Compile and serial port error handling fixes

libs/opmapcontrol/src/internals/copyrightstrings.h

@@ -31,11 +31,11 @@
 #include <QDateTime>
  
 namespace internals {
-static const QString googleCopyright = QString("%1 Google - Map data %1 Tele Atlas, Imagery %1 TerraMetrics").arg(QDate::currentDate().year());
-static const QString openStreetMapCopyright = QString(" OpenStreetMap - Map data %1 OpenStreetMap").arg(QDate::currentDate().year());
-static const QString yahooMapCopyright = QString(" Yahoo! Inc. - Map data & Imagery %1 NAVTEQ").arg(QDate::currentDate().year());
-static const QString virtualEarthCopyright = QString("%1 Microsoft Corporation, %1 NAVTEQ, %1 Image courtesy of NASA").arg(QDate::currentDate().year());
-static const QString arcGisCopyright = QString("%1 ESRI - Map data %1 ArcGIS").arg(QDate::currentDate().year());
+static const QString googleCopyright = QString("(c)%1 Google - Map data (c)%1 Tele Atlas, Imagery (c)%1 TerraMetrics").arg(QDate::currentDate().year());
+static const QString openStreetMapCopyright = QString("(c) OpenStreetMap - Map data (c)%1 OpenStreetMap").arg(QDate::currentDate().year());
+static const QString yahooMapCopyright = QString("(c) Yahoo! Inc. - Map data & Imagery (c)%1 NAVTEQ").arg(QDate::currentDate().year());
+static const QString virtualEarthCopyright = QString("(c)%1 Microsoft Corporation, (c)%1 NAVTEQ, (c)%1 Image courtesy of NASA").arg(QDate::currentDate().year());
+static const QString arcGisCopyright = QString("(c)%1 ESRI - Map data (c)%1 ArcGIS").arg(QDate::currentDate().year());
 
 }
 #endif // COPYRIGHTSTRINGS_H

src/QGCCore.cc

@@ -169,15 +169,15 @@ QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc,
         // first messages arrive
         udpLink = new UDPLink(QHostAddress::Any, 14550);
         LinkManager::instance()->add(udpLink);
-        //MainWindow::instance()->addLink(udpLink);
     } else if (mainWindow->getCustomMode() == MainWindow::CUSTOM_MODE_PX4) {
         udpLink = new UDPLink(QHostAddress::Any, 14550);
         LinkManager::instance()->add(udpLink);
         SerialLink *slink = new SerialLink();
+        LinkManager::instance()->add(slink);
     } else {
         // We want to have a default serial link available for "quick" connecting.
         SerialLink *slink = new SerialLink();
-//        MainWindow::instance()->addLink(slink);
+        LinkManager::instance()->add(slink);
     }
 
 #ifdef OPAL_RT

src/comm/SerialLink.cc

@@ -142,6 +142,7 @@ void SerialLink::run()
         //Need to error out here.
         emit communicationError(getName(),"Error connecting: " + m_port->errorString());
         disconnect(); // This tidies up and sends the necessary signals
+        emit communicationError(tr("Serial Port %1").arg(getPortName()), tr("Cannot read / write data - check physical USB and cable connections."));
         return;
     }
 
@@ -152,6 +153,7 @@ void SerialLink::run()
     bool triedreset = false;
     bool triedDTR = false;
     qint64 timeout = 5000;
+    int linkErrorCount = 0;
 
     forever
     {
@@ -173,20 +175,28 @@ void SerialLink::run()
             }
         }
 
-        if (m_transmitBuffer.length() > 0) {
+        if (isConnected() && (linkErrorCount > 100)) {
+            linkErrorCount = 0;
+            disconnect();
+        }
+
+        if (m_transmitBuffer.count() > 0) {
             QMutexLocker writeLocker(&m_writeMutex);
             int numWritten = m_port->write(m_transmitBuffer);
-            bool txError = m_port->waitForBytesWritten(-1);
-//            if ((txError) || (numWritten == -1))
-//                qDebug() << "TX Error!";
+            bool txSuccess = m_port->waitForBytesWritten(1);
+            if (!txSuccess || (numWritten != m_transmitBuffer.count()))
+            {
+                linkErrorCount++;
+                qDebug() << "TX Error! wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes";
+            } else {
+                linkErrorCount = 0;
+            }
             m_transmitBuffer =  m_transmitBuffer.remove(0, numWritten);
-        } else {
-//            qDebug() << "Wait write response timeout %1" << QTime::currentTime().toString();
         }
 
-        bool error = m_port->waitForReadyRead(10);
+        bool success = m_port->waitForReadyRead(10);
 
-        if(error) { // Waits for 1/2 second [TODO][BB] lower to SerialLink::poll_interval?
+        if (success) { // Waits for 1/2 second [TODO][BB] lower to SerialLink::poll_interval?
             QByteArray readData = m_port->readAll();
             while (m_port->waitForReadyRead(10))
                 readData += m_port->readAll();
@@ -196,9 +206,11 @@ void SerialLink::run()
 
                 m_bytesRead += readData.length();
                 m_bitsReceivedTotal += readData.length() * 8;
+                linkErrorCount = 0;
             }
         } else {
-//            qDebug() << "Wait write response timeout %1" << QTime::currentTime().toString();
+            linkErrorCount++;
+            qDebug() << "Wait read response timeout" << QTime::currentTime().toString();
         }
 
         if (bytes != m_bytesRead) // i.e things are good and data is being read.

src/configuration.h

@@ -11,7 +11,7 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.1.1 (beta)"
+#define QGC_APPLICATION_VERSION "v. 1.1.2 (beta)"
 
 namespace QGC
 

src/uas/UAS.cc

@@ -1975,13 +1975,23 @@ void UAS::setMode(int mode)
 */
 void UAS::sendMessage(mavlink_message_t message)
 {
-    if (!LinkManager::instance()) return;
+    if (!LinkManager::instance())
+    {
+        qWarning() << "LINKMANAGER NOT AVAILABLE!";
+        return;
+    }
+
+    if (links->count() < 1) {
+        qDebug() << "NO LINK AVAILABLE TO SEND!";
+    }
+
     // Emit message on all links that are currently connected
     foreach (LinkInterface* link, *links)
     {
         if (LinkManager::instance()->getLinks().contains(link))
         {
             sendMessage(link, message);
+            qDebug() << "SENT MESSAGE!";
         }
         else
         {
@@ -2034,12 +2044,17 @@ void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
     int len = mavlink_msg_to_send_buffer(buffer, &message);
     static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
     mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);
+
     // If link is connected
     if (link->isConnected())
     {
         // Send the portion of the buffer now occupied by the message
         link->writeBytes((const char*)buffer, len);
     }
+    else
+    {
+        qDebug() << "LINK NOT CONNECTED, NOT SENDING!";
+    }
 }
 
 /**
@@ -2232,7 +2247,7 @@ void UAS::requestParameters()
     mavlink_message_t msg;
     mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
     sendMessage(msg);
-    qDebug() << __FILE__ << __LINE__ << "LOADING PARAM LIST";
+    qDebug() << __FILE__ << ":" << __LINE__ << "LOADING PARAM LIST";
 }
 
 void UAS::writeParametersToStorage()

src/ui/DebugConsole.cc

@@ -217,6 +217,7 @@ void DebugConsole::removeLink(LinkInterface* const linkInterface)
 }
 void DebugConsole::linkStatusUpdate(const QString& name,const QString& text)
 {
+    Q_UNUSED(name);
     m_ui->receiveText->appendPlainText(text);
     // Ensure text area scrolls correctly
     m_ui->receiveText->ensureCursorVisible();
@@ -579,7 +580,7 @@ QString DebugConsole::bytesToSymbolNames(const QByteArray& b)
     } else if (b.contains(0x09)) {
         text = "<TAB>";
     } else if (b.contains((char)0x00)) {
-        text == "<NUL>";
+        text = "<NUL>";
     } else if (b.contains(0x1B)) {
         text = "<ESC>";
     } else if (b.contains(0x7E)) {
@@ -688,7 +689,7 @@ void DebugConsole::sendBytes()
         str.append(specialSymbol);
         str.remove(' ');
         str.remove("0x");
-        str.simplified();
+        str = str.simplified();
         int bufferIndex = 0;
         if ((str.size() % 2) == 0) {
             for (int i = 0; i < str.size(); i=i+2) {

src/ui/ParameterInterface.cc

@@ -36,6 +36,8 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCSensorSettingsWidget.h"
 
 #include <QDebug>
+#include <QSettings>
+#include "MainWindow.h"
 
 ParameterInterface::ParameterInterface(QWidget *parent) :
     QWidget(parent),
@@ -45,6 +47,15 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
 {
     m_ui->setupUi(this);
 
+    QSettings settings;
+    enum MainWindow::CUSTOM_MODE mode = static_cast<enum MainWindow::CUSTOM_MODE>(settings.value("QGC_CUSTOM_MODE", MainWindow::CUSTOM_MODE_NONE).toInt());
+
+    if (mode == MainWindow::CUSTOM_MODE_PX4)
+    {
+        delete m_ui->sensorSettings;
+        m_ui->sensorSettings = NULL;
+    }
+
     // Get current MAV list
     QList<UASInterface*> systems = UASManager::instance()->getUASList();
 
@@ -67,7 +78,8 @@ ParameterInterface::~ParameterInterface()
 void ParameterInterface::selectUAS(int index)
 {
     m_ui->stackedWidget->setCurrentIndex(index);
-    m_ui->sensorSettings->setCurrentIndex(index);
+    if (m_ui->sensorSettings)
+        m_ui->sensorSettings->setCurrentIndex(index);
     curr = index;
 }
 
@@ -81,14 +93,19 @@ void ParameterInterface::addUAS(UASInterface* uas)
     paramWidgets->insert(uas->getUASID(), param);
     m_ui->stackedWidget->addWidget(param);
 
+    QGCSensorSettingsWidget* sensor = NULL;
 
-    QGCSensorSettingsWidget* sensor = new QGCSensorSettingsWidget(uas, this);
-    m_ui->sensorSettings->addWidget(sensor);
+    if (m_ui->sensorSettings)
+    {
+        sensor = new QGCSensorSettingsWidget(uas, this);
+        m_ui->sensorSettings->addWidget(sensor);
+    }
 
     // Set widgets as default
     if (curr == -1) {
         // Clear
-        m_ui->sensorSettings->setCurrentWidget(sensor);
+        if (m_ui->sensorSettings && sensor)
+            m_ui->sensorSettings->setCurrentWidget(sensor);
         m_ui->stackedWidget->setCurrentWidget(param);
         curr = 0;
     }