OP-35 Uploader gadget: the "Reset" button now works. YMMV, please report. Other buttons do nothing so far. Also, small fix to uavtalk.cpp where a 'disconnect' call triggered segfaults on my system.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2054 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/uavtalk/uavtalk.cpp

@@ -73,7 +73,9 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
 
 UAVTalk::~UAVTalk()
 {
-    disconnect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
+    // According to Qt, it is not necessary to disconnect upon
+    // object deletion.
+    //disconnect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
 }
 
 /**

ground/src/plugins/uploader/Uploader.pluginspec

@@ -2,9 +2,11 @@
     <vendor>The OpenPilot Project</vendor>
     <copyright>(C) 2010 Jose Barros A.K.A. PT_Dreamer</copyright>
     <license>The GNU Public License (GPL) Version 3</license>
-    <description>A plugin to Upload Firmware to the OpenPilot HW via Ymodem protocol</description>
+    <description>A plugin to Upload Firmware to the OpenPilot HW via USB DFU</description>
     <url>http://www.openpilot.org</url>
     <dependencyList>
         <dependency name="Core" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+        <dependency name="RAWHid" version="1.0.0"/>
     </dependencyList>
 </plugin>    

ground/src/plugins/uploader/uploader.pro

@@ -2,7 +2,9 @@ TEMPLATE = lib
 TARGET = Uploader
 include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
+include(../../plugins/uavobjects/uavobjects.pri)
 include(../../libs/qextserialport/qextserialport.pri)
+include(../../plugins/rawhid/rawhid.pri)
 include(../../libs/qymodem/qymodem.pri)
 HEADERS += uploadergadget.h \
     uploadergadgetconfiguration.h \

ground/src/plugins/uploader/uploadergadgetwidget.cpp

@@ -30,9 +30,109 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
 {
     m_config = new Ui_UploaderWidget();
     m_config->setupUi(this);
+    currentStep = IAP_STATE_READY;
+    resetOnly=false;
+
+    connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
+    connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
 
 
 }
+
+/**
+  Tell the mainboard to go to bootloader:
+   - Send the relevant IAP commands
+   - setup callback for MoBo acknowledge
+   */
+void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    UAVObject *fwIAP = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("FirmwareIAPObj")));
+
+    switch (currentStep) {
+    case IAP_STATE_READY:
+        // The board is running, send the 1st IAP Reset order:
+        fwIAP->getField("Command")->setValue("1122");
+        connect(fwIAP,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
+        currentStep = IAP_STATE_STEP_1;
+        fwIAP->updated();
+        log(QString("IAP Step 1"));
+        break;
+    case IAP_STATE_STEP_1:
+        if (!success)  {
+            log(QString("Oops, failure step 1"));
+            currentStep == IAP_STATE_READY;
+            break;
+        }
+        delay::msleep(600);
+        fwIAP->getField("Command")->setValue("2233");
+        currentStep = IAP_STATE_STEP_2;
+        fwIAP->updated();
+        log(QString("IAP Step 2"));
+        break;
+    case IAP_STATE_STEP_2:
+        if (!success) {
+            log(QString("Oops, failure step 2"));
+            currentStep == IAP_STATE_READY;
+            break;
+        }
+        delay::msleep(600);
+        fwIAP->getField("Command")->setValue("3344");
+        currentStep = IAP_STEP_RESET;
+        fwIAP->updated();
+        log(QString("IAP Step 3"));
+        break;
+    case IAP_STEP_RESET: {
+        currentStep = IAP_STATE_READY;
+        if (success) {
+            log("Oops, unexpected success step 3");
+            log("Reset did NOT happen");
+            break;
+        }
+        // The board is now reset: we have to disconnect telemetry
+        Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
+        cm->disconnectDevice();
+        log(QString("Board Reset"));
+
+        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+        disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
+        if (resetOnly) {
+            resetOnly=false;
+            break;
+        }
+        // stop the polling thread: otherwise it will mess up DFU
+        RawHIDConnection *cnx =  pm->getObject<RawHIDConnection>();
+        cnx->suspendPolling();
+
+    }
+
+    }
+
+}
+
+/**
+  Tell the mainboard to reset:
+   - Send the relevant IAP commands
+   - setup callback for MoBo acknowledge
+   */
+void UploaderGadgetWidget::systemReset()
+{
+    resetOnly = true;
+    m_config->textBrowser->clear();
+    log("Board Reset initiated.");
+    goToBootloader();
+}
+
+/**
+  Update status
+  */
+void UploaderGadgetWidget::log(QString str)
+{
+   m_config->textBrowser->append(str);
+
+}
+
 //user pressed send, send file using a new thread with qymodem library
 void UploaderGadgetWidget::send()
 {

ground/src/plugins/uploader/uploadergadgetwidget.h

@@ -29,6 +29,13 @@
 #define UPLOADERGADGETWIDGET_H
 
 #include "ui_uploader.h"
+#include "delay.h"
+
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjects/uavobjectmanager.h"
+#include "uavobjects/uavobject.h"
+
+#include "rawhid/rawhidplugin.h"
 #include <QtGui/QWidget>
 #include <qextserialport/src/qextserialport.h>
 #include <qymodem/src/qymodemsend.h>
@@ -41,7 +48,6 @@
 #include <QMessageBox>
 //using namespace qmapcontrol;
 
-class Ui_UploaderWidget;
 
 class UploaderGadgetWidget : public QWidget
 {
@@ -50,12 +56,16 @@ class UploaderGadgetWidget : public QWidget
 public:
     UploaderGadgetWidget(QWidget *parent = 0);
    ~UploaderGadgetWidget();
+    typedef enum { IAP_STATE_READY, IAP_STATE_STEP_1, IAP_STATE_STEP_2, IAP_STEP_RESET} IAPStep;
 
    void setPort(QextSerialPort* port);
 
 
 private:
      Ui_UploaderWidget *m_config;
+     IAPStep currentStep;
+     bool resetOnly;
+     void log(QString str);
 
      QLineEdit* openFileNameLE;
      QextSerialPort *Port;
@@ -70,6 +80,8 @@ private slots:
     void error(QString errorString,int errorNumber);
     void info(QString infoString,int infoNumber);
     void updatePercSlot(int);
+    void goToBootloader(UAVObject* = NULL, bool = false);
+    void systemReset();
 };
 
 #endif // UPLOADERGADGETWIDGET_H