QGCMAVLink.h

/****************************************************************************
 *
 * (c) 2009-2020 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.
 *
 ****************************************************************************/

#pragma once

#include <QObject>
#include <QString>
#include <QList>

#define MAVLINK_USE_MESSAGE_INFO
#define MAVLINK_EXTERNAL_RX_STATUS  // Single m_mavlink_status instance is in QGCApplication.cc
#include <stddef.h>                 // Hack workaround for Mav 2.0 header problem with respect to offsetof usage

// Ignore warnings from mavlink headers for both GCC/Clang and MSVC
#ifdef __GNUC__

#if __GNUC__ > 8
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wall"
#endif

#else
#pragma warning(push, 0)
#endif

#include <mavlink_types.h>
extern mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
#include <mavlink.h>

#ifdef __GNUC__
#pragma GCC diagnostic pop
#else
#pragma warning(pop, 0)
#endif

#ifdef __GNUC__
#define PACKED_STRUCT( __Declaration__ ) __Declaration__ __attribute__((packed))
#else
#define PACKED_STRUCT( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
#endif

class QGCMAVLink : public QObject
{
    Q_OBJECT

public:
    // Creating an instance of QGCMAVLink is only meant to be used for the Qml Singleton
    QGCMAVLink(QObject* parent = nullptr);

    typedef int FirmwareClass_t;
    typedef int VehicleClass_t;

    static constexpr FirmwareClass_t FirmwareClassPX4       = MAV_AUTOPILOT_PX4;
    static constexpr FirmwareClass_t FirmwareClassArduPilot = MAV_AUTOPILOT_ARDUPILOTMEGA;
    static constexpr FirmwareClass_t FirmwareClassGeneric   = MAV_AUTOPILOT_GENERIC;

    static constexpr VehicleClass_t VehicleClassFixedWing   = MAV_TYPE_FIXED_WING;
    static constexpr VehicleClass_t VehicleClassRoverBoat   = MAV_TYPE_GROUND_ROVER;
    static constexpr VehicleClass_t VehicleClassSub         = MAV_TYPE_SUBMARINE;
    static constexpr VehicleClass_t VehicleClassMultiRotor  = MAV_TYPE_QUADROTOR;
    static constexpr VehicleClass_t VehicleClassVTOL        = MAV_TYPE_VTOL_QUADROTOR;
    static constexpr VehicleClass_t VehicleClassGeneric     = MAV_TYPE_GENERIC;

    static bool                     isPX4FirmwareClass          (MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_PX4; }
    static bool                     isArduPilotFirmwareClass    (MAV_AUTOPILOT autopilot) { return autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA; }
    static bool                     isGenericFirmwareClass      (MAV_AUTOPILOT autopilot) { return !isPX4FirmwareClass(autopilot) && ! isArduPilotFirmwareClass(autopilot); }
    static FirmwareClass_t          firmwareClass               (MAV_AUTOPILOT autopilot);
    static MAV_AUTOPILOT            firmwareClassToAutopilot    (FirmwareClass_t firmwareClass) { return static_cast<MAV_AUTOPILOT>(firmwareClass); }
    static QString                  firmwareClassToString       (FirmwareClass_t firmwareClass);
    static QList<FirmwareClass_t>   allFirmwareClasses          (void);

    static bool                     isFixedWing                 (MAV_TYPE mavType);
    static bool                     isRoverBoat                 (MAV_TYPE mavType);
    static bool                     isSub                       (MAV_TYPE mavType);
    static bool                     isMultiRotor                (MAV_TYPE mavType);
    static bool                     isVTOL                      (MAV_TYPE mavType);
    static VehicleClass_t           vehicleClass                (MAV_TYPE mavType);
    static MAV_TYPE                 vehicleClassToMavType       (VehicleClass_t vehicleClass) { return static_cast<MAV_TYPE>(vehicleClass); }
    static QString                  vehicleClassToString        (VehicleClass_t vehicleClass);
    static QList<VehicleClass_t>    allVehicleClasses           (void);

    static QString                  mavResultToString           (MAV_RESULT result);
    static QString                  mavSysStatusSensorToString  (MAV_SYS_STATUS_SENSOR sysStatusSensor);

    // Expose mavlink enums to Qml. I've tried various way to make this work without duping, but haven't found anything that works.

    enum MAV_BATTERY_FUNCTION {
        MAV_BATTERY_FUNCTION_UNKNOWN=0, /* Battery function is unknown | */
        MAV_BATTERY_FUNCTION_ALL=1, /* Battery supports all flight systems | */
        MAV_BATTERY_FUNCTION_PROPULSION=2, /* Battery for the propulsion system | */
        MAV_BATTERY_FUNCTION_AVIONICS=3, /* Avionics battery | */
        MAV_BATTERY_TYPE_PAYLOAD=4, /* Payload battery | */
    };
    Q_ENUM(MAV_BATTERY_FUNCTION)

    enum MAV_BATTERY_CHARGE_STATE
    {
       MAV_BATTERY_CHARGE_STATE_UNDEFINED=0, /* Low battery state is not provided | */
       MAV_BATTERY_CHARGE_STATE_OK=1, /* Battery is not in low state. Normal operation. | */
       MAV_BATTERY_CHARGE_STATE_LOW=2, /* Battery state is low, warn and monitor close. | */
       MAV_BATTERY_CHARGE_STATE_CRITICAL=3, /* Battery state is critical, return or abort immediately. | */
       MAV_BATTERY_CHARGE_STATE_EMERGENCY=4, /* Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage. | */
       MAV_BATTERY_CHARGE_STATE_FAILED=5, /* Battery failed, damage unavoidable. | */
       MAV_BATTERY_CHARGE_STATE_UNHEALTHY=6, /* Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. | */
       MAV_BATTERY_CHARGE_STATE_CHARGING=7, /* Battery is charging. | */
    };
    Q_ENUM(MAV_BATTERY_CHARGE_STATE)
};

class MavlinkFTP {
public:
    /// This is the fixed length portion of the protocol data.
    /// This needs to be packed, because it's typecasted from mavlink_file_transfer_protocol_t.payload, which starts
    /// at a 3 byte offset, causing an unaligned access to seq_number and offset
    PACKED_STRUCT(
            typedef struct RequestHeader {
                uint16_t    seqNumber;      ///< sequence number for message
                uint8_t     session;        ///< Session id for read and write commands
                uint8_t     opcode;         ///< Command opcode
                uint8_t     size;           ///< Size of data
                uint8_t     req_opcode;     ///< Request opcode returned in kRspAck, kRspNak message
                uint8_t     burstComplete;  ///< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.
                uint8_t     paddng;        ///< 32 bit aligment padding
                uint32_t    offset;         ///< Offsets for List and Read commands
            }) RequestHeader;

    PACKED_STRUCT(
            typedef struct Request{
                RequestHeader hdr;

                // We use a union here instead of just casting (uint32_t)&payload[0] to not break strict aliasing rules
                union {
                    // The entire Request must fit into the payload member of the mavlink_file_transfer_protocol_t structure. We use as many leftover bytes
                    // after we use up space for the RequestHeader for the data portion of the Request.
                    uint8_t data[sizeof(((mavlink_file_transfer_protocol_t*)0)->payload) - sizeof(RequestHeader)];

                    // File length returned by Open command
                    uint32_t openFileLength;

                    // Length of file chunk written by write command
                    uint32_t writeFileLength;
                };
            }) Request;

    typedef enum {
        kCmdNone = 0,           ///< ignored, always acked
        kCmdTerminateSession,	///< Terminates open Read session
        kCmdResetSessions,		///< Terminates all open Read sessions
        kCmdListDirectory,		///< List files in <path> from <offset>
        kCmdOpenFileRO,			///< Opens file at <path> for reading, returns <session>
        kCmdReadFile,			///< Reads <size> bytes from <offset> in <session>
        kCmdCreateFile,			///< Creates file at <path> for writing, returns <session>
        kCmdWriteFile,			///< Writes <size> bytes to <offset> in <session>
        kCmdRemoveFile,			///< Remove file at <path>
        kCmdCreateDirectory,	///< Creates directory at <path>
        kCmdRemoveDirectory,	///< Removes Directory at <path>, must be empty
        kCmdOpenFileWO,			///< Opens file at <path> for writing, returns <session>
        kCmdTruncateFile,		///< Truncate file at <path> to <offset> length
        kCmdRename,				///< Rename <path1> to <path2>
        kCmdCalcFileCRC32,		///< Calculate CRC32 for file at <path>
        kCmdBurstReadFile,      ///< Burst download session file

        kRspAck = 128,          ///< Ack response
        kRspNak,                ///< Nak response
    } OpCode_t;

    /// @brief Error codes returned in Nak response PayloadHeader.data[0].
   typedef enum {
        kErrNone = 0,
        kErrFail,                   ///< Unknown failure
        kErrFailErrno,              ///< errno sent back in PayloadHeader.data[1]
        kErrInvalidDataSize,		///< PayloadHeader.size is invalid
        kErrInvalidSession,         ///< Session is not currently open
        kErrNoSessionsAvailable,	///< All available Sessions in use
        kErrEOF,                    ///< Offset past end of file for List and Read commands
        kErrUnknownCommand,         ///< Unknown command opcode
        kErrFailFileExists,         ///< File exists already
        kErrFailFileProtected,      ///< File is write protected
        kErrFailFileNotFound
    } ErrorCode_t;

    static QString opCodeToString   (OpCode_t opCode);
    static QString errorCodeToString(ErrorCode_t errorCode);
};