-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathlaurobotwidget.cpp
1630 lines (1561 loc) · 71.9 KB
/
laurobotwidget.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/**************************************************************************************************
Copyright (C) 2017 Dr. Daniel L. Lau
This file is part of LAURobotWidget.
LAURobotWidget is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
LAURobotWidget 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 Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with LAURobotWidget. If not, see <http://www.gnu.org/licenses/>.
**************************************************************************************************/
#include "laurobotwidget.h"
#ifndef LAU_SERVER
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAURobotWidget::LAURobotWidget(QString ipAddr, int portNum, QWidget *parent) : LAUPaletteWidget(QString("RoboClaw"), QList<LAUPalette::Packet>(), parent), robot(NULL), plotWidget(NULL)
{
// SET THE WINDOWS LAYOUT
this->setWindowTitle("LAURobotWidget");
// REGISTER THE PALETTE WIDGETS
QList<LAUPalette::Packet> packets;
LAUPalette::Packet packet;
packet.pal = LAUPaletteObject::PaletteButton;
packet.pos = QPoint(0, 1);
packets << packet;
packet.pal = LAUPaletteObject::PaletteSlider;
packet.pos = QPoint(1, 0);
packets << packet;
packet.pal = LAUPaletteObject::PaletteSlider;
packet.pos = QPoint(-1, 0);
packets << packet;
this->registerLayout(packets);
// CREATE A ROBOT OBJECT FOR CONTROLLING ROBOT
robot = new LAURobotObject(ipAddr, portNum, NULL);
connect(this, SIGNAL(emitMessage(int, void *)), robot, SLOT(onSendMessage(int, void *)));
connect(robot, SIGNAL(emitMessage(int, void *)), this, SLOT(onReceiveMessage(int, void *)));
connect(robot, SIGNAL(emitError(QString)), this, SLOT(onTCPError(QString)));
// CREATE A WIDGE TO DISPLAY ENCODER DATA
plotWidget = new LAURPLidarLabel();
connect(robot, SIGNAL(emitPoint(QPoint)), plotWidget, SLOT(onAddPoint(QPoint)));
// NOW THAT WE'VE MADE OUR CONNECTIONS, TELL ROBOT OBJECT TO CONNECT OVER SERIAL/TCP
if (robot->connectPort()) {
this->setWindowTitle(robot->firmware());
// DISPLAY THE PLOT WIDGET
plotWidget->show();
plotWidget->setMinimumHeight(300);
plotWidget->setMinimumWidth(300);
// LET'S START THE BALL ROLLING BY ASKING FOR THE CURRENT ENCODER VALUES
onRequestEncoder();
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAURobotWidget::LAURobotWidget(QString portString, QWidget *parent) : LAUPaletteWidget(QString("RoboClaw"), QList<LAUPalette::Packet>(), parent), robot(NULL), plotWidget(NULL)
{
// SET THE WINDOWS LAYOUT
this->setWindowTitle("LAURobotWidget");
// REGISTER THE PALETTE WIDGETS
QList<LAUPalette::Packet> packets;
LAUPalette::Packet packet;
packet.pal = LAUPaletteObject::PaletteButton;
packet.pos = QPoint(0, 1);
packets << packet;
packet.pal = LAUPaletteObject::PaletteSlider;
packet.pos = QPoint(1, 0);
packets << packet;
packet.pal = LAUPaletteObject::PaletteSlider;
packet.pos = QPoint(-1, 0);
packets << packet;
this->registerLayout(packets);
// CREATE A ROBOT OBJECT FOR CONTROLLING ROBOT
robot = new LAURobotObject(portString, (QObject*)NULL);
connect(this, SIGNAL(emitMessage(int, void *)), robot, SLOT(onSendMessage(int, void *)));
connect(robot, SIGNAL(emitMessage(int, void *)), this, SLOT(onReceiveMessage(int, void *)));
connect(robot, SIGNAL(emitError(QString)), this, SLOT(onTCPError(QString)));
// CREATE A WIDGE TO DISPLAY ENCODER DATA
plotWidget = new LAURPLidarLabel();
plotWidget->setMinimumSize(480,480);
connect(robot, SIGNAL(emitPoint(QPoint)), plotWidget, SLOT(onAddPoint(QPoint)));
// NOW THAT WE'VE MADE OUR CONNECTIONS, TELL ROBOT OBJECT TO CONNECT OVER SERIAL/TCP
if (robot->connectPort()) {
this->setWindowTitle(robot->firmware());
// DISPLAY THE PLOT WIDGET
plotWidget->show();
// LET'S START THE BALL ROLLING BY ASKING FOR THE CURRENT ENCODER VALUES
onRequestEncoder();
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAURobotWidget::~LAURobotWidget()
{
if (robot) {
delete robot;
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::onRequestEncoder()
{
emit emitMessage(LAUROBOT_READENCODERVALUES);
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::onValueChanged(QPoint pos, int val)
{
// DETERMINE IF INCOMING SIGNAL IS FROM LEFT OR RIGHT SLIDER
// RIGHT SLIDER
if (pos == QPoint(1, 0)) {
unsigned char uval = (unsigned char)((255 - val) / 2);
//Switched to DRIVEMOTOR2 to match Palette and tread orientation -MM//
emit emitMessage(LAUROBOT_DRIVEMOTOR2_7BIT, &uval);
}
// LEFT SLIDER
else if (pos == QPoint(-1, 0)) {
unsigned char uval = (unsigned char)((255-val) / 2);
//Switched to DRIVEMOTOR1 to match Palette and tread orientation -MM//
emit emitMessage(LAUROBOT_DRIVEMOTOR1_7BIT, &uval);
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::onButtonPressed(QPoint pos)
{
// DETERMINE IF SIGNAL IS FROM PUSH BUTTON
if (pos == QPoint(0, 1)) {
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
// THIS FUNCTION IS THE EMERGENCY STOP BUTTON PRESS -MM//
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::onButtonReleased(QPoint pos)
{
// DETERMINE IF SIGNAL IS FROM PUSH BUTTON
if (pos == QPoint(0, 1)) {
//Setting the motor value to 0 so that the motors will stop.//
unsigned char val = 0;
emit emitMessage(LAUROBOT_DRIVEFORWARDMOTOR1, &val);
emit emitMessage(LAUROBOT_DRIVEFORWARDMOTOR2, &val);
qDebug() << "SENT: ALL STOP";
emit emitMessage(LAUROBOT_READENCODERVALUES);
emit emitMessage(LAUROBOT_RESETENCODERVALUES);
emit emitMessage(LAUROBOT_READENCODERVALUES);
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::onTCPError(QString string)
{
QMessageBox::critical(0, QString("Robot Widget"), string, QMessageBox::Ok);
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::onReceiveMessage(int message, void *argument)
{
Q_UNUSED(argument);
// WE RECEIVED AN ENCODER VALUE, SO LET'S ASK AGAIN AFTER A 100 MILLISECOND DELAY
if (message == LAUROBOT_READENCODERVALUES){
QTimer::singleShot(100, this, SLOT(onRequestEncoder()));
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotWidget::showEvent(QShowEvent *)
{
// SEND THE INITIAL HANDSHAKE MESSAGES
emit emitMessage(LAUROBOT_READFIRMWAREVERSION);
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
LAURobotObject::~LAURobotObject()
{
// CLOSE THE SERIAL PORT IF IT IS CURRENTLY OPEN
if (isValid()) {
unsigned char val = 0;
onSendMessage(LAUROBOT_DRIVEFORWARDMOTOR1, &val);
onSendMessage(LAUROBOT_DRIVEFORWARDMOTOR2, &val);
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
QByteArray LAURobotObject::appendCRC(QByteArray byteArray, CRC state)
{
// IF THIS IS RECEIVED MESSAGE, INITIALIZE THE CRC CODE TO THE NEXT ONE IN THE QUE
unsigned short crc = 0;
if (state == CRCReceive) {
if (crcList.count() > 0) {
crc = crcList.takeFirst();
} else {
return (QByteArray());
}
}
// CALCULATE THE CRC CHECK SUM FOR THE USER SUPPLIED BYTE ARRAY
for (int byte = 0; byte < byteArray.length(); byte++) {
crc = crc ^ ((unsigned char)byteArray.at(byte) << 8);
for (unsigned char bit = 0; bit < 8; bit++) {
if (crc & 0x8000) {
crc = (crc << 1) ^ 0x1021;
} else {
crc = (crc << 1);
}
}
}
// ADD THE CRC TO OUR SENT MESSAGE LIST FOR LATER
if (state == CRCSend) {
crcList.append(crc);
}
// APPEND THE CRC CHECK SUM IN BIG ENDIAN FORMAT
byteArray.append((char)((crc >> 8) & 0x00ff));
byteArray.append((char)((crc >> 0) & 0x00ff));
return (byteArray);
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
bool LAURobotObject::checkCRC(QByteArray byteArray, CRC state)
{
// REMOVE THE CRC BYTES FROM THE BYTE ARRAY AND CALCULATE THE CHECK SUM
QByteArray localArray = appendCRC(byteArray.left(byteArray.length() - 2), state);
// MAKE SURE THE NEW CHECK SUM MATCHES THE USER SUPPLIED CHECK SUM
if (localArray.isEmpty() == false) {
int index = byteArray.length();
if (localArray.at(index - 1) == byteArray.at(index - 1)) {
if (localArray.at(index - 2) == byteArray.at(index - 2)) {
return (true);
}
}
}
return (false);
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotObject::onConnected()
{
;
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotObject::onDisconnected()
{
;
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotObject::onTcpError(QAbstractSocket::SocketError error)
{
switch (error) {
case QAbstractSocket::RemoteHostClosedError:
emit emitError(QString("LAU3DVideoTCPClient :: Remote host closed error!"));
break;
case QAbstractSocket::HostNotFoundError:
// KEEP TRYING UNTIL WE GET A CONNECTION
emit emitError(QString("LAU3DVideoTCPClient :: Host not found error!"));
break;
case QAbstractSocket::ConnectionRefusedError:
// KEEP TRYING UNTIL WE GET A CONNECTION
emit emitError(QString("LAU3DVideoTCPClient :: Connection refused error!"));
break;
default:
emit emitError(QString("LAU3DVideoTCPClient :: Default error!"));
break;
}
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotObject::onSendMessage(int message, void *argument)
{
// MAKE SURE WE HAVE AN OPEN PORT BEFORE BUILDING OUR MESSAGE
if (isValid()) {
// CREATE A CHARACTER BUFFER TO HOLD THE MESSAGE
QByteArray byteArray(1, (char)LAUROBOT_WIDGETADDRESS);
if (message == LAUROBOT_DRIVEFORWARDMOTOR1) {
byteArray.append((char)LAUROBOT_DRIVEFORWARDMOTOR1);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEFORWARDMOTOR1";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEBACKWARDSMOTOR1) {
byteArray.append((char)LAUROBOT_DRIVEBACKWARDSMOTOR1);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEBACKWARDSMOTOR1";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEFORWARDMOTOR2) {
byteArray.append((char)LAUROBOT_DRIVEFORWARDMOTOR2);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEFORWARDMOTOR2";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEBACKWARDSMOTOR2) {
byteArray.append((char)LAUROBOT_DRIVEBACKWARDSMOTOR2);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEBACKWARDSMOTOR2";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEMOTOR1_7BIT) {
byteArray.append((char)LAUROBOT_DRIVEMOTOR1_7BIT);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEMOTOR1_7BIT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEMOTOR2_7BIT) {
byteArray.append((char)LAUROBOT_DRIVEMOTOR2_7BIT);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEMOTOR2_7BIT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEFORWARDMIXEDMODE) {
byteArray.append((char)LAUROBOT_DRIVEFORWARDMIXEDMODE);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEFORWARDMIXEDMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEBACKWARDSMIXEDMODE) {
byteArray.append((char)LAUROBOT_DRIVEBACKWARDSMIXEDMODE);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEBACKWARDSMIXEDMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_TURNRIGHTMIXEDMODE) {
byteArray.append((char)LAUROBOT_TURNRIGHTMIXEDMODE);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_TURNRIGHTMIXEDMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_TURNLEFTMIXEDMODE) {
byteArray.append((char)LAUROBOT_TURNLEFTMIXEDMODE);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_TURNLEFTMIXEDMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_DRIVEFORWARDORBACKWARD_7BIT) {
byteArray.append((char)LAUROBOT_DRIVEFORWARDORBACKWARD_7BIT);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_DRIVEFORWARDORBACKWARD_7BIT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_TURNLEFTORRIGHT_7BIT) {
byteArray.append((char)LAUROBOT_TURNLEFTORRIGHT_7BIT);
byteArray.append((char *)argument, sizeof(char));
qDebug() << "SENT: LAUROBOT_TURNLEFTORRIGHT_7BIT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READFIRMWAREVERSION) {
byteArray.append((char)LAUROBOT_READFIRMWAREVERSION);
qDebug() << "SENT: LAUROBOT_READFIRMWAREVERSION";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_RESETENCODERVALUES) {
byteArray.append((char)LAUROBOT_RESETENCODERVALUES);
qDebug() << "SENT: LAUROBOT_RESETENCODERVALUES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READMAINBATTERYVOLTAGE) {
byteArray.append((char)LAUROBOT_READMAINBATTERYVOLTAGE);
qDebug() << "SENT: LAUROBOT_READMAINBATTERYVOLTAGE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETMINLOGICVOLTAGELEVEL) {
byteArray.append((char)LAUROBOT_SETMINLOGICVOLTAGELEVEL);
byteArray.append(0x02); //Setting it to 1. 1=0x01 . Accepted range is 0 to 140 (6V to 34V)
qDebug() << "SENT: LAUROBOT_SETMINLOGICVOLTAGELEVEL";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETMAXLOGICVOLTAGELEVEL) {
byteArray.append((char)LAUROBOT_SETMAXLOGICVOLTAGELEVEL);
byteArray.append(0xaf); //Setting it to 170. 170=0xaa . Accepted range is 30 to 175 (6V to 34V)
qDebug() << "SENT: LAUROBOT_SETMAXLOGICVOLTAGELEVEL";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READMOTORPWMS) {
byteArray.append((char)LAUROBOT_READMOTORPWMS);
qDebug() << "SENT: LAUROBOT_READMOTORPWMS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READMOTORCURRENTS) {
byteArray.append((char)LAUROBOT_READMOTORCURRENTS);
qDebug() << "SENT: LAUROBOT_READMOTORCURRENTS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETMAINBATTERYVOLTAGES) {
byteArray.append((char)LAUROBOT_SETMAINBATTERYVOLTAGES);
byteArray.append((char)0x00);
byteArray.append((char)0x46);
byteArray.append((char)0x01);
byteArray.append((char)0x2c);
qDebug() << "SENT: LAUROBOT_SETMAINBATTERYVOLTAGES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETLOGICBATTERYVOLTAGES) {
byteArray.append((char)LAUROBOT_SETLOGICBATTERYVOLTAGES);
byteArray.append((char)0x00);
byteArray.append((char)0x46);
byteArray.append((char)0x01);
byteArray.append((char)0x2c);
qDebug() << "SENT: LAUROBOT_SETLOGICBATTERYVOLTAGES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READMAINBATTERYVOLTAGESETTINGS) {
byteArray.append((char)LAUROBOT_READMAINBATTERYVOLTAGESETTINGS);
qDebug() << "SENT: LAUROBOT_READMAINBATTERYVOLTAGESETTINGS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READLOGICBATTERYVOLTAGESETTINGS) {
byteArray.append((char)LAUROBOT_READLOGICBATTERYVOLTAGESETTINGS);
qDebug() << "SENT: LAUROBOT_READLOGICBATTERYVOLTAGESETTINGS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETDEFAULTDUTYCYCLEACCELERATIONFORM1) {
byteArray.append((char)LAUROBOT_SETDEFAULTDUTYCYCLEACCELERATIONFORM1);
//Sending in reverse order for Endian-ness of 0x10eb0900
byteArray.append((char)0x10);
byteArray.append((char)0xeb);
byteArray.append((char)0x09);
byteArray.append((char)0x00);
qDebug() << "SENT: LAUROBOT_SETDEFAULTDUTYCYCLEACCELERATIONFORM1";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETDEFAULTDUTYCYCLEACCELERATIONFORM2) {
byteArray.append((char)LAUROBOT_SETDEFAULTDUTYCYCLEACCELERATIONFORM2);
//Sending in normal order of 0x0009eb10
byteArray.append((char)0x00);
byteArray.append((char)0x09);
byteArray.append((char)0xeb);
byteArray.append((char)0x10);
qDebug() << "SENT: LAUROBOT_SETDEFAULTDUTYCYCLEACCELERATIONFORM2";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETS3S4ANDS5MODES) {
byteArray.append((char)LAUROBOT_SETS3S4ANDS5MODES);
char s3 = 0x01;
char s4 = 0x02;
char s5 = 0x03;
byteArray.append(s3); //Setting it to 1. 1=0x01 . 1 is S3 mode default
byteArray.append(s4); //Setting it to 2. 2=0x02 . 2 is S4 mode regular E-stop
byteArray.append(s5); //Setting it to 4. 4=0x04 . 4 is S5 mode M2 home
qDebug() << "SENT: LAUROBOT_SETS3S4ANDS5MODES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READS3S4ANDS5MODES) {
byteArray.append((char)LAUROBOT_READS3S4ANDS5MODES);
qDebug() << "SENT: LAUROBOT_READS3S4ANDS5MODES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETDEADBANDFORRCANALOGCONTROLS) {
byteArray.append((char)LAUROBOT_SETDEADBANDFORRCANALOGCONTROLS);
byteArray.append((char)0x1a); //Setting it to 26. 26=0x1a . 25=0x19 is default
byteArray.append((char)0x1b); //Setting it to 27. 27=0x1b . 25=0x19 is default
qDebug() << "SENT: LAUROBOT_SETDEADBANDFORRCANALOGCONTROLS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READDEADBANDFORRCANALOGCONTROLS) {
byteArray.append((char)LAUROBOT_READDEADBANDFORRCANALOGCONTROLS);
qDebug() << "SENT: LAUROBOT_READDEADBANDFORRCANALOGCONTROLS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_RESTOREDEFAULTS) {
byteArray.append((char)LAUROBOT_RESTOREDEFAULTS);
qDebug() << "SENT: LAUROBOT_RESTOREDEFAULTS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READDEFAULTDUTYCYCLEACCELERATIONS) {
byteArray.append((char)LAUROBOT_READDEFAULTDUTYCYCLEACCELERATIONS);
qDebug() << "SENT: LAUROBOT_READDEFAULTDUTYCYCLEACCELERATIONS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READTEMPERATURE) {
byteArray.append((char)LAUROBOT_READTEMPERATURE);
qDebug() << "SENT: LAUROBOT_READTEMPERATURE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READTEMPERATURE2) {
byteArray.append((char)LAUROBOT_READTEMPERATURE);
qDebug() << "SENT: LAUROBOT_READTEMPERATURE2";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READSTATUS) {
byteArray.append((char)LAUROBOT_READSTATUS);
qDebug() << "SENT: LAUROBOT_READSTATUS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READENCODERMODES) {
byteArray.append((char)LAUROBOT_READENCODERMODES);
qDebug() << "SENT: LAUROBOT_READENCODERMODES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETMOTOR1ENCODERMODE) {
byteArray.append((char)LAUROBOT_SETMOTOR1ENCODERMODE);
byteArray.append((char)0x81);
qDebug() << "SENT: LAUROBOT_SETMOTOR1ENCODERMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETMOTOR2ENCODERMODE) {
byteArray.append((char)LAUROBOT_SETMOTOR2ENCODERMODE);
byteArray.append((char)0x81);
qDebug() << "SENT: LAUROBOT_SETMOTOR2ENCODERMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
//Unknown
//
else if (message == LAUROBOT_WRITESETTINGSTOEEPROM) {
byteArray.append((char)LAUROBOT_WRITESETTINGSTOEEPROM);
qDebug() << "SENT: LAUROBOT_WRITESETTINGSTOEEPROM";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
// ERROR - Must contact ION MC about this issue
//
else if (message == LAUROBOT_READSETTINGSFROMEEPROM) {
byteArray.append((char)LAUROBOT_READSETTINGSFROMEEPROM);
qDebug() << "SENT: LAUROBOT_READSETTINGSFROMEEPROM";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETSTANDARDCONGSETTINGS) {
byteArray.append((char)LAUROBOT_SETSTANDARDCONGSETTINGS);
byteArray.append((char)0x40);
byteArray.append((char)0x00);
qDebug() << "SENT: LAUROBOT_SETSTANDARDCONGSETTINGS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READSTANDARDCONGSETTINGS) {
byteArray.append((char)LAUROBOT_READSTANDARDCONGSETTINGS);
qDebug() << "SENT: LAUROBOT_READSTANDARDCONGSETTINGS";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETM1MAXIMUMCURRENT) {
byteArray.append((char)LAUROBOT_SETM1MAXIMUMCURRENT);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
byteArray.append((char)0x0f);
byteArray.append((char)0xa0);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
qDebug() << "SENT: LAUROBOT_SETM1MAXIMUMCURRENT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETM2MAXIMUMCURRENT) {
byteArray.append((char)LAUROBOT_SETM2MAXIMUMCURRENT);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
byteArray.append((char)0x0f);
byteArray.append((char)0xa0);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
byteArray.append((char)0x00);
qDebug() << "SENT: LAUROBOT_SETM2MAXIMUMCURRENT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READM1MAXIMUMCURRENT) {
byteArray.append((char)LAUROBOT_READM1MAXIMUMCURRENT);
qDebug() << "SENT: LAUROBOT_READM1MAXIMUMCURRENT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READM2MAXIMUMCURRENT) {
byteArray.append((char)LAUROBOT_READM2MAXIMUMCURRENT);
qDebug() << "SENT: LAUROBOT_READM2MAXIMUMCURRENT";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READENCODERVALUES) {
byteArray.append((char)LAUROBOT_READENCODERVALUES);
qDebug() << "SENT: LAUROBOT_READENCODERVALUES";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_SETPWMMODE) {
byteArray.append((char)LAUROBOT_SETPWMMODE);
byteArray.append((char)0x01);
qDebug() << "SENT: LAUROBOT_SETPWMMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
else if (message == LAUROBOT_READPWMMODE) {
byteArray.append((char)LAUROBOT_READPWMMODE);
qDebug() << "SENT: LAUROBOT_READPWMMODE";
write(appendCRC(byteArray, CRCSend));
messageIDList.append(message);
}
}
return;
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
void LAURobotObject::onReadyRead()
{
// KEEP READING FROM THE PORT UNTIL THERE ARE NO MORE BYTES TO READ
while (bytesAvailable() > 0) {
// READ THE CURRENTLY AVAILABLE BYTES FROM THE PORT
QByteArray byteArray = readAll();
if (byteArray.isEmpty() == false) {
// APPEND INCOMING BYTE ARRAY TO ALL SITTING BYTES
messageArray.append(byteArray);
do {
qDebug() << "received: " << messageArray;
qApp->processEvents();
} while (processMessage());
}
}
return;
}
/****************************************************************************/
/****************************************************************************/
/****************************************************************************/
bool LAURobotObject::processMessage()
{
if (messageIDList.count() == 0 || messageArray.isEmpty()) {
return (false);
}
// NOW SEE IF WE HAVE A COMPLETE REPLY TO OUR LAST MESSAGE
int message = messageIDList.first();
switch (message) {
case LAUROBOT_READFIRMWAREVERSION: {
int index = messageArray.indexOf('\n');
if (index != -1 && messageArray.length() >= index + 4) {
if (checkCRC(messageArray.left(index+4), CRCReceive)) {
firmwareString = QString(messageArray.left(index));
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READFIRMWAREVERSION message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, index + 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READMAINBATTERYVOLTAGE: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)) {
float volt = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 10.0;
qDebug() << "LAUROBOT_READMAINBATTERYVOLTAGE: " << volt <<"v";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READMAINBATTERYVOLTAGE message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READTEMPERATURE: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)){
float temp = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 10.0;
qDebug() << "LAUROBOT_READTEMPERATURE: " << temp << " C";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READTEMPERATURE message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READTEMPERATURE2: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)){
float temp = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 10.0;
qDebug() << "LAUROBOT_READTEMPERATURE2: " << temp << " C";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READTEMPERATURE2 message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READMOTORPWMS: {
if (messageArray.length() >= 6) {
if (checkCRC(messageArray.left(6), CRCReceive)){
float m1pwm = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 327.67;
float m2pwm = ((uint8_t)messageArray.at(2) << 8 | (uint8_t)messageArray.at(3)) / 327.67;
qDebug() << "LAUROBOT_READMOTORPWMS: ";
qDebug() << "Motor 1 PWMS: " << m1pwm;
qDebug() << "Motor 2 PWMS: " << m2pwm;
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READMOTORPWMS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 6);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READMOTORCURRENTS: {
if (messageArray.length() >= 6) {
if (checkCRC(messageArray.left(6), CRCReceive)){
float m1curr = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 100.0;
float m2curr = ((uint8_t)messageArray.at(2) << 8 | (uint8_t)messageArray.at(3)) / 100.0;
qDebug() << "LAUROBOT_READMOTORCURRENTS: ";
qDebug() << "Motor 1 Current: " << m1curr << " mA";
qDebug() << "Motor 2 Current: " << m2curr << " mA";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READMOTORCURRENTS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 6);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READMAINBATTERYVOLTAGESETTINGS: {
if (messageArray.length() >= 6) {
if (checkCRC(messageArray.left(6), CRCReceive)){
float vmin = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 10.0;
float vmax = ((uint8_t)messageArray.at(2) << 8 | (uint8_t)messageArray.at(3)) / 10.0;
qDebug() << "LAUROBOT_READMAINBATTERYVOLTAGESETTINGS: ";
qDebug() << "Min: " << vmin << " V";
qDebug() << "Max: " << vmax << " V";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READMAINBATTERYVOLTAGESETTINGS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 6);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READLOGICBATTERYVOLTAGESETTINGS: {
if (messageArray.length() >= 6) {
if (checkCRC(messageArray.left(6), CRCReceive)){
float vmin = ((uint8_t)messageArray.at(0) << 8 | (uint8_t)messageArray.at(1)) / 10.0;
float vmax = ((uint8_t)messageArray.at(2) << 8 | (uint8_t)messageArray.at(3)) / 10.0;
qDebug() << "LAUROBOT_READLOGICBATTERYVOLTAGESETTINGS: ";
qDebug() << "Min: " << vmin << " V";
qDebug() << "Max: " << vmax << " V";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READLOGICBATTERYVOLTAGESETTINGS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 6);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READS3S4ANDS5MODES: {
if (messageArray.length() >= 5) {
if (checkCRC(messageArray.left(5), CRCReceive)){
uint8_t s3 = ((uint8_t)messageArray.at(0));
uint8_t s4 = ((uint8_t)messageArray.at(1));
uint8_t s5 = ((uint8_t)messageArray.at(2));
qDebug() << "LAUROBOT_READS3S4ANDS5MODES: ";
qDebug() << "s3: " << s3;
qDebug() << "s4: " << s4;
qDebug() << "s5: " << s5;
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READS3S4ANDS5MODES message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 5);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READDEADBANDFORRCANALOGCONTROLS: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)){
float rev = ((uint8_t)messageArray.at(0)) / 10.0;
float sfor = ((uint8_t)messageArray.at(1)) / 10.0;
qDebug() << "LAUROBOT_READDEADBANDFORRCANALOGCONTROLS: ";
qDebug() << "Reverse: " << rev << " %";
qDebug() << "Forward: " << sfor << " %";
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READDEADBANDFORRCANALOGCONTROLS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READDEFAULTDUTYCYCLEACCELERATIONS: {
if (messageArray.length() >= 18) {
if (checkCRC(messageArray.left(18), CRCReceive)){
int M1A, M1D, M2A, M2D;
((char*)&M1A)[0] = (uint8_t)messageArray.at(3);
((char*)&M1A)[1] = (uint8_t)messageArray.at(2);
((char*)&M1A)[2] = (uint8_t)messageArray.at(1);
((char*)&M1A)[3] = (uint8_t)messageArray.at(0);
((char*)&M1D)[0] = (uint8_t)messageArray.at(7);
((char*)&M1D)[1] = (uint8_t)messageArray.at(6);
((char*)&M1D)[2] = (uint8_t)messageArray.at(5);
((char*)&M1D)[3] = (uint8_t)messageArray.at(4);
((char*)&M2A)[0] = (uint8_t)messageArray.at(11);
((char*)&M2A)[1] = (uint8_t)messageArray.at(10);
((char*)&M2A)[2] = (uint8_t)messageArray.at(9);
((char*)&M2A)[3] = (uint8_t)messageArray.at(8);
((char*)&M2D)[0] = (uint8_t)messageArray.at(15);
((char*)&M2D)[1] = (uint8_t)messageArray.at(14);
((char*)&M2D)[2] = (uint8_t)messageArray.at(13);
((char*)&M2D)[3] = (uint8_t)messageArray.at(12);
qDebug() << "LAUROBOT_READDEFAULTDUTYCYCLEACCELERATIONS: ";
qDebug() << "M1 Duty Cycle Accleration: " << M1A;
qDebug() << "M1 Duty Cycle Decleration: " << M1D;
qDebug() << "M2 Duty Cycle Accleration: " << M2A;
qDebug() << "M2 Duty Cycle Decleration: " << M2D;
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READDEFAULTDUTYCYCLEACCELERATIONS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 18);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READSTATUS: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)){
uint8_t stat1 = ((uint8_t)messageArray.at(0));
uint8_t stat2 = ((uint8_t)messageArray.at(1));
qDebug() << "LAUROBOT_READSTATUS: ";
qDebug() << "Status: 0x" << stat1 << stat2;
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READSTATUS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READSTANDARDCONGSETTINGS: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)){
qDebug() << "LAUROBOT_READSTANDARDCONGSETTINGS: 0x" << ((uint8_t)messageArray.at(0)) << ((uint8_t)messageArray.at(1));
emit emitMessage(message);
} else {
setError(QString("ERROR receiving LAUROBOT_READSTANDARDCONGSETTINGS message!"));
emit emitError(error());
}
messageArray = messageArray.remove(0, 4);
messageIDList.takeFirst();
return (true);
}
break;
}
case LAUROBOT_READENCODERMODES: {
if (messageArray.length() >= 4) {
if (checkCRC(messageArray.left(4), CRCReceive)){
uint8_t m1var = messageArray.at(0);
uint8_t m2var = messageArray.at(1);
uint8_t var1;
uint8_t var2;
uint8_t var3;
uint8_t var4;
var1 = m1var & 0x80;
var2 = m1var & 0x01;
var3 = m2var & 0x80;
var4 = m2var & 0x01;
var1 = var1/128;