From caca0d0b5c68088e6efa0349791c4b9272785d81 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 8 Aug 2017 16:24:15 +0200
Subject: [PATCH] Vehicle: display AirMap traffic alerts using ADSBVehicle

---
 src/Vehicle/ADSBVehicle.cc | 16 ++++++++++++++++
 src/Vehicle/ADSBVehicle.h  |  3 +++
 src/Vehicle/Vehicle.cc     | 17 +++++++++++++++++
 src/Vehicle/Vehicle.h      |  3 +++
 4 files changed, 39 insertions(+)

diff --git a/src/Vehicle/ADSBVehicle.cc b/src/Vehicle/ADSBVehicle.cc
index bd796cf0b..2aca47e5a 100644
--- a/src/Vehicle/ADSBVehicle.cc
+++ b/src/Vehicle/ADSBVehicle.cc
@@ -27,6 +27,22 @@ ADSBVehicle::ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent)
     update(adsbVehicle);
 }
 
+ADSBVehicle::ADSBVehicle(const QGeoCoordinate& location, float heading, QObject* parent)
+    : QObject(parent), _icaoAddress(0)
+{
+    update(location, heading);
+}
+
+void ADSBVehicle::update(const QGeoCoordinate& location, float heading)
+{
+    _coordinate = location;
+    _altitude = location.altitude();
+    _heading = heading;
+    emit coordinateChanged(_coordinate);
+    emit altitudeChanged(_altitude);
+    emit headingChanged(_heading);
+}
+
 void ADSBVehicle::update(mavlink_adsb_vehicle_t& adsbVehicle)
 {
     if (_icaoAddress != adsbVehicle.ICAO_address) {
diff --git a/src/Vehicle/ADSBVehicle.h b/src/Vehicle/ADSBVehicle.h
index fe6046fc1..5590c9c68 100644
--- a/src/Vehicle/ADSBVehicle.h
+++ b/src/Vehicle/ADSBVehicle.h
@@ -21,6 +21,8 @@ class ADSBVehicle : public QObject
 public:
     ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent = NULL);
 
+    ADSBVehicle(const QGeoCoordinate& location, float heading, QObject* parent = NULL);
+
     Q_PROPERTY(int              icaoAddress READ icaoAddress    CONSTANT)
     Q_PROPERTY(QString          callsign    READ callsign       NOTIFY callsignChanged)
     Q_PROPERTY(QGeoCoordinate   coordinate  READ coordinate     NOTIFY coordinateChanged)
@@ -36,6 +38,7 @@ public:
     /// Update the vehicle with new information
     void update(mavlink_adsb_vehicle_t& adsbVehicle);
 
+    void update(const QGeoCoordinate& location, float heading);
 signals:
     void coordinateChanged(QGeoCoordinate coordinate);
     void callsignChanged(QString callsign);
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 422637e5a..3ebc22c63 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -248,6 +248,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     // Create camera manager instance
     _cameras = _firmwarePlugin->createCameraManager(this);
     emit dynamicCamerasChanged();
+
+    connect(qgcApp()->toolbox()->airMapManager(), &AirMapManager::trafficUpdate, this, &Vehicle::_trafficUpdate);
 }
 
 // Disconnected Vehicle for offline editing
@@ -2917,6 +2919,21 @@ void Vehicle::_vehicleParamLoaded(bool ready)
     }
 }
 
+void Vehicle::_trafficUpdate(QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading)
+{
+    // qDebug() << "traffic update:" << traffic_id << vehicle_id << heading << location;
+    // TODO: filter based on minimum altitude?
+    // TODO: remove a vehicle after a timeout?
+    if (_trafficVehicleMap.contains(traffic_id)) {
+        _trafficVehicleMap[traffic_id]->update(location, heading);
+    } else {
+        ADSBVehicle* vehicle = new ADSBVehicle(location, heading, this);
+        _trafficVehicleMap[traffic_id] = vehicle;
+        _adsbVehicles.append(vehicle);
+    }
+
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index e1ff02c72..f7362fcda 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -843,6 +843,8 @@ private slots:
     void _updateHobbsMeter(void);
     void _vehicleParamLoaded(bool ready);
 
+    void _trafficUpdate(QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
+
 private:
     bool _containsLink(LinkInterface* link);
     void _addLink(LinkInterface* link);
@@ -1019,6 +1021,7 @@ private:
 
     QmlObjectListModel              _adsbVehicles;
     QMap<uint32_t, ADSBVehicle*>    _adsbICAOMap;
+    QMap<QString, ADSBVehicle*>     _trafficVehicleMap;
 
     // Toolbox references
     FirmwarePluginManager*      _firmwarePluginManager;
-- 
2.22.0