Commit 49f2f76b authored by Lorenz Meier's avatar Lorenz Meier

Merge branch 'master' of github.com:mavlink/qgroundcontrol

parents fb582986 77b486be
......@@ -347,8 +347,6 @@ QPortSettings::BaudRate TermiosHelper::baudRate() const
speed_t ibaud = cfgetispeed(currentAttrs_);
speed_t obaud = cfgetospeed(currentAttrs_);
(obaud == ibaud);
Q_ASSERT(ibaud == obaud);
switch ( ibaud ) {
......
This diff is collapsed.
#include "PX4FirmwareUpgradeWorker.h"
#include <SerialLink.h>
#include <QGC.h>
#include <QDebug>
// protocol bytes
#define INSYNC 0x12
#define EOC 0x20
// reply bytes
#define OK 0x10
#define FAILED 0x11
#define INVALID 0x13 // rev3+
// command bytes
#define NOP 0x00 // guaranteed to be discarded by the bootloader
#define GET_SYNC 0x21
#define GET_DEVICE 0x22
#define CHIP_ERASE 0x23
#define CHIP_VERIFY 0x24 // rev2 only
#define PROG_MULTI 0x27
#define READ_MULTI 0x28 // rev2 only
#define GET_CRC 0x29 // rev3+
#define REBOOT 0x30
#define INFO_BL_REV 1 // bootloader protocol revision
#define BL_REV_MIN 2 // minimum supported bootloader protocol
#define BL_REV_MAX 3 // maximum supported bootloader protocol
#define INFO_BOARD_ID 2 // board type
#define INFO_BOARD_REV 3 // board revision
#define INFO_FLASH_SIZE 4 // max firmware size in bytes
PX4FirmwareUpgradeWorker::PX4FirmwareUpgradeWorker(QObject *parent) :
QObject(parent),
link(NULL)
{
}
PX4FirmwareUpgradeWorker* PX4FirmwareUpgradeWorker::putWorkerInThread(QObject *parent)
{
PX4FirmwareUpgradeWorker *worker = new PX4FirmwareUpgradeWorker;
QThread *workerThread = new QThread(parent);
connect(workerThread, SIGNAL(started()), worker, SLOT(startContinousScan()));
connect(workerThread, SIGNAL(finished()), worker, SLOT(deleteLater()));
worker->moveToThread(workerThread);
// Starts an event loop, and emits workerThread->started()
workerThread->start();
}
bool PX4FirmwareUpgradeWorker::startContinousScan()
{
while (true) {
if (detect()) {
break;
}
}
return true;
}
bool PX4FirmwareUpgradeWorker::detect()
{
if (!link)
{
link = new SerialLink("", 921600);
connect(link, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*,QByteArray)));
}
// Get a list of ports
QVector<QString>* ports = link->getCurrentPorts();
// Scan
for (int i = 0; i < ports->size(); i++)
{
// Ignore known wrong link names
if (ports->at(i).contains("Bluetooth")) {
continue;
}
link->setPortName(ports->at(i));
// Open port and talk to it
link->connect();
char buf[2] = { GET_SYNC, EOC };
if (!link->isConnected()) {
continue;
}
// Send sync request
insync = false;
link->writeBytes(buf, 2);
// Wait for response
QGC::SLEEP::msleep(20);
if (insync)
emit validPortFound(ports->at(i));
break;
}
if (insync) {
return true;
} else {
return false;
}
//ui.portName->setCurrentIndex(ui.baudRate->findText(QString("%1").arg(this->link->getPortName())));
// Set port
// Load current link config
}
void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
{
for (int position = 0; position < b.size(); position++) {
qDebug() << "BYTES";
qDebug() << std::hex << (char)(b[position]);
if (((const char)b[position]) == INSYNC)
{
qDebug() << "SYNC";
insync = true;
emit detectionStatusChanged("Found PX4 board");
}
}
printf("\n");
}
bool PX4FirmwareUpgradeWorker::upgrade(const QString &filename)
{
}
#ifndef PX4FIRMWAREUPGRADEWORKER_H
#define PX4FIRMWAREUPGRADEWORKER_H
#include <QObject>
#include <SerialLink.h>
class PX4FirmwareUpgradeWorker : public QObject
{
Q_OBJECT
public:
explicit PX4FirmwareUpgradeWorker(QObject *parent = 0);
static PX4FirmwareUpgradeWorker* putWorkerInThread(QObject *parent);
signals:
void detectionStatusChanged(const QString& status);
void upgradeStatusChanged(const QString& status);
void upgradeProgressChanged(int percent);
void validPortFound(const QString& portName);
public slots:
/**
* @brief Continously scan for bootloaders
* @return
*/
bool startContinousScan();
/**
* @brief Detect connected PX4 bootloaders
*
* If a bootloader was found, the link will be opened to this
* bootloader and ready for flashing when returning from the call.
*
* @return true if found on one link, false else
*/
bool detect();
/**
* @brief Upgrade the firmware using the currently connected link
* @param filename file name / path of the firmware file
* @return true if upgrade succeeds, false else
*/
bool upgrade(const QString &filename);
/**
* @brief Receive bytes from a link
* @param link
* @param b
*/
void receiveBytes(LinkInterface* link, QByteArray b);
private:
SerialLink *link;
bool insync;
};
#endif // PX4FIRMWAREUPGRADEWORKER_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 Implementation of main application class
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QThread>
#include <QSplashScreen>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <QSettings>
#include <QFontDatabase>
#include <QMainWindow>
#include "QUpgradeApp.h"
#include "QUpgradeMainWindow.h"
#include "PX4FirmwareUpgradeWorker.h"
#include "UDPLink.h"
/**
* @brief Constructor for the main application.
*
* This constructor initializes and starts the whole application. It takes standard
* command-line parameters
*
* @param argc The number of command-line parameters
* @param argv The string array of parameters
**/
QUpgradeApp::QUpgradeApp(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("Q PX4 Firmware Upgrade");
this->setApplicationVersion("v. 1.0.0 (Beta)");
this->setOrganizationName(QLatin1String("PX4"));
this->setOrganizationDomain("http://pixhawk.ethz.ch/px4/");
QSettings::setDefaultFormat(QSettings::IniFormat);
// Exit main application when last window is closed
connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
// Create main window
QUpgradeMainWindow* window = new QUpgradeMainWindow();
// Get PX4 upgrade widget and instantiate worker thread
PX4FirmwareUpgradeWorker* worker = PX4FirmwareUpgradeWorker::putWorkerInThread(this);
connect(worker, SIGNAL(detectionStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setDetectionStatusText(QString)));
connect(worker, SIGNAL(upgradeStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setFlashStatusText(QString)));
connect(worker, SIGNAL(upgradeProgressChanged(int)), window->firmwareUpgrader(), SLOT(setFlashProgress(int)));
connect(worker, SIGNAL(validPortFound(QString)), window->firmwareUpgrader(), SLOT(setPortName(QString)));
window->setWindowTitle(applicationName() + " " + applicationVersion());
window->show();
}
/**
* @brief Destructor for the groundstation. It destroys all loaded instances.
*
**/
QUpgradeApp::~QUpgradeApp()
{
}
/*=====================================================================
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 Definition of main application class
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#ifndef QUPGRADEAPP_H
#define QUPGRADEAPP_H
#include <QApplication>
/**
* @brief The main application and management class.
*
* This class is started by the main method and provides
* the central management unit of the groundstation application.
*
**/
class QUpgradeApp : public QApplication
{
Q_OBJECT
public:
QUpgradeApp(int &argc, char* argv[]);
~QUpgradeApp();
protected:
private:
};
#endif /* QUPGRADEAPP_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 Implementation of main window
*
* @author Lorenz Meier
*
*/
#include "QUpgradeMainWindow.h"
#include "ui_QUpgradeMainWindow.h"
//#include "UDPLink.h"
#include <QDebug>
QUpgradeMainWindow::QUpgradeMainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::QUpgradeMainWindow)
{
ui->setupUi(this);
}
PX4FirmwareUpgrader* QUpgradeMainWindow::firmwareUpgrader() {
return ui->centralwidget;
}
QUpgradeMainWindow::~QUpgradeMainWindow()
{
delete ui;
}
/*=====================================================================
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 Definition of main window
*
* @author Lorenz Meier
*
*/
#ifndef QUPGRADEMAINWINDOW_H
#define QUPGRADEMAINWINDOW_H
#include <QMainWindow>
#include "PX4FirmwareUpgrader.h"
namespace Ui {
class QUpgradeMainWindow;
}
class QUpgradeMainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit QUpgradeMainWindow(QWidget *parent = 0);
~QUpgradeMainWindow();
PX4FirmwareUpgrader* firmwareUpgrader();
public slots:
protected:
private:
Ui::QUpgradeMainWindow *ui;
};
#endif // QUPGRADEMAINWINDOW_H
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QUpgradeMainWindow</class>
<widget class="QMainWindow" name="QUpgradeMainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>600</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="PX4FirmwareUpgrader" name="centralwidget">
<layout class="QGridLayout" name="gridLayout" rowstretch="0"/>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<customwidgets>
<customwidget>
<class>PX4FirmwareUpgrader</class>
<extends>QWidget</extends>
<header location="global">PX4FirmwareUpgrader.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
/*=====================================================================
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 Main executable
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#include <QtGui/QApplication>
#include "QUpgradeApp.h"
/**
* @brief Starts the application
*
* @param argc Number of commandline arguments
* @param argv Commandline arguments
* @return exit code, 0 for normal exit and !=0 for error cases
*/
int main(int argc, char *argv[])
{
QUpgradeApp app(argc, argv);
return app.exec();
}
......@@ -563,10 +563,16 @@ bool SerialLink::disconnect()
emit disconnected();
emit connected(false);
if (port) {
port->close();
}
return closed;
}
else {
// No port, so we're disconnected
// not running
if (port) {
port->close();
}
return true;
}
......
#include "PX4FirmwareUpgrader.h"
#include "ui_PX4FirmwareUpgrader.h"
#include <QGC.h>
#include <QDebug>
PX4FirmwareUpgrader::PX4FirmwareUpgrader(QWidget *parent) :
QWidget(parent),
ui(new Ui::PX4FirmwareUpgrader)
{
ui->setupUi(this);
connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectFirmwareFile()));
connect(ui->flashButton, SIGNAL(clicked()), this, SIGNAL(upgrade()));
}
PX4FirmwareUpgrader::~PX4FirmwareUpgrader()
{
delete ui;
}
void PX4FirmwareUpgrader::selectFirmwareFile()
{
}
void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
{
ui->detectionStatusLabel->setText(text);
}
void PX4FirmwareUpgrader::setFlashStatusText(const QString &text)
{
ui->flashProgressLabel->setText(text);
}
void PX4FirmwareUpgrader::setFlashProgress(int percent)
{
ui->flashProgressBar->setValue(percent);
}
void PX4FirmwareUpgrader::setPortName(const QString &portname)
{
// Prepend newly found port to the list
if (ui->serialPortComboBox->findText(portname) == -1)
{
ui->serialPortComboBox->insertItem(0, portname);
ui->serialPortComboBox->setEditText(portname);
}
}
#ifndef PX4FIRMWAREUPGRADER_H
#define PX4FIRMWAREUPGRADER_H
#include <QWidget>
#include <QTimer>
#include <SerialLink.h>
namespace Ui {
class PX4FirmwareUpgrader;
}
class PX4FirmwareUpgrader : public QWidget
{
Q_OBJECT
public:
PX4FirmwareUpgrader(QWidget *parent = 0);
~PX4FirmwareUpgrader();
public slots:
void setDetectionStatusText(const QString &text);
void setFlashStatusText(const QString &text);
void setFlashProgress(int percent);
void selectFirmwareFile();
void setPortName(const QString &portname);
signals:
void firmwareFileNameSet(const QString &fileName);
void upgrade();
private:
Ui::PX4FirmwareUpgrader *ui;
};
#endif // PX4FIRMWAREUPGRADER_H
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>PX4FirmwareUpgrader</class>
<widget class="QWidget" name="PX4FirmwareUpgrader">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>428</width>
<height>331</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="3" column="0" colspan="3">
<widget class="QTextBrowser" name="descriptionTextBrowser"/>
</item>
<item row="4" column="0" colspan="3">
<widget class="QProgressBar" name="flashProgressBar">
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="5" column="0" colspan="2">
<widget class="QLabel" name="flashProgressLabel">
<property name="text">
<string>No update in progress.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="versionComboBox"/>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="selectFileButton">
<property name="text">
<string>Select File..</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="versionButton">
<property name="text">
<string>Check Online</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="serialPortButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Set Serial Port</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QPushButton" name="flashButton">
<property name="text">
<string>Flash Firmware</string>
</property>