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Merge pull request #2590 from DonLakeFlyer/SingleLinkProtocol 

Mini-protocol must only send on one link, in some case entire transaction must stay on same link
QGC4.4
Don Gagne 9 years ago
parent
80b4ca58cf 9cafe6ae9f
commit
320eb18228
12 changed files with 153 additions and 50 deletions
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  1. 28
      src/FactSystem/ParameterLoader.cc
  2. 15
      src/MissionManager/MissionManager.cc
  3. 2
      src/MissionManager/MissionManager.h
  4. 65
      src/Vehicle/Vehicle.cc
  5. 11
      src/Vehicle/Vehicle.h
  6. 6
      src/ViewWidgets/LogDownloadController.cc
  7. 9
      src/comm/LinkManager.cc
  8. 10
      src/comm/SerialLink.cc
  9. 5
      src/comm/SerialLink.h
  10. 45
      src/uas/FileManager.cc
  11. 5
      src/uas/FileManager.h
  12. 2
      src/uas/UAS.cc

28
src/FactSystem/ParameterLoader.cc
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@ -45,15 +45,15 @@ QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
Fact ParameterLoader::_defaultFact; Fact ParameterLoader::_defaultFact;
ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) : ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent)
QObject(parent), : QObject(parent)
_autopilot(autopilot), , _autopilot(autopilot)
_vehicle(vehicle), , _vehicle(vehicle)
_mavlink(qgcApp()->toolbox()->mavlinkProtocol()), , _mavlink(qgcApp()->toolbox()->mavlinkProtocol())
_parametersReady(false), , _parametersReady(false)
_initialLoadComplete(false), , _initialLoadComplete(false)
_defaultComponentId(FactSystem::defaultComponentId), , _defaultComponentId(FactSystem::defaultComponentId)
_totalParamCount(0) , _totalParamCount(0)
{ {
Q_ASSERT(_autopilot); Q_ASSERT(_autopilot);
Q_ASSERT(_vehicle); Q_ASSERT(_vehicle);
@ -321,7 +321,7 @@ void ParameterLoader::refreshAllParameters(void)
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL); mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
qCDebug(ParameterLoaderLog) << "Request to refresh all parameters"; qCDebug(ParameterLoaderLog) << "Request to refresh all parameters";
} }
@ -522,7 +522,7 @@ void ParameterLoader::_tryCacheLookup()
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1); mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
} }
void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex) void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex)
@ -538,7 +538,7 @@ void ParameterLoader::_readParameterRaw(int componentId, const QString& paramNam
componentId, // Target component id componentId, // Target component id
fixedParamName, // Named parameter being requested fixedParamName, // Named parameter being requested
paramIndex); // Parameter index being requested, -1 for named paramIndex); // Parameter index being requested, -1 for named
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
} }
void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value) void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value)
@ -591,7 +591,7 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p); mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
} }
void ParameterLoader::_writeLocalParamCache() void ParameterLoader::_writeLocalParamCache()
@ -663,7 +663,7 @@ void ParameterLoader::_saveToEEPROM(void)
if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) { if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) {
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0); mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
qCDebug(ParameterLoaderLog) << "_saveToEEPROM"; qCDebug(ParameterLoaderLog) << "_saveToEEPROM";
} else { } else {
qCDebug(ParameterLoaderLog) << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable"; qCDebug(ParameterLoaderLog) << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";

15
src/MissionManager/MissionManager.cc
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@ -34,6 +34,7 @@ QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
MissionManager::MissionManager(Vehicle* vehicle) MissionManager::MissionManager(Vehicle* vehicle)
: _vehicle(vehicle) : _vehicle(vehicle)
, _dedicatedLink(NULL)
, _ackTimeoutTimer(NULL) , _ackTimeoutTimer(NULL)
, _retryAck(AckNone) , _retryAck(AckNone)
, _readTransactionInProgress(false) , _readTransactionInProgress(false)
@ -98,7 +99,8 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount); mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount);
_vehicle->sendMessage(message); _dedicatedLink = _vehicle->priorityLink();
_vehicle->sendMessageOnLink(_dedicatedLink, message);
_startAckTimeout(AckMissionRequest); _startAckTimeout(AckMissionRequest);
emit inProgressChanged(true); emit inProgressChanged(true);
} }
@ -120,7 +122,8 @@ void MissionManager::requestMissionItems(void)
mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request); mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request);
_vehicle->sendMessage(message); _dedicatedLink = _vehicle->priorityLink();
_vehicle->sendMessageOnLink(_dedicatedLink, message);
_startAckTimeout(AckMissionCount); _startAckTimeout(AckMissionCount);
emit inProgressChanged(true); emit inProgressChanged(true);
} }
@ -180,8 +183,8 @@ void MissionManager::_readTransactionComplete(void)
mavlink_msg_mission_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionAck); mavlink_msg_mission_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionAck);
_vehicle->sendMessage(message); _vehicle->sendMessageOnLink(_dedicatedLink, message);
_finishTransaction(true); _finishTransaction(true);
emit newMissionItemsAvailable(); emit newMissionItemsAvailable();
} }
@ -228,7 +231,7 @@ void MissionManager::_requestNextMissionItem(void)
mavlink_msg_mission_request_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionRequest); mavlink_msg_mission_request_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionRequest);
_vehicle->sendMessage(message); _vehicle->sendMessageOnLink(_dedicatedLink, message);
_startAckTimeout(AckMissionItem); _startAckTimeout(AckMissionItem);
} }
@ -330,7 +333,7 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem); mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);
_vehicle->sendMessage(messageOut); _vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
_startAckTimeout(AckMissionRequest); _startAckTimeout(AckMissionRequest);
} }

2
src/MissionManager/MissionManager.h
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@ -33,6 +33,7 @@
#include "QmlObjectListModel.h" #include "QmlObjectListModel.h"
#include "QGCMAVLink.h" #include "QGCMAVLink.h"
#include "QGCLoggingCategory.h" #include "QGCLoggingCategory.h"
#include "LinkInterface.h"
class Vehicle; class Vehicle;
@ -116,6 +117,7 @@ private:
private: private:
Vehicle* _vehicle; Vehicle* _vehicle;
LinkInterface* _dedicatedLink;
QTimer* _ackTimeoutTimer; QTimer* _ackTimeoutTimer;
AckType_t _retryAck; AckType_t _retryAck;

65
src/Vehicle/Vehicle.cc
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@ -116,6 +116,7 @@ Vehicle::Vehicle(LinkInterface* link,
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived); connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection); connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
_uas = new UAS(_mavlink, this, _firmwarePluginManager); _uas = new UAS(_mavlink, this, _firmwarePluginManager);
@ -435,26 +436,66 @@ void Vehicle::sendMessage(mavlink_message_t message)
emit _sendMessageOnThread(message); emit _sendMessageOnThread(message);
} }
bool Vehicle::sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
{
if (!link || !_links.contains(link) || !link->isConnected()) {
return false;
}
emit _sendMessageOnLinkOnThread(link, message);
return true;
}
void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
{
// Make sure this is still a good link
if (!link || !_links.contains(link) || !link->isConnected()) {
return;
}
// Give the plugin a chance to adjust
_firmwarePlugin->adjustMavlinkMessage(this, &message);
static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, _mavlink->getSystemId(), _mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int len = mavlink_msg_to_send_buffer(buffer, &message);
link->writeBytes((const char*)buffer, len);
}
void Vehicle::_sendMessage(mavlink_message_t message) void Vehicle::_sendMessage(mavlink_message_t message)
{ {
// Emit message on all links that are currently connected // Emit message on all links that are currently connected
foreach (LinkInterface* link, _links) { foreach (LinkInterface* link, _links) {
if (link->isConnected()) { if (link->isConnected()) {
MAVLinkProtocol* mavlink = _mavlink; _sendMessageOnLink(link, message);
}
// Give the plugin a chance to adjust }
_firmwarePlugin->adjustMavlinkMessage(this, &message); }
static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int len = mavlink_msg_to_send_buffer(buffer, &message);
link->writeBytes((const char*)buffer, len); /// @return Direct usb connection link to board if one, NULL if none
LinkInterface* Vehicle::priorityLink(void)
{
foreach (LinkInterface* link, _links) {
if (link->isConnected()) {
SerialLink* pSerialLink = qobject_cast<SerialLink*>(link);
if (pSerialLink) {
LinkConfiguration* pLinkConfig = pSerialLink->getLinkConfiguration();
if (pLinkConfig) {
SerialConfiguration* pSerialConfig = qobject_cast<SerialConfiguration*>(pLinkConfig);
if (pSerialConfig && pSerialConfig->usbDirect()) {
return link;
}
}
}
} }
} }
return _links.count() ? _links[0] : NULL;
} }
void Vehicle::setLatitude(double latitude) void Vehicle::setLatitude(double latitude)

11
src/Vehicle/Vehicle.h
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@ -166,9 +166,16 @@ public:
MAV_AUTOPILOT firmwareType(void) { return _firmwareType; } MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
MAV_TYPE vehicleType(void) { return _vehicleType; } MAV_TYPE vehicleType(void) { return _vehicleType; }
/// Sends this specified message to all links accociated with this vehicle /// Returns the highest quality link available to the Vehicle
LinkInterface* priorityLink(void);
/// Sends a message to all links accociated with this vehicle
void sendMessage(mavlink_message_t message); void sendMessage(mavlink_message_t message);
/// Sends a message to the specified link
/// @return true: message sent, false: Link no longer connected
bool sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
/// Sends the specified messages multiple times to the vehicle in order to attempt to /// Sends the specified messages multiple times to the vehicle in order to attempt to
/// guarantee that it makes it to the vehicle. /// guarantee that it makes it to the vehicle.
void sendMessageMultiple(mavlink_message_t message); void sendMessageMultiple(mavlink_message_t message);
@ -292,6 +299,7 @@ signals:
/// Used internally to move sendMessage call to main thread /// Used internally to move sendMessage call to main thread
void _sendMessageOnThread(mavlink_message_t message); void _sendMessageOnThread(mavlink_message_t message);
void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message);
void messageTypeChanged (); void messageTypeChanged ();
void newMessageCountChanged (); void newMessageCountChanged ();
@ -340,6 +348,7 @@ private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message); void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _linkInactiveOrDeleted(LinkInterface* link); void _linkInactiveOrDeleted(LinkInterface* link);
void _sendMessage(mavlink_message_t message); void _sendMessage(mavlink_message_t message);
void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
void _sendMessageMultipleNext(void); void _sendMessageMultipleNext(void);
void _addNewMapTrajectoryPoint(void); void _addNewMapTrajectoryPoint(void);
void _parametersReady(bool parametersReady); void _parametersReady(bool parametersReady);

6
src/ViewWidgets/LogDownloadController.cc
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@ -390,7 +390,7 @@ LogDownloadController::_requestLogData(uint8_t id, uint32_t offset, uint32_t cou
&msg, &msg,
qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), MAV_COMP_ID_ALL, qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), MAV_COMP_ID_ALL,
id, offset, count); id, offset, count);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
} }
} }
@ -419,7 +419,7 @@ LogDownloadController::_requestLogList(uint32_t start, uint32_t end)
MAV_COMP_ID_ALL, MAV_COMP_ID_ALL,
start, start,
end); end);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
//-- Wait 2 seconds before bitching about not getting anything //-- Wait 2 seconds before bitching about not getting anything
_timer.start(2000); _timer.start(2000);
} }
@ -556,7 +556,7 @@ LogDownloadController::eraseAll(void)
qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
&msg, &msg,
qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), MAV_COMP_ID_ALL); qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), MAV_COMP_ID_ALL);
_vehicle->sendMessage(msg); _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
refresh(); refresh();
} }
} }

9
src/comm/LinkManager.cc
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@ -173,16 +173,23 @@ void LinkManager::_addLink(LinkInterface* link)
} }
if (!_links.contains(link)) { if (!_links.contains(link)) {
bool channelSet = false;
// Find a mavlink channel to use for this link // Find a mavlink channel to use for this link
for (int i=0; i<32; i++) { for (int i=0; i<32; i++) {
if (!(_mavlinkChannelsUsedBitMask && 1 << i)) { if (!(_mavlinkChannelsUsedBitMask && 1 << i)) {
mavlink_reset_channel_status(i); mavlink_reset_channel_status(i);
link->_setMavlinkChannel(i); link->_setMavlinkChannel(i);
_mavlinkChannelsUsedBitMask |= i << i; _mavlinkChannelsUsedBitMask |= i << i;
channelSet = true;
break; break;
} }
} }
if (!channelSet) {
qWarning() << "Ran out of mavlink channels";
}
_links.append(link); _links.append(link);
emit newLink(link); emit newLink(link);
} }
@ -508,11 +515,13 @@ void LinkManager::_updateAutoConnectLinks(void)
case QGCSerialPortInfo::BoardTypePX4FMUV4: case QGCSerialPortInfo::BoardTypePX4FMUV4:
if (_autoconnectPixhawk) { if (_autoconnectPixhawk) {
pSerialConfig = new SerialConfiguration(QString("Pixhawk on %1").arg(portInfo.portName().trimmed())); pSerialConfig = new SerialConfiguration(QString("Pixhawk on %1").arg(portInfo.portName().trimmed()));
pSerialConfig->setUsbDirect(true);
} }
break; break;
case QGCSerialPortInfo::BoardTypeAeroCore: case QGCSerialPortInfo::BoardTypeAeroCore:
if (_autoconnectPixhawk) { if (_autoconnectPixhawk) {
pSerialConfig = new SerialConfiguration(QString("AeroCore on %1").arg(portInfo.portName().trimmed())); pSerialConfig = new SerialConfiguration(QString("AeroCore on %1").arg(portInfo.portName().trimmed()));
pSerialConfig->setUsbDirect(true);
} }
break; break;
case QGCSerialPortInfo::BoardTypePX4Flow: case QGCSerialPortInfo::BoardTypePX4Flow:

10
src/comm/SerialLink.cc
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@ -388,6 +388,7 @@ SerialConfiguration::SerialConfiguration(const QString& name) : LinkConfiguratio
_parity = QSerialPort::NoParity; _parity = QSerialPort::NoParity;
_dataBits = 8; _dataBits = 8;
_stopBits = 1; _stopBits = 1;
_usbDirect = false;
} }
SerialConfiguration::SerialConfiguration(SerialConfiguration* copy) : LinkConfiguration(copy) SerialConfiguration::SerialConfiguration(SerialConfiguration* copy) : LinkConfiguration(copy)
@ -399,6 +400,7 @@ SerialConfiguration::SerialConfiguration(SerialConfiguration* copy) : LinkConfig
_stopBits = copy->stopBits(); _stopBits = copy->stopBits();
_portName = copy->portName(); _portName = copy->portName();
_portDisplayName = copy->portDisplayName(); _portDisplayName = copy->portDisplayName();
_usbDirect = copy->_usbDirect;
} }
void SerialConfiguration::copyFrom(LinkConfiguration *source) void SerialConfiguration::copyFrom(LinkConfiguration *source)
@ -413,6 +415,7 @@ void SerialConfiguration::copyFrom(LinkConfiguration *source)
_stopBits = ssource->stopBits(); _stopBits = ssource->stopBits();
_portName = ssource->portName(); _portName = ssource->portName();
_portDisplayName = ssource->portDisplayName(); _portDisplayName = ssource->portDisplayName();
_usbDirect = ssource->_usbDirect;
} }
void SerialConfiguration::updateSettings() void SerialConfiguration::updateSettings()
@ -554,3 +557,10 @@ void SerialConfiguration::_initBaudRates()
kSupportedBaudRates << "921600"; kSupportedBaudRates << "921600";
} }
void SerialConfiguration::setUsbDirect(bool usbDirect)
{
if (_usbDirect != usbDirect) {
_usbDirect = usbDirect;
emit usbDirectChanged(_usbDirect);
}
}

5
src/comm/SerialLink.h
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@ -73,12 +73,14 @@ public:
Q_PROPERTY(int parity READ parity WRITE setParity NOTIFY parityChanged) Q_PROPERTY(int parity READ parity WRITE setParity NOTIFY parityChanged)
Q_PROPERTY(QString portName READ portName WRITE setPortName NOTIFY portNameChanged) Q_PROPERTY(QString portName READ portName WRITE setPortName NOTIFY portNameChanged)
Q_PROPERTY(QString portDisplayName READ portDisplayName NOTIFY portDisplayNameChanged) Q_PROPERTY(QString portDisplayName READ portDisplayName NOTIFY portDisplayNameChanged)
Q_PROPERTY(bool usbDirect READ usbDirect WRITE setUsbDirect NOTIFY usbDirectChanged) ///< true: direct usb connection to board
int baud() { return _baud; } int baud() { return _baud; }
int dataBits() { return _dataBits; } int dataBits() { return _dataBits; }
int flowControl() { return _flowControl; } ///< QSerialPort Enums int flowControl() { return _flowControl; } ///< QSerialPort Enums
int stopBits() { return _stopBits; } int stopBits() { return _stopBits; }
int parity() { return _parity; } ///< QSerialPort Enums int parity() { return _parity; } ///< QSerialPort Enums
bool usbDirect() { return _usbDirect; }
const QString portName () { return _portName; } const QString portName () { return _portName; }
const QString portDisplayName () { return _portDisplayName; } const QString portDisplayName () { return _portDisplayName; }
@ -89,6 +91,7 @@ public:
void setStopBits (int stopBits); void setStopBits (int stopBits);
void setParity (int parity); ///< QSerialPort Enums void setParity (int parity); ///< QSerialPort Enums
void setPortName (const QString& portName); void setPortName (const QString& portName);
void setUsbDirect (bool usbDirect);
static QStringList supportedBaudRates(); static QStringList supportedBaudRates();
static QString cleanPortDisplayname(const QString name); static QString cleanPortDisplayname(const QString name);
@ -109,6 +112,7 @@ signals:
void parityChanged (); void parityChanged ();
void portNameChanged (); void portNameChanged ();
void portDisplayNameChanged (); void portDisplayNameChanged ();
void usbDirectChanged (bool usbDirect);
private: private:
static void _initBaudRates(); static void _initBaudRates();
@ -121,6 +125,7 @@ private:
int _parity; int _parity;
QString _portName; QString _portName;
QString _portDisplayName; QString _portDisplayName;
bool _usbDirect;
}; };
/** /**

45
src/uas/FileManager.cc
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@ -34,13 +34,14 @@
QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog") QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog")
FileManager::FileManager(QObject* parent, Vehicle* vehicle) : FileManager::FileManager(QObject* parent, Vehicle* vehicle)
QObject(parent), : QObject(parent)
_currentOperation(kCOIdle), , _currentOperation(kCOIdle)
_vehicle(vehicle), , _vehicle(vehicle)
_lastOutgoingSeqNumber(0), , _dedicatedLink(NULL)
_activeSession(0), , _lastOutgoingSeqNumber(0)
_systemIdQGC(0) , _activeSession(0)
, _systemIdQGC(0)
{ {
connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout); connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout);
@ -308,10 +309,8 @@ void FileManager::_writeFileDatablock(void)
_sendRequest(&request); _sendRequest(&request);
} }
void FileManager::receiveMessage(LinkInterface* link, mavlink_message_t message) void FileManager::receiveMessage(mavlink_message_t message)
{ {
Q_UNUSED(link);
// receiveMessage is signalled will all mavlink messages so we need to filter everything else out but ours. // receiveMessage is signalled will all mavlink messages so we need to filter everything else out but ours.
if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) { if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
return; return;
@ -444,6 +443,12 @@ void FileManager::listDirectory(const QString& dirPath)
return; return;
} }
_dedicatedLink = _vehicle->priorityLink();
if (!_dedicatedLink) {
_emitErrorMessage(tr("Command not sent. No Vehicle links."));
return;
}
// initialise the lister // initialise the lister
_listPath = dirPath; _listPath = dirPath;
_listOffset = 0; _listOffset = 0;
@ -481,6 +486,12 @@ void FileManager::downloadPath(const QString& from, const QDir& downloadDir)
_emitErrorMessage(tr("Command not sent. Waiting for previous command to complete.")); _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
return; return;
} }
_dedicatedLink = _vehicle->priorityLink();
if (!_dedicatedLink) {
_emitErrorMessage(tr("Command not sent. No Vehicle links."));
return;
}
qCDebug(FileManagerLog) << "downloadPath from:" << from << "to:" << downloadDir; qCDebug(FileManagerLog) << "downloadPath from:" << from << "to:" << downloadDir;
_downloadWorker(from, downloadDir, true /* read file */); _downloadWorker(from, downloadDir, true /* read file */);
@ -492,6 +503,12 @@ void FileManager::streamPath(const QString& from, const QDir& downloadDir)
_emitErrorMessage(tr("Command not sent. Waiting for previous command to complete.")); _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
return; return;
} }
_dedicatedLink = _vehicle->priorityLink();
if (!_dedicatedLink) {
_emitErrorMessage(tr("Command not sent. No Vehicle links."));
return;
}
qCDebug(FileManagerLog) << "streamPath from:" << from << "to:" << downloadDir; qCDebug(FileManagerLog) << "streamPath from:" << from << "to:" << downloadDir;
_downloadWorker(from, downloadDir, false /* stream file */); _downloadWorker(from, downloadDir, false /* stream file */);
@ -537,6 +554,12 @@ void FileManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
return; return;
} }
_dedicatedLink = _vehicle->priorityLink();
if (!_dedicatedLink) {
_emitErrorMessage(tr("Command not sent. No Vehicle links."));
return;
}
if (toPath.isEmpty()) { if (toPath.isEmpty()) {
return; return;
} }
@ -731,5 +754,5 @@ void FileManager::_sendRequest(Request* request)
0, // Target component 0, // Target component
(uint8_t*)request); // Payload (uint8_t*)request); // Payload
_vehicle->sendMessage(message); _vehicle->sendMessageOnLink(_dedicatedLink, message);
} }

5
src/uas/FileManager.h
Unescape View File

@ -87,7 +87,7 @@ signals:
void commandProgress(int value); void commandProgress(int value);
public slots: public slots:
void receiveMessage(LinkInterface* link, mavlink_message_t message); void receiveMessage(mavlink_message_t message);
private slots: private slots:
void _ackTimeout(void); void _ackTimeout(void);
@ -203,7 +203,8 @@ private:
OperationState _currentOperation; ///< Current operation of state machine OperationState _currentOperation; ///< Current operation of state machine
QTimer _ackTimer; ///< Used to signal a timeout waiting for an ack QTimer _ackTimer; ///< Used to signal a timeout waiting for an ack
Vehicle* _vehicle; Vehicle* _vehicle;
LinkInterface* _dedicatedLink; ///< Link to use for communication
uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet

2
src/uas/UAS.cc
Unescape View File

@ -185,7 +185,7 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
} }
#ifndef __mobile__ #ifndef __mobile__
connect(mavlink, &MAVLinkProtocol::messageReceived, &fileManager, &FileManager::receiveMessage); connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
#endif #endif
color = UASInterface::getNextColor(); color = UASInterface::getNextColor();

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