UAS.cc

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

/**
 * @file
 *   @brief Represents one unmanned aerial vehicle
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QList>
#include <QMessageBox>
#include <QTimer>
#include <QSettings>
#include <iostream>
#include <QDebug>
#include <cmath>
#include <qmath.h>
#include "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"

#ifdef QGC_PROTOBUF_ENABLED
#include <google/protobuf/descriptor.h>
#endif

/**
* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
* by calling readSettings. This means the new UAS will have the same settings 
* as the previous one created unless one calls deleteSettings in the code after
* creating the UAS. 
*/
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
    uasId(id),
    links(new QList<LinkInterface*>()),
    unknownPackets(),
    mavlink(protocol),
    commStatus(COMM_DISCONNECTED),
    receiveDropRate(0),
    sendDropRate(0),
    statusTimeout(new QTimer(this)),

    name(""),
    type(MAV_TYPE_GENERIC),
    airframe(QGC_AIRFRAME_GENERIC),
    autopilot(-1),
    systemIsArmed(false),
    mode(-1),
    // custom_mode not initialized
    navMode(-1),
    status(-1),
    // shortModeText not initialized
    // shortStateText not initialized

    // actuatorValues not initialized
    // actuatorNames not initialized
    // motorValues not initialized
    // motorNames mnot initialized
    thrustSum(0),
    thrustMax(10),

    // batteryType not initialized
    // cells not initialized
    // fullVoltage not initialized
    // emptyVoltage not initialized
    startVoltage(-1.0f),
    tickVoltage(10.5f),
    lastTickVoltageValue(13.0f),
    tickLowpassVoltage(12.0f),
    warnVoltage(9.5f),
    warnLevelPercent(20.0f),
    currentVoltage(12.6f),
    lpVoltage(12.0f),
    currentCurrent(0.4f),
    batteryRemainingEstimateEnabled(true),
    // chargeLevel not initialized
    // timeRemaining  not initialized
    lowBattAlarm(false),

    startTime(QGC::groundTimeMilliseconds()),
    onboardTimeOffset(0),

    controlRollManual(true),
    controlPitchManual(true),
    controlYawManual(true),
    controlThrustManual(true),
    manualRollAngle(0),
    manualPitchAngle(0),
    manualYawAngle(0),
    manualThrust(0),

    positionLock(false),
    isLocalPositionKnown(false),
    isGlobalPositionKnown(false),

    localX(0.0),
    localY(0.0),
    localZ(0.0),
    globalEstimatorActive(false),
    latitude_gps(0.0),
    longitude_gps(0.0),
    altitude_gps(0.0),
    nedPosGlobalOffset(0,0,0),
    nedAttGlobalOffset(0,0,0),


    waypointManager(this),

    #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    receivedOverlayTimestamp(0.0),
    receivedObstacleListTimestamp(0.0),
    receivedPathTimestamp(0.0),
    receivedPointCloudTimestamp(0.0),
    receivedRGBDImageTimestamp(0.0),
    #endif

    attitudeKnown(false),
    attitudeStamped(false),
    lastAttitude(0),

    paramsOnceRequested(false),
    paramManager(NULL),

    simulation(0),

    // The protected members.
    connectionLost(false),
    lastVoltageWarning(0),
    lastNonNullTime(0),
    onboardTimeOffsetInvalidCount(0),
    hilEnabled(false),
    sensorHil(false),
    lastSendTimeGPS(0),
    lastSendTimeSensors(0)
{
    for (unsigned int i = 0; i<255;++i)
    {
        componentID[i] = -1;
        componentMulti[i] = false;
    }
    
    color = UASInterface::getNextColor();
    setBatterySpecs(QString("9V,9.5V,12.6V"));
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings(); 
    // Initial signals
    emit disarmed();
    emit armingChanged(false);  
}

/**
* Saves the settings of name, airframe, autopilot type and battery specifications
* by calling writeSettings.
*/
UAS::~UAS()
{
    writeSettings();
    delete links;
    delete statusTimeout;
    delete simulation;
}

/**
* Saves the settings of name, airframe, autopilot type and battery specifications
* for the next instantiation of UAS.
*/
void UAS::writeSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    settings.setValue("NAME", this->name);
    settings.setValue("AIRFRAME", this->airframe);
    settings.setValue("AP_TYPE", this->autopilot);
    settings.setValue("BATTERY_SPECS", getBatterySpecs());
    settings.endGroup();
    settings.sync();
}

/**
* Reads in the settings: name, airframe, autopilot type, and battery specifications
* for the new UAS.
*/
void UAS::readSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    this->name = settings.value("NAME", this->name).toString();
    this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
    this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
    if (settings.contains("BATTERY_SPECS"))
    {