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Code Issues Releases Activity

Hopefully a fix to stop the GCS crashing on exit (in windows at least) if the GCS is still connected to a USB device whilst telemetry is in full flow.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2902 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-02-27 11:58:58 +00:00 committed by pip
parent efd12532eb
commit 2eaedfe78a
5 changed files with 1157 additions and 1040 deletions
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248
ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.cpp
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@ -1,86 +1,162 @@
/**
******************************************************************************
*
* @file telemetrymanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 "telemetrymanager.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
TelemetryManager::TelemetryManager()
{
moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
// Get UAVObjectManager instance
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
objMngr = pm->getObject<UAVObjectManager>();
// connect to start stop signals
connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
connect(this, SIGNAL(myStop()), this, SLOT(onStop()),Qt::QueuedConnection);
}
TelemetryManager::~TelemetryManager()
{
}
void TelemetryManager::start(QIODevice *dev)
{
device=dev;
emit myStart();
}
void TelemetryManager::onStart()
{
utalk = new UAVTalk(device, objMngr);
telemetry = new Telemetry(utalk, objMngr);
telemetryMon = new TelemetryMonitor(objMngr, telemetry);
connect(telemetryMon, SIGNAL(connected()), this, SLOT(onConnect()));
connect(telemetryMon, SIGNAL(disconnected()), this, SLOT(onDisconnect()));
}
void TelemetryManager::stop()
{
emit myStop();
}
void TelemetryManager::onStop()
{
telemetryMon->disconnect(this);
delete telemetryMon;
delete telemetry;
delete utalk;
onDisconnect();
}
void TelemetryManager::onConnect()
{
emit connected();
}
void TelemetryManager::onDisconnect()
{
emit disconnected();
}
/**
******************************************************************************
*
* @file telemetrymanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 "telemetrymanager.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
#include <QMutexLocker> // Pip
TelemetryManager::TelemetryManager()
{
telemetryMon = NULL; // Pip
telemetry = NULL; // Pip
utalk = NULL; // Pip
moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
QMutexLocker locker(&mutex); // Pip
// Get UAVObjectManager instance
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (pm) // Pip
{
objMngr = pm->getObject<UAVObjectManager>();
if (objMngr)
connect(objMngr, SIGNAL(destroyed(QObject *)), this, SLOT(onObjectDestroyed(QObject *))); // Pip
}
// connect to start stop signals
connect(this, SIGNAL(myStart()), this, SLOT(onStart()), Qt::QueuedConnection);
connect(this, SIGNAL(myStop()), this, SLOT(onStop()), Qt::QueuedConnection);
}
TelemetryManager::~TelemetryManager()
{
// Pip
mutex.lock();
// deleteObjects();
mutex.unlock();
}
void TelemetryManager::onObjectDestroyed(QObject *obj) // Pip
{
QMutexLocker locker(&mutex);
deleteObjects();
}
void TelemetryManager::start(QIODevice *dev)
{
device = dev;
emit myStart();
}
void TelemetryManager::onStart()
{
QMutexLocker locker(&mutex); // Pip
deleteObjects(); // Pip
// Get UAVObjectManager instance
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return; // Pip
objMngr = pm->getObject<UAVObjectManager>();
if (!objMngr) return; // Pip
utalk = new UAVTalk(device, objMngr);
if (utalk) telemetry = new Telemetry(utalk, objMngr);
if (telemetry) telemetryMon = new TelemetryMonitor(objMngr, telemetry);
if (!utalk || !telemetry || !telemetryMon) // Pip
{
deleteObjects();
return;
}
// Pip
connect(objMngr, SIGNAL(destroyed(QObject *)), this, SLOT(onObjectDestroyed(QObject *)));
connect(utalk, SIGNAL(destroyed(QObject *)), this, SLOT(onObjectDestroyed(QObject *)));
connect(telemetry, SIGNAL(destroyed(QObject *)), this, SLOT(onObjectDestroyed(QObject *)));
connect(telemetryMon, SIGNAL(destroyed(QObject *)), this, SLOT(onObjectDestroyed(QObject *)));
connect(telemetryMon, SIGNAL(connected()), this, SLOT(onConnect()));
connect(telemetryMon, SIGNAL(disconnected()), this, SLOT(onDisconnect()));
}
void TelemetryManager::stop()
{
emit myStop();
}
void TelemetryManager::onStop()
{
mutex.lock(); // Pip
if (telemetryMon) telemetryMon->disconnect(this);
deleteObjects();
mutex.unlock();
onDisconnect();
}
void TelemetryManager::onConnect()
{
emit connected();
}
void TelemetryManager::onDisconnect()
{
emit disconnected();
}
void TelemetryManager::deleteObjects() // Pip
{
if (!objMngr) return; // we've already destroyed everything
objMngr = NULL;
if (telemetryMon)
{
disconnect(telemetryMon, SIGNAL(destroyed(QObject *)), this, 0);
delete telemetryMon;
telemetryMon = NULL;
}
if (telemetry)
{
disconnect(telemetry, SIGNAL(destroyed(QObject *)), this, 0);
delete telemetry;
telemetry = NULL;
}
if (utalk)
{
disconnect(utalk, SIGNAL(destroyed(QObject *)), this, 0);
delete utalk;
utalk = NULL;
}
}

147
ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.h
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@ -1,70 +1,77 @@
/**
******************************************************************************
*
* @file telemetrymanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 TELEMETRYMANAGER_H
#define TELEMETRYMANAGER_H
#include "uavtalk_global.h"
#include "telemetrymonitor.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "uavobjectmanager.h"
#include <QIODevice>
#include <QObject>
class UAVTALK_EXPORT TelemetryManager: public QObject
{
Q_OBJECT
public:
TelemetryManager();
~TelemetryManager();
void start(QIODevice *dev);
void stop();
signals:
void connected();
void disconnected();
void myStart();
void myStop();
private slots:
void onConnect();
void onDisconnect();
void onStart();
void onStop();
private:
UAVObjectManager* objMngr;
UAVTalk* utalk;
Telemetry* telemetry;
TelemetryMonitor* telemetryMon;
QIODevice *device;
};
#endif // TELEMETRYMANAGER_H
/**
******************************************************************************
*
* @file telemetrymanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 TELEMETRYMANAGER_H
#define TELEMETRYMANAGER_H
#include "uavtalk_global.h"
#include "telemetrymonitor.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "uavobjectmanager.h"
#include <QIODevice>
#include <QObject>
#include <QMutex>
class UAVTALK_EXPORT TelemetryManager: public QObject
{
Q_OBJECT
public:
TelemetryManager();
~TelemetryManager();
void start(QIODevice *dev);
void stop();
public slots:
void onObjectDestroyed(QObject *obj); // Pip
signals:
void connected();
void disconnected();
void myStart();
void myStop();
private slots:
void onConnect();
void onDisconnect();
void onStart();
void onStop();
private:
UAVObjectManager* objMngr;
UAVTalk* utalk;
Telemetry* telemetry;
TelemetryMonitor* telemetryMon;
QIODevice *device;
QMutex mutex;
void deleteObjects(); // Pip
};
#endif // TELEMETRYMANAGER_H

1518
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
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@ -1,741 +1,777 @@
/**
******************************************************************************
*
* @file uavtalk.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 "uavtalk.h"
#include <QtEndian>
#include <QDebug>
#define SYNC_VAL 0x3C
const quint8 UAVTalk::crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
/**
* Constructor
*/
UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
{
io = iodev;
this->objMngr = objMngr;
rxState = STATE_SYNC;
rxPacketLength = 0;
mutex = new QMutex(QMutex::Recursive);
respObj = NULL;
memset(&stats, 0, sizeof(ComStats));
connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
}
UAVTalk::~UAVTalk()
{
// According to Qt, it is not necessary to disconnect upon
// object deletion.
//disconnect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
}
/**
* Reset the statistics counters
*/
void UAVTalk::resetStats()
{
QMutexLocker locker(mutex);
memset(&stats, 0, sizeof(ComStats));
}
/**
* Get the statistics counters
*/
UAVTalk::ComStats UAVTalk::getStats()
{
QMutexLocker locker(mutex);
return stats;
}
/**
* Called each time there are data in the input buffer
*/
void UAVTalk::processInputStream()
{
quint8 tmp;
while (io->bytesAvailable() > 0)
{
io->read((char*)&tmp, 1);
processInputByte(tmp);
}
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
* \param[in] obj Object to update
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObjectRequest(UAVObject* obj, bool allInstances)
{
QMutexLocker locker(mutex);
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
}
/**
* Send the specified object through the telemetry link.
* \param[in] obj Object to send
* \param[in] acked Selects if an ack is required
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
{
QMutexLocker locker(mutex);
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
}
else
{
return objectTransaction(obj, TYPE_OBJ, allInstances);
}
}
/**
* Cancel a pending transaction
*/
void UAVTalk::cancelTransaction()
{
QMutexLocker locker(mutex);
respObj = NULL;
}
/**
* Execute the requested transaction on an object.
* \param[in] obj Object
* \param[in] type Transaction type
* TYPE_OBJ: send object,
* TYPE_OBJ_REQ: request object update
* TYPE_OBJ_ACK: send object with an ack
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
{
// Send object depending on if a response is needed
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
{
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj;
respAllInstances = allInstances;
return true;
}
else
{
return false;
}
}
else if (type == TYPE_OBJ)
{
return transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
return false;
}
}
/**
* Process an byte from the telemetry stream.
* \param[in] rxbyte Received byte
* \return Success (true), Failure (false)
*/
bool UAVTalk::processInputByte(quint8 rxbyte)
{
// Update stats
stats.rxBytes++;
rxPacketLength++; // update packet byte count
// Receive state machine
switch (rxState)
{
case STATE_SYNC:
if (rxbyte != SYNC_VAL)
break;
// Initialize and update CRC
rxCS = updateCRC(0, rxbyte);
rxPacketLength = 1;
rxState = STATE_TYPE;
break;
case STATE_TYPE:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
if ((rxbyte & TYPE_MASK) != TYPE_VER)
{
rxState = STATE_SYNC;
break;
}
rxType = rxbyte;
packetSize = 0;
rxState = STATE_SIZE;
rxCount = 0;
break;
case STATE_SIZE:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
if (rxCount == 0)
{
packetSize += rxbyte;
rxCount++;
break;
}
packetSize += (quint32)rxbyte << 8;
if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
{ // incorrect packet size
rxState = STATE_SYNC;
break;
}
rxCount = 0;
rxState = STATE_OBJID;
break;
case STATE_OBJID:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount < 4)
break;
// Search for object, if not found reset state machine
rxObjId = (qint32)qFromLittleEndian<quint32>(rxTmpBuffer);
{
UAVObject *rxObj = objMngr->getObject(rxObjId);
if (rxObj == NULL)
{
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
// Determine data length
if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK)
rxLength = 0;
else
rxLength = rxObj->getNumBytes();
// Check length and determine next state
if (rxLength >= MAX_PAYLOAD_LENGTH)
{
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
// Check the lengths match
if ((rxPacketLength + rxLength) != packetSize)
{ // packet error - mismatched packet size
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
if (rxObj->isSingleInstance())
{
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
rxState = STATE_DATA;
else
rxState = STATE_CS;
rxInstId = 0;
rxCount = 0;
}
else
{
rxState = STATE_INSTID;
rxCount = 0;
}
}
break;
case STATE_INSTID:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount < 2)
break;
rxInstId = (qint16)qFromLittleEndian<quint16>(rxTmpBuffer);
rxCount = 0;
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
rxState = STATE_DATA;
else
rxState = STATE_CS;
break;
case STATE_DATA:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
rxBuffer[rxCount++] = rxbyte;
if (rxCount < rxLength)
break;
rxState = STATE_CS;
rxCount = 0;
break;
case STATE_CS:
// The CRC byte
rxCSPacket = rxbyte;
if (rxCS != rxCSPacket)
{ // packet error - faulty CRC
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
if (rxPacketLength != packetSize + 1)
{ // packet error - mismatched packet size
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
mutex->lock();
receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
stats.rxObjectBytes += rxLength;
stats.rxObjects++;
mutex->unlock();
rxState = STATE_SYNC;
break;
default:
rxState = STATE_SYNC;
stats.rxErrors++;
}
// Done
return true;
}
/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
* \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] data Data buffer
* \param[in] length Buffer length
* \return Success (true), Failure (false)
*/
bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
{
Q_UNUSED(length);
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES? true : false);
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Check if an ack is pending
if ( obj != NULL )
{
updateAck(obj);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
if ( obj != NULL )
{
transmitObject(obj, TYPE_ACK, false);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_REQ:
// Get object, if all instances are requested get instance 0 of the object
if (allInstances)
{
obj = objMngr->getObject(objId);
}
else
{
obj = objMngr->getObject(objId, instId);
}
// If object was found transmit it
if (obj != NULL)
{
transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
error = true;
}
break;
case TYPE_ACK:
// All instances, not allowed for ACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if an ack is pending
if (obj != NULL)
{
updateAck(obj);
}
else
{
error = true;
}
}
break;
default:
error = true;
}
// Done
return !error;
}
/**
* Update the data of an object from a byte array (unpack).
* If the object instance could not be found in the list, then a
* new one is created.
*/
UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
{
// Get object
UAVObject* obj = objMngr->getObject(objId, instId);
// If the instance does not exist create it
if (obj == NULL)
{
// Get the object type
UAVObject* tobj = objMngr->getObject(objId);
if (tobj == NULL)
{
return NULL;
}
// Make sure this is a data object
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(tobj);
if (dobj == NULL)
{
return NULL;
}
// Create a new instance, unpack and register
UAVDataObject* instobj = dobj->clone(instId);
if ( !objMngr->registerObject(instobj) )
{
return NULL;
}
instobj->unpack(data);
return instobj;
}
else
{
// Unpack data into object instance
obj->unpack(data);
return obj;
}
}
/**
* Check if a transaction is pending and if yes complete it.
*/
void UAVTalk::updateAck(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
{
respObj = NULL;
emit transactionCompleted(obj);
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object to send
* \param[in] type Transaction type
* \param[in] allInstances True is all instances of the object are to be sent
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitObject(UAVObject* obj, quint8 type, bool allInstances)
{
// If all instances are requested on a single instance object it is an error
if (allInstances && obj->isSingleInstance())
{
allInstances = false;
}
// Process message type
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
{
if (allInstances)
{
// Get number of instances
quint32 numInst = objMngr->getNumInstances(obj->getObjID());
// Send all instances
for (quint32 instId = 0; instId < numInst; ++instId)
{
UAVObject* inst = objMngr->getObject(obj->getObjID(), instId);
transmitSingleObject(inst, type, false);
}
return true;
}
else
{
return transmitSingleObject(obj, type, false);
}
}
else if (type == TYPE_OBJ_REQ)
{
return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
}
else if (type == TYPE_ACK)
{
if (!allInstances)
{
return transmitSingleObject(obj, TYPE_ACK, false);
}
else
{
return false;
}
}
else
{
return false;
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object handle to send
* \param[in] type Transaction type
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances)
{
qint32 length;
qint32 dataOffset;
quint32 objId;
quint16 instId;
quint16 allInstId = ALL_INSTANCES;
// Setup type and object id fields
objId = obj->getObjID();
txBuffer[0] = SYNC_VAL;
txBuffer[1] = type;
qToLittleEndian<quint32>(objId, &txBuffer[4]);
// Setup instance ID if one is required
if ( obj->isSingleInstance() )
{
dataOffset = 8;
}
else
{
// Check if all instances are requested
if (allInstances)
{
qToLittleEndian<quint16>(allInstId, &txBuffer[8]);
}
else
{
instId = obj->getInstID();
qToLittleEndian<quint16>(instId, &txBuffer[8]);
}
dataOffset = 10;
}
// Determine data length
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
{
length = 0;
}
else
{
length = obj->getNumBytes();
}
// Check length
if (length >= MAX_PAYLOAD_LENGTH)
{
return false;
}
// Copy data (if any)
if (length > 0)
{
if ( !obj->pack(&txBuffer[dataOffset]) )
{
return false;
}
}
qToLittleEndian<quint16>(dataOffset + length, &txBuffer[2]);
// Calculate checksum
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset + length);
// Send buffer, check that the transmit backlog does not grow above limit
if ( io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
}
else
{
++stats.txErrors;
return false;
}
// Update stats
++stats.txObjects;
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
stats.txObjectBytes += length;
// Done
return true;
}
/**
* Update the crc value with new data.
*
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
* using the configuration:
* Width = 8
* Poly = 0x07
* XorIn = 0x00
* ReflectIn = False
* XorOut = 0x00
* ReflectOut = False
* Algorithm = table-driven
*
* \param crc The current crc value.
* \param data Pointer to a buffer of \a data_len bytes.
* \param length Number of bytes in the \a data buffer.
* \return The updated crc value.
*/
quint8 UAVTalk::updateCRC(quint8 crc, const quint8 data)
{
return crc_table[crc ^ data];
}
quint8 UAVTalk::updateCRC(quint8 crc, const quint8* data, qint32 length)
{
while (length--)
crc = crc_table[crc ^ *data++];
return crc;
}
/**
******************************************************************************
*
* @file uavtalk.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 "uavtalk.h"
#include <QtEndian>
#include <QDebug>
#define SYNC_VAL 0x3C
const quint8 UAVTalk::crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
/**
* Constructor
*/
UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
{
io = iodev;
this->objMngr = objMngr;
rxState = STATE_SYNC;
rxPacketLength = 0;
mutex = new QMutex(QMutex::Recursive);
respObj = NULL;
memset(&stats, 0, sizeof(ComStats));
if (io) // Pip
connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
}
UAVTalk::~UAVTalk()
{
// Pip
mutex->lock();
io = NULL;
objMngr = NULL;
mutex->unlock();
// According to Qt, it is not necessary to disconnect upon
// object deletion.
//disconnect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
}
/**
* Reset the statistics counters
*/
void UAVTalk::resetStats()
{
QMutexLocker locker(mutex);
memset(&stats, 0, sizeof(ComStats));
}
/**
* Get the statistics counters
*/
UAVTalk::ComStats UAVTalk::getStats()
{
QMutexLocker locker(mutex);
return stats;
}
/**
* Called each time there are data in the input buffer
*/
void UAVTalk::processInputStream()
{
quint8 tmp;
while (true)
{
mutex->lock(); // Pip
if (!io)
{
mutex->unlock();
break;
}
if (!io->isOpen() || io->bytesAvailable() <= 0)
{
mutex->unlock();
break;
}
qint64 bytes_read = io->read((char*)&tmp, sizeof(tmp));
mutex->unlock();
if (bytes_read <= 0) break; // Pip
processInputByte(tmp);
}
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
* \param[in] obj Object to update
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObjectRequest(UAVObject* obj, bool allInstances)
{
QMutexLocker locker(mutex);
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
}
/**
* Send the specified object through the telemetry link.
* \param[in] obj Object to send
* \param[in] acked Selects if an ack is required
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
{
QMutexLocker locker(mutex);
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
}
else
{
return objectTransaction(obj, TYPE_OBJ, allInstances);
}
}
/**
* Cancel a pending transaction
*/
void UAVTalk::cancelTransaction()
{
QMutexLocker locker(mutex);
respObj = NULL;
}
/**
* Execute the requested transaction on an object.
* \param[in] obj Object
* \param[in] type Transaction type
* TYPE_OBJ: send object,
* TYPE_OBJ_REQ: request object update
* TYPE_OBJ_ACK: send object with an ack
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
{
// Send object depending on if a response is needed
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
{
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj;
respAllInstances = allInstances;
return true;
}
else
{
return false;
}
}
else if (type == TYPE_OBJ)
{
return transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
return false;
}
}
/**
* Process an byte from the telemetry stream.
* \param[in] rxbyte Received byte
* \return Success (true), Failure (false)
*/
bool UAVTalk::processInputByte(quint8 rxbyte)
{
if (!objMngr || !io) // Pip
return false;
// Update stats
stats.rxBytes++;
rxPacketLength++; // update packet byte count
// Receive state machine
switch (rxState)
{
case STATE_SYNC:
if (rxbyte != SYNC_VAL)
break;
// Initialize and update CRC
rxCS = updateCRC(0, rxbyte);
rxPacketLength = 1;
rxState = STATE_TYPE;
break;
case STATE_TYPE:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
if ((rxbyte & TYPE_MASK) != TYPE_VER)
{
rxState = STATE_SYNC;
break;
}
rxType = rxbyte;
packetSize = 0;
rxState = STATE_SIZE;
rxCount = 0;
break;
case STATE_SIZE:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
if (rxCount == 0)
{
packetSize += rxbyte;
rxCount++;
break;
}
packetSize += (quint32)rxbyte << 8;
if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
{ // incorrect packet size
rxState = STATE_SYNC;
break;
}
rxCount = 0;
rxState = STATE_OBJID;
break;
case STATE_OBJID:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount < 4)
break;
// Search for object, if not found reset state machine
rxObjId = (qint32)qFromLittleEndian<quint32>(rxTmpBuffer);
{
UAVObject *rxObj = objMngr->getObject(rxObjId);
if (rxObj == NULL)
{
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
// Determine data length
if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK)
rxLength = 0;
else
rxLength = rxObj->getNumBytes();
// Check length and determine next state
if (rxLength >= MAX_PAYLOAD_LENGTH)
{
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
// Check the lengths match
if ((rxPacketLength + rxLength) != packetSize)
{ // packet error - mismatched packet size
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
if (rxObj->isSingleInstance())
{
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
rxState = STATE_DATA;
else
rxState = STATE_CS;
rxInstId = 0;
rxCount = 0;
}
else
{
rxState = STATE_INSTID;
rxCount = 0;
}
}
break;
case STATE_INSTID:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount < 2)
break;
rxInstId = (qint16)qFromLittleEndian<quint16>(rxTmpBuffer);
rxCount = 0;
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
rxState = STATE_DATA;
else
rxState = STATE_CS;
break;
case STATE_DATA:
// Update CRC
rxCS = updateCRC(rxCS, rxbyte);
rxBuffer[rxCount++] = rxbyte;
if (rxCount < rxLength)
break;
rxState = STATE_CS;
rxCount = 0;
break;
case STATE_CS:
// The CRC byte
rxCSPacket = rxbyte;
if (rxCS != rxCSPacket)
{ // packet error - faulty CRC
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
if (rxPacketLength != packetSize + 1)
{ // packet error - mismatched packet size
stats.rxErrors++;
rxState = STATE_SYNC;
break;
}
mutex->lock();
receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
stats.rxObjectBytes += rxLength;
stats.rxObjects++;
mutex->unlock();
rxState = STATE_SYNC;
break;
default:
rxState = STATE_SYNC;
stats.rxErrors++;
}
// Done
return true;
}
/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
* \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] data Data buffer
* \param[in] length Buffer length
* \return Success (true), Failure (false)
*/
bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
{
Q_UNUSED(length);
if (!objMngr || !io) // Pip
return false;
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES? true : false);
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Check if an ack is pending
if ( obj != NULL )
{
updateAck(obj);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
if ( obj != NULL )
{
transmitObject(obj, TYPE_ACK, false);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_REQ:
// Get object, if all instances are requested get instance 0 of the object
if (allInstances)
{
obj = objMngr->getObject(objId);
}
else
{
obj = objMngr->getObject(objId, instId);
}
// If object was found transmit it
if (obj != NULL)
{
transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
error = true;
}
break;
case TYPE_ACK:
// All instances, not allowed for ACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if an ack is pending
if (obj != NULL)
{
updateAck(obj);
}
else
{
error = true;
}
}
break;
default:
error = true;
}
// Done
return !error;
}
/**
* Update the data of an object from a byte array (unpack).
* If the object instance could not be found in the list, then a
* new one is created.
*/
UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
{
if (!objMngr || !io) // Pip
return NULL;
// Get object
UAVObject* obj = objMngr->getObject(objId, instId);
// If the instance does not exist create it
if (obj == NULL)
{
// Get the object type
UAVObject* tobj = objMngr->getObject(objId);
if (tobj == NULL)
{
return NULL;
}
// Make sure this is a data object
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(tobj);
if (dobj == NULL)
{
return NULL;
}
// Create a new instance, unpack and register
UAVDataObject* instobj = dobj->clone(instId);
if ( !objMngr->registerObject(instobj) )
{
return NULL;
}
instobj->unpack(data);
return instobj;
}
else
{
// Unpack data into object instance
obj->unpack(data);
return obj;
}
}
/**
* Check if a transaction is pending and if yes complete it.
*/
void UAVTalk::updateAck(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
{
respObj = NULL;
emit transactionCompleted(obj);
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object to send
* \param[in] type Transaction type
* \param[in] allInstances True is all instances of the object are to be sent
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitObject(UAVObject* obj, quint8 type, bool allInstances)
{
if (!objMngr || !io) // Pip
return false;
// If all instances are requested on a single instance object it is an error
if (allInstances && obj->isSingleInstance())
{
allInstances = false;
}
// Process message type
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
{
if (allInstances)
{
// Get number of instances
quint32 numInst = objMngr->getNumInstances(obj->getObjID());
// Send all instances
for (quint32 instId = 0; instId < numInst; ++instId)
{
UAVObject* inst = objMngr->getObject(obj->getObjID(), instId);
transmitSingleObject(inst, type, false);
}
return true;
}
else
{
return transmitSingleObject(obj, type, false);
}
}
else if (type == TYPE_OBJ_REQ)
{
return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
}
else if (type == TYPE_ACK)
{
if (!allInstances)
{
return transmitSingleObject(obj, TYPE_ACK, false);
}
else
{
return false;
}
}
else
{
return false;
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object handle to send
* \param[in] type Transaction type
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances)
{
qint32 length;
qint32 dataOffset;
quint32 objId;
quint16 instId;
quint16 allInstId = ALL_INSTANCES;
if (!objMngr || !io) // Pip
return false;
// Setup type and object id fields
objId = obj->getObjID();
txBuffer[0] = SYNC_VAL;
txBuffer[1] = type;
qToLittleEndian<quint32>(objId, &txBuffer[4]);
// Setup instance ID if one is required
if ( obj->isSingleInstance() )
{
dataOffset = 8;
}
else
{
// Check if all instances are requested
if (allInstances)
{
qToLittleEndian<quint16>(allInstId, &txBuffer[8]);
}
else
{
instId = obj->getInstID();
qToLittleEndian<quint16>(instId, &txBuffer[8]);
}
dataOffset = 10;
}
// Determine data length
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
{
length = 0;
}
else
{
length = obj->getNumBytes();
}
// Check length
if (length >= MAX_PAYLOAD_LENGTH)
{
return false;
}
// Copy data (if any)
if (length > 0)
{
if ( !obj->pack(&txBuffer[dataOffset]) )
{
return false;
}
}
qToLittleEndian<quint16>(dataOffset + length, &txBuffer[2]);
// Calculate checksum
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset + length);
// Send buffer, check that the transmit backlog does not grow above limit
if ( io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
}
else
{
++stats.txErrors;
return false;
}
// Update stats
++stats.txObjects;
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
stats.txObjectBytes += length;
// Done
return true;
}
/**
* Update the crc value with new data.
*
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
* using the configuration:
* Width = 8
* Poly = 0x07
* XorIn = 0x00
* ReflectIn = False
* XorOut = 0x00
* ReflectOut = False
* Algorithm = table-driven
*
* \param crc The current crc value.
* \param data Pointer to a buffer of \a data_len bytes.
* \param length Number of bytes in the \a data buffer.
* \return The updated crc value.
*/
quint8 UAVTalk::updateCRC(quint8 crc, const quint8 data)
{
return crc_table[crc ^ data];
}
quint8 UAVTalk::updateCRC(quint8 crc, const quint8* data, qint32 length)
{
while (length--)
crc = crc_table[crc ^ *data++];
return crc;
}

165
ground/openpilotgcs/src/plugins/uavtalk/uavtalkplugin.cpp
View File

@ -1,83 +1,82 @@
/**
******************************************************************************
*
* @file uavtalkplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 "uavtalkplugin.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
UAVTalkPlugin::UAVTalkPlugin()
{
}
UAVTalkPlugin::~UAVTalkPlugin()
{
}
void UAVTalkPlugin::extensionsInitialized()
{
// Get UAVObjectManager instance
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
objMngr = pm->getObject<UAVObjectManager>();
// Create TelemetryManager
telMngr = new TelemetryManager();
addAutoReleasedObject(telMngr);
// 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(deviceDisconnected()),
this, SLOT(onDeviceDisconnect()));
}
bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorString)
{
// Done
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
void UAVTalkPlugin::shutdown()
{
}
void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
{
telMngr->start(dev);
}
void UAVTalkPlugin::onDeviceDisconnect()
{
telMngr->stop();
}
Q_EXPORT_PLUGIN(UAVTalkPlugin)
/**
******************************************************************************
*
* @file uavtalkplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 "uavtalkplugin.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
UAVTalkPlugin::UAVTalkPlugin()
{
telMngr = NULL; // Pip
}
UAVTalkPlugin::~UAVTalkPlugin()
{
if (telMngr) // Pip
telMngr->stop();
}
void UAVTalkPlugin::extensionsInitialized()
{
// Create TelemetryManager
telMngr = new TelemetryManager();
if (!telMngr) return; // Pip
addAutoReleasedObject(telMngr);
// 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(deviceDisconnected()),
this, SLOT(onDeviceDisconnect()));
}
bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorString)
{
// Done
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
void UAVTalkPlugin::shutdown()
{
}
void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
{
if (telMngr) // Pip
telMngr->start(dev);
}
void UAVTalkPlugin::onDeviceDisconnect()
{
if (telMngr) // Pip
telMngr->stop();
}
Q_EXPORT_PLUGIN(UAVTalkPlugin)

119
ground/openpilotgcs/src/plugins/uavtalk/uavtalkplugin.h
View File

@ -1,60 +1,59 @@
/**
******************************************************************************
*
* @file uavtalkplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 UAVTALKPLUGIN_H
#define UAVTALKPLUGIN_H
#include <extensionsystem/iplugin.h>
#include <extensionsystem/pluginmanager.h>
#include <QtPlugin>
#include "telemetrymonitor.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "telemetrymanager.h"
#include "uavobjectmanager.h"
class UAVTALK_EXPORT UAVTalkPlugin: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
UAVTalkPlugin();
~UAVTalkPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
protected slots:
void onDeviceConnect(QIODevice *dev);
void onDeviceDisconnect();
private:
UAVObjectManager* objMngr;
TelemetryManager* telMngr;
};
#endif // UAVTALKPLUGIN_H
/**
******************************************************************************
*
* @file uavtalkplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @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 UAVTALKPLUGIN_H
#define UAVTALKPLUGIN_H
#include <extensionsystem/iplugin.h>
#include <extensionsystem/pluginmanager.h>
#include <QtPlugin>
#include "telemetrymonitor.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "telemetrymanager.h"
#include "uavobjectmanager.h"
class UAVTALK_EXPORT UAVTalkPlugin: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
UAVTalkPlugin();
~UAVTalkPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
protected slots:
void onDeviceConnect(QIODevice *dev);
void onDeviceDisconnect();
private:
TelemetryManager* telMngr;
};
#endif // UAVTALKPLUGIN_H