MAVLinkProtocol.h 6.79 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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#ifndef MAVLINKPROTOCOL_H_
#define MAVLINKPROTOCOL_H_

#include <QObject>
#include <QMutex>
#include <QString>
#include <QTimer>
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#include <QFile>
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#include <QMap>
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#include <QByteArray>
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#include <QLoggingCategory>
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#include "LinkInterface.h"
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#include "QGCMAVLink.h"
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#include "QGC.h"
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#include "QGCTemporaryFile.h"
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#include "QGCToolbox.h"
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class LinkManager;
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class MultiVehicleManager;
class QGCApplication;
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Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)

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/**
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 * @brief MAVLink micro air vehicle protocol reference implementation.
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 *
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 * MAVLink is a generic communication protocol for micro air vehicles.
 * for more information, please see the official website.
 * @ref http://pixhawk.ethz.ch/software/mavlink/
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 **/
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class MAVLinkProtocol : public QGCTool
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{
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    Q_OBJECT

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public:
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    MAVLinkProtocol(QGCApplication* app, QGCToolbox* toolbox);
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    ~MAVLinkProtocol();

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    /** @brief Get the human-friendly name of this protocol */
    QString getName();
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    /** @brief Get the system id of this application */
    int getSystemId();
    /** @brief Get the component id of this application */
    int getComponentId();
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    /** @brief Get protocol version check state */
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    bool versionCheckEnabled() const {
        return m_enable_version_check;
    }
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    /** @brief Get the protocol version */
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    int getVersion() {
        return MAVLINK_VERSION;
    }
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    /**
     * Retrieve a total of all successfully parsed packets for the specified link.
     * @returns -1 if this is not available for this protocol, # of packets otherwise.
     */
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    qint32 getReceivedPacketCount(const LinkInterface *link) const {
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        return totalReceiveCounter[link->mavlinkChannel()];
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    }
    /**
     * Retrieve a total of all parsing errors for the specified link.
     * @returns -1 if this is not available for this protocol, # of errors otherwise.
     */
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    qint32 getParsingErrorCount(const LinkInterface *link) const {
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        return totalErrorCounter[link->mavlinkChannel()];
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    }
    /**
     * Retrieve a total of all dropped packets for the specified link.
     * @returns -1 if this is not available for this protocol, # of packets otherwise.
     */
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    qint32 getDroppedPacketCount(const LinkInterface *link) const {
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        return totalLossCounter[link->mavlinkChannel()];
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    }
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    /**
     * Reset the counters for all metadata for this link.
     */
    virtual void resetMetadataForLink(const LinkInterface *link);
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    /// Suspend/Restart logging during replay.
    void suspendLogForReplay(bool suspend);
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    // Override from QGCTool
    virtual void setToolbox(QGCToolbox *toolbox);

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public slots:
    /** @brief Receive bytes from a communication interface */
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    void receiveBytes(LinkInterface* link, QByteArray b);
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    /** @brief Set the system id of this application */
    void setSystemId(int id);
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    /** @brief Enable / disable version check */
    void enableVersionCheck(bool enabled);

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    /** @brief Load protocol settings */
    void loadSettings();
    /** @brief Store protocol settings */
    void storeSettings();
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    /// @brief Deletes any log files which are in the temp directory
    static void deleteTempLogFiles(void);
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    /// Checks for lost log files
    void checkForLostLogFiles(void);
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protected:
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    bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
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    QMutex receiveMutex;        ///< Mutex to protect receiveBytes function
    int lastIndex[256][256];    ///< Store the last received sequence ID for each system/componenet pair
    int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];    ///< The total number of successfully received messages
    int totalLossCounter[MAVLINK_COMM_NUM_BUFFERS];       ///< Total messages lost during transmission.
    int totalErrorCounter[MAVLINK_COMM_NUM_BUFFERS];      ///< Total count of all parsing errors. Generally <= totalLossCounter.
    int currReceiveCounter[MAVLINK_COMM_NUM_BUFFERS];     ///< Received messages during this sample time window. Used for calculating loss %.
    int currLossCounter[MAVLINK_COMM_NUM_BUFFERS];        ///< Lost messages during this sample time window. Used for calculating loss %.
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    bool versionMismatchIgnore;
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    int systemId;
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signals:
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    /// Heartbeat received on link
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    void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
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    /** @brief Message received and directly copied via signal */
    void messageReceived(LinkInterface* link, mavlink_message_t message);
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    /** @brief Emitted if version check is enabled / disabled */
    void versionCheckChanged(bool enabled);
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    /** @brief Emitted if a message from the protocol should reach the user */
    void protocolStatusMessage(const QString& title, const QString& message);
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    /** @brief Emitted if a new system ID was set */
    void systemIdChanged(int systemId);
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    void receiveLossPercentChanged(int uasId, float lossPercent);
    void receiveLossTotalChanged(int uasId, int totalLoss);
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    /**
     * @brief Emitted if a new radio status packet received
     *
     * @param rxerrors receive errors
     * @param fixed count of error corrected packets
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     * @param rssi local signal strength in dBm
     * @param remrssi remote signal strength in dBm
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     * @param txbuf how full the tx buffer is as a percentage
     * @param noise background noise level
     * @param remnoise remote background noise level
     */
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    void radioStatusChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, int rssi, int remrssi,
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    unsigned txbuf, unsigned noise, unsigned remnoise);
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    /// Emitted when a temporary telemetry log file is ready for saving
    void saveTelemetryLog(QString tempLogfile);

    /// Emitted when a telemetry log is started to save.
    void checkTelemetrySavePath(void);
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private slots:
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    void _vehicleCountChanged(void);
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private:
    bool _closeLogFile(void);
    void _startLogging(void);
    void _stopLogging(void);
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    bool _logSuspendError;      ///< true: Logging suspended due to error
    bool _logSuspendReplay;     ///< true: Logging suspended due to replay
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    bool _vehicleWasArmed;      ///< true: Vehicle was armed during log sequence
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    QGCTemporaryFile    _tempLogFile;            ///< File to log to
    static const char*  _tempLogFileTemplate;    ///< Template for temporary log file
    static const char*  _logFileExtension;       ///< Extension for log files
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    LinkManager*            _linkMgr;
    MultiVehicleManager*    _multiVehicleManager;
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};

#endif // MAVLINKPROTOCOL_H_