Linux version up and running, with autorecover!

Hopefully the Windows compile hasn't been broken.  Fingers crossed!

Desktop Interface/Labrador.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.1.0, 2016-10-21T13:09:33. -->
+<!-- Written by QtCreator 4.1.0, 2016-10-24T11:24:04. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

Desktop Interface/Makefile

@@ -1166,6 +1166,7 @@ moc_mainwindow.cpp: ../../../Qt/5.7/gcc_64/include/QtWidgets/QMainWindow \
 		../../../Qt/5.7/gcc_64/include/QtPrintSupport/qtprintsupportversion.h \
 		build_linux/platformspecific.h \
 		gahnooslashlinuxusbdriver.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QMutex \
 		genericusbdriver.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QLabel \
 		../../../Qt/5.7/gcc_64/include/QtCore/QTimer \
@@ -1173,6 +1174,7 @@ moc_mainwindow.cpp: ../../../Qt/5.7/gcc_64/include/QtWidgets/QMainWindow \
 		xmega.h \
 		desktop_settings.h \
 		buffercontrol.h \
+		build_linux/libusb/libusb.h \
 		ui_mainwindow.h \
 		scoperangeenterdialog.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QDialog \
@@ -3547,6 +3549,9 @@ moc_gahnooslashlinuxusbdriver.cpp: ../../../Qt/5.7/gcc_64/include/QtWidgets/QWid
 		../../../Qt/5.7/gcc_64/include/QtCore/qfiledevice.h \
 		../../../Qt/5.7/gcc_64/include/QtGui/qvector2d.h \
 		../../../Qt/5.7/gcc_64/include/QtGui/qtouchdevice.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QThread \
+		../../../Qt/5.7/gcc_64/include/QtCore/qthread.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QMutex \
 		genericusbdriver.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QLabel \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/qlabel.h \
@@ -3555,8 +3560,6 @@ moc_gahnooslashlinuxusbdriver.cpp: ../../../Qt/5.7/gcc_64/include/QtWidgets/QWid
 		../../../Qt/5.7/gcc_64/include/QtCore/QTimer \
 		../../../Qt/5.7/gcc_64/include/QtCore/qtimer.h \
 		../../../Qt/5.7/gcc_64/include/QtCore/qbasictimer.h \
-		../../../Qt/5.7/gcc_64/include/QtCore/QThread \
-		../../../Qt/5.7/gcc_64/include/QtCore/qthread.h \
 		functiongencontrol.h \
 		../../../Qt/5.7/gcc_64/include/QtCore/QDir \
 		../../../Qt/5.7/gcc_64/include/QtCore/qdir.h \
@@ -3565,6 +3568,7 @@ moc_gahnooslashlinuxusbdriver.cpp: ../../../Qt/5.7/gcc_64/include/QtWidgets/QWid
 		xmega.h \
 		desktop_settings.h \
 		buffercontrol.h \
+		build_linux/libusb/libusb.h \
 		gahnooslashlinuxusbdriver.h \
 		../../../Qt/5.7/gcc_64/bin/moc
 	/home/esposch/Qt/5.7/gcc_64/bin/moc $(DEFINES) -I/home/esposch/Qt/5.7/gcc_64/mkspecs/linux-g++ -I'/home/esposch/git/Labrador/Desktop Interface' -I'/home/esposch/git/Labrador/Desktop Interface/build_linux' -I'/home/esposch/git/Labrador/Desktop Interface/build_linux/libusb' -I/home/esposch/Qt/5.7/gcc_64/include -I/home/esposch/Qt/5.7/gcc_64/include/QtPrintSupport -I/home/esposch/Qt/5.7/gcc_64/include/QtWidgets -I/home/esposch/Qt/5.7/gcc_64/include/QtGui -I/home/esposch/Qt/5.7/gcc_64/include/QtCore -I/usr/include/c++/5 -I/usr/include/x86_64-linux-gnu/c++/5 -I/usr/include/c++/5/backward -I/usr/lib/gcc/x86_64-linux-gnu/5/include -I/usr/local/include -I/usr/lib/gcc/x86_64-linux-gnu/5/include-fixed -I/usr/include/x86_64-linux-gnu -I/usr/include gahnooslashlinuxusbdriver.h -o moc_gahnooslashlinuxusbdriver.cpp
@@ -6086,6 +6090,7 @@ main.o: main.cpp mainwindow.h \
 		../../../Qt/5.7/gcc_64/include/QtPrintSupport/qtprintsupportversion.h \
 		build_linux/platformspecific.h \
 		gahnooslashlinuxusbdriver.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QMutex \
 		genericusbdriver.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QLabel \
 		../../../Qt/5.7/gcc_64/include/QtCore/QTimer \
@@ -6093,6 +6098,7 @@ main.o: main.cpp mainwindow.h \
 		xmega.h \
 		desktop_settings.h \
 		buffercontrol.h \
+		build_linux/libusb/libusb.h \
 		ui_mainwindow.h \
 		scoperangeenterdialog.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QDialog \
@@ -6586,6 +6592,7 @@ mainwindow.o: mainwindow.cpp mainwindow.h \
 		../../../Qt/5.7/gcc_64/include/QtPrintSupport/qtprintsupportversion.h \
 		build_linux/platformspecific.h \
 		gahnooslashlinuxusbdriver.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QMutex \
 		genericusbdriver.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QLabel \
 		../../../Qt/5.7/gcc_64/include/QtCore/QTimer \
@@ -6593,6 +6600,7 @@ mainwindow.o: mainwindow.cpp mainwindow.h \
 		xmega.h \
 		desktop_settings.h \
 		buffercontrol.h \
+		build_linux/libusb/libusb.h \
 		ui_mainwindow.h \
 		scoperangeenterdialog.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QDialog \
@@ -9511,6 +9519,9 @@ gahnooslashlinuxusbdriver.o: gahnooslashlinuxusbdriver.cpp gahnooslashlinuxusbdr
 		../../../Qt/5.7/gcc_64/include/QtCore/qfiledevice.h \
 		../../../Qt/5.7/gcc_64/include/QtGui/qvector2d.h \
 		../../../Qt/5.7/gcc_64/include/QtGui/qtouchdevice.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QThread \
+		../../../Qt/5.7/gcc_64/include/QtCore/qthread.h \
+		../../../Qt/5.7/gcc_64/include/QtCore/QMutex \
 		genericusbdriver.h \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/QLabel \
 		../../../Qt/5.7/gcc_64/include/QtWidgets/qlabel.h \
@@ -9519,8 +9530,6 @@ gahnooslashlinuxusbdriver.o: gahnooslashlinuxusbdriver.cpp gahnooslashlinuxusbdr
 		../../../Qt/5.7/gcc_64/include/QtCore/QTimer \
 		../../../Qt/5.7/gcc_64/include/QtCore/qtimer.h \
 		../../../Qt/5.7/gcc_64/include/QtCore/qbasictimer.h \
-		../../../Qt/5.7/gcc_64/include/QtCore/QThread \
-		../../../Qt/5.7/gcc_64/include/QtCore/qthread.h \
 		functiongencontrol.h \
 		../../../Qt/5.7/gcc_64/include/QtCore/QDir \
 		../../../Qt/5.7/gcc_64/include/QtCore/qdir.h \
@@ -9528,7 +9537,8 @@ gahnooslashlinuxusbdriver.o: gahnooslashlinuxusbdriver.cpp gahnooslashlinuxusbdr
 		../../../Qt/5.7/gcc_64/include/QtCore/QFile \
 		xmega.h \
 		desktop_settings.h \
-		buffercontrol.h
+		buffercontrol.h \
+		build_linux/libusb/libusb.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o gahnooslashlinuxusbdriver.o gahnooslashlinuxusbdriver.cpp
 
 qrc_resources.o: qrc_resources.cpp 

Desktop Interface/gahnooslashlinuxusbdriver.cpp

@@ -1,5 +1,7 @@
 #include "gahnooslashlinuxusbdriver.h"
 
+QMutex tcBlockMutex;
+
 gahnooSlashLinuxUsbDriver::gahnooSlashLinuxUsbDriver(QWidget *parent) : genericUsbDriver(parent)
 {
     qDebug() << "Making USB Driver invisible!!";
@@ -20,17 +22,24 @@ gahnooSlashLinuxUsbDriver::gahnooSlashLinuxUsbDriver(QWidget *parent) : genericU
     newDig(digitalPinState);
     usbIsoInit();
 
-
     psuTimer = new QTimer();
     psuTimer->setTimerType(Qt::PreciseTimer);
     psuTimer->start(PSU_PERIOD);
-    connect(psuTimer, SIGNAL(timeout()), this, SLOT(psuTick()));
+
+    recoveryTimer = new QTimer();
+    recoveryTimer->setTimerType(Qt::PreciseTimer);
+    recoveryTimer->start(RECOVERY_PERIOD);
+    connect(recoveryTimer, SIGNAL(timeout()), this, SLOT(recoveryTick()));
 }
 
 gahnooSlashLinuxUsbDriver::~gahnooSlashLinuxUsbDriver(void){
     qDebug() << "\n\ngahnooSlashLinuxUsbDriver destructor ran!";
     workerThread->quit();
-    workerThread->wait();
+    workerThread->deleteLater();
+    delete(isoHandler);
+    delete(psuTimer);
+    delete(recoveryTimer);
+    delete(isoTimer);
     libusb_release_interface(handle, 0);
     libusb_exit(ctx);
 }
@@ -73,6 +82,10 @@ void gahnooSlashLinuxUsbDriver::usbSendControl(uint8_t RequestType, uint8_t Requ
     if(error){
         qDebug("gahnooSlashLinuxUsbDriver::usbSendControl FAILED with error %s", libusb_error_name(error));
     } else qDebug() << "gahnooSlashLinuxUsbDriver::usbSendControl SUCCESS";
+    if(error == LIBUSB_ERROR_NO_DEVICE){
+        qDebug() << "Device not found.  Becoming an hero.";
+        killMe();
+    }
     return;
 }
 
@@ -81,7 +94,9 @@ unsigned char gahnooSlashLinuxUsbDriver::usbIsoInit(void){
 
     for(int n=0;n<NUM_FUTURE_CTX;n++){
         isoCtx[n] = libusb_alloc_transfer(ISO_PACKETS_PER_CTX);
-        libusb_fill_iso_transfer(isoCtx[n], handle, pipeID, dataBuffer[n], ISO_PACKET_SIZE*ISO_PACKETS_PER_CTX, ISO_PACKETS_PER_CTX, isoCallback, (void*)n, 4000);
+        transferCompleted[n].number = n;
+        transferCompleted[n].completed = false;
+        libusb_fill_iso_transfer(isoCtx[n], handle, pipeID, dataBuffer[n], ISO_PACKET_SIZE*ISO_PACKETS_PER_CTX, ISO_PACKETS_PER_CTX, isoCallback, (void*)&transferCompleted[n], 4000);
         libusb_set_iso_packet_lengths(isoCtx[n], ISO_PACKET_SIZE);
         error = libusb_submit_transfer(isoCtx[n]);
         if(error){
@@ -102,8 +117,12 @@ unsigned char gahnooSlashLinuxUsbDriver::usbIsoInit(void){
     isoHandler->ctx = ctx;
     isoHandler->moveToThread(workerThread);
     connect(workerThread, SIGNAL(started()), isoHandler, SLOT(handle()));
-    //workerThread->start();
 
+    workerThread->start();
+
+    qDebug() << "MAIN THREAD ID" << QThread::currentThreadId();
+    //QThread::sleep(1);
+    qDebug() << "Iso Stack initialised!";
     return 1;
 }
 
@@ -117,23 +136,75 @@ void gahnooSlashLinuxUsbDriver::isoTimerTick(void){
     if((timerCount<20) && (timerCount > 10)) strcpy(subString, "th");
 
     //qDebug("\n\nThis is the %d%s Tick!", timerCount, subString);
-    return;
 
-    int n;
+    int n, error, earliest = MAX_OVERLAP;
+    qint64 minFrame = 9223372036854775807; //max value for 64 bit signed
+
+    unsigned int i, packetLength = 0;
+    unsigned char* packetPointer;
+
+    tcBlockMutex.lock();
     for (n=0; n<NUM_FUTURE_CTX; n++){
-        if(isoCtx[n]->status==LIBUSB_TRANSFER_COMPLETED){
+        if(transferCompleted[n].completed){
-            qDebug("Transfer %d is complete!!", n);
+            //qDebug("Transfer %d is complete!!", n);
+            if(transferCompleted[n].timeReceived < minFrame){
+                minFrame = transferCompleted[n].timeReceived;
+                earliest = n;
             }
         }
+    }
+    if (earliest == MAX_OVERLAP){
+        tcBlockMutex.unlock();
+        return;
+    }
+
+    //Copy iso data into buffer
+    for(i=0;i<isoCtx[earliest]->num_iso_packets;i++){
+        packetPointer = libusb_get_iso_packet_buffer_simple(isoCtx[earliest], i);
+        //qDebug() << packetLength;
+        memcpy(&(outBuffers[currentWriteBuffer][packetLength]), packetPointer, isoCtx[earliest]->iso_packet_desc[i].actual_length);
+        packetLength += isoCtx[earliest]->iso_packet_desc[i].actual_length;
+    }
+
+    //Control data for isoDriver
+    bufferLengths[currentWriteBuffer] = packetLength;
+    currentWriteBuffer = !currentWriteBuffer;
+
+    //Setup next transfer
+    transferCompleted[earliest].completed = false;
+    error = libusb_submit_transfer(isoCtx[earliest]);
+    if(error){
+        qDebug() << "libusb_submit_transfer FAILED";
+        qDebug() << "ERROR" << libusb_error_name(error);
+    } //else qDebug() << "isoCtx submitted successfully!";
+    tcBlockMutex.unlock();
+    upTick();
    return;
 }
 
 char *gahnooSlashLinuxUsbDriver::isoRead(unsigned int *newLength){
-    *(newLength) = 0;
+    //*(newLength) = 0;
-    return (char*) NULL;
+    //return (char*) NULL;
+    qDebug() << "gahnooSlashLinuxUsbDriver::isoRead";
+    *(newLength) = bufferLengths[!currentWriteBuffer];
+    return (char*) outBuffers[(unsigned char) !currentWriteBuffer];
+}
+
+void gahnooSlashLinuxUsbDriver::recoveryTick(void){
+    avrDebug();
 }
 
 static void LIBUSB_CALL isoCallback(struct libusb_transfer * transfer){
-    qDebug() << "CALLBACK" << (long) transfer->user_data;
+    tcBlockMutex.lock();
+    //int number = ((tcBlock *)transfer->user_data)->number;
+    //bool completed = ((tcBlock *)transfer->user_data)->completed;
+
+    //qDebug() << "CALLBACK" << number;
+    //qDebug() << completed;
+
+    ((tcBlock *)transfer->user_data)->completed = true;
+    ((tcBlock *)transfer->user_data)->timeReceived = QDateTime::currentMSecsSinceEpoch();
+    //qDebug() << ((tcBlock *)transfer->user_data)->timeReceived;
+    tcBlockMutex.unlock();
     return;
 }

Desktop Interface/gahnooslashlinuxusbdriver.h

@@ -3,17 +3,21 @@
 
 #include <QWidget>
 #include <QThread>
+#include <QMutex>
+#include <QDateTime>
 
 #include "genericusbdriver.h"
 #include "libusb.h"
 
-/*while(1){
+#define RECOVERY_PERIOD 250
-    if(libusb_event_handling_ok(ctx)){
-        libusb_handle_events(ctx);
-        qDebug() << "HANDLED";
-    }
-}*/
 
+typedef struct tcBlock{
+    int number;
+    bool completed;
+    qint64 timeReceived;
+} tcBlock;
+
+extern QMutex tcBlockMutex;
 
 class worker : public QObject
 {
@@ -25,7 +29,13 @@ public:
     libusb_context *ctx;
 public slots:
     void handle(){
-        while(1);
+        qDebug() << "SUB THREAD ID" << QThread::currentThreadId();
+        while(1){
+            if(libusb_event_handling_ok(ctx)){
+                libusb_handle_events(ctx);
+                //qDebug() << "HANDLED";
+            }
+        }
     }
 };
 
@@ -42,8 +52,10 @@ private:
     libusb_context *ctx;
     libusb_device_handle *handle = NULL;
     unsigned char pipeID = 0x83;
+    QTimer *recoveryTimer;
     //USBIso Vars
     libusb_transfer *isoCtx[NUM_FUTURE_CTX];
+    tcBlock transferCompleted[NUM_FUTURE_CTX];
     unsigned char dataBuffer[NUM_FUTURE_CTX][ISO_PACKET_SIZE*ISO_PACKETS_PER_CTX];
     QTimer *isoTimer;
     unsigned char currentWriteBuffer = 0;
@@ -56,6 +68,7 @@ private:
 signals:
 public slots:
     void isoTimerTick(void);
+    void recoveryTick(void);
 };
 
 static void LIBUSB_CALL isoCallback(struct libusb_transfer *transfer);

Desktop Interface/isodriver.cpp

@@ -58,7 +58,9 @@ void isoDriver::timerTick(void){
     total_read += length;
 
     if (length==0){
-        //free(isoTemp);
+        //Zero length packet means something's gone wrong.  Probably a disconnect.
+        //qDebug() << "Zero length iso packet.  An hero!";
+        //driver->killMe();
         return;
     }
 

Desktop Interface/moc_gahnooslashlinuxusbdriver.cpp

@@ -109,8 +109,8 @@ int worker::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     return _id;
 }
 struct qt_meta_stringdata_gahnooSlashLinuxUsbDriver_t {
-    QByteArrayData data[3];
+    QByteArrayData data[4];
-    char stringdata0[40];
+    char stringdata0[53];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -121,11 +121,12 @@ static const qt_meta_stringdata_gahnooSlashLinuxUsbDriver_t qt_meta_stringdata_g
     {
 QT_MOC_LITERAL(0, 0, 25), // "gahnooSlashLinuxUsbDriver"
 QT_MOC_LITERAL(1, 26, 12), // "isoTimerTick"
-QT_MOC_LITERAL(2, 39, 0) // ""
+QT_MOC_LITERAL(2, 39, 0), // ""
+QT_MOC_LITERAL(3, 40, 12) // "recoveryTick"
 
     },
     "gahnooSlashLinuxUsbDriver\0isoTimerTick\0"
-    ""
+    "\0recoveryTick"
 };
 #undef QT_MOC_LITERAL
 
@@ -135,7 +136,7 @@ static const uint qt_meta_data_gahnooSlashLinuxUsbDriver[] = {
        7,       // revision
        0,       // classname
        0,    0, // classinfo
-       1,   14, // methods
+       2,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
@@ -143,9 +144,11 @@ static const uint qt_meta_data_gahnooSlashLinuxUsbDriver[] = {
        0,       // signalCount
 
  // slots: name, argc, parameters, tag, flags
-       1,    0,   19,    2, 0x0a /* Public */,
+       1,    0,   24,    2, 0x0a /* Public */,
+       3,    0,   25,    2, 0x0a /* Public */,
 
  // slots: parameters
+    QMetaType::Void,
     QMetaType::Void,
 
        0        // eod
@@ -158,6 +161,7 @@ void gahnooSlashLinuxUsbDriver::qt_static_metacall(QObject *_o, QMetaObject::Cal
         Q_UNUSED(_t)
         switch (_id) {
         case 0: _t->isoTimerTick(); break;
+        case 1: _t->recoveryTick(); break;
         default: ;
         }
     }
@@ -189,13 +193,13 @@ int gahnooSlashLinuxUsbDriver::qt_metacall(QMetaObject::Call _c, int _id, void *
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 1)
+        if (_id < 2)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 1;
+        _id -= 2;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 1)
+        if (_id < 2)
             *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 1;
+        _id -= 2;
     }
     return _id;
 }