LinkManager.h 10.3 KB
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/*=====================================================================
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
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(c) 2009, 2015 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
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This file is part of the PIXHAWK project
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    PIXHAWK 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.
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    PIXHAWK 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.
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    You should have received a copy of the GNU General Public License
    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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/// @file
///     @author Lorenz Meier <mavteam@student.ethz.ch>
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#ifndef _LINKMANAGER_H_
#define _LINKMANAGER_H_

#include <QList>
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#include <QMultiMap>
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#include <QMutex>
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#include "LinkConfiguration.h"
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#include "LinkInterface.h"
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#include "QGCLoggingCategory.h"
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#include "QGCToolbox.h"
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#include "ProtocolInterface.h"
#include "MAVLinkProtocol.h"
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#ifndef __mobile__
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#include "LogReplayLink.h"
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#endif
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#include "QmlObjectListModel.h"
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#ifndef __ios__
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    #include "SerialLink.h"
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#endif
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#ifdef QT_DEBUG
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    #include "MockLink.h"
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#endif
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class UDPConfiguration;
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Q_DECLARE_LOGGING_CATEGORY(LinkManagerLog)
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Q_DECLARE_LOGGING_CATEGORY(LinkManagerVerboseLog)
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class QGCApplication;
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/// Manage communication links
///
/// The Link Manager organizes the physical Links. It can manage arbitrary
/// links and takes care of connecting them as well assigning the correct
/// protocol instance to transport the link data into the application.

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class LinkManager : public QGCTool
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{
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    Q_OBJECT
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    /// Unit Test has access to private constructor/destructor
    friend class LinkManagerTest;
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public:
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    LinkManager(QGCApplication* app);
    ~LinkManager();
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    Q_PROPERTY(bool autoconnectUDP                      READ autoconnectUDP                     WRITE setAutoconnectUDP         NOTIFY autoconnectUDPChanged)
    Q_PROPERTY(bool autoconnectPixhawk                  READ autoconnectPixhawk                 WRITE setAutoconnectPixhawk     NOTIFY autoconnectPixhawkChanged)
    Q_PROPERTY(bool autoconnect3DRRadio                 READ autoconnect3DRRadio                WRITE setAutoconnect3DRRadio    NOTIFY autoconnect3DRRadioChanged)
    Q_PROPERTY(bool autoconnectPX4Flow                  READ autoconnectPX4Flow                 WRITE setAutoconnectPX4Flow     NOTIFY autoconnectPX4FlowChanged)
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    Q_PROPERTY(bool isBluetoothAvailable                READ isBluetoothAvailable               CONSTANT)
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    /// LinkInterface Accessor
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    Q_PROPERTY(QmlObjectListModel*  links               READ links                              CONSTANT)
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    /// LinkConfiguration Accessor
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    Q_PROPERTY(QmlObjectListModel*  linkConfigurations  READ linkConfigurations                                                 NOTIFY linkConfigurationsChanged)
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    /// List of comm type strings
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    Q_PROPERTY(QStringList          linkTypeStrings     READ linkTypeStrings                    CONSTANT)
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    /// List of supported baud rates for serial links
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    Q_PROPERTY(QStringList          serialBaudRates     READ serialBaudRates                    CONSTANT)
    /// List of comm ports display names
    Q_PROPERTY(QStringList          serialPortStrings   READ serialPortStrings                                                  NOTIFY commPortStringsChanged)
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    /// List of comm ports
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    Q_PROPERTY(QStringList          serialPorts         READ serialPorts                                                        NOTIFY commPortsChanged)

    // Create/Edit Link Configuration
    Q_INVOKABLE LinkConfiguration*  createConfiguration         (int type, const QString& name);
    Q_INVOKABLE LinkConfiguration*  startConfigurationEditing   (LinkConfiguration* config);
    Q_INVOKABLE void                cancelConfigurationEditing  (LinkConfiguration* config) { delete config; }
    Q_INVOKABLE bool                endConfigurationEditing     (LinkConfiguration* config, LinkConfiguration* editedConfig);
    Q_INVOKABLE bool                endCreateConfiguration      (LinkConfiguration* config);
    Q_INVOKABLE void                removeConfiguration         (LinkConfiguration* config);
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    // Property accessors

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    bool autoconnectUDP             (void)  { return _autoconnectUDP; }
    bool autoconnectPixhawk         (void)  { return _autoconnectPixhawk; }
    bool autoconnect3DRRadio        (void)  { return _autoconnect3DRRadio; }
    bool autoconnectPX4Flow         (void)  { return _autoconnectPX4Flow; }
    bool isBluetoothAvailable       (void);
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    QmlObjectListModel* links               (void) { return &_links; }
    QmlObjectListModel* linkConfigurations  (void) { return &_linkConfigurations; }
    QStringList         linkTypeStrings     (void) const;
    QStringList         serialBaudRates     (void);
    QStringList         serialPortStrings   (void);
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    QStringList         serialPorts         (void);
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    void setAutoconnectUDP      (bool autoconnect);
    void setAutoconnectPixhawk  (bool autoconnect);
    void setAutoconnect3DRRadio (bool autoconnect);
    void setAutoconnectPX4Flow  (bool autoconnect);
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    /// Load list of link configurations from disk
    void loadLinkConfigurationList();

    /// Save list of link configurations from disk
    void saveLinkConfigurationList();

    /// Suspend automatic confguration updates (during link maintenance for instance)
    void suspendConfigurationUpdates(bool suspend);

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    /// Sets the flag to suspend the all new connections
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    ///     @param reason User visible reason to suspend connections
    void setConnectionsSuspended(QString reason);
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    /// Sets the flag to allow new connections to be made
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    void setConnectionsAllowed(void) { _connectionsSuspended = false; }
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    /// Creates, connects (and adds) a link  based on the given configuration instance.
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    /// Link takes ownership of config.
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    Q_INVOKABLE LinkInterface* createConnectedLink(LinkConfiguration* config);
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    /// Creates, connects (and adds) a link  based on the given configuration name.
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    LinkInterface* createConnectedLink(const QString& name);
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    /// Disconnects all existing links
    void disconnectAll(void);
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    /// Connect the specified link
    bool connectLink(LinkInterface* link);
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    /// Disconnect the specified link
    Q_INVOKABLE void disconnectLink(LinkInterface* link);
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    // The following APIs are public but should not be called in normal use. The are mainly exposed
    // here for unit test code.
    void _deleteLink(LinkInterface* link);
    void _addLink(LinkInterface* link);
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    // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
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    Q_INVOKABLE void shutdown(void);
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#ifdef QT_DEBUG
    // Only used by unit test tp restart after a shutdown
    void restart(void) { setConnectionsAllowed(); }
#endif

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    /// @return true: specified link is an autoconnect link
    bool isAutoconnectLink(LinkInterface* link);

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    // Override from QGCTool
    virtual void setToolbox(QGCToolbox *toolbox);

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signals:
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    void autoconnectUDPChanged(bool autoconnect);
    void autoconnectPixhawkChanged(bool autoconnect);
    void autoconnect3DRRadioChanged(bool autoconnect);
    void autoconnectPX4FlowChanged(bool autoconnect);

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    void newLink(LinkInterface* link);
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    // Link has been deleted. You may not necessarily get a linkInactive before the link is deleted.
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    void linkDeleted(LinkInterface* link);
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    // Link has been connected, but no Vehicle seen on link yet.
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    void linkConnected(LinkInterface* link);
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    // Link disconnected, all vehicles on link should be gone as well.
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    void linkDisconnected(LinkInterface* link);
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    // New vehicle has been seen on the link.
    void linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);

    // No longer hearing from any vehicles on this link.
    void linkInactive(LinkInterface* link);

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    void commPortStringsChanged();
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    void commPortsChanged();
    void linkConfigurationsChanged();
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private slots:
    void _linkConnected(void);
    void _linkDisconnected(void);
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#ifndef __ios__
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    void _activeLinkCheck(void);
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#endif
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private:
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    bool _connectionsSuspendedMsg(void);
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    void _updateAutoConnectLinks(void);
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    void _updateSerialPorts();
    void _fixUnnamed(LinkConfiguration* config);
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#ifndef __ios__
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    SerialConfiguration* _autoconnectConfigurationsContainsPort(const QString& portName);
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#endif
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    bool    _configUpdateSuspended;                     ///< true: stop updating configuration list
    bool    _configurationsLoaded;                      ///< true: Link configurations have been loaded
    bool    _connectionsSuspended;                      ///< true: all new connections should not be allowed
    QString _connectionsSuspendedReason;                ///< User visible reason for suspension
    QTimer  _portListTimer;
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    uint32_t _mavlinkChannelsUsedBitMask;
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    MAVLinkProtocol*    _mavlinkProtocol;
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    QmlObjectListModel  _links;
    QmlObjectListModel  _linkConfigurations;
    QmlObjectListModel  _autoconnectConfigurations;

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    QMap<QString, int>  _autoconnectWaitList;   ///< key: QGCSerialPortInfo.systemLocation, value: wait count
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    QStringList _commPortList;
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    QStringList _commPortDisplayList;
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    bool _autoconnectUDP;
    bool _autoconnectPixhawk;
    bool _autoconnect3DRRadio;
    bool _autoconnectPX4Flow;

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#ifndef __ios__
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    QTimer              _activeLinkCheckTimer;                  ///< Timer which checks for a vehicle showing up on a usb direct link
    QList<SerialLink*>  _activeLinkCheckList;                   ///< List of links we are waiting for a vehicle to show up on
    static const int    _activeLinkCheckTimeoutMSecs = 15000;   ///< Amount of time to wait for a heatbeat. Keep in mind ArduPilot stack heartbeat is slow to come.
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#endif
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    static const char*  _settingsGroup;
    static const char*  _autoconnectUDPKey;
    static const char*  _autoconnectPixhawkKey;
    static const char*  _autoconnect3DRRadioKey;
    static const char*  _autoconnectPX4FlowKey;
    static const char*  _defaultUPDLinkName;
    static const int    _autoconnectUpdateTimerMSecs;
    static const int    _autoconnectConnectDelayMSecs;
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};

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#endif