNext()) {
i.next();
i.value().instance->setAddress(m_busAddress);
}
}
int DevDriver::getBusAddress() {
return m_busAddress;
}
void DevDriver::setDevAddress(int addr) {
idUART->setDevAddress(addr);
}
int DevDriver::getDevAddress() {
return idUART->devAddress();
}
void DevDriver::setBaudrate(int baudrate) {
if(!m_state.connect) return;
bool is_changed = getBaudrate() != baudrate;
idUART->setBaudrate(baudrate);
if(is_changed) { emit UARTChanged(); }
}
int DevDriver::getBaudrate() {
return idUART->getBaudrate();
}
void DevDriver::setDevDefAddress(int addr) {
idUART->setDevDefAddress(addr);
}
int DevDriver::getDevDefAddress() {
return idUART->devDefAddress();
}
void DevDriver::dvlChangeMode(bool ismode1, bool ismode2, bool ismode3, bool ismode4, float range_mode4) {
idDVLMode->setModes(ismode1, ismode2, ismode3, ismode4, range_mode4);
}
void DevDriver::importSettingsFromXML(const QString& filePath) {
QFile file(filePath);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return;
QXmlStreamReader xmlReader(&file);
while (!xmlReader.atEnd() && !xmlReader.hasError()) {
const QXmlStreamReader::TokenType token = xmlReader.readNext();
if (token == QXmlStreamReader::StartElement) {
const QString elementName = xmlReader.name().toString();
if (elementName == "Settings")
continue;
while (!(xmlReader.tokenType() == QXmlStreamReader::EndElement && xmlReader.name() == elementName)) {
xmlReader.readNext();
if (xmlReader.isStartElement()) {
if (elementName == "Echogram") {
if (xmlReader.name().toString() == "resolution_mm")
setChartResolution(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "number_of_samples")
setChartSamples(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "offset_of_samples")
setChartOffset(xmlReader.readElementText().toInt());
}
else if (elementName == "Rangefinder") {
if (xmlReader.name().toString() == "max_distance_mm")
setDistMax(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "dead_zone_mm")
setDistDeadZone(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "confidence_threshold_perc")
setConfidence(xmlReader.readElementText().toInt());
}
else if (elementName == "Transducer") {
if (xmlReader.name().toString() == "pulse_count")
setTransPulse(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "frequency_khz")
setTransFreq(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "booster") {
const QString state = xmlReader.readElementText().trimmed();
setTransBoost(state.toUpper() == "TRUE" ? 1 : 0);
}
}
else if (elementName == "DSP") {
if (xmlReader.name().toString() == "horizontal_smoothing_factor")
setDspSmoothFactor(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "speed_of_sound_m_s")
setSoundSpeed(xmlReader.readElementText().toInt());
}
else if (elementName == "Dataset") {
if (xmlReader.name().toString() == "period_ms")
setCh1Period(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "echogram")
xmlReader.readElementText().trimmed().toUpper() == "TRUE" ? setDatasetChart(1) : setDatasetChart(0);
else if (xmlReader.name().toString() == "rangefinder") {
int state = xmlReader.readElementText().toInt();
if (state == 0) { setDatasetDist(0); setDatasetSDDBT(0); }
if (state == 1) { setDatasetDist(1); }
if (state == 2) { setDatasetSDDBT(1); }
}
else if (xmlReader.name().toString() == "AHRS")
xmlReader.readElementText().trimmed().toUpper() == "TRUE" ? setDatasetEuler(1) : setDatasetEuler(0);
else if (xmlReader.name().toString() == "temperature")
xmlReader.readElementText().trimmed().toUpper() == "TRUE" ? setDatasetTemp(1) : setDatasetTemp(0);
else if (xmlReader.name().toString() == "timestamp")
xmlReader.readElementText().trimmed().toUpper() == "TRUE" ? setDatasetTimestamp(1) : setDatasetTimestamp(0);
}
else if (elementName == "UART") {
if (xmlReader.name().toString() == "dev_def_address")
setDevDefAddress(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "baudrate")
setBaudrate(xmlReader.readElementText().toInt());
else if (xmlReader.name().toString() == "dev_address")
setDevAddress(xmlReader.readElementText().toInt());
}
}
}
}
}
if (xmlReader.hasError())
qDebug() << "XML error:" << xmlReader.errorString().toUtf8();
file.close();
}
void DevDriver::exportSettingsToXML(const QString& filePath) {
QFile file(filePath);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
return;
QXmlStreamWriter xmlWriter(&file);
xmlWriter.setAutoFormatting(true);
xmlWriter.writeStartDocument();
xmlWriter.writeStartElement("Settings");
xmlWriter.writeStartElement("Echogram");
xmlWriter.writeTextElement("resolution_mm", QString::number(chartResolution()));
xmlWriter.writeTextElement("number_of_samples", QString::number(chartSamples()));
xmlWriter.writeTextElement("offset_of_samples", QString::number(chartOffset()));
xmlWriter.writeEndElement();
xmlWriter.writeStartElement("Rangefinder");
xmlWriter.writeTextElement("max_distance_mm", QString::number(distMax()));
xmlWriter.writeTextElement("dead_zone_mm", QString::number(distDeadZone()));
xmlWriter.writeTextElement("confidence_threshold_perc", QString::number(distConfidence()));
xmlWriter.writeEndElement();
xmlWriter.writeStartElement("Transducer");
xmlWriter.writeTextElement("pulse_count", QString::number(transPulse()));
xmlWriter.writeTextElement("frequency_khz", QString::number(transFreq()));
xmlWriter.writeTextElement("booster", QVariant(static_cast<bool>(transBoost())).toString());
xmlWriter.writeEndElement();
xmlWriter.writeStartElement("DSP");
xmlWriter.writeTextElement("horizontal_smoothing_factor", QString::number(dspSmoothFactor()));
xmlWriter.writeTextElement("speed_of_sound_m_s", QString::number(soundSpeed()));
xmlWriter.writeEndElement();
xmlWriter.writeStartElement("Dataset");
const U1 channelId = 1;
const auto channel = idDataset->getChannel(channelId);
xmlWriter.writeTextElement("period_ms", QString::number(channel.period));
xmlWriter.writeTextElement("echogram", QVariant(idDataset->getChart_v0(channelId)).toString());
{
int state = 0;
if (idDataset->getDist_v0(channelId) == 1) state = 1;
if (idDataset->getSDDBT(channelId) == 1) state = 2;
xmlWriter.writeTextElement("rangefinder", QString::number(state));
}
xmlWriter.writeTextElement("AHRS", QVariant(static_cast<bool>(idDataset->getEuler(channelId))).toString());
xmlWriter.writeTextElement("temperature", QVariant(idDataset->getTemp_v0(channelId)).toString());
xmlWriter.writeTextElement("timestamp", QVariant(idDataset->getTimestamp_v0(channelId)).toString());
xmlWriter.writeEndElement();
xmlWriter.writeStartElement("UART");
xmlWriter.writeTextElement("dev_def_address", QString::number(getDevDefAddress()));
xmlWriter.writeTextElement("baudrate", QString::number(getBaudrate()));
xmlWriter.writeTextElement("dev_address", QString::number(getDevAddress()));
xmlWriter.writeEndElement();
xmlWriter.writeEndElement();
xmlWriter.writeEndDocument();
file.close();
return;
}
void DevDriver::setDatasetState(bool state) {
if (state != datasetState_) {
datasetState_ = state;
emit datasetChanged();
}
}
void DevDriver::setDistSetupState(bool state) {
if (state != distSetupState_) {
distSetupState_ = state;
emit distSetupChanged();
}
}
void DevDriver::setChartSetupState(bool state) {
if (state != chartSetupState_) {
chartSetupState_ = state;
emit chartSetupChanged();
}
}
void DevDriver::setDspSetupState(bool state) {
if (state != dspSetupState_) {
dspSetupState_ = state;
emit dspSetupChanged();
}
}
void DevDriver::setTranscState(bool state) {
if (state != transcState_) {
transcState_ = state;
emit transChanged();
}
}
void DevDriver::setSoundSpeedState(bool state) {
if (state != soundSpeedState_) {
soundSpeedState_ = state;
emit soundChanged();
}
}
void DevDriver::setUartState(bool state) {
if (state != uartState_) {
uartState_ = state;
emit UARTChanged();
}
}
void DevDriver::askBeaconPosition(IDBinUsblSolution::USBLRequestBeacon ask) {
if(!m_state.connect) return;
idUSBL->askBeacon(ask);
}
void DevDriver::enableBeaconOnce(float timeout) {
if(!m_state.connect) return;
idUSBL->enableBeaconOnce(timeout);
}
#ifdef SEPARATE_READING
void DevDriver::initProcessTimerConnects()
{
connect(&m_processTimer, &QTimer::timeout, this, &DevDriver::process, Qt::QueuedConnection);
}
void DevDriver::initChildsTimersConnects()
{
if (idTimestamp) {
idTimestamp->initTimersConnects();
}
if (idDist) {
idDist->initTimersConnects();
}
if (idChart) {
idChart->initTimersConnects();
}
if (idAtt) {
idAtt->initTimersConnects();
}
if (idTemp) {
idTemp->initTimersConnects();
}
if (idDataset) {
idDataset->initTimersConnects();
}
if (idDistSetup) {
idDistSetup->initTimersConnects();
}
if (idChartSetup) {
idChartSetup->initTimersConnects();
}
if (idDSPSetup) {
idDSPSetup->initTimersConnects();
}
if (idTransc) {
idTransc->initTimersConnects();
}
if (idSoundSpeed) {
idSoundSpeed->initTimersConnects();
}
if (idUART) {
idUART->initTimersConnects();
}
if (idVersion) {
idVersion->initTimersConnects();
}
if (idMark) {
idMark->initTimersConnects();
}
if (idFlash) {
idFlash->initTimersConnects();
}
if (idBoot) {
idBoot->initTimersConnects();
}
if (idUpdate) {
idUpdate->initTimersConnects();
}
if (idNav) {
idNav->initTimersConnects();
}
if (idDVL) {
idDVL->initTimersConnects();
}
if (idDVLMode) {
idDVLMode->initTimersConnects();
}
if (idUSBL) {
idUSBL->initTimersConnects();
}
}
#endif
uint32_t DevDriver::devSerialNumber() {
return idVersion->serialNumber();
}
QString DevDriver::devPN() {
return QString();
}
void DevDriver::protoComplete(FrameParser& proto) {
if(!proto.isComplete()) return;
m_state.mark = proto.mark();
if(_hashID.contains(proto.id())) {
if(_hashID[proto.id()].instance != NULL) {
IDBin* parse_instance = _hashID[proto.id()].instance;
parse_instance->parse(proto);
_lastAddres = proto.route();
if(_hashID[proto.id()].callback != NULL) {
ParseCallback callback = _hashID[proto.id()].callback;
(this->*callback)(parse_instance->lastType(), parse_instance->lastVersion(), parse_instance->lastResp());
}
}
}
}
void DevDriver::startConnection(bool duplex) {
m_devName = "...";
m_state.duplex = duplex;
idVersion->reset();
m_bootloaderLagacyMode = true;
m_bootloader = false;
m_upgrade_status = 0;
restartState();
emit deviceVersionChanged();
}
void DevDriver::stopConnection() {
m_state.connect = false;
m_processTimer.stop();
m_devName = "...";
emit deviceVersionChanged();
}
void DevDriver::restartState() {
m_processTimer.stop();
m_state.connect = false;
m_state.uptime = UptimeNone;
m_state.conf = ConfNone;
if(m_state.duplex) {
m_processTimer.start(200);
}
}
void DevDriver::requestDist() {
if(!m_state.connect) return;
idDist->simpleRequest(v0);
}
void DevDriver::requestChart() {
if(!m_state.connect) return;
idChart->simpleRequest(v0);
}
void DevDriver::requestStreamList() {
ProtoBinOut id_out;
id_out.create(GETTING, v0, ID_STREAM, getDevAddress());
id_out.write<U2>(0);
id_out.write<U2>(0xFFFF);
id_out.write<U4>(0x0);
id_out.end();
emit binFrameOut(id_out);
}
void DevDriver::requestStream(int stream_id) {
ProtoBinOut id_out;
id_out.create(SETTING, v1, ID_STREAM, getDevAddress());
id_out.write<U2>(stream_id);
id_out.write<U2>(0); // FLAGS
id_out.write<U4>(0x0);
id_out.write<U4>(0xFFFFFFF);
id_out.end();
emit binFrameOut(id_out);
}
void DevDriver::sendUpdateFW(QByteArray update_data) {
// if(!m_state.connect) return;
m_bootloaderLagacyMode = true;
m_bootloader = true;
_timeoutUpgradeAnswerTime = 5000;
idUpdate->setUpdate(update_data);
reboot();
restartState();
QTimer::singleShot(500, idUpdate, SLOT(putUpdate()));
// QTimer::singleShot(400, idUpdate, SLOT(putUpdate()));
}
void DevDriver::sendFactoryFW(QByteArray update_data) {
Q_UNUSED(update_data);
}
int DevDriver::transFreq() {
return idTransc->freq();
}
void DevDriver::setTransFreq(int freq) {
if(!m_state.connect) return;
bool is_changed = transFreq() != freq;
idTransc->setFreq((U2)freq);
if(is_changed) { emit transChanged(); }
}
int DevDriver::transPulse() {
return idTransc->pulse();
}
void DevDriver::setTransPulse(int pulse) {
if(!m_state.connect) return;
bool is_changed = transPulse() != pulse;
idTransc->setPulse((U1)pulse);
if(is_changed) { emit transChanged(); }
}
int DevDriver::transBoost() {
return idTransc->boost();
}
void DevDriver::setTransBoost(int boost) {
if(!m_state.connect) return;
bool is_changed = transBoost() != boost;
idTransc->setBoost((U1)boost);
if(is_changed) { emit transChanged(); }
}
int DevDriver::soundSpeed() {
return idSoundSpeed->getSoundSpeed();
}
void DevDriver::setSoundSpeed(int speed) {
if(!m_state.connect) return;
bool is_changed = transBoost() != speed;
idSoundSpeed->setSoundSpeed(speed);
if(is_changed) { emit soundChanged(); }
}
float DevDriver::yaw() {
return idAtt->yaw();
}
float DevDriver::pitch() {
return idAtt->pitch();
}
float DevDriver::roll() {
return idAtt->roll();
}
void DevDriver::flashSettings() {
if(!m_state.connect) return;
idFlash->flashing();
}
void DevDriver::resetSettings() {
if(!m_state.connect) return;
idFlash->erase();
}
void DevDriver::reboot() {
if(!m_state.connect) return;
idBoot->reboot();
emit onReboot();
}
int DevDriver::distMax() {
return idDistSetup->max();
}
void DevDriver::setDistMax(int dist) {
if(!m_state.connect) return;
bool is_changed = dist != distMax();
idDistSetup->setMax(dist);
if(is_changed) { emit distSetupChanged(); }
}
int DevDriver::distDeadZone() {
return idDistSetup->deadZone();
}
void DevDriver::setDistDeadZone(int dead_zone) {
if(!m_state.connect) return;
bool is_changed = dead_zone != distDeadZone();
idDistSetup->setDeadZone(dead_zone);
if(is_changed) { emit distSetupChanged(); }
}
int DevDriver::distConfidence() {
return idDistSetup->confidence();
}
void DevDriver::setConfidence(int confidence) {
if(!m_state.connect) return;
bool is_changed = confidence != distConfidence();
idDistSetup->setConfidence(confidence);
if(is_changed) { emit distSetupChanged(); }
}
int DevDriver::chartSamples() {
return idChartSetup->count();
}
void DevDriver::setChartSamples(int smpls) {
if(!m_state.connect) return;
bool is_changed = smpls != chartSamples();
idChartSetup->setCount((U2)smpls);
if(is_changed) { emit chartSetupChanged(); }
}
int DevDriver::chartResolution() {
return idChartSetup->resolution();
}
void DevDriver::setChartResolution(int resol) {
if(!m_state.connect) return;
bool is_changed = resol != chartResolution();
idChartSetup->setResolution((U2)resol);
if(is_changed) { emit chartSetupChanged(); }
}
int DevDriver::chartOffset() {
return idChartSetup->offset();
}
void DevDriver::setChartOffset(int offset) {
if(!m_state.connect) return;
bool is_changed = offset != chartOffset();
idChartSetup->setOffset((U2)offset);
if(is_changed) { emit chartSetupChanged(); }
}
int DevDriver::dspSmoothFactor() {
return idDSPSetup->horSmoothFactor();
}
void DevDriver::setDspSmoothFactor(int dsp_smooth) {
if(!m_state.connect) return;
bool is_changed = dsp_smooth != dspSmoothFactor();
idDSPSetup->setHorSmoothFactor((U1)dsp_smooth);
if(is_changed) { emit dspSetupChanged(); }
}
int DevDriver::datasetTimestamp() {
int ch_param = 0;
if(idDataset->getTimestamp_v0(1)) {
ch_param |= 1;
}
if(idDataset->getTimestamp_v0(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetTimestamp(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetTimestamp());
idDataset->setTimestamp_v0(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::datasetDist() {
int ch_param = 0;
if(idDataset->getDist_v0(1)) {
ch_param |= 1;
}
if(idDataset->getDist_v0(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetDist(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetDist());
idDataset->setDist_v0(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::datasetChart() {
int ch_param = 0;
if(idDataset->getChart_v0(1)) {
ch_param |= 1;
}
if(idDataset->getChart_v0(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetChart(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetChart());
idDataset->setChart_v0(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::datasetTemp() {
int ch_param = 0;
if(idDataset->getTemp_v0(1)) {
ch_param |= 1;
}
if(idDataset->getTemp_v0(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetTemp(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetTemp());
idDataset->setTemp_v0(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::datasetEuler() {
int ch_param = 0;
if(idDataset->getEuler(1)) {
ch_param |= 1;
}
if(idDataset->getEuler(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetEuler(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetEuler());
idDataset->setEuler(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::datasetSDDBT() {
int ch_param = 0;
if(idDataset->getSDDBT(1)) {
ch_param |= 1;
}
if(idDataset->getSDDBT(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetSDDBT(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetSDDBT());
idDataset->setSDDBT(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::datasetSDDBT_P2() {
int ch_param = 0;
if(idDataset->getSDDBT_P2(1)) {
ch_param |= 1;
}
if(idDataset->getSDDBT_P2(2)) {
ch_param |= 2;
}
return ch_param;
}
void DevDriver::setDatasetSDDBT_P2(int ch_param) {
if(!m_state.connect) return;
bool is_changed = (ch_param != datasetSDDBT_P2());
idDataset->setSDDBT_P2(ch_param);
idDataset->commit();
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::ch1Period() {
return (int)idDataset->period(1);
}
void DevDriver::setCh1Period(int period) {
if(!m_state.connect) return;
bool is_changed = (period != ch1Period());
idDataset->setPeriod(1, (uint)period);
if(is_changed) { emit datasetChanged(); }
}
int DevDriver::ch2Period() {
return (int)idDataset->period(2);
}
void DevDriver::setCh2Period(int period) {
if(!m_state.connect) return;
bool is_changed = (period != ch2Period());
idDataset->setPeriod(2, (uint)period);
if(is_changed) { emit datasetChanged(); }
}
void DevDriver::receivedTimestamp(Type type, Version ver, Resp resp)
{
Q_UNUSED(type);
Q_UNUSED(ver);
Q_UNUSED(resp);
}
void DevDriver::receivedDist(Type type, Version ver, Resp resp) {
Q_UNUSED(type);
Q_UNUSED(ver);
Q_UNUSED(resp);
emit distComplete(idDist->dist_mm());
}
void DevDriver::receivedChart(Type type, Version ver, Resp resp) {
Q_UNUSED(type);
Q_UNUSED(resp);
if(idChart->isCompleteChart()) {
if(ver == v0 || ver == v1) {
QVector<uint8_t> data(idChart->chartSize());
memcpy(data.data(), idChart->logData8(), idChart->chartSize());
emit chartComplete(_lastAddres, data, 0.001*idChart->resolution(), 0.001*idChart->offsetRange());
if(ver == v1) {
QVector<uint8_t> data2(idChart->chartSize());
memcpy(data2.data(), idChart->logData28(), idChart->chartSize());
emit chartComplete(_lastAddres+1, data2, 0.001*idChart->resolution(), 0.001*idChart->offsetRange());
}
}
// else if(ver == v7) {
// QByteArray data((const char*)idChart->rawData(), idChart->rawDataSize());
// emit iqComplete(data, idChart->rawType());
// }
}
}
void DevDriver::receivedAtt(Type type, Version ver, Resp resp) {
Q_UNUSED(type);
Q_UNUSED(ver);
Q_UNUSED(resp);
// qInfo("Euler: yaw %f, pitch %f, roll %f", idAtt->yaw(), idAtt->pitch(), idAtt->roll());
emit attitudeComplete(idAtt->yaw(), idAtt->pitch(), idAtt->roll());
}
void DevDriver::receivedTemp(Type type, Version ver, Resp resp) {
Q_UNUSED(type);
Q_UNUSED(ver);
Q_UNUSED(resp);
core.getDatasetPtr()->addTemp(idTemp->temp());
}
void DevDriver::receivedDataset(Type type, Version ver, Resp resp) {
Q_UNUSED(type);
Q_UNUSED(ver);