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123 lines
3.6 KiB
123 lines
3.6 KiB
/*===================================================================== |
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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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