AirMapManager.cc

/****************************************************************************
 *
 *   (c) 2017 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 "AirMapManager.h"
#include "Vehicle.h"
#include "QmlObjectListModel.h"
#include "JsonHelper.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "AirMapSettings.h"
#include "QGCQGeoCoordinate.h"
#include "QGCApplication.h"

#include <QNetworkAccessManager>
#include <QUrlQuery>
#include <QJsonDocument>
#include <QJsonArray>
#include <QNetworkProxy>
#include <QSet>
#include <QtEndian>

extern "C" {
#include <aes.h>
}
#include <airmap_telemetry.pb.h>

QGC_LOGGING_CATEGORY(AirMapManagerLog, "AirMapManagerLog")


AirMapLogin::AirMapLogin(QNetworkAccessManager& networkManager, const QString& APIKey)
    : _networkManager(networkManager), _APIKey(APIKey)
{
}

void AirMapLogin::setCredentials(const QString& clientID, const QString& userName, const QString& password)
{
    logout();
    _clientID = clientID;
    _userName = userName;
    _password = password;
}

void AirMapLogin::login()
{
    if (isLoggedIn() || _isLoginInProgress) {
        return;
    }
    _isLoginInProgress = true;

    QUrlQuery postData;
    postData.addQueryItem(QStringLiteral("grant_type"), "password");
    postData.addQueryItem(QStringLiteral("client_id"), _clientID);
    postData.addQueryItem(QStringLiteral("connection"), "Username-Password-Authentication");
    postData.addQueryItem(QStringLiteral("username"), _userName);
    postData.addQueryItem(QStringLiteral("password"), _password);
    postData.addQueryItem(QStringLiteral("scope"), "openid offline_access");
    postData.addQueryItem(QStringLiteral("device"), "qgc");

    QUrl url(QStringLiteral("https://sso.airmap.io/oauth/ro"));

    _post(url, postData.toString(QUrl::FullyEncoded).toUtf8());
}

void AirMapLogin::_requestFinished(void)
{
    QNetworkReply* reply = qobject_cast<QNetworkReply*>(QObject::sender());
    _isLoginInProgress = false;

    QByteArray responseBytes = reply->readAll();
    QJsonParseError parseError;
    QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
    if (parseError.error != QJsonParseError::NoError) {
        QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownNetworkError;
        emit loginFailure(networkError, "", "");
        return;
    }
    QJsonObject rootObject = responseJson.object();

    // When an error occurs we still end up here
    if (reply->error() != QNetworkReply::NoError) {
        QJsonValue errorDescription = rootObject.value("error_description");
        QString serverError = "";
        if (errorDescription.isString()) {
            serverError = errorDescription.toString();
        }
        emit loginFailure(reply->error(), reply->errorString(), serverError);
        return;
    }

    _JWTToken = rootObject["id_token"].toString();

    if (_JWTToken == "") { // make sure we got a token
        QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::AuthenticationRequiredError;
        emit loginFailure(networkError, "", "");
        return;
    }

    emit loginSuccess();
}

void AirMapLogin::_requestError(QNetworkReply::NetworkError code)
{
    Q_UNUSED(code);
    // handled in _requestFinished()
}

void AirMapLogin::_post(QUrl url, const QByteArray& postData)
{
    QNetworkRequest request(url);
    request.setHeader(QNetworkRequest::ContentTypeHeader, "application/x-www-form-urlencoded");

    request.setRawHeader("X-API-Key", _APIKey.toUtf8());

    QNetworkProxy tProxy;
    tProxy.setType(QNetworkProxy::DefaultProxy);
    _networkManager.setProxy(tProxy);

    QNetworkReply* networkReply = _networkManager.post(request, postData);
    if (!networkReply) {
        QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownNetworkError;
        emit loginFailure(networkError, "", "");
        return;
    }

    connect(networkReply, &QNetworkReply::finished,                                                                 this, &AirMapLogin::_requestFinished);
    connect(networkReply, static_cast<void (QNetworkReply::*)(QNetworkReply::NetworkError)>(&QNetworkReply::error), this, &AirMapLogin::_requestError);
}


AirMapNetworking::AirMapNetworking(SharedData& networkingData)
    : _networkingData(networkingData)
{
}

void AirMapNetworking::post(QUrl url, const QByteArray& postData, bool isJsonData, bool requiresLogin)
{
    QNetworkRequest request(url);
    if (isJsonData) {
        request.setHeader(QNetworkRequest::ContentTypeHeader, "application/json; charset=utf-8");
    } else {
        request.setHeader(QNetworkRequest::ContentTypeHeader, "application/x-www-form-urlencoded");
    }

    request.setRawHeader("X-API-Key", _networkingData.airmapAPIKey.toUtf8());

    if (requiresLogin) {
        if (_networkingData.login.isLoggedIn()) {
            request.setRawHeader("Authorization", (QString("Bearer ")+_networkingData.login.JWTToken()).toUtf8());
        } else {
            connect(&_networkingData.login, &AirMapLogin::loginSuccess, this, &AirMapNetworking::_loginSuccess);
            connect(&_networkingData.login, &AirMapLogin::loginFailure, this, &AirMapNetworking::_loginFailure);
            _pendingRequest.type = RequestType::POST;
            _pendingRequest.url = url;
            _pendingRequest.postData = postData;
            _pendingRequest.isJsonData = isJsonData;
            _pendingRequest.requiresLogin = requiresLogin;
            _networkingData.login.login();
            return;
        }
    }

    QNetworkProxy tProxy;
    tProxy.setType(QNetworkProxy::DefaultProxy);
    _networkingData.networkManager.setProxy(tProxy);

    QNetworkReply* networkReply = _networkingData.networkManager.post(request, postData);
    if (!networkReply) {
        QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownNetworkError;
        emit error(networkError, "", "");
        return;
    }

    connect(networkReply, &QNetworkReply::finished, this, &AirMapNetworking::_requestFinished);
}

void AirMapNetworking::_loginSuccess()
{
    disconnect(&_networkingData.login, &AirMapLogin::loginSuccess, this, &AirMapNetworking::_loginSuccess);
    disconnect(&_networkingData.login, &AirMapLogin::loginFailure, this, &AirMapNetworking::_loginFailure);

    if (_pendingRequest.type == RequestType::GET) {
        get(_pendingRequest.url, _pendingRequest.requiresLogin);
    } else if (_pendingRequest.type == RequestType::POST) {
        post(_pendingRequest.url, _pendingRequest.postData, _pendingRequest.isJsonData, _pendingRequest.requiresLogin);
    }
    _pendingRequest.type = RequestType::None;
}
void AirMapNetworking::_loginFailure(QNetworkReply::NetworkError networkError, const QString& errorString, const QString& serverErrorMessage)
{
    disconnect(&_networkingData.login, &AirMapLogin::loginSuccess, this, &AirMapNetworking::_loginSuccess);
    disconnect(&_networkingData.login, &AirMapLogin::loginFailure, this, &AirMapNetworking::_loginFailure);
    emit error(networkError, errorString, serverErrorMessage);
}

void AirMapNetworking::get(QUrl url, bool requiresLogin)
{
    QNetworkRequest request(url);

    request.setRawHeader("X-API-Key", _networkingData.airmapAPIKey.toUtf8());

    if (requiresLogin) {
        if (_networkingData.login.isLoggedIn()) {
            request.setRawHeader("Authorization", (QString("Bearer ")+_networkingData.login.JWTToken()).toUtf8());
        } else {
            connect(&_networkingData.login, &AirMapLogin::loginSuccess, this, &AirMapNetworking::_loginSuccess);
            connect(&_networkingData.login, &AirMapLogin::loginFailure, this, &AirMapNetworking::_loginFailure);
            _pendingRequest.type = RequestType::GET;
            _pendingRequest.url = url;
            _pendingRequest.requiresLogin = requiresLogin;
            _networkingData.login.login();
            return;
        }
    }

    QNetworkProxy tProxy;
    tProxy.setType(QNetworkProxy::DefaultProxy);
    _networkingData.networkManager.setProxy(tProxy);

    QNetworkReply* networkReply = _networkingData.networkManager.get(request);
    if (!networkReply) {
        QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownNetworkError;
        emit error(networkError, "", "");
        return;
    }

    connect(networkReply, &QNetworkReply::finished, this, &AirMapNetworking::_requestFinished);
}

void AirMapNetworking::_requestFinished(void)
{
    QNetworkReply* reply = qobject_cast<QNetworkReply*>(QObject::sender());

    // When an error occurs we still end up here
    if (reply->error() != QNetworkReply::NoError) {
        QByteArray responseBytes = reply->readAll();

        QJsonParseError parseError;
        QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
        QJsonObject rootObject = responseJson.object();
        qCDebug(AirMapManagerLog) << "Server error:" << rootObject;
        QString serverError = "";
        if (rootObject.contains("data")) { // eg. in case of a conflict message
            serverError = rootObject["data"].toObject()["message"].toString();
        } else if (rootObject.contains("error_description")) { // eg. login failure
            serverError = rootObject["error_description"].toString();
        } else if (rootObject.contains("message")) { // eg. api key failure
            serverError = rootObject["message"].toString();
        }
        emit error(reply->error(), reply->errorString(), serverError);
        return;
    }

    // Check for redirection
    QVariant redirectionTarget = reply->attribute(QNetworkRequest::RedirectionTargetAttribute);
    if (!redirectionTarget.isNull()) {
        QUrl redirectUrl = reply->url().resolved(redirectionTarget.toUrl());
        get(redirectUrl);
        reply->deleteLater();
        return;
    }

    QByteArray responseBytes = reply->readAll();

    QJsonParseError parseError;
    QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
    if (parseError.error != QJsonParseError::NoError) {
        qCWarning(AirMapManagerLog) << "JSON parse error:" << parseError.errorString();
    }
    emit finished(parseError, responseJson);
}



AirspaceRestrictionManager::AirspaceRestrictionManager(AirMapNetworking::SharedData& sharedData)
    : _networking(sharedData)
{
    connect(&_networking, &AirMapNetworking::finished, this, &AirspaceRestrictionManager::_parseAirspaceJson);
    connect(&_networking, &AirMapNetworking::error, this, &AirspaceRestrictionManager::_error);
}

void AirspaceRestrictionManager::updateROI(const QGeoCoordinate& center, double radiusMeters)
{
    if (_state != State::Idle) {
        return;
    }

    // Build up the polygon for the query

//    QJsonObject     polygonJson;
//
//    polygonJson["type"] = "Polygon";
//
//    QGeoCoordinate left =   _roiCenter.atDistanceAndAzimuth(_roiRadius, -90);
//    QGeoCoordinate right =  _roiCenter.atDistanceAndAzimuth(_roiRadius, 90);
//    QGeoCoordinate top =    _roiCenter.atDistanceAndAzimuth(_roiRadius, 0);
//    QGeoCoordinate bottom = _roiCenter.atDistanceAndAzimuth(_roiRadius, 180);
//
//    QGeoCoordinate topLeft(top.latitude(), left.longitude());
//    QGeoCoordinate topRight(top.latitude(), right.longitude());
//    QGeoCoordinate bottomLeft(bottom.latitude(), left.longitude());
//    QGeoCoordinate bottomRight(bottom.latitude(), left.longitude());
//
//    QJsonValue  coordValue;
//    QJsonArray  rgVertex;
//
//    // GeoJson polygons are right handed and include duplicate first and last vertex
//    JsonHelper::saveGeoJsonCoordinate(topLeft, false /* writeAltitude */, coordValue);
//    rgVertex.append(coordValue);
//    JsonHelper::saveGeoJsonCoordinate(bottomLeft, false /* writeAltitude */, coordValue);
//    rgVertex.append(coordValue);
//    JsonHelper::saveGeoJsonCoordinate(bottomRight, false /* writeAltitude */, coordValue);
//    rgVertex.append(coordValue);
//    JsonHelper::saveGeoJsonCoordinate(topRight, false /* writeAltitude */, coordValue);
//    rgVertex.append(coordValue);
//    JsonHelper::saveGeoJsonCoordinate(topLeft, false /* writeAltitude */, coordValue);
//    rgVertex.append(coordValue);
//
//    QJsonArray rgPolygon;
//    rgPolygon.append(rgVertex);
//
//    polygonJson["coordinates"] = rgPolygon;
//    QJsonDocument polygonJsonDoc(polygonJson);

    // Build up the http query

    QUrlQuery airspaceQuery;

    airspaceQuery.addQueryItem(QStringLiteral("latitude"), QString::number(center.latitude(), 'f', 10));
    airspaceQuery.addQueryItem(QStringLiteral("longitude"), QString::number(center.longitude(), 'f', 10));
    airspaceQuery.addQueryItem(QStringLiteral("weather"), QStringLiteral("true"));
    airspaceQuery.addQueryItem(QStringLiteral("buffer"), QString::number(radiusMeters, 'f', 0));

    QUrl airMapAirspaceUrl(QStringLiteral("https://api.airmap.com/status/alpha/point"));
    airMapAirspaceUrl.setQuery(airspaceQuery);

    _state = State::RetrieveList;
    _networking.get(airMapAirspaceUrl);
}

void AirspaceRestrictionManager::_parseAirspaceJson(QJsonParseError parseError, QJsonDocument airspaceDoc)
{
    Q_UNUSED(parseError);
    QJsonObject rootObject = airspaceDoc.object();

    switch(_state) {
        case State::RetrieveList:
        {
            QSet<QString> advisorySet;
            const QJsonArray& advisoriesArray = rootObject["data"].toObject()["advisories"].toArray();
            for (int i=0; i< advisoriesArray.count(); i++) {
                const QJsonObject& advisoryObject = advisoriesArray[i].toObject();
                QString advisoryId(advisoryObject["id"].toString());
                qCDebug(AirMapManagerLog) << "Advisory id: " << advisoryId;
                advisorySet.insert(advisoryId);
            }

            for (const auto& advisoryId : advisorySet) {
                QUrl url(QStringLiteral("https://api.airmap.com/airspace/v2/")+advisoryId);
                _networking.get(url);
            }
            _numAwaitingItems = advisorySet.size();
            _state = State::RetrieveItems;
        }
            break;

        case State::RetrieveItems:
        {
            const QJsonArray& airspaceArray = rootObject["data"].toArray();
            for (int i = 0; i < airspaceArray.count(); i++) {
                const QJsonObject& airspaceObject = airspaceArray[i].toObject();
                QString airspaceType(airspaceObject["type"].toString());
                QString airspaceId(airspaceObject["id"].toString());
                QString airspaceName(airspaceObject["name"].toString());
                const QJsonObject& airspaceGeometry(airspaceObject["geometry"].toObject());
                QString geometryType(airspaceGeometry["type"].toString());
                qCDebug(AirMapManagerLog) << "Airspace ID:" << airspaceId << "name:" << airspaceName << "type:" << airspaceType << "geometry:" << geometryType;

                if (geometryType == "Polygon") {

                    const QJsonArray& airspaceCoordinates(airspaceGeometry["coordinates"].toArray()[0].toArray());
                    QString errorString;
                    QmlObjectListModel list;
                    if (JsonHelper::loadPolygon(airspaceCoordinates, list, this, errorString)) {
                        QVariantList polygon;
                        for (int i = 0; i < list.count(); ++i) {
                            polygon.append(QVariant::fromValue(((QGCQGeoCoordinate*)list[i])->coordinate()));
                        }
                        list.clearAndDeleteContents();
                        _nextPolygonList.append(new PolygonAirspaceRestriction(polygon));
                    } else {
                        //TODO
                        qWarning() << errorString;
                    }

                } else {
                    // TODO: are there any circles?
                    qWarning() << "Unknown geometry type:" << geometryType;
                }
            }

            if (--_numAwaitingItems == 0) {
                _polygonList.clearAndDeleteContents();
                _circleList.clearAndDeleteContents();
                for (const auto& circle : _nextcircleList) {
                    _circleList.append(circle);
                }
                _nextcircleList.clear();
                for (const auto& polygon : _nextPolygonList) {
                    _polygonList.append(polygon);
                }
                _nextPolygonList.clear();

                _state = State::Idle;
            }
        }
            break;
        default:
            qCDebug(AirMapManagerLog) << "Error: wrong state";
            break;
    }

    // https://api.airmap.com/airspace/v2/search API
//    const QJsonArray& airspaceArray = rootObject["data"].toArray();
//    for (int i=0; i< airspaceArray.count(); i++) {
//        const QJsonObject& airspaceObject = airspaceArray[i].toObject();
//        QString airspaceType(airspaceObject["type"].toString());
//        qDebug() << airspaceType;
//        qDebug() << airspaceObject["name"].toString();
//        QGeoCoordinate center(airspaceObject["latitude"].toDouble(), airspaceObject["longitude"].toDouble());
//        qDebug() << center;
//        if (airspaceType == "airport") {
//            _circleList.append(new CircularAirspaceRestriction(center, 5000));
//        }
//    }
}

void AirspaceRestrictionManager::_error(QNetworkReply::NetworkError code, const QString& errorString,
        const QString& serverErrorMessage)
{
    qCWarning(AirMapManagerLog) << "AirspaceRestrictionManager::_error" << code << serverErrorMessage;

    if (_state == State::RetrieveItems) {
        if (--_numAwaitingItems == 0) {
            _state = State::Idle;
            // TODO: handle properly: update _polygonList...
        }
    } else {
        _state = State::Idle;
    }
    emit networkError(code, errorString, serverErrorMessage);
}

AirMapFlightManager::AirMapFlightManager(AirMapNetworking::SharedData& sharedData)
    : _networking(sharedData)
{
    connect(&_networking, &AirMapNetworking::finished, this, &AirMapFlightManager::_parseJson);
    connect(&_networking, &AirMapNetworking::error, this, &AirMapFlightManager::_error);
    connect(&_pollTimer, &QTimer::timeout, this, &AirMapFlightManager::_sendBriefingRequest);
}

void AirMapFlightManager::createFlight(const QList<MissionItem*>& missionItems)
{
    if (!_networking.getLogin().hasCredentials()) {
        qCDebug(AirMapManagerLog) << "Login Credentials not set: will not send flight";
        return;
    }

    if (_state != State::Idle) {
        qCWarning(AirMapManagerLog) << "AirMapFlightManager::createFlight: State not idle";
        return;
    }

    _flight.reset();

    // get the flight trajectory
    for(const auto &item : missionItems) {
        switch(item->command()) {
            case MAV_CMD_NAV_WAYPOINT:
            case MAV_CMD_NAV_LAND:
            case MAV_CMD_NAV_TAKEOFF:
                // TODO: others too?
            {
                // TODO: handle different coordinate frames?
                double lat = item->param5();
                double lon = item->param6();
                double alt = item->param7();
                _flight.coords.append(QGeoCoordinate(lat, lon, alt));
                if (alt > _flight.maxAltitude) {
                    _flight.maxAltitude = alt;
                }
                if (item->command() == MAV_CMD_NAV_TAKEOFF) {
                    _flight.takeoffCoord = _flight.coords.last();
                }
            }
                break;
            default:
                break;
        }
    }
    if (_flight.coords.empty()) {
        return;
    }

    _flight.maxAltitude += 5; // add a safety buffer


    if (_pilotID == "") {
        // need to get the pilot id before uploading the flight
        QUrl url(QString("https://api.airmap.com/pilot/v2/profile"));
        _networking.get(url, true);
        _state = State::GetPilotID;
    } else {
        _uploadFlight();
    }

    _flightPermitStatus = AirspaceAuthorization::PermitPending;
    emit flightPermitStatusChanged();
}


void AirMapFlightManager::_uploadFlight()
{
    if (_pendingFlightId != "") {
        // we need to end an existing flight first
        _endFlight(_pendingFlightId);
        return;
    }

    if (_noFlightCreatedYet) {
        // it could be that AirMap still has an open pending flight, but we don't know the flight ID.
        // As there can only be one, we query the flights that end in the future, and close it if there's one.
        QUrlQuery flightsQuery;
        flightsQuery.addQueryItem(QStringLiteral("pilot_id"), _pilotID);
        QDateTime end_time = QDateTime::currentDateTime().toUTC().addSecs(-60*60);
        flightsQuery.addQueryItem(QStringLiteral("end_after"), end_time.toString(Qt::ISODate));

        QUrl flightsQueryUrl(QStringLiteral("https://api.airmap.com/flight/v2/"));
        flightsQueryUrl.setQuery(flightsQuery);

        _networking.get(flightsQueryUrl, true);
        _state = State::EndFirstFlight;
        _noFlightCreatedYet = false;
        return;
    }


    qCDebug(AirMapManagerLog) << "uploading flight";

    QJsonObject root;
    QJsonObject geometryObject;
    geometryObject.insert("type", "LineString");
    QJsonArray coordinatesArray;
    for (const auto& coord : _flight.coords) {
        QJsonArray coordinate;
        coordinate.push_back(coord.longitude());
        coordinate.push_back(coord.latitude());
        coordinatesArray.push_back(coordinate);
    }

    geometryObject.insert("coordinates", coordinatesArray);
    root.insert("geometry", geometryObject);
    root.insert("max_altitude_agl", _flight.maxAltitude);
    root.insert("buffer", 2);

    QJsonObject flightFeatures;
    if (_sitaUavRegistrationId != "") {
        flightFeatures.insert("sita_uav_registration_id", _sitaUavRegistrationId);
    }
    if (_sitaPilotRegistrationId != "") {
        flightFeatures.insert("sita_pilot_registration_id", _sitaPilotRegistrationId);
    }
    root.insert("flight_features", flightFeatures);

    root.insert("takeoff_latitude", _flight.takeoffCoord.latitude());
    root.insert("takeoff_longitude", _flight.takeoffCoord.longitude());

    QJsonArray rulesets;
    rulesets.push_back("city_d3qzey_drone_rules");
    rulesets.push_back("che_drone_rules");
    rulesets.push_back("custom_kz6e55_drone_rules");
    rulesets.push_back("che_notam");
    rulesets.push_back("che_airmap_rules");
    rulesets.push_back("che_nature_preserve");
    root.insert("rulesets", rulesets);

    root.insert("pilot_id", _pilotID);

    QDateTime now = QDateTime::currentDateTime().toUTC();
    QDateTime startTime = now.addSecs(5 * 60); // TODO: user configurable?
    QDateTime endTime = now.addSecs(2 * 60 * 60);
    root.insert("start_time", startTime.toString(Qt::ISODate));
    root.insert("end_time", endTime.toString(Qt::ISODate));

    _flight.coords.clear();

    _state = State::FlightUpload;

    QUrl url(QStringLiteral("https://api.airmap.com/flight/v2/plan"));

    qCDebug(AirMapManagerLog) << root;
    _networking.post(url, QJsonDocument(root).toJson(), true, true);
}

void AirMapFlightManager::endFlight()
{
    if (_currentFlightId.length() == 0) {
        return;
    }
    if (_state != State::Idle) {
        qCWarning(AirMapManagerLog) << "AirMapFlightManager::endFlight: State not idle";
        return;
    }
    _endFlight(_currentFlightId);

    _flightPermitStatus = AirspaceAuthorization::PermitUnknown;
    emit flightPermitStatusChanged();
}

void AirMapFlightManager::_endFlight(const QString& flightID)
{
    qCDebug(AirMapManagerLog) << "ending flight" << flightID;

    _state = State::FlightEnd;

    QUrl url(QString("https://api.airmap.com/flight/v2/%1/end").arg(flightID));
    // to kill the flight, use: https://api.airmap.com/flight/v2/%1/delete (otherwise same query)

    _networking.post(url, QByteArray(), false, true);
}

void AirMapFlightManager::_sendBriefingRequest()
{
    QUrl url(QString("https://api.airmap.com/flight/v2/plan/%1/briefing").arg(_pendingFlightPlan));
    _networking.get(url, true);
}

void AirMapFlightManager::_parseJson(QJsonParseError parseError, QJsonDocument doc)
{
    Q_UNUSED(parseError);
    QJsonObject rootObject = doc.object();

    switch(_state) {
        case State::GetPilotID:
        {
            QString status = rootObject["status"].toString();
            if (status == "success") {
                const QJsonObject& dataObject = rootObject["data"].toObject();
                _pilotID = dataObject["id"].toString();
                qCDebug(AirMapManagerLog) << "Pilot ID:" << _pilotID;
                _uploadFlight();
            } else {
                QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownContentError;
                emit _error(networkError, "Failed to get the pilot ID", "");
                _flightPermitStatus = AirspaceAuthorization::PermitUnknown;
                emit flightPermitStatusChanged();
                _state = State::Idle;
            }
        }
            break;
        case State::FlightUpload:
        {
            qCDebug(AirMapManagerLog) << "flight uploaded:" << rootObject;
            const QJsonObject& dataObject = rootObject["data"].toObject();
            _pendingFlightPlan = dataObject["id"].toString();
            qCDebug(AirMapManagerLog) << "Got Flight Plan:" << _pendingFlightPlan;

            QString status = rootObject["status"].toString();
            if (status == "success") {
                _sendBriefingRequest();
                _state = State::FlightBrief;
            } else {
                QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownContentError;
                emit _error(networkError, "Failed to create the flight", "");
                _flightPermitStatus = AirspaceAuthorization::PermitUnknown;
                emit flightPermitStatusChanged();
                _state = State::Idle;
            }
        }
            break;
        case State::FlightBrief:
        {
            qCDebug(AirMapManagerLog) << "flight briefing response:" << rootObject;

            // check if the validations are valid
            const QJsonObject& dataObject = rootObject["data"].toObject();

            const QJsonArray& validationsArray = dataObject["validations"].toArray();
            bool allValid = true;
            for (int i = 0; i < validationsArray.count(); i++) {
                const QJsonObject& validationObject = validationsArray[i].toObject();
                QString authority = validationObject["authority"].toObject()["name"].toString();
                QString status = validationObject["status"].toString();
                QString identifier = validationObject["data"].toString();

                if (status != "valid") {
                    QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::AuthenticationRequiredError;
                    emit _error(networkError, QString("%1 registration identifier (%2) is invalid").arg(authority).arg(identifier), "");
                    allValid = false;
                }
            }
            if (allValid) {
                QUrl url(QString("https://api.airmap.com/flight/v2/plan/%1/submit").arg(_pendingFlightPlan));
                _networking.post(url, QByteArray(), false, true);
                _state = State::FlightSubmit;
            } else {
                _flightPermitStatus = AirspaceAuthorization::PermitRejected;
                emit flightPermitStatusChanged();
                _state = State::Idle;
            }
        }
            break;
        case State::FlightSubmit:
        {
            qCDebug(AirMapManagerLog) << "flight submit response:" << rootObject;

            QString status = rootObject["status"].toString();
            if (status == "success") {
                _sendBriefingRequest();
                const QJsonObject& dataObject = rootObject["data"].toObject();
                _pendingFlightId = dataObject["flight_id"].toString();
                _state = State::FlightPolling;
            } else {
                QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::UnknownContentError;
                emit _error(networkError, "Failed to create the flight", "");
                _state = State::Idle;
            }
        }
            break;

        case State::FlightPolling:
        {
            qCDebug(AirMapManagerLog) << "flight polling/briefing response:" << rootObject;
            const QJsonObject& dataObject = rootObject["data"].toObject();
            const QJsonArray& authorizationsArray = dataObject["authorizations"].toArray();
            bool rejected = false;
            bool accepted = false;
            bool pending = false;
            for (int i = 0; i < authorizationsArray.count(); i++) {
                const QJsonObject& authorizationObject = authorizationsArray[i].toObject();
                QString status = authorizationObject["status"].toString();
                if (status == "accepted") {
                    accepted = true;
                } else if (status == "rejected") {
                    rejected = true;
                } else if (status == "pending") {
                    pending = true;
                }
            }

            if (authorizationsArray.size() == 0) {
                // FIXME: AirMap did not finish the integration yet, thus the array is just empty
                accepted = true;
            }

            qCDebug(AirMapManagerLog) << "flight approval: accepted=" << accepted << "rejected" << rejected << "pending" << pending;

            if ((rejected || accepted) && !pending) {
                if (rejected) { // rejected has priority
                    _flightPermitStatus = AirspaceAuthorization::PermitRejected;
                } else {
                    _flightPermitStatus = AirspaceAuthorization::PermitAccepted;
                }
                _currentFlightId = _pendingFlightId;
                _pendingFlightPlan = "";
                emit flightPermitStatusChanged();
                _state = State::Idle;
            } else {
                // wait until we send the next polling request
                _pollTimer.setSingleShot(true);
                _pollTimer.start(2000);
            }

        }
            break;

        case State::FlightEnd:
            _pendingFlightId = "";
            _pendingFlightPlan = "";
            _currentFlightId = "";
            _state = State::Idle;
            if (!_flight.coords.empty()) {
                _uploadFlight();
            }
            break;

        case State::EndFirstFlight:
        {
            qCDebug(AirMapManagerLog) << "getting flights:" << rootObject;

            const QJsonObject& dataObject = rootObject["data"].toObject();
            const QJsonArray& resultsArray = dataObject["results"].toArray();
            // first flight is the newest
            if (resultsArray.count() > 0) {
                const QJsonObject& flight = resultsArray[0].toObject();
                QString flightID = flight["id"].toString();
                _endFlight(flightID);
            } else {
                _uploadFlight();
            }
        }
            break;

        default:
            qCDebug(AirMapManagerLog) << "Error: wrong state";
            break;
    }
}

void AirMapFlightManager::_error(QNetworkReply::NetworkError code, const QString& errorString, const QString& serverErrorMessage)
{
    qCWarning(AirMapManagerLog) << "AirMapFlightManager::_error" << code << serverErrorMessage;
    if (_state == State::FlightUpload || _state == State::GetPilotID) {
        _flightPermitStatus = AirspaceAuthorization::PermitUnknown;
        emit flightPermitStatusChanged();
    }
    _state = State::Idle;
    emit networkError(code, errorString, serverErrorMessage);
}

AirMapTelemetry::AirMapTelemetry(AirMapNetworking::SharedData& sharedData)
: _networking(sharedData)
{
    connect(&_networking, &AirMapNetworking::finished, this, &AirMapTelemetry::_parseJson);
    connect(&_networking, &AirMapNetworking::error, this, &AirMapTelemetry::_error);
}

AirMapTelemetry::~AirMapTelemetry()
{
    if (_socket) {
        delete _socket;
        _socket = nullptr;
    }
}
void AirMapTelemetry::_udpTelemetryHostLookup(QHostInfo info)
{
    if (info.error() != QHostInfo::NoError || info.addresses().length() == 0) {
        qCWarning(AirMapManagerLog) << "DNS lookup error:" << info.errorString();
        QNetworkReply::NetworkError networkError = QNetworkReply::NetworkError::HostNotFoundError;
        emit _error(networkError, "DNS lookup failed", "");
        _state = State::Idle;
        return;
    }
    qCDebug(AirMapManagerLog) << "Got Hosts for UDP telemetry:" << info.addresses();
    _udpHost = info.addresses()[0];
}

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 && !_udpHost.isNull();
}

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);

    qDebug() << "Got position from vehicle:" << globalPosition.lat << "," << globalPosition.lon;

    // documentation: https://developers.airmap.com/docs/telemetry-2

    uint8_t output[512]; // assume the whole packet is not longer than this
    uint8_t payload[512];
    uint32_t payloadLength = 0;
    uint32_t packetHeaderLength = 0;
    uint8_t* key = (uint8_t*)_key.data();

    uint8_t iv[16];
    for (size_t i = 0; i < sizeof(iv); ++i) {
        iv[i] = (uint8_t)(qrand() & 0xff); // TODO: should use a secure random source
    }

    // write packet header & set the length
    qToBigEndian(_seqNum, output + packetHeaderLength);
    packetHeaderLength += sizeof(_seqNum);
    ++_seqNum;
    QByteArray flightID = _flightID.toUtf8();
    output[packetHeaderLength++] = flightID.length();
    memcpy(output+packetHeaderLength, flightID.data(), flightID.length());
    packetHeaderLength += flightID.length();
    output[packetHeaderLength++] = 1; //encryption type = 'aes-256-cbc'
    memcpy(output+packetHeaderLength, iv, sizeof(iv));
    packetHeaderLength += sizeof(iv);

    // write payload
    // Position message
    airmap::telemetry::Position position;
    position.set_timestamp(QDateTime::currentMSecsSinceEpoch());
    position.set_latitude((double) globalPosition.lat / 1e7);
    position.set_longitude((double) globalPosition.lon / 1e7);
    position.set_altitude_msl((float) globalPosition.alt / 1000.f);
    position.set_altitude_agl((float) globalPosition.relative_alt / 1000.f);
    position.set_horizontal_accuracy(_lastHdop);

    uint16_t msgID = 1; // Position: 1, Attitude: 2, Speed: 3, Barometer: 4
    uint16_t msgLength = position.ByteSize();
    qToBigEndian(msgID, payload+payloadLength);
    qToBigEndian(msgLength, payload+payloadLength+sizeof(msgID));
    payloadLength += sizeof(msgID) + sizeof(msgLength);
    position.SerializeToArray(payload+payloadLength, msgLength);
    payloadLength += msgLength;

    // Speed message
    airmap::telemetry::Speed speed;
    speed.set_timestamp(QDateTime::currentMSecsSinceEpoch());
    speed.set_velocity_x(globalPosition.vx / 100.f);
    speed.set_velocity_y(globalPosition.vy / 100.f);
    speed.set_velocity_z(globalPosition.vz / 100.f);

    msgID = 3; // Position: 1, Attitude: 2, Speed: 3, Barometer: 4
    msgLength = speed.ByteSize();
    qToBigEndian(msgID, payload+payloadLength);
    qToBigEndian(msgLength, payload+payloadLength+sizeof(msgID));
    payloadLength += sizeof(msgID) + sizeof(msgLength);
    speed.SerializeToArray(payload+payloadLength, msgLength);
    payloadLength += msgLength;


    // pad to 16 bytes if necessary
    int padding = 16 - (payloadLength % 16);
    if (padding != 16) {
        for (int i = 0; i < padding; ++i) {
            payload[payloadLength+i] = (uint8_t)padding;
        }
        payloadLength += padding;
    }

    AES_CBC_encrypt_buffer(output + packetHeaderLength, payload, payloadLength, key, iv);

    qDebug() << "Telemetry Position: payload len=" << payloadLength << "header len=" << packetHeaderLength << "msglen=" << msgLength;

    _socket->writeDatagram((char*)output, packetHeaderLength+payloadLength, _udpHost, _udpPort);
}

void AirMapTelemetry::_parseJson(QJsonParseError parseError, QJsonDocument doc)
{
    Q_UNUSED(parseError);
    QJsonObject rootObject = doc.object();
    switch(_state) {
        case State::StartCommunication:
        {
            const QJsonObject& dataObject = rootObject["data"].toObject();
            QString key = dataObject["key"].toString(); // base64 encoded key

            if (key.length() == 0) {
                qCWarning(AirMapManagerLog) << "Did not get a valid key";
                _state = State::Idle;
                return;
            }
            _key = QByteArray::fromBase64(key.toUtf8());
            _seqNum = 1;
            if (!_socket) {
                _socket = new QUdpSocket(this);
            }

            qDebug() << "AES key=" << key;

            _state = State::Streaming;
        }
            break;
        case State::EndCommunication:
            if (_socket) {