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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/**
* @file
* @brief Brief Description
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef SERIALLINK_H
#define SERIALLINK_H
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class LinkInterface;
class SerialConfiguration;
class SerialLink;
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QString>
#ifdef __android__
#include "qserialport.h"
#else
#include <QLoggingCategory>
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// We use QSerialPort::SerialPortError in a signal so we must declare it as a meta type
Q_DECLARE_METATYPE(QSerialPort::SerialPortError)
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#include "QGCConfig.h"
#include "LinkManager.h"
Q_DECLARE_LOGGING_CATEGORY(SerialLinkLog)
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class SerialConfiguration : public LinkConfiguration
{
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public:
SerialConfiguration(const QString& name);
SerialConfiguration(SerialConfiguration* copy);
Q_PROPERTY(int baud READ baud WRITE setBaud NOTIFY baudChanged)
Q_PROPERTY(int dataBits READ dataBits WRITE setDataBits NOTIFY dataBitsChanged)
Q_PROPERTY(int flowControl READ flowControl WRITE setFlowControl NOTIFY flowControlChanged)
Q_PROPERTY(int stopBits READ stopBits WRITE setStopBits NOTIFY stopBitsChanged)
Q_PROPERTY(int parity READ parity WRITE setParity NOTIFY parityChanged)
Q_PROPERTY(QString portName READ portName WRITE setPortName NOTIFY portNameChanged)
Q_PROPERTY(QString portDisplayName READ portDisplayName NOTIFY portDisplayNameChanged)
Q_PROPERTY(bool usbDirect READ usbDirect WRITE setUsbDirect NOTIFY usbDirectChanged) ///< true: direct usb connection to board
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int baud() { return _baud; }
int dataBits() { return _dataBits; }
int flowControl() { return _flowControl; } ///< QSerialPort Enums
int stopBits() { return _stopBits; }
int parity() { return _parity; } ///< QSerialPort Enums
bool usbDirect() { return _usbDirect; }
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const QString portName () { return _portName; }
const QString portDisplayName () { return _portDisplayName; }
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void setBaud (int baud);
void setDataBits (int databits);
void setFlowControl (int flowControl); ///< QSerialPort Enums
void setStopBits (int stopBits);
void setParity (int parity); ///< QSerialPort Enums
void setPortName (const QString& portName);
void setUsbDirect (bool usbDirect);
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static QStringList supportedBaudRates();
static QString cleanPortDisplayname(const QString name);
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/// From LinkConfiguration
LinkType type () { return LinkConfiguration::TypeSerial; }
void copyFrom (LinkConfiguration* source);
void loadSettings (QSettings& settings, const QString& root);
void saveSettings (QSettings& settings, const QString& root);
void updateSettings ();
QString settingsURL () { return "SerialSettings.qml"; }
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signals:
void baudChanged ();
void dataBitsChanged ();
void flowControlChanged ();
void stopBitsChanged ();
void parityChanged ();
void portNameChanged ();
void portDisplayNameChanged ();
void usbDirectChanged (bool usbDirect);
private:
static void _initBaudRates();
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private:
int _baud;
int _dataBits;
int _flowControl;
int _stopBits;
int _parity;
QString _portName;
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};
/**
* @brief The SerialLink class provides cross-platform access to serial links.
* It takes care of the link management and provides a common API to higher
* level communication layers. It is implemented as a wrapper class for a thread
* that handles the serial communication. All methods have therefore to be thread-
* safe.
*
*/
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class SerialLink : public LinkInterface
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friend class SerialConfiguration;
friend class LinkManager;
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// LinkInterface
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LinkConfiguration* getLinkConfiguration();
QString getName() const;
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void requestReset();
bool isConnected() const;
qint64 getConnectionSpeed() const;
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// These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
bool connect(void);
bool disconnect(void);
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/**
* @brief Write a number of bytes to the interface.
*
* @param data Pointer to the data byte array
* @param size The size of the bytes array
**/
void _writeBytes(const QByteArray data);
void linkError(QSerialPort::SerialPortError error);
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QSerialPort* _port;
quint64 _bytesRead;
int _timeout;
QMutex _dataMutex; // Mutex for reading data from _port
QMutex _writeMutex; // Mutex for accessing the _transmitBuffer.
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
SerialLink(SerialConfiguration* config);
~SerialLink();
virtual bool _connect(void);
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// Internal methods
void _emitLinkError(const QString& errorMsg);
bool _hardwareConnect(QSerialPort::SerialPortError& error, QString& errorString);
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bool _isBootloader();
void _resetConfiguration();
// Local data
volatile bool _stopp;
volatile bool _reqReset;
QMutex _stoppMutex; // Mutex for accessing _stopp
QByteArray _transmitBuffer; // An internal buffer for receiving data from member functions and actually transmitting them via the serial port.
SerialConfiguration* _config;