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#include "MAVLinkDecoder.h"
#include "UASManager.h"
MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
QObject(parent)
{
mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
memset(receivedMessages, 0, sizeof(mavlink_message_t)*256);
for (unsigned int i = 0; i<255;++i)
{
componentID[i] = -1;
componentMulti[i] = false;
onboardTimeOffset[i] = 0;
onboardToGCSUnixTimeOffsetAndDelay[i] = 0;
firstOnboardTime[i] = 0;
}
// Fill filter
// Allow system status
// messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
// messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false);
messageFilter.insert(MAVLINK_MSG_ID_PARAM_VALUE, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false);
messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false);
#ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA
messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false);
#endif
#ifdef MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE
messageFilter.insert(MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, false);
#endif
messageFilter.insert(MAVLINK_MSG_ID_EXTENDED_MESSAGE, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
// textMessageFilter.insert(MAVLINK_MSG_ID_HIGHRES_IMU, false);
connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
}
void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message)
{
Q_UNUSED(link);
memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
uint8_t msgid = message.msgid;
// Handle time sync message
if (message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME)
{
mavlink_system_time_t timebase;
mavlink_msg_system_time_decode(&message, &timebase);
onboardTimeOffset[message.sysid] = (timebase.time_unix_usec+500)/1000 - timebase.time_boot_ms;
onboardToGCSUnixTimeOffsetAndDelay[message.sysid] = static_cast<qint64>(QGC::groundTimeMilliseconds() - (timebase.time_unix_usec+500)/1000);
}
else
{
QString messageName("%1 (#%2)");
messageName = messageName.arg(messageInfo[msgid].name).arg(msgid);
// See if first value is a time value
quint64 time = 0;
uint8_t fieldid = 0;
uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
{
time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
}
else if (QString(messageInfo[msgid].fields[fieldid].name).contains("usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
{
time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
}
else
{
// First value is not time, send out value 0
emitFieldValue(&message, fieldid, getUnixTimeFromMs(message.sysid, 0));
}
// Align time to global time
time = getUnixTimeFromMs(message.sysid, time);
// Send out field values from 1..n
for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i)
{
emitFieldValue(&message, i, time);
}
}
// Send out combined math expressions
// FIXME XXX TODO
}
quint64 MAVLinkDecoder::getUnixTimeFromMs(int systemID, quint64 time)
{
quint64 ret = 0;
if (time == 0)
{
ret = QGC::groundTimeMilliseconds() - onboardToGCSUnixTimeOffsetAndDelay[systemID];
}
// Check if time is smaller than 40 years,
// assuming no system without Unix timestamp
// runs longer than 40 years continuously without
// reboot. In worst case this will add/subtract the
// communication delay between GCS and MAV,
// it will never alter the timestamp in a safety
// critical way.
//
// Calculation:
// 40 years
// 365 days
// 24 hours
// 60 minutes
// 60 seconds
// 1000 milliseconds
// 1000 microseconds
#ifndef _MSC_VER
else if (time < 1261440000000LLU)
#else
else if (time < 1261440000000)
#endif
{
if (onboardTimeOffset[systemID] == 0 || time < (firstOnboardTime[systemID]-100))
{
firstOnboardTime[systemID] = time;
onboardTimeOffset[systemID] = QGC::groundTimeMilliseconds() - time;
}
if (time > firstOnboardTime[systemID]) firstOnboardTime[systemID] = time;
ret = time + onboardTimeOffset[systemID];
}
else
{
// Time is not zero and larger than 40 years -> has to be
// a Unix epoch timestamp. Do nothing.
ret = time;
}
// // Check if the offset estimation likely went wrong
// // and we're talking to a new instance / the system
// // has rebooted. Only reset if this is consistent.
// if (!isNull && lastNonNullTime > ret)
// {
// onboardTimeOffsetInvalidCount++;
// }
// else if (!isNull && lastNonNullTime < ret)
// {
// onboardTimeOffsetInvalidCount = 0;
// }
// // Reset onboard time offset estimation, since it seems to be really off
// if (onboardTimeOffsetInvalidCount > 20)
// {
// onboardTimeOffset = 0;
// onboardTimeOffsetInvalidCount = 0;
// lastNonNullTime = 0;
// qDebug() << "RESETTET ONBOARD TIME OFFSET";
// }
// // If we're progressing in time, set it
// // else wait for the reboot detection to
// // catch the timestamp wrap / reset
// if (!isNull && (lastNonNullTime < ret)) {
// lastNonNullTime = ret;
// }
return ret;
}
void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
{
bool multiComponentSourceDetected = false;
// Store component ID
if (componentID[msg->msgid] == -1)
{
componentID[msg->msgid] = msg->compid;
}
else
{
// Got this message already
if (componentID[msg->msgid] != msg->compid)
{
componentMulti[msg->msgid] = true;
}
}
if (componentMulti[msg->msgid] == true) multiComponentSourceDetected = true;
// Add field tree widget item
uint8_t msgid = msg->msgid;
if (messageFilter.contains(msgid)) return;
QString fieldName(messageInfo[msgid].fields[fieldid].name);
QString fieldType;
uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
QString name("%1.%2");
QString unit("");
// Debug vector messages
if (msgid == MAVLINK_MSG_ID_DEBUG_VECT)
{
mavlink_debug_vect_t debug;
mavlink_msg_debug_vect_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString("%1.%2").arg(buf).arg(fieldName);
time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
}
else if (msgid == MAVLINK_MSG_ID_DEBUG)
{
mavlink_debug_t debug;
mavlink_msg_debug_decode(msg, &debug);
name = name.arg(QString("debug")).arg(debug.ind);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
{
mavlink_named_value_float_t debug;
mavlink_msg_named_value_float_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString(buf);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
{
mavlink_named_value_int_t debug;
mavlink_msg_named_value_int_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString(buf);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else
{
name = name.arg(messageInfo[msgid].name).arg(fieldName);
}
if (multiComponentSourceDetected)
{
name = name.prepend(QString("C%1:").arg(msg->compid));
}
name = name.prepend(QString("M%1:").arg(msg->sysid));
switch (messageInfo[msgid].fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Enforce null termination
str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
QString string(name + ": " + str);
if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, 0, string);
}
else
{
// Single char
char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
unit = QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
emit valueChanged(msg->sysid, name, unit, b, time);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
fieldType = QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = "uint8_t";
emit valueChanged(msg->sysid, name, fieldType, u, time);
}
break;
case MAVLINK_TYPE_INT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int8_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "uint16_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int16_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint32_t n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "uint32_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int32_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_FLOAT:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (float)(nums[j]), time);
}
}
else
{
// Single value
float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "float";
emit valueChanged(msg->sysid, name, fieldType, f, time);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "double";
emit valueChanged(msg->sysid, name, fieldType, f, time);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time);
}
}
else
{
// Single value
uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "uint64_t";
emit valueChanged(msg->sysid, name, fieldType, (quint64) n, time);
}
break;
case MAVLINK_TYPE_INT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time);
}
}
else
{
// Single value
int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
fieldType = "int64_t";
emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time);
}
break;
default:
qDebug() << "WARNING: UNKNOWN MAVLINK TYPE";
}
}