summaryrefslogtreecommitdiffhomepage
path: root/tracker-hatire
diff options
context:
space:
mode:
Diffstat (limited to 'tracker-hatire')
-rw-r--r--tracker-hatire/CMakeLists.txt3
-rw-r--r--tracker-hatire/ftnoir_hatcontrols.ui86
-rw-r--r--tracker-hatire/ftnoir_tracker_hat.cpp2
-rw-r--r--tracker-hatire/ftnoir_tracker_hat.h3
-rw-r--r--tracker-hatire/ftnoir_tracker_hat_dialog.cpp5
-rw-r--r--tracker-hatire/ftnoir_tracker_hat_settings.h3
-rw-r--r--tracker-hatire/lang/nl_NL.ts4
-rw-r--r--tracker-hatire/lang/ru_RU.ts4
-rw-r--r--tracker-hatire/lang/stub.ts4
-rw-r--r--tracker-hatire/lang/zh_CN.ts6
-rw-r--r--tracker-hatire/thread.cpp17
-rw-r--r--tracker-hatire/thread.hpp1
12 files changed, 93 insertions, 45 deletions
diff --git a/tracker-hatire/CMakeLists.txt b/tracker-hatire/CMakeLists.txt
index a73a471c..01dd52b9 100644
--- a/tracker-hatire/CMakeLists.txt
+++ b/tracker-hatire/CMakeLists.txt
@@ -2,4 +2,7 @@ if(Qt5SerialPort_FOUND)
otr_module(tracker-hatire)
target_link_libraries(${self} ${Qt5SerialPort_LIBRARIES})
target_include_directories(${self} SYSTEM PUBLIC ${Qt5SerialPort_INCLUDE_DIRS})
+ if (WIN32 OR APPLE)
+ otr_install_lib(Qt5::SerialPort .)
+ endif()
endif()
diff --git a/tracker-hatire/ftnoir_hatcontrols.ui b/tracker-hatire/ftnoir_hatcontrols.ui
index aa84758b..758d8e51 100644
--- a/tracker-hatire/ftnoir_hatcontrols.ui
+++ b/tracker-hatire/ftnoir_hatcontrols.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>389</width>
- <height>488</height>
+ <height>497</height>
</rect>
</property>
<property name="minimumSize">
@@ -103,7 +103,7 @@
<bool>false</bool>
</property>
<property name="sizeAdjustPolicy">
- <enum>QComboBox::AdjustToMinimumContentsLength</enum>
+ <enum>QComboBox::AdjustToContents</enum>
</property>
<property name="modelColumn">
<number>0</number>
@@ -1136,16 +1136,6 @@ p, li { white-space: pre-wrap; }
<string>Serial Parameters</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
- <item row="0" column="1">
- <widget class="QComboBox" name="QCB_Serial_baudRate">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
<item row="3" column="1">
<widget class="QComboBox" name="QCB_Serial_stopBits">
<property name="sizePolicy">
@@ -1163,6 +1153,13 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="baudRateLabel">
+ <property name="text">
+ <string>BaudRate:</string>
+ </property>
+ </widget>
+ </item>
<item row="2" column="1">
<widget class="QComboBox" name="QCB_Serial_parity">
<property name="sizePolicy">
@@ -1173,13 +1170,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QComboBox" name="QCB_Serial_flowControl">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item row="1" column="0">
+ <widget class="QLabel" name="dataBitsLabel">
+ <property name="text">
+ <string>Data bits</string>
</property>
</widget>
</item>
@@ -1190,6 +1184,16 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
+ <item row="0" column="1">
+ <widget class="QComboBox" name="QCB_Serial_baudRate">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
<item row="2" column="0">
<widget class="QLabel" name="parityLabel">
<property name="text">
@@ -1197,15 +1201,18 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="baudRateLabel">
- <property name="text">
- <string>BaudRate:</string>
+ <item row="1" column="1">
+ <widget class="QComboBox" name="QCB_Serial_dataBits">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QComboBox" name="QCB_Serial_dataBits">
+ <item row="4" column="1">
+ <widget class="QComboBox" name="QCB_Serial_flowControl">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -1214,10 +1221,23 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="dataBitsLabel">
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_6">
<property name="text">
- <string>Data bits</string>
+ <string>DTR</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QCheckBox" name="QCB_Serial_dtr">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string/>
</property>
</widget>
</item>
@@ -1371,6 +1391,7 @@ p, li { white-space: pre-wrap; }
</layout>
</widget>
<tabstops>
+ <tabstop>tabWidget</tabstop>
<tabstop>cbSerialPort</tabstop>
<tabstop>btnZero</tabstop>
<tabstop>btnReset</tabstop>
@@ -1393,24 +1414,27 @@ p, li { white-space: pre-wrap; }
<tabstop>cb_z</tabstop>
<tabstop>chkInvertZ</tabstop>
<tabstop>le_cmd_init</tabstop>
+ <tabstop>spb_BeforeInit</tabstop>
<tabstop>le_cmd_start</tabstop>
+ <tabstop>spb_BeforeStart</tabstop>
<tabstop>spb_AfterStart</tabstop>
<tabstop>le_cmd_stop</tabstop>
<tabstop>le_cmd_center</tabstop>
<tabstop>le_cmd_zero</tabstop>
- <tabstop>le_cmd_reset</tabstop>
<tabstop>spb_Fps</tabstop>
+ <tabstop>le_cmd_reset</tabstop>
<tabstop>cb_Endian</tabstop>
<tabstop>QCB_Serial_baudRate</tabstop>
<tabstop>QCB_Serial_dataBits</tabstop>
<tabstop>QCB_Serial_parity</tabstop>
<tabstop>QCB_Serial_stopBits</tabstop>
<tabstop>QCB_Serial_flowControl</tabstop>
+ <tabstop>QCB_Serial_dtr</tabstop>
+ <tabstop>btn_icone</tabstop>
+ <tabstop>chkEnableLogging</tabstop>
<tabstop>lineSend</tabstop>
<tabstop>btnSend</tabstop>
<tabstop>pteINFO</tabstop>
- <tabstop>tabWidget</tabstop>
- <tabstop>btn_icone</tabstop>
</tabstops>
<resources>
<include location="ftnoir_hat.qrc"/>
diff --git a/tracker-hatire/ftnoir_tracker_hat.cpp b/tracker-hatire/ftnoir_tracker_hat.cpp
index b53a9213..9948c30e 100644
--- a/tracker-hatire/ftnoir_tracker_hat.cpp
+++ b/tracker-hatire/ftnoir_tracker_hat.cpp
@@ -122,7 +122,7 @@ void hatire::data(double *data)
}
for (unsigned k = 0; k < 3; k++)
- HAT.Rot[k] = clamp(HAT.Rot[k], -180, 180);
+ HAT.Rot[k] = std::clamp(HAT.Rot[k], -180.f, 180.f);
const struct
{
diff --git a/tracker-hatire/ftnoir_tracker_hat.h b/tracker-hatire/ftnoir_tracker_hat.h
index b2300556..16e39c7d 100644
--- a/tracker-hatire/ftnoir_tracker_hat.h
+++ b/tracker-hatire/ftnoir_tracker_hat.h
@@ -32,6 +32,7 @@ public:
void send_serial_command(const QByteArray& x);
hatire_thread t;
+
private:
TArduinoData ArduinoData {}, HAT {};
QByteArray Begin;
@@ -42,8 +43,6 @@ private:
int frame_cnt = 0;
std::atomic<int> CptError { 0 };
-
- static inline QByteArray to_latin1(const QString& str) { return str.toLatin1(); }
};
class hatire_metadata : public Metadata
diff --git a/tracker-hatire/ftnoir_tracker_hat_dialog.cpp b/tracker-hatire/ftnoir_tracker_hat_dialog.cpp
index 7cb25d18..7cede5ca 100644
--- a/tracker-hatire/ftnoir_tracker_hat_dialog.cpp
+++ b/tracker-hatire/ftnoir_tracker_hat_dialog.cpp
@@ -32,6 +32,10 @@ dialog_hatire::dialog_hatire() : theTracker(nullptr), timer(this)
ui.QCB_Serial_baudRate->addItem(QLatin1String("38400"),QSerialPort::Baud38400);
ui.QCB_Serial_baudRate->addItem(QLatin1String("57600"),QSerialPort:: Baud57600);
ui.QCB_Serial_baudRate->addItem(QLatin1String("115200"),QSerialPort::Baud115200);
+ ui.QCB_Serial_baudRate->addItem(QLatin1String("230400"),(QSerialPort::BaudRate)230400);
+ ui.QCB_Serial_baudRate->addItem(QLatin1String("250000"),(QSerialPort::BaudRate)250000);
+ ui.QCB_Serial_baudRate->addItem(QLatin1String("500000"),(QSerialPort::BaudRate)500000);
+ ui.QCB_Serial_baudRate->addItem(QLatin1String("1000000"),(QSerialPort::BaudRate)1000000);
ui.QCB_Serial_dataBits->clear();
ui.QCB_Serial_dataBits->addItem(QLatin1String("5"), QSerialPort::Data5);
@@ -91,6 +95,7 @@ dialog_hatire::dialog_hatire() : theTracker(nullptr), timer(this)
tie_setting(s.DelaySeq, ui.spb_AfterStart);
tie_setting(s.BigEndian, ui.cb_Endian);
+ tie_setting(s.pDTR, ui.QCB_Serial_dtr);
tie_setting(s.pBaudRate, ui.QCB_Serial_baudRate);
tie_setting(s.pDataBits, ui.QCB_Serial_dataBits);
diff --git a/tracker-hatire/ftnoir_tracker_hat_settings.h b/tracker-hatire/ftnoir_tracker_hat_settings.h
index a41f906d..b17042c7 100644
--- a/tracker-hatire/ftnoir_tracker_hat_settings.h
+++ b/tracker-hatire/ftnoir_tracker_hat_settings.h
@@ -22,7 +22,7 @@ struct TrackerSettings : opts
value<int> DelayInit, DelayStart, DelaySeq;
- value<bool> BigEndian, EnableLogging;
+ value<bool> BigEndian, EnableLogging, pDTR;
value<QString> QSerialPortName;
@@ -63,6 +63,7 @@ struct TrackerSettings : opts
DelaySeq(b, "after-start-delay", 0),
BigEndian(b, "is-big-endian", false),
EnableLogging(b, "enable-logging", false),
+ pDTR(b, "data-terminal-ready", false),
QSerialPortName(b, "serial-port-name", ""),
pBaudRate(b, "baud-rate", QSerialPort::Baud115200),
pDataBits(b, "data-bits", QSerialPort::Data8),
diff --git a/tracker-hatire/lang/nl_NL.ts b/tracker-hatire/lang/nl_NL.ts
index a1e613b0..af8cbd2c 100644
--- a/tracker-hatire/lang/nl_NL.ts
+++ b/tracker-hatire/lang/nl_NL.ts
@@ -269,6 +269,10 @@ p, li { white-space: pre-wrap; }
<source>Enable logging to diagnostic file</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>DTR</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>dialog_hatire</name>
diff --git a/tracker-hatire/lang/ru_RU.ts b/tracker-hatire/lang/ru_RU.ts
index f7f3024d..16052702 100644
--- a/tracker-hatire/lang/ru_RU.ts
+++ b/tracker-hatire/lang/ru_RU.ts
@@ -269,6 +269,10 @@ p, li { white-space: pre-wrap; }
<source>Enable logging to diagnostic file</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>DTR</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>dialog_hatire</name>
diff --git a/tracker-hatire/lang/stub.ts b/tracker-hatire/lang/stub.ts
index 0d22bf81..90c8e616 100644
--- a/tracker-hatire/lang/stub.ts
+++ b/tracker-hatire/lang/stub.ts
@@ -269,6 +269,10 @@ p, li { white-space: pre-wrap; }
<source>Enable logging to diagnostic file</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>DTR</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>dialog_hatire</name>
diff --git a/tracker-hatire/lang/zh_CN.ts b/tracker-hatire/lang/zh_CN.ts
index 0d22bf81..d80cfa28 100644
--- a/tracker-hatire/lang/zh_CN.ts
+++ b/tracker-hatire/lang/zh_CN.ts
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE TS>
-<TS version="2.1">
+<TS version="2.1" language="zh_CN">
<context>
<name>UIHATControls</name>
<message>
@@ -269,6 +269,10 @@ p, li { white-space: pre-wrap; }
<source>Enable logging to diagnostic file</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>DTR</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
<context>
<name>dialog_hatire</name>
diff --git a/tracker-hatire/thread.cpp b/tracker-hatire/thread.cpp
index 4938e77f..7d61a90a 100644
--- a/tracker-hatire/thread.cpp
+++ b/tracker-hatire/thread.cpp
@@ -71,7 +71,7 @@ void hatire_thread::Log(const QString& message)
{
QTextStream out(&flDiagnostics);
QString milliSeconds;
- milliSeconds = QString("%1").arg(QTime::currentTime().msec(), 3, 10, QChar('0'));
+ milliSeconds = QStringLiteral("%1").arg(QTime::currentTime().msec(), 3, 10, QChar('0'));
// We have a file
out << QTime::currentTime().toString() << "." << milliSeconds << ": " << message << "\r\n";
flDiagnostics.close();
@@ -111,7 +111,7 @@ void hatire_thread::teardown_serial()
{
QByteArray msg;
Log("Tracker shut down");
- com_port.write(to_latin1(s.CmdStop));
+ com_port.write(s.CmdStop->toUtf8());
if (!com_port.waitForBytesWritten(1000))
{
emit serial_debug_info("TimeOut in writing CMD");
@@ -120,7 +120,7 @@ void hatire_thread::teardown_serial()
{
msg.append("\r\n");
msg.append("SEND '");
- msg.append(s.CmdStop);
+ msg.append(s.CmdStop->toUtf8());
msg.append("'\r\n");
}
emit serial_debug_info(msg);
@@ -168,6 +168,7 @@ serial_result hatire_thread::init_serial_port_impl()
&& com_port.setParity((QSerialPort::Parity)s.pParity)
&& com_port.setStopBits((QSerialPort::StopBits)s.pStopBits)
&& com_port.setFlowControl((QSerialPort::FlowControl)s.pFlowControl)
+ && com_port.setDataTerminalReady(s.pDTR)
&& com_port.clear(QSerialPort::AllDirections)
)
{
@@ -200,7 +201,7 @@ serial_result hatire_thread::init_serial_port_impl()
}
Log(tr("Waiting on init"));
qDebug() << QTime::currentTime() << " HAT send INIT ";
- sendcmd_str(s.CmdInit);
+ emit sendcmd_str(s.CmdInit);
// Wait init MPU sequence
for (int i = 1; i <= s.DelayStart; i+=50)
{
@@ -208,7 +209,7 @@ serial_result hatire_thread::init_serial_port_impl()
}
// Send START cmd to IMU
qDebug() << QTime::currentTime() << " HAT send START ";
- sendcmd_str(s.CmdStart);
+ emit sendcmd_str(s.CmdStart);
// Wait start MPU sequence
for (int i = 1; i <=s.DelaySeq; i+=50)
@@ -241,13 +242,13 @@ void hatire_thread::serial_info_impl()
if (com_port.isOpen())
{
msg.append("\r\n");
- msg.append(com_port.portName());
+ msg.append(com_port.portName().toUtf8());
msg.append("\r\n");
msg.append("BAUDRATE :");
- msg.append(QString::number(com_port.baudRate()));
+ msg.append(QString::number(com_port.baudRate()).toLatin1());
msg.append("\r\n");
msg.append("DataBits :");
- msg.append(QString::number(com_port.dataBits()));
+ msg.append(QString::number(com_port.dataBits()).toLatin1());
msg.append("\r\n");
msg.append("Parity :");
diff --git a/tracker-hatire/thread.hpp b/tracker-hatire/thread.hpp
index 5cecbdce..f6bd8d49 100644
--- a/tracker-hatire/thread.hpp
+++ b/tracker-hatire/thread.hpp
@@ -50,7 +50,6 @@ class hatire_thread : public QThread
char buf[1024];
void run() override;
- static inline QByteArray to_latin1(const QString& str) { return str.toLatin1(); }
void serial_debug_info_str(const QString& str);
generated by cgit v1.2.3 (git 2.39.1) at 2025-05-19 15:57:25 +0000