Merge branch 'dev-mac' of github.com:pixhawk/qgroundcontrol into dev-mac

src/apps/qgcvideo/QGCVideoMainWindow.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of main window
+ *
+ *   @author Dominik Honegger
+ *
+ */
+
+#ifndef QGCVIDEOMAINWINDOW_H
+#define QGCVIDEOMAINWINDOW_H
+
+#include <QMainWindow>
+
+namespace Ui {
+    class QGCVideoMainWindow;
+}
+
+class QGCVideoMainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit QGCVideoMainWindow(QWidget *parent = 0);
+    ~QGCVideoMainWindow();
+
+private:
+    Ui::QGCVideoMainWindow *ui;
+};
+
+#endif // QGCVIDEOMAINWINDOW_H

src/apps/qgcvideo/QGCVideoMainWindow.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCVideoMainWindow</class>
+ <widget class="QMainWindow" name="QGCVideoMainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <layout class="QGridLayout" name="gridLayout" rowstretch="1,100,1,100">
+    <item row="1" column="0">
+     <widget class="QGCVideoWidget" name="video1Widget" native="true"/>
+    </item>
+    <item row="1" column="1">
+     <widget class="QGCVideoWidget" name="video2Widget" native="true"/>
+    </item>
+    <item row="3" column="0">
+     <widget class="QGCVideoWidget" name="video3Widget" native="true"/>
+    </item>
+    <item row="3" column="1">
+     <widget class="QGCVideoWidget" name="video4Widget" native="true"/>
+    </item>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label">
+      <property name="text">
+       <string>Video 1</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QLabel" name="label_2">
+      <property name="text">
+       <string>Video 2</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="0">
+     <widget class="QLabel" name="label_3">
+      <property name="text">
+       <string>Video 3</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="1">
+     <widget class="QLabel" name="label_4">
+      <property name="text">
+       <string>Video 4</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QGCVideoWidget</class>
+   <extends>QWidget</extends>
+   <header>QGCVideoWidget.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>

src/apps/qgcvideo/QGCVideoWidget.h

+#ifndef QGCVIDEOWIDGET_H
+#define QGCVIDEOWIDGET_H
+
+#include <QImage>
+#include <QGLWidget>
+#include <QPainter>
+#include <QFontDatabase>
+#include <QTimer>
+
+
+/**
+ * @brief Video Display
+ *
+ * Displays video data from RAM via OpenGL
+ */
+class QGCVideoWidget : public QGLWidget
+{
+    Q_OBJECT
+public:
+    QGCVideoWidget(QWidget* parent = NULL);
+    ~QGCVideoWidget();
+
+    void resizeGL(int w, int h);
+
+public slots:
+    void initializeGL();
+
+    void saveImage();
+    void saveImage(QString fileName);
+    /** @brief Copy an image from an external buffer */
+    void copyImage(const QImage& img);
+    void enableHUDInstruments(bool enabled) { hudInstrumentsEnabled = enabled; }
+
+
+protected slots:
+    void paintCenterBackground(float roll, float pitch, float yaw);
+    void paintRollPitchStrips();
+    void paintPitchLines(float pitch, QPainter* painter);
+    /** @brief Paint text on top of the image and OpenGL drawings */
+    void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
+    /** @brief Setup the OpenGL view for drawing a sub-component of the HUD */
+    void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight);
+    void paintHUD();
+    void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter);
+    void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter);
+
+    void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter);
+    void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter);
+    void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter);
+
+    void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
+    void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
+
+    void drawPolygon(QPolygonF refPolygon, QPainter* painter);
+
+protected:
+    void commitRawDataToGL();
+    /** @brief Convert reference coordinates to screen coordinates */
+    float refToScreenX(float x);
+    /** @brief Convert reference coordinates to screen coordinates */
+    float refToScreenY(float y);
+    /** @brief Convert mm line widths to QPen line widths */
+    float refLineWidthToPen(float line);
+    /** @brief Rotate a polygon around a point clockwise */
+    void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
+    /** @brief Preferred Size */
+    QSize sizeHint() const;
+    /** @brief Start updating widget */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop updating widget */
+    void hideEvent(QHideEvent* event);
+    void contextMenuEvent (QContextMenuEvent* event);
+    void createActions();
+
+    static const int updateInterval = 40;
+
+    QImage* image; ///< Double buffer image
+    QImage glImage; ///< The background / camera image
+    float yawInt; ///< The yaw integral. Used to damp the yaw indication.
+    QString mode; ///< The current vehicle mode
+    QString state; ///< The current vehicle state
+    QString fuelStatus; ///< Current fuel level / battery voltage
+    double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
+    float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
+    float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
+    float vheight; ///< Virtual height of this window, 150 mm per default
+    float vGaugeSpacing; ///< Virtual spacing of the gauges from the center, 50 mm per default
+    float vPitchPerDeg; ///< Virtual pitch to mm conversion. Currently one degree is 3 mm up/down in the pitch markings
+
+    int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
+    int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
+
+    // Image buffers
+    unsigned char* rawBuffer1; ///< Double buffer 1 for the image
+    unsigned char* rawBuffer2; ///< Double buffer 2 for the image
+    unsigned char* rawImage;   ///< Pointer to current complete image
+    int rawLastIndex;          ///< The last byte index received of the image
+    int rawExpectedBytes;      ///< Number of raw image bytes expected. Calculated by: image depth * channels * widht * height / 8
+    int bytesPerLine;          ///< Bytes per image line. Is calculated as: image depth * channels * width / 8
+    bool imageStarted;         ///< If an image is currently in transmission
+    int receivedDepth;         ///< Image depth in bit for the current image
+    int receivedChannels;      ///< Number of color channels
+    int receivedWidth;         ///< Width in pixels of the current image
+    int receivedHeight;        ///< Height in pixels of the current image
+
+    // HUD colors
+    QColor defaultColor;       ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
+    QColor setPointColor;      ///< Color for the current control set point, e.g. yaw desired
+    QColor warningColor;       ///< Color for warning messages
+    QColor criticalColor;      ///< Color for caution messages
+    QColor infoColor;          ///< Color for normal/default messages
+    QColor fuelColor;          ///< Current color for the fuel message, can be info, warning or critical color
+
+    // Blink rates
+    int warningBlinkRate;      ///< Blink rate of warning messages, will be rounded to the refresh rate
+
+    QTimer* refreshTimer;      ///< The main timer, controls the update rate
+    QPainter* hudPainter;
+    QFont font;                ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
+    QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
+    bool noCamera;             ///< No camera images available, draw the ground/sky box to indicate the horizon
+    bool hardwareAcceleration; ///< Enable hardware acceleration
+
+    float strongStrokeWidth;   ///< Strong line stroke width, used throughout the HUD
+    float normalStrokeWidth;   ///< Normal line stroke width, used throughout the HUD
+    float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD
+
+    QString waypointName;      ///< Waypoint name displayed in HUD
+    float roll;
+    float pitch;
+    float yaw;
+    float rollLP;
+    float pitchLP;
+    float yawLP;
+    double yawDiff;
+    double xPos;
+    double yPos;
+    double zPos;
+    double xSpeed;
+    double ySpeed;
+    double zSpeed;
+    quint64 lastSpeedUpdate;
+    double totalSpeed;
+    double totalAcc;
+    double lat;
+    double lon;
+    double alt;
+    float load;
+    QString offlineDirectory;
+    QString nextOfflineImage;
+    bool hudInstrumentsEnabled;
+    bool videoEnabled;
+    float xImageFactor;
+    float yImageFactor;
+    QAction* enableHUDAction;
+    QAction* enableVideoAction;
+    QAction* selectOfflineDirectoryAction;
+    QAction* selectVideoChannelAction;
+    void paintEvent(QPaintEvent *event);
+    bool imageRequested;
+
+};
+
+#endif // QGCVIDEOWIDGET_H
+
+

src/apps/qgcvideo/main.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/**
+ * @file
+ *   @brief Main executable
+ *   @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include <QtGui/QApplication>
+#include "QGCVideoApp.h"
+
+/**
+ * @brief Starts the application
+ *
+ * @param argc Number of commandline arguments
+ * @param argv Commandline arguments
+ * @return exit code, 0 for normal exit and !=0 for error cases
+ */
+int main(int argc, char *argv[])
+{
+
+    QGCVideoApp app(argc, argv);
+    return app.exec();
+}

src/comm/MAVLinkProtocol.cc

@@ -182,6 +182,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
 
         if (decodeState == 1) {
+#ifdef MAVLINK_MESSAGE_LENGTHS
+	    const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
+	    if (message.msgid >= sizeof(message_lengths) ||
+		message.len != message_lengths[message.msgid]) {
+                    qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
+		    continue;
+	    }
+#endif
             // Log data
             if (m_loggingEnabled && m_logfile) {
                 const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);

src/comm/MAVLinkSimulationLink.cc

@@ -934,7 +934,7 @@ bool MAVLinkSimulationLink::connect()
     emit connected(true);
 
     start(LowPriority);
-    MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 47.376, 8.548);
+    MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 37.480391, -122.282883);
     Q_UNUSED(mav1);
 //    MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2, 47.375, 8.548, 1);
 //    Q_UNUSED(mav2);

src/comm/MAVLinkSimulationMAV.cc

@@ -23,13 +23,20 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
     yaw(0.0),
     globalNavigation(true),
     firstWP(false),
-    previousSPX(8.548056),
-    previousSPY(47.376389),
-    previousSPZ(550),
-    previousSPYaw(0.0),
-    nextSPX(8.548056),
-    nextSPY(47.376389),
-    nextSPZ(550),
+//    previousSPX(8.548056),
+//    previousSPY(47.376389),
+//    previousSPZ(550),
+//    previousSPYaw(0.0),
+//    nextSPX(8.548056),
+//    nextSPY(47.376389),
+//    nextSPZ(550),
+        previousSPX(37.480391),
+        previousSPY(122.282883),
+        previousSPZ(550),
+        previousSPYaw(0.0),
+        nextSPX(37.480391),
+        nextSPY(122.282883),
+        nextSPZ(550),
     nextSPYaw(0.0),
     sys_mode(MAV_MODE_READY),
     sys_state(MAV_STATE_STANDBY),

src/comm/MAVLinkXMLParser.cc

@@ -90,6 +90,16 @@ bool MAVLinkXMLParser::generate()
 
     int mavlinkVersion = 0;
 
+    // we need to gather the message lengths across multiple includes,
+    // which we can do via detecting recursion
+    static unsigned message_lengths[256];
+    static int highest_message_id;
+    static int recursion_level;
+
+    if (recursion_level == 0) {
+        highest_message_id = 0;
+        memset(message_lengths, 0, sizeof(message_lengths));
+    }
 
 
     // Start main header
@@ -138,7 +148,10 @@ bool MAVLinkXMLParser::generate()
                                 MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this);
                                 connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
                                 // Generate and write
-                                includeParser.generate();
+                                recursion_level++;
+                                // Abort if inclusion fails
+                                if (!includeParser.generate()) return false;
+                                recursion_level--;
                                 mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
 
 
@@ -250,13 +263,30 @@ bool MAVLinkXMLParser::generate()
 
                                                 // Add comment of field if there is one
                                                 QString fieldComment;
-                                                if (e2.text().length() > 0) {
-                                                    fieldComment = " /* " + e2.text() + "*/";
+                                                if (e2.text().length() > 0)
+                                                {
+                                                    QString sep(" | ");
+                                                    QDomNode pp = e2.firstChild();
+                                                    while (!pp.isNull()) {
+                                                        QDomElement pp2 = pp.toElement();
+                                                        if (pp2.isText() || pp2.isCDATASection())
+                                                        {
+                                                            fieldComment +=  pp2.nodeValue() + sep;
+                                                        }
+                                                        else if (pp2.isElement())
+                                                        {
+                                                            fieldComment += pp2.text() + sep;
+                                                            pp = pp.nextSibling();
+                                                        }
+                                                    }
                                                     fieldComment = fieldComment.replace("\n", " ");
+                                                    fieldComment = " /* " + fieldComment.simplified() + " */";
                                                 }
                                                 currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n";
-                                            } else if(!e2.isNull() && e2.tagName() == "description") {
-                                                comment = e2.text().replace("\n", " ") + comment;
+                                            }
+                                            else if(!e2.isNull() && e2.tagName() == "description")
+                                            {
+                                                comment = " " + e2.text().replace("\n", " ") + comment;
                                             }
                                             f = f.nextSibling();
                                         }
@@ -340,7 +370,7 @@ bool MAVLinkXMLParser::generate()
                                         QString decodeLines;
                                         QString sendArguments;
                                         QString commentLines;
-
+                                        unsigned message_length = 0;
 
 
                                         // Get the message fields
@@ -437,6 +467,40 @@ bool MAVLinkXMLParser::generate()
                                                 }
 
 
+                                                // message length calculation
+                                                unsigned element_multiplier = 1;
+                                                unsigned element_length = 0;
+                                                const struct {
+                                                    const char *prefix;
+                                                    unsigned length;
+                                                } length_map[] = {
+                                                        { "array",  1 },
+                                                        { "char",   1 },
+                                                        { "uint8",  1 },
+                                                        { "int8",   1 },
+                                                        { "uint16", 2 },
+                                                        { "int16",  2 },
+                                                        { "uint32", 4 },
+                                                        { "int32",  4 },
+                                                        { "uint64", 8 },
+                                                        { "int64",  8 },
+                                                        { "float",  4 },
+                                                        { "double", 8 },
+                                                };
+                                                if (fieldType.contains("[")) {
+                                                    element_multiplier = fieldType.split("[").at(1).split("]").first().toInt();
+                                                }
+                                                for (unsigned i=0; i<sizeof(length_map)/sizeof(length_map[0]); i++) {
+                                                    if (fieldType.startsWith(length_map[i].prefix)) {
+                                                        element_length = length_map[i].length * element_multiplier;
+                                                        break;
+                                                    }
+                                                }
+                                                if (element_length == 0) {
+                                                    emit parseState(tr("<font color=\"red\">ERROR: Unable to calculate length for %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), fieldType));
+                                                }
+                                                message_length += element_length;
+
                                                 //
                                                 //                                                QString unpackingCode;
 
@@ -489,6 +553,11 @@ bool MAVLinkXMLParser::generate()
                                             f = f.nextSibling();
                                         }
 
+                                        if (messageId > highest_message_id) {
+                                            highest_message_id = messageId;
+                                        }
+                                        message_lengths[messageId] = message_length;
+
                                         cStruct = cStruct.arg(cStructName, cStructLines);
                                         lcmStructDefs.append("\n").append(cStruct).append("\n");
                                         pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines);
@@ -540,6 +609,15 @@ bool MAVLinkXMLParser::generate()
         mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first);
     }
 
+    mainHeader += "\n\n// MESSAGE LENGTHS\n\n";
+    mainHeader += "#undef MAVLINK_MESSAGE_LENGTHS\n";
+    mainHeader += "#define MAVLINK_MESSAGE_LENGTHS { ";
+    for (int i=0; i<highest_message_id; i++) {
+        mainHeader += QString::number(message_lengths[i]);
+        if (i < highest_message_id-1) mainHeader += ", ";
+    }
+    mainHeader += " }\n\n";
+
     mainHeader += "#ifdef __cplusplus\n}\n#endif\n";
     mainHeader += "#endif";
     // Newline to make compiler happy

src/comm/SerialInterface.h

@@ -33,7 +33,6 @@ This file is part of the QGROUNDCONTROL project
 #define SERIALINTERFACE_H
 
 #include <QIODevice>
-#include "qextserialport.h"
 #include <QtSerialPort/QSerialPort>
 #include <iostream>
 
@@ -138,67 +137,6 @@ public:
     virtual void setFlow(flowType flow) = 0;
 };
 
-class SerialQextserial : public SerialInterface
-{
-    Q_OBJECT
-private:
-    QextSerialPort * _port;
-signals:
-    void aboutToClose();
-public:
-    SerialQextserial(QString porthandle, QextSerialPort::QueryMode mode) : _port(NULL) {
-        _port = new QextSerialPort(porthandle, QextSerialPort::Polling);
-        QObject::connect(_port,SIGNAL(aboutToClose()),this,SIGNAL(aboutToClose()));
-    }
-    ~SerialQextserial() {
-        delete _port;
-        _port = NULL;
-    }
-    virtual bool isOpen() {
-        return _port->isOpen();
-    }
-    virtual bool isWritable() {
-        return _port->isWritable();
-    }
-    virtual qint64 bytesAvailable() {
-        return _port->bytesAvailable();
-    }
-    virtual int write(const char * data, qint64 size) {
-        return _port->write(data,size);
-    }
-    virtual void read(char * data, qint64 numBytes) {
-        _port->read(data,numBytes);
-    }
-    virtual void flush() {
-        _port->flush();
-    }
-    virtual void close() {
-        _port->close();
-    }
-    virtual void open(QIODevice::OpenModeFlag flag) {
-        _port->open(flag);
-    }
-    virtual void setBaudRate(SerialInterface::baudRateType baudrate) {
-        _port->setBaudRate((BaudRateType)baudrate);
-    }
-    virtual void setParity(SerialInterface::parityType parity) {
-        _port->setParity((ParityType)parity);
-    }
-    virtual void setStopBits(SerialInterface::stopBitsType stopBits) {
-        _port->setStopBits((StopBitsType)stopBits);
-    }
-    virtual void setDataBits(SerialInterface::dataBitsType dataBits) {
-        _port->setDataBits((DataBitsType)dataBits);
-    }
-    virtual void setTimeout(qint64 timeout) {
-        _port->setTimeout(timeout);
-    }
-    virtual void setFlow(SerialInterface::flowType flow) {
-        // TODO implement
-        _port->setFlowControl((FlowType)flow);
-    }
-};
-
 using namespace TNX;
 
 class SerialQserial : public SerialInterface

src/comm/SerialLink.h

@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QThread>
 #include <QMutex>
 #include <QString>
-#include "SerialInterface.h"
+#include "qserialport.h"
 #include <configuration.h>
 #include "SerialLinkInterface.h"
 #ifdef _WIN32
@@ -59,11 +59,11 @@ class SerialLink : public SerialLinkInterface
 
 public:
     SerialLink(QString portname = "",
-               SerialInterface::baudRateType baudrate=SerialInterface::BAUD57600,
-               SerialInterface::flowType flow=SerialInterface::FLOW_OFF,
-               SerialInterface::parityType parity=SerialInterface::PAR_NONE,
-               SerialInterface::dataBitsType dataBits=SerialInterface::DATA_8,
-               SerialInterface::stopBitsType stopBits=SerialInterface::STOP_1);
+               int baudrate=57600,
+               bool flow=false,
+               bool parity=false,
+               int dataBits=8,
+               int stopBits=1);
     ~SerialLink();
 
     static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in configuration.h
@@ -116,6 +116,9 @@ public slots:
     bool setDataBits(int dataBits);
     bool setStopBits(int stopBits);
 
+    // Set string rate
+    bool setBaudRateString(const QString& rate);
+
     // Set ENUM values
     bool setBaudRateType(int rateIndex);
     bool setFlowType(int flow);
@@ -138,18 +141,14 @@ protected slots:
     void checkForBytes();
 
 protected:
-    SerialInterface * port;
+    TNX::QSerialPort * port;
+    TNX::QPortSettings portSettings;
 #ifdef _WIN32
     HANDLE winPort;
     DCB winPortSettings;
 #endif
     QString porthandle;
     QString name;
-    SerialInterface::baudRateType baudrate;
-    SerialInterface::flowType flow;
-    SerialInterface::parityType parity;
-    SerialInterface::dataBitsType dataBits;
-    SerialInterface::stopBitsType stopBits;
     int timeout;
     int id;
 

src/comm/UDPLink.cc

@@ -85,18 +85,20 @@ void UDPLink::setPort(int port)
  */
 void UDPLink::addHost(const QString& host)
 {
-    if (host != "")
-    {
-        qDebug() << "UDP:" << "ADDING HOST:" << host;
-        if (host.contains(":")) {
-            qDebug() << "HOST: " << host.split(":").first();
-            QHostInfo info = QHostInfo::fromName(host.split(":").first());
+    qDebug() << "UDP:" << "ADDING HOST:" << host;
+    if (host.contains(":")) {
+        qDebug() << "HOST: " << host.split(":").first();
+        QHostInfo info = QHostInfo::fromName(host.split(":").first());
+        if (info.error() == QHostInfo::NoError)
+        {
             // Add host
             QList<QHostAddress> hostAddresses = info.addresses();
             QHostAddress address;
-            for (int i = 0; i < hostAddresses.size(); i++) {
+            for (int i = 0; i < hostAddresses.size(); i++)
+            {
                 // Exclude loopback IPv4 and all IPv6 addresses
-                if (!hostAddresses.at(i).toString().contains(":")) {
+                if (!hostAddresses.at(i).toString().contains(":"))
+                {
                     address = hostAddresses.at(i);
                 }
             }
@@ -104,8 +106,13 @@ void UDPLink::addHost(const QString& host)
             qDebug() << "Address:" << address.toString();
             // Set port according to user input
             ports.append(host.split(":").last().toInt());
-        } else {
-            QHostInfo info = QHostInfo::fromName(host);
+        }
+    }
+    else
+    {
+        QHostInfo info = QHostInfo::fromName(host);
+        if (info.error() == QHostInfo::NoError)
+        {
             // Add host
             hosts.append(info.addresses().first());
             // Set port according to default (this port)
@@ -136,7 +143,6 @@ void UDPLink::removeHost(const QString& hostname)
     }
 }
 
-
 void UDPLink::writeBytes(const char* data, qint64 size)
 {
     // Broadcast to all connected systems
@@ -144,18 +150,26 @@ void UDPLink::writeBytes(const char* data, qint64 size)
     {
         QHostAddress currentHost = hosts.at(h);
         quint16 currentPort = ports.at(h);
+//#define UDPLINK_DEBUG
+#ifdef UDPLINK_DEBUG
         QString bytes;
         QString ascii;
-        //qDebug() << "WRITING DATA TO" << currentHost.toString() << currentPort;
         for (int i=0; i<size; i++) {
             unsigned char v = data[i];
             bytes.append(QString().sprintf("%02x ", v));
-            ascii.append(data[i]);
+            if (data[i] > 31 && data[i] < 127)
+            {
+                ascii.append(data[i]);
+            }
+            else
+            {
+                ascii.append(219);
+            }
         }
         qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
         qDebug() << bytes;
         qDebug() << "ASCII:" << ascii;
-
+#endif
         socket->writeDatagram(data, size, currentHost, currentPort);
     }
 }

src/configuration.h

-#ifndef CONFIGURATION_H
-#define CONFIGURATION_H
+#ifndef QGC_CONFIGURATION_H
+#define QGC_CONFIGURATION_H
 
-#include "mavlink.h"
 #include <QString>
 
 /** @brief Polling interval in ms */
-#ifdef MAVLINK_ENABLED_SLUGS
-#define SERIAL_POLL_INTERVAL 7
-#else
-#define SERIAL_POLL_INTERVAL 7
-#endif
+#define SERIAL_POLL_INTERVAL 9
 
 /** @brief Heartbeat emission rate, in Hertz (times per second) */
 #define MAVLINK_HEARTBEAT_DEFAULT_RATE 1
@@ -17,14 +12,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha RC7)"
+#define QGC_APPLICATION_VERSION "v. 0.9.0 (Alpha RC1)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
-const QString COMPANYNAME = "OPENMAV";
-const int APPLICATIONVERSION = 83; // 0.8.0
+const QString COMPANYNAME = "QGROUNDCONTROL";
+const int APPLICATIONVERSION = 90; // 0.9.0
 }
 
-#endif // CONFIGURATION_H
+#endif // QGC_CONFIGURATION_H

src/lib/qextserialport/posix_qextserialport.h

-#ifndef _POSIX_QEXTSERIALPORT_H_
-#define _POSIX_QEXTSERIALPORT_H_
-
-#include <stdio.h>
-#include <termios.h>
-#include <errno.h>
-#include <unistd.h>
-#include <sys/time.h>
-#include <sys/ioctl.h>
-#include <sys/select.h>
-#include "qextserialbase.h"
-
-class Posix_QextSerialPort:public QextSerialBase
-{
-private:
-    /*!
-     * This method is a part of constructor.
-     */
-    void init();
-
-protected:
-    int fd;
-    struct termios Posix_CommConfig;
-    struct termios old_termios;
-    struct timeval Posix_Timeout;
-    struct timeval Posix_Copy_Timeout;
-
-    virtual qint64 readData(char * data, qint64 maxSize);
-    virtual qint64 writeData(const char * data, qint64 maxSize);
-
-public:
-    Posix_QextSerialPort(QextSerialBase::QueryMode mode);
-    Posix_QextSerialPort(const Posix_QextSerialPort& s);
-    Posix_QextSerialPort(const QString & name, QextSerialBase::QueryMode mode);
-    Posix_QextSerialPort(const PortSettings& settings, QextSerialBase::QueryMode mode);
-    Posix_QextSerialPort(const QString & name, const PortSettings& settings, QextSerialBase::QueryMode mode);
-    Posix_QextSerialPort& operator=(const Posix_QextSerialPort& s);
-    virtual ~Posix_QextSerialPort();
-
-    virtual void setBaudRate(BaudRateType);
-    virtual void setDataBits(DataBitsType);
-    virtual void setParity(ParityType);
-    virtual void setStopBits(StopBitsType);
-    virtual void setFlowControl(FlowType);
-    virtual void setTimeout(long);
-
-    virtual bool open(OpenMode mode);
-    virtual void close();
-    virtual void flush();
-
-    virtual qint64 size() const;
-    virtual qint64 bytesAvailable() const;
-
-    virtual void ungetChar(char c);
-
-    virtual void translateError(ulong error);
-
-    virtual void setDtr(bool set=true);
-    virtual void setRts(bool set=true);
-    virtual ulong lineStatus();
-
-};
-
-#endif

src/lib/qextserialport/qextserialbase.cpp

-#include "qextserialbase.h"
-
-/*!
-\fn QextSerialBase::QextSerialBase()
-Default constructor.
-*/
-QextSerialBase::QextSerialBase()
-    : QIODevice()
-{
-
-#ifdef _TTY_WIN_
-    setPortName("COM1");
-
-#elif defined(_TTY_IRIX_)
-    setPortName("/dev/ttyf1");
-
-#elif defined(_TTY_HPUX_)
-    setPortName("/dev/tty1p0");
-
-#elif defined(_TTY_SUN_)
-    setPortName("/dev/ttya");
-
-#elif defined(_TTY_DIGITAL_)
-    setPortName("/dev/tty01");
-
-#elif defined(_TTY_FREEBSD_)
-    setPortName("/dev/ttyd1");
-
-#elif defined(_TTY_OPENBSD_)
-    setPortName("/dev/tty00");
-
-#else
-    setPortName("/dev/ttyS0");
-#endif
-
-    construct();
-}
-
-/*!
-\fn QextSerialBase::QextSerialBase(const QString & name)
-Construct a port and assign it to the device specified by the name parameter.
-*/
-QextSerialBase::QextSerialBase(const QString & name)
-    : QIODevice()
-{
-    setPortName(name);
-    construct();
-}
-
-/*!
-\fn QextSerialBase::~QextSerialBase()
-Standard destructor.
-*/
-QextSerialBase::~QextSerialBase()
-{
-    delete mutex;
-}
-
-/*!
-\fn void QextSerialBase::construct()
-Common constructor function for setting up default port settings.
-(115200 Baud, 8N1, Hardware flow control where supported, otherwise no flow control, and 0 ms timeout).
-*/
-void QextSerialBase::construct()
-{
-    lastErr = E_NO_ERROR;
-    Settings.BaudRate=BAUD115200;
-    Settings.DataBits=DATA_8;
-    Settings.Parity=PAR_NONE;
-    Settings.StopBits=STOP_1;
-    Settings.FlowControl=FLOW_HARDWARE;
-    Settings.Timeout_Millisec=500;
-    mutex = new QMutex( QMutex::Recursive );
-    setOpenMode(QIODevice::NotOpen);
-}
-
-void QextSerialBase::setQueryMode(QueryMode mechanism)
-{
-    _queryMode = mechanism;
-}
-
-/*!
-\fn void QextSerialBase::setPortName(const QString & name)
-Sets the name of the device associated with the object, e.g. "COM1", or "/dev/ttyS0".
-*/
-void QextSerialBase::setPortName(const QString & name)
-{
-    port = name;
-}
-
-/*!
-\fn QString QextSerialBase::portName() const
-Returns the name set by setPortName().
-*/
-QString QextSerialBase::portName() const
-{
-    return port;
-}
-
-/*!
-\fn BaudRateType QextSerialBase::baudRate(void) const
-Returns the baud rate of the serial port.  For a list of possible return values see
-the definition of the enum BaudRateType.
-*/
-BaudRateType QextSerialBase::baudRate(void) const
-{
-    return Settings.BaudRate;
-}
-
-/*!
-\fn DataBitsType QextSerialBase::dataBits() const
-Returns the number of data bits used by the port.  For a list of possible values returned by
-this function, see the definition of the enum DataBitsType.
-*/
-DataBitsType QextSerialBase::dataBits() const
-{
-    return Settings.DataBits;
-}
-
-/*!
-\fn ParityType QextSerialBase::parity() const
-Returns the type of parity used by the port.  For a list of possible values returned by
-this function, see the definition of the enum ParityType.
-*/
-ParityType QextSerialBase::parity() const
-{
-    return Settings.Parity;
-}
-
-/*!
-\fn StopBitsType QextSerialBase::stopBits() const
-Returns the number of stop bits used by the port.  For a list of possible return values, see
-the definition of the enum StopBitsType.
-*/
-StopBitsType QextSerialBase::stopBits() const
-{
-    return Settings.StopBits;
-}
-
-/*!
-\fn FlowType QextSerialBase::flowControl() const
-Returns the type of flow control used by the port.  For a list of possible values returned
-by this function, see the definition of the enum FlowType.
-*/
-FlowType QextSerialBase::flowControl() const
-{
-    return Settings.FlowControl;
-}
-
-/*!
-\fn bool QextSerialBase::isSequential() const
-Returns true if device is sequential, otherwise returns false. Serial port is sequential device
-so this function always returns true. Check QIODevice::isSequential() documentation for more
-information.
-*/
-bool QextSerialBase::isSequential() const
-{
-    return true;
-}
-
-/*!
-\fn bool QextSerialBase::atEnd() const
-This function will return true if the input buffer is empty (or on error), and false otherwise.
-Call QextSerialBase::lastError() for error information.
-*/
-bool QextSerialBase::atEnd() const
-{
-    if (size()) {
-        return true;
-    }
-    return false;
-}
-
-/*!
-\fn qint64 QextSerialBase::readLine(char * data, qint64 maxSize)
-This function will read a line of buffered input from the port, stopping when either maxSize bytes
-have been read, the port has no more data available, or a newline is encountered.
-The value returned is the length of the string that was read.
-*/
-qint64 QextSerialBase::readLine(char * data, qint64 maxSize)
-{
-    qint64 numBytes = bytesAvailable();
-    char* pData = data;
-
-    if (maxSize < 2)	//maxSize must be larger than 1
-        return -1;
-
-    /*read a byte at a time for MIN(bytesAvail, maxSize - 1) iterations, or until a newline*/
-    while (pData<(data+numBytes) && --maxSize) {
-        readData(pData, 1);
-        if (*pData++ == '\n') {
-            break;
-        }
-    }
-    *pData='\0';
-
-    /*return size of data read*/
-    return (pData-data);
-}
-
-/*!
-\fn ulong QextSerialBase::lastError() const
-Returns the code for the last error encountered by the port, or E_NO_ERROR if the last port
-operation was successful.  Possible error codes are:
-
-\verbatim
-Error                           Explanation
----------------------------     -------------------------------------------------------------
-E_NO_ERROR                      No Error has occured
-E_INVALID_FD                    Invalid file descriptor (port was not opened correctly)
-E_NO_MEMORY                     Unable to allocate memory tables (POSIX)
-E_CAUGHT_NON_BLOCKED_SIGNAL     Caught a non-blocked signal (POSIX)
-E_PORT_TIMEOUT                  Operation timed out (POSIX)
-E_INVALID_DEVICE                The file opened by the port is not a character device (POSIX)
-E_BREAK_CONDITION               The port detected a break condition
-E_FRAMING_ERROR                 The port detected a framing error
-                                (usually caused by incorrect baud rate settings)
-E_IO_ERROR                      There was an I/O error while communicating with the port
-E_BUFFER_OVERRUN                Character buffer overrun
-E_RECEIVE_OVERFLOW              Receive buffer overflow
-E_RECEIVE_PARITY_ERROR          The port detected a parity error in the received data
-E_TRANSMIT_OVERFLOW             Transmit buffer overflow
-E_READ_FAILED                   General read operation failure
-E_WRITE_FAILED                  General write operation failure
-\endverbatim
-*/
-ulong QextSerialBase::lastError() const
-{
-    return lastErr;
-}