Finished abstracting serial port.

CMakeLists.txt

@@ -394,6 +394,7 @@ set(qgroundcontrolMocSrc
 	#src/comm/OpalLink.h
 	src/comm/MAVLinkProtocol.h
 	src/comm/SerialLinkInterface.h
+	src/comm/SerialInterface.h
 	src/comm/UDPLink.h
 	src/comm/LinkManager.h
 	src/comm/LinkInterface.h

qgroundcontrol.pro

@@ -189,6 +189,7 @@ HEADERS += src/MG.h \
     src/comm/LinkManager.h \
     src/comm/LinkInterface.h \
     src/comm/SerialLinkInterface.h \
+    src/comm/SerialInterface.h \
     src/comm/SerialLink.h \
     src/comm/SerialSimulationLink.h \
     src/comm/ProtocolInterface.h \

src/comm/SerialInterface.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 James Goppertr <james.goppert@gmail.edu>
+ *
+ */
+
+#ifndef SERIALINTERFACE_H
+#define SERIALINTERFACE_H
+
+#include <QIODevice>
+#include "qextserialport.h"
+
+/**
+ * @brief The SerialInterface abstracts low level serial calls
+ */
+class SerialInterface : public QObject {
+	Q_OBJECT
+
+signals:
+	void aboutToClose();
+
+public:
+
+	enum baudRateType 
+	{
+		BAUD50,                //POSIX ONLY
+		BAUD75,                //POSIX ONLY
+		BAUD110,
+		BAUD134,               //POSIX ONLY
+		BAUD150,               //POSIX ONLY
+		BAUD200,               //POSIX ONLY
+		BAUD300,
+		BAUD600,
+		BAUD1200,
+		BAUD1800,              //POSIX ONLY
+		BAUD2400,
+		BAUD4800,
+		BAUD9600,
+		BAUD14400,             //WINDOWS ONLY
+		BAUD19200,
+		BAUD38400,
+		BAUD56000,             //WINDOWS ONLY
+		BAUD57600,
+		BAUD76800,             //POSIX ONLY
+		BAUD115200,
+		BAUD128000,            // WINDOWS ONLY
+		BAUD230400,            // WINDOWS ONLY
+		BAUD256000,            // WINDOWS ONLY
+		BAUD460800,            // WINDOWS ONLY
+		BAUD921600             // WINDOWS ONLY
+	};
+
+	enum dataBitsType 
+	{
+		DATA_5,
+		DATA_6,
+		DATA_7,
+		DATA_8
+	};
+
+	enum parityType 
+	{
+		PAR_NONE,
+		PAR_ODD,
+		PAR_EVEN,
+		PAR_MARK,               //WINDOWS ONLY
+		PAR_SPACE
+	};
+
+	enum stopBitsType 
+	{
+		STOP_1,
+		STOP_1_5,               //WINDOWS ONLY
+		STOP_2
+	};
+
+	enum flowType 
+	{
+		FLOW_OFF,
+		FLOW_HARDWARE,
+		FLOW_XONXOFF
+	};
+
+	/**
+	 * structure to contain port settings
+	 */
+	struct portSettings 
+	{
+		baudRateType BaudRate;
+		dataBitsType DataBits;
+		parityType Parity;
+		stopBitsType StopBits;
+		flowType FlowControl;
+		long timeout_Millisec;
+	};
+
+	virtual bool isOpen() = 0;
+	virtual bool isWriteable() = 0;
+	virtual bool bytesAvailable() = 0;
+	virtual int write(const char * data, qint64 size) = 0;	
+	virtual void read(char * data, qint64 numBytes) = 0;	
+	virtual void flush() = 0;
+	virtual void close() = 0;
+    virtual void open(QIODevice::OpenModeFlag flag) = 0;
+    virtual void setBaudRate(baudRateType baudrate) = 0;
+    virtual void setParity(parityType parity) = 0;
+    virtual void setStopBits(stopBitsType stopBits) = 0;
+    virtual void setDataBits(dataBitsType dataBits) = 0;
+    virtual void setTimeout(qint64 timeout) = 0;
+
+};
+
+class SerialQextserial : public SerialInterface
+{
+	Q_OBJECT
+private:
+	QextSerialPort * _port;
+signals:
+	void aboutToClose();
+public:
+	SerialQextserial(QString porthandle, QextSerialPort::QueryMode mode) : _port(NULL)
+	{
+		_port = new QextSerialPort(porthandle, QextSerialPort::Polling);
+		//QObject::connect(_port,SIGNAL(aboutToClose()),this,SIGNAL(aboutToClose()));
+	}
+	virtual bool isOpen() { return _port->isOpen(); }
+	virtual bool isWriteable() { return _port->isWritable(); } // yess, that is mis-spelled, writable
+	virtual bool bytesAvailable() { return _port->bytesAvailable(); }
+	virtual int write(const char * data, qint64 size) { return _port->write(data,size); }	
+	virtual void read(char * data, qint64 numBytes) { _port->read(data,numBytes); }	
+	virtual void flush() { _port->flush(); }
+	virtual void close() { _port->close(); }
+    virtual void open(QIODevice::OpenModeFlag flag) { _port->open(flag); }
+    virtual void setBaudRate(SerialInterface::baudRateType baudrate) { _port->setBaudRate((BaudRateType)baudrate); }
+    virtual void setParity(SerialInterface::parityType parity) { _port->setParity((ParityType)parity); }
+    virtual void setStopBits(SerialInterface::stopBitsType stopBits) { _port->setStopBits((StopBitsType)stopBits); }
+    virtual void setDataBits(SerialInterface::dataBitsType dataBits) { _port->setDataBits((DataBitsType)dataBits); }
+    virtual void setTimeout(qint64 timeout) { _port->setTimeout(timeout); };
+};
+
+class SerialQserial
+{
+};
+
+
+#endif // SERIALINTERFACE_H

src/comm/SerialLink.cc

@@ -22,7 +22,8 @@
 #endif
 
 
-SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, ParityType parity, DataBitsType dataBits, StopBitsType stopBits) :
+SerialLink::SerialLink(QString portname, SerialInterface::baudRateType baudrate, SerialInterface::flowType flow, SerialInterface::parityType parity, 
+		SerialInterface::dataBitsType dataBits, SerialInterface::stopBitsType stopBits) :
         port(NULL)
 {
     // Setup settings
@@ -141,7 +142,7 @@ void SerialLink::run()
 void SerialLink::checkForBytes()
 {
     /* Check if bytes are available */
-    if(port && port->isOpen() && port->isWritable())
+    if(port && port->isOpen() && port->isWriteable())
     {
         dataMutex.lock();
         qint64 available = port->bytesAvailable();
@@ -159,7 +160,6 @@ void SerialLink::checkForBytes()
 
 }
 
-
 void SerialLink::writeBytes(const char* data, qint64 size)
 {
     if(port && port->isOpen())
@@ -316,7 +316,7 @@ bool SerialLink::hardwareConnect()
         port->close();
         delete port;
     }
-    port = new QextSerialPort(porthandle, QextSerialPort::Polling);
+    port = new SerialQextserial(porthandle, QextSerialPort::Polling);
     QObject::connect(port, SIGNAL(aboutToClose()), this, SIGNAL(disconnected()));
 
     port->open(QIODevice::ReadWrite);
@@ -380,77 +380,77 @@ qint64 SerialLink::getNominalDataRate()
     qint64 dataRate = 0;
     switch (baudrate)
     {
-    case BAUD50:
+    case SerialInterface::BAUD50:
         dataRate = 50;
         break;
-    case BAUD75:
+    case SerialInterface::BAUD75:
         dataRate = 75;
         break;
-    case BAUD110:
+    case SerialInterface::BAUD110:
         dataRate = 110;
         break;
-    case BAUD134:
+    case SerialInterface::BAUD134:
         dataRate = 134;
         break;
-    case BAUD150:
+    case SerialInterface::BAUD150:
         dataRate = 150;
         break;
-    case BAUD200:
+    case SerialInterface::BAUD200:
         dataRate = 200;
         break;
-    case BAUD300:
+    case SerialInterface::BAUD300:
         dataRate = 300;
         break;
-    case BAUD600:
+    case SerialInterface::BAUD600:
         dataRate = 600;
         break;
-    case BAUD1200:
+    case SerialInterface::BAUD1200:
         dataRate = 1200;
         break;
-    case BAUD1800:
+    case SerialInterface::BAUD1800:
         dataRate = 1800;
         break;
-    case BAUD2400:
+    case SerialInterface::BAUD2400:
         dataRate = 2400;
         break;
-    case BAUD4800:
+    case SerialInterface::BAUD4800:
         dataRate = 4800;
         break;
-    case BAUD9600:
+    case SerialInterface::BAUD9600:
         dataRate = 9600;
         break;
-    case BAUD14400:
+    case SerialInterface::BAUD14400:
         dataRate = 14400;
         break;
-    case BAUD19200:
+    case SerialInterface::BAUD19200:
         dataRate = 19200;
         break;
-    case BAUD38400:
+    case SerialInterface::BAUD38400:
         dataRate = 38400;
         break;
-    case BAUD56000:
+    case SerialInterface::BAUD56000:
         dataRate = 56000;
         break;
-    case BAUD57600:
+    case SerialInterface::BAUD57600:
         dataRate = 57600;
         break;
-    case BAUD76800:
+    case SerialInterface::BAUD76800:
         dataRate = 76800;
         break;
-    case BAUD115200:
+    case SerialInterface::BAUD115200:
         dataRate = 115200;
         break;
-    case BAUD128000:
+    case SerialInterface::BAUD128000:
         dataRate = 128000;
         break;
-    case BAUD256000:
+    case SerialInterface::BAUD256000:
         dataRate = 256000;
         // Windows-specific high-end baudrates
-    case BAUD230400:
+    case SerialInterface::BAUD230400:
         dataRate = 230400;
-    case BAUD460800:
+    case SerialInterface::BAUD460800:
         dataRate = 460800;
-    case BAUD921600:
+    case SerialInterface::BAUD921600:
         dataRate = 921600;
         break;
     }
@@ -553,16 +553,16 @@ int SerialLink::getDataBits()
     int ret;
     switch (dataBits)
     {
-    case DATA_5:
+    case SerialInterface::DATA_5:
         ret = 5;
         break;
-    case DATA_6:
+    case SerialInterface::DATA_6:
         ret = 6;
         break;
-    case DATA_7:
+    case SerialInterface::DATA_7:
         ret = 7;
         break;
-    case DATA_8:
+    case SerialInterface::DATA_8:
         ret = 8;
         break;
     default:
@@ -577,10 +577,10 @@ int SerialLink::getStopBits()
     int ret;
     switch (stopBits)
     {
-    case STOP_1:
+    case SerialInterface::STOP_1:
         ret = 1;
         break;
-    case STOP_2:
+    case SerialInterface::STOP_2:
         ret = 2;
         break;
     default:
@@ -629,79 +629,79 @@ bool SerialLink::setBaudRateType(int rateIndex)
 
     switch (rateIndex) {
     case 0:
-        baudrate = BAUD50;
+        baudrate = SerialInterface::BAUD50;
         break;
     case 1:
-        baudrate = BAUD75;
+        baudrate = SerialInterface::BAUD75;
         break;
     case 2:
-        baudrate = BAUD110;
+        baudrate = SerialInterface::BAUD110;
         break;
     case 3:
-        baudrate = BAUD134;
+        baudrate = SerialInterface::BAUD134;
         break;
     case 4:
-        baudrate = BAUD150;
+        baudrate = SerialInterface::BAUD150;
         break;
     case 5:
-        baudrate = BAUD200;
+        baudrate = SerialInterface::BAUD200;
         break;
     case 6:
-        baudrate = BAUD300;
+        baudrate = SerialInterface::BAUD300;
         break;
     case 7:
-        baudrate = BAUD600;
+        baudrate = SerialInterface::BAUD600;
         break;
     case 8:
-        baudrate = BAUD1200;
+        baudrate = SerialInterface::BAUD1200;
         break;
     case 9:
-        baudrate = BAUD1800;
+        baudrate = SerialInterface::BAUD1800;
         break;
     case 10:
-        baudrate = BAUD2400;
+        baudrate = SerialInterface::BAUD2400;
         break;
     case 11:
-        baudrate = BAUD4800;
+        baudrate = SerialInterface::BAUD4800;
         break;
     case 12:
-        baudrate = BAUD9600;
+        baudrate = SerialInterface::BAUD9600;
         break;
     case 13:
-        baudrate = BAUD14400;
+        baudrate = SerialInterface::BAUD14400;
         break;
     case 14:
-        baudrate = BAUD19200;
+        baudrate = SerialInterface::BAUD19200;
         break;
     case 15:
-        baudrate = BAUD38400;
+        baudrate = SerialInterface::BAUD38400;
         break;
     case 16:
-        baudrate = BAUD56000;
+        baudrate = SerialInterface::BAUD56000;
         break;
     case 17:
-        baudrate = BAUD57600;
+        baudrate = SerialInterface::BAUD57600;
         break;
     case 18:
-        baudrate = BAUD76800;
+        baudrate = SerialInterface::BAUD76800;
         break;
     case 19:
-        baudrate = BAUD115200;
+        baudrate = SerialInterface::BAUD115200;
         break;
     case 20:
-        baudrate = BAUD128000;
+        baudrate = SerialInterface::BAUD128000;
         break;
     case 21:
-        baudrate = BAUD230400;
+        baudrate = SerialInterface::BAUD230400;
         break;
     case 22:
-        baudrate = BAUD256000;
+        baudrate = SerialInterface::BAUD256000;
         break;
     case 23:
-        baudrate = BAUD460800;
+        baudrate = SerialInterface::BAUD460800;
         break;
     case 24:
-        baudrate = BAUD921600;
+        baudrate = SerialInterface::BAUD921600;
         break;
     default:
         // If none of the above cases matches, there must be an error
@@ -728,79 +728,79 @@ bool SerialLink::setBaudRate(int rate)
     switch (rate)
     {
     case 50:
-        baudrate = BAUD50;
+        baudrate = SerialInterface::BAUD50;
         break;
     case 75:
-        baudrate = BAUD75;
+        baudrate = SerialInterface::BAUD75;
         break;
     case 110:
-        baudrate = BAUD110;
+        baudrate = SerialInterface::BAUD110;
         break;
     case 134:
-        baudrate = BAUD134;
+        baudrate = SerialInterface::BAUD134;
         break;
     case 150:
-        baudrate = BAUD150;
+        baudrate = SerialInterface::BAUD150;
         break;
     case 200:
-        baudrate = BAUD200;
+        baudrate = SerialInterface::BAUD200;
         break;
     case 300:
-        baudrate = BAUD300;
+        baudrate = SerialInterface::BAUD300;
         break;
     case 600:
-        baudrate = BAUD600;
+        baudrate = SerialInterface::BAUD600;
         break;
     case 1200:
-        baudrate = BAUD1200;
+        baudrate = SerialInterface::BAUD1200;
         break;
     case 1800:
-        baudrate = BAUD1800;
+        baudrate = SerialInterface::BAUD1800;
         break;
     case 2400:
-        baudrate = BAUD2400;
+        baudrate = SerialInterface::BAUD2400;
         break;
     case 4800:
-        baudrate = BAUD4800;
+        baudrate = SerialInterface::BAUD4800;
         break;
     case 9600:
-        baudrate = BAUD9600;
+        baudrate = SerialInterface::BAUD9600;
         break;
     case 14400:
-        baudrate = BAUD14400;
+        baudrate = SerialInterface::BAUD14400;
         break;
     case 19200:
-        baudrate = BAUD19200;
+        baudrate = SerialInterface::BAUD19200;
         break;
     case 38400:
-        baudrate = BAUD38400;
+        baudrate = SerialInterface::BAUD38400;
         break;
     case 56000:
-        baudrate = BAUD56000;
+        baudrate = SerialInterface::BAUD56000;
         break;
     case 57600:
-        baudrate = BAUD57600;
+        baudrate = SerialInterface::BAUD57600;
         break;
     case 76800:
-        baudrate = BAUD76800;
+        baudrate = SerialInterface::BAUD76800;
         break;
     case 115200:
-        baudrate = BAUD115200;
+        baudrate = SerialInterface::BAUD115200;
         break;
     case 128000:
-        baudrate = BAUD128000;
+        baudrate = SerialInterface::BAUD128000;
         break;
     case 230400:
-        baudrate = BAUD230400;
+        baudrate = SerialInterface::BAUD230400;
         break;
     case 256000:
-        baudrate = BAUD256000;
+        baudrate = SerialInterface::BAUD256000;
         break;
     case 460800:
-        baudrate = BAUD460800;
+        baudrate = SerialInterface::BAUD460800;
         break;
     case 921600:
-        baudrate = BAUD921600;
+        baudrate = SerialInterface::BAUD921600;
         break;
     default:
         // If none of the above cases matches, there must be an error
@@ -822,14 +822,14 @@ bool SerialLink::setFlowType(int flow)
 
     switch (flow)
     {
-    case FLOW_OFF:
-        this->flow = FLOW_OFF;
+    case SerialInterface::FLOW_OFF:
+        this->flow = SerialInterface::FLOW_OFF;
         break;
-    case FLOW_HARDWARE:
-        this->flow = FLOW_HARDWARE;
+    case SerialInterface::FLOW_HARDWARE:
+        this->flow = SerialInterface::FLOW_HARDWARE;
         break;
-    case FLOW_XONXOFF:
-        this->flow = FLOW_XONXOFF;
+    case SerialInterface::FLOW_XONXOFF:
+        this->flow = SerialInterface::FLOW_XONXOFF;
         break;
     default:
         // If none of the above cases matches, there must be an error
@@ -851,19 +851,19 @@ bool SerialLink::setParityType(int parity)
     switch (parity)
     {
     case (int)PAR_NONE:
-        this->parity = PAR_NONE;
+        this->parity = SerialInterface::PAR_NONE;
         break;
     case (int)PAR_ODD:
-        this->parity = PAR_ODD;
+        this->parity = SerialInterface::PAR_ODD;
         break;
     case (int)PAR_EVEN:
-        this->parity = PAR_EVEN;
+        this->parity = SerialInterface::PAR_EVEN;
         break;
     case (int)PAR_MARK:
-        this->parity = PAR_MARK;
+        this->parity = SerialInterface::PAR_MARK;
         break;
     case (int)PAR_SPACE:
-        this->parity = PAR_SPACE;
+        this->parity = SerialInterface::PAR_SPACE;
         break;
     default:
         // If none of the above cases matches, there must be an error
@@ -886,16 +886,16 @@ bool SerialLink::setDataBits(int dataBits)
     switch (dataBits)
     {
     case 5:
-        this->dataBits = DATA_5;
+        this->dataBits = SerialInterface::DATA_5;
         break;
     case 6:
-        this->dataBits = DATA_6;
+        this->dataBits = SerialInterface::DATA_6;
         break;
     case 7:
-        this->dataBits = DATA_7;
+        this->dataBits = SerialInterface::DATA_7;
         break;
     case 8:
-        this->dataBits = DATA_8;
+        this->dataBits = SerialInterface::DATA_8;
         break;
     default:
         // If none of the above cases matches, there must be an error
@@ -918,10 +918,10 @@ bool SerialLink::setStopBits(int stopBits)
     switch (stopBits)
     {
     case 1:
-        this->stopBits = STOP_1;
+        this->stopBits = SerialInterface::STOP_1;
         break;
     case 2:
-        this->stopBits = STOP_2;
+        this->stopBits = SerialInterface::STOP_2;
         break;
     default:
         // If none of the above cases matches, there must be an error
@@ -941,9 +941,9 @@ bool SerialLink::setDataBitsType(int dataBits)
     if (isConnected()) reconnect = true;
     disconnect();
 
-    if (dataBits >= (int)DATA_5 && dataBits <= (int)DATA_8)
+    if (dataBits >= (int)SerialInterface::DATA_5 && dataBits <= (int)SerialInterface::DATA_8)
     {
-        this->dataBits = (DataBitsType) dataBits;
+        this->dataBits = (SerialInterface::dataBitsType) dataBits;
 
         if(reconnect) connect();
         accepted = true;
@@ -959,9 +959,9 @@ bool SerialLink::setStopBitsType(int stopBits)
     if(isConnected()) reconnect = true;
     disconnect();
 
-    if (stopBits >= (int)STOP_1 && dataBits <= (int)STOP_2)
+    if (stopBits >= (int)SerialInterface::STOP_1 && dataBits <= (int)SerialInterface::STOP_2)
     {
-        StopBitsType newBits = (StopBitsType) stopBits;
+		SerialInterface::stopBitsType newBits = (SerialInterface::stopBitsType) stopBits;
 
         port->setStopBits(newBits);
         accepted = true;

src/comm/SerialLink.h

@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QThread>
 #include <QMutex>
 #include <QString>
-#include <qextserialport.h>
+#include "SerialInterface.h"
 #include <configuration.h>
 #include "SerialLinkInterface.h"
 #ifdef _WIN32
@@ -57,7 +57,12 @@ class SerialLink : public SerialLinkInterface {
     //Q_INTERFACES(SerialLinkInterface:LinkInterface)
 
 public:
-    SerialLink(QString portname = "", BaudRateType baudrate=BAUD57600, FlowType flow=FLOW_OFF, ParityType parity=PAR_NONE, DataBitsType dataBits=DATA_8, StopBitsType stopBits=STOP_1);
+    SerialLink(QString portname = "", 
+			SerialInterface::baudRateType baudrate=SerialInterface::BAUD57600,
+			SerialInterface::flowType flow=SerialInterface::FLOW_OFF, 
+			SerialInterface::parityType parity=SerialInterface::PAR_NONE,
+			SerialInterface::dataBitsType dataBits=SerialInterface::DATA_8,
+			SerialInterface::stopBitsType stopBits=SerialInterface::STOP_1);
     ~SerialLink();
 
     static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in configuration.h
@@ -132,18 +137,18 @@ protected slots:
     void checkForBytes();
 
 protected:
-    QextSerialPort* port;
+    SerialInterface * port;
 #ifdef _WIN32
     HANDLE winPort;
     DCB winPortSettings;
 #endif
     QString porthandle;
     QString name;
-    BaudRateType baudrate;
-    FlowType flow;
-    ParityType parity;
-    DataBitsType dataBits;
-    StopBitsType stopBits;
+	SerialInterface::baudRateType baudrate;
+	SerialInterface::flowType flow;
+	SerialInterface::parityType parity;
+	SerialInterface::dataBitsType dataBits;
+	SerialInterface::stopBitsType stopBits;
     int timeout;
     int id;
 
@@ -163,7 +168,7 @@ protected:
     bool hardwareConnect();
 
 signals:
-    // Signals are defined by LinkInterface
+	void aboutToCloseFlag();
 
 };