Give access to mavlink message stream to core plugin

src/Vehicle/Vehicle.cc

@@ -30,6 +30,7 @@
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
 #include "QGCQGeoCoordinate.h"
+#include "QGCCorePlugin.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -79,7 +80,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _autopilotPlugin(NULL)
     , _mavlink(NULL)
     , _soloFirmware(false)
-    , _settingsManager(qgcApp()->toolbox()->settingsManager())
+    , _toolbox(qgcApp()->toolbox())
+    , _settingsManager(_toolbox->settingsManager())
     , _joystickMode(JoystickModeRC)
     , _joystickEnabled(false)
     , _uas(NULL)
@@ -166,7 +168,7 @@ Vehicle::Vehicle(LinkInterface*             link,
 
     connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_activeJoystickChanged);
 
-    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
+    _mavlink = _toolbox->mavlinkProtocol();
 
     connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);
 
@@ -183,7 +185,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     _autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);
 
     // connect this vehicle to the follow me handle manager
-    connect(this, &Vehicle::flightModeChanged,qgcApp()->toolbox()->followMe(), &FollowMe::followMeHandleManager);
+    connect(this, &Vehicle::flightModeChanged,_toolbox->followMe(), &FollowMe::followMeHandleManager);
 
     // PreArm Error self-destruct timer
     connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
@@ -204,8 +206,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     _mav = uas();
 
     // Listen for system messages
-    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
-    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageReceived,      this, &Vehicle::_handletextMessageReceived);
+    connect(_toolbox->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
+    connect(_toolbox->uasMessageHandler(), &UASMessageHandler::textMessageReceived,      this, &Vehicle::_handletextMessageReceived);
     // Now connect the new UAS
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
@@ -244,7 +246,8 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _autopilotPlugin(NULL)
     , _mavlink(NULL)
     , _soloFirmware(false)
-    , _settingsManager(qgcApp()->toolbox()->settingsManager())
+    , _toolbox(qgcApp()->toolbox())
+    , _settingsManager(_toolbox->settingsManager())
     , _joystickMode(JoystickModeRC)
     , _joystickEnabled(false)
     , _uas(NULL)
@@ -510,6 +513,11 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         return;
     }
 
+    // Give the Core Plugin access to all mavlink traffic
+    if (!_toolbox->corePlugin()->mavlinkMessage(this, link, message)) {
+        return;
+    }
+
     switch (message.msgid) {
     case MAVLINK_MSG_ID_HOME_POSITION:
         _handleHomePosition(message);
@@ -810,7 +818,7 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
     emit mavCommandResult(_id, message.compid, ack.command, ack.result, false /* noResponsefromVehicle */);
 
     if (showError) {
-        QString commandName = qgcApp()->toolbox()->missionCommandTree()->friendlyName((MAV_CMD)ack.command);
+        QString commandName = _toolbox->missionCommandTree()->friendlyName((MAV_CMD)ack.command);
 
         switch (ack.result) {
         case MAV_RESULT_TEMPORARILY_REJECTED:
@@ -1193,8 +1201,8 @@ void Vehicle::_addLink(LinkInterface* link)
         qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
         _links += link;
         _updatePriorityLink();
-        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
-        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
+        connect(_toolbox->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
+        connect(_toolbox->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
     }
 }
 
@@ -1283,7 +1291,7 @@ void Vehicle::_updatePriorityLink(void)
     }
 
     if (newPriorityLink) {
-        _priorityLink = qgcApp()->toolbox()->linkManager()->sharedLinkInterfacePointerForLink(newPriorityLink);
+        _priorityLink = _toolbox->linkManager()->sharedLinkInterfacePointerForLink(newPriorityLink);
     }
 }
 
@@ -1360,7 +1368,7 @@ QString Vehicle::getMavIconColor()
 QString Vehicle::formatedMessages()
 {
     QString messages;
-    foreach(UASMessage* message, qgcApp()->toolbox()->uasMessageHandler()->messages()) {
+    foreach(UASMessage* message, _toolbox->uasMessageHandler()->messages()) {
         messages += message->getFormatedText();
     }
     return messages;
@@ -1368,7 +1376,7 @@ QString Vehicle::formatedMessages()
 
 void Vehicle::clearMessages()
 {
-    qgcApp()->toolbox()->uasMessageHandler()->clearMessages();
+    _toolbox->uasMessageHandler()->clearMessages();
 }
 
 void Vehicle::_handletextMessageReceived(UASMessage* message)
@@ -1396,7 +1404,7 @@ void Vehicle::_handleTextMessage(int newCount)
         return;
     }
 
-    UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
+    UASMessageHandler* pMh = _toolbox->uasMessageHandler();
     MessageType_t type = newCount ? _currentMessageType : MessageNone;
     int errorCount     = _currentErrorCount;
     int warnCount      = _currentWarningCount;
@@ -1482,7 +1490,7 @@ void Vehicle::_loadSettings(void)
     }
 
     // Joystick enabled is a global setting so first make sure there are any joysticks connected
-    if (qgcApp()->toolbox()->joystickManager()->joysticks().count()) {
+    if (_toolbox->joystickManager()->joysticks().count()) {
         setJoystickEnabled(settings.value(_joystickEnabledSettingsKey, false).toBool());
     }
 }
@@ -1497,7 +1505,7 @@ void Vehicle::_saveSettings(void)
 
     // The joystick enabled setting should only be changed if a joystick is present
     // since the checkbox can only be clicked if one is present
-    if (qgcApp()->toolbox()->joystickManager()->joysticks().count()) {
+    if (_toolbox->joystickManager()->joysticks().count()) {
         settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
     }
 }
@@ -1840,11 +1848,11 @@ void Vehicle::disconnectInactiveVehicle(void)
     // Vehicle is no longer communicating with us, disconnect all links
 
 
-    LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
+    LinkManager* linkMgr = _toolbox->linkManager();
     for (int i=0; i<_links.count(); i++) {
         // FIXME: This linkInUse check is a hack fix for multiple vehicles on the same link.
         // The real fix requires significant restructuring which will come later.
-        if (!qgcApp()->toolbox()->multiVehicleManager()->linkInUse(_links[i], this)) {
+        if (!_toolbox->multiVehicleManager()->linkInUse(_links[i], this)) {
             linkMgr->disconnectLink(_links[i]);
         }
     }
@@ -1855,7 +1863,7 @@ void Vehicle::_imageReady(UASInterface*)
     if(_uas)
     {
         QImage img = _uas->getImage();
-        qgcApp()->toolbox()->imageProvider()->setImage(&img, _id);
+        _toolbox->imageProvider()->setImage(&img, _id);
         _flowImageIndex++;
         emit flowImageIndexChanged();
     }
@@ -1920,7 +1928,7 @@ void Vehicle::_connectionActive(void)
 
 void Vehicle::_say(const QString& text)
 {
-    qgcApp()->toolbox()->audioOutput()->say(text.toLower());
+    _toolbox->audioOutput()->say(text.toLower());
 }
 
 bool Vehicle::fixedWing(void) const
@@ -2021,7 +2029,7 @@ QString Vehicle::vehicleTypeName() const {
 /// Returns the string to speak to identify the vehicle
 QString Vehicle::_vehicleIdSpeech(void)
 {
-    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() > 1) {
+    if (_toolbox->multiVehicleManager()->vehicles()->count() > 1) {
         return QString("vehicle %1").arg(id());
     } else {
         return QString();
@@ -2232,7 +2240,7 @@ void Vehicle::_sendMavCommandAgain(void)
 
         emit mavCommandResult(_id, queuedCommand.component, queuedCommand.command, MAV_RESULT_FAILED, true /* noResponsefromVehicle */);
         if (queuedCommand.showError) {
-            qgcApp()->showMessage(tr("Vehicle did not respond to command: %1").arg(qgcApp()->toolbox()->missionCommandTree()->friendlyName(queuedCommand.command)));
+            qgcApp()->showMessage(tr("Vehicle did not respond to command: %1").arg(_toolbox->missionCommandTree()->friendlyName(queuedCommand.command)));
         }
         _mavCommandQueue.removeFirst();
         _sendNextQueuedMavCommand();

src/Vehicle/Vehicle.h

@@ -866,6 +866,7 @@ private:
     AutoPilotPlugin*    _autopilotPlugin;
     MAVLinkProtocol*    _mavlink;
     bool                _soloFirmware;
+    QGCToolbox*         _toolbox;
     SettingsManager*    _settingsManager;
 
     QList<LinkInterface*> _links;

src/api/QGCCorePlugin.cc

@@ -232,3 +232,12 @@ QQmlApplicationEngine* QGCCorePlugin::createRootWindow(QObject *parent)
     pEngine->load(QUrl(QStringLiteral("qrc:/qml/MainWindowNative.qml")));
     return pEngine;
 }
+
+bool QGCCorePlugin::mavlinkMessage(Vehicle* vehicle, LinkInterface* link, mavlink_message_t message)
+{
+    Q_UNUSED(vehicle);
+    Q_UNUSED(link);
+    Q_UNUSED(message);
+
+    return true;
+}

src/api/QGCCorePlugin.h

@@ -11,6 +11,7 @@
 
 #include "QGCToolbox.h"
 #include "QGCPalette.h"
+#include "QGCMAVLink.h"
 
 #include <QObject>
 #include <QVariantList>
@@ -28,6 +29,8 @@ class QGCCorePlugin_p;
 class FactMetaData;
 class QGeoPositionInfoSource;
 class QQmlApplicationEngine;
+class Vehicle;
+class LinkInterface;
 
 class QGCCorePlugin : public QGCTool
 {
@@ -90,6 +93,10 @@ public:
     /// Allows the plugin to override the creation of the root (native) window.
     virtual QQmlApplicationEngine* createRootWindow(QObject* parent);
 
+    /// Allows the plugin to see all mavlink traffic to a vehicle
+    /// @return true: Allow vehicle to continue processing, false: Vehicle should not process message
+    virtual bool mavlinkMessage(Vehicle* vehicle, LinkInterface* link, mavlink_message_t message);
+
     bool showTouchAreas(void) const { return _showTouchAreas; }
     bool showAdvancedUI(void) const { return _showAdvancedUI; }
     void setShowTouchAreas(bool show);