telemetry.h

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

#ifndef TELEMETRY_H
#define TELEMETRY_H

#include "uavtalk.h"
#include "uavobjects/uavobjectmanager.h"
#include "gcstelemetrystats.h"
#include <QTimer>
#include <QQueue>
#include <QMap>

class TransactionKey;

class ObjectTransactionInfo : public QObject
{
    Q_OBJECT

public:
    ObjectTransactionInfo(QObject *parent);
    ~ObjectTransactionInfo();
    UAVObject *obj;
    bool allInstances;
    bool objRequest;
    qint32 retriesRemaining;
    bool acked;
    QPointer<class Telemetry> telem;
    QTimer *timer;
private slots:
    void timeout();
};

class Telemetry : public QObject
{
    Q_OBJECT

public:
    typedef struct
    {
        quint32 txBytes;
        quint32 rxBytes;
        quint32 txObjectBytes;
        quint32 rxObjectBytes;
        quint32 rxObjects;
        quint32 txObjects;
        quint32 txErrors;
        quint32 rxErrors;
        quint32 txRetries;
    } TelemetryStats;

    Telemetry(UAVTalk *utalk, UAVObjectManager *objMngr);
    ~Telemetry();
    TelemetryStats getStats();
    QByteArray *downloadFile(quint32 fileId, quint32 maxSize,
            std::function<void(quint32)>progressCb = nullptr);

    void transactionTimeout(ObjectTransactionInfo *info);

signals:

private:
    // Constants

    // TODO: Would be nice to dynamically scale the request timeout... 
    // This 1500 value is about what's necessary for 9600bps uavtalk links.
    static const int REQ_TIMEOUT_MS = 2000;
    static const int MAX_RETRIES = 5;
    static const int MAX_UPDATE_PERIOD_MS = 1000;
    static const int MIN_UPDATE_PERIOD_MS = 1;
    static const int MAX_QUEUE_SIZE = 20;

    // Types
    typedef enum {
        EV_NONE = 0x00, 
        EV_UNPACKED = 0x01, 
        EV_UPDATED = 0x02, 
        EV_UPDATED_MANUAL = 0x04, 
        EV_UPDATED_PERIODIC = 0x8, 
        EV_UPDATE_REQ = 0x010 
    } EventMask;

    typedef struct
    {
        UAVObject *obj;
        qint32 updatePeriodMs; 
        qint32 timeToNextUpdateMs; 
    } ObjectTimeInfo;

    typedef struct
    {
        UAVObject *obj;
        EventMask event;
        bool allInstances;
    } ObjectQueueInfo;

    // Variables
    UAVObjectManager *objMngr;
    UAVTalk *utalk;
    GCSTelemetryStats *gcsStatsObj;
    QVector<ObjectTimeInfo> objList;
    QQueue<ObjectQueueInfo> objQueue;
    QQueue<ObjectQueueInfo> objPriorityQueue;
    QMap<TransactionKey, ObjectTransactionInfo *> transMap;
    QTimer *updateTimer;
    QTimer *statsTimer;
    qint32 timeToNextUpdateMs;
    quint32 txErrors;
    quint32 txRetries;

    // Methods
    void registerObject(UAVObject *obj);
    void addObject(UAVObject *obj);
    void setUpdatePeriod(UAVObject *obj, qint32 periodMs);
    void connectToObjectInstances(UAVObject *obj, quint32 eventMask);
    void updateObject(UAVObject *obj, quint32 eventMask);
    void processObjectUpdates(UAVObject *obj, EventMask event, bool allInstances, bool priority);
    void processObjectTransaction(ObjectTransactionInfo *transInfo);
    void processObjectQueue();
    bool updateTransactionMap(UAVObject *obj, bool request);

private slots:
    void objectUpdatedAuto(UAVObject *obj);
    void objectUpdatedManual(UAVObject *obj);
    void objectUpdatedPeriodic(UAVObject *obj);
    void objectUnpacked(UAVObject *obj);
    void updateRequested(UAVObject *obj);
    void updateAllInstancesRequested(UAVObject *obj);
    void newObject(UAVObject *obj);
    void newInstance(UAVObject *obj);
    void processPeriodicUpdates();
    void transactionSuccess(UAVObject *obj);
    void transactionFailure(UAVObject *obj);
    void transactionRequestCompleted(UAVObject *obj);
};

#endif // TELEMETRY_H