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Refactored a8 codes and added remote testing app a8_remote.

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This commit is contained in:
Nffj84
2024-07-02 11:31:12 +03:00
parent c03d477c45
commit b39e58dbc1
499 changed files with 1209 additions and 463 deletions
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misc/camera/a8/serialResponse.cpp
+30 -33
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@@ -1,15 +1,10 @@
#include "serialResponse.h"
#include "serialResponse.hpp"
#include <QDebug>
#include "defines.h"
#include "utilsCRC16.h"
#include "defines.hpp"
#include "utilsCRC16.hpp"
void SerialResponse::printResponse(QByteArray response)
{
if (response.size() == 0) {
qWarning().noquote() << "Response is empty";
return;
}
QHash<QString, QVariant> results = getResponceValues(response);
QList<QString> keys = results.keys();
@@ -37,6 +32,12 @@ void SerialResponse::printResponse(QByteArray response)
QHash<QString, QVariant> SerialResponse::getResponceValues(QByteArray response)
{
QHash<QString, QVariant> results;
if (response.size() == 0) {
qCritical().noquote().nospace() << "Response is empty, exiting...";
}
// Check response data validity
int8_t crcCheck[2];
uint8_t desiredLength = response.size() - 2;
@@ -49,61 +50,57 @@ QHash<QString, QVariant> SerialResponse::getResponceValues(QByteArray response)
// Data not OK
if (crcCheck[0] != crcOriginal[0] || crcCheck[1] != crcOriginal[1]) {
qWarning() << "Response data INVALID";
qWarning().noquote().nospace() << "Response data INVALID";
QString responseCRC = QString("0x%1,0x%2").arg(crcOriginal[0], 2, 16, QLatin1Char('0')).arg(crcOriginal[1], 2, 16, QLatin1Char('0')).toUpper();
QString recalcCRC = QString("0x%1,0x%2").arg(crcCheck[0], 2, 16, QLatin1Char('0')).arg(crcCheck[1], 2, 16, QLatin1Char('0')).toUpper();
qWarning().noquote() << responseCRC << "!=" << recalcCRC;
qWarning().noquote().nospace() << responseCRC << "!=" << recalcCRC;
}
QHash<QString, QVariant> results;
uint8_t command = response.at(MESSAGE_IDX::CMD_ID);
if (command == 0x0E) {
int16_t yaw = ((uint8_t) response.at(9) << 8) | (uint8_t) response.at(8);
results.insert("yaw", (float) (yaw / 10));
int16_t pitch = ((uint8_t) response.at(11) << 8) | (uint8_t) response.at(10);
results.insert("pitch", (float) (pitch / 10));
int16_t roll = ((uint8_t) response.at(13) << 8) | (uint8_t) response.at(12);
results.insert("yaw", (float) (yaw / 10));
results.insert("pitch", (float) (pitch / 10));
results.insert("roll", (float) (roll / 10));
} else if (command == 0x0D) {
int16_t yaw = ((uint8_t) response.at(9) << 8) | (uint8_t) response.at(8);
results.insert("yaw", (float) (yaw / 10));
int16_t pitch = ((uint8_t) response.at(11) << 8) | (uint8_t) response.at(10);
results.insert("pitch", (float) (pitch / 10));
int16_t roll = ((uint8_t) response.at(13) << 8) | (uint8_t) response.at(12);
int16_t yawSpeed = ((uint8_t) response.at(15) << 8) | (uint8_t) response.at(14);
int16_t pitchSpeed = ((uint8_t) response.at(17) << 8) | (uint8_t) response.at(16);
int16_t rollSpeed = ((uint8_t) response.at(19) << 8) | (uint8_t) response.at(18);
results.insert("yaw", (float) (yaw / 10));
results.insert("pitch", (float) (pitch / 10));
results.insert("roll", (float) (roll / 10));
int16_t yaw_speed = ((uint8_t) response.at(15) << 8) | (uint8_t) response.at(14);
results.insert("yaw_speed", (float) (yaw_speed / 10));
int16_t pitch_speed = ((uint8_t) response.at(17) << 8) | (uint8_t) response.at(16);
results.insert("pitch_speed", (float) (pitch_speed / 10));
int16_t roll_speed = ((uint8_t) response.at(19) << 8) | (uint8_t) response.at(18);
results.insert("roll_speed", (float) (roll_speed / 10));
results.insert("yaw_speed", (float) (yawSpeed / 10));
results.insert("pitch_speed", (float) (pitchSpeed / 10));
results.insert("roll_speed", (float) (rollSpeed / 10));
} else if (command == 0x0F) {
int8_t zoom = (int8_t) response.at(8);
results.insert("zoom", zoom);
} else if (command == 0x18) {
} else if (command == 0x16 || command == 0x18) {
float zoomInt = (float) response.at(8);
float zoomFloat = (float) ((float) response.at(9) / 10);
results.insert("zoom", zoomInt + zoomFloat);
} else if (command == 0x20) {
uint16_t width = ((uint8_t) response.at(11) << 8) | (uint8_t) response.at(10);
results.insert("width", width);
uint16_t height = ((uint8_t) response.at(13) << 8) | (uint8_t) response.at(12);
results.insert("width", width);
results.insert("height", height);
} else {
qWarning().noquote().nospace() << "Getting responce values not implemented yet for command " << QString("0x%1").arg(command, 2, 16, QLatin1Char('0'));
QString responseStr;
for (int i = 0; i < response.size(); i++) {
responseStr += QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
if (i > 0) {
responseStr += ",";
}
responseStr += QString("0x%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
responseStr.replace("0X", "0x");
}
results.insert("Response", responseStr);
qWarning().noquote().nospace() << "Responce byte array: " << responseStr;
}
return results;