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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 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
* @brief UDP connection (server) for unmanned vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef UDPLINK_H
#define UDPLINK_H
#include <QString>
#include <QList>
#include <QMap>
#include <QMutex>
#include <QUdpSocket>
#include <LinkInterface.h>
#include <configuration.h>
class UDPLink : public LinkInterface
{
Q_OBJECT
//Q_INTERFACES(UDPLinkInterface:LinkInterface)
public:
UDPLink(QHostAddress host = QHostAddress::Any, quint16 port = 14550);
//UDPLink(QHostAddress host = "239.255.76.67", quint16 port = 7667);
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~UDPLink();
bool isConnected();
qint64 bytesAvailable();
/**
* @brief The human readable port name
*/
QString getName();
int getBaudRate();
int getBaudRateType();
int getFlowType();
int getParityType();
int getDataBitsType();
int getStopBitsType();
/* Extensive statistics for scientific purposes */
qint64 getNominalDataRate();
qint64 getTotalUpstream();
qint64 getCurrentUpstream();
qint64 getMaxUpstream();
qint64 getTotalDownstream();
qint64 getCurrentDownstream();
qint64 getMaxDownstream();
qint64 getBitsSent();
qint64 getBitsReceived();
void run();
int getLinkQuality();
bool isFullDuplex();
int getId();
public slots:
void setAddress(QString address);
void setPort(quint16 port);
// void readPendingDatagrams();
void readBytes();
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/**
* @brief Write a number of bytes to the interface.
*
* @param data Pointer to the data byte array
* @param size The size of the bytes array
**/
void writeBytes(const char* data, qint64 length);
bool connect();
bool disconnect();
protected:
QString name;
QHostAddress host;
quint16 port;
int id;
QUdpSocket* socket;
bool connectState;
QList<QHostAddress>* hosts;
// QMap<QHostAddress, quint16>* ports;
QList<quint16>* ports;
quint64 bitsSentTotal;
quint64 bitsSentCurrent;
quint64 bitsSentMax;
quint64 bitsReceivedTotal;
quint64 bitsReceivedCurrent;
quint64 bitsReceivedMax;
quint64 connectionStartTime;
QMutex statisticsMutex;
QMutex dataMutex;
void setName(QString name);
signals:
// Signals are defined by LinkInterface
};
#endif // UDPLINK_H