LibrePilot/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp

/**
 ******************************************************************************
 *
 * @file       uploadergadgetwidget.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup YModemUploader YModem Serial Uploader Plugin
 * @{
 * @brief The YModem protocol serial uploader plugin
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#include "uploadergadgetwidget.h"

#define DFU_DEBUG true

UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
{
    m_config = new Ui_UploaderWidget();
    m_config->setupUi(this);
    currentStep = IAP_STATE_READY;
    resetOnly=false;
    dfu = NULL;
    m_timer = 0;
    m_progress = 0;

    // Listen to autopilot connection events
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));

    connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
    connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
    connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));
    connect(m_config->rescueButton, SIGNAL(clicked()), this, SLOT(systemRescue()));
    Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
    connect(cm,SIGNAL(deviceConnected(QIODevice*)),this,SLOT(onPhisicalHWConnect()));
    getSerialPorts();

    QIcon rbi;
    rbi.addFile(QString(":uploader/images/view-refresh.svg"));
    m_config->refreshPorts->setIcon(rbi);

    connect(m_config->refreshPorts, SIGNAL(clicked()), this, SLOT(getSerialPorts()));

    // And check whether by any chance we are not already connected
    if (telMngr->isConnected())
        onAutopilotConnect();


}


bool sortPorts(const QextPortInfo &s1,const QextPortInfo &s2)
{
    return s1.portName<s2.portName;
}

/**
  Gets the list of serial ports
  */
void UploaderGadgetWidget::getSerialPorts()
{
    QStringList list;
    // Populate the telemetry combo box:
    m_config->telemetryLink->clear();

    list.append(QString("USB"));
    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();

    //sort the list by port number (nice idea from PT_Dreamer :))
    qSort(ports.begin(), ports.end(),sortPorts);
    foreach( QextPortInfo port, ports ) {
       list.append(port.friendName);
    }

    m_config->telemetryLink->addItems(list);
}


QString UploaderGadgetWidget::getPortDevice(const QString &friendName)
{
    QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
    foreach( QextPortInfo port, ports ) {
           if(port.friendName == friendName)
#ifdef Q_OS_WIN
            return port.portName;
#else
            return port.physName;
#endif
        }
    return "";
}
void UploaderGadgetWidget::onPhisicalHWConnect()
{
    m_config->bootButton->setEnabled(false);
    m_config->rescueButton->setEnabled(false);
    m_config->telemetryLink->setEnabled(false);
}

/**
  Enables widget buttons if autopilot connected
  */
void UploaderGadgetWidget::onAutopilotConnect(){
    m_config->haltButton->setEnabled(true);
    m_config->resetButton->setEnabled(true);
    m_config->bootButton->setEnabled(false);
    m_config->rescueButton->setEnabled(false);
    m_config->telemetryLink->setEnabled(false);

    // Add a very simple widget with Board model & serial number
    // Delete all previous tabs:
    while (m_config->systemElements->count()) {
         QWidget *qw = m_config->systemElements->widget(0);
         m_config->systemElements->removeTab(0);
         delete qw;
    }
    runningDeviceWidget* dw = new runningDeviceWidget(this);
    dw->populate();
    m_config->systemElements->addTab(dw, QString("Connected Device"));

}

/**
  Enables widget buttons if autopilot disconnected
  */
void UploaderGadgetWidget::onAutopilotDisconnect(){
    m_config->haltButton->setEnabled(false);
    m_config->resetButton->setEnabled(false);
    m_config->bootButton->setEnabled(true);
    if (currentStep == IAP_STATE_BOOTLOADER) {
        m_config->rescueButton->setEnabled(false);
        m_config->telemetryLink->setEnabled(false);
    } else {
        m_config->rescueButton->setEnabled(true);
        m_config->telemetryLink->setEnabled(true);
    }
}


/**
  Tell the mainboard to go to bootloader:
   - Send the relevant IAP commands
   - setup callback for MoBo acknowledge
   */
void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
{
    Q_UNUSED(callerObj);

    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
    UAVObject *fwIAP = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("FirmwareIAPObj")));

    switch (currentStep) {
    case IAP_STATE_READY:
        m_config->haltButton->setEnabled(false);
        getSerialPorts(); // Useful in case a new serial port appeared since the initial list,
                          // otherwise we won't find it when we stop the board.
        // The board is running, send the 1st IAP Reset order:
        fwIAP->getField("Command")->setValue("1122");
        fwIAP->getField("BoardRevision")->setDouble(0);
        fwIAP->getField("BoardType")->setDouble(0);
        connect(fwIAP,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
        currentStep = IAP_STATE_STEP_1;
        clearLog();
        log(QString("IAP Step 1"));
        fwIAP->updated();
        break;
    case IAP_STATE_STEP_1:
        if (!success)  {
            log(QString("Oops, failure step 1"));
            log("Reset did NOT happen");
            currentStep = IAP_STATE_READY;
            disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
            m_config->haltButton->setEnabled(true);
            break;
        }
        delay::msleep(600);
        fwIAP->getField("Command")->setValue("2233");
        currentStep = IAP_STATE_STEP_2;
        log(QString("IAP Step 2"));
        fwIAP->updated();
        break;
    case IAP_STATE_STEP_2:
        if (!success) {
            log(QString("Oops, failure step 2"));
            log("Reset did NOT happen");
            currentStep = IAP_STATE_READY;
            disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
            m_config->haltButton->setEnabled(true);
            break;
        }
        delay::msleep(600);
        fwIAP->getField("Command")->setValue("3344");
        currentStep = IAP_STEP_RESET;
        log(QString("IAP Step 3"));
        fwIAP->updated();
        break;
    case IAP_STEP_RESET:
    {
        currentStep = IAP_STATE_READY;
        if (!success) {
            log("Oops, failure step 3");
            log("Reset did NOT happen");
            disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
            m_config->haltButton->setEnabled(true);
            break;
        }

        // The board is now reset: we have to disconnect telemetry
        Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
        QString dli = cm->getCurrentDevice().Name;
        QString dlj = cm->getCurrentDevice().devName;
        cm->disconnectDevice();
        // Tell connections to stop their polling threads: otherwise it will mess up DFU
        cm->suspendPolling();
        log("Board Halt");
        m_config->boardStatus->setText("Bootloader");
        if (dlj.startsWith("USB"))
            m_config->telemetryLink->setCurrentIndex(m_config->telemetryLink->findText("USB"));
        else
            m_config->telemetryLink->setCurrentIndex(m_config->telemetryLink->findText(dli));

        disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));

        currentStep = IAP_STATE_BOOTLOADER;

        // Tell the mainboard to get into bootloader state:
        log("Detecting devices, please wait a few seconds...");
        if (!dfu) {
            if (dlj.startsWith("USB"))
                dfu = new DFUObject(DFU_DEBUG, false, QString());
            else
                dfu = new DFUObject(DFU_DEBUG,true, getPortDevice(dli));
        }
        if (!dfu->ready())
        {
            log("Could not enter DFU mode.");
            delete dfu;
            dfu = NULL;
            cm->resumePolling();
            currentStep = IAP_STATE_READY;
            m_config->boardStatus->setText("Bootloader?");
            m_config->haltButton->setEnabled(true);
            return;
        }
        dfu->AbortOperation();
        if(!dfu->enterDFU(0))
        {
            log("Could not enter DFU mode.");
            delete dfu;
            dfu = NULL;
            cm->resumePolling();
            currentStep = IAP_STATE_READY;
            m_config->boardStatus->setText("Bootloader?");
            return;
        }
        //dfu.StatusRequest();
        dfu->findDevices();
        log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
        if (dfu->numberOfDevices < 0 || dfu->numberOfDevices > 3) {
            log("Inconsistent number of devices! Aborting");
            delete dfu;
            dfu = NULL;
            cm->resumePolling();
            return;
        }
        // Delete all previous tabs:
        while (m_config->systemElements->count()) {
             QWidget *qw = m_config->systemElements->widget(0);
             m_config->systemElements->removeTab(0);
             delete qw;
        }
        for(int i=0;i<dfu->numberOfDevices;i++) {
            deviceWidget* dw = new deviceWidget(this);
            dw->setDeviceID(i);
            dw->setDfu(dfu);
            dw->populate();
            m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
        }
        /*
        m_config->haltButton->setEnabled(false);
        m_config->resetButton->setEnabled(false);
        */
        // Need to re-enable in case we were not connected
        m_config->bootButton->setEnabled(true);
        /*
        m_config->telemetryLink->setEnabled(false);
        m_config->rescueButton->setEnabled(false);
        */
        if (resetOnly) {
            resetOnly=false;
            delay::msleep(3500);
            systemBoot();
            break;
        }

    }
        break;
    case IAP_STATE_BOOTLOADER:
        // We should never end up here anyway.
        break;
    }

}

/**
  Tell the mainboard to reset:
   - Send the relevant IAP commands
   - setup callback for MoBo acknowledge
   */
void UploaderGadgetWidget::systemReset()
{
    resetOnly = true;
    if (dfu) {
        delete dfu;
        dfu = NULL;
    }
    m_config->textBrowser->clear();
    log("Board Reset initiated.");
    goToBootloader();
}

/**
  Tells the system to boot (from Bootloader state)
  */
void UploaderGadgetWidget::systemBoot()
{

    clearLog();
    m_config->bootButton->setEnabled(false);

    // Suspend telemety & polling in case it is not done yet
    Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
    cm->disconnectDevice();
    cm->suspendPolling();

    QString devName = m_config->telemetryLink->currentText();
    log("Attempting to boot the system through " + devName + ".");
    repaint();

    if (!dfu) {
        if (devName == "USB")
            dfu = new DFUObject(DFU_DEBUG, false, QString());
        else
            dfu = new DFUObject(DFU_DEBUG,true,getPortDevice(devName));
    }
    dfu->AbortOperation();
    if(!dfu->enterDFU(0))
    {
        log("Could not enter DFU mode.");
        delete dfu;
        dfu = NULL;
        m_config->bootButton->setEnabled(true);
        m_config->rescueButton->setEnabled(true); // Boot not possible, maybe Rescue OK?
        return;
    }
    log("Booting system...");
    dfu->JumpToApp();
    // Restart the polling thread
    cm->resumePolling();
    m_config->rescueButton->setEnabled(true);
    m_config->telemetryLink->setEnabled(true);
    m_config->boardStatus->setText("Running");
    if (currentStep == IAP_STATE_BOOTLOADER ) {
        // Freeze the tabs, they are not useful anymore and their buttons
        // will cause segfaults or weird stuff if we use them.
        for (int i=0; i< m_config->systemElements->count(); i++) {
             deviceWidget *qw = (deviceWidget*)m_config->systemElements->widget(i);
             qw->freeze();
        }
    }
    currentStep = IAP_STATE_READY;
    log("You can now reconnect telemetry...");
    delete dfu; // Frees up the USB/Serial port too
    dfu = NULL;
}

/**
  Attempt a guided procedure to put both boards in BL mode when
  the system is not bootable
  */
void UploaderGadgetWidget::systemRescue()
{
    Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
    cm->disconnectDevice();
    // stop the polling thread: otherwise it will mess up DFU
    cm->suspendPolling();
    // Delete all previous tabs:
    while (m_config->systemElements->count()) {
        QWidget *qw = m_config->systemElements->widget(0);
        m_config->systemElements->removeTab(0);
        delete qw;
    }
    // Existing DFU objects will have a handle over USB and will
    // disturb everything for the rescue process:
    if (dfu) {
        delete dfu;
        dfu = NULL;
    }
    // Avoid dumb users pressing Rescue twice. It can happen.
    m_config->rescueButton->setEnabled(false);

    // Now we're good to go:
    clearLog();
    log("**********************************************************");
    log("** Follow those instructions to attempt a system rescue **");
    log("**********************************************************");
    log("You will be prompted to first connect USB, then system power");
    if(USBMonitor::instance()->availableDevices(0x20a0,-1,-1,-1).length()>0)
    {
        if(QMessageBox::warning(this,tr("OpenPilot Uploader"),tr("Please disconnect all openpilot boards"),QMessageBox::Ok,QMessageBox::Cancel)==QMessageBox::Cancel)
        {
            m_config->rescueButton->setEnabled(true);
            return;
        }
    }
    // Now we're good to go:
    clearLog();
    log("**********************************************************");
    log("** Follow those instructions to attempt a system rescue **");
    log("**********************************************************");
    log("You will be prompted to first connect USB, then system power");
    m_progress = new QProgressDialog(tr("Please connect the board (USB only!)"), tr("Cancel"), 0, 20);
    QProgressBar * bar=new QProgressBar(m_progress);
    bar->setFormat("Timeout");
    m_progress->setBar(bar);
    m_progress->setMinimumDuration(0);
    m_progress->setRange(0,20);
    connect(m_progress, SIGNAL(canceled()), this, SLOT(cancel()));
    m_timer = new QTimer(this);
    connect(m_timer, SIGNAL(timeout()), this, SLOT(perform()));
    m_timer->start(1000);
    connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
    m_eventloop.exec();
    if(!m_timer->isActive())
    {
        m_progress->close();
        m_timer->stop();
        QMessageBox::warning(this,tr("Openpilot Uploader"),tr("No board connection was detected!"));
        m_config->rescueButton->setEnabled(true);
        return;
    }
    m_progress->close();
    m_timer->stop();
    log("... Detecting First Board...");
    repaint();
    dfu = new DFUObject(DFU_DEBUG, false, QString());
    dfu->AbortOperation();
    if(!dfu->enterDFU(0))
    {
        log("Could not enter DFU mode.");
        delete dfu;
        dfu = NULL;
        cm->resumePolling();
        m_config->rescueButton->setEnabled(true);
        return;
    }
    if(!dfu->findDevices() || (dfu->numberOfDevices != 1))
    {
        log("Could not detect a board, aborting!");
        delete dfu;
        dfu = NULL;
        cm->resumePolling();
        m_config->rescueButton->setEnabled(true);
        return;
    }
    if(QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes)
    {
        log("\nWaiting...");
        QTimer::singleShot(3000, &m_eventloop, SLOT(quit()));
        m_eventloop.exec();
        log("Detecting second board...");
        repaint();
        if(!dfu->findDevices())
        {
            // We will only end up here in case somehow all the boards
            // disappeared, including the one we detected earlier.
            log("Could not detect any board, aborting!");
            delete dfu;
            dfu = NULL;
            cm->resumePolling();
            m_config->rescueButton->setEnabled(true);
            return;
        }
    }
    log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
    if (dfu->numberOfDevices > 5) {
        log("Inconsistent number of devices, aborting!");
        delete dfu;
        dfu = NULL;
        cm->resumePolling();
        m_config->rescueButton->setEnabled(true);
        return;
    }
    for(int i=0;i<dfu->numberOfDevices;i++) {
        deviceWidget* dw = new deviceWidget(this);
        dw->setDeviceID(i);
        dw->setDfu(dfu);
        dw->populate();
        m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
    }
    m_config->haltButton->setEnabled(false);
    m_config->resetButton->setEnabled(false);
    m_config->bootButton->setEnabled(true);
    m_config->rescueButton->setEnabled(false);
    currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
}
void UploaderGadgetWidget::perform()
{
    if(m_progress->value()==19)
    {
        m_timer->stop();
        m_eventloop.exit();
    }
    m_progress->setValue(m_progress->value()+1);
}
void UploaderGadgetWidget::cancel()
{
    m_timer->stop();
    m_eventloop.exit();
}

/**
  Update log entry
  */
void UploaderGadgetWidget::log(QString str)
{
   m_config->textBrowser->append(str);
   m_config->textBrowser->repaint();

}

void UploaderGadgetWidget::clearLog()
{
    m_config->textBrowser->clear();
}

/**
  * Remove all the device widgets...
  */
UploaderGadgetWidget::~UploaderGadgetWidget()
{
    while (m_config->systemElements->count()) {
         QWidget *qw = m_config->systemElements->widget(0);
         m_config->systemElements->removeTab(0);
         delete qw;
         qw = 0;
    }
    if (m_progress) {
        delete m_progress;
        m_progress = 0;
    }
    if (m_timer) {
        delete m_timer;
        m_timer = 0;
    }
}


/**
Shows a message box with an error string.

@param errorString	The error string to display.

@param errorNumber      Not used

*/
void UploaderGadgetWidget::error(QString errorString, int errorNumber)
{
    Q_UNUSED(errorNumber);
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText(errorString);
    msgBox.exec();
    m_config->boardStatus->setText(errorString);
}
/**
Shows a message box with an information string.

@param infoString	The information string to display.

@param infoNumber       Not used

*/
void UploaderGadgetWidget::info(QString infoString, int infoNumber)
{
    Q_UNUSED(infoNumber);
    m_config->boardStatus->setText(infoString);
}