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/****************************************************************************
*
* (c) 2009-2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "MavlinkConsoleController.h"
#include "QGCApplication.h"
#include "UAS.h"
MavlinkConsoleController::MavlinkConsoleController()
: _cursor_home_pos{-1},
_cursor{0},
_vehicle{nullptr}
{
auto *manager = qgcApp()->toolbox()->multiVehicleManager();
connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MavlinkConsoleController::_setActiveVehicle);
_setActiveVehicle(manager->activeVehicle());
}
MavlinkConsoleController::~MavlinkConsoleController()
{
if (_vehicle) {
QByteArray msg("");
_sendSerialData(msg, true);
}
}
void
MavlinkConsoleController::sendCommand(QString command)
{
command.append("\n");
_sendSerialData(qPrintable(command));
_cursor_home_pos = -1;
_cursor = _console_text.length();
}
void
MavlinkConsoleController::_setActiveVehicle(Vehicle* vehicle)
{
for (auto &con : _uas_connections)
disconnect(con);
_uas_connections.clear();
_vehicle = vehicle;
if (_vehicle) {
_incoming_buffer.clear();
_console_text.clear();
emit cursorChanged(0);
emit textChanged(_console_text);
_uas_connections << connect(_vehicle, &Vehicle::mavlinkSerialControl, this, &MavlinkConsoleController::_receiveData);
}
}
void
MavlinkConsoleController::_receiveData(uint8_t device, uint8_t, uint16_t, uint32_t, QByteArray data)
{
if (device != SERIAL_CONTROL_DEV_SHELL)
return;
// Append incoming data and parse for ANSI codes
_incoming_buffer.append(data);
auto old_size = _console_text.size();
_processANSItext();
auto new_size = _console_text.size();
// Update QML and cursor
if (old_size > new_size) {
// Rewind back so we don't get a warning to stderr
emit cursorChanged(new_size);
}
emit textChanged(_console_text);
emit cursorChanged(new_size);
}
void
MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
{
Q_ASSERT(_vehicle);
if (!_vehicle)
return;
// Send maximum sized chunks until the complete buffer is transmitted
while(data.size()) {
QByteArray chunk{data.left(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN)};
uint8_t flags = SERIAL_CONTROL_FLAG_EXCLUSIVE | SERIAL_CONTROL_FLAG_RESPOND;
if (close) flags = 0;
auto protocol = qgcApp()->toolbox()->mavlinkProtocol();
auto priority_link = _vehicle->priorityLink();
mavlink_message_t msg;
mavlink_msg_serial_control_pack_chan(
protocol->getSystemId(),
protocol->getComponentId(),
priority_link->mavlinkChannel(),
&msg,
SERIAL_CONTROL_DEV_SHELL,
flags,
0,
0,
chunk.size(),
reinterpret_cast<uint8_t*>(chunk.data()));
_vehicle->sendMessageOnLink(priority_link, msg);
data.remove(0, chunk.size());
}
}
void
MavlinkConsoleController::_processANSItext()
{
int i; // Position into the parsed buffer
// Iterate over the incoming buffer to parse off known ANSI control codes
for (i = 0; i < _incoming_buffer.size(); i++) {
if (_incoming_buffer.at(i) == '\x1B') {
// For ANSI codes we expect at most 4 incoming chars
if (i < _incoming_buffer.size() - 3 && _incoming_buffer.at(i+1) == '[') {
// Parse ANSI code
switch(_incoming_buffer.at(i+2)) {
default:
continue;
case 'H':
if (_cursor_home_pos == -1) {
// Assign new home position if home is unset
_cursor_home_pos = _cursor;
} else {
// Rewind write cursor position to home
_cursor = _cursor_home_pos;
}
break;
case 'K':
// Erase the current line to the end
{
auto next_lf = _console_text.indexOf('\n', _cursor);
if (next_lf > 0)
_console_text.remove(_cursor, next_lf + 1 - _cursor);
}
break;
case '2':
// Erase everything and rewind to home
if (_incoming_buffer.at(i+3) == 'J' && _cursor_home_pos != -1) {
// Keep newlines so textedit doesn't scroll annoyingly
int newlines = _console_text.mid(_cursor_home_pos).count('\n');
_console_text.remove(_cursor_home_pos, _console_text.size());
_console_text.append(QByteArray(newlines, '\n'));
_cursor = _cursor_home_pos;
}
// Even if we didn't understand this ANSI code, remove the 4th char
_incoming_buffer.remove(i+3,1);
break;
}
// Remove the parsed ANSI code and decrement the bufferpos
_incoming_buffer.remove(i, 3);
i--;
} else {
// We can reasonably expect a control code was fragemented
// Stop parsing here and wait for it to come in
break;
}
}
}
// Insert the new data and increment the write cursor
_console_text.insert(_cursor, _incoming_buffer.left(i));
_cursor += i;
// Remove written data from the incoming buffer
_incoming_buffer.remove(0, i);
}