/**
* Constructor
*/
Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
{
this->utalk = utalk;
this->objMngr = objMngr;
mutex = new QMutex(QMutex::Recursive);
// Process all objects in the list
QList< QList<UAVObject*> > objs = objMngr->getObjects();
for (int objidx = 0; objidx < objs.length(); ++objidx)
{
registerObject(objs[objidx][0]); // we only need to register one instance per object type
}
// Listen to new object creations
connect(objMngr, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
connect(objMngr, SIGNAL(newInstance(UAVObject*)), this, SLOT(newInstance(UAVObject*)));
// Listen to transaction completions
connect(utalk, SIGNAL(transactionCompleted(UAVObject*)), this, SLOT(transactionCompleted(UAVObject*)));
// Get GCS stats object
gcsStatsObj = GCSTelemetryStats::GetInstance(objMngr);
// Setup transaction timer
transPending = false;
transTimer = new QTimer(this);
transTimer->stop();
connect(transTimer, SIGNAL(timeout()), this, SLOT(transactionTimeout()));
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(processPeriodicUpdates()));
updateTimer->start(1000);
// Setup and start the stats timer
txErrors = 0;
txRetries = 0;
}
ModbusClient::ModbusClient(QObject *parent) :
QObject(parent)
{
statusConnected = false;
isWaitingForResponse = false;
transactionID = 1;
//Create table of registers
holdingRegistersSize = 127;
holdingRegisters = new quint16[holdingRegistersSize];
for(int i=0 ; i<holdingRegistersSize ; i++) {
holdingRegisters[i]=0;
}
responseTimer = new QTimer(this);
setResponseTimerTimeout(500);
connect(responseTimer,SIGNAL(timeout()),this,SLOT(transactionTimeout()));
mySocket = new QTcpSocket(this);
connect(mySocket, SIGNAL(disconnected()), this, SLOT(disconnected()));
connect(mySocket, SIGNAL(connected()),this,SLOT(connected()));
connect(mySocket, SIGNAL(readyRead()), this, SLOT(readDataAndCheck()));
}