GCS - added an UDP UAVTalk mirror.

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp

@@ -39,6 +39,7 @@
 #include <QtCore/QSettings>
 
 #include "ui_generalsettings.h"
+#include <QKeyEvent>
 
 using namespace Utils;
 using namespace Core::Internal;
@@ -47,7 +48,8 @@ GeneralSettings::GeneralSettings():
     m_saveSettingsOnExit(true),
     m_dialog(0),
     m_autoConnect(true),
-    m_autoSelect(true)
+    m_autoSelect(true),
+    m_useUDPMirror(false)
 {
 }
 
@@ -107,18 +109,21 @@ void GeneralSettings::fillLanguageBox() const
     }
 }
 
-
 QWidget *GeneralSettings::createPage(QWidget *parent)
 {
     m_page = new Ui::GeneralSettings();
-    QWidget *w = new QWidget(parent);
+    globalSettingsWidget *w = new globalSettingsWidget(parent);
+    connect(w,SIGNAL(showHidden()),this,SLOT(showHidden()));
     m_page->setupUi(w);
+    m_page->labelUDP->setVisible(false);
+    m_page->cbUseUDPMirror->setVisible(false);
 
     fillLanguageBox();
     connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
     m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
     m_page->checkAutoConnect->setChecked(m_autoConnect);
     m_page->checkAutoSelect->setChecked(m_autoSelect);
+    m_page->cbUseUDPMirror->setChecked(m_useUDPMirror);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 
     connect(m_page->resetButton, SIGNAL(clicked()),
@@ -135,6 +140,7 @@ void GeneralSettings::apply()
     StyleHelper::setBaseColor(m_page->colorButton->color());
 
     m_saveSettingsOnExit = m_page->checkBoxSaveOnExit->isChecked();
+    m_useUDPMirror=m_page->cbUseUDPMirror->isChecked();
     m_autoConnect = m_page->checkAutoConnect->isChecked();
     m_autoSelect = m_page->checkAutoSelect->isChecked();
 }
@@ -151,6 +157,7 @@ void GeneralSettings::readSettings(QSettings* qs)
     m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"),m_saveSettingsOnExit).toBool();
     m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
     m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
+    m_useUDPMirror = qs->value(QLatin1String("UDPMirror"),m_useUDPMirror).toBool();
     qs->endGroup();
 }
 
@@ -166,6 +173,7 @@ void GeneralSettings::saveSettings(QSettings* qs)
     qs->setValue(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit);
     qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
     qs->setValue(QLatin1String("AutoSelect"), m_autoSelect);
+    qs->setValue(QLatin1String("UDPMirror"), m_useUDPMirror);
     qs->endGroup();
 }
 
@@ -231,6 +239,11 @@ bool GeneralSettings::autoSelect() const
     return m_autoSelect;
 }
 
+bool GeneralSettings::useUDPMirror() const
+{
+    return m_useUDPMirror;
+}
+
 void GeneralSettings::slotAutoConnect(int value)
 {
     if (value==Qt::Checked)
@@ -238,3 +251,19 @@ void GeneralSettings::slotAutoConnect(int value)
     else
         m_page->checkAutoSelect->setEnabled(true);
 }
+
+void GeneralSettings::showHidden()
+{
+    m_page->labelUDP->setVisible(true);
+    m_page->cbUseUDPMirror->setVisible(true);
+}
+
+globalSettingsWidget::globalSettingsWidget(QWidget *parent):QWidget(parent){}
+
+void globalSettingsWidget::keyPressEvent(QKeyEvent *event)
+{
+    if(event->key()==Qt::Key_F7)
+    {
+        emit showHidden();
+    }
+}

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h

@@ -58,6 +58,7 @@ public:
     bool saveSettingsOnExit() const;
     bool autoConnect() const;
     bool autoSelect() const;
+    bool useUDPMirror() const;
     void readSettings(QSettings* qs);
     void saveSettings(QSettings* qs);
 
@@ -68,6 +69,7 @@ private slots:
     void resetLanguage();
     void showHelpForExternalEditor();
     void slotAutoConnect(int);
+    void showHidden();
 
 private:
     void fillLanguageBox() const;
@@ -78,10 +80,21 @@ private:
     bool m_saveSettingsOnExit;
     bool m_autoConnect;
     bool m_autoSelect;
+    bool m_useUDPMirror;
     QPointer<QWidget> m_dialog;
     QList<QTextCodec *> m_codecs;
 
 };
+class globalSettingsWidget:public QWidget
+{
+    Q_OBJECT
+public:
+    globalSettingsWidget(QWidget * parent);
+protected:
+    void keyPressEvent(QKeyEvent *);
+signals:
+    void showHidden();
+};
 
 } // namespace Internal
 } // namespace Core

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui

@@ -178,6 +178,20 @@
         </property>
        </widget>
       </item>
+      <item row="12" column="1">
+       <widget class="QCheckBox" name="cbUseUDPMirror">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="0">
+       <widget class="QLabel" name="labelUDP">
+        <property name="text">
+         <string>Use UDP Mirror</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp

@@ -27,7 +27,8 @@
 #include "uavtalk.h"
 #include <QtEndian>
 #include <QDebug>
-
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 //#define UAVTALK_DEBUG
 #ifdef UAVTALK_DEBUG
   #include "qxtlogger.h"
@@ -75,6 +76,19 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
     memset(&stats, 0, sizeof(ComStats));
 
     connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    useUDPMirror=settings->useUDPMirror();
+    qDebug()<<"USE UDP:::::::::::."<<useUDPMirror;
+    if(useUDPMirror)
+    {
+        udpSocketTx=new QUdpSocket(this);
+        udpSocketRx=new QUdpSocket(this);
+        udpSocketTx->bind(9000);
+        udpSocketRx->connectToHost(QHostAddress::LocalHost,9000);
+        connect(udpSocketTx,SIGNAL(readyRead()),this,SLOT(dummyUDPRead()));
+        connect(udpSocketRx,SIGNAL(readyRead()),this,SLOT(dummyUDPRead()));
+    }
 }
 
 UAVTalk::~UAVTalk()
@@ -119,6 +133,17 @@ void UAVTalk::processInputStream()
     }
 }
 
+void UAVTalk::dummyUDPRead()
+{
+    QUdpSocket *socket=qobject_cast<QUdpSocket*>(sender());
+    QByteArray junk;
+    while(socket->hasPendingDatagrams())
+    {
+        junk.resize(socket->pendingDatagramSize());
+        socket->readDatagram(junk.data(),junk.size());
+    }
+}
+
 /**
  * Request an update for the specified object, on success the object data would have been
  * updated by the GCS.
@@ -219,6 +244,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
     rxPacketLength++;   // update packet byte count
 
+    if(useUDPMirror)
+        rxDataArray.append(rxbyte);
+
     // Receive state machine
     switch (rxState)
     {
@@ -235,6 +263,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
             rxPacketLength = 1;
 
+            if(useUDPMirror)
+            {
+                rxDataArray.clear();
+                rxDataArray.append(rxbyte);
+            }
+
             rxState = STATE_TYPE;
             UAVTALK_QXTLOG_DEBUG("UAVTalk: Sync->Type");
             break;
@@ -446,6 +480,10 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
             mutex->lock();
                 receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
+                if(useUDPMirror)
+                {
+                    udpSocketTx->writeDatagram(rxDataArray,QHostAddress::LocalHost,udpSocketRx->localPort());
+                }
                 stats.rxObjectBytes += rxLength;
                 stats.rxObjects++;
             mutex->unlock();
@@ -476,7 +514,6 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 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);
@@ -742,6 +779,10 @@ bool UAVTalk::transmitNack(quint32 objId)
     if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+CHECKSUM_LENGTH);
+        if(useUDPMirror)
+        {
+            udpSocketRx->writeDatagram((const char*)txBuffer,dataOffset+CHECKSUM_LENGTH,QHostAddress::LocalHost,udpSocketTx->localPort());
+        }
     }
     else
     {
@@ -832,6 +873,10 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     if (!io.isNull() && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
+        if(useUDPMirror)
+        {
+            udpSocketRx->writeDatagram((const char*)txBuffer,dataOffset+length+CHECKSUM_LENGTH,QHostAddress::LocalHost,udpSocketTx->localPort());
+        }
     }
     else
     {

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h

@@ -35,6 +35,7 @@
 #include <QSemaphore>
 #include "uavobjectmanager.h"
 #include "uavtalk_global.h"
+#include <QtNetwork/QUdpSocket>
 
 class UAVTALK_EXPORT UAVTalk: public QObject
 {
@@ -65,6 +66,7 @@ signals:
 
 private slots:
     void processInputStream(void);
+    void dummyUDPRead();
 
 private:
 
@@ -122,6 +124,11 @@ private:
     RxStateType rxState;
     ComStats stats;
 
+    bool useUDPMirror;
+    QUdpSocket * udpSocketTx;
+    QUdpSocket * udpSocketRx;
+    QByteArray rxDataArray;
+
     // Methods
     bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);
     bool processInputByte(quint8 rxbyte);
@@ -134,7 +141,6 @@ private:
     bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
     quint8 updateCRC(quint8 crc, const quint8 data);
     quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
-
 };
 
 #endif // UAVTALK_H

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pro

@@ -1,3 +1,4 @@
+QT += network
 TEMPLATE = lib
 TARGET = UAVTalk
 include(../../openpilotgcsplugin.pri)