LinkInterface.h 11.3 KB
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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.
 *
 ****************************************************************************/
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#ifndef _LINKINTERFACE_H_
#define _LINKINTERFACE_H_

#include <QThread>
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#include <QDateTime>
#include <QMutex>
#include <QMutexLocker>
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#include <QMetaType>
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#include <QSharedPointer>
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#include <QDebug>
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#include <QTimer>
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#include "QGCMAVLink.h"
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#include "LinkConfiguration.h"
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#include "HeartbeatTimer.h"
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class LinkManager;

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/**
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* The link interface defines the interface for all links used to communicate
* with the groundstation application.
*
**/
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class LinkInterface : public QThread
{
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    Q_OBJECT
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    // Only LinkManager is allowed to create/delete or _connect/_disconnect a link
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    friend class LinkManager;
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public:    
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    virtual ~LinkInterface() {
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        stopHeartbeatTimer();
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        _config->setLink(NULL);
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    }
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    Q_PROPERTY(bool active      READ active     NOTIFY activeChanged)
    Q_PROPERTY(bool isPX4Flow   READ isPX4Flow  CONSTANT)
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    Q_INVOKABLE bool link_active(int vehicle_id) const;
    Q_INVOKABLE bool getHighLatency(void) const { return _highLatency; }
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    // Property accessors
    bool active() const;
    bool isPX4Flow(void) const { return _isPX4Flow; }

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    LinkConfiguration* getLinkConfiguration(void) { return _config.data(); }
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    /* Connection management */

    /**
     * @brief Get the human readable name of this link
     */
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    Q_INVOKABLE virtual QString getName() const = 0;
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    virtual void requestReset() = 0;

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    /**
     * @brief Determine the connection status
     *
     * @return True if the connection is established, false otherwise
     **/
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    virtual bool isConnected() const = 0;
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    /* Connection characteristics */

    /**
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     * @Brief Get the maximum connection speed for this interface.
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     *
     * The nominal data rate is the theoretical maximum data rate of the
     * interface. For 100Base-T Ethernet this would be 100 Mbit/s (100'000'000
     * Bit/s, NOT 104'857'600 Bit/s).
     *
     * @return The nominal data rate of the interface in bit per second, 0 if unknown
     **/
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    virtual qint64 getConnectionSpeed() const = 0;
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    /// @return true: This link is replaying a log file, false: Normal two-way communication link
    virtual bool isLogReplay(void) { return false; }
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    /**
     * @Enable/Disable data rate collection
     **/
    void enableDataRate(bool enable)
    {
        _enableRateCollection = enable;
    }

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    /**
     * @Brief Get the current incoming data rate.
     *
     * This should be over a short timespan, something like 100ms. A precise value isn't necessary,
     * and this can be filtered, but should be a reasonable estimate of current data rate.
     *
     * @return The data rate of the interface in bits per second, 0 if unknown
     **/
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    qint64 getCurrentInputDataRate() const
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    {
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        return _getCurrentDataRate(_inDataIndex, _inDataWriteTimes, _inDataWriteAmounts);
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    }
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    /**
     * @Brief Get the current outgoing data rate.
     *
     * This should be over a short timespan, something like 100ms. A precise value isn't necessary,
     * and this can be filtered, but should be a reasonable estimate of current data rate.
     *
     * @return The data rate of the interface in bits per second, 0 if unknown
     **/
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    qint64 getCurrentOutputDataRate() const
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    {
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        return _getCurrentDataRate(_outDataIndex, _outDataWriteTimes, _outDataWriteAmounts);
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    }
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    /// mavlink channel to use for this link, as used by mavlink_parse_char. The mavlink channel is only
    /// set into the link when it is added to LinkManager
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    uint8_t mavlinkChannel(void) const;
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    /// Returns whether this link is high latency or not. High latency links should only perform
    /// minimal communication with vehicle.
    ///     signals: highLatencyChanged
    bool highLatency(void) const { return _highLatency; }

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    bool decodedFirstMavlinkPacket(void) const { return _decodedFirstMavlinkPacket; }
    bool setDecodedFirstMavlinkPacket(bool decodedFirstMavlinkPacket) { return _decodedFirstMavlinkPacket = decodedFirstMavlinkPacket; }

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    // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
    // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
    bool connect(void);
    bool disconnect(void);
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public slots:

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    /**
     * @brief This method allows to write bytes to the interface.
     *
     * If the underlying communication is packet oriented,
     * one write command equals a datagram. In case of serial
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     * communication arbitrary byte lengths can be written. The method ensures
     * thread safety regardless of the underlying LinkInterface implementation.
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     *
     * @param bytes The pointer to the byte array containing the data
     * @param length The length of the data array
     **/
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    void writeBytesSafe(const char *bytes, int length)
    {
        emit _invokeWriteBytes(QByteArray(bytes, length));
    }

private slots:
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    virtual void _writeBytes(const QByteArray) = 0;
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    void _activeChanged(bool active, int vehicle_id);
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signals:
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    void autoconnectChanged(bool autoconnect);
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    void activeChanged(LinkInterface* link, bool active, int vehicle_id);
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    void _invokeWriteBytes(QByteArray);
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    void highLatencyChanged(bool highLatency);
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    /// Signalled when a link suddenly goes away due to it being removed by for example pulling the cable to the connection.
    void connectionRemoved(LinkInterface* link);

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    /**
     * @brief New data arrived
     *
     * The new data is contained in the QByteArray data. The data is copied for each
     * receiving protocol. For high-speed links like image transmission this might
     * affect performance, for control links it is however desirable to directly
     * forward the link data.
     *
     * @param data the new bytes
     */
    void bytesReceived(LinkInterface* link, QByteArray data);

    /**
     * @brief This signal is emitted instantly when the link is connected
     **/
    void connected();

    /**
     * @brief This signal is emitted instantly when the link is disconnected
     **/
    void disconnected();

    /**
     * @brief This signal is emitted if the human readable name of this link changes
     */
    void nameChanged(QString name);
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    /** @brief Communication error occurred */
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    void communicationError(const QString& title, const QString& error);
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    void communicationUpdate(const QString& linkname, const QString& text);

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protected:
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    // Links are only created by LinkManager so constructor is not public
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    LinkInterface(SharedLinkConfigurationPointer& config, bool isPX4Flow = false);
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    /// This function logs the send times and amounts of datas for input. Data is used for calculating
    /// the transmission rate.
    ///     @param byteCount Number of bytes received
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    ///     @param time Time in ms send occurred
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    void _logInputDataRate(quint64 byteCount, qint64 time);
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    /// This function logs the send times and amounts of datas for output. Data is used for calculating
    /// the transmission rate.
    ///     @param byteCount Number of bytes sent
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    ///     @param time Time in ms receive occurred
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    void _logOutputDataRate(quint64 byteCount, qint64 time);

    SharedLinkConfigurationPointer _config;
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    bool _highLatency;

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private:
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    /**
     * @brief logDataRateToBuffer Stores transmission times/amounts for statistics
     *
     * This function logs the send times and amounts of datas to the given circular buffers.
     * This data is used for calculating the transmission rate.
     *
     * @param bytesBuffer[out] The buffer to write the bytes value into.
     * @param timeBuffer[out] The buffer to write the time value into
     * @param writeIndex[out] The write index used for this buffer.
     * @param bytes The amount of bytes transmit.
     * @param time The time (in ms) this transmission occurred.
     */
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    void _logDataRateToBuffer(quint64 *bytesBuffer, qint64 *timeBuffer, int *writeIndex, quint64 bytes, qint64 time);
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    /**
     * @brief getCurrentDataRate Get the current data rate given a data rate buffer.
     *
     * This function attempts to use the times and number of bytes transmit into a current data rate
     * estimation. Since it needs to use timestamps to get the timeperiods over when the data was sent,
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     * this is effectively a global data rate over the last _dataRateBufferSize - 1 data points. Also note
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     * that data points older than NOW - dataRateCurrentTimespan are ignored.
     *
     * @param index The first valid sample in the data rate buffer. Refers to the oldest time sample.
     * @param dataWriteTimes The time, in ms since epoch, that each data sample took place.
     * @param dataWriteAmounts The amount of data (in bits) that was transferred.
     * @return The bits per second of data transferrence of the interface over the last [-statsCurrentTimespan, 0] timespan.
     */
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    qint64 _getCurrentDataRate(int index, const qint64 dataWriteTimes[], const quint64 dataWriteAmounts[]) const;
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    /**
     * @brief Connect this interface logically
     *
     * @return True if connection could be established, false otherwise
     **/
    virtual bool _connect(void) = 0;
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    virtual void _disconnect(void) = 0;
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    /// Sets the mavlink channel to use for this link
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    void _setMavlinkChannel(uint8_t channel);
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    /**
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     * @brief startHeartbeatTimer
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     *
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     * Start/restart the heartbeat timer for the specific vehicle.
     * If no timer exists an instance is allocated.
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     */
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    void startHeartbeatTimer(int vehicle_id);
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    /**
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     * @brief stopHeartbeatTimer
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     *
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     * Stop and deallocate the heartbeat timers for all vehicles if any exists.
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     */
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    void stopHeartbeatTimer();
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    bool _mavlinkChannelSet;    ///< true: _mavlinkChannel has been set
    uint8_t _mavlinkChannel;    ///< mavlink channel to use for this link, as used by mavlink_parse_char
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    static const int _dataRateBufferSize = 20; ///< Specify how many data points to capture for data rate calculations.
    
    static const qint64 _dataRateCurrentTimespan = 500; ///< Set the maximum age of samples to use for data calculations (ms).
    
    // Implement a simple circular buffer for storing when and how much data was received.
    // Used for calculating the incoming data rate. Use with *StatsBuffer() functions.
    int     _inDataIndex;
    quint64 _inDataWriteAmounts[_dataRateBufferSize]; // In bytes
    qint64  _inDataWriteTimes[_dataRateBufferSize]; // in ms
    
    // Implement a simple circular buffer for storing when and how much data was transmit.
    // Used for calculating the outgoing data rate. Use with *StatsBuffer() functions.
    int     _outDataIndex;
    quint64 _outDataWriteAmounts[_dataRateBufferSize]; // In bytes
    qint64  _outDataWriteTimes[_dataRateBufferSize]; // in ms
    
    mutable QMutex _dataRateMutex; // Mutex for accessing the data rate member variables
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    bool _enableRateCollection;
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    bool _decodedFirstMavlinkPacket;    ///< true: link has correctly decoded it's first mavlink packet
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    bool _isPX4Flow;
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    QMap<int /* vehicle id */, HeartbeatTimer*> _heartbeatTimers;
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};

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typedef QSharedPointer<LinkInterface> SharedLinkInterfacePointer;
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#endif // _LINKINTERFACE_H_