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Code Issues Releases Activity

GCS OSX: More refinements to the USB code to make it more robust and work for reset/halt.

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This commit is contained in:
James Cotton 2012-09-10 01:57:06 -05:00
parent e027c25071
commit 59dcbf5cb6
6 changed files with 38 additions and 40 deletions
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1
ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
View File

@ -125,6 +125,7 @@ private:
IOHIDManagerRef hid_manager;
IOHIDDeviceRef dev;
CFRunLoopRef the_correct_runloop;
CFRunLoopRef received_runloop;
static const int BUFFER_SIZE = 64;
uint8_t buffer[BUFFER_SIZE];

38
ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
View File

@ -92,6 +92,8 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
Q_ASSERT(hid_manager == NULL);
Q_ASSERT(device_open == false);
attach_count = 0;
// Start the HID Manager
hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
@ -163,12 +165,11 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
*/
int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
{
m_readMutex->lock();
QMutexLocker locker(m_readMutex);
Q_UNUSED(locker);
if (!device_open) {
m_readMutex->unlock();
if (!device_open)
return -1;
}
// Pass information to the callback to stop this run loop and signal if a timeout occurred
struct timeout_info info;
@ -183,6 +184,8 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() + (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
received_runloop = CFRunLoopGetCurrent();
// Run the CFRunLoop until either a timeout or data is available
while(1) {
if (buffer_count != 0) {
@ -200,7 +203,7 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
CFRunLoopTimerInvalidate(timer);
CFRelease(timer);
m_readMutex->unlock();
received_runloop = NULL;
return len;
}
@ -240,7 +243,8 @@ int pjrc_rawhid::send(int, void *buf, int len, int timeout)
{
// This lock ensures that when closing we don't do it until the
// write has terminated (and then the device_open flag is set to false)
m_writeMutex->lock();
QMutexLocker locker(m_writeMutex);
Q_UNUSED(locker);
if(!device_open || unplugged) {
return -1;
@ -256,13 +260,17 @@ int pjrc_rawhid::send(int, void *buf, int len, int timeout)
QTimer::singleShot(timeout, &el, SLOT(quit()));
el.exec();
m_writeMutex->unlock();
return sender.result;
}
//! Get the serial number for a HID device
QString pjrc_rawhid::getserial(int num) {
QMutexLocker locker(m_readMutex);
Q_UNUSED(locker);
if (!device_open || unplugged)
return "";
CFTypeRef serialnum = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDSerialNumberKey));
if(serialnum && CFGetTypeID(serialnum) == CFStringGetTypeID())
{
@ -280,8 +288,7 @@ QString pjrc_rawhid::getserial(int num) {
void pjrc_rawhid::close(int)
{
// Make sure any pending locks are done
m_writeMutex->lock();
m_readMutex->lock();
QMutexLocker lock(m_writeMutex);
if (device_open) {
device_open = false;
@ -299,12 +306,6 @@ void pjrc_rawhid::close(int)
dev = NULL;
hid_manager = NULL;
}
// Must unlock to prevent deadlock in any read/write threads which will then fail
// because device_open is false\
m_writeMutex->unlock();
m_readMutex->unlock();
}
/**
@ -323,8 +324,8 @@ void pjrc_rawhid::input(uint8_t *data, CFIndex len)
memcpy(buffer, &data[0], len);
buffer_count = len;
if (the_correct_runloop)
CFRunLoopStop(the_correct_runloop);
if (received_runloop)
CFRunLoopStop(received_runloop);
}
//! Callback for the HID driver on an input report
@ -376,6 +377,7 @@ void pjrc_rawhid::attach(IOHIDDeviceRef d)
attach_count++;
device_open = true;
unplugged = false;
}
//! Called from the USB system and forwarded to the instance (context)

6
ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
View File

@ -307,8 +307,10 @@ RawHID::RawHID(const QString &deviceName)
// detect if the USB device is unplugged
QObject::connect(&dev, SIGNAL(deviceUnplugged(int)), this, SLOT(onDeviceUnplugged(int)));
m_writeThread = new RawHIDWriteThread(this);
// Starting the read thread will lock the m_startexMutex until the
// device is opened
// device is opened (which happens in that thread).
m_readThread = new RawHIDReadThread(this);
m_readThread->start();
@ -334,12 +336,12 @@ bool RawHID::openDevice() {
m_startedMutex->unlock();
//didn't find the device we are trying to open (shouldnt happen)
device_open = opened >= 0;
if (opened < 0)
{
return false;
}
m_writeThread = new RawHIDWriteThread(this);
m_writeThread->start();
return true;

1
ground/openpilotgcs/src/plugins/rawhid/rawhid.h
View File

@ -84,6 +84,7 @@ protected:
int m_deviceNo;
pjrc_rawhid dev;
bool device_open;
RawHIDReadThread *m_readThread;
RawHIDWriteThread *m_writeThread;

28
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -87,11 +87,13 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
m_eventloop.exec();
QList<USBPortInfo> devices;
devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
if (devices.length()==1 && hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1) {
qDebug()<<"OP_DFU detected first time";
mready=true;
QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
if (devices.length()==1) {
if (hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1) {
mready=true;
QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
m_eventloop.exec();
} else
hidHandle.close(0);
} else {
// Wait for the board to appear on the USB bus:
USBSignalFilter filter(0x20a0,-1,-1,USBMonitor::Bootloader);
@ -117,7 +119,8 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
mready=true;
qDebug() << "Detected";
break;
}
} else
hidHandle.close(0);
} else {
qDebug() << devices.length() << " device(s) detected, don't know what to do!";
mready = false;
@ -173,7 +176,6 @@ bool DFUObject::enterDFU(int const &devNumber)
buf[9] = 1; //DFU Data3
int result = sendData(buf, BUF_LEN);
// int result = hidHandle.send(0,buf, BUF_LEN, 500);
if(result<1)
return false;
if(debug)
@ -218,7 +220,6 @@ bool DFUObject::StartUpload(qint32 const & numberOfBytes, TransferTypes const &
int result = sendData(buf, BUF_LEN);
delay::msleep(1000);
// int result = hidHandle.send(0,buf, BUF_LEN, 5000);
if(debug)
qDebug() << result << " bytes sent";
@ -443,7 +444,6 @@ bool DFUObject::StartDownloadT(QByteArray *fw, qint32 const & numberOfBytes, Tra
buf[9] = 1; //DFU Data3
int result = sendData(buf, BUF_LEN);
//int result = hidHandle.send(0,buf, BUF_LEN, 500);
if(debug)
qDebug() << "StartDownload:"<<numberOfPackets<<"packets"<<" Last Packet Size="<<lastPacketCount<<" "<<result << " bytes sent";
float percentage;
@ -459,7 +459,6 @@ bool DFUObject::StartDownloadT(QByteArray *fw, qint32 const & numberOfBytes, Tra
laspercentage=(int)percentage;
result = receiveData(buf,BUF_LEN);
//result = hidHandle.receive(0,buf,BUF_LEN,5000);
if(debug)
qDebug() << result << " bytes received"<<" Count="<<x<<"-"<<(int)buf[2]<<";"<<(int)buf[3]<<";"<<(int)buf[4]<<";"<<(int)buf[5]<<" Data="<<(int)buf[6]<<";"<<(int)buf[7]<<";"<<(int)buf[8]<<";"<<(int)buf[9];
if(x==numberOfPackets-1)
@ -510,7 +509,6 @@ int DFUObject::AbortOperation(void)
buf[9] = 0;
return sendData(buf, BUF_LEN);
//return hidHandle.send(0,buf, BUF_LEN, 500);
}
/**
@ -540,7 +538,6 @@ int DFUObject::JumpToApp(bool safeboot)
}
return sendData(buf, BUF_LEN);
//return hidHandle.send(0,buf, BUF_LEN, 500);
}
OP_DFU::Status DFUObject::StatusRequest()
@ -558,11 +555,9 @@ OP_DFU::Status DFUObject::StatusRequest()
buf[9] = 0;
int result = sendData(buf, BUF_LEN);
//int result = hidHandle.send(0,buf, BUF_LEN, 10000);
if(debug)
qDebug() << "StatusRequest: " << result << " bytes sent";
result = receiveData(buf,BUF_LEN);
// result = hidHandle.receive(0,buf,BUF_LEN,10000);
if(debug)
qDebug() << "StatusRequest: " << result << " bytes received";
if(buf[1]==OP_DFU::Status_Rep)
@ -623,9 +618,6 @@ bool DFUObject::findDevices()
buf[9] = 0;
int result = sendData(buf, BUF_LEN);
result = receiveData(buf,BUF_LEN);
// int result = hidHandle.send(0,buf, BUF_LEN, 5000);
// result = hidHandle.receive(0,buf,BUF_LEN,5000);
//devices[x].ID=buf[9];
devices[x].ID=buf[14];
devices[x].ID=devices[x].ID<<8 | (quint8)buf[15];
devices[x].BL_Version=buf[7];
@ -681,8 +673,6 @@ bool DFUObject::EndOperation()
buf[9] = 0;
int result = sendData(buf, BUF_LEN);
// int result = hidHandle.send(0,buf, BUF_LEN, 5000);
// hidHandle.receive(0,buf,BUF_LEN,5000);
if(debug)
qDebug() << result << " bytes sent";
if(result>0)

4
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -378,7 +378,8 @@ void UploaderGadgetWidget::systemSafeBoot()
}
/**
Tells the system to boot (from Bootloader state)
* Tells the system to boot (from Bootloader state)
* @param[in] safeboot Indicates whether the firmware should use the stock HWSettings
*/
void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
{
@ -547,6 +548,7 @@ void UploaderGadgetWidget::systemRescue()
m_config->rescueButton->setEnabled(false);
currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
}
void UploaderGadgetWidget::perform()
{
if(m_progress->value()==19)