mirror of
https://bitbucket.org/librepilot/librepilot.git
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7195862d77
This will allow us to build a parent project for qt-creator that sits above both openpilotgcs and uavobjgenerator so that we can build both projects at the same time. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2528 ebee16cc-31ac-478f-84a7-5cbb03baadba
144 lines
4.3 KiB
C++
144 lines
4.3 KiB
C++
/**
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******************************************************************************
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*
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* @file telemetry.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup UAVTalkPlugin UAVTalk Plugin
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* @{
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* @brief The UAVTalk protocol plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef TELEMETRY_H
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#define TELEMETRY_H
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#include "uavtalk.h"
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#include "uavobjectmanager.h"
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#include "gcstelemetrystats.h"
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#include <QMutex>
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#include <QMutexLocker>
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#include <QTimer>
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#include <QQueue>
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class Telemetry: public QObject
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{
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Q_OBJECT
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public:
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typedef struct {
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quint32 txBytes;
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quint32 rxBytes;
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quint32 txObjectBytes;
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quint32 rxObjectBytes;
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quint32 rxObjects;
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quint32 txObjects;
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quint32 txErrors;
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quint32 rxErrors;
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quint32 txRetries;
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} TelemetryStats;
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Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr);
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TelemetryStats getStats();
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void resetStats();
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signals:
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private slots:
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void objectUpdatedAuto(UAVObject* obj);
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void objectUpdatedManual(UAVObject* obj);
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void objectUnpacked(UAVObject* obj);
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void updateRequested(UAVObject* obj);
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void newObject(UAVObject* obj);
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void newInstance(UAVObject* obj);
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void processPeriodicUpdates();
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void transactionCompleted(UAVObject* obj);
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void transactionTimeout();
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private:
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// Constants
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static const int REQ_TIMEOUT_MS = 250;
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static const int MAX_RETRIES = 2;
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static const int MAX_UPDATE_PERIOD_MS = 1000;
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static const int MIN_UPDATE_PERIOD_MS = 1;
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static const int MAX_QUEUE_SIZE = 20;
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// Types
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/**
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* Events generated by objects
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*/
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typedef enum {
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EV_UNPACKED = 0x01, /** Object data updated by unpacking */
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EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
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EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
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EV_UPDATE_REQ = 0x08 /** Request to update object data */
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} EventMask;
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typedef struct {
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UAVObject* obj;
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qint32 updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
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qint32 timeToNextUpdateMs; /** Time delay to the next update */
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} ObjectTimeInfo;
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typedef struct {
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UAVObject* obj;
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EventMask event;
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bool allInstances;
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} ObjectQueueInfo;
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typedef struct {
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UAVObject* obj;
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bool allInstances;
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bool objRequest;
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qint32 retriesRemaining;
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bool acked;
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} ObjectTransactionInfo;
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// Variables
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UAVObjectManager* objMngr;
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UAVTalk* utalk;
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GCSTelemetryStats* gcsStatsObj;
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QList<ObjectTimeInfo> objList;
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QQueue<ObjectQueueInfo> objQueue;
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QQueue<ObjectQueueInfo> objPriorityQueue;
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ObjectTransactionInfo transInfo;
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bool transPending;
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QMutex* mutex;
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QTimer* updateTimer;
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QTimer* transTimer;
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QTimer* statsTimer;
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qint32 timeToNextUpdateMs;
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quint32 txErrors;
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quint32 txRetries;
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// Methods
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void registerObject(UAVObject* obj);
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void addObject(UAVObject* obj);
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void setUpdatePeriod(UAVObject* obj, qint32 periodMs);
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void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
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void updateObject(UAVObject* obj);
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void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
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void processObjectTransaction();
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void processObjectQueue();
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};
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#endif // TELEMETRY_H
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