VehicleGeneratorFactGroup.cc

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#include "VehicleGeneratorFactGroup.h"
 
#include "MAVLinkLib.h"
#include "Vehicle.h"
 
VehicleGeneratorFactGroup::VehicleGeneratorFactGroup(QObject *parent)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/GeneratorFact.json"), parent)
{
    _addFact(&_statusFact);
    _addFact(&_genSpeedFact);
    _addFact(&_batteryCurrentFact);
    _addFact(&_loadCurrentFact);
    _addFact(&_powerGeneratedFact);
    _addFact(&_busVoltageFact);
    _addFact(&_batCurrentSetpointFact);
    _addFact(&_rectifierTempFact);
    _addFact(&_genTempFact);
    _addFact(&_runtimeFact);
    _addFact(&_timeMaintenanceFact);
 
    _statusFact.setRawValue(qQNaN());
    _genSpeedFact.setRawValue(qQNaN());
    _batteryCurrentFact.setRawValue(qQNaN());
    _loadCurrentFact.setRawValue(qQNaN());
    _powerGeneratedFact.setRawValue(qQNaN());
    _busVoltageFact.setRawValue(qQNaN());
    _batCurrentSetpointFact.setRawValue(qQNaN());
    _rectifierTempFact.setRawValue(qQNaN());
    _genTempFact.setRawValue(qQNaN());
    _runtimeFact.setRawValue(qQNaN());
    _timeMaintenanceFact.setRawValue(qQNaN());
 
    (void) connect(status(), &Fact::rawValueChanged, this,& VehicleGeneratorFactGroup::_updateGeneratorFlags);
}
 
void VehicleGeneratorFactGroup::handleMessage(Vehicle *vehicle, const mavlink_message_t &message)
{
    Q_UNUSED(vehicle);
 
    switch (message.msgid) {
    case MAVLINK_MSG_ID_GENERATOR_STATUS:
        _handleGeneratorStatus(message);
        break;
    default:
        break;
    }
}
 
void VehicleGeneratorFactGroup::_handleGeneratorStatus(const mavlink_message_t &message)
{
    mavlink_generator_status_t generator{};
    mavlink_msg_generator_status_decode(&message, &generator);
 
    status()->setRawValue((generator.status == UINT16_MAX) ? qQNaN() : generator.status);
    genSpeed()->setRawValue((generator.generator_speed == UINT16_MAX) ? qQNaN() : generator.generator_speed);
    batteryCurrent()->setRawValue(generator.battery_current);
    loadCurrent()->setRawValue(generator.load_current);
    powerGenerated()->setRawValue(generator.power_generated);
    busVoltage()->setRawValue(generator.bus_voltage);
    rectifierTemp()->setRawValue((generator.rectifier_temperature == INT16_MAX) ? qQNaN() : generator.rectifier_temperature);
    batCurrentSetpoint()->setRawValue(generator.bat_current_setpoint);
    genTemp()->setRawValue((generator.generator_temperature == INT16_MAX) ? qQNaN() : generator.generator_temperature);
    runtime()->setRawValue((generator.runtime == UINT32_MAX) ? qQNaN() : generator.runtime);
    timeMaintenance()->setRawValue((generator.time_until_maintenance == INT32_MAX) ? qQNaN() : generator.time_until_maintenance);
 
    _setTelemetryAvailable(true);
}
 
void VehicleGeneratorFactGroup::_updateGeneratorFlags(const QVariant &value)
{
    const int statusFlag = value.toInt();
    if (statusFlag == _prevFlag) {
        return;
    }
 
    _prevFlag = statusFlag;
    _flagsListGenerator.clear();
 
    const QBitArray bitsetFlags(23);
    for (qsizetype i = 0; i < bitsetFlags.size(); i++) {
        if (bitsetFlags[i]) {
            _flagsListGenerator.append(1);
        } else {
            _flagsListGenerator.append(0);
        }
    }
 
    emit flagsListGeneratorChanged();
}