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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 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 Definition of simulated system link
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef MAVLINKSIMULATIONLINK_H
#define MAVLINKSIMULATIONLINK_H
#include <QFile>
#include <QTimer>
#include <QTextStream>
#include <QQueue>
#include <QMutex>
MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
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~MAVLinkSimulationLink();
bool isConnected();
qint64 bytesAvailable();
void run();
bool connect();
bool disconnect();
/* Extensive statistics for scientific purposes */
qint64 getNominalDataRate();
qint64 getTotalUpstream();
qint64 getShortTermUpstream();
qint64 getCurrentUpstream();
qint64 getMaxUpstream();
qint64 getTotalDownstream();
qint64 getShortTermDownstream();
qint64 getCurrentDownstream();
qint64 getMaxDownstream();
qint64 getBitsSent();
qint64 getBitsReceived();
QString getName();
int getId();
int getBaudRate();
int getBaudRateType();
int getFlowType();
int getParityType();
int getDataBitsType();
int getStopBitsType();
int getLinkQuality();
bool isFullDuplex();
public slots:
void writeBytes(const char* data, qint64 size);
void readBytes(char* const data, qint64 maxLength);
void mainloop();
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protected:
// UAS properties
float roll, pitch, yaw;
int battery;
QTimer* timer;
/** File which contains the input data (simulated robot messages) **/
QFile* simulationFile;
QString simulationHeader;
/** File where the commands sent by the groundstation are stored **/
QFile* receiveFile;
QTextStream stream;
QTextStream* fileStream;
QTextStream* outStream;
/** Buffer which can be read from connected protocols through readBytes(). **/
QMutex readyBufferMutex;
bool _isConnected;
quint64 rate;
int maxTimeNoise;
quint64 lastSent;
int readyBytes;
QQueue<uint8_t> readyBuffer;
int id;
QString name;
void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
static const uint8_t systemId = 220;
static const uint8_t componentId = 0;
static const uint16_t version = 1000;
void valueChanged(int uasId, QString curve, double value, quint64 usec);