Vehicle.h

/****************************************************************************
 *
 * (c) 2009-2020 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.
 *
 ****************************************************************************/

#pragma once

#include <QElapsedTimer>
#include <QObject>
#include <QVariantList>
#include <QGeoCoordinate>
#include <QTime>
#include <QQueue>

#include "FactGroup.h"
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QmlObjectListModel.h"
#include "MAVLinkProtocol.h"
#include "UASMessageHandler.h"
#include "SettingsFact.h"
#include "QGCMapCircle.h"
#include "TerrainFactGroup.h"
#include "SysStatusSensorInfo.h"
#include "VehicleClockFactGroup.h"
#include "VehicleDistanceSensorFactGroup.h"
#include "VehicleWindFactGroup.h"
#include "VehicleGPSFactGroup.h"
#include "VehicleSetpointFactGroup.h"
#include "VehicleTemperatureFactGroup.h"
#include "VehicleVibrationFactGroup.h"
#include "VehicleEstimatorStatusFactGroup.h"

class UAS;
class UASInterface;
class FirmwarePlugin;
class FirmwarePluginManager;
class AutoPilotPlugin;
class MissionManager;
class GeoFenceManager;
class RallyPointManager;
class ParameterManager;
class JoystickManager;
class UASMessage;
class SettingsManager;
class QGCCameraManager;
class Joystick;
class VehicleObjectAvoidance;
class TrajectoryPoints;
class TerrainProtocolHandler;
class ComponentInformationManager;
class FTPManager;
class InitialConnectStateMachine;
class VehicleBatteryFactGroup;

#if defined(QGC_AIRMAP_ENABLED)
class AirspaceVehicleManager;
#endif

Q_DECLARE_LOGGING_CATEGORY(VehicleLog)

class Vehicle;

class Vehicle : public FactGroup
{
    Q_OBJECT

public:
    Vehicle(LinkInterface*          link,
            int                     vehicleId,
            int                     defaultComponentId,
            MAV_AUTOPILOT           firmwareType,
            MAV_TYPE                vehicleType,
            FirmwarePluginManager*  firmwarePluginManager,
            JoystickManager*        joystickManager);

    // Pass these into the offline constructor to create an offline vehicle which tracks the offline vehicle settings
    static const MAV_AUTOPILOT    MAV_AUTOPILOT_TRACK = static_cast<MAV_AUTOPILOT>(-1);
    static const MAV_TYPE         MAV_TYPE_TRACK = static_cast<MAV_TYPE>(-1);

    // The following is used to create a disconnected Vehicle for use while offline editing.
    Vehicle(MAV_AUTOPILOT           firmwareType,
            MAV_TYPE                vehicleType,
            FirmwarePluginManager*  firmwarePluginManager,
            QObject*                parent = nullptr);

    ~Vehicle();

    /// Sensor bits from sensors*Bits properties
    enum MavlinkSysStatus {
        SysStatusSensor3dGyro =                 MAV_SYS_STATUS_SENSOR_3D_GYRO,
        SysStatusSensor3dAccel =                MAV_SYS_STATUS_SENSOR_3D_ACCEL,
        SysStatusSensor3dMag =                  MAV_SYS_STATUS_SENSOR_3D_MAG,
        SysStatusSensorAbsolutePressure =       MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,
        SysStatusSensorDifferentialPressure =   MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,
        SysStatusSensorGPS =                    MAV_SYS_STATUS_SENSOR_GPS,
        SysStatusSensorOpticalFlow =            MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,
        SysStatusSensorVisionPosition =         MAV_SYS_STATUS_SENSOR_VISION_POSITION,
        SysStatusSensorLaserPosition =          MAV_SYS_STATUS_SENSOR_LASER_POSITION,
        SysStatusSensorExternalGroundTruth =    MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,
        SysStatusSensorAngularRateControl =     MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,
        SysStatusSensorAttitudeStabilization =  MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION,
        SysStatusSensorYawPosition =            MAV_SYS_STATUS_SENSOR_YAW_POSITION,
        SysStatusSensorZAltitudeControl =       MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,
        SysStatusSensorXYPositionControl =      MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,
        SysStatusSensorMotorOutputs =           MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,
        SysStatusSensorRCReceiver =             MAV_SYS_STATUS_SENSOR_RC_RECEIVER,
        SysStatusSensor3dGyro2 =                MAV_SYS_STATUS_SENSOR_3D_GYRO2,
        SysStatusSensor3dAccel2 =               MAV_SYS_STATUS_SENSOR_3D_ACCEL2,
        SysStatusSensor3dMag2 =                 MAV_SYS_STATUS_SENSOR_3D_MAG2,
        SysStatusSensorGeoFence =               MAV_SYS_STATUS_GEOFENCE,
        SysStatusSensorAHRS =                   MAV_SYS_STATUS_AHRS,
        SysStatusSensorTerrain =                MAV_SYS_STATUS_TERRAIN,
        SysStatusSensorReverseMotor =           MAV_SYS_STATUS_REVERSE_MOTOR,
        SysStatusSensorLogging =                MAV_SYS_STATUS_LOGGING,
        SysStatusSensorBattery =                MAV_SYS_STATUS_SENSOR_BATTERY,
    };
    Q_ENUM(MavlinkSysStatus)

    enum CheckList {
        CheckListNotSetup = 0,
        CheckListPassed,
        CheckListFailed,
    };
    Q_ENUM(CheckList)

    Q_PROPERTY(int                  id                      READ id                                                     CONSTANT)
    Q_PROPERTY(AutoPilotPlugin*     autopilot               MEMBER _autopilotPlugin                                     CONSTANT)
    Q_PROPERTY(QGeoCoordinate       coordinate              READ coordinate                                             NOTIFY coordinateChanged)
    Q_PROPERTY(QGeoCoordinate       homePosition            READ homePosition                                           NOTIFY homePositionChanged)
    Q_PROPERTY(QGeoCoordinate       armedPosition           READ armedPosition                                          NOTIFY armedPositionChanged)
    Q_PROPERTY(bool                 armed                   READ armed                  WRITE setArmed                  NOTIFY armedChanged)
    Q_PROPERTY(bool                 autoDisarm              READ autoDisarm                                             NOTIFY autoDisarmChanged)
    Q_PROPERTY(bool                 flightModeSetAvailable  READ flightModeSetAvailable                                 CONSTANT)
    Q_PROPERTY(QStringList          flightModes             READ flightModes                                            NOTIFY flightModesChanged)
    Q_PROPERTY(QStringList          extraJoystickFlightModes READ extraJoystickFlightModes                              NOTIFY flightModesChanged)
    Q_PROPERTY(QString              flightMode              READ flightMode             WRITE setFlightMode             NOTIFY flightModeChanged)
    Q_PROPERTY(TrajectoryPoints*    trajectoryPoints        MEMBER _trajectoryPoints                                    CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  cameraTriggerPoints     READ cameraTriggerPoints                                    CONSTANT)
    Q_PROPERTY(float                latitude                READ latitude                                               NOTIFY coordinateChanged)
    Q_PROPERTY(float                longitude               READ longitude                                              NOTIFY coordinateChanged)
    Q_PROPERTY(bool                 messageTypeNone         READ messageTypeNone                                        NOTIFY messageTypeChanged)
    Q_PROPERTY(bool                 messageTypeNormal       READ messageTypeNormal                                      NOTIFY messageTypeChanged)
    Q_PROPERTY(bool                 messageTypeWarning      READ messageTypeWarning                                     NOTIFY messageTypeChanged)
    Q_PROPERTY(bool                 messageTypeError        READ messageTypeError                                       NOTIFY messageTypeChanged)
    Q_PROPERTY(int                  newMessageCount         READ newMessageCount                                        NOTIFY newMessageCountChanged)
    Q_PROPERTY(int                  messageCount            READ messageCount                                           NOTIFY messageCountChanged)
    Q_PROPERTY(QString              formatedMessages        READ formatedMessages                                       NOTIFY formatedMessagesChanged)
    Q_PROPERTY(QString              formatedMessage         READ formatedMessage                                        NOTIFY formatedMessageChanged)
    Q_PROPERTY(QString              latestError             READ latestError                                            NOTIFY latestErrorChanged)
    Q_PROPERTY(bool                 joystickEnabled         READ joystickEnabled        WRITE setJoystickEnabled        NOTIFY joystickEnabledChanged)
    Q_PROPERTY(bool                 active                  READ active                 WRITE setActive                 NOTIFY activeChanged)
    Q_PROPERTY(int                  flowImageIndex          READ flowImageIndex                                         NOTIFY flowImageIndexChanged)
    Q_PROPERTY(int                  rcRSSI                  READ rcRSSI                                                 NOTIFY rcRSSIChanged)
    Q_PROPERTY(bool                 px4Firmware             READ px4Firmware                                            NOTIFY firmwareTypeChanged)
    Q_PROPERTY(bool                 apmFirmware             READ apmFirmware                                            NOTIFY firmwareTypeChanged)
    Q_PROPERTY(bool                 soloFirmware            READ soloFirmware           WRITE setSoloFirmware           NOTIFY soloFirmwareChanged)
    Q_PROPERTY(bool                 genericFirmware         READ genericFirmware                                        CONSTANT)
    Q_PROPERTY(bool                 connectionLost          READ connectionLost                                         NOTIFY connectionLostChanged)
    Q_PROPERTY(bool                 connectionLostEnabled   READ connectionLostEnabled  WRITE setConnectionLostEnabled  NOTIFY connectionLostEnabledChanged)
    Q_PROPERTY(uint                 messagesReceived        READ messagesReceived                                       NOTIFY messagesReceivedChanged)
    Q_PROPERTY(uint                 messagesSent            READ messagesSent                                           NOTIFY messagesSentChanged)
    Q_PROPERTY(uint                 messagesLost            READ messagesLost                                           NOTIFY messagesLostChanged)
    Q_PROPERTY(bool                 fixedWing               READ fixedWing                                              NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 multiRotor              READ multiRotor                                             NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 vtol                    READ vtol                                                   NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 rover                   READ rover                                                  NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 sub                     READ sub                                                    NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool        supportsThrottleModeCenterZero   READ supportsThrottleModeCenterZero                         CONSTANT)
    Q_PROPERTY(bool                supportsNegativeThrust   READ supportsNegativeThrust                                 CONSTANT)
    Q_PROPERTY(bool                 supportsJSButton        READ supportsJSButton                                       CONSTANT)
    Q_PROPERTY(bool                 supportsRadio           READ supportsRadio                                          CONSTANT)
    Q_PROPERTY(bool               supportsMotorInterference READ supportsMotorInterference                              CONSTANT)
    Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                                      NOTIFY autoDisconnectChanged)
    Q_PROPERTY(QString              prearmError             READ prearmError            WRITE setPrearmError            NOTIFY prearmErrorChanged)
    Q_PROPERTY(int                  motorCount              READ motorCount                                             CONSTANT)
    Q_PROPERTY(bool                 coaxialMotors           READ coaxialMotors                                          CONSTANT)
    Q_PROPERTY(bool                 xConfigMotors           READ xConfigMotors                                          CONSTANT)
    Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
    Q_PROPERTY(QString              brandImageIndoor        READ brandImageIndoor                                       NOTIFY firmwareTypeChanged)
    Q_PROPERTY(QString              brandImageOutdoor       READ brandImageOutdoor                                      NOTIFY firmwareTypeChanged)
    Q_PROPERTY(int                  sensorsPresentBits      READ sensorsPresentBits                                     NOTIFY sensorsPresentBitsChanged)
    Q_PROPERTY(int                  sensorsEnabledBits      READ sensorsEnabledBits                                     NOTIFY sensorsEnabledBitsChanged)
    Q_PROPERTY(int                  sensorsHealthBits       READ sensorsHealthBits                                      NOTIFY sensorsHealthBitsChanged)
    Q_PROPERTY(int                  sensorsUnhealthyBits    READ sensorsUnhealthyBits                                   NOTIFY sensorsUnhealthyBitsChanged) ///< Combination of enabled and health
    Q_PROPERTY(QString              missionFlightMode       READ missionFlightMode                                      CONSTANT)
    Q_PROPERTY(QString              pauseFlightMode         READ pauseFlightMode                                        CONSTANT)
    Q_PROPERTY(QString              rtlFlightMode           READ rtlFlightMode                                          CONSTANT)
    Q_PROPERTY(QString              smartRTLFlightMode      READ smartRTLFlightMode                                     CONSTANT)
    Q_PROPERTY(bool                 supportsSmartRTL        READ supportsSmartRTL                                       CONSTANT)
    Q_PROPERTY(QString              landFlightMode          READ landFlightMode                                         CONSTANT)
    Q_PROPERTY(QString              takeControlFlightMode   READ takeControlFlightMode                                  CONSTANT)
    Q_PROPERTY(QString              followFlightMode        READ followFlightMode                                       CONSTANT)
    Q_PROPERTY(QString              firmwareTypeString      READ firmwareTypeString                                     NOTIFY firmwareTypeChanged)
    Q_PROPERTY(QString              vehicleTypeString       READ vehicleTypeString                                      NOTIFY vehicleTypeChanged)
    Q_PROPERTY(QString              vehicleImageOpaque      READ vehicleImageOpaque                                     CONSTANT)