added additional xbeefiles

qgroundcontrol.pro

@@ -533,3 +533,20 @@ win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin)
 }
 TRANSLATIONS += es-MX.ts \
     en-US.ts
+
+# xbee support
+# libxbee only supported by linux and windows systems
+win32-msvc2008|win32-msvc2010|linux{
+    HEADERS += src/comm/XbeeLinkInterface.h \
+	src/comm/XbeeLink.h \
+	src/ui/XbeeConfigurationWindow.h \
+	src/comm/CallConv.h
+    SOURCES += src/comm/XbeeLink.cpp \
+	src/ui/XbeeConfigurationWindow.cpp
+    DEFINES += XBEELINK
+    INCLUDEPATH += thirdParty/libxbee
+# TO DO: build library when it does not exists already
+    LIBS += -LthirdParty/libxbee/lib \
+	-llibxbee
+
+}

src/comm/CallConv.h

+#ifndef _CALLCONV_H_
+#define _CALLCONV_H_
+
+#ifdef Q_OS_WIN
+#define CALLTYPEXBEE __stdcall
+#else // Q_OS_WIN
+#define CALLTYPEXBEE
+#endif // Q_OS_WIN
+
+
+#endif // _CALLCONV_H_
\ No newline at end of file

src/comm/XbeeLink.cpp

+#include <qdebug.h>
+#include <QThread>
+#include <QMutex>
+#include <MG.h>
+#include <configuration.h>
+#include<string>
+#include "XbeeLink.h"
+
+XbeeLink::XbeeLink(QString portName, int baudRate) : 
+	m_xbeeCon(NULL), m_portName(NULL), m_portNameLength(0), m_baudRate(baudRate), m_connected(false), m_id(-1)
+{
+
+	/* setup the xbee */
+	this->setPortName(portName);
+	
+	//this->connect();
+	// Set unique ID and add link to the list of links
+	this->m_id = getNextLinkId();
+	// set the Name
+	this->m_name = tr("xbee link") + QString::number(this->m_id);
+	emit nameChanged(this->m_name);
+}
+
+XbeeLink::~XbeeLink()
+{
+	if(m_portName)
+	{
+		delete m_portName;
+		m_portName = NULL;
+	}
+	this->disconnect();
+}
+
+QString XbeeLink::getPortName()
+{
+	QString portName;
+	for(unsigned int i = 0;i<this->m_portNameLength;i++)
+	{
+		portName.append(this->m_portName[i]);
+	}
+	return portName;
+}
+
+int XbeeLink::getBaudRate()
+{
+	return this->m_baudRate;
+}
+
+bool XbeeLink::setPortName(QString portName)
+{
+	bool reconnect(false);
+	if(this->m_connected)
+	{
+		this->disconnect();
+		reconnect = true;
+	}
+	if(m_portName)
+	{
+		delete m_portName;
+		m_portName = NULL;
+	}
+	QStringList list = portName.split(QRegExp("\\s+"),QString::SkipEmptyParts);
+	if(list.size()>0)
+	{
+		this->m_portNameLength = list[0].size()+1;
+		m_portName = new char[this->m_portNameLength];
+		for(int i=0;i<list[0].size();i++)
+		{
+			this->m_portName[i]=list[0][i].toAscii();
+		}
+		this->m_portName[list[0].size()] = '\0';
+	}
+	else
+	{
+		this->m_portNameLength = 1;
+		m_portName = new char[this->m_portNameLength];
+		this->m_portName[0] = '\0';
+	}
+	
+	bool retVal(true);
+	if(reconnect)
+	{
+		retVal = this->connect();
+	}
+
+	return retVal;
+}
+
+bool XbeeLink::setBaudRate(int rate)
+{
+	bool reconnect(false);
+	if(this->m_connected)
+	{
+		this->disconnect();
+		reconnect = true;
+	}
+	bool retVal(true);
+	this->m_baudRate = rate;
+	if(reconnect)
+	{
+		retVal = this->connect();
+	}
+	return retVal;
+}
+
+int XbeeLink::getId()
+{
+	return this->m_id;
+}
+
+QString XbeeLink::getName()
+{
+	return this->m_name;
+}
+
+bool XbeeLink::isConnected()
+{
+	return this->m_connected;
+}
+
+qint64 XbeeLink::getNominalDataRate()
+{
+	return this->m_baudRate;
+}
+
+bool XbeeLink::isFullDuplex()
+{
+	return false;
+}
+
+int XbeeLink::getLinkQuality()
+{
+	return -1; // TO DO:
+}
+
+qint64 XbeeLink::getTotalUpstream()
+{
+	return 0; // TO DO:
+}
+
+qint64 XbeeLink::getCurrentUpstream()
+{
+	return 0; // TO DO:
+}
+
+qint64 XbeeLink::getMaxUpstream()
+{
+	return 0; // TO DO:
+}
+
+qint64 XbeeLink::getBitsSent()
+{
+	return 0; // TO DO:
+}
+
+qint64 XbeeLink::getBitsReceived()
+{
+	return 0; // TO DO:
+}
+
+bool XbeeLink::hardwareConnect()
+{
+	if(this->isConnected())
+	{
+		this->disconnect();
+	}
+	if (*this->m_portName == '\0')
+	{
+		return false;
+	}
+	if (xbee_setupAPI(this->m_portName,this->m_baudRate,0x2B,0x3E8) == -1) 
+		{
+		  /* oh no... it failed */
+			qDebug() <<"xbee_setup() failed...\n";
+			return false;
+		}
+	this->m_xbeeCon = xbee_newcon('A',xbee2_data,0x13A200,0x403D0935);
+	this->m_connected = true;
+	emit connected();
+	emit connected(true);
+	return true;
+}
+
+bool XbeeLink::connect()
+{
+	if (this->isRunning()) this->disconnect();
+    this->start(LowPriority);
+    return true;
+}
+
+bool XbeeLink::disconnect()
+{
+	if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
+
+	if(this->m_xbeeCon)
+	{
+		xbee_endcon(this->m_xbeeCon);
+		this->m_xbeeCon = NULL;
+	}
+	this->m_connected = false;
+
+	emit disconnected();
+	emit connected(false);
+	return true;
+}
+
+qint64 XbeeLink::bytesAvailable()
+{
+	return 0;
+}
+
+void XbeeLink::writeBytes(const char *bytes, qint64 length)  // TO DO: delete the data array
+{
+	char *data;
+	data = new char[length];
+	for(long i=0;i<length;i++)
+	{
+		data[i] = bytes[i];
+	}
+	if(!xbee_nsenddata(this->m_xbeeCon,data,length)) // return value of 0 is successful written
+	{
+	}
+	else
+	{
+		this->disconnect();
+		emit communicationError(this->getName(), tr("Could not send data - link %1 is disconnected!").arg(this->getName()));
+	}
+}
+
+void XbeeLink::readBytes()
+{
+	xbee_pkt *xbeePkt;
+	xbeePkt = xbee_getpacketwait(this->m_xbeeCon);
+	if(!(NULL==xbeePkt))
+	{
+		QByteArray data;
+		for(unsigned int i=0;i<=xbeePkt->datalen;i++)
+		{
+			data.push_back(xbeePkt->data[i]);
+		}
+		qDebug() << data;
+		emit bytesReceived(this,data);
+	}
+}
+
+void XbeeLink::run()
+{
+    // Initialize the connection
+	if(this->hardwareConnect())
+	{
+		// Qt way to make clear what a while(1) loop does
+		forever 
+		{
+			this->readBytes();
+	    }
+	}
+}
+
+/*
+void CALLTYPE XbeeLink::portCallback(xbee_con *xbeeCon, xbee_pkt *XbeePkt)
+{
+	QByteArray buf;
+	for(quint8 i=0;i<XbeePkt->datalen;i++)
+	{
+		buf.push_back(XbeePkt->data[i]);
+	}
+	emit bytesReceived(this, buf);
+}*/
\ No newline at end of file

src/comm/XbeeLink.h

+#ifndef _XBEELINK_H_
+#define _XBEELINK_H_
+
+#include <QObject>
+#include <QString>
+#include <qdebug.h>
+#include <qmutex.h>
+#include <qbytearray.h>
+#include <list>
+#include "XbeeLinkInterface.h"
+#include <xbee.h>
+#include "CallConv.h"
+
+class XbeeLink : public XbeeLinkInterface 
+{
+	Q_OBJECT
+
+public:
+	XbeeLink(QString portName = "", int baudRate=57600);
+	~XbeeLink();
+	
+public: // virtual functions from XbeeLinkInterface
+	QString getPortName();
+	int getBaudRate();
+
+public slots: // virtual functions from XbeeLinkInterface
+	bool setPortName(QString portName);
+	bool setBaudRate(int rate);
+
+public: // virtual functions from LinkInterface
+	int getId();
+	QString getName();
+	bool isConnected();
+	qint64 getNominalDataRate();
+	bool isFullDuplex();
+	int getLinkQuality();
+	qint64 getTotalUpstream();
+	qint64 getCurrentUpstream();
+	qint64 getMaxUpstream();
+	qint64 getBitsSent();
+	qint64 getBitsReceived();
+	bool connect();
+	bool disconnect();
+	qint64 bytesAvailable();
+
+public slots: // virtual functions from LinkInterface
+	void writeBytes(const char *bytes, qint64 length);
+
+protected slots: // virtual functions from LinkInterface
+	void readBytes();
+
+public:
+	void run(); // initiating the thread
+
+protected:
+	xbee_con *m_xbeeCon;
+	int m_id;
+	char *m_portName;
+	unsigned int m_portNameLength;
+	int m_baudRate;
+	bool m_connected;
+	QString m_name;
+
+private:
+	bool hardwareConnect();
+	//void CALLTYPE portCallback(xbee_con *XbeeCon, xbee_pkt *XbeePkt);
+};
+
+
+#endif // _XBEELINK_H_
\ No newline at end of file

src/comm/XbeeLinkInterface.h

+#ifndef XBEELINKINTERFACE_H_
+#define XBEELINKINTERFACE_H_
+
+#include <QObject>
+#include <QString>
+#include <LinkInterface.h>
+
+class XbeeLinkInterface : public LinkInterface
+{
+    Q_OBJECT
+
+public:
+    virtual QString getPortName() = 0;
+    virtual int getBaudRate() = 0;
+
+public slots:
+    virtual bool setPortName(QString portName) = 0;
+    virtual bool setBaudRate(int rate) = 0;
+};
+
+#endif // XBEELINKINTERFACE_H_

src/ui/XbeeConfigurationWindow.h

+#ifndef _XBEECONFIGURATIONWINDOW_H_
+#define _XBEECONFIGURATIONWINDOW_H_
+
+#include <QObject>
+#include <QWidget>
+#include <QAction>
+#include <QTimer>
+#include <QShowEvent>
+#include <QHideEvent>
+#include<QtGui\qcombobox.h>
+#include<QtGui\qlabel.h>
+#include<QtGui\qlayout.h>
+#include <LinkInterface.h>
+#include"XbeeLinkInterface.h"
+
+
+class XbeeConfigurationWindow : public QWidget
+{
+	Q_OBJECT
+
+public:
+	XbeeConfigurationWindow(LinkInterface* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
+	~XbeeConfigurationWindow();
+
+	QAction* getAction();
+
+public slots:
+	void configureCommunication();
+	void setPortName(QString port);
+	void setBaudRateString(QString baud);
+	void setupPortList();
+
+protected:
+    void showEvent(QShowEvent* event);
+    void hideEvent(QHideEvent* event);
+    bool userConfigured; ///< Switch to detect if current values are user-selected and shouldn't be overriden
+
+private:
+	QLabel *portLabel;
+	QLabel *baudLabel;
+	QComboBox *portBox;
+	QComboBox *baudBox;
+	QGridLayout *actionLayout;
+	QHBoxLayout *xbeeLayout;
+	QVBoxLayout *tmpLayout;
+	XbeeLinkInterface* link;
+    QAction* action;
+    QTimer* portCheckTimer;
+};
+
+
+#endif //_XBEECONFIGURATIONWINDOW_H_
\ No newline at end of file