LinkManager.cc

/*=====================================================================
 
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>
 *
 */

#include <QList>
#include <QApplication>
#include "LinkManager.h"

#include <QDebug>

LinkManager* LinkManager::instance() {
	static LinkManager* _instance = 0;
	if(_instance == 0) {
		_instance = new LinkManager();
		
		/* Set the application as parent to ensure that this object
		 * will be destroyed when the main application exits */
		_instance->setParent(qApp);
	}
	return _instance;
}

/**
 * @brief Private singleton constructor
 * 
 * This class implements the singleton design pattern and has therefore only a private constructor.
 **/
LinkManager::LinkManager()
{
        links = QList<LinkInterface*>();
        protocolLinks = QMap<ProtocolInterface*, LinkInterface*>();
}

LinkManager::~LinkManager()
{
    disconnectAll();
}

void LinkManager::add(LinkInterface* link)
{
    links.append(link);
    emit newLink(link);
}

void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
{
    // Connect link to protocol
    // the protocol will receive new bytes from the link
    connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
    // Store the connection information in the protocol links map
    protocolLinks.insertMulti(protocol, link);
    //qDebug() << __FILE__ << __LINE__ << "ADDED LINK TO PROTOCOL" << link->getName() << protocol->getName() << "NEW SIZE OF LINK LIST:" << protocolLinks.size();
}

QList<LinkInterface*> LinkManager::getLinksForProtocol(ProtocolInterface* protocol)
{
    return protocolLinks.values(protocol);
}


bool LinkManager::connectAll()
{
	bool allConnected = true;
	
        foreach (LinkInterface* link, links)
        {
		if(! link->connect()) allConnected = false;
	}
	
	return allConnected;
}

bool LinkManager::disconnectAll()
{
	bool allDisconnected = true;
	
        foreach (LinkInterface* link, links)
        {
		if(! link->disconnect()) allDisconnected = false;
	}
	
	return allDisconnected;
}

bool LinkManager::connectLink(LinkInterface* link)
{
	return link->connect();
}

bool LinkManager::disconnectLink(LinkInterface* link)
{
	return link->disconnect();
}

/**
 * The access time is linear in the number of links.
 *
 * @param id link identifier to search for
 * @return A pointer to the link or NULL if not found
 */
LinkInterface* LinkManager::getLinkForId(int id)
{
    foreach (LinkInterface* link, links)
    {
        if (link->getId() == id) return link;
    }
    return NULL;
}

/**
 *
 */
const QList<LinkInterface*> LinkManager::getLinks()
{
    return QList<LinkInterface*>(links);
}