ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       gpsdisplaygadget.cpp
   5  * @author     Edouard Lafargue Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
   9  * @{
  10  * @brief A gadget that displays GPS status and enables basic configuration
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #include "gpsdisplaygadget.h"
  29 #include "gpsdisplaywidget.h"
  30 #include "gpsdisplaygadgetconfiguration.h"
  31
  32 GpsDisplayGadget::GpsDisplayGadget(QString classId, GpsDisplayWidget *widget, QWidget *parent) :
  33     IUAVGadget(classId, parent),
  34     m_widget(widget),
  35     connected(false)
  36 {
  37     connect(m_widget->connectButton, SIGNAL(clicked(bool)), this, SLOT(onConnect()));
  38     connect(m_widget->disconnectButton, SIGNAL(clicked(bool)), this, SLOT(onDisconnect()));
  39 }
  40
  41 GpsDisplayGadget::~GpsDisplayGadget()
  42 {
  43     delete m_widget;
  44 }
  45
  46 /*
  47    This is called when a configuration is loaded, and updates the plugin's settings.
  48    Careful: the plugin is already drawn before the loadConfiguration method is called the
  49    first time, so you have to be careful not to assume all the plugin values are initialized
  50    the first time you use them
  51  */
  52 void GpsDisplayGadget::loadConfiguration(IUAVGadgetConfiguration *config)
  53 {
  54     // Delete the (old)port, this also closes it.
  55     if (port) {
  56         delete port;
  57     }
  58
  59     // Delete the (old)parser, this also disconnects all signals.
  60     if (parser) {
  61         delete parser;
  62     }
  63
  64     GpsDisplayGadgetConfiguration *gpsDisplayConfig = qobject_cast< GpsDisplayGadgetConfiguration *>(config);
  65
  66     if (gpsDisplayConfig->connectionMode() == "Serial") {
  67         m_portsettings.BaudRate    = gpsDisplayConfig->speed();
  68         m_portsettings.DataBits    = gpsDisplayConfig->dataBits();
  69         m_portsettings.FlowControl = gpsDisplayConfig->flow();
  70         m_portsettings.Parity = gpsDisplayConfig->parity();
  71         m_portsettings.StopBits    = gpsDisplayConfig->stopBits();
  72         m_portsettings.Timeout_Millisec = gpsDisplayConfig->timeOut();
  73
  74         // In case we find no port, buttons disabled
  75         m_widget->connectButton->setEnabled(false);
  76         m_widget->disconnectButton->setEnabled(false);
  77
  78         QList<QSerialPortInfo> ports = QSerialPortInfo::availablePorts();
  79         foreach(QSerialPortInfo nport, ports) {
  80             if (nport.portName() == gpsDisplayConfig->port()) {
  81                 qDebug() << "Using Serial parser";
  82                 parser = new NMEAParser();
  83                 port   = new QSerialPort(nport);
  84                 m_widget->connectButton->setEnabled(true);
  85                 m_widget->disconnectButton->setEnabled(false);
  86                 m_widget->connectButton->setHidden(false);
  87                 m_widget->disconnectButton->setHidden(false);
  88
  89                 connect(port, SIGNAL(readyRead()), this, SLOT(onDataAvailable()));
  90             }
  91         }
  92         m_widget->dataStreamGroupBox->setHidden(false);
  93     } else if (gpsDisplayConfig->connectionMode() == "Telemetry") {
  94         qDebug() << "Using Telemetry parser";
  95         parser = new TelemetryParser();
  96         m_widget->disconnectButton->setHidden(true);
  97         m_widget->connectButton->setHidden(true);
  98         m_widget->dataStreamGroupBox->setHidden(true);
  99     } else if (gpsDisplayConfig->connectionMode() == "Network") {
 100         // Not implemented for now...
 101         m_widget->connectButton->setEnabled(false);
 102         m_widget->disconnectButton->setEnabled(false);
 103         m_widget->dataStreamGroupBox->setHidden(false);
 104     }
 105
 106     connect(parser, SIGNAL(sv(int)), m_widget, SLOT(setSVs(int)));
 107     connect(parser, SIGNAL(position(double, double, double)), m_widget, SLOT(setPosition(double, double, double)));
 108     connect(parser, SIGNAL(speedheading(double, double)), m_widget, SLOT(setSpeedHeading(double, double)));
 109     connect(parser, SIGNAL(datetime(double, double)), m_widget, SLOT(setDateTime(double, double)));
 110     connect(parser, SIGNAL(packet(QString)), m_widget, SLOT(dumpPacket(QString)));
 111     connect(parser, SIGNAL(satellite(int, int, int, int, int)), m_widget->gpsSky, SLOT(updateSat(int, int, int, int, int)));
 112     connect(parser, SIGNAL(satellite(int, int, int, int, int)), m_widget->gpsSnrWidget, SLOT(updateSat(int, int, int, int, int)));
 113     connect(parser, SIGNAL(fixtype(QString)), m_widget, SLOT(setFixType(QString)));
 114     connect(parser, SIGNAL(dop(double, double, double)), m_widget, SLOT(setDOP(double, double, double)));
 115 }
 116
 117 void GpsDisplayGadget::onConnect()
 118 {
 119     m_widget->textBrowser->append(QString("Connecting to GPS ...\n"));
 120     // TODO: Somehow mark that we're running, and disable connect button while so?
 121
 122     if (port) {
 123         qDebug() << "Opening: " << port->portName() << ".";
 124         bool isOpen = port->open(QIODevice::ReadWrite);
 125         qDebug() << "Open: " << isOpen;
 126         if (isOpen) {
 127             if (port->setBaudRate(m_portsettings.BaudRate)
 128                 && port->setDataBits(m_portsettings.DataBits)
 129                 && port->setParity(m_portsettings.Parity)
 130                 && port->setStopBits(m_portsettings.StopBits)
 131                 && port->setFlowControl(m_portsettings.FlowControl)) {
 132                 m_widget->connectButton->setEnabled(false);
 133                 m_widget->disconnectButton->setEnabled(true);
 134             }
 135         }
 136     } else {
 137         qDebug() << "Port undefined or invalid.";
 138     }
 139 }
 140
 141 void GpsDisplayGadget::onDisconnect()
 142 {
 143     if (port) {
 144         qDebug() << "Closing: " << port->portName() << ".";
 145         port->close();
 146         m_widget->connectButton->setEnabled(true);
 147         m_widget->disconnectButton->setEnabled(false);
 148     } else {
 149         qDebug() << "Port undefined or invalid.";
 150     }
 151 }
 152
 153 void GpsDisplayGadget::onDataAvailable()
 154 {
 155     int avail = port->bytesAvailable();
 156
 157     if (avail > 0) {
 158         QByteArray serialData;
 159         serialData.resize(avail);
 160         int bytesRead = port->read(serialData.data(), serialData.size());
 161         if (bytesRead > 0) {
 162             processNewSerialData(serialData);
 163         }
 164     }
 165 }
 166
 167 void GpsDisplayGadget::processNewSerialData(QByteArray serialData)
 168 {
 169     int dataLength   = serialData.size();
 170     const char *data = serialData.constData();
 171
 172     for (int pos = 0; pos < dataLength; pos++) {
 173         parser->processInputStream(data[pos]);
 174     }
 175 }