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https://bitbucket.org/librepilot/librepilot.git
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Some initial modification on uavtalk plugin to interface with the connection manager.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@365 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
julien
julien
parent
cc7c7f8a24
commit
03283b2572
@ -1,351 +0,0 @@
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/* Simple Raw HID functions for Windows - for use with Teensy RawHID example
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* http://www.pjrc.com/teensy/rawhid.html
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* Copyright (c) 2009 PJRC.COM, LLC
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*
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* rawhid_open - open 1 or more devices
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* rawhid_recv - receive a packet
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* rawhid_send - send a packet
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* rawhid_close - close a device
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above description, website URL and copyright notice and this permission
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* notice shall be included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* Version 1.0: Initial Release
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*/
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/* See: http://msdn.microsoft.com/en-us/library/ms794141.aspx */
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#include "rawhid.h"
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#include <windows.h>
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#include <setupapi.h>
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#include <ddk/hidsdi.h>
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#include <ddk/hidclass.h>
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#define printf //qDebug
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typedef struct hid_struct hid_t;
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struct hid_struct {
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HANDLE handle;
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int open;
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struct hid_struct *prev;
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struct hid_struct *next;
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};
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hid_t *first_hid;
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hid_t *last_hid;
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HANDLE rx_event;
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HANDLE tx_event;
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CRITICAL_SECTION rx_mutex;
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CRITICAL_SECTION tx_mutex;
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static void add_hid(hid_t *h);
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static hid_t* get_hid(int num);
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static void free_all_hid(void);
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static void hid_close(hid_t *hid);
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static void print_win32_err(void);
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rawhid::rawhid()
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{
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first_hid = NULL;
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last_hid = NULL;
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rx_event = NULL;
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tx_event = NULL;
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}
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// open - open 1 or more devices
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//
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// Inputs:
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// max = maximum number of devices to open
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// vid = Vendor ID, or -1 if any
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// pid = Product ID, or -1 if any
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// usage_page = top level usage page, or -1 if any
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// usage = top level usage number, or -1 if any
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// Output:
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// actual number of devices opened
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//
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int rawhid::open(int max, int vid, int pid, int usage_page, int usage)
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{
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GUID guid;
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HDEVINFO info;
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DWORD index=0, reqd_size;
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SP_DEVICE_INTERFACE_DATA iface;
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SP_DEVICE_INTERFACE_DETAIL_DATA *details;
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HIDD_ATTRIBUTES attrib;
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PHIDP_PREPARSED_DATA hid_data;
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HIDP_CAPS capabilities;
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HANDLE h;
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BOOL ret;
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hid_t *hid;
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int count=0;
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if (first_hid) free_all_hid();
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if (max < 1) return 0;
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if (!rx_event) {
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rx_event = CreateEvent(NULL, TRUE, TRUE, NULL);
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tx_event = CreateEvent(NULL, TRUE, TRUE, NULL);
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InitializeCriticalSection(&rx_mutex);
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InitializeCriticalSection(&tx_mutex);
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}
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HidD_GetHidGuid(&guid);
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info = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
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if (info == INVALID_HANDLE_VALUE) return 0;
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for (index=0; 1 ;index++) {
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iface.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
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ret = SetupDiEnumDeviceInterfaces(info, NULL, &guid, index, &iface);
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if (!ret) return count;
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SetupDiGetInterfaceDeviceDetail(info, &iface, NULL, 0, &reqd_size, NULL);
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details = (SP_DEVICE_INTERFACE_DETAIL_DATA *)malloc(reqd_size);
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if (details == NULL) continue;
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memset(details, 0, reqd_size);
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details->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
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ret = SetupDiGetDeviceInterfaceDetail(info, &iface, details,
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reqd_size, NULL, NULL);
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if (!ret) {
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free(details);
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continue;
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}
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h = CreateFile(details->DevicePath, GENERIC_READ|GENERIC_WRITE,
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FILE_SHARE_READ|FILE_SHARE_WRITE, NULL,
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OPEN_EXISTING, FILE_FLAG_OVERLAPPED, NULL);
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free(details);
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if (h == INVALID_HANDLE_VALUE) continue;
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attrib.Size = sizeof(HIDD_ATTRIBUTES);
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ret = HidD_GetAttributes(h, &attrib);
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printf("vid: %4x\n", attrib.VendorID);
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if (!ret || (vid > 0 && attrib.VendorID != vid) ||
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(pid > 0 && attrib.ProductID != pid) ||
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!HidD_GetPreparsedData(h, &hid_data)) {
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CloseHandle(h);
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continue;
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}
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if (!HidP_GetCaps(hid_data, &capabilities) ||
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(usage_page > 0 && capabilities.UsagePage != usage_page) ||
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(usage > 0 && capabilities.Usage != usage)) {
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HidD_FreePreparsedData(hid_data);
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CloseHandle(h);
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continue;
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}
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HidD_FreePreparsedData(hid_data);
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hid = (struct hid_struct *)malloc(sizeof(struct hid_struct));
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if (!hid) {
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CloseHandle(h);
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continue;
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}
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hid->handle = h;
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hid->open = 1;
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add_hid(hid);
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count++;
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if (count >= max) return count;
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}
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return count;
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}
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// recveive - receive a packet
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// Inputs:
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// num = device to receive from (zero based)
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// buf = buffer to receive packet
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// len = buffer's size
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// timeout = time to wait, in milliseconds
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// Output:
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// number of bytes received, or -1 on error
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//
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int rawhid::receive(int num, void *buf, int len, int timeout)
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{
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hid_t *hid;
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unsigned char tmpbuf[516];
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OVERLAPPED ov;
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DWORD n, r;
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if (sizeof(tmpbuf) < len + 1) return -1;
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hid = get_hid(num);
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if (!hid || !hid->open) return -1;
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EnterCriticalSection(&rx_mutex);
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ResetEvent(&rx_event);
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memset(&ov, 0, sizeof(ov));
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ov.hEvent = rx_event;
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if (!ReadFile(hid->handle, tmpbuf, len + 1, NULL, &ov)) {
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if (GetLastError() != ERROR_IO_PENDING) goto return_error;
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r = WaitForSingleObject(rx_event, timeout);
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if (r == WAIT_TIMEOUT) goto return_timeout;
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if (r != WAIT_OBJECT_0) goto return_error;
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}
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if (!GetOverlappedResult(hid->handle, &ov, &n, FALSE)) goto return_error;
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LeaveCriticalSection(&rx_mutex);
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if (n <= 0) return -1;
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n--;
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if (n > len) n = len;
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memcpy(buf, tmpbuf + 1, n);
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return n;
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return_timeout:
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CancelIo(hid->handle);
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LeaveCriticalSection(&rx_mutex);
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return 0;
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return_error:
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print_win32_err();
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LeaveCriticalSection(&rx_mutex);
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return -1;
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}
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// send - send a packet
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// Inputs:
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// num = device to transmit to (zero based)
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// buf = buffer containing packet to send
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// len = number of bytes to transmit
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// timeout = time to wait, in milliseconds
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// Output:
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// number of bytes sent, or -1 on error
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//
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int rawhid::send(int num, void *buf, int len, int timeout)
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{
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hid_t *hid;
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unsigned char tmpbuf[516];
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OVERLAPPED ov;
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DWORD n, r;
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if (sizeof(tmpbuf) < len + 1) return -1;
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hid = get_hid(num);
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if (!hid || !hid->open) return -1;
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EnterCriticalSection(&tx_mutex);
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ResetEvent(&tx_event);
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memset(&ov, 0, sizeof(ov));
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ov.hEvent = tx_event;
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tmpbuf[0] = 0;
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memcpy(tmpbuf + 1, buf, len);
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if (!WriteFile(hid->handle, tmpbuf, len + 1, NULL, &ov)) {
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if (GetLastError() != ERROR_IO_PENDING) goto return_error;
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r = WaitForSingleObject(tx_event, timeout);
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if (r == WAIT_TIMEOUT) goto return_timeout;
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if (r != WAIT_OBJECT_0) goto return_error;
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}
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if (!GetOverlappedResult(hid->handle, &ov, &n, FALSE)) goto return_error;
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LeaveCriticalSection(&tx_mutex);
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if (n <= 0) return -1;
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return n - 1;
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return_timeout:
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CancelIo(hid->handle);
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LeaveCriticalSection(&tx_mutex);
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return 0;
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return_error:
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print_win32_err();
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LeaveCriticalSection(&tx_mutex);
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return -1;
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}
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int rawhid::getserial(int num, char *buf)
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{
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hid_t *hid;
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char temp[126];
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char buf2[24];
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char *bufptr = (char *)buf;
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hid = get_hid(num);
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if (!hid || !hid->open) return -1;
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/* Should we do some "critical section" stuff here?? */
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if(!HidD_GetSerialNumberString(hid->handle, temp, sizeof(temp))) {
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print_win32_err();
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return -1;
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}
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/* Is there a better way to do this? */
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/* Every second char in temp is a NULL */
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for(int i = 0; i < 48; i++) {
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char temp2 = temp[i++];
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if(temp2 == 0) break;
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buf2[i/2] = temp2;
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*(bufptr++) = temp2;
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}
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return 0;
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}
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// close - close a device
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//
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// Inputs:
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// num = device to close (zero based)
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// Output
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// (nothing)
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//
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void rawhid::close(int num)
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{
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hid_t *hid;
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hid = get_hid(num);
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if (!hid || !hid->open) return;
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hid_close(hid);
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}
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//
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//
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// Private Functions
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//
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//
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static void add_hid(hid_t *h)
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{
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if (!first_hid || !last_hid) {
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first_hid = last_hid = h;
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h->next = h->prev = NULL;
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return;
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}
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last_hid->next = h;
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h->prev = last_hid;
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h->next = NULL;
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last_hid = h;
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}
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static hid_t * get_hid(int num)
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{
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hid_t *p;
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for (p = first_hid; p && num > 0; p = p->next, num--) ;
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return p;
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}
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static void free_all_hid(void)
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{
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hid_t *p, *q;
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for (p = first_hid; p; p = p->next) {
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hid_close(p);
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}
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p = first_hid;
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while (p) {
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q = p;
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p = p->next;
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free(q);
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}
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first_hid = last_hid = NULL;
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}
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static void hid_close(hid_t *hid)
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{
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CloseHandle(hid->handle);
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hid->handle = NULL;
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}
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static void print_win32_err(void)
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{
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char buf[256];
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DWORD err;
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err = GetLastError();
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FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, err, 0, (WCHAR*)buf, sizeof(buf), NULL);
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printf("err %ld: %s\n", err, buf);
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}
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@ -27,6 +27,9 @@
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*/
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#include "uavtalkplugin.h"
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#include <coreplugin/icore.h>
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#include <coreplugin/connectionmanager.h>
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UAVTalkPlugin::UAVTalkPlugin()
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{
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@ -44,12 +47,15 @@ void UAVTalkPlugin::extensionsInitialized()
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objMngr = pm->getObject<UAVObjectManager>();
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// TODO: Initialize serial port and USB libraries, get QIODevice from each
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// ---Julien: Actually I changed a little bit from the initial plan,
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// now you have to connect to signal emited by the connection manager
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Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
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QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
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this, SLOT(onDeviceConnect(QIODevice *)));
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QObject::connect(cm, SIGNAL(deviceDisconnected()),
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this, SLOT(onDeviceDisconnect()));
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// TODO: Initialize UAVTalk object
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//utalk = new UAVTalk(io, objMngr);
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// TODO: Initialize telemetry object
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//telemetry = new Telemetry(utalk, objMngr);
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}
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bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorString)
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@ -65,4 +71,15 @@ void UAVTalkPlugin::shutdown()
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}
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void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
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{
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utalk = new UAVTalk(dev, objMngr);
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telemetry = new Telemetry(utalk, objMngr);
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}
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void UAVTalkPlugin::onDeviceDisconnect()
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{
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delete telemetry;
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delete utalk;
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}
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Q_EXPORT_PLUGIN(UAVTalkPlugin)
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@ -37,6 +37,8 @@
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class UAVTalkPlugin: public ExtensionSystem::IPlugin
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{
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Q_OBJECT
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public:
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UAVTalkPlugin();
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~UAVTalkPlugin();
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@ -45,6 +47,10 @@ public:
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bool initialize(const QStringList & arguments, QString * errorString);
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void shutdown();
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protected slots:
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void onDeviceConnect(QIODevice *dev);
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void onDeviceDisconnect();
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private:
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UAVObjectManager* objMngr;
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UAVTalk* utalk;
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