Vehicle UID

src/Vehicle/Vehicle.cc

@@ -147,6 +147,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _firmwareCustomPatchVersion(versionNotSetValue)
     , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
     , _gitHash(versionNotSetValue)
+    , _uid(0)
     , _lastAnnouncedLowBatteryPercent(100)
     , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
     , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
@@ -310,6 +311,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _firmwareCustomPatchVersion(versionNotSetValue)
     , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
     , _gitHash(versionNotSetValue)
+    , _uid(0)
     , _lastAnnouncedLowBatteryPercent(100)
     , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
     , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
@@ -745,6 +747,9 @@ void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& me
     mavlink_autopilot_version_t autopilotVersion;
     mavlink_msg_autopilot_version_decode(&message, &autopilotVersion);
 
+    _uid = (quint64)autopilotVersion.uid;
+    emit vehicleUIDChanged();
+
     if (autopilotVersion.flight_sw_version != 0) {
         int majorVersion, minorVersion, patchVersion;
         FIRMWARE_VERSION_TYPE versionType;
@@ -780,6 +785,22 @@ void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& me
     _startPlanRequest();
 }
 
+QString Vehicle::vehicleUIDStr()
+{
+    QString uid;
+    uint8_t* pUid = (uint8_t*)(void*)&_uid;
+    uid.sprintf("%02X:%02X:%02X:%02X:%02X:%02X:%02X:%02X",
+        pUid[0] & 0xff,
+        pUid[1] & 0xff,
+        pUid[2] & 0xff,
+        pUid[3] & 0xff,
+        pUid[4] & 0xff,
+        pUid[5] & 0xff,
+        pUid[6] & 0xff,
+        pUid[7] & 0xff);
+    return uid;
+}
+
 void Vehicle::_handleHilActuatorControls(mavlink_message_t &message)
 {
     mavlink_hil_actuator_controls_t hil;

src/Vehicle/Vehicle.h

@@ -361,6 +361,8 @@ public:
     Q_PROPERTY(int      firmwareCustomMinorVersion  READ firmwareCustomMinorVersion NOTIFY firmwareCustomVersionChanged)
     Q_PROPERTY(int      firmwareCustomPatchVersion  READ firmwareCustomPatchVersion NOTIFY firmwareCustomVersionChanged)
     Q_PROPERTY(QString  gitHash                     READ gitHash                    NOTIFY gitHashChanged)
+    Q_PROPERTY(quint64  vehicleUID                  READ vehicleUID                 NOTIFY vehicleUIDChanged)
+    Q_PROPERTY(QString  vehicleUIDStr               READ vehicleUIDStr              NOTIFY vehicleUIDChanged)
 
     /// Resets link status counters
     Q_INVOKABLE void resetCounters  ();
@@ -643,6 +645,8 @@ public:
     static const int versionNotSetValue = -1;
 
     QString gitHash(void) const { return _gitHash; }
+    quint64 vehicleUID(void) const { return _uid; }
+    QString vehicleUIDStr();
 
     bool soloFirmware(void) const { return _soloFirmware; }
     void setSoloFirmware(bool soloFirmware);
@@ -754,6 +758,7 @@ signals:
     void firmwareVersionChanged(void);
     void firmwareCustomVersionChanged(void);
     void gitHashChanged(QString hash);
+    void vehicleUIDChanged();
 
     /// New RC channel values
     ///     @param channelCount Number of available channels, cMaxRcChannels max
@@ -1008,6 +1013,7 @@ private:
     FIRMWARE_VERSION_TYPE _firmwareVersionType;
 
     QString _gitHash;
+    quint64 _uid;
 
     int _lastAnnouncedLowBatteryPercent;