Final TCP link support

qgcunittest.pro

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

+#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

+#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

+<?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>