UAS.cc

{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTENDED_STATUS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
    mavlink_message_t msg;
    mavlink_msg_request_rc_channels_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, enabled);
    sendMessage(msg);
#else
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RC_CHANNELS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableRawControllerDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_CONTROLLER;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableRawSensorFusionTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSOR_FUSION;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enablePositionTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_POSITION;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra1Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA1;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra2Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA2;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra3Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA3;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Set a parameter value onboard
 *
 * @param component The component to set the parameter
 * @param id Name of the parameter
 * @param value Parameter value
 */
void UAS::setParameter(int component, QString id, float value)
{    
    mavlink_message_t msg;
    mavlink_param_set_t p;
    p.param_value = value;
    p.target_system = (uint8_t)uasId;
    p.target_component = (uint8_t)component;

    // Copy string into buffer, ensuring not to exceed the buffer size    
    for (unsigned int i = 0; i < sizeof(p.param_id); i++)
    {
        // String characters
        if ((int)i < id.length() && i < (sizeof(p.param_id) - 1))
        {
            p.param_id[i] = id.toAscii()[i];
        }
        // Null termination at end of string or end of buffer
        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
        {
            p.param_id[i] = '\0';
        }
        // Zero fill
        else
        {
            p.param_id[i] = 0;
        }
    }    
    mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
    sendMessage(msg);
}

/**
 * Launches the system
 *
 **/
void UAS::launch()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_LAUNCH);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 **/
void UAS::enable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 **/
void UAS::disable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
{
    // Scale values
    double rollPitchScaling = 0.2f;
    double yawScaling = 0.5f;
    double thrustScaling = 1.0f;

    manualRollAngle = roll * rollPitchScaling;
    manualPitchAngle = pitch * rollPitchScaling;
    manualYawAngle = yaw * yawScaling;
    manualThrust = thrust * thrustScaling;

//    if(mode == (int)MAV_MODE_MANUAL)
//    {
        mavlink_message_t message;
        mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
        sendMessage(message);
        qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;

        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
//    }
}

int UAS::getSystemType()
{
    return this->type;
}

void UAS::receiveButton(int buttonIndex)
{
    switch (buttonIndex)
    {
    case 0:

        break;
    case 1:

        break;
    default:

        break;
    }
//    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";

}


/*void UAS::requestWaypoints()
{
//    mavlink_message_t msg;
//    mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
    waypointManager.requestWaypoints();
    qDebug() << "UAS Request WPs";
}

void UAS::setWaypoint(Waypoint* wp)
{
//    mavlink_message_t msg;
//    mavlink_waypoint_set_t set;
//    set.id = wp->id;
//    //QString name = wp->name;
//    // FIXME Check if this works properly
//    //name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN);
//    //strcpy((char*)set.name, name.toStdString().c_str());
//    set.autocontinue = wp->autocontinue;
//    set.target_component = 25; // FIXME
//    set.target_system = uasId;
//    set.active = wp->current;
//    set.x = wp->x;
//    set.y = wp->y;
//    set.z = wp->z;
//    set.yaw = wp->yaw;
//    mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
}

void UAS::setWaypointActive(int id)
{
//    mavlink_message_t msg;
//    mavlink_waypoint_set_active_t active;
//    active.id = id;
//    active.target_system = uasId;
//    active.target_component = 25; // FIXME
//    mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
//    sendMessage(msg);
//    // TODO This should be not directly emitted, but rather being fed back from the UAS
//    emit waypointSelected(getUASID(), id);
}

void UAS::clearWaypointList()
{
//    mavlink_message_t msg;
//    // FIXME
//    mavlink_waypoint_clear_list_t clist;
//    clist.target_system = uasId;
//    clist.target_component = 25;  // FIXME
//    mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist);
//    sendMessage(msg);
//    qDebug() << "UAS clears Waypoints!";
}*/


void UAS::halt()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::go()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,  (int)MAV_ACTION_CONTINUE);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/** Order the robot to return home / to land on the runway **/
void UAS::home()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,  (int)MAV_ACTION_RETURN);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * The MAV starts the emergency landing procedure. The behaviour depends on the onboard implementation
 * and might differ between systems.
 */
void UAS::emergencySTOP()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * All systems are immediately shut down (e.g. the main power line is cut).
 * @warning This might lead to a crash
 *
 * The command will not be executed until emergencyKILLConfirm is issues immediately afterwards
 */
bool UAS::emergencyKILL()
{
    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS");
    msgBox.setInformativeText("Do you want to cut power on all systems?");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        mavlink_message_t msg;
        // TODO Replace MG System ID with static function call and allow to change ID in GUI
        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
        // Send message twice to increase chance of reception
        sendMessage(msg);
        sendMessage(msg);
        result = true;
    }
    return result;
}

void UAS::shutdown()
{
    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText("Shutting down the UAS");
    msgBox.setInformativeText("Do you want to shut down the onboard computer?");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        // If the active UAS is set, execute command
        mavlink_message_t msg;
        // TODO Replace MG System ID with static function call and allow to change ID in GUI
        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_SHUTDOWN);
        // Send message twice to increase chance of reception
        sendMessage(msg);
        sendMessage(msg);
        result = true;
    }
}

void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
    mavlink_message_t msg;
    mavlink_msg_position_target_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, x, y, z, yaw);

    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * @return The name of this system as string in human-readable form
 */
QString UAS::getUASName(void) const
{
    QString result;
    if (name == "")
    {
        result = tr("MAV ") + result.sprintf("%03d", getUASID());
    }
    else
    {
        result = name;
    }
    return result;
}

void UAS::addLink(LinkInterface* link)
{
    if (!links->contains(link))
    {
        links->append(link);
    }
    //links->append(link);
    //qDebug() << " ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
}

/**
 * @brief Get the links associated with this robot
 *
 **/
QList<LinkInterface*>* UAS::getLinks()
{
    return links;
}



void UAS::setBattery(BatteryType type, int cells)
{
    this->batteryType = type;
    this->cells = cells;
    switch (batteryType)
    {
    case NICD:
        break;
    case NIMH:
        break;
    case LIION:
        break;
    case LIPOLY:
        fullVoltage = this->cells * UAS::lipoFull;
        emptyVoltage = this->cells * UAS::lipoEmpty;
        break;
    case LIFE:
        break;
    case AGZN:
        break;
    }
}

int UAS::calculateTimeRemaining()
{
    quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
    double seconds = dt / 1000.0f;
    double voltDifference = startVoltage - currentVoltage;
    if (voltDifference <= 0) voltDifference = 0.00000000001f;
    double dischargePerSecond = voltDifference / seconds;
    int remaining = static_cast<int>((currentVoltage - emptyVoltage) / dischargePerSecond);
    // Can never be below 0
    if (remaining < 0) remaining = 0;
    return remaining;
}

/**
 * @return charge level in percent - 0 - 100
 */
double UAS::getChargeLevel()
{
    float chargeLevel;
    if (lpVoltage < emptyVoltage)
    {
        chargeLevel = 0.0f;
    }
    else if (lpVoltage > fullVoltage)
    {
        chargeLevel = 100.0f;
    }
    else
    {
        chargeLevel = 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
    }
    return chargeLevel;
}

void UAS::startLowBattAlarm()
{
    if (!lowBattAlarm)
    {
        GAudioOutput::instance()->alert("LOW BATTERY");
        QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency()));
        lowBattAlarm = true;
    }
}

void UAS::stopLowBattAlarm()
{
    if (lowBattAlarm)
    {
        GAudioOutput::instance()->stopEmergency();
        lowBattAlarm = false;
    }
}