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Commit 7bb6dc15 authored by lm's avatar lm
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Added support for Drone OS forwarding, MAVLink auth

parent 64b543c4
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Showing with 253 additions and 28 deletions
src/Waypoint.h
View file @ 7bb6dc15
......@@ -44,7 +44,7 @@ class Waypoint : public QObject
public:
Waypoint(quint16 id = 0, double x = 0.0, double y = 0.0, double z = 0.0, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0,
bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
~Waypoint();
quint16 getId() const { return id; }
......
src/comm/MAVLinkProtocol.cc
View file @ 7bb6dc15
......@@ -41,6 +41,8 @@ MAVLinkProtocol::MAVLinkProtocol() :
heartbeatTimer(new QTimer(this)),
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(false),
m_multiplexingEnabled(false),
m_authEnabled(false),
m_loggingEnabled(false),
m_logfile(NULL),
m_enable_version_check(true),
......@@ -52,6 +54,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId)
{
m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
loadSettings();
//start(QThread::LowPriority);
// Start heartbeat timer, emitting a heartbeat at the configured rate
......@@ -101,6 +104,10 @@ void MAVLinkProtocol::loadSettings()
systemId = temp;
}
// Set auth key
m_authKey = settings.value("GCS_AUTH_KEY", m_authKey).toString();
enableAuth(settings.value("GCS_AUTH_ENABLED", m_authEnabled).toBool());
// Parameter interface settings
bool ok;
temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout).toInt(&ok);
......@@ -121,6 +128,8 @@ void MAVLinkProtocol::storeSettings()
settings.setValue("VERSION_CHECK_ENABLED", m_enable_version_check);
settings.setValue("MULTIPLEXING_ENABLED", m_multiplexingEnabled);
settings.setValue("GCS_SYSTEM_ID", systemId);
settings.setValue("GCS_AUTH_KEY", m_authKey);
settings.setValue("GCS_AUTH_ENABLED", m_authEnabled);
if (m_logfile)
{
// Logfile exists, store the name
......@@ -417,6 +426,15 @@ void MAVLinkProtocol::sendHeartbeat()
mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC);
sendMessage(beat);
}
if (m_authEnabled)
{
mavlink_message_t msg;
mavlink_auth_key_t auth;
if (m_authKey.length() != MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN) m_authKey.resize(MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN);
strcpy(auth.key, m_authKey.toStdString().c_str());
mavlink_msg_auth_key_encode(getSystemId(), getComponentId(), &msg, &auth);
sendMessage(msg);
}
}
/** @param enabled true to enable heartbeats emission at heartbeatRate, false to disable */
......@@ -435,6 +453,17 @@ void MAVLinkProtocol::enableMultiplexing(bool enabled)
if (changed) emit multiplexingChanged(m_multiplexingEnabled);
}
void MAVLinkProtocol::enableAuth(bool enable)
{
bool changed = false;
m_authEnabled = enable;
if (m_authEnabled != enable)
{
changed = true;
}
if (changed) emit authChanged(m_authEnabled);
}
void MAVLinkProtocol::enableParamGuard(bool enabled)
{
if (enabled != m_paramGuardEnabled)
......
src/comm/MAVLinkProtocol.h
View file @ 7bb6dc15
......@@ -73,8 +73,12 @@ public:
bool versionCheckEnabled() const { return m_enable_version_check; }
/** @brief Get the multiplexing state */
bool multiplexingEnabled() const { return m_multiplexingEnabled; }
/** @brief Get the authentication state */
bool getAuthEnabled() { return m_authEnabled; }
/** @brief Get the protocol version */
int getVersion() { return MAVLINK_VERSION; }
/** @brief Get the auth key */
QString getAuthKey() { return m_authKey; }
/** @brief Get the name of the packet log file */
QString getLogfileName();
/** @brief Get state of parameter retransmission */
......@@ -130,6 +134,12 @@ public slots:
/** @brief Enable / disable version check */
void enableVersionCheck(bool enabled);
/** @brief Enable / disable authentication */
void enableAuth(bool enable);
/** @brief Set authentication token */
void setAuthKey(QString key) { m_authKey = key;}
/** @brief Send an extra heartbeat to all connected units */
void sendHeartbeat();
......@@ -142,8 +152,10 @@ protected:
QTimer* heartbeatTimer; ///< Timer to emit heartbeats
int heartbeatRate; ///< Heartbeat rate, controls the timer interval
bool m_heartbeatsEnabled; ///< Enabled/disable heartbeat emission
bool m_loggingEnabled; ///< Enable/disable packet logging
bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
bool m_authEnabled; ///< Enable authentication token broadcast
QString m_authKey; ///< Authentication key
bool m_loggingEnabled; ///< Enable/disable packet logging
QFile* m_logfile; ///< Logfile
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
......@@ -169,6 +181,10 @@ signals:
void loggingChanged(bool enabled);
/** @brief Emitted if multiplexing is started / stopped */
void multiplexingChanged(bool enabled);
/** @brief Emitted if authentication support is enabled / disabled */
void authKeyChanged(QString key);
/** @brief Authentication changed */
void authChanged(bool enabled);
/** @brief Emitted if version check is enabled / disabled */
void versionCheckChanged(bool enabled);
/** @brief Emitted if a message from the protocol should reach the user */
......
src/comm/UDPLink.cc
View file @ 7bb6dc15
......@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include "UDPLink.h"
#include "LinkManager.h"
#include "QGC.h"
#include <QHostInfo>
//#include <netinet/in.h>
UDPLink::UDPLink(QHostAddress host, quint16 port)
......@@ -43,10 +44,6 @@ UDPLink::UDPLink(QHostAddress host, quint16 port)
this->host = host;
this->port = port;
this->connectState = false;
this->hosts = new QList<QHostAddress>();
//this->ports = new QMap<QHostAddress, quint16>();
this->ports = new QList<quint16>();
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
this->name = tr("UDP Link (port:%1)").arg(14550);
......@@ -74,8 +71,6 @@ void UDPLink::run()
void UDPLink::setAddress(QString address)
{
Q_UNUSED(address);
// FIXME TODO Implement address
//socket->setLocalAddress(QHostAddress(address));
}
void UDPLink::setPort(int port)
......@@ -90,19 +85,60 @@ void UDPLink::setPort(int port)
*/
void UDPLink::addHost(const QString& host)
{
qDebug() << "UDP:" << "ADDING HOST:" << host;
if (host.contains(":"))
{
qDebug() << "HOST: " << host.split(":").first();
QHostInfo info = QHostInfo::fromName(host.split(":").first());
// Add host
hosts->append(QHostAddress(host.split(":").first()));
QList<QHostAddress> hostAddresses = info.addresses();
QHostAddress address;
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":"))
{
address = hostAddresses.at(i);
}
}
hosts.append(address);
qDebug() << "Address:" << address.toString();
// Set port according to user input
ports->append(host.split(":").last().toInt());
ports.append(host.split(":").last().toInt());
}
else
{
QHostInfo info = QHostInfo::fromName(host);
// Add host
hosts->append(QHostAddress(host));
hosts.append(info.addresses().first());
// Set port according to default (this port)
ports->append(port);
ports.append(port);
}
}
void UDPLink::removeHost(const QString& hostname)
{
QString host = hostname;
if (host.contains(":")) host = host.split(":").first();
host = host.trimmed();
QHostInfo info = QHostInfo::fromName(host);
QHostAddress address;
QList<QHostAddress> hostAddresses = info.addresses();
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":"))
{
address = hostAddresses.at(i);
}
}
for (int i = 0; i < hosts.count(); ++i)
{
if (hosts.at(i) == address)
{
hosts.removeAt(i);
ports.removeAt(i);
}
}
}
......@@ -113,11 +149,13 @@ void UDPLink::writeBytes(const char* data, qint64 size)
//QList<QHostAddress>::iterator h;
// for (h = hosts->begin(); h != hosts->end(); ++h)
for (int h = 0; h < hosts->size(); h++)
for (int h = 0; h < hosts.size(); h++)
{
QHostAddress currentHost = hosts->at(h);
quint16 currentPort = ports->at(h);
QHostAddress currentHost = hosts.at(h);
quint16 currentPort = ports.at(h);
qDebug() << "WRITING TO" << currentHost.toIPv4Address() << currentPort;
for (int i=0; i<size; i++)
{
unsigned char v =data[i];
......@@ -162,16 +200,16 @@ void UDPLink::readBytes()
// Add host to broadcast list if not yet present
if (!hosts->contains(sender))
if (!hosts.contains(sender))
{
hosts->append(sender);
ports->append(senderPort);
hosts.append(sender);
ports.append(senderPort);
// ports->insert(sender, senderPort);
}
else
{
int index = hosts->indexOf(sender);
ports->replace(index, senderPort);
int index = hosts.indexOf(sender);
ports.replace(index, senderPort);
}
}
......
src/comm/UDPLink.h
View file @ 7bb6dc15
......@@ -63,6 +63,7 @@ public:
int getParityType();
int getDataBitsType();
int getStopBitsType();
QList<QHostAddress> getHosts() { return hosts; }
/* Extensive statistics for scientific purposes */
qint64 getNominalDataRate();
......@@ -86,6 +87,8 @@ public slots:
void setPort(int port);
/** @brief Add a new host to broadcast messages to */
void addHost(const QString& host);
/** @brief Remove a host from broadcasting messages to */
void removeHost(const QString& host);
// void readPendingDatagrams();
void readBytes();
......@@ -106,9 +109,8 @@ protected:
int id;
QUdpSocket* socket;
bool connectState;
QList<QHostAddress>* hosts;
// QMap<QHostAddress, quint16>* ports;
QList<quint16>* ports;
QList<QHostAddress> hosts;
QList<quint16> ports;
quint64 bitsSentTotal;
quint64 bitsSentCurrent;
......
src/ui/MAVLinkSettingsWidget.cc
View file @ 7bb6dc15
......@@ -33,7 +33,10 @@ This file is part of the QGROUNDCONTROL project
#include <QDesktopServices>
#include "MAVLinkSettingsWidget.h"
#include "LinkManager.h"
#include "UDPLink.h"
#include "ui_MAVLinkSettingsWidget.h"
#include <QSettings>
MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget *parent) :
QWidget(parent),
......@@ -58,6 +61,12 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
m_ui->actionGuardCheckBox->setChecked(protocol->actionGuardEnabled());
m_ui->actionRetransmissionSpinBox->setValue(protocol->getActionRetransmissionTimeout());
// AUTH
m_ui->droneOSCheckBox->setChecked(protocol->getAuthEnabled());
QSettings settings;
m_ui->droneOSComboBox->setCurrentIndex(m_ui->droneOSComboBox->findText(settings.value("DRONEOS_HOST", "droneos.com:14555").toString()));
m_ui->droneOSLineEdit->setText(protocol->getAuthKey());
// Connect actions
// Heartbeat
connect(protocol, SIGNAL(heartbeatChanged(bool)), m_ui->heartbeatCheckBox, SLOT(setChecked(bool)));
......@@ -88,7 +97,16 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
connect(m_ui->actionGuardCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableActionGuard(bool)));
connect(protocol, SIGNAL(actionRetransmissionTimeoutChanged(int)), m_ui->actionRetransmissionSpinBox, SLOT(setValue(int)));
connect(m_ui->actionRetransmissionSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setActionRetransmissionTimeout(int)));
// MAVLink AUTH
connect(protocol, SIGNAL(authChanged(bool)), m_ui->droneOSCheckBox, SLOT(setChecked(bool)));
connect(m_ui->droneOSCheckBox, SIGNAL(toggled(bool)), this, SLOT(enableDroneOS(bool)));
connect(protocol, SIGNAL(authKeyChanged(QString)), m_ui->droneOSLineEdit, SLOT(setText(QString)));
connect(m_ui->droneOSLineEdit, SIGNAL(textChanged(QString)), this, SLOT(setDroneOSKey(QString)));
// Drone OS
connect(m_ui->droneOSComboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(setDroneOSHost(QString)));
// FIXME Manually trigger this action here, this brings control code to UI = BAD!
setDroneOSHost(m_ui->droneOSComboBox->currentText());
// Update values
m_ui->versionLabel->setText(tr("MAVLINK_VERSION: %1").arg(protocol->getVersion()));
......@@ -166,6 +184,59 @@ void MAVLinkSettingsWidget::chooseLogfileName()
}
}
void MAVLinkSettingsWidget::enableDroneOS(bool enable)
{
// Get current selected host and port
QString hostString = m_ui->droneOSComboBox->currentText();
QString host = hostString.split(":").first();
// Delete from all lists first
UDPLink* firstUdp = NULL;
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol);
foreach (LinkInterface* link, links)
{
UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (udp)
{
if (!firstUdp) firstUdp = udp;
// Remove current hosts
for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i)
{
QString oldHostString = m_ui->droneOSComboBox->itemText(i);
oldHostString = hostString.split(":").first();
udp->removeHost(oldHostString);
}
}
}
// Re-add if enabled
if (enable)
{
if (firstUdp)
{
firstUdp->addHost(hostString);
}
// Set key
protocol->setAuthKey(m_ui->droneOSLineEdit->text().trimmed());
QSettings settings;
settings.setValue("DRONEOS_HOST", m_ui->droneOSComboBox->currentText());
settings.sync();
}
protocol->enableAuth(enable);
}
void MAVLinkSettingsWidget::setDroneOSKey(QString key)
{
Q_UNUSED(key);
enableDroneOS(m_ui->droneOSCheckBox->isChecked());
}
void MAVLinkSettingsWidget::setDroneOSHost(QString host)
{
Q_UNUSED(host);
enableDroneOS(m_ui->droneOSCheckBox->isChecked());
}
MAVLinkSettingsWidget::~MAVLinkSettingsWidget()
{
delete m_ui;
......
src/ui/MAVLinkSettingsWidget.h
View file @ 7bb6dc15
......@@ -20,6 +20,12 @@ public slots:
void updateLogfileName(const QString& fileName);
/** @brief Start the file select dialog for the log file */
void chooseLogfileName();
/** @brief Enable DroneOS forwarding */
void enableDroneOS(bool enable);
void setDroneOSKey(QString key);
void setDroneOSHost(QString host);
protected:
MAVLinkProtocol* protocol;
......
src/ui/MAVLinkSettingsWidget.ui
View file @ 7bb6dc15
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>431</width>
<height>387</height>
<height>530</height>
</rect>
</property>
<property name="windowTitle">
......@@ -288,6 +288,66 @@
</property>
</widget>
</item>
<item row="16" column="0" colspan="3">
<widget class="Line" name="line">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="midLineWidth">
<number>0</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="17" column="0" colspan="3">
<widget class="QCheckBox" name="droneOSCheckBox">
<property name="text">
<string>Forward MAVLink packets of all links to http://droneos.com</string>
</property>
</widget>
</item>
<item row="18" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>8</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="18" column="1" colspan="2">
<widget class="QLineEdit" name="droneOSLineEdit">
<property name="text">
<string>Enter your DroneOS API Token/Key</string>
</property>
<property name="maxLength">
<number>32</number>
</property>
</widget>
</item>
<item row="19" column="1" colspan="2">
<widget class="QComboBox" name="droneOSComboBox">
<item>
<property name="text">
<string>droneos.com:14555</string>
</property>
</item>
<item>
<property name="text">
<string>localhost:14555</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
<resources/>
......
src/ui/WaypointView.cc
View file @ 7bb6dc15
......@@ -50,8 +50,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
// add frames
m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
m_ui->comboBox_frame->addItem("Local",MAV_FRAME_LOCAL);
m_ui->comboBox_frame->addItem("Abs. Alt/Global",MAV_FRAME_GLOBAL);
m_ui->comboBox_frame->addItem("Rel. Alt/Global", MAV_FRAME_GLOBAL_RELATIVE_ALT);
m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL);
m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION);
// Initialize view correctly
......@@ -308,6 +309,7 @@ void WaypointView::updateFrameView(int frame)
switch(frame)
{
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
m_ui->posNSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posDSpinBox->hide();
......@@ -388,7 +390,7 @@ void WaypointView::updateValues()
}
switch(frame)
{
case(MAV_FRAME_LOCAL):
case MAV_FRAME_LOCAL:
{
if (m_ui->posNSpinBox->value() != wp->getX())
{
......@@ -404,7 +406,8 @@ void WaypointView::updateValues()
}
}
break;
case(MAV_FRAME_GLOBAL):
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
{
if (m_ui->latSpinBox->value() != wp->getX())
{
......
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