SerialLink.cc 17 KB
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/*=====================================================================
======================================================================*/
/**
 * @file
 *   @brief Cross-platform support for serial ports
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QTimer>
#include <QDebug>
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#include <QSettings>
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#include <QMutexLocker>
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#ifdef __android__
#include "qserialport.h"
#else
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#include <QSerialPort>
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#endif
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#include "SerialLink.h"
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#include "QGC.h"
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#include "MG.h"
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#include "QGCLoggingCategory.h"
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#include "QGCApplication.h"
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#include "QGCSerialPortInfo.h"
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QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog")
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static QStringList kSupportedBaudRates;

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SerialLink::SerialLink(SharedLinkConfigurationPointer& config, bool isPX4Flow)
    : LinkInterface(config, isPX4Flow)
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    , _port(NULL)
    , _bytesRead(0)
    , _stopp(false)
    , _reqReset(false)
    , _serialConfig(qobject_cast<SerialConfiguration*>(config.data()))
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{
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    if (!_serialConfig) {
        qWarning() << "Internal error";
        return;
    }
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    qCDebug(SerialLinkLog) << "Create SerialLink " << _serialConfig->portName() << _serialConfig->baud() << _serialConfig->flowControl()
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                           << _serialConfig->parity() << _serialConfig->dataBits() << _serialConfig->stopBits();
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    qCDebug(SerialLinkLog) << "portName: " << _serialConfig->portName();
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}
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void SerialLink::requestReset()
{
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    QMutexLocker locker(&this->_stoppMutex);
    _reqReset = true;
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}
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SerialLink::~SerialLink()
{
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    _disconnect();
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}

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bool SerialLink::_isBootloader()
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{
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    QList<QSerialPortInfo> portList = QSerialPortInfo::availablePorts();
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    if( portList.count() == 0){
        return false;
    }
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    for (const QSerialPortInfo &info: portList)
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    {
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        qCDebug(SerialLinkLog) << "PortName    : " << info.portName() << "Description : " << info.description();
        qCDebug(SerialLinkLog) << "Manufacturer: " << info.manufacturer();
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        if (info.portName().trimmed() == _serialConfig->portName() &&
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                (info.description().toLower().contains("bootloader") ||
                 info.description().toLower().contains("px4 bl") ||
                 info.description().toLower().contains("px4 fmu v1.6"))) {
            qCDebug(SerialLinkLog) << "BOOTLOADER FOUND";
            return true;
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        }
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    }
    // Not found
    return false;
}

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void SerialLink::_writeBytes(const QByteArray data)
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{
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    if(_port && _port->isOpen()) {
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        _logOutputDataRate(data.size(), QDateTime::currentMSecsSinceEpoch());
        _port->write(data);
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    } else {
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        // Error occurred
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        qWarning() << "Serial port not writeable";
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        _emitLinkError(tr("Could not send data - link %1 is disconnected!").arg(getName()));
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    }
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
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void SerialLink::_disconnect(void)
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{
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    if (_port) {
        _port->close();
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        _port->deleteLater();
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        _port = NULL;
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    }
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#ifdef __android__
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    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
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#endif
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}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
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bool SerialLink::_connect(void)
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{
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    qCDebug(SerialLinkLog) << "CONNECT CALLED";
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    _disconnect();
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#ifdef __android__
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    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
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#endif
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    QSerialPort::SerialPortError    error;
    QString                         errorString;

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    // Initialize the connection
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    if (!_hardwareConnect(error, errorString)) {
        if (qgcApp()->toolbox()->linkManager()->isAutoconnectLink(this)) {
            // Be careful with spitting out open error related to trying to open a busy port using autoconnect
            if (error == QSerialPort::PermissionError) {
                // Device already open, ignore and fail connect
                return false;
            }
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        }
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        _emitLinkError(tr("Error connecting: Could not create port. %1").arg(errorString));
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        return false;
    }
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    return true;
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}

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/// Performs the actual hardware port connection.
///     @param[out] error if failed
///     @param[out] error string if failed
/// @return success/fail
bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString& errorString)
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{
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    if (_port) {
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        qCDebug(SerialLinkLog) << "SerialLink:" << QString::number((long)this, 16) << "closing port";
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        _port->close();
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        // Wait 50 ms while continuing to run the event queue
        for (unsigned i = 0; i < 10; i++) {
            QGC::SLEEP::usleep(5000);
            qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
        }
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        delete _port;
        _port = NULL;
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    }
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    qCDebug(SerialLinkLog) << "SerialLink: hardwareConnect to " << _serialConfig->portName();
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    // If we are in the Pixhawk bootloader code wait for it to timeout
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    if (_isBootloader()) {
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        qCDebug(SerialLinkLog) << "Not connecting to a bootloader, waiting for 2nd chance";
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        const unsigned retry_limit = 12;
        unsigned retries;
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        for (retries = 0; retries < retry_limit; retries++) {
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            if (!_isBootloader()) {
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                // Wait 500 ms while continuing to run the event loop
                for (unsigned i = 0; i < 100; i++) {
                    QGC::SLEEP::msleep(5);
                    qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
                }
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                break;
            }
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            // Wait 500 ms while continuing to run the event loop
            for (unsigned i = 0; i < 100; i++) {
                QGC::SLEEP::msleep(5);
                qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
            }
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        }
        // Check limit
        if (retries == retry_limit) {
            // bail out
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            qWarning() << "Timeout waiting for something other than booloader";
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            return false;
        }
    }

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    _port = new QSerialPort(_serialConfig->portName(), this);
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    QObject::connect(_port, static_cast<void (QSerialPort::*)(QSerialPort::SerialPortError)>(&QSerialPort::error),
                     this, &SerialLink::linkError);
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    QObject::connect(_port, &QIODevice::readyRead, this, &SerialLink::_readBytes);
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    //  port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
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    // TODO This needs a bit of TLC still...
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    // After the bootloader times out, it still can take a second or so for the Pixhawk USB driver to come up and make
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    // the port available for open. So we retry a few times to wait for it.
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#ifdef __android__
    _port->open(QIODevice::ReadWrite);
#else
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    // Try to open the port three times
    for (int openRetries = 0; openRetries < 3; openRetries++) {
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        if (!_port->open(QIODevice::ReadWrite)) {
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            qCDebug(SerialLinkLog) << "Port open failed, retrying";
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            // Wait 250 ms while continuing to run the event loop
            for (unsigned i = 0; i < 50; i++) {
                QGC::SLEEP::msleep(5);
                qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
            }
            qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
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        } else {
            break;
        }
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    }
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#endif
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    if (!_port->isOpen() ) {
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        qDebug() << "open failed" << _port->errorString() << _port->error() << getName() << qgcApp()->toolbox()->linkManager()->isAutoconnectLink(this);
        error = _port->error();
        errorString = _port->errorString();
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        emit communicationUpdate(getName(), tr("Error opening port: %1").arg(_port->errorString()));
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        _port->close();
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        delete _port;
        _port = NULL;
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        return false; // couldn't open serial port
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    }

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    _port->setDataTerminalReady(true);

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    qCDebug(SerialLinkLog) << "Configuring port";
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    _port->setBaudRate     (_serialConfig->baud());
    _port->setDataBits     (static_cast<QSerialPort::DataBits>     (_serialConfig->dataBits()));
    _port->setFlowControl  (static_cast<QSerialPort::FlowControl>  (_serialConfig->flowControl()));
    _port->setStopBits     (static_cast<QSerialPort::StopBits>     (_serialConfig->stopBits()));
    _port->setParity       (static_cast<QSerialPort::Parity>       (_serialConfig->parity()));
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    emit communicationUpdate(getName(), "Opened port!");
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    emit connected();
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    qCDebug(SerialLinkLog) << "Connection SeriaLink: " << "with settings" << _serialConfig->portName()
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                           << _serialConfig->baud() << _serialConfig->dataBits() << _serialConfig->parity() << _serialConfig->stopBits();
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    return true; // successful connection
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}
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void SerialLink::_readBytes(void)
{
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    if (_port && _port->isOpen()) {
        qint64 byteCount = _port->bytesAvailable();
        if (byteCount) {
            QByteArray buffer;
            buffer.resize(byteCount);
            _port->read(buffer.data(), buffer.size());
            emit bytesReceived(this, buffer);
        }
    } else {
        // Error occurred
        qWarning() << "Serial port not readable";
        _emitLinkError(tr("Could not read data - link %1 is disconnected!").arg(getName()));
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    }
}

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void SerialLink::linkError(QSerialPort::SerialPortError error)
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{
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    switch (error) {
    case QSerialPort::NoError:
        break;
    case QSerialPort::ResourceError:
        emit connectionRemoved(this);
        break;
    default:
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        // 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.
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        //qCDebug(SerialLinkLog) << "SerialLink::linkError" << error;
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        break;
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    }
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}

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/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
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bool SerialLink::isConnected() const
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{
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    bool isConnected = false;
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    if (_port) {
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        isConnected = _port->isOpen();
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    }
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    return isConnected;
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}

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QString SerialLink::getName() const
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{
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    return _serialConfig->name();
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}

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/**
  * This function maps baud rate constants to numerical equivalents.
  * It relies on the mapping given in qportsettings.h from the QSerialPort library.
  */
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qint64 SerialLink::getConnectionSpeed() const
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{
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    int baudRate;
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    if (_port) {
        baudRate = _port->baudRate();
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    } else {
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        baudRate = _serialConfig->baud();
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    }
    qint64 dataRate;
    switch (baudRate)
    {
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    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;
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    }
    return dataRate;
}

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void SerialLink::_resetConfiguration()
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{
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    if (_port) {
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        _port->setBaudRate      (_serialConfig->baud());
        _port->setDataBits      (static_cast<QSerialPort::DataBits>    (_serialConfig->dataBits()));
        _port->setFlowControl   (static_cast<QSerialPort::FlowControl> (_serialConfig->flowControl()));
        _port->setStopBits      (static_cast<QSerialPort::StopBits>    (_serialConfig->stopBits()));
        _port->setParity        (static_cast<QSerialPort::Parity>      (_serialConfig->parity()));
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    }
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}

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void SerialLink::_emitLinkError(const QString& errorMsg)
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{
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    QString msg("Error on link %1. %2");
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    qDebug() << errorMsg;
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    emit communicationError(tr("Link Error"), msg.arg(getName()).arg(errorMsg));
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}

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//--------------------------------------------------------------------------
//-- SerialConfiguration
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SerialConfiguration::SerialConfiguration(const QString& name) : LinkConfiguration(name)
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{
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    _baud       = 57600;
    _flowControl= QSerialPort::NoFlowControl;
    _parity     = QSerialPort::NoParity;
    _dataBits   = 8;
    _stopBits   = 1;
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    _usbDirect  = false;
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}

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SerialConfiguration::SerialConfiguration(SerialConfiguration* copy) : LinkConfiguration(copy)
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{
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    _baud               = copy->baud();
    _flowControl        = copy->flowControl();
    _parity             = copy->parity();
    _dataBits           = copy->dataBits();
    _stopBits           = copy->stopBits();
    _portName           = copy->portName();
    _portDisplayName    = copy->portDisplayName();
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    _usbDirect          = copy->_usbDirect;
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}

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void SerialConfiguration::copyFrom(LinkConfiguration *source)
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{
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    LinkConfiguration::copyFrom(source);
    SerialConfiguration* ssource = dynamic_cast<SerialConfiguration*>(source);
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    if (ssource) {
        _baud               = ssource->baud();
        _flowControl        = ssource->flowControl();
        _parity             = ssource->parity();
        _dataBits           = ssource->dataBits();
        _stopBits           = ssource->stopBits();
        _portName           = ssource->portName();
        _portDisplayName    = ssource->portDisplayName();
        _usbDirect          = ssource->_usbDirect;
    } else {
        qWarning() << "Internal error";
    }
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}

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void SerialConfiguration::updateSettings()
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{
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    if(_link) {
        SerialLink* serialLink = dynamic_cast<SerialLink*>(_link);
        if(serialLink) {
            serialLink->_resetConfiguration();
        }
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    }
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}

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void SerialConfiguration::setBaud(int baud)
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{
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    _baud = baud;
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}

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void SerialConfiguration::setDataBits(int databits)
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{
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    _dataBits = databits;
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}

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void SerialConfiguration::setFlowControl(int flowControl)
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{
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    _flowControl = flowControl;
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}

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void SerialConfiguration::setStopBits(int stopBits)
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{
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    _stopBits = stopBits;
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}

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void SerialConfiguration::setParity(int parity)
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{
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    _parity = parity;
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}

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void SerialConfiguration::setPortName(const QString& portName)
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{
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    // No effect on a running connection
    QString pname = portName.trimmed();
    if (!pname.isEmpty() && pname != _portName) {
        _portName = pname;
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        _portDisplayName = cleanPortDisplayname(pname);
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    }
}

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QString SerialConfiguration::cleanPortDisplayname(const QString name)
{
    QString pname = name.trimmed();
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#ifdef Q_OS_WIN
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    pname.replace("\\\\.\\", "");
#else
    pname.replace("/dev/cu.", "");
    pname.replace("/dev/", "");
#endif
    return pname;
}

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void SerialConfiguration::saveSettings(QSettings& settings, const QString& root)
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{
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    settings.beginGroup(root);
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    settings.setValue("baud",           _baud);
    settings.setValue("dataBits",       _dataBits);
    settings.setValue("flowControl",    _flowControl);
    settings.setValue("stopBits",       _stopBits);
    settings.setValue("parity",         _parity);
    settings.setValue("portName",       _portName);
    settings.setValue("portDisplayName",_portDisplayName);
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    settings.endGroup();
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}
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void SerialConfiguration::loadSettings(QSettings& settings, const QString& root)
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{
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    settings.beginGroup(root);
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    if(settings.contains("baud"))           _baud           = settings.value("baud").toInt();
    if(settings.contains("dataBits"))       _dataBits       = settings.value("dataBits").toInt();
    if(settings.contains("flowControl"))    _flowControl    = settings.value("flowControl").toInt();
    if(settings.contains("stopBits"))       _stopBits       = settings.value("stopBits").toInt();
    if(settings.contains("parity"))         _parity         = settings.value("parity").toInt();
    if(settings.contains("portName"))       _portName       = settings.value("portName").toString();
    if(settings.contains("portDisplayName"))_portDisplayName= settings.value("portDisplayName").toString();
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    settings.endGroup();
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}
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QStringList SerialConfiguration::supportedBaudRates()
{
    if(!kSupportedBaudRates.size())
        _initBaudRates();
    return kSupportedBaudRates;
}

void SerialConfiguration::_initBaudRates()
{
    kSupportedBaudRates.clear();
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    kSupportedBaudRates = QStringList({
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#if USE_ANCIENT_RATES
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
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        "50",
        "75",
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#endif
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        "110",
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#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
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        "150",
        "200" ,
        "134"  ,
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#endif
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        "300",
        "600",
        "1200",
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#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
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        "1800",
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#endif
#endif
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        "2400",
        "4800",
        "9600",
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#if defined(Q_OS_WIN)
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        "14400",
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#endif
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        "19200",
        "38400",
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#if defined(Q_OS_WIN)
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        "56000",
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#endif
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        "57600",
        "115200",
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#if defined(Q_OS_WIN)
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        "128000",
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#endif
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        "230400",
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#if defined(Q_OS_WIN)
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        "256000",
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#endif
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        "460800",
        "500000",
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#if defined(Q_OS_LINUX)
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        "576000",
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#endif
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        "921600",
    });
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}

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void SerialConfiguration::setUsbDirect(bool usbDirect)
{
    if (_usbDirect != usbDirect) {
        _usbDirect = usbDirect;
        emit usbDirectChanged(_usbDirect);
    }
}