/*=====================================================================
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>
*
*/
#ifndef _LINKINTERFACE_H_
#define _LINKINTERFACE_H_
#include <QThread>
/**
* The link interface defines the interface for all links used to communicate
* with the groundstation application.
*
**/
class LinkInterface : public QThread
{
Q_OBJECT
public:
LinkInterface(QObject* parent = 0) : QThread(parent) {}
virtual ~LinkInterface() { emit this->deleteLink(this); }
/* Connection management */
/**
* @brief Get the ID of this link
*
* The ID is an unsigned integer, starting at 0
* @return ID of this link
**/
virtual int getId() const = 0;
/**
* @brief Get the human readable name of this link
*/
virtual QString getName() const = 0;
virtual void requestReset() = 0;
/**
* @brief Determine the connection status
*
* @return True if the connection is established, false otherwise
**/
virtual bool isConnected() const = 0;
/* Connection characteristics */
/**
* @Brief Get the nominal data rate of the interface.
*
* The nominal data rate is the theoretical maximum data rate of the
* interface. For 100Base-T Ethernet this would be 100 Mbit/s (100'000'000
* Bit/s, NOT 104'857'600 Bit/s).
*
* @return The nominal data rate of the interface in bit per second, 0 if unknown
* @see getLongTermDataRate() For the mean data rate
* @see getShortTermDataRate() For a the mean data rate of the last seconds
* @see getCurrentDataRate() For the data rate of the last transferred chunk
* @see getMaxDataRate() For the maximum data rate
**/
virtual qint64 getNominalDataRate() const = 0;
/**
* @brief Full duplex support of this interface.
*
* This method returns true if the interface supports full duplex, which implies
* the full datarate when sending and receiving data simultaneously.
*
* @return True if the interface supports full duplex, false otherwise
**/
virtual bool isFullDuplex() const = 0;
/**
* @brief Get the link quality.
*
* The link quality is reported as percent, on a scale from 0 to 100% in 1% increments.
* If this feature is not supported by the interface, a call to this method return -1.
*
* @return The link quality in integer percent or -1 if not supported
**/
virtual int getLinkQuality() const = 0;
/**
* @Brief Get the long term (complete) mean of the data rate
*
* The mean of the total data rate. It is calculated as
* all transferred bits / total link uptime.
*
* @return The mean data rate of the interface in bit per second, 0 if unknown
* @see getNominalDataRate() For the nominal data rate of the interface
* @see getShortTermDataRate() For a the mean data rate of the last seconds
* @see getCurrentDataRate() For the data rate of the last transferred chunk
* @see getMaxDataRate() For the maximum data rate
**/
virtual qint64 getTotalUpstream() = 0;
/**
* @Brief Get the current data rate
*
* The datarate of the last 100 ms
*
* @return The mean data rate of the interface in bit per second, 0 if unknown
* @see getNominalDataRate() For the nominal data rate of the interface
* @see getLongTermDataRate() For the mean data rate
* @see getShortTermDataRate() For a the mean data rate of the last seconds
* @see getMaxDataRate() For the maximum data rate
**/
virtual qint64 getCurrentUpstream() = 0;
/**
* @Brief Get the maximum data rate
*
* The maximum peak data rate.
*
* @return The mean data rate of the interface in bit per second, 0 if unknown
* @see getNominalDataRate() For the nominal data rate of the interface
* @see getLongTermDataRate() For the mean data rate
* @see getShortTermDataRate() For a the mean data rate of the last seconds
* @see getCurrentDataRate() For the data rate of the last transferred chunk
**/
virtual qint64 getMaxUpstream() = 0;
/**
* @Brief Get the total number of bits sent
*
* @return The number of sent bits
**/
virtual qint64 getBitsSent() const = 0;
/**
* @Brief Get the total number of bits received
*
* @return The number of received bits
* @bug Decide if the bits should be counted fromt the instantiation of the interface or if the counter should reset on disconnect.
**/
virtual qint64 getBitsReceived() const = 0;
/**
* @brief Connect this interface logically
*
* @return True if connection could be established, false otherwise
**/
virtual bool connect() = 0;
/**
* @brief Disconnect this interface logically
*
* @return True if connection could be terminated, false otherwise
**/
virtual bool disconnect() = 0;
/**
* @brief Get the current number of bytes in buffer.
*
* @return The number of bytes ready to read
**/
virtual qint64 bytesAvailable() = 0;
public slots:
/**
* @brief This method allows to write bytes to the interface.
*
* If the underlying communication is packet oriented,
* one write command equals a datagram. In case of serial
* communication arbitrary byte lengths can be written
*
* @param bytes The pointer to the byte array containing the data
* @param length The length of the data array
**/
virtual void writeBytes(const char *bytes, qint64 length) = 0;
signals:
/**
* @brief New data arrived
*
* The new data is contained in the QByteArray data. The data is copied for each
* receiving protocol. For high-speed links like image transmission this might
* affect performance, for control links it is however desirable to directly
* forward the link data.
*
* @param data the new bytes
*/
void bytesReceived(LinkInterface* link, QByteArray data);
/**
* @brief This signal is emitted instantly when the link is connected
**/
void connected();
/**
* @brief This signal is emitted instantly when the link is disconnected
**/
void disconnected();
/**
* @brief This signal is emitted instantly when the link status changes
**/
void connected(bool connected);
/**
* @brief This signal is emitted if the human readable name of this link changes
*/
void nameChanged(QString name);
/** @brief Communication error occured */
void communicationError(const QString& linkname, const QString& error);
void communicationUpdate(const QString& linkname, const QString& text);
/** @brief destroying element */
void deleteLink(LinkInterface* const link);
protected:
static int getNextLinkId() {
static int nextId = 1;
return nextId++;
}
protected slots:
/**
* @brief Read a number of bytes from the interface.
*
* @param bytes The pointer to write the bytes to
* @param maxLength The maximum length which can be written
**/
virtual void readBytes() = 0;
};
/* Declare C++ interface as Qt interface */
//Q_DECLARE_INTERFACE(LinkInterface, "org.openground.comm.links.LinkInterface/1.0")
#endif // _LINKINTERFACE_H_