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Lenovo test kusto #37

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841f817
test
Mar 7, 2023
6af0b76
some shiiieeeet
Mar 16, 2023
b652386
something from lenovo
Apr 11, 2023
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1 change: 1 addition & 0 deletions Control/Joystick.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ Joystick::Joystick(int updateTimeMs): ControlBase("Joystick") {

void Joystick::updateDevice() {
sf::Joystick::update();
// qDebug() << "updateDevice";

for (unsigned int i = 0; i < sizeof(axis_table) / sizeof(axis_table[0]); i++) {
sendAction(axis_table[i].action,
Expand Down
6 changes: 3 additions & 3 deletions ThrusterSettings/Thruster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ Thruster::Thruster(QWidget *parent) :

//change parameters
connect(ui->CheckBox_ThrusterPower, SIGNAL(stateChanged(int)), this, SLOT(powerCheckBoxChanged(int)));
connect(ui->SpinBox_ThrusterId, SIGNAL(valueChanged(int)), this, SLOT(idChanged(int)));
connect(ui->SpinBox_ThrusterId, SIGNAL(valueChanged(int)), this, SLOT(slotChanged(int)));
connect(ui->SpinBox_ThrusterSetSpeed, SIGNAL(valueChanged(int)), this, SLOT(speedChanged(int)));
connect(ui->DoubleSpinBox_SetForwardK, SIGNAL(valueChanged(double)), this, SLOT(forwardKChanged(double)));
connect(ui->DoubleSpinBox_SetBackwardK, SIGNAL(valueChanged(double)), this, SLOT(backwardKChanged(double)));
Expand Down Expand Up @@ -87,14 +87,14 @@ void Thruster::powerCheckBoxChanged(int power) {
emit parametorsChanged(ThrusterJson, ThisThruster);
}

void Thruster::idChanged(int id) {
void Thruster::slotChanged(int id) {
ui->SpinBox_ThrusterSetSpeed->setValue(0); // обнулям, чтобы не крутились не нужные движки
ThisThruster.velocity = 0;
emit parametorsChanged(ThrusterJson, ThisThruster);

if (autoSave == true) ThrusterJson["id"] = id;

ThisThruster.id = id;
ThisThruster.slot = id;
emit parametorsChanged(ThrusterJson, ThisThruster);
}

Expand Down
2 changes: 1 addition & 1 deletion ThrusterSettings/Thruster.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ public slots:
private slots:
void powerCheckBoxChanged(int power);

void idChanged(int id);
void slotChanged(int slot);
void speedChanged(int speed);
void forwardKChanged(double forwardK);
void backwardKChanged(double backwardK);
Expand Down
142 changes: 88 additions & 54 deletions UV/iserverdata.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,40 +4,45 @@
#include <string>
#include <sstream>

uint16_t getCheckSumm16b(char* pcBlock, int len);
uint8_t isCheckSumm16bCorrect(char* pcBlock, int len);
uint16_t getCheckSumm16b(char *pcBlock, int len);
uint8_t isCheckSumm16bCorrect(char *pcBlock, int len);

void set_bit(uint8_t& byte, uint8_t bit, bool state);
void set_bit(uint8_t &byte, uint8_t bit, bool state);

IServerData::IServerData()
: IBasicData() {
: IBasicData()
{
}

int IServerData::getThrusterAmount() {
int IServerData::getThrusterAmount()
{
int thrusterAmount;
UVMutex.lock();
thrusterAmount = UVState.getThrusterAmount();
UVMutex.unlock();
return thrusterAmount;
}

QString IServerData::getUdpHostAddress() {
QString IServerData::getUdpHostAddress()
{
QString udpHostAddress;
UVMutex.lock();
udpHostAddress = UVState.udpHostAddress;
UVMutex.unlock();
return udpHostAddress;
}

quint16 IServerData::getUdpHostPort() {
quint16 IServerData::getUdpHostPort()
{
quint16 udpHostPort;
UVMutex.lock();
udpHostPort = UVState.udpHostPort;
UVMutex.unlock();
return udpHostPort;
}

e_Countour IServerData::getCurrentControlContour() {
e_Countour IServerData::getCurrentControlContour()
{
e_Countour currentControlContour;

UVMutex.lock();
Expand All @@ -47,10 +52,12 @@ e_Countour IServerData::getCurrentControlContour() {
return currentControlContour;
}

QByteArray IServerData::generateMessage() {
QByteArray IServerData::generateMessage()
{
QByteArray formed;
formed.clear();
switch (getCurrentPackageMode()) {
switch (getCurrentPackageMode())
{
case PACKAGE_NORMAL:
formed = generateNormalMessage();
break;
Expand All @@ -64,15 +71,17 @@ QByteArray IServerData::generateMessage() {
return formed;
}

e_packageMode IServerData::getCurrentPackageMode() {
e_packageMode IServerData::getCurrentPackageMode()
{
e_packageMode currentPackageMode;
UVMutex.lock();
currentPackageMode = UVState.currentPackageMode;
UVMutex.unlock();
return currentPackageMode;
}

QByteArray IServerData::generateNormalMessage() {
QByteArray IServerData::generateNormalMessage()
{
QByteArray msg;
msg.clear();
QDataStream stream(&msg, QIODeviceBase::Append);
Expand All @@ -90,7 +99,8 @@ QByteArray IServerData::generateNormalMessage() {
stream << req.roll;
stream << req.pitch;
stream << req.yaw;
for (int i = 0; i < 6; i++) {
for (int i = 0; i < 6; i++)
{
stream << req.dev[i];
}

Expand All @@ -99,7 +109,8 @@ QByteArray IServerData::generateNormalMessage() {
return msg;
}

void IServerData::fillStructure(RequestNormalMessage& req) {
void IServerData::fillStructure(RequestNormalMessage &req)
{
UVMutex.lock();

set_bit(req.flags, 0, UVState.stabRoll);
Expand All @@ -116,14 +127,16 @@ void IServerData::fillStructure(RequestNormalMessage& req) {
req.pitch = UVState.control.pitch;
req.yaw = UVState.control.yaw;

for (int i = 0; i < 6; i++) {
for (int i = 0; i < 6; i++)
{
req.dev[i] = UVState.device[i].velocity;
}

UVMutex.unlock();
}

QByteArray IServerData::generateConfigMessage() {
QByteArray IServerData::generateConfigMessage()
{
QByteArray msg;
msg.clear();
QDataStream stream(&msg, QIODeviceBase::Append);
Expand Down Expand Up @@ -166,7 +179,8 @@ QByteArray IServerData::generateConfigMessage() {
return msg;
}

void IServerData::fillStructure(RequestConfigMessage& req) {
void IServerData::fillStructure(RequestConfigMessage &req)
{
UVMutex.lock();
e_Countour currentControlContour = UVState.currentControlContour;

Expand Down Expand Up @@ -194,7 +208,8 @@ void IServerData::fillStructure(RequestConfigMessage& req) {
UVMutex.unlock();
}

QByteArray IServerData::generateDirectMessage() {
QByteArray IServerData::generateDirectMessage()
{
QByteArray msg;
msg.clear();
QDataStream stream(&msg, QIODeviceBase::Append);
Expand All @@ -219,16 +234,20 @@ QByteArray IServerData::generateDirectMessage() {
return msg;
}

void IServerData::fillStructure(RequestDirectMessage& req) {
void IServerData::fillStructure(RequestDirectMessage &req)
{
UVMutex.lock();
UVState.setThrusterNext();

req.id = UVState.currentThruster;
req.slot = UVState.thruster[UVState.currentThruster].slot;

if (UVState.thruster[UVState.currentThruster].power == false) {
if (UVState.thruster[UVState.currentThruster].power == false)
{
req.velocity = 0;
} else {
}
else
{
req.velocity = UVState.thruster[UVState.currentThruster].velocity;
}

Expand All @@ -242,8 +261,10 @@ void IServerData::fillStructure(RequestDirectMessage& req) {
UVMutex.unlock();
}

void IServerData::parseMessage(QByteArray message) {
switch (getCurrentPackageMode()) {
void IServerData::parseMessage(QByteArray message)
{
switch (getCurrentPackageMode())
{
case PACKAGE_NORMAL:
parseNormalMessage(message);
break;
Expand All @@ -258,7 +279,8 @@ void IServerData::parseMessage(QByteArray message) {
}
}

void IServerData::parseNormalMessage(QByteArray msg) {
void IServerData::parseNormalMessage(QByteArray msg)
{
ResponseNormalMessage res;
uint16_t checksum_calc = getCheckSumm16b(msg.data(), msg.size() - 2);

Expand All @@ -277,20 +299,21 @@ void IServerData::parseNormalMessage(QByteArray msg) {

stream >> res.checksum;

if (res.checksum != checksum_calc) {
qDebug() << "Checksum NormalMessage is invalid";
std::stringstream stream;
stream << "[ISERVERDATA] Checksum is invalid. Calculated: [" <<
std::ios::hex << checksum_calc << "] " <<
"Received: [" <<
std::ios::hex << res.checksum << "]";
throw std::invalid_argument(stream.str());
}
// if (res.checksum != checksum_calc) {
// qDebug() << "Checksum NormalMessage is invalid";
// std::stringstream stream;
// stream << "[ISERVERDATA] Checksum is invalid. Calculated: [" <<
// std::ios::hex << checksum_calc << "] " <<
// "Received: [" <<
// std::ios::hex << res.checksum << "]";
// throw std::invalid_argument(stream.str());
// }

pullFromStructure(res);
}

void IServerData::pullFromStructure(ResponseNormalMessage res) {
void IServerData::pullFromStructure(ResponseNormalMessage res)
{
UVMutex.lock();

UVState.imu.roll = res.roll;
Expand All @@ -305,7 +328,8 @@ void IServerData::pullFromStructure(ResponseNormalMessage res) {
UVMutex.unlock();
}

void IServerData::parseConfigMessage(QByteArray msg) {
void IServerData::parseConfigMessage(QByteArray msg)
{
ResponseConfigMessage res;
uint16_t checksum_calc = getCheckSumm16b(msg.data(), msg.size() - 2);

Expand Down Expand Up @@ -341,20 +365,20 @@ void IServerData::parseConfigMessage(QByteArray msg) {

stream >> res.checksum;

if (res.checksum != checksum_calc) {
if (res.checksum != checksum_calc)
{
qDebug() << "Checksum ConfigMessage is invalid";
std::stringstream stream;
stream << "[ISERVERDATA] Checksum is invalid. Calculated: [" <<
std::ios::hex << checksum_calc << "] " <<
"Received: [" <<
std::ios::hex << res.checksum << "]";
stream << "[ISERVERDATA] Checksum is invalid. Calculated: [" << std::ios::hex << checksum_calc << "] "
<< "Received: [" << std::ios::hex << res.checksum << "]";
throw std::invalid_argument(stream.str());
}

pullFromStructure(res);
}

void IServerData::pullFromStructure(ResponseConfigMessage res) {
void IServerData::pullFromStructure(ResponseConfigMessage res)
{
UVMutex.lock();

UVState.imu.roll = res.roll;
Expand Down Expand Up @@ -386,7 +410,8 @@ void IServerData::pullFromStructure(ResponseConfigMessage res) {
UVMutex.unlock();
}

void IServerData::parseDirectMessage(QByteArray msg) {
void IServerData::parseDirectMessage(QByteArray msg)
{
ResponseDirectMessage res;

uint16_t checksum_calc = getCheckSumm16b(msg.data(), msg.size() - 2);
Expand All @@ -397,29 +422,34 @@ void IServerData::parseDirectMessage(QByteArray msg) {

stream >> res.checksum;

if (res.checksum != checksum_calc) {
if (res.checksum != checksum_calc)
{
std::stringstream stream;
stream << "[ISERVERDATA] Checksum is invalid. Calculated: [" <<
std::ios::hex << checksum_calc << "] " <<
"Received: [" <<
std::ios::hex << res.checksum << "]";
stream << "[ISERVERDATA] Checksum is invalid. Calculated: [" << std::ios::hex << checksum_calc << "] "
<< "Received: [" << std::ios::hex << res.checksum << "]";
throw std::invalid_argument(stream.str());
}

pullFromStructure(res);
}

void IServerData::pullFromStructure(ResponseDirectMessage res) {
void IServerData::pullFromStructure(ResponseDirectMessage res)
{
// nothing
}

/* CRC16-CCITT algorithm */
uint16_t getCheckSumm16b(char* pcBlock, int len) {
uint16_t getCheckSumm16b(char *pcBlock, int len)
{
uint16_t crc = 0xFFFF;
//int crc_fix = reinterpret_cast<int*>(&crc);
if (len <= 0)
return 0; // проверяем длину сообщения

// int crc_fix = reinterpret_cast<int*>(&crc);
uint8_t i;

while (len--) {
while (len--)
{
crc ^= *pcBlock++ << 8;

for (i = 0; i < 8; i++)
Expand All @@ -428,11 +458,15 @@ uint16_t getCheckSumm16b(char* pcBlock, int len) {
return crc;
}

void set_bit(uint8_t& byte, uint8_t bit, bool state) {
void set_bit(uint8_t &byte, uint8_t bit, bool state)
{
uint8_t value = 1;
if (state) {
if (state)
{
byte = byte | (value << bit);
} else {
}
else
{
byte = byte & ~(value << bit);
}
}
2 changes: 1 addition & 1 deletion UV/ituningdata.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ int ITuningData::getThrusterAmount() {
}

void ITuningData::setThrusterData(int slot, UV_Thruster data) {
if (slot < UVState.getThrusterAmount()) {
if (slot < UVState.getThrusterAmount() ) {
UVMutex.lock();
UVState.thruster[slot] = data;
UVMutex.unlock();
Expand Down
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