/**************************************************************************** * * (c) 2009-2020 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ /*! * @file * @brief UDP connection (server) for unmanned vehicles * @author Lorenz Meier * */ #pragma once #include #include #include #include #include #include #include #include #if defined(QGC_ZEROCONF_ENABLED) #include #endif #include "QGCConfig.h" #include "LinkManager.h" class UDPCLient { public: UDPCLient(const QHostAddress& address_, quint16 port_) : address(address_) , port(port_) {} UDPCLient(const UDPCLient* other) : address(other->address) , port(other->port) {} QHostAddress address; quint16 port; }; class UDPConfiguration : public LinkConfiguration { Q_OBJECT public: Q_PROPERTY(quint16 localPort READ localPort WRITE setLocalPort NOTIFY localPortChanged) Q_PROPERTY(QStringList hostList READ hostList NOTIFY hostListChanged) /*! * @brief Regular constructor * * @param[in] name Configuration (user friendly) name */ UDPConfiguration(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 */ UDPConfiguration(UDPConfiguration* source); ~UDPConfiguration(); /*! * @brief The UDP port we bind to * * @return Port number */ quint16 localPort () { return _localPort; } /*! * @brief Add a target host * * @param[in] host Host name in standard formatt, e.g. localhost:14551 or 192.168.1.1:14551 */ Q_INVOKABLE void addHost (const QString host); /*! * @brief Add a target host * * @param[in] host Host name, e.g. localhost or 192.168.1.1 * @param[in] port Port number */ void addHost (const QString& host, quint16 port); /*! * @brief Remove a target host from the list * * @param[in] host Host name, e.g. localhost or 192.168.1.1 */ Q_INVOKABLE void removeHost (const QString host); /*! * @brief Set the UDP port we bind to * * @param[in] port Port number */ void setLocalPort (quint16 port); /*! * @brief Set the UDP port to be transmit only. Receive buffer is set to zero. * */ void setTransmitOnly (bool state) { _transmitOnly = state; } bool isTransmitOnly () { return _transmitOnly; } /*! * @brief QML Interface */ QStringList hostList () { return _hostList; } const QList targetHosts() { return _targetHosts; } /// From LinkConfiguration LinkType type () { return LinkConfiguration::TypeUdp; } void copyFrom (LinkConfiguration* source); void loadSettings (QSettings& settings, const QString& root); void saveSettings (QSettings& settings, const QString& root); void updateSettings (); bool isAutoConnectAllowed () { return true; } bool isHighLatencyAllowed () { return true; } QString settingsURL () { return "UdpSettings.qml"; } QString settingsTitle () { return tr("UDP Link Settings"); } signals: void localPortChanged (); void hostListChanged (); private: void _updateHostList (); void _clearTargetHosts (); void _copyFrom (LinkConfiguration *source); private: QList _targetHosts; QStringList _hostList; ///< Exposed to QML quint16 _localPort; bool _transmitOnly; }; class UDPLink : public LinkInterface { Q_OBJECT friend class UDPConfiguration; friend class LinkManager; public: void requestReset () override { } bool isConnected () const override; QString getName () const override; // Extensive statistics for scientific purposes qint64 getConnectionSpeed () const override; qint64 getCurrentInDataRate () const; qint64 getCurrentOutDataRate () const; // Thread void run () override; // 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); public slots: void readBytes (); private slots: void _writeBytes (const QByteArray data) override; private: // Links are only created/destroyed by LinkManager so constructor/destructor is not public UDPLink(SharedLinkConfigurationPointer& config); ~UDPLink(); // From LinkInterface bool _connect (void) override; void _disconnect (void) override; bool _isIpLocal (const QHostAddress& add); bool _hardwareConnect (); void _restartConnection (); void _registerZeroconf (uint16_t port, const std::string& regType); void _deregisterZeroconf (); void _writeDataGram (const QByteArray data, const UDPCLient* target); #if defined(QGC_ZEROCONF_ENABLED) DNSServiceRef _dnssServiceRef; #endif bool _running; QUdpSocket* _socket; UDPConfiguration* _udpConfig; bool _connectState; QList _sessionTargets; QList _localAddress; };