From 8b99f51630a222093e95e409f2f50cc9c04d79aa Mon Sep 17 00:00:00 2001
From: Bryan Godbolt <godbolt@ualberta.ca>
Date: Tue, 10 Aug 2010 16:21:35 -0600
Subject: [PATCH] working on opal link

---
 src/comm/OpalLink.cc | 66 ++++++++++++++++++++++++++++++++++
 src/comm/OpalLink.h  | 84 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 150 insertions(+)

diff --git a/src/comm/OpalLink.cc b/src/comm/OpalLink.cc
index cec637f4bd..7030be2cb0 100644
--- a/src/comm/OpalLink.cc
+++ b/src/comm/OpalLink.cc
@@ -2,4 +2,70 @@
 
 OpalLink::OpalLink()
 {
+
+    // Set unique ID and add link to the list of links
+    this->id = getNextLinkId();
+    this->name = tr("OpalRT link ") + QString::number(getId());
+    LinkManager::instance()->add(this);
+}
+
+int OpalLink::getId()
+{
+    return id;
+}
+
+QString OpalLink::getName()
+{
+    return name;
+}
+
+void OpalLink::setName(QString name)
+{
+    this->name = name;
+    emit nameChanged(this->name);
+}
+
+bool OpalLink::isConnected() {
+    return connectState;
+}
+
+qint64 OpalLink::getNominalDataRate()
+{
+    return 0; //unknown
+}
+
+int OpalLink::getLinkQuality()
+{
+    return -1; //not supported
+}
+
+qint64 OpalLink::getTotalUpstream()
+{
+    statisticsMutex.lock();
+    return bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
+    statisticsMutex.unlock();
+}
+
+qint64 OpalLink::getCurrentUpstream()
+{
+    return 0; //unknown
+}
+
+qint64 OpalLink::getMaxUpstream()
+{
+    return 0; //unknown
+}
+
+qint64 OpalLink::getBitsSent() {
+    return bitsSentTotal;
+}
+
+qint64 OpalLink::getBitsReceived() {
+    return bitsReceivedTotal;
+}
+
+
+bool OpalLink::isFullDuplex()
+{
+    return false;
 }
diff --git a/src/comm/OpalLink.h b/src/comm/OpalLink.h
index f0c81c091b..d3596d6716 100644
--- a/src/comm/OpalLink.h
+++ b/src/comm/OpalLink.h
@@ -1,10 +1,94 @@
 #ifndef OPALLINK_H
 #define OPALLINK_H
+/**
+  Connection to OpalRT.  This class receives MAVLink packets as if it is a true link, but it
+  interprets the packets internally, and calls the appropriate api functions.
+
+  \author Bryan Godbolt <godbolt@ualberta.ca>
+*/
+
+#include <QMutex>
+
+#include "LinkInterface.h"
+#include "LinkManager.h"
+#include "MG.h"
 
 class OpalLink : public LinkInterface
 {
+    Q_OBJECT
+    /* Connection management */
+
+    int getId();
+    QString getName();
+    bool isConnected();
+
+    /* Connection characteristics */
+
+
+    qint64 getNominalDataRate();
+    bool isFullDuplex();
+    int getLinkQuality();
+    qint64 getTotalUpstream();
+    qint64 getCurrentUpstream();
+    qint64 getMaxUpstream();
+    qint64 getBitsSent();
+    qint64 getBitsReceived();
+
+
+    virtual bool connect() = 0;
+
+
+    virtual bool disconnect() = 0;
+
+
+    virtual qint64 bytesAvailable() = 0;
+
+public slots:
+
+
+    virtual void writeBytes(const char *bytes, qint64 length) = 0;
+
+
+    virtual void readBytes(char *bytes, qint64 maxLength) = 0;
+
+signals:
+
+    void bytesReady(LinkInterface* link);
+
+
+    void bytesReceived(LinkInterface* link, QByteArray data);
+
+
+    void connected();
+
+
+    void disconnected();
+
+
+    void connected(bool connected);
+
+
+    void nameChanged(QString name);
+
 public:
     OpalLink();
+
+protected:
+    QString name;
+    int id;
+    bool connectState;
+
+    quint64 bitsSentTotal;
+    quint64 bitsSentCurrent;
+    quint64 bitsSentMax;
+    quint64 bitsReceivedTotal;
+    quint64 bitsReceivedCurrent;
+    quint64 bitsReceivedMax;
+    quint64 connectionStartTime;
+
+    QMutex statisticsMutex;
+
+    void setName(QString name);
 };
 
 #endif // OPALLINK_H
-- 
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