Addition of requestReset to LinkInterface, to allow MavLinkProtocol to detect...

Addition of requestReset to LinkInterface, to allow MavLinkProtocol to detect when connected, but at the wrong baud rate, request a reset.

src/comm/LinkInterface.h

@@ -61,6 +61,8 @@ public:
      */
     virtual QString getName() = 0;
 
+    virtual void requestReset() = 0;
+
     /**
      * @brief Determine the connection status
      *

src/comm/MAVLinkProtocol.cc

@@ -215,8 +215,11 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
     mavlink_status_t status;
 
     static int mavlink09Count = 0;
+    static int nonmavlinkCount = 0;
     static bool decodedFirstPacket = false;
     static bool warnedUser = false;
+    static bool checkedUserNonMavlink = false;
+    static bool warnedUserNonMavlink = false;
 
     for (int position = 0; position < b.size(); position++) {
         unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b[position]), &message, &status);
@@ -230,6 +233,24 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             emit protocolStatusMessage("MAVLink Version or Baud Rate Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot. If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same.");
         }
 
+        if (decodeState == 0 && !decodedFirstPacket)
+        {
+            nonmavlinkCount++;
+            if (nonmavlinkCount > 500 && !warnedUserNonMavlink)
+            {
+                //500 bytes with no mavlink message. Are we connected to a mavlink capable device?
+                if (!checkedUserNonMavlink)
+                {
+                    link->requestReset();
+                    checkedUserNonMavlink = true;
+                }
+                else
+                {
+                    warnedUserNonMavlink = true;
+                    emit protocolStatusMessage("MAVLink Baud Rate Mismatch", "Please check if the baud rates of QGroundControl and your autopilot are the same.");
+                }
+            }
+        }
         if (decodeState == 1)
         {
             decodedFirstPacket = true;

src/comm/MAVLinkSimulationLink.h

@@ -54,7 +54,7 @@ public:
     qint64 bytesAvailable();
 
     void run();
-
+    void requestReset() { }
     bool connect();
     bool disconnect();
 

src/comm/SerialLink.cc

@@ -213,7 +213,8 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
     port(NULL),
     ports(new QVector<QString>()),
     m_stopp(false),
-    bytesRead(0)
+    bytesRead(0),
+    m_reqReset(false)
 {
     // Setup settings
     this->porthandle = portname.trimmed();
@@ -265,6 +266,11 @@ SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl,
     }
     loadSettings();
 }
+void SerialLink::requestReset()
+{
+    QMutexLocker locker(&this->m_stoppMutex);
+    m_reqReset = true;
+}
 
 SerialLink::~SerialLink()
 {
@@ -417,6 +423,14 @@ void SerialLink::run()
                 this->m_stopp = false;
                 break;
             }
+            if (m_reqReset)
+            {
+                this->m_reqReset = false;
+                communicationUpdate(getName(),"Reset requested via DTR signal");
+                port->setDtr(true);
+                this->msleep(250);
+                port->setDtr(false);
+            }
         }
         // Check if new bytes have arrived, if yes, emit the notification signal
         checkForBytes();

src/comm/SerialLink.h

@@ -71,6 +71,8 @@ public:
     /** @brief Get a list of the currently available ports */
     QVector<QString>* getCurrentPorts();
 
+    void requestReset();
+
     bool isConnected();
     qint64 bytesAvailable();
 
@@ -170,7 +172,8 @@ protected:
     QVector<QString>* ports;
 
 private:
-	volatile bool m_stopp;
+    volatile bool m_stopp;
+    volatile bool m_reqReset;
 	QMutex m_stoppMutex;
 
     void setName(QString name);

src/comm/SerialLinkInterface.h

@@ -47,7 +47,7 @@ public:
     virtual int getBaudRate() = 0;
     virtual int getDataBits() = 0;
     virtual int getStopBits() = 0;
-
+    virtual void requestReset() = 0;
     virtual int getBaudRateType() = 0;
     virtual int getFlowType() = 0;
     virtual int getParityType() = 0;

src/comm/UDPLink.h

@@ -49,6 +49,8 @@ public:
     //UDPLink(QHostAddress host = "239.255.76.67", quint16 port = 7667);
     ~UDPLink();
 
+    void requestReset() { }
+
     bool isConnected();
     qint64 bytesAvailable();
     int getPort() const {

src/comm/XbeeLink.h

@@ -21,6 +21,7 @@ public:
 	
 public: // virtual functions from XbeeLinkInterface
 	QString getPortName();
+    void requestReset() { }
 	int getBaudRate();
 
 public slots: // virtual functions from XbeeLinkInterface
@@ -71,4 +72,4 @@ private:
 };
 
 
-#endif // _XBEELINK_H_
\ No newline at end of file
+#endif // _XBEELINK_H_