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122 lines
3.1 KiB
122 lines
3.1 KiB
15 years ago
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/*=====================================================================
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
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(c) 2009, 2010 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 simulated system link
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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 MAVLINKSIMULATIONLINK_H
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#define MAVLINKSIMULATIONLINK_H
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#include <QFile>
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#include <QTimer>
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#include <QTextStream>
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#include <QQueue>
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#include <QMutex>
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#include <inttypes.h>
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#include <LinkInterface.h>
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class MAVLinkSimulationLink : public LinkInterface
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{
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public:
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MAVLinkSimulationLink(QFile* readFile=NULL, QFile* writeFile=NULL, int rate=5);
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~MAVLinkSimulationLink();
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bool isConnected();
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qint64 bytesAvailable();
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void run();
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bool connect();
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bool disconnect();
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/* Extensive statistics for scientific purposes */
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qint64 getNominalDataRate();
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qint64 getTotalUpstream();
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qint64 getShortTermUpstream();
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qint64 getCurrentUpstream();
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qint64 getMaxUpstream();
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qint64 getTotalDownstream();
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qint64 getShortTermDownstream();
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qint64 getCurrentDownstream();
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qint64 getMaxDownstream();
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qint64 getBitsSent();
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qint64 getBitsReceived();
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QString getName();
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int getId();
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int getBaudRate();
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int getBaudRateType();
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int getFlowType();
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int getParityType();
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int getDataBitsType();
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int getStopBitsType();
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int getLinkQuality();
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bool isFullDuplex();
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public slots:
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void writeBytes(const char* data, qint64 size);
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void readBytes(char* const data, qint64 maxLength);
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void mainloop();
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protected:
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// UAS properties
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float roll, pitch, yaw;
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int battery;
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QTimer* timer;
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/** File which contains the input data (simulated robot messages) **/
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QFile* simulationFile;
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QString simulationHeader;
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int lineCounter = 0;
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/** File where the commands sent by the groundstation are stored **/
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QFile* receiveFile;
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QTextStream stream;
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QTextStream* fileStream;
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QTextStream* outStream;
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/** Buffer which can be read from connected protocols through readBytes(). **/
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QMutex readyBufferMutex;
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bool _isConnected;
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quint64 rate;
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int maxTimeNoise;
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quint64 lastSent;
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int readyBytes;
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QQueue<uint8_t> readyBuffer;
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int id;
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QString name;
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void setMaximumTimeNoise(int milliseconds);
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void addTimeNoise();
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};
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#endif // MAVLINKSIMULATIONLINK_H
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