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Valentin Platzgummer
qgroundcontrol
Commits
432971ac
Commit
432971ac
authored
Aug 28, 2017
by
Don Gagne
Committed by
GitHub
Aug 28, 2017
Browse files
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Browse Files
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Plain Diff
Merge pull request #5588 from DonLakeFlyer/RTKGPSDisconnect
Allow disconnect/reconnect of RTK GPS
parents
18f5275d
94bdbf9d
Changes
4
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Showing
4 changed files
with
32 additions
and
19 deletions
+32
-19
GPSManager.cc
src/GPS/GPSManager.cc
+16
-13
GPSManager.h
src/GPS/GPSManager.h
+4
-4
LinkManager.cc
src/comm/LinkManager.cc
+11
-2
LinkManager.h
src/comm/LinkManager.h
+1
-0
No files found.
src/GPS/GPSManager.cc
View file @
432971ac
...
@@ -23,14 +23,14 @@ GPSManager::GPSManager(QGCApplication* app, QGCToolbox* toolbox)
...
@@ -23,14 +23,14 @@ GPSManager::GPSManager(QGCApplication* app, QGCToolbox* toolbox)
GPSManager
::~
GPSManager
()
GPSManager
::~
GPSManager
()
{
{
cleanup
();
disconnectGPS
();
}
}
void
GPSManager
::
connectGPS
(
const
QString
&
device
)
void
GPSManager
::
connectGPS
(
const
QString
&
device
)
{
{
RTKSettings
*
rtkSettings
=
qgcApp
()
->
toolbox
()
->
settingsManager
()
->
rtkSettings
();
RTKSettings
*
rtkSettings
=
qgcApp
()
->
toolbox
()
->
settingsManager
()
->
rtkSettings
();
cleanup
();
disconnectGPS
();
_requestGpsStop
=
false
;
_requestGpsStop
=
false
;
_gpsProvider
=
new
GPSProvider
(
device
,
true
,
rtkSettings
->
surveyInAccuracyLimit
()
->
rawValue
().
toDouble
(),
rtkSettings
->
surveyInMinObservationDuration
()
->
rawValue
().
toInt
(),
_requestGpsStop
);
_gpsProvider
=
new
GPSProvider
(
device
,
true
,
rtkSettings
->
surveyInAccuracyLimit
()
->
rawValue
().
toDouble
(),
rtkSettings
->
surveyInMinObservationDuration
()
->
rawValue
().
toInt
(),
_requestGpsStop
);
_gpsProvider
->
start
();
_gpsProvider
->
start
();
...
@@ -49,17 +49,7 @@ void GPSManager::connectGPS(const QString& device)
...
@@ -49,17 +49,7 @@ void GPSManager::connectGPS(const QString& device)
emit
onConnect
();
emit
onConnect
();
}
}
void
GPSManager
::
GPSPositionUpdate
(
GPSPositionMessage
msg
)
void
GPSManager
::
disconnectGPS
(
void
)
{
qCDebug
(
RTKGPSLog
)
<<
QString
(
"GPS: got position update: alt=%1, long=%2, lat=%3"
).
arg
(
msg
.
position_data
.
alt
).
arg
(
msg
.
position_data
.
lon
).
arg
(
msg
.
position_data
.
lat
);
}
void
GPSManager
::
GPSSatelliteUpdate
(
GPSSatelliteMessage
msg
)
{
qCDebug
(
RTKGPSLog
)
<<
QString
(
"GPS: got satellite info update, %1 satellites"
).
arg
((
int
)
msg
.
satellite_data
.
count
);
emit
satelliteUpdate
(
msg
.
satellite_data
.
count
);
}
void
GPSManager
::
cleanup
()
{
{
if
(
_gpsProvider
)
{
if
(
_gpsProvider
)
{
_requestGpsStop
=
true
;
_requestGpsStop
=
true
;
...
@@ -72,4 +62,17 @@ void GPSManager::cleanup()
...
@@ -72,4 +62,17 @@ void GPSManager::cleanup()
if
(
_rtcmMavlink
)
{
if
(
_rtcmMavlink
)
{
delete
(
_rtcmMavlink
);
delete
(
_rtcmMavlink
);
}
}
_gpsProvider
=
NULL
;
_rtcmMavlink
=
NULL
;
}
void
GPSManager
::
GPSPositionUpdate
(
GPSPositionMessage
msg
)
{
qCDebug
(
RTKGPSLog
)
<<
QString
(
"GPS: got position update: alt=%1, long=%2, lat=%3"
).
arg
(
msg
.
position_data
.
alt
).
arg
(
msg
.
position_data
.
lon
).
arg
(
msg
.
position_data
.
lat
);
}
void
GPSManager
::
GPSSatelliteUpdate
(
GPSSatelliteMessage
msg
)
{
qCDebug
(
RTKGPSLog
)
<<
QString
(
"GPS: got satellite info update, %1 satellites"
).
arg
((
int
)
msg
.
satellite_data
.
count
);
emit
satelliteUpdate
(
msg
.
satellite_data
.
count
);
}
}
src/GPS/GPSManager.h
View file @
432971ac
...
@@ -28,8 +28,9 @@ public:
...
@@ -28,8 +28,9 @@ public:
GPSManager
(
QGCApplication
*
app
,
QGCToolbox
*
toolbox
);
GPSManager
(
QGCApplication
*
app
,
QGCToolbox
*
toolbox
);
~
GPSManager
();
~
GPSManager
();
void
connectGPS
(
const
QString
&
device
);
void
connectGPS
(
const
QString
&
device
);
bool
connected
(
void
)
const
{
return
_gpsProvider
&&
_gpsProvider
->
isRunning
();
}
void
disconnectGPS
(
void
);
bool
connected
(
void
)
const
{
return
_gpsProvider
&&
_gpsProvider
->
isRunning
();
}
signals:
signals:
void
onConnect
();
void
onConnect
();
...
@@ -40,9 +41,8 @@ signals:
...
@@ -40,9 +41,8 @@ signals:
private
slots
:
private
slots
:
void
GPSPositionUpdate
(
GPSPositionMessage
msg
);
void
GPSPositionUpdate
(
GPSPositionMessage
msg
);
void
GPSSatelliteUpdate
(
GPSSatelliteMessage
msg
);
void
GPSSatelliteUpdate
(
GPSSatelliteMessage
msg
);
private:
void
cleanup
();
private:
GPSProvider
*
_gpsProvider
=
nullptr
;
GPSProvider
*
_gpsProvider
=
nullptr
;
RTCMMavlink
*
_rtcmMavlink
=
nullptr
;
RTCMMavlink
*
_rtcmMavlink
=
nullptr
;
...
...
src/comm/LinkManager.cc
View file @
432971ac
...
@@ -507,7 +507,7 @@ void LinkManager::_updateAutoConnectLinks(void)
...
@@ -507,7 +507,7 @@ void LinkManager::_updateAutoConnectLinks(void)
continue
;
continue
;
}
}
if
(
_autoconnectConfigurationsContainsPort
(
portInfo
.
systemLocation
()))
{
if
(
_autoconnectConfigurationsContainsPort
(
portInfo
.
systemLocation
())
||
_autoConnectRTKPort
==
portInfo
.
systemLocation
()
)
{
qCDebug
(
LinkManagerVerboseLog
)
<<
"Skipping existing autoconnect"
<<
portInfo
.
systemLocation
();
qCDebug
(
LinkManagerVerboseLog
)
<<
"Skipping existing autoconnect"
<<
portInfo
.
systemLocation
();
}
else
if
(
!
_autoconnectWaitList
.
contains
(
portInfo
.
systemLocation
()))
{
}
else
if
(
!
_autoconnectWaitList
.
contains
(
portInfo
.
systemLocation
()))
{
// We don't connect to the port the first time we see it. The ability to correctly detect whether we
// We don't connect to the port the first time we see it. The ability to correctly detect whether we
...
@@ -545,7 +545,8 @@ void LinkManager::_updateAutoConnectLinks(void)
...
@@ -545,7 +545,8 @@ void LinkManager::_updateAutoConnectLinks(void)
#ifndef __mobile__
#ifndef __mobile__
case
QGCSerialPortInfo
:
:
BoardTypeRTKGPS
:
case
QGCSerialPortInfo
:
:
BoardTypeRTKGPS
:
if
(
_autoConnectSettings
->
autoConnectRTKGPS
()
->
rawValue
().
toBool
()
&&
!
_toolbox
->
gpsManager
()
->
connected
())
{
if
(
_autoConnectSettings
->
autoConnectRTKGPS
()
->
rawValue
().
toBool
()
&&
!
_toolbox
->
gpsManager
()
->
connected
())
{
qCDebug
(
LinkManagerLog
)
<<
"RTK GPS auto-connected"
;
qCDebug
(
LinkManagerLog
)
<<
"RTK GPS auto-connected"
<<
portInfo
.
portName
().
trimmed
();
_autoConnectRTKPort
=
portInfo
.
systemLocation
();
_toolbox
->
gpsManager
()
->
connectGPS
(
portInfo
.
systemLocation
());
_toolbox
->
gpsManager
()
->
connectGPS
(
portInfo
.
systemLocation
());
}
}
break
;
break
;
...
@@ -610,6 +611,14 @@ void LinkManager::_updateAutoConnectLinks(void)
...
@@ -610,6 +611,14 @@ void LinkManager::_updateAutoConnectLinks(void)
}
}
}
}
}
}
// Check for RTK GPS connection gone
if
(
!
_autoConnectRTKPort
.
isEmpty
()
&&
!
currentPorts
.
contains
(
_autoConnectRTKPort
))
{
qCDebug
(
LinkManagerLog
)
<<
"RTK GPS disconnected"
<<
_autoConnectRTKPort
;
_toolbox
->
gpsManager
()
->
disconnectGPS
();
_autoConnectRTKPort
.
clear
();
}
#endif
#endif
#endif // NO_SERIAL_LINK
#endif // NO_SERIAL_LINK
}
}
...
...
src/comm/LinkManager.h
View file @
432971ac
...
@@ -217,6 +217,7 @@ private:
...
@@ -217,6 +217,7 @@ private:
QList
<
SharedLinkInterfacePointer
>
_sharedLinks
;
QList
<
SharedLinkInterfacePointer
>
_sharedLinks
;
QList
<
SharedLinkConfigurationPointer
>
_sharedConfigurations
;
QList
<
SharedLinkConfigurationPointer
>
_sharedConfigurations
;
QList
<
SharedLinkConfigurationPointer
>
_sharedAutoconnectConfigurations
;
QList
<
SharedLinkConfigurationPointer
>
_sharedAutoconnectConfigurations
;
QString
_autoConnectRTKPort
;
QmlObjectListModel
_qmlConfigurations
;
QmlObjectListModel
_qmlConfigurations
;
QMap
<
QString
,
int
>
_autoconnectWaitList
;
///< key: QGCSerialPortInfo.systemLocation, value: wait count
QMap
<
QString
,
int
>
_autoconnectWaitList
;
///< key: QGCSerialPortInfo.systemLocation, value: wait count
...
...
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