CriusGUI::CriusGUI(QWidget *parent) :
QMainWindow(parent),
ui_(new Ui::CriusGUI),
active_(false),
connected_(false)
{
// Create SerialCommThread
SerialCommThread* serial_thread = new SerialCommThread();
QThread* thread = new QThread;
serial_thread->moveToThread(thread);
connect(thread, SIGNAL(started()), serial_thread, SLOT(init()));
connect(this, SIGNAL(loadFCConfig()), serial_thread, SLOT(requestConfig()));
connect(this, SIGNAL(sendFCConfig(QByteArray)), serial_thread, SLOT(sendConfig(QByteArray)));
connect(this, SIGNAL(sendSerialConfig(QString)),
serial_thread,
SLOT(connectSerial(QString)));
connect(this, SIGNAL(sendSerialDisconnect()), serial_thread, SLOT(disconnectSerial()));
connect(serial_thread, SIGNAL(sendData(QByteArray)), this, SLOT(getSerialData(QByteArray)));
connect(serial_thread, SIGNAL(sendSerialPortInfo(QStringList)), this, SLOT(receiveSerialPortInfo(QStringList)));
connect(this, SIGNAL(sendGotACK()), serial_thread, SLOT(receiveACK()));
thread->start();
// Setup UI
ui_->setupUi(this);
// Initialize plots
imu_plot_= new TimePlot(ui_->imu_plot, ui_->imu_plot->geometry().width()/2, 6);
control_plot_ = new TimePlot(ui_->control_plot, ui_->control_plot->geometry().width()/2, 4);
}
void SerialMonitor::disconnectedSerial(){
//Desconectado
connect(ui->connectButton, SIGNAL(clicked()), this, SLOT(connectSerial()));
disconnect(ui->connectButton, SIGNAL(clicked()), this, SLOT(disconnectSerial()));
setSerialPort(serialPort);
}
void SerialMonitor::connectedSerial(){
//Conectado
disconnect(ui->connectButton, SIGNAL(clicked()), this, SLOT(connectSerial()));
connect(ui->connectButton, SIGNAL(clicked()), this, SLOT(disconnectSerial()));
ui->connectButton->setEnabled(true);
ui->connectButton->setText(tr("Disconnect"));
}
int CloudWatcherController::writeSerial(const char *buffer, int numberOfBytes) {
connectSerial();
printMessage("writeSerial: writting %d bytes\n", numberOfBytes);
int n = write(serialportFD, buffer, numberOfBytes);
if (n < numberOfBytes) {
printMessage("writeSerial: written of %d bytes failed!\n",numberOfBytes);
return -1;
}
printMessage("writeSerial: wroten\n");
return n;
}
int main (int argc, const char * argv[])
{
bool connection;
connection = connectSerial("/dev/tty.SmartBlueMiniGPSe644-GP");
if (connection) {
printf("connected\n");
readNMEA(kReadCount);
disconnectSerial();
}
else {
printf("not connected\n");
}
return 0;
}
int CloudWatcherController::readSerial(char *buffer, int numberOfBytes) {
connectSerial();
int n = 0;
while (n < numberOfBytes) {
printMessage("readSerial: reading %d bytes\n", numberOfBytes - n);
int readed = read(serialportFD, &(buffer[n]), numberOfBytes - n);
if (readed <= 0) {
printMessage("readSerial: read of %d bytes failed!\n", numberOfBytes);
return(-1);
}
n += readed;
}
printMessage("readSerial: read %d bytes\n", n);
return n;
}
int main(int argc, char *argv[]) {
fd_set rset;
struct timeval timeout;
char * IP; //IP address of socket
char * PTY; //Pseudo Terminal Name
unsigned char cBuff[BUFFER];
//char c[BUFFER];
int csize;
int pty = -1; //Pseudo Terminal File Descriptor
int sockfd1, sockfd2 = -1;
int x;
int args = 0;
int tmp;
char argSerial[] = "-serial";
char argHelp[] = "-help";
char argPort[] = "-port";
char argPTY[] = "-pty";
char argStrip[] = "-strip";
char argBaud[] = "-baud";
char argDebug[] = "-debug";
int SOCKET_PORT, BAUD, STRIP, DEBUG = 0;
char SERIAL[100];
for (x = 0; x < argc; x++){//Cycle through the command line arguments
if (!strcmp(argSerial,argv[x])) {//Look for the -serial option
strcpy(SERIAL,argv[x+1]); //Copies the port to SERIAL
if(BAUD>0){ //If the baud option has been passed
sockfd2 = connectSerial(SERIAL, BAUD); //Open the serial port and return the file descriptor
if (sockfd2 < 0) {
close(sockfd2);
if(sockfd1>=0)
close(sockfd1);
if(pty>=0)
close(pty);
return -1;
}else{
args+=3;
}
}else{
args+=3;
}
}
else if (!strcmp(argPort,argv[x])) { //Look for -port option
SOCKET_PORT = atoi(argv[x+1]); //Convert string address into int
sockfd1 = makeSocket(SOCKET_PORT); //Make the socket and return the file descriptor
if (sockfd1 < 0) {
close(sockfd1);
if(sockfd2>=0)
close(sockfd2);
if(pty>=0)
close(pty);
return -1;
}else{
args+=5;
}
}
else if (!strcmp(argPTY,argv[x])) { //Look for -pty option
pty = pseudoTY(&PTY);
if(pty<0){
close(pty);
if(sockfd2>=0)
close(sockfd2);
if(sockfd1>=0)
close(sockfd1);
return -1;
}else{
args+=7;
}
}
else if (!strcmp(argBaud,argv[x])) { //Look for -baud option
tmp = atoi(argv[x+1]); //Convert string baud rate to int
switch (tmp) { //Make sure the value is supported
case 115200:
BAUD = B115200;
break;
case 38400:
BAUD = B38400;
break;
case 19200:
BAUD = B19200;
break;
case 9600:
BAUD = B9600;
break;
default:
printf("ERROR!: Unknown baud rate.\n");
return -1;
break;
}
if(strlen(SERIAL) != 0) //If we got the tag for a serial port, create the serial port
sockfd2 = connectSerial(SERIAL, BAUD); //Open the serial port and return the file descriptor
args+=1;
}
else if ( (args != 9 && args != 11 && args !=16 && x == argc-1) || (!strcmp(argHelp,argv[x]))) {
//If not enough arguments, output usage directions and exit
// Serial <=> Socket w/ baud = 9
// Serial <=> PTY w/ baud = 11
// Serial <=> Socket, Serial <=> PTY w/ baud = 16
printf("--------------------------------------\n");
printf("------------ SerialDaemon ------------\n");
printf("--------------------------------------\n");
printf("Usage:");
printf("\t./serialdaemon [options] [arguments]\n");
printf("\t-serial [Use to indicate which serial port to connect to. E.G. /dev/ttyS1]\n");
printf("\t-port [Use to indicate which TCP/IP port of the local host to connect to. E.G. 5000]\n");
printf("\t-pty [Create a pseudo terminal for the serial port to connect to.]\n");
printf("\t-baud [Serial port baudrate.]\n");
printf("\t\t115200\n");
printf("\t\t38400\n");
printf("\t\t19200\n");
printf("\t\t9600\n");
printf("\t-strip [Strip the endline character and replace with a space.]\n");
printf("\t-debug [Set the verbose debug mode for help.]\n");
printf("\t-help [For this help screen.]\n\n");
printf("Example Usage:\t./serialdaemon -serial /dev/ttyS1 -baud 115200 -pty -port 5000\n");
printf("This will link ttyS1 to localhost:5000 and ttyS1 to a pseudo terminal. The connection to ttyS1 will have a baudrate of 115200.\n");
return -1;
}
else if (!strcmp(argStrip,argv[x])){STRIP = 1;} //Look for the -strip option
else if (!strcmp(argDebug,argv[x])){DEBUG = 1; printf ("DEBUG: debug mode on!\n");} //Look for the -debug option
}
signal(SIGINT, controlC); // catch ^C so we can close sockets & exit cleanly
IP = getIP(); //Get the local IP address
if(args == 9)//Serial to Socket
printf("Connections made: \n\t\t\t%s < = > http://%s:%d\n",SERIAL,IP,SOCKET_PORT);
else if(args == 11)//Serial to PTY
printf("Connections made: \n\t\t\t%s < = > %s\n",SERIAL,PTY);
else if(args == 16)//Serial to PTY & Serial to Socket
printf("Connections made: \n\t\t\t%s < = > http://%s:%d\n\t\t\t%s < = > %s\n",SERIAL,IP,SOCKET_PORT,SERIAL,PTY);
sd1 = waitOnSocket(sockfd1); //Check for a connection to the socket
while(1){
/* Select on sockets */
if(sd1 > 0){ //If There is a connection to the socket then potentially set up these connections: tty < = > socket and tty < = > pty
if (DEBUG)
printf("DEBUG: New client socket opened.\n");
if (sd1 < 0) { //Error in creating connection
close(sd1);
return -1;
}
sd2 = sockfd2; //File descriptor of the serial port
if (sd2 < 0) { //If an error
close(sd1);
close(sd2);
return -1;
}
FD_ZERO(&rset); //Clear file descriptors in the rset set
while(1) {
FD_SET(sd1,&rset);//Set sd1 in rset
FD_SET(sd2,&rset);//Set sd2 in rset
if(pty!=-1) {//If a virtual port is requested
FD_SET(pty,&rset);
select(max(max(sd1,sd2),pty)+1,&rset,NULL,NULL,NULL);
//Select specifies which of the file descriptors is ready for reading or writing
}else {
select(max(sd1,sd2)+1,&rset,NULL,NULL,NULL);
//Select tests file descriptors in the range of 0 to nfds-1 or in this case 0 to max(sd1,sd2).
}
//----------------Check The Socket For Data ------------------
if (FD_ISSET(sd1,&rset)) { //Is there stuff to read from the socket
/* There's stuff to read */
if ((csize= read(sd1, &cBuff, BUFFER)) >= 1) { //If there's something worth reading
if (STRIP==1) { //Remove endline characters and replace with space
for(x = 0 ; x < csize; x++) {
if (cBuff[x] == '\n' ) {
cBuff[x] = ' ';
if (DEBUG)
printf ("DEBUG: **STRIPPED**\n");
}
}
}
if (DEBUG) {
//Replace &cBuff and cBuff with c
//cBuff[csize] = '\0';
printf("\nDEBUG: %s <== ",SERIAL);
for(x=0; x<csize;x++){
printf("%#.2x ",cBuff[x]);
}
printf("\n");
}
write(sd2, &cBuff, csize);//Write data from sd1 to sd2
}else{break;}// Failed -- port closed
}
//----------------Check The Serial Port For Data ------------------
if (FD_ISSET(sd2,&rset)) {//Is there stuff to read from the serial port
if ((csize = read(sd2, &cBuff, BUFFER)) >= 1) {//If there is something worth reading from the serial port
write(sd1, &cBuff, csize); //Write this data to the socket
if(pty != -1){write(pty,&cBuff,csize);} //Write this data to the virtual com port
if (DEBUG) {
//Replace &cBuff and cBuff with c
//cBuff[csize] = '\0';
printf("DEBUG: http://%s:%d <== ",IP,SOCKET_PORT);
for(x=0; x<csize;x++){
printf("%#.2x ",cBuff[x]);
}
printf("\n");
if(pty !=-1){
printf("DEBUG: %s <== ",PTY);
for(x=0; x<csize;x++){
printf("%#.2x ",cBuff[x]);
}
printf("\n");
}
}
}
//else break; /* Failed */
}
//----------------Check The PTY Port For Data ------------------
if (pty != -1 && FD_ISSET(pty,&rset)) {//If there is a virtual port, and data is ready, write data from
if ((csize = read(pty, &cBuff, BUFFER)) >= 1) {//If there is something worth reading from the serial port
write(sd2, &cBuff, csize); //Write this data to the serial port
if (DEBUG) {
//Replace &cBuff and cBuff with c
//cBuff[csize] = '\0';
printf("\nDEBUG: %s <== ",SERIAL);
for(x=0; x<csize;x++){
printf("%#.2x ",cBuff[x]);
}
printf("\n");
}
}
//else break; /* Failed */
}
}
printf("Restarting\n");
close(sd1);/* clean up */
sd1 = waitOnSocket(sockfd1); //Check for a connection to the socket
}else if(pty != -1) {//Else, if there is a virtual port then tty <=> pty
sd2 = sockfd2; //File descriptor of the serial port
if (sd2 < 0) { //If an error
close(sd2);
close(pty);
return -1;
}
FD_ZERO(&rset); //Clear file descriptors in the rset set
while(1) {
FD_SET(sd2,&rset);//Set sd2 in rset
FD_SET(pty,&rset);//Set pty in rset
sd1 = waitOnSocket(sockfd1);
if(sd1 >= 0){break;} //Check for socket connection, if there is, break out of this loop.
select(max(sd2,pty)+1,&rset,NULL,NULL,NULL); // Specifies which of the file descriptors is ready for reading or writing
if (FD_ISSET(pty,&rset)) { //If there is a virtual port, and data is ready, write data from
if ((csize = read(pty, &cBuff, BUFFER)) >= 1) {//If there is something worth reading from the serial port
write(sd2, &cBuff, csize); //Write this data to the serial port
if (DEBUG) {
//Replace &cBuff and cBuff with c
//cBuff[csize] = '\0';
printf("\nDEBUG: %s <== ",SERIAL);
for(x=0; x<csize;x++){
printf("%#.2x ",cBuff[x]);
}
printf("\n");
}
}
//else break; // Failed
}
if (FD_ISSET(sd2,&rset)) {//Is there stuff to read from the serial port
if ((csize = read(sd2, &cBuff, BUFFER)) >= 1) { //If there is something worth reading from the serial port
write(pty, &cBuff, csize); //Write this data to the virtual com port
if (DEBUG) {
//Replace &cBuff and cBuff with c
//cBuff[csize] = '\0';
printf("DEBUG: %s <== ",PTY);
for(x=0; x<csize;x++){
printf("%#.2x ",cBuff[x]);
}
printf("\n");
}
}
//else break; /* Failed */
}
}
}else {//If there isn't a pty, then check the socket for a connection once a second
if(DEBUG)
printf("\rWaiting on the socket connection...\n");
sd1 = waitOnSocket(sockfd1); //Check for a connection to the socket
sleep(1);
}
}
}
