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packetinterface.cpp
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/*
Copyright 2012 - 2019 Benjamin Vedder [email protected]
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "packetinterface.h"
#include "utility.h"
#include <QDebug>
#include <math.h>
#include <QEventLoop>
namespace {
// CRC Table
const unsigned short crc16_tab[] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084,
0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad,
0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7,
0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719,
0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7,
0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948,
0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50,
0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b,
0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe,
0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca,
0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d,
0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214,
0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c,
0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d,
0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806,
0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e,
0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1,
0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0,
0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
}
PacketInterface::PacketInterface(QObject *parent) :
QObject(parent)
{
mSendBuffer = new quint8[mMaxBufferLen];
mRxBuffer = new unsigned char[mMaxBufferLen];
mSendBufferAck = new unsigned char[mMaxBufferLen];
mRxState = 0;
mRxTimer = 0;
// Packet state
mPayloadLength = 0;
mRxDataPtr = 0;
mCrcLow = 0;
mCrcHigh = 0;
mWaitingAck = false;
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mHostAddress = QHostAddress("0.0.0.0");
mHostAddress2 = QHostAddress("0.0.0.0");
mUdpPort = 0;
mUdpSocket = new QUdpSocket(this);
mUdpServer = false;
connect(mUdpSocket, SIGNAL(readyRead()),
this, SLOT(readPendingDatagrams()));
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
PacketInterface::~PacketInterface()
{
delete[] mSendBuffer;
delete[] mRxBuffer;
delete[] mSendBufferAck;
}
void PacketInterface::processData(QByteArray &data)
{
unsigned char rx_data;
const int rx_timeout = 50;
for(int i = 0;i < data.length();i++) {
rx_data = data[i];
switch (mRxState) {
case 0:
if (rx_data == 2) {
mRxState += 3;
mRxTimer = rx_timeout;
mRxDataPtr = 0;
mPayloadLength = 0;
} else if (rx_data == 3) {
mRxState += 2;
mRxTimer = rx_timeout;
mRxDataPtr = 0;
mPayloadLength = 0;
} else if (rx_data == 4) {
mRxState++;
mRxTimer = rx_timeout;
mRxDataPtr = 0;
mPayloadLength = 0;
} else {
mRxState = 0;
}
break;
case 1:
mPayloadLength |= (unsigned int)rx_data << 16;
mRxState++;
mRxTimer = rx_timeout;
break;
case 2:
mPayloadLength |= (unsigned int)rx_data << 8;
mRxState++;
mRxTimer = rx_timeout;
break;
case 3:
mPayloadLength |= (unsigned int)rx_data;
if (mPayloadLength <= mMaxBufferLen && mPayloadLength > 0) {
mRxState++;
mRxTimer = rx_timeout;
} else {
mRxState = 0;
}
break;
case 4:
mRxBuffer[mRxDataPtr++] = rx_data;
if (mRxDataPtr == mPayloadLength) {
mRxState++;
}
mRxTimer = rx_timeout;
break;
case 5:
mCrcHigh = rx_data;
mRxState++;
mRxTimer = rx_timeout;
break;
case 6:
mCrcLow = rx_data;
mRxState++;
mRxTimer = rx_timeout;
break;
case 7:
if (rx_data == 3) {
if (crc16(mRxBuffer, mPayloadLength) ==
((unsigned short)mCrcHigh << 8 | (unsigned short)mCrcLow)) {
// Packet received!
processPacket(mRxBuffer, mPayloadLength);
}
}
mRxState = 0;
break;
default:
mRxState = 0;
break;
}
}
}
void PacketInterface::processPacket(const unsigned char *data, int len)
{
QByteArray pkt = QByteArray((const char*)data, len);
unsigned char id = data[0];
data++;
len--;
CMD_PACKET cmd = (CMD_PACKET)(quint8)data[0];
data++;
len--;
emit packetReceived(id, cmd, pkt);
switch (cmd) {
case CMD_PRINTF: {
QByteArray tmpArray = QByteArray::fromRawData((const char*)data, len);
tmpArray[len] = '\0';
emit printReceived(id, QString::fromLatin1(tmpArray));
} break;
case CMD_GET_ENU_REF: {
int32_t ind = 0;
double lat, lon, height;
lat = utility::buffer_get_double64(data, 1e16, &ind);
lon = utility::buffer_get_double64(data, 1e16, &ind);
height = utility::buffer_get_double32(data, 1e3, &ind);
emit enuRefReceived(id, lat, lon, height);
} break;
case CMD_AP_GET_ROUTE_PART: {
int32_t ind = 0;
QList<LocPoint> route;
int routeLen = utility::buffer_get_int32(data, &ind);
while (ind < len) {
LocPoint p;
p.setX(utility::buffer_get_double32_auto(data, &ind));
p.setY(utility::buffer_get_double32_auto(data, &ind));
p.setHeight(utility::buffer_get_double32_auto(data, &ind));
p.setSpeed(utility::buffer_get_double32_auto(data, &ind));
p.setTime(utility::buffer_get_int32(data, &ind));
p.setAttributes(utility::buffer_get_uint32(data, &ind));
route.append(p);
}
emit routePartReceived(id, routeLen, route);
} break;
case CMD_SEND_RTCM_USB: {
QByteArray tmpArray((char*)data, len);
emit rtcmUsbReceived(id, tmpArray);
} break;
case CMD_SEND_NMEA_RADIO: {
QByteArray tmpArray((char*)data, len);
emit nmeaRadioReceived(id, tmpArray);
} break;
case CMD_GET_MAIN_CONFIG:
case CMD_GET_MAIN_CONFIG_DEFAULT: {
MAIN_CONFIG conf;
int32_t ind = 0;
conf.mag_use = data[ind++];
conf.mag_comp = data[ind++];
conf.yaw_mag_gain = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_cx = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_cy = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_cz = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_xx = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_xy = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_xz = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_yx = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_yy = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_yz = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_zx = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_zy = utility::buffer_get_double32_auto(data, &ind);
conf.mag_cal_zz = utility::buffer_get_double32_auto(data, &ind);
conf.gps_ant_x = utility::buffer_get_double32_auto(data, &ind);
conf.gps_ant_y = utility::buffer_get_double32_auto(data, &ind);
conf.gps_comp = data[ind++];
conf.gps_req_rtk = data[ind++];
conf.gps_use_rtcm_base_as_enu_ref = data[ind++];
conf.gps_corr_gain_stat = utility::buffer_get_double32_auto(data, &ind);
conf.gps_corr_gain_dyn = utility::buffer_get_double32_auto(data, &ind);
conf.gps_corr_gain_yaw = utility::buffer_get_double32_auto(data, &ind);
conf.gps_send_nmea = data[ind++];
conf.gps_use_ubx_info = data[ind++];
conf.gps_ubx_max_acc = utility::buffer_get_double32_auto(data, &ind);
conf.uwb_max_corr = utility::buffer_get_double32_auto(data, &ind);
conf.ap_repeat_routes = data[ind++];
conf.ap_base_rad = utility::buffer_get_double32_auto(data, &ind);
conf.ap_rad_time_ahead = utility::buffer_get_double32_auto(data, &ind);
conf.ap_mode_time = data[ind++];
conf.ap_max_speed = utility::buffer_get_double32_auto(data, &ind);
conf.ap_time_add_repeat_ms = utility::buffer_get_int32(data, &ind);
conf.log_rate_hz = utility::buffer_get_int16(data, &ind);
conf.log_en = data[ind++];
strcpy(conf.log_name, (const char*)(data + ind));
ind += strlen(conf.log_name) + 1;
conf.log_mode_ext = (LOG_EXT_MODE)data[ind++];
conf.log_uart_baud = utility::buffer_get_uint32(data, &ind);
// Car settings
conf.car.yaw_use_odometry = data[ind++];
conf.car.yaw_imu_gain = utility::buffer_get_double32_auto(data, &ind);
conf.car.disable_motor = data[ind++];
conf.car.simulate_motor = data[ind++];
conf.car.clamp_imu_yaw_stationary = data[ind++];
conf.car.use_uwb_pos = data[ind++];
conf.car.gear_ratio = utility::buffer_get_double32_auto(data, &ind);
conf.car.wheel_diam = utility::buffer_get_double32_auto(data, &ind);
conf.car.motor_poles = utility::buffer_get_double32_auto(data, &ind);
conf.car.steering_max_angle_rad = utility::buffer_get_double32_auto(data, &ind);
conf.car.steering_center = utility::buffer_get_double32_auto(data, &ind);
conf.car.steering_range = utility::buffer_get_double32_auto(data, &ind);
conf.car.steering_ramp_time = utility::buffer_get_double32_auto(data, &ind);
conf.car.axis_distance = utility::buffer_get_double32_auto(data, &ind);
// Multirotor settings
conf.mr.vel_decay_e = utility::buffer_get_double32_auto(data, &ind);
conf.mr.vel_decay_l = utility::buffer_get_double32_auto(data, &ind);
conf.mr.vel_max = utility::buffer_get_double32_auto(data, &ind);
conf.mr.map_min_x = utility::buffer_get_double32_auto(data, &ind);
conf.mr.map_max_x = utility::buffer_get_double32_auto(data, &ind);
conf.mr.map_min_y = utility::buffer_get_double32_auto(data, &ind);
conf.mr.map_max_y = utility::buffer_get_double32_auto(data, &ind);
conf.mr.vel_gain_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.vel_gain_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.vel_gain_d = utility::buffer_get_double32_auto(data, &ind);
conf.mr.tilt_gain_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.tilt_gain_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.tilt_gain_d = utility::buffer_get_double32_auto(data, &ind);
conf.mr.max_corr_error = utility::buffer_get_double32_auto(data, &ind);
conf.mr.max_tilt_error = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_roll_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_roll_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_roll_dp = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_roll_de = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pitch_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pitch_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pitch_dp = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pitch_de = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_yaw_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_yaw_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_yaw_dp = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_yaw_de = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pos_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pos_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_pos_d = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_alt_p = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_alt_i = utility::buffer_get_double32_auto(data, &ind);
conf.mr.ctrl_gain_alt_d = utility::buffer_get_double32_auto(data, &ind);
conf.mr.js_gain_tilt = utility::buffer_get_double32_auto(data, &ind);
conf.mr.js_gain_yaw = utility::buffer_get_double32_auto(data, &ind);
conf.mr.js_mode_rate = data[ind++];
conf.mr.motor_fl_f = data[ind++];
conf.mr.motor_bl_l = data[ind++];
conf.mr.motor_fr_r = data[ind++];
conf.mr.motor_br_b = data[ind++];
conf.mr.motors_x = data[ind++];
conf.mr.motors_cw = data[ind++];
conf.mr.motor_pwm_min_us = utility::buffer_get_uint16(data, &ind);
conf.mr.motor_pwm_max_us = utility::buffer_get_uint16(data, &ind);
emit configurationReceived(id, conf);
} break;
case CMD_LOG_LINE_USB: {
QByteArray tmpArray = QByteArray::fromRawData((const char*)data, len);
tmpArray[len] = '\0';
emit logLineUsbReceived(id, QString::fromLocal8Bit(tmpArray));
} break;
case CMD_PLOT_INIT: {
QString xL = QString::fromLocal8Bit((const char*)data);
QString yL = QString::fromLocal8Bit((const char*)data + xL.size() + 1);
emit plotInitReceived(id, xL, yL);
} break;
case CMD_PLOT_DATA: {
int32_t ind = 0;
double x = utility::buffer_get_double32_auto(data, &ind);
double y = utility::buffer_get_double32_auto(data, &ind);
emit plotDataReceived(id, x, y);
} break;
case CMD_PLOT_ADD_GRAPH: {
emit plotAddGraphReceived(id, QString::fromLocal8Bit((const char*)data));
} break;
case CMD_PLOT_SET_GRAPH: {
emit plotSetGraphReceived(id, data[0]);
} break;
case CMD_SET_SYSTEM_TIME: {
int32_t ind = 0;
qint32 sec = utility::buffer_get_int32(data, &ind);
qint32 usec = utility::buffer_get_int32(data, &ind);
emit systemTimeReceived(id, sec, usec);
} break;
case CMD_REBOOT_SYSTEM: {
int32_t ind = 0;
bool power_off = data[ind++];
emit rebootSystemReceived(id, power_off);
} break;
case CMD_LOG_ETHERNET: {
QByteArray tmpArray((char*)data, len);
emit logEthernetReceived(id, tmpArray);
} break;
case CMD_CAMERA_IMAGE: {
emit cameraImageReceived(id, QImage::fromData(data, len), len);
} break;
// Car commands
case CMD_GET_STATE: {
CAR_STATE state;
int32_t ind = 0;
if (len <= 1) {
break;
}
state.fw_major = data[ind++];
state.fw_minor = data[ind++];
state.roll = utility::buffer_get_double32(data, 1e6, &ind);
state.pitch = utility::buffer_get_double32(data, 1e6, &ind);
state.yaw = utility::buffer_get_double32(data, 1e6, &ind);
state.accel[0] = utility::buffer_get_double32(data, 1e6, &ind);
state.accel[1] = utility::buffer_get_double32(data, 1e6, &ind);
state.accel[2] = utility::buffer_get_double32(data, 1e6, &ind);
state.gyro[0] = utility::buffer_get_double32(data, 1e6, &ind);
state.gyro[1] = utility::buffer_get_double32(data, 1e6, &ind);
state.gyro[2] = utility::buffer_get_double32(data, 1e6, &ind);
state.mag[0] = utility::buffer_get_double32(data, 1e6, &ind);
state.mag[1] = utility::buffer_get_double32(data, 1e6, &ind);
state.mag[2] = utility::buffer_get_double32(data, 1e6, &ind);
state.px = utility::buffer_get_double32(data, 1e4, &ind);
state.py = utility::buffer_get_double32(data, 1e4, &ind);
state.speed = utility::buffer_get_double32(data, 1e6, &ind);
state.vin = utility::buffer_get_double32(data, 1e6, &ind);
state.temp_fet = utility::buffer_get_double32(data, 1e6, &ind);
state.mc_fault = (mc_fault_code)data[ind++];
state.px_gps = utility::buffer_get_double32(data, 1e4, &ind);
state.py_gps = utility::buffer_get_double32(data, 1e4, &ind);
state.ap_goal_px = utility::buffer_get_double32(data, 1e4, &ind);
state.ap_goal_py = utility::buffer_get_double32(data, 1e4, &ind);
state.ap_rad = utility::buffer_get_double32(data, 1e6, &ind);
state.ms_today = utility::buffer_get_int32(data, &ind);
state.ap_route_left = utility::buffer_get_int16(data, &ind);
state.px_uwb = utility::buffer_get_double32(data, 1e4, &ind);
state.py_uwb = utility::buffer_get_double32(data, 1e4, &ind);
emit stateReceived(id, state);
} break;
case CMD_VESC_FWD:
emit vescFwdReceived(id, QByteArray::fromRawData((char*)data, len));
break;
// Multirotor commands
case CMD_MR_GET_STATE: {
MULTIROTOR_STATE state;
int32_t ind = 0;
if (len <= 1) {
break;
}
state.fw_major = data[ind++];
state.fw_minor = data[ind++];
state.roll = utility::buffer_get_double32_auto(data, &ind);
state.pitch = utility::buffer_get_double32_auto(data, &ind);
state.yaw = utility::buffer_get_double32_auto(data, &ind);
state.accel[0] = utility::buffer_get_double32_auto(data, &ind);
state.accel[1] = utility::buffer_get_double32_auto(data, &ind);
state.accel[2] = utility::buffer_get_double32_auto(data, &ind);
state.gyro[0] = utility::buffer_get_double32_auto(data, &ind);
state.gyro[1] = utility::buffer_get_double32_auto(data, &ind);
state.gyro[2] = utility::buffer_get_double32_auto(data, &ind);
state.mag[0] = utility::buffer_get_double32_auto(data, &ind);
state.mag[1] = utility::buffer_get_double32_auto(data, &ind);
state.mag[2] = utility::buffer_get_double32_auto(data, &ind);
state.px = utility::buffer_get_double32_auto(data, &ind);
state.py = utility::buffer_get_double32_auto(data, &ind);
state.pz = utility::buffer_get_double32_auto(data, &ind);
state.speed = utility::buffer_get_double32_auto(data, &ind);
state.vin = utility::buffer_get_double32_auto(data, &ind);
state.px_gps = utility::buffer_get_double32_auto(data, &ind);
state.py_gps = utility::buffer_get_double32_auto(data, &ind);
state.ap_goal_px = utility::buffer_get_double32_auto(data, &ind);
state.ap_goal_py = utility::buffer_get_double32_auto(data, &ind);
state.ms_today = utility::buffer_get_int32(data, &ind);
emit mrStateReceived(id, state);
} break;
// Acks
case CMD_AP_ADD_POINTS:
emit ackReceived(id, cmd, "CMD_AP_ADD_POINTS");
break;
case CMD_AP_REMOVE_LAST_POINT:
emit ackReceived(id, cmd, "CMD_AP_REMOVE_LAST_POINT");
break;
case CMD_AP_CLEAR_POINTS:
emit ackReceived(id, cmd, "CMD_AP_CLEAR_POINTS");
break;
case CMD_AP_SET_ACTIVE:
emit ackReceived(id, cmd, "CMD_AP_SET_ACTIVE");
break;
case CMD_AP_REPLACE_ROUTE:
emit ackReceived(id, cmd, "CMD_AP_REPLACE_ROUTE");
break;
case CMD_AP_SYNC_POINT:
emit ackReceived(id, cmd, "CMD_AP_SYNC_POINT");
break;
case CMD_SET_MAIN_CONFIG:
emit ackReceived(id, cmd, "CMD_SET_MAIN_CONFIG");
break;
case CMD_SET_POS_ACK:
emit ackReceived(id, cmd, "CMD_SET_POS_ACK");
break;
case CMD_SET_ENU_REF:
emit ackReceived(id, cmd, "CMD_SET_ENU_REF");
break;
case CMD_SET_YAW_OFFSET_ACK:
emit ackReceived(id, cmd, "CMD_SET_YAW_OFFSET_ACK");
break;
case CMD_SET_SYSTEM_TIME_ACK:
emit ackReceived(id, cmd, "CMD_SET_SYSTEM_TIME_ACK");
break;
case CMD_REBOOT_SYSTEM_ACK:
emit ackReceived(id, cmd, "CMD_REBOOT_SYSTEM_ACK");
break;
case CMD_MOTE_UBX_START_BASE_ACK:
emit ackReceived(id, cmd, "CMD_MOTE_UBX_START_BASE_ACK");
break;
case CMD_ADD_UWB_ANCHOR:
emit ackReceived(id, cmd, "CMD_ADD_UWB_ANCHOR");
break;
case CMD_CLEAR_UWB_ANCHORS:
emit ackReceived(id, cmd, "CMD_CLEAR_UWB_ANCHORS");
break;
default:
break;
}
}
void PacketInterface::timerSlot()
{
if (mRxTimer) {
mRxTimer--;
} else {
mRxState = 0;
}
}
void PacketInterface::readPendingDatagrams()
{
while (mUdpSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(mUdpSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
mUdpSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
if (mUdpServer) {
mHostAddress = sender;
}
processPacket((unsigned char*)datagram.data(), datagram.length());
}
}
unsigned short PacketInterface::crc16(const unsigned char *buf, unsigned int len)
{
unsigned int i;
unsigned short cksum = 0;
for (i = 0; i < len; i++) {
cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8);
}
return cksum;
}
bool PacketInterface::sendPacket(const unsigned char *data, unsigned int len_packet)
{
unsigned int ind = 0;
// If the IP is valid, send the packet over UDP
if (QString::compare(mHostAddress.toString(), "0.0.0.0") != 0) {
memcpy(mSendBufferAck + ind, data, len_packet);
ind += len_packet;
QByteArray toSend = QByteArray::fromRawData((const char*)mSendBufferAck, ind);
mUdpSocket->writeDatagram(toSend, mHostAddress, mUdpPort);
if (QString::compare(mHostAddress2.toString(), "0.0.0.0") != 0) {
mUdpSocket->writeDatagram(toSend, mHostAddress2, mUdpPort);
}
return true;
}
int len_tot = len_packet;
unsigned int data_offs = 0;
if (len_tot <= 255) {
mSendBufferAck[ind++] = 2;
mSendBufferAck[ind++] = len_tot;
data_offs = 2;
} else if (len_tot <= 65535) {
mSendBufferAck[ind++] = 3;
mSendBufferAck[ind++] = len_tot >> 8;
mSendBufferAck[ind++] = len_tot & 0xFF;
data_offs = 3;
} else {
mSendBufferAck[ind++] = 4;
mSendBufferAck[ind++] = (len_tot >> 16) & 0xFF;
mSendBufferAck[ind++] = (len_tot >> 8) & 0xFF;
mSendBufferAck[ind++] = len_tot & 0xFF;
data_offs = 4;
}
memcpy(mSendBufferAck + ind, data, len_packet);
ind += len_packet;
unsigned short crc = crc16(mSendBufferAck + data_offs, len_tot);
mSendBufferAck[ind++] = crc >> 8;
mSendBufferAck[ind++] = crc;
mSendBufferAck[ind++] = 3;
QByteArray sendData = QByteArray::fromRawData((char*)mSendBufferAck, ind);
emit dataToSend(sendData);
return true;
}
bool PacketInterface::sendPacket(QByteArray data)
{
return sendPacket((const unsigned char*)data.data(), data.size());
}
/**
* @brief PacketInterface::sendPacketAck
* Send packet and wait for acknoledgement.
*
* @param data
* The data to be sent.
*
* @param len_packet
* Size of the data.
*
* @param retries
* The maximum number of retries before giving up.
*
* @param timeoutMs
* Time to wait before trying again.
*
* @return
* True for success, false otherwise.
*/
bool PacketInterface::sendPacketAck(const unsigned char *data, unsigned int len_packet,
int retries, int timeoutMs)
{
if (mWaitingAck) {
qDebug() << "Already waiting for packet";
return false;
}
mWaitingAck = true;
unsigned char *buffer = new unsigned char[len_packet];
bool ok = false;
memcpy(buffer, data, len_packet);
for (int i = 0;i < retries;i++) {
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(timeoutMs);
connect(this, SIGNAL(ackReceived(quint8, CMD_PACKET, QString)), &loop, SLOT(quit()));
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
QTimer::singleShot(0, [this, buffer, len_packet]() {
sendPacket(buffer, len_packet);
});
loop.exec();
if (timeoutTimer.isActive()) {
ok = true;
break;
}
qDebug() << "Retrying to send packet...";
}
mWaitingAck = false;
delete[] buffer;
return ok;
}
bool PacketInterface::waitSignal(QObject *sender, const char *signal, int timeoutMs)
{
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(timeoutMs);
auto conn1 = connect(sender, signal, &loop, SLOT(quit()));
auto conn2 = connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn1);
disconnect(conn2);
return timeoutTimer.isActive();
}
void PacketInterface::startUdpConnection(QHostAddress ip, int port)
{
mHostAddress = ip;
mUdpPort = port;
mUdpServer = false;
mUdpSocket->close();
mUdpSocket->bind(QHostAddress::Any, mUdpPort + 1);
}
void PacketInterface::startUdpConnection2(QHostAddress ip)
{
mHostAddress2 = ip;
}
void PacketInterface::startUdpConnectionServer(int port)
{
mUdpPort = port + 1;
mUdpServer = true;
mUdpSocket->close();
mUdpSocket->bind(QHostAddress::Any, mUdpPort);
}
void PacketInterface::stopUdpConnection()
{
mHostAddress = QHostAddress("0.0.0.0");
mHostAddress2 = QHostAddress("0.0.0.0");
mUdpPort = 0;
mUdpServer = false;
mUdpSocket->close();
}
bool PacketInterface::isUdpConnected()
{
return QString::compare(mHostAddress.toString(), "0.0.0.0") != 0;
}
bool PacketInterface::setRoutePoints(quint8 id, QList<LocPoint> points, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_AP_ADD_POINTS;
for (int i = 0;i < points.size();i++) {
LocPoint *p = &points[i];
utility::buffer_append_double32(mSendBuffer, p->getX(), 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, p->getY(), 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, p->getHeight(), 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, p->getSpeed(), 1e6, &send_index);
utility::buffer_append_int32(mSendBuffer, p->getTime(), &send_index);
utility::buffer_append_uint32(mSendBuffer, p->getAttributes(), &send_index);
}
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::replaceRoute(quint8 id, QList<LocPoint> points, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_AP_REPLACE_ROUTE;
for (int i = 0;i < points.size();i++) {
LocPoint *p = &points[i];
utility::buffer_append_double32(mSendBuffer, p->getX(), 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, p->getY(), 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, p->getHeight(), 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, p->getSpeed(), 1e6, &send_index);
utility::buffer_append_int32(mSendBuffer, p->getTime(), &send_index);
utility::buffer_append_uint32(mSendBuffer, p->getAttributes(), &send_index);
}
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::removeLastRoutePoint(quint8 id, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_AP_REMOVE_LAST_POINT;
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::clearRoute(quint8 id, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_AP_CLEAR_POINTS;
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::setApActive(quint8 id, bool active, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_AP_SET_ACTIVE;
mSendBuffer[send_index++] = active ? 1 : 0;
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::setConfiguration(quint8 id, MAIN_CONFIG &conf, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_SET_MAIN_CONFIG;
mSendBuffer[send_index++] = conf.mag_use;
mSendBuffer[send_index++] = conf.mag_comp;
utility::buffer_append_double32_auto(mSendBuffer, conf.yaw_mag_gain, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_cx, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_cy, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_cz, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_xx, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_xy, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_xz, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_yx, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_yy, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_yz, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_zx, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_zy, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mag_cal_zz, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.gps_ant_x, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.gps_ant_y, &send_index);
mSendBuffer[send_index++] = conf.gps_comp;
mSendBuffer[send_index++] = conf.gps_req_rtk;
mSendBuffer[send_index++] = conf.gps_use_rtcm_base_as_enu_ref;
utility::buffer_append_double32_auto(mSendBuffer, conf.gps_corr_gain_stat, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.gps_corr_gain_dyn, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.gps_corr_gain_yaw, &send_index);
mSendBuffer[send_index++] = conf.gps_send_nmea;
mSendBuffer[send_index++] = conf.gps_use_ubx_info;
utility::buffer_append_double32_auto(mSendBuffer, conf.gps_ubx_max_acc, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.uwb_max_corr, &send_index);
mSendBuffer[send_index++] = conf.ap_repeat_routes;
utility::buffer_append_double32_auto(mSendBuffer, conf.ap_base_rad, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.ap_rad_time_ahead, &send_index);
mSendBuffer[send_index++] = conf.ap_mode_time;
utility::buffer_append_double32_auto(mSendBuffer, conf.ap_max_speed, &send_index);
utility::buffer_append_int32(mSendBuffer, conf.ap_time_add_repeat_ms, &send_index);
utility::buffer_append_int16(mSendBuffer, conf.log_rate_hz, &send_index);
mSendBuffer[send_index++] = conf.log_en;
strcpy((char*)(mSendBuffer + send_index), conf.log_name);
send_index += strlen(conf.log_name) + 1;
mSendBuffer[send_index++] = conf.log_mode_ext;
utility::buffer_append_uint32(mSendBuffer, conf.log_uart_baud, &send_index);
// Car settings
mSendBuffer[send_index++] = conf.car.yaw_use_odometry;
utility::buffer_append_double32_auto(mSendBuffer, conf.car.yaw_imu_gain, &send_index);
mSendBuffer[send_index++] = conf.car.disable_motor;
mSendBuffer[send_index++] = conf.car.simulate_motor;
mSendBuffer[send_index++] = conf.car.clamp_imu_yaw_stationary;
mSendBuffer[send_index++] = conf.car.use_uwb_pos;
utility::buffer_append_double32_auto(mSendBuffer, conf.car.gear_ratio, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.wheel_diam, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.motor_poles, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.steering_max_angle_rad, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.steering_center, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.steering_range, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.steering_ramp_time, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.car.axis_distance, &send_index);
// Multirotor settings
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.vel_decay_e, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.vel_decay_l, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.vel_max, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.map_min_x, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.map_max_x, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.map_min_y, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.map_max_y, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.vel_gain_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.vel_gain_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.vel_gain_d, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.tilt_gain_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.tilt_gain_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.tilt_gain_d, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.max_corr_error, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.max_tilt_error, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_roll_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_roll_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_roll_dp, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_roll_de, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pitch_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pitch_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pitch_dp, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pitch_de, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_yaw_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_yaw_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_yaw_dp, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_yaw_de, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pos_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pos_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_pos_d, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_alt_p, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_alt_i, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.ctrl_gain_alt_d, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.js_gain_tilt, &send_index);
utility::buffer_append_double32_auto(mSendBuffer, conf.mr.js_gain_yaw, &send_index);
mSendBuffer[send_index++] = conf.mr.js_mode_rate;
mSendBuffer[send_index++] = conf.mr.motor_fl_f;
mSendBuffer[send_index++] = conf.mr.motor_bl_l;
mSendBuffer[send_index++] = conf.mr.motor_fr_r;
mSendBuffer[send_index++] = conf.mr.motor_br_b;
mSendBuffer[send_index++] = conf.mr.motors_x;
mSendBuffer[send_index++] = conf.mr.motors_cw;
utility::buffer_append_uint16(mSendBuffer, conf.mr.motor_pwm_min_us, &send_index);
utility::buffer_append_uint16(mSendBuffer, conf.mr.motor_pwm_max_us, &send_index);
return sendPacketAck(mSendBuffer, send_index, retries, 500);
}
bool PacketInterface::setPosAck(quint8 id, double x, double y, double angle, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_SET_POS_ACK;
utility::buffer_append_double32(mSendBuffer, x, 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, y, 1e4, &send_index);
utility::buffer_append_double32(mSendBuffer, angle, 1e6, &send_index);
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::setYawOffsetAck(quint8 id, double angle, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_SET_YAW_OFFSET_ACK;
utility::buffer_append_double32(mSendBuffer, angle, 1e6, &send_index);
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::setEnuRef(quint8 id, double *llh, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_SET_ENU_REF;
utility::buffer_append_double64(mSendBuffer, llh[0], 1e16, &send_index);
utility::buffer_append_double64(mSendBuffer, llh[1], 1e16, &send_index);
utility::buffer_append_double32(mSendBuffer, llh[2], 1e3, &send_index);
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::setSystemTime(quint8 id, qint32 sec, qint32 usec, int retries)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = id;
mSendBuffer[send_index++] = CMD_SET_SYSTEM_TIME;
utility::buffer_append_int32(mSendBuffer, sec, &send_index);
utility::buffer_append_int32(mSendBuffer, usec, &send_index);
return sendPacketAck(mSendBuffer, send_index, retries);
}
bool PacketInterface::sendReboot(quint8 id, bool powerOff, int retries)
{