Minor cleanup, fixed a bug where the serial port would not connect on first...

Minor cleanup, fixed a bug where the serial port would not connect on first application launch on Linux

qgroundcontrol.pro

@@ -234,7 +234,6 @@ HEADERS += src/MG.h \
     src/comm/LinkInterface.h \
     src/comm/SerialLinkInterface.h \
     src/comm/SerialLink.h \
-    src/comm/SerialSimulationLink.h \
     src/comm/ProtocolInterface.h \
     src/comm/MAVLinkProtocol.h \
     src/comm/QGCFlightGearLink.h \
@@ -365,7 +364,6 @@ SOURCES += src/main.cc \
     src/comm/LinkManager.cc \
     src/comm/LinkInterface.cpp \
     src/comm/SerialLink.cc \
-    src/comm/SerialSimulationLink.cc \
     src/comm/MAVLinkProtocol.cc \
     src/comm/QGCFlightGearLink.cc \
     src/ui/CommConfigurationWindow.cc \

src/comm/SerialLink.cc

@@ -21,16 +21,207 @@
 #include "windows.h"
 #endif
 
-using namespace TNX;
+#ifdef _WIN32
+#include <qextserialenumerator.h>
+#endif
+#if defined (__APPLE__) && defined (__MACH__)
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <paths.h>
+#include <termios.h>
+#include <sysexits.h>
+#include <sys/param.h>
+#include <sys/select.h>
+#include <sys/time.h>
+#include <time.h>
+#include <AvailabilityMacros.h>
+
+#ifdef __MWERKS__
+#define __CF_USE_FRAMEWORK_INCLUDES__
+#endif
+
+
+#include <CoreFoundation/CoreFoundation.h>
+
+#include <IOKit/IOKitLib.h>
+#include <IOKit/serial/IOSerialKeys.h>
+#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3)
+#include <IOKit/serial/ioss.h>
+#endif
+#include <IOKit/IOBSD.h>
+
+// Apple internal modems default to local echo being on. If your modem has local echo disabled,
+// undefine the following macro.
+#define LOCAL_ECHO
+
+#define kATCommandString  "AT\r"
+
+#ifdef LOCAL_ECHO
+#define kOKResponseString  "AT\r\r\nOK\r\n"
+#else
+#define kOKResponseString  "\r\nOK\r\n"
+#endif
+#endif
+
+
+// Some helper functions for serial port enumeration
+#if defined (__APPLE__) && defined (__MACH__)
+
+enum {
+    kNumRetries = 3
+};
+
+// Function prototypes
+static kern_return_t FindModems(io_iterator_t *matchingServices);
+static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize);
+
+// Returns an iterator across all known modems. Caller is responsible for
+// releasing the iterator when iteration is complete.
+static kern_return_t FindModems(io_iterator_t *matchingServices)
+{
+    kern_return_t      kernResult;
+    CFMutableDictionaryRef  classesToMatch;
+
+    /*! @function IOServiceMatching
+    @abstract Create a matching dictionary that specifies an IOService class match.
+    @discussion A very common matching criteria for IOService is based on its class. IOServiceMatching will create a matching dictionary that specifies any IOService of a class, or its subclasses. The class is specified by C-string name.
+    @param name The class name, as a const C-string. Class matching is successful on IOService's of this class or any subclass.
+    @result The matching dictionary created, is returned on success, or zero on failure. The dictionary is commonly passed to IOServiceGetMatchingServices or IOServiceAddNotification which will consume a reference, otherwise it should be released with CFRelease by the caller. */
+
+    // Serial devices are instances of class IOSerialBSDClient
+    classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue);
+    if (classesToMatch == NULL) {
+        printf("IOServiceMatching returned a NULL dictionary.\n");
+    } else {
+        /*!
+          @function CFDictionarySetValue
+          Sets the value of the key in the dictionary.
+          @param theDict The dictionary to which the value is to be set. If this
+            parameter is not a valid mutable CFDictionary, the behavior is
+            undefined. If the dictionary is a fixed-capacity dictionary and
+            it is full before this operation, and the key does not exist in
+            the dictionary, the behavior is undefined.
+          @param key The key of the value to set into the dictionary. If a key
+            which matches this key is already present in the dictionary, only
+            the value is changed ("add if absent, replace if present"). If
+            no key matches the given key, the key-value pair is added to the
+            dictionary. If added, the key is retained by the dictionary,
+            using the retain callback provided
+            when the dictionary was created. If the key is not of the sort
+            expected by the key retain callback, the behavior is undefined.
+          @param value The value to add to or replace into the dictionary. The value
+            is retained by the dictionary using the retain callback provided
+            when the dictionary was created, and the previous value if any is
+            released. If the value is not of the sort expected by the
+            retain or release callbacks, the behavior is undefined.
+        */
+        CFDictionarySetValue(classesToMatch,
+                             CFSTR(kIOSerialBSDTypeKey),
+                             CFSTR(kIOSerialBSDModemType));
+
+        // Each serial device object has a property with key
+        // kIOSerialBSDTypeKey and a value that is one of kIOSerialBSDAllTypes,
+        // kIOSerialBSDModemType, or kIOSerialBSDRS232Type. You can experiment with the
+        // matching by changing the last parameter in the above call to CFDictionarySetValue.
+
+        // As shipped, this sample is only interested in modems,
+        // so add this property to the CFDictionary we're matching on.
+        // This will find devices that advertise themselves as modems,
+        // such as built-in and USB modems. However, this match won't find serial modems.
+    }
+
+    /*! @function IOServiceGetMatchingServices
+        @abstract Look up registered IOService objects that match a matching dictionary.
+        @discussion This is the preferred method of finding IOService objects currently registered by IOKit. IOServiceAddNotification can also supply this information and install a notification of new IOServices. The matching information used in the matching dictionary may vary depending on the class of service being looked up.
+        @param masterPort The master port obtained from IOMasterPort().
+        @param matching A CF dictionary containing matching information, of which one reference is consumed by this function. IOKitLib can contruct matching dictionaries for common criteria with helper functions such as IOServiceMatching, IOOpenFirmwarePathMatching.
+        @param existing An iterator handle is returned on success, and should be released by the caller when the iteration is finished.
+        @result A kern_return_t error code. */
+
+    kernResult = IOServiceGetMatchingServices(kIOMasterPortDefault, classesToMatch, matchingServices);
+    if (KERN_SUCCESS != kernResult) {
+        printf("IOServiceGetMatchingServices returned %d\n", kernResult);
+        goto exit;
+    }
+
+exit:
+    return kernResult;
+}
+
+/** Given an iterator across a set of modems, return the BSD path to the first one.
+ *  If no modems are found the path name is set to an empty string.
+ */
+static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize)
+{
+    io_object_t    modemService;
+    kern_return_t  kernResult = KERN_FAILURE;
+    Boolean      modemFound = false;
+
+    // Initialize the returned path
+    *bsdPath = '\0';
+
+    // Iterate across all modems found. In this example, we bail after finding the first modem.
+
+    while ((modemService = IOIteratorNext(serialPortIterator)) && !modemFound) {
+        CFTypeRef  bsdPathAsCFString;
+
+        // Get the callout device's path (/dev/cu.xxxxx). The callout device should almost always be
+        // used: the dialin device (/dev/tty.xxxxx) would be used when monitoring a serial port for
+        // incoming calls, e.g. a fax listener.
+
+        bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService,
+                            CFSTR(kIOCalloutDeviceKey),
+                            kCFAllocatorDefault,
+                            0);
+        if (bsdPathAsCFString) {
+            Boolean result;
+
+            // Convert the path from a CFString to a C (NUL-terminated) string for use
+            // with the POSIX open() call.
+
+            result = CFStringGetCString((CFStringRef)bsdPathAsCFString,
+                                        bsdPath,
+                                        maxPathSize,
+                                        kCFStringEncodingUTF8);
+            CFRelease(bsdPathAsCFString);
+
+            if (result) {
+                //printf("Modem found with BSD path: %s", bsdPath);
+                modemFound = true;
+                kernResult = KERN_SUCCESS;
+            }
+        }
+
+        printf("\n");
+
+        // Release the io_service_t now that we are done with it.
+
+        (void) IOObjectRelease(modemService);
+    }
+
+    return kernResult;
+}
+#endif
 
-//#define USE_QEXTSERIAL // this allows us to revert to old serial library during transition
+using namespace TNX;
 
 SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
                        int dataBits, int stopBits) :
-    port(NULL)
+    port(NULL),
+    ports(new QVector<QString>())
 {
     // Setup settings
     this->porthandle = portname.trimmed();
+
+    if (this->porthandle == "" && getCurrentPorts()->size() > 0)
+    {
+        this->porthandle = getCurrentPorts()->first().trimmed();
+    }
+
 #ifdef _WIN32
     // Port names above 20 need the network path format - if the port name is not already in this format
     // catch this special case
@@ -79,6 +270,86 @@ SerialLink::~SerialLink()
     disconnect();
     if(port) delete port;
     port = NULL;
+    if (ports) delete ports;
+    ports = NULL;
+}
+
+QVector<QString>* SerialLink::getCurrentPorts()
+{
+    ports->clear();
+#ifdef __linux
+
+    // TODO Linux has no standard way of enumerating serial ports
+    // However the device files are only present when the physical
+    // device is connected, therefore listing the files should be
+    // sufficient.
+
+    QString devdir = "/dev";
+    QDir dir(devdir);
+    dir.setFilter(QDir::System);
+
+    QFileInfoList list = dir.entryInfoList();
+    for (int i = 0; i < list.size(); ++i) {
+        QFileInfo fileInfo = list.at(i);
+        if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("ttyACM")))
+        {
+            ports->append(fileInfo.canonicalFilePath());
+        }
+    }
+#endif
+
+#if defined (__APPLE__) && defined (__MACH__)
+
+    // Enumerate serial ports
+    kern_return_t    kernResult; // on PowerPC this is an int (4 bytes)
+    io_iterator_t    serialPortIterator;
+    char        bsdPath[MAXPATHLEN];
+    kernResult = FindModems(&serialPortIterator);
+    kernResult = GetModemPath(serialPortIterator, bsdPath, sizeof(bsdPath));
+    IOObjectRelease(serialPortIterator);    // Release the iterator.
+
+    // Add found modems
+    if (bsdPath[0])
+    {
+        ports->append(QString(bsdPath));
+    }
+
+    // Add USB serial port adapters
+    // TODO Strangely usb serial port adapters are not enumerated, even when connected
+    QString devdir = "/dev";
+    QDir dir(devdir);
+    dir.setFilter(QDir::System);
+
+    QFileInfoList list = dir.entryInfoList();
+    for (int i = list.size() - 1; i >= 0; i--) {
+        QFileInfo fileInfo = list.at(i);
+        if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("tty.usbserial")) || fileInfo.fileName().contains(QString("ttyACM")))
+        {
+            ports->append(fileInfo.canonicalFilePath());
+        }
+    }
+#endif
+
+#ifdef _WIN32
+    // Get the ports available on this system
+    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
+
+    // Add the ports in reverse order, because we prepend them to the list
+    for (int i = ports.size() - 1; i >= 0; i--)
+    {
+        QextPortInfo portInfo = ports.at(i);
+        QString portString = QString(portInfo.portName.toLocal8Bit().constData()) + " - " + QString(ports.at(i).friendName.toLocal8Bit().constData()).split("(").first();
+        // Prepend newly found port to the list
+        ports.append(portString);
+    }
+
+    //printf("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData());
+    //printf("friendly name: %s\n", ports.at(i).friendName.toLocal8Bit().constData());
+    //printf("physical name: %s\n", ports.at(i).physName.toLocal8Bit().constData());
+    //printf("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData());
+    //printf("===================================\n\n");
+#endif
+    return ports;
 }
 
 void SerialLink::loadSettings()
@@ -86,7 +357,8 @@ void SerialLink::loadSettings()
     // Load defaults from settings
     QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
     settings.sync();
-    if (settings.contains("SERIALLINK_COMM_PORT")) {
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
         if (porthandle == "") setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
         setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
         setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
@@ -120,7 +392,8 @@ void SerialLink::run()
     hardwareConnect();
 
     // Qt way to make clear what a while(1) loop does
-    forever {
+    forever
+    {
         // Check if new bytes have arrived, if yes, emit the notification signal
         checkForBytes();
         /* Serial data isn't arriving that fast normally, this saves the thread
@@ -134,16 +407,21 @@ void SerialLink::run()
 void SerialLink::checkForBytes()
 {
     /* Check if bytes are available */
-    if(port && port->isOpen() && port->isWritable()) {
+    if(port && port->isOpen() && port->isWritable())
+    {
         dataMutex.lock();
         qint64 available = port->bytesAvailable();
         dataMutex.unlock();
 
-        if(available > 0) {
+        if(available > 0)
+        {
             readBytes();
         }
-    } else {
+    }
+    else
+    {
         emit disconnected();
+        emit connected(false);
     }
 
 }
@@ -238,13 +516,11 @@ bool SerialLink::disconnect()
         //#if !defined _WIN32 || !defined _WIN64
         /* Block the thread until it returns from run() */
         //#endif
-//        dataMutex.lock();
         port->flushInBuffer();
         port->flushOutBuffer();
         port->close();
         delete port;
         port = NULL;
-//        dataMutex.unlock();
 
         if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
 

src/comm/SerialLink.h

@@ -68,6 +68,9 @@ public:
 
     static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in configuration.h
 
+    /** @brief Get a list of the currently available ports */
+    QVector<QString>* getCurrentPorts();
+
     bool isConnected();
     qint64 bytesAvailable();
 
@@ -163,6 +166,7 @@ protected:
     quint64 connectionStartTime;
     QMutex statisticsMutex;
     QMutex dataMutex;
+    QVector<QString>* ports;
 
     void setName(QString name);
     bool hardwareConnect();

src/comm/SerialLinkInterface.h

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QObject>
 #include <QString>
+#include <QVector>
 #include <LinkInterface.h>
 
 class SerialLinkInterface : public LinkInterface
@@ -41,6 +42,7 @@ class SerialLinkInterface : public LinkInterface
     Q_OBJECT
 
 public:
+    virtual QVector<QString>* getCurrentPorts() = 0;
     virtual QString getPortName() = 0;
     virtual int getBaudRate() = 0;
     virtual int getDataBits() = 0;

src/comm/SerialSimulationLink.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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>
- *
- */
-
-#include <cstdlib>
-#include <cstdio>
-#include <cmath>
-#include <SerialSimulationLink.h>
-#include <QTime>
-#include <QFile>
-#include <QDebug>
-#include <MG.h>
-#include "QGC.h"
-
-/**
- * Create a simulated link. This link is connected to an input and output file.
- * The link sends one line at a time at the specified sendrate. The timing of
- * the sendrate is free of drift, which means it is stable on the long run.
- * However, small deviations are mixed in which vary the sendrate slightly
- * in order to simulate disturbances on a real communication link.
- *
- * @param readFile The file with the messages to read (must be in ASCII format, line breaks can be Unix or Windows style)
- * @param writeFile The received messages are written to that file
- * @param sendrate The rate at which the messages are sent (in intervals of milliseconds)
- **/
-SerialSimulationLink::SerialSimulationLink(QFile* readFile, QFile* writeFile, int sendrate)
-{
-    // If a non-empty portname is supplied, the serial simulation link should attempt loopback simulation
-    loopBack = NULL;
-
-    /* Comments on the variables can be found in the header file */
-
-    lineBuffer = QByteArray();
-    lineBuffer.clear();
-    readyBuffer = QByteArray();
-    readyBuffer.clear();
-    simulationFile = readFile;
-    receiveFile = writeFile;
-    lastSent = MG::TIME::getGroundTimeNow();
-
-    /* Initialize the pseudo-random number generator */
-    srand(QTime::currentTime().msec());
-    maxTimeNoise = 0;
-
-    timer = new QTimer(this);
-    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(readLine()));
-    _isConnected = false;
-    rate = sendrate;
-}
-
-SerialSimulationLink::~SerialSimulationLink()
-{
-    //TODO Check destructor
-    fileStream->flush();
-    outStream->flush();
-}
-
-void SerialSimulationLink::run()
-{
-    /*
-        forever {
-                quint64 currentTime = OG::TIME::getGroundTimeNow();
-                if(currentTime - lastSent >= rate) {
-                        lastSent = currentTime;
-                        readLine();
-                }
-
-                msleep(rate);
-        }*/
-    forever {
-        QGC::SLEEP::msleep(5000);
-    }
-}
-
-void SerialSimulationLink::enableLoopBackMode(SerialLinkInterface* loop)
-{
-    // Lock the data
-    readyBufferMutex.lock();
-    // Disconnect this link
-    disconnect();
-
-    // Delete previous loopback link if exists
-    if(loopBack != NULL) {
-        delete loopBack;
-        loopBack = NULL;
-    }
-
-    // Set new loopback link
-    loopBack = loop;
-    // Connect signals
-    QObject::connect(loopBack, SIGNAL(connected()), this, SIGNAL(connected()));
-    QObject::connect(loopBack, SIGNAL(disconnected()), this, SIGNAL(disconnected()));
-    QObject::connect(loopBack, SIGNAL(connected(bool)), this, SIGNAL(connected(bool)));
-    QObject::connect(loopBack, SIGNAL(bytesReady(LinkInterface*)), this, SIGNAL(bytesReady(LinkInterface*)));
-    readyBufferMutex.unlock();
-
-}
-
-
-qint64 SerialSimulationLink::bytesAvailable()
-{
-    readyBufferMutex.lock();
-    qint64 size = 0;
-    if(loopBack == 0) {
-        size = readyBuffer.size();
-    } else {
-        size = loopBack->bytesAvailable();
-    }
-    readyBufferMutex.unlock();
-
-    return size;
-}
-
-void SerialSimulationLink::writeBytes(char* data, qint64 length)
-{
-    /* Write bytes to one line */
-    for(qint64 i = 0; i < length; i++) {
-        outStream->operator <<(data[i]);
-        outStream->flush();
-    }
-
-}
-
-
-void SerialSimulationLink::readBytes()
-{
-    const qint64 maxLength = 2048;
-    char data[maxLength];
-    /* Lock concurrent resource readyBuffer */
-    readyBufferMutex.lock();
-    if(loopBack == NULL) {
-        // FIXME Maxlength has no meaning here
-        /* copy leftmost maxLength bytes and remove them from buffer */
-        qstrncpy(data, readyBuffer.left(maxLength).data(), maxLength);
-        readyBuffer.remove(0, maxLength);
-    } else {
-        //loopBack->readBytes(data, maxLength);
-    }
-    readyBufferMutex.unlock();
-}
-
-/**
- * @brief Reads a line at a time of the simulation data file and sends it.
- *
- * The data is read binary, which means that the file doesn't have to contain
- * only ASCII characters. The line break (independent of operating system) is
- * NOT read. The line gets sent as a whole. Because the next line is buffered,
- * the line gets sent instantly when the function is called.
- *
- * @bug The time noise addition is commented out because it adds some delay
- *      which leads to a drift in the timer. This can be fixed by multithreading.
- **/
-void SerialSimulationLink::readLine()
-{
-
-    if(_isConnected) {
-        /* The order of operations in this method is arranged to
-                 * minimize the impact of slow file read operations on the
-                 * message emit timing. The functions should be kept in this order
-                 */
-
-        /* (1) Add noise for next iteration (noise is always 0 for maxTimeNoise = 0) */
-        addTimeNoise();
-
-        /* (2) Save content of line buffer in readyBuffer (has to be lock for thread safety)*/
-        readyBufferMutex.lock();
-        if(loopBack == NULL) {
-            readyBuffer.append(lineBuffer);
-            //qDebug() << "readLine readyBuffer: " << readyBuffer;
-        } else {
-            loopBack->writeBytes(lineBuffer.data(), lineBuffer.size());
-        }
-        readyBufferMutex.unlock();
-
-        if(loopBack == NULL) {
-            readBytes();
-        }
-
-        /* (4) Read one line and save it in line buffer */
-        lineBuffer.clear();
-
-        // Remove whitespaces, tabs and line breaks
-        QString readString = fileStream->readLine().trimmed();
-        readString.remove(" ");
-        readString.remove("\t");
-        readString.remove("\n");
-        readString.remove("\v");
-        readString.remove("\r");
-        lineBuffer.append(readString.toAscii());
-
-        //qDebug() << "SerialSimulationLink::readLine()" << readString.size() << readString;
-
-        /* Check if end of file has been reached, start from the beginning if necessary
-                 * This has to be done after the last read, otherwise the timer is out of sync */
-        if (fileStream->atEnd()) {
-            simulationFile->reset();
-        }
-
-    }
-
-}
-
-/**
- * Set the maximum time deviation noise. This amount (in milliseconds) is
- * the maximum time offset (+/-) from the specified message send rate.
- *
- * @param milliseconds The maximum time offset (in milliseconds)
- *
- * @bug The current implementation might induce one milliseconds additional
- * 		 discrepancy, this will be fixed by multithreading
- **/
-void SerialSimulationLink::setMaximumTimeNoise(int milliseconds)
-{
-    maxTimeNoise = milliseconds;
-}
-
-
-/**
- * Add or subtract a pseudo random time offset. The maximum time offset is
- * defined by setMaximumTimeNoise().
- *
- * @see setMaximumTimeNoise()
- **/
-void SerialSimulationLink::addTimeNoise()
-{
-    /* Calculate the time deviation */
-    if(maxTimeNoise == 0) {
-        /* Don't do expensive calculations if no noise is desired */
-        timer->setInterval(rate);
-    } else {
-        /* Calculate random time noise (gauss distribution):
-                 *
-                 * (1) (2 * rand()) / RAND_MAX: Number between 0 and 2
-                 * (induces numerical noise through floating point representation,
-                 * ignored here)
-                 *
-                 * (2) ((2 * rand()) / RAND_MAX) - 1: Number between -1 and 1
-                 *
-                 * (3) Complete term: Number between -maxTimeNoise and +maxTimeNoise
-                 */
-        double timeDeviation = (((2 * rand()) / RAND_MAX) - 1) * maxTimeNoise;
-        timer->setInterval(static_cast<int>(rate + floor(timeDeviation)));
-    }
-
-}
-
-/**
- * Disconnect the connection.
- *
- * @return True if connection has been disconnected, false if connection
- * couldn't be disconnected.
- **/
-bool SerialSimulationLink::disconnect()
-{
-
-    if(isConnected()) {
-        timer->stop();
-
-        fileStream->flush();
-        outStream->flush();
-
-        simulationFile->close();
-        receiveFile->close();
-
-        _isConnected = false;
-
-        if(loopBack == NULL) {
-            emit disconnected();
-        } else {
-            loopBack->disconnect();
-        }
-
-        exit();
-    }
-
-    return true;
-}
-
-/**
- * Connect the link.
- *
- * @return True if connection has been established, false if connection
- * couldn't be established.
- **/
-bool SerialSimulationLink::connect()
-{
-    /* Open files */
-    //@TODO Add check if file can be read
-    simulationFile->open(QIODevice::ReadOnly);
-
-    /* Create or replace output file */
-    if(receiveFile->exists()) receiveFile->remove(); //TODO Read return value if file has been removed
-    receiveFile->open(QIODevice::WriteOnly);
-
-    fileStream = new QTextStream(simulationFile);
-    outStream = new QTextStream(receiveFile);
-
-    /* Initialize line buffer */
-    lineBuffer.clear();
-    lineBuffer.append(fileStream->readLine().toAscii());
-
-    _isConnected = true;
-
-    if(loopBack == NULL) {
-        emit connected();
-    } else {
-        loopBack->connect();
-    }
-
-    start(LowPriority);
-    timer->start(rate);
-    return true;
-}
-
-/**
- * Check if connection is active.
- *
- * @return True if link is connected, false otherwise.
- **/
-bool SerialSimulationLink::isConnected()
-{
-    return _isConnected;
-}
-
-qint64 SerialSimulationLink::getNominalDataRate()
-{
-    /* 100 Mbit is reasonable fast and sufficient for all embedded applications */
-    return 100000000;
-}
-
-qint64 SerialSimulationLink::getTotalUpstream()
-{
-    return 0;
-    //TODO Add functionality here
-    // @todo Add functionality here
-}
-
-qint64 SerialSimulationLink::getShortTermUpstream()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getCurrentUpstream()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getMaxUpstream()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getBitsSent()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getBitsReceived()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getTotalDownstream()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getShortTermDownstream()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getCurrentDownstream()
-{
-    return 0;
-}
-
-qint64 SerialSimulationLink::getMaxDownstream()
-{
-    return 0;
-}
-
-bool SerialSimulationLink::isFullDuplex()
-{
-    /* Full duplex is no problem when running in pure software, but this is a serial simulation */
-    return false;
-}
-
-int SerialSimulationLink::getLinkQuality()
-{
-    /* The Link quality is always perfect when running in software */
-    return 100;
-}
-
-bool SerialSimulationLink::setPortName(QString portName)
-{
-    Q_UNUSED(portName);
-    return true;
-}
-
-bool SerialSimulationLink::setBaudRate(int rate)
-{
-    Q_UNUSED(rate);
-    return true;
-}
-
-bool SerialSimulationLink::setFlowType(int type)
-{
-    Q_UNUSED(type);
-    return true;
-}
-
-bool SerialSimulationLink::setParityType(int type)
-{
-    Q_UNUSED(type);
-    return true;
-}
-
-bool SerialSimulationLink::setDataBitsType(int type)
-{
-    Q_UNUSED(type);
-    return true;
-}
-
-bool SerialSimulationLink::setStopBitsType(int type)
-{
-    Q_UNUSED(type)
-    return true;
-}
-
-QString SerialSimulationLink::getPortName()
-{
-    return tr("simulated/port");
-}
-
-int SerialSimulationLink::getBaudRate()
-{
-    return 115200;
-}
-
-int SerialSimulationLink::getBaudRateType()
-{
-    return 19;
-}
-
-int SerialSimulationLink::getFlowType()
-{
-    return 0;
-}
-
-int SerialSimulationLink::getParityType()
-{
-    return 0;
-}
-
-int SerialSimulationLink::getDataBitsType()
-{
-    return 8;
-}
-
-int SerialSimulationLink::getStopBitsType()
-{
-    return 2;
-}
-
-bool SerialSimulationLink::setBaudRateType(int rateIndex)
-{
-    Q_UNUSED(rateIndex);
-    return true;
-}

src/comm/SerialSimulationLink.h

-/*=====================================================================
-
-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 _SERIALSIMULATIONLINK_H_
-#define _SERIALSIMULATIONLINK_H_
-
-#include <QString>
-#include <QByteArray>
-#include <QFile>
-#include <QTimer>
-#include <QTextStream>
-#include <QMutex>
-#include <SerialLinkInterface.h>
-
-/**
- * The serial simulation link class simulates a robot connected to the groundstation.
- * It can be either file-based by reading telemetry messages from a file or realtime
- * by communicating with a simulation.
- *
- **/
-class SerialSimulationLink : public SerialLinkInterface
-{
-    Q_OBJECT
-
-public:
-    SerialSimulationLink(QFile* inputFile=NULL, QFile* outputFile=NULL, int sendrate=20);
-    ~SerialSimulationLink();
-
-    bool isConnected();
-    qint64 bytesAvailable();
-
-    void run();
-
-    /* Extensive statistics for scientific purposes */
-    qint64 getNominalDataRate();
-    qint64 getTotalUpstream();
-    qint64 getShortTermUpstream();
-    qint64 getCurrentUpstream();
-    qint64 getMaxUpstream();
-    qint64 getTotalDownstream();
-    qint64 getShortTermDownstream();
-    qint64 getCurrentDownstream();
-    qint64 getMaxDownstream();
-    qint64 getBitsSent();
-    qint64 getBitsReceived();
-
-    void enableLoopBackMode(SerialLinkInterface * loop);
-    QString getPortName();
-    int getBaudRate();
-    int getBaudRateType();
-    int getFlowType();
-    int getParityType();
-    int getDataBitsType();
-    int getStopBitsType();
-
-    int getLinkQuality();
-    bool isFullDuplex();
-
-public slots:
-    bool setPortName(QString portName);
-    bool setBaudRateType(int rateIndex);
-    bool setBaudRate(int rate);
-    bool setFlowType(int flow);
-    bool setParityType(int parity);
-    bool setDataBitsType(int dataBits);
-    bool setStopBitsType(int stopBits);
-
-    void readLine();
-    void writeBytes(char *bytes, qint64 length);
-    void readBytes();
-
-    bool connect();
-    bool disconnect();
-
-    void setMaximumTimeNoise(int milliseconds);
-
-protected:
-    QTimer* timer;
-    SerialLinkInterface* loopBack;
-    /** File which contains the input data (simulated robot messages) **/
-    QFile* simulationFile;
-    /** File where the commands sent by the groundstation are stored **/
-    QFile* receiveFile;
-    QTextStream stream;
-    QTextStream* fileStream;
-    QTextStream* outStream;
-    /** Buffer for next line. The next line is read ahead */
-    QByteArray lineBuffer;
-    /** Buffer which can be read from connected protocols through readBytes(). **/
-    QByteArray readyBuffer;
-    QMutex readyBufferMutex;
-    bool _isConnected;
-    quint64 rate;
-    int maxTimeNoise;
-    quint64 lastSent;
-
-    void addTimeNoise();
-
-signals:
-    //void connected();
-    //void disconnected();
-    //void bytesReady(LinkInterface *link);
-
-};
-
-#endif // _SERIALSIMULATIONLINK_H_

src/configuration.h

@@ -12,7 +12,7 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.0 (Alpha RC16)"
+#define QGC_APPLICATION_VERSION "v. 1.0.0 (Alpha RC17)"
 
 namespace QGC
 

src/ui/SerialConfigurationWindow.cc

@@ -35,191 +35,6 @@ This file is part of the QGROUNDCONTROL project
 #include <QDir>
 #include <QSettings>
 #include <QFileInfoList>
-#ifdef _WIN32
-#include <qextserialenumerator.h>
-#endif
-#if defined (__APPLE__) && defined (__MACH__)
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <errno.h>
-#include <paths.h>
-#include <termios.h>
-#include <sysexits.h>
-#include <sys/param.h>
-#include <sys/select.h>
-#include <sys/time.h>
-#include <time.h>
-#include <AvailabilityMacros.h>
-
-#ifdef __MWERKS__
-#define __CF_USE_FRAMEWORK_INCLUDES__
-#endif
-
-
-#include <CoreFoundation/CoreFoundation.h>
-
-#include <IOKit/IOKitLib.h>
-#include <IOKit/serial/IOSerialKeys.h>
-#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3)
-#include <IOKit/serial/ioss.h>
-#endif
-#include <IOKit/IOBSD.h>
-
-// Apple internal modems default to local echo being on. If your modem has local echo disabled,
-// undefine the following macro.
-#define LOCAL_ECHO
-
-#define kATCommandString  "AT\r"
-
-#ifdef LOCAL_ECHO
-#define kOKResponseString  "AT\r\r\nOK\r\n"
-#else
-#define kOKResponseString  "\r\nOK\r\n"
-#endif
-#endif
-
-
-// Some helper functions for serial port enumeration
-#if defined (__APPLE__) && defined (__MACH__)
-
-enum {
-    kNumRetries = 3
-};
-
-// Function prototypes
-static kern_return_t FindModems(io_iterator_t *matchingServices);
-static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize);
-
-// Returns an iterator across all known modems. Caller is responsible for
-// releasing the iterator when iteration is complete.
-static kern_return_t FindModems(io_iterator_t *matchingServices)
-{
-    kern_return_t      kernResult;
-    CFMutableDictionaryRef  classesToMatch;
-
-    /*! @function IOServiceMatching
-    @abstract Create a matching dictionary that specifies an IOService class match.
-    @discussion A very common matching criteria for IOService is based on its class. IOServiceMatching will create a matching dictionary that specifies any IOService of a class, or its subclasses. The class is specified by C-string name.
-    @param name The class name, as a const C-string. Class matching is successful on IOService's of this class or any subclass.
-    @result The matching dictionary created, is returned on success, or zero on failure. The dictionary is commonly passed to IOServiceGetMatchingServices or IOServiceAddNotification which will consume a reference, otherwise it should be released with CFRelease by the caller. */
-
-    // Serial devices are instances of class IOSerialBSDClient
-    classesToMatch = IOServiceMatching(kIOSerialBSDServiceValue);
-    if (classesToMatch == NULL) {
-        printf("IOServiceMatching returned a NULL dictionary.\n");
-    } else {
-        /*!
-          @function CFDictionarySetValue
-          Sets the value of the key in the dictionary.
-          @param theDict The dictionary to which the value is to be set. If this
-            parameter is not a valid mutable CFDictionary, the behavior is
-            undefined. If the dictionary is a fixed-capacity dictionary and
-            it is full before this operation, and the key does not exist in
-            the dictionary, the behavior is undefined.
-          @param key The key of the value to set into the dictionary. If a key
-            which matches this key is already present in the dictionary, only
-            the value is changed ("add if absent, replace if present"). If
-            no key matches the given key, the key-value pair is added to the
-            dictionary. If added, the key is retained by the dictionary,
-            using the retain callback provided
-            when the dictionary was created. If the key is not of the sort
-            expected by the key retain callback, the behavior is undefined.
-          @param value The value to add to or replace into the dictionary. The value
-            is retained by the dictionary using the retain callback provided
-            when the dictionary was created, and the previous value if any is
-            released. If the value is not of the sort expected by the
-            retain or release callbacks, the behavior is undefined.
-        */
-        CFDictionarySetValue(classesToMatch,
-                             CFSTR(kIOSerialBSDTypeKey),
-                             CFSTR(kIOSerialBSDModemType));
-
-        // Each serial device object has a property with key
-        // kIOSerialBSDTypeKey and a value that is one of kIOSerialBSDAllTypes,
-        // kIOSerialBSDModemType, or kIOSerialBSDRS232Type. You can experiment with the
-        // matching by changing the last parameter in the above call to CFDictionarySetValue.
-
-        // As shipped, this sample is only interested in modems,
-        // so add this property to the CFDictionary we're matching on.
-        // This will find devices that advertise themselves as modems,
-        // such as built-in and USB modems. However, this match won't find serial modems.
-    }
-
-    /*! @function IOServiceGetMatchingServices
-        @abstract Look up registered IOService objects that match a matching dictionary.
-        @discussion This is the preferred method of finding IOService objects currently registered by IOKit. IOServiceAddNotification can also supply this information and install a notification of new IOServices. The matching information used in the matching dictionary may vary depending on the class of service being looked up.
-        @param masterPort The master port obtained from IOMasterPort().
-        @param matching A CF dictionary containing matching information, of which one reference is consumed by this function. IOKitLib can contruct matching dictionaries for common criteria with helper functions such as IOServiceMatching, IOOpenFirmwarePathMatching.
-        @param existing An iterator handle is returned on success, and should be released by the caller when the iteration is finished.
-        @result A kern_return_t error code. */
-
-    kernResult = IOServiceGetMatchingServices(kIOMasterPortDefault, classesToMatch, matchingServices);
-    if (KERN_SUCCESS != kernResult) {
-        printf("IOServiceGetMatchingServices returned %d\n", kernResult);
-        goto exit;
-    }
-
-exit:
-    return kernResult;
-}
-
-/** Given an iterator across a set of modems, return the BSD path to the first one.
- *  If no modems are found the path name is set to an empty string.
- */
-static kern_return_t GetModemPath(io_iterator_t serialPortIterator, char *bsdPath, CFIndex maxPathSize)
-{
-    io_object_t    modemService;
-    kern_return_t  kernResult = KERN_FAILURE;
-    Boolean      modemFound = false;
-
-    // Initialize the returned path
-    *bsdPath = '\0';
-
-    // Iterate across all modems found. In this example, we bail after finding the first modem.
-
-    while ((modemService = IOIteratorNext(serialPortIterator)) && !modemFound) {
-        CFTypeRef  bsdPathAsCFString;
-
-        // Get the callout device's path (/dev/cu.xxxxx). The callout device should almost always be
-        // used: the dialin device (/dev/tty.xxxxx) would be used when monitoring a serial port for
-        // incoming calls, e.g. a fax listener.
-
-        bsdPathAsCFString = IORegistryEntryCreateCFProperty(modemService,
-                            CFSTR(kIOCalloutDeviceKey),
-                            kCFAllocatorDefault,
-                            0);
-        if (bsdPathAsCFString) {
-            Boolean result;
-
-            // Convert the path from a CFString to a C (NUL-terminated) string for use
-            // with the POSIX open() call.
-
-            result = CFStringGetCString((CFStringRef)bsdPathAsCFString,
-                                        bsdPath,
-                                        maxPathSize,
-                                        kCFStringEncodingUTF8);
-            CFRelease(bsdPathAsCFString);
-
-            if (result) {
-                //printf("Modem found with BSD path: %s", bsdPath);
-                modemFound = true;
-                kernResult = KERN_SUCCESS;
-            }
-        }
-
-        printf("\n");
-
-        // Release the io_service_t now that we are done with it.
-
-        (void) IOObjectRelease(modemService);
-    }
-
-    return kernResult;
-}
-#endif
 
 SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags),
     userConfigured(false)
@@ -378,102 +193,29 @@ void SerialConfigurationWindow::configureCommunication()
 
 void SerialConfigurationWindow::setupPortList()
 {
-    //ui.portName->clear();
-    // Get list of existing items
-
-
-#ifdef __linux
-
-    // TODO Linux has no standard way of enumerating serial ports
-    // However the device files are only present when the physical
-    // device is connected, therefore listing the files should be
-    // sufficient.
-
-    QString devdir = "/dev";
-    QDir dir(devdir);
-    dir.setFilter(QDir::System);
+    if (!link) return;
 
-    QFileInfoList list = dir.entryInfoList();
-    for (int i = 0; i < list.size(); ++i) {
-        QFileInfo fileInfo = list.at(i);
-        if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("ttyACM"))) {
-            if (ui.portName->findText(fileInfo.canonicalFilePath()) == -1) {
-                ui.portName->addItem(fileInfo.canonicalFilePath());
-                if (!userConfigured) ui.portName->setEditText(fileInfo.canonicalFilePath());
+    if (!userConfigured)
+    {
+        ui.portName->clear();
+        ui.portName->clearEditText();
     }
-        }
-    }
-#endif
-
-#if defined (__APPLE__) && defined (__MACH__)
-
-    // Enumerate serial ports
-    //int            fileDescriptor;
-    kern_return_t    kernResult; // on PowerPC this is an int (4 bytes)
-
-    io_iterator_t    serialPortIterator;
-    char        bsdPath[MAXPATHLEN];
-
-    kernResult = FindModems(&serialPortIterator);
-
-    kernResult = GetModemPath(serialPortIterator, bsdPath, sizeof(bsdPath));
-
-    IOObjectRelease(serialPortIterator);    // Release the iterator.
-
-    // Add found modems
-    if (bsdPath[0]) {
-        if (ui.portName->findText(QString(bsdPath)) == -1) {
-            ui.portName->addItem(QString(bsdPath));
-            if (!userConfigured) ui.portName->setEditText(QString(bsdPath));
-        }
-    }
-
-    // Add USB serial port adapters
-    // TODO Strangely usb serial port adapters are not enumerated, even when connected
-    QString devdir = "/dev";
-    QDir dir(devdir);
-    dir.setFilter(QDir::System);
-
-    QFileInfoList list = dir.entryInfoList();
-    for (int i = list.size() - 1; i >= 0; i--) {
-        QFileInfo fileInfo = list.at(i);
-        if (fileInfo.fileName().contains(QString("ttyUSB")) || fileInfo.fileName().contains(QString("ttyS")) || fileInfo.fileName().contains(QString("tty.usbserial")) || fileInfo.fileName().contains(QString("ttyACM"))) {
-            if (ui.portName->findText(fileInfo.canonicalFilePath()) == -1) {
-                ui.portName->addItem(fileInfo.canonicalFilePath());
-                if (!userConfigured) ui.portName->setEditText(fileInfo.canonicalFilePath());
-            }
-        }
-    }
-
-
-#endif
-
-#ifdef _WIN32
     // Get the ports available on this system
-    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
+    QVector<QString>* ports = link->getCurrentPorts();
 
     // Add the ports in reverse order, because we prepend them to the list
-    for (int i = ports.size() - 1; i >= 0; i--) {
-        QString portString = QString(ports.at(i).portName.toLocal8Bit().constData()) + " - " + QString(ports.at(i).friendName.toLocal8Bit().constData()).split("(").first();
+    for (int i = ports->size() - 1; i >= 0; --i)
+    {
         // Prepend newly found port to the list
-        if (ui.portName->findText(portString) == -1) {
-            ui.portName->insertItem(0, portString);
-            if (!userConfigured) ui.portName->setEditText(portString);
+        if (ui.portName->findText(ports->at(i)) == -1)
+        {
+            ui.portName->insertItem(0, ports->at(i));
+            if (!userConfigured) ui.portName->setEditText(ports->at(i));
         }
     }
 
-    //printf("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData());
-    //printf("friendly name: %s\n", ports.at(i).friendName.toLocal8Bit().constData());
-    //printf("physical name: %s\n", ports.at(i).physName.toLocal8Bit().constData());
-    //printf("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData());
-    //printf("===================================\n\n");
-#endif
 
-    if (this->link) {
-        if (this->link->getPortName() != "") {
     ui.portName->setEditText(this->link->getPortName());
-        }
-    }
 }
 
 void SerialConfigurationWindow::enableFlowControl(bool flow)