UdpServer::UdpServer(QObject *parent) :
QObject(parent)
{
mUdpSocket = new QUdpSocket(this);
mSerialPort = new SerialPort(this);
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mPortPath = "/dev/ttyO2";
mUdpPort = 27800;
mBaudrate = 115200;
mSendArray.clear();
mPayloadLength = 0;
mRxDataPtr = 0;
mCrcLow = 0;
mCrcHigh = 0;
connect(mUdpSocket, SIGNAL(readyRead()),
this, SLOT(readPendingDatagrams()));
connect(mSerialPort, SIGNAL(serial_port_error(int)), this, SLOT(serialPortError(int)));
connect(mSerialPort, SIGNAL(serial_data_available()), this, SLOT(serialDataAvilable()));
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
void SerialPort::run()
{
unsigned char buffer[1024];
int res = 0;
int failed_reads = 0;
fd_set set;
timespec timeout;
while (false == mAbort)
{
FD_ZERO(&set); /* clear the set */
FD_SET(mFd, &set); /* add our file descriptor to the set */
timeout.tv_sec = 0;
timeout.tv_nsec = 10000000;
res = pselect(mFd + 1, &set, NULL, NULL, &timeout, NULL);
if(res < 0)
{
qWarning() << "Select failed in read thread";
} else if(res == 0)
{
// Timeout
} else
{
res = read(mFd, buffer, 1024);
if (res > 0)
{
failed_reads = 0;
QMutexLocker locker(&mMutex);
for (int i = 0;i < res;i++)
{
if (mCaptureBytes > 0)
{
if (mCaptureBuffer != 0)
{
mCaptureBuffer[mCaptureWrite] = buffer[i];
mCaptureWrite++;
}
mCaptureBytes--;
if (mCaptureBytes == 0)
{
mCondition.wakeOne();
}
} else
{
mReadBuffer[mBufferWrite] = buffer[i];
mBufferWrite++;
//qDebug() << (quint8)buffer[i];
if (mBufferWrite == mBufferSize)
{
mBufferWrite = 0;
}
Q_EMIT serial_data_available();
}
}
} else
{
if (res < 0) {
qCritical().nospace() << "Reading failed. MSG: " << strerror(errno);
} else {
qCritical().nospace() << "Reading serial port returned 0";
}
failed_reads++;
if (failed_reads > 3) {
QMutexLocker locker(&mMutex);
if (mIsOpen) {
close(mFd);
mIsOpen = false;
}
mAbort = true;
qCritical().nospace() << "Too many consecutive failed reads. Closing port.";
Q_EMIT serial_port_error(res);
return;
}
}
}
}
}
void ta(int pi)
{
int h, b, e;
char *TEXT;
char text[2048];
printf("Serial link tests.\n");
/* this test needs RXD and TXD to be connected */
h = serial_open(pi, "/dev/ttyAMA0", 57600, 0);
CHECK(10, 1, h, 0, 0, "serial open");
time_sleep(0.1); /* allow time for transmission */
b = serial_read(pi, h, text, sizeof(text)); /* flush buffer */
b = serial_data_available(pi, h);
CHECK(10, 2, b, 0, 0, "serial data available");
TEXT = "\
To be, or not to be, that is the question-\
Whether 'tis Nobler in the mind to suffer\
The Slings and Arrows of outrageous Fortune,\
Or to take Arms against a Sea of troubles,\
";
e = serial_write(pi, h, TEXT, strlen(TEXT));
CHECK(10, 3, e, 0, 0, "serial write");
e = serial_write_byte(pi, h, 0xAA);
e = serial_write_byte(pi, h, 0x55);
e = serial_write_byte(pi, h, 0x00);
e = serial_write_byte(pi, h, 0xFF);
CHECK(10, 4, e, 0, 0, "serial write byte");
time_sleep(0.1); /* allow time for transmission */
b = serial_data_available(pi, h);
CHECK(10, 5, b, strlen(TEXT)+4, 0, "serial data available");
b = serial_read(pi, h, text, strlen(TEXT));
CHECK(10, 6, b, strlen(TEXT), 0, "serial read");
if (b >= 0) text[b] = 0;
CHECK(10, 7, strcmp(TEXT, text), 0, 0, "serial read");
b = serial_read_byte(pi, h);
CHECK(10, 8, b, 0xAA, 0, "serial read byte");
b = serial_read_byte(pi, h);
CHECK(10, 9, b, 0x55, 0, "serial read byte");
b = serial_read_byte(pi, h);
CHECK(10, 10, b, 0x00, 0, "serial read byte");
b = serial_read_byte(pi, h);
CHECK(10, 11, b, 0xFF, 0, "serial read byte");
b = serial_data_available(pi, h);
CHECK(10, 12, b, 0, 0, "serial data availabe");
e = serial_close(pi, h);
CHECK(10, 13, e, 0, 0, "serial close");
}
Logger::Logger(QObject *parent) :
QObject(parent)
{
mPort = new SerialPort(this);
mPacketInterface = new PacketInterface(this);
mValueFile = new QFile("Data/BLDC_Values");
mPrintFile = new QFile("Data/BLDC_Print");
mValueFile->open(QIODevice::WriteOnly | QIODevice::Text);
mPrintFile->open(QIODevice::WriteOnly | QIODevice::Text);
mValueStream = new QTextStream(mValueFile);
mPrintStream = new QTextStream(mPrintFile);
mPort->openPort("/dev/ttyACM0");
// Video
mVidW = 1280;
mVidH = 720;
mVidFps = 25.0;
mFAudioSamp = 44100;
mFrameGrabber = new FrameGrabber(mVidW, mVidH, mVidFps, 0, this);
mFrameGrabber->start(QThread::InheritPriority);
mPlotter = new FramePlotter(this);
mPlotter->start(QThread::InheritPriority);
mCoder = new VideoCoder(mVidW, mVidH, mVidFps, "Data/v_video.avi", this);
mCoder->start(QThread::InheritPriority);
// Audio recording
mTimer = 0;
mAudio = 0;
if (QAudioDeviceInfo::availableDevices(QAudio::AudioInput).size() > 0) {
mAudioFile.setFileName("Data/v_audio.raw");
mAudioFile.open(QIODevice::WriteOnly | QIODevice::Truncate);
QAudioFormat format;
// Set up the desired format, for example:
format.setSampleRate(mFAudioSamp);
format.setChannelCount(1);
format.setSampleSize(8);
format.setCodec("audio/pcm");
format.setByteOrder(QAudioFormat::LittleEndian);
format.setSampleType(QAudioFormat::UnSignedInt);
QAudioDeviceInfo info = QAudioDeviceInfo::defaultInputDevice();
if (!info.isFormatSupported(format)) {
qWarning() << "Default format not supported, trying to use the nearest.";
format = info.nearestFormat(format);
}
mAudio = new QAudioInput(format, this);
mAudio->setNotifyInterval(1000 / mVidFps);
mAudio->start(&mAudioFile);
} else {
mTimer = new QTimer(this);
mTimer->setInterval(1000 / mVidFps);
mTimer->start();
}
mConsoleReader = new ConsoleReader(this);
connect(mConsoleReader, SIGNAL(textReceived(QString)),
this, SLOT(consoleLineReceived(QString)));
connect(mPort, SIGNAL(serial_data_available()),
this, SLOT(serialDataAvailable()));
if (mTimer != 0) {
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
if (mAudio != 0) {
connect(mAudio, SIGNAL(notify()),
this, SLOT(audioNotify()));
// Lower the volume to avoid clipping. This seems to be passed to
// pulseaudio.
mAudio->setVolume(0.1);
}
connect(mPacketInterface, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacketInterface, SIGNAL(valuesReceived(PacketInterface::MC_VALUES)),
this, SLOT(mcValuesReceived(PacketInterface::MC_VALUES)));
connect(mPacketInterface, SIGNAL(printReceived(QString)),
this, SLOT(printReceived(QString)));
connect(mPacketInterface, SIGNAL(samplesReceived(QByteArray)),
this, SLOT(samplesReceived(QByteArray)));
connect(mPacketInterface, SIGNAL(rotorPosReceived(double)),
this, SLOT(rotorPosReceived(double)));
connect(mPacketInterface, SIGNAL(experimentSamplesReceived(QVector<double>)),
this, SLOT(experimentSamplesReceived(QVector<double>)));
connect(mPlotter, SIGNAL(frameReady(QImage)),
mCoder, SLOT(setNextFrame(QImage)));
}