From 20d72b17a86f358a30d02ce81d18c77217638355 Mon Sep 17 00:00:00 2001
From: lm <pixhawk@switched.com>
Date: Thu, 13 Jan 2011 17:59:41 +0100
Subject: [PATCH] Fixed a couple of serial link bugs only showing in windows
---
src/comm/MAVLinkSimulationMAV.cc | 2 +-
src/comm/SerialLink.cc | 113 ++++++++++++---------------------------
src/uas/SlugsMAV.h | 2 +-
src/ui/MainWindow.cc | 14 ++---
4 files changed, 42 insertions(+), 89 deletions(-)
diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index f2b881e..3af6539 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -17,7 +17,7 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
void MAVLinkSimulationMAV::mainloop()
{
mavlink_message_t msg;
- mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA);
+ mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_SLUGS);
link->sendMAVLinkMessage(&msg);
}
diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 8d857dd..d6bc78c 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -593,15 +593,9 @@ bool SerialLink::setPortName(QString portName)
if(portName.trimmed().length() > 0)
{
bool reconnect = false;
- if (port)
- {
- if (port->isOpen())
- {
- reconnect = true;
- }
- port->close();
- delete port;
- }
+ if (isConnected()) reconnect = true;
+ disconnect();
+
this->porthandle = portName.trimmed();
setName(tr("serial port ") + portName.trimmed());
#ifdef _WIN32
@@ -614,14 +608,6 @@ bool SerialLink::setPortName(QString portName)
}
#endif
- port = new QextSerialPort(porthandle, QextSerialPort::Polling);
-
- port->setBaudRate(baudrate);
- port->setFlowControl(flow);
- port->setParity(parity);
- port->setDataBits(dataBits);
- port->setStopBits(stopBits);
- port->setTimeout(timeout);
if(reconnect) connect();
return true;
}
@@ -636,10 +622,9 @@ bool SerialLink::setBaudRateType(int rateIndex)
{
bool reconnect = false;
bool accepted = true; // This is changed if none of the data rates matches
- if(isConnected()) {
- disconnect();
- reconnect = true;
- }
+ if(isConnected()) reconnect = true;
+ disconnect();
+
switch (rateIndex) {
case 0:
baudrate = BAUD50;
@@ -722,9 +707,6 @@ bool SerialLink::setBaudRateType(int rateIndex)
break;
}
- dataMutex.lock();
- port->setBaudRate(this->baudrate);
- dataMutex.unlock();
if(reconnect) connect();
return accepted;
}
@@ -737,9 +719,9 @@ bool SerialLink::setBaudRate(int rate)
bool accepted = true; // This is changed if none of the data rates matches
if(isConnected())
{
- disconnect();
reconnect = true;
}
+ disconnect();
switch (rate)
{
@@ -824,27 +806,17 @@ bool SerialLink::setBaudRate(int rate)
break;
}
- if (port)
- {
- port->setBaudRate(this->baudrate);
- if(reconnect) connect();
- return accepted;
- }
- else
- {
- return false;
- }
+ if(reconnect) connect();
+ return accepted;
+
}
bool SerialLink::setFlowType(int flow)
{
bool reconnect = false;
bool accepted = true;
- if(isConnected())
- {
- disconnect();
- reconnect = true;
- }
+ if(isConnected()) reconnect = true;
+ disconnect();
switch (flow)
{
@@ -862,7 +834,7 @@ bool SerialLink::setFlowType(int flow)
accepted = false;
break;
}
- port->setFlowControl(this->flow);
+
if(reconnect) connect();
return accepted;
}
@@ -871,27 +843,24 @@ bool SerialLink::setParityType(int parity)
{
bool reconnect = false;
bool accepted = true;
- if(isConnected())
- {
- disconnect();
- reconnect = true;
- }
+ if (isConnected()) reconnect = true;
+ disconnect();
switch (parity)
{
- case PAR_NONE:
+ case (int)PAR_NONE:
this->parity = PAR_NONE;
break;
- case PAR_ODD:
+ case (int)PAR_ODD:
this->parity = PAR_ODD;
break;
- case PAR_EVEN:
+ case (int)PAR_EVEN:
this->parity = PAR_EVEN;
break;
- case PAR_MARK:
+ case (int)PAR_MARK:
this->parity = PAR_MARK;
break;
- case PAR_SPACE:
+ case (int)PAR_SPACE:
this->parity = PAR_SPACE;
break;
default:
@@ -900,15 +869,17 @@ bool SerialLink::setParityType(int parity)
break;
}
- port->setParity(this->parity);
- if(reconnect) connect();
+ if (reconnect) connect();
return accepted;
}
bool SerialLink::setDataBits(int dataBits)
{
+ bool reconnect = false;
+ if (isConnected()) reconnect = true;
bool accepted = true;
+ disconnect();
switch (dataBits)
{
@@ -930,11 +901,7 @@ bool SerialLink::setDataBits(int dataBits)
break;
}
- port->setDataBits(this->dataBits);
- if(isConnected()) {
- disconnect();
- connect();
- }
+ if(reconnect) connect();
return accepted;
}
@@ -943,11 +910,8 @@ bool SerialLink::setStopBits(int stopBits)
{
bool reconnect = false;
bool accepted = true;
- if(isConnected())
- {
- disconnect();
- reconnect = true;
- }
+ if(isConnected()) reconnect = true;
+ disconnect();
switch (stopBits)
{
@@ -963,7 +927,6 @@ bool SerialLink::setStopBits(int stopBits)
break;
}
- port->setStopBits(this->stopBits);
if(reconnect) connect();
return accepted;
}
@@ -973,21 +936,14 @@ bool SerialLink::setDataBitsType(int dataBits)
bool reconnect = false;
bool accepted = false;
- if (isConnected())
- {
- disconnect();
- reconnect = true;
- }
+ if (isConnected()) reconnect = true;
+ disconnect();
if (dataBits >= (int)DATA_5 && dataBits <= (int)DATA_8)
{
- DataBitsType newBits = (DataBitsType) dataBits;
+ this->dataBits = (DataBitsType) dataBits;
- port->setDataBits(newBits);
- if(reconnect)
- {
- connect();
- }
+ if(reconnect) connect();
accepted = true;
}
@@ -998,11 +954,8 @@ bool SerialLink::setStopBitsType(int stopBits)
{
bool reconnect = false;
bool accepted = false;
- if(isConnected())
- {
- disconnect();
- reconnect = true;
- }
+ if(isConnected()) reconnect = true;
+ disconnect();
if (stopBits >= (int)STOP_1 && dataBits <= (int)STOP_2)
{
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index 973d83e..50396a4 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -36,7 +36,7 @@ class SlugsMAV : public UAS
public:
SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
-
+ mavlink_pwm_commands_t* getPwmCommands();
public slots:
/** @brief Receive a MAVLink message from this MAV */
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 2fd26ce..8be801d 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -402,17 +402,17 @@ void MainWindow::buildPxWidgets()
#ifdef QGC_OSG_ENABLED
if (!_3DWidget)
{
- _3DWidget = Q3DWidgetFactory::get("PIXHAWK");
- addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
+// _3DWidget = Q3DWidgetFactory::get("PIXHAWK");
+// addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
}
#endif
#ifdef QGC_OSGEARTH_ENABLED
- if (!_3DMapWidget)
- {
- _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
- addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
- }
+// if (!_3DMapWidget)
+// {
+// _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
+// addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
+// }
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)