VehicleVibrationFactGroup.cc

/****************************************************************************
 *
 * (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.
 *
 ****************************************************************************/

#include "VehicleVibrationFactGroup.h"
#include "Vehicle.h"

const char* VehicleVibrationFactGroup::_xAxisFactName =      "xAxis";
const char* VehicleVibrationFactGroup::_yAxisFactName =      "yAxis";
const char* VehicleVibrationFactGroup::_zAxisFactName =      "zAxis";
const char* VehicleVibrationFactGroup::_clipCount1FactName = "clipCount1";
const char* VehicleVibrationFactGroup::_clipCount2FactName = "clipCount2";
const char* VehicleVibrationFactGroup::_clipCount3FactName = "clipCount3";

VehicleVibrationFactGroup::VehicleVibrationFactGroup(QObject* parent)
    : FactGroup         (1000, ":/json/Vehicle/VibrationFact.json", parent)
    , _xAxisFact        (0, _xAxisFactName,         FactMetaData::valueTypeDouble)
    , _yAxisFact        (0, _yAxisFactName,         FactMetaData::valueTypeDouble)
    , _zAxisFact        (0, _zAxisFactName,         FactMetaData::valueTypeDouble)
    , _clipCount1Fact   (0, _clipCount1FactName,    FactMetaData::valueTypeUint32)
    , _clipCount2Fact   (0, _clipCount2FactName,    FactMetaData::valueTypeUint32)
    , _clipCount3Fact   (0, _clipCount3FactName,    FactMetaData::valueTypeUint32)
{
    _addFact(&_xAxisFact,       _xAxisFactName);
    _addFact(&_yAxisFact,       _yAxisFactName);
    _addFact(&_zAxisFact,       _zAxisFactName);
    _addFact(&_clipCount1Fact,  _clipCount1FactName);
    _addFact(&_clipCount2Fact,  _clipCount2FactName);
    _addFact(&_clipCount3Fact,  _clipCount3FactName);

    // Start out as not available "--.--"
    _xAxisFact.setRawValue(qQNaN());
    _yAxisFact.setRawValue(qQNaN());
    _zAxisFact.setRawValue(qQNaN());
}

void VehicleVibrationFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
{
    if (message.msgid != MAVLINK_MSG_ID_VIBRATION) {
        return;
    }

    mavlink_vibration_t vibration;
    mavlink_msg_vibration_decode(&message, &vibration);

    xAxis()->setRawValue(vibration.vibration_x);
    yAxis()->setRawValue(vibration.vibration_y);
    zAxis()->setRawValue(vibration.vibration_z);
    clipCount1()->setRawValue(vibration.clipping_0);
    clipCount2()->setRawValue(vibration.clipping_1);
    clipCount3()->setRawValue(vibration.clipping_2);
}