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94 lines
3.0 KiB
94 lines
3.0 KiB
15 years ago
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/*=====================================================================
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
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Please see our website at <http://pixhawk.ethz.ch>
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(c) 2009 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
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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PIXHAWK is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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/**
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* @file
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* @brief Definition of the MAVLink protocol
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*
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* @author Lorenz Meier <mavteam@student.ethz.ch>
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*
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*/
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#ifndef MAVLINKPROTOCOL_H_
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#define MAVLINKPROTOCOL_H_
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#include <QObject>
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#include <QMutex>
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#include <QString>
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#include <QTimer>
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#include <QByteArray>
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#include "ProtocolInterface.h"
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#include "LinkInterface.h"
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#include "protocol.h"
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/**
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* MAVLink micro air vehicle protocol reference implementation.
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*
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**/
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class MAVLinkProtocol : public ProtocolInterface {
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Q_OBJECT
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public:
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MAVLinkProtocol();
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~MAVLinkProtocol();
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void run();
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/** @brief Get the human-friendly name of this protocol */
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QString getName();
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/** @brief The auto heartbeat emission rate in Hertz */
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int getHeartbeatRate();
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/** @brief Get heartbeat state */
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bool heartbeatsEnabled(void);
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public slots:
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/** @brief Receive bytes from a communication interface */
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void receiveBytes(LinkInterface* link);
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/** @brief Send MAVLink message through serial interface */
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void sendMessage(mavlink_message_t message);
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/** @brief Send MAVLink message through serial interface */
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void sendMessage(LinkInterface* link, mavlink_message_t message);
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/** @brief Set the rate at which heartbeats are emitted */
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void setHeartbeatRate(int rate);
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/** @brief Enable / disable the heartbeat emission */
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void enableHeartbeats(bool enabled);
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/** @brief Send an extra heartbeat to all connected units */
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void sendHeartbeat();
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protected:
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QTimer* heartbeatTimer; ///< Timer to emit heartbeats
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int heartbeatRate; ///< Heartbeat rate, controls the timer interval
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bool m_heartbeatsEnabled; ///< Enabled/disable heartbeat emission
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QMutex receiveMutex; ///< Mutex to protect receiveBytes function
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signals:
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/** @brief Message received and directly copied via signal */
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void messageReceived(LinkInterface* link, mavlink_message_t message);
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/** @brief Emitted if heartbeat emission mode is changed */
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void heartbeatChanged(bool heartbeats);
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};
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#endif // MAVLINKPROTOCOL_H_
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