ground/gcs/src/plugins/uavtalk/telemetrymanager.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       telemetrymanager.cpp
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup UAVTalkPlugin UAVTalk Plugin
  10  * @{
  11  * @brief The UAVTalk protocol plugin
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #include "telemetrymanager.h"
  30 #include "telemetry.h"
  31 #include "telemetrymonitor.h"
  32 #include <extensionsystem/pluginmanager.h>
  33 #include <coreplugin/icore.h>
  34 #include <coreplugin/threadmanager.h>
  35
  36 TelemetryManager::TelemetryManager() : QObject(), m_connectionState(TELEMETRY_DISCONNECTED)
  37 {
  38     moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
  39
  40     // Get UAVObjectManager instance
  41     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  42     m_uavobjectManager = pm->getObject<UAVObjectManager>();
  43
  44     // connect to start stop signals
  45     connect(this, SIGNAL(myStart()), this, SLOT(onStart()), Qt::QueuedConnection);
  46     connect(this, SIGNAL(myStop()), this, SLOT(onStop()), Qt::QueuedConnection);
  47 }
  48
  49 TelemetryManager::~TelemetryManager()
  50 {}
  51
  52 bool TelemetryManager::isConnected() const
  53 {
  54     return m_connectionState == TELEMETRY_CONNECTED;
  55 }
  56
  57 TelemetryManager::ConnectionState TelemetryManager::connectionState() const
  58 {
  59     return m_connectionState;
  60 }
  61
  62 void TelemetryManager::start(QIODevice *dev)
  63 {
  64     m_connectionState = TELEMETRY_CONNECTING;
  65     emit connecting();
  66
  67     m_telemetryDevice = dev;
  68     // OP-1383
  69     // take ownership of the device by moving it to the TelemetryManager thread (see TelemetryManager constructor)
  70     // this removes the following runtime Qt warning and incidentally fixes GCS crashes:
  71     // QObject: Cannot create children for a parent that is in a different thread.
  72     // (Parent is QSerialPort(0x56af73f8), parent's thread is QThread(0x23f69ae8), current thread is QThread(0x2649cfd8)
  73     m_telemetryDevice->moveToThread(thread());
  74     emit myStart();
  75 }
  76
  77 void TelemetryManager::onStart()
  78 {
  79     m_uavTalk = new UAVTalk(m_telemetryDevice, m_uavobjectManager);
  80     if (false) {
  81         // UAVTalk must be thread safe and for that:
  82         // 1- all public methods must lock a mutex
  83         // 2- the reader thread must lock that mutex too
  84         // The reader thread locks the mutex once a packet is read and decoded.
  85         // It is assumed that the UAVObjectManager is thread safe
  86
  87         // Create the reader and move it to the reader thread
  88         IODeviceReader *reader = new IODeviceReader(m_uavTalk);
  89         reader->moveToThread(&m_telemetryReaderThread);
  90         // The reader will be deleted (later) when the thread finishes
  91         connect(&m_telemetryReaderThread, &QThread::finished, reader, &QObject::deleteLater);
  92         // Connect IO device to reader
  93         connect(m_telemetryDevice, SIGNAL(readyRead()), reader, SLOT(read()));
  94         // start the reader thread
  95         m_telemetryReaderThread.start();
  96     } else {
  97         // Connect IO device to reader
  98         connect(m_telemetryDevice, SIGNAL(readyRead()), m_uavTalk, SLOT(processInputStream()));
  99     }
 100
 101     m_telemetry = new Telemetry(m_uavTalk, m_uavobjectManager);
 102     m_telemetryMonitor = new TelemetryMonitor(m_uavobjectManager, m_telemetry);
 103
 104     connect(m_telemetryMonitor, SIGNAL(connected()), this, SLOT(onConnect()));
 105     connect(m_telemetryMonitor, SIGNAL(disconnected()), this, SLOT(onDisconnect()));
 106     connect(m_telemetryMonitor, SIGNAL(telemetryUpdated(double, double)), this, SLOT(onTelemetryUpdate(double, double)));
 107 }
 108
 109 void TelemetryManager::stop()
 110 {
 111     m_connectionState = TELEMETRY_DISCONNECTING;
 112     emit disconnecting();
 113     emit myStop();
 114
 115     if (false) {
 116         m_telemetryReaderThread.quit();
 117         m_telemetryReaderThread.wait();
 118     }
 119 }
 120
 121 void TelemetryManager::onStop()
 122 {
 123     m_telemetryMonitor->disconnect(this);
 124     delete m_telemetryMonitor;
 125     delete m_telemetry;
 126     delete m_uavTalk;
 127     onDisconnect();
 128 }
 129
 130 void TelemetryManager::onConnect()
 131 {
 132     m_connectionState = TELEMETRY_CONNECTED;
 133     emit connected();
 134 }
 135
 136 void TelemetryManager::onDisconnect()
 137 {
 138     m_connectionState = TELEMETRY_DISCONNECTED;
 139     emit disconnected();
 140 }
 141
 142 void TelemetryManager::onTelemetryUpdate(double txRate, double rxRate)
 143 {
 144     emit telemetryUpdated(txRate, rxRate);
 145 }
 146
 147 IODeviceReader::IODeviceReader(UAVTalk *uavTalk) : m_uavTalk(uavTalk)
 148 {}
 149
 150 void IODeviceReader::read()
 151 {
 152     m_uavTalk->processInputStream();
 153 }