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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Brief Description
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef AS4PROTOCOL_H_
#define AS4PROTOCOL_H_
#include <QObject>
#include <QMutex>
#include <QString>
#include <QTimer>
#include <QByteArray>
#include <ProtocolInterface.h>
#include <LinkInterface.h>
#include <protocol.h>
/*#include <openJaus.h>
class MyHandler : public EventHandler
{
public:
~MyHandler()
{
}
void handleEvent(NodeManagerEvent *e)
{
SystemTreeEvent *treeEvent;
ErrorEvent *errorEvent;
JausMessageEvent *messageEvent;
DebugEvent *debugEvent;
ConfigurationEvent *configEvent;
switch(e->getType())
{
case NodeManagerEvent::SystemTreeEvent:
treeEvent = (SystemTreeEvent *)e;
printf("%s\n", treeEvent->toString().c_str());
delete e;
break;
case NodeManagerEvent::ErrorEvent:
errorEvent = (ErrorEvent *)e;
printf("%s\n", errorEvent->toString().c_str());
delete e;
break;
case NodeManagerEvent::JausMessageEvent:
messageEvent = (JausMessageEvent *)e;
// If you turn this on, the system gets spam-y this is very useful for debug purposes
if(messageEvent->getJausMessage()->commandCode != JAUS_REPORT_HEARTBEAT_PULSE)
{
//printf("%s\n", messageEvent->toString().c_str());
}
else
{
//printf("%s\n", messageEvent->toString().c_str());
}
delete e;
break;
case NodeManagerEvent::DebugEvent:
debugEvent = (DebugEvent *)e;
//printf("%s\n", debugEvent->toString().c_str());
delete e;
break;
case NodeManagerEvent::ConfigurationEvent:
configEvent = (ConfigurationEvent *)e;
printf("%s\n", configEvent->toString().c_str());
delete e;
break;
default:
delete e;
break;
}
}
};*/
/**
* SAE AS-4 Nodemanager
*
**/
class AS4Protocol : public ProtocolInterface {
Q_OBJECT
public:
AS4Protocol();
~AS4Protocol();
void run();
QString getName();
int getHeartbeatRate();
public slots:
void receiveBytes(LinkInterface* link);
/**
* @brief Set the rate at which heartbeats are emitted
*
* The default rate is 1 Hertz.
*
* @param rate heartbeat rate in hertz (times per second)
*/
void setHeartbeatRate(int rate);
/**
* @brief Send an extra heartbeat to all connected units
*
* The heartbeat is sent out of order and does not reset the
* periodic heartbeat emission. It will be just sent in addition.
*/
// void sendHeartbeat();
protected:
QTimer* heartbeatTimer;
int heartbeatRate;
QMutex receiveMutex;
// NodeManager* nodeManager;
// MyHandler* handler;
// FileLoader* configData;
signals:
};
#endif // AS4PROTOCOL_H_