EscStatusFactGroupListModel.cc

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#include "EscStatusFactGroupListModel.h"
#include "MAVLinkLib.h"
#include "QGCMAVLink.h"
 
EscStatusFactGroupListModel::EscStatusFactGroupListModel(QObject* parent)
    : FactGroupListModel("escStatus", parent)
{
 
}
 
bool EscStatusFactGroupListModel::_shouldHandleMessage(const mavlink_message_t &message, QList<uint32_t> &ids) const
{
    bool shouldHandle = false;
    uint32_t firstIndex = 0;
 
    ids.clear();
 
    switch (message.msgid) {
    case MAVLINK_MSG_ID_ESC_INFO:
    {
        mavlink_esc_status_t escStatus{};
        mavlink_msg_esc_status_decode(&message, &escStatus);
        firstIndex = escStatus.index;
        shouldHandle = true;
    }
        break;
    case MAVLINK_MSG_ID_ESC_STATUS:
    {
        mavlink_esc_status_t escStatus{};
        mavlink_msg_esc_status_decode(&message, &escStatus);
        firstIndex = escStatus.index;
        shouldHandle = true;
    }
        break;
    default:
        shouldHandle = false; // Not a message we care about
        break;
    }
 
    if (shouldHandle) {
        for (uint32_t index = firstIndex; index <= firstIndex + 3; index++) {
            ids.append(index);
        }
    }
 
    return shouldHandle;
}
 
FactGroupWithId *EscStatusFactGroupListModel::_createFactGroupWithId(uint32_t id)
{
    return new EscStatusFactGroup(id, this);
}
 
EscStatusFactGroup::EscStatusFactGroup(uint32_t escIndex, QObject *parent)
    : FactGroupWithId(1000, QStringLiteral(":/json/Vehicle/EscStatusFactGroup.json"), parent)
{
    _addFact(&_rpmFact);
    _addFact(&_currentFact);
    _addFact(&_voltageFact);
    _addFact(&_countFact);
    _addFact(&_connectionTypeFact);
    _addFact(&_infoFact);
    _addFact(&_failureFlagsFact);
    _addFact(&_errorCountFact);
    _addFact(&_temperatureFact);
 
    _idFact.setRawValue(escIndex);
    _rpmFact.setRawValue(0);
    _currentFact.setRawValue(0);
    _voltageFact.setRawValue(0);
    _countFact.setRawValue(0);
    _connectionTypeFact.setRawValue(0);
    _infoFact.setRawValue(0);
    _failureFlagsFact.setRawValue(0);
    _errorCountFact.setRawValue(0);
    _temperatureFact.setRawValue(0);
}
 
void EscStatusFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
{
    switch (message.msgid) {
    case MAVLINK_MSG_ID_ESC_INFO:
        _handleEscInfo(vehicle, message);
        break;
    case MAVLINK_MSG_ID_ESC_STATUS:
        _handleEscStatus(vehicle, message);
        break;
    default:
        break;
    }
}
 
void EscStatusFactGroup::_handleEscInfo(Vehicle * /*vehicle*/, const mavlink_message_t &message)
{
    mavlink_esc_info_t escInfo{};
    mavlink_msg_esc_info_decode(&message, &escInfo);
 
    uint8_t index = _idFact.rawValue().toUInt();
 
    if (index < escInfo.index || index >= escInfo.index + 4) {
        // Disregard ESC info messages which are not targeted at this ESC index
        return;
    }
 
    index %= 4; // Convert to 0-based index for the arrays in escInfo
    _countFact.setRawValue(escInfo.count);
    _connectionTypeFact.setRawValue(escInfo.connection_type);
    _infoFact.setRawValue(escInfo.info);
    _failureFlagsFact.setRawValue(escInfo.failure_flags[index]);
    _errorCountFact.setRawValue(escInfo.error_count[index]);
    _temperatureFact.setRawValue(escInfo.temperature[index]);
 
    _setTelemetryAvailable(true);
}
 
void EscStatusFactGroup::_handleEscStatus(Vehicle * /*vehicle*/, const mavlink_message_t &message)
{
    mavlink_esc_status_t escStatus{};
    mavlink_msg_esc_status_decode(&message, &escStatus);
 
    uint8_t index = _idFact.rawValue().toUInt();
 
    if (index < escStatus.index || index >= escStatus.index + 4) {
        // Disregard ESC info messages which are not targeted at this ESC index
        return;
    }
 
    index %= 4; // Convert to 0-based index for the arrays in escInfo
    _rpmFact.setRawValue(escStatus.rpm[index]);
    _currentFact.setRawValue(escStatus.current[index]);
    _voltageFact.setRawValue(escStatus.voltage[index]);
 
    _setTelemetryAvailable(true);
}