mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-09 20:46:07 +01:00
625d7d53fc
Packet sizes are now again properly calculated and sent by GCS Made the ground and flight side more symmetric and robust Fixed few error handling issues Replaced UAVTALK_QXTLOG_DEBUG define with qWarning() calls Known issue : GCS sometimes reports bad CRC on messages received over USB connection
157 lines
4.8 KiB
C++
157 lines
4.8 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 "uavobjectmanager.h"
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#include "uavtalk_global.h"
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#include <QtCore>
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#include <QIODevice>
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#include <QMutex>
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#include <QMutexLocker>
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#include <QMap>
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#include <QThread>
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#include <QtNetwork/QUdpSocket>
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class UAVTALK_EXPORT UAVTalk : public QObject {
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Q_OBJECT
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friend class IODeviceReader;
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public:
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static const quint16 ALL_INSTANCES = 0xFFFF;
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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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ComStats getStats();
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void resetStats();
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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(UAVObject *obj);
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signals:
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void transactionCompleted(UAVObject *obj, bool success);
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private slots:
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void processInputStream();
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void dummyUDPRead();
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private:
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typedef struct {
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quint8 respType;
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quint32 respObjId;
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quint16 respInstId;
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} Transaction;
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// Constants
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static const int TYPE_MASK = 0xF8;
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static const int TYPE_VER = 0x20;
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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 TYPE_NACK = (TYPE_VER | 0x04);
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// header : sync(1), type (1), size(2), object ID(4), instance ID(2)
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static const int HEADER_LENGTH = 10;
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static const int MAX_PAYLOAD_LENGTH = 256;
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static const int CHECKSUM_LENGTH = 1;
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static const int MAX_PACKET_LENGTH = (HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
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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_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS } RxStateType;
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// Variables
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QPointer<QIODevice> io;
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UAVObjectManager *objMngr;
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QMutex mutex;
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QMap<quint32, QMap<quint32, Transaction *> *> transMap;
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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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quint16 rxPacketLength;
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quint8 rxCSPacket, rxCS;
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qint32 rxCount;
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qint32 packetSize;
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RxStateType rxState;
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ComStats stats;
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bool useUDPMirror;
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QUdpSocket *udpSocketTx;
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QUdpSocket *udpSocketRx;
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QByteArray rxDataArray;
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// Methods
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bool objectTransaction(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
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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(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
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void updateNack(quint32 objId, quint16 instId, UAVObject *obj);
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bool transmitObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
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bool transmitSingleObject(quint8 type, quint32 objId, quint16 instId, UAVObject *obj);
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quint8 updateCRC(quint8 crc, const quint8 data);
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quint8 updateCRC(quint8 crc, const quint8 *data, qint32 length);
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Transaction *findTransaction(quint32 objId, quint16 instId);
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void openTransaction(quint8 type, quint32 objId, quint16 instId);
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void closeTransaction(Transaction *trans);
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void closeAllTransactions();
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const char *typeToString(quint8 type);
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};
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#endif // UAVTALK_H
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