LinkInterface Class Reference

The link interface defines the interface for all links used to communicate with the ground station application. More...

#include <LinkInterface.h>

Inheritance diagram for LinkInterface:

Collaboration diagram for LinkInterface:

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)

Public Member Functions
virtual	~LinkInterface ()
virtual void	disconnect ()=0
virtual bool	isConnected () const =0
virtual bool	isLogReplay () const
virtual bool	isSecureConnection () const
	Returns true if the connection is secure (e.g. USB, wired ethernet)
SharedLinkConfigurationPtr	linkConfiguration ()
const SharedLinkConfigurationPtr	linkConfiguration () const
uint8_t	mavlinkChannel () const
bool	mavlinkChannelIsSet () const
bool	decodedFirstMavlinkPacket () const
void	setDecodedFirstMavlinkPacket (bool decodedFirstMavlinkPacket)
void	writeBytesThreadSafe (const char *bytes, int length)
void	addVehicleReference ()
void	removeVehicleReference ()
bool	initMavlinkSigning ()
void	setSigningSignatureFailure (bool failure)
void	reportMavlinkV1Traffic ()

Protected Member Functions
	LinkInterface (SharedLinkConfigurationPtr &config, QObject *parent=nullptr)
	Links are only created by LinkManager so constructor is not public.
virtual bool	_allocateMavlinkChannel ()
virtual void	_freeMavlinkChannel ()
void	_connectionRemoved ()

Protected Attributes
SharedLinkConfigurationPtr	_config

Friends
class	LinkManager

Detailed Description

The link interface defines the interface for all links used to communicate with the ground station application.

Definition at line 13 of file LinkInterface.h.

Constructor & Destructor Documentation

~LinkInterface()

LinkInterface::~LinkInterface ( )

virtual

Definition at line 20 of file LinkInterface.cc.

References _config.

LinkInterface()

LinkInterface::LinkInterface ( SharedLinkConfigurationPtr &  config, QObject *  parent = nullptr  )

explicitprotected

Links are only created by LinkManager so constructor is not public.

Definition at line 13 of file LinkInterface.cc.

Member Function Documentation

_allocateMavlinkChannel()

bool LinkInterface::_allocateMavlinkChannel ( )

protectedvirtual

Called by the LinkManager during LinkInterface construction instructing the link to setup channels. Default implementation allocates a single channel. But some link types (such as MockLink) need more than one.

Definition at line 64 of file LinkInterface.cc.

References initMavlinkSigning(), and mavlinkChannelIsSet().

_connectionRemoved()

void LinkInterface::_connectionRemoved ( )

protected

Definition at line 116 of file LinkInterface.cc.

References disconnect().

Referenced by removeVehicleReference(), and MockLink::simulateConnectionRemoved().

_freeMavlinkChannel()

void LinkInterface::_freeMavlinkChannel ( )

protectedvirtual

Definition at line 88 of file LinkInterface.cc.

References mavlinkChannelIsSet().

addVehicleReference()

void LinkInterface::addVehicleReference ( )

inline

Definition at line 36 of file LinkInterface.h.

bytesReceived

void LinkInterface::bytesReceived ( LinkInterface *  link, const QByteArray &  data  )

signal

Referenced by MockLink::respondWithMavlinkMessage().

bytesSent

void LinkInterface::bytesSent ( LinkInterface *  link, const QByteArray &  data  )

signal

communicationError

void LinkInterface::communicationError ( const QString &  title, const QString &  error  )

signal

Referenced by setSigningSignatureFailure().

connected

void LinkInterface::connected ( )

signal

decodedFirstMavlinkPacket()

bool LinkInterface::decodedFirstMavlinkPacket ( ) const

inline

Definition at line 33 of file LinkInterface.h.

disconnect()

virtual void LinkInterface::disconnect ( )

pure virtual

Implemented in MockLink, BluetoothLink, LogReplayLink, TCPLink, and UDPLink.

Referenced by _connectionRemoved().

disconnected

void LinkInterface::disconnected ( )

signal

Referenced by MockLink::disconnect(), and LogReplayLink::LogReplayLink().

initMavlinkSigning()

bool LinkInterface::initMavlinkSigning

(

)

Definition at line 43 of file LinkInterface.cc.

References MAVLinkSigning::initSigning(), MAVLinkSigning::insecureConnectionAccceptUnsignedCallback(), isSecureConnection(), and MavlinkSettings::mavlink2SigningKey().

Referenced by _allocateMavlinkChannel().

isConnected()

virtual bool LinkInterface::isConnected ( ) const

pure virtual

Implemented in MockLink, BluetoothLink, LogReplayLink, SerialLink, TCPLink, and UDPLink.

Referenced by Vehicle::sendMessageOnLinkThreadSafe().

isLogReplay()

virtual bool LinkInterface::isLogReplay ( ) const

inlinevirtual

Reimplemented in LogReplayLink.

Definition at line 26 of file LinkInterface.h.

isSecureConnection()

virtual bool LinkInterface::isSecureConnection ( ) const

inlinevirtual

Returns true if the connection is secure (e.g. USB, wired ethernet)

Reimplemented in SerialLink, TCPLink, and UDPLink.

Definition at line 27 of file LinkInterface.h.

Referenced by initMavlinkSigning().

linkConfiguration() [1/2]

SharedLinkConfigurationPtr LinkInterface::linkConfiguration ( )

inline

Definition at line 29 of file LinkInterface.h.

Referenced by reportMavlinkV1Traffic(), MockLink::run10HzTasks(), MockLink::run1HzTasks(), and MockLink::run500HzTasks().

linkConfiguration() [2/2]

const SharedLinkConfigurationPtr LinkInterface::linkConfiguration ( ) const

inline

Definition at line 30 of file LinkInterface.h.

mavlinkChannel()

uint8_t LinkInterface::mavlinkChannel

(

)

const

Definition at line 29 of file LinkInterface.cc.

References mavlinkChannelIsSet().

Referenced by MAVLinkProtocol::receiveBytes(), MAVLinkProtocol::resetMetadataForLink(), MockLinkCamera::sendCameraHeartbeats(), and MockLink::sendUnexpectedCommandAck().

mavlinkChannelIsSet()

bool LinkInterface::mavlinkChannelIsSet

(

)

const

Definition at line 38 of file LinkInterface.cc.

Referenced by _allocateMavlinkChannel(), _freeMavlinkChannel(), mavlinkChannel(), MockLink::run10HzTasks(), MockLink::run1HzTasks(), and MockLink::run500HzTasks().

removeVehicleReference()

void LinkInterface::removeVehicleReference

(

)

Definition at line 106 of file LinkInterface.cc.

References _connectionRemoved().

reportMavlinkV1Traffic()

void LinkInterface::reportMavlinkV1Traffic

(

)

Definition at line 136 of file LinkInterface.cc.

References linkConfiguration(), and qgcApp.

Referenced by MAVLinkProtocol::receiveBytes().

setDecodedFirstMavlinkPacket()

void LinkInterface::setDecodedFirstMavlinkPacket ( bool  decodedFirstMavlinkPacket )

inline

Definition at line 34 of file LinkInterface.h.

Referenced by MAVLinkProtocol::resetMetadataForLink().

setSigningSignatureFailure()

void LinkInterface::setSigningSignatureFailure

(

bool

failure

)

Definition at line 126 of file LinkInterface.cc.

References communicationError().

writeBytesThreadSafe()

void LinkInterface::writeBytesThreadSafe	(	const char *	bytes,
		int	length
	)

Definition at line 100 of file LinkInterface.cc.

Referenced by Vehicle::sendMessageOnLinkThreadSafe().

Friends And Related Symbol Documentation

LinkManager

friend class LinkManager

friend

Definition at line 18 of file LinkInterface.h.

Member Data Documentation

_config

SharedLinkConfigurationPtr LinkInterface::_config

protected

Definition at line 61 of file LinkInterface.h.

Referenced by ~LinkInterface().

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The documentation for this class was generated from the following files:

• src/Comms/LinkInterface.h
• src/Comms/LinkInterface.cc