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/****************************************************************************
*
* (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 "AirMapTelemetry.h"
#include "airmap/telemetry.h"
#include "airmap/flights.h"
using namespace airmap;
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AirMapTelemetry::AirMapTelemetry(AirMapSharedState& shared)
: _shared(shared)
{
}
void AirMapTelemetry::vehicleMavlinkMessageReceived(const mavlink_message_t& message)
{
switch (message.msgid) {
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
_handleGlobalPositionInt(message);
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
_handleGPSRawInt(message);
break;
}
}
bool AirMapTelemetry::isTelemetryStreaming() const
{
return _state == State::Streaming;
}
void AirMapTelemetry::_handleGPSRawInt(const mavlink_message_t& message)
{
if (!isTelemetryStreaming()) {
return;
}
mavlink_gps_raw_int_t gps_raw;
mavlink_msg_gps_raw_int_decode(&message, &gps_raw);
if (gps_raw.eph == UINT16_MAX) {
_lastHdop = 1.f;
} else {
_lastHdop = gps_raw.eph / 100.f;
}
}
void AirMapTelemetry::_handleGlobalPositionInt(const mavlink_message_t& message)
{
if (!isTelemetryStreaming()) {
return;
}
mavlink_global_position_int_t globalPosition;
mavlink_msg_global_position_int_decode(&message, &globalPosition);
Telemetry::Position position{
milliseconds_since_epoch(Clock::universal_time()),
(double) globalPosition.lat / 1e7,
(double) globalPosition.lon / 1e7,
(float) globalPosition.alt / 1000.f,
(float) globalPosition.relative_alt / 1000.f,
_lastHdop
};
Telemetry::Speed speed{
milliseconds_since_epoch(Clock::universal_time()),
globalPosition.vx / 100.f,
globalPosition.vy / 100.f,
globalPosition.vz / 100.f
};
Flight flight;
flight.id = _flightID.toStdString();
_shared.client()->telemetry().submit_updates(flight, _key,
{Telemetry::Update{position}, Telemetry::Update{speed}});
}
void AirMapTelemetry::startTelemetryStream(const QString& flightID)
{
if (_state != State::Idle) {
qCWarning(AirMapManagerLog) << "Not starting telemetry: not in idle state:" << (int)_state;
return;
}
qCInfo(AirMapManagerLog) << "Starting Telemetry stream with flightID" << flightID;
_state = State::StartCommunication;
_flightID = flightID;
Flights::StartFlightCommunications::Parameters params;
params.authorization = _shared.loginToken().toStdString();
params.id = _flightID.toStdString();
std::weak_ptr<LifetimeChecker> isAlive(_instance);
_shared.client()->flights().start_flight_communications(params, [this, isAlive](const Flights::StartFlightCommunications::Result& result) {
if (!isAlive.lock()) return;
if (_state != State::StartCommunication) return;
if (result) {
_key = result.value().key;
_state = State::Streaming;
} else {
_state = State::Idle;
QString description = QString::fromStdString(result.error().description() ? result.error().description().get() : "");
emit error("Failed to start telemetry streaming",
QString::fromStdString(result.error().message()), description);
}
});
}
void AirMapTelemetry::stopTelemetryStream()
{
if (_state == State::Idle) {
return;
}
qCInfo(AirMapManagerLog) << "Stopping Telemetry stream with flightID" << _flightID;
_state = State::EndCommunication;
Flights::EndFlightCommunications::Parameters params;
params.authorization = _shared.loginToken().toStdString();
params.id = _flightID.toStdString();
std::weak_ptr<LifetimeChecker> isAlive(_instance);
_shared.client()->flights().end_flight_communications(params, [this, isAlive](const Flights::EndFlightCommunications::Result& result) {
Q_UNUSED(result);
if (!isAlive.lock()) return;
if (_state != State::EndCommunication) return;
_key = "";
_state = State::Idle;
});
}