Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL 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.
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/*!
* @file
* @brief Bluetooth connection for unmanned vehicles
* @author Gus Grubba <mavlink@grubba.com>
*
*/
#ifndef BTLINK_H
#define BTLINK_H
#include <QString>
#include <QList>
#include <QMutex>
#include <QMutexLocker>
#include <QQueue>
#include <QByteArray>
#include <QBluetoothDeviceInfo>
#include <QtBluetooth/QBluetoothSocket>
#include "QGCConfig.h"
#include "LinkManager.h"
class QBluetoothDeviceDiscoveryAgent;
class BluetoothConfiguration : public LinkConfiguration
{
Q_OBJECT
public:
BluetoothConfiguration(const QString& name);
BluetoothConfiguration(BluetoothConfiguration* source);
~BluetoothConfiguration();
Q_PROPERTY(QString device READ device WRITE setDevice NOTIFY deviceChanged)
Q_PROPERTY(QString address READ address WRITE setAddress NOTIFY addressChanged)
Q_PROPERTY(QStringList deviceList READ deviceList NOTIFY deviceListChanged)
Q_PROPERTY(bool scanning READ scanning NOTIFY scanningChanged)
Q_INVOKABLE void startScan ();
Q_INVOKABLE void stopScan ();
QString device () { return _device; }
QString address () { return _address; }
QStringList deviceList () { return _deviceList; }
bool scanning () { return _deviceDiscover != NULL; }
void setDevice (QString device);
void setAddress (QString address) { _address = address; emit addressChanged(); }
/// From LinkConfiguration
LinkType type () { return LinkConfiguration::TypeBluetooth; }
void copyFrom (LinkConfiguration* source);
void loadSettings (QSettings& settings, const QString& root);
void saveSettings (QSettings& settings, const QString& root);
void updateSettings ();
QString settingsURL () { return "BluetoothSettings.qml"; }
public slots:
void deviceDiscovered (QBluetoothDeviceInfo info);
void doneScanning ();
signals:
void newDevice (QBluetoothDeviceInfo info);
void deviceChanged ();
void addressChanged ();
void deviceListChanged ();
void scanningChanged ();
private:
private:
QBluetoothDeviceDiscoveryAgent* _deviceDiscover;
QString _device;
QString _address;
QStringList _deviceList;
QStringList _addressList;
};
class BluetoothLink : public LinkInterface
{
Q_OBJECT
friend class BluetoothConfiguration;
friend class LinkManager;
public:
void requestReset () { }
bool isConnected () const;
QString getName () const;
// Extensive statistics for scientific purposes
qint64 getConnectionSpeed () const;
qint64 getCurrentInDataRate () const;
qint64 getCurrentOutDataRate () const;
void run();
// These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
bool connect (void);
bool disconnect (void);
LinkConfiguration* getLinkConfiguration() { return _config; }
public slots:
void readBytes ();
void writeBytes (const char* data, qint64 length);
void deviceConnected ();
void deviceDisconnected ();
void deviceError (QBluetoothSocket::SocketError error);
void stateChanged (QBluetoothSocket::SocketState state);
void deviceDiscovered (QBluetoothDeviceInfo info);
void doneScanning ();
protected:
BluetoothConfiguration* _config;
bool _connectState;
private:
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
BluetoothLink(BluetoothConfiguration* config);
~BluetoothLink();
// From LinkInterface
bool _connect (void);
void _disconnect (void);
bool _hardwareConnect ();
void _restartConnection ();
void _sendBytes (const char* data, qint64 size);
private:
QBluetoothSocket* _targetSocket;
QBluetoothDeviceInfo* _targetDevice;
QBluetoothDeviceDiscoveryAgent* _deviceDiscover;
bool _running;
};
#endif // BTLINK_H