Merge pull request #7114 from Williangalvani/udpNmea

Add support to receive NMEA streams via UDP

ChangeLog.md

@@ -18,6 +18,7 @@ Note: This file only contains high level features or important fixes.
 * Bumped settings version (now 8). This will cause all settings to be reset to defaults.
 * Orbit visuals support changing rotation direction
 * Added support for the Taisync 2.4GHz ViUlinx digital HD wireless link.
+* Added UDP Port option for NMEA GPS Device.
 
 ## 3.4
 

qgcresources.qrc

@@ -210,6 +210,7 @@
         <file alias="QGCLogoBlack">resources/QGCLogoBlack.svg</file>
 		<file alias="QGCLogoFull">resources/QGCLogoFull.svg</file>
         <file alias="QGCLogoWhite">resources/QGCLogoWhite.svg</file>
+        <file alias="QGCLogoArrow">resources/QGCLogoArrow.svg</file>
         <file alias="QGroundControlConnect">resources/QGroundControlConnect.svg</file>
         <file alias="rtl.svg">resources/rtl.svg</file>
         <file alias="SplashScreen">resources/SplashScreen.png</file>

qgroundcontrol.pro

@@ -620,6 +620,7 @@ HEADERS += \
     src/comm/QGCMAVLink.h \
     src/comm/TCPLink.h \
     src/comm/UDPLink.h \
+    src/comm/UdpIODevice.h \
     src/uas/UAS.h \
     src/uas/UASInterface.h \
     src/uas/UASMessageHandler.h \
@@ -820,6 +821,7 @@ SOURCES += \
     src/comm/QGCMAVLink.cc \
     src/comm/TCPLink.cc \
     src/comm/UDPLink.cc \
+    src/comm/UdpIODevice.cc \
     src/main.cc \
     src/uas/UAS.cc \
     src/uas/UASMessageHandler.cc \

resources/QGCLogoArrow.svg

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src/FlightMap/FlightMap.qml

@@ -35,6 +35,7 @@ Map {
     property string mapName:                        'defaultMap'
     property bool   isSatelliteMap:                 activeMapType.name.indexOf("Satellite") > -1 || activeMapType.name.indexOf("Hybrid") > -1
     property var    gcsPosition:                    QGroundControl.qgcPositionManger.gcsPosition
+    property var    gcsHeading:                     QGroundControl.qgcPositionManger.gcsHeading
     property bool   userPanned:                     false   ///< true: the user has manually panned the map
     property bool   allowGCSLocationCenter:         false   ///< true: map will center/zoom to gcs location one time
     property bool   allowVehicleLocationCenter:     false   ///< true: map will center/zoom to vehicle location one time
@@ -134,12 +135,18 @@ Map {
         coordinate:     gcsPosition
 
         sourceItem: Image {
-            source:         "/res/QGCLogoFull"
+            id:             mapItemImage
+            source:         isNaN(gcsHeading) ? "/res/QGCLogoFull" : "/res/QGCLogoArrow"
             mipmap:         true
             antialiasing:   true
             fillMode:       Image.PreserveAspectFit
-            height:         ScreenTools.defaultFontPixelHeight * 1.75
+            height:         ScreenTools.defaultFontPixelHeight * (isNaN(gcsHeading) ? 1.75 : 2.5 )
             sourceSize.height: height
+            transform: Rotation {
+                origin.x:       mapItemImage.width  / 2
+                origin.y:       mapItemImage.height / 2
+                angle:          isNaN(gcsHeading) ? 0 : gcsHeading
+            }
         }
     }
 } // Map

src/PositionManager/PositionManager.cpp

@@ -14,6 +14,7 @@
 QGCPositionManager::QGCPositionManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool           (app, toolbox)
     , _updateInterval   (0)
+    , _gcsHeading       (NAN)
     , _currentSource    (NULL)
     , _defaultSource    (NULL)
     , _nmeaSource       (NULL)
@@ -49,8 +50,19 @@ void QGCPositionManager::setToolbox(QGCToolbox *toolbox)
 
 void QGCPositionManager::setNmeaSourceDevice(QIODevice* device)
 {
+    // stop and release _nmeaSource
     if (_nmeaSource) {
+        _nmeaSource->stopUpdates();
+        disconnect(_nmeaSource);
+
+        // if _currentSource is pointing there, point to null
+        if (_currentSource == _nmeaSource){
+            _currentSource = nullptr;
+        }
+
         delete _nmeaSource;
+        _nmeaSource = nullptr;
+
     }
     _nmeaSource = new QNmeaPositionInfoSource(QNmeaPositionInfoSource::RealTimeMode, this);
     _nmeaSource->setDevice(device);
@@ -60,6 +72,7 @@ void QGCPositionManager::setNmeaSourceDevice(QIODevice* device)
 void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
 {
     QGeoCoordinate newGCSPosition = QGeoCoordinate();
+    qreal newGCSHeading = update.attribute(QGeoPositionInfo::Direction);
 
     if (update.isValid()) {
         // Note that gcsPosition filters out possible crap values
@@ -71,6 +84,10 @@ void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
         _gcsPosition = newGCSPosition;
         emit gcsPositionChanged(_gcsPosition);
     }
+    if (newGCSHeading != _gcsHeading) {
+        _gcsHeading = newGCSHeading;
+        emit gcsHeadingChanged(_gcsHeading);
+    }
 
     emit positionInfoUpdated(update);
 }

src/PositionManager/PositionManager.h

@@ -25,7 +25,8 @@ public:
     QGCPositionManager(QGCApplication* app, QGCToolbox* toolbox);
     ~QGCPositionManager();
 
-    Q_PROPERTY(QGeoCoordinate gcsPosition READ gcsPosition NOTIFY gcsPositionChanged)
+    Q_PROPERTY(QGeoCoordinate gcsPosition  READ gcsPosition  NOTIFY gcsPositionChanged)
+    Q_PROPERTY(qreal          gcsHeading   READ gcsHeading   NOTIFY gcsHeadingChanged)
 
     enum QGCPositionSource {
         Simulated,
@@ -36,6 +37,8 @@ public:
 
     QGeoCoordinate gcsPosition(void) { return _gcsPosition; }
 
+    qreal gcsHeading() { return _gcsHeading; }
+
     void setPositionSource(QGCPositionSource source);
 
     int updateInterval() const;
@@ -50,11 +53,13 @@ private slots:
 
 signals:
     void gcsPositionChanged(QGeoCoordinate gcsPosition);
+    void gcsHeadingChanged(qreal gcsHeading);
     void positionInfoUpdated(QGeoPositionInfo update);
 
 private:
     int             _updateInterval;
     QGeoCoordinate  _gcsPosition;
+    qreal           _gcsHeading;
 
     QGeoPositionInfoSource*     _currentSource;
     QGeoPositionInfoSource*     _defaultSource;

src/Settings/AutoConnect.SettingsGroup.json

@@ -72,5 +72,11 @@
     "shortDescription": "UDP target host port for autoconnect",
     "type":             "uint32",
     "defaultValue":     14550
+},
+{
+    "name":             "nmeaUdpPort",
+    "shortDescription": "Udp port to receive NMEA streams",
+    "type":             "uint32",
+    "defaultValue":     14401
 }
 ]

src/Settings/AutoConnectSettings.cc

@@ -23,6 +23,7 @@ DECLARE_SETTINGSFACT(AutoConnectSettings, autoConnectUDP)
 DECLARE_SETTINGSFACT(AutoConnectSettings, udpListenPort)
 DECLARE_SETTINGSFACT(AutoConnectSettings, udpTargetHostIP)
 DECLARE_SETTINGSFACT(AutoConnectSettings, udpTargetHostPort)
+DECLARE_SETTINGSFACT(AutoConnectSettings, nmeaUdpPort)
 
 DECLARE_SETTINGSFACT_NO_FUNC(AutoConnectSettings, autoConnectPixhawk)
 {

src/Settings/AutoConnectSettings.h

@@ -31,5 +31,5 @@ public:
     DEFINE_SETTINGFACT(udpListenPort)
     DEFINE_SETTINGFACT(udpTargetHostIP)
     DEFINE_SETTINGFACT(udpTargetHostPort)
-
+    DEFINE_SETTINGFACT(nmeaUdpPort)
 };

src/comm/CMakeLists.txt

@@ -24,6 +24,7 @@ add_library(comm
 	SerialLink.cc
 	TCPLink.cc
 	UDPLink.cc
+	UdpIODevice.cc
 
 	${EXTRA_SRC}
 

src/comm/LinkManager.cc

@@ -479,6 +479,27 @@ void LinkManager::_updateAutoConnectLinks(void)
         createConnectedLink(config);
         emit linkConfigurationsChanged();
     }
+#ifndef __mobile__
+    // check to see if nmea gps is configured for UDP input, if so, set it up to connect
+    if (_autoConnectSettings->autoConnectNmeaPort()->cookedValueString() == "UDP Port") {
+        if (_nmeaSocket.localPort() != _autoConnectSettings->nmeaUdpPort()->rawValue().toUInt()
+                || _nmeaSocket.state() != UdpIODevice::BoundState) {
+            qCDebug(LinkManagerLog) << "Changing port for UDP NMEA stream";
+            _nmeaSocket.close();
+            _nmeaSocket.bind(QHostAddress::AnyIPv4, _autoConnectSettings->nmeaUdpPort()->rawValue().toUInt());
+            _toolbox->qgcPositionManager()->setNmeaSourceDevice(&_nmeaSocket);
+        }
+        //close serial port
+        if (_nmeaPort) {
+            _nmeaPort->close();
+            delete _nmeaPort;
+            _nmeaPort = nullptr;
+            _nmeaDeviceName = "";
+        }
+    } else {
+        _nmeaSocket.close();
+    }
+#endif
 
 #ifndef NO_SERIAL_LINK
     QStringList currentPorts;
@@ -513,6 +534,7 @@ void LinkManager::_updateAutoConnectLinks(void)
 
 #ifndef NO_SERIAL_LINK
 #ifndef __mobile__
+        // check to see if nmea gps is configured for current Serial port, if so, set it up to connect
         if (portInfo.systemLocation().trimmed() == _autoConnectSettings->autoConnectNmeaPort()->cookedValueString()) {
             if (portInfo.systemLocation().trimmed() != _nmeaDeviceName) {
                 _nmeaDeviceName = portInfo.systemLocation().trimmed();

src/comm/LinkManager.h

@@ -25,6 +25,7 @@
 #include "MAVLinkProtocol.h"
 #if !defined(__mobile__)
 #include "LogReplayLink.h"
+#include "UdpIODevice.h"
 #endif
 #include "QmlObjectListModel.h"
 
@@ -241,6 +242,7 @@ private:
     QString      _nmeaDeviceName;
     QSerialPort* _nmeaPort;
     uint32_t     _nmeaBaud;
+    UdpIODevice  _nmeaSocket;
 #endif
 #endif
 };

src/comm/UdpIODevice.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "UdpIODevice.h"
+#include <algorithm>
+
+UdpIODevice::UdpIODevice(QObject *parent) : QUdpSocket(parent)
+{
+    // this might cause data to be available only after a second readyRead() signal
+    connect(this, &QUdpSocket::readyRead, this, &UdpIODevice::_readAvailableData);
+}
+
+bool UdpIODevice::canReadLine() const
+{
+    return _buffer.indexOf('\n') > -1;
+}
+
+qint64 UdpIODevice::readLineData(char *data, qint64 maxSize)
+{
+    int length = _buffer.indexOf('\n') + 1; // add 1 to include the '\n'
+    if (length == 0) {
+        return 0;
+    }
+    length = std::min(length, static_cast<int>(maxSize));
+    // copy lines to output
+    std::copy(_buffer.data(), _buffer.data() + length, data);
+    // trim buffer to remove consumed line
+    _buffer = _buffer.right(_buffer.size() - length);
+    // return number of bytes read
+    return length;
+}
+
+void UdpIODevice::_readAvailableData() {
+    while (hasPendingDatagrams()) {
+        int previousSize = _buffer.size();
+        _buffer.resize(static_cast<int>(_buffer.size() + pendingDatagramSize()));
+        readDatagram((_buffer.data() + previousSize), pendingDatagramSize());
+    }
+}

src/comm/UdpIODevice.h

+/****************************************************************************
+ *
+ *   (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <QUdpSocket>
+
+/**
+ * @brief QUdpSocket implementation of canReadLine() readLineData() in server mode.
+ * The UdpIODevice class works almost exactly as a QUdpSocket, but
+ * also implements canReadLine() and readLineData() while in the bound state.
+ * Regular QUdpSocket only allows to use these QIODevice interfaces when using
+ * connectToHost(), which means it is working as a client instead of server.
+ *
+ **/
+
+class UdpIODevice: public QUdpSocket
+{
+    Q_OBJECT
+public:
+    UdpIODevice(QObject *parent = nullptr);
+    bool     canReadLine() const;
+    qint64   readLineData(char *data, qint64 maxSize);
+
+private slots:
+    void _readAvailableData();
+
+private:
+    QByteArray _buffer;
+};

src/ui/preferences/GeneralSettings.qml

@@ -52,6 +52,9 @@ QGCView {
     property bool   _isTCP:                     _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.tcpVideoSource
     property bool   _isMPEGTS:                  _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.mpegtsVideoSource
 
+    property string gpsDisabled: "Disabled"
+    property string gpsUdpPort:  "UDP Port"
+
     readonly property real _internalWidthRatio: 0.8
 
     QGCPalette { id: qgcPal }
@@ -504,7 +507,6 @@ QGCView {
                                     Layout.preferredWidth:  _comboFieldWidth
 
                                     model:  ListModel {
-                                        ListElement { text: "disabled" }
                                     }
 
                                     onActivated: {
@@ -513,18 +515,26 @@ QGCView {
                                         }
                                     }
                                     Component.onCompleted: {
+                                        model.append({text: gpsDisabled})
+                                        model.append({text: gpsUdpPort})
+
                                         for (var i in QGroundControl.linkManager.serialPorts) {
                                             nmeaPortCombo.model.append({text:QGroundControl.linkManager.serialPorts[i]})
                                         }
                                         var index = nmeaPortCombo.find(QGroundControl.settingsManager.autoConnectSettings.autoConnectNmeaPort.valueString);
                                         nmeaPortCombo.currentIndex = index;
+                                        if (QGroundControl.linkManager.serialPorts.length === 0) {
+                                            nmeaPortCombo.model.append({text: "Serial <none available>"})
+                                        }
                                     }
                                 }
 
                                 QGCLabel {
+                                    visible:          nmeaPortCombo.currentText !== gpsUdpPort && nmeaPortCombo.currentText !== gpsDisabled
                                     text:             qsTr("NMEA GPS Baudrate")
                                 }
                                 QGCComboBox {
+                                    visible:                nmeaPortCombo.currentText !== gpsUdpPort && nmeaPortCombo.currentText !== gpsDisabled
                                     id:                     nmeaBaudCombo
                                     Layout.preferredWidth:  _comboFieldWidth
                                     model:                  [4800, 9600, 19200, 38400, 57600, 115200]
@@ -539,6 +549,16 @@ QGCView {
                                         nmeaBaudCombo.currentIndex = index;
                                     }
                                 }
+
+                                QGCLabel {
+                                    text:       qsTr("NMEA stream UDP port")
+                                    visible:    nmeaPortCombo.currentText === gpsUdpPort
+                                }
+                                FactTextField {
+                                    visible:                nmeaPortCombo.currentText === gpsUdpPort
+                                    Layout.preferredWidth:  _valueFieldWidth
+                                    fact:                   QGroundControl.settingsManager.autoConnectSettings.nmeaUdpPort
+                                }
                             }
                         }
                     }