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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL 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.
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @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
{
public:
SerialConfiguration(const QString& name);
SerialConfiguration(SerialConfiguration* copy);
int baud() { return _baud; }
int dataBits() { return _dataBits; }
int flowControl() { return _flowControl; } ///< QSerialPort Enums
int stopBits() { return _stopBits; }
int parity() { return _parity; } ///< QSerialPort Enums
const QString portName() { return _portName; }
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);
/// From LinkConfiguration
int type() { return LinkConfiguration::TypeSerial; }
void copyFrom(LinkConfiguration* source);
void loadSettings(QSettings& settings, const QString& root);
void saveSettings(QSettings& settings, const QString& root);
void updateSettings();
private:
int _baud;
int _dataBits;
int _flowControl;
int _stopBits;
int _parity;
QString _portName;
};
/**
* @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;
// 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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static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in QGCConfig.h
signals: //[TODO] Refactor to Linkinterface
void updateLink(LinkInterface*);
void readBytes();
/**
* @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 char* data, qint64 length);
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.
QString _type;
private slots:
void _rerouteDisconnected(void);
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
SerialLink(SerialConfiguration* config);
~SerialLink();
virtual bool _connect(void);
virtual bool _disconnect(void);
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// Internal methods
void _emitLinkError(const QString& errorMsg);
bool _hardwareConnect(QString &_type);
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;