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Comms: Add BluetoothLE Link #13340

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1,893 changes: 1,666 additions & 227 deletions src/Comms/BluetoothLink.cc
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282 changes: 194 additions & 88 deletions src/Comms/BluetoothLink.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,26 @@

#pragma once

#include <atomic>

#include <QtBluetooth/QBluetoothAddress>
#include <QtBluetooth/QBluetoothDeviceDiscoveryAgent>
#include <QtBluetooth/QBluetoothDeviceInfo>
#ifdef Q_OS_IOS
#include <QtBluetooth/QBluetoothServiceDiscoveryAgent>
#endif
#include <QtBluetooth/QBluetoothServiceInfo>
#include <QtBluetooth/QBluetoothSocket>
#include <QtBluetooth/QBluetoothUuid>
#include <QtBluetooth/QBluetoothLocalDevice>
#include <QtBluetooth/QBluetoothServiceInfo>
#include <QtBluetooth/QBluetoothServiceDiscoveryAgent>
#include <QtBluetooth/QLowEnergyController>
#include <QtBluetooth/QLowEnergyService>
#include <QtBluetooth/QLowEnergyCharacteristic>
#include <QtCore/QList>
#include <QtCore/QLoggingCategory>
#include <QtCore/QPointer>
#include <QtCore/QQueue>
#include <QtCore/QString>
#include <QtCore/QTimer>
#include <QtCore/QVariantList>
#include <QtQmlIntegration/QtQmlIntegration>

#include "LinkConfiguration.h"
#include "LinkInterface.h"
Expand All @@ -31,71 +39,62 @@ Q_DECLARE_LOGGING_CATEGORY(BluetoothLinkLog)

/*===========================================================================*/

struct BluetoothData
{
BluetoothData() = default;
#ifdef Q_OS_IOS
BluetoothData(const QString &name_, QBluetoothUuid uuid_)
: uuid(uuid_)
#else
BluetoothData(const QString &name_, QBluetoothAddress address_)
: address(address_)
#endif
, name(name_)
{}

BluetoothData(const BluetoothData &other)
{
*this = other;
}

bool operator==(const BluetoothData &other) const
{
#ifdef Q_OS_IOS
return ((name == other.name) && (uuid == other.uuid));
#else
return ((name == other.name) && (address == other.address));
#endif
}

BluetoothData &operator=(const BluetoothData &other)
{
name = other.name;
#ifdef Q_OS_IOS
uuid = other.uuid;
#else
address = other.address;
#endif
return *this;
}

QString name;
#ifdef Q_OS_IOS
QBluetoothUuid uuid;
#else
QBluetoothAddress address;
#endif
};

/*===========================================================================*/

class BluetoothConfiguration : public LinkConfiguration
{
Q_OBJECT

Q_PROPERTY(QString deviceName READ deviceName NOTIFY deviceChanged)
Q_PROPERTY(QString address READ address NOTIFY deviceChanged)
Q_PROPERTY(QStringList nameList READ nameList NOTIFY nameListChanged)
Q_PROPERTY(bool scanning READ scanning NOTIFY scanningChanged)
QML_ELEMENT
QML_UNCREATABLE("")
Q_PROPERTY(BluetoothMode mode READ mode WRITE setMode NOTIFY modeChanged)
Q_PROPERTY(QString deviceName READ deviceName NOTIFY deviceChanged)
Q_PROPERTY(QString address READ address NOTIFY deviceChanged)
Q_PROPERTY(QStringList nameList READ nameList NOTIFY nameListChanged)
Q_PROPERTY(QVariantList devicesModel READ devicesModel NOTIFY devicesModelChanged)
Q_PROPERTY(bool scanning READ scanning NOTIFY scanningChanged)
Q_PROPERTY(QString serviceUuid READ serviceUuid WRITE setServiceUuid NOTIFY serviceUuidChanged)
Q_PROPERTY(QString readUuid READ readUuid WRITE setReadUuid NOTIFY readUuidChanged)
Q_PROPERTY(QString writeUuid READ writeUuid WRITE setWriteUuid NOTIFY writeUuidChanged)
Q_PROPERTY(qint16 connectedRssi READ connectedRssi NOTIFY connectedRssiChanged)
Q_PROPERTY(qint16 selectedRssi READ selectedRssi NOTIFY selectedRssiChanged)
Q_PROPERTY(bool adapterAvailable READ isAdapterAvailable NOTIFY adapterStateChanged)
Q_PROPERTY(bool adapterPoweredOn READ isAdapterPoweredOn NOTIFY adapterStateChanged)
Q_PROPERTY(QString adapterName READ getAdapterName NOTIFY adapterStateChanged)
Q_PROPERTY(QString adapterAddress READ getAdapterAddress NOTIFY adapterStateChanged)
Q_PROPERTY(QString hostMode READ getHostMode NOTIFY adapterStateChanged)

public:
explicit BluetoothConfiguration(const QString &name, QObject *parent = nullptr);
explicit BluetoothConfiguration(const BluetoothConfiguration *copy, QObject *parent = nullptr);
virtual ~BluetoothConfiguration();
~BluetoothConfiguration() override;

enum class BluetoothMode {
ModeClassic,
ModeLowEnergy
};
Q_ENUM(BluetoothMode)

Q_INVOKABLE void startScan();
Q_INVOKABLE void stopScan() const;
Q_INVOKABLE void stopScan();
Q_INVOKABLE void setDevice(const QString &name);
Q_INVOKABLE void setDeviceByAddress(const QString &address);

// Pairing support (Classic Bluetooth only)
Q_INVOKABLE void requestPairing(const QString &address);
Q_INVOKABLE void removePairing(const QString &address);
Q_INVOKABLE QString getPairingStatus(const QString &address) const;

// Adapter information
Q_INVOKABLE bool isAdapterAvailable() const;
Q_INVOKABLE QString getAdapterAddress() const;
Q_INVOKABLE QString getAdapterName() const;
Q_INVOKABLE bool isAdapterPoweredOn() const;
Q_INVOKABLE QVariantList getAllPairedDevices() const;
Q_INVOKABLE QVariantList getConnectedDevices() const;
Q_INVOKABLE void powerOnAdapter();
Q_INVOKABLE void powerOffAdapter();
Q_INVOKABLE void setAdapterDiscoverable(bool discoverable);
Q_INVOKABLE QVariantList getAllAvailableAdapters() const;
Q_INVOKABLE void selectAdapter(const QString &address);
Q_INVOKABLE QString getHostMode() const;

LinkType type() const override { return LinkConfiguration::TypeBluetooth; }
void copyFrom(const LinkConfiguration *source) override;
Expand All @@ -104,33 +103,85 @@ class BluetoothConfiguration : public LinkConfiguration
QString settingsURL() const override { return QStringLiteral("BluetoothSettings.qml"); }
QString settingsTitle() const override;

BluetoothData device() const { return _device; }
QString deviceName() const { return _device.name; }
#ifdef Q_OS_IOS
QString address() const { return QString(); };
#else
QString address() const { return _device.address.toString(); };
#endif
QStringList nameList() const { return _nameList; }
BluetoothMode mode() const { return _mode; }
void setMode(BluetoothMode mode);

const QBluetoothDeviceInfo& device() const { return _device; }
QString deviceName() const { return _device.name(); }
QString address() const { return _device.address().toString(); }
const QStringList& nameList() const { return _nameList; }
QVariantList devicesModel() const;
bool scanning() const;
qint16 connectedRssi() const { return _connectedRssi; }
void setConnectedRssi(qint16 rssi);
qint16 selectedRssi() const;

// BLE specific settings
QString serviceUuid() const { return _serviceUuid.toString(); }
void setServiceUuid(const QString &uuid);
QString readUuid() const { return _readCharacteristicUuid.toString(); }
void setReadUuid(const QString &uuid);
QString writeUuid() const { return _writeCharacteristicUuid.toString(); }
void setWriteUuid(const QString &uuid);

const QBluetoothUuid& readCharacteristicUuid() const { return _readCharacteristicUuid; }
const QBluetoothUuid& writeCharacteristicUuid() const { return _writeCharacteristicUuid; }

static bool isBluetoothAvailable();

// Known BLE UART-like service UUIDs
static inline const QBluetoothUuid NORDIC_UART_SERVICE{QStringLiteral("6e400001-b5a3-f393-e0a9-e50e24dcca9e")};
static inline const QBluetoothUuid NORDIC_UART_RX_CHAR{QStringLiteral("6e400003-b5a3-f393-e0a9-e50e24dcca9e")};
static inline const QBluetoothUuid NORDIC_UART_TX_CHAR{QStringLiteral("6e400002-b5a3-f393-e0a9-e50e24dcca9e")};
static inline const QBluetoothUuid TI_SENSORTAG_SERVICE{QStringLiteral("0000ffe0-0000-1000-8000-00805f9b34fb")};
static inline const QBluetoothUuid TI_SENSORTAG_CHAR{QStringLiteral("0000ffe1-0000-1000-8000-00805f9b34fb")};

signals:
void modeChanged();
void deviceChanged();
void nameListChanged();
void devicesModelChanged();
void scanningChanged();
void serviceUuidChanged();
void readUuidChanged();
void writeUuidChanged();
void connectedRssiChanged();
void selectedRssiChanged();
void errorOccurred(const QString &errorString);
void adapterStateChanged();

private slots:
void _deviceDiscovered(const QBluetoothDeviceInfo &info);
void _onSocketErrorOccurred(QBluetoothDeviceDiscoveryAgent::Error error);
void _onDiscoveryErrorOccurred(QBluetoothDeviceDiscoveryAgent::Error error);
void _onDiscoveryFinished();
void _deviceUpdated(const QBluetoothDeviceInfo &info, QBluetoothDeviceInfo::Fields updatedFields);

// QBluetoothLocalDevice slots
void _onHostModeStateChanged(QBluetoothLocalDevice::HostMode mode);
void _onDeviceConnected(const QBluetoothAddress &address);
void _onDeviceDisconnected(const QBluetoothAddress &address);
void _onPairingFinished(const QBluetoothAddress &address, QBluetoothLocalDevice::Pairing pairing);
void _onLocalDeviceErrorOccurred(QBluetoothLocalDevice::Error error);

private:
void _initDeviceDiscoveryAgent();

QList<BluetoothData> _deviceList;
BluetoothData _device{};
void _updateDeviceList();
void _applySelectedDevice(const QBluetoothDeviceInfo &info);
bool _createLocalDevice(const QBluetoothAddress &address);
void _connectLocalDeviceSignals();

BluetoothMode _mode = BluetoothMode::ModeClassic;
QBluetoothDeviceInfo _device;
QList<QBluetoothDeviceInfo> _deviceList;
QStringList _nameList;
QBluetoothDeviceDiscoveryAgent *_deviceDiscoveryAgent = nullptr;
QPointer<QBluetoothDeviceDiscoveryAgent> _deviceDiscoveryAgent;
QPointer<QBluetoothLocalDevice> _localDevice;
qint16 _connectedRssi = 0;

// BLE specific - Default to Nordic UART Service
QBluetoothUuid _serviceUuid{NORDIC_UART_SERVICE};
QBluetoothUuid _readCharacteristicUuid{NORDIC_UART_RX_CHAR};
QBluetoothUuid _writeCharacteristicUuid{NORDIC_UART_TX_CHAR};
};

/*===========================================================================*/
Expand All @@ -141,7 +192,7 @@ class BluetoothWorker : public QObject

public:
explicit BluetoothWorker(const BluetoothConfiguration *config, QObject *parent = nullptr);
~BluetoothWorker();
~BluetoothWorker() override;

bool isConnected() const;

Expand All @@ -151,31 +202,85 @@ class BluetoothWorker : public QObject
void errorOccurred(const QString &errorString);
void dataReceived(const QByteArray &data);
void dataSent(const QByteArray &data);
void rssiUpdated(qint16 rssi);

public slots:
void setupSocket();
void setupConnection();
void connectLink();
void disconnectLink();
void writeData(const QByteArray &data);

private slots:
// Classic Bluetooth slots
void _onSocketConnected();
void _onSocketDisconnected();
void _onSocketReadyRead();
void _onSocketBytesWritten(qint64 bytes);
void _onSocketErrorOccurred(QBluetoothSocket::SocketError socketError);
#ifdef Q_OS_IOS
void _onServiceErrorOccurred(QBluetoothServiceDiscoveryAgent::Error error);
void _serviceDiscovered(const QBluetoothServiceInfo &info);
void _discoveryFinished();
#endif
void _onClassicServiceDiscovered(const QBluetoothServiceInfo &serviceInfo);
void _onClassicServiceDiscoveryFinished();
void _onClassicServiceDiscoveryCanceled();
void _onClassicServiceDiscoveryError(QBluetoothServiceDiscoveryAgent::Error error);

// BLE slots
void _onControllerConnected();
void _onControllerDisconnected();
void _onControllerErrorOccurred(QLowEnergyController::Error error);
void _onServiceDiscovered(const QBluetoothUuid &uuid);
void _onServiceDiscoveryFinished();
void _onServiceStateChanged(QLowEnergyService::ServiceState state);
void _onCharacteristicChanged(const QLowEnergyCharacteristic &characteristic, const QByteArray &value);
void _onCharacteristicRead(const QLowEnergyCharacteristic &characteristic, const QByteArray &value);
void _onCharacteristicWritten(const QLowEnergyCharacteristic &characteristic, const QByteArray &value);
void _onDescriptorRead(const QLowEnergyDescriptor &descriptor, const QByteArray &value);
void _onDescriptorWritten(const QLowEnergyDescriptor &descriptor, const QByteArray &value);
void _onServiceError(QLowEnergyService::ServiceError error);

// Common slots
void _reconnectTimeout();

private:
void _setupClassicSocket();
void _startClassicServiceDiscovery();
void _setupBleController();
void _setupBleService();
void _discoverServiceDetails();
void _enableNotifications();
void _writeBleData(const QByteArray &data);
void _writeClassicData(const QByteArray &data);
void _findCharacteristics();
void _processNextBleWrite();
void _clearBleWriteQueue();

const BluetoothConfiguration *_config = nullptr;
QBluetoothSocket *_socket = nullptr;
#ifdef Q_OS_IOS
QBluetoothServiceDiscoveryAgent *_serviceDiscoveryAgent = nullptr;
#endif

// Classic Bluetooth
QPointer<QBluetoothSocket> _socket;

// BLE
QPointer<QLowEnergyController> _controller;
QPointer<QLowEnergyService> _service;
QLowEnergyCharacteristic _readCharacteristic;
QLowEnergyCharacteristic _writeCharacteristic;
int _mtu = 23; // default ATT MTU
qint16 _rssi = 0;
QPointer<QTimer> _rssiTimer;
QQueue<QByteArray> _bleWriteQueue;
QByteArray _currentBleWrite;
bool _bleWriteInProgress = false;

// Common
QPointer<QTimer> _reconnectTimer;
std::atomic<bool> _intentionalDisconnect{false};
std::atomic<bool> _connected{false};
int _reconnectAttempts = 0;
static constexpr int MAX_RECONNECT_ATTEMPTS = 10;
QPointer<QBluetoothServiceDiscoveryAgent> _classicDiscovery;
QBluetoothServiceInfo _classicDiscoveredService;

// BLE packet size constraints
static constexpr int BLE_MIN_PACKET_SIZE = 20;
static constexpr int BLE_MAX_PACKET_SIZE = 512;
};

/*===========================================================================*/
Expand All @@ -186,7 +291,7 @@ class BluetoothLink : public LinkInterface

public:
explicit BluetoothLink(SharedLinkConfigurationPtr &config, QObject *parent = nullptr);
virtual ~BluetoothLink();
~BluetoothLink() override;

bool isConnected() const override;
void disconnect() override;
Expand All @@ -198,13 +303,14 @@ private slots:
void _onErrorOccurred(const QString &errorString);
void _onDataReceived(const QByteArray &data);
void _onDataSent(const QByteArray &data);
void _onRssiUpdated(qint16 rssi);

private:
bool _connect() override;
void _checkPermission();
void _handlePermissionStatus(Qt::PermissionStatus permissionStatus);

const BluetoothConfiguration *_bluetoothConfig = nullptr;
BluetoothWorker *_worker = nullptr;
QThread *_workerThread = nullptr;
BluetoothConfiguration *_bluetoothConfig = nullptr;
QPointer<BluetoothWorker> _worker;
QPointer<QThread> _workerThread;
};
1 change: 1 addition & 0 deletions src/Comms/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ if(QGC_ENABLE_BLUETOOTH)
BluetoothLink.cc
BluetoothLink.h
)

target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE QGC_ENABLE_BLUETOOTH)
endif()

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