LinkManager.h

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

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2015 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

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

/// @file
///     @author Lorenz Meier <mavteam@student.ethz.ch>

#ifndef _LINKMANAGER_H_
#define _LINKMANAGER_H_

#include <QList>
#include <QMultiMap>
#include <QMutex>

#include "LinkConfiguration.h"
#include "LinkInterface.h"
#include "QGCLoggingCategory.h"
#include "QGCToolbox.h"
#include "ProtocolInterface.h"
#include "MAVLinkProtocol.h"
#include "LogReplayLink.h"
#include "QmlObjectListModel.h"

#ifndef __ios__
    #include "SerialLink.h"
#endif

#ifdef QT_DEBUG
    #include "MockLink.h"
#endif

class UDPConfiguration;

Q_DECLARE_LOGGING_CATEGORY(LinkManagerLog)
Q_DECLARE_LOGGING_CATEGORY(LinkManagerVerboseLog)

class QGCApplication;

/// Manage communication links
///
/// The Link Manager organizes the physical Links. It can manage arbitrary
/// links and takes care of connecting them as well assigning the correct
/// protocol instance to transport the link data into the application.

class LinkManager : public QGCTool
{
    Q_OBJECT

    /// Unit Test has access to private constructor/destructor
    friend class LinkManagerTest;

public:
    LinkManager(QGCApplication* app);
    ~LinkManager();

    Q_PROPERTY(bool anyActiveLinks                      READ anyActiveLinks                                                     NOTIFY anyActiveLinksChanged)
    Q_PROPERTY(bool anyNonAutoconnectActiveLinks        READ anyNonAutoconnectActiveLinks                                       NOTIFY anyNonAutoconnectActiveLinksChanged)
    Q_PROPERTY(bool anyConnectedLinks                   READ anyConnectedLinks                                                  NOTIFY anyConnectedLinksChanged)
    Q_PROPERTY(bool anyNonAutoconnectConnectedLinks     READ anyNonAutoconnectConnectedLinks                                    NOTIFY anyNonAutoconnectConnectedLinksChanged)
    Q_PROPERTY(bool autoconnectUDP                      READ autoconnectUDP                     WRITE setAutoconnectUDP         NOTIFY autoconnectUDPChanged)
    Q_PROPERTY(bool autoconnectPixhawk                  READ autoconnectPixhawk                 WRITE setAutoconnectPixhawk     NOTIFY autoconnectPixhawkChanged)
    Q_PROPERTY(bool autoconnect3DRRadio                 READ autoconnect3DRRadio                WRITE setAutoconnect3DRRadio    NOTIFY autoconnect3DRRadioChanged)
    Q_PROPERTY(bool autoconnectPX4Flow                  READ autoconnectPX4Flow                 WRITE setAutoconnectPX4Flow     NOTIFY autoconnectPX4FlowChanged)
    //-- LinkInterface
    Q_PROPERTY(QmlObjectListModel* links                READ links                                                              CONSTANT)
    //-- LinkConfiguration
    Q_PROPERTY(QmlObjectListModel* linkConfigurations   READ linkConfigurations                                                 CONSTANT)

    // Property accessors

    bool anyConnectedLinks(void);
    bool anyNonAutoconnectConnectedLinks(void);
    bool anyActiveLinks(void);
    bool anyNonAutoconnectActiveLinks(void);
    bool autoconnectUDP(void)       { return _autoconnectUDP; }
    bool autoconnectPixhawk(void)   { return _autoconnectPixhawk; }
    bool autoconnect3DRRadio(void)  { return _autoconnect3DRRadio; }
    bool autoconnectPX4Flow(void)   { return _autoconnectPX4Flow; }

    QmlObjectListModel* links(void)                 { return &_links; }
    QmlObjectListModel* linkConfigurations(void)    { return &_linkConfigurations; }

    void setAutoconnectUDP(bool autoconnect);
    void setAutoconnectPixhawk(bool autoconnect);
    void setAutoconnect3DRRadio(bool autoconnect);
    void setAutoconnectPX4Flow(bool autoconnect);


    /// Load list of link configurations from disk
    void loadLinkConfigurationList();

    /// Save list of link configurations from disk
    void saveLinkConfigurationList();

    /// Suspend automatic confguration updates (during link maintenance for instance)
    void suspendConfigurationUpdates(bool suspend);

    /// Sets the flag to suspend the all new connections
    ///     @param reason User visible reason to suspend connections
    void setConnectionsSuspended(QString reason);

    /// Sets the flag to allow new connections to be made
    void setConnectionsAllowed(void) { _connectionsSuspended = false; }

    /// Creates, connects (and adds) a link  based on the given configuration instance.
    /// Link takes ownership of config.
    Q_INVOKABLE LinkInterface* createConnectedLink(LinkConfiguration* config, bool persistenLink = false);

    /// Creates, connects (and adds) a link  based on the given configuration name.
    LinkInterface* createConnectedLink(const QString& name, bool persistenLink = false);

    /// Disconnects all existing links, including persistent links.
    ///     @param disconnectAutoconnectLink See disconnectLink
    void disconnectAll(bool disconnectAutoconnectLink);

    /// Connect the specified link
    bool connectLink(LinkInterface* link);

    /// Disconnect the specified link.
    ///     @param disconnectAutoconnectLink
    ///                 true: link is disconnected no matter what type
    ///                 false: if autoconnect link, link is marked as inactive and linkInactive is signalled
    ///                 false: if not autoconnect link, link is disconnected
    Q_INVOKABLE bool disconnectLink(LinkInterface* link, bool disconnectAutoconnectLink);

    /// Called to notify that a heartbeat was received with the specified information. Will transition
    /// a link to active as needed.
    ///     @param link Heartbeat came through on this link
    ///     @param vehicleId Mavlink system id for vehicle
    ///     @param heartbeat Mavlink heartbeat message
    /// @return true: continue further processing of this message, false: disregard this message
    bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);

    // The following APIs are public but should not be called in normal use. The are mainly exposed
    // here for unit test code.
    void _deleteLink(LinkInterface* link);
    void _addLink(LinkInterface* link);

    // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
    void shutdown(void);

    // Override from QGCTool
    virtual void setToolbox(QGCToolbox *toolbox);

signals:
    void anyActiveLinksChanged(bool anyActiveLinks);
    void anyNonAutoconnectActiveLinksChanged(bool anyNonAutoconnectActiveLinks);
    void anyConnectedLinksChanged(bool anyConnectedLinks);
    void anyNonAutoconnectConnectedLinksChanged(bool anyNoAutoconnectConnectedLinks);
    void autoconnectUDPChanged(bool autoconnect);
    void autoconnectPixhawkChanged(bool autoconnect);
    void autoconnect3DRRadioChanged(bool autoconnect);
    void autoconnectPX4FlowChanged(bool autoconnect);

    void newLink(LinkInterface* link);

    // Link has been deleted. You may not necessarily get a linkInactive before the link is deleted.
    void linkDeleted(LinkInterface* link);

    // Link has been connected, but no Vehicle seen on link yet.
    void linkConnected(LinkInterface* link);

    // Link disconnected, all vehicles on link should be gone as well.
    void linkDisconnected(LinkInterface* link);

    // New vehicle has been seen on the link.
    void linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);

    // No longer hearing from any vehicles on this link.
    void linkInactive(LinkInterface* link);

    void linkConfigurationChanged();

private slots:
    void _linkConnected(void);
    void _linkDisconnected(void);
    void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);

private:
    bool _connectionsSuspendedMsg(void);
    void _updateAutoConnectLinks(void);

#ifndef __ios__
    SerialConfiguration* _autoconnectConfigurationsContainsPort(const QString& portName);
#endif

    bool    _configUpdateSuspended;                     ///< true: stop updating configuration list
    bool    _configurationsLoaded;                      ///< true: Link configurations have been loaded
    bool    _connectionsSuspended;                      ///< true: all new connections should not be allowed
    QString _connectionsSuspendedReason;                ///< User visible reason for suspension
    QTimer  _portListTimer;
    uint32_t _mavlinkChannelsUsedBitMask;

    MAVLinkProtocol*    _mavlinkProtocol;
    QList<int>          _ignoreVehicleIds;  ///< List of vehicle id for which we ignore further communication

    QmlObjectListModel  _links;
    QmlObjectListModel  _linkConfigurations;
    QmlObjectListModel  _autoconnectConfigurations;
    UDPConfiguration*   _autoconnectUDPConfig;

    bool _autoconnectUDP;
    bool _autoconnectPixhawk;
    bool _autoconnect3DRRadio;
    bool _autoconnectPX4Flow;

    static const char* _settingsGroup;
    static const char* _autoconnectUDPKey;
    static const char* _autoconnectPixhawkKey;
    static const char* _autoconnect3DRRadioKey;
    static const char* _autoconnectPX4FlowKey;
};

#endif