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/*=====================================================================
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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/>.
======================================================================*/
/**
* @file
* @brief Definition of class MAVLinkProtocol
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#ifndef MAVLINKPROTOCOL_H_
#define MAVLINKPROTOCOL_H_
#include <QObject>
#include <QMutex>
#include <QString>
#include <QTimer>
#include "QGC.h"
class LinkManager;
Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
* @brief MAVLink micro air vehicle protocol reference implementation.
* MAVLink is a generic communication protocol for micro air vehicles.
* for more information, please see the official website.
* @ref http://pixhawk.ethz.ch/software/mavlink/
class MAVLinkProtocol : public QGCSingleton
DECLARE_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
/** @brief Get the human-friendly name of this protocol */
QString getName();
/** @brief Get the system id of this application */
int getSystemId();
/** @brief Get the component id of this application */
int getComponentId();
/** @brief The auto heartbeat emission rate in Hertz */
int getHeartbeatRate();
/** @brief Get heartbeat state */
bool versionCheckEnabled() const {
return m_enable_version_check;
}
/** @brief Get the multiplexing state */
bool multiplexingEnabled() const {
return m_multiplexingEnabled;
}
/** @brief Get the authentication state */
bool getAuthEnabled() {
return m_authEnabled;
}
/** @brief Get the protocol version */
int getVersion() {
return MAVLINK_VERSION;
}
QString getAuthKey() {
return m_authKey;
}
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/** @brief Get state of parameter retransmission */
bool paramGuardEnabled() {
return m_paramGuardEnabled;
}
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/** @brief Get parameter read timeout */
int getParamRetransmissionTimeout() {
return m_paramRetransmissionTimeout;
}
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/** @brief Get parameter write timeout */
int getParamRewriteTimeout() {
return m_paramRewriteTimeout;
}
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/** @brief Get state of action retransmission */
bool actionGuardEnabled() {
return m_actionGuardEnabled;
}
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/** @brief Get parameter read timeout */
int getActionRetransmissionTimeout() {
return m_actionRetransmissionTimeout;
}
/**
* Retrieve a total of all successfully parsed packets for the specified link.
* @returns -1 if this is not available for this protocol, # of packets otherwise.
*/
qint32 getReceivedPacketCount(const LinkInterface *link) const {
return totalReceiveCounter[link->getMavlinkChannel()];
}
/**
* Retrieve a total of all parsing errors for the specified link.
* @returns -1 if this is not available for this protocol, # of errors otherwise.
*/
qint32 getParsingErrorCount(const LinkInterface *link) const {
return totalErrorCounter[link->getMavlinkChannel()];
}
/**
* Retrieve a total of all dropped packets for the specified link.
* @returns -1 if this is not available for this protocol, # of packets otherwise.
*/
qint32 getDroppedPacketCount(const LinkInterface *link) const {
return totalLossCounter[link->getMavlinkChannel()];
}
/**
* Reset the counters for all metadata for this link.
*/
virtual void resetMetadataForLink(const LinkInterface *link);
/// Suspend/Restart logging during replay.
void suspendLogForReplay(bool suspend);
public slots:
/** @brief Receive bytes from a communication interface */
void receiveBytes(LinkInterface* link, QByteArray b);
void linkConnected(void);
void linkDisconnected(void);
/** @brief Send MAVLink message through serial interface */
void sendMessage(mavlink_message_t message);
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send MAVLink message with correct system / component ID */
void sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
/** @brief Set the rate at which heartbeats are emitted */
void setHeartbeatRate(int rate);
/** @brief Set the system id of this application */
void setSystemId(int id);
/** @brief Enable / disable the heartbeat emission */
void enableHeartbeats(bool enabled);
/** @brief Enabled/disable packet multiplexing */
void enableMultiplexing(bool enabled);
/** @brief Enable / disable parameter retransmission */
void enableParamGuard(bool enabled);
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/** @brief Enable / disable action retransmission */
void enableActionGuard(bool enabled);
/** @brief Set parameter read timeout */
void setParamRetransmissionTimeout(int ms);
/** @brief Set parameter write timeout */
void setParamRewriteTimeout(int ms);
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/** @brief Set parameter read timeout */
void setActionRetransmissionTimeout(int ms);
/** @brief Enable / disable version check */
void enableVersionCheck(bool enabled);
/** @brief Enable / disable authentication */
void enableAuth(bool enable);
/** @brief Set authentication token */
void setAuthKey(QString key) {
m_authKey = key;
}
/** @brief Send an extra heartbeat to all connected units */
void sendHeartbeat();
/** @brief Load protocol settings */
void loadSettings();
/** @brief Store protocol settings */
void storeSettings();
/// @brief Deletes any log files which are in the temp directory
static void deleteTempLogFiles(void);
/// Checks for lost log files
void checkForLostLogFiles(void);
bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
bool m_authEnabled; ///< Enable authentication token broadcast
QString m_authKey; ///< Authentication key
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
int m_paramRewriteTimeout; ///< Timeout for sending re-write request
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bool m_paramGuardEnabled; ///< Parameter retransmission/rewrite enabled
bool m_actionGuardEnabled; ///< Action request retransmission enabled
int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
QMutex receiveMutex; ///< Mutex to protect receiveBytes function
int lastIndex[256][256]; ///< Store the last received sequence ID for each system/componenet pair
int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The total number of successfully received messages
int totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total messages lost during transmission.
int totalErrorCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total count of all parsing errors. Generally <= totalLossCounter.
int currReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Received messages during this sample time window. Used for calculating loss %.
int currLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Lost messages during this sample time window. Used for calculating loss %.
bool versionMismatchIgnore;
int systemId;
signals:
/** @brief Message received and directly copied via signal */
void messageReceived(LinkInterface* link, mavlink_message_t message);
/** @brief Emitted if heartbeat emission mode is changed */
void heartbeatChanged(bool heartbeats);
/** @brief Emitted if multiplexing is started / stopped */
void multiplexingChanged(bool enabled);
/** @brief Emitted if authentication support is enabled / disabled */
void authKeyChanged(QString key);
/** @brief Authentication changed */
void authChanged(bool enabled);
/** @brief Emitted if version check is enabled / disabled */
void versionCheckChanged(bool enabled);
/** @brief Emitted if a message from the protocol should reach the user */
void protocolStatusMessage(const QString& title, const QString& message);
/** @brief Emitted if a new system ID was set */
void systemIdChanged(int systemId);
/** @brief Emitted if param guard status changed */
void paramGuardChanged(bool enabled);
/** @brief Emitted if param read timeout changed */
void paramRetransmissionTimeoutChanged(int ms);
/** @brief Emitted if param write timeout changed */
void paramRewriteTimeoutChanged(int ms);
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/** @brief Emitted if action guard status changed */
void actionGuardChanged(bool enabled);
/** @brief Emitted if actiion request timeout changed */
void actionRetransmissionTimeoutChanged(int ms);
/** @brief Update the packet loss from one system */
void receiveLossChanged(int uasId, float loss);
/**
* @brief Emitted if a new radio status packet received
*
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
*/
void radioStatusChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi,
unsigned txbuf, unsigned noise, unsigned remnoise);
/// @brief Emitted when a temporary log file is ready for saving
void saveTempFlightDataLog(QString tempLogfile);
private:
MAVLinkProtocol(QObject* parent = NULL);
~MAVLinkProtocol();
void _linkStatusChanged(LinkInterface* link, bool connected);
bool _closeLogFile(void);
void _startLogging(void);
void _stopLogging(void);
/// List of all links connected to protocol. We keep SharedLinkInterface objects
/// which are QSharedPointer's in order to maintain reference counts across threads.
/// This way Link deletion works correctly.
QList<SharedLinkInterface> _connectedLinks;
bool _logSuspendError; ///< true: Logging suspended due to error
bool _logSuspendReplay; ///< true: Logging suspended due to replay
QGCTemporaryFile _tempLogFile; ///< File to log to
static const char* _tempLogFileTemplate; ///< Template for temporary log file
static const char* _logFileExtension; ///< Extension for log files
LinkManager* _linkMgr;
QTimer _heartbeatTimer; ///< Timer to emit heartbeats
int _heartbeatRate; ///< Heartbeat rate, controls the timer interval
bool _heartbeatsEnabled; ///< Enabled/disable heartbeat emission