SerialLink.cc 33.7 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12
/*=====================================================================
======================================================================*/
/**
 * @file
 *   @brief Cross-platform support for serial ports
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QTimer>
#include <QDebug>
13
#include <QSettings>
pixhawk's avatar
pixhawk committed
14 15 16
#include <QMutexLocker>
#include "SerialLink.h"
#include "LinkManager.h"
17
#include "QGC.h"
pixhawk's avatar
pixhawk committed
18
#include <MG.h>
19
#include <iostream>
pixhawk's avatar
pixhawk committed
20 21 22 23
#ifdef _WIN32
#include "windows.h"
#endif

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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176
#ifdef _WIN32
#include <qextserialenumerator.h>
#endif
#if defined (__APPLE__) && defined (__MACH__)
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <errno.h>
#include <paths.h>
#include <termios.h>
#include <sysexits.h>
#include <sys/param.h>
#include <sys/select.h>
#include <sys/time.h>
#include <time.h>
#include <AvailabilityMacros.h>

#ifdef __MWERKS__
#define __CF_USE_FRAMEWORK_INCLUDES__
#endif


#include <CoreFoundation/CoreFoundation.h>

#include <IOKit/IOKitLib.h>
#include <IOKit/serial/IOSerialKeys.h>
#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3)
#include <IOKit/serial/ioss.h>
#endif
#include <IOKit/IOBSD.h>

// Apple internal modems default to local echo being on. If your modem has local echo disabled,
// undefine the following macro.
#define LOCAL_ECHO

#define kATCommandString  "AT\r"

#ifdef LOCAL_ECHO
#define kOKResponseString  "AT\r\r\nOK\r\n"
#else
#define kOKResponseString  "\r\nOK\r\n"
#endif
#endif


// Some helper functions for serial port enumeration
#if defined (__APPLE__) && defined (__MACH__)

enum {
    kNumRetries = 3
};

// Function prototypes
static kern_return_t FindModems(io_iterator_t *matchingServices);
static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize);

// Returns an iterator across all known modems. Caller is responsible for
// releasing the iterator when iteration is complete.
static kern_return_t FindModems(io_iterator_t *matchingServices)
{
    kern_return_t      kernResult;
    CFMutableDictionaryRef  classesToMatch;

    /*! @function IOServiceMatching
    @abstract Create a matching dictionary that specifies an IOService class match.
    @discussion A very common matching criteria for IOService is based on its class. IOServiceMatching will create a matching dictionary that specifies any IOService of a class, or its subclasses. The class is specified by C-string name.
    @param name The class name, as a const C-string. Class matching is successful on IOService's of this class or any subclass.
    @result The matching dictionary created, is returned on success, or zero on failure. The dictionary is commonly passed to IOServiceGetMatchingServices or IOServiceAddNotification which will consume a reference, otherwise it should be released with CFRelease by the caller. */

    // Serial devices are instances of class IOSerialBSDClient
    classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue);
    if (classesToMatch == NULL) {
        printf("IOServiceMatching returned a NULL dictionary.\n");
    } else {
        /*!
          @function CFDictionarySetValue
          Sets the value of the key in the dictionary.
          @param theDict The dictionary to which the value is to be set. If this
            parameter is not a valid mutable CFDictionary, the behavior is
            undefined. If the dictionary is a fixed-capacity dictionary and
            it is full before this operation, and the key does not exist in
            the dictionary, the behavior is undefined.
          @param key The key of the value to set into the dictionary. If a key
            which matches this key is already present in the dictionary, only
            the value is changed ("add if absent, replace if present"). If
            no key matches the given key, the key-value pair is added to the
            dictionary. If added, the key is retained by the dictionary,
            using the retain callback provided
            when the dictionary was created. If the key is not of the sort
            expected by the key retain callback, the behavior is undefined.
          @param value The value to add to or replace into the dictionary. The value
            is retained by the dictionary using the retain callback provided
            when the dictionary was created, and the previous value if any is
            released. If the value is not of the sort expected by the
            retain or release callbacks, the behavior is undefined.
        */
        CFDictionarySetValue(classesToMatch,
                             CFSTR(kIOSerialBSDTypeKey),
                             CFSTR(kIOSerialBSDModemType));

        // Each serial device object has a property with key
        // kIOSerialBSDTypeKey and a value that is one of kIOSerialBSDAllTypes,
        // kIOSerialBSDModemType, or kIOSerialBSDRS232Type. You can experiment with the
        // matching by changing the last parameter in the above call to CFDictionarySetValue.

        // As shipped, this sample is only interested in modems,
        // so add this property to the CFDictionary we're matching on.
        // This will find devices that advertise themselves as modems,
        // such as built-in and USB modems. However, this match won't find serial modems.
    }

    /*! @function IOServiceGetMatchingServices
        @abstract Look up registered IOService objects that match a matching dictionary.
        @discussion This is the preferred method of finding IOService objects currently registered by IOKit. IOServiceAddNotification can also supply this information and install a notification of new IOServices. The matching information used in the matching dictionary may vary depending on the class of service being looked up.
        @param masterPort The master port obtained from IOMasterPort().
        @param matching A CF dictionary containing matching information, of which one reference is consumed by this function. IOKitLib can contruct matching dictionaries for common criteria with helper functions such as IOServiceMatching, IOOpenFirmwarePathMatching.
        @param existing An iterator handle is returned on success, and should be released by the caller when the iteration is finished.
        @result A kern_return_t error code. */

    kernResult = IOServiceGetMatchingServices(kIOMasterPortDefault, classesToMatch, matchingServices);
    if (KERN_SUCCESS != kernResult) {
        printf("IOServiceGetMatchingServices returned %d\n", kernResult);
        goto exit;
    }

exit:
    return kernResult;
}

/** Given an iterator across a set of modems, return the BSD path to the first one.
 *  If no modems are found the path name is set to an empty string.
 */
static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize)
{
    io_object_t    modemService;
    kern_return_t  kernResult = KERN_FAILURE;
    Boolean      modemFound = false;

    // Initialize the returned path
    *bsdPath = '\0';

    // Iterate across all modems found. In this example, we bail after finding the first modem.

    while ((modemService = IOIteratorNext(serialPortIterator)) && !modemFound) {
        CFTypeRef  bsdPathAsCFString;

        // Get the callout device's path (/dev/cu.xxxxx). The callout device should almost always be
        // used: the dialin device (/dev/tty.xxxxx) would be used when monitoring a serial port for
        // incoming calls, e.g. a fax listener.

        bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService,
177 178 179
                                                            CFSTR(kIOCalloutDeviceKey),
                                                            kCFAllocatorDefault,
                                                            0);
180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199
        if (bsdPathAsCFString) {
            Boolean result;

            // Convert the path from a CFString to a C (NUL-terminated) string for use
            // with the POSIX open() call.

            result = CFStringGetCString((CFStringRef)bsdPathAsCFString,
                                        bsdPath,
                                        maxPathSize,
                                        kCFStringEncodingUTF8);
            CFRelease(bsdPathAsCFString);

            if (result) {
                //printf("Modem found with BSD path: %s", bsdPath);
                modemFound = true;
                kernResult = KERN_SUCCESS;
            }
        }

        printf("\n");
200

201 202 203 204 205 206 207 208 209 210
        // Release the io_service_t now that we are done with it.

        (void) IOObjectRelease(modemService);
    }

    return kernResult;
}
#endif

using namespace TNX;
pixhawk's avatar
pixhawk committed
211

212 213
SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
                       int dataBits, int stopBits) :
214 215
    port(NULL),
    ports(new QVector<QString>()),
216
    m_stopp(false)
pixhawk's avatar
pixhawk committed
217 218 219
{
    // Setup settings
    this->porthandle = portname.trimmed();
220 221 222 223 224 225

    if (this->porthandle == "" && getCurrentPorts()->size() > 0)
    {
        this->porthandle = getCurrentPorts()->first().trimmed();
    }

pixhawk's avatar
pixhawk committed
226 227 228
#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
229
    if (this->porthandle.size() > 0 && !this->porthandle.startsWith("\\")) {
pixhawk's avatar
pixhawk committed
230 231 232 233 234 235
        // 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();
236

237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255
    setBaudRate(baudRate);
    if (hardwareFlowControl)
    {
        portSettings.setFlowControl(QPortSettings::FLOW_HARDWARE);
    }
    else
    {
        portSettings.setFlowControl(QPortSettings::FLOW_OFF);
    }
    if (parity)
    {
        portSettings.setParity(QPortSettings::PAR_EVEN);
    }
    else
    {
        portSettings.setParity(QPortSettings::PAR_NONE);
    }
    setDataBits(dataBits);
    setStopBits(stopBits);
pixhawk's avatar
pixhawk committed
256 257

    // Set the port name
258 259
    if (porthandle == "")
    {
260
        name = tr("Serial Link ") + QString::number(getId());
pixhawk's avatar
pixhawk committed
261
    }
262 263 264
    else
    {
        name = portname.trimmed();
pixhawk's avatar
pixhawk committed
265
    }
lm's avatar
lm committed
266
    loadSettings();
pixhawk's avatar
pixhawk committed
267 268 269 270 271
}

SerialLink::~SerialLink()
{
    disconnect();
272
    if(port) delete port;
pixhawk's avatar
pixhawk committed
273
    port = NULL;
274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343
    if (ports) delete ports;
    ports = NULL;
}

QVector<QString>* SerialLink::getCurrentPorts()
{
    ports->clear();
#ifdef __linux

    // TODO Linux has no standard way of enumerating serial ports
    // However the device files are only present when the physical
    // device is connected, therefore listing the files should be
    // sufficient.

    QString devdir = "/dev";
    QDir dir(devdir);
    dir.setFilter(QDir::System);

    QFileInfoList list = dir.entryInfoList();
    for (int i = 0; i < list.size(); ++i) {
        QFileInfo fileInfo = list.at(i);
        if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("ttyACM")))
        {
            ports->append(fileInfo.canonicalFilePath());
        }
    }
#endif

#if defined (__APPLE__) && defined (__MACH__)

    // Enumerate serial ports
    kern_return_t    kernResult; // on PowerPC this is an int (4 bytes)
    io_iterator_t    serialPortIterator;
    char        bsdPath[MAXPATHLEN];
    kernResult = FindModems(&serialPortIterator);
    kernResult = GetModemPath(serialPortIterator, bsdPath, sizeof(bsdPath));
    IOObjectRelease(serialPortIterator);    // Release the iterator.

    // Add found modems
    if (bsdPath[0])
    {
        ports->append(QString(bsdPath));
    }

    // Add USB serial port adapters
    // TODO Strangely usb serial port adapters are not enumerated, even when connected
    QString devdir = "/dev";
    QDir dir(devdir);
    dir.setFilter(QDir::System);

    QFileInfoList list = dir.entryInfoList();
    for (int i = list.size() - 1; i >= 0; i--) {
        QFileInfo fileInfo = list.at(i);
        if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("tty.usbserial")) || fileInfo.fileName().contains(QString("ttyACM")))
        {
            ports->append(fileInfo.canonicalFilePath());
        }
    }
#endif

#ifdef _WIN32
    // Get the ports available on this system
    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();

    // Add the ports in reverse order, because we prepend them to the list
    for (int i = ports.size() - 1; i >= 0; i--)
    {
        QextPortInfo portInfo = ports.at(i);
        QString portString = QString(portInfo.portName.toLocal8Bit().constData()) + " - " + QString(ports.at(i).friendName.toLocal8Bit().constData()).split("(").first();
        // Prepend newly found port to the list
oberion's avatar
oberion committed
344
        this->ports->append(portString);
345 346 347 348 349 350 351 352
    }

    //printf("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData());
    //printf("friendly name: %s\n", ports.at(i).friendName.toLocal8Bit().constData());
    //printf("physical name: %s\n", ports.at(i).physName.toLocal8Bit().constData());
    //printf("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData());
    //printf("===================================\n\n");
#endif
oberion's avatar
oberion committed
353
    return this->ports;
pixhawk's avatar
pixhawk committed
354 355
}

356 357 358 359 360
void SerialLink::loadSettings()
{
    // Load defaults from settings
    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
    settings.sync();
361 362
    if (settings.contains("SERIALLINK_COMM_PORT"))
    {
363
        if (porthandle == "") setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
364 365
        setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
366 367 368
        setStopBits(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
        setDataBits(settings.value("SERIALLINK_COMM_DATABITS").toInt());
        setFlowType(settings.value("SERIALLINK_COMM_FLOW_CONTROL").toInt());
369 370 371 372 373 374 375 376 377 378
    }
}

void SerialLink::writeSettings()
{
    // Store settings
    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
    settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
    settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
    settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
379 380 381
    settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBits());
    settings.setValue("SERIALLINK_COMM_DATABITS", getDataBits());
    settings.setValue("SERIALLINK_COMM_FLOW_CONTROL", getFlowType());
382 383 384
    settings.sync();
}

pixhawk's avatar
pixhawk committed
385 386 387 388 389

/**
 * @brief Runs the thread
 *
 **/
390 391
void SerialLink::run()
{
pixhawk's avatar
pixhawk committed
392 393 394 395
    // Initialize the connection
    hardwareConnect();

    // Qt way to make clear what a while(1) loop does
396 397
    forever
    {
398 399 400 401 402 403 404 405
        {
            QMutexLocker locker(&this->m_stoppMutex);
            if(this->m_stopp)
            {
                this->m_stopp = false;
                break;
            }
        }
pixhawk's avatar
pixhawk committed
406 407 408 409 410 411 412
        // 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);
    }
413
    if (port) {
oberion's avatar
oberion committed
414 415 416 417 418
        port->flushInBuffer();
        port->flushOutBuffer();
        port->close();
        delete port;
        port = NULL;
419
    }
pixhawk's avatar
pixhawk committed
420 421 422
}


423 424
void SerialLink::checkForBytes()
{
pixhawk's avatar
pixhawk committed
425
    /* Check if bytes are available */
426 427
    if(port && port->isOpen() && port->isWritable())
    {
pixhawk's avatar
pixhawk committed
428 429 430 431
        dataMutex.lock();
        qint64 available = port->bytesAvailable();
        dataMutex.unlock();

432 433
        if(available > 0)
        {
434
            readBytes();
pixhawk's avatar
pixhawk committed
435
        }
436 437 438
    }
    else
    {
pixhawk's avatar
pixhawk committed
439
        emit disconnected();
440
        emit connected(false);
pixhawk's avatar
pixhawk committed
441 442 443 444
    }

}

445 446
void SerialLink::writeBytes(const char* data, qint64 size)
{
447
    if(port && port->isOpen()) {
pixhawk's avatar
pixhawk committed
448 449
        int b = port->write(data, size);

450
        if (b > 0) {
451

452
            //            qDebug() << "Serial link " << this->getName() << "transmitted" << b << "bytes:";
pixhawk's avatar
pixhawk committed
453

454 455 456
            // Increase write counter
            bitsSentTotal += size * 8;

457 458 459 460 461 462 463
            //            int i;
            //            for (i=0; i<size; i++)
            //            {
            //                unsigned char v =data[i];
            //                qDebug("%02x ", v);
            //            }
            //            qDebug("\n");
464
        } else {
465 466 467
            disconnect();
            // Error occured
            emit communicationError(this->getName(), tr("Could not send data - link %1 is disconnected!").arg(this->getName()));
468
        }
pixhawk's avatar
pixhawk committed
469 470 471 472 473 474 475 476 477
    }
}

/**
 * @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
 **/
478 479
void SerialLink::readBytes()
{
pixhawk's avatar
pixhawk committed
480
    dataMutex.lock();
481
    if(port && port->isOpen()) {
482 483
        const qint64 maxLength = 2048;
        char data[maxLength];
pixhawk's avatar
pixhawk committed
484
        qint64 numBytes = port->bytesAvailable();
James Goppert's avatar
James Goppert committed
485
        //qDebug() << "numBytes: " << numBytes;
486

487
        if(numBytes > 0) {
pixhawk's avatar
pixhawk committed
488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514
            /* 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
 **/
515 516
qint64 SerialLink::bytesAvailable()
{
517
    if (port) {
518
        return port->bytesAvailable();
519
    } else {
520 521
        return 0;
    }
pixhawk's avatar
pixhawk committed
522 523 524 525 526 527 528
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
529 530
bool SerialLink::disconnect()
{
531 532 533 534 535 536 537 538 539
    if(this->isRunning())
    {
        {
            QMutexLocker locker(&this->m_stoppMutex);
            this->m_stopp = true;
        }
        this->wait();

        //    if (port) {
540 541 542
        //#if !defined _WIN32 || !defined _WIN64
        /* Block the thread until it returns from run() */
        //#endif
543 544 545 546 547 548 549 550
        //        port->flushInBuffer();
        //        port->flushOutBuffer();
        //        port->close();
        //        delete port;
        //        port = NULL;

        //        if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect

551 552
        bool closed = true;
        //port->isOpen();
pixhawk's avatar
pixhawk committed
553

554 555
        emit disconnected();
        emit connected(false);
556
        return closed;
557
    }
oberion's avatar
oberion committed
558
    else {
559 560 561
        // No port, so we're disconnected
        return true;
    }
pixhawk's avatar
pixhawk committed
562 563 564 565 566 567 568 569 570 571

}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool SerialLink::connect()
{
572
    if (this->isRunning()) this->disconnect();
573 574 575 576
    {
        QMutexLocker locker(&this->m_stoppMutex);
        this->m_stopp = false;
    }
577
    this->start(LowPriority);
578
    return true;
pixhawk's avatar
pixhawk committed
579 580 581 582 583 584 585 586 587 588
}

/**
 * @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.
 **/
589 590
bool SerialLink::hardwareConnect()
{
591
    if(port) {
592 593 594
        port->close();
        delete port;
    }
595 596 597
    port = new QSerialPort(porthandle, portSettings);
    QObject::connect(port,SIGNAL(aboutToClose()),this,SIGNAL(disconnected()));
    port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
pixhawk's avatar
pixhawk committed
598 599
    connectionStartTime = MG::TIME::getGroundTimeNow();

600 601
    port->open();

pixhawk's avatar
pixhawk committed
602
    bool connectionUp = isConnected();
603
    if(connectionUp) {
pixhawk's avatar
pixhawk committed
604 605 606 607
        emit connected();
        emit connected(true);
    }

608
    //qDebug() << "CONNECTING LINK: " << __FILE__ << __LINE__ << "with settings" << port->portName() << getBaudRate() << getDataBits() << getParityType() << getStopBits();
609 610


611 612
    writeSettings();

pixhawk's avatar
pixhawk committed
613 614
    return connectionUp;
}
615 616


pixhawk's avatar
pixhawk committed
617 618 619 620 621
/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
622 623
bool SerialLink::isConnected()
{
624
    if (port) {
lm's avatar
lm committed
625
        return port->isOpen();
626
    } else {
lm's avatar
lm committed
627 628
        return false;
    }
pixhawk's avatar
pixhawk committed
629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647
}

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

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

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


648 649 650 651
/**
  * This function maps baud rate constants to numerical equivalents.
  * It relies on the mapping given in qportsettings.h from the QSerialPort library.
  */
652 653
qint64 SerialLink::getNominalDataRate()
{
pixhawk's avatar
pixhawk committed
654
    qint64 dataRate = 0;
655
    switch (portSettings.baudRate()) {
656

657
    // Baud rates supported only by POSIX systems
658
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
659
    case QPortSettings::BAUDR_50:
pixhawk's avatar
pixhawk committed
660 661
        dataRate = 50;
        break;
662
    case QPortSettings::BAUDR_75:
pixhawk's avatar
pixhawk committed
663 664
        dataRate = 75;
        break;
665
    case QPortSettings::BAUDR_134:
pixhawk's avatar
pixhawk committed
666 667
        dataRate = 134;
        break;
668
    case QPortSettings::BAUDR_150:
pixhawk's avatar
pixhawk committed
669 670
        dataRate = 150;
        break;
671
    case QPortSettings::BAUDR_200:
pixhawk's avatar
pixhawk committed
672 673
        dataRate = 200;
        break;
674 675 676
    case QPortSettings::BAUDR_1800:
        dataRate = 1800;
        break;
677
#endif
678

679
        // Baud rates supported only by Windows
680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
    case QPortSettings::BAUDR_14400:
        dataRate = 14400;
        break;
    case QPortSettings::BAUDR_56000:
        dataRate = 56000;
        break;
    case QPortSettings::BAUDR_128000:
        dataRate = 128000;
        break;
    case QPortSettings::BAUDR_256000:
        dataRate = 256000;
#endif

    case QPortSettings::BAUDR_110:
        dataRate = 110;
        break;
697
    case QPortSettings::BAUDR_300:
pixhawk's avatar
pixhawk committed
698 699
        dataRate = 300;
        break;
700
    case QPortSettings::BAUDR_600:
pixhawk's avatar
pixhawk committed
701 702
        dataRate = 600;
        break;
703
    case QPortSettings::BAUDR_1200:
pixhawk's avatar
pixhawk committed
704 705
        dataRate = 1200;
        break;
706
    case QPortSettings::BAUDR_2400:
pixhawk's avatar
pixhawk committed
707 708
        dataRate = 2400;
        break;
709
    case QPortSettings::BAUDR_4800:
pixhawk's avatar
pixhawk committed
710 711
        dataRate = 4800;
        break;
712
    case QPortSettings::BAUDR_9600:
pixhawk's avatar
pixhawk committed
713 714
        dataRate = 9600;
        break;
715
    case QPortSettings::BAUDR_19200:
pixhawk's avatar
pixhawk committed
716 717
        dataRate = 19200;
        break;
718
    case QPortSettings::BAUDR_38400:
pixhawk's avatar
pixhawk committed
719 720
        dataRate = 38400;
        break;
721
    case QPortSettings::BAUDR_57600:
pixhawk's avatar
pixhawk committed
722 723
        dataRate = 57600;
        break;
724
    case QPortSettings::BAUDR_115200:
pixhawk's avatar
pixhawk committed
725 726
        dataRate = 115200;
        break;
727 728 729 730 731 732 733 734 735 736 737 738 739 740 741
    case QPortSettings::BAUDR_230400:
        dataRate = 230400;
        break;
    case QPortSettings::BAUDR_460800:
        dataRate = 460800;
        break;
    case QPortSettings::BAUDR_500000:
        dataRate = 500000;
        break;
    case QPortSettings::BAUDR_576000:
        dataRate = 576000;
        break;
    case QPortSettings::BAUDR_921600:
        dataRate = 921600;
        break;
742

743
        // Otherwise do nothing.
744
    case QPortSettings::BAUDR_UNKNOWN:
745
    default:
746
        break;
pixhawk's avatar
pixhawk committed
747 748 749 750
    }
    return dataRate;
}

751 752
qint64 SerialLink::getTotalUpstream()
{
pixhawk's avatar
pixhawk committed
753 754 755 756 757
    statisticsMutex.lock();
    return bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
    statisticsMutex.unlock();
}

758 759
qint64 SerialLink::getCurrentUpstream()
{
pixhawk's avatar
pixhawk committed
760 761 762
    return 0; // TODO
}

763 764
qint64 SerialLink::getMaxUpstream()
{
pixhawk's avatar
pixhawk committed
765 766 767
    return 0; // TODO
}

768 769
qint64 SerialLink::getBitsSent()
{
pixhawk's avatar
pixhawk committed
770 771 772
    return bitsSentTotal;
}

773 774
qint64 SerialLink::getBitsReceived()
{
pixhawk's avatar
pixhawk committed
775 776 777
    return bitsReceivedTotal;
}

778 779
qint64 SerialLink::getTotalDownstream()
{
pixhawk's avatar
pixhawk committed
780 781 782 783 784
    statisticsMutex.lock();
    return bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
    statisticsMutex.unlock();
}

785 786
qint64 SerialLink::getCurrentDownstream()
{
pixhawk's avatar
pixhawk committed
787 788 789
    return 0; // TODO
}

790 791
qint64 SerialLink::getMaxDownstream()
{
pixhawk's avatar
pixhawk committed
792 793 794
    return 0; // TODO
}

795 796
bool SerialLink::isFullDuplex()
{
pixhawk's avatar
pixhawk committed
797 798 799 800
    /* Serial connections are always half duplex */
    return false;
}

801 802
int SerialLink::getLinkQuality()
{
pixhawk's avatar
pixhawk committed
803 804 805 806
    /* This feature is not supported with this interface */
    return -1;
}

807 808
QString SerialLink::getPortName()
{
pixhawk's avatar
pixhawk committed
809 810 811
    return porthandle;
}

812 813
int SerialLink::getBaudRate()
{
pixhawk's avatar
pixhawk committed
814 815 816
    return getNominalDataRate();
}

817 818
int SerialLink::getBaudRateType()
{
819
    return portSettings.baudRate();
pixhawk's avatar
pixhawk committed
820 821
}

822 823
int SerialLink::getFlowType()
{
824
    return portSettings.flowControl();
pixhawk's avatar
pixhawk committed
825 826
}

827 828
int SerialLink::getParityType()
{
829
    return portSettings.parity();
pixhawk's avatar
pixhawk committed
830 831
}

832 833
int SerialLink::getDataBitsType()
{
834
    return portSettings.dataBits();
pixhawk's avatar
pixhawk committed
835 836
}

837 838
int SerialLink::getStopBitsType()
{
839
    return portSettings.stopBits();
pixhawk's avatar
pixhawk committed
840 841
}

842 843
int SerialLink::getDataBits()
{
844 845 846
    int ret = -1;
    switch (portSettings.dataBits()) {
    case QPortSettings::DB_5:
847 848
        ret = 5;
        break;
849
    case QPortSettings::DB_6:
850 851
        ret = 6;
        break;
852
    case QPortSettings::DB_7:
853 854
        ret = 7;
        break;
855
    case QPortSettings::DB_8:
856 857 858
        ret = 8;
        break;
    default:
859
        ret = -1;
860 861 862 863 864 865 866
        break;
    }
    return ret;
}

int SerialLink::getStopBits()
{
867
    int ret = -1;
868 869 870 871 872 873 874 875 876 877 878
    switch (portSettings.stopBits()) {
    case QPortSettings::STOP_1:
        ret = 1;
        break;
    case QPortSettings::STOP_2:
        ret = 2;
        break;
    default:
        ret = -1;
        break;
    }
879 880 881
    return ret;
}

pixhawk's avatar
pixhawk committed
882 883
bool SerialLink::setPortName(QString portName)
{
884
    if(portName.trimmed().length() > 0) {
pixhawk's avatar
pixhawk committed
885
        bool reconnect = false;
886 887 888
        if (isConnected()) reconnect = true;
        disconnect();

pixhawk's avatar
pixhawk committed
889 890 891 892 893
        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
894
        if (!this->porthandle.startsWith("\\")) {
pixhawk's avatar
pixhawk committed
895 896 897 898
            // Append \\.\ before the port handle. Additional backslashes are used for escaping.
            this->porthandle = "\\\\.\\" + this->porthandle;
        }
#endif
899

pixhawk's avatar
pixhawk committed
900 901
        if(reconnect) connect();
        return true;
902
    } else {
pixhawk's avatar
pixhawk committed
903 904 905 906 907 908 909 910 911
        return false;
    }
}


bool SerialLink::setBaudRateType(int rateIndex)
{
    bool reconnect = false;
    bool accepted = true; // This is changed if none of the data rates matches
912 913 914
    if(isConnected()) reconnect = true;
    disconnect();

915
    // These minimum and maximum baud rates were based on those enumerated in qportsettings.h.
916
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
917 918
    const int minBaud = (int)QPortSettings::BAUDR_110;
    const int maxBaud = (int)QPortSettings::BAUDR_256000;
919
#elif defined(Q_OS_LINUX)
920 921
    const int minBaud = (int)QPortSettings::BAUDR_50;
    const int maxBaud = (int)QPortSettings::BAUDR_921600;
922
#elif defined(Q_OS_UNIX) || defined(Q_OS_DARWIN)
923 924
    const int minBaud = (int)QPortSettings::BAUDR_50;
    const int maxBaud = (int)QPortSettings::BAUDR_115200;
925 926
#endif

927
    if (rateIndex >= minBaud && rateIndex <= maxBaud)
928 929
    {
        portSettings.setBaudRate((QPortSettings::BaudRate)rateIndex);
pixhawk's avatar
pixhawk committed
930 931 932 933 934 935
    }

    if(reconnect) connect();
    return accepted;
}

936 937 938 939 940 941 942
bool SerialLink::setBaudRateString(const QString& rate)
{
    bool ok;
    int intrate = rate.toInt(&ok);
    if (!ok) return false;
    return setBaudRate(intrate);
}
pixhawk's avatar
pixhawk committed
943 944 945 946 947

bool SerialLink::setBaudRate(int rate)
{
    bool reconnect = false;
    bool accepted = true; // This is changed if none of the data rates matches
948
    if(isConnected()) {
pixhawk's avatar
pixhawk committed
949 950
        reconnect = true;
    }
951
    disconnect();
952

953
    // This switch-statment relies on the mapping given in qportsettings.h from the QSerialPort library.
954
    switch (rate) {
955

956
    // Baud rates supported only by non-Windows systems
957
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
pixhawk's avatar
pixhawk committed
958
    case 50:
959
        portSettings.setBaudRate(QPortSettings::BAUDR_50);
pixhawk's avatar
pixhawk committed
960 961
        break;
    case 75:
962
        portSettings.setBaudRate(QPortSettings::BAUDR_75);
pixhawk's avatar
pixhawk committed
963 964
        break;
    case 134:
965
        portSettings.setBaudRate(QPortSettings::BAUDR_134);
pixhawk's avatar
pixhawk committed
966 967
        break;
    case 150:
968
        portSettings.setBaudRate(QPortSettings::BAUDR_150);
pixhawk's avatar
pixhawk committed
969 970
        break;
    case 200:
971
        portSettings.setBaudRate(QPortSettings::BAUDR_200);
pixhawk's avatar
pixhawk committed
972
        break;
973 974 975 976 977
    case 1800:
        portSettings.setBaudRate(QPortSettings::BAUDR_1800);
        break;
#endif

978
        // Baud rates supported only by windows
979 980 981 982 983 984 985 986 987 988 989 990 991
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
    case 14400:
        portSettings.setBaudRate(QPortSettings::BAUDR_14400);
        break;
    case 56000:
        portSettings.setBaudRate(QPortSettings::BAUDR_56000);
        break;
    case 128000:
        portSettings.setBaudRate(QPortSettings::BAUDR_128000);
        break;
    case 256000:
        portSettings.setBaudRate(QPortSettings::BAUDR_256000);
        break;
992
#endif
993

994
        // Supported by all OSes:
995 996 997
    case 110:
        portSettings.setBaudRate(QPortSettings::BAUDR_110);
        break;
pixhawk's avatar
pixhawk committed
998
    case 300:
999
        portSettings.setBaudRate(QPortSettings::BAUDR_300);
pixhawk's avatar
pixhawk committed
1000 1001
        break;
    case 600:
1002
        portSettings.setBaudRate(QPortSettings::BAUDR_600);
pixhawk's avatar
pixhawk committed
1003 1004
        break;
    case 1200:
1005
        portSettings.setBaudRate(QPortSettings::BAUDR_1200);
pixhawk's avatar
pixhawk committed
1006 1007
        break;
    case 2400:
1008
        portSettings.setBaudRate(QPortSettings::BAUDR_2400);
pixhawk's avatar
pixhawk committed
1009 1010
        break;
    case 4800:
1011
        portSettings.setBaudRate(QPortSettings::BAUDR_4800);
pixhawk's avatar
pixhawk committed
1012 1013
        break;
    case 9600:
1014
        portSettings.setBaudRate(QPortSettings::BAUDR_9600);
pixhawk's avatar
pixhawk committed
1015 1016
        break;
    case 19200:
1017
        portSettings.setBaudRate(QPortSettings::BAUDR_19200);
pixhawk's avatar
pixhawk committed
1018 1019
        break;
    case 38400:
1020
        portSettings.setBaudRate(QPortSettings::BAUDR_38400);
pixhawk's avatar
pixhawk committed
1021 1022
        break;
    case 57600:
1023
        portSettings.setBaudRate(QPortSettings::BAUDR_57600);
pixhawk's avatar
pixhawk committed
1024 1025
        break;
    case 115200:
1026
        portSettings.setBaudRate(QPortSettings::BAUDR_115200);
pixhawk's avatar
pixhawk committed
1027
        break;
1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042
    case 230400:
        portSettings.setBaudRate(QPortSettings::BAUDR_230400);
        break;
    case 460800:
        portSettings.setBaudRate(QPortSettings::BAUDR_460800);
        break;
    case 500000:
        portSettings.setBaudRate(QPortSettings::BAUDR_500000);
        break;
    case 576000:
        portSettings.setBaudRate(QPortSettings::BAUDR_576000);
        break;
    case 921600:
        portSettings.setBaudRate(QPortSettings::BAUDR_921600);
        break;
pixhawk's avatar
pixhawk committed
1043 1044 1045 1046 1047 1048
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

1049 1050 1051
    if(reconnect) connect();
    return accepted;

pixhawk's avatar
pixhawk committed
1052 1053
}

1054 1055
bool SerialLink::setFlowType(int flow)
{
pixhawk's avatar
pixhawk committed
1056 1057
    bool reconnect = false;
    bool accepted = true;
1058 1059
    if(isConnected()) reconnect = true;
    disconnect();
pixhawk's avatar
pixhawk committed
1060

1061
    switch (flow) {
1062 1063
    case (int)QPortSettings::FLOW_OFF:
        portSettings.setFlowControl(QPortSettings::FLOW_OFF);
pixhawk's avatar
pixhawk committed
1064
        break;
1065 1066
    case (int)QPortSettings::FLOW_HARDWARE:
        portSettings.setFlowControl(QPortSettings::FLOW_HARDWARE);
pixhawk's avatar
pixhawk committed
1067
        break;
1068 1069
    case (int)QPortSettings::FLOW_XONXOFF:
        portSettings.setFlowControl(QPortSettings::FLOW_XONXOFF);
pixhawk's avatar
pixhawk committed
1070 1071 1072 1073 1074 1075
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }
1076

pixhawk's avatar
pixhawk committed
1077 1078 1079 1080
    if(reconnect) connect();
    return accepted;
}

1081 1082
bool SerialLink::setParityType(int parity)
{
pixhawk's avatar
pixhawk committed
1083 1084
    bool reconnect = false;
    bool accepted = true;
1085 1086
    if (isConnected()) reconnect = true;
    disconnect();
pixhawk's avatar
pixhawk committed
1087

1088
    switch (parity) {
1089 1090
    case (int)QPortSettings::PAR_NONE:
        portSettings.setParity(QPortSettings::PAR_NONE);
pixhawk's avatar
pixhawk committed
1091
        break;
1092 1093
    case (int)QPortSettings::PAR_ODD:
        portSettings.setParity(QPortSettings::PAR_ODD);
pixhawk's avatar
pixhawk committed
1094
        break;
1095 1096
    case (int)QPortSettings::PAR_EVEN:
        portSettings.setParity(QPortSettings::PAR_EVEN);
pixhawk's avatar
pixhawk committed
1097
        break;
1098 1099
    case (int)QPortSettings::PAR_SPACE:
        portSettings.setParity(QPortSettings::PAR_SPACE);
pixhawk's avatar
pixhawk committed
1100 1101 1102 1103 1104 1105 1106
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

1107
    if (reconnect) connect();
pixhawk's avatar
pixhawk committed
1108 1109 1110
    return accepted;
}

1111

1112
bool SerialLink::setDataBits(int dataBits)
1113
{
1114
    //qDebug() << "Setting" << dataBits << "data bits";
1115 1116
    bool reconnect = false;
    if (isConnected()) reconnect = true;
pixhawk's avatar
pixhawk committed
1117
    bool accepted = true;
1118
    disconnect();
pixhawk's avatar
pixhawk committed
1119

1120
    switch (dataBits) {
pixhawk's avatar
pixhawk committed
1121
    case 5:
1122
        portSettings.setDataBits(QPortSettings::DB_5);
pixhawk's avatar
pixhawk committed
1123 1124
        break;
    case 6:
1125
        portSettings.setDataBits(QPortSettings::DB_6);
pixhawk's avatar
pixhawk committed
1126 1127
        break;
    case 7:
1128
        portSettings.setDataBits(QPortSettings::DB_7);
pixhawk's avatar
pixhawk committed
1129 1130
        break;
    case 8:
1131
        portSettings.setDataBits(QPortSettings::DB_8);
pixhawk's avatar
pixhawk committed
1132 1133 1134 1135 1136 1137 1138
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

1139
    if(reconnect) connect();
pixhawk's avatar
pixhawk committed
1140 1141 1142 1143

    return accepted;
}

1144
bool SerialLink::setStopBits(int stopBits)
1145
{
pixhawk's avatar
pixhawk committed
1146 1147
    bool reconnect = false;
    bool accepted = true;
1148 1149
    if(isConnected()) reconnect = true;
    disconnect();
pixhawk's avatar
pixhawk committed
1150

1151
    switch (stopBits) {
pixhawk's avatar
pixhawk committed
1152
    case 1:
1153
        portSettings.setStopBits(QPortSettings::STOP_1);
pixhawk's avatar
pixhawk committed
1154 1155
        break;
    case 2:
1156
        portSettings.setStopBits(QPortSettings::STOP_2);
pixhawk's avatar
pixhawk committed
1157 1158 1159 1160 1161 1162 1163 1164 1165 1166
        break;
    default:
        // If none of the above cases matches, there must be an error
        accepted = false;
        break;
    }

    if(reconnect) connect();
    return accepted;
}
1167 1168 1169 1170 1171 1172

bool SerialLink::setDataBitsType(int dataBits)
{
    bool reconnect = false;
    bool accepted = false;

1173 1174
    if (isConnected()) reconnect = true;
    disconnect();
1175

1176 1177
    if (dataBits >= (int)QPortSettings::DB_5 && dataBits <= (int)QPortSettings::DB_8) {
        portSettings.setDataBits((QPortSettings::DataBits) dataBits);
1178

1179
        if(reconnect) connect();
1180 1181 1182 1183 1184 1185 1186 1187 1188 1189
        accepted = true;
    }

    return accepted;
}

bool SerialLink::setStopBitsType(int stopBits)
{
    bool reconnect = false;
    bool accepted = false;
1190 1191
    if(isConnected()) reconnect = true;
    disconnect();
1192

1193 1194
    if (stopBits >= (int)QPortSettings::STOP_1 && stopBits <= (int)QPortSettings::STOP_2) {
        portSettings.setStopBits((QPortSettings::StopBits) stopBits);
1195

1196
        if(reconnect) connect();
1197 1198 1199 1200 1201 1202
        accepted = true;
    }

    if(reconnect) connect();
    return accepted;
}