Vehicle.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "MissionController.h"
#include "GeoFenceManager.h"
#include "RallyPointManager.h"
#include "CoordinateVector.h"
#include "ParameterManager.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
#include "GAudioOutput.h"
#include "FollowMe.h"
#include "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

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

extern const char* guided_mode_not_supported_by_vehicle;

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* Vehicle::_temperatureFactGroupName = "temperature";

const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;

Vehicle::Vehicle(LinkInterface*             link,
                 int                        vehicleId,
                 int                        defaultComponentId,
                 MAV_AUTOPILOT              firmwareType,
                 MAV_TYPE                   vehicleType,
                 FirmwarePluginManager*     firmwarePluginManager,
                 JoystickManager*           joystickManager)
    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
    , _id(vehicleId)
    , _defaultComponentId(defaultComponentId)
    , _active(false)
    , _offlineEditingVehicle(false)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _firmwarePluginInstanceData(NULL)
    , _autopilotPlugin(NULL)
    , _mavlink(NULL)
    , _soloFirmware(false)
    , _settingsManager(qgcApp()->toolbox()->settingsManager())
    , _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)
    , _updateCount(0)
    , _rcRSSI(255)
    , _rcRSSIstore(255)
    , _autoDisconnect(false)
    , _flying(false)
    , _onboardControlSensorsPresent(0)
    , _onboardControlSensorsEnabled(0)
    , _onboardControlSensorsHealth(0)
    , _onboardControlSensorsUnhealthy(0)
    , _gpsRawIntMessageAvailable(false)
    , _globalPositionIntMessageAvailable(false)
    , _cruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
    , _hoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
    , _telemetryRRSSI(0)
    , _telemetryLRSSI(0)
    , _telemetryRXErrors(0)
    , _telemetryFixed(0)
    , _telemetryTXBuffer(0)
    , _telemetryLNoise(0)
    , _telemetryRNoise(0)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _missionManager(NULL)
    , _missionManagerInitialRequestSent(false)
    , _geoFenceManager(NULL)
    , _geoFenceManagerInitialRequestSent(false)
    , _rallyPointManager(NULL)
    , _rallyPointManagerInitialRequestSent(false)
    , _parameterManager(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(firmwarePluginManager)
    , _joystickManager(joystickManager)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
    , _messagesReceived(0)
    , _messagesSent(0)
    , _messagesLost(0)
    , _messageSeq(0)
    , _compID(0)
    , _heardFrom(false)
    , _firmwareMajorVersion(versionNotSetValue)
    , _firmwareMinorVersion(versionNotSetValue)
    , _firmwarePatchVersion(versionNotSetValue)
    , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
    , _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)
    , _temperatureFactGroup(this)
{
    _addLink(link);

    connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_activeJoystickChanged);

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

    connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);
    connect(_mavlink, &MAVLinkProtocol::radioStatusChanged,  this, &Vehicle::_telemetryChanged);

    connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
    connect(this, &Vehicle::flightModeChanged,          this, &Vehicle::_handleFlightModeChanged);
    connect(this, &Vehicle::armedChanged,               this, &Vehicle::_announceArmedChanged);
    _uas = new UAS(_mavlink, this, _firmwarePluginManager);

    connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
    connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);

    _commonInit();
    _autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);

    // connect this vehicle to the follow me handle manager
    connect(this, &Vehicle::flightModeChanged,qgcApp()->toolbox()->followMe(), &FollowMe::followMeHandleManager);

    // PreArm Error self-destruct timer
    connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
    _prearmErrorTimer.setInterval(_prearmErrorTimeoutMSecs);
    _prearmErrorTimer.setSingleShot(true);

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

    // Send MAV_CMD ack timer
    _mavCommandAckTimer.setSingleShot(true);
    _mavCommandAckTimer.setInterval(_mavCommandAckTimeoutMSecs);
    connect(&_mavCommandAckTimer, &QTimer::timeout, this, &Vehicle::_sendMavCommandAgain);

    _mav = uas();

    // Listen for system messages
    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageReceived,      this, &Vehicle::_handletextMessageReceived);
    // Now connect the new UAS
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));