RemoteIDManager.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QDateTime>
#include <QtCore/QTimer>
#include <QtPositioning/QGeoPositionInfo>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "MAVLinkMessageType.h"
 
class RemoteIDSettings;
class Vehicle;
 
// Supporting Open Drone ID protocol
class RemoteIDManager : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
public:
    RemoteIDManager(Vehicle* vehicle);
 
    Q_PROPERTY(bool    available            READ available          NOTIFY availableChanged)             
    Q_PROPERTY(bool    armStatusGoodToArm   READ armStatusGoodToArm NOTIFY armStatusGoodToArmChanged)    
    Q_PROPERTY(QString armStatusError       READ armStatusError     NOTIFY armStatusErrorChanged)
    Q_PROPERTY(bool    ridDeviceCommsGood   READ ridDeviceCommsGood NOTIFY ridDeviceCommsGoodChanged)    
    Q_PROPERTY(bool    gcsPositionUsable    READ gcsPositionUsable  NOTIFY gcsPositionUsableChanged)     
    Q_PROPERTY(bool    vehicleReportsBasicIDMissing READ vehicleReportsBasicIDMissing NOTIFY vehicleReportsBasicIDMissingChanged) 
    Q_PROPERTY(bool    emergencyDeclared    READ emergencyDeclared  NOTIFY emergencyDeclaredChanged)
 
    // Declare emergency
    Q_INVOKABLE void setEmergency(bool declare);
 
    bool    available           (void) const { return _available; }
    bool    armStatusGoodToArm  (void) const { return _armStatusGoodToArm; }
    QString armStatusError      (void) const { return _armStatusError; }
    bool    ridDeviceCommsGood  (void) const { return _ridDeviceCommsGood; }
    bool    gcsPositionUsable   (void) const { return _gcsPositionUsable; }
    bool    vehicleReportsBasicIDMissing(void) const { return _vehicleReportsBasicIDMissing; }
    bool    emergencyDeclared   (void) const { return _emergencyDeclared;}
 
    void mavlinkMessageReceived (mavlink_message_t& message);
 
    enum LocationTypes {
        TAKEOFF,
        LiveGNSS,
        FIXED
    };
 
signals:
    void availableChanged();
    void armStatusGoodToArmChanged();
    void armStatusErrorChanged();
    void ridDeviceCommsGoodChanged();
    void gcsPositionUsableChanged();
    void vehicleReportsBasicIDMissingChanged();
    void emergencyDeclaredChanged();
 
private slots:
    void _odidTimeout();
    void _sendMessages();
 
private:
    void _handleArmStatus(mavlink_message_t& message);
 
    // Self ID
    void        _sendSelfIDMsg ();
    QByteArray _getSelfIDDescription() const;
 
    // Operator ID
    void        _sendOperatorID ();
 
    // System
    void        _sendSystem();
    uint32_t    _timestamp2019();
 
    // Basic ID
    void        _sendBasicID();
 
    // GCS position status
    void        _updateGcsPositionStatus(bool usable, const QString& error = QString());
 
    Vehicle*            _vehicle;
    RemoteIDSettings*   _settings;
 
    // Flags ODID
    bool    _available = false;
    bool    _armStatusGoodToArm;
    QString _armStatusError;
    bool    _ridDeviceCommsGood;
    bool    _gcsPositionUsable;
    QString _gcsPositionError;
    bool    _vehicleReportsBasicIDMissing;
 
    bool        _emergencyDeclared;
    int         _targetSystem;
    int         _targetComponent;
 
    // After emergency cleared, this makes sure the non emergency selfID message makes it to the vehicle
    bool        _enforceSendingSelfID;
 
    static const uint8_t* _id_or_mac_unknown;
 
    // Timers
    QTimer _odidTimeoutTimer;
    QTimer _sendMessagesTimer;
};