ground/gcs/src/plugins/uavtalk/telemetry.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       telemetry.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @addtogroup GCSPlugins GCS Plugins
   7  * @{
   8  * @addtogroup UAVTalkPlugin UAVTalk Plugin
   9  * @{
  10  * @brief The UAVTalk protocol plugin
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #ifndef TELEMETRY_H
  29 #define TELEMETRY_H
  30
  31 #include "uavtalk.h"
  32 #include "uavobjectmanager.h"
  33 #include "gcstelemetrystats.h"
  34 #include <QMutex>
  35 #include <QMutexLocker>
  36 #include <QTimer>
  37 #include <QQueue>
  38 #include <QMap>
  39
  40 class ObjectTransactionInfo : public QObject {
  41     Q_OBJECT
  42
  43 public:
  44     ObjectTransactionInfo(QObject *parent);
  45     ~ObjectTransactionInfo();
  46     UAVObject *obj;
  47     bool allInstances;
  48     bool objRequest;
  49     qint32 retriesRemaining;
  50     bool acked;
  51     QPointer<class Telemetry>telem;
  52     QTimer *timer;
  53 private slots:
  54     void timeout();
  55 };
  56
  57 class Telemetry : public QObject {
  58     Q_OBJECT
  59
  60 public:
  61     typedef struct {
  62         quint32 txBytes;
  63         quint32 txObjectBytes;
  64         quint32 txObjects;
  65         quint32 txErrors;
  66         quint32 txRetries;
  67
  68         quint32 rxBytes;
  69         quint32 rxObjectBytes;
  70         quint32 rxObjects;
  71         quint32 rxErrors;
  72         quint32 rxSyncErrors;
  73         quint32 rxCrcErrors;
  74     } TelemetryStats;
  75
  76     Telemetry(UAVTalk *utalk, UAVObjectManager *objMngr);
  77     ~Telemetry();
  78     TelemetryStats getStats();
  79     void resetStats();
  80     void transactionTimeout(ObjectTransactionInfo *info);
  81
  82 private:
  83     // Constants
  84     static const int REQ_TIMEOUT_MS = 250;
  85     static const int MAX_RETRIES    = 2;
  86     static const int MAX_UPDATE_PERIOD_MS = 1000;
  87     static const int MIN_UPDATE_PERIOD_MS = 1;
  88     static const int MAX_QUEUE_SIZE = 20;
  89
  90     // Types
  91     /**
  92      * Events generated by objects
  93      */
  94     typedef enum {
  95         EV_NONE             = 0x00, /** No event */
  96         EV_UNPACKED         = 0x01, /** Object data updated by unpacking */
  97         EV_UPDATED          = 0x02, /** Object data updated by changing the data structure */
  98         EV_UPDATED_MANUAL   = 0x04, /** Object update event manually generated */
  99         EV_UPDATED_PERIODIC = 0x08, /** Object update event generated by timer */
 100         EV_UPDATE_REQ       = 0x10 /** Request to update object data */
 101     } EventMask;
 102
 103     typedef struct {
 104         UAVObject *obj;
 105         qint32    updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
 106         qint32    timeToNextUpdateMs; /** Time delay to the next update */
 107     } ObjectTimeInfo;
 108
 109     typedef struct {
 110         UAVObject *obj;
 111         EventMask event;
 112         bool allInstances;
 113     } ObjectQueueInfo;
 114
 115     // Variables
 116     UAVObjectManager *objMngr;
 117     UAVTalk *utalk;
 118     GCSTelemetryStats *gcsStatsObj;
 119     QList<ObjectTimeInfo> objList;
 120     QQueue<ObjectQueueInfo> objQueue;
 121     QQueue<ObjectQueueInfo> objPriorityQueue;
 122     QMap<quint32, QMap<quint32, ObjectTransactionInfo *> *> transMap;
 123     QMutex *mutex;
 124     QTimer *updateTimer;
 125     QTimer *statsTimer;
 126     qint32 timeToNextUpdateMs;
 127     quint32 txErrors;
 128     quint32 txRetries;
 129
 130     // Methods
 131     void registerObject(UAVObject *obj);
 132     void addObject(UAVObject *obj);
 133     void setUpdatePeriod(UAVObject *obj, qint32 periodMs);
 134     void connectToObjectInstances(UAVObject *obj, quint32 eventMask);
 135     void connectToObject(UAVObject *obj, quint32 eventMask);
 136     void updateObject(UAVObject *obj, quint32 eventMask);
 137     void processObjectUpdates(UAVObject *obj, EventMask event, bool allInstances, bool priority);
 138     void processObjectTransaction(ObjectTransactionInfo *transInfo);
 139     void processObjectQueue();
 140
 141     ObjectTransactionInfo *findTransaction(UAVObject *obj);
 142     void openTransaction(ObjectTransactionInfo *trans);
 143     void closeTransaction(ObjectTransactionInfo *trans);
 144     void closeAllTransactions();
 145
 146 private slots:
 147     void objectUpdatedAuto(UAVObject *obj);
 148     void objectUpdatedManual(UAVObject *obj, bool all = false);
 149     void objectUpdatedPeriodic(UAVObject *obj);
 150     void objectUnpacked(UAVObject *obj);
 151     void updateRequested(UAVObject *obj, bool all = false);
 152     void newObject(UAVObject *obj);
 153     void newInstance(UAVObject *obj);
 154     void processPeriodicUpdates();
 155     void transactionCompleted(UAVObject *obj, bool success);
 156 };
 157
 158 #endif // TELEMETRY_H