/** ****************************************************************************** * * @file uavtalk.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009. * @brief * @see The GNU Public License (GPL) Version 3 * @defgroup * @{ * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #ifndef UAVTALK_H #define UAVTALK_H #include #include #include #include #include "uavobjects/uavobjectmanager.h" class UAVTalk: public QObject { Q_OBJECT public: typedef struct { quint32 txBytes; quint32 rxBytes; quint32 txObjectBytes; quint32 rxObjectBytes; quint32 rxObjects; quint32 txObjects; quint32 txErrors; quint32 rxErrors; } ComStats; UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr); bool sendObject(UAVObject* obj, bool acked, bool allInstances); bool sendObjectRequest(UAVObject* obj, bool allInstances); void cancelTransaction(); ComStats getStats(); void resetStats(); signals: void transactionCompleted(UAVObject* obj); private slots: void processInputStream(void); private: // Constants static const int TYPE_MASK = 0xFC; static const int TYPE_VER = 0x10; static const int TYPE_OBJ = (TYPE_VER | 0x00); static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01); static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02); static const int TYPE_ACK = (TYPE_VER | 0x03); static const int HEADER_LENGTH = 7; // type (1), object ID (4), instance ID (2, not used in single objects) static const int CHECKSUM_LENGTH = 1; static const int MAX_PAYLOAD_LENGTH = 256; static const int MAX_PACKET_LENGTH = (HEADER_LENGTH+MAX_PAYLOAD_LENGTH+CHECKSUM_LENGTH); static const quint16 ALL_INSTANCES = 0xFFFF; static const int TX_BUFFER_SIZE = 2*1024; static const quint8 crc_table[256]; // Types typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType; // Variables QIODevice* io; UAVObjectManager* objMngr; QMutex* mutex; UAVObject* respObj; bool respAllInstances; quint8 rxBuffer[MAX_PACKET_LENGTH]; quint8 txBuffer[MAX_PACKET_LENGTH]; // Variables used by the receive state machine quint8 rxTmpBuffer[4]; quint8 rxType; quint32 rxObjId; quint16 rxInstId; quint8 rxLength; quint8 rxCSPacket, rxCS; qint32 rxCount; RxStateType rxState; ComStats stats; // Methods bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances); bool processInputByte(quint8 rxbyte); bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length); UAVObject* updateObject(quint32 objId, quint16 instId, quint8* data); void updateAck(UAVObject* obj); bool transmitObject(UAVObject* obj, quint8 type, bool allInstances); bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances); quint8 updateCRC(quint8 crc, const quint8* data, qint32 length); }; #endif // UAVTALK_H