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Merge pull request #336 from tstellanova/config_space 

Config space
QGC4.4
Lorenz Meier 12 years ago
parent
41d76c0cac 32b15c26d4
commit
3726f315da
2 changed files with 46 additions and 53 deletions
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  1. 93
      src/comm/SerialLink.cc
  2. 6
      src/comm/SerialLink.h

93
src/comm/SerialLink.cc
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@ -19,6 +19,8 @@
#include "QGC.h" #include "QGC.h"
#include <MG.h> #include <MG.h>
SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity, SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
int dataBits, int stopBits) : int dataBits, int stopBits) :
m_bytesRead(0), m_bytesRead(0),
@ -137,8 +139,7 @@ void SerialLink::writeSettings()
void SerialLink::run() void SerialLink::run()
{ {
// Initialize the connection // Initialize the connection
if (!hardwareConnect()) if (!hardwareConnect()) {
{
//Need to error out here. //Need to error out here.
emit communicationError(getName(),"Error connecting: " + m_port->errorString()); emit communicationError(getName(),"Error connecting: " + m_port->errorString());
disconnect(); // This tidies up and sends the necessary signals disconnect(); // This tidies up and sends the necessary signals
@ -155,30 +156,25 @@ void SerialLink::run()
qint64 timeout = 5000; qint64 timeout = 5000;
int linkErrorCount = 0; int linkErrorCount = 0;
forever forever {
{ QMutexLocker locker(&this->m_stoppMutex);
{ if(m_stopp) {
QMutexLocker locker(&this->m_stoppMutex); m_stopp = false;
if(m_stopp) break; // exit the thread
{ }
m_stopp = false;
break; // exit the thread
}
if (m_reqReset) if (m_reqReset) {
{ m_reqReset = false;
m_reqReset = false; emit communicationUpdate(getName(),"Reset requested via DTR signal");
communicationUpdate(getName(),"Reset requested via DTR signal"); m_port->setDataTerminalReady(true);
m_port->setDataTerminalReady(true); msleep(250);
msleep(250); m_port->setDataTerminalReady(false);
m_port->setDataTerminalReady(false);
}
} }
if (isConnected() && (linkErrorCount > 100)) { if (isConnected() && (linkErrorCount > 100)) {
qDebug() << "linkErrorCount too high: disconnecting!"; qDebug() << "linkErrorCount too high: disconnecting!";
linkErrorCount = 0; linkErrorCount = 0;
communicationError("SerialLink", tr("Disconnecting on too many link errors")); emit communicationUpdate(getName(), tr("Disconnecting on too many link errors"));
disconnect(); disconnect();
} }
@ -186,19 +182,21 @@ void SerialLink::run()
QMutexLocker writeLocker(&m_writeMutex); QMutexLocker writeLocker(&m_writeMutex);
int numWritten = m_port->write(m_transmitBuffer); int numWritten = m_port->write(m_transmitBuffer);
bool txSuccess = m_port->waitForBytesWritten(1); bool txSuccess = m_port->waitForBytesWritten(1);
if (!txSuccess || (numWritten != m_transmitBuffer.count())) if (!txSuccess || (numWritten != m_transmitBuffer.count())) {
{
linkErrorCount++; linkErrorCount++;
qDebug() << "TX Error! wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes"; qDebug() << "TX Error! wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes";
} else { }
else {
linkErrorCount = 0; linkErrorCount = 0;
} }
m_transmitBuffer = m_transmitBuffer.remove(0, numWritten); m_transmitBuffer = m_transmitBuffer.remove(0, numWritten);
} }
//wait n msecs for data to be ready
//[TODO][BB] lower to SerialLink::poll_interval?
bool success = m_port->waitForReadyRead(10); bool success = m_port->waitForReadyRead(10);
if (success) { // Waits for 1/2 second [TODO][BB] lower to SerialLink::poll_interval? if (success) {
QByteArray readData = m_port->readAll(); QByteArray readData = m_port->readAll();
while (m_port->waitForReadyRead(10)) while (m_port->waitForReadyRead(10))
readData += m_port->readAll(); readData += m_port->readAll();
@ -210,24 +208,21 @@ void SerialLink::run()
m_bitsReceivedTotal += readData.length() * 8; m_bitsReceivedTotal += readData.length() * 8;
linkErrorCount = 0; linkErrorCount = 0;
} }
} else { }
else {
linkErrorCount++; linkErrorCount++;
//qDebug() << "Wait read response timeout" << QTime::currentTime().toString(); qDebug() << "Wait read response timeout" << QTime::currentTime().toString();
} }
if (bytes != m_bytesRead) // i.e things are good and data is being read. if (bytes != m_bytesRead) { // i.e things are good and data is being read.
{
bytes = m_bytesRead; bytes = m_bytesRead;
msecs = QDateTime::currentMSecsSinceEpoch(); msecs = QDateTime::currentMSecsSinceEpoch();
} }
else else {
{ if (QDateTime::currentMSecsSinceEpoch() - msecs > timeout) {
if (QDateTime::currentMSecsSinceEpoch() - msecs > timeout)
{
//It's been 10 seconds since the last data came in. Reset and try again //It's been 10 seconds since the last data came in. Reset and try again
msecs = QDateTime::currentMSecsSinceEpoch(); msecs = QDateTime::currentMSecsSinceEpoch();
if (msecs - initialmsecs > 25000) if (msecs - initialmsecs > 25000) {
{
//After initial 25 seconds, timeouts are increased to 30 seconds. //After initial 25 seconds, timeouts are increased to 30 seconds.
//This prevents temporary silences from things like calibration commands //This prevents temporary silences from things like calibration commands
//from screwing things up. In all reality, timeouts should be enabled/disabled //from screwing things up. In all reality, timeouts should be enabled/disabled
@ -235,25 +230,22 @@ void SerialLink::run()
//TODO ^^ //TODO ^^
timeout = 30000; timeout = 30000;
} }
if (!triedDTR && triedreset) if (!triedDTR && triedreset) {
{
triedDTR = true; triedDTR = true;
communicationUpdate(getName(),"No data to receive on COM port. Attempting to reset via DTR signal"); emit communicationUpdate(getName(),"No data to receive on COM port. Attempting to reset via DTR signal");
qDebug() << "No data!!! Attempting reset via DTR."; qDebug() << "No data!!! Attempting reset via DTR.";
m_port->setDataTerminalReady(true); m_port->setDataTerminalReady(true);
msleep(250); msleep(250);
m_port->setDataTerminalReady(false); m_port->setDataTerminalReady(false);
} }
else if (!triedreset) else if (!triedreset) {
{
qDebug() << "No data!!! Attempting reset via reboot command."; qDebug() << "No data!!! Attempting reset via reboot command.";
communicationUpdate(getName(),"No data to receive on COM port. Assuming possible terminal mode, attempting to reset via \"reboot\" command"); emit communicationUpdate(getName(),"No data to receive on COM port. Assuming possible terminal mode, attempting to reset via \"reboot\" command");
m_port->write("reboot\r\n",8); m_port->write("reboot\r\n",8);
triedreset = true; triedreset = true;
} }
else else {
{ emit communicationUpdate(getName(),"No data to receive on COM port....");
communicationUpdate(getName(),"No data to receive on COM port....");
qDebug() << "No data!!!"; qDebug() << "No data!!!";
} }
} }
@ -406,8 +398,7 @@ bool SerialLink::connect()
**/ **/
bool SerialLink::hardwareConnect() bool SerialLink::hardwareConnect()
{ {
if(m_port) if(m_port) {
{
qDebug() << "SerialLink:" << QString::number((long)this, 16) << "closing port"; qDebug() << "SerialLink:" << QString::number((long)this, 16) << "closing port";
m_port->close(); m_port->close();
delete m_port; delete m_port;
@ -416,21 +407,19 @@ bool SerialLink::hardwareConnect()
qDebug() << "SerialLink: hardwareConnect to " << m_portName; qDebug() << "SerialLink: hardwareConnect to " << m_portName;
m_port = new QSerialPort(m_portName); m_port = new QSerialPort(m_portName);
if (m_port == NULL) if (m_port == NULL) {
{
emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString()); emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString());
return false; // couldn't create serial port. return false; // couldn't create serial port.
} }
QObject::connect(m_port,SIGNAL(aboutToClose()),this,SIGNAL(disconnected())); QObject::connect(m_port,SIGNAL(aboutToClose()),this,SIGNAL(disconnected()));
QObject::connect(m_port, SIGNAL(error(QSerialPort::SerialPortError)), QObject::connect(m_port, SIGNAL(error(SerialLinkPortError_t)),
this, SLOT(linkError(QSerialPort::SerialPortError))); this, SLOT(linkError(SerialLinkPortError_t)));
// port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead); // port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
m_connectionStartTime = MG::TIME::getGroundTimeNow(); m_connectionStartTime = MG::TIME::getGroundTimeNow();
if (!m_port->open(QIODevice::ReadWrite)) if (!m_port->open(QIODevice::ReadWrite)) {
{
emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString()); emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString());
m_port->close(); m_port->close();
return false; // couldn't open serial port return false; // couldn't open serial port
@ -456,7 +445,7 @@ bool SerialLink::hardwareConnect()
return true; // successful connection return true; // successful connection
} }
void SerialLink::linkError(QSerialPort::SerialPortError error) void SerialLink::linkError(SerialLinkPortError_t error)
{ {
qDebug() << error; qDebug() << error;
} }

6
src/comm/SerialLink.h
Unescape View File

@ -40,6 +40,9 @@ This file is part of the QGROUNDCONTROL project
#include <configuration.h> #include <configuration.h>
#include "SerialLinkInterface.h" #include "SerialLinkInterface.h"
// convenience type for passing errors
typedef QSerialPort::SerialPortError SerialLinkPortError_t;
/** /**
* @brief The SerialLink class provides cross-platform access to serial links. * @brief The SerialLink class provides cross-platform access to serial links.
* It takes care of the link management and provides a common API to higher * It takes care of the link management and provides a common API to higher
@ -53,6 +56,7 @@ class SerialLink : public SerialLinkInterface
Q_OBJECT Q_OBJECT
//Q_INTERFACES(SerialLinkInterface:LinkInterface) //Q_INTERFACES(SerialLinkInterface:LinkInterface)
public: public:
SerialLink(QString portname = "", SerialLink(QString portname = "",
int baudrate=57600, int baudrate=57600,
@ -142,7 +146,7 @@ public slots:
bool connect(); bool connect();
bool disconnect(); bool disconnect();
void linkError(QSerialPort::SerialPortError error); void linkError(SerialLinkPortError_t error);
protected: protected:
quint64 m_bytesRead; quint64 m_bytesRead;

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