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Unverified Commit 3eec1ca0 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #8046 from DonLakeFlyer/ADSBServer 

ADSB server support
parents a1ddad8c 99665bcc
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Showing with 550 additions and 174 deletions
ChangeLog.md
View file @ 3eec1ca0
......@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
### 3.6.0 - Daily Build
* ADSB: Added support for connecting to SBS server. Adds support for ADSB data from USB SDR Dongle running 'dump190 --net' for example.
* Toolbar: Scrollable left/right on small screens like phones
* Plan View: New create plan UI for initial plan creation
* New Corridor editing tools ui. Includes ability to trace polyline by clicking.
......
qgroundcontrol.pro
View file @ 3eec1ca0
......@@ -398,6 +398,7 @@ INCLUDEPATH += .
INCLUDEPATH += \
include/ui \
src \
src/ADSB \
src/api \
src/AnalyzeView \
src/Camera \
......@@ -566,6 +567,8 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
# Main QGC Headers and Source files
HEADERS += \
src/ADSB/ADSBVehicle.h \
src/ADSB/ADSBVehicleManager.h \
src/AnalyzeView/LogDownloadController.h \
src/AnalyzeView/PX4LogParser.h \
src/AnalyzeView/ULogParser.h \
......@@ -652,6 +655,7 @@ HEADERS += \
src/QmlControls/RCChannelMonitorController.h \
src/QmlControls/ScreenToolsController.h \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
src/Settings/ADSBVehicleManagerSettings.h \
src/Settings/AppSettings.h \
src/Settings/AutoConnectSettings.h \
src/Settings/BrandImageSettings.h \
......@@ -669,7 +673,6 @@ HEADERS += \
src/SHPFileHelper.h \
src/Terrain/TerrainQuery.h \
src/TerrainTile.h \
src/Vehicle/ADSBVehicle.h \
src/Vehicle/GPSRTKFactGroup.h \
src/Vehicle/MAVLinkLogManager.h \
src/Vehicle/MultiVehicleManager.h \
......@@ -800,6 +803,8 @@ AndroidBuild {
}
SOURCES += \
src/ADSB/ADSBVehicle.cc \
src/ADSB/ADSBVehicleManager.cc \
src/AnalyzeView/LogDownloadController.cc \
src/AnalyzeView/PX4LogParser.cc \
src/AnalyzeView/ULogParser.cc \
......@@ -882,6 +887,7 @@ SOURCES += \
src/QmlControls/RCChannelMonitorController.cc \
src/QmlControls/ScreenToolsController.cc \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
src/Settings/ADSBVehicleManagerSettings.cc \
src/Settings/AppSettings.cc \
src/Settings/AutoConnectSettings.cc \
src/Settings/BrandImageSettings.cc \
......@@ -899,7 +905,6 @@ SOURCES += \
src/SHPFileHelper.cc \
src/Terrain/TerrainQuery.cc \
src/TerrainTile.cc\
src/Vehicle/ADSBVehicle.cc \
src/Vehicle/GPSRTKFactGroup.cc \
src/Vehicle/MAVLinkLogManager.cc \
src/Vehicle/MultiVehicleManager.cc \
......
qgroundcontrol.qrc
View file @ 3eec1ca0
......@@ -234,6 +234,7 @@
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
<file alias="BreachReturn.FactMetaData.json">src/MissionManager/BreachReturn.FactMetaData.json</file>
<file alias="ADSBVehicleManager.SettingsGroup.json">src/Settings/ADSBVehicleManager.SettingsGroup.json</file>
<file alias="App.SettingsGroup.json">src/Settings/App.SettingsGroup.json</file>
<file alias="AutoConnect.SettingsGroup.json">src/Settings/AutoConnect.SettingsGroup.json</file>
<file alias="BrandImage.SettingsGroup.json">src/Settings/BrandImage.SettingsGroup.json</file>
......
src/ADSB/ADSBVehicle.cc 0 → 100644
View file @ 3eec1ca0
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "ADSBVehicle.h"
#include "QGCLoggingCategory.h"
#include <QDebug>
#include <QtMath>
ADSBVehicle::ADSBVehicle(const VehicleInfo_t& vehicleInfo, QObject* parent)
: QObject (parent)
, _icaoAddress (vehicleInfo.icaoAddress)
, _altitude (qQNaN())
, _heading (qQNaN())
, _alert (false)
{
update(vehicleInfo);
}
void ADSBVehicle::update(const VehicleInfo_t& vehicleInfo)
{
if (_icaoAddress != vehicleInfo.icaoAddress) {
qCWarning(ADSBVehicleManagerLog) << "ICAO address mismatch expected:actual" << _icaoAddress << vehicleInfo.icaoAddress;
return;
}
if (vehicleInfo.availableFlags & CallsignAvailable) {
if (vehicleInfo.callsign != _callsign) {
_callsign = vehicleInfo.callsign;
emit callsignChanged();
}
}
if (vehicleInfo.availableFlags & LocationAvailable) {
if (_coordinate != vehicleInfo.location) {
_coordinate = vehicleInfo.location;
emit coordinateChanged();
}
}
if (vehicleInfo.availableFlags & AltitudeAvailable) {
if (!(qIsNaN(vehicleInfo.altitude) && qIsNaN(_altitude)) && !qFuzzyCompare(vehicleInfo.altitude, _altitude)) {
_altitude = vehicleInfo.altitude;
emit altitudeChanged();
}
}
if (vehicleInfo.availableFlags & HeadingAvailable) {
if (!(qIsNaN(vehicleInfo.heading) && qIsNaN(_heading)) && !qFuzzyCompare(vehicleInfo.heading, _heading)) {
_heading = vehicleInfo.heading;
emit headingChanged();
}
}
if (vehicleInfo.availableFlags & AlertAvailable) {
if (vehicleInfo.alert != _alert) {
_alert = vehicleInfo.alert;
emit alertChanged();
}
}
_lastUpdateTimer.restart();
}
bool ADSBVehicle::expired()
{
return _lastUpdateTimer.hasExpired(expirationTimeoutMs);
}
src/Vehicle/ADSBVehicle.h → src/ADSB/ADSBVehicle.h
View file @ 3eec1ca0
......@@ -20,9 +20,25 @@ class ADSBVehicle : public QObject
Q_OBJECT
public:
ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent = nullptr);
enum {
CallsignAvailable = 1 << 1,
LocationAvailable = 1 << 2,
AltitudeAvailable = 1 << 3,
HeadingAvailable = 1 << 4,
AlertAvailable = 1 << 5,
};
ADSBVehicle(const QGeoCoordinate& location, float heading, bool alert = false, QObject* parent = nullptr);
typedef struct {
uint32_t icaoAddress; // Required
QString callsign;
QGeoCoordinate location;
double altitude;
double heading;
bool alert;
uint32_t availableFlags;
} VehicleInfo_t;
ADSBVehicle(const VehicleInfo_t& vehicleInfo, QObject* parent);
Q_PROPERTY(int icaoAddress READ icaoAddress CONSTANT)
Q_PROPERTY(QString callsign READ callsign NOTIFY callsignChanged)
......@@ -31,17 +47,14 @@ public:
Q_PROPERTY(double heading READ heading NOTIFY headingChanged) // NaN for not available
Q_PROPERTY(bool alert READ alert NOTIFY alertChanged) // Collision path
int icaoAddress (void) const { return _icaoAddress; }
int icaoAddress (void) const { return static_cast<int>(_icaoAddress); }
QString callsign (void) const { return _callsign; }
QGeoCoordinate coordinate (void) const { return _coordinate; }
double altitude (void) const { return _altitude; }
double heading (void) const { return _heading; }
bool alert (void) const { return _alert; }
/// Update the vehicle with new information
void update(mavlink_adsb_vehicle_t& adsbVehicle);
void update(bool alert, const QGeoCoordinate& location, float heading);
void update(const VehicleInfo_t& vehicleInfo);
/// check if the vehicle is expired and should be removed
bool expired();
......@@ -69,3 +82,6 @@ private:
QElapsedTimer _lastUpdateTimer;
};
Q_DECLARE_METATYPE(ADSBVehicle::VehicleInfo_t)
src/ADSB/ADSBVehicleManager.cc 0 → 100644
View file @ 3eec1ca0
/****************************************************************************
*
* (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.
*
****************************************************************************/
#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);
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()->showMessage(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) {
_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);
}
}
}
src/ADSB/ADSBVehicleManager.h 0 → 100644
View file @ 3eec1ca0
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "QGCToolbox.h"
#include "QmlObjectListModel.h"
#include "ADSBVehicle.h"
#include <QThread>
#include <QTcpSocket>
#include <QTimer>
#include <QGeoCoordinate>
class ADSBVehicleManagerSettings;
class ADSBTCPLink : public QThread
{
Q_OBJECT
public:
ADSBTCPLink(const QString& hostAddress, int port, QObject* parent);
~ADSBTCPLink();
signals:
void adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehicleInfo);
void error(const QString errorMsg);
protected:
void run(void) final;
private slots:
void _readBytes(void);
private:
void _hardwareConnect(void);
void _parseLine(const QString& line);
QString _hostAddress;
int _port;
QTcpSocket* _socket = nullptr;
};
class ADSBVehicleManager : public QGCTool {
Q_OBJECT
public:
ADSBVehicleManager(QGCApplication* app, QGCToolbox* toolbox);
Q_PROPERTY(QmlObjectListModel* adsbVehicles READ adsbVehicles CONSTANT)
QmlObjectListModel* adsbVehicles(void) { return &_adsbVehicles; }
// QGCTool overrides
void setToolbox(QGCToolbox* toolbox) final;
public slots:
void adsbVehicleUpdate (const ADSBVehicle::VehicleInfo_t vehicleInfo);
void _tcpError (const QString errorMsg);
private slots:
void _cleanupStaleVehicles(void);
private:
QmlObjectListModel _adsbVehicles;
QMap<uint32_t, ADSBVehicle*> _adsbICAOMap;
QTimer _adsbVehicleCleanupTimer;
ADSBTCPLink* _tcpLink = nullptr;
};
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 3eec1ca0
......@@ -214,8 +214,7 @@ FlightMap {
// Add ADSB vehicles to the map
MapItemView {
model: activeVehicle ? activeVehicle.adsbVehicles : []
property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
model: QGroundControl.adsbVehicleManager.adsbVehicles
delegate: VehicleMapItem {
coordinate: object.coordinate
altitude: object.altitude
......
src/FlightMap/MapItems/VehicleMapItem.qml
View file @ 3eec1ca0
......@@ -80,7 +80,7 @@ MapQuickItem {
anchors.horizontalCenter: parent.horizontalCenter
map: _map
text: vehicleLabelText
font.pointSize: ScreenTools.smallFontPointSize
font.pointSize: _adsbVehicle ? ScreenTools.defaultFontPointSize : ScreenTools.smallFontPointSize
visible: _adsbVehicle ? !isNaN(altitude) : _multiVehicle
property string vehicleLabelText: visible ?
(_adsbVehicle ?
......@@ -89,15 +89,5 @@ MapQuickItem {
""
}
QGCMapLabel {
anchors.top: vehicleLabel.bottom
anchors.horizontalCenter: parent.horizontalCenter
map: _map
text: vehicleLabelText
font.pointSize: ScreenTools.smallFontPointSize
visible: _adsbVehicle ? !isNaN(altitude) : _multiVehicle
property string vehicleLabelText: visible && _adsbVehicle ? callsign : ""
}
}
}
src/QGCLoggingCategory.cc
View file @ 3eec1ca0
......@@ -24,6 +24,7 @@ QGC_LOGGING_CATEGORY(ParameterManagerLog, "ParameterManagerLog")
QGC_LOGGING_CATEGORY(GeotaggingLog, "GeotaggingLog")
QGC_LOGGING_CATEGORY(RTKGPSLog, "RTKGPSLog")
QGC_LOGGING_CATEGORY(GuidedActionsControllerLog, "GuidedActionsControllerLog")
QGC_LOGGING_CATEGORY(ADSBVehicleManagerLog, "ADSBVehicleManagerLog")
QGCLoggingCategoryRegister* _instance = nullptr;
const char* QGCLoggingCategoryRegister::_filterRulesSettingsGroup = "LoggingFilters";
......
src/QGCLoggingCategory.h
View file @ 3eec1ca0
......@@ -26,6 +26,7 @@ Q_DECLARE_LOGGING_CATEGORY(ParameterManagerLog)
Q_DECLARE_LOGGING_CATEGORY(GeotaggingLog)
Q_DECLARE_LOGGING_CATEGORY(RTKGPSLog)
Q_DECLARE_LOGGING_CATEGORY(GuidedActionsControllerLog)
Q_DECLARE_LOGGING_CATEGORY(ADSBVehicleManagerLog)
/// @def QGC_LOGGING_CATEGORY
/// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a
......
src/QGCToolbox.cc
View file @ 3eec1ca0
......@@ -30,6 +30,7 @@
#include "QGCOptions.h"
#include "SettingsManager.h"
#include "QGCApplication.h"
#include "ADSBVehicleManager.h"
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
#endif
......@@ -73,6 +74,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
_followMe = new FollowMe (app, this);
_videoManager = new VideoManager (app, this);
_mavlinkLogManager = new MAVLinkLogManager (app, this);
_adsbVehicleManager = new ADSBVehicleManager (app, this);
#if defined(QGC_ENABLE_PAIRING)
_pairingManager = new PairingManager (app, this);
#endif
......@@ -116,6 +118,7 @@ void QGCToolbox::setChildToolboxes(void)
_videoManager->setToolbox(this);
_mavlinkLogManager->setToolbox(this);
_airspaceManager->setToolbox(this);
_adsbVehicleManager->setToolbox(this);
#if defined(QGC_GST_TAISYNC_ENABLED)
_taisyncManager->setToolbox(this);
#endif
......
src/QGCToolbox.h
View file @ 3eec1ca0
......@@ -33,6 +33,7 @@ class MAVLinkLogManager;
class QGCCorePlugin;
class SettingsManager;
class AirspaceManager;
class ADSBVehicleManager;
#if defined(QGC_ENABLE_PAIRING)
class PairingManager;
#endif
......@@ -67,6 +68,7 @@ public:
QGCCorePlugin* corePlugin () { return _corePlugin; }
SettingsManager* settingsManager () { return _settingsManager; }
AirspaceManager* airspaceManager () { return _airspaceManager; }
ADSBVehicleManager* adsbVehicleManager () { return _adsbVehicleManager; }
#if defined(QGC_ENABLE_PAIRING)
PairingManager* pairingManager () { return _pairingManager; }
#endif
......@@ -106,6 +108,7 @@ private:
QGCCorePlugin* _corePlugin = nullptr;
SettingsManager* _settingsManager = nullptr;
AirspaceManager* _airspaceManager = nullptr;
ADSBVehicleManager* _adsbVehicleManager = nullptr;
#if defined(QGC_ENABLE_PAIRING)
PairingManager* _pairingManager = nullptr;
#endif
......
src/QmlControls/QGroundControlQmlGlobal.cc
View file @ 3eec1ca0
......@@ -66,6 +66,7 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
_settingsManager = toolbox->settingsManager();
_gpsRtkFactGroup = qgcApp()->gpsRtkFactGroup();
_airspaceManager = toolbox->airspaceManager();
_adsbVehicleManager = toolbox->adsbVehicleManager();
#if defined(QGC_ENABLE_PAIRING)
_pairingManager = toolbox->pairingManager();
#endif
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ 3eec1ca0
......@@ -23,6 +23,7 @@
#include "QGCLoggingCategory.h"
#include "AppSettings.h"
#include "AirspaceManager.h"
#include "ADSBVehicleManager.h"
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
#endif
......@@ -73,6 +74,7 @@ public:
Q_PROPERTY(SettingsManager* settingsManager READ settingsManager CONSTANT)
Q_PROPERTY(FactGroup* gpsRtk READ gpsRtkFactGroup CONSTANT)
Q_PROPERTY(AirspaceManager* airspaceManager READ airspaceManager CONSTANT)
Q_PROPERTY(ADSBVehicleManager* adsbVehicleManager READ adsbVehicleManager CONSTANT)
Q_PROPERTY(bool airmapSupported READ airmapSupported CONSTANT)
Q_PROPERTY(TaisyncManager* taisyncManager READ taisyncManager CONSTANT)
Q_PROPERTY(bool taisyncSupported READ taisyncSupported CONSTANT)
......@@ -179,6 +181,7 @@ public:
SettingsManager* settingsManager () { return _settingsManager; }
FactGroup* gpsRtkFactGroup () { return _gpsRtkFactGroup; }
AirspaceManager* airspaceManager () { return _airspaceManager; }
ADSBVehicleManager* adsbVehicleManager () { return _adsbVehicleManager; }
#if defined(QGC_ENABLE_PAIRING)
bool supportsPairing () { return true; }
PairingManager* pairingManager () { return _pairingManager; }
......@@ -269,6 +272,7 @@ private:
AirspaceManager* _airspaceManager = nullptr;
TaisyncManager* _taisyncManager = nullptr;
MicrohardManager* _microhardManager = nullptr;
ADSBVehicleManager* _adsbVehicleManager = nullptr;
#if defined(QGC_ENABLE_PAIRING)
PairingManager* _pairingManager = nullptr;
#endif
......
src/Settings/ADSBVehicleManager.SettingsGroup.json 0 → 100644
View file @ 3eec1ca0
[
{
"name": "adsbServerConnectEnabled",
"shortDescription": "Connect to ADSB SBS server",
"longDescription": "Connect to ADSB SBS-1 server using specified address/port",
"type": "bool",
"defaultValue": false,
"qgcRebootRequired": true
},
{
"name": "adsbServerHostAddress",
"shortDescription": "Host address",
"type": "string",
"defaultValue": "127.0.0.1",
"qgcRebootRequired": true
},
{
"name": "adsbServerPort",
"shortDescription": "Server port",
"type": "string",
"defaultValue": 30003,
"qgcRebootRequired": true
}
]
src/Settings/ADSBVehicleManagerSettings.cc 0 → 100644
View file @ 3eec1ca0
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "ADSBVehicleManagerSettings.h"
#include <QQmlEngine>
#include <QtQml>
DECLARE_SETTINGGROUP(ADSBVehicleManager, "ADSBVehicleManager")
{
qmlRegisterUncreatableType<ADSBVehicleManagerSettings>("QGroundControl.SettingsManager", 1, 0, "ADSBVehicleManagerSettings", "Reference only");
}
DECLARE_SETTINGSFACT(ADSBVehicleManagerSettings, adsbServerConnectEnabled)
DECLARE_SETTINGSFACT(ADSBVehicleManagerSettings, adsbServerHostAddress)
DECLARE_SETTINGSFACT(ADSBVehicleManagerSettings, adsbServerPort)
src/Settings/ADSBVehicleManagerSettings.h 0 → 100644
View file @ 3eec1ca0
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "SettingsGroup.h"
class ADSBVehicleManagerSettings : public SettingsGroup
{
Q_OBJECT
public:
ADSBVehicleManagerSettings(QObject* parent = nullptr);
DEFINE_SETTING_NAME_GROUP()
DEFINE_SETTINGFACT(adsbServerConnectEnabled)
DEFINE_SETTINGFACT(adsbServerHostAddress)
DEFINE_SETTINGFACT(adsbServerPort)
};
src/Settings/SettingsManager.cc
View file @ 3eec1ca0
......@@ -28,6 +28,7 @@ SettingsManager::SettingsManager(QGCApplication* app, QGCToolbox* toolbox)
, _brandImageSettings (nullptr)
, _offlineMapsSettings (nullptr)
, _firmwareUpgradeSettings (nullptr)
, _adsbVehicleManagerSettings (nullptr)
#if !defined(NO_ARDUPILOT_DIALECT)
, _apmMavlinkStreamRateSettings (nullptr)
#endif
......@@ -41,17 +42,18 @@ void SettingsManager::setToolbox(QGCToolbox *toolbox)
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<SettingsManager>("QGroundControl.SettingsManager", 1, 0, "SettingsManager", "Reference only");
_unitsSettings = new UnitsSettings (this); // Must be first since AppSettings references it
_appSettings = new AppSettings (this);
_autoConnectSettings = new AutoConnectSettings (this);
_videoSettings = new VideoSettings (this);
_flightMapSettings = new FlightMapSettings (this);
_rtkSettings = new RTKSettings (this);
_flyViewSettings = new FlyViewSettings (this);
_planViewSettings = new PlanViewSettings (this);
_brandImageSettings = new BrandImageSettings (this);
_offlineMapsSettings = new OfflineMapsSettings (this);
_firmwareUpgradeSettings = new FirmwareUpgradeSettings (this);
_unitsSettings = new UnitsSettings (this); // Must be first since AppSettings references it
_appSettings = new AppSettings (this);
_autoConnectSettings = new AutoConnectSettings (this);
_videoSettings = new VideoSettings (this);
_flightMapSettings = new FlightMapSettings (this);
_rtkSettings = new RTKSettings (this);
_flyViewSettings = new FlyViewSettings (this);
_planViewSettings = new PlanViewSettings (this);
_brandImageSettings = new BrandImageSettings (this);
_offlineMapsSettings = new OfflineMapsSettings (this);
_firmwareUpgradeSettings = new FirmwareUpgradeSettings (this);
_adsbVehicleManagerSettings = new ADSBVehicleManagerSettings (this);
#if !defined(NO_ARDUPILOT_DIALECT)
_apmMavlinkStreamRateSettings = new APMMavlinkStreamRateSettings(this);
#endif
......
src/Settings/SettingsManager.h
View file @ 3eec1ca0
......@@ -26,6 +26,7 @@
#include "OfflineMapsSettings.h"
#include "APMMavlinkStreamRateSettings.h"
#include "FirmwareUpgradeSettings.h"
#include "ADSBVehicleManagerSettings.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirMapSettings.h"
#endif
......@@ -53,6 +54,7 @@ public:
Q_PROPERTY(QObject* brandImageSettings READ brandImageSettings CONSTANT)
Q_PROPERTY(QObject* offlineMapsSettings READ offlineMapsSettings CONSTANT)
Q_PROPERTY(QObject* firmwareUpgradeSettings READ firmwareUpgradeSettings CONSTANT)
Q_PROPERTY(QObject* adsbVehicleManagerSettings READ adsbVehicleManagerSettings CONSTANT)
#if !defined(NO_ARDUPILOT_DIALECT)
Q_PROPERTY(QObject* apmMavlinkStreamRateSettings READ apmMavlinkStreamRateSettings CONSTANT)
#endif
......@@ -73,6 +75,7 @@ public:
BrandImageSettings* brandImageSettings (void) { return _brandImageSettings; }
OfflineMapsSettings* offlineMapsSettings (void) { return _offlineMapsSettings; }
FirmwareUpgradeSettings* firmwareUpgradeSettings (void) { return _firmwareUpgradeSettings; }
ADSBVehicleManagerSettings* adsbVehicleManagerSettings (void) { return _adsbVehicleManagerSettings; }
#if !defined(NO_ARDUPILOT_DIALECT)
APMMavlinkStreamRateSettings* apmMavlinkStreamRateSettings(void) { return _apmMavlinkStreamRateSettings; }
#endif
......@@ -91,6 +94,7 @@ private:
BrandImageSettings* _brandImageSettings;
OfflineMapsSettings* _offlineMapsSettings;
FirmwareUpgradeSettings* _firmwareUpgradeSettings;
ADSBVehicleManagerSettings* _adsbVehicleManagerSettings;
#if !defined(NO_ARDUPILOT_DIALECT)
APMMavlinkStreamRateSettings* _apmMavlinkStreamRateSettings;
#endif
......
src/Vehicle/ADSBVehicle.cc deleted 100644 → 0
View file @ a1ddad8c
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "ADSBVehicle.h"
#include <QDebug>
#include <QtMath>
ADSBVehicle::ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent)
: QObject (parent)
, _icaoAddress (adsbVehicle.ICAO_address)
, _callsign (adsbVehicle.callsign)
, _altitude (NAN)
, _heading (NAN)
, _alert (false)
{
if (!(adsbVehicle.flags & ADSB_FLAGS_VALID_COORDS)) {
qWarning() << "At least coords must be valid";
return;
}
update(adsbVehicle);
}
ADSBVehicle::ADSBVehicle(const QGeoCoordinate& location, float heading, bool alert, QObject* parent)
: QObject(parent)
, _icaoAddress(0)
, _alert(alert)
{
update(alert, location, heading);
}
void ADSBVehicle::update(bool alert, const QGeoCoordinate& location, float heading)
{
_coordinate = location;
_altitude = location.altitude();
_heading = heading;
_alert = alert;
emit coordinateChanged();
emit altitudeChanged();
emit headingChanged();
emit alertChanged();
_lastUpdateTimer.restart();
}
void ADSBVehicle::update(mavlink_adsb_vehicle_t& adsbVehicle)
{
if (_icaoAddress != adsbVehicle.ICAO_address) {
qWarning() << "ICAO address mismatch expected:actual" << _icaoAddress << adsbVehicle.ICAO_address;
return;
}
if (!(adsbVehicle.flags & ADSB_FLAGS_VALID_COORDS)) {
return;
}
QString currCallsign(adsbVehicle.callsign);
if (currCallsign != _callsign) {
_callsign = currCallsign;
emit callsignChanged();
}
QGeoCoordinate newCoordinate(adsbVehicle.lat / 1e7, adsbVehicle.lon / 1e7);
if (newCoordinate != _coordinate) {
_coordinate = newCoordinate;
emit coordinateChanged();
}
double newAltitude = NAN;
if (adsbVehicle.flags & ADSB_FLAGS_VALID_ALTITUDE) {
newAltitude = (double)adsbVehicle.altitude / 1e3;
}
if (!(qIsNaN(newAltitude) && qIsNaN(_altitude)) && !qFuzzyCompare(newAltitude, _altitude)) {
_altitude = newAltitude;
emit altitudeChanged();
}
double newHeading = NAN;
if (adsbVehicle.flags & ADSB_FLAGS_VALID_HEADING) {
newHeading = (double)adsbVehicle.heading / 100.0;
}
if (!(qIsNaN(newHeading) && qIsNaN(_heading)) && !qFuzzyCompare(newHeading, _heading)) {
_heading = newHeading;
emit headingChanged();
}
_lastUpdateTimer.restart();
}
bool ADSBVehicle::expired()
{
return _lastUpdateTimer.hasExpired(expirationTimeoutMs);
}
src/Vehicle/Vehicle.cc
View file @ 3eec1ca0
......@@ -36,7 +36,7 @@
#include "QGCQGeoCoordinate.h"
#include "QGCCorePlugin.h"
#include "QGCOptions.h"
#include "ADSBVehicle.h"
#include "ADSBVehicleManager.h"
#include "QGCCameraManager.h"
#include "VideoReceiver.h"
#include "VideoManager.h"
......@@ -113,7 +113,6 @@ Vehicle::Vehicle(LinkInterface* link,
, _soloFirmware(false)
, _toolbox(qgcApp()->toolbox())
, _settingsManager(_toolbox->settingsManager())
, _csvLogTimer(this)
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(nullptr)
......@@ -297,10 +296,6 @@ Vehicle::Vehicle(LinkInterface* link,
_cameras = _firmwarePlugin->createCameraManager(this);
emit dynamicCamerasChanged();
connect(&_adsbTimer, &QTimer::timeout, this, &Vehicle::_adsbTimerTimeout);
_adsbTimer.setSingleShot(false);
_adsbTimer.start(1000);
// Start csv logger
connect(&_csvLogTimer, &QTimer::timeout, this, &Vehicle::_writeCsvLine);
_csvLogTimer.start(1000);
......@@ -325,7 +320,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _soloFirmware(false)
, _toolbox(qgcApp()->toolbox())
, _settingsManager(_toolbox->settingsManager())
, _csvLogTimer(this)
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(nullptr)
......@@ -3770,20 +3764,32 @@ bool Vehicle::autoDisarm(void)
void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
{
mavlink_adsb_vehicle_t adsbVehicle;
mavlink_adsb_vehicle_t adsbVehicleMsg;
static const int maxTimeSinceLastSeen = 15;
mavlink_msg_adsb_vehicle_decode(&message, &adsbVehicle);
if (adsbVehicle.flags | ADSB_FLAGS_VALID_COORDS) {
if (_adsbICAOMap.contains(adsbVehicle.ICAO_address)) {
if (adsbVehicle.tslc <= maxTimeSinceLastSeen) {
_adsbICAOMap[adsbVehicle.ICAO_address]->update(adsbVehicle);
}
} else if (adsbVehicle.tslc <= maxTimeSinceLastSeen) {
ADSBVehicle* vehicle = new ADSBVehicle(adsbVehicle, this);
_adsbICAOMap[adsbVehicle.ICAO_address] = vehicle;
_adsbVehicles.append(vehicle);
mavlink_msg_adsb_vehicle_decode(&message, &adsbVehicleMsg);
if (adsbVehicleMsg.flags | ADSB_FLAGS_VALID_COORDS && adsbVehicleMsg.tslc <= maxTimeSinceLastSeen) {
ADSBVehicle::VehicleInfo_t vehicleInfo;
vehicleInfo.availableFlags = 0;
vehicleInfo.location.setLatitude(adsbVehicleMsg.lat / 1e7);
vehicleInfo.location.setLatitude(adsbVehicleMsg.lon / 1e7);
vehicleInfo.callsign = adsbVehicleMsg.callsign;
vehicleInfo.availableFlags |= ADSBVehicle::CallsignAvailable;
if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_ALTITUDE) {
vehicleInfo.altitude = (double)adsbVehicleMsg.altitude / 1e3;
vehicleInfo.availableFlags |= ADSBVehicle::AltitudeAvailable;
}
if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_HEADING) {
vehicleInfo.heading = (double)adsbVehicleMsg.heading / 100.0;
vehicleInfo.availableFlags |= ADSBVehicle::HeadingAvailable;
}
_toolbox->adsbVehicleManager()->adsbVehicleUpdate(vehicleInfo);
}
}
......@@ -3895,11 +3901,11 @@ void Vehicle::_updateHighLatencyLink(bool sendCommand)
}
}
void Vehicle::_trafficUpdate(bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading)
void Vehicle::_trafficUpdate(bool /*alert*/, QString /*traffic_id*/, QString /*vehicle_id*/, QGeoCoordinate /*location*/, float /*heading*/)
{
Q_UNUSED(vehicle_id);
// qDebug() << "traffic update:" << traffic_id << vehicle_id << heading << location;
// TODO: filter based on minimum altitude?
#if 0
// This is ifdef'ed out for now since this code doesn't mesh with the recent ADSB manager changes. Also airmap isn't in any
// released build. So not going to waste time trying to fix up unused code.
if (_trafficVehicleMap.contains(traffic_id)) {
_trafficVehicleMap[traffic_id]->update(alert, location, heading);
} else {
......@@ -3907,19 +3913,7 @@ void Vehicle::_trafficUpdate(bool alert, QString traffic_id, QString vehicle_id,
_trafficVehicleMap[traffic_id] = vehicle;
_adsbVehicles.append(vehicle);
}
}
void Vehicle::_adsbTimerTimeout()
{
// Remove all expired ADSB vehicle whether from AirMap or ADSB Mavlink
for (int i=_adsbVehicles.count()-1; i>=0; i--) {
ADSBVehicle* adsbVehicle = _adsbVehicles.value<ADSBVehicle*>(i);
if (adsbVehicle->expired()) {
qDebug() << "ADSB expired";
_adsbVehicles.removeAt(i);
adsbVehicle->deleteLater();
}
}
#endif
}
void Vehicle::_mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent)
......
src/Vehicle/Vehicle.h
View file @ 3eec1ca0
......@@ -34,7 +34,6 @@ class ParameterManager;
class JoystickManager;
class UASMessage;
class SettingsManager;
class ADSBVehicle;
class QGCCameraManager;
class Joystick;
class VehicleObjectAvoidance;
......@@ -621,7 +620,6 @@ public:
Q_PROPERTY(int telemetryLNoise READ telemetryLNoise NOTIFY telemetryLNoiseChanged)
Q_PROPERTY(int telemetryRNoise READ telemetryRNoise NOTIFY telemetryRNoiseChanged)
Q_PROPERTY(QVariantList toolBarIndicators READ toolBarIndicators NOTIFY toolBarIndicatorsChanged)
Q_PROPERTY(QmlObjectListModel* adsbVehicles READ adsbVehicles CONSTANT)
Q_PROPERTY(bool initialPlanRequestComplete READ initialPlanRequestComplete NOTIFY initialPlanRequestCompleteChanged)
Q_PROPERTY(QVariantList staticCameraList READ staticCameraList CONSTANT)
Q_PROPERTY(QGCCameraManager* dynamicCameras READ dynamicCameras NOTIFY dynamicCamerasChanged)
......@@ -880,7 +878,6 @@ public:
void setPrearmError(const QString& prearmError);
QmlObjectListModel* cameraTriggerPoints (void) { return &_cameraTriggerPoints; }
QmlObjectListModel* adsbVehicles (void) { return &_adsbVehicles; }
int flowImageIndex() { return _flowImageIndex; }
......@@ -1257,7 +1254,6 @@ private slots:
void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
void _trafficUpdate (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
void _adsbTimerTimeout ();
void _orbitTelemetryTimeout (void);
void _protocolVersionTimeOut(void);
void _updateFlightTime (void);
......@@ -1468,10 +1464,7 @@ private:
QTimer _flightTimeUpdater;
TrajectoryPoints* _trajectoryPoints;
QmlObjectListModel _cameraTriggerPoints;
QmlObjectListModel _adsbVehicles;
QMap<uint32_t, ADSBVehicle*> _adsbICAOMap;
QMap<QString, ADSBVehicle*> _trafficVehicleMap;
QTimer _adsbTimer;
//QMap<QString, ADSBVehicle*> _trafficVehicleMap;
// Toolbox references
FirmwarePluginManager* _firmwarePluginManager;
......
src/ui/preferences/GeneralSettings.qml
View file @ 3eec1ca0
......@@ -840,6 +840,59 @@ Rectangle {
Item { width: 1; height: _margins }
QGCLabel {
id: adsbSectionLabel
text: qsTr("ADSB Server")
visible: QGroundControl.settingsManager.adsbVehicleManagerSettings.visible
}
Rectangle {
Layout.preferredHeight: adsbGrid.height + (_margins * 2)
Layout.preferredWidth: adsbGrid.width + (_margins * 2)
color: qgcPal.windowShade
visible: adsbSectionLabel.visible
Layout.fillWidth: true
GridLayout {
id: adsbGrid
anchors.topMargin: _margins
anchors.top: parent.top
Layout.fillWidth: true
anchors.horizontalCenter: parent.horizontalCenter
columns: 2
property var adsbSettings: QGroundControl.settingsManager.adsbVehicleManagerSettings
FactCheckBox {
text: adsbGrid.adsbSettings.adsbServerConnectEnabled.shortDescription
fact: adsbGrid.adsbSettings.adsbServerConnectEnabled
visible: adsbGrid.adsbSettings.adsbServerConnectEnabled.visible
Layout.columnSpan: 2
}
QGCLabel {
text: adsbGrid.adsbSettings.adsbServerHostAddress.shortDescription
visible: adsbGrid.adsbSettings.adsbServerHostAddress.visible
}
FactTextField {
fact: adsbGrid.adsbSettings.adsbServerHostAddress
visible: adsbGrid.adsbSettings.adsbServerHostAddress.visible
Layout.preferredWidth: _valueFieldWidth
}
QGCLabel {
text: adsbGrid.adsbSettings.adsbServerPort.shortDescription
visible: adsbGrid.adsbSettings.adsbServerPort.visible
}
FactTextField {
fact: adsbGrid.adsbSettings.adsbServerPort
visible: adsbGrid.adsbSettings.adsbServerPort.visible
Layout.preferredWidth: _valueFieldWidth
}
}
}
Item { width: 1; height: _margins }
QGCLabel {
id: videoSectionLabel
text: qsTr("Video")
......
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