UDPLink.cc 9.69 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

lm's avatar
lm committed
3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

lm's avatar
lm committed
5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

lm's avatar
lm committed
7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

lm's avatar
lm 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.

lm's avatar
lm 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
lm's avatar
lm 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

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

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

#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
#include <iostream>
#include "UDPLink.h"
#include "LinkManager.h"
38
#include "QGC.h"
39
#include <QHostInfo>
40
//#include <netinet/in.h>
pixhawk's avatar
pixhawk committed
41 42 43 44 45 46 47 48

UDPLink::UDPLink(QHostAddress host, quint16 port)
{
    this->host = host;
    this->port = port;
    this->connectState = false;
    // Set unique ID and add link to the list of links
    this->id = getNextLinkId();
49
    this->name = tr("UDP Link (port:%1)").arg(14550);
pixhawk's avatar
pixhawk committed
50 51 52 53 54 55 56 57 58 59 60 61 62 63
    LinkManager::instance()->add(this);
}

UDPLink::~UDPLink()
{
    disconnect();
}

/**
 * @brief Runs the thread
 *
 **/
void UDPLink::run()
{
lm's avatar
lm committed
64 65 66 67 68
//    forever
//    {
//        QGC::SLEEP::msleep(5000);
//    }
    exec();
pixhawk's avatar
pixhawk committed
69 70 71 72
}

void UDPLink::setAddress(QString address)
{
pixhawk's avatar
pixhawk committed
73
    Q_UNUSED(address);
pixhawk's avatar
pixhawk committed
74 75
}

76
void UDPLink::setPort(int port)
pixhawk's avatar
pixhawk committed
77 78
{
    this->port = port;
79 80 81 82 83 84 85 86 87
    disconnect();
    connect();
}

/**
 * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
 */
void UDPLink::addHost(const QString& host)
{
88
    qDebug() << "UDP:" << "ADDING HOST:" << host;
89
    if (host.contains(":")) {
90 91
        qDebug() << "HOST: " << host.split(":").first();
        QHostInfo info = QHostInfo::fromName(host.split(":").first());
lm's avatar
lm committed
92
        if (info.error() == QHostInfo::NoError)
93
        {
lm's avatar
lm committed
94 95 96 97
            // Add host
            QList<QHostAddress> hostAddresses = info.addresses();
            QHostAddress address;
            for (int i = 0; i < hostAddresses.size(); i++)
98
            {
lm's avatar
lm committed
99 100 101 102 103
                // Exclude loopback IPv4 and all IPv6 addresses
                if (!hostAddresses.at(i).toString().contains(":"))
                {
                    address = hostAddresses.at(i);
                }
104
            }
lm's avatar
lm committed
105 106 107 108
            hosts.append(address);
            qDebug() << "Address:" << address.toString();
            // Set port according to user input
            ports.append(host.split(":").last().toInt());
109
        }
110 111 112
    }
    else
    {
113
        QHostInfo info = QHostInfo::fromName(host);
lm's avatar
lm committed
114 115 116 117 118 119 120
        if (info.error() == QHostInfo::NoError)
        {
            // Add host
            hosts.append(info.addresses().first());
            // Set port according to default (this port)
            ports.append(port);
        }
121 122 123 124 125 126 127 128 129 130 131
    }
}

void UDPLink::removeHost(const QString& hostname)
{
    QString host = hostname;
    if (host.contains(":")) host = host.split(":").first();
    host = host.trimmed();
    QHostInfo info = QHostInfo::fromName(host);
    QHostAddress address;
    QList<QHostAddress> hostAddresses = info.addresses();
132
    for (int i = 0; i < hostAddresses.size(); i++) {
133
        // Exclude loopback IPv4 and all IPv6 addresses
134
        if (!hostAddresses.at(i).toString().contains(":")) {
135 136 137
            address = hostAddresses.at(i);
        }
    }
138 139
    for (int i = 0; i < hosts.count(); ++i) {
        if (hosts.at(i) == address) {
140 141 142
            hosts.removeAt(i);
            ports.removeAt(i);
        }
143
    }
pixhawk's avatar
pixhawk committed
144 145 146 147 148
}

void UDPLink::writeBytes(const char* data, qint64 size)
{
    // Broadcast to all connected systems
lm's avatar
lm committed
149 150
    for (int h = 0; h < hosts.size(); h++)
    {
151 152
        QHostAddress currentHost = hosts.at(h);
        quint16 currentPort = ports.at(h);
lm's avatar
lm committed
153 154
//#define UDPLINK_DEBUG
#ifdef UDPLINK_DEBUG
lm's avatar
lm committed
155 156
        QString bytes;
        QString ascii;
157
        for (int i=0; i<size; i++) {
lm's avatar
lm committed
158 159
            unsigned char v = data[i];
            bytes.append(QString().sprintf("%02x ", v));
lm's avatar
lm committed
160 161 162 163 164 165 166 167
            if (data[i] > 31 && data[i] < 127)
            {
                ascii.append(data[i]);
            }
            else
            {
                ascii.append(219);
            }
168
        }
lm's avatar
lm committed
169 170 171
        qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
        qDebug() << bytes;
        qDebug() << "ASCII:" << ascii;
lm's avatar
lm committed
172
#endif
173 174
        socket->writeDatagram(data, size, currentHost, currentPort);
    }
pixhawk's avatar
pixhawk committed
175 176 177 178 179 180 181 182
}

/**
 * @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
 **/
183
void UDPLink::readBytes()
pixhawk's avatar
pixhawk committed
184
{
185
    const qint64 maxLength = 65536;
186
    char data[maxLength];
pixhawk's avatar
pixhawk committed
187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209
    QHostAddress sender;
    quint16 senderPort;

    unsigned int s = socket->pendingDatagramSize();
    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
    socket->readDatagram(data, maxLength, &sender, &senderPort);

    // FIXME TODO Check if this method is better than retrieving the data by individual processes
    QByteArray b(data, s);
    emit bytesReceived(this, b);

//    // Echo data for debugging purposes
//    std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
//    int i;
//    for (i=0; i<s; i++)
//    {
//        unsigned int v=data[i];
//        fprintf(stderr,"%02x ", v);
//    }
//    std::cerr << std::endl;


    // Add host to broadcast list if not yet present
210
    if (!hosts.contains(sender)) {
211 212
        hosts.append(sender);
        ports.append(senderPort);
pixhawk's avatar
pixhawk committed
213
        //        ports->insert(sender, senderPort);
214
    } else {
215 216
        int index = hosts.indexOf(sender);
        ports.replace(index, senderPort);
pixhawk's avatar
pixhawk committed
217 218 219 220 221 222 223 224 225 226
    }

}


/**
 * @brief Get the number of bytes to read.
 *
 * @return The number of bytes to read
 **/
227 228
qint64 UDPLink::bytesAvailable()
{
pixhawk's avatar
pixhawk committed
229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257
    return socket->pendingDatagramSize();
}

/**
 * @brief Disconnect the connection.
 *
 * @return True if connection has been disconnected, false if connection couldn't be disconnected.
 **/
bool UDPLink::disconnect()
{
    delete socket;
    socket = NULL;

    connectState = false;

    emit disconnected();
    emit connected(false);
    return !connectState;
}

/**
 * @brief Connect the connection.
 *
 * @return True if connection has been established, false if connection couldn't be established.
 **/
bool UDPLink::connect()
{
    socket = new QUdpSocket(this);

pixhawk's avatar
pixhawk committed
258 259 260 261 262 263 264 265 266
    //Check if we are using a multicast-address
//    bool multicast = false;
//    if (host.isInSubnet(QHostAddress("224.0.0.0"),4))
//    {
//        multicast = true;
//        connectState = socket->bind(port, QUdpSocket::ShareAddress);
//    }
//    else
//    {
267
    connectState = socket->bind(host, port);
pixhawk's avatar
pixhawk committed
268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294
//    }

    //Provides Multicast functionality to UdpSocket
    /* not working yet
    if (multicast)
    {
        int sendingFd = socket->socketDescriptor();

        if (sendingFd != -1)
        {
            // set up destination address
            struct sockaddr_in sendAddr;
            memset(&sendAddr,0,sizeof(sendAddr));
            sendAddr.sin_family=AF_INET;
            sendAddr.sin_addr.s_addr=inet_addr(HELLO_GROUP);
            sendAddr.sin_port=htons(port);

            // set TTL
            unsigned int ttl = 1; // restricted to the same subnet
            if (setsockopt(sendingFd, IPPROTO_IP, IP_MULTICAST_TTL, (unsigned int*)&ttl, sizeof(ttl) ) < 0)
            {
                std::cout << "TTL failed\n";
            }
        }
    }
    */

pixhawk's avatar
pixhawk committed
295
    //QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
296
    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
pixhawk's avatar
pixhawk committed
297 298

    emit connected(connectState);
299
    if (connectState) {
300
        emit connected();
301
        connectionStartTime = QGC::groundTimeUsecs()/1000;
302
    }
pixhawk's avatar
pixhawk committed
303 304 305 306 307 308 309 310 311 312

    start(HighPriority);
    return connectState;
}

/**
 * @brief Check if connection is active.
 *
 * @return True if link is connected, false otherwise.
 **/
313 314
bool UDPLink::isConnected()
{
pixhawk's avatar
pixhawk committed
315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333
    return connectState;
}

int UDPLink::getId()
{
    return id;
}

QString UDPLink::getName()
{
    return name;
}

void UDPLink::setName(QString name)
{
    this->name = name;
    emit nameChanged(this->name);
}

334

335 336
qint64 UDPLink::getNominalDataRate()
{
pixhawk's avatar
pixhawk committed
337 338 339
    return 54000000; // 54 Mbit
}

340 341
qint64 UDPLink::getTotalUpstream()
{
pixhawk's avatar
pixhawk committed
342
    statisticsMutex.lock();
343
    qint64 totalUpstream = bitsSentTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
pixhawk's avatar
pixhawk committed
344
    statisticsMutex.unlock();
345
    return totalUpstream;
pixhawk's avatar
pixhawk committed
346 347
}

348 349
qint64 UDPLink::getCurrentUpstream()
{
pixhawk's avatar
pixhawk committed
350 351 352
    return 0; // TODO
}

353 354
qint64 UDPLink::getMaxUpstream()
{
pixhawk's avatar
pixhawk committed
355 356 357
    return 0; // TODO
}

358 359
qint64 UDPLink::getBitsSent()
{
pixhawk's avatar
pixhawk committed
360 361 362
    return bitsSentTotal;
}

363 364
qint64 UDPLink::getBitsReceived()
{
pixhawk's avatar
pixhawk committed
365 366 367
    return bitsReceivedTotal;
}

368 369
qint64 UDPLink::getTotalDownstream()
{
pixhawk's avatar
pixhawk committed
370
    statisticsMutex.lock();
371
    qint64 totalDownstream = bitsReceivedTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
pixhawk's avatar
pixhawk committed
372
    statisticsMutex.unlock();
373
    return totalDownstream;
pixhawk's avatar
pixhawk committed
374 375
}

376 377
qint64 UDPLink::getCurrentDownstream()
{
pixhawk's avatar
pixhawk committed
378 379 380
    return 0; // TODO
}

381 382
qint64 UDPLink::getMaxDownstream()
{
pixhawk's avatar
pixhawk committed
383 384 385
    return 0; // TODO
}

386 387
bool UDPLink::isFullDuplex()
{
pixhawk's avatar
pixhawk committed
388 389 390
    return true;
}

391 392
int UDPLink::getLinkQuality()
{
pixhawk's avatar
pixhawk committed
393 394 395
    /* This feature is not supported with this interface */
    return -1;
}