--- /dev/null
+/*==================================================================
+ !
+ ! mardrone application AR-Drone for MeeGo
+
+ ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
+ ! All rights reserved.
+ !
+ ! Author:Kate Alhola kate.alhola@nokia.com
+ !
+ ! GNU Lesser General Public License Usage
+ ! This file may be used under the terms of the GNU Lesser
+ ! General Public License version 2.1 as published by the Free Software
+ ! Foundation and appearing in the file LICENSE.LGPL included in the
+ ! packaging of this file. Please review the following information to
+ ! ensure the GNU Lesser General Public License version 2.1 requirements
+ ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+ !
+ !
+ !
+ *===================================================================*/
+#include <QDebug>
+#include "navdata.h"
+
+
+NavData::NavData(QObject *parent) :
+ QObject(parent)
+{
+ vx=0;vy=0;vz=0;pwm_motor1=0;pwm_motor2=0;pwm_motor3=0;pwm_motor4=0;
+ vbat=0.0;pitch=0.0;roll=0.0;yaw=0.0;altitude=0.0;
+}
+
+void NavData::parseRawNavData(char *buf,unsigned int len)
+{
+ int opt=0;
+ navdata_option_t *op;
+ _navdata_t *nd=(_navdata_t *)buf;
+ state=nd->ardrone_state;
+ if(state!=oldState) {
+ oldState=state;
+ decodedState=decodeState(state,0);
+ emit stateUpdated();
+ };
+#if 0
+ qDebug("parseRawNavData hdr=%8x state=%08x seq=%06d opt[0].tag=%d size=%d",
+ nd->header,nd->ardrone_state,nd->sequence,nd->options[0].tag,nd->options[0].size);
+#endif
+ qDebug() << decodedState;
+ op=&(nd->options[0]);
+ while((((unsigned int)op-(unsigned int)buf)<len) && (op->size>0))
+ {
+ parseOption(op);
+ op=(navdata_option_t *)((unsigned int)op+op->size);
+ }
+};
+
+void NavData::parseOption(navdata_option_t *op)
+{
+ // qDebug("parseOption tag=%d size=%d",op->tag,op->size);
+ switch(op->tag) {
+ case NAVDATA_DEMO_TAG:
+ {
+ _navdata_demo_t *ndemo=(_navdata_demo_t*)op;
+ vbat=ndemo->vbat_flying_percentage;
+ pitch=ndemo->theta/1000.0;
+ roll=ndemo->phi/1000.0;
+ yaw=ndemo->psi/1000.0;
+ altitude=ndemo->altitude;
+ vx=ndemo->vx;
+ vy=ndemo->vy;
+ vz=ndemo->vz;
+ emit navDataUpdated();
+// qDebug("pitch=%2.1f roll=%2.1f yaw=%2.1f alt=%2.1f v(%2.1f,%2.1f,%2.1f bat=%2.1f",pitch,roll,yaw,altitude,vx,vy,vz,vbat);
+ }
+ break;
+ case NAVDATA_TIME_TAG:
+ {
+ _navdata_time_t *ntdime=(_navdata_time_t*)op;
+ }
+ break;
+ case NAVDATA_RAW_MEASURES_TAG:
+ {
+ _navdata_raw_measures_t *nraw=(_navdata_raw_measures_t*)op;
+ }
+ break;
+ case NAVDATA_PHYS_MEASURES_TAG:
+ {
+ _navdata_phys_measures_t *nphys=(_navdata_phys_measures_t*)op;
+ }
+ break;
+ case NAVDATA_GYROS_OFFSETS_TAG:
+ break;
+ case NAVDATA_EULER_ANGLES_TAG:
+ break;
+ case NAVDATA_REFERENCES_TAG:
+ break;
+ case NAVDATA_TRIMS_TAG: // 7
+ {
+ _navdata_trims_t *ntrim=( _navdata_trims_t*)op;
+ }
+ break;
+ case NAVDATA_RC_REFERENCES_TAG: //8
+ break;
+ case NAVDATA_PWM_TAG:
+ {
+ _navdata_pwm_t *npwm=( _navdata_pwm_t*)op;
+ current_motor1=npwm->current_motor1;
+ pwm_motor1=npwm->motor1;
+ current_motor2=npwm->current_motor2;
+ pwm_motor2=npwm->motor2;
+ current_motor3=npwm->current_motor3;
+ pwm_motor3=npwm->motor3;
+ current_motor4=npwm->current_motor4;
+ pwm_motor4=npwm->motor4;
+ emit navDataUpdated();
+ // qDebug("pwm1=%3d I1=%4f pwm2=%3d I2=%4f pwm3=%3d I3=%4f pwm4=%3d I4=%4f",
+ // pwm_motor1,current_motor1,pwm_motor2,current_motor2,pwm_motor3,current_motor3,pwm_motor4,current_motor4);
+ }
+ break;
+ case NAVDATA_ALTITUDE_TAG: //10
+ break;
+ case NAVDATA_VISION_RAW_TAG:
+ break;
+ case NAVDATA_VISION_OF_TAG: //12
+ break;
+ case NAVDATA_VISION_TAG:
+ break;
+ case NAVDATA_VISION_PERF_TAG:
+ break;
+ case NAVDATA_TRACKERS_SEND_TAG:
+ break;
+ case NAVDATA_VISION_DETECT_TAG: //16
+ {
+ _navdata_vision_detect_t *nvisd=(_navdata_vision_detect_t*)op;
+// qDebug("nb_detected=%d type=%d xc=%d yc=%d width=%d height=%d dist=%d",nvisd->nb_detected,nvisd->type[0],nvisd->xc[0],nvisd->yc[0],
+// nvisd->width[0],nvisd->height[0],nvisd->dist[0]);
+ for(int i=0;i++;i<4) {
+ tags[i].type=nvisd->type[i];
+ tags[i].xc=nvisd->xc[i];
+ tags[i].yc=nvisd->yc[i];
+ tags[i].height=nvisd->height[i];
+ tags[i].width=nvisd->width[i];
+ tags[i].dist=nvisd->dist[i];
+ }
+ }
+ break;
+ case NAVDATA_WATCHDOG_TAG:
+ break;
+ case NAVDATA_ADC_DATA_FRAME_TAG:
+ break;
+ case NAVDATA_CKS_TAG: //65535
+ break;
+ }
+};
+
+QString NavData::decodeState(unsigned int state,int level)
+{
+ QString s="%1 ";
+ s=s.arg(state,8,16);
+ s+=(state & ARDRONE_FLY_MASK)==0 ? "landed ":"flying ";
+ if(level>1) s+=(state & ARDRONE_VIDEO_MASK)==0 ?"video disable ":"video ena ";
+ if(level>1)s+=(state & ARDRONE_VISION_MASK)==0 ? "vision disable ":"vision ena ";
+ if(level>1)s+=(state & ARDRONE_CONTROL_MASK)==0 ? "euler angles ":"angular speed ";
+ if(level>1)s+=(state & ARDRONE_ALTITUDE_MASK)==0 ? "alt ctrl inact ":"alt ctrl act ";
+ //s+=(state & ARDRONE_USER_FEEDBACK_START)==0 ? /*!< USER feedback : Start button state */
+ s+=(state & ARDRONE_COMMAND_MASK)==0 ? "CMD NAK ":"CMD ACK ";
+ // s+=(state & ARDRONE_FW_FILE_MASK)==0 ? /* Firmware file is good;
+ // s+=(state & ARDRONE_FW_VER_MASK )==0 ? /* Firmware update is newer;
+ // ARDRONE_FW_UPD_MASK = 1 << 9, /* Firmware update is ongoing (1;
+ s+=(state & ARDRONE_NAVDATA_DEMO_MASK )==0 ? "All navdata ":"navdata demo ";
+ s+=(state & ARDRONE_NAVDATA_BOOTSTRAP)==0 ? "":"Navdata bootstrap ";
+ // s+=(state & ARDRONE_MOTORS_MASK)==0 ? /*!< Motors status : (0) Ok, (1) Motors problem */
+ s+=(state & ARDRONE_COM_LOST_MASK)? "Com Lost ":"Com ok ";
+ if(level>1)s+=(state & ARDRONE_VBAT_LOW) ? "VBat low ":"Vbat Ok ";
+ if(level>1)s+=(state & ARDRONE_USER_EL) ? "User EL ":"";
+ s+=(state & ARDRONE_TIMER_ELAPSED) ? "Timer elapsed ":"";
+ s+=(state & ARDRONE_ANGLES_OUT_OF_RANGE) ? "Angles out of range ":"";
+ s+=(state & ARDRONE_ULTRASOUND_MASK) ? "Ultrasonic sensor deaf ":"";
+ s+=(state & ARDRONE_CUTOUT_MASK) ? "Cutout system detection detected":"";
+// s+=(state & ARDRONE_PIC_VERSION_MASK)==0 ? /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
+// s+=(state & ARDRONE_ATCODEC_THREAD_ON)==0 ? /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
+ if(level>2)s+=(state & ARDRONE_NAVDATA_THREAD_ON)==0 ? "Navdata thread OFF ":"Navdata thread ON ";
+ if(level>2)s+=(state & ARDRONE_VIDEO_THREAD_ON )==0 ? "Video thread OFF ":"Video thread ON ";
+// s+=+(state & ARDRONE_ACQ_THREAD_ON)==0 ? "Acquisition thread OFF ":"Acquisition thread ON ";
+ s+=(state & ARDRONE_CTRL_WATCHDOG_MASK) ? "CTRL watchdog ":"";
+ s+=(state & ARDRONE_ADC_WATCHDOG_MASK) ? "ADC Watchdog ":"";
+ s+=(state & ARDRONE_COM_WATCHDOG_MASK) ? "Comm Watchdog ":"";
+ s+=(state & ARDRONE_EMERGENCY_MASK)? "Emg landing":"";
+ return s;
+}
projects / mardrone / blobdiff