Added server side code.

2026-04-22 22:06:34 +00:00 · 2024-07-25 17:49:30 +03:00
parent 8e88cb6fe1
commit 147213cec6
15 changed files with 951 additions and 11 deletions
@@ -0,0 +1,92 @@
+#include <QDebug>
+#include <QTimer>
+#include "aienginegimbalserverserialport.h"
+#include "aienginegimbalservercrc16.h"
+#include "aienginegimbalserverdefines.h"
+
+
+AiEngineGimbalServerSerialPort::AiEngineGimbalServerSerialPort(QObject *parent)
+    : QObject{parent}
+{
+    mSerialPort = new QSerialPort();
+    mSerialPort->setPortName(AI_ENGINE_SERIAL_PORT);
+    mSerialPort->setBaudRate(QSerialPort::Baud115200);
+    mSerialPort->setDataBits(QSerialPort::Data8);
+    mSerialPort->setStopBits(QSerialPort::OneStop);
+    mSerialPort->setFlowControl(QSerialPort::NoFlowControl);
+
+    // Open the serial port
+    if (openPort() == false) {
+        qCritical().noquote().nospace() << "SerialPort(): Unable to open port " << AI_ENGINE_SERIAL_PORT;
+        delete mSerialPort;
+        exit(EXIT_FAILURE);
+    }
+
+    qDebug().noquote().nospace() << "SerialPort(): Opened port " << AI_ENGINE_SERIAL_PORT;
+}
+
+AiEngineGimbalServerSerialPort::~AiEngineGimbalServerSerialPort()
+{
+    closePort();
+    delete mSerialPort;
+}
+
+bool AiEngineGimbalServerSerialPort::openPort()
+{
+    if (mSerialPort->isOpen()) {
+        qDebug().noquote().nospace() << "Port already open";
+        return true;
+    }
+
+    return mSerialPort->open(QIODevice::ReadWrite);
+}
+
+void AiEngineGimbalServerSerialPort::closePort()
+{
+    if (mSerialPort->isOpen()) {
+        mSerialPort->close();
+    }
+}
+
+void AiEngineGimbalServerSerialPort::sendCommand(const QByteArray &command)
+{
+    QByteArray toSend = command;
+    int8_t crcBytes[2];
+    AiEngineGimbalServerCrc16::getCRCBytes(toSend, crcBytes);
+    toSend.resize(toSend.size() + 2);        // Increase array size to accommodate CRC bytes
+    toSend[toSend.size() - 2] = crcBytes[0]; // Set LSB
+    toSend[toSend.size() - 1] = crcBytes[1]; // Set MSB
+
+    QString commandStr;
+    for (int i = 0; i < toSend.size(); i++) {
+        if (i > 0) {
+            commandStr += ",";
+        }
+        commandStr += QString("0x%1").arg(toSend.at(i), 2, 16, QChar('0')).toUpper();
+        commandStr.replace("0X", "0x");
+    }
+    qDebug().noquote().nospace() << "Command: " << commandStr;
+
+    if (!mSerialPort->isOpen()) {
+        qCritical().noquote().nospace() << "Error: Port not open (sendCommand)";
+        return;
+    }
+
+    mSerialPort->write(toSend);
+}
+
+QByteArray AiEngineGimbalServerSerialPort::readResponse()
+{
+    if (!mSerialPort->isOpen()) {
+        qDebug().noquote().nospace() << "Error: Port not open (readResponse)";
+        return QByteArray();
+    }
+
+    // Read data from serial port until timeout or specific criteria met
+    QByteArray response;
+    while (mSerialPort->waitForReadyRead(AI_ENGINE_SERIAL_RESPONSE_WAIT_TIME)) { // Adjust timeout as needed
+        response.append(mSerialPort->readAll());
+    }
+
+    return response;
+}