Merge remote-tracking branch 'MavLink/master' into serialSettings

* MavLink/master:
  More reliable radio flash
  Fix autoconnect/re-autoconnect, plus windows connect
  Don't show resource busy errors from auto connect attempt
  Don't pop modal dialog during boot sequence

Conflicts:
	src/comm/LinkManager.cc

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -63,7 +63,7 @@ void AutoPilotPlugin::_parametersReadyChanged(bool parametersReady)
 	if (parametersReady) {
 		_recalcSetupComplete();
 		if (!_setupComplete) {
-			QGCMessageBox::warning("Setup", "One or more vehicle components require setup prior to flight.");
+            qgcApp()->showToolBarMessage("One or more vehicle components require setup prior to flight.");
 			
 			// Take the user to Vehicle Summary
             MainWindow::instance()->showSetupView();

src/QGCLoggingCategory.cc

@@ -28,6 +28,7 @@
 
 // Add Global logging categories (not class specific) here using QGC_LOGGING_CATEGORY
 QGC_LOGGING_CATEGORY(FirmwareUpgradeLog,        "FirmwareUpgradeLog")
+QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog")
 
 QGCLoggingCategoryRegister* _instance = NULL;
 

src/QGCLoggingCategory.h

@@ -32,6 +32,7 @@
 
 // Add Global logging categories (not class specific) here using Q_DECLARE_LOGGING_CATEGORY
 Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeLog)
+Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog)
 
 /// @def QGC_LOGGING_CATEGORY
 /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a

src/VehicleSetup/Bootloader.cc

@@ -273,7 +273,7 @@ bool Bootloader::_ihxProgram(QextSerialPort* port, const FirmwareImage* image)
             return false;
         }
         
-        qCDebug(FirmwareUpgradeLog) << QString("Bootloader::_ihxProgram - address:%1 size:%2 block:%3").arg(flashAddress).arg(bytes.count()).arg(index);
+        qCDebug(FirmwareUpgradeVerboseLog) << QString("Bootloader::_ihxProgram - address:%1 size:%2 block:%3").arg(flashAddress).arg(bytes.count()).arg(index);
         
         // Set flash address
         
@@ -348,7 +348,7 @@ bool Bootloader::verify(QextSerialPort* port, const FirmwareImage* image)
     return ret;
 }
 
-/// @brief Verify the flash on bootloader eading it back and comparing it against the original image->
+/// @brief Verify the flash on bootloader reading it back and comparing it against the original image
 bool Bootloader::_verifyBytes(QextSerialPort* port, const FirmwareImage* image)
 {
     if (image->imageIsBinFormat()) {
@@ -445,7 +445,7 @@ bool Bootloader::_ihxVerifyBytes(QextSerialPort* port, const FirmwareImage* imag
             return false;
         }
         
-        qCDebug(FirmwareUpgradeLog) << QString("Bootloader::_ihxVerifyBytes - address:%1 size:%2 block:%3").arg(readAddress).arg(imageBytes.count()).arg(index);
+        qCDebug(FirmwareUpgradeLog) << QString("Bootloader::_ihxVerifyBytes - address:0x%1 size:%2 block:%3").arg(readAddress, 8, 16, QLatin1Char('0')).arg(imageBytes.count()).arg(index);
         
         // Set read address
         

src/VehicleSetup/FirmwareImage.cc

@@ -165,7 +165,7 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
             
             if (appendToLastBlock) {
                 _ihxBlocks[_ihxBlocks.count() - 1].bytes += bytes;
-                qCDebug(FirmwareUpgradeLog) << QString("_ihxLoad - append - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
+                qCDebug(FirmwareUpgradeVerboseLog) << QString("_ihxLoad - append - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
             } else {
                 IntelHexBlock_t block;
                 
@@ -173,7 +173,7 @@ bool FirmwareImage::_ihxLoad(const QString& ihxFilename)
                 block.bytes = bytes;
                 
                 _ihxBlocks += block;
-                qCDebug(FirmwareUpgradeLog) << QString("_ihxLoad - new block - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
+                qCDebug(FirmwareUpgradeVerboseLog) << QString("_ihxLoad - new block - address:%1 size:%2 block:%3").arg(address).arg(blockByteCount).arg(ihxBlockCount());
             }
             
             _imageSize += blockByteCount;

src/VehicleSetup/PX4FirmwareUpgradeThread.cc

@@ -132,13 +132,13 @@ void PX4FirmwareUpgradeThreadWorker::_findBoardOnce(void)
 bool PX4FirmwareUpgradeThreadWorker::_findBoardFromPorts(QGCSerialPortInfo& portInfo, QGCSerialPortInfo::BoardType_t& boardType)
 {
     foreach (QGCSerialPortInfo info, QGCSerialPortInfo::availablePorts()) {
-        qCDebug(FirmwareUpgradeLog) << "Serial Port --------------";
-        qCDebug(FirmwareUpgradeLog) << "\tboard type" << info.boardType();
-        qCDebug(FirmwareUpgradeLog) << "\tport name:" << info.portName();
-        qCDebug(FirmwareUpgradeLog) << "\tdescription:" << info.description();
-        qCDebug(FirmwareUpgradeLog) << "\tsystem location:" << info.systemLocation();
-        qCDebug(FirmwareUpgradeLog) << "\tvendor ID:" << info.vendorIdentifier();
-        qCDebug(FirmwareUpgradeLog) << "\tproduct ID:" << info.productIdentifier();
+        qCDebug(FirmwareUpgradeVerboseLog) << "Serial Port --------------";
+        qCDebug(FirmwareUpgradeVerboseLog) << "\tboard type" << info.boardType();
+        qCDebug(FirmwareUpgradeVerboseLog) << "\tport name:" << info.portName();
+        qCDebug(FirmwareUpgradeVerboseLog) << "\tdescription:" << info.description();
+        qCDebug(FirmwareUpgradeVerboseLog) << "\tsystem location:" << info.systemLocation();
+        qCDebug(FirmwareUpgradeVerboseLog) << "\tvendor ID:" << info.vendorIdentifier();
+        qCDebug(FirmwareUpgradeVerboseLog) << "\tproduct ID:" << info.productIdentifier();
         
         boardType = info.boardType();
         if (boardType != QGCSerialPortInfo::BoardTypeUnknown) {
@@ -167,13 +167,8 @@ void PX4FirmwareUpgradeThreadWorker::_3drRadioForceBootloader(const QGCSerialPor
     emit status("Putting radio into command mode");
     
     // Wait a little while for the USB port to initialize. 3DR Radio boot is really slow.
-    for (int i=0; i<12; i++) {
-        if (port.open(QIODevice::ReadWrite)) {
-            break;
-        } else {
-            QGC::SLEEP::msleep(250);
-        }
-    }
+    QGC::SLEEP::msleep(2000);
+    port.open(QIODevice::ReadWrite);
     
     if (!port.isOpen()) {
         emit error(QString("Unable to open port: %1 error: %2").arg(portInfo.systemLocation()).arg(port.errorString()));
@@ -181,6 +176,7 @@ void PX4FirmwareUpgradeThreadWorker::_3drRadioForceBootloader(const QGCSerialPor
     }
 
     // Put radio into command mode
+    QGC::SLEEP::msleep(2000);
     port.write("+++", 3);
     if (!port.waitForReadyRead(1500)) {
         emit error("Unable to put radio into command mode");
@@ -188,6 +184,7 @@ void PX4FirmwareUpgradeThreadWorker::_3drRadioForceBootloader(const QGCSerialPor
     }
     QByteArray bytes = port.readAll();
     if (!bytes.contains("OK")) {
+        qCDebug(FirmwareUpgradeLog) << bytes;
         emit error("Unable to put radio into command mode");
         return;
     }
@@ -196,10 +193,14 @@ void PX4FirmwareUpgradeThreadWorker::_3drRadioForceBootloader(const QGCSerialPor
     
     port.write("AT&UPDATE\r\n");
     if (!port.waitForBytesWritten(1500)) {
-        emit error("Unable to reboot radio");
+        emit error("Unable to reboot radio (bytes written)");
         return;
     }
-    QGC::SLEEP::msleep(2000);
+    if (!port.waitForReadyRead(1500)) {
+        emit error("Unable to reboot radio (ready read)");
+        return;
+    }
+    QGC::SLEEP::msleep(700);
     port.close();
     
     // The bootloader should be waiting for us now
@@ -218,6 +219,9 @@ bool PX4FirmwareUpgradeThreadWorker::_findBootloader(const QGCSerialPortInfo& po
     
     _bootloaderPort = new QextSerialPort(QextSerialPort::Polling);
     Q_CHECK_PTR(_bootloaderPort);
+    if (radioMode) {
+        _bootloaderPort->setBaudRate(BAUD115200);
+    }
 
     // Wait a little while for the USB port to initialize.
     for (int i=0; i<10; i++) {

src/comm/LinkManager.cc

@@ -55,6 +55,14 @@ const char* LinkManager::_autoconnect3DRRadioKey =  "Autoconnect3DRRadio";
 const char* LinkManager::_autoconnectPX4FlowKey =   "AutoconnectPX4Flow";
 const char* LinkManager::_defaultUPDLinkName =      "Default UDP Link";
 
+const int LinkManager::_autoconnectUpdateTimerMSecs =   1000;
+#ifdef Q_OS_WIN
+// Have to manually let the bootloader go by on Windows to get a working connect
+const int LinkManager::_autoconnectConnectDelayMSecs =  6000;
+#else
+const int LinkManager::_autoconnectConnectDelayMSecs =  1000;
+#endif
+
 LinkManager::LinkManager(QGCApplication* app)
     : QGCTool(app)
     , _configUpdateSuspended(false)
@@ -96,7 +104,7 @@ void LinkManager::setToolbox(QGCToolbox *toolbox)
    connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &LinkManager::_vehicleHeartbeatInfo);
 
     connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
-    _portListTimer.start(6000); // timeout must be long enough to get past bootloader on second pass
+    _portListTimer.start(_autoconnectUpdateTimerMSecs); // timeout must be long enough to get past bootloader on second pass
 
 }
 
@@ -220,10 +228,16 @@ void LinkManager::disconnectLink(LinkInterface* link)
 
     link->_disconnect();
     LinkConfiguration* config = link->getLinkConfiguration();
-    if(config) {
+    if (config) {
+        if (_autoconnectConfigurations.contains(config)) {
             config->setLink(NULL);
         }
+    }
     _deleteLink(link);
+    if (_autoconnectConfigurations.contains(config)) {
+        _autoconnectConfigurations.removeOne(config);
+        delete config;
+    }
 }
 
 void LinkManager::_deleteLink(LinkInterface* link)
@@ -472,11 +486,11 @@ void LinkManager::_updateAutoConnectLinks(void)
                 // are in the bootloader is flaky from a cross-platform standpoint. So by putting it on a wait list
                 // and only connect on the second pass we leave enough time for the board to boot up.
                 qCDebug(LinkManagerLog) << "Waiting for next autoconnect pass" << portInfo.systemLocation();
-                _autoconnectWaitList.append(portInfo.systemLocation());
-            } else {
+                _autoconnectWaitList[portInfo.systemLocation()] = 1;
+            } else if (++_autoconnectWaitList[portInfo.systemLocation()] * _autoconnectUpdateTimerMSecs > _autoconnectConnectDelayMSecs) {
                 SerialConfiguration* pSerialConfig = NULL;
 
-                _autoconnectWaitList.removeOne(portInfo.systemLocation());
+                _autoconnectWaitList.remove(portInfo.systemLocation());
 
                 switch (boardType) {
                 case QGCSerialPortInfo::BoardTypePX4FMUV1:
@@ -832,3 +846,8 @@ void LinkManager::removeConfiguration(LinkConfiguration* config)
     // Save list
     saveLinkConfigurationList();
 }
+
+bool LinkManager::isAutoconnectLink(LinkInterface* link)
+{
+    return _autoconnectConfigurations.contains(link->getLinkConfiguration());
+}

src/comm/LinkManager.h

@@ -169,6 +169,9 @@ public:
     // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
     void shutdown(void);
 
+    /// @return true: specified link is an autoconnect link
+    bool isAutoconnectLink(LinkInterface* link);
+
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
 
@@ -230,7 +233,7 @@ private:
     QmlObjectListModel  _linkConfigurations;
     QmlObjectListModel  _autoconnectConfigurations;
 
-    QStringList _autoconnectWaitList;
+    QMap<QString, int>  _autoconnectWaitList;   ///< key: QGCSerialPortInfo.systemLocation, value: wait count
     QStringList _commPortList;
     QStringList _commPortDisplayList;
 
@@ -245,6 +248,8 @@ private:
     static const char*  _autoconnect3DRRadioKey;
     static const char*  _autoconnectPX4FlowKey;
     static const char*  _defaultUPDLinkName;
+    static const int    _autoconnectUpdateTimerMSecs;
+    static const int    _autoconnectConnectDelayMSecs;
 };
 
 #endif

src/comm/SerialLink.cc

@@ -154,28 +154,30 @@ bool SerialLink::_connect(void)
     qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
 #endif
 
+    QSerialPort::SerialPortError    error;
+    QString                         errorString;
+
     // Initialize the connection
-    if (!_hardwareConnect(_type)) {
-        // Need to error out here.
-        QString err("Could not create port.");
-        if (_port) {
-            err = _port->errorString();
+    if (!_hardwareConnect(error, errorString)) {
+        if (qgcApp()->toolbox()->linkManager()->isAutoconnectLink(this)) {
+            // Be careful with spitting out open error related to trying to open a busy port using autoconnect
+            if (error == QSerialPort::PermissionError) {
+                // Device already open, ignore and fail connect
+                return false;
             }
-        _emitLinkError("Error connecting: " + err);
+        }
+
+        _emitLinkError(QString("Error connecting: Could not create port. %1").arg(errorString));
         return false;
     }
     return true;
 }
 
-/**
- * @brief This function is called indirectly by the _connect() call.
- *
- * The _connect() function starts the thread and indirectly calls this method.
- *
- * @return True if the connection could be established, false otherwise
- * @see _connect() For the right function to establish the connection.
- **/
-bool SerialLink::_hardwareConnect(QString &type)
+/// Performs the actual hardware port connection.
+///     @param[out] error if failed
+///     @param[out] error string if failed
+/// @return success/fail
+bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString& errorString)
 {
     if (_port) {
         qCDebug(SerialLinkLog) << "SerialLink:" << QString::number((long)this, 16) << "closing port";
@@ -235,6 +237,9 @@ bool SerialLink::_hardwareConnect(QString &type)
     }
 #endif
     if (!_port->isOpen() ) {
+        qDebug() << "open failed" << _port->errorString() << _port->error() << getName() << qgcApp()->toolbox()->linkManager()->isAutoconnectLink(this);
+        error = _port->error();
+        errorString = _port->errorString();
         emit communicationUpdate(getName(),"Error opening port: " + _port->errorString());
         _port->close();
         delete _port;
@@ -252,7 +257,7 @@ bool SerialLink::_hardwareConnect(QString &type)
     emit communicationUpdate(getName(), "Opened port!");
     emit connected();
 
-    qCDebug(SerialLinkLog) << "CONNECTING LINK: " << __FILE__ << __LINE__ << "type:" << type << "with settings" << _config->portName()
+    qCDebug(SerialLinkLog) << "Connection SeriaLink: " << "with settings" << _config->portName()
              << _config->baud() << _config->dataBits() << _config->parity() << _config->stopBits();
 
     return true; // successful connection

src/comm/SerialLink.h

@@ -171,7 +171,6 @@ protected:
     int     _timeout;
     QMutex  _dataMutex;       // Mutex for reading data from _port
     QMutex  _writeMutex;      // Mutex for accessing the _transmitBuffer.
-    QString _type;
 
 private slots:
     void _readBytes(void);
@@ -187,7 +186,7 @@ private:
 
     // Internal methods
     void _emitLinkError(const QString& errorMsg);
-    bool _hardwareConnect(QString &_type);
+    bool _hardwareConnect(QSerialPort::SerialPortError& error, QString& errorString);
     bool _isBootloader();
     void _resetConfiguration();