mirror of
https://github.com/thunderbug1/Spherebot-Host-GUI.git
synced 2026-03-03 08:33:59 +01:00
aec078c865
outsourced the receiving to a seperate thread. This allows us to use much lower baudrates but still have a responsive UI. Set Baudrate to 57600 baud
98 lines
2.2 KiB
C++
98 lines
2.2 KiB
C++
#include "spherebot.h"
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spherebot::spherebot(QObject *parent) :
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QObject(parent)
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{
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port = new QSerialPort();
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port_connected = false;
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lastSentLine = "";
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}
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bool spherebot::connectWithBot()
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{
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port->open(QIODevice::ReadWrite); //we open the port
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if(!port->isOpen())
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{
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//QMessageBox::warning(this, "port error", "Impossible to open the port!");
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return 0;
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}
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//we set the port properties
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//port->setBaudRate(9600);
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port->setBaudRate(57600);
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//port->setBaudRate(115200);//modify the port settings on your own
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//port->setBaudRate(256000);
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port->setFlowControl(QSerialPort::NoFlowControl);
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port->setParity(QSerialPort::NoParity);
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port->setDataBits(QSerialPort::Data8);
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port->setStopBits(QSerialPort::OneStop);
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port_connected = true;
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return 1;
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}
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bool spherebot::connectWithBot(QString portName)
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{
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port->setPortName(portName);
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return connectWithBot();
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}
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bool spherebot::disconnectWithBot()
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{
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qDebug("port closed");
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port->close();
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port_connected = false;
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return 1;
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}
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QString spherebot::generateChecksumString(QString msg)
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{
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QString result = "*"; //"*" is the startcharacter of the checksum
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std::string msgString= msg.toStdString();
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int cs = 0;
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for(int i=0;i<msg.size();i++)
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{
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cs = cs ^ (int)msgString[i];
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cs &= 0xff; // Defensive programming...
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}
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result += QString::number(cs);
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qDebug()<<"checksum is: "<< cs <<endl;
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return result;
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}
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bool spherebot::send(QString cmd)
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{
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if(port->isOpen())
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{
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port->flush();
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lastSentLine.clear();
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lastSentLine.append(cmd);
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if(cmd.size() != 0)
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{
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if(cmd[cmd.size()-1] == '\n') cmd.chop(1);
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}
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cmd.append(" ");
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cmd.append(generateChecksumString(cmd));
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qDebug()<<"Sending: " + cmd;
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cmd.append("\n");
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port->write((const char*)cmd.toUtf8(),cmd.length());
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}
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else
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{
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qDebug()<<port->errorString()<<" port is not open";
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return false;
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}
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cmd.chop(1);
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emit dataSent(cmd);
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return true;
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}
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bool spherebot::repeatLastLine()
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{
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return send(lastSentLine);
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}
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bool spherebot::isConnected()
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{
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return port_connected;
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}
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