OpalLink.h 3.55 KB
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/*=====================================================================

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/>.

======================================================================*/

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/**
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 * @file
 *   @brief Connection to OpalRT
 *   @author Bryan Godbolt <godbolt@ualberta.ca>
 */
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#ifndef OPALLINK_H
#define OPALLINK_H
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#include <QMutex>
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#include <QDebug>
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#include <QTextStreamManipulator>
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#include <QTimer>
#include <QQueue>
#include <QByteArray>
#include <QObject>
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#include <stdlib.h>

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#include "LinkInterface.h"
#include "LinkManager.h"
#include "MG.h"
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#include "QGCMAVLink.h"
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#include "QGCConfig.h"
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#include "OpalRT.h"
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#include "ParameterList.h"
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#include "Parameter.h"
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#include "QGCParamID.h"
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#include "OpalApi.h"
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#include "errno.h"
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#include "string.h"
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/**
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 * @brief Interface to OpalRT targets
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 *
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 * This is an interface to the OpalRT hardware-in-the-loop (HIL) simulator.
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 * 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>
 * @ref http://www.opal-rt.com/
 */
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class OpalLink : public LinkInterface
{
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    Q_OBJECT
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public:
    OpalLink();
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    /* Connection management */

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    int getId() const;
    QString getName() const;
    bool isConnected() const;
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    qint64 getConnectionSpeed() const;
    qint64 getCurrentInDataRate() const;
    qint64 getCurrentOutDataRate() const;
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    bool connect();
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    bool disconnect();
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    qint64 bytesAvailable();
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    void run();
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    int getOpalInstID() {
        return static_cast<int>(opalInstID);
    }
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public slots:

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    void writeBytes(const char *bytes, qint64 length);
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    void readBytes();
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    void heartbeat();

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    void getSignals();

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    void setOpalInstID(int instID) {
        opalInstID = static_cast<unsigned short>(instID);
    }
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protected slots:

    void receiveMessage(mavlink_message_t message);
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    void setSignals(double *values);
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protected:
    QString name;
    int id;
    bool connectState;

    quint64 connectionStartTime;

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    QMutex receiveDataMutex;
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    void setName(QString name);
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    QTimer* heartbeatTimer;    ///< Timer to emit heartbeats
    int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
    bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
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    QTimer* getSignalsTimer;
    int getSignalsPeriod;

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    QQueue<QByteArray>* receiveBuffer;
    QByteArray* sendBuffer;

    const int systemID;
    const int componentID;

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    void getParameterList();
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    OpalRT::ParameterList *params;
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    unsigned short opalInstID;
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    uint16_t duty2PulseMicros(double duty);
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    uint8_t rescaleNorm(double norm, int ch);
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    int8_t rescaleControllerOutput(double raw);
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    bool sendRCValues;
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    bool sendRawController;
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    bool sendPosition;
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};

#endif // OPALLINK_H