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 "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
//#include "MG.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"

#ifndef M_PI
#define M_PI        3.14159265358979323846  /* pi */
#endif

#ifndef M_PI_2
#define M_PI_2      1.57079632679489661923  /* pi/2 */
#endif

#ifndef M_PI_4
#define M_PI_4      0.78539816339744830962  /* pi/4 */
#endif



UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id),
startTime(MG::TIME::getGroundTimeNow()),
commStatus(COMM_DISCONNECTED),
name(""),
autopilot(-1),
links(new QList<LinkInterface*>()),
unknownPackets(),
mavlink(protocol),
waypointManager(*this),
thrustSum(0),
thrustMax(10),
startVoltage(0),
currentVoltage(12.0f),
lpVoltage(12.0f),
mode(MAV_MODE_UNINIT),
status(MAV_STATE_UNINIT),
onboardTimeOffset(0),
controlRollManual(true),
controlPitchManual(true),
controlYawManual(true),
controlThrustManual(true),
manualRollAngle(0),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0),
receiveDropRate(0),
sendDropRate(0),
lowBattAlarm(false),
positionLock(false),
localX(0.0),
localY(0.0),
localZ(0.0),
latitude(0.0),
longitude(0.0),
altitude(0.0),
roll(0.0),
pitch(0.0),
yaw(0.0),
statusTimeout(new QTimer(this)),
paramsOnceRequested(false),
airframe(0)
{
    color = UASInterface::getNextColor();
    setBattery(LIPOLY, 3);
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings();
}

UAS::~UAS()
{
    writeSettings();
    delete links;
    links=NULL;
}

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.endGroup();
    settings.sync();
}

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();
    settings.endGroup();
}

int UAS::getUASID() const
{
    return uasId;
}

void UAS::updateState()
{
    // Check if heartbeat timed out
    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
    if (heartbeatInterval > timeoutIntervalHeartbeat)
    {
        emit heartbeatTimeout(heartbeatInterval);
        emit heartbeatTimeout();
    }

    // Position lock is set by the MAVLink message handler
    // if no position lock is available, indicate an error
    if (positionLock)
    {
        positionLock = false;
    }
    else
    {
        if (mode > (uint8_t)MAV_MODE_LOCKED && positionLock)
        {
            GAudioOutput::instance()->notifyNegative();
        }
    }
}

void UAS::setSelected()
{
    if (UASManager::instance()->getActiveUAS() != this)
    {
        UASManager::instance()->setActiveUAS(this);
        emit systemSelected(true);
    }
}

bool UAS::getSelected() const
{
    return (UASManager::instance()->getActiveUAS() == this);
}

void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
{
    if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
    {
        mavlink_named_value_float_t val;
        mavlink_msg_named_value_float_decode(&message, &val);
        emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), val.value, getUnixTime(0));
    }
    else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
    {
        mavlink_named_value_int_t val;
        mavlink_msg_named_value_int_decode(&message, &val);
        emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), (float)val.value, getUnixTime(0));
    }
}

void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
    if (!link) return;
    if (!links->contains(link))
    {
        addLink(link);
        //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
    }
    //    else
    //    {
    //        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
    //    }

    //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;

    if (message.sysid == uasId)
    {
        QString uasState;