MAVLinkProtocol.h 4.49 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"
pixhawk's avatar
pixhawk committed
43 44

/**
pixhawk's avatar
pixhawk committed
45
 * @brief MAVLink micro air vehicle protocol reference implementation.
pixhawk's avatar
pixhawk committed
46
 *
pixhawk's avatar
pixhawk committed
47 48 49
 * 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
50 51 52 53 54 55 56 57 58 59 60
 **/
class MAVLinkProtocol : public ProtocolInterface {
    Q_OBJECT

public:
    MAVLinkProtocol();
    ~MAVLinkProtocol();

    void run();
    /** @brief Get the human-friendly name of this protocol */
    QString getName();
61 62 63 64
    /** @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
65 66 67 68
    /** @brief The auto heartbeat emission rate in Hertz */
    int getHeartbeatRate();
    /** @brief Get heartbeat state */
    bool heartbeatsEnabled(void);
lm's avatar
lm committed
69 70
    /** @brief Get logging state */
    bool loggingEnabled(void);
lm's avatar
lm committed
71 72
    /** @brief Get protocol version check state */
    bool versionCheckEnabled(void);
pixhawk's avatar
pixhawk committed
73
    /** @brief Get the name of the packet log file */
74
    static QString getLogfileName();
pixhawk's avatar
pixhawk committed
75 76 77

public slots:
    /** @brief Receive bytes from a communication interface */
78
    void receiveBytes(LinkInterface* link, QByteArray b);
pixhawk's avatar
pixhawk committed
79 80 81 82 83 84 85 86 87 88
    /** @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);

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

lm's avatar
lm committed
89 90 91
    /** @brief Enable/disable binary packet logging */
    void enableLogging(bool enabled);

lm's avatar
lm committed
92 93 94
    /** @brief Enable / disable version check */
    void enableVersionCheck(bool enabled);

pixhawk's avatar
pixhawk committed
95 96 97 98
    /** @brief Send an extra heartbeat to all connected units */
    void sendHeartbeat();

protected:
lm's avatar
lm committed
99 100
    QTimer* heartbeatTimer;    ///< Timer to emit heartbeats
    int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
pixhawk's avatar
pixhawk committed
101
    bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
lm's avatar
lm committed
102 103
    bool m_loggingEnabled;     ///< Enable/disable packet logging
    QFile* m_logfile;           ///< Logfile
lm's avatar
lm committed
104
    bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
lm's avatar
lm committed
105
    QMutex receiveMutex;       ///< Mutex to protect receiveBytes function
lm's avatar
lm committed
106
    int lastIndex[256][256];
lm's avatar
lm committed
107 108
    int totalReceiveCounter;
    int totalLossCounter;
109 110
    int currReceiveCounter;
    int currLossCounter;
111
    bool versionMismatchIgnore;
pixhawk's avatar
pixhawk committed
112 113 114 115 116 117

signals:
    /** @brief Message received and directly copied via signal */
    void messageReceived(LinkInterface* link, mavlink_message_t message);
    /** @brief Emitted if heartbeat emission mode is changed */
    void heartbeatChanged(bool heartbeats);
lm's avatar
lm committed
118 119
    /** @brief Emitted if logging is started / stopped */
    void loggingChanged(bool enabled);
lm's avatar
lm committed
120 121
    /** @brief Emitted if version check is enabled / disabled */
    void versionCheckChanged(bool enabled);
122 123
    /** @brief Emitted if a message from the protocol should reach the user */
    void protocolStatusMessage(const QString& title, const QString& message);
pixhawk's avatar
pixhawk committed
124 125 126
};

#endif // MAVLINKPROTOCOL_H_