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LibrePilot/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp

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/**
******************************************************************************
*
* @file uploadergadgetwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup YModemUploader YModem Serial Uploader Plugin
* @{
* @brief The YModem protocol serial uploader plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uploadergadgetwidget.h"
#define DFU_DEBUG true
UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
{
m_config = new Ui_UploaderWidget();
m_config->setupUi(this);
currentStep = IAP_STATE_READY;
resetOnly=false;
dfu = NULL;
m_timer = 0;
m_progress = 0;
// Listen to autopilot connection events
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));
connect(m_config->rescueButton, SIGNAL(clicked()), this, SLOT(systemRescue()));
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
connect(cm,SIGNAL(deviceConnected(QIODevice*)),this,SLOT(onPhisicalHWConnect()));
getSerialPorts();
QIcon rbi;
rbi.addFile(QString(":uploader/images/view-refresh.svg"));
m_config->refreshPorts->setIcon(rbi);
connect(m_config->refreshPorts, SIGNAL(clicked()), this, SLOT(getSerialPorts()));
// And check whether by any chance we are not already connected
if (telMngr->isConnected())
onAutopilotConnect();
}
bool sortPorts(const QextPortInfo &s1,const QextPortInfo &s2)
{
return s1.portName<s2.portName;
}
/**
Gets the list of serial ports
*/
void UploaderGadgetWidget::getSerialPorts()
{
QStringList list;
// Populate the telemetry combo box:
m_config->telemetryLink->clear();
list.append(QString("USB"));
QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
//sort the list by port number (nice idea from PT_Dreamer :))
qSort(ports.begin(), ports.end(),sortPorts);
foreach( QextPortInfo port, ports ) {
list.append(port.friendName);
}
m_config->telemetryLink->addItems(list);
}
QString UploaderGadgetWidget::getPortDevice(const QString &friendName)
{
QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
foreach( QextPortInfo port, ports ) {
if(port.friendName == friendName)
#ifdef Q_OS_WIN
return port.portName;
#else
return port.physName;
#endif
}
return "";
}
void UploaderGadgetWidget::onPhisicalHWConnect()
{
m_config->bootButton->setEnabled(false);
m_config->rescueButton->setEnabled(false);
m_config->telemetryLink->setEnabled(false);
}
/**
Enables widget buttons if autopilot connected
*/
void UploaderGadgetWidget::onAutopilotConnect(){
m_config->haltButton->setEnabled(true);
m_config->resetButton->setEnabled(true);
m_config->bootButton->setEnabled(false);
m_config->rescueButton->setEnabled(false);
m_config->telemetryLink->setEnabled(false);
// Add a very simple widget with Board model & serial number
// Delete all previous tabs:
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
}
runningDeviceWidget* dw = new runningDeviceWidget(this);
dw->populate();
m_config->systemElements->addTab(dw, QString("Connected Device"));
}
/**
Enables widget buttons if autopilot disconnected
*/
void UploaderGadgetWidget::onAutopilotDisconnect(){
m_config->haltButton->setEnabled(false);
m_config->resetButton->setEnabled(false);
m_config->bootButton->setEnabled(true);
if (currentStep == IAP_STATE_BOOTLOADER) {
m_config->rescueButton->setEnabled(false);
m_config->telemetryLink->setEnabled(false);
} else {
m_config->rescueButton->setEnabled(true);
m_config->telemetryLink->setEnabled(true);
}
}
/**
Tell the mainboard to go to bootloader:
- Send the relevant IAP commands
- setup callback for MoBo acknowledge
*/
void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
{
Q_UNUSED(callerObj);
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:
m_config->haltButton->setEnabled(false);
getSerialPorts(); // Useful in case a new serial port appeared since the initial list,
// otherwise we won't find it when we stop the board.
// The board is running, send the 1st IAP Reset order:
fwIAP->getField("Command")->setValue("1122");
fwIAP->getField("BoardRevision")->setDouble(0);
fwIAP->getField("BoardType")->setDouble(0);
connect(fwIAP,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
currentStep = IAP_STATE_STEP_1;
clearLog();
log(QString("IAP Step 1"));
fwIAP->updated();
break;
case IAP_STATE_STEP_1:
if (!success) {
log(QString("Oops, failure step 1"));
log("Reset did NOT happen");
currentStep = IAP_STATE_READY;
disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
m_config->haltButton->setEnabled(true);
break;
}
delay::msleep(600);
fwIAP->getField("Command")->setValue("2233");
currentStep = IAP_STATE_STEP_2;
log(QString("IAP Step 2"));
fwIAP->updated();
break;
case IAP_STATE_STEP_2:
if (!success) {
log(QString("Oops, failure step 2"));
log("Reset did NOT happen");
currentStep = IAP_STATE_READY;
disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
m_config->haltButton->setEnabled(true);
break;
}
delay::msleep(600);
fwIAP->getField("Command")->setValue("3344");
currentStep = IAP_STEP_RESET;
log(QString("IAP Step 3"));
fwIAP->updated();
break;
case IAP_STEP_RESET:
{
currentStep = IAP_STATE_READY;
if (!success) {
log("Oops, failure step 3");
log("Reset did NOT happen");
disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
m_config->haltButton->setEnabled(true);
break;
}
// The board is now reset: we have to disconnect telemetry
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
QString dli = cm->getCurrentDevice().Name;
QString dlj = cm->getCurrentDevice().devName;
cm->disconnectDevice();
// Tell connections to stop their polling threads: otherwise it will mess up DFU
cm->suspendPolling();
log("Board Halt");
m_config->boardStatus->setText("Bootloader");
if (dlj.startsWith("USB"))
m_config->telemetryLink->setCurrentIndex(m_config->telemetryLink->findText("USB"));
else
m_config->telemetryLink->setCurrentIndex(m_config->telemetryLink->findText(dli));
disconnect(fwIAP, SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(goToBootloader(UAVObject*, bool)));
currentStep = IAP_STATE_BOOTLOADER;
// Tell the mainboard to get into bootloader state:
log("Detecting devices, please wait a few seconds...");
if (!dfu) {
if (dlj.startsWith("USB"))
dfu = new DFUObject(DFU_DEBUG, false, QString());
else
dfu = new DFUObject(DFU_DEBUG,true, getPortDevice(dli));
}
if (!dfu->ready())
{
log("Could not enter DFU mode.");
delete dfu;
dfu = NULL;
cm->resumePolling();
currentStep = IAP_STATE_READY;
m_config->boardStatus->setText("Bootloader?");
m_config->haltButton->setEnabled(true);
return;
}
dfu->AbortOperation();
if(!dfu->enterDFU(0))
{
log("Could not enter DFU mode.");
delete dfu;
dfu = NULL;
cm->resumePolling();
currentStep = IAP_STATE_READY;
m_config->boardStatus->setText("Bootloader?");
return;
}
//dfu.StatusRequest();
dfu->findDevices();
log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
if (dfu->numberOfDevices < 0 || dfu->numberOfDevices > 3) {
log("Inconsistent number of devices! Aborting");
delete dfu;
dfu = NULL;
cm->resumePolling();
return;
}
// Delete all previous tabs:
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
}
for(int i=0;i<dfu->numberOfDevices;i++) {
deviceWidget* dw = new deviceWidget(this);
dw->setDeviceID(i);
dw->setDfu(dfu);
dw->populate();
m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
}
/*
m_config->haltButton->setEnabled(false);
m_config->resetButton->setEnabled(false);
*/
// Need to re-enable in case we were not connected
m_config->bootButton->setEnabled(true);
/*
m_config->telemetryLink->setEnabled(false);
m_config->rescueButton->setEnabled(false);
*/
if (resetOnly) {
resetOnly=false;
delay::msleep(3500);
systemBoot();
break;
}
}
break;
case IAP_STATE_BOOTLOADER:
// We should never end up here anyway.
break;
}
}
/**
Tell the mainboard to reset:
- Send the relevant IAP commands
- setup callback for MoBo acknowledge
*/
void UploaderGadgetWidget::systemReset()
{
resetOnly = true;
if (dfu) {
delete dfu;
dfu = NULL;
}
m_config->textBrowser->clear();
log("Board Reset initiated.");
goToBootloader();
}
/**
Tells the system to boot (from Bootloader state)
*/
void UploaderGadgetWidget::systemBoot()
{
clearLog();
m_config->bootButton->setEnabled(false);
// Suspend telemety & polling in case it is not done yet
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
cm->disconnectDevice();
cm->suspendPolling();
QString devName = m_config->telemetryLink->currentText();
log("Attempting to boot the system through " + devName + ".");
repaint();
if (!dfu) {
if (devName == "USB")
dfu = new DFUObject(DFU_DEBUG, false, QString());
else
dfu = new DFUObject(DFU_DEBUG,true,getPortDevice(devName));
}
dfu->AbortOperation();
if(!dfu->enterDFU(0))
{
log("Could not enter DFU mode.");
delete dfu;
dfu = NULL;
m_config->bootButton->setEnabled(true);
m_config->rescueButton->setEnabled(true); // Boot not possible, maybe Rescue OK?
return;
}
log("Booting system...");
dfu->JumpToApp();
// Restart the polling thread
cm->resumePolling();
m_config->rescueButton->setEnabled(true);
m_config->telemetryLink->setEnabled(true);
m_config->boardStatus->setText("Running");
if (currentStep == IAP_STATE_BOOTLOADER ) {
// Freeze the tabs, they are not useful anymore and their buttons
// will cause segfaults or weird stuff if we use them.
for (int i=0; i< m_config->systemElements->count(); i++) {
deviceWidget *qw = (deviceWidget*)m_config->systemElements->widget(i);
qw->freeze();
}
}
currentStep = IAP_STATE_READY;
log("You can now reconnect telemetry...");
delete dfu; // Frees up the USB/Serial port too
dfu = NULL;
}
/**
Attempt a guided procedure to put both boards in BL mode when
the system is not bootable
*/
void UploaderGadgetWidget::systemRescue()
{
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
cm->disconnectDevice();
// stop the polling thread: otherwise it will mess up DFU
cm->suspendPolling();
// Delete all previous tabs:
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
}
// Existing DFU objects will have a handle over USB and will
// disturb everything for the rescue process:
if (dfu) {
delete dfu;
dfu = NULL;
}
// Avoid dumb users pressing Rescue twice. It can happen.
m_config->rescueButton->setEnabled(false);
// Now we're good to go:
clearLog();
log("**********************************************************");
log("** Follow those instructions to attempt a system rescue **");
log("**********************************************************");
log("You will be prompted to first connect USB, then system power");
if(USBMonitor::instance()->availableDevices(0x20a0,-1,-1,-1).length()>0)
{
if(QMessageBox::warning(this,tr("OpenPilot Uploader"),tr("Please disconnect all openpilot boards"),QMessageBox::Ok,QMessageBox::Cancel)==QMessageBox::Cancel)
{
m_config->rescueButton->setEnabled(true);
return;
}
}
// Now we're good to go:
clearLog();
log("**********************************************************");
log("** Follow those instructions to attempt a system rescue **");
log("**********************************************************");
log("You will be prompted to first connect USB, then system power");
m_progress = new QProgressDialog(tr("Please connect the board (USB only!)"), tr("Cancel"), 0, 20);
QProgressBar * bar=new QProgressBar(m_progress);
bar->setFormat("Timeout");
m_progress->setBar(bar);
m_progress->setMinimumDuration(0);
m_progress->setRange(0,20);
connect(m_progress, SIGNAL(canceled()), this, SLOT(cancel()));
m_timer = new QTimer(this);
connect(m_timer, SIGNAL(timeout()), this, SLOT(perform()));
m_timer->start(1000);
connect(USBMonitor::instance(), SIGNAL(deviceDiscovered(USBPortInfo)),&m_eventloop, SLOT(quit()));
m_eventloop.exec();
if(!m_timer->isActive())
{
m_progress->close();
m_timer->stop();
QMessageBox::warning(this,tr("Openpilot Uploader"),tr("No board connection was detected!"));
m_config->rescueButton->setEnabled(true);
return;
}
m_progress->close();
m_timer->stop();
log("... Detecting First Board...");
repaint();
dfu = new DFUObject(DFU_DEBUG, false, QString());
dfu->AbortOperation();
if(!dfu->enterDFU(0))
{
log("Could not enter DFU mode.");
delete dfu;
dfu = NULL;
cm->resumePolling();
m_config->rescueButton->setEnabled(true);
return;
}
if(!dfu->findDevices() || (dfu->numberOfDevices != 1))
{
log("Could not detect a board, aborting!");
delete dfu;
dfu = NULL;
cm->resumePolling();
m_config->rescueButton->setEnabled(true);
return;
}
if(QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes)
{
log("\nWaiting...");
QTimer::singleShot(3000, &m_eventloop, SLOT(quit()));
m_eventloop.exec();
log("Detecting second board...");
repaint();
if(!dfu->findDevices())
{
// We will only end up here in case somehow all the boards
// disappeared, including the one we detected earlier.
log("Could not detect any board, aborting!");
delete dfu;
dfu = NULL;
cm->resumePolling();
m_config->rescueButton->setEnabled(true);
return;
}
}
log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
if (dfu->numberOfDevices > 5) {
log("Inconsistent number of devices, aborting!");
delete dfu;
dfu = NULL;
cm->resumePolling();
m_config->rescueButton->setEnabled(true);
return;
}
for(int i=0;i<dfu->numberOfDevices;i++) {
deviceWidget* dw = new deviceWidget(this);
dw->setDeviceID(i);
dw->setDfu(dfu);
dw->populate();
m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
}
m_config->haltButton->setEnabled(false);
m_config->resetButton->setEnabled(false);
m_config->bootButton->setEnabled(true);
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)
{
m_timer->stop();
m_eventloop.exit();
}
m_progress->setValue(m_progress->value()+1);
}
void UploaderGadgetWidget::cancel()
{
m_timer->stop();
m_eventloop.exit();
}
/**
Update log entry
*/
void UploaderGadgetWidget::log(QString str)
{
m_config->textBrowser->append(str);
m_config->textBrowser->repaint();
}
void UploaderGadgetWidget::clearLog()
{
m_config->textBrowser->clear();
}
/**
* Remove all the device widgets...
*/
UploaderGadgetWidget::~UploaderGadgetWidget()
{
while (m_config->systemElements->count()) {
QWidget *qw = m_config->systemElements->widget(0);
m_config->systemElements->removeTab(0);
delete qw;
qw = 0;
}
if (m_progress) {
delete m_progress;
m_progress = 0;
}
if (m_timer) {
delete m_timer;
m_timer = 0;
}
}
/**
Shows a message box with an error string.
@param errorString The error string to display.
@param errorNumber Not used
*/
void UploaderGadgetWidget::error(QString errorString, int errorNumber)
{
Q_UNUSED(errorNumber);
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(errorString);
msgBox.exec();
m_config->boardStatus->setText(errorString);
}
/**
Shows a message box with an information string.
@param infoString The information string to display.
@param infoNumber Not used
*/
void UploaderGadgetWidget::info(QString infoString, int infoNumber)
{
Q_UNUSED(infoNumber);
m_config->boardStatus->setText(infoString);
}
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