Merge git://git.samba.org/tridge/UAV/qgroundcontrol into dev-lin

.gitignore

@@ -44,3 +44,7 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
+
+thirdParty/qserialport-build-desktop/
+thirdParty/qserialport/bin/
+thirdParty/qserialport/lib/

qgroundcontrol.pro

@@ -58,36 +58,47 @@ exists(user_config.pri) {
 }
 
 INCLUDEPATH += $$BASEDIR/../mavlink/include/common
+INCLUDEPATH += $$BASEDIR/../mavlink/include
+INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/common
+INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include
 contains(MAVLINK_CONF, pixhawk) { 
     # Remove the default set - it is included anyway
     INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
     
     # PIXHAWK SPECIAL MESSAGES
     INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
+    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/pixhawk
     DEFINES += QGC_USE_PIXHAWK_MESSAGES
 }
 contains(MAVLINK_CONF, slugs) { 
     # Remove the default set - it is included anyway
     INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
     
     # SLUGS SPECIAL MESSAGES
     INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
+    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/slugs
     DEFINES += QGC_USE_SLUGS_MESSAGES
 }
 contains(MAVLINK_CONF, ualberta) { 
     # Remove the default set - it is included anyway
     INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
     
     # UALBERTA SPECIAL MESSAGES
     INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
+    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ualberta
     DEFINES += QGC_USE_UALBERTA_MESSAGES
 }
 contains(MAVLINK_CONF, ardupilotmega) { 
     # Remove the default set - it is included anyway
     INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    INCLUDEPATH -= $$BASEDIR/thirdParty/mavlink/include/common
     
     # UALBERTA SPECIAL MESSAGES
     INCLUDEPATH += $$BASEDIR/../mavlink/include/ardupilotmega
+    INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/ardupilotmega
     DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES
 }
 
@@ -97,13 +108,6 @@ contains(MAVLINK_CONF, ardupilotmega) {
 # done by the plugins above
 include(qgroundcontrol.pri)
 
-# QWT plot and QExtSerial depend on paths set by qgroundcontrol.pri
-# Include serial port library
-include(src/lib/qextserialport/qextserialport.pri)
-
-# include qserial library
-include(thirdParty/qserial/qserialport.prf)
-
 # Include QWT plotting library
 include(src/lib/qwt/qwt.pri)
 DEPENDPATH += . \
@@ -111,11 +115,22 @@ DEPENDPATH += . \
     lib/QMapControl/src \
     lib/opmapcontrol \
     lib/opmapcontrol/src \
-    plugins
+    plugins \
+    thirdParty/qserialport/include \
+    thirdParty/qserialport/include/QtSerialPort \
+    thirdParty/qserialport
 INCLUDEPATH += . \
     lib/QMapControl \
     lib/opmapcontrol \
-    $$BASEDIR/../mavlink/include
+    thirdParty/qserialport/include \
+    thirdParty/qserialport/include/QtSerialPort \
+    thirdParty/qserialport/src
+
+# Include serial port library
+include(src/lib/qextserialport/qextserialport.pri)
+# include qserial library
+include(thirdParty/qserialport/qgroundcontrol-qserialport.pri)
+
 
 # ../mavlink/include \
 # MAVLink/include \

src/comm/MAVLinkProtocol.cc

@@ -182,6 +182,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
 
         if (decodeState == 1) {
+#ifdef MAVLINK_MESSAGE_LENGTHS
+	    const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
+	    if (message.msgid >= sizeof(message_lengths) ||
+		message.len != message_lengths[message.msgid]) {
+                    qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
+		    continue;
+	    }
+#endif
             // Log data
             if (m_loggingEnabled && m_logfile) {
                 const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);

src/comm/MAVLinkXMLParser.cc

@@ -90,6 +90,16 @@ bool MAVLinkXMLParser::generate()
 
     int mavlinkVersion = 0;
 
+    // we need to gather the message lengths across multiple includes,
+    // which we can do via detecting recursion
+    static unsigned message_lengths[256];
+    static int highest_message_id;
+    static int recursion_level;
+
+    if (recursion_level == 0) {
+        highest_message_id = 0;
+        memset(message_lengths, 0, sizeof(message_lengths));
+    }
 
 
     // Start main header
@@ -138,7 +148,9 @@ bool MAVLinkXMLParser::generate()
                                 MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this);
                                 connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
                                 // Generate and write
+                                recursion_level++;
                                 includeParser.generate();
+                                recursion_level--;
                                 mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
 
 
@@ -340,7 +352,7 @@ bool MAVLinkXMLParser::generate()
                                         QString decodeLines;
                                         QString sendArguments;
                                         QString commentLines;
-
+                                        unsigned message_length = 0;
 
 
                                         // Get the message fields
@@ -437,6 +449,40 @@ bool MAVLinkXMLParser::generate()
                                                 }
 
 
+                                                // message length calculation
+                                                unsigned element_multiplier = 1;
+                                                unsigned element_length = 0;
+                                                const struct {
+                                                    const char *prefix;
+                                                    unsigned length;
+                                                } length_map[] = {
+                                                        { "array",  1 },
+                                                        { "char",   1 },
+                                                        { "uint8",  1 },
+                                                        { "int8",   1 },
+                                                        { "uint16", 2 },
+                                                        { "int16",  2 },
+                                                        { "uint32", 4 },
+                                                        { "int32",  4 },
+                                                        { "uint64", 8 },
+                                                        { "int64",  8 },
+                                                        { "float",  4 },
+                                                        { "double", 8 },
+                                                };
+                                                if (fieldType.contains("[")) {
+                                                    element_multiplier = fieldType.split("[").at(1).split("]").first().toInt();
+                                                }
+                                                for (unsigned i=0; i<sizeof(length_map)/sizeof(length_map[0]); i++) {
+                                                    if (fieldType.startsWith(length_map[i].prefix)) {
+                                                        element_length = length_map[i].length * element_multiplier;
+                                                        break;
+                                                    }
+                                                }
+                                                if (element_length == 0) {
+                                                    emit parseState(tr("<font color=\"red\">ERROR: Unable to calculate length for %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), fieldType));
+                                                }
+                                                message_length += element_length;
+
                                                 //
                                                 //                                                QString unpackingCode;
 
@@ -489,6 +535,11 @@ bool MAVLinkXMLParser::generate()
                                             f = f.nextSibling();
                                         }
 
+                                        if (messageId > highest_message_id) {
+                                            highest_message_id = messageId;
+                                        }
+                                        message_lengths[messageId] = message_length;
+
                                         cStruct = cStruct.arg(cStructName, cStructLines);
                                         lcmStructDefs.append("\n").append(cStruct).append("\n");
                                         pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines);
@@ -540,6 +591,15 @@ bool MAVLinkXMLParser::generate()
         mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first);
     }
 
+    mainHeader += "\n\n// MESSAGE LENGTHS\n\n";
+    mainHeader += "#undef MAVLINK_MESSAGE_LENGTHS\n";
+    mainHeader += "#define MAVLINK_MESSAGE_LENGTHS { ";
+    for (int i=0; i<highest_message_id; i++) {
+        mainHeader += QString::number(message_lengths[i]);
+        if (i < highest_message_id-1) mainHeader += ", ";
+    }
+    mainHeader += " }\n\n";
+
     mainHeader += "#ifdef __cplusplus\n}\n#endif\n";
     mainHeader += "#endif";
     // Newline to make compiler happy

src/comm/SerialInterface.h

@@ -49,7 +49,8 @@ signals:
 
 public:
 
-    enum baudRateType {
+    enum baudRateType
+    {
         BAUD50,                //POSIX ONLY
         BAUD75,                //POSIX ONLY
         BAUD110,
@@ -77,14 +78,16 @@ public:
         BAUD921600             // WINDOWS ONLY
     };
 
-    enum dataBitsType {
+    enum dataBitsType
+    {
         DATA_5,
         DATA_6,
         DATA_7,
         DATA_8
     };
 
-    enum parityType {
+    enum parityType
+    {
         PAR_NONE,
         PAR_ODD,
         PAR_EVEN,
@@ -92,13 +95,15 @@ public:
         PAR_SPACE
     };
 
-    enum stopBitsType {
+    enum stopBitsType
+    {
         STOP_1,
         STOP_1_5,               //WINDOWS ONLY
         STOP_2
     };
 
-    enum flowType {
+    enum flowType
+    {
         FLOW_OFF,
         FLOW_HARDWARE,
         FLOW_XONXOFF
@@ -107,7 +112,8 @@ public:
     /**
      * structure to contain port settings
      */
-    struct portSettings {
+    struct portSettings
+    {
         baudRateType BaudRate;
         dataBitsType DataBits;
         parityType Parity;
@@ -186,10 +192,11 @@ public:
     }
     virtual void setTimeout(qint64 timeout) {
         _port->setTimeout(timeout);
-    };
+    }
     virtual void setFlow(SerialInterface::flowType flow) {
         // TODO implement
-    };
+        _port->setFlowControl((FlowType)flow);
+    }
 };
 
 using namespace TNX;
@@ -262,11 +269,11 @@ public:
     virtual void setTimeout(qint64 timeout) {
         // TODO implement
         //_port->setTimeout(timeout);
-    };
+    }
     virtual void setFlow(SerialInterface::flowType flow) {
         // TODO map
         settings.setFlowControl(QPortSettings::FLOW_OFF);
-    };
+    }
 };
 
 #endif // SERIALINTERFACE_H

src/comm/SerialLink.cc

@@ -48,32 +48,14 @@ SerialLink::SerialLink(QString portname, SerialInterface::baudRateType baudrate,
     this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
 
     // Set the port name
-    if (porthandle == "") {
-        //        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
+    if (porthandle == "")
+    {
         name = tr("Serial Link ") + QString::number(getId());
-    } else {
-        name = portname.trimmed();
     }
-
-#ifdef _WIN3232
-    // Windows 32bit & 64bit serial connection
-    winPort = CreateFile(porthandle,
-                         GENERIC_READ | GENERIC_WRITE,
-                         0,
-                         0,
-                         OPEN_EXISTING,
-                         FILE_ATTRIBUTE_NORMAL,
-                         0);
-    if(winPort==INVALID_HANDLE_VALUE) {
-        if(GetLastError()==ERROR_FILE_NOT_FOUND) {
-            //serial port does not exist. Inform user.
-        }
-        //some other error occurred. Inform user.
+    else
+    {
+        name = portname.trimmed();
     }
-#else
-
-#endif
-
     loadSettings();
 }
 

src/comm/UDPLink.cc

@@ -85,29 +85,32 @@ 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
-        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);
+    if (host != "")
+    {
+        qDebug() << "UDP:" << "ADDING HOST:" << host;
+        if (host.contains(":")) {
+            qDebug() << "HOST: " << host.split(":").first();
+            QHostInfo info = QHostInfo::fromName(host.split(":").first());
+            // Add host
+            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());
+        } else {
+            QHostInfo info = QHostInfo::fromName(host);
+            // Add host
+            hosts.append(info.addresses().first());
+            // Set port according to default (this port)
+            ports.append(port);
         }
-        hosts.append(address);
-        qDebug() << "Address:" << address.toString();
-        // Set port according to user input
-        ports.append(host.split(":").last().toInt());
-    } else {
-        QHostInfo info = QHostInfo::fromName(host);
-        // Add host
-        hosts.append(info.addresses().first());
-        // Set port according to default (this port)
-        ports.append(port);
     }
 }
 
@@ -137,20 +140,21 @@ void UDPLink::removeHost(const QString& hostname)
 void UDPLink::writeBytes(const char* data, qint64 size)
 {
     // Broadcast to all connected systems
-    //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);
-
-        qDebug() << "WRITING TO" << currentHost.toIPv4Address() << currentPort;
+        QString bytes;
+        QString ascii;
+        //qDebug() << "WRITING DATA TO" << currentHost.toString() << currentPort;
         for (int i=0; i<size; i++) {
-            unsigned char v =data[i];
-            qDebug("%02x ", v);
+            unsigned char v = data[i];
+            bytes.append(QString().sprintf("%02x ", v));
+            ascii.append(data[i]);
         }
-        qDebug() <<"Sent to " << currentHost.toString() << ":" << currentPort;
+        qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
+        qDebug() << bytes;
+        qDebug() << "ASCII:" << ascii;
 
         socket->writeDatagram(data, size, currentHost, currentPort);
     }

thirdParty/qserialport/qgroundcontrol-qserialport.pri

+######################################################################
+# Automatically generated by qmake (2.01a) Sa. Apr 2 10:42:30 2011
+######################################################################
+
+DEPENDPATH += . \
+              include/QtSerialPort \
+              src/common \
+              src/posix \
+              src/win32
+INCLUDEPATH += include \
+               include/QtSerialPort \
+               src/posix \
+               src/win32
+
+# Input
+HEADERS += include/QtSerialPort/qportsettings.h \
+           include/QtSerialPort/qserialport.h \
+           include/QtSerialPort/qserialport_export.h \
+           include/QtSerialPort/qserialportnative.h
+
+macx|linux-g++|linux-g++-64 {
+HEADERS += src/posix/termioshelper.h
+}
+
+win32-msvc2008|win32-g++ {
+HEADERS += src/win32/commdcbhelper.h \
+           src/win32/qwincommevtnotifier.h \
+           src/win32/wincommevtbreaker.h \
+           src/win32/commdcbhelper.h \
+           src/win32/qwincommevtnotifier.h \
+           src/win32/wincommevtbreaker.h
+}
+
+SOURCES += src/common/qportsettings.cpp \
+           src/common/qserialport.cpp
+
+macx|linux-g++|linux-g++-64 {
+SOURCES += src/posix/qserialportnative_posix.cpp \
+           src/posix/termioshelper.cpp
+}
+
+win32-msvc2008|win32-g++ {
+SOURCES += src/win32/commdcbhelper.cpp \
+           src/win32/qserialportnative_win32.cpp \
+           src/win32/qwincommevtnotifier.cpp \
+           src/win32/wincommevtbreaker.cpp
+}