MAVLinkProtocol.h 8.8 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

pixhawk's avatar
pixhawk committed
3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

pixhawk's avatar
pixhawk committed
5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

pixhawk's avatar
pixhawk committed
7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

pixhawk's avatar
pixhawk committed
9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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's avatar
pixhawk committed
14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
pixhawk's avatar
pixhawk committed
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25

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

/**
 * @file
pixhawk's avatar
pixhawk committed
26 27
 *   @brief Definition of class MAVLinkProtocol
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
28 29 30 31 32 33 34 35 36
 */

#ifndef MAVLINKPROTOCOL_H_
#define MAVLINKPROTOCOL_H_

#include <QObject>
#include <QMutex>
#include <QString>
#include <QTimer>
lm's avatar
lm committed
37
#include <QFile>
lm's avatar
lm committed
38
#include <QMap>
pixhawk's avatar
pixhawk committed
39 40 41
#include <QByteArray>
#include "ProtocolInterface.h"
#include "LinkInterface.h"
pixhawk's avatar
pixhawk committed
42
#include "QGCMAVLink.h"
43
#include "QGC.h"
pixhawk's avatar
pixhawk committed
44

45 46 47 48
#if defined(QGC_PROTOBUF_ENABLED)
#include <tr1/memory>
#include <google/protobuf/message.h>
#if defined(QGC_USE_PIXHAWK_MESSAGES)
49 50
#include <mavlink_protobuf_manager.hpp>
#endif
51
#endif
52 53


pixhawk's avatar
pixhawk committed
54
/**
pixhawk's avatar
pixhawk committed
55
 * @brief MAVLink micro air vehicle protocol reference implementation.
pixhawk's avatar
pixhawk committed
56
 *
pixhawk's avatar
pixhawk committed
57 58 59
 * 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/
pixhawk's avatar
pixhawk committed
60
 **/
61 62
class MAVLinkProtocol : public ProtocolInterface
{
pixhawk's avatar
pixhawk committed
63 64 65 66 67 68 69 70
    Q_OBJECT

public:
    MAVLinkProtocol();
    ~MAVLinkProtocol();

    /** @brief Get the human-friendly name of this protocol */
    QString getName();
71 72 73 74
    /** @brief Get the system id of this application */
    int getSystemId();
    /** @brief Get the component id of this application */
    int getComponentId();
pixhawk's avatar
pixhawk committed
75 76 77
    /** @brief The auto heartbeat emission rate in Hertz */
    int getHeartbeatRate();
    /** @brief Get heartbeat state */
78 79 80
    bool heartbeatsEnabled() const {
        return m_heartbeatsEnabled;
    }
lm's avatar
lm committed
81
    /** @brief Get logging state */
82 83 84
    bool loggingEnabled() const {
        return m_loggingEnabled;
    }
lm's avatar
lm committed
85
    /** @brief Get protocol version check state */
86 87 88
    bool versionCheckEnabled() const {
        return m_enable_version_check;
    }
89
    /** @brief Get the multiplexing state */
90 91 92
    bool multiplexingEnabled() const {
        return m_multiplexingEnabled;
    }
93
    /** @brief Get the authentication state */
94 95 96
    bool getAuthEnabled() {
        return m_authEnabled;
    }
97
    /** @brief Get the protocol version */
98 99 100
    int getVersion() {
        return MAVLINK_VERSION;
    }
101
    /** @brief Get the auth key */
102 103 104
    QString getAuthKey() {
        return m_authKey;
    }
pixhawk's avatar
pixhawk committed
105
    /** @brief Get the name of the packet log file */
106
    QString getLogfileName();
107
    /** @brief Get state of parameter retransmission */
108 109 110
    bool paramGuardEnabled() {
        return m_paramGuardEnabled;
    }
111
    /** @brief Get parameter read timeout */
112 113 114
    int getParamRetransmissionTimeout() {
        return m_paramRetransmissionTimeout;
    }
115
    /** @brief Get parameter write timeout */
116 117 118
    int getParamRewriteTimeout() {
        return m_paramRewriteTimeout;
    }
119
    /** @brief Get state of action retransmission */
120 121 122
    bool actionGuardEnabled() {
        return m_actionGuardEnabled;
    }
123
    /** @brief Get parameter read timeout */
124 125 126
    int getActionRetransmissionTimeout() {
        return m_actionRetransmissionTimeout;
    }
pixhawk's avatar
pixhawk committed
127 128 129

public slots:
    /** @brief Receive bytes from a communication interface */
130
    void receiveBytes(LinkInterface* link, QByteArray b);
pixhawk's avatar
pixhawk committed
131 132 133 134 135 136
    /** @brief Send MAVLink message through serial interface */
    void sendMessage(mavlink_message_t message);
    /** @brief Send MAVLink message through serial interface */
    void sendMessage(LinkInterface* link, mavlink_message_t message);
    /** @brief Set the rate at which heartbeats are emitted */
    void setHeartbeatRate(int rate);
137 138
    /** @brief Set the system id of this application */
    void setSystemId(int id);
pixhawk's avatar
pixhawk committed
139 140 141 142

    /** @brief Enable / disable the heartbeat emission */
    void enableHeartbeats(bool enabled);

lm's avatar
lm committed
143 144 145
    /** @brief Enable/disable binary packet logging */
    void enableLogging(bool enabled);

146 147 148
    /** @brief Enabled/disable packet multiplexing */
    void enableMultiplexing(bool enabled);

149 150 151
    /** @brief Enable / disable parameter retransmission */
    void enableParamGuard(bool enabled);

152 153 154
    /** @brief Enable / disable action retransmission */
    void enableActionGuard(bool enabled);

155 156 157 158 159 160
    /** @brief Set parameter read timeout */
    void setParamRetransmissionTimeout(int ms);

    /** @brief Set parameter write timeout */
    void setParamRewriteTimeout(int ms);

161 162 163
    /** @brief Set parameter read timeout */
    void setActionRetransmissionTimeout(int ms);

164 165 166
    /** @brief Set log file name */
    void setLogfileName(const QString& filename);

lm's avatar
lm committed
167 168 169
    /** @brief Enable / disable version check */
    void enableVersionCheck(bool enabled);

170 171 172 173
    /** @brief Enable / disable authentication */
    void enableAuth(bool enable);

    /** @brief Set authentication token */
174 175 176
    void setAuthKey(QString key) {
        m_authKey = key;
    }
177

pixhawk's avatar
pixhawk committed
178 179 180
    /** @brief Send an extra heartbeat to all connected units */
    void sendHeartbeat();

181 182 183 184 185
    /** @brief Load protocol settings */
    void loadSettings();
    /** @brief Store protocol settings */
    void storeSettings();

pixhawk's avatar
pixhawk committed
186
protected:
lm's avatar
lm committed
187 188
    QTimer* heartbeatTimer;    ///< Timer to emit heartbeats
    int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
pixhawk's avatar
pixhawk committed
189
    bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
190
    bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
191 192 193
    bool m_authEnabled;        ///< Enable authentication token broadcast
    QString m_authKey;         ///< Authentication key
    bool m_loggingEnabled;     ///< Enable/disable packet logging
lm's avatar
lm committed
194
    QFile* m_logfile;           ///< Logfile
lm's avatar
lm committed
195
    bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
196 197
    int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
    int m_paramRewriteTimeout;    ///< Timeout for sending re-write request
198 199 200
    bool m_paramGuardEnabled;       ///< Parameter retransmission/rewrite enabled
    bool m_actionGuardEnabled;       ///< Action request retransmission enabled
    int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
lm's avatar
lm committed
201
    QMutex receiveMutex;       ///< Mutex to protect receiveBytes function
202
    int lastIndex[256][256];	///< Store the last received sequence ID for each system/componenet pair
lm's avatar
lm committed
203 204
    int totalReceiveCounter;
    int totalLossCounter;
205 206
    int currReceiveCounter;
    int currLossCounter;
207
    bool versionMismatchIgnore;
208
    int systemId;
209
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
210 211
    mavlink::ProtobufManager protobufManager;
#endif
pixhawk's avatar
pixhawk committed
212 213 214 215

signals:
    /** @brief Message received and directly copied via signal */
    void messageReceived(LinkInterface* link, mavlink_message_t message);
216
#if defined(QGC_PROTOBUF_ENABLED)
217 218 219
    /** @brief Message received via signal */
    void extendedMessageReceived(LinkInterface *link, std::tr1::shared_ptr<google::protobuf::Message> message);
#endif
pixhawk's avatar
pixhawk committed
220 221
    /** @brief Emitted if heartbeat emission mode is changed */
    void heartbeatChanged(bool heartbeats);
lm's avatar
lm committed
222 223
    /** @brief Emitted if logging is started / stopped */
    void loggingChanged(bool enabled);
224 225
    /** @brief Emitted if multiplexing is started / stopped */
    void multiplexingChanged(bool enabled);
226 227 228 229
    /** @brief Emitted if authentication support is enabled / disabled */
    void authKeyChanged(QString key);
    /** @brief Authentication changed */
    void authChanged(bool enabled);
lm's avatar
lm committed
230 231
    /** @brief Emitted if version check is enabled / disabled */
    void versionCheckChanged(bool enabled);
232 233
    /** @brief Emitted if a message from the protocol should reach the user */
    void protocolStatusMessage(const QString& title, const QString& message);
234 235 236 237 238 239 240 241
    /** @brief Emitted if a new system ID was set */
    void systemIdChanged(int systemId);
    /** @brief Emitted if param guard status changed */
    void paramGuardChanged(bool enabled);
    /** @brief Emitted if param read timeout changed */
    void paramRetransmissionTimeoutChanged(int ms);
    /** @brief Emitted if param write timeout changed */
    void paramRewriteTimeoutChanged(int ms);
242 243 244 245
    /** @brief Emitted if action guard status changed */
    void actionGuardChanged(bool enabled);
    /** @brief Emitted if actiion request timeout changed */
    void actionRetransmissionTimeoutChanged(int ms);
pixhawk's avatar
pixhawk committed
246 247 248
};

#endif // MAVLINKPROTOCOL_H_