qt5-legatus-legacy/Lts/Proxies/TrainingAreaBase/Plugins/UAS/from_tab.cpp

/**
  * "SendToTab" implementation to receive requests from TAB (which originate from the OpApp)
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Mike Wille, ESZS, 2025-04-17
  */

#include "from_tab.h"
#include "uav_ia_manager.h"

#include <NGLLogger/NGLLoggerBootstrap.h>
#include <ProjectDataManagement/pdm_dtc.h>
#include <TrainingAreaBase/recv_from_tab.h>

#include <QJsonDocument>
#include <QJsonObject>


namespace UAS
{
FromTab::FromTab(const std::shared_ptr<TrainingAreaBase::DdsHandler> &ddsHandler,
                 const std::shared_ptr<TrainingAreaBase::RecvFromTab> &sendToDds,
                 UAVInterfaceAdapterManager *uavIAManager, int exerciseId)
  : m_isConnected(false)
  , m_dtcPdm(ProjectDataManagement::Interface::Dtc::create(ddsHandler->ddsConnector()))
  , m_dtcPpm(ParticipantManagement::Interface::Dtc::create(ddsHandler->ddsConnector()))
  , m_sendToDds(sendToDds)
  , m_uavIAManager(uavIAManager)
  , m_exerciseId(exerciseId)
  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("FromTab"))
{
  m_dtcPpm->enableUAS();
  m_dtcPpm->enableParticipant();
}


TrainingAreaBase::SendToTab::HandleState FromTab::canHandleTelegram(int equipmentNumber, int telegramId) const
{
  bool found = false;
  const auto &uasList = m_dtcPpm->uASs();

  for (const auto &uas : uasList)
  {
    if (uas.exerciseId() != m_exerciseId)
    {
      continue;
    }

    const auto &part = m_dtcPpm->participant(uas.participantId());
    if (!part.equipmentNumber().is_set())
    {
      continue;
    }

    if (part.equipmentNumber().get() == equipmentNumber)
    {
      found = true;
      break;
    }
  }

  using namespace TrainingAreaBase::TetraIcd;

  if (!found)
  {
    return HandleState::No;
  }

  if (telegramId == Constraints<UAVPerformMission>::id())
  {
    return HandleState::YesConsume; // we're the only plugin able to fly drones ;)
  }

  if (telegramId == Constraints<UAVChangeState>::id())
  {
    return HandleState::YesConsume; // we're the only plugin able to fly drones ;)
  }

  if (telegramId == Constraints<CesHitRequest>::id())
  {
    return HandleState::YesShare; // participants hit (jam) the drone, we need this info to tell the drone to e.g. return to home after a hit
  }

  if (telegramId == Constraints<DemandVulnerabilityStateChange>::id())
  {
    return HandleState::YesConsume;
  }

  if (telegramId == Constraints<Init>::id())
  {
    return HandleState::YesConsume;
  }

  return HandleState::No; // we handle drone telegrams ONLY
}

bool FromTab::txData(const TrainingAreaBase::TetraIcd::Init &data)
{
  if (!data.resetVulnerabilityState)
  {
    return false;
  }

  //send statechange init
  TrainingAreaBase::TetraIcd::StateChange msg;
  msg.header.equipmentNumber = data.header.equipmentNumber;
  msg.header.timeStamp =  QDateTime::currentMSecsSinceEpoch(); //data.timestamp * 1000;
  msg.originatorId = data.workstationId;
  msg.originatorType = TrainingAreaBase::TetraIcd::OriginatorType::ExerciseControl;
  msg.tasVitality = 100;
  msg.vulnerabilityBits = 0;
  msg.vulnerabilityState = TrainingAreaBase::TetraIcd::VulnerabilityState::CombatReady;

  m_sendToDds->rxData(msg);
  return true;
}


bool FromTab::txData(const TrainingAreaBase::TetraIcd::UAVPerformMission &data)
{
  const int eqId = data.header.equipmentNumber;
  DEBUG_LOG(m_logger) << "eqId: " << eqId;
  const ParticipantManagement::Participant p = m_dtcPpm->participant(m_dtcPpm->participantIdByEquipmentNumber(eqId));

  if (p.id() <= 0)
  {
    WARNING_LOG(m_logger) << "participant not found - stop";
    return false;
  }

  // NOTE: only first action is performed ...

  const auto &action = data.actions.front();

  if (!m_uavIAManager->waypoint(p.id(), action.absPosition, QStringLiteral("%1_%2").arg(data.missionId).arg(data.missionName))) // send waypoint to uav
  {
    WARNING_LOG(m_logger) << "sending waypoint failed!";
    return false;
  }

  return true;
}


bool FromTab::txData(const TrainingAreaBase::TetraIcd::UAVChangeState &data)
{
  const int eqId = data.header.equipmentNumber;
  const ParticipantManagement::Participant p = m_dtcPpm->participant(m_dtcPpm->participantIdByEquipmentNumber(eqId));

  if (p.id() <= 0)
  {
    WARNING_LOG(m_logger) << "participant not found - stop";
    return false;
  }

  // NOTE: only first action is performed ...

  switch (data.requestedState)
  {
    case TrainingAreaBase::TetraIcd::UAVState::Auto:
      return  m_uavIAManager->tryChangeModeToAuto(p.id());
    default:
      return true;
  }

  return true;
}


bool FromTab::txData(const TrainingAreaBase::TetraIcd::CesHitRequest &data)
{
  // drone was hit by jamming

  DEBUG_LOG(m_logger) << "data.chargeTasCodeDirect = " << data.chargeTasCodeDirect;

  // NOTE: igniterType/IgniterFunciton = 0 as long as CesHitRequest does not contain values
  if (!m_dtcPdm->isJamming(data.chargeTasCodeDirect,0,0))
  {
    WARNING_LOG(m_logger) << "not jamming";
    return false;
  }

  DEBUG_LOG(m_logger) << "participantEventChanged: JAMMING! chargetasCodeDirect = " << data.chargeTasCodeDirect;

  const int eqId = data.header.equipmentNumber;
  const ParticipantManagement::Participant p = m_dtcPpm->participant(m_dtcPpm->participantIdByEquipmentNumber(eqId));

  if (p.id() <= 0)
  {
    WARNING_LOG(m_logger) << "participant not found - stop";
    return false;
  }

  m_uavIAManager->kill(p.id()); // kill UAV in EXCON and return UAV home

  TrainingAreaBase::TetraIcd::StateChangeDirect msg;
  msg.chargeTypeId = data.chargeTasCodeDirect; // = jamming
  msg.header.equipmentNumber = eqId;
  msg.header.timeStamp = data.header.timeStamp;
  msg.vulnerabilityState = TrainingAreaBase::TetraIcd::VulnerabilityState::CatastrophicKill;
  msg.originatorId = data.originatorEquipmentNumber;

  DEBUG_LOG(m_logger) << "sending state change direct (kill) with jamming for eqId " << msg.header.equipmentNumber;

  m_sendToDds->rxData(msg);

  return true;
}


bool FromTab::txData(const TrainingAreaBase::TetraIcd::DemandVulnerabilityStateChange &data)
{
  const auto p = m_dtcPpm->participantIdByEquipmentNumber(data.header.equipmentNumber);
  // we could trigger RTH if needed with:
  // if (p >  0 && m_uavIAManager)
  //   m_uavIAManager->kill(p); // kill UAV in EXCON and return UAV home
  const auto &pData = m_dtcPpm->dynamicParticipantData(p);
  for (const auto &dyn : pData.stateHistory())
  {
    if (dyn.vulnerabilityState() == ProjectDataManagement::VulnerabilityState::CatastrophicKill)
    {
      return false;
    }
  }

  //send statechange init
  TrainingAreaBase::TetraIcd::StateChange msg;
  msg.header.equipmentNumber = data.header.equipmentNumber;
  msg.header.timeStamp =  QDateTime::currentMSecsSinceEpoch(); //data.timestamp * 1000;
  msg.originatorId = data.workstationId;
  msg.originatorType = TrainingAreaBase::TetraIcd::OriginatorType::ExerciseControl;
  msg.tasVitality = 0;
  msg.vulnerabilityBits = 0;
  msg.vulnerabilityState = data.reqestedState;

  m_sendToDds->rxData(msg);
  return true;
}

bool FromTab::txData(const TrainingAreaBase::TetraIcd::OcCommand &data)
{
  Q_UNUSED(data)
  return false;
}

} // namespace UAS