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Don Gagne authored
Removed LinkInterface methods which were never being called. Updated various LinkInterface implementation classes to remove the methods. Some methods such as the ones which measure data rates or bits sent/received were implemented in only some of the implementation classes, and in some cases implemented incorrectly. If they were called, the values returned would be incorrect. Although there was some partial implementation for these I removed them as well since in all case they were never being called by any code. In checking Blame, these came across in 2010 and have remained unimplemented since them, so I figure better to clean up than leave crufty, unused, half finished stuff in.
Don Gagne authoredRemoved LinkInterface methods which were never being called. Updated various LinkInterface implementation classes to remove the methods. Some methods such as the ones which measure data rates or bits sent/received were implemented in only some of the implementation classes, and in some cases implemented incorrectly. If they were called, the values returned would be incorrect. Although there was some partial implementation for these I removed them as well since in all case they were never being called by any code. In checking Blame, these came across in 2010 and have remained unimplemented since them, so I figure better to clean up than leave crufty, unused, half finished stuff in.
MAVLinkSimulationLink.h 3.70 KiB
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 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 Definition of MAVLinkSimulationLink
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef MAVLINKSIMULATIONLINK_H
#define MAVLINKSIMULATIONLINK_H
#include <QFile>
#include <QTimer>
#include <QTextStream>
#include <QQueue>
#include <QMutex>
#include <QMap>
#include <qmath.h>
#include <inttypes.h>
#include "QGCMAVLink.h"
#include "LinkInterface.h"
class MAVLinkSimulationLink : public LinkInterface
{
Q_OBJECT
public:
MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5, QObject* parent = 0);
~MAVLinkSimulationLink();
bool isConnected() const;
qint64 bytesAvailable();
void run();
void requestReset() { }
bool connect();
bool disconnect();
/* Extensive statistics for scientific purposes */
qint64 getNominalDataRate() const;
QString getName() const;
int getId() const;
int getBaudRate() const;
int getBaudRateType() const;
int getFlowType() const;
int getParityType() const;
int getDataBitsType() const; int getStopBitsType() const;
public slots:
void writeBytes(const char* data, qint64 size);
void readBytes();
/** @brief Mainloop simulating the mainloop of the MAV */
virtual void mainloop();
bool connectLink(bool connect);
void connectLink();
void sendMAVLinkMessage(const mavlink_message_t* msg);
protected:
// UAS properties
float roll, pitch, yaw;
double x, y, z;
double spX, spY, spZ, spYaw;
int battery;
QTimer* timer;
/** File which contains the input data (simulated robot messages) **/
QFile* simulationFile;
QFile* mavlinkLogFile;
QString simulationHeader;
/** File where the commands sent by the groundstation are stored **/
QFile* receiveFile;
QTextStream textStream;
QTextStream* fileStream;
QTextStream* outStream;
/** Buffer which can be read from connected protocols through readBytes(). **/
QMutex readyBufferMutex;
bool _isConnected;
quint64 rate;
int maxTimeNoise;
quint64 lastSent;
static const int streamlength = 4096;
unsigned int streampointer;
//const int testoffset = 0;
uint8_t stream[streamlength];
int readyBytes;
QQueue<uint8_t> readyBuffer;
int id;
QString name;
qint64 timeOffset;
mavlink_sys_status_t status;
mavlink_heartbeat_t system;
QMap<QString, float> onboardParams;
void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
static const uint8_t systemId = 220;
static const uint8_t componentId = 200;
static const uint16_t version = 1000;
signals:
void valueChanged(int uasId, QString curve, double value, quint64 usec);
void messageReceived(const mavlink_message_t& message);
};
#endif // MAVLINKSIMULATIONLINK_H