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Valentin Platzgummer
qgroundcontrol
Commits
2d63bb40
Commit
2d63bb40
authored
Jul 01, 2013
by
Bill Bonney
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removed unused code and fixed disconnect problem
parent
aedaa844
Changes
2
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2 changed files
with
7 additions
and
180 deletions
+7
-180
SerialLink.cc
src/comm/SerialLink.cc
+7
-177
SerialLink.h
src/comm/SerialLink.h
+0
-3
No files found.
src/comm/SerialLink.cc
View file @
2d63bb40
...
...
@@ -244,178 +244,6 @@ void SerialLink::run()
emit
connected
(
false
);
}
}
void
SerialLink
::
run2
()
{
// Initialize the connection
if
(
!
hardwareConnect
())
{
//Need to error out here.
emit
communicationError
(
getName
(),
"Error connecting: "
+
m_port
->
errorString
());
return
;
}
// Qt way to make clear what a while(1) loop does
qint64
msecs
=
QDateTime
::
currentMSecsSinceEpoch
();
qint64
initialmsecs
=
QDateTime
::
currentMSecsSinceEpoch
();
quint64
bytes
=
0
;
bool
triedreset
=
false
;
bool
triedDTR
=
false
;
qint64
timeout
=
5000
;
forever
{
{
QMutexLocker
locker
(
&
this
->
m_stoppMutex
);
if
(
this
->
m_stopp
)
{
this
->
m_stopp
=
false
;
break
;
}
if
(
m_reqReset
)
{
this
->
m_reqReset
=
false
;
communicationUpdate
(
getName
(),
"Reset requested via DTR signal"
);
m_port
->
setDataTerminalReady
(
true
);
this
->
msleep
(
250
);
m_port
->
setDataTerminalReady
(
false
);
}
}
// Check if new bytes have arrived, if yes, emit the notification signal
/* Check if bytes are available */
// checkForBytes();
{
if
(
m_port
&&
m_port
->
isOpen
()
&&
m_port
->
isWritable
())
{
m_dataMutex
.
lock
();
qint64
available
=
m_port
->
bytesAvailable
();
m_dataMutex
.
unlock
();
if
(
available
>
0
)
{
//readBytes();
{
m_dataMutex
.
lock
();
if
(
m_port
&&
m_port
->
isOpen
())
{
const
qint64
maxLength
=
2048
;
char
data
[
maxLength
];
qint64
numBytes
=
m_port
->
bytesAvailable
();
//qDebug() << "numBytes: " << numBytes;
if
(
numBytes
>
0
)
{
/* Read as much data in buffer as possible without overflow */
if
(
maxLength
<
numBytes
)
numBytes
=
maxLength
;
m_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");
m_bitsReceivedTotal
+=
numBytes
*
8
;
}
}
m_dataMutex
.
unlock
();
}
m_bytesRead
+=
available
;
}
else
if
(
available
<
0
)
{
/* Error, close port */
m_port
->
close
();
emit
disconnected
();
emit
connected
(
false
);
emit
communicationError
(
this
->
getName
(),
tr
(
"Could not read data - link %1 is disconnected!"
).
arg
(
this
->
getName
()));
}
};
}
if
(
bytes
!=
m_bytesRead
)
{
bytes
=
m_bytesRead
;
msecs
=
QDateTime
::
currentMSecsSinceEpoch
();
}
else
{
if
(
QDateTime
::
currentMSecsSinceEpoch
()
-
msecs
>
timeout
)
{
//It's been 10 seconds since the last data came in. Reset and try again
msecs
=
QDateTime
::
currentMSecsSinceEpoch
();
if
(
msecs
-
initialmsecs
>
25000
)
{
//After initial 25 seconds, timeouts are increased to 30 seconds.
//This prevents temporary silences from things like calibration commands
//from screwing things up. In all reality, timeouts should be enabled/disabled
//for events like that on a case by case basis.
//TODO ^^
timeout
=
30000
;
}
if
(
!
triedDTR
&&
triedreset
)
{
triedDTR
=
true
;
communicationUpdate
(
getName
(),
"No data to receive on COM port. Attempting to reset via DTR signal"
);
qDebug
()
<<
"No data!!! Attempting reset via DTR."
;
m_port
->
setDataTerminalReady
(
true
);
this
->
msleep
(
250
);
m_port
->
setDataTerminalReady
(
false
);
}
else
if
(
!
triedreset
)
{
qDebug
()
<<
"No data!!! Attempting reset via reboot command."
;
communicationUpdate
(
getName
(),
"No data to receive on COM port. Assuming possible terminal mode, attempting to reset via
\"
reboot
\"
command"
);
m_port
->
write
(
"reboot
\r\n
"
,
8
);
triedreset
=
true
;
}
else
{
communicationUpdate
(
getName
(),
"No data to receive on COM port...."
);
qDebug
()
<<
"No data!!!"
;
}
}
}
/* Serial data isn't arriving that fast normally, this saves the thread
* from consuming too much processing time
*/
MG
::
SLEEP
::
msleep
(
SerialLink
::
poll_interval
);
}
// end forever loop
if
(
m_port
)
{
m_port
->
close
();
delete
m_port
;
m_port
=
NULL
;
}
}
void
SerialLink
::
checkForBytes
()
{
/* Check if bytes are available */
if
(
m_port
&&
m_port
->
isOpen
()
&&
m_port
->
isWritable
())
{
m_dataMutex
.
lock
();
qint64
available
=
m_port
->
bytesAvailable
();
m_dataMutex
.
unlock
();
if
(
available
>
0
)
{
readBytes
();
m_bytesRead
+=
available
;
}
else
if
(
available
<
0
)
{
/* Error, close port */
m_port
->
close
();
emit
disconnected
();
emit
connected
(
false
);
emit
communicationError
(
this
->
getName
(),
tr
(
"Could not read data - link %1 is disconnected!"
).
arg
(
this
->
getName
()));
}
}
}
void
SerialLink
::
writeBytes
(
const
char
*
data
,
qint64
size
)
{
...
...
@@ -503,11 +331,13 @@ qint64 SerialLink::bytesAvailable()
**/
bool
SerialLink
::
disconnect
()
{
qDebug
()
<<
"disconnect"
<<
m_port
->
portName
();
Q_ASSERT_X
(
m_port
!=
NULL
,
"disconnect"
,
"m_port is NULL"
);
qDebug
()
<<
"disconnect"
;
if
(
m_port
)
qDebug
()
<<
m_port
->
portName
();
if
(
isRunning
())
{
qDebug
()
<<
"running so disconnect"
<<
m_port
->
portName
();
{
QMutexLocker
locker
(
&
m_stoppMutex
);
m_stopp
=
true
;
...
...
@@ -517,10 +347,10 @@ bool SerialLink::disconnect()
emit
disconnected
();
// [TODO] There are signals from QSerialPort we should use
emit
connected
(
false
);
return
true
;
}
else
{
m_port
->
close
();
return
true
;
}
qDebug
()
<<
"already disconnected"
;
return
true
;
}
/**
...
...
src/comm/SerialLink.h
View file @
2d63bb40
...
...
@@ -139,9 +139,6 @@ public slots:
bool
connect
();
bool
disconnect
();
protected
slots
:
void
checkForBytes
();
protected:
quint64
m_bytesRead
;
QSerialPort
*
m_port
;
...
...
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