LP-245 centralize oplink connection handling in new UAVTalk OPLinkManager

removes duplication of logic in uploader and config plugins

connect logic remains the same:
once a device is connected, oplink connection is notifued upon having a valid OPLinkStatus.BoradType

disconnection logic is changes:
used to be based on timeout on OPLinkStatus update loss
no oplink disconnection is notified as soon as a device is disconnected
TODO : are there cases where the timeout is still needed ?

ground/gcs/src/plugins/coreplugin/connectionmanager.cpp

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       connectionmanager.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
  * @addtogroup GCSPlugins GCS Plugins
  * @{

ground/gcs/src/plugins/telemetry/monitorgadgetfactory.cpp

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       monitorgadgetfactory.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief
  * @see        The GNU Public License (GPL) Version 3
  * @defgroup   telemetryplugin
@@ -57,11 +58,11 @@ MonitorWidget *MonitorGadgetFactory::createMonitorWidget(QWidget *parent)
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     TelemetryManager *tm = pm->getObject<TelemetryManager>();
 
-    connect(tm, SIGNAL(connected()), widget, SLOT(telemetryConnected()));
-    connect(tm, SIGNAL(disconnected()), widget, SLOT(telemetryDisconnected()));
+    // connect(tm, SIGNAL(connected()), widget, SLOT(telemetryConnected()));
+    // connect(tm, SIGNAL(disconnected()), widget, SLOT(telemetryDisconnected()));
     connect(tm, SIGNAL(telemetryUpdated(double, double)), widget, SLOT(telemetryUpdated(double, double)));
 
-    // and connect widget to connection manager (for retro compatibility)
+    // connect widget to connection manager
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
 
     connect(cm, SIGNAL(deviceConnected(QIODevice *)), widget, SLOT(telemetryConnected()));

ground/gcs/src/plugins/telemetry/monitorwidget.cpp

@@ -1,3 +1,30 @@
+/**
+ ******************************************************************************
+ *
+ * @file       monitorwidget.cpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   telemetryplugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * 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 "monitorwidget.h"
 
 #include <utils/stylehelper.h>
@@ -200,7 +227,7 @@ MonitorWidget::~MonitorWidget()
 
 void MonitorWidget::telemetryConnected()
 {
-    qDebug() << "telemetry connected";
+    qDebug() << "MonitorWidget::telemetryConnected";
     if (!connected) {
         // flash the lights
         setToolTip(tr("Connected"));
@@ -211,7 +238,7 @@ void MonitorWidget::telemetryConnected()
 
 void MonitorWidget::telemetryDisconnected()
 {
-    qDebug() << "telemetry disconnected";
+    qDebug() << "MonitorWidget::telemetryDisconnected";
     if (connected) {
         connected = false;
 

ground/gcs/src/plugins/telemetry/monitorwidget.h

@@ -1,3 +1,30 @@
+/**
+ ******************************************************************************
+ *
+ * @file       monitorwidget.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   telemetryplugin
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * 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
+ */
 #ifndef MONITORWIDGET_H
 #define MONITORWIDGET_H
 

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

@@ -0,0 +1,126 @@
+/**
+ ******************************************************************************
+ *
+ * @file       oplinkmanager.cpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVTalkPlugin UAVTalk Plugin
+ * @{
+ * @brief The UAVTalk protocol 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 "oplinkmanager.h"
+
+#include <coreplugin/icore.h>
+#include <coreplugin/connectionmanager.h>
+#include <extensionsystem/pluginmanager.h>
+#include <uavobjects/uavobjectmanager.h>
+
+#include <oplinkstatus.h>
+
+OPLinkManager::OPLinkManager() : QObject(), m_isConnected(false), m_opLinkType(OPLinkManager::OPLINK_UNKNOWN)
+{
+    // conenct to the connection manager
+    Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
+
+    connect(cm, SIGNAL(deviceConnected(QIODevice *)), this, SLOT(onDeviceConnect()));
+    connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(onDeviceDisconnect()));
+
+    if (cm->isConnected()) {
+        onDeviceConnect();
+    }
+}
+
+OPLinkManager::~OPLinkManager()
+{}
+
+bool OPLinkManager::isConnected() const
+{
+    return m_isConnected;
+}
+
+void OPLinkManager::onDeviceConnect()
+{
+    if (m_isConnected) {
+        return;
+    }
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
+
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager);
+
+    m_opLinkStatus = OPLinkStatus::GetInstance(objManager);
+    Q_ASSERT(m_opLinkStatus);
+
+    onOPLinkStatusUpdate();
+}
+
+void OPLinkManager::onDeviceDisconnect()
+{
+    onOPLinkDisconnect();
+}
+
+void OPLinkManager::onOPLinkStatusUpdate()
+{
+    quint8 type = m_opLinkStatus->getBoardType();
+
+    switch (type) {
+    case 0x03:
+        m_opLinkType = OPLINK_MINI;
+        onOPLinkConnect();
+        break;
+    case 0x09:
+        m_opLinkType = OPLINK_REVOLUTION;
+        onOPLinkConnect();
+        break;
+    default:
+        m_opLinkType = OPLINK_UNKNOWN;
+        // disconnect if connected
+        onOPLinkDisconnect();
+        // and start monitoring OPLinkStatus to see if a board shows up
+        connect(m_opLinkStatus, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(onOPLinkStatusUpdate()));
+        break;
+    }
+}
+
+void OPLinkManager::onOPLinkConnect()
+{
+    if (m_isConnected) {
+        return;
+    }
+    // stop listening to status updates...
+    m_opLinkStatus->disconnect(this);
+
+    m_isConnected = true;
+    emit connected();
+}
+
+void OPLinkManager::onOPLinkDisconnect()
+{
+    if (!m_isConnected) {
+        return;
+    }
+    // stop listening to status updates...
+    m_opLinkStatus->disconnect(this);
+
+    m_isConnected = false;
+    emit disconnected();
+}

ground/gcs/src/plugins/uavtalk/oplinkmanager.h

@@ -0,0 +1,94 @@
+/**
+ ******************************************************************************
+ *
+ * @file       oplinkmanager.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVTalkPlugin UAVTalk Plugin
+ * @{
+ * @brief The UAVTalk protocol 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
+ */
+
+#ifndef OPLINK_MANAGER_H
+#define OPLINK_MANAGER_H
+
+#include "uavtalk_global.h"
+
+#include <QObject>
+
+class OPLinkStatus;
+
+class UAVTALK_EXPORT OPLinkManager : public QObject {
+    Q_OBJECT
+
+public:
+    enum OPLinkType {
+        OPLINK_UNKNOWN,
+        OPLINK_MINI,
+        OPLINK_REVOLUTION
+    };
+
+    OPLinkManager();
+    ~OPLinkManager();
+
+    OPLinkManager::OPLinkType opLinkType() const
+    {
+        return m_opLinkType;
+    }
+
+    // void start(QIODevice *dev);
+    // void stop();
+    bool isConnected() const;
+    // ConnectionState connectionState() const;
+
+signals:
+    // void connecting();
+    void connected();
+    // void disconnecting();
+    void disconnected();
+    // void telemetryUpdated(double txRate, double rxRate);
+    // void myStart();
+    // void myStop();
+
+private slots:
+    // void onConnect();
+    // void onDisconnect();
+    void onDeviceConnect();
+    void onDeviceDisconnect();
+    void onOPLinkStatusUpdate();
+    void onOPLinkConnect();
+    void onOPLinkDisconnect();
+    // void onOPLinkUpdate(double txRate, double rxRate);
+    // void onStart();
+    // void onStop();
+
+private:
+    // UAVObjectManager *m_uavobjectManager;
+    // UAVTalk *m_uavTalk;
+    // OPLink *m_telemetry;
+    // OPLinkMonitor *m_telemetryMonitor;
+    // QIODevice *m_telemetryDevice;
+    // ConnectionState m_connectionState;
+    // QThread m_telemetryReaderThread;
+    bool m_isConnected;
+    OPLinkType m_opLinkType;
+    OPLinkStatus *m_opLinkStatus;
+};
+
+#endif // OPLINK_MANAGER_H

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

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       telemetrymanager.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVTalkPlugin UAVTalk Plugin
@@ -32,9 +33,10 @@
 #include <coreplugin/icore.h>
 #include <coreplugin/threadmanager.h>
 
-TelemetryManager::TelemetryManager() : m_connectionState(TELEMETRY_DISCONNECTED)
+TelemetryManager::TelemetryManager() : QObject(), m_connectionState(TELEMETRY_DISCONNECTED)
 {
     moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
+
     // Get UAVObjectManager instance
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     m_uavobjectManager = pm->getObject<UAVObjectManager>();

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

@@ -1,8 +1,9 @@
 /**
  ******************************************************************************
  *
- * @file       telemetrymanager.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @file       telemetrymanager.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVTalkPlugin UAVTalk Plugin
@@ -25,8 +26,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef TELEMETRYMANAGER_H
-#define TELEMETRYMANAGER_H
+#ifndef TELEMETRY_MANAGER_H
+#define TELEMETRY_MANAGER_H
 
 #include "uavtalk_global.h"
 #include "uavtalk.h"
@@ -94,4 +95,4 @@ public slots:
     void read();
 };
 
-#endif // TELEMETRYMANAGER_H
+#endif // TELEMETRY_MANAGER_H

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

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       telemetrymonitor.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVTalkPlugin UAVTalk Plugin
@@ -88,8 +89,7 @@ void TelemetryMonitor::startRetrievingObjects()
         }
     }
     // Start retrieving
-    qDebug() << tr("Starting to retrieve meta and settings objects from the autopilot (%1 objects)")
-        .arg(queue.length());
+    qDebug() << "TelemetryMonitor::startRetrievingObjects() - retrieving" << queue.length() << "objects";
     retrieveNextObject();
 }
 
@@ -109,7 +109,7 @@ void TelemetryMonitor::retrieveNextObject()
 {
     // If queue is empty return
     if (queue.isEmpty()) {
-        qDebug("Object retrieval completed");
+        qDebug() << "TelemetryMonitor::retrieveNextObject - Object retrieval completed";
         if (firmwareIAPObj->getBoardType()) {
             emit connected();
         } else {
@@ -142,14 +142,16 @@ void TelemetryMonitor::transactionCompleted(UAVObject *obj, bool success)
         // Disconnect from sending object
         obj->disconnect(this);
         objPending = NULL;
+
         // Process next object if telemetry is still available
         GCSTelemetryStats::DataFields gcsStats = gcsStatsObj->getData();
-
         if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED) {
             retrieveNextObject();
         } else {
             stopRetrievingObjects();
         }
+    } else {
+        qCritical() << "TelemetryMonitor::retrieveNextObject - unexpected object" << obj;
     }
 }
 
@@ -252,13 +254,12 @@ void TelemetryMonitor::processStatsUpdates()
     // Act on new connections or disconnections
     if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED && gcsStats.Status != oldStatus) {
         statsTimer->setInterval(STATS_UPDATE_PERIOD_MS);
-        qDebug("Connection with the autopilot established");
+        qDebug() << "TelemetryMonitor::processStatsUpdates() - connection with the autopilot established";
         startRetrievingObjects();
     }
     if (gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED && gcsStats.Status != oldStatus) {
         statsTimer->setInterval(STATS_CONNECT_PERIOD_MS);
-        qDebug("Connection with the autopilot lost");
-        qDebug("Trying to connect to the autopilot");
+        qDebug() << "TelemetryMonitor::processStatsUpdates() - Connection with the autopilot lost";
         emit disconnected();
     }
 }

ground/gcs/src/plugins/uavtalk/uavtalk.pro

@@ -12,18 +12,20 @@ include(../../plugin.pri)
 include(uavtalk_dependencies.pri)
 
 HEADERS += \
+    uavtalk_global.h \
     uavtalk.h \
-    uavtalkplugin.h \
+    telemetry.h \
     telemetrymonitor.h \
     telemetrymanager.h \
-    uavtalk_global.h \
-    telemetry.h
+    oplinkmanager.h \
+    uavtalkplugin.h
 
 SOURCES += \
     uavtalk.cpp \
-    uavtalkplugin.cpp \
+    telemetry.cpp \
     telemetrymonitor.cpp \
     telemetrymanager.cpp \
-    telemetry.cpp
+    oplinkmanager.cpp \
+    uavtalkplugin.cpp
 
 OTHER_FILES += UAVTalk.pluginspec

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

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       uavtalkplugin.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVTalkPlugin UAVTalk Plugin
@@ -26,14 +27,18 @@
  */
 #include "uavtalkplugin.h"
 
+#include "telemetrymanager.h"
+#include "oplinkmanager.h"
+
 #include <coreplugin/icore.h>
 #include <coreplugin/connectionmanager.h>
 
-UAVTalkPlugin::UAVTalkPlugin()
+UAVTalkPlugin::UAVTalkPlugin() : telemetryManager(0)
 {}
 
 UAVTalkPlugin::~UAVTalkPlugin()
 {}
+
 /**
  * Called once all the plugins which depend on us have been loaded
  */
@@ -50,15 +55,18 @@ bool UAVTalkPlugin::initialize(const QStringList & arguments, QString *errorStri
     Q_UNUSED(errorString);
 
     // Create TelemetryManager
-    telMngr = new TelemetryManager();
-    addAutoReleasedObject(telMngr);
+    telemetryManager = new TelemetryManager();
+    addAutoReleasedObject(telemetryManager);
+
+    // Create OPLinkManager
+    OPLinkManager *opLinkManager = new OPLinkManager();
+    addAutoReleasedObject(opLinkManager);
 
     // Connect to connection manager so we get notified when the user connect to his device
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-    QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
-                     this, SLOT(onDeviceConnect(QIODevice *)));
-    QObject::connect(cm, SIGNAL(deviceAboutToDisconnect()),
-                     this, SLOT(onDeviceDisconnect()));
+    QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)), this, SLOT(onDeviceConnect(QIODevice *)));
+    QObject::connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(onDeviceDisconnect()));
+
     return true;
 }
 
@@ -67,10 +75,10 @@ void UAVTalkPlugin::shutdown()
 
 void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
 {
-    telMngr->start(dev);
+    telemetryManager->start(dev);
 }
 
 void UAVTalkPlugin::onDeviceDisconnect()
 {
-    telMngr->stop();
+    telemetryManager->stop();
 }

ground/gcs/src/plugins/uavtalk/uavtalkplugin.h

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       uavtalkplugin.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup UAVTalkPlugin UAVTalk Plugin
@@ -28,10 +29,9 @@
 #define UAVTALKPLUGIN_H
 
 #include <extensionsystem/iplugin.h>
-#include <extensionsystem/pluginmanager.h>
-#include <QtPlugin>
 #include "uavtalk.h"
-#include "telemetrymanager.h"
+
+class TelemetryManager;
 
 class UAVTALK_EXPORT UAVTalkPlugin : public ExtensionSystem::IPlugin {
     Q_OBJECT
@@ -50,7 +50,7 @@ protected slots:
     void onDeviceDisconnect();
 
 private:
-    TelemetryManager *telMngr;
+    TelemetryManager *telemetryManager;
 };
 
 #endif // UAVTALKPLUGIN_H

ground/gcs/src/plugins/uploader/oplinkwatchdog.cpp

@@ -1,90 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       oplinkwatchdog.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup [Group]
- * @{
- * @addtogroup OPLinkWatchdog
- * @{
- * @brief [Brief]
- *****************************************************************************/
-/*
- * 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 "oplinkwatchdog.h"
-#include "extensionsystem/pluginmanager.h"
-#include "uavobjects/uavobjectmanager.h"
-#include "oplinkstatus.h"
-#include <QDebug>
-
-OPLinkWatchdog::OPLinkWatchdog() : QObject(),
-    m_isConnected(false)
-{
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-
-    Q_ASSERT(pm);
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objManager);
-    m_opLinkStatus = OPLinkStatus::GetInstance(objManager);
-    Q_ASSERT(m_opLinkStatus);
-    connect(m_opLinkStatus, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(onOPLinkStatusUpdate()));
-    m_watchdog     = new QTimer(this);
-    connect(m_watchdog, SIGNAL(timeout()), this, SLOT(onTimeout()));
-    onOPLinkStatusUpdate();
-}
-
-OPLinkWatchdog::~OPLinkWatchdog()
-{}
-
-void OPLinkWatchdog::onOPLinkStatusUpdate()
-{
-    m_watchdog->stop();
-    quint8 type = m_opLinkStatus->getBoardType();
-    if (!m_isConnected) {
-        switch (type) {
-        case 3:
-            m_opLinkType  = OPLINK_MINI;
-            m_isConnected = true;
-            emit connected();
-            emit opLinkMiniConnected();
-            break;
-        case 9:
-            m_opLinkType  = OPLINK_REVOLUTION;
-            m_isConnected = true;
-            emit connected();
-            emit opLinkRevolutionConnected();
-            break;
-        default:
-            m_isConnected = false;
-            m_opLinkType  = OPLINK_UNKNOWN;
-            return;
-        }
-
-        qDebug() << "OPLinkWatchdog - OPLink connected";
-    }
-    m_watchdog->start(m_opLinkStatus->getMetadata().flightTelemetryUpdatePeriod * 3);
-}
-
-void OPLinkWatchdog::onTimeout()
-{
-    if (m_isConnected) {
-        m_isConnected = false;
-        m_opLinkType  = OPLINK_UNKNOWN;
-        qDebug() << "OPLinkWatchdog - OPLink disconnected";
-        emit disconnected();
-    }
-}

ground/gcs/src/plugins/uploader/oplinkwatchdog.h

@@ -1,70 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       oplinkwatchdog.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup [Group]
- * @{
- * @addtogroup OPLinkWatchdog
- * @{
- * @brief [Brief]
- *****************************************************************************/
-/*
- * 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
- */
-
-#ifndef OPLINKWATCHDOG_H
-#define OPLINKWATCHDOG_H
-
-#include <QTimer>
-
-class OPLinkStatus;
-class OPLinkWatchdog : public QObject {
-    Q_OBJECT
-public:
-    enum OPLinkType {
-        OPLINK_MINI,
-        OPLINK_REVOLUTION,
-        OPLINK_UNKNOWN
-    };
-
-    OPLinkWatchdog();
-    ~OPLinkWatchdog();
-    bool isConnected() const
-    {
-        return m_isConnected;
-    }
-    OPLinkWatchdog::OPLinkType opLinkType() const
-    {
-        return m_opLinkType;
-    }
-
-signals:
-    void connected();
-    void opLinkMiniConnected();
-    void opLinkRevolutionConnected();
-    void disconnected();
-
-private slots:
-    void onOPLinkStatusUpdate();
-    void onTimeout();
-
-private:
-    bool m_isConnected;
-    OPLinkType m_opLinkType;
-    QTimer *m_watchdog;
-    OPLinkStatus *m_opLinkStatus;
-};
-#endif // OPLINKWATCHDOG_H

ground/gcs/src/plugins/uploader/uploader.pro

@@ -33,8 +33,7 @@ HEADERS += \
     runningdevicewidget.h \
     uploader_global.h \
     enums.h \
-    rebootdialog.h \
-    oplinkwatchdog.h
+    rebootdialog.h
 
 SOURCES += \
     uploadergadget.cpp \
@@ -50,8 +49,7 @@ SOURCES += \
     SSP/qssp.cpp \
     SSP/qsspt.cpp \
     runningdevicewidget.cpp \
-    rebootdialog.cpp \
-    oplinkwatchdog.cpp
+    rebootdialog.cpp
 
 OTHER_FILES += Uploader.pluginspec
 

ground/gcs/src/plugins/uploader/uploadergadgetoptionspage.cpp

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       uploadergadgetoptionspage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup YModemUploader YModem Serial Uploader Plugin
@@ -26,7 +27,9 @@
  */
 
 #include "uploadergadgetoptionspage.h"
+
 #include "uploadergadgetconfiguration.h"
+
 #include <QLabel>
 #include <QSpinBox>
 #include <QDoubleSpinBox>

ground/gcs/src/plugins/uploader/uploadergadgetoptionspage.h

@@ -2,7 +2,8 @@
  ******************************************************************************
  *
  * @file       uploadergadgetoptionspage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup YModemUploader YModem Serial Uploader Plugin
@@ -27,19 +28,19 @@
 
 #ifndef UPLOADERGADGETOPTIONSPAGE_H
 #define UPLOADERGADGETOPTIONSPAGE_H
-#include <QtSerialPort/QSerialPort>
-#include <QtSerialPort/QSerialPortInfo>
+
+#include "uploader_global.h"
 #include "coreplugin/dialogs/ioptionspage.h"
-#include "QString"
+
+#include <QEventLoop>
+#include <QString>
 #include <QStringList>
 #include <QDebug>
-#include "uploader_global.h"
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
 
-namespace Core {
-class IUAVGadgetConfiguration;
-}
 class UploaderGadgetConfiguration;
-class QTextEdit;
+
 class QComboBox;
 class QSpinBox;
 

ground/gcs/src/plugins/uploader/uploadergadgetwidget.cpp

@@ -27,8 +27,9 @@
  */
 #include "uploadergadgetwidget.h"
 
+#include "ui_uploader.h"
+
 #include "flightstatus.h"
-#include "oplinkstatus.h"
 #include "delay.h"
 #include "devicewidget.h"
 #include "runningdevicewidget.h"
@@ -38,12 +39,13 @@
 #include <coreplugin/coreconstants.h>
 #include <coreplugin/connectionmanager.h>
 #include <uavtalk/telemetrymanager.h>
+#include <uavtalk/oplinkmanager.h>
+#include "rebootdialog.h"
 
 #include <QDesktopServices>
 #include <QMessageBox>
 #include <QProgressBar>
 #include <QDebug>
-#include "rebootdialog.h"
 
 #define DFU_DEBUG true
 
@@ -675,16 +677,21 @@ bool UploaderGadgetWidget::autoUpdateCapable()
 
 bool UploaderGadgetWidget::autoUpdate(bool erase)
 {
-    if (m_oplinkwatchdog.isConnected() &&
-        m_oplinkwatchdog.opLinkType() == OPLinkWatchdog::OPLINK_MINI) {
+    ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
+
+    Q_ASSERT(pluginManager);
+
+    OPLinkManager *opLinkManager = pluginManager->getObject<OPLinkManager>();
+    Q_ASSERT(opLinkManager);
+
+    if (opLinkManager->isConnected() &&
+        opLinkManager->opLinkType() == OPLinkManager::OPLINK_MINI) {
         emit progressUpdate(FAILURE, QVariant(tr("To upgrade the OPLinkMini board please disconnect it from the USB port, "
                                                  "press the Upgrade again button and follow instructions on screen.")));
         emit autoUpdateFailed();
         return false;
     }
 
-    ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
-    Q_ASSERT(pluginManager);
     TelemetryManager *telemetryManager = pluginManager->getObject<TelemetryManager>();
     Q_ASSERT(telemetryManager);
 
@@ -824,11 +831,11 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
     // Wait for board to connect to GCS again after boot and erase
     // For older board like CC3D this can take some time
     // Theres a special case with OPLink
-    if (!telemetryManager->isConnected() && !m_oplinkwatchdog.isConnected()) {
+    if (!telemetryManager->isConnected() && !opLinkManager->isConnected()) {
         progressUpdate(erase ? BOOTING_AND_ERASING : BOOTING, QVariant());
         ResultEventLoop eventLoop;
         connect(telemetryManager, SIGNAL(connected()), &eventLoop, SLOT(success()));
-        connect(&m_oplinkwatchdog, SIGNAL(opLinkMiniConnected()), &eventLoop, SLOT(success()));
+        connect(opLinkManager, SIGNAL(connected()), &eventLoop, SLOT(success()));
 
         if (eventLoop.run(REBOOT_TIMEOUT + (erase ? ERASE_TIMEOUT : 0)) != 0) {
             emit progressUpdate(FAILURE, QVariant(tr("Timed out while booting.")));
@@ -836,7 +843,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
             return false;
         }
 
-        disconnect(&m_oplinkwatchdog, SIGNAL(opLinkMiniConnected()), &eventLoop, SLOT(success()));
+        disconnect(opLinkManager, SIGNAL(connected()), &eventLoop, SLOT(success()));
         disconnect(telemetryManager, SIGNAL(connected()), &eventLoop, SLOT(success()));
     }
 

ground/gcs/src/plugins/uploader/uploadergadgetwidget.h

@@ -28,22 +28,21 @@
 #ifndef UPLOADERGADGETWIDGET_H
 #define UPLOADERGADGETWIDGET_H
 
-#include "ui_uploader.h"
 #include "uploader_global.h"
 
 #include "enums.h"
 #include "op_dfu.h"
 
+#include <QEventLoop>
 #include <QProgressDialog>
-#include "oplinkwatchdog.h"
 
 using namespace OP_DFU;
 using namespace uploader;
 
+class Ui_UploaderWidget;
+
 class FlightStatus;
 class UAVObject;
-class OPLinkStatus;
-class OPLinkWatchdog;
 
 class TimedDialog : public QProgressDialog {
     Q_OBJECT
@@ -146,7 +145,6 @@ private:
     DFUObject *m_dfu;
     IAPStep m_currentIAPStep;
     bool m_resetOnly;
-    OPLinkWatchdog m_oplinkwatchdog;
     bool m_autoUpdateClosing;
 
     void clearLog();