MAVLinkProtocol.h

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#pragma once
 
#include <QtCore/QByteArray>
#include <QtCore/QLoggingCategory>
#include <QtCore/QObject>
#include <QtCore/QString>
 
#include "LinkInterface.h"
#include "MAVLinkLib.h"
 
class QFile;
 
Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
 
 
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 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[256][256]{};                             
    QSet<QPair<uint8_t,uint8_t>> _firstMessageSeen;
    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;
};