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#include "packetprocessor.h"
#include "subwindows/odometriewindow.h"
#include "subwindows/asservwindow.h"
#include "subwindows/watchwindow.h"
#include "subwindows/loggerwidget.h"
#include "../../stm32/include/hardware/krabipacket.h"
#include "../../stm32/include/positionPlusAngle.h"
#include "timemaster.h"
#include <QDebug>
PacketProcessor::PacketProcessor(OdometrieWindow *odometrie, GraphWindow *graphs, WatchWindow *watches, AsservWindow *asserv, LoggerWidget* logger)
{
m_odometrie = odometrie;
m_graphs = graphs;
m_watches = watches;
m_asserv = asserv;
m_logger = logger;
}
void PacketProcessor::processData(KrabiPacket packet)
{
switch(packet.id())
{
case KrabiPacket::LOG_NORMAL:
m_logger->log(packet.getString());
break;
case KrabiPacket::LOG_DEBUG:
m_logger->log(packet.getString(), true);
break;
case KrabiPacket::WATCH_VARIABLE:
watch(packet);
break;
case KrabiPacket::ASSERV_RESULT:
{
uint32_t time = packet.get<uint32_t>();
/*float vitesseLin = packet.get<float>();
float vitesseLinE = packet.get<float>();
float linearDuty = packet.get<float>();
float vitesseAng = packet.get<float>();
float vitesseAngE = packet.get<float>();
float angularDuty = packet.get<float>();*/
qDebug() << "Krabi Results" << time;
if (time == 0)
emit reseted();
if(m_asserv->graphLinear())
{
/*DebugWindow::getInstance()->plot(0, "Linear Speed", vitesseLin, time);
DebugWindow::getInstance()->plot(1, "Linear Target", vitesseLinE, time);*/
}
if (m_asserv->graphAngular())
{
/*DebugWindow::getInstance()->plot(2, "Angular Speed", vitesseAng, time);
DebugWindow::getInstance()->plot(3, "Angular Target", vitesseAngE, time);*/
}
if (m_asserv->graphDuty())
{
/*DebugWindow::getInstance()->plot(6, "Linear Duty", linearDuty, time);
DebugWindow::getInstance()->plot(7, "Angular Duty", angularDuty, time);*/
}
break;
}
case KrabiPacket::TIME_SYNC:
{
int t = packet.get<uint16_t>();
int diff = t - TimeMaster::getInstance()->getCurrentTime();
if (abs(diff) > 25)
{
qDebug() << "Timer sync error (" << diff << "ms)";
}
/*if (diff < -1500)
{
DebugWindow::getInstance()->clearPlots();
qDebug() << "Timer restart";
}*/
TimeMaster::getInstance()->delta(t);
//qDebug() << "Timer" << t << t / 1000 << t % 1000;
break;
}
default:
qDebug() << "Uncaught packet : " << packet.id() << packet.length();
break;
}
}
void PacketProcessor::watch(KrabiPacket packet)
{
uint16_t type = packet.get<uint16_t>();
switch(type)
{
case KrabiPacket::W_POSITION:
{
/* float x = packet.get<float>();
float y = packet.get<float>();
float ang = packet.get<float>();
PositionPlusAngle newPos = PositionPlusAngle(Position(x, y), ang);*/
//getMainRobot()->setPos(newPos);
/*if (previousPosition)
DebugWindow::getInstance()->getOdometrieWindow()->addRelative(newPos.position - previousPos.position, newPos.angle - previousPos.angle);*/
/* previousPos = newPos;
previousPosition = true;*/
break;
}
case KrabiPacket::W_SPEED:
{
/*float l = packet.get<float>();
float a = packet.get<float>();
DebugWindow::getInstance()->plot(0, "Linear Speed", l);
DebugWindow::getInstance()->plot(1, "Angular Speed", a * 100.);*/
break;
}
case KrabiPacket::W_SPEED_TARGET:
{
/*float l = packet.get<float>();
float a = packet.get<float>();
DebugWindow::getInstance()->plot(2, "Linear Target", l);
DebugWindow::getInstance()->plot(3, "Angular Target", a * 100.);*/
break;
}
case KrabiPacket::W_PID_ANG:
{
float p = packet.get<float>();
float i = packet.get<float>();
float d = packet.get<float>();
m_asserv->settingsReceivedAngular(p, i, d);
break;
}
case KrabiPacket::W_PID_LIN:
{
float p = packet.get<float>();
float i = packet.get<float>();
float d = packet.get<float>();
m_asserv->settingsReceivedLinear(p, i, d);
break;
}
case KrabiPacket::W_ODOMETRIE:
{
float wheelsize = packet.get<float>();
float interaxis = packet.get<float>();
m_odometrie->settingsReceived(wheelsize, interaxis);
break;
}
case KrabiPacket::W_WATCHES:
m_watches->syncFinished(packet);
break;
case KrabiPacket::W_SHARPS:
//DebugWindow::getInstance()->getSharpWindow()->syncFinished(packet);
qDebug() << "SHARPS watches not implemented";
break;
default:
qDebug() << "Uncaught watch: " << type;
break;
}
}