git.maemo.org Git - mardrone/blob - mardrone/navdata.cpp

   1 /*==================================================================
   2   !
   3   !  mardrone application AR-Drone for MeeGo
   4
   5   ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
   6   ! All rights reserved.
   7   !
   8   !  Author:Kate Alhola  kate.alhola@nokia.com
   9   !
  10   ! GNU Lesser General Public License Usage
  11   ! This file may be used under the terms of the GNU Lesser
  12   ! General Public License version 2.1 as published by the Free Software
  13   ! Foundation and appearing in the file LICENSE.LGPL included in the
  14   ! packaging of this file.  Please review the following information to
  15   ! ensure the GNU Lesser General Public License version 2.1 requirements
  16   ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
  17   !
  18   !
  19   !
  20   *===================================================================*/
  21 #include <QDebug>
  22 #include "navdata.h"
  23
  24
  25 NavData::NavData(QObject *parent) :
  26     QObject(parent)
  27 {
  28      vx=0;vy=0;vz=0;pwm_motor1=0;pwm_motor2=0;pwm_motor3=0;pwm_motor4=0;
  29      vbat=0.0;pitch=0.0;roll=0.0;yaw=0.0;altitude=0.0;
  30 }
  31
  32 void NavData::parseRawNavData(char *buf,unsigned int len)
  33 {
  34     int opt=0;
  35     navdata_option_t *op;
  36     _navdata_t *nd=(_navdata_t *)buf;
  37     state=nd->ardrone_state;
  38     if(state!=oldState) {
  39         oldState=state;
  40         decodedState=decodeState(state,0);
  41         emit stateUpdated();
  42     };
  43 #if 0
  44     qDebug("parseRawNavData hdr=%8x state=%08x seq=%06d opt[0].tag=%d size=%d",
  45            nd->header,nd->ardrone_state,nd->sequence,nd->options[0].tag,nd->options[0].size);
  46 #endif
  47     qDebug() << decodedState;
  48     op=&(nd->options[0]);
  49     while((((unsigned int)op-(unsigned int)buf)<len) && (op->size>0))
  50     {
  51        parseOption(op);
  52        op=(navdata_option_t *)((unsigned int)op+op->size);
  53     }
  54 };
  55
  56 void NavData::parseOption(navdata_option_t *op)
  57 {
  58   //  qDebug("parseOption tag=%d size=%d",op->tag,op->size);
  59     switch(op->tag) {
  60     case NAVDATA_DEMO_TAG:
  61                 {
  62                     _navdata_demo_t *ndemo=(_navdata_demo_t*)op;
  63                     vbat=ndemo->vbat_flying_percentage;
  64                     pitch=ndemo->theta/1000.0;
  65                     roll=ndemo->phi/1000.0;
  66                     yaw=ndemo->psi/1000.0;
  67                     altitude=ndemo->altitude;
  68                     vx=ndemo->vx;
  69                     vy=ndemo->vy;
  70                     vz=ndemo->vz;
  71                     emit navDataUpdated();
  72                     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);
  73                 }
  74                 break;
  75         case NAVDATA_TIME_TAG:
  76                 {
  77                 _navdata_time_t *ntdime=(_navdata_time_t*)op;
  78                 }
  79                 break;
  80         case NAVDATA_RAW_MEASURES_TAG:
  81                 {
  82                 _navdata_raw_measures_t *nraw=(_navdata_raw_measures_t*)op;
  83                 }
  84                 break;
  85         case NAVDATA_PHYS_MEASURES_TAG:
  86                 {
  87                 _navdata_phys_measures_t *nphys=(_navdata_phys_measures_t*)op;
  88                 }
  89                 break;
  90         case NAVDATA_GYROS_OFFSETS_TAG:
  91                 break;
  92         case NAVDATA_EULER_ANGLES_TAG:
  93                 break;
  94         case NAVDATA_REFERENCES_TAG:
  95                 break;
  96         case NAVDATA_TRIMS_TAG: // 7
  97                 {
  98                 _navdata_trims_t *ntrim=( _navdata_trims_t*)op;
  99                 }
 100                 break;
 101         case NAVDATA_RC_REFERENCES_TAG: //8
 102                 break;
 103         case NAVDATA_PWM_TAG:
 104                 {
 105                 _navdata_pwm_t *npwm=( _navdata_pwm_t*)op;
 106                 current_motor1=npwm->current_motor1;
 107                 pwm_motor1=npwm->motor1;
 108                 current_motor2=npwm->current_motor2;
 109                 pwm_motor2=npwm->motor2;
 110                 current_motor3=npwm->current_motor3;
 111                 pwm_motor3=npwm->motor3;
 112                 current_motor4=npwm->current_motor4;
 113                 pwm_motor4=npwm->motor4;
 114                 emit navDataUpdated();
 115          //       qDebug("pwm1=%3d I1=%4f pwm2=%3d I2=%4f pwm3=%3d I3=%4f pwm4=%3d I4=%4f",
 116          //              pwm_motor1,current_motor1,pwm_motor2,current_motor2,pwm_motor3,current_motor3,pwm_motor4,current_motor4);
 117                  }
 118                 break;
 119         case NAVDATA_ALTITUDE_TAG: //10
 120                 break;
 121         case NAVDATA_VISION_RAW_TAG:
 122                 break;
 123         case NAVDATA_VISION_OF_TAG: //12
 124                 break;
 125         case NAVDATA_VISION_TAG:
 126                 break;
 127         case NAVDATA_VISION_PERF_TAG:
 128                 break;
 129         case NAVDATA_TRACKERS_SEND_TAG:
 130                 break;
 131         case NAVDATA_VISION_DETECT_TAG: //16
 132             {
 133                 _navdata_vision_detect_t *nvisd=(_navdata_vision_detect_t*)op;
 134                 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],
 135                        nvisd->width[0],nvisd->height[0],nvisd->dist[0]);
 136                 for(int i=0;i++;i<4) {
 137                     tags[i].type=nvisd->type[i];
 138                     tags[i].xc=nvisd->xc[i];
 139                     tags[i].yc=nvisd->yc[i];
 140                     tags[i].height=nvisd->height[i];
 141                     tags[i].width=nvisd->width[i];
 142                     tags[i].dist=nvisd->dist[i];
 143                 }
 144            }
 145                 break;
 146         case NAVDATA_WATCHDOG_TAG:
 147                 break;
 148         case NAVDATA_ADC_DATA_FRAME_TAG:
 149                 break;
 150         case NAVDATA_CKS_TAG: //65535
 151                 break;
 152     }
 153 };
 154
 155 QString NavData::decodeState(unsigned int state,int level)
 156 {
 157    QString s="%1 ";
 158    s=s.arg(state,8,16);
 159    s+=(state & ARDRONE_FLY_MASK)==0 ? "landed ":"flying ";
 160    if(level>1) s+=(state & ARDRONE_VIDEO_MASK)==0 ?"video disable ":"video ena ";
 161    if(level>1)s+=(state & ARDRONE_VISION_MASK)==0 ? "vision disable ":"vision ena ";
 162    if(level>1)s+=(state & ARDRONE_CONTROL_MASK)==0 ?  "euler angles ":"angular speed ";
 163    if(level>1)s+=(state & ARDRONE_ALTITUDE_MASK)==0 ? "alt ctrl inact ":"alt ctrl act ";
 164  //s+=(state & ARDRONE_USER_FEEDBACK_START)==0 ?  /*!< USER feedback : Start button state */
 165    s+=(state & ARDRONE_COMMAND_MASK)==0 ?  "CMD NAK ":"CMD ACK ";
 166  //  s+=(state & ARDRONE_FW_FILE_MASK)==0 ?  /* Firmware file is good;
 167  //  s+=(state & ARDRONE_FW_VER_MASK )==0 ?  /* Firmware update is newer;
 168  //  ARDRONE_FW_UPD_MASK         = 1 << 9,  /* Firmware update is ongoing (1;
 169    s+=(state & ARDRONE_NAVDATA_DEMO_MASK )==0 ? "All navdata ":"navdata demo ";
 170       s+=(state & ARDRONE_NAVDATA_BOOTSTRAP)==0 ? "":"Navdata bootstrap ";
 171  //  s+=(state & ARDRONE_MOTORS_MASK)==0 ? /*!< Motors status : (0) Ok, (1) Motors problem */
 172    s+=(state & ARDRONE_COM_LOST_MASK)? "Com Lost ":"Com ok ";
 173    if(level>1)s+=(state & ARDRONE_VBAT_LOW) ? "VBat low ":"Vbat Ok ";
 174    if(level>1)s+=(state & ARDRONE_USER_EL) ? "User EL ":"";
 175    s+=(state & ARDRONE_TIMER_ELAPSED) ? "Timer elapsed ":"";
 176    s+=(state & ARDRONE_ANGLES_OUT_OF_RANGE) ? "Angles out of range ":"";
 177    s+=(state & ARDRONE_ULTRASOUND_MASK) ? "Ultrasonic sensor deaf ":"";
 178    s+=(state & ARDRONE_CUTOUT_MASK) ? "Cutout system detection detected":"";
 179 //   s+=(state & ARDRONE_PIC_VERSION_MASK)==0 ? /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
 180 //   s+=(state & ARDRONE_ATCODEC_THREAD_ON)==0 ? /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
 181    if(level>2)s+=(state & ARDRONE_NAVDATA_THREAD_ON)==0 ? "Navdata thread OFF ":"Navdata thread ON ";
 182    if(level>2)s+=(state & ARDRONE_VIDEO_THREAD_ON )==0 ? "Video thread OFF ":"Video thread ON ";
 183 //   s+=+(state & ARDRONE_ACQ_THREAD_ON)==0 ?  "Acquisition thread OFF ":"Acquisition thread ON ";
 184    s+=(state & ARDRONE_CTRL_WATCHDOG_MASK) ? "CTRL watchdog ":"";
 185    s+=(state & ARDRONE_ADC_WATCHDOG_MASK) ? "ADC Watchdog ":"";
 186    s+=(state & ARDRONE_COM_WATCHDOG_MASK) ? "Comm Watchdog ":"";
 187    s+=(state & ARDRONE_EMERGENCY_MASK)?  "Emg landing":"";
 188    return s;
 189 }