Merge remote branch 'origin/next' into next

HISTORY.txt

@@ -1,5 +1,12 @@
 Short summary of changes.  For a complete list see the git log.
 
+2011-10-11
+Fix for the Mac telemetry rates and specifically how long enumeration took.
+
+2011-10-08
+Make the flash chip need to be have bad magic for a full second before erasing
+settings.  Should avoid random lost settings.
+
 2011-09-12
 Max rate now ONLY applies to attitude and axis lock mode.  Manual rate is the
 only term that limits the rate mode now (and in axis lock when you push stick

ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h

@@ -37,7 +37,6 @@
 
 #if defined( Q_OS_MAC)
 
-// todo:
 
 #elif defined(Q_OS_UNIX)
 //#elif defined(Q_OS_LINUX)
@@ -104,10 +103,12 @@ public:
     void mytest(int num);
 signals:
      void deviceUnplugged(int);//just to make pips changes compile
-private:
 #if defined( Q_OS_MAC)
 
-    // todo:
+#endif
+
+private:
+#if defined( Q_OS_MAC)
 
 #elif defined(Q_OS_UNIX)
     //#elif defined(Q_OS_LINUX)

ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp

@@ -44,6 +44,18 @@
 #include <IOKit/hid/IOHIDLib.h>
 #include <CoreFoundation/CFString.h>
 #include <QString>
+#include <QThread>
+#include <QTimer>
+#include <QCoreApplication>
+
+class delay : public QThread
+{
+public:
+    static void msleep(unsigned long msecs)
+    {
+        QThread::msleep(msecs);
+    }
+};
 
 #define BUFFER_SIZE 64
 
@@ -54,6 +66,8 @@ typedef struct hid_struct hid_t;
 typedef struct buffer_struct buffer_t;
 static hid_t *first_hid = NULL;
 static hid_t *last_hid = NULL;
+// Make sure we use the correct runloop
+CFRunLoopRef the_correct_runloop = NULL;
 struct hid_struct {
         IOHIDDeviceRef ref;
         int open;
@@ -75,9 +89,10 @@ static void free_all_hid(void);
 static void hid_close(hid_t *);
 static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
 static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
-static void timeout_callback(CFRunLoopTimerRef, void *);
 static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
 static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
+static void timeout_callback(CFRunLoopTimerRef, void *);
+
 
 pjrc_rawhid::pjrc_rawhid()
 {
@@ -164,6 +179,8 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
         CFRelease(hid_manager);
         return 0;
     }
+    // Set the run loop reference:
+    the_correct_runloop = CFRunLoopGetCurrent();
     printf("run loop\n");
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
@@ -183,47 +200,56 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
 //
 int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
 {
-    hid_t *hid;
-    buffer_t *b;
-    CFRunLoopTimerRef timer=NULL;
-    CFRunLoopTimerContext context;
-    int ret=0, timeout_occurred=0;
+   hid_t *hid;
+   buffer_t *b;
+   CFRunLoopTimerRef timer=NULL;
+   CFRunLoopTimerContext context;
+   int ret=0, timeout_occurred=0;
 
-    if (len < 1) return 0;
-    hid = get_hid(num);
-    if (!hid || !hid->open) return -1;
-    if ((b = hid->first_buffer) != NULL) {
-        if (len > b->len) len = b->len;
-        memcpy(buf, b->buf, len);
-        hid->first_buffer = b->next;
-        free(b);
-        return len;
-    }
-    memset(&context, 0, sizeof(context));
-    context.info = &timeout_occurred;
-    timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
-                                 (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
-    CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
-    while (1) {
-        CFRunLoopRun();
-        if ((b = hid->first_buffer) != NULL) {
-            if (len > b->len) len = b->len;
-            memcpy(buf, b->buf, len);
-            hid->first_buffer = b->next;
-            free(b);
-            ret = len;
+   if (len < 1) return 0;
+   hid = get_hid(num);
+   if (!hid || !hid->open) return -1;
+   if ((b = hid->first_buffer) != NULL) {
+       if (len > b->len) len = b->len;
+       memcpy(buf, b->buf, len);
+       hid->first_buffer = b->next;
+       free(b);
+       return len;
+   }
+   memset(&context, 0, sizeof(context));
+   context.info = &timeout_occurred;
+   timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
+                                (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
+   CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
+   the_correct_runloop = CFRunLoopGetCurrent();
+   //qDebug("--");
+   while (1) {
+       //qDebug(".");
+       CFRunLoopRun(); // Found the problem: somehow the input_callback does not
+                       // stop this CFRunLoopRun because it is hooked to a different run loop !!!
+                       // Hence the use of the "correct_runloop" variable above.
+       //qDebug("  ..");
+
+       if ((b = hid->first_buffer) != NULL) {
+           if (len > b->len) len = b->len;
+           memcpy(buf, b->buf, len);
+           hid->first_buffer = b->next;
+           free(b);
+           ret = len;
+           //qDebug("*************");
+           break;
+       }
+       if (!hid->open) {
+           printf("pjrc_rawhid_recv, device not open\n");
+           ret = -1;
+           break;
+       }
+       if (timeout_occurred)
             break;
-        }
-        if (!hid->open) {
-            printf("pjrc_rawhid_recv, device not open\n");
-            ret = -1;
-            break;
-        }
-        if (timeout_occurred) break;
-    }
-    CFRunLoopTimerInvalidate(timer);
-    CFRelease(timer);
-    return ret;
+   }
+   CFRunLoopTimerInvalidate(timer);
+   CFRelease(timer);
+   return ret;
 }
 
 //  send - send a packet
@@ -335,10 +361,11 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
     buffer_t *n;
     hid_t *hid;
 
-    printf("input_callback, report id: %i buf: %x %x, len: %d\n", id, data[0], data[1], len);
+    //qDebug("input_callback, ret: %i - report id: %i buf: %x %x, len: %d\n", ret, id, data[0], data[1], len);
     if (ret != kIOReturnSuccess || len < 1) return;
     hid = (hid_t*)context;
     if (!hid || hid->ref != sender) return;
+    printf("Processing packet");
     n = (buffer_t *)malloc(sizeof(buffer_t));
     if (!n) return;
     if (len > BUFFER_SIZE) len = BUFFER_SIZE;
@@ -352,14 +379,16 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
             hid->last_buffer->next = n;
             hid->last_buffer = n;
     }
-    CFRunLoopStop(CFRunLoopGetCurrent());
+    //qDebug() << "Stop CFRunLoop from input_callback" << CFRunLoopGetCurrent();
+    CFRunLoopStop(the_correct_runloop);
 }
 
 static void timeout_callback(CFRunLoopTimerRef timer, void *info)
 {
-    printf("timeout_callback\n");
-    *(int *)info = 1;
-    CFRunLoopStop(CFRunLoopGetCurrent());
+   //qDebug("timeout_callback\n");
+   *(int *)info = 1;
+   //qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
+   CFRunLoopStop(CFRunLoopGetCurrent());
 }
 
 static void add_hid(hid_t *h)