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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
: _id(vehicleId)
, _firmwareType(firmwareType)
, _uas(NULL)
{
_addLink(link);
connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
_uas = new UAS(MAVLinkProtocol::instance(), this);
_firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
_autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
if (message.sysid != _id) {
return;
}
if (!_containsLink(link)) {
_addLink(link);
}
_uas->receiveMessage(message);
}
bool Vehicle::_containsLink(LinkInterface* link)
{
foreach (SharedLinkInterface sharedLink, _links) {
if (sharedLink.data() == link) {
return true;
}
}
return false;
}
void Vehicle::_addLink(LinkInterface* link)
{
if (!_containsLink(link)) {
_links += LinkManager::instance()->sharedPointerForLink(link);
qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
}
}
void Vehicle::_linkDisconnected(LinkInterface* link)
{
qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
qCDebug(VehicleLog) << "link count:" << _links.count();
for (int i=0; i<_links.count(); i++) {
if (_links[i].data() == link) {
_links.removeAt(i);
break;
}
}
if (_links.count() == 0) {
emit allLinksDisconnected();
}
}
void Vehicle::sendMessage(mavlink_message_t message)
{
emit _sendMessageOnThread(message);
}
void Vehicle::_sendMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
foreach (SharedLinkInterface sharedLink, _links) {
LinkInterface* link = sharedLink.data();
Q_ASSERT(link);
if (link->isConnected()) {
MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
// Write message into buffer, prepending start sign
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int len = mavlink_msg_to_send_buffer(buffer, &message);
static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
if (link->isConnected()) {
link->writeBytes((const char*)buffer, len);
} else {
qWarning() << "Link not connected";
}
}
}
}
QList<LinkInterface*> Vehicle::links(void)
{
QList<LinkInterface*> list;
foreach (SharedLinkInterface sharedLink, _links) {
list += sharedLink.data();
}
return list;
}