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85 lines
2.6 KiB
85 lines
2.6 KiB
7 years ago
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#include "AirMapVehicleManager.h"
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#include "AirMapFlightManager.h"
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#include "AirMapTelemetry.h"
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#include "AirMapTrafficMonitor.h"
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AirMapVehicleManager::AirMapVehicleManager(AirMapSharedState& shared, const Vehicle& vehicle, QGCToolbox& toolbox)
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: AirspaceVehicleManager(vehicle)
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, _shared(shared)
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, _flightManager(shared)
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, _telemetry(shared)
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, _trafficMonitor(shared)
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, _toolbox(toolbox)
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{
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connect(&_flightManager, &AirMapFlightManager::flightPermitStatusChanged, this, &AirMapVehicleManager::flightPermitStatusChanged);
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connect(&_flightManager, &AirMapFlightManager::flightPermitStatusChanged, this, &AirMapVehicleManager::_flightPermitStatusChanged);
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connect(&_flightManager, &AirMapFlightManager::error, this, &AirMapVehicleManager::error);
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connect(&_telemetry, &AirMapTelemetry::error, this, &AirMapVehicleManager::error);
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connect(&_trafficMonitor, &AirMapTrafficMonitor::error, this, &AirMapVehicleManager::error);
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connect(&_trafficMonitor, &AirMapTrafficMonitor::trafficUpdate, this, &AirspaceVehicleManager::trafficUpdate);
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}
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void
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AirMapVehicleManager::createFlight(const QList<MissionItem*>& missionItems)
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{
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if (!_shared.client()) {
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qCDebug(AirMapManagerLog) << "No AirMap client instance. Will not create a flight";
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return;
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}
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_flightManager.createFlight(missionItems);
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}
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AirspaceAuthorization::PermitStatus
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AirMapVehicleManager::flightPermitStatus() const
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{
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return _flightManager.flightPermitStatus();
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}
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void
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AirMapVehicleManager::startTelemetryStream()
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{
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if (_flightManager.flightID() != "") {
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_telemetry.startTelemetryStream(_flightManager.flightID());
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}
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}
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void
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AirMapVehicleManager::stopTelemetryStream()
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{
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_telemetry.stopTelemetryStream();
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}
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bool
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AirMapVehicleManager::isTelemetryStreaming() const
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{
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return _telemetry.isTelemetryStreaming();
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}
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void
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AirMapVehicleManager::endFlight()
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{
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_flightManager.endFlight();
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_trafficMonitor.stop();
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}
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void
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AirMapVehicleManager::vehicleMavlinkMessageReceived(const mavlink_message_t& message)
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{
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if (isTelemetryStreaming()) {
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_telemetry.vehicleMavlinkMessageReceived(message);
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}
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}
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void
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AirMapVehicleManager::_flightPermitStatusChanged()
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{
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// activate traffic alerts
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if (_flightManager.flightPermitStatus() == AirspaceAuthorization::PermitAccepted) {
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qCDebug(AirMapManagerLog) << "Subscribing to Traffic Alerts";
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// since we already created the flight, we know that we have a valid login token
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_trafficMonitor.startConnection(_flightManager.flightID());
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}
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}
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