UDPLink.h 3.53 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 - 2011 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 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48

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

/**
 * @file
 *   @brief UDP connection (server) for unmanned vehicles
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef UDPLINK_H
#define UDPLINK_H

#include <QString>
#include <QList>
#include <QMap>
#include <QMutex>
#include <QUdpSocket>
#include <LinkInterface.h>
#include <configuration.h>

class UDPLink : public LinkInterface
{
    Q_OBJECT
    //Q_INTERFACES(UDPLinkInterface:LinkInterface)

public:
    UDPLink(QHostAddress host = QHostAddress::Any, quint16 port = 14550);
pixhawk's avatar
pixhawk committed
49
    //UDPLink(QHostAddress host = "239.255.76.67", quint16 port = 7667);
pixhawk's avatar
pixhawk committed
50 51 52 53
    ~UDPLink();

    bool isConnected();
    qint64 bytesAvailable();
54 55 56
    int getPort() const {
        return port;
    }
pixhawk's avatar
pixhawk committed
57 58 59 60 61 62 63 64 65 66 67

    /**
     * @brief The human readable port name
     */
    QString getName();
    int getBaudRate();
    int getBaudRateType();
    int getFlowType();
    int getParityType();
    int getDataBitsType();
    int getStopBitsType();
68 69 70
    QList<QHostAddress> getHosts() {
        return hosts;
    }
pixhawk's avatar
pixhawk committed
71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89

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

    void run();

    int getLinkQuality();
    bool isFullDuplex();
    int getId();

public slots:
oberion's avatar
oberion committed
90
    void setAddress(QHostAddress host);
91 92 93
    void setPort(int port);
    /** @brief Add a new host to broadcast messages to */
    void addHost(const QString& host);
94 95
    /** @brief Remove a host from broadcasting messages to */
    void removeHost(const QString& host);
pixhawk's avatar
pixhawk committed
96 97
    //    void readPendingDatagrams();

98
    void readBytes();
pixhawk's avatar
pixhawk committed
99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115
    /**
     * @brief Write a number of bytes to the interface.
     *
     * @param data Pointer to the data byte array
     * @param size The size of the bytes array
     **/
    void writeBytes(const char* data, qint64 length);
    bool connect();
    bool disconnect();

protected:
    QString name;
    QHostAddress host;
    quint16 port;
    int id;
    QUdpSocket* socket;
    bool connectState;
116 117
    QList<QHostAddress> hosts;
    QList<quint16> ports;
pixhawk's avatar
pixhawk committed
118 119 120 121 122 123 124 125 126 127 128 129 130

    quint64 bitsSentTotal;
    quint64 bitsSentCurrent;
    quint64 bitsSentMax;
    quint64 bitsReceivedTotal;
    quint64 bitsReceivedCurrent;
    quint64 bitsReceivedMax;
    quint64 connectionStartTime;
    QMutex statisticsMutex;
    QMutex dataMutex;

    void setName(QString name);

oberion's avatar
oberion committed
131 132 133
private:
	bool hardwareConnect(void);

pixhawk's avatar
pixhawk committed
134
signals:
oberion's avatar
oberion committed
135
    //Signals are defined by LinkInterface
pixhawk's avatar
pixhawk committed
136 137 138 139

};

#endif // UDPLINK_H