First shot at Bluetooth

qgroundcontrol.pro

@@ -69,11 +69,16 @@ QT += \
     xml \
 
 !MobileBuild {
-    QT += \
+QT += \
     printsupport \
     serialport \
 }
 
+!WindowsBuild {
+QT += \
+    bluetooth \
+}
+
 contains(DEFINES, QGC_NOTIFY_TUNES_ENABLED) {
     QT += multimedia
 }
@@ -304,6 +309,9 @@ HEADERS += \
 WindowsBuild {
     PRECOMPILED_HEADER += src/stable_headers.h
     HEADERS += src/stable_headers.h
+} else {
+    HEADERS += \
+    src/comm/BluetoothLink.h \
 }
 
 !iOSBuild {
@@ -425,6 +433,11 @@ SOURCES += \
     src/ui/SerialConfigurationWindow.cc \
 }
 
+!WindowsBuild {
+    SOURCES += \
+    src/comm/BluetoothLink.cc \
+}
+
 !MobileBuild {
 SOURCES += \
     src/comm/LogReplayLink.cc \

qgroundcontrol.qrc

@@ -16,6 +16,7 @@
         <file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
         <file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
 
+        <file alias="BluetoothSettings.qml">src/ui/preferences/BluetoothSettings.qml</file>
         <file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
         <file alias="GeneralSettings.qml">src/ui/preferences/GeneralSettings.qml</file>
         <file alias="LinkSettings.qml">src/ui/preferences/LinkSettings.qml</file>

src/comm/BluetoothLink.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2015 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 Bluetooth connection for unmanned vehicles
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#ifndef BTLINK_H
+#define BTLINK_H
+
+#include <QString>
+#include <QList>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QQueue>
+#include <QByteArray>
+#include <QBluetoothDeviceInfo>
+#include <QtBluetooth/QBluetoothSocket>
+
+#include "QGCConfig.h"
+#include "LinkManager.h"
+
+class QBluetoothDeviceDiscoveryAgent;
+
+class BluetoothConfiguration : public LinkConfiguration
+{
+    Q_OBJECT
+
+public:
+
+    BluetoothConfiguration(const QString& name);
+    BluetoothConfiguration(BluetoothConfiguration* source);
+    ~BluetoothConfiguration();
+
+    Q_PROPERTY(QString      device      READ device    WRITE setDevice    NOTIFY deviceChanged)
+    Q_PROPERTY(QString      address     READ address   WRITE setAddress   NOTIFY addressChanged)
+    Q_PROPERTY(QStringList  deviceList  READ deviceList                   NOTIFY deviceListChanged)
+    Q_PROPERTY(bool         scanning    READ scanning                     NOTIFY scanningChanged)
+
+    Q_INVOKABLE void        startScan   ();
+    Q_INVOKABLE void        stopScan    ();
+
+    QString     device                  () { return _device; }
+    QString     address                 () { return _address; }
+    QStringList deviceList              () { return _deviceList; }
+    bool        scanning                () { return _deviceDiscover != NULL; }
+
+    void        setDevice               (QString device);
+    void        setAddress              (QString address) { _address = address; emit addressChanged(); }
+
+    /// From LinkConfiguration
+    LinkType    type                    () { return LinkConfiguration::TypeBluetooth; }
+    void        copyFrom                (LinkConfiguration* source);
+    void        loadSettings            (QSettings& settings, const QString& root);
+    void        saveSettings            (QSettings& settings, const QString& root);
+    void        updateSettings          ();
+    QString     settingsURL             () { return "BluetoothSettings.qml"; }
+
+public slots:
+    void        deviceDiscovered        (QBluetoothDeviceInfo info);
+    void        doneScanning            ();
+
+signals:
+    void        newDevice               (QBluetoothDeviceInfo info);
+    void        deviceChanged           ();
+    void        addressChanged          ();
+    void        deviceListChanged       ();
+    void        scanningChanged         ();
+
+private:
+
+private:
+    QBluetoothDeviceDiscoveryAgent*     _deviceDiscover;
+    QString                             _device;
+    QString                             _address;
+    QStringList                         _deviceList;
+    QStringList                         _addressList;
+};
+
+class BluetoothLink : public LinkInterface
+{
+    Q_OBJECT
+
+    friend class BluetoothConfiguration;
+    friend class LinkManager;
+
+public:
+    void    requestReset            () { }
+    bool    isConnected             () const;
+    QString getName                 () const;
+
+    // Extensive statistics for scientific purposes
+    qint64  getConnectionSpeed      () const;
+    qint64  getCurrentInDataRate    () const;
+    qint64  getCurrentOutDataRate   () const;
+
+    void run();
+
+    // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
+    // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
+    bool    connect                 (void);
+    bool    disconnect              (void);
+
+    LinkConfiguration* getLinkConfiguration() { return _config; }
+
+public slots:
+
+    void    readBytes               ();
+    void    writeBytes              (const char* data, qint64 length);
+    void    deviceConnected         ();
+    void    deviceDisconnected      ();
+    void    deviceError             (QBluetoothSocket::SocketError error);
+    void    stateChanged            (QBluetoothSocket::SocketState state);
+    void    deviceDiscovered        (QBluetoothDeviceInfo info);
+    void    doneScanning            ();
+
+protected:
+
+    BluetoothConfiguration*     _config;
+    bool                        _connectState;
+
+private:
+    // Links are only created/destroyed by LinkManager so constructor/destructor is not public
+    BluetoothLink(BluetoothConfiguration* config);
+    ~BluetoothLink();
+
+    // From LinkInterface
+    bool _connect               (void);
+    void _disconnect            (void);
+
+    bool _hardwareConnect       ();
+    void _restartConnection     ();
+    void _sendBytes             (const char* data, qint64 size);
+
+private:
+
+    QBluetoothSocket*                   _targetSocket;
+    QBluetoothDeviceInfo*               _targetDevice;
+    QBluetoothDeviceDiscoveryAgent*     _deviceDiscover;
+    bool                                _running;
+};
+
+#endif // BTLINK_H

src/comm/LinkConfiguration.cc

@@ -36,7 +36,9 @@ This file is part of the QGROUNDCONTROL project
 #ifndef __mobile__
 #include "LogReplayLink.h"
 #endif
-
+#ifndef Q_OS_WIN
+#include "BluetoothLink.h"
+#endif
 #ifdef QT_DEBUG
 #include "MockLink.h"
 #endif
@@ -101,6 +103,11 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na
         case LinkConfiguration::TypeTcp:
             config = new TCPConfiguration(name);
             break;
+#ifndef Q_OS_WIN
+    case LinkConfiguration::TypeBluetooth:
+        config = new BluetoothConfiguration(name);
+        break;
+#endif
 #ifndef __mobile__
         case LinkConfiguration::TypeLogReplay:
             config = new LogReplayLinkConfiguration(name);
@@ -134,6 +141,11 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
         case TypeTcp:
             dupe = new TCPConfiguration(dynamic_cast<TCPConfiguration*>(source));
             break;
+#ifndef Q_OS_WIN
+    case TypeBluetooth:
+        dupe = new BluetoothConfiguration(dynamic_cast<BluetoothConfiguration*>(source));
+        break;
+#endif
 #ifndef __mobile__
         case TypeLogReplay:
             dupe = new LogReplayLinkConfiguration(dynamic_cast<LogReplayLinkConfiguration*>(source));

src/comm/LinkConfiguration.h

@@ -57,12 +57,16 @@ public:
     void            setLink(LinkInterface* link);
 
     ///  The link types supported by QGC
+    ///  Any changes here MUST be reflected in LinkManager::linkTypeStrings()
     enum LinkType {
 #ifndef __ios__
         TypeSerial,     ///< Serial Link
 #endif
         TypeUdp,        ///< UDP Link
         TypeTcp,        ///< TCP Link
+#ifndef Q_OS_WIN
+        TypeBluetooth,  ///< Bluetooth Link
+#endif
 #if 0
         // TODO Below is not yet implemented
         TypeForwarding, ///< Forwarding Link

src/comm/LinkManager.cc

@@ -44,6 +44,9 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCApplication.h"
 #include "UDPLink.h"
 #include "TCPLink.h"
+#ifndef Q_OS_WIN
+#include "BluetoothLink.h"
+#endif
 
 QGC_LOGGING_CATEGORY(LinkManagerLog, "LinkManagerLog")
 QGC_LOGGING_CATEGORY(LinkManagerVerboseLog, "LinkManagerVerboseLog")
@@ -124,6 +127,11 @@ LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
         case LinkConfiguration::TypeTcp:
             pLink = new TCPLink(dynamic_cast<TCPConfiguration*>(config));
             break;
+#ifndef Q_OS_WIN
+        case LinkConfiguration::TypeBluetooth:
+            pLink = new BluetoothLink(dynamic_cast<BluetoothConfiguration*>(config));
+            break;
+#endif
 #ifndef __mobile__
         case LinkConfiguration::TypeLogReplay:
             pLink = new LogReplayLink(dynamic_cast<LogReplayLinkConfiguration*>(config));
@@ -359,6 +367,11 @@ void LinkManager::loadLinkConfigurationList()
                                 case LinkConfiguration::TypeTcp:
                                     pLink = (LinkConfiguration*)new TCPConfiguration(name);
                                     break;
+#ifndef Q_OS_WIN
+                                case LinkConfiguration::TypeBluetooth:
+                                    pLink = (LinkConfiguration*)new BluetoothConfiguration(name);
+                                    break;
+#endif
 #ifndef __mobile__
                                 case LinkConfiguration::TypeLogReplay:
                                     pLink = (LinkConfiguration*)new LogReplayLinkConfiguration(name);
@@ -701,12 +714,16 @@ QStringList LinkManager::linkTypeStrings(void) const
 #endif
         list += "UDP";
         list += "TCP";
+#ifndef Q_OS_WIN
+        list += "Bluetooth";
+#endif
 #ifdef QT_DEBUG
         list += "Mock Link";
 #endif
 #ifndef __mobile__
         list += "Log Replay";
 #endif
+        Q_ASSERT(list.size() == (int)LinkConfiguration::TypeLast);
     }
     return list;
 }
@@ -828,6 +845,15 @@ void LinkManager::_fixUnnamed(LinkConfiguration* config)
                     }
                 }
                 break;
+#ifndef Q_OS_WIN
+            case LinkConfiguration::TypeBluetooth: {
+                    BluetoothConfiguration* tconfig = dynamic_cast<BluetoothConfiguration*>(config);
+                    if(tconfig) {
+                        config->setName(QString("Bluetooth Device on %1").arg(tconfig->device()));
+                    }
+                }
+                break;
+#endif
 #ifndef __mobile__
             case LinkConfiguration::TypeLogReplay: {
                     LogReplayLinkConfiguration* tconfig = dynamic_cast<LogReplayLinkConfiguration*>(config);

src/main.cc

@@ -50,6 +50,10 @@ This file is part of the QGROUNDCONTROL project
     #endif
 #endif
 
+#ifndef Q_OS_WIN
+#include <QtBluetooth/QBluetoothSocket>
+#endif
+
 #include <iostream>
 
 /* SDL does ugly things to main() */
@@ -135,6 +139,10 @@ int main(int argc, char *argv[])
     // anyway to silence the debug output.
 #ifndef __ios__
     qRegisterMetaType<QSerialPort::SerialPortError>();
+#endif
+#ifndef Q_OS_WIN
+    qRegisterMetaType<QBluetoothSocket::SocketError>();
+    qRegisterMetaType<QBluetoothServiceInfo>();
 #endif
     qRegisterMetaType<QAbstractSocket::SocketError>();
 #ifndef __mobile__

src/ui/preferences/BluetoothSettings.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 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/>.
+
+ ======================================================================*/
+
+import QtQuick          2.5
+import QtQuick.Controls 1.4
+import QtQuick.Dialogs  1.1
+
+import QGroundControl                       1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.Palette               1.0
+
+Item {
+    id:     _btSettings
+    width:  parent ? parent.width : 0
+    height: btColumn.height
+
+    function saveSettings() {
+        // No need
+    }
+
+    property var _currentDevice: ""
+
+    Column {
+        id:         btColumn
+        spacing:    ScreenTools.defaultFontPixelHeight / 2
+
+        ExclusiveGroup { id: linkGroup }
+
+        QGCPalette {
+            id:                 qgcPal
+            colorGroupEnabled:  enabled
+        }
+
+        QGCLabel {
+            id:     btLabel
+            text:   "Bluetooth Link Settings"
+        }
+        Rectangle {
+            height: 1
+            width:  btLabel.width
+            color:  qgcPal.button
+        }
+        Item {
+            height: ScreenTools.defaultFontPixelHeight / 2
+            width:  parent.width
+        }
+        Row {
+            spacing:    ScreenTools.defaultFontPixelWidth
+            QGCLabel {
+                text:   "Device:"
+                width:  _firstColumn
+            }
+            QGCLabel {
+                id:     deviceField
+                text:   subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth ? subEditConfig.device : ""
+            }
+        }
+        Row {
+            spacing:    ScreenTools.defaultFontPixelWidth
+            QGCLabel {
+                text:   "Address:"
+                width:  _firstColumn
+            }
+            QGCLabel {
+                id:     addressField
+                text:   subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth ? subEditConfig.address : ""
+            }
+        }
+        Item {
+            height: ScreenTools.defaultFontPixelHeight / 2
+            width:  parent.width
+        }
+        QGCLabel {
+            text:   "Bluetooth Devices:"
+        }
+        Item {
+            width:  hostRow.width
+            height: hostRow.height
+            Row {
+                id:      hostRow
+                spacing: ScreenTools.defaultFontPixelWidth
+                Item {
+                    height: 1
+                    width:  _firstColumn
+                }
+                Column {
+                    id:         hostColumn
+                    spacing:    ScreenTools.defaultFontPixelHeight / 2
+                    Rectangle {
+                        height:  1
+                        width:   _secondColumn
+                        color:   qgcPal.button
+                        visible: subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth && subEditConfig.deviceList.length > 0
+                    }
+                    Repeater {
+                        model: subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth ? subEditConfig.deviceList : ""
+                        delegate:
+                        QGCButton {
+                            text:   modelData
+                            width:  _secondColumn
+                            anchors.leftMargin: ScreenTools.defaultFontPixelWidth * 2
+                            exclusiveGroup: linkGroup
+                            onClicked: {
+                                checked = true
+                                _btSettings._currentDevice = modelData
+                            }
+                        }
+                    }
+                    Rectangle {
+                        height: 1
+                        width:  _secondColumn
+                        color:  qgcPal.button
+                    }
+                    Item {
+                        height: ScreenTools.defaultFontPixelHeight / 2
+                        width:  parent.width
+                    }
+                    Item {
+                        width:  _secondColumn
+                        height: udpButtonRow.height
+                        Row {
+                            id:         udpButtonRow
+                            spacing:    ScreenTools.defaultFontPixelWidth
+                            anchors.horizontalCenter: parent.horizontalCenter
+                            QGCButton {
+                                width:      ScreenTools.defaultFontPixelWidth * 10
+                                text:       "Scan"
+                                enabled:    subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth && !subEditConfig.scanning
+                                onClicked: {
+                                    if(subEditConfig)
+                                        subEditConfig.startScan()
+                                }
+                            }
+                            QGCButton {
+                                width:      ScreenTools.defaultFontPixelWidth * 10
+                                text:       "Stop"
+                                enabled:    subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeBluetooth && subEditConfig.scanning
+                                onClicked: {
+                                    if(subEditConfig)
+                                        subEditConfig.stopScan()
+                                }
+                            }
+                            QGCButton {
+                                width:      ScreenTools.defaultFontPixelWidth * 10
+                                enabled:    _btSettings._currentDevice && _btSettings._currentDevice !== ""
+                                text:       "Select"
+                                onClicked: {
+                                    if(subEditConfig)
+                                        subEditConfig.device = _btSettings._currentDevice
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}