Support common serial devices.

trikControl/configs/kernel-4.14/model-config.xml

@@ -139,9 +139,13 @@ Note that device, even if listed here, may fail by itself, then it also will not
 	</soundSensor>
 	-->
 
-        <lidarPort>
-                <lidar file="/dev/ttyS1" />
-        </lidarPort>
+        <serialPort>
+            <commonSerialDevice file="/dev/ttyS1" />
+        </serialPort>
+
+<!--        <usbPort>
+            <commonSerialDevice file="/dev/ttyUSB0" />
+        </usbPort>-->
 
         <irCameraPort>
                 <irCamera />

trikControl/configs/kernel-4.14/system-config.xml

@@ -72,7 +72,7 @@ equal to its class name.
 		<rangeSensor commonModule="hcsr04" minValue="0" maxValue="100" filter="median3" />
 		<digitalSensor />
 		<fifo />
-                <lidar />
+                <serialDevice />
                 <iioDevice />
 		<lineSensor script="/etc/init.d/line-sensor-ov7670" inputFile="/run/line-sensor.in.fifo" outputFile="/run/line-sensor.out.fifo" toleranceFactor="1.0" />
 		<objectSensor script="/etc/init.d/object-sensor-ov7670" inputFile="/run/object-sensor.in.fifo" outputFile="/run/object-sensor.out.fifo" toleranceFactor="1.0" />
@@ -177,7 +177,8 @@ equal to its class name.
 		<fifo port="soundSensor" file="/home/root/trik/soundSensor.fifo" />
                 <iioDevice port="boardAccelPort" />
                 <iioDevice port="boardGyroPort" />
-                <lidar port="lidarPort" file="/dev/ttyUSB0" />
+                <serialDevice port="serialPort"/>
+                <serialDevice port="usbPort"/>
                 <irCamera port="irCameraPort" i2cAddress="0x33" m="3" n="3" />
 	</devicePorts>
 
@@ -225,7 +226,9 @@ equal to its class name.
 
                 <accelerometer class="iioDevice" deviceFile="/dev/iio:device0" scanType="be:s14/16>>2"/>
                 <gyroscope class="iioDevice" deviceFile="/dev/iio:device1" scanType="le:s16/16>>0" modelNameFile="/sys/bus/iio/devices/iio:device1/name"/>
-	</deviceTypes>
+                <lidar class="serialDevice" />
+                <commonSerialDevice class="serialDevice" />
+        </deviceTypes>
 
 	<!-- Format for playSound command, used to play .wav files. %1 designates file name to be played. -->
 	<playWavFile command="aplay --quiet &quot;%1&quot; &amp;" />

trikControl/include/trikControl/brickInterface.h

@@ -38,6 +38,7 @@
 #include "lidarInterface.h"
 #include "i2cDeviceInterface.h"
 #include "irCameraInterface.h"
+#include "serialDeviceInterface.h"
 
 #include <trikControl/trikControlDeclSpec.h>
 
@@ -135,6 +136,8 @@ public Q_SLOTS:
 	/// Returns i2c device object
 	Q_INVOKABLE virtual trikControl::I2cDeviceInterface *i2c(int bus, int address, int regSize = 1) = 0;
 
+	Q_INVOKABLE virtual trikControl::SerialDeviceInterface *serialDevice(QString port) = 0;
+
 	/// Returns QVector<uin8_t> with image using camera on given port (video0 or video1).
 	Q_INVOKABLE virtual QVector<uint8_t> getStillImage() = 0;
 

trikControl/include/trikControl/serialDeviceInterface.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <QtCore/QObject>
+#include <QVector>
+#include "deviceInterface.h"
+
+#include <trikControl/trikControlDeclSpec.h>
+
+namespace trikControl {
+
+class TRIKCONTROL_EXPORT SerialDeviceInterface : public QObject, public DeviceInterface
+{
+	Q_OBJECT
+
+public :
+	virtual int writeByte(const char byte) = 0;
+	virtual int writeArray(const QByteArray data) = 0;
+	virtual QByteArray read(const int maxLen) = 0;
+	virtual int read(char *data, int maxLen) = 0;
+	virtual int readByte() = 0;
+	virtual QByteArray readAll() = 0;
+	virtual void begin(int baud) = 0;
+	virtual int available() = 0;
+	virtual bool atEnd() = 0;
+	virtual void init() = 0;
+	virtual void enableConnect() = 0;
+
+Q_SIGNALS:
+	void newData();
+
+};
+
+}
+
+Q_DECLARE_METATYPE(trikControl::SerialDeviceInterface *)

trikControl/src/brick.cpp

@@ -57,6 +57,8 @@
 #include "mspI2cCommunicator.h"
 #include "lidar.h"
 #include "irCamera.h"
+#include "serialDeviceInterface.h"
+#include "serialDevice.h"
 
 #include "mspBusAutoDetector.h"
 #include "moduleLoader.h"
@@ -460,6 +462,15 @@ I2cDeviceInterface *Brick::smBusI2c(int bus, int address)
 			       [this](){ return mHardwareAbstraction->createMspI2c();});
 }
 
+SerialDeviceInterface *Brick::serialDevice(QString port)
+{
+	if (mSerialDevices.contains(port)) {
+		return mSerialDevices[port];
+	} else {
+		return nullptr;
+	}
+}
+
 QVector<uint8_t> Brick::getStillImage()
 {
 	if (!mCamera)
@@ -625,8 +636,13 @@ void Brick::createDevice(const QString &port)
 			connect(mSoundSensors[port], &SoundSensor::stopped, this, &Brick::stopped);
 		} else if (deviceClass == "fifo") {
 			mFifos.insert(port, new Fifo(port, mConfigurer, *mHardwareAbstraction));
-		} else if (deviceClass == "lidar") {
-			mLidars.insert(port, new Lidar(port, mConfigurer, *mHardwareAbstraction));
+		} else if (deviceClass == "serialDevice") {
+			const auto &deviceType = mConfigurer.deviceType(port);
+			if (deviceType == "lidar") {
+				mLidars.insert(port, new Lidar(new SerialDevice(port, mConfigurer), *mHardwareAbstraction));
+			} else if (deviceType == "commonSerialDevice") {
+				mSerialDevices.insert(port, new SerialDevice(port, mConfigurer));
+			}
 		} else if (deviceClass == "camera") {
 			QScopedPointer<CameraDeviceInterface> tmp (
 						new CameraDevice(port, mMediaPath, mConfigurer, *mHardwareAbstraction)

trikControl/src/brick.h

@@ -128,6 +128,8 @@ public Q_SLOTS:
 
 	I2cDeviceInterface *smBusI2c(int bus, int address) override;
 
+	SerialDeviceInterface *serialDevice(QString port) override;
+
 	QVector<uint8_t> getStillImage() override;
 
 	SoundSensorInterface *soundSensor(const QString &port) override;
@@ -202,6 +204,7 @@ public Q_SLOTS:
 	QHash<QString, Fifo *> mFifos;  // Has ownership.
 	QHash<QString, EventDeviceInterface *> mEventDevices;  // Has ownership.
 	QHash<uint16_t, I2cDeviceInterface *> mI2cDevices;  // Has ownership.
+	QHash<QString, SerialDeviceInterface *> mSerialDevices; // Has ownership.
 
 	QString mPlayWavFileCommand;
 	QString mPlayMp3FileCommand;

trikControl/src/lidar.cpp

@@ -14,13 +14,11 @@
 
 #include "lidar.h"
 
-#include <trikKernel/configurer.h>
-
 using namespace trikControl;
 
-Lidar::Lidar(const QString &port, const trikKernel::Configurer &configurer
+Lidar::Lidar(SerialDeviceInterface *serialDevice
 		, trikHal::HardwareAbstractionInterface &hardwareAbstraction)
-	: mLidarWorker(new LidarWorker(configurer.attributeByPort(port, "file"), hardwareAbstraction))
+	: mLidarWorker(new LidarWorker(serialDevice, hardwareAbstraction))
 {
 	mLidarWorker->moveToThread(&mWorkerThread);
 

trikControl/src/lidar.h

@@ -22,6 +22,7 @@
 #include "lidarWorker.h"
 
 #include <trikControl/trikControlDeclSpec.h>
+#include "serialDeviceInterface.h"
 
 namespace trikKernel {
 class Configurer;
@@ -42,7 +43,7 @@ class Lidar : public LidarInterface
 	/// Constructor.
 	/// @param port - port on which this sensor is configured.
 	/// @param configurer - configurer object containing preparsed XML files with lidar parameters.
-	Lidar(const QString &port, const trikKernel::Configurer &configurer
+	Lidar(SerialDeviceInterface *serialDevice
 			, trikHal::HardwareAbstractionInterface &hardwareAbstraction);
 	~Lidar() override;
 

trikControl/src/lidarWorker.cpp

@@ -51,12 +51,12 @@ static uint16_t get_unaligned_be16(const void *p) {
 	return (((uint16_t)data[0]) << 8) + data[1];
 }
 
-trikControl::LidarWorker::LidarWorker(const QString &fileName
+trikControl::LidarWorker::LidarWorker(SerialDeviceInterface *serialDevice
 					, const trikHal::HardwareAbstractionInterface &)
-	: mSerial(fileName)
+	: mSerialDevice(serialDevice)
 	, mLidarChunk(new uint8_t[LIDAR_DATA_CHUNK_SIZE])
 	, mResult(ANGLES_RAW_NUMBER, 0)
-	, mState("Lidar on " + fileName)
+	, mState("Lidar on ")
 {
 	mState.start();
 	mWaitForInit.acquire(1);
@@ -73,41 +73,12 @@ LidarWorker::Status LidarWorker::status() const
 
 void LidarWorker::init()
 {
-	// TODO: refactor TRIK system config
-	// quick-and-dirty hack to avoid serial port misuse
-	if (mSerial.portName() == "ttyS1" ||
-	    mSerial.portName() == "/dev/ttyS1") {
-		QFile consoleConfig("/etc/default/ttyS1");
-		if (consoleConfig.open(QIODevice::ReadOnly)) {
-			QTextStream in(&consoleConfig);
-			QString line = in.readLine();
-			if (line != "LINE_PROTOCOL=lidar" &&
-			    line != "LINE_PROTOCOL=nothing") {
-				QLOG_ERROR() << "Lidar: the serial port ttyS1 is not designated for lidar";
-				mState.fail();
-				mWaitForInit.release(1);
-				return;
-			}
-		}
-	}
-
-	if (!mSerial.open(QIODevice::ReadOnly)) {
-		QLOG_ERROR() << "Lidar: failed to open serial port " << mSerial.portName()
-		             << " in read-only mode: " << mSerial.error();
-		mState.fail();
-		mWaitForInit.release(1);
-		return;
-	}
-	mSerial.setBaudRate(230400);
-	mSerial.setDataBits(QSerialPort::Data8);
-	mSerial.setParity(QSerialPort::NoParity);
-	mSerial.setStopBits(QSerialPort::OneStop);
-	mSerial.setFlowControl(QSerialPort::NoFlowControl);
+	mSerialDevice->enableConnect();
 
-	connect(&mSerial, &QSerialPort::readyRead, this, &LidarWorker::readData);
+	connect(mSerialDevice, &SerialDeviceInterface::newData, this, &LidarWorker::readData);
 	mState.ready();
 
-	QLOG_INFO() << "Lidar: opened serial port" << mSerial.portName();
+	QLOG_INFO() << "Lidar inited";
 	mWaitForInit.release(1);
 }
 
@@ -139,13 +110,13 @@ void LidarWorker::readData()
 	uint8_t bytes[256];
 	auto s = reinterpret_cast<struct Delta2ALayout*>(mLidarChunk.data());
 
-	while (!mSerial.atEnd()) {
+	while (!mSerialDevice->atEnd()) {
 		// read data block from serial port
-		auto bytesRead = mSerial.read((char *)bytes, sizeof(bytes));
+		auto bytesRead = mSerialDevice->read((char *)bytes, sizeof(bytes));
 		if (bytesRead == 0)
 			return;
 		if (bytesRead < 0) {
-			QLOG_ERROR() << "Lidar: read failed: " << mSerial.error() << " in " << mSerial.portName();
+			QLOG_ERROR() << "Lidar: read failed";
 			return;
 		}
 

trikControl/src/lidarWorker.h

@@ -24,6 +24,7 @@
 #include "deviceState.h"
 
 #include <trikHal/hardwareAbstractionInterface.h>
+#include "serialDeviceInterface.h"
 
 namespace trikControl {
 
@@ -36,7 +37,7 @@ class LidarWorker : public QObject, public DeviceInterface
 	/// Constructor.
 	/// @param fileName - name of a FIFO file.
 	/// @param hardwareAbstraction - interface to underlying hardware or operating system capabilities of a robot.
-	explicit LidarWorker(const QString &fileName, const trikHal::HardwareAbstractionInterface &hardwareAbstraction);
+	explicit LidarWorker(SerialDeviceInterface *serialDevice, const trikHal::HardwareAbstractionInterface &hardwareAbstraction);
 	~LidarWorker();
 
 	Status status() const override;
@@ -63,8 +64,7 @@ private Q_SLOTS:
 
 	bool checkChecksum(const uint8_t *data, size_t size);
 
-	/// serial port QT object
-	QSerialPort mSerial;
+	SerialDeviceInterface *mSerialDevice;
 
 	/// buffer for unparsed raw data chunks from serial port
 	QScopedArrayPointer<uint8_t> mLidarChunk;