OpalLink.h 3.96 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 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/>.

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

Bryan Godbolt's avatar
Bryan Godbolt committed
24
/**
pixhawk's avatar
pixhawk committed
25 26 27 28
 * @file
 *   @brief Connection to OpalRT
 *   @author Bryan Godbolt <godbolt@ualberta.ca>
 */
Bryan Godbolt's avatar
Bryan Godbolt committed
29

pixhawk's avatar
pixhawk committed
30 31
#ifndef OPALLINK_H
#define OPALLINK_H
Bryan Godbolt's avatar
Bryan Godbolt committed
32 33

#include <QMutex>
34
#include <QDebug>
35
#include <QTextStreamManipulator>
36 37 38 39
#include <QTimer>
#include <QQueue>
#include <QByteArray>
#include <QObject>
40 41
#include <stdlib.h>

Bryan Godbolt's avatar
Bryan Godbolt committed
42 43 44 45

#include "LinkInterface.h"
#include "LinkManager.h"
#include "MG.h"
pixhawk's avatar
pixhawk committed
46
#include "QGCMAVLink.h"
47
#include "configuration.h"
Bryan Godbolt's avatar
Bryan Godbolt committed
48
#include "OpalRT.h"
49
#include "ParameterList.h"
50
#include "Parameter.h"
51
#include "QGCParamID.h"
Bryan Godbolt's avatar
Bryan Godbolt committed
52
#include "OpalApi.h"
53
#include "errno.h"
54
#include "string.h"
Bryan Godbolt's avatar
Bryan Godbolt committed
55

pixhawk's avatar
pixhawk committed
56
/**
Bryan Godbolt's avatar
Bryan Godbolt committed
57
 * @brief Interface to OpalRT targets
pixhawk's avatar
pixhawk committed
58
 *
Bryan Godbolt's avatar
Bryan Godbolt committed
59
 * This is an interface to the OpalRT hardware-in-the-loop (HIL) simulator.
pixhawk's avatar
pixhawk committed
60 61 62 63 64 65
 * This class receives MAVLink packets as if it is a true link, but it
 * interprets the packets internally, and calls the appropriate api functions.
 *
 * @author Bryan Godbolt <godbolt@ualberta.ca>
 * @ref http://www.opal-rt.com/
 */
66 67
class OpalLink : public LinkInterface
{
Bryan Godbolt's avatar
Bryan Godbolt committed
68
    Q_OBJECT
69 70 71

public:
    OpalLink();
Bryan Godbolt's avatar
Bryan Godbolt committed
72 73
    /* Connection management */

74 75 76
    int getId() const;
    QString getName() const;
    bool isConnected() const;
Bryan Godbolt's avatar
Bryan Godbolt committed
77 78 79 80

    /* Connection characteristics */


81 82 83
    qint64 getNominalDataRate() const;
    bool isFullDuplex() const;
    int getLinkQuality() const;
Bryan Godbolt's avatar
Bryan Godbolt committed
84
    qint64 getTotalUpstream();
85
    qint64 getTotalDownstream();
Bryan Godbolt's avatar
Bryan Godbolt committed
86 87
    qint64 getCurrentUpstream();
    qint64 getMaxUpstream();
88 89
    qint64 getBitsSent() const;
    qint64 getBitsReceived() const;
Bryan Godbolt's avatar
Bryan Godbolt committed
90

Bryan Godbolt's avatar
Bryan Godbolt committed
91
    bool connect();
Bryan Godbolt's avatar
Bryan Godbolt committed
92

Bryan Godbolt's avatar
Bryan Godbolt committed
93
    bool disconnect();
Bryan Godbolt's avatar
Bryan Godbolt committed
94

Bryan Godbolt's avatar
Bryan Godbolt committed
95
    qint64 bytesAvailable();
Bryan Godbolt's avatar
Bryan Godbolt committed
96

97
    void run();
98

99 100 101
    int getOpalInstID() {
        return static_cast<int>(opalInstID);
    }
102

Bryan Godbolt's avatar
Bryan Godbolt committed
103 104
public slots:

Bryan Godbolt's avatar
Bryan Godbolt committed
105
    void writeBytes(const char *bytes, qint64 length);
Bryan Godbolt's avatar
Bryan Godbolt committed
106

107
    void readBytes();
Bryan Godbolt's avatar
Bryan Godbolt committed
108

109 110
    void heartbeat();

111 112
    void getSignals();

113 114 115
    void setOpalInstID(int instID) {
        opalInstID = static_cast<unsigned short>(instID);
    }
116

117 118 119
protected slots:

    void receiveMessage(mavlink_message_t message);
120
    void setSignals(double *values);
121

Bryan Godbolt's avatar
Bryan Godbolt committed
122 123 124 125 126 127 128 129 130 131 132 133 134 135
protected:
    QString name;
    int id;
    bool connectState;

    quint64 bitsSentTotal;
    quint64 bitsSentCurrent;
    quint64 bitsSentMax;
    quint64 bitsReceivedTotal;
    quint64 bitsReceivedCurrent;
    quint64 bitsReceivedMax;
    quint64 connectionStartTime;

    QMutex statisticsMutex;
136
    QMutex receiveDataMutex;
Bryan Godbolt's avatar
Bryan Godbolt committed
137 138

    void setName(QString name);
139 140 141 142

    QTimer* heartbeatTimer;    ///< Timer to emit heartbeats
    int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
    bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
143 144 145 146

    QTimer* getSignalsTimer;
    int getSignalsPeriod;

147 148 149 150 151 152
    QQueue<QByteArray>* receiveBuffer;
    QByteArray* sendBuffer;

    const int systemID;
    const int componentID;

153
    void getParameterList();
154
    OpalRT::ParameterList *params;
155 156

    unsigned short opalInstID;
Bryan Godbolt's avatar
Bryan Godbolt committed
157 158

    uint16_t duty2PulseMicros(double duty);
159
    uint8_t rescaleNorm(double norm, int ch);
160
    int8_t rescaleControllerOutput(double raw);
161 162

    bool sendRCValues;
163
    bool sendRawController;
164
    bool sendPosition;
165 166 167
};

#endif // OPALLINK_H