/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2011 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project 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 . ======================================================================*/ /** * @file * @brief UDP connection (server) for unmanned vehicles * @author Lorenz Meier * */ #ifndef UDPLINK_H #define UDPLINK_H #include #include #include #include #include #include #include class UDPLink : public LinkInterface { Q_OBJECT //Q_INTERFACES(UDPLinkInterface:LinkInterface) public: UDPLink(QHostAddress host = QHostAddress::Any, quint16 port = 14550); //UDPLink(QHostAddress host = "239.255.76.67", quint16 port = 7667); ~UDPLink(); void requestReset() { } bool isConnected(); qint64 bytesAvailable(); int getPort() const { return port; } /** * @brief The human readable port name */ QString getName(); int getBaudRate(); int getBaudRateType(); int getFlowType(); int getParityType(); int getDataBitsType(); int getStopBitsType(); QList getHosts() { return hosts; } /* Extensive statistics for scientific purposes */ qint64 getNominalDataRate(); qint64 getTotalUpstream(); qint64 getCurrentUpstream(); qint64 getMaxUpstream(); qint64 getTotalDownstream(); qint64 getCurrentDownstream(); qint64 getMaxDownstream(); qint64 getBitsSent(); qint64 getBitsReceived(); void run(); int getLinkQuality(); bool isFullDuplex(); int getId(); public slots: void setAddress(QHostAddress host); void setPort(int port); /** @brief Add a new host to broadcast messages to */ void addHost(const QString& host); /** @brief Remove a host from broadcasting messages to */ void removeHost(const QString& host); // void readPendingDatagrams(); void readBytes(); /** * @brief Write a number of bytes to the interface. * * @param data Pointer to the data byte array * @param size The size of the bytes array **/ void writeBytes(const char* data, qint64 length); bool connect(); bool disconnect(); protected: QString name; QHostAddress host; quint16 port; int id; QUdpSocket* socket; bool connectState; QList hosts; QList ports; quint64 bitsSentTotal; quint64 bitsSentCurrent; quint64 bitsSentMax; quint64 bitsReceivedTotal; quint64 bitsReceivedCurrent; quint64 bitsReceivedMax; quint64 connectionStartTime; QMutex statisticsMutex; QMutex dataMutex; void setName(QString name); private: bool hardwareConnect(void); signals: //Signals are defined by LinkInterface }; #endif // UDPLINK_H