first commit

Spherebot_UI/spherebot.cpp

@@ -0,0 +1,66 @@
+#include "spherebot.h"
+
+spherebot::spherebot(QObject *parent) :
+    QObject(parent)
+{
+    port = NULL;
+    port_connected = false;
+}
+
+bool spherebot::connectWithBot(QString portName)
+{
+    port = new QextSerialPort(portName , QextSerialPort::Polling); //we create the port
+
+
+    port->open(QIODevice::ReadWrite); //we open the port
+    if(!port->isOpen())
+    {
+        //QMessageBox::warning(this, "port error", "Impossible to open the port!");
+        return 0;
+    }
+
+    //we set the port properties
+    port->setBaudRate(BAUD115200);//modify the port settings on your own
+    port->setFlowControl(FLOW_OFF);
+    port->setParity(PAR_NONE);
+    port->setDataBits(DATA_8);
+    port->setStopBits(STOP_1);
+    port->setRts( true );
+    port->setDtr( true );
+    //port->setQueryMode( QextSerialPort::EventDriven );
+    port_connected = true;
+    return 1;
+}
+
+bool spherebot::disconnectWithBot()
+{
+    qDebug("port closed");
+    port->close();
+    port_connected = false;
+    return 1;
+}
+
+bool spherebot::send(QString cmd)
+{
+    if(port->isOpen())
+    {
+        port->flush();
+        if(cmd[cmd.size()-1] != '\n') cmd.append("\n");
+        qDebug()<<"Sending: " + cmd;
+        port->write((const char*)cmd.toUtf8(),cmd.length());
+
+    }
+    else
+    {
+        qDebug()<<port->errorString();
+        return false;
+    }
+    cmd.chop(1);
+    emit dataSent(cmd);
+    return true;
+}
+
+bool spherebot::isConnected()
+{
+    return port_connected;
+}