MultiVehicleManager.cc 13.4 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (c) 2009-2016 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.
 *
 ****************************************************************************/
dogmaphobic's avatar
dogmaphobic committed
9

10 11
#include "MultiVehicleManager.h"
#include "AutoPilotPlugin.h"
12 13
#include "MAVLinkProtocol.h"
#include "UAS.h"
14
#include "QGCApplication.h"
Jimmy Johnson's avatar
Jimmy Johnson committed
15
#include "FollowMe.h"
16
#include "QGroundControlQmlGlobal.h"
17
#include "ParameterManager.h"
18
#include "SettingsManager.h"
19 20
#include "QGCCorePlugin.h"
#include "QGCOptions.h"
21

22
#if defined (__ios__) || defined(__android__)
Don Gagne's avatar
Don Gagne committed
23
#include "MobileScreenMgr.h"
24 25
#endif

Don Gagne's avatar
Don Gagne committed
26 27
#include <QQmlEngine>

Don Gagne's avatar
Don Gagne committed
28 29
QGC_LOGGING_CATEGORY(MultiVehicleManagerLog, "MultiVehicleManagerLog")

30
const char* MultiVehicleManager::_gcsHeartbeatEnabledKey = "gcsHeartbeatEnabled";
31

32 33
MultiVehicleManager::MultiVehicleManager(QGCApplication* app, QGCToolbox* toolbox)
    : QGCTool(app, toolbox)
34 35 36
    , _activeVehicleAvailable(false)
    , _parameterReadyVehicleAvailable(false)
    , _activeVehicle(NULL)
37
    , _offlineEditingVehicle(NULL)
38 39 40
    , _firmwarePluginManager(NULL)
    , _joystickManager(NULL)
    , _mavlinkProtocol(NULL)
41
    , _gcsHeartbeatEnabled(true)
42
{
43 44 45
    QSettings settings;

    _gcsHeartbeatEnabled = settings.value(_gcsHeartbeatEnabledKey, true).toBool();
46

47 48 49 50 51 52
    _gcsHeartbeatTimer.setInterval(_gcsHeartbeatRateMSecs);
    _gcsHeartbeatTimer.setSingleShot(false);
    connect(&_gcsHeartbeatTimer, &QTimer::timeout, this, &MultiVehicleManager::_sendGCSHeartbeat);
    if (_gcsHeartbeatEnabled) {
        _gcsHeartbeatTimer.start();
    }
53 54
}

55
void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
56
{
57 58 59 60 61
   QGCTool::setToolbox(toolbox);

   _firmwarePluginManager =     _toolbox->firmwarePluginManager();
   _joystickManager =           _toolbox->joystickManager();
   _mavlinkProtocol =           _toolbox->mavlinkProtocol();
62

63 64
   QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
   qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
dogmaphobic's avatar
dogmaphobic committed
65

66
   connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &MultiVehicleManager::_vehicleHeartbeatInfo);
67

68
   SettingsManager* settingsManager = toolbox->settingsManager();
69 70
   _offlineEditingVehicle = new Vehicle(static_cast<MAV_AUTOPILOT>(settingsManager->appSettings()->offlineEditingFirmwareType()->rawValue().toInt()),
                                        static_cast<MAV_TYPE>(settingsManager->appSettings()->offlineEditingVehicleType()->rawValue().toInt()),
71 72
                                        _firmwarePluginManager,
                                        this);
73 74
}

75
void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
76
{
77 78 79
    if (_vehicles.count() > 0 && !qgcApp()->toolbox()->corePlugin()->options()->multiVehicleEnabled()) {
        return;
    }
80
    if (_ignoreVehicleIds.contains(vehicleId) || getVehicleById(vehicleId) || vehicleId == 0) {
81 82 83
        return;
    }

84 85 86 87 88 89 90 91 92 93 94 95
    switch (vehicleType) {
    case MAV_TYPE_GCS:
    case MAV_TYPE_ONBOARD_CONTROLLER:
    case MAV_TYPE_GIMBAL:
    case MAV_TYPE_ADSB:
        // These are not vehicles, so don't create a vehicle for them
        return;
    default:
        // All other MAV_TYPEs create vehicles
        break;
    }

96
    qCDebug(MultiVehicleManagerLog()) << "Adding new vehicle link:vehicleId:componentId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
97 98
                                      << link->getName()
                                      << vehicleId
99
                                      << componentId
100 101 102
                                      << vehicleMavlinkVersion
                                      << vehicleFirmwareType
                                      << vehicleType;
dogmaphobic's avatar
dogmaphobic committed
103

104
    if (vehicleId == _mavlinkProtocol->getSystemId()) {
105
        _app->showMessage(QString("Warning: A vehicle is using the same system id as %1: %2").arg(qgcApp()->applicationName()).arg(vehicleId));
106
    }
dogmaphobic's avatar
dogmaphobic committed
107

108 109 110 111
//    QSettings settings;
//    bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
//    if (mavlinkVersionCheck && vehicleMavlinkVersion != MAVLINK_VERSION) {
//        _ignoreVehicleIds += vehicleId;
112
//        _app->showMessage(QString("The MAVLink protocol version on vehicle #%1 and %2 differ! "
113
//                                  "It is unsafe to use different MAVLink versions. "
114
//                                  "%2 therefore refuses to connect to vehicle #%1, which sends MAVLink version %3 (%2 uses version %4).").arg(vehicleId).arg(qgcApp()->applicationName()).arg(vehicleMavlinkVersion).arg(MAVLINK_VERSION));
115 116
//        return;
//    }
dogmaphobic's avatar
dogmaphobic committed
117

118
    Vehicle* vehicle = new Vehicle(link, vehicleId, componentId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _joystickManager);
119
    connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
120
    connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MultiVehicleManager::_vehicleParametersReadyChanged);
121

122
    _vehicles.append(vehicle);
dogmaphobic's avatar
dogmaphobic committed
123

124 125 126
    // Send QGC heartbeat ASAP, this allows PX4 to start accepting commands
    _sendGCSHeartbeat();

127
    emit vehicleAdded(vehicle);
dogmaphobic's avatar
dogmaphobic committed
128

129 130 131 132 133
    if (_vehicles.count() > 1) {
        qgcApp()->showMessage(tr("Connected to Vehicle %1").arg(vehicleId));
    } else {
        setActiveVehicle(vehicle);
    }
134

135 136 137
    // Mark link as active
    link->setActive(true);

138
#if defined (__ios__) || defined(__android__)
139
    if(_vehicles.count() == 1) {
Don Gagne's avatar
Don Gagne committed
140
        //-- Once a vehicle is connected, keep screen from going off
141
        qCDebug(MultiVehicleManagerLog) << "QAndroidJniObject::keepScreenOn";
Don Gagne's avatar
Don Gagne committed
142
        MobileScreenMgr::setKeepScreenOn(true);
143 144 145
    }
#endif

146 147 148 149
}

/// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
/// and all other right things happen when the Vehicle goes away.
150
void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
151
{
Don Gagne's avatar
Don Gagne committed
152
    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1" << vehicle;
Don Gagne's avatar
Don Gagne committed
153

Don Gagne's avatar
Don Gagne committed
154
    _vehiclesBeingDeleted << vehicle;
155 156

    // Remove from map
157 158
    bool found = false;
    for (int i=0; i<_vehicles.count(); i++) {
Don Gagne's avatar
Don Gagne committed
159
        if (_vehicles[i] == vehicle) {
160
            _vehicles.removeAt(i);
161 162 163 164 165 166 167
            found = true;
            break;
        }
    }
    if (!found) {
        qWarning() << "Vehicle not found in map!";
    }
dogmaphobic's avatar
dogmaphobic committed
168

169
    vehicle->setActive(false);
Don Gagne's avatar
Don Gagne committed
170
    vehicle->uas()->shutdownVehicle();
dogmaphobic's avatar
dogmaphobic committed
171

172 173 174 175 176 177
    // First we must signal that a vehicle is no longer available.
    _activeVehicleAvailable = false;
    _parameterReadyVehicleAvailable = false;
    emit activeVehicleAvailableChanged(false);
    emit parameterReadyVehicleAvailableChanged(false);
    emit vehicleRemoved(vehicle);
dogmaphobic's avatar
dogmaphobic committed
178

179
#if defined (__ios__) || defined(__android__)
180
    if(_vehicles.count() == 0) {
Don Gagne's avatar
Don Gagne committed
181
        //-- Once no vehicles are connected, we no longer need to keep screen from going off
182
        qCDebug(MultiVehicleManagerLog) << "QAndroidJniObject::restoreScreenOn";
183
        MobileScreenMgr::setKeepScreenOn(false);
184 185 186
    }
#endif

187 188 189 190 191 192 193 194 195
    // We must let the above signals flow through the system as well as get back to the main loop event queue
    // before we can actually delete the Vehicle. The reason is that Qml may be holding on the references to it.
    // Even though the above signals should unload any Qml which has references, that Qml will not be destroyed
    // until we get back to the main loop. So we set a short timer which will then fire after Qt has finished
    // doing all of its internal nastiness to clean up the Qml. This works for both the normal running case
    // as well as the unit testing case whichof course has a different signal flow!
    QTimer::singleShot(20, this, &MultiVehicleManager::_deleteVehiclePhase2);
}

Don Gagne's avatar
Don Gagne committed
196
void MultiVehicleManager::_deleteVehiclePhase2(void)
197
{
Don Gagne's avatar
Don Gagne committed
198
    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2" << _vehiclesBeingDeleted[0];
Don Gagne's avatar
Don Gagne committed
199

200 201
    /// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
    /// This means we can now clear the active vehicle property and delete the Vehicle for real.
dogmaphobic's avatar
dogmaphobic committed
202

203
    Vehicle* newActiveVehicle = NULL;
204 205
    if (_vehicles.count()) {
        newActiveVehicle = qobject_cast<Vehicle*>(_vehicles[0]);
206
    }
dogmaphobic's avatar
dogmaphobic committed
207

208 209
    _activeVehicle = newActiveVehicle;
    emit activeVehicleChanged(newActiveVehicle);
dogmaphobic's avatar
dogmaphobic committed
210

211
    if (_activeVehicle) {
212
        _activeVehicle->setActive(true);
213
        emit activeVehicleAvailableChanged(true);
214
        if (_activeVehicle->parameterManager()->parametersReady()) {
215 216 217
            emit parameterReadyVehicleAvailableChanged(true);
        }
    }
dogmaphobic's avatar
dogmaphobic committed
218

Don Gagne's avatar
Don Gagne committed
219 220
    delete _vehiclesBeingDeleted[0];
    _vehiclesBeingDeleted.removeAt(0);
221 222 223 224
}

void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
{
Don Gagne's avatar
Don Gagne committed
225 226
    qCDebug(MultiVehicleManagerLog) << "setActiveVehicle" << vehicle;

227
    if (vehicle != _activeVehicle) {
Don Gagne's avatar
Don Gagne committed
228
        if (_activeVehicle) {
229
            _activeVehicle->setActive(false);
dogmaphobic's avatar
dogmaphobic committed
230

Don Gagne's avatar
Don Gagne committed
231 232
            // The sequence of signals is very important in order to not leave Qml elements connected
            // to a non-existent vehicle.
dogmaphobic's avatar
dogmaphobic committed
233

Don Gagne's avatar
Don Gagne committed
234 235 236 237 238 239 240
            // First we must signal that there is no active vehicle available. This will disconnect
            // any existing ui from the currently active vehicle.
            _activeVehicleAvailable = false;
            _parameterReadyVehicleAvailable = false;
            emit activeVehicleAvailableChanged(false);
            emit parameterReadyVehicleAvailableChanged(false);
        }
dogmaphobic's avatar
dogmaphobic committed
241

242 243 244 245 246 247 248 249
        // See explanation in _deleteVehiclePhase1
        _vehicleBeingSetActive = vehicle;
        QTimer::singleShot(20, this, &MultiVehicleManager::_setActiveVehiclePhase2);
    }
}

void MultiVehicleManager::_setActiveVehiclePhase2(void)
{
Don Gagne's avatar
Don Gagne committed
250
    qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2 _vehicleBeingSetActive" << _vehicleBeingSetActive;
Don Gagne's avatar
Don Gagne committed
251

252 253 254
    // Now we signal the new active vehicle
    _activeVehicle = _vehicleBeingSetActive;
    emit activeVehicleChanged(_activeVehicle);
dogmaphobic's avatar
dogmaphobic committed
255

256 257
    // And finally vehicle availability
    if (_activeVehicle) {
258
        _activeVehicle->setActive(true);
259 260
        _activeVehicleAvailable = true;
        emit activeVehicleAvailableChanged(true);
dogmaphobic's avatar
dogmaphobic committed
261

262
        if (_activeVehicle->parameterManager()->parametersReady()) {
263 264 265 266 267 268
            _parameterReadyVehicleAvailable = true;
            emit parameterReadyVehicleAvailableChanged(true);
        }
    }
}

269
void MultiVehicleManager::_vehicleParametersReadyChanged(bool parametersReady)
270
{
271
    ParameterManager* paramMgr = dynamic_cast<ParameterManager*>(sender());
dogmaphobic's avatar
dogmaphobic committed
272

273
    if (!paramMgr) {
274 275 276
        qWarning() << "Dynamic cast failed!";
        return;
    }
dogmaphobic's avatar
dogmaphobic committed
277

278
    if (paramMgr->vehicle() == _activeVehicle) {
279 280
        _parameterReadyVehicleAvailable = parametersReady;
        emit parameterReadyVehicleAvailableChanged(parametersReady);
281 282 283
    }
}

284 285 286 287 288 289 290 291 292 293 294
void MultiVehicleManager::saveSetting(const QString &name, const QString& value)
{
    QSettings settings;
    settings.setValue(name, value);
}

QString MultiVehicleManager::loadSetting(const QString &name, const QString& defaultValue)
{
    QSettings settings;
    return settings.value(name, defaultValue).toString();
}
295 296 297 298 299 300 301 302 303 304 305 306

Vehicle* MultiVehicleManager::getVehicleById(int vehicleId)
{
    for (int i=0; i< _vehicles.count(); i++) {
        Vehicle* vehicle = qobject_cast<Vehicle*>(_vehicles[i]);
        if (vehicle->id() == vehicleId) {
            return vehicle;
        }
    }

    return NULL;
}
307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326

void MultiVehicleManager::setGcsHeartbeatEnabled(bool gcsHeartBeatEnabled)
{
    if (gcsHeartBeatEnabled != _gcsHeartbeatEnabled) {
        _gcsHeartbeatEnabled = gcsHeartBeatEnabled;
        emit gcsHeartBeatEnabledChanged(gcsHeartBeatEnabled);

        QSettings settings;
        settings.setValue(_gcsHeartbeatEnabledKey, gcsHeartBeatEnabled);

        if (gcsHeartBeatEnabled) {
            _gcsHeartbeatTimer.start();
        } else {
            _gcsHeartbeatTimer.stop();
        }
    }
}

void MultiVehicleManager::_sendGCSHeartbeat(void)
{
327
    // Send a heartbeat out on each link
328 329 330
    LinkManager* linkMgr = _toolbox->linkManager();
    for (int i=0; i<linkMgr->links().count(); i++) {
        LinkInterface* link = linkMgr->links()[i];
331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347
        if (link->isConnected()) {
            mavlink_message_t message;
            mavlink_msg_heartbeat_pack_chan(_mavlinkProtocol->getSystemId(),
                                            _mavlinkProtocol->getComponentId(),
                                            link->mavlinkChannel(),
                                            &message,
                                            MAV_TYPE_GCS,            // MAV_TYPE
                                            MAV_AUTOPILOT_INVALID,   // MAV_AUTOPILOT
                                            MAV_MODE_MANUAL_ARMED,   // MAV_MODE
                                            0,                       // custom mode
                                            MAV_STATE_ACTIVE);       // MAV_STATE

            uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
            int len = mavlink_msg_to_send_buffer(buffer, &message);

            link->writeBytesSafe((const char*)buffer, len);
        }
348 349
    }
}
350 351 352 353 354 355 356 357 358 359 360 361 362 363 364

bool MultiVehicleManager::linkInUse(LinkInterface* link, Vehicle* skipVehicle)
{
    for (int i=0; i< _vehicles.count(); i++) {
        Vehicle* vehicle = qobject_cast<Vehicle*>(_vehicles[i]);

        if (vehicle != skipVehicle) {
            if (vehicle->containsLink(link)) {
                return true;
            }
        }
    }

    return false;
}