Add vector open telemetry support

Not tested with a real telemetry source yet.

This does not require any setting to change the telemetry protocol
in use, because the ground station uses different ports already, we
just listen on each of them in the different telemetry classes and
everything will just work.

Ref: #17

QOpenHD.pro

@@ -68,7 +68,8 @@ SOURCES += \
     src/openhdtelemetry.cpp \
     src/powermicroservice.cpp \
     src/qopenhdlink.cpp \
-    src/util.cpp
+    src/util.cpp \
+    src/vectortelemetry.cpp
 
 RESOURCES += qml/qml.qrc
 
@@ -93,6 +94,7 @@ HEADERS += \
     inc/openhdtelemetry.h \
     inc/qopenhdlink.h \
     inc/util.h \
+    inc/vectortelemetry.h \
     inc/wifibroadcast.h \
     lib/h264bitstream/bs.h \
     lib/h264bitstream/h264_avcc.h \

inc/util.h

@@ -18,6 +18,8 @@ QString copter_mode_from_enum(COPTER_MODE mode);
 QString plane_mode_from_enum(PLANE_MODE mode);
 QString tracker_mode_from_enum(TRACKER_MODE mode);
 
+QString vot_mode_from_telemetry(uint8_t mode);
+
 uint map(double input, double input_start, double input_end, uint16_t output_start, uint16_t output_end);
 
 #if defined(__android__)

inc/vectortelemetry.h

@@ -0,0 +1,76 @@
+#ifndef VECTORTELEMETRY_H
+#define VECTORTELEMETRY_H
+
+#include <QObject>
+#include <QtQuick>
+
+#include "constants.h"
+
+
+enum _serial_state {
+    IDLE,
+    HEADER_START1,
+    HEADER_START2,
+    HEADER_START3,
+    HEADER_START4,
+    HEADER_MSGTYPE
+};
+
+class QUdpSocket;
+
+class VectorTelemetry: public QObject {
+    Q_OBJECT
+
+public:
+    explicit VectorTelemetry(QObject *parent = nullptr);
+
+
+    Q_PROPERTY(QString last_heartbeat MEMBER m_last_heartbeat WRITE set_last_heartbeat NOTIFY last_heartbeat_changed)
+    void set_last_heartbeat(QString last_heartbeat);
+
+signals:
+    void last_heartbeat_changed(QString last_heartbeat);
+
+
+private slots:
+#if defined(__rasp_pi__)
+    void processVectorFifo();
+    void restartFifo();
+#else
+    void processVectorDatagrams();
+#endif
+
+private:
+    void init();
+
+    uint8_t votread_u8();
+    uint16_t votread_u16();
+    uint16_t votbread_u16();
+    uint32_t votread_u32();
+    uint32_t votbread_u32();
+    uint16_t CRC16Worker(uint16_t icrc, uint8_t r0);
+    uint16_t CalculateCRC(uint8_t * pPacket, uint8_t Size, uint16_t InitCRC);
+    void vot_read(uint8_t *buf, uint8_t buflen);
+
+
+    void processVectorMessage();
+
+#if defined(__rasp_pi__)
+    QFuture<void> fifoFuture;
+    QFutureWatcher<void> watcher;
+#else
+    QUdpSocket *vectorSocket = nullptr;
+#endif
+
+    QString m_last_heartbeat = "N/A";
+    qint64 last_heartbeat_timestamp;
+
+
+    enum _serial_state c_state = IDLE;
+
+    uint8_t VOTReceiverIndex;
+    uint8_t VOTReadIndex;
+    uint16_t VOTRcvChecksum;
+};
+
+#endif //VECTORTELEMETRY_H

qml/main.qml

@@ -168,6 +168,10 @@ ApplicationWindow {
     //    id: ltmTelemetry
     //}
 
+    VectorTelemetry {
+        id: vectorTelemetry
+    }
+
     Loader {
         anchors.fill: parent
         z: 1.1

src/main.cpp

@@ -26,6 +26,7 @@ const QVector<QString> permissions({"android.permission.INTERNET",
 #include "frskytelemetry.h"
 #include "msptelemetry.h"
 #include "ltmtelemetry.h"
+#include "vectortelemetry.h"
 
 #include "qopenhdlink.h"
 
@@ -135,6 +136,8 @@ int main(int argc, char *argv[]) {
     qmlRegisterType<FrSkyTelemetry>("OpenHD", 1, 0, "FrSkyTelemetry");
     qmlRegisterType<MSPTelemetry>("OpenHD", 1, 0, "MSPTelemetry");
     qmlRegisterType<LTMTelemetry>("OpenHD", 1, 0, "LTMTelemetry");
+    qmlRegisterType<VectorTelemetry>("OpenHD", 1, 0, "VectorTelemetry");
+
     qmlRegisterType<OpenHDRC>("OpenHD", 1, 0, "OpenHDRC");
 
     qmlRegisterSingletonType<OpenHDPi>("OpenHD", 1, 0, "OpenHDPi", openHDPiSingletonProvider);

src/util.cpp

@@ -307,6 +307,47 @@ QString tracker_mode_from_enum(TRACKER_MODE mode) {
     return "Unknown";
 }
 
+QString vot_mode_from_telemetry(uint8_t mode) {
+    switch (mode) {
+        case 0:
+            return "2D";
+        case 1:
+            return "2DAH";
+        case 2:
+            return "2DHH";
+        case 3:
+            return "2DAHH";
+        case 4:
+            return "LOITER";
+        case 5:
+            return "3D";
+        case 6:
+            return "3DHH";
+        case 7:
+            return "RTH";
+        case 8:
+            return "LAND";
+        case 9:
+            return "CART";
+        case 10:
+            return "CARTLOI";
+        case 11:
+            return "POLAR";
+        case 12:
+            return "POLARLOI";
+        case 13:
+            return "CENTERSTICK";
+        case 14:
+            return "OFF";
+        case 15:
+            return "WAYPOINT";
+        case 16:
+            return "MAX";
+    }
+    return "Unknown";
+}
+
+
 uint map(double input, double input_start, double input_end, uint16_t output_start, uint16_t output_end) {
     double input_range = input_end - input_start;
     int output_range = output_end - output_start;