1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
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
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
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
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
/*=====================================================================
======================================================================*/
/**
* @file
* @brief Cross-platform support for serial ports
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QTimer>
#include <QDebug>
#include <QSettings>
#include <QMutexLocker>
#ifdef __android__
#include "qserialport.h"
#include "qserialportinfo.h"
#else
#include <QSerialPort>
#include <QSerialPortInfo>
#endif
#include "SerialLink.h"
#include "QGC.h"
#include "MG.h"
#include "QGCLoggingCategory.h"
QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog")
SerialLink::SerialLink(SerialConfiguration* config)
{
_bytesRead = 0;
_port = Q_NULLPTR;
_stopp = false;
_reqReset = false;
Q_ASSERT(config != NULL);
_config = config;
_config->setLink(this);
qCDebug(SerialLinkLog) << "Create SerialLink " << config->portName() << config->baud() << config->flowControl()
<< config->parity() << config->dataBits() << config->stopBits();
qCDebug(SerialLinkLog) << "portName: " << config->portName();
}
void SerialLink::requestReset()
{
QMutexLocker locker(&this->_stoppMutex);
_reqReset = true;
}
SerialLink::~SerialLink()
{
// Disconnect link from configuration
_config->setLink(NULL);
_disconnect();
if(_port) delete _port;
_port = NULL;
}
bool SerialLink::_isBootloader()
{
QList<QSerialPortInfo> portList = QSerialPortInfo::availablePorts();
if( portList.count() == 0){
return false;
}
foreach (const QSerialPortInfo &info, portList)
{
qCDebug(SerialLinkLog) << "PortName : " << info.portName() << "Description : " << info.description();
qCDebug(SerialLinkLog) << "Manufacturer: " << info.manufacturer();
if (info.portName().trimmed() == _config->portName() &&
(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;
}
}
// Not found
return false;
}
void SerialLink::writeBytes(const char* data, qint64 size)
{
if(_port && _port->isOpen()) {
_logOutputDataRate(size, QDateTime::currentMSecsSinceEpoch());
_port->write(data, size);
} else {
// Error occured
_emitLinkError(tr("Could not send data - link %1 is disconnected!").arg(getName()));
}
}
/**
* @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
**/
void SerialLink::readBytes()
{
if(_port && _port->isOpen()) {
const qint64 maxLength = 2048;
char data[maxLength];
_dataMutex.lock();
qint64 numBytes = _port->bytesAvailable();
if (numBytes > 0) {
/* Read as much data in buffer as possible without overflow */
if(maxLength < numBytes) numBytes = maxLength;
_logInputDataRate(numBytes, QDateTime::currentMSecsSinceEpoch());
_port->read(data, numBytes);
QByteArray b(data, numBytes);
emit bytesReceived(this, b);
}
_dataMutex.unlock();
}
}
/**
* @brief Disconnect the connection.
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool SerialLink::_disconnect(void)
{
if (_port) {
_port->close();
delete _port;
_port = NULL;
}
#ifdef __android__
LinkManager::instance()->suspendConfigurationUpdates(false);
#endif
return true;
}
/**
* @brief Connect the connection.
*
* @return True if connection has been established, false if connection couldn't be established.
**/
bool SerialLink::_connect(void)
{
qCDebug(SerialLinkLog) << "CONNECT CALLED";
_disconnect();
#ifdef __android__
LinkManager::instance()->suspendConfigurationUpdates(true);
#endif
// Initialize the connection
if (!_hardwareConnect(_type)) {
// Need to error out here.
QString err("Could not create port.");
if (_port) {
err = _port->errorString();
}
_emitLinkError("Error connecting: " + err);
return false;
}
return true;
}
/**
* @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.
**/
bool SerialLink::_hardwareConnect(QString &type)
{
if (_port) {
qCDebug(SerialLinkLog) << "SerialLink:" << QString::number((long)this, 16) << "closing port";
_port->close();
QGC::SLEEP::usleep(50000);
delete _port;
_port = NULL;
}
qCDebug(SerialLinkLog) << "SerialLink: hardwareConnect to " << _config->portName();
// If we are in the Pixhawk bootloader code wait for it to timeout
if (_isBootloader()) {
qCDebug(SerialLinkLog) << "Not connecting to a bootloader, waiting for 2nd chance";
const unsigned retry_limit = 12;
unsigned retries;
for (retries = 0; retries < retry_limit; retries++) {
if (!_isBootloader()) {
QGC::SLEEP::msleep(500);
break;
}
QGC::SLEEP::msleep(500);
}
// Check limit
if (retries == retry_limit) {
// bail out
qWarning() << "Timeout waiting for something other than booloader";
return false;
}
}
_port = new QSerialPort(_config->portName());
if (!_port) {
emit communicationUpdate(getName(),"Error opening port: " + _config->portName());
return false; // couldn't create serial port.
}
// We need to catch this signal and then emit disconnected. You can't connect
// signal to signal otherwise disonnected will have the wrong QObject::Sender
QObject::connect(_port, SIGNAL(aboutToClose()), this, SLOT(_rerouteDisconnected()));
QObject::connect(_port, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(linkError(QSerialPort::SerialPortError)));
QObject::connect(_port, &QIODevice::readyRead, this, &SerialLink::_readBytes);
// port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
// TODO This needs a bit of TLC still...
// After the bootloader times out, it still can take a second or so for the Pixhawk USB driver to come up and make
// the port available for open. So we retry a few times to wait for it.
#ifdef __android__
_port->open(QIODevice::ReadWrite);
#else
for (int openRetries = 0; openRetries < 4; openRetries++) {
if (!_port->open(QIODevice::ReadWrite)) {
qCDebug(SerialLinkLog) << "Port open failed, retrying";
QGC::SLEEP::msleep(500);
} else {
break;
}
}
#endif
if (!_port->isOpen() ) {
emit communicationUpdate(getName(),"Error opening port: " + _port->errorString());
_port->close();
delete _port;
_port = NULL;
return false; // couldn't open serial port
}
qCDebug(SerialLinkLog) << "Configuring port";
_port->setBaudRate (_config->baud());
_port->setDataBits (static_cast<QSerialPort::DataBits> (_config->dataBits()));
_port->setFlowControl (static_cast<QSerialPort::FlowControl> (_config->flowControl()));
_port->setStopBits (static_cast<QSerialPort::StopBits> (_config->stopBits()));
_port->setParity (static_cast<QSerialPort::Parity> (_config->parity()));
emit communicationUpdate(getName(), "Opened port!");
emit connected();
qCDebug(SerialLinkLog) << "CONNECTING LINK: " << __FILE__ << __LINE__ << "type:" << type << "with settings" << _config->portName()
<< _config->baud() << _config->dataBits() << _config->parity() << _config->stopBits();
return true; // successful connection
}
void SerialLink::_readBytes(void)
{
qint64 byteCount = _port->bytesAvailable();
if (byteCount)
{
QByteArray buffer;
buffer.resize(byteCount);
_port->read(buffer.data(), buffer.size());
emit bytesReceived(this, buffer);
}
}
void SerialLink::linkError(QSerialPort::SerialPortError error)
{
if (error != QSerialPort::NoError) {
// 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.
//qCDebug(SerialLinkLog) << "SerialLink::linkError" << error;
}
}
/**
* @brief Check if connection is active.
*
* @return True if link is connected, false otherwise.
**/
bool SerialLink::isConnected() const
{
bool isConnected = false;
if (_port) {
isConnected = _port->isOpen();
}
return isConnected;
}
QString SerialLink::getName() const
{
return _config->portName();
}
/**
* This function maps baud rate constants to numerical equivalents.
* It relies on the mapping given in qportsettings.h from the QSerialPort library.
*/
qint64 SerialLink::getConnectionSpeed() const
{
int baudRate;
if (_port) {
baudRate = _port->baudRate();
} else {
baudRate = _config->baud();
}
qint64 dataRate;
switch (baudRate)
{
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;
}
return dataRate;
}
void SerialLink::_resetConfiguration()
{
if (_port) {
_port->setBaudRate (_config->baud());
_port->setDataBits (static_cast<QSerialPort::DataBits> (_config->dataBits()));
_port->setFlowControl (static_cast<QSerialPort::FlowControl> (_config->flowControl()));
_port->setStopBits (static_cast<QSerialPort::StopBits> (_config->stopBits()));
_port->setParity (static_cast<QSerialPort::Parity> (_config->parity()));
}
}
void SerialLink::_rerouteDisconnected(void)
{
emit disconnected();
}
void SerialLink::_emitLinkError(const QString& errorMsg)
{
QString msg("Error on link %1. %2");
qDebug() << errorMsg;
emit communicationError(tr("Link Error"), msg.arg(getName()).arg(errorMsg));
}
LinkConfiguration* SerialLink::getLinkConfiguration()
{
return _config;
}
//--------------------------------------------------------------------------
//-- SerialConfiguration
SerialConfiguration::SerialConfiguration(const QString& name) : LinkConfiguration(name)
{
_baud = 57600;
_flowControl= QSerialPort::NoFlowControl;
_parity = QSerialPort::NoParity;
_dataBits = 8;
_stopBits = 1;
}
SerialConfiguration::SerialConfiguration(SerialConfiguration* copy) : LinkConfiguration(copy)
{
_baud = copy->baud();
_flowControl= copy->flowControl();
_parity = copy->parity();
_dataBits = copy->dataBits();
_stopBits = copy->stopBits();
_portName = copy->portName();
}
void SerialConfiguration::copyFrom(LinkConfiguration *source)
{
LinkConfiguration::copyFrom(source);
SerialConfiguration* ssource = dynamic_cast<SerialConfiguration*>(source);
Q_ASSERT(ssource != NULL);
_baud = ssource->baud();
_flowControl= ssource->flowControl();
_parity = ssource->parity();
_dataBits = ssource->dataBits();
_stopBits = ssource->stopBits();
_portName = ssource->portName();
}
void SerialConfiguration::updateSettings()
{
if(_link) {
SerialLink* serialLink = dynamic_cast<SerialLink*>(_link);
if(serialLink) {
serialLink->_resetConfiguration();
}
}
}
void SerialConfiguration::setBaud(int baud)
{
_baud = baud;
}
void SerialConfiguration::setDataBits(int databits)
{
_dataBits = databits;
}
void SerialConfiguration::setFlowControl(int flowControl)
{
_flowControl = flowControl;
}
void SerialConfiguration::setStopBits(int stopBits)
{
_stopBits = stopBits;
}
void SerialConfiguration::setParity(int parity)
{
_parity = parity;
}
void SerialConfiguration::setPortName(const QString& portName)
{
// No effect on a running connection
QString pname = portName.trimmed();
if (!pname.isEmpty() && pname != _portName) {
_portName = pname;
}
}
void SerialConfiguration::saveSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
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.endGroup();
}
void SerialConfiguration::loadSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
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();
settings.endGroup();
}