Merge pull request #5834 from mavlink/hobbsMeter

Adding access to the vehicle hobbs meter

src/Vehicle/Vehicle.cc

@@ -57,6 +57,7 @@ const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";
 const char* Vehicle::_flightDistanceFactName =      "flightDistance";
 const char* Vehicle::_flightTimeFactName =          "flightTime";
 const char* Vehicle::_distanceToHomeFactName =      "distanceToHome";
+const char* Vehicle::_hobbsFactName =               "hobbs";
 
 const char* Vehicle::_gpsFactGroupName =        "gps";
 const char* Vehicle::_batteryFactGroupName =    "battery";
@@ -165,6 +166,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _gpsFactGroup(this)
     , _batteryFactGroup(this)
     , _windFactGroup(this)
@@ -183,6 +185,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(this, &Vehicle::flightModeChanged,          this, &Vehicle::_handleFlightModeChanged);
     connect(this, &Vehicle::armedChanged,               this, &Vehicle::_announceArmedChanged);
 
+    connect(_toolbox->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &Vehicle::_vehicleParamLoaded);
+
     _uas = new UAS(_mavlink, this, _firmwarePluginManager);
 
     connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
@@ -337,6 +341,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
     , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
     , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
+    , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
     , _gpsFactGroup(this)
     , _batteryFactGroup(this)
     , _windFactGroup(this)
@@ -352,6 +357,7 @@ void Vehicle::_commonInit(void)
 
     connect(this, &Vehicle::coordinateChanged,      this, &Vehicle::_updateDistanceToHome);
     connect(this, &Vehicle::homePositionChanged,    this, &Vehicle::_updateDistanceToHome);
+    connect(this, &Vehicle::hobbsMeterChanged,      this, &Vehicle::_updateHobbsMeter);
 
     _missionManager = new MissionManager(this);
     connect(_missionManager, &MissionManager::error,                    this, &Vehicle::_missionManagerError);
@@ -393,6 +399,9 @@ void Vehicle::_commonInit(void)
     _addFact(&_flightTimeFact,          _flightTimeFactName);
     _addFact(&_distanceToHomeFact,      _distanceToHomeFactName);
 
+    _hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
+    _addFact(&_hobbsFact,               _hobbsFactName);
+
     _addFactGroup(&_gpsFactGroup,       _gpsFactGroupName);
     _addFactGroup(&_batteryFactGroup,   _batteryFactGroupName);
     _addFactGroup(&_windFactGroup,      _windFactGroupName);
@@ -2862,6 +2871,11 @@ void Vehicle::_updateDistanceToHome(void)
     }
 }
 
+void Vehicle::_updateHobbsMeter(void)
+{
+    _hobbsFact.setRawValue(hobbsMeter());
+}
+
 void Vehicle::forceInitialPlanRequestComplete(void)
 {
     _initialPlanRequestComplete = true;
@@ -2873,6 +2887,35 @@ void Vehicle::sendPlan(QString planFile)
     PlanMasterController::sendPlanToVehicle(this, planFile);
 }
 
+QString Vehicle::hobbsMeter()
+{
+    static const char* HOOBS_HI = "LND_FLIGHT_T_HI";
+    static const char* HOOBS_LO = "LND_FLIGHT_T_LO";
+    //-- TODO: Does this exist on non PX4?
+    if (_parameterManager->parameterExists(FactSystem::defaultComponentId, HOOBS_HI) &&
+        _parameterManager->parameterExists(FactSystem::defaultComponentId, HOOBS_LO)) {
+        Fact* factHi = _parameterManager->getParameter(FactSystem::defaultComponentId, HOOBS_HI);
+        Fact* factLo = _parameterManager->getParameter(FactSystem::defaultComponentId, HOOBS_LO);
+        uint64_t hobbsTimeSeconds = ((uint64_t)factHi->rawValue().toUInt() << 32 | (uint64_t)factLo->rawValue().toUInt()) / 1000000;
+        int hours   = hobbsTimeSeconds / 3600;
+        int minutes = (hobbsTimeSeconds % 3600) / 60;
+        int seconds = hobbsTimeSeconds % 60;
+        QString timeStr;
+        timeStr.sprintf("%04d:%02d:%02d", hours, minutes, seconds);
+        qCDebug(VehicleLog) << "Hobbs Meter:" << timeStr << "(" << factHi->rawValue().toUInt() << factLo->rawValue().toUInt() << ")";
+        return timeStr;
+    }
+    return QString("0000:00:00");
+}
+
+void Vehicle::_vehicleParamLoaded(bool ready)
+{
+    //-- TODO: This seems silly but can you think of a better
+    //   way to update this?
+    if(ready) {
+        emit hobbsMeterChanged();
+    }
+}
 
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------

src/Vehicle/Vehicle.h

@@ -319,6 +319,7 @@ public:
     Q_PROPERTY(bool              initialPlanRequestComplete READ initialPlanRequestComplete                             NOTIFY initialPlanRequestCompleteChanged)
     Q_PROPERTY(QVariantList         staticCameraList        READ staticCameraList                                       CONSTANT)
     Q_PROPERTY(QGCCameraManager*    dynamicCameras          READ dynamicCameras                                         NOTIFY dynamicCamerasChanged)
+    Q_PROPERTY(QString              hobbsMeter              READ hobbsMeter                                             NOTIFY hobbsMeterChanged)
 
     // Vehicle state used for guided control
     Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
@@ -343,6 +344,7 @@ public:
     Q_PROPERTY(Fact* altitudeAMSL       READ altitudeAMSL       CONSTANT)
     Q_PROPERTY(Fact* flightDistance     READ flightDistance     CONSTANT)
     Q_PROPERTY(Fact* distanceToHome     READ distanceToHome     CONSTANT)
+    Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
 
     Q_PROPERTY(FactGroup* gps         READ gpsFactGroup         CONSTANT)
     Q_PROPERTY(FactGroup* battery     READ batteryFactGroup     CONSTANT)
@@ -613,6 +615,7 @@ public:
     Fact* altitudeAMSL      (void) { return &_altitudeAMSLFact; }
     Fact* flightDistance    (void) { return &_flightDistanceFact; }
     Fact* distanceToHome    (void) { return &_distanceToHomeFact; }
+    Fact* hobbs             (void) { return &_hobbsFact; }
 
     FactGroup* gpsFactGroup         (void) { return &_gpsFactGroup; }
     FactGroup* batteryFactGroup     (void) { return &_batteryFactGroup; }
@@ -690,7 +693,9 @@ public:
 
     bool capabilitiesKnown      (void) const { return _vehicleCapabilitiesKnown; }
     uint64_t capabilityBits     (void) const { return _capabilityBits; }    // Change signalled by capabilityBitsChanged
+
     QGCCameraManager*           dynamicCameras      () { return _cameras; }
+    QString                     hobbsMeter          ();
 
     /// @true: When flying a mission the vehicle is always facing towards the next waypoint
     bool vehicleYawsToNextWaypointInMission(void) const;
@@ -736,6 +741,7 @@ signals:
     void firmwareTypeChanged(void);
     void vehicleTypeChanged(void);
     void dynamicCamerasChanged();
+    void hobbsMeterChanged();
     void capabilitiesKnownChanged(bool capabilitiesKnown);
     void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
     void capabilityBitsChanged(uint64_t capabilityBits);
@@ -834,6 +840,8 @@ private slots:
     void _clearTrajectoryPoints(void);
     void _clearCameraTriggerPoints(void);
     void _updateDistanceToHome(void);
+    void _updateHobbsMeter(void);
+    void _vehicleParamLoaded(bool ready);
 
 private:
     bool _containsLink(LinkInterface* link);
@@ -1055,6 +1063,7 @@ private:
     Fact _flightDistanceFact;
     Fact _flightTimeFact;
     Fact _distanceToHomeFact;
+    Fact _hobbsFact;
 
     VehicleGPSFactGroup         _gpsFactGroup;
     VehicleBatteryFactGroup     _batteryFactGroup;
@@ -1073,6 +1082,7 @@ private:
     static const char* _flightDistanceFactName;
     static const char* _flightTimeFactName;
     static const char* _distanceToHomeFactName;
+    static const char* _hobbsFactName;
 
     static const char* _gpsFactGroupName;
     static const char* _batteryFactGroupName;

src/Vehicle/VehicleFact.json

@@ -74,5 +74,10 @@
     "shortDescription": "Flight Time",
     "type":             "elapsedSeconds",
     "decimalPlaces":    1
+},
+{
+    "name":             "hobbs",
+    "shortDescription": "Hobbs Meter",
+    "type":             "string"
 }
 ]