RemoteIDManager.h

Go to the documentation of this file.

#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    armStatusGood        READ armStatusGood      NOTIFY armStatusGoodChanged)
    Q_PROPERTY(QString armStatusError       READ armStatusError     NOTIFY armStatusErrorChanged)
    Q_PROPERTY(bool    commsGood            READ commsGood          NOTIFY commsGoodChanged)
    Q_PROPERTY(bool    gcsGPSGood           READ gcsGPSGood         NOTIFY gcsGPSGoodChanged)
    Q_PROPERTY(bool    basicIDGood          READ basicIDGood        NOTIFY basicIDGoodChanged)
    Q_PROPERTY(bool    emergencyDeclared    READ emergencyDeclared  NOTIFY emergencyDeclaredChanged)
    Q_PROPERTY(bool    operatorIDGood       READ operatorIDGood     NOTIFY operatorIDGoodChanged)
 
    Q_INVOKABLE void checkOperatorID(const QString& operatorID);
    Q_INVOKABLE void setOperatorID();
 
    // Declare emergency
    Q_INVOKABLE void setEmergency(bool declare);
 
    bool    available           (void) const { return _available; }
    bool    armStatusGood       (void) const { return _armStatusGood; }
    QString armStatusError      (void) const { return _armStatusError; }
    bool    commsGood           (void) const { return _commsGood; }
    bool    gcsGPSGood          (void) const { return _gcsGPSGood; }
    bool    basicIDGood         (void) const { return _basicIDGood; }
    bool    emergencyDeclared   (void) const { return _emergencyDeclared;}
    bool    operatorIDGood      (void) const { return _operatorIDGood; }
 
    void mavlinkMessageReceived (mavlink_message_t& message);
 
    enum LocationTypes {
        TAKEOFF,
        LiveGNSS,
        FIXED
    };
 
    enum Region {
        FAA,
        EU
    };
 
signals:
    void availableChanged();
    void armStatusGoodChanged();
    void armStatusErrorChanged();
    void commsGoodChanged();
    void gcsGPSGoodChanged();
    void basicIDGoodChanged();
    void emergencyDeclaredChanged();
    void operatorIDGoodChanged();
 
private slots:
    void _odidTimeout();
    void _sendMessages();
    void _updateLastGCSPositionInfo(QGeoPositionInfo update);
    void _checkGCSBasicID();
 
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 GPS status
    void        _updateGcsGpsStatus(bool gpsGood, const QString& error = QString());
 
    bool _isEUOperatorIDValid(const QString& operatorID) const;
    QChar _calculateLuhnMod36(const QString& input) const;
 
    Vehicle*            _vehicle;
    RemoteIDSettings*   _settings;
 
    // Flags ODID
    bool    _available = false;
    bool    _armStatusGood;
    QString _armStatusError;
    bool    _commsGood;
    bool    _gcsGPSGood;
    QString _gcsGPSError;
    bool    _basicIDGood;
    bool    _GCSBasicIDValid;
    bool    _operatorIDGood;
 
    bool        _emergencyDeclared;
    QDateTime   _lastGeoPositionTimeStamp;
    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;
};