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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
#include <iostream>
#include "TCPLink.h"
#include "LinkManager.h"
#include "QGC.h"
#include <QHostInfo>
/// @file
/// @brief TCP link type for SITL support
///
/// @author Don Gagne <don@thegagnes.com>
TCPLink::TCPLink(SharedLinkConfigurationPointer& config)
: LinkInterface(config)
, _tcpConfig(qobject_cast<TCPConfiguration*>(config.data()))
, _socket(NULL)
, _socketIsConnected(false)
Q_ASSERT(_tcpConfig);
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moveToThread(this);
// Tell the thread to exit
quit();
// Wait for it to exit
wait();
void TCPLink::_writeDebugBytes(const QByteArray data)
for (int i=0, size = data.size(); i<size; i++)
{
unsigned char v = data[i];
bytes.append(QString().sprintf("%02x ", v));
if (data[i] > 31 && data[i] < 127)
{
ascii.append(data[i]);
}
else
{
ascii.append(219);
}
}
qDebug() << "Sent" << size << "bytes to" << _tcpConfig->address().toString() << ":" << _tcpConfig->port() << "data:";
void TCPLink::_writeBytes(const QByteArray data)
_writeDebugBytes(data);
if (_socket) {
_socket->write(data);
_logOutputDataRate(data.size(), QDateTime::currentMSecsSinceEpoch());
}
}
/**
* @brief Read a number of bytes from the interface.
*
* @param data Pointer to the data byte array to write the bytes to
* @param maxLength The maximum number of bytes to write
**/
void TCPLink::readBytes()
{
if (_socket) {
qint64 byteCount = _socket->bytesAvailable();
if (byteCount)
{
QByteArray buffer;
buffer.resize(byteCount);
_socket->read(buffer.data(), buffer.size());
emit bytesReceived(this, buffer);
_logInputDataRate(byteCount, QDateTime::currentMSecsSinceEpoch());
writeDebugBytes(buffer.data(), buffer.size());
}
}
/**
* @brief Disconnect the connection.
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
_socket->disconnectFromHost(); // Disconnect tcp
_socket->waitForDisconnected();
_socket->deleteLater(); // Make sure delete happens on correct thread
}
/**
* @brief Connect the connection.
*
* @return True if connection has been established, false if connection couldn't be established.
**/
bool TCPLink::_connect(void)
if (isRunning())
{
quit();
wait();
}
start(HighPriority);
return true;
bool TCPLink::_hardwareConnect()
QSignalSpy errorSpy(_socket, static_cast<void (QTcpSocket::*)(QAbstractSocket::SocketError)>(&QTcpSocket::error));
_socket->connectToHost(_tcpConfig->address(), _tcpConfig->port());
QObject::connect(_socket, &QTcpSocket::readyRead, this, &TCPLink::readBytes);
QObject::connect(_socket,static_cast<void (QTcpSocket::*)(QAbstractSocket::SocketError)>(&QTcpSocket::error),
this, &TCPLink::_socketError);
// Give the socket a second to connect to the other side otherwise error out
if (!_socket->waitForConnected(1000))
// Whether a failed connection emits an error signal or not is platform specific.
// So in cases where it is not emitted, we emit one ourselves.
if (errorSpy.count() == 0) {
emit communicationError(tr("Link Error"), tr("Error on link %1. Connection failed").arg(getName()));
}
delete _socket;
_socket = NULL;
_socketIsConnected = true;
emit connected();
void TCPLink::_socketError(QAbstractSocket::SocketError socketError)
Q_UNUSED(socketError);
emit communicationError(tr("Link Error"), tr("Error on link %1. Error on socket: %2.").arg(getName()).arg(_socket->errorString()));
}
/**
* @brief Check if connection is active.
*
* @return True if link is connected, false otherwise.
**/
bool TCPLink::isConnected() const
{
return _tcpConfig->name();
qint64 TCPLink::getConnectionSpeed() const
}
qint64 TCPLink::getCurrentInDataRate() const
{
return 0;
}
qint64 TCPLink::getCurrentOutDataRate() const
{
return 0;
}
void TCPLink::waitForBytesWritten(int msecs)
{
Q_ASSERT(_socket);
_socket->waitForBytesWritten(msecs);
}
void TCPLink::waitForReadyRead(int msecs)
{
Q_ASSERT(_socket);
_socket->waitForReadyRead(msecs);
}
void TCPLink::_restartConnection()
{
if(this->isConnected())
{
_disconnect();
_connect();
}
}
//--------------------------------------------------------------------------
//-- TCPConfiguration
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static bool is_ip(const QString& address)
{
int a,b,c,d;
if (sscanf(address.toStdString().c_str(), "%d.%d.%d.%d", &a, &b, &c, &d) != 4
&& strcmp("::1", address.toStdString().c_str())) {
return false;
} else {
return true;
}
}
static QString get_ip_address(const QString& address)
{
if(is_ip(address))
return address;
// Need to look it up
QHostInfo info = QHostInfo::fromName(address);
if (info.error() == QHostInfo::NoError)
{
QList<QHostAddress> hostAddresses = info.addresses();
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":"))
{
return hostAddresses.at(i).toString();
}
}
}
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TCPConfiguration::TCPConfiguration(const QString& name) : LinkConfiguration(name)
{
_port = QGC_TCP_PORT;
_address = QHostAddress::Any;
}
TCPConfiguration::TCPConfiguration(TCPConfiguration* source) : LinkConfiguration(source)
{
_port = source->port();
_address = source->address();
}
void TCPConfiguration::copyFrom(LinkConfiguration *source)
{
LinkConfiguration::copyFrom(source);
TCPConfiguration* usource = dynamic_cast<TCPConfiguration*>(source);
Q_ASSERT(usource != NULL);
_port = usource->port();
_address = usource->address();
}
void TCPConfiguration::setPort(quint16 port)
{
_port = port;
}
void TCPConfiguration::setAddress(const QHostAddress& address)
{
_address = address;
}
void TCPConfiguration::setHost(const QString host)
{
QString ipAdd = get_ip_address(host);
if(ipAdd.isEmpty()) {
qWarning() << "TCP:" << "Could not resolve host:" << host;
} else {
_address = ipAdd;
}
void TCPConfiguration::saveSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
settings.setValue("port", (int)_port);
settings.setValue("host", address().toString());
settings.endGroup();
}
void TCPConfiguration::loadSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
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_port = (quint16)settings.value("port", QGC_TCP_PORT).toUInt();
QString address = settings.value("host", _address.toString()).toString();
_address = address;
settings.endGroup();
}
void TCPConfiguration::updateSettings()
{
if(_link) {
TCPLink* ulink = dynamic_cast<TCPLink*>(_link);
if(ulink) {
ulink->_restartConnection();
}
}
}