Vehicle.cc

/*=====================================================================

 QGroundControl Open Source Ground Control Station

 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

 This file is part of the QGROUNDCONTROL project

 QGROUNDCONTROL 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.

 QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

 ======================================================================*/

#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "ParameterLoader.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
#include "GAudioOutput.h"

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

#define UPDATE_TIMER 50
#define DEFAULT_LAT  38.965767f
#define DEFAULT_LON -120.083923f

const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";

const char* Vehicle::_rollFactName =                "roll";
const char* Vehicle::_pitchFactName =               "pitch";
const char* Vehicle::_headingFactName =             "heading";
const char* Vehicle::_airSpeedFactName =            "airSpeed";
const char* Vehicle::_groundSpeedFactName =         "groundSpeed";
const char* Vehicle::_climbRateFactName =           "climbRate";
const char* Vehicle::_altitudeRelativeFactName =    "altitudeRelative";
const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";

const char* Vehicle::_gpsFactGroupName =        "gps";
const char* Vehicle::_batteryFactGroupName =    "battery";
const char* Vehicle::_windFactGroupName =       "wind";
const char* Vehicle::_vibrationFactGroupName =  "vibration";

const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
const char* VehicleGPSFactGroup::_countFactName =               "count";
const char* VehicleGPSFactGroup::_lockFactName =                "lock";

const char* VehicleBatteryFactGroup::_voltageFactName =             "voltage";
const char* VehicleBatteryFactGroup::_percentRemainingFactName =    "percentRemaining";
const char* VehicleBatteryFactGroup::_mahConsumedFactName =         "mahConsumed";
const char* VehicleBatteryFactGroup::_currentFactName =             "current";
const char* VehicleBatteryFactGroup::_temperatureFactName =         "temperature";
const char* VehicleBatteryFactGroup::_cellCountFactName =           "cellCount";

const double VehicleBatteryFactGroup::_voltageUnavailable =           -1.0;
const int    VehicleBatteryFactGroup::_percentRemainingUnavailable =  -1;
const int    VehicleBatteryFactGroup::_mahConsumedUnavailable =       -1;
const int    VehicleBatteryFactGroup::_currentUnavailable =           -1;
const double VehicleBatteryFactGroup::_temperatureUnavailable =       -1.0;
const int    VehicleBatteryFactGroup::_cellCountUnavailable =         -1.0;

const char* VehicleWindFactGroup::_directionFactName =      "direction";
const char* VehicleWindFactGroup::_speedFactName =          "speed";
const char* VehicleWindFactGroup::_verticalSpeedFactName =  "verticalSpeed";

const char* VehicleVibrationFactGroup::_xAxisFactName =      "xAxis";
const char* VehicleVibrationFactGroup::_yAxisFactName =      "yAxis";
const char* VehicleVibrationFactGroup::_zAxisFactName =      "zAxis";
const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";

Vehicle::Vehicle(LinkInterface*             link,
                 int                        vehicleId,
                 MAV_AUTOPILOT              firmwareType,
                 MAV_TYPE                   vehicleType,
                 FirmwarePluginManager*     firmwarePluginManager,
                 AutoPilotPluginManager*    autopilotPluginManager,
                 JoystickManager*           joystickManager)
    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
    , _id(vehicleId)
    , _active(false)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _autopilotPlugin(NULL)
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _coordinate(37.803784, -122.462276)
    , _coordinateValid(false)
    , _homePositionAvailable(false)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _navigationAltitudeError(0.0f)
    , _navigationSpeedError(0.0f)
    , _navigationCrosstrackError(0.0f)
    , _navigationTargetBearing(0.0f)
    , _refreshTimer(new QTimer(this))
    , _updateCount(0)
    , _rcRSSI(0)
    , _rcRSSIstore(100.0)
    , _autoDisconnect(false)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _missionManager(NULL)
    , _missionManagerInitialRequestComplete(false)
    , _parameterLoader(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(firmwarePluginManager)
    , _autopilotPluginManager(autopilotPluginManager)
    , _joystickManager(joystickManager)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
    , _messagesReceived(0)
    , _messagesSent(0)
    , _messagesLost(0)
    , _messageSeq(0)
    , _compID(0)
    , _heardFrom(false)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _groundSpeedFact      (0, _groundSpeedFactName,       FactMetaData::valueTypeDouble)
    , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
    , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
    , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
    , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
    , _gpsFactGroup(this)
    , _batteryFactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
{
    _addLink(link);

    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();

    connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);
    connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
    connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);

    _uas = new UAS(_mavlink, this, _firmwarePluginManager);

    setLatitude(_uas->getLatitude());
    setLongitude(_uas->getLongitude());

    connect(_uas, &UAS::latitudeChanged,                this, &Vehicle::setLatitude);
    connect(_uas, &UAS::longitudeChanged,               this, &Vehicle::setLongitude);
    connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
    connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);

    _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
    _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);

    connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged,     this, &Vehicle::_parametersReady);
    connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged,   this, &Vehicle::missingParametersChanged);

    // Refresh timer
    connect(_refreshTimer, &QTimer::timeout, this, &Vehicle::_checkUpdate);
    _refreshTimer->setInterval(UPDATE_TIMER);
    _refreshTimer->start(UPDATE_TIMER);

    // Connection Lost time
    _connectionLostTimer.setInterval(Vehicle::_connectionLostTimeoutMSecs);
    _connectionLostTimer.setSingleShot(false);
    _connectionLostTimer.start();
    connect(&_connectionLostTimer, &QTimer::timeout, this, &Vehicle::_connectionLostTimeout);

    _mav = uas();

    // Listen for system messages