#include <QNetworkConfigurationManager>
#include <QNetworkSession>
#include <QList>
+#include <QDateTime>
#include "navdata.h"
#include "ardrone_api.h"
droneThread->setEmergency(m_emergency);
};
+bool DroneControl::recordLog()
+{
+ return droneThread? droneThread->getRecordLog():false;
+};
+
+void DroneControl::setRecordLog(bool val_)
+{
+ if(droneThread) droneThread->setRecordLog(val_);
+};
+QString DroneControl::logFileName()
+{
+ return droneThread? droneThread->getLogFileName():"";
+};
+void DroneControl::setLogFileName(QString val_)
+{
+ if(droneThread) droneThread->setLogFileName(val_);
+};
+unsigned int DroneControl::logSeq()
+{
+ return droneThread? droneThread->getLogSeq():0;
+};
+
+void DroneControl::setLogSeq(int val_)
+{
+ if(droneThread) droneThread->setLogSeq(val_);
+};
+
// Getters to drone actual valyes sent by drone
int DroneControl::pwm_motor3() { return droneThread->navData()->pwm_motor3;};
int DroneControl::pwm_motor4() { return droneThread->navData()->pwm_motor4;};
+
+/*
+
+ Setters and Getters for Config variables
+
+ */
+
+
+
QString DroneControl::confDroneIp()
{
qDebug() << "confDroneIp:" << droneSettings->value("droneIp","192.168.1.1").toString();
emit configChanged();
};
+QString DroneControl::errorString()
+{
+ return m_errorString;
+};
+void DroneControl::setErrorString(QString val_)
+{
+ m_errorString=val_;
+};
+
/*=================================================
DroneThread class starts here
==================================================*/
+DroneThread::DroneThread(DroneControl *parentp,QHostAddress host)
+{
+
+ struct ip_mreq imreq;
+ QString my_ip;
+ qDebug() << "DroneThread::DroneThread";
+ my_ip="192.168.1.2";
+ stopped=false;
+ state=notInitialized;
+ parent=parentp;
+ navSock=new QUdpSocket();
+ QList<QNetworkConfiguration> netconfs=QNetworkConfigurationManager().allConfigurations();
+ foreach (QNetworkConfiguration np,netconfs) {
+ qDebug() << "network Confifuration name " << np.name() << np.bearerName() << np.bearerTypeName();
+ QNetworkSession ns(np);
+ if(ns.interface().addressEntries().empty())
+ qDebug() << "network session " << ns.interface().humanReadableName() << "**NotConfig**";
+ else {
+ qDebug() << "network session " << ns.interface().humanReadableName() << ns.interface().addressEntries().first().ip();
+ // Ubuntu may give wlan0 as "Ethernet"
+ if((np.bearerName()==QString("WLAN")) || (ns.interface().humanReadableName()==QString("wlan0")) ) {
+ my_ip=ns.interface().addressEntries().first().ip().toString();
+ qDebug() << "My IP is " << my_ip;
+ }
+ }
+ }
+ if(!navSock->bind(QHostAddress::Any,5554))
+ qDebug() << "Cant open any: 5554" << navSock->errorString() ;
+//#if 0
+ // Qt 4.7.x
+ imreq.imr_multiaddr.s_addr=inet_addr("224.1.1.1");
+ imreq.imr_interface.s_addr=inet_addr(my_ip.toAscii());
+ setsockopt(navSock->socketDescriptor(),IPPROTO_IP,IP_ADD_MEMBERSHIP,&imreq,sizeof(imreq));
+//#else
+ // Qt 4.8
+ if(!navSock->joinMulticastGroup(QHostAddress("224.1.1.1")))
+ qDebug() << "can't join multicast Group 224.1.1.1" << navSock->errorString();
+//#endif
+ cmdSock=new QUdpSocket();
+ cmdSock->bind(QHostAddress::Any,5556);
+ droneHost=host;
+ recordLog=false;
+ logFile=NULL;
+ logFileName="";
+ seq=1;
+ m_pitch=0;
+ m_roll=0;
+ m_yaw=0;
+ m_vv=0;
+ m_fgain=1.0;
+ m_bgain=1.0;
+ m_rgain=1.0;
+ m_lgain=1.0;
+ noreply=0;
+ start();
+
+};
void DroneThread::setFly(bool fly)
{
sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28) +(state==flying ? 1<<9:0)));
};
+void DroneThread::setRecordLog(bool log)
+{
+ qDebug() << "DroneThread::setRecordLog" << log;
+ QDateTime fileDate=QDateTime::currentDateTime();
+ if(!recordLog && log) {
+ if(logFileName.isEmpty()) logFileName="dronerec"+fileDate.toString("yyyyMMddhhmm");
+ qDebug() << "logFileName=" << logFileName;
+ //emit frameSeqChanged();
+ }
+ recordLog=log;
+ if(!recordLog && logFile) { // Stop recording
+ logFile->close();
+ logFile->~QFile();
+ logFile=NULL;
+ logFileName="";
+ }
+
+
+}
+
+bool DroneThread::getRecordLog()
+{
+ return recordLog;
+}
+
+QString DroneThread::getLogFileName()
+{
+ return logFileName;
+}
+
+void DroneThread::setLogFileName(QString name)
+{
+ logFileName=name;
+}
+
+unsigned int DroneThread::getLogSeq()
+{
+ return logSeq;
+}
+
+void DroneThread::setLogSeq(unsigned int val)
+{
+ logSeq=val;
+}
+
void DroneThread::setEmergency(bool emg)
{
m_emergency=emg;
}
-DroneThread::DroneThread(DroneControl *parentp,QHostAddress host)
-{
-
- struct ip_mreq imreq;
- QString my_ip;
- qDebug() << "DroneThread::DroneThread";
- my_ip="192.168.1.2";
- stopped=false;
- state=notInitialized;
- parent=parentp;
- navSock=new QUdpSocket();
- QList<QNetworkConfiguration> netconfs=QNetworkConfigurationManager().allConfigurations();
- foreach (QNetworkConfiguration np,netconfs) {
- qDebug() << "network Confifuration name " << np.name() << np.bearerName() << np.bearerTypeName();
- QNetworkSession ns(np);
- if(ns.interface().addressEntries().empty())
- qDebug() << "network session " << ns.interface().humanReadableName() << "**NotConfig**";
- else {
- qDebug() << "network session " << ns.interface().humanReadableName() << ns.interface().addressEntries().first().ip();
- // Ubuntu may give wlan0 as "Ethernet"
- if((np.bearerName()==QString("WLAN")) || (ns.interface().humanReadableName()==QString("wlan0")) ) {
- my_ip=ns.interface().addressEntries().first().ip().toString();
- qDebug() << "My IP is " << my_ip;
- }
- }
- }
- if(!navSock->bind(QHostAddress::Any,5554))
- qDebug() << "Cant open any: 5554" << navSock->errorString() ;
- imreq.imr_multiaddr.s_addr=inet_addr("224.1.1.1");
- imreq.imr_interface.s_addr=inet_addr(my_ip.toAscii());
- setsockopt(navSock->socketDescriptor(),IPPROTO_IP,IP_ADD_MEMBERSHIP,&imreq,sizeof(imreq));
- cmdSock=new QUdpSocket();
- cmdSock->bind(QHostAddress::Any,5556);
- droneHost=host;
- seq=1;
- m_pitch=0;
- m_roll=0;
- m_yaw=0;
- m_vv=0;
- m_fgain=1.0;
- m_bgain=1.0;
- m_rgain=1.0;
- m_lgain=1.0;
- noreply=0;
- start();
-
-
-};
void DroneThread::run()
{
if(noreply>50 ) {
cmd+=QString("AT*COMWDG=%1\r").arg(seq++);
navData()->setState("**TimeOut**");
- qDebug("Timeout");
+ // qDebug("Timeout");
noreply=0;
};
switch(state) {
projects / mardrone / blobdiff