MAVLinkProtocol.h

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#pragma once
 
#include <QtCore/QByteArray>
#include <QtCore/QObject>
#include <QtCore/QPair>
#include <QtCore/QSet>
#include <QtCore/QString>
 
#include "LinkInterface.h"
#include "MAVLinkEnums.h"
#include "MAVLinkMessageType.h"
 
class QFile;
 
class MAVLinkProtocol : public QObject
{
    Q_OBJECT
 
public:
    explicit MAVLinkProtocol(QObject* parent = nullptr);
 
    ~MAVLinkProtocol();
 
    static MAVLinkProtocol* instance();
 
    void init();
 
    static QString getName() { return QStringLiteral("MAVLink protocol"); }
 
    int getSystemId() const;
 
    static int getComponentId() { return MAV_COMP_ID_MISSIONPLANNER; }
 
    void resetMetadataForLink(LinkInterface* link);
 
    void resetSequenceTracking(LinkInterface* link);
 
    void suspendLogForReplay(bool suspend) { _logSuspendReplay = suspend; }
 
    void checkForLostLogFiles();
 
signals:
    void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType,
                              int vehicleType);
 
    void messageReceived(LinkInterface* link, const mavlink_message_t& message);
 
    void mavlinkMessageStatus(int sysid, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss,
                              float lossPercent);
 
public slots:
    void receiveBytes(LinkInterface* link, const QByteArray& data);
 
    void logSentBytes(const LinkInterface* link, const QByteArray& data);
 
    static void deleteTempLogFiles();
 
private slots:
    void _vehicleCountChanged();
 
private:
    void _logData(LinkInterface* link, const mavlink_message_t& message);
    bool _closeLogFile();
    void _startLogging();
    void _stopLogging();
 
    void _forward(const mavlink_message_t& message);
    void _forwardSupport(const mavlink_message_t& message);
 
    void _updateCounters(uint8_t mavlinkChannel, const mavlink_message_t& message);
    bool _updateStatus(LinkInterface* link, const SharedLinkInterfacePtr linkPtr, uint8_t mavlinkChannel,
                       const mavlink_message_t& message);
 
    void _saveTelemetryLog(const QString& tempLogfile);
    bool _checkTelemetrySavePath();
 
    QFile* _tempLogFile = nullptr;
 
    bool _logSuspendError = false;
    bool _logSuspendReplay = false;
    bool _vehicleWasArmed = false;
 
    uint8_t _lastIndex[MAVLINK_COMM_NUM_BUFFERS][256][256]{};
 
    QSet<QPair<uint8_t, uint8_t>> _firstMessageSeen[MAVLINK_COMM_NUM_BUFFERS];
    uint64_t _totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]{};
    uint64_t _totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]{};
    float _runningLossPercent[MAVLINK_COMM_NUM_BUFFERS]{};
 
    bool _initialized = false;
 
    static constexpr const char* _tempLogFileTemplate = "FlightDataXXXXXX";
    static constexpr const char* _logFileExtension = "mavlink";
 
    static constexpr uint8_t kMaxCompId = MAV_COMPONENT_ENUM_END - 1;
};