qt5-legatus-legacy/Lts/Proxies/WirelessLocationSystem/wls_participant.h

/**
  * A single Participant
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Christian Ehrlicher, SLSE, 2017-01-10
  */

#pragma once

#include <QByteArray>
#include <QObject>
#include <QQueue>
#include <QStringBuilder>
#include <QTimer>
//#include <QDebug>

#include <math.h>

#include <TrainingAreaBase/training_area_telegrams.h>

#include "logger.h"
#include "settings.h"

inline Q_CONSTEXPR double pi() { return M_PI; }
inline Q_CONSTEXPR double deg2rad() { return pi() / 180.; }

namespace WirelessLocationSystem
{
class Acknowledge_rx;
class SfmMsgTetra_rx;
class SfmMsgTetra_tx;

class WlsParticipant : public QObject
{
  Q_OBJECT
public:
  static int calcWlsZone(int wlsAreaId, int wlsBuildingId, int wlsRoomNumber)
  {
    if (wlsAreaId == 0 && wlsBuildingId == 0 && wlsRoomNumber == 0)
      return 3;
    if (wlsAreaId != 0 && wlsBuildingId == 1002 && wlsRoomNumber == 1001)
      return 4;
    if (wlsAreaId != 0 && wlsBuildingId == 0 && wlsRoomNumber == 0)
      return 5;

    return 6;
  }
  static bool mustSendGpsOn(int wlsZoneOld, int wlsZoneNew)
  {
    // restart of service
    if (wlsZoneOld == -1)
      return wlsZoneNew <= 4;
    // normal operation
    return (wlsZoneOld >= 4 && wlsZoneNew <= 3);
  }
  static bool mustSendGpsOff(int wlsZoneOld, int wlsZoneNew)
  {
    // restart of service
    if (wlsZoneOld == -1)
      return wlsZoneNew >= 5;
    // normal operation
    return (wlsZoneOld <= 4 && wlsZoneNew >= 5);
  }

  enum class GpsMode : char
  {
    Off,
    On
  };
  enum class DataCommunication : char
  {
    Unknown,
    Off,
    On
  };

  struct RelativePosition
  {
    double x = 0;
    double y = 0;
    double z = 0;
    int wlsAreaId = 0;
    int wlsBuildingId = 0;  // = externalWlsId
    int wlsRoomNumber = 0;
    int playerOrientation = 0;
    int weaponOrientation = 0;
    bool isValid = false;

  } ;

  static bool comparePos (const RelativePosition &rhs, const RelativePosition &lhs )
  {
    double dx = ((lhs.x/deg2rad())-(rhs.x/deg2rad()));
    double dy = ((lhs.y/deg2rad())-rhs.y/deg2rad());
    double dz = (lhs.z-rhs.z);
    double dist = dx*dx + dy*dy + dz*dz;
    //qWarning() << "Compare two pos: square distance= " << QString::number(dist,'g',10);

    bool ret = dist < Settings::wlsSquareDistanceMax()
        && lhs.wlsAreaId == rhs.wlsAreaId
        && lhs.wlsBuildingId == rhs.wlsBuildingId
        && lhs.wlsRoomNumber == rhs.wlsRoomNumber;
    //  && lhs.isValid == rhs.isValid;
    //qWarning() << "Return Value= " << ret;

    return ret;
  }
protected:
  explicit WlsParticipant(QObject *parent = nullptr);
public:
  void setPosition(const RelativePosition &newPosition, qint64 tsCurrentPos);
  bool positionIsValid() const { return m_relativePosition.isValid; }
  qint64 positionTimestamp() const { return m_lastValidPosition; }
  RelativePosition position() const { return m_relativePosition; }
  bool isGpsMode() const { return m_gpsMode == WlsParticipant::GpsMode::On; }
  // returns true when timeout is reached
  void checkGpsOnOffTimeoutTimer(qint64 tNow);
  void setLastSeenWlsTelegramTime(qint64 ts);
  qint64 lastSeenWlsTelegramTime() const { return m_lastSeenDataCommunication; }

  void setWlsZone(int newWlsZone);
  int wlsZone() const { return m_wlsZone; }

  QByteArray getPlayerIdStr() const;

  const QByteArray &tagId() const { return m_tagId; }
  void setEquipmentNumber(int newEquipmentNumber);
  int equipmentNumber() const { return m_equipmentNumber; }
  int exerciseId() const { return m_exerciseId; }
  void setExerciseId(int exerciseId) { m_exerciseId = exerciseId; }
  bool isDataCommunicationPossible() const { return m_dataCommunication == DataCommunication::On; }
  DataCommunication dataCommunication() const { return m_dataCommunication; }
  GpsMode gpsMode() const { return m_gpsMode; }

  bool handleSfmRxData(const SfmMsgTetra_rx *sfmTele);
  bool isSfmRxDataAvailable() const { return m_bSfmPayloadReady; }
  uint8_t nextSfmRxDataFragmentCounter() const { return m_sfmRxPayloadFragmentNumber; }
  const QByteArray &sfmRxData() const { return m_sfmRxPayloadData; }

  static bool calcChunkCountAndLen(const QByteArray &data, int &chunkCount, int &chunkLen);
  void sendBinarySfmData(const std::vector<unsigned char> &data);
  void handleWlsAck(const Acknowledge_rx *ack);

  TrainingAreaBase::TetraIcd::WlsParticipantState wlsParticipantState() const;

  // TODO
  double voltage = 0;
  qint64 lastEquipmentNumberRequest = 0;

Q_SIGNALS:
  void positionChanged(WlsParticipant *p);
  void gpsOnOffChanged(WlsParticipant *p);
  void wlsBinarySfmDataComplete(WlsParticipant *p);
  void dataCommunicationStateChanged(WlsParticipant *p);
  void dataForWls(WlsParticipant *p, const SfmMsgTetra_tx &data);
private Q_SLOTS:
  void checkSendTele();
  void sendNextWlsTelegram(bool bIsResend);
  void onWlsTeleTimeout();
private:
  uint8_t getNextSendCounter(bool bIsResend);
  bool isRecvCounterCorrect(uint8_t recvCounter);
private:
  struct WlsPayloadData
  {
    QByteArray payload;
    uint8_t retryCount = 0;
    uint8_t fragmentCount = 0;
    uint8_t fragmentNumber = 0;
  };

  friend class WlsParticipantHandler;
  QByteArray m_tagId;
  QByteArray m_sfmRxPayloadData;
  QQueue<WlsPayloadData> m_currentFragmentedTeleQueue;
  QQueue<WlsPayloadData> m_wlsQueue;

  uint8_t m_sfmRxPayloadFragmentNumber = 0;
  bool m_bSfmPayloadReady = false;

  int m_equipmentNumber = 0;
  int m_exerciseId = 0;
  // zone 1 and 2 will never be met here - far outside wls area
  int m_wlsZone = -1;  // 1 .. 6

  RelativePosition m_relativePosition;
  GpsMode m_gpsMode = GpsMode::On;
  DataCommunication m_dataCommunication = DataCommunication::Unknown;
  qint64 m_lastSeenDataCommunication = 0;
  qint64 m_lastValidPosition = 0;
  qint64 m_lastSeenPosition = 0;

  QTimer *m_wlsTeleTimeoutTimer = nullptr;
  int m_wlsTeleTimeoutCounter = 0;
  uint8_t m_nextSendCounter = 0;
  uint8_t m_lastRecvCounter = 0;

  NGL::INGLLogger &m_logger;
};

std::ostream &operator<<(std::ostream &stream, WlsParticipant::GpsMode gm);
std::ostream &operator<<(std::ostream &stream, WlsParticipant::DataCommunication dc);

} // namespace WirelessLocationSystem