/**
* The default constructor will create a new MAVLink object sending heartbeats at
* the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
*/
MAVLinkProtocol::MAVLinkProtocol(QObject* parent) :
QGCSingleton(parent),
m_multiplexingEnabled(false),
m_authEnabled(false),
m_enable_version_check(true),
m_paramRetransmissionTimeout(350),
m_paramRewriteTimeout(500),
m_paramGuardEnabled(true),
m_actionGuardEnabled(false),
m_actionRetransmissionTimeout(100),
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId),
_logSuspendError(false),
_logSuspendReplay(false),
_tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension)),
_linkMgr(LinkManager::instance()),
_heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
_heartbeatsEnabled(true)
{
qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
loadSettings();
// All the *Counter variables are not initialized here, as they should be initialized
// on a per-link basis before those links are used. @see resetMetadataForLink().
// Initialize the list for tracking dropped messages to invalid.
for (int i = 0; i < 256; i++)
{
for (int j = 0; j < 256; j++)
{
lastIndex[i][j] = -1;
}
}
// Start heartbeat timer, emitting a heartbeat at the configured rate
connect(&_heartbeatTimer, &QTimer::timeout, this, &MAVLinkProtocol::sendHeartbeat);
_heartbeatTimer.start(1000 / _heartbeatRate);
connect(this, &MAVLinkProtocol::protocolStatusMessage, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
connect(this, &MAVLinkProtocol::saveTempFlightDataLog, qgcApp(), &QGCApplication::saveTempFlightDataLogOnMainThread);
emit versionCheckChanged(m_enable_version_check);
}
//-----------------------------------------------------------------------------
QNetworkRequest
UrlFactory::getTileURL(MapType type, int x, int y, int zoom, QNetworkAccessManager* networkManager)
{
//-- Build URL
QNetworkRequest request;
QString url = _getURL(type, x, y, zoom, networkManager);
if(url.isEmpty())
return request;
request.setUrl(QUrl(url));
request.setRawHeader("Accept", "*/*");
switch (type) {
#ifndef QGC_NO_GOOGLE_MAPS
case GoogleMap:
case GoogleSatellite:
case GoogleLabels:
case GoogleTerrain:
case GoogleHybrid:
request.setRawHeader("Referrer", "https://www.google.com/maps/preview");
break;
#endif
case BingHybrid:
case BingMap:
case BingSatellite:
request.setRawHeader("Referrer", "https://www.bing.com/maps/");
break;
case StatkartTopo:
request.setRawHeader("Referrer", "https://www.norgeskart.no/");
break;
case EniroTopo:
request.setRawHeader("Referrer", "https://www.eniro.se/");
break;
/*
case OpenStreetMapSurfer:
case OpenStreetMapSurferTerrain:
request.setRawHeader("Referrer", "http://www.mapsurfer.net/");
break;
case OpenStreetMap:
case OpenStreetOsm:
request.setRawHeader("Referrer", "https://www.openstreetmap.org/");
break;
*/
case EsriWorldStreet:
case EsriWorldSatellite:
case EsriTerrain: {
QByteArray token = qgcApp()->toolbox()->settingsManager()->appSettings()->esriToken()->rawValue().toString().toLatin1();
request.setRawHeader("User-Agent", QByteArrayLiteral("Qt Location based application"));
request.setRawHeader("User-Token", token);
}
return request;
default:
break;
}
request.setRawHeader("User-Agent", _userAgent);
return request;
}
void CollisionAvoidanceTestBoscamNormalLense::movingBackgroundNoCrash()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/normalLense/movingBackgroundNoCrash.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = false;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamCheapFisheye::groundHoveringNoCa()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/fisheye/cheapFisheye/groundHoveringNoCa.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = false;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamNormalLense::grillFrontalCrash()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/normalLense/grillFrontalCrash.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
dto.lowerFrameNumberBound = 45;
dto.upperFrameNumberBound = 60;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamCheapFisheye::groundRaisesCa()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/fisheye/cheapFisheye/groundRaisesCa.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
dto.lowerFrameNumberBound = 200;
dto.upperFrameNumberBound = 460;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamNormalLense::sideCrash()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/normalLense/sideCrash.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
dto.lowerFrameNumberBound = 70;
dto.upperFrameNumberBound = 80;
// todo: this video is _very_ hard to detect
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamCheapFisheye::roofThinObstacle()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/fisheye/cheapFisheye/roofThinObstacle.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
// surprisingly this is an awesome result and the UAV would just have stopped in time :)
dto.lowerFrameNumberBound = 180;
dto.upperFrameNumberBound = 219;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamCheapFisheye::fenceCrash2()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/fisheye/cheapFisheye/fenceCrash.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
// TODO: this is a really BAD video for CA (or better said how the algorithm behaves here :S - investigate more; there are only ~6 frames with ok-ish inlier ration and they account for CA in a too late manner
dto.lowerFrameNumberBound = 140;
dto.upperFrameNumberBound = 160;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
void CollisionAvoidanceTestBoscamCheapFisheye::fastFenceFlyOver()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/fisheye/cheapFisheye/fastFenceFlyOver.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
// this detection works surprisingly WELL, considering the high speed Volcy would still have been able to stop in time :-)
dto.lowerFrameNumberBound = 50;
dto.upperFrameNumberBound = 70;
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
QGCTabbedInfoView::QGCTabbedInfoView(const QString& title, QAction* action, QWidget *parent)
: QGCDockWidget(title, action, parent)
{
ui.setupUi(this);
messageView = new UASMessageViewWidget(qgcApp()->toolbox()->uasMessageHandler(), this);
//actionsWidget = new UASActionsWidget(this);
quickView = new UASQuickView(this);
//rawView = new UASRawStatusView(this);
ui.tabWidget->addTab(quickView,"Quick");
//ui.tabWidget->addTab(actionsWidget,"Actions");
//ui.tabWidget->addTab(rawView,"Status");
ui.tabWidget->addTab(messageView,"Messages");
loadSettings();
}
void CollisionAvoidanceTestBoscamNormalLense::hutFrontalCrash()
{
CollisionAvoidanceSettings& settings = CollisionAvoidanceSettings::getInstance();
settings.setFileName("/home/helli/d/m/qgroundcontrol/src/CollisionAvoidance/opticalflow/res/boscam/normalLense/hutFrontalCrash.avi");
CollisionAvoidanceTestSettingsDto dto;
dto.shouldTriggerCollisionImmanent = true;
dto.lowerFrameNumberBound = 90;
dto.upperFrameNumberBound = 260;
// TODO: this video has very different divergence readings, that's why the above range is _so_ big
// -> does the algorithm work the same each time? (i.e. is the starting state correct, do the FoE readings correlate between multiple runs)
// -> how does the black border to the right (camera specific) and the roof influence the FoE?
// - very interesting video in general
CollisionAvoidanceTestBase::_testCa(settings, qgcApp()->toolbox(), dto);
}
//-----------------------------------------------------------------------------
QString
UrlFactory::_getURL(MapType type, int x, int y, int zoom, QNetworkAccessManager* networkManager)
{
switch (type) {
#ifdef QGC_NO_GOOGLE_MAPS
Q_UNUSED(networkManager);
#else
case GoogleMap:
{
// http://mt1.google.com/vt/lyrs=m
QString server = "mt";
QString request = "vt";
QString sec1 = ""; // after &x=...
QString sec2 = ""; // after &zoom=...
_getSecGoogleWords(x, y, sec1, sec2);
_tryCorrectGoogleVersions(networkManager);
return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(x, y, 4)).arg(request).arg(_versionGoogleMap).arg(_language).arg(x).arg(sec1).arg(y).arg(zoom).arg(sec2);
}
break;
case GoogleSatellite:
{
// http://mt1.google.com/vt/lyrs=s
QString server = "khm";
QString request = "kh";
QString sec1 = ""; // after &x=...
QString sec2 = ""; // after &zoom=...
_getSecGoogleWords(x, y, sec1, sec2);
_tryCorrectGoogleVersions(networkManager);
return QString("http://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(x, y, 4)).arg(request).arg(_versionGoogleSatellite).arg(_language).arg(x).arg(sec1).arg(y).arg(zoom).arg(sec2);
}
break;
case GoogleLabels:
{
QString server = "mts";
QString request = "vt";
QString sec1 = ""; // after &x=...
QString sec2 = ""; // after &zoom=...
_getSecGoogleWords(x, y, sec1, sec2);
_tryCorrectGoogleVersions(networkManager);
return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(x, y, 4)).arg(request).arg(_versionGoogleLabels).arg(_language).arg(x).arg(sec1).arg(y).arg(zoom).arg(sec2);
}
break;
case GoogleTerrain:
{
QString server = "mt";
QString request = "vt";
QString sec1 = ""; // after &x=...
QString sec2 = ""; // after &zoom=...
_getSecGoogleWords(x, y, sec1, sec2);
_tryCorrectGoogleVersions(networkManager);
return QString("http://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(x, y, 4)).arg(request).arg(_versionGoogleTerrain).arg(_language).arg(x).arg(sec1).arg(y).arg(zoom).arg(sec2);
}
break;
#endif
case StatkartTopo:
{
return QString("http://opencache.statkart.no/gatekeeper/gk/gk.open_gmaps?layers=topo2&zoom=%1&x=%2&y=%3").arg(zoom).arg(x).arg(y);
}
break;
case EniroTopo:
{
return QString("http://map.eniro.com/geowebcache/service/tms1.0.0/map/%1/%2/%3.png").arg(zoom).arg(x).arg((1<<zoom)-1-y);
}
break;
/*
case OpenStreetMap:
{
char letter = "abc"[_getServerNum(x, y, 3)];
return QString("https://%1.tile.openstreetmap.org/%2/%3/%4.png").arg(letter).arg(zoom).arg(x).arg(y);
}
break;
case OpenStreetOsm:
{
char letter = "abc"[_getServerNum(x, y, 3)];
return QString("http://%1.tah.openstreetmap.org/Tiles/tile/%2/%3/%4.png").arg(letter).arg(zoom).arg(x).arg(y);
}
break;
case OpenStreetMapSurfer:
{
// http://tiles1.mapsurfer.net/tms_r.ashx?x=37378&y=20826&z=16
return QString("http://tiles1.mapsurfer.net/tms_r.ashx?x=%1&y=%2&z=%3").arg(x).arg(y).arg(zoom);
}
break;
case OpenStreetMapSurferTerrain:
{
// http://tiles2.mapsurfer.net/tms_t.ashx?x=9346&y=5209&z=14
return QString("http://tiles2.mapsurfer.net/tms_t.ashx?x=%1&y=%2&z=%3").arg(x).arg(y).arg(zoom);
}
break;
*/
case BingMap:
{
QString key = _tileXYToQuadKey(x, y, zoom);
return QString("http://ecn.t%1.tiles.virtualearth.net/tiles/r%2.png?g=%3&mkt=%4").arg(_getServerNum(x, y, 4)).arg(key).arg(_versionBingMaps).arg(_language);
}
break;
case BingSatellite:
{
QString key = _tileXYToQuadKey(x, y, zoom);
return QString("http://ecn.t%1.tiles.virtualearth.net/tiles/a%2.jpeg?g=%3&mkt=%4").arg(_getServerNum(x, y, 4)).arg(key).arg(_versionBingMaps).arg(_language);
}
break;
case BingHybrid:
{
QString key = _tileXYToQuadKey(x, y, zoom);
return QString("http://ecn.t%1.tiles.virtualearth.net/tiles/h%2.jpeg?g=%3&mkt=%4").arg(_getServerNum(x, y, 4)).arg(key).arg(_versionBingMaps).arg(_language);
}
/*
case MapQuestMap:
{
char letter = "1234"[_getServerNum(x, y, 4)];
return QString("http://otile%1.mqcdn.com/tiles/1.0.0/map/%2/%3/%4.jpg").arg(letter).arg(zoom).arg(x).arg(y);
}
break;
case MapQuestSat:
{
char letter = "1234"[_getServerNum(x, y, 4)];
return QString("http://otile%1.mqcdn.com/tiles/1.0.0/sat/%2/%3/%4.jpg").arg(letter).arg(zoom).arg(x).arg(y);
}
break;
*/
case EsriWorldStreet:
return QString("http://services.arcgisonline.com/ArcGIS/rest/services/World_Street_Map/MapServer/tile/%1/%2/%3").arg(zoom).arg(y).arg(x);
case EsriWorldSatellite:
return QString("http://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/%1/%2/%3").arg(zoom).arg(y).arg(x);
case EsriTerrain:
return QString("http://server.arcgisonline.com/ArcGIS/rest/services/World_Terrain_Base/MapServer/tile/%1/%2/%3").arg(zoom).arg(y).arg(x);
case MapboxStreets:
case MapboxLight:
case MapboxDark:
case MapboxSatellite:
case MapboxHybrid:
case MapboxWheatPaste:
case MapboxStreetsBasic:
case MapboxComic:
case MapboxOutdoors:
case MapboxRunBikeHike:
case MapboxPencil:
case MapboxPirates:
case MapboxEmerald:
case MapboxHighContrast:
{
QString mapBoxToken = qgcApp()->toolbox()->settingsManager()->appSettings()->mapboxToken()->rawValue().toString();
if(!mapBoxToken.isEmpty()) {
QString server = "https://api.mapbox.com/v4/";
switch(type) {
case MapboxStreets:
server += "mapbox.streets";
break;
case MapboxLight:
server += "mapbox.light";
break;
case MapboxDark:
server += "mapbox.dark";
break;
case MapboxSatellite:
server += "mapbox.satellite";
break;
case MapboxHybrid:
server += "mapbox.streets-satellite";
break;
case MapboxWheatPaste:
server += "mapbox.wheatpaste";
break;
case MapboxStreetsBasic:
server += "mapbox.streets-basic";
break;
case MapboxComic:
server += "mapbox.comic";
break;
case MapboxOutdoors:
server += "mapbox.outdoors";
break;
case MapboxRunBikeHike:
server += "mapbox.run-bike-hike";
break;
case MapboxPencil:
server += "mapbox.pencil";
break;
case MapboxPirates:
server += "mapbox.pirates";
break;
case MapboxEmerald:
server += "mapbox.emerald";
break;
case MapboxHighContrast:
server += "mapbox.high-contrast";
break;
default:
return QString::null;
}
server += QString("/%1/%2/%3.jpg80?access_token=%4").arg(zoom).arg(x).arg(y).arg(mapBoxToken);
return server;
}
}
break;
default:
qWarning("Unknown map id %d\n", type);
break;
}
return QString::null;
}
