ground/openpilotgcs/src/plugins/uploader/oplinkwatchdog.cpp

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       oplinkwatchdog.cpp
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @addtogroup [Group]
   7  * @{
   8  * @addtogroup OPLinkWatchdog
   9  * @{
  10  * @brief [Brief]
  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 #include "oplinkwatchdog.h"
  29 #include "extensionsystem/pluginmanager.h"
  30 #include "uavobjects/uavobjectmanager.h"
  31 #include "oplinkstatus.h"
  32 #include <QDebug>
  33
  34 OPLinkWatchdog::OPLinkWatchdog() : QObject(),
  35     m_isConnected(false)
  36 {
  37     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
  38
  39     Q_ASSERT(pm);
  40     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
  41     Q_ASSERT(objManager);
  42     m_opLinkStatus = OPLinkStatus::GetInstance(objManager);
  43     Q_ASSERT(m_opLinkStatus);
  44     connect(m_opLinkStatus, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(onOPLinkStatusUpdate()));
  45     m_watchdog     = new QTimer(this);
  46     connect(m_watchdog, SIGNAL(timeout()), this, SLOT(onTimeout()));
  47     onOPLinkStatusUpdate();
  48 }
  49
  50 OPLinkWatchdog::~OPLinkWatchdog()
  51 {}
  52
  53 void OPLinkWatchdog::onOPLinkStatusUpdate()
  54 {
  55     m_watchdog->stop();
  56     quint8 type = m_opLinkStatus->getBoardType();
  57     if (!m_isConnected) {
  58         switch (type) {
  59         case 3:
  60             m_opLinkType  = OPLINK_MINI;
  61             m_isConnected = true;
  62             emit connected();
  63             emit opLinkMiniConnected();
  64             break;
  65         case 9:
  66             m_opLinkType  = OPLINK_REVOLUTION;
  67             m_isConnected = true;
  68             emit connected();
  69             emit opLinkRevolutionConnected();
  70             break;
  71         default:
  72             m_isConnected = false;
  73             m_opLinkType  = OPLINK_UNKNOWN;
  74             return;
  75         }
  76
  77         qDebug() << "OPLinkWatchdog - OPLink connected";
  78     }
  79     m_watchdog->start(m_opLinkStatus->getMetadata().flightTelemetryUpdatePeriod * 3);
  80 }
  81
  82 void OPLinkWatchdog::onTimeout()
  83 {
  84     if (m_isConnected) {
  85         m_isConnected = false;
  86         m_opLinkType  = OPLINK_UNKNOWN;
  87         qDebug() << "OPLinkWatchdog - OPLink disconnected";
  88         emit disconnected();
  89     }
  90 }