Don Gagne
6 years ago
committed by
GitHub
25 changed files with 614 additions and 238 deletions
@ -0,0 +1,68 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "ADSBVehicle.h" |
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#include "QGCLoggingCategory.h" |
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#include <QDebug> |
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#include <QtMath> |
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ADSBVehicle::ADSBVehicle(const VehicleInfo_t& vehicleInfo, QObject* parent) |
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: QObject (parent) |
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, _icaoAddress (vehicleInfo.icaoAddress) |
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, _altitude (qQNaN()) |
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, _heading (qQNaN()) |
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, _alert (false) |
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{ |
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update(vehicleInfo); |
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} |
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void ADSBVehicle::update(const VehicleInfo_t& vehicleInfo) |
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{ |
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if (_icaoAddress != vehicleInfo.icaoAddress) { |
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qCWarning(ADSBVehicleManagerLog) << "ICAO address mismatch expected:actual" << _icaoAddress << vehicleInfo.icaoAddress; |
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return; |
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} |
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if (vehicleInfo.availableFlags & CallsignAvailable) { |
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if (vehicleInfo.callsign != _callsign) { |
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_callsign = vehicleInfo.callsign; |
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emit callsignChanged(); |
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} |
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} |
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if (vehicleInfo.availableFlags & LocationAvailable) { |
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if (_coordinate != vehicleInfo.location) { |
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_coordinate = vehicleInfo.location; |
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emit coordinateChanged(); |
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} |
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} |
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if (vehicleInfo.availableFlags & AltitudeAvailable) { |
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if (!(qIsNaN(vehicleInfo.altitude) && qIsNaN(_altitude)) && !qFuzzyCompare(vehicleInfo.altitude, _altitude)) { |
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_altitude = vehicleInfo.altitude; |
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emit altitudeChanged(); |
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} |
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} |
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if (vehicleInfo.availableFlags & HeadingAvailable) { |
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if (!(qIsNaN(vehicleInfo.heading) && qIsNaN(_heading)) && !qFuzzyCompare(vehicleInfo.heading, _heading)) { |
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_heading = vehicleInfo.heading; |
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emit headingChanged(); |
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} |
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} |
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if (vehicleInfo.availableFlags & AlertAvailable) { |
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if (vehicleInfo.alert != _alert) { |
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_alert = vehicleInfo.alert; |
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emit alertChanged(); |
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} |
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} |
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_lastUpdateTimer.restart(); |
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} |
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bool ADSBVehicle::expired() |
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{ |
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return _lastUpdateTimer.hasExpired(expirationTimeoutMs); |
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} |
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@ -0,0 +1,190 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "ADSBVehicleManager.h" |
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#include "QGCLoggingCategory.h" |
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#include "QGCApplication.h" |
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#include "SettingsManager.h" |
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#include "ADSBVehicleManagerSettings.h" |
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#include <QDebug> |
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ADSBVehicleManager::ADSBVehicleManager(QGCApplication* app, QGCToolbox* toolbox) |
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: QGCTool(app, toolbox) |
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{ |
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} |
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void ADSBVehicleManager::setToolbox(QGCToolbox* toolbox) |
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{ |
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QGCTool::setToolbox(toolbox); |
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connect(&_adsbVehicleCleanupTimer, &QTimer::timeout, this, &ADSBVehicleManager::_cleanupStaleVehicles); |
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_adsbVehicleCleanupTimer.setSingleShot(false); |
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_adsbVehicleCleanupTimer.start(1000); |
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ADSBVehicleManagerSettings* settings = qgcApp()->toolbox()->settingsManager()->adsbVehicleManagerSettings(); |
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if (settings->adsbServerConnectEnabled()->rawValue().toBool()) { |
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_tcpLink = new ADSBTCPLink(settings->adsbServerHostAddress()->rawValue().toString(), settings->adsbServerPort()->rawValue().toInt(), this); |
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connect(_tcpLink, &ADSBTCPLink::adsbVehicleUpdate, this, &ADSBVehicleManager::adsbVehicleUpdate, Qt::QueuedConnection); |
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connect(_tcpLink, &ADSBTCPLink::error, this, &ADSBVehicleManager::_tcpError, Qt::QueuedConnection); |
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} |
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} |
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void ADSBVehicleManager::_cleanupStaleVehicles() |
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{ |
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// Remove all expired ADSB vehicles
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for (int i=_adsbVehicles.count()-1; i>=0; i--) { |
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ADSBVehicle* adsbVehicle = _adsbVehicles.value<ADSBVehicle*>(i); |
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if (adsbVehicle->expired()) { |
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qCDebug(ADSBVehicleManagerLog) << "Expired" << QStringLiteral("%1").arg(adsbVehicle->icaoAddress(), 0, 16); |
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_adsbVehicles.removeAt(i); |
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adsbVehicle->deleteLater(); |
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} |
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} |
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} |
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void ADSBVehicleManager::adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehicleInfo) |
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{ |
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uint32_t icaoAddress = vehicleInfo.icaoAddress; |
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if (_adsbICAOMap.contains(icaoAddress)) { |
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_adsbICAOMap[icaoAddress]->update(vehicleInfo); |
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} else { |
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if (vehicleInfo.availableFlags & ADSBVehicle::LocationAvailable) { |
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ADSBVehicle* adsbVehicle = new ADSBVehicle(vehicleInfo, this); |
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_adsbICAOMap[icaoAddress] = adsbVehicle; |
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_adsbVehicles.append(adsbVehicle); |
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} |
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} |
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} |
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void ADSBVehicleManager::_tcpError(const QString errorMsg) |
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{ |
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qgcApp()->showMessage(tr("ADSB Server Error: %1").arg(errorMsg)); |
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} |
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ADSBTCPLink::ADSBTCPLink(const QString& hostAddress, int port, QObject* parent) |
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: QThread (parent) |
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, _hostAddress (hostAddress) |
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, _port (port) |
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{ |
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moveToThread(this); |
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start(); |
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} |
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ADSBTCPLink::~ADSBTCPLink(void) |
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{ |
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if (_socket) { |
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_socket->disconnectFromHost(); |
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_socket->deleteLater(); |
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_socket = nullptr; |
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} |
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quit(); |
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wait(); |
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} |
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void ADSBTCPLink::run(void) |
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{ |
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_hardwareConnect(); |
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exec(); |
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} |
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void ADSBTCPLink::_hardwareConnect() |
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{ |
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_socket = new QTcpSocket(); |
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QObject::connect(_socket, &QTcpSocket::readyRead, this, &ADSBTCPLink::_readBytes); |
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_socket->connectToHost(_hostAddress, static_cast<quint16>(_port)); |
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// Give the socket a second to connect to the other side otherwise error out
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if (!_socket->waitForConnected(1000)) { |
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qCDebug(ADSBVehicleManagerLog) << "ADSB Socket failed to connect"; |
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emit error(_socket->errorString()); |
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delete _socket; |
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_socket = nullptr; |
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return; |
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} |
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qCDebug(ADSBVehicleManagerLog) << "ADSB Socket connected"; |
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} |
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void ADSBTCPLink::_readBytes(void) |
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{ |
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if (_socket) { |
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QByteArray bytes = _socket->readLine(); |
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_parseLine(QString::fromLocal8Bit(bytes)); |
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} |
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} |
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void ADSBTCPLink::_parseLine(const QString& line) |
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{ |
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if (line.startsWith(QStringLiteral("MSG"))) { |
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qCDebug(ADSBVehicleManagerLog) << "ADSB SBS-1" << line; |
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QStringList values = line.split(QStringLiteral(",")); |
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if (values[1] == QStringLiteral("3")) { |
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bool icaoOk, altOk, latOk, lonOk; |
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uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16); |
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int modeCAltitude = values[11].toInt(&altOk); |
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double lat = values[14].toDouble(&latOk); |
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double lon = values[15].toDouble(&lonOk); |
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QString callsign = values[10]; |
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if (!icaoOk || !altOk || !latOk || !lonOk) { |
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return; |
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} |
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if (lat == 0 && lon == 0) { |
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return; |
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} |
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double altitude = modeCAltitude / 3.048; |
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QGeoCoordinate location(lat, lon); |
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ADSBVehicle::VehicleInfo_t adsbInfo; |
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adsbInfo.icaoAddress = icaoAddress; |
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adsbInfo.callsign = callsign; |
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adsbInfo.location = location; |
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adsbInfo.altitude = altitude; |
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adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable | ADSBVehicle::LocationAvailable | ADSBVehicle::AltitudeAvailable; |
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emit adsbVehicleUpdate(adsbInfo); |
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} else if (values[1] == QStringLiteral("4")) { |
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bool icaoOk, headingOk; |
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uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16); |
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double heading = values[13].toDouble(&headingOk); |
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if (!icaoOk || !headingOk) { |
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return; |
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} |
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ADSBVehicle::VehicleInfo_t adsbInfo; |
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adsbInfo.icaoAddress = icaoAddress; |
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adsbInfo.heading = heading; |
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adsbInfo.availableFlags = ADSBVehicle::HeadingAvailable; |
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emit adsbVehicleUpdate(adsbInfo); |
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} else if (values[1] == QStringLiteral("1")) { |
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bool icaoOk; |
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uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16); |
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if (!icaoOk) { |
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return; |
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} |
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ADSBVehicle::VehicleInfo_t adsbInfo; |
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adsbInfo.icaoAddress = icaoAddress; |
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adsbInfo.callsign = values[10]; |
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adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable; |
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emit adsbVehicleUpdate(adsbInfo); |
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} |
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} |
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} |
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@ -0,0 +1,75 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "QGCToolbox.h" |
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#include "QmlObjectListModel.h" |
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#include "ADSBVehicle.h" |
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#include <QThread> |
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#include <QTcpSocket> |
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#include <QTimer> |
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#include <QGeoCoordinate> |
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class ADSBVehicleManagerSettings; |
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class ADSBTCPLink : public QThread |
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{ |
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Q_OBJECT |
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public: |
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ADSBTCPLink(const QString& hostAddress, int port, QObject* parent); |
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~ADSBTCPLink(); |
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signals: |
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void adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehicleInfo); |
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void error(const QString errorMsg); |
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protected: |
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void run(void) final; |
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private slots: |
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void _readBytes(void); |
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private: |
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void _hardwareConnect(void); |
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void _parseLine(const QString& line); |
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QString _hostAddress; |
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int _port; |
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QTcpSocket* _socket = nullptr; |
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}; |
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class ADSBVehicleManager : public QGCTool { |
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Q_OBJECT |
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public: |
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ADSBVehicleManager(QGCApplication* app, QGCToolbox* toolbox); |
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Q_PROPERTY(QmlObjectListModel* adsbVehicles READ adsbVehicles CONSTANT) |
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QmlObjectListModel* adsbVehicles(void) { return &_adsbVehicles; } |
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// QGCTool overrides
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void setToolbox(QGCToolbox* toolbox) final; |
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public slots: |
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void adsbVehicleUpdate (const ADSBVehicle::VehicleInfo_t vehicleInfo); |
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void _tcpError (const QString errorMsg); |
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private slots: |
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void _cleanupStaleVehicles(void); |
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private: |
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QmlObjectListModel _adsbVehicles; |
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QMap<uint32_t, ADSBVehicle*> _adsbICAOMap; |
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QTimer _adsbVehicleCleanupTimer; |
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ADSBTCPLink* _tcpLink = nullptr; |
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}; |
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@ -0,0 +1,24 @@ |
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[ |
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{ |
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"name": "adsbServerConnectEnabled", |
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"shortDescription": "Connect to ADSB SBS server", |
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"longDescription": "Connect to ADSB SBS-1 server using specified address/port", |
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"type": "bool", |
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"defaultValue": false, |
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"qgcRebootRequired": true |
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}, |
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{ |
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"name": "adsbServerHostAddress", |
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"shortDescription": "Host address", |
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"type": "string", |
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"defaultValue": "127.0.0.1", |
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"qgcRebootRequired": true |
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}, |
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{ |
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"name": "adsbServerPort", |
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"shortDescription": "Server port", |
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"type": "string", |
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"defaultValue": 30003, |
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"qgcRebootRequired": true |
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} |
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] |
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@ -0,0 +1,22 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "ADSBVehicleManagerSettings.h" |
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#include <QQmlEngine> |
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#include <QtQml> |
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DECLARE_SETTINGGROUP(ADSBVehicleManager, "ADSBVehicleManager") |
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{ |
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qmlRegisterUncreatableType<ADSBVehicleManagerSettings>("QGroundControl.SettingsManager", 1, 0, "ADSBVehicleManagerSettings", "Reference only"); |
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} |
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DECLARE_SETTINGSFACT(ADSBVehicleManagerSettings, adsbServerConnectEnabled) |
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DECLARE_SETTINGSFACT(ADSBVehicleManagerSettings, adsbServerHostAddress) |
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DECLARE_SETTINGSFACT(ADSBVehicleManagerSettings, adsbServerPort) |
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@ -0,0 +1,24 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "SettingsGroup.h" |
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class ADSBVehicleManagerSettings : public SettingsGroup |
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{ |
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Q_OBJECT |
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public: |
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ADSBVehicleManagerSettings(QObject* parent = nullptr); |
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DEFINE_SETTING_NAME_GROUP() |
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DEFINE_SETTINGFACT(adsbServerConnectEnabled) |
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DEFINE_SETTINGFACT(adsbServerHostAddress) |
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DEFINE_SETTINGFACT(adsbServerPort) |
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}; |
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@ -1,98 +0,0 @@ |
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/****************************************************************************
|
|
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* |
|
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
|
||||||
* |
|
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* QGroundControl is licensed according to the terms in the file |
|
||||||
* COPYING.md in the root of the source code directory. |
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* |
|
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****************************************************************************/ |
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#include "ADSBVehicle.h" |
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#include <QDebug> |
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#include <QtMath> |
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ADSBVehicle::ADSBVehicle(mavlink_adsb_vehicle_t& adsbVehicle, QObject* parent) |
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: QObject (parent) |
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, _icaoAddress (adsbVehicle.ICAO_address) |
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, _callsign (adsbVehicle.callsign) |
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, _altitude (NAN) |
|
||||||
, _heading (NAN) |
|
||||||
, _alert (false) |
|
||||||
{ |
|
||||||
if (!(adsbVehicle.flags & ADSB_FLAGS_VALID_COORDS)) { |
|
||||||
qWarning() << "At least coords must be valid"; |
|
||||||
return; |
|
||||||
} |
|
||||||
update(adsbVehicle); |
|
||||||
} |
|
||||||
|
|
||||||
ADSBVehicle::ADSBVehicle(const QGeoCoordinate& location, float heading, bool alert, QObject* parent) |
|
||||||
: QObject(parent) |
|
||||||
, _icaoAddress(0) |
|
||||||
, _alert(alert) |
|
||||||
{ |
|
||||||
update(alert, location, heading); |
|
||||||
} |
|
||||||
|
|
||||||
void ADSBVehicle::update(bool alert, const QGeoCoordinate& location, float heading) |
|
||||||
{ |
|
||||||
_coordinate = location; |
|
||||||
_altitude = location.altitude(); |
|
||||||
_heading = heading; |
|
||||||
_alert = alert; |
|
||||||
emit coordinateChanged(); |
|
||||||
emit altitudeChanged(); |
|
||||||
emit headingChanged(); |
|
||||||
emit alertChanged(); |
|
||||||
_lastUpdateTimer.restart(); |
|
||||||
} |
|
||||||
|
|
||||||
void ADSBVehicle::update(mavlink_adsb_vehicle_t& adsbVehicle) |
|
||||||
{ |
|
||||||
if (_icaoAddress != adsbVehicle.ICAO_address) { |
|
||||||
qWarning() << "ICAO address mismatch expected:actual" << _icaoAddress << adsbVehicle.ICAO_address; |
|
||||||
return; |
|
||||||
} |
|
||||||
|
|
||||||
if (!(adsbVehicle.flags & ADSB_FLAGS_VALID_COORDS)) { |
|
||||||
return; |
|
||||||
} |
|
||||||
|
|
||||||
QString currCallsign(adsbVehicle.callsign); |
|
||||||
|
|
||||||
if (currCallsign != _callsign) { |
|
||||||
_callsign = currCallsign; |
|
||||||
emit callsignChanged(); |
|
||||||
} |
|
||||||
|
|
||||||
QGeoCoordinate newCoordinate(adsbVehicle.lat / 1e7, adsbVehicle.lon / 1e7); |
|
||||||
if (newCoordinate != _coordinate) { |
|
||||||
_coordinate = newCoordinate; |
|
||||||
emit coordinateChanged(); |
|
||||||
} |
|
||||||
|
|
||||||
double newAltitude = NAN; |
|
||||||
if (adsbVehicle.flags & ADSB_FLAGS_VALID_ALTITUDE) { |
|
||||||
newAltitude = (double)adsbVehicle.altitude / 1e3; |
|
||||||
} |
|
||||||
if (!(qIsNaN(newAltitude) && qIsNaN(_altitude)) && !qFuzzyCompare(newAltitude, _altitude)) { |
|
||||||
_altitude = newAltitude; |
|
||||||
emit altitudeChanged(); |
|
||||||
} |
|
||||||
|
|
||||||
double newHeading = NAN; |
|
||||||
if (adsbVehicle.flags & ADSB_FLAGS_VALID_HEADING) { |
|
||||||
newHeading = (double)adsbVehicle.heading / 100.0; |
|
||||||
} |
|
||||||
if (!(qIsNaN(newHeading) && qIsNaN(_heading)) && !qFuzzyCompare(newHeading, _heading)) { |
|
||||||
_heading = newHeading; |
|
||||||
emit headingChanged(); |
|
||||||
} |
|
||||||
_lastUpdateTimer.restart(); |
|
||||||
} |
|
||||||
|
|
||||||
bool ADSBVehicle::expired() |
|
||||||
{ |
|
||||||
return _lastUpdateTimer.hasExpired(expirationTimeoutMs); |
|
||||||
} |
|
||||||
Loading…
Reference in new issue