SerialLink.cc 18.1 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116
/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

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

#include <QTimer>
#include <QDebug>
#include <QMutexLocker>
#include "SerialLink.h"
#include "LinkManager.h"
#include <MG.h>
#ifdef _WIN32
#include "windows.h"
#endif


SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, ParityType parity, DataBitsType dataBits, StopBitsType stopBits)
{
    // Setup settings
    this->porthandle = portname.trimmed();
#ifdef _WIN32
    // Port names above 20 need the network path format - if the port name is not already in this format
    // catch this special case
    if (this->porthandle.size() > 0 && !this->porthandle.startsWith("\\"))
    {
        // Append \\.\ before the port handle. Additional backslashes are used for escaping.
        this->porthandle = "\\\\.\\" + this->porthandle;
    }
#endif
    // Set unique ID and add link to the list of links
    this->id = getNextLinkId();
    this->baudrate = baudrate;
    this->flow = flow;
    this->parity = parity;
    this->dataBits = dataBits;
    this->stopBits = stopBits;
    this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.

    // Set the port name
    if (porthandle == "")
    {
        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
    }
    else
    {
        name = portname.trimmed();
    }

#ifdef _WIN3232
    // Windows 32bit & 64bit serial connection
    winPort = CreateFile(porthandle,
                         GENERIC_READ | GENERIC_WRITE,
                         0,
                         0,
                         OPEN_EXISTING,
                         FILE_ATTRIBUTE_NORMAL,
                         0);
    if(winPort==INVALID_HANDLE_VALUE){
        if(GetLastError()==ERROR_FILE_NOT_FOUND){
            //serial port does not exist. Inform user.
        }
        //some other error occurred. Inform user.
    }
#else
    // *nix (Linux, MacOS tested) serial port support
    port = new QextSerialPort(porthandle, QextSerialPort::Polling);
    port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
    port->setBaudRate(baudrate);
    port->setFlowControl(flow);
    port->setParity(parity);
    port->setDataBits(dataBits);
    port->setStopBits(stopBits);
#endif

    // Link is setup, register it with link manager
    LinkManager::instance()->add(this);
}

SerialLink::~SerialLink()
{
    disconnect();
    delete port;
    port = NULL;
}


/**
 * @brief Runs the thread
 *
 **/
117 118
void SerialLink::run()
{
pixhawk's avatar
pixhawk committed
119 120 121 122
    // Initialize the connection
    hardwareConnect();

    // Qt way to make clear what a while(1) loop does
123 124
    forever
    {
pixhawk's avatar
pixhawk committed
125 126 127 128 129 130 131 132 133 134
        // Check if new bytes have arrived, if yes, emit the notification signal
        checkForBytes();
        /* Serial data isn't arriving that fast normally, this saves the thread
                 * from consuming too much processing time
                 */
        MG::SLEEP::msleep(SerialLink::poll_interval);
    }
}


135 136
void SerialLink::checkForBytes()
{
pixhawk's avatar
pixhawk committed
137
    /* Check if bytes are available */
138 139
    if(port->isOpen())
    {
pixhawk's avatar
pixhawk committed
140 141 142 143
        dataMutex.lock();
        qint64 available = port->bytesAvailable();
        dataMutex.unlock();

144 145 146
        if(available > 0)
        {
            readBytes();
pixhawk's avatar
pixhawk committed
147
        }
148 149 150
    }
    else
    {
pixhawk's avatar
pixhawk committed
151 152 153 154 155 156
        emit disconnected();
    }

}


157 158
void SerialLink::writeBytes(const char* data, qint64 size)
{
pixhawk's avatar
pixhawk committed
159 160
    if(port->isOpen())
    {
pixhawk's avatar
pixhawk committed
161 162 163
        int b = port->write(data, size);
        qDebug() << "Transmitted " << b << "bytes:";

pixhawk's avatar
pixhawk committed
164
        // Increase write counter
pixhawk's avatar
pixhawk committed
165 166 167
        bitsSentTotal += size * 8;

        int i;
pixhawk's avatar
pixhawk committed
168 169 170
        for (i=0; i<size; i++)
        {
            unsigned char v=data[i];
pixhawk's avatar
pixhawk committed
171 172 173 174 175 176 177 178 179 180 181 182

            fprintf(stderr,"%02x ", v);
        }
    }
}

/**
 * @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
 **/
183 184
void SerialLink::readBytes()
{
pixhawk's avatar
pixhawk committed
185
    dataMutex.lock();
186 187 188 189
    if(port->isOpen())
    {
        const qint64 maxLength = 2048;
        char data[maxLength];
pixhawk's avatar
pixhawk committed
190
        qint64 numBytes = port->bytesAvailable();
191 192
        if(numBytes > 0)
        {
pixhawk's avatar
pixhawk committed
193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219
            /* Read as much data in buffer as possible without overflow */
            if(maxLength < numBytes) numBytes = maxLength;

            port->read(data, numBytes);
            QByteArray b(data, numBytes);
            emit bytesReceived(this, b);

            //qDebug() << "SerialLink::readBytes()" << std::hex << data;
            //            int i;
            //            for (i=0; i<numBytes; i++){
            //                unsigned int v=data[i];
            //
            //                fprintf(stderr,"%02x ", v);
            //            }
            //            fprintf(stderr,"\n");
            bitsReceivedTotal += numBytes * 8;
        }
    }
    dataMutex.unlock();
}


/**
 * @brief Get the number of bytes to read.
 *
 * @return The number of bytes to read
 **/
220 221
qint64 SerialLink::bytesAvailable()
{
pixhawk's avatar
pixhawk committed
222 223 224 225 226 227 228 229
    return port->bytesAvailable();
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
230 231
bool SerialLink::disconnect()
{
pixhawk's avatar
pixhawk committed
232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280
    //#if !defined _WIN32 || !defined _WIN64
    /* Block the thread until it returns from run() */
    //#endif
    dataMutex.lock();
    port->flush();
    port->close();
    dataMutex.unlock();

    bool closed = true;
    //port->isOpen();

    emit disconnected();
    emit connected(false);

    return ! closed;
}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool SerialLink::connect()
{
    qDebug() << "CONNECTING LINK: " << __FILE__ << __LINE__ << "with settings" << porthandle << baudrate << dataBits << parity << stopBits;
    if (!this->isRunning())
    {
        this->start(LowPriority);
    }
    else
    {
        if(isConnected())
        {
            disconnect();
        }
        hardwareConnect();
    }

    return port->isOpen();
}

/**
 * @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.
 **/
281 282
bool SerialLink::hardwareConnect()
{
pixhawk's avatar
pixhawk committed
283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302
    QObject::connect(port, SIGNAL(aboutToClose()), this, SIGNAL(disconnected()));

    port->open(QIODevice::ReadWrite);
    port->setBaudRate(this->baudrate);
    port->setParity(this->parity);
    port->setStopBits(this->stopBits);
    port->setDataBits(this->dataBits);

    statisticsMutex.lock();
    connectionStartTime = MG::TIME::getGroundTimeNow();
    statisticsMutex.unlock();

    bool connectionUp = isConnected();
    if(connectionUp) {
        emit connected();
        emit connected(true);
    }

    return connectionUp;
}
303 304


pixhawk's avatar
pixhawk committed
305 306 307 308 309
/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
310 311
bool SerialLink::isConnected()
{
pixhawk's avatar
pixhawk committed
312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331
    return port->isOpen();
}

int SerialLink::getId()
{
    return id;
}

QString SerialLink::getName()
{
    return name;
}

void SerialLink::setName(QString name)
{
    this->name = name;
    emit nameChanged(this->name);
}


332 333
qint64 SerialLink::getNominalDataRate()
{
pixhawk's avatar
pixhawk committed
334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405
    qint64 dataRate = 0;
    switch (baudrate) {
    case BAUD50:
        dataRate = 50;
        break;
    case BAUD75:
        dataRate = 75;
        break;
    case BAUD110:
        dataRate = 110;
        break;
    case BAUD134:
        dataRate = 134;
        break;
    case BAUD150:
        dataRate = 150;
        break;
    case BAUD200:
        dataRate = 200;
        break;
    case BAUD300:
        dataRate = 300;
        break;
    case BAUD600:
        dataRate = 600;
        break;
    case BAUD1200:
        dataRate = 1200;
        break;
    case BAUD1800:
        dataRate = 1800;
        break;
    case BAUD2400:
        dataRate = 2400;
        break;
    case BAUD4800:
        dataRate = 4800;
        break;
    case BAUD9600:
        dataRate = 9600;
        break;
    case BAUD14400:
        dataRate = 14400;
        break;
    case BAUD19200:
        dataRate = 19200;
        break;
    case BAUD38400:
        dataRate = 38400;
        break;
    case BAUD56000:
        dataRate = 56000;
        break;
    case BAUD57600:
        dataRate = 57600;
        break;
    case BAUD76800:
        dataRate = 76800;
        break;
    case BAUD115200:
        dataRate = 115200;
        break;
    case BAUD128000:
        dataRate = 128000;
        break;
    case BAUD256000:
        dataRate = 256000;
        break;
    }
    return dataRate;
}

406 407
qint64 SerialLink::getTotalUpstream()
{
pixhawk's avatar
pixhawk committed
408 409 410 411 412
    statisticsMutex.lock();
    return bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
    statisticsMutex.unlock();
}

413 414
qint64 SerialLink::getCurrentUpstream()
{
pixhawk's avatar
pixhawk committed
415 416 417
    return 0; // TODO
}

418 419
qint64 SerialLink::getMaxUpstream()
{
pixhawk's avatar
pixhawk committed
420 421 422
    return 0; // TODO
}

423 424
qint64 SerialLink::getBitsSent()
{
pixhawk's avatar
pixhawk committed
425 426 427
    return bitsSentTotal;
}

428 429
qint64 SerialLink::getBitsReceived()
{
pixhawk's avatar
pixhawk committed
430 431 432
    return bitsReceivedTotal;
}

433 434
qint64 SerialLink::getTotalDownstream()
{
pixhawk's avatar
pixhawk committed
435 436 437 438 439
    statisticsMutex.lock();
    return bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
    statisticsMutex.unlock();
}

440 441
qint64 SerialLink::getCurrentDownstream()
{
pixhawk's avatar
pixhawk committed
442 443 444
    return 0; // TODO
}

445 446
qint64 SerialLink::getMaxDownstream()
{
pixhawk's avatar
pixhawk committed
447 448 449
    return 0; // TODO
}

450 451
bool SerialLink::isFullDuplex()
{
pixhawk's avatar
pixhawk committed
452 453 454 455
    /* Serial connections are always half duplex */
    return false;
}

456 457
int SerialLink::getLinkQuality()
{
pixhawk's avatar
pixhawk committed
458 459 460 461
    /* This feature is not supported with this interface */
    return -1;
}

462 463
QString SerialLink::getPortName()
{
pixhawk's avatar
pixhawk committed
464 465 466
    return porthandle;
}

467 468
int SerialLink::getBaudRate()
{
pixhawk's avatar
pixhawk committed
469 470 471
    return getNominalDataRate();
}

472 473
int SerialLink::getBaudRateType()
{
pixhawk's avatar
pixhawk committed
474 475 476
    return baudrate;
}

477 478
int SerialLink::getFlowType()
{
pixhawk's avatar
pixhawk committed
479 480 481
    return flow;
}

482 483
int SerialLink::getParityType()
{
pixhawk's avatar
pixhawk committed
484 485 486
    return parity;
}

487 488
int SerialLink::getDataBitsType()
{
pixhawk's avatar
pixhawk committed
489 490 491
    return dataBits;
}

492 493
int SerialLink::getStopBitsType()
{
pixhawk's avatar
pixhawk committed
494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712
    return stopBits;
}

bool SerialLink::setPortName(QString portName)
{
    if(portName.trimmed().length() > 0)
    {
        bool reconnect = false;
        if(isConnected()) {
            disconnect();
            reconnect = true;
        }
        this->porthandle = portName.trimmed();
        setName(tr("serial port ") + portName.trimmed());
#ifdef _WIN32
        // Port names above 20 need the network path format - if the port name is not already in this format
        // catch this special case
        if (!this->porthandle.startsWith("\\"))
        {
            // Append \\.\ before the port handle. Additional backslashes are used for escaping.
            this->porthandle = "\\\\.\\" + this->porthandle;
        }
#endif
        delete port;
        port = new QextSerialPort(porthandle, QextSerialPort::Polling);

        port->setBaudRate(baudrate);
        port->setFlowControl(flow);
        port->setParity(parity);
        port->setDataBits(dataBits);
        port->setStopBits(stopBits);
        port->setTimeout(timeout);
        if(reconnect) connect();
        return true;
    }
    else
    {
        return false;
    }
}


bool SerialLink::setBaudRateType(int rateIndex)
{
    bool reconnect = false;
    bool accepted = true; // This is changed if none of the data rates matches
    if(isConnected()) {
        disconnect();
        reconnect = true;
    }
    switch (rateIndex) {
    case 0:
        baudrate = BAUD50;
        break;
    case 1:
        baudrate = BAUD75;
        break;
    case 2:
        baudrate = BAUD110;
        break;
    case 3:
        baudrate = BAUD134;
        break;
    case 4:
        baudrate = BAUD150;
        break;
    case 5:
        baudrate = BAUD200;
        break;
    case 6:
        baudrate = BAUD300;
        break;
    case 7:
        baudrate = BAUD600;
        break;
    case 8:
        baudrate = BAUD1200;
        break;
    case 9:
        baudrate = BAUD1800;
        break;
    case 10:
        baudrate = BAUD2400;
        break;
    case 11:
        baudrate = BAUD4800;
        break;
    case 12:
        baudrate = BAUD9600;
        break;
    case 13:
        baudrate = BAUD14400;
        break;
    case 14:
        baudrate = BAUD19200;
        break;
    case 15:
        baudrate = BAUD38400;
        break;
    case 16:
        baudrate = BAUD56000;
        break;
    case 17:
        baudrate = BAUD57600;
        break;
    case 18:
        baudrate = BAUD76800;
        break;
    case 19:
        baudrate = BAUD115200;
        break;
    case 20:
        baudrate = BAUD128000;
        break;
    case 21:
        baudrate = BAUD256000;
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

    dataMutex.lock();
    port->setBaudRate(this->baudrate);
    dataMutex.unlock();
    if(reconnect) connect();
    return accepted;
}



bool SerialLink::setBaudRate(int rate)
{
    bool reconnect = false;
    bool accepted = true; // This is changed if none of the data rates matches
    if(isConnected()) {
        disconnect();
        reconnect = true;
    }

    switch (rate) {
    case 50:
        baudrate = BAUD50;
        break;
    case 75:
        baudrate = BAUD75;
        break;
    case 110:
        baudrate = BAUD110;
        break;
    case 134:
        baudrate = BAUD134;
        break;
    case 150:
        baudrate = BAUD150;
        break;
    case 200:
        baudrate = BAUD200;
        break;
    case 300:
        baudrate = BAUD300;
        break;
    case 600:
        baudrate = BAUD600;
        break;
    case 1200:
        baudrate = BAUD1200;
        break;
    case 1800:
        baudrate = BAUD1800;
        break;
    case 2400:
        baudrate = BAUD2400;
        break;
    case 4800:
        baudrate = BAUD4800;
        break;
    case 9600:
        baudrate = BAUD9600;
        break;
    case 14400:
        baudrate = BAUD14400;
        break;
    case 19200:
        baudrate = BAUD19200;
        break;
    case 38400:
        baudrate = BAUD38400;
        break;
    case 56000:
        baudrate = BAUD56000;
        break;
    case 57600:
        baudrate = BAUD57600;
        break;
    case 76800:
        baudrate = BAUD76800;
        break;
    case 115200:
        baudrate = BAUD115200;
        break;
    case 128000:
        baudrate = BAUD128000;
        break;
    case 256000:
        baudrate = BAUD256000;
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

    port->setBaudRate(this->baudrate);
    if(reconnect) connect();
    return accepted;
}

713 714
bool SerialLink::setFlowType(int flow)
{
pixhawk's avatar
pixhawk committed
715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741
    bool reconnect = false;
    bool accepted = true;
    if(isConnected()) {
        disconnect();
        reconnect = true;
    }

    switch (flow) {
    case FLOW_OFF:
        this->flow = FLOW_OFF;
        break;
    case FLOW_HARDWARE:
        this->flow = FLOW_HARDWARE;
        break;
    case FLOW_XONXOFF:
        this->flow = FLOW_XONXOFF;
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }
    port->setFlowControl(this->flow);
    if(reconnect) connect();
    return accepted;
}

742 743
bool SerialLink::setParityType(int parity)
{
pixhawk's avatar
pixhawk committed
744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777
    bool reconnect = false;
    bool accepted = true;
    if(isConnected()) {
        disconnect();
        reconnect = true;
    }

    switch (parity) {
    case PAR_NONE:
        this->parity = PAR_NONE;
        break;
    case PAR_ODD:
        this->parity = PAR_ODD;
        break;
    case PAR_EVEN:
        this->parity = PAR_EVEN;
        break;
    case PAR_MARK:
        this->parity = PAR_MARK;
        break;
    case PAR_SPACE:
        this->parity = PAR_SPACE;
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

    port->setParity(this->parity);
    if(reconnect) connect();
    return accepted;
}

778 779
bool SerialLink::setDataBitsType(int dataBits)
{
pixhawk's avatar
pixhawk committed
780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809
    bool accepted = true;

    switch (dataBits) {
    case 5:
        this->dataBits = DATA_5;
        break;
    case 6:
        this->dataBits = DATA_6;
        break;
    case 7:
        this->dataBits = DATA_7;
        break;
    case 8:
        this->dataBits = DATA_8;
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

    port->setDataBits(this->dataBits);
    if(isConnected()) {
        disconnect();
        connect();
    }

    return accepted;
}

810 811
bool SerialLink::setStopBitsType(int stopBits)
{
pixhawk's avatar
pixhawk committed
812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835
    bool reconnect = false;
    bool accepted = true;
    if(isConnected()) {
        disconnect();
        reconnect = true;
    }

    switch (stopBits) {
    case 1:
        this->stopBits = STOP_1;
        break;
    case 2:
        this->stopBits = STOP_2;
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

    port->setStopBits(this->stopBits);
    if(reconnect) connect();
    return accepted;
}