ADSB: Fix and improve messages parsing and displaying

Fixes #10143 (#10170)

src/ADSB/ADSBVehicle.cc

@@ -14,9 +14,10 @@
 #include <QDebug>
 #include <QtMath>
 
-ADSBVehicle::ADSBVehicle(const VehicleInfo_t& vehicleInfo, QObject* parent)
+ADSBVehicle::ADSBVehicle(const ADSBVehicleInfo_t & vehicleInfo, QObject* parent)
     : QObject       (parent)
     , _icaoAddress  (vehicleInfo.icaoAddress)
+    , _coordinate   (QGeoCoordinate(qQNaN(),qQNaN()))
     , _altitude     (qQNaN())
     , _heading      (qQNaN())
     , _alert        (false)
@@ -24,12 +25,14 @@ ADSBVehicle::ADSBVehicle(const VehicleInfo_t& vehicleInfo, QObject* parent)
     update(vehicleInfo);
 }
 
-void ADSBVehicle::update(const VehicleInfo_t& vehicleInfo)
+void ADSBVehicle::update(const ADSBVehicleInfo_t & vehicleInfo)
 {
     if (_icaoAddress != vehicleInfo.icaoAddress) {
         qCWarning(ADSBVehicleManagerLog) << "ICAO address mismatch expected:actual" << _icaoAddress << vehicleInfo.icaoAddress;
         return;
     }
+    qCDebug(ADSBVehicleManagerLog) << "Updating" << QStringLiteral("%1 Flags: %2").arg(vehicleInfo.icaoAddress, 0, 16).arg(vehicleInfo.availableFlags, 0, 2);
+
     if (vehicleInfo.availableFlags & CallsignAvailable) {
         if (vehicleInfo.callsign != _callsign) {
             _callsign = vehicleInfo.callsign;

src/ADSB/ADSBVehicle.h

@@ -36,9 +36,9 @@ public:
         double          heading;
         bool            alert;
         uint32_t        availableFlags;
-    } VehicleInfo_t;
+    } ADSBVehicleInfo_t;
 
-    ADSBVehicle(const VehicleInfo_t& vehicleInfo, QObject* parent);
+    ADSBVehicle(const ADSBVehicleInfo_t & vehicleInfo, QObject* parent);
 
     Q_PROPERTY(int              icaoAddress READ icaoAddress    CONSTANT)
     Q_PROPERTY(QString          callsign    READ callsign       NOTIFY callsignChanged)
@@ -54,7 +54,7 @@ public:
     double          heading     (void) const { return _heading; }
     bool            alert       (void) const { return _alert; }
 
-    void update(const VehicleInfo_t& vehicleInfo);
+    void update(const ADSBVehicleInfo_t & vehicleInfo);
 
     /// check if the vehicle is expired and should be removed
     bool expired();
@@ -80,5 +80,5 @@ private:
                                                             ///< AirMap sends updates for each vehicle every second.
 };
 
-Q_DECLARE_METATYPE(ADSBVehicle::VehicleInfo_t)
+Q_DECLARE_METATYPE(ADSBVehicle::ADSBVehicleInfo_t)
 

src/ADSB/ADSBVehicleManager.cc

@@ -23,7 +23,6 @@ ADSBVehicleManager::ADSBVehicleManager(QGCApplication* app, QGCToolbox* toolbox)
 void ADSBVehicleManager::setToolbox(QGCToolbox* toolbox)
 {
     QGCTool::setToolbox(toolbox);
-
     connect(&_adsbVehicleCleanupTimer, &QTimer::timeout, this, &ADSBVehicleManager::_cleanupStaleVehicles);
     _adsbVehicleCleanupTimer.setSingleShot(false);
     _adsbVehicleCleanupTimer.start(1000);
@@ -42,7 +41,7 @@ void ADSBVehicleManager::_cleanupStaleVehicles()
     for (int i=_adsbVehicles.count()-1; i>=0; i--) {
         ADSBVehicle* adsbVehicle = _adsbVehicles.value<ADSBVehicle*>(i);
         if (adsbVehicle->expired()) {
-            qCDebug(ADSBVehicleManagerLog) << "Expired" << QStringLiteral("%1").arg(adsbVehicle->icaoAddress(), 0, 16);
+            qCDebug(ADSBVehicleManagerLog) << "Expired " << QStringLiteral("%1").arg(adsbVehicle->icaoAddress(), 0, 16);
             _adsbVehicles.removeAt(i);
             _adsbICAOMap.remove(adsbVehicle->icaoAddress());
             adsbVehicle->deleteLater();
@@ -50,7 +49,7 @@ void ADSBVehicleManager::_cleanupStaleVehicles()
     }
 }
 
-void ADSBVehicleManager::adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehicleInfo)
+void ADSBVehicleManager::adsbVehicleUpdate(const ADSBVehicle::ADSBVehicleInfo_t vehicleInfo)
 {
     uint32_t icaoAddress = vehicleInfo.icaoAddress;
 
@@ -61,6 +60,7 @@ void ADSBVehicleManager::adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehi
             ADSBVehicle* adsbVehicle = new ADSBVehicle(vehicleInfo, this);
             _adsbICAOMap[icaoAddress] = adsbVehicle;
             _adsbVehicles.append(adsbVehicle);
+            qCDebug(ADSBVehicleManagerLog) << "Added " << QStringLiteral("%1").arg(adsbVehicle->icaoAddress(), 0, 16);
         }
     }
 }
@@ -101,9 +101,7 @@ void ADSBTCPLink::run(void)
 void ADSBTCPLink::_hardwareConnect()
 {
     _socket = new QTcpSocket();
-
     QObject::connect(_socket, &QTcpSocket::readyRead, this, &ADSBTCPLink::_readBytes);
-
     _socket->connectToHost(_hostAddress, static_cast<quint16>(_port));
 
     // Give the socket a second to connect to the other side otherwise error out
@@ -121,72 +119,110 @@ void ADSBTCPLink::_hardwareConnect()
 void ADSBTCPLink::_readBytes(void)
 {
     if (_socket) {
-        QByteArray bytes = _socket->readLine();
+        while(_socket->canReadLine()) {
-        _parseLine(QString::fromLocal8Bit(bytes));
+            QByteArray bytes = _socket->readLine();
+            _parseLine(QString::fromLocal8Bit(bytes));
+        }
     }
 }
 
-void ADSBTCPLink::_parseLine(const QString& line)
+void ADSBTCPLink::_parseLine(const QString &line)
 {
     if (line.startsWith(QStringLiteral("MSG"))) {
-        qCDebug(ADSBVehicleManagerLog) << "ADSB SBS-1" << line;
+        bool icaoOk;
-
+        int msgType = line.at(4).digitValue();
-        QStringList values = line.split(QStringLiteral(","));
+        if (msgType == -1) {
-
+            qCDebug(ADSBVehicleManagerLog) << "ADSB Invalid message type " << line.at(4);
-        if (values[1] == QStringLiteral("3")) {
+            return;
-            bool icaoOk, altOk, latOk, lonOk;
+        }
-
+        // Skip unsupported mesg types to avoid parsing
-            uint32_t    icaoAddress =   values[4].toUInt(&icaoOk, 16);
+        if (msgType == 2 || msgType > 6) {
-            int         modeCAltitude = values[11].toInt(&altOk);
+            return;
-            double      lat =           values[14].toDouble(&latOk);
+        }
-            double      lon =           values[15].toDouble(&lonOk);
+        qCDebug(ADSBVehicleManagerLog) << " ADSB SBS-1 " << line;
-            QString     callsign =      values[10];
+        QStringList values = line.split(QChar(','));
-
+        uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16);
-            if (!icaoOk || !altOk || !latOk || !lonOk) {
+
-                return;
+        if (!icaoOk) {
-            }
+            return;
-            if (lat == 0 && lon == 0) {
+        }
-                return;
+
-            }
+        ADSBVehicle::ADSBVehicleInfo_t adsbInfo;
-
+        adsbInfo.icaoAddress = icaoAddress;
-            double altitude = modeCAltitude / 3.048;
+
-            QGeoCoordinate location(lat, lon);
+        switch (msgType) {
-
+        case 1:
-            ADSBVehicle::VehicleInfo_t adsbInfo;
+        case 5:
-            adsbInfo.icaoAddress = icaoAddress;
+        case 6:
-            adsbInfo.callsign = callsign;
+            _parseAndEmitCallsign(adsbInfo, values);
-            adsbInfo.location = location;
+            break;
-            adsbInfo.altitude = altitude;
+        case 3:
-            adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable | ADSBVehicle::LocationAvailable | ADSBVehicle::AltitudeAvailable;
+            _parseAndEmitLocation(adsbInfo, values);
-            emit adsbVehicleUpdate(adsbInfo);
+            break;
-        } else if (values[1] == QStringLiteral("4")) {
+        case 4:
-            bool icaoOk, headingOk;
+            _parseAndEmitHeading(adsbInfo, values);
-
+            break;
-            uint32_t    icaoAddress =   values[4].toUInt(&icaoOk, 16);
-            double      heading =       values[13].toDouble(&headingOk);
-
-            if (!icaoOk || !headingOk) {
-                return;
-            }
-
-            ADSBVehicle::VehicleInfo_t adsbInfo;
-            adsbInfo.icaoAddress = icaoAddress;
-            adsbInfo.heading = heading;
-            adsbInfo.availableFlags = ADSBVehicle::HeadingAvailable;
-            emit adsbVehicleUpdate(adsbInfo);
-        } else if (values[1] == QStringLiteral("1")) {
-            bool icaoOk;
-
-            uint32_t icaoAddress = values[4].toUInt(&icaoOk, 16);
-            if (!icaoOk) {
-                return;
-            }
-
-            ADSBVehicle::VehicleInfo_t adsbInfo;
-            adsbInfo.icaoAddress = icaoAddress;
-            adsbInfo.callsign = values[10];
-            adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable;
-            emit adsbVehicleUpdate(adsbInfo);
         }
     }
 }
+
+void ADSBTCPLink::_parseAndEmitCallsign(ADSBVehicle::ADSBVehicleInfo_t &adsbInfo, QStringList values)
+{
+    QString callsign = values[10].trimmed();
+    if (callsign.isEmpty()) {
+        return;
+    }
+
+    adsbInfo.callsign = callsign;
+    adsbInfo.availableFlags = ADSBVehicle::CallsignAvailable;
+    emit adsbVehicleUpdate(adsbInfo);
+}
+
+void ADSBTCPLink::_parseAndEmitLocation(ADSBVehicle::ADSBVehicleInfo_t &adsbInfo, QStringList values)
+{
+    bool altOk, latOk, lonOk;
+    int modeCAltitude;
+
+    QString altitudeStr = values[11];
+    // Altitude is either Barometric - based on pressure, in ft
+    // or HAE - as reported by GPS - based on WGS84 Ellipsoid, in ft
+    // If altitude ends with H, we have HAE
+    // There's a slight difference between Barometric alt and HAE, but it would require
+    // knowledge about Geoid shape in particular Lat, Lon. It's not worth complicating the code
+    if (altitudeStr.endsWith('H')) {
+        altitudeStr.chop(1);
+    }
+    modeCAltitude = altitudeStr.toInt(&altOk);
+
+    double lat = values[14].toDouble(&latOk);
+    double lon = values[15].toDouble(&lonOk);
+    int alert = values[19].toInt();
+
+    if (!altOk || !latOk || !lonOk) {
+        return;
+    }
+    if (lat == 0 && lon == 0) {
+        return;
+    }
+
+    double altitude = modeCAltitude * 0.3048;
+    QGeoCoordinate location(lat, lon);
+    adsbInfo.location = location;
+    adsbInfo.altitude = altitude;
+    adsbInfo.alert = alert == 1;
+    adsbInfo.availableFlags = ADSBVehicle::LocationAvailable | ADSBVehicle::AltitudeAvailable | ADSBVehicle::AlertAvailable;
+    emit adsbVehicleUpdate(adsbInfo);
+}
+
+void ADSBTCPLink::_parseAndEmitHeading(ADSBVehicle::ADSBVehicleInfo_t &adsbInfo, QStringList values)
+{
+    bool headingOk;
+    double heading = values[13].toDouble(&headingOk);
+    if (!headingOk) {
+        return;
+    }
+
+    adsbInfo.heading = heading;
+    adsbInfo.availableFlags = ADSBVehicle::HeadingAvailable;
+    emit adsbVehicleUpdate(adsbInfo);
+}

src/ADSB/ADSBVehicleManager.h

@@ -29,7 +29,7 @@ public:
     ~ADSBTCPLink();
 
 signals:
-    void adsbVehicleUpdate(const ADSBVehicle::VehicleInfo_t vehicleInfo);
+    void adsbVehicleUpdate(const ADSBVehicle::ADSBVehicleInfo_t vehicleInfo);
     void error(const QString errorMsg);
 
 protected:
@@ -45,6 +45,9 @@ private:
     QString         _hostAddress;
     int             _port;
     QTcpSocket*     _socket =   nullptr;
+    void _parseAndEmitCallsign(ADSBVehicle::ADSBVehicleInfo_t &adsbInfo, QStringList values);
+    void _parseAndEmitLocation(ADSBVehicle::ADSBVehicleInfo_t &adsbInfo, QStringList values);
+    void _parseAndEmitHeading(ADSBVehicle::ADSBVehicleInfo_t &adsbInfo, QStringList values);
 };
 
 class ADSBVehicleManager : public QGCTool {
@@ -61,7 +64,7 @@ public:
     void setToolbox(QGCToolbox* toolbox) final;
 
 public slots:
-    void adsbVehicleUpdate  (const ADSBVehicle::VehicleInfo_t vehicleInfo);
+    void adsbVehicleUpdate  (const ADSBVehicle::ADSBVehicleInfo_t vehicleInfo);
     void _tcpError          (const QString errorMsg);
 
 private slots:

src/Vehicle/Vehicle.cc

@@ -3585,7 +3585,7 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t& message)
 
     mavlink_msg_adsb_vehicle_decode(&message, &adsbVehicleMsg);
     if ((adsbVehicleMsg.flags & ADSB_FLAGS_VALID_COORDS) && adsbVehicleMsg.tslc <= maxTimeSinceLastSeen) {
-        ADSBVehicle::VehicleInfo_t vehicleInfo;
+        ADSBVehicle::ADSBVehicleInfo_t vehicleInfo;
 
         vehicleInfo.availableFlags = 0;
         vehicleInfo.icaoAddress = adsbVehicleMsg.ICAO_address;

src/ui/preferences/GeneralSettings.qml

@@ -1030,7 +1030,7 @@ Rectangle {
                             FactTextField {
                                 fact:                   adsbGrid.adsbSettings.adsbServerHostAddress
                                 visible:                adsbGrid.adsbSettings.adsbServerHostAddress.visible
-                                Layout.preferredWidth:  _valueFieldWidth
+                                Layout.fillWidth:       true
                             }
 
                             QGCLabel {