LinkManager.h 5.62 KB
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/*=====================================================================
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
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(c) 2009, 2015 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
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This file is part of the PIXHAWK project
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    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.
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    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.
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    You should have received a copy of the GNU General Public License
    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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/// @file
///     @author Lorenz Meier <mavteam@student.ethz.ch>
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#ifndef _LINKMANAGER_H_
#define _LINKMANAGER_H_

#include <QList>
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#include <QMultiMap>
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#include <QMutex>
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#include "LinkConfiguration.h"
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#include "LinkInterface.h"
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// Links
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#include "SerialLink.h"
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#include "UDPLink.h"
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#include "TCPLink.h"
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#ifdef UNITTEST_BUILD
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#include "MockLink.h"
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#endif
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#include "ProtocolInterface.h"
#include "QGCSingleton.h"
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#include "MAVLinkProtocol.h"
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class LinkManagerTest;

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/// Manage communication links
///
/// The Link Manager organizes the physical Links. It can manage arbitrary
/// links and takes care of connecting them as well assigning the correct
/// protocol instance to transport the link data into the application.

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class LinkManager : public QGCSingleton
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{
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    Q_OBJECT
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    DECLARE_QGC_SINGLETON(LinkManager, LinkManager)
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    /// Unit Test has access to private constructor/destructor
    friend class LinkManagerTest;
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public:
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    /*!
      Add a new link configuration setting to the list
      @param[in] link An instance of the link setting.
    */
    void addLinkConfiguration(LinkConfiguration* link);

    /*!
      Removes (and deletes) an existing link configuration setting from the list
      @param[in] link An instance of the link setting.
    */
    void removeLinkConfiguration(LinkConfiguration* link);

    /// Load list of link configurations from disk
    void loadLinkConfigurationList();

    /// Save list of link configurations from disk
    void saveLinkConfigurationList();

    /// Get a list of the configured links. This is the list of configured links that can be used by QGC.
    const QList<LinkConfiguration*> getLinkConfigurationList();

    /// Suspend automatic confguration updates (during link maintenance for instance)
    void suspendConfigurationUpdates(bool suspend);

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    /// Returns list of all links
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    const QList<LinkInterface*> getLinks();

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    // Returns list of all serial links
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    const QList<SerialLink*> getSerialLinks();

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    /// Sets the flag to suspend the all new connections
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    ///     @param reason User visible reason to suspend connections
    void setConnectionsSuspended(QString reason);
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    /// Sets the flag to allow new connections to be made
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    void setConnectionsAllowed(void) { _connectionsSuspended = false; }
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    /// Creates (and adds) a link  based on the given configuration instance. LinkManager takes ownership of this object. To delete
    /// it, call LinkManager::deleteLink.
    LinkInterface* createLink(LinkConfiguration* config);

    /// Creates (and adds) a link  based on the given configuration name. LinkManager takes ownership of this object. To delete
    /// it, call LinkManager::deleteLink.
    LinkInterface* createLink(const QString& name);

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    /// Adds the link to the LinkManager. LinkManager takes ownership of this object. To delete
    /// it, call LinkManager::deleteLink.
    void addLink(LinkInterface* link);
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    /// Deletes the specified link. Will disconnect if connected.
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    // TODO Will also crash if called. MAVLink protocol is not handling the disconnect properly.
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    void deleteLink(LinkInterface* link);
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    /// Re-connects all existing links
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    bool connectAll();
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    /// Disconnects all existing links
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    bool disconnectAll();
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    /// Connect the specified link
    bool connectLink(LinkInterface* link);
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    /// Disconnect the specified link
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    bool disconnectLink(LinkInterface* link);
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signals:
    void newLink(LinkInterface* link);
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    void linkDeleted(LinkInterface* link);
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    void linkConnected(LinkInterface* link);
    void linkDisconnected(LinkInterface* link);
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    void linkConfigurationChanged();

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private slots:
    void _linkConnected(void);
    void _linkDisconnected(void);
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    void _delayedDeleteLink();
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private:
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    /// All access to LinkManager is through LinkManager::instance
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    LinkManager(QObject* parent = NULL);
    ~LinkManager();
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    virtual void _shutdown(void);
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    bool _connectionsSuspendedMsg(void);
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    void _updateConfigurationList(void);
    SerialConfiguration* _findSerialConfiguration(const QString& portName);

    QList<LinkConfiguration*>   _linkConfigurations;    ///< List of configured links
    QList<LinkInterface*>       _links;                 ///< List of available links
    QMutex                      _linkListMutex;         ///< Mutex for thread safe access to _links list

    bool    _configUpdateSuspended;                     ///< true: stop updating configuration list
    bool    _configurationsLoaded;                      ///< true: Link configurations have been loaded
    bool    _connectionsSuspended;                      ///< true: all new connections should not be allowed
    QString _connectionsSuspendedReason;                ///< User visible reason for suspension
    QTimer  _portListTimer;
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};

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#endif