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/*=====================================================================
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QGroundControl Open Source Ground Control Station
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(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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QGROUNDCONTROL 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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QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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/// @file
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/// @brief TCP link type for SITL support
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///
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/// @author Don Gagne <don@thegagnes.com>
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#ifndef TCPLINK_H
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#define TCPLINK_H
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#include <QString>
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#include <QList>
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#include <QMap>
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#include <QMutex>
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#include <QHostAddress>
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#include <LinkInterface.h>
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#include <configuration.h>
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// Even though QAbstractSocket::SocketError is used in a signal by Qt, Qt doesn't declare it as a meta type.
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// This in turn causes debug output to be kicked out about not being able to queue the signal. We declare it
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// as a meta type to silence that.
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#include <QMetaType>
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#include <QTcpSocket>
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Q_DECLARE_METATYPE(QAbstractSocket::SocketError)
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//#define TCPLINK_READWRITE_DEBUG // Use to debug data reads/writes
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class TCPLink : public LinkInterface
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{
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Q_OBJECT
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public:
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TCPLink(QHostAddress hostAddress = QHostAddress::LocalHost, quint16 socketPort = 5760);
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~TCPLink();
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void setHostAddress(QHostAddress hostAddress);
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QHostAddress getHostAddress(void) const { return _hostAddress; }
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quint16 getPort(void) const { return _port; }
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QTcpSocket* getSocket(void) { return _socket; }
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void signalBytesWritten(void);
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// LinkInterface methods
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virtual int getId(void) const;
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virtual QString getName(void) const;
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virtual bool isConnected(void) const;
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virtual bool connect(void);
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virtual bool disconnect(void);
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virtual qint64 bytesAvailable(void);
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virtual void requestReset(void) {};
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// Extensive statistics for scientific purposes
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qint64 getConnectionSpeed() const;
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qint64 getCurrentInDataRate() const;
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qint64 getCurrentOutDataRate() const;
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public slots:
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void setHostAddress(const QString& hostAddress);
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void setPort(int port);
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// From LinkInterface
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virtual void writeBytes(const char* data, qint64 length);
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void waitForBytesWritten(int msecs);
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void waitForReadyRead(int msecs);
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protected slots:
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void _socketError(QAbstractSocket::SocketError socketError);
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// From LinkInterface
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virtual void readBytes(void);
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protected:
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// From LinkInterface->QThread
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virtual void run(void);
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private:
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void _resetName(void);
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bool _hardwareConnect(void);
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#ifdef TCPLINK_READWRITE_DEBUG
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void _writeDebugBytes(const char *data, qint16 size);
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#endif
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QString _name;
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QHostAddress _hostAddress;
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quint16 _port;
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int _linkId;
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QTcpSocket* _socket;
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bool _socketIsConnected;
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quint64 _bitsSentTotal;
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quint64 _bitsSentCurrent;
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quint64 _bitsSentMax;
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quint64 _bitsReceivedTotal;
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quint64 _bitsReceivedCurrent;
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quint64 _bitsReceivedMax;
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quint64 _connectionStartTime;
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QMutex _statisticsMutex;
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};
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#endif // TCPLINK_H
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