SerialLink.cc

Go to the documentation of this file.

#include "SerialLink.h"
#include "QGCLoggingCategory.h"
#include "QGCSerialPortInfo.h"
#include <QtCore/QSettings>
#include <QtCore/QThread>
#include <QtCore/QTimer>
 
QGC_LOGGING_CATEGORY(SerialLinkLog, "Comms.SerialLink")
 
namespace {
    constexpr int CONNECT_TIMEOUT_MS = 1000;
    constexpr int DISCONNECT_TIMEOUT_MS = 3000;
}
 
/*===========================================================================*/
 
SerialConfiguration::SerialConfiguration(const QString &name, QObject *parent)
    : LinkConfiguration(name, parent)
{
    qCDebug(SerialLinkLog) << this;
}
 
SerialConfiguration::SerialConfiguration(const SerialConfiguration *source, QObject *parent)
    : LinkConfiguration(source, parent)
{
    qCDebug(SerialLinkLog) << this;
 
    SerialConfiguration::copyFrom(source);
}
 
SerialConfiguration::~SerialConfiguration()
{
    qCDebug(SerialLinkLog) << this;
}
 
void SerialConfiguration::setPortName(const QString &name)
{
    const QString portName = name.trimmed();
    if (portName.isEmpty()) {
        return;
    }
 
    if (portName != _portName) {
        _portName = portName;
        emit portNameChanged();
    }
 
    const QString portDisplayName = cleanPortDisplayName(portName);
    setPortDisplayName(portDisplayName);
}
 
void SerialConfiguration::copyFrom(const LinkConfiguration *source)
{
    LinkConfiguration::copyFrom(source);
 
    const SerialConfiguration* serialSource = qobject_cast<const SerialConfiguration*>(source);
 
    setBaud(serialSource->baud());
    setDataBits(serialSource->dataBits());
    setFlowControl(serialSource->flowControl());
    setStopBits(serialSource->stopBits());
    setParity(serialSource->parity());
    setPortName(serialSource->portName());
    setPortDisplayName(serialSource->portDisplayName());
    setUsbDirect(serialSource->usbDirect());
    setdtrForceLow(serialSource->dtrForceLow());
}
 
void SerialConfiguration::loadSettings(QSettings &settings, const QString &root)
{
    settings.beginGroup(root);
 
    setBaud(settings.value("baud", _baud).toInt());
    setDataBits(static_cast<QSerialPort::DataBits>(settings.value("dataBits", _dataBits).toInt()));
    setFlowControl(static_cast<QSerialPort::FlowControl>(settings.value("flowControl", _flowControl).toInt()));
    setStopBits(static_cast<QSerialPort::StopBits>(settings.value("stopBits", _stopBits).toInt()));
    setParity(static_cast<QSerialPort::Parity>(settings.value("parity", _parity).toInt()));
    setPortName(settings.value("portName", _portName).toString());
    setPortDisplayName(settings.value("portDisplayName", _portDisplayName).toString());
    setdtrForceLow(settings.value("dtrForceLow", _dtrForceLow).toBool());
 
    settings.endGroup();
}
 
void SerialConfiguration::saveSettings(QSettings &settings, const QString &root) const
{
    settings.beginGroup(root);
 
    settings.setValue("baud", _baud);
    settings.setValue("dataBits", _dataBits);
    settings.setValue("flowControl", _flowControl);
    settings.setValue("stopBits", _stopBits);
    settings.setValue("parity", _parity);
    settings.setValue("portName", _portName);
    settings.setValue("portDisplayName", _portDisplayName);
    settings.setValue("dtrForceLow", _dtrForceLow);
 
    settings.endGroup();
}
 
QStringList SerialConfiguration::supportedBaudRates()
{
    static const QSet<qint32> kDefaultSupportedBaudRates = {
#ifdef Q_OS_UNIX
        50,
        75,
#endif
        110,
#ifdef Q_OS_UNIX
        150,
        200,
        134,
#endif
        300,
        600,
        1200,
#ifdef Q_OS_UNIX
        1800,
#endif
        2400,
        4800,
        9600,
#ifdef Q_OS_WIN
        14400,
#endif
        19200,
        38400,
#ifdef Q_OS_WIN
        56000,
#endif
        57600,
        115200,
#ifdef Q_OS_WIN
        128000,
#endif
        230400,
#ifdef Q_OS_WIN
        256000,
#endif
        460800,
        500000,
#ifdef Q_OS_LINUX
        576000,
#endif
        921600,
    };
 
    const QList<qint32> activeSupportedBaudRates = QSerialPortInfo::standardBaudRates();
 
    QSet<qint32> mergedBaudRateSet(kDefaultSupportedBaudRates.constBegin(), kDefaultSupportedBaudRates.constEnd());
    (void) mergedBaudRateSet.unite(QSet<qint32>(activeSupportedBaudRates.constBegin(), activeSupportedBaudRates.constEnd()));
 
    QList<qint32> mergedBaudRateList = mergedBaudRateSet.values();
    std::sort(mergedBaudRateList.begin(), mergedBaudRateList.end());
 
    QStringList supportBaudRateStrings{};
    supportBaudRateStrings.reserve(mergedBaudRateList.size());
    for (const qint32 rate : std::as_const(mergedBaudRateList)) {
        supportBaudRateStrings.append(QString::number(rate));
    }
 
    return supportBaudRateStrings;
}
 
QString SerialConfiguration::cleanPortDisplayName(const QString &name)
{
    const QList<QSerialPortInfo> availablePorts = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &portInfo : availablePorts) {
        if (portInfo.systemLocation() == name) {
            return portInfo.portName();
        }
    }
 
    return QString();
}
 
/*===========================================================================*/
 
SerialWorker::SerialWorker(const SerialConfiguration *config, QObject *parent)
    : QObject(parent)
    , _serialConfig(config)
{
    qCDebug(SerialLinkLog) << this;
 
    (void) qRegisterMetaType<QSerialPort::SerialPortError>("QSerialPort::SerialPortError");
}
 
SerialWorker::~SerialWorker()
{
    disconnectFromPort();
 
    qCDebug(SerialLinkLog) << this;
}
 
bool SerialWorker::isConnected() const
{
    return (_port && _port->isOpen());
}
 
void SerialWorker::setupPort()
{
    if (!_port) {
        _port = new QSerialPort(this);
    }
 
    if (!_timer) {
        _timer = new QTimer(this);
    }
 
    (void) connect(_port, &QSerialPort::aboutToClose, this, &SerialWorker::_onPortDisconnected);
    (void) connect(_port, &QSerialPort::readyRead, this, &SerialWorker::_onPortReadyRead);
    (void) connect(_port, &QSerialPort::errorOccurred, this, &SerialWorker::_onPortErrorOccurred);
 
    /* if (SerialLinkLog().isDebugEnabled()) {
        (void) connect(_port, &QSerialPort::bytesWritten, this, &SerialWorker::_onPortBytesWritten);
    } */
 
    (void) connect(_timer, &QTimer::timeout, this, &SerialWorker::_checkPortAvailability);
}
 
void SerialWorker::connectToPort()
{
    if (isConnected()) {
        qCWarning(SerialLinkLog) << "Already connected to" << _port->portName();
        return;
    }
 
    _port->setPortName(_serialConfig->portName());
 
    const QGCSerialPortInfo portInfo(*_port);
    if (portInfo.isBootloader()) {
        qCWarning(SerialLinkLog) << "Not connecting to bootloader" << _port->portName();
        emit errorOccurred(tr("Not connecting to a bootloader"));
        _onPortDisconnected();
        return;
    }
 
    _errorEmitted = false;
 
    qCDebug(SerialLinkLog) << "Attempting to open port" << _port->portName();
    if (!_port->open(QIODevice::ReadWrite)) {
        qCWarning(SerialLinkLog) << "Opening port" << _port->portName() << "failed:" << _port->errorString();
 
        // If auto-connect is enabled, we don't want to emit an error for PermissionError from devices already in use
        if (!_errorEmitted && (!_serialConfig->isAutoConnect() || _port->error() != QSerialPort::PermissionError)) {
            emit errorOccurred(tr("Could not open port: %1").arg(_port->errorString()));
            _errorEmitted = true;
        }
 
        _onPortDisconnected();
 
        return;
    }
 
    _onPortConnected();
}
 
void SerialWorker::disconnectFromPort()
{
    if (!isConnected()) {
        qCDebug(SerialLinkLog) << "Already disconnected from port:" << _port->portName();
        return;
    }
 
    qCDebug(SerialLinkLog) << "Attempting to close port:" << _port->portName();
 
    _port->close();
}
 
void SerialWorker::writeData(const QByteArray &data)
{
    if (data.isEmpty()) {
        emit errorOccurred(tr("Data to Send is Empty"));
        return;
    }
 
    if (!isConnected()) {
        emit errorOccurred(tr("Port is not Connected"));
        return;
    }
 
    if (!_port->isWritable()) {
        emit errorOccurred(tr("Port is not Writable"));
        return;
    }
 
    qint64 totalBytesWritten = 0;
    while (totalBytesWritten < data.size()) {
        const qint64 bytesWritten = _port->write(data.constData() + totalBytesWritten, data.size() - totalBytesWritten);
        if (bytesWritten == -1) {
            emit errorOccurred(tr("Could Not Send Data - Write Failed: %1").arg(_port->errorString()));
            return;
        } else if (bytesWritten == 0) {
            emit errorOccurred(tr("Could Not Send Data - Write Returned 0 Bytes"));
            return;
        }
        totalBytesWritten += bytesWritten;
    }
 
    const QByteArray sent = data.first(totalBytesWritten);
    emit dataSent(sent);
}
 
void SerialWorker::_onPortConnected()
{
    qCDebug(SerialLinkLog) << "Port connected:" << _port->portName();
 
    _port->setDataTerminalReady(_serialConfig->dtrForceLow() ? false : true);
    _port->setBaudRate(_serialConfig->baud());
    _port->setDataBits(static_cast<QSerialPort::DataBits>(_serialConfig->dataBits()));
    _port->setFlowControl(static_cast<QSerialPort::FlowControl>(_serialConfig->flowControl()));
    _port->setStopBits(static_cast<QSerialPort::StopBits>(_serialConfig->stopBits()));
    _port->setParity(static_cast<QSerialPort::Parity>(_serialConfig->parity()));
 
    if (_timer) {
        _timer->start(CONNECT_TIMEOUT_MS);
    }
 
    _errorEmitted = false;
    emit connected();
}
 
void SerialWorker::_onPortDisconnected()
{
    qCDebug(SerialLinkLog) << "Port disconnected:" << _port->portName();
 
    if (_timer) {
        _timer->stop();
    }
 
    _errorEmitted = false;
    emit disconnected();
}
 
void SerialWorker::_onPortReadyRead()
{
    const QByteArray data = _port->readAll();
    if (!data.isEmpty()) {
        // qCDebug(SerialLinkLog) << data.size();
        emit dataReceived(data);
    }
}
 
void SerialWorker::_onPortBytesWritten(qint64 bytes) const
{
    qCDebug(SerialLinkLog) << _port->portName() << "Wrote" << bytes << "bytes";
}
 
void SerialWorker::_onPortErrorOccurred(QSerialPort::SerialPortError portError)
{
    switch (portError) {
    case QSerialPort::NoError:
        qCDebug(SerialLinkLog) << "About to open port" << _port->portName();
        return;
    case QSerialPort::ResourceError:
        // We get this when a usb cable is unplugged - close port to allow reconnection
        qCDebug(SerialLinkLog) << "Resource error (likely USB disconnect):" << _port->errorString();
        _port->close();
        return;
    case QSerialPort::PermissionError:
        if (_serialConfig->isAutoConnect()) {
            return;
        }
        break;
    default:
        break;
    }
 
    const QString errorString = _port->errorString();
    qCWarning(SerialLinkLog) << "Port error:" << portError << errorString;
 
    if (!_errorEmitted) {
        emit errorOccurred(errorString);
        _errorEmitted = true;
    }
}
 
void SerialWorker::_checkPortAvailability()
{
    if (!isConnected()) {
        return;
    }
 
    bool portExists = false;
    const auto availablePorts = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : availablePorts) {
        if (info.portName() == _serialConfig->portDisplayName()) {
            portExists = true;
            break;
        }
    }
 
    if (!portExists) {
        _port->close();
    }
}
 
/*===========================================================================*/
 
SerialLink::SerialLink(SharedLinkConfigurationPtr &config, QObject *parent)
    : LinkInterface(config, parent)
    , _serialConfig(qobject_cast<const SerialConfiguration*>(config.get()))
    , _worker(new SerialWorker(_serialConfig))
    , _workerThread(new QThread(this))
{
    qCDebug(SerialLinkLog) << this;
 
    _workerThread->setObjectName(QStringLiteral("Serial_%1").arg(_serialConfig->name()));
 
    (void) _worker->moveToThread(_workerThread);
 
    (void) connect(_workerThread, &QThread::started, _worker, &SerialWorker::setupPort);
    (void) connect(_workerThread, &QThread::finished, _worker, &QObject::deleteLater);
 
    (void) connect(_worker, &SerialWorker::connected, this, &SerialLink::_onConnected, Qt::QueuedConnection);
    (void) connect(_worker, &SerialWorker::disconnected, this, &SerialLink::_onDisconnected, Qt::QueuedConnection);
    (void) connect(_worker, &SerialWorker::dataReceived, this, &SerialLink::_onDataReceived, Qt::QueuedConnection);
    (void) connect(_worker, &SerialWorker::dataSent, this, &SerialLink::_onDataSent, Qt::QueuedConnection);
    (void) connect(_worker, &SerialWorker::errorOccurred, this, &SerialLink::_onErrorOccurred, Qt::QueuedConnection);
 
    _workerThread->start();
}
 
SerialLink::~SerialLink()
{
    if (isConnected()) {
        (void) QMetaObject::invokeMethod(_worker, "disconnectFromPort", Qt::BlockingQueuedConnection);
        _onDisconnected();
    }
 
    _workerThread->quit();
    if (!_workerThread->wait(DISCONNECT_TIMEOUT_MS)) {
        qCWarning(SerialLinkLog) << "Failed to wait for Serial Thread to close";
    }
 
    qCDebug(SerialLinkLog) << this;
}
 
bool SerialLink::isConnected() const
{
    return _worker && _worker->isConnected();
}
 
bool SerialLink::_connect()
{
    return QMetaObject::invokeMethod(_worker, "connectToPort", Qt::QueuedConnection);
}
 
void SerialLink::disconnect()
{
    if (isConnected()) {
        (void) QMetaObject::invokeMethod(_worker, "disconnectFromPort", Qt::QueuedConnection);
    }
}
 
void SerialLink::_onConnected()
{
    _disconnectedEmitted = false;
    emit connected();
}
 
void SerialLink::_onDisconnected()
{
    if (!_disconnectedEmitted.exchange(true)) {
        emit disconnected();
    }
}
 
void SerialLink::_onErrorOccurred(const QString &errorString)
{
    qCWarning(SerialLinkLog) << "Communication error:" << errorString;
    emit communicationError(tr("Serial Link Error"), tr("Link %1: (Port: %2) %3").arg(_serialConfig->name(), _serialConfig->portName(), errorString));
}
 
void SerialLink::_onDataReceived(const QByteArray &data)
{
    emit bytesReceived(this, data);
}
 
void SerialLink::_onDataSent(const QByteArray &data)
{
    emit bytesSent(this, data);
}
 
void SerialLink::_writeBytes(const QByteArray &data)
{
    (void) QMetaObject::invokeMethod(_worker, "writeData", Qt::QueuedConnection, Q_ARG(QByteArray, data));
}