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vescinterface.cpp
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/*
Copyright 2016 - 2019 Benjamin Vedder [email protected]
This file is part of VESC Tool.
VESC Tool 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.
VESC Tool 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, see <http://www.gnu.org/licenses/>.
*/
#include "vescinterface.h"
#include <QDebug>
#include <QHostInfo>
#include <QFileInfo>
#include <QThread>
#include <QEventLoop>
#include <utility.h>
#include <cmath>
#include <QRegularExpression>
#include <QDateTime>
#include <QDir>
#ifdef HAS_SERIALPORT
#include <QSerialPortInfo>
#endif
#ifndef VT_INTRO_VERSION
#define VT_INTRO_VERSION 1
#endif
VescInterface::VescInterface(QObject *parent) : QObject(parent)
{
qRegisterMetaType<MCCONF_TEMP>();
mMcConfig = new ConfigParams(this);
mAppConfig = new ConfigParams(this);
mInfoConfig = new ConfigParams(this);
mPacket = new Packet(this);
mCommands = new Commands(this);
// Compatible firmwares
mFwVersionReceived = false;
mFwRetries = 0;
mFwPollCnt = 0;
mFwTxt = "x.x";
mIsUploadingFw = false;
mCancelSwdUpload = false;
mTimer = new QTimer(this);
mTimer->setInterval(20);
mTimer->start();
mLastConnType = static_cast<conn_t>(mSettings.value("connection_type", CONN_NONE).toInt());
mLastTcpServer = mSettings.value("tcp_server", "127.0.0.1").toString();
mLastTcpPort = mSettings.value("tcp_port", 65102).toInt();
mSendCanBefore = false;
mCanIdBefore = 0;
mWasConnected = false;
mAutoconnectOngoing = false;
mAutoconnectProgress = 0.0;
mIgnoreCanChange = false;
// Serial
#ifdef HAS_SERIALPORT
mSerialPort = new QSerialPort(this);
mLastSerialPort = mSettings.value("serial_port", "").toString();
mLastSerialBaud = mSettings.value("serial_baud", 115200).toInt();
connect(mSerialPort, SIGNAL(readyRead()),
this, SLOT(serialDataAvailable()));
connect(mSerialPort, SIGNAL(error(QSerialPort::SerialPortError)),
this, SLOT(serialPortError(QSerialPort::SerialPortError)));
#endif
// TCP
mTcpSocket = new QTcpSocket(this);
mTcpConnected = false;
mLastTcpServer = QSettings().value("tcp_server", "").toString();
mLastTcpPort = QSettings().value("tcp_port", 65102).toInt();
connect(mTcpSocket, SIGNAL(readyRead()), this, SLOT(tcpInputDataAvailable()));
connect(mTcpSocket, SIGNAL(connected()), this, SLOT(tcpInputConnected()));
connect(mTcpSocket, SIGNAL(disconnected()),
this, SLOT(tcpInputDisconnected()));
connect(mTcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(tcpInputError(QAbstractSocket::SocketError)));
// BLE
#ifdef HAS_BLUETOOTH
mBleUart = new BleUart(this);
mLastBleAddr = mSettings.value("ble_addr").toString();
{
int size = mSettings.beginReadArray("bleNames");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
QString address = mSettings.value("address").toString();
QString name = mSettings.value("name").toString();
mBleNames.insert(address, name);
}
mSettings.endArray();
}
connect(mBleUart, SIGNAL(dataRx(QByteArray)), this, SLOT(bleDataRx(QByteArray)));
connect(mBleUart, &BleUart::connected, [this]{
setLastConnectionType(CONN_BLE);
mSettings.setValue("ble_addr", mLastBleAddr);
});
#endif
{
int size = mSettings.beginReadArray("profiles");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
MCCONF_TEMP cfg;
cfg.current_min_scale = mSettings.value("current_min_scale", 1.0).toDouble();
cfg.current_max_scale = mSettings.value("current_max_scale", 1.0).toDouble();
cfg.erpm_or_speed_min = mSettings.value("erpm_or_speed_min").toDouble();
cfg.erpm_or_speed_max = mSettings.value("erpm_or_speed_max").toDouble();
cfg.duty_min = mSettings.value("duty_min").toDouble();
cfg.duty_max = mSettings.value("duty_max").toDouble();
cfg.watt_min = mSettings.value("watt_min").toDouble();
cfg.watt_max = mSettings.value("watt_max").toDouble();
cfg.name = mSettings.value("name").toString();
mProfiles.append(QVariant::fromValue(cfg));
}
mSettings.endArray();
}
{
int size = mSettings.beginReadArray("pairedUuids");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
QString uuid = mSettings.value("uuid").toString().toUpper();
mPairedUuids.append(uuid.replace(" ", ""));
}
mSettings.endArray();
}
mCommands->setAppConfig(mAppConfig);
mCommands->setMcConfig(mMcConfig);
// Other signals/slots
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
connect(mPacket, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacket, SIGNAL(packetReceived(QByteArray&)),
this, SLOT(packetReceived(QByteArray&)));
connect(mCommands, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(cmdDataToSend(QByteArray&)));
connect(mCommands, SIGNAL(fwVersionReceived(int,int,QString,QByteArray,bool)),
this, SLOT(fwVersionReceived(int,int,QString,QByteArray,bool)));
connect(mCommands, SIGNAL(ackReceived(QString)), this, SLOT(ackReceived(QString)));
connect(mMcConfig, SIGNAL(updated()), this, SLOT(mcconfUpdated()));
connect(mAppConfig, SIGNAL(updated()), this, SLOT(appconfUpdated()));
connect(mCommands, &Commands::valuesReceived, [this](MC_VALUES v) {
if (mRtLogFile.isOpen()) {
auto t = QTime::currentTime();
QTextStream os(&mRtLogFile);
os << t.msecsSinceStartOfDay() << ";";
os << v.v_in << ";";
os << v.temp_mos << ";";
os << v.temp_mos_1 << ";";
os << v.temp_mos_2 << ";";
os << v.temp_mos_3 << ";";
os << v.temp_motor << ";";
os << v.current_motor << ";";
os << v.current_in << ";";
os << v.id << ";";
os << v.iq << ";";
os << v.rpm << ";";
os << v.duty_now << ";";
os << v.amp_hours << ";";
os << v.amp_hours_charged << ";";
os << v.watt_hours << ";";
os << v.watt_hours_charged << ";";
os << v.tachometer << ";";
os << v.tachometer_abs << ";";
os << v.position << ";";
os << v.fault_code << ";";
os << v.vesc_id << ";";
os << "\n";
os.flush();
}
});
}
VescInterface::~VescInterface()
{
storeSettings();
closeRtLogFile();
}
Commands *VescInterface::commands() const
{
return mCommands;
}
ConfigParams *VescInterface::mcConfig()
{
return mMcConfig;
}
ConfigParams *VescInterface::appConfig()
{
return mAppConfig;
}
ConfigParams *VescInterface::infoConfig()
{
return mInfoConfig;
}
QStringList VescInterface::getSupportedFirmwares()
{
QList<QPair<int, int> > fwPairs = getSupportedFirmwarePairs();
QStringList fws;
for (int i = 0;i < fwPairs.size();i++) {
QString tmp;
tmp.sprintf("%d.%d", fwPairs.at(i).first, fwPairs.at(i).second);
fws.append(tmp);
}
return fws;
}
QList<QPair<int, int> > VescInterface::getSupportedFirmwarePairs()
{
QList<QPair<int, int> > fws;
ConfigParam *p = mInfoConfig->getParam("fw_version");
if (p) {
QStringList strs = p->enumNames;
for (int i = 0;i < strs.size();i++) {
QStringList mami = strs.at(i).split(".");
QPair<int, int> fw = qMakePair(mami.at(0).toInt(), mami.at(1).toInt());
fws.append(fw);
}
}
return fws;
}
QString VescInterface::getFirmwareNow()
{
return mFwTxt;
}
void VescInterface::emitStatusMessage(const QString &msg, bool isGood)
{
emit statusMessage(msg, isGood);
}
void VescInterface::emitMessageDialog(const QString &title, const QString &msg, bool isGood, bool richText)
{
emit messageDialog(title, msg, isGood, richText);
}
bool VescInterface::fwRx()
{
return mFwVersionReceived;
}
void VescInterface::storeSettings()
{
mSettings.beginWriteArray("bleNames");
QHashIterator<QString, QString> i(mBleNames);
int ind = 0;
while (i.hasNext()) {
i.next();
mSettings.setArrayIndex(ind);
mSettings.setValue("address", i.key());
mSettings.setValue("name", i.value());
ind++;
}
mSettings.endArray();
mSettings.beginWriteArray("profiles");
for (int i = 0; i < mProfiles.size(); ++i) {
MCCONF_TEMP cfg = mProfiles.value(i).value<MCCONF_TEMP>();
mSettings.setArrayIndex(i);
mSettings.setValue("current_min_scale", cfg.current_min_scale);
mSettings.setValue("current_max_scale", cfg.current_max_scale);
mSettings.setValue("erpm_or_speed_min", cfg.erpm_or_speed_min);
mSettings.setValue("erpm_or_speed_max", cfg.erpm_or_speed_max);
mSettings.setValue("duty_min", cfg.duty_min);
mSettings.setValue("duty_max", cfg.duty_max);
mSettings.setValue("watt_min", cfg.watt_min);
mSettings.setValue("watt_max", cfg.watt_max);
mSettings.setValue("name", cfg.name);
}
mSettings.endArray();
mSettings.beginWriteArray("pairedUuids");
for (int i = 0;i < mPairedUuids.size();i++) {
mSettings.setArrayIndex(i);
mSettings.setValue("uuid", mPairedUuids.at(i));
}
mSettings.endArray();
}
QVariantList VescInterface::getProfiles()
{
return mProfiles;
}
void VescInterface::addProfile(QVariant profile)
{
mProfiles.append(profile);
emit profilesUpdated();
}
void VescInterface::clearProfiles()
{
mProfiles.clear();
emit profilesUpdated();
}
void VescInterface::deleteProfile(int index)
{
if (index >= 0 && mProfiles.length() > index) {
mProfiles.removeAt(index);
emit profilesUpdated();
}
}
void VescInterface::moveProfileUp(int index)
{
if (index > 0 && index < mProfiles.size()) {
mProfiles.swap(index, index - 1);
emit profilesUpdated();
}
}
void VescInterface::moveProfileDown(int index)
{
if (index >= 0 && index < (mProfiles.size() - 1)) {
mProfiles.swap(index, index + 1);
emit profilesUpdated();
}
}
MCCONF_TEMP VescInterface::getProfile(int index)
{
MCCONF_TEMP conf = createMcconfTemp();
if (index >= 0 && mProfiles.length() > index) {
conf = mProfiles.value(index).value<MCCONF_TEMP>();
}
return conf;
}
void VescInterface::updateProfile(int index, QVariant profile)
{
if (index >= 0 && mProfiles.length() > index) {
mProfiles[index] = profile;
emit profilesUpdated();
}
}
bool VescInterface::isProfileInUse(int index)
{
MCCONF_TEMP conf = getProfile(index);
bool res = true;
if (!Utility::almostEqual(conf.current_max_scale,
mMcConfig->getParamDouble("l_current_max_scale"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.current_min_scale,
mMcConfig->getParamDouble("l_current_min_scale"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.duty_max,
mMcConfig->getParamDouble("l_max_duty"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.duty_min,
mMcConfig->getParamDouble("l_min_duty"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.watt_max,
mMcConfig->getParamDouble("l_watt_max"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.watt_min,
mMcConfig->getParamDouble("l_watt_min"), 0.0001)) {
res = false;
}
double speedFact = ((mMcConfig->getParamInt("si_motor_poles") / 2.0) * 60.0 *
mMcConfig->getParamDouble("si_gear_ratio")) /
(mMcConfig->getParamDouble("si_wheel_diameter") * M_PI);
if (!Utility::almostEqual(conf.erpm_or_speed_max * speedFact,
mMcConfig->getParamDouble("l_max_erpm"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.erpm_or_speed_min * speedFact,
mMcConfig->getParamDouble("l_min_erpm"), 0.0001)) {
res = false;
}
return res;
}
MCCONF_TEMP VescInterface::createMcconfTemp()
{
MCCONF_TEMP conf;
conf.name = "Unnamed Profile";
conf.current_min_scale = 1.0;
conf.current_max_scale = 1.0;
conf.duty_min = 0.05;
conf.duty_max = 0.95;
conf.erpm_or_speed_min = -5.0;
conf.erpm_or_speed_max = 5.0;
conf.watt_min = -500.0;
conf.watt_max = 500.0;
return conf;
}
void VescInterface::updateMcconfFromProfile(MCCONF_TEMP profile)
{
double speedFact = (((double)mMcConfig->getParamInt("si_motor_poles") / 2.0) * 60.0 *
mMcConfig->getParamDouble("si_gear_ratio")) /
(mMcConfig->getParamDouble("si_wheel_diameter") * M_PI);
mMcConfig->updateParamDouble("l_current_min_scale", profile.current_min_scale);
mMcConfig->updateParamDouble("l_current_max_scale", profile.current_max_scale);
mMcConfig->updateParamDouble("l_watt_min", profile.watt_min);
mMcConfig->updateParamDouble("l_watt_max", profile.watt_max);
mMcConfig->updateParamDouble("l_min_erpm", profile.erpm_or_speed_min * speedFact);
mMcConfig->updateParamDouble("l_max_erpm", profile.erpm_or_speed_max * speedFact);
mMcConfig->updateParamDouble("l_min_duty", profile.duty_min);
mMcConfig->updateParamDouble("l_max_duty", profile.duty_max);
}
QStringList VescInterface::getPairedUuids()
{
return mPairedUuids;
}
bool VescInterface::addPairedUuid(QString uuid)
{
bool res = false;
uuid = uuid.replace(" ", "").toUpper();
QRegularExpression hexMatcher("^[0-9A-F]{24}$",
QRegularExpression::CaseInsensitiveOption);
QRegularExpressionMatch match = hexMatcher.match(uuid);
if (!match.hasMatch()) {
emitMessageDialog("Add VESC",
"The UUID must consist of 24 hexadecimal characters.",
false, false);
return false;
}
if (hasPairedUuid(uuid)) {
emitMessageDialog("Add VESC",
"This VESC already is in your paired UUID list.",
true, false);
} else {
mPairedUuids.append(uuid);
emit pairingListUpdated();
res = true;
}
return res;
}
bool VescInterface::deletePairedUuid(QString uuid)
{
bool res = false;
uuid = uuid.replace(" ", "").toUpper();
for (int i = 0;i < mPairedUuids.size();i++) {
QString str = mPairedUuids.at(i);
if (str.replace(" ", "").toUpper() == uuid) {
mPairedUuids.removeAt(i);
emit pairingListUpdated();
res = true;
break;
}
}
return res;
}
void VescInterface::clearPairedUuids()
{
mPairedUuids.clear();
emit pairingListUpdated();
}
bool VescInterface::hasPairedUuid(QString uuid)
{
bool res = false;
uuid = uuid.replace(" ", "").toUpper();
for (int i = 0;i < mPairedUuids.size();i++) {
QString str = mPairedUuids.at(i);
if (str.replace(" ", "").toUpper() == uuid) {
res = true;
break;
}
}
return res;
}
QString VescInterface::getConnectedUuid()
{
QString res;
if (isPortConnected()) {
res = mUuidStr;
}
return res;
}
bool VescInterface::isIntroDone()
{
if (mSettings.contains("introVersion")) {
if (mSettings.value("introVersion").toInt() != VT_INTRO_VERSION) {
mSettings.setValue("intro_done", false);
}
} else {
mSettings.setValue("intro_done", false);
}
return mSettings.value("intro_done", false).toBool();
}
void VescInterface::setIntroDone(bool done)
{
mSettings.setValue("introVersion", VT_INTRO_VERSION);
mSettings.setValue("intro_done", done);
}
QString VescInterface::getLastTcpServer() const
{
return mLastTcpServer;
}
int VescInterface::getLastTcpPort() const
{
return mLastTcpPort;
}
bool VescInterface::swdEraseFlash()
{
auto waitBmEraseRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(20000);
auto conn = connect(mCommands, &Commands::bmEraseFlashAllRes, [&res,&loop](int erRes) {
res = erRes;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
mCommands->bmEraseFlashAll();
emit fwUploadStatus("Erasing flash...", 0.0, true);
int erRes = waitBmEraseRes();
if (erRes != 1) {
QString msg = "Unknown failure";
if (erRes == -10) {
msg = "Erase timed out";
} else if (erRes == -3) {
msg = "Erase failed";
} else if (erRes == -2) {
msg = "Could not recognize target";
} else if (erRes == -1) {
msg = "Not connected to target";
}
emitMessageDialog("SWD Upload", msg, false, false);
emit fwUploadStatus(msg, 0.0, false);
return false;
}
emit fwUploadStatus("Erase done", 0.0, false);
return true;
}
bool VescInterface::swdUploadFw(QByteArray newFirmware, uint32_t startAddr)
{
auto waitBmWriteRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(3000);
auto conn = connect(mCommands, &Commands::bmWriteFlashRes, [&res,&loop](int wrRes) {
res = wrRes;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
auto writeChunk = [this, &waitBmWriteRes](uint32_t addr, QByteArray chunk) {
for (int i = 0;i < 3;i++) {
mCommands->bmWriteFlash(addr, chunk);
int res = waitBmWriteRes();
if (res != -10) {
return res;
}
}
return -20;
};
mCancelSwdUpload = false;
uint32_t addr = startAddr;
uint32_t szTot = newFirmware.size();
while (newFirmware.size() > 0) {
int chunkSize = 256;
uint32_t sz = newFirmware.size() > chunkSize ? chunkSize : newFirmware.size();
int res = writeChunk(addr, newFirmware.mid(0, sz));
newFirmware.remove(0, sz);
addr += sz;
if (res == 1) {
emit fwUploadStatus("Uploading firmware over SWD", (double)(addr - startAddr) / (double)szTot, true);
} else {
QString msg = "Unknown failure";
if (res == -20) {
msg = "Timed out";
} else if (res == -2) {
msg = "Write failed";
} else if (res == -1) {
msg = "Not connected to target";
}
emitMessageDialog("SWD Upload", msg, false, false);
emit fwUploadStatus(msg, 0.0, false);
return false;
}
if (mCancelSwdUpload) {
emit fwUploadStatus("Upload cancelled", 0.0, false);
return false;
}
}
emit fwUploadStatus("Upload done", 1.0, false);
return true;
}
void VescInterface::swdCancel()
{
mCancelSwdUpload = true;
}
bool VescInterface::swdReboot()
{
auto waitBmReboot = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(3000);
auto conn = connect(mCommands, &Commands::bmRebootRes, [&res,&loop](int wrRes) {
res = wrRes;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
mCommands->bmReboot();
int res = waitBmReboot();
if (res == -10) {
QString msg = "Reboot: Unknown failure";
if (res == -10) {
msg = "Reboot: Timed out";
} else if (res == -1) {
msg = "Reboot: Not connected to target";
} else if (res == -2) {
msg = "Reboot: Flash done failed";
}
emitMessageDialog("SWD Upload", msg, false, false);
emit fwUploadStatus(msg, 1.0, false);
return false;
}
return true;
}
bool VescInterface::openRtLogFile(QString outDirectory)
{
if (!QDir(outDirectory).exists()) {
if (outDirectory.startsWith("file:/")) {
outDirectory.remove(0, 6);
}
}
if (!QDir(outDirectory).exists()) {
emitMessageDialog("Log to file",
"Output directory does not exist",
false, false);
return false;
}
QDateTime d = QDateTime::currentDateTime();
mRtLogFile.setFileName(QString("%1/%2-%3-%4_%5:%6:%7.csv").
arg(outDirectory).
arg(d.date().year(), 2, 10, QChar('0')).
arg(d.date().month(), 2, 10, QChar('0')).
arg(d.date().day(), 2, 10, QChar('0')).
arg(d.time().hour(), 2, 10, QChar('0')).
arg(d.time().minute(), 2, 10, QChar('0')).
arg(d.time().second(), 2, 10, QChar('0')));
bool res = mRtLogFile.open(QIODevice::WriteOnly | QIODevice::Text);
if (!res) {
emitMessageDialog("Log to file",
"Could not open file for writing.",
false, false);
}
return res;
}
void VescInterface::closeRtLogFile()
{
if (mRtLogFile.isOpen()) {
mRtLogFile.close();
}
}
bool VescInterface::isRtLogOpen()
{
return mRtLogFile.isOpen();
}
#ifdef HAS_SERIALPORT
QString VescInterface::getLastSerialPort() const
{
return mLastSerialPort;
}
int VescInterface::getLastSerialBaud() const
{
return mLastSerialBaud;
}
#endif
#ifdef HAS_BLUETOOTH
BleUart *VescInterface::bleDevice()
{
return mBleUart;
}
void VescInterface::storeBleName(QString address, QString name)
{
mBleNames.insert(address, name);
}
QString VescInterface::getBleName(QString address)
{
QString res;
if(mBleNames.contains(address)) {
res = mBleNames[address];
}
return res;
}
QString VescInterface::getLastBleAddr() const
{
return mLastBleAddr;
}
#endif
bool VescInterface::isPortConnected()
{
bool res = false;
#ifdef HAS_SERIALPORT
if (mSerialPort->isOpen()) {
res = true;
}
#endif
if (mTcpConnected) {
res = true;
}
#ifdef HAS_BLUETOOTH
if (mBleUart->isConnected()) {
res = true;
}
#endif
return res;
}
void VescInterface::disconnectPort()
{
#ifdef HAS_SERIALPORT
if(mSerialPort->isOpen()) {
mSerialPort->close();
updateFwRx(false);
}
#endif
if (mTcpConnected) {
mTcpSocket->close();
updateFwRx(false);
}
#ifdef HAS_BLUETOOTH
if (mBleUart->isConnected()) {
mBleUart->disconnectBle();
updateFwRx(false);
}
#endif
mFwRetries = 0;
}
bool VescInterface::reconnectLastPort()
{
if (mLastConnType == CONN_SERIAL) {
#ifdef HAS_SERIALPORT
return connectSerial(mLastSerialPort, mLastSerialBaud);
#else
return false;
#endif
} else if (mLastConnType == CONN_TCP) {
connectTcp(mLastTcpServer, mLastTcpPort);
return true;
} else if (mLastConnType == CONN_BLE) {
#ifdef HAS_BLUETOOTH
mBleUart->startConnect(mLastBleAddr);
#endif
return true;
} else {
#ifdef HAS_SERIALPORT
QList<VSerialInfo_t> ports = listSerialPorts();
if (!ports.isEmpty()) {
return connectSerial(ports.first().systemPath);
} else {
emit messageDialog(tr("Reconnect"), tr("No ports found"), false, false);
return false;
}
#else
emit messageDialog(tr("Reconnect"),
tr("Please specify the connection manually "
"the first time you are connecting."),
false, false);
return false;
#endif
}
}
bool VescInterface::autoconnect()
{
bool res = false;
#ifdef HAS_SERIALPORT
QList<VSerialInfo_t> ports = listSerialPorts();
mAutoconnectOngoing = true;
mAutoconnectProgress = 0.0;
disconnectPort();
disconnect(mCommands, SIGNAL(fwVersionReceived(int,int,QString,QByteArray,bool)),
this, SLOT(fwVersionReceived(int,int,QString,QByteArray,bool)));
for (int i = 0;i < ports.size();i++) {
VSerialInfo_t serial = ports[i];
if (!connectSerial(serial.systemPath)) {
continue;
}
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(500);
connect(mCommands, SIGNAL(fwVersionReceived(int,int,QString,QByteArray,bool)), &loop, SLOT(quit()));
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
if (timeoutTimer.isActive()) {
// If the timer is still running a firmware version was received.
res = true;
break;
} else {
mAutoconnectProgress = (double)i / (double)ports.size();
emit autoConnectProgressUpdated(mAutoconnectProgress, false);
disconnectPort();
}
}
connect(mCommands, SIGNAL(fwVersionReceived(int,int,QString,QByteArray,bool)),
this, SLOT(fwVersionReceived(int,int,QString,QByteArray,bool)));
#endif
emit autoConnectProgressUpdated(1.0, true);
emit autoConnectFinished();
mAutoconnectOngoing = false;
return res;
}
QString VescInterface::getConnectedPortName()
{
QString res = tr("Not connected");
bool connected = false;
#ifdef HAS_SERIALPORT
if (mSerialPort->isOpen()) {
res = tr("Connected (serial) to %1").arg(mSerialPort->portName());
connected = true;
}
#endif
if (mTcpConnected) {
res = tr("Connected (TCP) to %1:%2").arg(mLastTcpServer).arg(mLastTcpPort);
connected = true;
}
#ifdef HAS_BLUETOOTH
if (mBleUart->isConnected()) {
res = tr("Connected (BLE) to %1").arg(mLastBleAddr);
connected = true;
}
#endif
if (connected && mCommands->isLimitedMode()) {
res += tr(", limited mode");
}
return res;
}
bool VescInterface::connectSerial(QString port, int baudrate)
{
#ifdef HAS_SERIALPORT
bool found = false;
for (VSerialInfo_t ser: listSerialPorts()) {