ground/gcs/src/plugins/antennatrack/antennatrackgadget.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       AntennaTracgadget.cpp
   5  * @author     Sami Korhonen & the OpenPilot team Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup AntennaTrackGadgetPlugin Antenna Track Gadget Plugin
   9  * @{
  10  * @brief A gadget that communicates with antenna tracker 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 "antennatrackgadget.h"
  29 #include "antennatrackwidget.h"
  30 #include "antennatrackgadgetconfiguration.h"
  31 #include <QtSerialPort/QSerialPortInfo>
  32
  33 AntennaTrackGadget::AntennaTrackGadget(QString classId, AntennaTrackWidget *widget, QWidget *parent) :
  34     IUAVGadget(classId, parent),
  35     m_widget(widget),
  36     connected(false)
  37 {
  38     connect(m_widget->connectButton, SIGNAL(clicked(bool)), this, SLOT(onConnect()));
  39     connect(m_widget->disconnectButton, SIGNAL(clicked(bool)), this, SLOT(onDisconnect()));
  40 }
  41
  42 AntennaTrackGadget::~AntennaTrackGadget()
  43 {}
  44
  45 /*
  46    This is called when a configuration is loaded, and updates the plugin's settings.
  47    Careful: the plugin is already drawn before the loadConfiguration method is called the
  48    first time, so you have to be careful not to assume all the plugin values are initialized
  49    the first time you use them
  50  */
  51 void AntennaTrackGadget::loadConfiguration(IUAVGadgetConfiguration *config)
  52 {
  53     // Delete the (old)port, this also closes it.
  54     if (port) {
  55         delete port;
  56     }
  57
  58     // Delete the (old)parser, this also disconnects all signals.
  59     if (parser) {
  60         delete parser;
  61     }
  62
  63     AntennaTrackGadgetConfiguration *AntennaTrackConfig = qobject_cast< AntennaTrackGadgetConfiguration *>(config);
  64
  65     m_portsettings.BaudRate    = AntennaTrackConfig->speed();
  66     m_portsettings.DataBits    = AntennaTrackConfig->dataBits();
  67     m_portsettings.FlowControl = AntennaTrackConfig->flow();
  68     m_portsettings.Parity = AntennaTrackConfig->parity();
  69     m_portsettings.StopBits    = AntennaTrackConfig->stopBits();
  70     m_portsettings.Timeout_Millisec = AntennaTrackConfig->timeOut();
  71
  72     // In case we find no port, buttons disabled
  73     m_widget->connectButton->setEnabled(false);
  74     m_widget->disconnectButton->setEnabled(false);
  75
  76     QList<QSerialPortInfo> ports = QSerialPortInfo::availablePorts();
  77     foreach(QSerialPortInfo nport, ports) {
  78         if (nport.portName() == AntennaTrackConfig->port()) {
  79             qDebug() << "Using Serial port";
  80             // parser = new NMEAParser();
  81             port = new QSerialPort(nport);
  82             m_widget->setPort(port);
  83             m_widget->connectButton->setEnabled(true);
  84             m_widget->disconnectButton->setEnabled(false);
  85             m_widget->connectButton->setHidden(false);
  86             m_widget->disconnectButton->setHidden(false);
  87
  88             connect(port, SIGNAL(readyRead()), this, SLOT(onDataAvailable()));
  89         }
  90     }
  91     m_widget->dataStreamGroupBox->setHidden(false);
  92
  93     parser = new TelemetryParser();
  94
  95     connect(parser, SIGNAL(position(double, double, double)), m_widget, SLOT(setPosition(double, double, double)));
  96     connect(parser, SIGNAL(home(double, double, double)), m_widget, SLOT(setHomePosition(double, double, double)));
  97     connect(parser, SIGNAL(packet(QString)), m_widget, SLOT(dumpPacket(QString)));
  98 }
  99
 100 void AntennaTrackGadget::onConnect()
 101 {
 102     m_widget->textBrowser->append(QString("Connecting to Tracker ...\n"));
 103     // TODO: Somehow mark that we're running, and disable connect button while so?
 104
 105     if (port) {
 106         qDebug() << "Opening: " << port->portName() << ".";
 107         bool isOpen = port->open(QIODevice::ReadWrite);
 108         qDebug() << "Open: " << isOpen;
 109         if (isOpen) {
 110             if (port->setBaudRate(m_portsettings.BaudRate)
 111                 && port->setDataBits(m_portsettings.DataBits)
 112                 && port->setParity(m_portsettings.Parity)
 113                 && port->setStopBits(m_portsettings.StopBits)
 114                 && port->setFlowControl(m_portsettings.FlowControl)) {
 115                 m_widget->connectButton->setEnabled(false);
 116                 m_widget->disconnectButton->setEnabled(true);
 117             }
 118         }
 119     } else {
 120         qDebug() << "Port undefined or invalid.";
 121     }
 122 }
 123
 124 void AntennaTrackGadget::onDisconnect()
 125 {
 126     if (port) {
 127         qDebug() << "Closing: " << port->portName() << ".";
 128         port->close();
 129         m_widget->connectButton->setEnabled(true);
 130         m_widget->disconnectButton->setEnabled(false);
 131     } else {
 132         qDebug() << "Port undefined or invalid.";
 133     }
 134 }
 135
 136 void AntennaTrackGadget::onDataAvailable()
 137 {
 138     int avail = port->bytesAvailable();
 139
 140     if (avail > 0) {
 141         QByteArray serialData;
 142         serialData.resize(avail);
 143         int bytesRead = port->read(serialData.data(), serialData.size());
 144         if (bytesRead > 0) {
 145             processNewSerialData(serialData);
 146         }
 147     }
 148 }
 149
 150 void AntennaTrackGadget::processNewSerialData(QByteArray serialData)
 151 {
 152     int dataLength   = serialData.size();
 153     const char *data = serialData.constData();
 154
 155     m_widget->textBrowser->append(QString(serialData));
 156     for (int pos = 0; pos < dataLength; pos++) {
 157         // parser->processInputStream(data[pos]);
 158     }
 159 }