Merge pull request #3287 from DonLakeFlyer/RTKGPSAutoConnect

AutoConnect for RTK GPS

src/GPS/GPSManager.cc

@@ -36,7 +36,7 @@ GPSManager::~GPSManager()
     cleanup();
 }
 
-void GPSManager::setupGPS(const QString& device)
+void GPSManager::connectGPS(const QString& device)
 {
     Q_ASSERT(_toolbox);
 

src/GPS/GPSManager.h

@@ -41,7 +41,8 @@ public:
     GPSManager(QGCApplication* app);
     ~GPSManager();
 
-    void setupGPS(const QString& device);
+    void connectGPS(const QString& device);
+    bool connected(void) const { return _gpsProvider != nullptr; }
 
 private slots:
     void GPSPositionUpdate(GPSPositionMessage msg);

src/QGCToolbox.cc

@@ -28,7 +28,7 @@
 #include "GAudioOutput.h"
 #ifndef __mobile__
 #include "GPSManager.h"
-#endif /* __mobile */
+#endif
 #include "HomePositionManager.h"
 #include "JoystickManager.h"
 #include "LinkManager.h"
@@ -47,6 +47,9 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     , _factSystem(NULL)
     , _firmwarePluginManager(NULL)
     , _flightMapSettings(NULL)
+#ifndef __mobile__
+    , _gpsManager(NULL)
+#endif
     , _homePositionManager(NULL)
     , _imageProvider(NULL)
     , _joystickManager(NULL)
@@ -66,7 +69,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _flightMapSettings =        new FlightMapSettings(app);
 #ifndef __mobile__
     _gpsManager =               new GPSManager(app);
-#endif /* __mobile */
+#endif
     _homePositionManager =      new HomePositionManager(app);
     _imageProvider =            new QGCImageProvider(app);
     _joystickManager =          new JoystickManager(app);
@@ -86,7 +89,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _flightMapSettings->setToolbox(this);
 #ifndef __mobile__
     _gpsManager->setToolbox(this);
-#endif /* __mobile */
+#endif
     _homePositionManager->setToolbox(this);
     _imageProvider->setToolbox(this);
     _joystickManager->setToolbox(this);
@@ -97,8 +100,6 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _mapEngineManager->setToolbox(this);
     _uasMessageHandler->setToolbox(this);
     _followMe->setToolbox(this);
-    //FIXME: make this configurable...
-    //_gpsManager->setupGPS("ttyACM0");
     _qgcPositionManager->setToolbox(this);
 }
 

src/QGCToolbox.h

@@ -67,6 +67,9 @@ public:
     UASMessageHandler*          uasMessageHandler(void)         { return _uasMessageHandler; }
     FollowMe*                   followMe(void)                  { return _followMe; }
     QGCPositionManager*         qgcPositionManager(void)        { return _qgcPositionManager; }
+#ifndef __mobile__
+    GPSManager*                 gpsManager(void)                { return _gpsManager; }
+#endif
 
 private:
     GAudioOutput*               _audioOutput;
@@ -74,7 +77,9 @@ private:
     FactSystem*                 _factSystem;
     FirmwarePluginManager*      _firmwarePluginManager;
     FlightMapSettings*          _flightMapSettings;
+#ifndef __mobile__
     GPSManager*                 _gpsManager;
+#endif
     HomePositionManager*        _homePositionManager;
     QGCImageProvider*           _imageProvider;
     JoystickManager*            _joystickManager;

src/comm/LinkManager.cc

@@ -46,6 +46,10 @@ This file is part of the QGROUNDCONTROL project
 #include "BluetoothLink.h"
 #endif
 
+#ifndef __mobile__
+    #include "GPSManager.h"
+#endif
+
 QGC_LOGGING_CATEGORY(LinkManagerLog, "LinkManagerLog")
 QGC_LOGGING_CATEGORY(LinkManagerVerboseLog, "LinkManagerVerboseLog")
 
@@ -54,6 +58,7 @@ const char* LinkManager::_autoconnectUDPKey =       "AutoconnectUDP";
 const char* LinkManager::_autoconnectPixhawkKey =   "AutoconnectPixhawk";
 const char* LinkManager::_autoconnect3DRRadioKey =  "Autoconnect3DRRadio";
 const char* LinkManager::_autoconnectPX4FlowKey =   "AutoconnectPX4Flow";
+const char* LinkManager::_autoconnectRTKGPSKey =    "AutoconnectRTKGPS";
 const char* LinkManager::_defaultUPDLinkName =      "Default UDP Link";
 
 const int LinkManager::_autoconnectUpdateTimerMSecs =   1000;
@@ -75,7 +80,7 @@ LinkManager::LinkManager(QGCApplication* app)
     , _autoconnectPixhawk(true)
     , _autoconnect3DRRadio(true)
     , _autoconnectPX4Flow(true)
-
+    , _autoconnectRTKGPS(true)
 {
     qmlRegisterUncreatableType<LinkManager>         ("QGroundControl", 1, 0, "LinkManager",         "Reference only");
     qmlRegisterUncreatableType<LinkConfiguration>   ("QGroundControl", 1, 0, "LinkConfiguration",   "Reference only");
@@ -88,6 +93,7 @@ LinkManager::LinkManager(QGCApplication* app)
     _autoconnectPixhawk =   settings.value(_autoconnectPixhawkKey, true).toBool();
     _autoconnect3DRRadio =  settings.value(_autoconnect3DRRadioKey, true).toBool();
     _autoconnectPX4Flow =   settings.value(_autoconnectPX4FlowKey, true).toBool();
+    _autoconnectRTKGPS =    settings.value(_autoconnectRTKGPSKey, true).toBool();
 
 #ifndef __ios__
     _activeLinkCheckTimer.setInterval(_activeLinkCheckTimeoutMSecs);
@@ -553,6 +559,14 @@ void LinkManager::_updateAutoConnectLinks(void)
                         pSerialConfig = new SerialConfiguration(QString("SiK Radio on %1").arg(portInfo.portName().trimmed()));
                     }
                     break;
+#ifndef __mobile__
+                case QGCSerialPortInfo::BoardTypeRTKGPS:
+                    if (_autoconnectRTKGPS && !_toolbox->gpsManager()->connected()) {
+                        qCDebug(LinkManagerLog) << "RTK GPS auto-connected";
+                        _toolbox->gpsManager()->connectGPS(portInfo.systemLocation());
+                    }
+                    break;
+#endif
                 default:
                     qWarning() << "Internal error";
                     continue;
@@ -611,59 +625,53 @@ void LinkManager::shutdown(void)
     disconnectAll();
 }
 
-void LinkManager::setAutoconnectUDP(bool autoconnect)
+bool LinkManager::_setAutoconnectWorker(bool& currentAutoconnect, bool newAutoconnect, const char* autoconnectKey)
 {
-    if (_autoconnectUDP != autoconnect) {
+    if (currentAutoconnect != newAutoconnect) {
         QSettings settings;
 
         settings.beginGroup(_settingsGroup);
-        settings.setValue(_autoconnectUDPKey, autoconnect);
+        settings.setValue(autoconnectKey, newAutoconnect);
+        currentAutoconnect = newAutoconnect;
+        return true;
+    }
+
+    return false;
+}
 
-        _autoconnectUDP = autoconnect;
+void LinkManager::setAutoconnectUDP(bool autoconnect)
+{
+    if (_setAutoconnectWorker(_autoconnectUDP, autoconnect, _autoconnectUDPKey)) {
         emit autoconnectUDPChanged(autoconnect);
     }
 }
 
 void LinkManager::setAutoconnectPixhawk(bool autoconnect)
 {
-    if (_autoconnectPixhawk != autoconnect) {
+    if (_setAutoconnectWorker(_autoconnectPixhawk, autoconnect, _autoconnectPixhawkKey)) {
-        QSettings settings;
-
-        settings.beginGroup(_settingsGroup);
-        settings.setValue(_autoconnectPixhawkKey, autoconnect);
-
-        _autoconnectPixhawk = autoconnect;
         emit autoconnectPixhawkChanged(autoconnect);
     }
-
 }
 
 void LinkManager::setAutoconnect3DRRadio(bool autoconnect)
 {
-    if (_autoconnect3DRRadio != autoconnect) {
+    if (_setAutoconnectWorker(_autoconnect3DRRadio, autoconnect, _autoconnect3DRRadioKey)) {
-        QSettings settings;
-
-        settings.beginGroup(_settingsGroup);
-        settings.setValue(_autoconnect3DRRadioKey, autoconnect);
-
-        _autoconnect3DRRadio = autoconnect;
         emit autoconnect3DRRadioChanged(autoconnect);
     }
-
 }
 
 void LinkManager::setAutoconnectPX4Flow(bool autoconnect)
 {
-    if (_autoconnectPX4Flow != autoconnect) {
+    if (_setAutoconnectWorker(_autoconnectPX4Flow, autoconnect, _autoconnectPX4FlowKey)) {
-        QSettings settings;
-
-        settings.beginGroup(_settingsGroup);
-        settings.setValue(_autoconnectPX4FlowKey, autoconnect);
-
-        _autoconnectPX4Flow = autoconnect;
         emit autoconnectPX4FlowChanged(autoconnect);
     }
+}
 
+void LinkManager::setAutoconnectRTKGPS(bool autoconnect)
+{
+    if (_setAutoconnectWorker(_autoconnectRTKGPS, autoconnect, _autoconnectRTKGPSKey)) {
+        emit autoconnectRTKGPSChanged(autoconnect);
+    }
 }
 
 QStringList LinkManager::linkTypeStrings(void) const

src/comm/LinkManager.h

@@ -78,6 +78,7 @@ public:
     Q_PROPERTY(bool autoconnectPixhawk                  READ autoconnectPixhawk                 WRITE setAutoconnectPixhawk     NOTIFY autoconnectPixhawkChanged)
     Q_PROPERTY(bool autoconnect3DRRadio                 READ autoconnect3DRRadio                WRITE setAutoconnect3DRRadio    NOTIFY autoconnect3DRRadioChanged)
     Q_PROPERTY(bool autoconnectPX4Flow                  READ autoconnectPX4Flow                 WRITE setAutoconnectPX4Flow     NOTIFY autoconnectPX4FlowChanged)
+    Q_PROPERTY(bool autoconnectRTKGPS                   READ autoconnectRTKGPS                  WRITE setAutoconnectRTKGPS      NOTIFY autoconnectRTKGPSChanged)
     Q_PROPERTY(bool isBluetoothAvailable                READ isBluetoothAvailable               CONSTANT)
 
     /// LinkInterface Accessor
@@ -107,6 +108,7 @@ public:
     bool autoconnectPixhawk         (void)  { return _autoconnectPixhawk; }
     bool autoconnect3DRRadio        (void)  { return _autoconnect3DRRadio; }
     bool autoconnectPX4Flow         (void)  { return _autoconnectPX4Flow; }
+    bool autoconnectRTKGPS          (void)  { return _autoconnectRTKGPS; }
     bool isBluetoothAvailable       (void);
 
     QmlObjectListModel* links               (void) { return &_links; }
@@ -120,6 +122,7 @@ public:
     void setAutoconnectPixhawk  (bool autoconnect);
     void setAutoconnect3DRRadio (bool autoconnect);
     void setAutoconnectPX4Flow  (bool autoconnect);
+    void setAutoconnectRTKGPS   (bool autoconnect);
 
     /// Load list of link configurations from disk
     void loadLinkConfigurationList();
@@ -177,6 +180,7 @@ signals:
     void autoconnectPixhawkChanged  (bool autoconnect);
     void autoconnect3DRRadioChanged (bool autoconnect);
     void autoconnectPX4FlowChanged  (bool autoconnect);
+    void autoconnectRTKGPSChanged   (bool autoconnect);
 
     void newLink(LinkInterface* link);
 
@@ -212,6 +216,7 @@ private:
     void _updateAutoConnectLinks(void);
     void _updateSerialPorts();
     void _fixUnnamed(LinkConfiguration* config);
+    bool _setAutoconnectWorker(bool& currentAutoconnect, bool newAutoconnect, const char* autoconnectKey);
 
 #ifndef __ios__
     SerialConfiguration* _autoconnectConfigurationsContainsPort(const QString& portName);
@@ -238,6 +243,7 @@ private:
     bool _autoconnectPixhawk;
     bool _autoconnect3DRRadio;
     bool _autoconnectPX4Flow;
+    bool _autoconnectRTKGPS;
 
 #ifndef __ios__
     QTimer              _activeLinkCheckTimer;                  ///< Timer which checks for a vehicle showing up on a usb direct link
@@ -250,6 +256,7 @@ private:
     static const char*  _autoconnectPixhawkKey;
     static const char*  _autoconnect3DRRadioKey;
     static const char*  _autoconnectPX4FlowKey;
+    static const char*  _autoconnectRTKGPSKey;
     static const char*  _defaultUPDLinkName;
     static const int    _autoconnectUpdateTimerMSecs;
     static const int    _autoconnectConnectDelayMSecs;

src/comm/UDPLink.cc

@@ -264,7 +264,7 @@ bool UDPLink::_hardwareConnect()
     _connectState = _socket->bind(host, _config->localPort(), QAbstractSocket::ReuseAddressHint | QUdpSocket::ShareAddress);
     if (_connectState) {
         //-- Make sure we have a large enough IO buffers
-#ifdef __mobile
+#ifdef __mobile__
         _socket->setSocketOption(QAbstractSocket::SendBufferSizeSocketOption,     64 * 1024);
         _socket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, 128 * 1024);
 #else

src/ui/preferences/GeneralSettings.qml

@@ -309,6 +309,12 @@ Rectangle {
                     checked:    QGroundControl.linkManager.autoconnectUDP
                     onClicked:  QGroundControl.linkManager.autoconnectUDP = checked
                 }
+
+                QGCCheckBox {
+                    text:       qsTr("RTK GPS")
+                    checked:    QGroundControl.linkManager.autoconnectRTKGPS
+                    onClicked:  QGroundControl.linkManager.autoconnectRTKGPS = checked
+                }
             }
 
             Item {