Skip to content

Q
qgroundcontrol
Commit db465d5a authored by Don Gagne's avatar Don Gagne
Browse files
Options

Final TCP link support

parent d9fe0069
Hide whitespace changes
Inline Side-by-side
Showing with 184 additions and 45 deletions
qgcunittest.pro
View file @ db465d5a
......@@ -200,6 +200,7 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCTCPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
src/ui/UASControlParameters.ui \
src/ui/map/QGCMapTool.ui \
......@@ -323,6 +324,7 @@ HEADERS += src/MG.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCTCPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
src/ui/uas/UASControlParameters.h \
src/uas/QGCUASParamManager.h \
......@@ -490,6 +492,7 @@ SOURCES += src/QGCCore.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCTCPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
src/ui/uas/UASControlParameters.cpp \
src/uas/QGCUASParamManager.cc \
......
qgroundcontrol.pro
View file @ db465d5a
......@@ -227,6 +227,7 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCTCPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
src/ui/UASControlParameters.ui \
src/ui/map/QGCMapTool.ui \
......@@ -408,6 +409,7 @@ HEADERS += src/MG.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCTCPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
src/ui/uas/UASControlParameters.h \
src/uas/QGCUASParamManager.h \
......@@ -634,6 +636,7 @@ SOURCES += src/main.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCTCPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
src/ui/uas/UASControlParameters.cpp \
src/uas/QGCUASParamManager.cc \
......
src/comm/TCPLink.cc
View file @ db465d5a
......@@ -37,24 +37,20 @@
#include "LinkManager.h"
#include "QGC.h"
#include <QHostInfo>
//#include <netinet/in.h>
TCPLink::TCPLink(QHostAddress host, quint16 port)
: socket(NULL)
TCPLink::TCPLink(QHostAddress hostAddress, quint16 socketPort) :
host(hostAddress),
port(socketPort),
socket(NULL),
socketIsConnected(false)
{
// FIXFIX: host and port and hard-wired
this->host = "127.0.0.1";
this->port = 5760;
this->socketIsConnected = false;
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
// FIXFIX: What about host name?
this->name = tr("TCP Link (port:%1)").arg(this->port);
emit nameChanged(this->name);
qDebug() << "TCP Created " << name;
qDebug() << "TCP Created " << this->name;
}
TCPLink::~TCPLink()
......@@ -63,25 +59,26 @@ TCPLink::~TCPLink()
this->deleteLater();
}
/**
* @brief Runs the thread
*
**/
void TCPLink::run()
{
exec();
}
void TCPLink::setAddress(const QString &text)
{
setAddress(QHostAddress(text));
}
void TCPLink::setAddress(QHostAddress host)
{
bool reconnect(false);
if(this->isConnected())
if (this->isConnected())
{
disconnect();
reconnect = true;
}
this->host = host;
if(reconnect)
if (reconnect)
{
connect();
}
......@@ -104,10 +101,9 @@ void TCPLink::setPort(int port)
}
}
void TCPLink::writeBytes(const char* data, qint64 size)
#ifdef TCPLINK_READWRITE_DEBUG
void TCPLink::writeDebugBytes(const char *data, qint16 size)
{
//#define TCPLINK_DEBUG
#ifdef TCPLINK_DEBUG
QString bytes;
QString ascii;
for (int i=0; i<size; i++)
......@@ -123,9 +119,16 @@ void TCPLink::writeBytes(const char* data, qint64 size)
ascii.append(219);
}
}
qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
qDebug() << "Sent" << size << "bytes to" << host.toString() << ":" << port << "data:";
qDebug() << bytes;
qDebug() << "ASCII:" << ascii;
}
#endif
void TCPLink::writeBytes(const char* data, qint64 size)
{
#ifdef TCPLINK_READWRITE_DEBUG
writeDebugBytes(data, size);
#endif
socket->write(data, size);
}
......@@ -148,17 +151,10 @@ void TCPLink::readBytes()
socket->read(buffer.data(), buffer.size());
emit bytesReceived(this, buffer);
// // Echo data for debugging purposes
// std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
// int i;
// for (i=0; i<s; i++)
// {
// unsigned int v=data[i];
// fprintf(stderr,"%02x ", v);
// }
// std::cerr << std::endl;
#ifdef TCPLINK_READWRITE_DEBUG
writeDebugBytes(buffer.data(), buffer.size());
#endif
}
}
......@@ -185,10 +181,8 @@ bool TCPLink::disconnect()
if (socket)
{
if (socketIsConnected) {
socket->disconnect();
socketIsConnected = false;
}
socket->disconnect();
socketIsConnected = false;
delete socket;
socket = NULL;
}
......@@ -220,17 +214,25 @@ bool TCPLink::hardwareConnect(void)
socket->connectToHost(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
//QObject::connect(socket, SIGNAL(connected()), this, SLOT(socketConnected()));
socketIsConnected = true;
QObject::connect(socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(socketError(QAbstractSocket::SocketError)));
// Give the socket a second to connect to the other side otherwise error out
if (!socket->waitForConnected(1000))
{
emit communicationError(getName(), "connection failed");
return false;
}
socketIsConnected = true;
connectionStartTime = QGC::groundTimeUsecs()/1000;
emit connected(true);
return true;
}
void TCPLink::socketConnected()
void TCPLink::socketError(QAbstractSocket::SocketError socketError)
{
socketIsConnected = true;
emit communicationError(getName(), "Error on socket: " + socket->errorString());
}
/**
......
src/comm/TCPLink.h
View file @ db465d5a
......@@ -40,12 +40,14 @@
#include <LinkInterface.h>
#include <configuration.h>
//#define TCPLINK_READWRITE_DEBUG // Use to debug data reads/writes
class TCPLink : public LinkInterface
{
Q_OBJECT
public:
TCPLink(QHostAddress host = QHostAddress::Any, quint16 port = 14550);
TCPLink(QHostAddress hostAddress = QHostAddress::LocalHost, quint16 socketPort = 5760);
~TCPLink();
void requestReset() { }
......@@ -55,6 +57,9 @@ public:
int getPort() const {
return port;
}
QHostAddress getHostAddress() const {
return host;
}
QString getName() const;
int getBaudRate() const;
......@@ -88,7 +93,9 @@ public slots:
void writeBytes(const char* data, qint64 length);
bool connect();
bool disconnect();
void socketConnected();
void socketError(QAbstractSocket::SocketError socketError);
void setAddress(const QString &text);
protected:
QString name;
......@@ -112,6 +119,9 @@ protected:
private:
bool hardwareConnect(void);
#ifdef TCPLINK_READWRITE_DEBUG
void writeDebugBytes(const char *data, qint16 size);
#endif
signals:
//Signals are defined by LinkInterface
......
src/ui/CommConfigurationWindow.cc
View file @ db465d5a
......@@ -53,6 +53,7 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkProtocol.h"
#include "MAVLinkSettingsWidget.h"
#include "QGCUDPLinkConfiguration.h"
#include "QGCTCPLinkConfiguration.h"
#include "LinkManager.h"
#include "MainWindow.h"
......@@ -152,6 +153,8 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
}
TCPLink* tcp = dynamic_cast<TCPLink*>(link);
if (tcp != 0) {
QWidget* conf = new QGCTCPLinkConfiguration(tcp, this);
ui.linkScrollArea->setWidget(conf);
ui.linkGroupBox->setTitle(tr("TCP Link"));
ui.linkType->setCurrentIndex(ui.linkType->findData(QGC_LINK_TCP));
}
......@@ -264,12 +267,12 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
}
case QGC_LINK_TCP:
{
{
TCPLink *tcp = new TCPLink();
tmpLink = tcp;
MainWindow::instance()->addLink(tmpLink);
break;
}
}
#ifdef OPAL_RT
case QGC_LINK_OPAL:
......
src/ui/QGCTCPLinkConfiguration.cc 0 → 100644
View file @ db465d5a
#include <QInputDialog>
#include "QGCTCPLinkConfiguration.h"
#include "ui_QGCTCPLinkConfiguration.h"
QGCTCPLinkConfiguration::QGCTCPLinkConfiguration(TCPLink* link, QWidget *parent) :
QWidget(parent),
link(link),
ui(new Ui::QGCTCPLinkConfiguration)
{
ui->setupUi(this);
uint16_t port = link->getPort();
ui->portSpinBox->setValue(port);
QString addr = link->getHostAddress().toString();
ui->hostAddressLineEdit->setText(addr);
connect(ui->portSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setPort(int)));
connect(ui->hostAddressLineEdit, SIGNAL(textChanged (const QString &)), link, SLOT(setAddress(const QString &)));
}
QGCTCPLinkConfiguration::~QGCTCPLinkConfiguration()
{
delete ui;
}
void QGCTCPLinkConfiguration::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type()) {
case QEvent::LanguageChange:
ui->retranslateUi(this);
break;
default:
break;
}
}
\ No newline at end of file
src/ui/QGCTCPLinkConfiguration.h 0 → 100644
View file @ db465d5a
#ifndef QGCTCPLINKCONFIGURATION_H
#define QGCTCPLINKCONFIGURATION_H
#include <QWidget>
#include "TCPLink.h"
namespace Ui
{
class QGCTCPLinkConfiguration;
}
class QGCTCPLinkConfiguration : public QWidget
{
Q_OBJECT
public:
explicit QGCTCPLinkConfiguration(TCPLink* link, QWidget *parent = 0);
~QGCTCPLinkConfiguration();
public slots:
protected:
void changeEvent(QEvent *e);
TCPLink* link; ///< TCP link instance this widget configures
private:
Ui::QGCTCPLinkConfiguration *ui;
};
#endif // QGCTCPLINKCONFIGURATION_H
src/ui/QGCTCPLinkConfiguration.ui 0 → 100644
View file @ db465d5a
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCTCPLinkConfiguration</class>
<widget class="QWidget" name="QGCTCPLinkConfiguration">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::FieldsStayAtSizeHint</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="portLabel">
<property name="text">
<string>TCP Port</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="portSpinBox">
<property name="minimum">
<number>3000</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Host Address</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="hostAddressLineEdit"/>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment