From 822cbfbc8171d0ad4d62dc6bc2f3e4a2203c596b Mon Sep 17 00:00:00 2001
From: Edouard Lafargue <edouard@openpilot.org>
Date: Sun, 25 Sep 2011 15:26:12 +0200
Subject: [PATCH] Fix MacOS halt issues by using the USBMonitor to detect
 device re-insertion:wq:

---
 .../src/plugins/rawhid/usbmonitor_mac.cpp     |  5 ++-
 .../src/plugins/uploader/op_dfu.cpp           | 37 +++++++++----------
 .../src/plugins/uploader/op_dfu.h             |  1 +
 .../plugins/uploader/uploadergadgetwidget.cpp |  4 +-
 4 files changed, 23 insertions(+), 24 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
index e094a9a68..51fd6cce7 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
@@ -117,7 +117,7 @@ void USBMonitor::removeDevice(IOHIDDeviceRef dev) {
   */
 void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
-
+    qDebug() << "USBMonitor: Device detached event";
     instance()->removeDevice(dev);
 }
 
@@ -136,6 +136,8 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
 
     deviceInfo.dev_handle = dev;
 
+    qDebug() << "USBMonitor: Device attached event";
+
     // Populate the device info structure
     got_properties &= HID_GetIntProperty(dev, CFSTR( kIOHIDVendorIDKey ), &deviceInfo.vendorID);
     got_properties &= HID_GetIntProperty(dev, CFSTR( kIOHIDProductIDKey ), &deviceInfo.productID);
@@ -149,6 +151,7 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
 
     // Currently only enumerating objects that have the complete list of properties
     if(got_properties) {
+        qDebug() << "USBMonitor: Adding device";
         instance()->addDevice(deviceInfo);
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index 8a9045233..edd5dfb0b 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -80,29 +80,26 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
     }
     else
     {
-        send_delay=10;
-        use_delay=true;
-//        int numDevices=0;
         QList<USBPortInfo> devices;
-        int count=0;
-        while((devices.length()==0) && count < 10)
-        {
-            if (debug)
-                qDebug() << ".";
-            delay::msleep(500);
-            // processEvents enables XP to process the system
-            // plug/unplug events, otherwise it will not process
-            // those events before the end of the call!
-            QApplication::processEvents();
-            devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
-            count++;
-        }
-       if (devices.length()==1) {
+        devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
+        if (devices.length()==1) {
            hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
         } else {
-           qDebug() << devices.length()  << " device(s) detected, don't know what to do!";
-           mready = false;
-       }
+            // Wait for the board to appear on the USB bus:
+            QEventLoop m_eventloop;
+            connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
+            QTimer::singleShot(5000,&m_eventloop, SLOT(quit()));
+            m_eventloop.exec();
+            devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
+            if (devices.length()==1) {
+               delay::msleep(2000); // Let the USB Subsystem settle (especially important on Mac!)
+               hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0);
+            }
+             else {
+                qDebug() << devices.length()  << " device(s) detected, don't know what to do!";
+                mready = false;
+            }
+        }
 
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
index 420e0a3ea..1fc92637c 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
@@ -17,6 +17,7 @@
 #include "delay.h"
 #include <qextserialport/src/qextserialport.h>
 #include <QTime>
+#include <QTimer>
 #include "SSP/qssp.h"
 #include "SSP/port.h"
 #include "SSP/qsspt.h"
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 397533c2b..883955a5b 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -235,9 +235,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
         currentStep = IAP_STATE_BOOTLOADER;
 
         // Tell the mainboard to get into bootloader state:
-        log("Detecting devices, please wait 5 seconds...");
-        this->repaint();
-        delay::msleep(5100); // Required to let the board(s) settle
+        log("Detecting devices, please wait a few seconds...");
         if (!dfu) {
             if (dlj.startsWith("USB"))
                 dfu = new DFUObject(DFU_DEBUG, false, QString());