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3c647f3481
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1717 ebee16cc-31ac-478f-84a7-5cbb03baadba
118 lines
4.0 KiB
C++
118 lines
4.0 KiB
C++
/**
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******************************************************************************
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*
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* @file uavtalk.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 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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#include "uavtalk_global.h"
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class UAVTALK_EXPORT UAVTalk: 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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} ComStats;
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UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
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~UAVTalk();
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bool sendObject(UAVObject* obj, bool acked, bool allInstances);
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bool sendObjectRequest(UAVObject* obj, bool allInstances);
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void cancelTransaction();
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ComStats getStats();
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void resetStats();
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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 = 1;
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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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static const int TX_BUFFER_SIZE = 2*1024;
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static const quint8 crc_table[256];
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// Types
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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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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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quint16 rxLength;
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quint8 rxCSPacket, rxCS;
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qint32 rxCount;
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RxStateType rxState;
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ComStats stats;
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// Methods
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bool objectTransaction(UAVObject* obj, quint8 type, 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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quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
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};
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#endif // UAVTALK_H
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