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/****************************************************************************
*
* (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 "ADSBVehicleManager.h"
#include "QGCLoggingCategory.h"
#include "QGCApplication.h"
#include "SettingsManager.h"
#include "ADSBVehicleManagerSettings.h"
#include <QDebug>
ADSBVehicleManager::ADSBVehicleManager(QGCApplication* app, QGCToolbox* toolbox)
: QGCTool(app, toolbox)
{
}
void ADSBVehicleManager::setToolbox(QGCToolbox* toolbox)
{
QGCTool::setToolbox(toolbox);
connect(&_adsbVehicleCleanupTimer, &QTimer::timeout, this, &ADSBVehicleManager::_cleanupStaleVehicles);
_adsbVehicleCleanupTimer.setSingleShot(false);
_adsbVehicleCleanupTimer.start(1000);
ADSBVehicleManagerSettings* settings = qgcApp()->toolbox()->settingsManager()->adsbVehicleManagerSettings();
if (settings->adsbServerConnectEnabled()->rawValue().toBool()) {
_tcpLink = new ADSBTCPLink(settings->adsbServerHostAddress()->rawValue().toString(), settings->adsbServerPort()->rawValue().toInt(), this);
connect(_tcpLink, &ADSBTCPLink::adsbVehicleUpdate, this, &ADSBVehicleManager::adsbVehicleUpdate, Qt::QueuedConnection);
connect(_tcpLink, &ADSBTCPLink::error, this, &ADSBVehicleManager::_tcpError, Qt::QueuedConnection);
}
}
void ADSBVehicleManager::_cleanupStaleVehicles()
{
// Remove all expired ADSB vehicles
for (int i=_adsbVehicles.count()-1; i>=0; i--) {
ADSBVehicle* adsbVehicle = _adsbVehicles.value<ADSBVehicle*>(i);
if (adsbVehicle->expired()) {
qCDebug(ADSBVehicleManagerLog) << "Expired" << QStringLiteral("%1").arg(adsbVehicle->icaoAddress(), 0, 16);
_adsbVehicles.removeAt(i);
_adsbICAOMap.remove(adsbVehicle->icaoAddress());
adsbVehicle->deleteLater();
}
}
}
void ADSBVehicleManager::adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehicleInfo)
{
uint32_t icaoAddress = vehicleInfo.icaoAddress;
if (_adsbICAOMap.contains(icaoAddress)) {
_adsbICAOMap[icaoAddress]->update(vehicleInfo);
} else {
if (vehicleInfo.availableFlags & ADSBVehicle::LocationAvailable) {
ADSBVehicle* adsbVehicle = new ADSBVehicle(vehicleInfo, this);
_adsbICAOMap[icaoAddress] = adsbVehicle;
_adsbVehicles.append(adsbVehicle);
}
}
}
void ADSBVehicleManager::_tcpError(const QString errorMsg)
{
qgcApp()->showAppMessage(tr("ADSB Server Error: %1").arg(errorMsg));
}
ADSBTCPLink::ADSBTCPLink(const QString& hostAddress, int port, QObject* parent)
: QThread (parent)
, _hostAddress (hostAddress)
, _port (port)
{
moveToThread(this);
start();
}
ADSBTCPLink::~ADSBTCPLink(void)
{
if (_socket) {
QObject::disconnect(_socket, &QTcpSocket::readyRead, this, &ADSBTCPLink::_readBytes);
_socket->disconnectFromHost();
_socket->deleteLater();
_socket = nullptr;
}
quit();
wait();
}
void ADSBTCPLink::run(void)
{
_hardwareConnect();
exec();
}
void ADSBTCPLink::_hardwareConnect()
{
_socket = new QTcpSocket();
QObject::connect(_socket, &QTcpSocket::readyRead, this, &ADSBTCPLink::_readBytes);
_socket->connectToHost(_hostAddress, static_cast<quint16>(_port));
// Give the socket a second to connect to the other side otherwise error out
if (!_socket->waitForConnected(1000)) {
qCDebug(ADSBVehicleManagerLog) << "ADSB Socket failed to connect";
emit error(_socket->errorString());
delete _socket;
_socket = nullptr;
return;
}
qCDebug(ADSBVehicleManagerLog) << "ADSB Socket connected";
}
void ADSBTCPLink::_readBytes(void)
{
if (_socket) {
QByteArray bytes = _socket->readLine();
_parseLine(QString::fromLocal8Bit(bytes));
}
}
void ADSBTCPLink::_parseLine(const QString& line)
{
if (line.startsWith(QStringLiteral("MSG"))) {
qCDebug(ADSBVehicleManagerLog) << "ADSB SBS-1" << line;
QStringList values = line.split(QStringLiteral(","));
if (values[1] == QStringLiteral("3")) {
bool icaoOk, altOk, latOk, lonOk;
uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16);
int modeCAltitude = values[11].toInt(&altOk);
double lat = values[14].toDouble(&latOk);
double lon = values[15].toDouble(&lonOk);
QString callsign = values[10];
if (!icaoOk || !altOk || !latOk || !lonOk) {
return;
}
if (lat == 0 && lon == 0) {
return;
}
double altitude = modeCAltitude / 3.048;
QGeoCoordinate location(lat, lon);
ADSBVehicle::VehicleInfo_t adsbInfo;
adsbInfo.icaoAddress = icaoAddress;
adsbInfo.callsign = callsign;
adsbInfo.location = location;
adsbInfo.altitude = altitude;
adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable | ADSBVehicle::LocationAvailable | ADSBVehicle::AltitudeAvailable;
emit adsbVehicleUpdate(adsbInfo);
} else if (values[1] == QStringLiteral("4")) {
bool icaoOk, headingOk;
uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16);
double heading = values[13].toDouble(&headingOk);
if (!icaoOk || !headingOk) {
return;
}
ADSBVehicle::VehicleInfo_t adsbInfo;
adsbInfo.icaoAddress = icaoAddress;
adsbInfo.heading = heading;
adsbInfo.availableFlags = ADSBVehicle::HeadingAvailable;
emit adsbVehicleUpdate(adsbInfo);
} else if (values[1] == QStringLiteral("1")) {
bool icaoOk;
uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16);
if (!icaoOk) {
return;
}
ADSBVehicle::VehicleInfo_t adsbInfo;
adsbInfo.icaoAddress = icaoAddress;
adsbInfo.callsign = values[10];
adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable;
emit adsbVehicleUpdate(adsbInfo);
}
}
}