QGroundControl
Ground Control Station for MAVLink Drones
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ESP8266ComponentController.cc
Go to the documentation of this file.
1#include "ESP8266ComponentController.h"
2#include "ParameterManager.h"
3#include "QGCLoggingCategory.h"
4#include "Vehicle.h"
5
6#include <QtNetwork/QHostAddress>
7
8QGC_LOGGING_CATEGORY(ESP8266ComponentControllerLog, "AutoPilotPlugins.ESP8266ComponentController")
9
10#define MAX_RETRIES 5
11
12ESP8266ComponentController::ESP8266ComponentController(QObject *parent)
13 : FactPanelController(parent)
14 , _baud(getParameterFact(componentID(), QStringLiteral("UART_BAUDRATE")))
15 , _ver(getParameterFact(componentID(), QStringLiteral("SW_VER")))
16 , _ssid1(getParameterFact(componentID(), QStringLiteral("WIFI_SSID1")))
17 , _ssid2(getParameterFact(componentID(), QStringLiteral("WIFI_SSID2")))
18 , _ssid3(getParameterFact(componentID(), QStringLiteral("WIFI_SSID3")))
19 , _ssid4(getParameterFact(componentID(), QStringLiteral("WIFI_SSID4")))
20 , _pwd1(getParameterFact(componentID(), QStringLiteral("WIFI_PASSWORD1")))
21 , _pwd2(getParameterFact(componentID(), QStringLiteral("WIFI_PASSWORD2")))
22 , _pwd3(getParameterFact(componentID(), QStringLiteral("WIFI_PASSWORD3")))
23 , _pwd4(getParameterFact(componentID(), QStringLiteral("WIFI_PASSWORD4")))
24 , _ssidsta1(getParameterFact(componentID(), QStringLiteral("WIFI_SSIDSTA1"), false))
25 , _ssidsta2(getParameterFact(componentID(), QStringLiteral("WIFI_SSIDSTA2"), false))
26 , _ssidsta3(getParameterFact(componentID(), QStringLiteral("WIFI_SSIDSTA3"), false))
27 , _ssidsta4(getParameterFact(componentID(), QStringLiteral("WIFI_SSIDSTA4"), false))
28 , _pwdsta1(getParameterFact(componentID(), QStringLiteral("WIFI_PWDSTA1"), false))
29 , _pwdsta2(getParameterFact(componentID(), QStringLiteral("WIFI_PWDSTA2"), false))
30 , _pwdsta3(getParameterFact(componentID(), QStringLiteral("WIFI_PWDSTA3"), false))
31 , _pwdsta4(getParameterFact(componentID(), QStringLiteral("WIFI_PWDSTA4"), false))
32{
33 // qCDebug(RadioComponentControllerLog) << Q_FUNC_INFO << this;
34
35 for (int i = 1; i < 12; i++) {
36 _channels.append(QString::number(i));
37 }
38
39 (void) connect(_vehicle, &Vehicle::mavCommandResult, this, &ESP8266ComponentController::_mavCommandResult);
40 (void) connect(_ssid4, &Fact::valueChanged, this, &ESP8266ComponentController::_ssidChanged);
41 (void) connect(_pwd4, &Fact::valueChanged, this, &ESP8266ComponentController::_passwordChanged);
42 (void) connect(_baud, &Fact::valueChanged, this, &ESP8266ComponentController::_baudChanged);
43 (void) connect(_ver, &Fact::valueChanged, this, &ESP8266ComponentController::_versionChanged);
44}
45
46ESP8266ComponentController::~ESP8266ComponentController()
47{
48 // qCDebug(RadioComponentControllerLog) << Q_FUNC_INFO << this;
49}
50
51QString ESP8266ComponentController::version() const
52{
53 const uint32_t uv = getParameterFact(componentID(), QStringLiteral("SW_VER"))->rawValue().toUInt();
54 const QString versionString = QStringLiteral("%1.%2.%3").arg(uv >> 24).arg((uv >> 16) & 0xFF).arg(uv & 0xFFFF);
55 return versionString;
56}
57
58QString ESP8266ComponentController::wifiIPAddress()
59{
60 if (_ipAddress.isEmpty()) {
61 if (parameterExists(componentID(), QStringLiteral("WIFI_IPADDRESS"))) {
62 const QHostAddress address(qFromBigEndian(getParameterFact(componentID(), QStringLiteral("WIFI_IPADDRESS"))->rawValue().toUInt()));
63 _ipAddress = address.toString();
64 } else {
65 _ipAddress = QStringLiteral("192.168.4.1");
66 }
67 }
68
69 return _ipAddress;
70}
71
72QString ESP8266ComponentController::wifiSSID() const
73{
74 const uint32_t s1 = _ssid1->rawValue().toUInt();
75 const uint32_t s2 = _ssid2->rawValue().toUInt();
76 const uint32_t s3 = _ssid3->rawValue().toUInt();
77 const uint32_t s4 = _ssid4->rawValue().toUInt();
78
79 char tmp[20];
80 (void) memcpy(&tmp[0], &s1, sizeof(uint32_t));
81 (void) memcpy(&tmp[4], &s2, sizeof(uint32_t));
82 (void) memcpy(&tmp[8], &s3, sizeof(uint32_t));
83 (void) memcpy(&tmp[12], &s4, sizeof(uint32_t));
84
85 return QString(tmp);
86}
87
88void ESP8266ComponentController::setWifiSSID(const QString &ssid) const
89{
90 char tmp[20];
91 (void) memset(tmp, 0, sizeof(tmp));
92 const std::string sid = ssid.toStdString();
93 (void) strncpy(tmp, sid.c_str(), sizeof(tmp) - 1);
94
95 uint32_t u;
96 (void) memcpy(&u, &tmp[0], sizeof(uint32_t));
97 _ssid1->setRawValue(QVariant(u));
98 (void) memcpy(&u, &tmp[4], sizeof(uint32_t));
99 _ssid2->setRawValue(QVariant(u));
100 (void) memcpy(&u, &tmp[8], sizeof(uint32_t));
101 _ssid3->setRawValue(QVariant(u));
102 (void) memcpy(&u, &tmp[12], sizeof(uint32_t));
103 _ssid4->setRawValue(QVariant(u));
104}
105
106QString ESP8266ComponentController::wifiPassword() const
107{
108 const uint32_t s1 = _pwd1->rawValue().toUInt();
109 const uint32_t s2 = _pwd2->rawValue().toUInt();
110 const uint32_t s3 = _pwd3->rawValue().toUInt();
111 const uint32_t s4 = _pwd4->rawValue().toUInt();
112
113 char tmp[20];
114 (void) memcpy(&tmp[0], &s1, sizeof(uint32_t));
115 (void) memcpy(&tmp[4], &s2, sizeof(uint32_t));
116 (void) memcpy(&tmp[8], &s3, sizeof(uint32_t));
117 (void) memcpy(&tmp[12], &s4, sizeof(uint32_t));
118
119 return QString(tmp);
120}
121
122void ESP8266ComponentController::setWifiPassword(const QString &password) const
123{
124 char tmp[20];
125 (void) memset(tmp, 0, sizeof(tmp));
126 const std::string pwd = password.toStdString();
127 (void) strncpy(tmp, pwd.c_str(), sizeof(tmp) - 1);
128
129 uint32_t u;
130 (void) memcpy(&u, &tmp[0], sizeof(uint32_t));
131 _pwd1->setRawValue(QVariant(u));
132 (void) memcpy(&u, &tmp[4], sizeof(uint32_t));
133 _pwd2->setRawValue(QVariant(u));
134 (void) memcpy(&u, &tmp[8], sizeof(uint32_t));
135 _pwd3->setRawValue(QVariant(u));
136 (void) memcpy(&u, &tmp[12], sizeof(uint32_t));
137 _pwd4->setRawValue(QVariant(u));
138}
139
140QString ESP8266ComponentController::wifiSSIDSta() const
141{
142 if (!parameterExists(componentID(), "WIFI_SSIDSTA1")) {
143 return QString();
144 }
145
146 const uint32_t s1 = _ssidsta1->rawValue().toUInt();
147 const uint32_t s2 = _ssidsta2->rawValue().toUInt();
148 const uint32_t s3 = _ssidsta3->rawValue().toUInt();
149 const uint32_t s4 = _ssidsta4->rawValue().toUInt();
150
151 char tmp[20];
152 (void) memcpy(&tmp[0], &s1, sizeof(uint32_t));
153 (void) memcpy(&tmp[4], &s2, sizeof(uint32_t));
154 (void) memcpy(&tmp[8], &s3, sizeof(uint32_t));
155 (void) memcpy(&tmp[12], &s4, sizeof(uint32_t));
156
157 return QString(tmp);
158}
159
160void ESP8266ComponentController::setWifiSSIDSta(const QString &ssid) const
161{
162 if (!parameterExists(componentID(), "WIFI_SSIDSTA1")) {
163 return;
164 }
165
166 char tmp[20];
167 (void) memset(tmp, 0, sizeof(tmp));
168 const std::string sid = ssid.toStdString();
169 (void) strncpy(tmp, sid.c_str(), sizeof(tmp) - 1);
170
171 uint32_t u;
172 (void) memcpy(&u, &tmp[0], sizeof(uint32_t));
173 _ssidsta1->setRawValue(QVariant(u));
174 (void) memcpy(&u, &tmp[4], sizeof(uint32_t));
175 _ssidsta2->setRawValue(QVariant(u));
176 (void) memcpy(&u, &tmp[8], sizeof(uint32_t));
177 _ssidsta3->setRawValue(QVariant(u));
178 (void) memcpy(&u, &tmp[12], sizeof(uint32_t));
179 _ssidsta4->setRawValue(QVariant(u));
180}
181
182QString ESP8266ComponentController::wifiPasswordSta() const
183{
184 if (!parameterExists(componentID(), QStringLiteral("WIFI_PWDSTA1"))) {
185 return QString();
186 }
187
188 const uint32_t s1 = _pwdsta1->rawValue().toUInt();
189 const uint32_t s2 = _pwdsta2->rawValue().toUInt();
190 const uint32_t s3 = _pwdsta3->rawValue().toUInt();
191 const uint32_t s4 = _pwdsta4->rawValue().toUInt();
192
193 char tmp[20];
194 (void) memcpy(&tmp[0], &s1, sizeof(uint32_t));
195 (void) memcpy(&tmp[4], &s2, sizeof(uint32_t));
196 (void) memcpy(&tmp[8], &s3, sizeof(uint32_t));
197 (void) memcpy(&tmp[12], &s4, sizeof(uint32_t));
198
199 return QString(tmp);
200}
201
202void ESP8266ComponentController::setWifiPasswordSta(const QString &password) const
203{
204 if (!parameterExists(componentID(), QStringLiteral("WIFI_PWDSTA1"))) {
205 return;
206 }
207
208 char tmp[20];
209 (void) memset(tmp, 0, sizeof(tmp));
210 const std::string pwd = password.toStdString();
211 (void) strncpy(tmp, pwd.c_str(), sizeof(tmp) - 1);
212
213 uint32_t u;
214 (void) memcpy(&u, &tmp[0], sizeof(uint32_t));
215 _pwdsta1->setRawValue(QVariant(u));
216 (void) memcpy(&u, &tmp[4], sizeof(uint32_t));
217 _pwdsta2->setRawValue(QVariant(u));
218 (void) memcpy(&u, &tmp[8], sizeof(uint32_t));
219 _pwdsta3->setRawValue(QVariant(u));
220 (void) memcpy(&u, &tmp[12], sizeof(uint32_t));
221 _pwdsta4->setRawValue(QVariant(u));
222}
223
224int ESP8266ComponentController::baudIndex() const
225{
226 const int b = getParameterFact(componentID(), QStringLiteral("UART_BAUDRATE"))->rawValue().toInt();
227 switch (b) {
228 case 57600:
229 return 0;
230 case 115200:
231 return 1;
232 case 230400:
233 return 2;
234 case 460800:
235 return 3;
236 case 921600:
237 default:
238 return 4;
239 }
240}
241
242void ESP8266ComponentController::setBaudIndex(int idx) const
243{
244 if ((idx >= 0) && (idx != baudIndex())) {
245 int baud = 921600;
246 switch(idx) {
247 case 0:
248 baud = 57600;
249 break;
250 case 1:
251 baud = 115200;
252 break;
253 case 2:
254 baud = 230400;
255 break;
256 case 3:
257 baud = 460800;
258 break;
259 default:
260 baud = 921600;
261 }
262 _baud->setRawValue(baud);
263 }
264}
265
266void ESP8266ComponentController::reboot()
267{
268 _waitType = WAIT_FOR_REBOOT;
269 emit busyChanged();
270 _retries = MAX_RETRIES;
271 _reboot();
272}
273
274void ESP8266ComponentController::restoreDefaults()
275{
276 _waitType = WAIT_FOR_RESTORE;
277 emit busyChanged();
278 _retries = MAX_RETRIES;
279 _restoreDefaults();
280}
281
282void ESP8266ComponentController::_reboot() const
283{
284 _vehicle->sendMavCommand(componentID(), MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, true /* showError */, 0.0f, 1.0f);
285 qCDebug(ESP8266ComponentControllerLog) << "_reboot()";
286}
287
288void ESP8266ComponentController::_restoreDefaults() const
289{
290 _vehicle->sendMavCommand(componentID(), MAV_CMD_PREFLIGHT_STORAGE, true /* showError */, 2.0f);
291 qCDebug(ESP8266ComponentControllerLog) << "_restoreDefaults()";
292}
293
294void ESP8266ComponentController::_mavCommandResult(int vehicleId, int component, int command, int result, int failureCode)
295{
296 Q_UNUSED(vehicleId); Q_UNUSED(failureCode);
297
298 if (component != componentID()) {
299 return;
300 }
301
302 if (result != MAV_RESULT_ACCEPTED) {
303 qCWarning(ESP8266ComponentControllerLog) << "ESP8266ComponentController command" << command << "rejected.";
304 return;
305 }
306
307 if (((_waitType == WAIT_FOR_REBOOT) && (command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)) || ((_waitType == WAIT_FOR_RESTORE) && (command == MAV_CMD_PREFLIGHT_STORAGE))) {
308 _waitType = WAIT_FOR_NOTHING;
309 emit busyChanged();
310 qCDebug(ESP8266ComponentControllerLog) << "_commandAck for" << command;
311 if (command == MAV_CMD_PREFLIGHT_STORAGE) {
312 _vehicle->parameterManager()->refreshAllParameters(componentID());
313 }
314 }
315}
MAX_RETRIES
#define MAX_RETRIES
Definition ESP8266ComponentController.cc:10
QGC_LOGGING_CATEGORY
#define QGC_LOGGING_CATEGORY(name, categoryStr)
Definition QGCLoggingCategory.h:14
FactPanelController
Used for handling missing Facts from C++ code.
Definition FactPanelController.h:16
Fact::valueChanged
void valueChanged(const QVariant &value)
This signal is only meant for use by the QT property system. It should not be connected to by client ...
ParameterManager::refreshAllParameters
void refreshAllParameters(uint8_t componentID=MAV_COMP_ID_ALL)
Re-request the full set of parameters from the autopilot.
Definition ParameterManager.cc:545
Vehicle::sendMavCommand
void sendMavCommand(int compId, MAV_CMD command, bool showError, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f, float param6=0.0f, float param7=0.0f)
Definition Vehicle.cc:2309
Vehicle::parameterManager
ParameterManager * parameterManager()
Definition Vehicle.h:578
Vehicle::mavCommandResult
void mavCommandResult(int vehicleId, int targetComponent, int command, int ackResult, int failureCode)