TCPLink.h 5.52 KB
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/*=====================================================================
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 QGroundControl Open Source Ground Control Station
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 (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 This file is part of the QGROUNDCONTROL project
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 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.
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 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.
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 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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 ======================================================================*/

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/// @file
///     @brief TCP link type for SITL support
///
///     @author Don Gagne <don@thegagnes.com>
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#ifndef TCPLINK_H
#define TCPLINK_H

#include <QString>
#include <QList>
#include <QMap>
#include <QMutex>
#include <QHostAddress>
#include <LinkInterface.h>
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#include "QGCConfig.h"
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#include "LinkManager.h"
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// Even though QAbstractSocket::SocketError is used in a signal by Qt, Qt doesn't declare it as a meta type.
// This in turn causes debug output to be kicked out about not being able to queue the signal. We declare it
// as a meta type to silence that.
#include <QMetaType>
#include <QTcpSocket>

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//#define TCPLINK_READWRITE_DEBUG   // Use to debug data reads/writes

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class TCPLinkTest;
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#define QGC_TCP_PORT 5760

class TCPConfiguration : public LinkConfiguration
{
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    Q_OBJECT

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public:

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    Q_PROPERTY(quint16  port    READ port   WRITE setPort   NOTIFY portChanged)
    Q_PROPERTY(QString  host    READ host   WRITE setHost   NOTIFY hostChanged)

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    /*!
     * @brief Regular constructor
     *
     * @param[in] name Configuration (user friendly) name
     */
    TCPConfiguration(const QString& name);

    /*!
     * @brief Copy contructor
     *
     * When manipulating data, you create a copy of the configuration, edit it
     * and then transfer its content to the original (using copyFrom() below). Use this
     * contructor to create an editable copy.
     *
     * @param[in] source Original configuration
     */
    TCPConfiguration(TCPConfiguration* source);

    /*!
     * @brief The TCP port
     *
     * @return Port number
     */
    quint16 port   () { return _port; }

    /*!
     * @brief Set the TCP port
     *
     * @param[in] port Port number
     */
    void setPort   (quint16 port);

    /*!
     * @brief The host address
     *
     * @return Host address
     */
    const QHostAddress& address   () { return _address; }
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    const QString       host      () { return _address.toString(); }
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    /*!
     * @brief Set the host address
     *
     * @param[in] address Host address
     */
    void setAddress (const QHostAddress& address);
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    void setHost    (const QString host);
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    /// From LinkConfiguration
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    LinkType    type            () { return LinkConfiguration::TypeTcp; }
    void        copyFrom        (LinkConfiguration* source);
    void        loadSettings    (QSettings& settings, const QString& root);
    void        saveSettings    (QSettings& settings, const QString& root);
    void        updateSettings  ();
    QString     settingsURL     () { return "TcpSettings.qml"; }
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signals:
    void portChanged();
    void hostChanged();

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private:
    QHostAddress _address;
    quint16 _port;
};

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class TCPLink : public LinkInterface
{
    Q_OBJECT
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    friend class TCPLinkTest;
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    friend class TCPConfiguration;
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    friend class LinkManager;
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public:
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    QTcpSocket* getSocket(void) { return _socket; }
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    void signalBytesWritten(void);

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    // LinkInterface methods
    virtual QString getName(void) const;
    virtual bool    isConnected(void) const;
    virtual void    requestReset(void) {};
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    // Extensive statistics for scientific purposes
    qint64 getConnectionSpeed() const;
    qint64 getCurrentInDataRate() const;
    qint64 getCurrentOutDataRate() const;
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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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private slots:
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    // From LinkInterface
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    void _writeBytes(const QByteArray data);
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public slots:
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    void waitForBytesWritten(int msecs);
    void waitForReadyRead(int msecs);
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protected slots:
    void _socketError(QAbstractSocket::SocketError socketError);

    // From LinkInterface
    virtual void readBytes(void);

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protected:
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    // From LinkInterface->QThread
    virtual void run(void);
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private:
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    // Links are only created/destroyed by LinkManager so constructor/destructor is not public
    TCPLink(TCPConfiguration* config);
    ~TCPLink();
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    // From LinkInterface
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    virtual bool _connect(void);
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    virtual void _disconnect(void);
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    bool _hardwareConnect();
    void _restartConnection();
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#ifdef TCPLINK_READWRITE_DEBUG
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    void _writeDebugBytes(const QByteArray data);
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#endif
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    TCPConfiguration* _config;
    QTcpSocket*       _socket;
    bool              _socketIsConnected;
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    quint64 _bitsSentTotal;
    quint64 _bitsSentCurrent;
    quint64 _bitsSentMax;
    quint64 _bitsReceivedTotal;
    quint64 _bitsReceivedCurrent;
    quint64 _bitsReceivedMax;
    quint64 _connectionStartTime;
    QMutex  _statisticsMutex;
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};

#endif // TCPLINK_H