SerialLink.cc

/*=====================================================================
======================================================================*/
/**
 * @file
 *   @brief Cross-platform support for serial ports
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QTimer>
#include <QDebug>
#include <QSettings>
#include <QMutexLocker>
#include <QSerialPort>
#include <QSerialPortInfo>
#include "SerialLink.h"
#include "QGC.h"
#include <MG.h>

SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
                       int dataBits, int stopBits) :
    m_bytesRead(0),
    m_port(Q_NULLPTR),
    type(""),
    m_is_cdc(true),
    m_stopp(false),
    m_reqReset(false)
{
    // We're doing it wrong - because the Qt folks got the API wrong:
    // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
    moveToThread(this);

    // Get the name of the current port in use.
    m_portName = portname.trimmed();
    QList<QString> ports = getCurrentPorts();
    if (m_portName == "" && ports.size() > 0)
    {
        m_portName = ports.first().trimmed();
    }

    checkIfCDC();

    // Set unique ID and add link to the list of links
    m_id = getNextLinkId();

    m_baud = baudRate;

    if (hardwareFlowControl)
    {
        m_flowControl = QSerialPort::HardwareControl;
    }
    else
    {
        m_flowControl = QSerialPort::NoFlowControl;
    }
    if (parity)
    {
        m_parity = QSerialPort::EvenParity;
    }
    else
    {
        m_parity = QSerialPort::NoParity;
    }

    m_dataBits = dataBits;
    m_stopBits = stopBits;

    loadSettings();

    qDebug() << "create SerialLink " << portname << baudRate << hardwareFlowControl
             << parity << dataBits << stopBits;
    qDebug() << "m_portName " << m_portName;
}

void SerialLink::requestReset()
{
    QMutexLocker locker(&this->m_stoppMutex);
    m_reqReset = true;
}

SerialLink::~SerialLink()
{
    _disconnect();
    if(m_port) delete m_port;
    m_port = NULL;

    // Tell the thread to exit
    quit();
    // Wait for it to exit
    wait();
}

QList<QString> SerialLink::getCurrentPorts()
{
    QList<QString> ports;

    QList<QSerialPortInfo> portList =  QSerialPortInfo::availablePorts();
    foreach (const QSerialPortInfo &info, portList)
    {
        ports.append(info.portName());
    }

    return ports;
}

bool SerialLink::isBootloader()
{
    QList<QSerialPortInfo> portList =  QSerialPortInfo::availablePorts();

    if( portList.count() == 0){
        return false;
    }

    foreach (const QSerialPortInfo &info, portList)
    {
        // XXX debug statements will be removed once we have 100% stable link reports
//        qDebug() << "PortName    : " << info.portName()
//                 << "Description : " << info.description();
//        qDebug() << "Manufacturer: " << info.manufacturer();

       if (info.portName().trimmed() == this->m_portName.trimmed() &&
               (info.description().toLower().contains("bootloader") ||
                info.description().toLower().contains("px4 bl") ||
                info.description().toLower().contains("px4 fmu v1.6"))) {
//           qDebug() << "BOOTLOADER FOUND";
           return true;
       }
    }

    // Not found
    return false;
}

void SerialLink::loadSettings()
{
    // Load defaults from settings
    QSettings settings;
    settings.sync();
    if (settings.contains("SERIALLINK_COMM_PORT"))
    {
        m_portName = settings.value("SERIALLINK_COMM_PORT").toString();
        checkIfCDC();

        m_baud = settings.value("SERIALLINK_COMM_BAUD").toInt();
        m_parity = settings.value("SERIALLINK_COMM_PARITY").toInt();
        m_stopBits = settings.value("SERIALLINK_COMM_STOPBITS").toInt();
        m_dataBits = settings.value("SERIALLINK_COMM_DATABITS").toInt();
        m_flowControl = settings.value("SERIALLINK_COMM_FLOW_CONTROL").toInt();
    }
}

void SerialLink::writeSettings()
{
    // Store settings
    QSettings settings;
    settings.setValue("SERIALLINK_COMM_PORT", getPortName());
    settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
    settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
    settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBits());
    settings.setValue("SERIALLINK_COMM_DATABITS", getDataBits());
    settings.setValue("SERIALLINK_COMM_FLOW_CONTROL", getFlowType());
    settings.sync();
}

void SerialLink::checkIfCDC()
{
    QString description = "X";
    foreach (QSerialPortInfo info,QSerialPortInfo::availablePorts())
    {
        if (m_portName == info.portName())
        {
            description = info.description();
            break;
        }
    }
    if (description.toLower().contains("mega") && description.contains("2560"))
    {
        type = "apm";
        m_is_cdc = false;
        qDebug() << "Attempting connection to an APM, with description:" << description;
    }
    else if (description.toLower().contains("px4"))
    {
        type = "px4";
        m_is_cdc = true;
        qDebug() << "Attempting connection to a PX4 unit with description:" << description;
    }
    else
    {
        type = "other";
        m_is_cdc = false;
        qDebug() << "Attempting connection to something unknown with description:" << description;
    }
}


/**
 * @brief Runs the thread
 *
 **/
void SerialLink::run()
{
    checkIfCDC();

    // Initialize the connection
    if (!hardwareConnect(type)) {
        //Need to error out here.
        QString err("Could not create port.");
        if (m_port) {
            err = m_port->errorString();
        }
        emit communicationError(getName(),"Error connecting: " + err);
        return;
    }

    qint64 msecs = QDateTime::currentMSecsSinceEpoch();
    qint64 initialmsecs = QDateTime::currentMSecsSinceEpoch();
    quint64 bytes = 0;
    qint64 timeout = 5000;
    int linkErrorCount = 0;

    // Qt way to make clear what a while(1) loop does
    forever {
        {
            QMutexLocker locker(&this->m_stoppMutex);
            if (m_stopp) {
                m_stopp = false;
                break; // exit the thread
            }
        }

        // If there are too many errors on this link, disconnect.
        if (isConnected() && (linkErrorCount > 150)) {
            qDebug() << "linkErrorCount too high: re-connecting!";
            linkErrorCount = 0;
            emit communicationUpdate(getName(), tr("Link timeout, not receiving any data, attempting reconnect"));

            if (m_port) {
                m_port->close();
                delete m_port;
                m_port = NULL;

                emit disconnected();
                emit connected(false);
            }

            QGC::SLEEP::msleep(500);

            unsigned tries = 0;
            const unsigned tries_max = 15;
            while (!hardwareConnect(type) && tries < tries_max) {
                tries++;
                QGC::SLEEP::msleep(500);
            }

            // Give up
            if (tries == tries_max) {
                break;
            }

        }

        // Write all our buffered data out the serial port.
        if (m_transmitBuffer.count() > 0) {
            m_writeMutex.lock();
            int numWritten = m_port->write(m_transmitBuffer);
            bool txSuccess = m_port->flush();
            txSuccess |= m_port->waitForBytesWritten(10);
            if (!txSuccess || (numWritten != m_transmitBuffer.count())) {
                linkErrorCount++;
                qDebug() << "TX Error! written:" << txSuccess << "wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes";
            }
            else {

                // Since we were successful, reset out error counter.
                linkErrorCount = 0;
            }

            // Now that we transmit all of the data in the transmit buffer, flush it.
            m_transmitBuffer = m_transmitBuffer.remove(0, numWritten);
            m_writeMutex.unlock();

            // Log this written data for this timestep. If this value ends up being 0 due to
            // write() failing, that's what we want as well.
            QMutexLocker dataRateLocker(&dataRateMutex);
            logDataRateToBuffer(outDataWriteAmounts, outDataWriteTimes, &outDataIndex, numWritten, QDateTime::currentMSecsSinceEpoch());
        }

        //wait n msecs for data to be ready
        //[TODO][BB] lower to SerialLink::poll_interval?
        m_dataMutex.lock();
        bool success = m_port->waitForReadyRead(20);

        if (success) {
            QByteArray readData = m_port->readAll();
            while (m_port->waitForReadyRead(10))
                readData += m_port->readAll();
            m_dataMutex.unlock();
            if (readData.length() > 0) {
                emit bytesReceived(this, readData);

                // Log this data reception for this timestep
                QMutexLocker dataRateLocker(&dataRateMutex);
                logDataRateToBuffer(inDataWriteAmounts, inDataWriteTimes, &inDataIndex, readData.length(), QDateTime::currentMSecsSinceEpoch());

                // Track the total amount of data read.
                m_bytesRead += readData.length();
                linkErrorCount = 0;
            }
        }
        else {
            m_dataMutex.unlock();
            linkErrorCount++;
        }

        if (bytes != m_bytesRead) { // i.e things are good and data is being read.
            bytes = m_bytesRead;
            msecs = QDateTime::currentMSecsSinceEpoch();
        }
        else {
            if (QDateTime::currentMSecsSinceEpoch() - msecs > timeout) {
                //It's been 10 seconds since the last data came in. Reset and try again
                msecs = QDateTime::currentMSecsSinceEpoch();
                if (msecs - initialmsecs > 25000) {
                    //After initial 25 seconds, timeouts are increased to 30 seconds.
                    //This prevents temporary silences from things like calibration commands
                    //from screwing things up. In all reality, timeouts should be enabled/disabled
                    //for events like that on a case by case basis.
                    //TODO ^^
                    timeout = 30000;
                }
            }
        }
        QGC::SLEEP::msleep(SerialLink::poll_interval);
    } // end of forever
    
    if (m_port) {
        qDebug() << "Closing Port #"<< __LINE__ << m_port->portName();
        m_port->close();
        delete m_port;
        m_port = NULL;

        emit disconnected();
        emit connected(false);
    }
}

void SerialLink::writeBytes(const char* data, qint64 size)
{
    if(m_port && m_port->isOpen()) {

        QByteArray byteArray(data, size);
        m_writeMutex.lock();
        m_transmitBuffer.append(byteArray);
        m_writeMutex.unlock();
    } else {
        // Error occured
        emit communicationError(getName(), tr("Could not send data - link %1 is disconnected!").arg(getName()));
    }
}

/**
 * @brief Read a number of bytes from the interface.
 *
 * @param data Pointer to the data byte array to write the bytes to
 * @param maxLength The maximum number of bytes to write
 **/
void SerialLink::readBytes()
{
    if(m_port && m_port->isOpen()) {
        const qint64 maxLength = 2048;
        char data[maxLength];
        m_dataMutex.lock();
        qint64 numBytes = m_port->bytesAvailable();

        if(numBytes > 0) {
            /* Read as much data in buffer as possible without overflow */
            if(maxLength < numBytes) numBytes = maxLength;

            m_port->read(data, numBytes);
            QByteArray b(data, numBytes);
            emit bytesReceived(this, b);
        }
        m_dataMutex.unlock();
    }
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
bool SerialLink::_disconnect(void)
{
    if (isRunning())
    {
        {
            QMutexLocker locker(&m_stoppMutex);
            m_stopp = true;
        }
        wait(); // This will terminate the thread and close the serial port

        return true;
    }

    m_transmitBuffer.clear(); //clear the output buffer to avoid sending garbage at next connect

    qDebug() << "already disconnected";
    return true;
}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool SerialLink::_connect(void)
{   
    qDebug() << "CONNECT CALLED";
    if (isRunning())
        _disconnect();
    {
        QMutexLocker locker(&this->m_stoppMutex);
        m_stopp = false;
    }

    start(HighPriority);
    return true;
}

/**
 * @brief This function is called indirectly by the _connect() call.
 *
 * The _connect() function starts the thread and indirectly calls this method.
 *
 * @return True if the connection could be established, false otherwise
 * @see _connect() For the right function to establish the connection.
 **/
bool SerialLink::hardwareConnect(QString &type)
{
    if (m_port) {
        qDebug() << "SerialLink:" << QString::number((long)this, 16) << "closing port";
        m_port->close();
        QGC::SLEEP::usleep(50000);
        delete m_port;
        m_port = NULL;
    }

    qDebug() << "SerialLink: hardwareConnect to " << m_portName;

    if (isBootloader()) {
        qDebug() << "Not connecting to a bootloader, waiting for 2nd chance";

        const unsigned retry_limit = 12;
        unsigned retries;

        for (retries = 0; retries < retry_limit; retries++) {
            if (!isBootloader()) {
                break;
            }
            QGC::SLEEP::msleep(500);
        }

        // Check limit
        if (retries == retry_limit) {

            // bail out
            return false;
        }
    }

    m_port = new QSerialPort(m_portName);
    m_port->moveToThread(this);

    if (!m_port) {
        emit communicationUpdate(getName(),"Error opening port: " + m_portName);
        return false; // couldn't create serial port.
    }

    QObject::connect(m_port,SIGNAL(aboutToClose()),this,SIGNAL(disconnected()));
    QObject::connect(m_port, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(linkError(QSerialPort::SerialPortError)));

    checkIfCDC();

    //    port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);

    if (!m_port->open(QIODevice::ReadWrite)) {
        emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString());
        m_port->close();
        return false; // couldn't open serial port
    }

    // Need to configure the port
    // NOTE: THE PORT NEEDS TO BE OPEN!
    if (!m_is_cdc) {
        qDebug() << "Configuring port";
        m_port->setBaudRate(m_baud);
        m_port->setDataBits(static_cast<QSerialPort::DataBits>(m_dataBits));
        m_port->setFlowControl(static_cast<QSerialPort::FlowControl>(m_flowControl));
        m_port->setStopBits(static_cast<QSerialPort::StopBits>(m_stopBits));
        m_port->setParity(static_cast<QSerialPort::Parity>(m_parity));
    }

    emit communicationUpdate(getName(),"Opened port!");

    emit connected();
    emit connected(true);

    qDebug() << "CONNECTING LINK: " << __FILE__ << __LINE__ << "type:" << type << "with settings" << m_port->portName()
             << getBaudRate() << getDataBits() << getParityType() << getStopBits();

    writeSettings();

    return true; // successful connection
}

void SerialLink::linkError(QSerialPort::SerialPortError error)
{
    if (error != QSerialPort::NoError) {
        // You can use the following qDebug output as needed during development. Make sure to comment it back out
        // when you are done. The reason for this is that this signal is very noisy. For example if you try to
        // connect to a PixHawk before it is ready to accept the connection it will output a continuous stream
        // of errors until the Pixhawk responds.
        //qDebug() << "SerialLink::linkError" << error;
    }
}


/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
bool SerialLink::isConnected() const
{

    if (m_port) {
        bool isConnected = m_port->isOpen();
//        qDebug() << "SerialLink #" << __LINE__ << ":"<<  m_port->portName()
//                 << " isConnected =" << QString::number(isConnected);
        return isConnected;
    } else {
//        qDebug() << "SerialLink #" << __LINE__ << ":" <<  m_portName
//                 << " isConnected = NULL";
        return false;
    }
}

int SerialLink::getId() const
{
    return m_id;
}

QString SerialLink::getName() const
{
    return m_portName;
}

/**
  * This function maps baud rate constants to numerical equivalents.
  * It relies on the mapping given in qportsettings.h from the QSerialPort library.
  */
qint64 SerialLink::getConnectionSpeed() const
{
    int baudRate;
    if (m_port && !m_is_cdc) {
        baudRate = m_port->baudRate();
    } else {
        baudRate = m_baud;
    }
    qint64 dataRate;
    switch (baudRate)
    {
        case QSerialPort::Baud1200:
            dataRate = 1200;
            break;
        case QSerialPort::Baud2400:
            dataRate = 2400;
            break;
        case QSerialPort::Baud4800:
            dataRate = 4800;
            break;
        case QSerialPort::Baud9600:
            dataRate = 9600;
            break;
        case QSerialPort::Baud19200:
            dataRate = 19200;
            break;
        case QSerialPort::Baud38400:
            dataRate = 38400;
            break;
        case QSerialPort::Baud57600:
            dataRate = 57600;
            break;
        case QSerialPort::Baud115200:
            dataRate = 115200;
            break;
            // Otherwise do nothing.
        default:
            dataRate = -1;
            break;
    }
    return dataRate;
}

QString SerialLink::getPortName() const
{
    return m_portName;
}

// We should replace the accessors below with one to get the QSerialPort

int SerialLink::getBaudRate() const
{
    return getConnectionSpeed();
}

int SerialLink::getBaudRateType() const
{
    int baudRate;
    if (m_port && !m_is_cdc) {
        baudRate = m_port->baudRate();
    } else {
        baudRate = m_baud;
    }
    return baudRate;
}

int SerialLink::getFlowType() const
{

    int flowControl;
    if (m_port && !m_is_cdc) {
        flowControl = m_port->flowControl();
    } else {
        flowControl = m_flowControl;
    }
    return flowControl;
}

int SerialLink::getParityType() const
{

    int parity;
    if (m_port && !m_is_cdc) {
        parity = m_port->parity();
    } else {
        parity = m_parity;
    }
    return parity;
}

int SerialLink::getDataBitsType() const
{

    int dataBits;
    if (m_port && !m_is_cdc) {
        dataBits = m_port->dataBits();
    } else {
        dataBits = m_dataBits;
    }
    return dataBits;
}

int SerialLink::getStopBitsType() const
{

    int stopBits;
    if (m_port && !m_is_cdc) {
        stopBits = m_port->stopBits();
    } else {
        stopBits = m_stopBits;
    }
    return stopBits;
}

int SerialLink::getDataBits() const
{

    int ret;
    int dataBits;
    if (m_port && !m_is_cdc) {
        dataBits = m_port->dataBits();
    } else {
        dataBits = m_dataBits;
    }

    switch (dataBits) {
    case QSerialPort::Data5:
        ret = 5;
        break;
    case QSerialPort::Data6:
        ret = 6;
        break;
    case QSerialPort::Data7:
        ret = 7;
        break;
    case QSerialPort::Data8:
        ret = 8;
        break;
    default:
        ret = -1;
        break;
    }
    return ret;
}

int SerialLink::getStopBits() const
{

    int stopBits;
    if (m_port && !m_is_cdc) {
        stopBits = m_port->stopBits();
    } else {
        stopBits = m_stopBits;
    }
    int ret = -1;
    switch (stopBits) {
    case QSerialPort::OneStop:
        ret = 1;
        break;
    case QSerialPort::TwoStop:
        ret = 2;
        break;
    default:
        ret = -1;
        break;
    }
    return ret;
}

bool SerialLink::setPortName(QString portName)
{
    qDebug() << "current portName " << m_portName;
    qDebug() << "setPortName to " << portName;
    bool accepted = true;
    if ((portName != m_portName)
            && (portName.trimmed().length() > 0)) {
        m_portName = portName.trimmed();

        checkIfCDC();

        if(m_port)
            m_port->setPortName(portName);

        emit nameChanged(m_portName); // [TODO] maybe we can eliminate this
        emit updateLink(this);
        return accepted;
    }
    return false;
}


bool SerialLink::setBaudRateType(int rateIndex)
{

  // These minimum and maximum baud rates were based on those enumerated in <QSerialPort>
    bool result;
    const int minBaud = (int)QSerialPort::Baud1200;
    const int maxBaud = (int)QSerialPort::Baud115200;

    if ((rateIndex >= minBaud && rateIndex <= maxBaud))
    {
        if (!m_is_cdc && m_port)
        {
            result = m_port->setBaudRate(static_cast<QSerialPort::BaudRate>(rateIndex));
            emit updateLink(this);
        } else {
            m_baud = (int)rateIndex;
            result = true;
        }
    } else {
        result = false;
    }

    return result;
}

bool SerialLink::setBaudRateString(const QString& rate)
{
    bool ok;
    int intrate = rate.toInt(&ok);
    if (!ok) return false;
    return setBaudRate(intrate);
}

bool SerialLink::setBaudRate(int rate)
{

    bool accepted = false;
    if (rate != m_baud) {
        m_baud = rate;
        accepted = true;
        if (m_port && !m_is_cdc) {
            accepted = m_port->setBaudRate(rate);
        }
        emit updateLink(this);
    }
    return accepted;
}

bool SerialLink::setFlowType(int flow)
{

    bool accepted = false;
    if (flow != m_flowControl) {
        m_flowControl = static_cast<QSerialPort::FlowControl>(flow);
        accepted = true;
        if (m_port && !m_is_cdc)
            accepted = m_port->setFlowControl(static_cast<QSerialPort::FlowControl>(flow));
        emit updateLink(this);
    }
    return accepted;
}

bool SerialLink::setParityType(int parity)
{

    bool accepted = false;
    if (parity != m_parity) {
        m_parity = static_cast<QSerialPort::Parity>(parity);
        accepted = true;
        if (m_port && !m_is_cdc) {
            switch (parity) {
                case QSerialPort::NoParity:
                accepted = m_port->setParity(QSerialPort::NoParity);
                break;
                case 1: // Odd Parity setting for backwards compatibilty
                    accepted = m_port->setParity(QSerialPort::OddParity);
                    break;
                case QSerialPort::EvenParity:
                    accepted = m_port->setParity(QSerialPort::EvenParity);
                    break;
                case QSerialPort::OddParity:
                    accepted = m_port->setParity(QSerialPort::OddParity);
                    break;
                default:
                    // If none of the above cases matches, there must be an error
                    accepted = false;
                    break;
                }
            emit updateLink(this);
        }
    }
    return accepted;
}


bool SerialLink::setDataBits(int dataBits)
{

    qDebug("SET DATA BITS");
    bool accepted = false;
    if (dataBits != m_dataBits) {
        m_dataBits = static_cast<QSerialPort::DataBits>(dataBits);
        accepted = true;
        if (m_port && !m_is_cdc)
            accepted = m_port->setDataBits(static_cast<QSerialPort::DataBits>(dataBits));
        emit updateLink(this);
    }
    return accepted;
}

bool SerialLink::setStopBits(int stopBits)
{

    // Note 3 is OneAndAHalf stopbits.
    bool accepted = false;
    if (stopBits != m_stopBits) {
        m_stopBits = static_cast<QSerialPort::StopBits>(stopBits);
        accepted = true;
        if (m_port && !m_is_cdc)
            accepted = m_port->setStopBits(static_cast<QSerialPort::StopBits>(stopBits));
        emit updateLink(this);
    }
    return accepted;
}

bool SerialLink::setDataBitsType(int dataBits)
{

    bool accepted = false;
    if (dataBits != m_dataBits) {
        m_dataBits = static_cast<QSerialPort::DataBits>(dataBits);
        accepted = true;
        if (m_port && !m_is_cdc)
            accepted = m_port->setDataBits(static_cast<QSerialPort::DataBits>(dataBits));
        emit updateLink(this);
    }
    return accepted;
}

bool SerialLink::setStopBitsType(int stopBits)
{

    bool accepted = false;
    if (stopBits != m_stopBits) {
        m_stopBits = static_cast<QSerialPort::StopBits>(stopBits);
        accepted = true;
        if (m_port && !m_is_cdc)
            accepted = m_port->setStopBits(static_cast<QSerialPort::StopBits>(stopBits));
        emit updateLink(this);
    }
    return accepted;
}