LinkInterface.h

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#pragma once
 
#include <QtCore/QElapsedTimer>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include <memory>
 
#include "LinkConfiguration.h"
#include "MAVLinkMessageType.h"
 
class LinkManager;
class QLoggingCategory;
class QThread;
class SigningController;
 
class LinkInterface : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
    friend class LinkManager;
 
public:
    virtual ~LinkInterface();
 
    Q_INVOKABLE virtual void disconnect() = 0; // Implementations should guard against multiple calls
 
    virtual bool isConnected() const = 0;
    virtual bool isLogReplay() const { return false; }
    virtual bool isSecureConnection() const { return false; } 
    virtual bool isRadioLink() const { return _radioStatusSeen; }
    void reportRadioStatusReceived();
 
    SharedLinkConfigurationPtr linkConfiguration() { return _config; }
    const SharedLinkConfigurationPtr linkConfiguration() const { return _config; }
    uint8_t mavlinkChannel() const;
    bool mavlinkChannelIsSet() const;
    bool decodedFirstMavlinkPacket() const { return _decodedFirstMavlinkPacket; }
    void setDecodedFirstMavlinkPacket(bool decodedFirstMavlinkPacket) { _decodedFirstMavlinkPacket = decodedFirstMavlinkPacket; }
    void writeBytesThreadSafe(const char *bytes, int length);
    void sendMessageThreadSafe(mavlink_message_t &message);
    void addVehicleReference() { ++_vehicleReferenceCount; }
    void removeVehicleReference();
    void reportMavlinkV1Traffic();
    void reportMavlinkV2Traffic() { _mavlinkV2TrafficSeen = true; }
    bool mavlinkV1TrafficReported() const { return _mavlinkV1TrafficReported; }
 
    static constexpr int kMavlinkV1TrafficGraceMsecsDefault = 10000;
    static void setMavlinkV1TrafficGraceMsecs(int msecs) { _mavlinkV1TrafficGraceMsecs = msecs; }
 
    SigningController* signing() { return _signingController.get(); }
    const SigningController* signing() const { return _signingController.get(); }
 
signals:
    void bytesReceived(LinkInterface *link, const QByteArray &data);
    void bytesSent(LinkInterface *link, const QByteArray &data);
    void connected();
    void disconnected();
    void communicationError(const QString &title, const QString &error);
 
protected:
    explicit LinkInterface(SharedLinkConfigurationPtr &config, QObject *parent = nullptr);
 
    virtual bool _allocateMavlinkChannel();
 
    virtual void _freeMavlinkChannel();
 
    void _connectionRemoved();
 
    void _shutdownWorkerThread(QThread *thread, const QLoggingCategory &category, bool allowTerminate = true);
 
    SharedLinkConfigurationPtr _config;
 
private slots:
    virtual void _writeBytes(const QByteArray &bytes) = 0;
 
private:
    virtual bool _connect() = 0;
 
    void _orphanWorkerThread(QThread *thread);
 
    uint8_t _mavlinkChannel = std::numeric_limits<uint8_t>::max();
    bool _decodedFirstMavlinkPacket = false;
    int _vehicleReferenceCount = 0;
    bool _mavlinkV1TrafficReported = false;
    bool _mavlinkV2TrafficSeen = false;
    bool _radioStatusSeen = false;
    QElapsedTimer _mavlinkV1FirstSeenTimer;
    static inline int _mavlinkV1TrafficGraceMsecs = kMavlinkV1TrafficGraceMsecsDefault;
    std::unique_ptr<SigningController> _signingController;
};
 
typedef std::shared_ptr<LinkInterface> SharedLinkInterfacePtr;
typedef std::weak_ptr<LinkInterface> WeakLinkInterfacePtr;