SerialSimulationLink.h

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

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 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/>.

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

/**
 * @file
 *   @brief Brief Description
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef _SERIALSIMULATIONLINK_H_
#define _SERIALSIMULATIONLINK_H_

#include <QString>
#include <QByteArray>
#include <QFile>
#include <QTimer>
#include <QTextStream>
#include <QMutex>
#include <SerialLinkInterface.h>

/**
 * The serial simulation link class simulates a robot connected to the groundstation.
 * It can be either file-based by reading telemetry messages from a file or realtime
 * by communicating with a simulation.
 *
 **/
class SerialSimulationLink : public SerialLinkInterface
{
    Q_OBJECT

public:
    SerialSimulationLink(QFile* inputFile=NULL, QFile* outputFile=NULL, int sendrate=20);
    ~SerialSimulationLink();

    bool isConnected();
    qint64 bytesAvailable();

    void run();

    /* Extensive statistics for scientific purposes */
    qint64 getNominalDataRate();
    qint64 getTotalUpstream();
    qint64 getShortTermUpstream();
    qint64 getCurrentUpstream();
    qint64 getMaxUpstream();
    qint64 getTotalDownstream();
    qint64 getShortTermDownstream();
    qint64 getCurrentDownstream();
    qint64 getMaxDownstream();
    qint64 getBitsSent();
    qint64 getBitsReceived();

    void enableLoopBackMode(SerialLinkInterface * loop);
    QString getPortName();
    int getBaudRate();
    int getBaudRateType();
    int getFlowType();
    int getParityType();
    int getDataBitsType();
    int getStopBitsType();

    int getLinkQuality();
    bool isFullDuplex();

public slots:
    bool setPortName(QString portName);
    bool setBaudRateType(int rateIndex);
    bool setBaudRate(int rate);
    bool setFlowType(int flow);
    bool setParityType(int parity);
    bool setDataBitsType(int dataBits);
    bool setStopBitsType(int stopBits);

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

    bool connect();
    bool disconnect();

    void setMaximumTimeNoise(int milliseconds);

protected:
    QTimer* timer;
    SerialLinkInterface* loopBack;
    /** File which contains the input data (simulated robot messages) **/
    QFile* simulationFile;
    /** File where the commands sent by the groundstation are stored **/
    QFile* receiveFile;
    QTextStream stream;
    QTextStream* fileStream;
    QTextStream* outStream;
    /** Buffer for next line. The next line is read ahead */
    QByteArray lineBuffer;
    /** Buffer which can be read from connected protocols through readBytes(). **/
    QByteArray readyBuffer;
    QMutex readyBufferMutex;
    bool _isConnected;
    quint64 rate;
    int maxTimeNoise;
    quint64 lastSent;

    void addTimeNoise();

signals:
    //void connected();
    //void disconnected();
    //void bytesReady(LinkInterface *link);

};

#endif // _SERIALSIMULATIONLINK_H_