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287 Kevin 1 
#include "RobotControl.h"
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RobotControl::RobotControl(QWidget *parent)
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	: QWidget(parent)
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{
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	connected = false;
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	connectBtn = new QPushButton();
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	connectBtn->setText("Connect");
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	connectBtn->setFocusPolicy(Qt::NoFocus);
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	refreshBtn = new QPushButton();
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	refreshBtn->setText("Refresh");
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	refreshBtn->setFocusPolicy(Qt::NoFocus);
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	statusLabel = new QLabel();
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	statusLabel->setText("Status: Disconnected");
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	speedLabel = new QLabel();
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	speedLabel->setText("Speed (0-255):");
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	speedBox = new QSpinBox();
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	speedBox->setRange(0, 255);
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	speedBox->setValue(255);
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	speedBox->setSingleStep(51);
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	speedBox->setFocusPolicy(Qt::NoFocus);
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	portSelect = new QComboBox();
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	portSelect->setFocusPolicy(Qt::NoFocus);
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	refreshPorts();
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	port = new QSerialPort();
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	QHBoxLayout *layout = new QHBoxLayout();
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	layout->addWidget(connectBtn);
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	layout->addWidget(portSelect);
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	layout->addWidget(refreshBtn);
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	layout->addWidget(statusLabel);
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	layout->addStretch();
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	layout->addWidget(speedLabel);
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	layout->addWidget(speedBox);
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	setLayout(layout);
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	connect(connectBtn, SIGNAL(pressed()), this, SLOT(toggleConnect()));
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	connect(refreshBtn, SIGNAL(pressed()), this, SLOT(refreshPorts()));
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}
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RobotControl::~RobotControl()
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{
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	port->close();
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	delete(connectBtn);
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	delete(refreshBtn);
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	delete(statusLabel);
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	delete(portSelect);
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	delete(port);
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}
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void RobotControl::refreshPorts() {
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	ports = QSerialPortInfo::availablePorts();
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	portSelect->clear();
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	for (int i = 0; i < ports.size(); i++) {
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		portSelect->addItem(ports[i].portName());
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	}
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}
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void RobotControl::toggleConnect() {
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	if (!connected) {
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		port->setPortName(portSelect->currentText());
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		if (!port->open(QIODevice::ReadWrite)) {
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			port->close();
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			statusLabel->setText("Status: Unable to Connect");
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		} else {
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			port->setBaudRate(QSerialPort::Baud115200);
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			port->setDataBits(QSerialPort::Data8);
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			port->setParity(QSerialPort::NoParity);
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			port->setFlowControl(QSerialPort::NoFlowControl);
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			port->setStopBits(QSerialPort::OneStop);
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			statusLabel->setText("Status: Connected");
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			connectBtn->setText("Disconnect");
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			refreshBtn->setEnabled(false);
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			portSelect->setEnabled(false);
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			connected = true;
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		}
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	} else {
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		port->close();
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		statusLabel->setText("Status: Disconnected");
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		connectBtn->setText("Connect");
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		refreshBtn->setEnabled(true);
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		portSelect->setEnabled(true);
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		connected = false;
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	}
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}
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void RobotControl::handleKeyPress(QKeyEvent *event) {
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	if (connected) {
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		if (!event->isAutoRepeat()) {
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			switch (event->key()) {
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			case Qt::Key_W:
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			case Qt::Key_Up:
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				moveForward = true;
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				break;
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			case Qt::Key_S:
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			case Qt::Key_Down:
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				moveBackward = true;
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				break;
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			case Qt::Key_A:
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			case Qt::Key_Left:
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				turnLeft = true;
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				break;
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			case Qt::Key_D:
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			case Qt::Key_Right:
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				turnRight = true;
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				break;
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			}
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			processMove();
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		}
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	}
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}
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void RobotControl::handleKeyRelease(QKeyEvent *event) {
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	if (connected) {
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		if (!event->isAutoRepeat()) {
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			switch (event->key()) {
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			case Qt::Key_W:
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			case Qt::Key_Up:
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				moveForward = false;
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				break;
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			case Qt::Key_S:
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			case Qt::Key_Down:
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				moveBackward = false;
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				break;
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			case Qt::Key_A:
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			case Qt::Key_Left:
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				turnLeft = false;
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				break;
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			case Qt::Key_D:
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			case Qt::Key_Right:
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				turnRight = false;
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				break;
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			}
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			processMove();
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		}
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	}
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}
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void RobotControl::processMove() {
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	char buffer[4];
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	// 0x01 = Reset
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	// 0x02 = Left Forward
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	// 0x03 = Left Backward
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	// 0x04 = Right Forward
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	// 0x05 = Right Backward
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	char speed = speedBox->value();
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	if (connected) {
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		if (moveForward) {
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			if (turnLeft) {
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				buffer[0] = 0x02;
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				buffer[1] = 0x00;
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				buffer[2] = 0x04;
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				buffer[3] = speed;
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			} else if (turnRight) {
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				buffer[0] = 0x02;
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				buffer[1] = speed;
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				buffer[2] = 0x04;
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				buffer[3] = 0x00;
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			} else {
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				buffer[0] = 0x02;
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				buffer[1] = speed;
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				buffer[2] = 0x04;
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				buffer[3] = speed;
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			}
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		} else if (moveBackward) {
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			if (turnLeft) {
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				buffer[0] = 0x03;
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				buffer[1] = 0x00;
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				buffer[2] = 0x05;
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				buffer[3] = speed;
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			} else if (turnRight) {
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				buffer[0] = 0x03;
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				buffer[1] = speed;
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				buffer[2] = 0x05;
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				buffer[3] = 0x00;
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			} else {
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				buffer[0] = 0x03;
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				buffer[1] = speed;
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				buffer[2] = 0x05;
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				buffer[3] = speed;
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			}
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		} else if (turnLeft) {
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			buffer[0] = 0x03;
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			buffer[1] = speed;
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			buffer[2] = 0x04;
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			buffer[3] = speed;
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		} else if (turnRight) {
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			buffer[0] = 0x02;
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			buffer[1] = speed;
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			buffer[2] = 0x05;
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			buffer[3] = speed;
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		} else {
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			buffer[0] = 0x02;
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			buffer[1] = 0x00;
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			buffer[2] = 0x04;
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			buffer[3] = 0x00;
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		}
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		port->write(buffer, 4);
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		port->flush();
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	}
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}