diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 947b88d..2641edd 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -14,9 +14,12 @@
#include <QMutexLocker>
#include <QSerialPort>
#include <QSerialPortInfo>
+
#include "SerialLink.h"
#include "QGC.h"
-#include <MG.h>
+#include "MG.h"
+
+Q_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog")
SerialLink::SerialLink(SerialConfiguration* config)
{
@@ -33,9 +36,9 @@ SerialLink::SerialLink(SerialConfiguration* config)
// Set unique ID and add link to the list of links
_id = getNextLinkId();
- qDebug() << "Create SerialLink " << config->portName() << config->baud() << config->flowControl()
+ qCDebug(SerialLinkLog) << "Create SerialLink " << config->portName() << config->baud() << config->flowControl()
<< config->parity() << config->dataBits() << config->stopBits();
- qDebug() << "portName: " << config->portName();
+ qCDebug(SerialLinkLog) << "portName: " << config->portName();
}
void SerialLink::requestReset()
@@ -65,16 +68,14 @@ bool SerialLink::_isBootloader()
}
foreach (const QSerialPortInfo &info, portList)
{
- // XXX debug statements will be removed once we have 100% stable link reports
-// qDebug() << "PortName : " << info.portName()
-// << "Description : " << info.description();
-// qDebug() << "Manufacturer: " << info.manufacturer();
- if (info.portName().trimmed() == _config->portName() &&
- (info.description().toLower().contains("bootloader") ||
- info.description().toLower().contains("px4 bl") ||
- info.description().toLower().contains("px4 fmu v1.6"))) {
-// qDebug() << "BOOTLOADER FOUND";
- return true;
+ qCDebug(SerialLinkLog) << "PortName : " << info.portName() << "Description : " << info.description();
+ qCDebug(SerialLinkLog) << "Manufacturer: " << info.manufacturer();
+ if (info.portName().trimmed() == _config->portName() &&
+ (info.description().toLower().contains("bootloader") ||
+ info.description().toLower().contains("px4 bl") ||
+ info.description().toLower().contains("px4 fmu v1.6"))) {
+ qCDebug(SerialLinkLog) << "BOOTLOADER FOUND";
+ return true;
}
}
// Not found
@@ -114,30 +115,6 @@ void SerialLink::run()
}
}
- // TODO This needs a bit of TLC still...
- // If there are too many errors on this link, disconnect.
- if (isConnected() && (linkErrorCount > 150)) {
- qDebug() << "linkErrorCount too high: re-connecting!";
- linkErrorCount = 0;
- emit communicationUpdate(getName(), tr("Link timeout, not receiving any data, attempting reconnect"));
- if (_port) {
- _port->close();
- delete _port;
- _port = NULL;
- }
- QGC::SLEEP::msleep(500);
- unsigned tries = 0;
- const unsigned tries_max = 15;
- while (!_hardwareConnect(_type) && tries < tries_max) {
- tries++;
- QGC::SLEEP::msleep(500);
- }
- // Give up
- if (tries == tries_max) {
- break;
- }
- }
-
// Write all our buffered data out the serial port.
if (_transmitBuffer.count() > 0) {
_writeMutex.lock();
@@ -146,7 +123,7 @@ void SerialLink::run()
txSuccess |= _port->waitForBytesWritten(10);
if (!txSuccess || (numWritten != _transmitBuffer.count())) {
linkErrorCount++;
- qDebug() << "TX Error! written:" << txSuccess << "wrote" << numWritten << ", asked for " << _transmitBuffer.count() << "bytes";
+ qCDebug(SerialLinkLog) << "TX Error! written:" << txSuccess << "wrote" << numWritten << ", asked for " << _transmitBuffer.count() << "bytes";
}
else {
@@ -213,7 +190,7 @@ void SerialLink::run()
} // end of forever
if (_port) {
- qDebug() << "Closing Port #" << __LINE__ << _port->portName();
+ qCDebug(SerialLinkLog) << "Closing Port #" << __LINE__ << _port->portName();
_port->close();
delete _port;
_port = NULL;
@@ -276,7 +253,7 @@ bool SerialLink::_disconnect(void)
return true;
}
_transmitBuffer.clear(); //clear the output buffer to avoid sending garbage at next connect
- qDebug() << "Already disconnected";
+ qCDebug(SerialLinkLog) << "Already disconnected";
return true;
}
@@ -287,7 +264,7 @@ bool SerialLink::_disconnect(void)
**/
bool SerialLink::_connect(void)
{
- qDebug() << "CONNECT CALLED";
+ qCDebug(SerialLinkLog) << "CONNECT CALLED";
if (isRunning())
_disconnect();
{
@@ -309,17 +286,18 @@ bool SerialLink::_connect(void)
bool SerialLink::_hardwareConnect(QString &type)
{
if (_port) {
- qDebug() << "SerialLink:" << QString::number((long)this, 16) << "closing port";
+ qCDebug(SerialLinkLog) << "SerialLink:" << QString::number((long)this, 16) << "closing port";
_port->close();
QGC::SLEEP::usleep(50000);
delete _port;
_port = NULL;
}
- qDebug() << "SerialLink: hardwareConnect to " << _config->portName();
+ qCDebug(SerialLinkLog) << "SerialLink: hardwareConnect to " << _config->portName();
+ // If we are in the Pixhawk bootloader code wait for it to timeout
if (_isBootloader()) {
- qDebug() << "Not connecting to a bootloader, waiting for 2nd chance";
+ qCDebug(SerialLinkLog) << "Not connecting to a bootloader, waiting for 2nd chance";
const unsigned retry_limit = 12;
unsigned retries;
for (retries = 0; retries < retry_limit; retries++) {
@@ -353,11 +331,11 @@ bool SerialLink::_hardwareConnect(QString &type)
// TODO This needs a bit of TLC still...
- // After the bootloader times out, it still can take a second or so for the USB driver to come up and make
+ // After the bootloader times out, it still can take a second or so for the Pixhawk USB driver to come up and make
// the port available for open. So we retry a few times to wait for it.
for (int openRetries = 0; openRetries < 4; openRetries++) {
if (!_port->open(QIODevice::ReadWrite)) {
- qDebug() << "Port open failed, retrying";
+ qCDebug(SerialLinkLog) << "Port open failed, retrying";
QGC::SLEEP::msleep(500);
} else {
break;
@@ -369,7 +347,7 @@ bool SerialLink::_hardwareConnect(QString &type)
return false; // couldn't open serial port
}
- qDebug() << "Configuring port";
+ qCDebug(SerialLinkLog) << "Configuring port";
_port->setBaudRate (_config->baud());
_port->setDataBits (static_cast<QSerialPort::DataBits> (_config->dataBits()));
_port->setFlowControl (static_cast<QSerialPort::FlowControl> (_config->flowControl()));
@@ -379,7 +357,7 @@ bool SerialLink::_hardwareConnect(QString &type)
emit communicationUpdate(getName(), "Opened port!");
emit connected();
- qDebug() << "CONNECTING LINK: " << __FILE__ << __LINE__ << "type:" << type << "with settings" << _config->portName()
+ qCDebug(SerialLinkLog) << "CONNECTING LINK: " << __FILE__ << __LINE__ << "type:" << type << "with settings" << _config->portName()
<< _config->baud() << _config->dataBits() << _config->parity() << _config->stopBits();
return true; // successful connection
@@ -392,7 +370,7 @@ void SerialLink::linkError(QSerialPort::SerialPortError error)
// when you are done. The reason for this is that this signal is very noisy. For example if you try to
// connect to a PixHawk before it is ready to accept the connection it will output a continuous stream
// of errors until the Pixhawk responds.
- //qDebug() << "SerialLink::linkError" << error;
+ //qCDebug(SerialLinkLog) << "SerialLink::linkError" << error;
}
}
@@ -403,17 +381,13 @@ void SerialLink::linkError(QSerialPort::SerialPortError error)
**/
bool SerialLink::isConnected() const
{
+ bool isConnected = false;
if (_port) {
- bool isConnected = _port->isOpen();
-// qDebug() << "SerialLink #" << __LINE__ << ":"<< m_port->portName()
-// << " isConnected =" << QString::number(isConnected);
- return isConnected;
- } else {
-// qDebug() << "SerialLink #" << __LINE__ << ":" << m_portName
-// << " isConnected = NULL";
- return false;
+ isConnected = _port->isOpen();
}
+
+ return isConnected;
}
int SerialLink::getId() const
@@ -484,7 +458,7 @@ void SerialLink::_resetConfiguration()
somethingChanged |= _port->setParity (static_cast<QSerialPort::Parity> (_config->parity()));
}
if(somethingChanged) {
- qDebug() << "Reconfiguring port";
+ qCDebug(SerialLinkLog) << "Reconfiguring port";
emit updateLink(this);
}
}
diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h
index 3554fb1..b641d11 100644
--- a/src/comm/SerialLink.h
+++ b/src/comm/SerialLink.h
@@ -42,6 +42,7 @@ class SerialLink;
#include <QString>
#include <QSerialPort>
#include <QMetaType>
+#include <QLoggingCategory>
// We use QSerialPort::SerialPortError in a signal so we must declare it as a meta type
Q_DECLARE_METATYPE(QSerialPort::SerialPortError)
@@ -49,6 +50,8 @@ Q_DECLARE_METATYPE(QSerialPort::SerialPortError)
#include "QGCConfig.h"
#include "LinkManager.h"
+Q_DECLARE_LOGGING_CATEGORY(SerialLinkLog)
+
class SerialConfiguration : public LinkConfiguration
{
public: