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https://bitbucket.org/librepilot/librepilot.git
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74 lines
2.4 KiB
C
74 lines
2.4 KiB
C
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#ifndef UAVTALK_H
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#define UAVTALK_H
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#include <QIODevice>
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#include <QMutex>
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#include <QMutexLocker>
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#include <QSemaphore>
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#include "uavobjects\uavobjectmanager.h"
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class UAVTalk: public QObject
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{
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Q_OBJECT
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public:
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UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
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qint32 sendObject(UAVObject* obj, bool acked, qint32 timeoutMs);
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qint32 sendObjectRequest(UAVObject* obj, qint32 timeout, bool allInstances);
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signals:
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void transactionCompleted(UAVObject* obj);
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private slots:
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void processInputStream(void);
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private:
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// Constants
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static const int TYPE_MASK = 0xFC;
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static const int TYPE_VER = 0x10;
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static const int TYPE_OBJ = (TYPE_VER | 0x00);
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static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
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static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
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static const int TYPE_ACK = (TYPE_VER | 0x03);
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static const int HEADER_LENGTH = 7; // type (1), object ID (4), instance ID (2, not used in single objects)
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static const int CHECKSUM_LENGTH = 2;
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static const int MAX_PAYLOAD_LENGTH = 256;
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static const int MAX_PACKET_LENGTH = (HEADER_LENGTH+MAX_PAYLOAD_LENGTH+CHECKSUM_LENGTH);
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static const quint16 ALL_INSTANCES = 0xFFFF;
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typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
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// Variables
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QIODevice* io;
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UAVObjectManager* objMngr;
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QMutex* mutex;
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QSemaphore* respSema;
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UAVObject* respObj;
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bool respAllInstances;
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quint8 rxBuffer[MAX_PACKET_LENGTH];
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quint8 txBuffer[MAX_PACKET_LENGTH];
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// Variables used by the receive state machine
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quint8 rxTmpBuffer[4];
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quint8 rxType;
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quint32 rxObjId;
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quint16 rxInstId;
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quint8 rxLength;
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quint16 rxCSPacket, rxCS;
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qint32 rxCount;
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RxStateType rxState;
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// Methods
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bool objectTransaction(UAVObject* obj, quint8 type, qint32 timeoutMs, bool allInstances);
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bool processInputByte(quint8 rxbyte);
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bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length);
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UAVObject* updateObject(quint32 objId, quint16 instId, quint8* data);
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void updateAck(UAVObject* obj);
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bool transmitObject(UAVObject* obj, quint8 type, bool allInstances);
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bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
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quint16 updateChecksum(quint16 cs, quint8* data, qint32 length);
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};
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#endif // UAVTALK_H
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