Changed serial connection to UDP connection.

Added ZR10 support. Added automation to choose configuration.
2026-04-22 11:06:34 +00:00 · 2024-10-14 21:18:27 +03:00
parent 2b2af3044e
commit a3d9137b77
16 changed files with 380 additions and 305 deletions
@@ -0,0 +1,73 @@
+#include <QDebug>
+#include <QTimer>
+#include "aienginegimbalserverudp.h"
+#include "aienginegimbalservercrc16.h"
+
+
+AiEngineGimbalServerUDP::AiEngineGimbalServerUDP(QObject *parent)
+    : QObject{parent}
+{
+    // Open UDP socket
+    mUdpSocket = new QUdpSocket();
+    mUdpSocket->connectToHost(QHostAddress(SERVER_IP), SERVER_PORT);
+
+    if (mUdpSocket->isOpen() == false) {
+        qCritical().noquote().nospace() << "AiEngineGimbalServerUDP(): Unable to connect " << SERVER_IP << ":" << SERVER_PORT;
+        delete mUdpSocket;
+        exit(EXIT_FAILURE);
+    }
+
+    qDebug().noquote().nospace() << "AiEngineGimbalServerUDP(): Connected " << SERVER_IP << ":" << SERVER_PORT;
+}
+
+
+AiEngineGimbalServerUDP::~AiEngineGimbalServerUDP()
+{
+    if (mUdpSocket->isOpen() == true) {
+        mUdpSocket->close();
+    }
+
+    delete mUdpSocket;
+}
+
+
+void AiEngineGimbalServerUDP::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
+
+    qDebug().noquote().nospace() << "AiEngineGimbalServerUDP(): Sent HEX data: " << toSend.toHex();
+
+    if (mUdpSocket->isOpen() == false) {
+        qCritical().noquote().nospace() << "AiEngineGimbalServerUDP(): Connection not open (sendCommand)";
+        return;
+    }
+
+    if (mUdpSocket->write(toSend) == -1) {
+        qCritical().noquote().nospace() << "AiEngineGimbalServerUDP(): Failed to send data: " << mUdpSocket->errorString();
+    }
+}
+
+QByteArray AiEngineGimbalServerUDP::readResponse()
+{
+    QByteArray response;
+    QByteArray recvBuff(RECV_BUF_SIZE, 0);
+
+    if (mUdpSocket->waitForReadyRead(3000)) {
+        qint64 recvLen = mUdpSocket->read(recvBuff.data(), RECV_BUF_SIZE);
+        if (recvLen > 0) {
+            response = recvBuff.left(recvLen);
+            qDebug().noquote().nospace() << "AiEngineGimbalServerUDP(): Received HEX data: " << response.toHex();
+        } else {
+            qCritical().noquote().nospace() << "AiEngineGimbalServerUDP(): Failed to receive data: " << mUdpSocket->errorString();
+        }
+    } else {
+        qCritical().noquote().nospace() << "AiEngineGimbalServerUDP(): No data received.";
+    }
+
+    return response;
+}