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

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       uavtalk.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 #ifndef UAVTALK_H
  28 #define UAVTALK_H
  29
  30 #include "uavobjectmanager.h"
  31 #include "uavtalk_global.h"
  32
  33 #include <QtCore>
  34 #include <QIODevice>
  35 #include <QMutex>
  36 #include <QMutexLocker>
  37 #include <QMap>
  38 #include <QThread>
  39 #include <QtNetwork/QUdpSocket>
  40
  41 class UAVTALK_EXPORT UAVTalk : public QObject {
  42     Q_OBJECT
  43
  44     friend class IODeviceReader;
  45
  46 public:
  47     static const quint16 ALL_INSTANCES = 0xFFFF;
  48
  49     typedef struct {
  50         quint32 txBytes;
  51         quint32 txObjectBytes;
  52         quint32 txObjects;
  53         quint32 txErrors;
  54
  55         quint32 rxBytes;
  56         quint32 rxObjectBytes;
  57         quint32 rxObjects;
  58         quint32 rxErrors;
  59         quint32 rxSyncErrors;
  60         quint32 rxCrcErrors;
  61     } ComStats;
  62
  63     UAVTalk(QIODevice *iodev, UAVObjectManager *objMngr);
  64     ~UAVTalk();
  65
  66     ComStats getStats();
  67     void resetStats();
  68
  69     bool sendObject(UAVObject *obj, bool acked, bool allInstances);
  70     bool sendObjectRequest(UAVObject *obj, bool allInstances);
  71     void cancelTransaction(UAVObject *obj);
  72
  73 signals:
  74     void transactionCompleted(UAVObject *obj, bool success);
  75
  76 private slots:
  77     void processInputStream();
  78     void dummyUDPRead();
  79
  80 private:
  81
  82     typedef struct {
  83         quint8  respType;
  84         quint32 respObjId;
  85         quint16 respInstId;
  86     } Transaction;
  87
  88     // Constants
  89     static const int TYPE_MASK     = 0xF8;
  90     static const int TYPE_VER      = 0x20;
  91     static const int TYPE_OBJ      = (TYPE_VER | 0x00);
  92     static const int TYPE_OBJ_REQ  = (TYPE_VER | 0x01);
  93     static const int TYPE_OBJ_ACK  = (TYPE_VER | 0x02);
  94     static const int TYPE_ACK      = (TYPE_VER | 0x03);
  95     static const int TYPE_NACK     = (TYPE_VER | 0x04);
  96
  97     // header : sync(1), type (1), size(2), object ID(4), instance ID(2)
  98     static const int HEADER_LENGTH = 10;
  99
 100     static const int MAX_PAYLOAD_LENGTH = 256;
 101
 102     static const int CHECKSUM_LENGTH    = 1;
 103
 104     static const int MAX_PACKET_LENGTH  = (HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
 105
 106     static const int TX_BUFFER_SIZE     = 2 * 1024;
 107
 108     // Types
 109     typedef enum {
 110         STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS, STATE_COMPLETE, STATE_ERROR
 111     } RxStateType;
 112
 113     // Variables
 114     QPointer<QIODevice> io;
 115
 116     UAVObjectManager *objMngr;
 117
 118     ComStats stats;
 119
 120     QMutex mutex;
 121
 122     QMap<quint32, QMap<quint32, Transaction *> *> transMap;
 123
 124     quint8 rxBuffer[MAX_PACKET_LENGTH];
 125
 126     quint8 txBuffer[MAX_PACKET_LENGTH];
 127
 128     // Variables used by the receive state machine
 129     // state machine variables
 130     qint32 rxCount;
 131     qint32 packetSize;
 132     RxStateType rxState;
 133     // data variables
 134     quint8 rxTmpBuffer[4];
 135     quint8 rxType;
 136     quint32 rxObjId;
 137     quint16 rxInstId;
 138     quint16 rxLength;
 139     quint16 rxPacketLength;
 140     quint8 rxCSPacket;
 141     quint8 rxCS;
 142
 143     bool useUDPMirror;
 144     QUdpSocket *udpSocketTx;
 145     QUdpSocket *udpSocketRx;
 146     QByteArray rxDataArray;
 147
 148     // Methods
 149     bool objectTransaction(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
 150     bool processInputByte(quint8 rxbyte);
 151     bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8 *data, qint32 length);
 152     UAVObject *updateObject(quint32 objId, quint16 instId, quint8 *data);
 153     void updateAck(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
 154     void updateNack(quint32 objId, quint16 instId, UAVObject *obj);
 155     bool transmitObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
 156     bool transmitSingleObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
 157
 158     Transaction *findTransaction(quint32 objId, quint16 instId);
 159     void openTransaction(quint8 type, quint32 objId, quint16 instId);
 160     void closeTransaction(Transaction *trans);
 161     void closeAllTransactions();
 162
 163     const char *typeToString(quint8 type);
 164 };
 165
 166 #endif // UAVTALK_H