SerialLink.h 5.38 KB
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/*=====================================================================
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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
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    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.
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    QGROUNDCONTROL is distributed in the hope that it will be useful,
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    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.
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    You should have received a copy of the GNU General Public License
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    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

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======================================================================*/
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/**
 * @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;

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#include <QObject>
#include <QThread>
#include <QMutex>
#include <QString>
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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 <QMetaType>
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#include <QLoggingCategory>
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// We use QSerialPort::SerialPortError in a signal so we must declare it as a meta type
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Q_DECLARE_METATYPE(QSerialPort::SerialPortError)

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#include "QGCConfig.h"
#include "LinkManager.h"

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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;
};


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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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{
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    Q_OBJECT
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    friend class SerialConfiguration;
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    friend class LinkManager;
    
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public:
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    // LinkInterface
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    LinkConfiguration* getLinkConfiguration();
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    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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    void run();

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    static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in QGCConfig.h
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signals: //[TODO] Refactor to Linkinterface
    void updateLink(LinkInterface*);

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public slots:

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    void readBytes();
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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 char* data, qint64 length);

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    void linkError(QSerialPort::SerialPortError error);
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protected:
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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;

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private slots:
    void _rerouteDisconnected(void);
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private:
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    // Links are only created/destroyed by LinkManager so constructor/destructor is not public
    SerialLink(SerialConfiguration* config);
    ~SerialLink();
    
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    // From LinkInterface
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    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;
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signals:
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    void aboutToCloseFlag();
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};

#endif // SERIALLINK_H