Refacted UDP Socket config and created UAS addon

addons/client/dialog.hpp

@@ -12,7 +12,7 @@ class armatak_udp_socket_start_dialog {
       x = "0.386562 * safezoneW + safezoneX";
       y = "0.357 * safezoneH + safezoneY";
       w = "0.216563 * safezoneW";
-      h = "0.319 * safezoneH";
+      h = "0.418 * safezoneH";
       colorBackground[]={0,0,0,0.45};
     };
   };
@@ -44,6 +44,16 @@ class armatak_udp_socket_start_dialog {
       h = "0.044 * safezoneH";
       colorBackground[]={0,0,0,0.5};
     };
+    class armatak_gui_module_udp_socket_dialog_video_feed_url_edit: RscEdit {
+      idc = 16969;
+      text = "";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.632 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[]={0,0,0,0.5};
+      tooltip = "Optional shared feed URL. If empty, the UAV 3DEN URL is used first, then a local RTP fallback.";
+    };
     class armatak_gui_module_udp_socket_dialog_address_text: RscText {
       idc = 16963;
       text = "EUD's Address";
@@ -68,12 +78,20 @@ class armatak_udp_socket_start_dialog {
       w = "0.20625 * safezoneW";
       h = "0.033 * safezoneH";
     };
+    class armatak_gui_module_udp_socket_dialog_video_feed_url_text: RscText {
+      idc = 16970;
+      text = "Video Feed URL (Optional)";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.599 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
     class armatak_gui_module_udp_socket_dialog_address_button_cancel: RscButton {
       idc = 16965;
       text = "Cancel";
       action = "closeDialog 2;";
       x = "0.551563 * safezoneW + safezoneX";
-      y = "0.632 * safezoneH + safezoneY";
+      y = "0.709 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };
@@ -82,7 +100,7 @@ class armatak_udp_socket_start_dialog {
       text = "Ok";
       action = QUOTE(call FUNC(startUDPSocket));
       x = "0.5 * safezoneW + safezoneX";
-      y = "0.632 * safezoneH + safezoneY";
+      y = "0.709 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };

addons/client/functions/fnc_startUDPSocket.sqf

@@ -14,19 +14,24 @@ disableSerialization;
 private _eud_address = ctrlText 16961;
 private _gnss_port = ctrlText 16962;
 private _mavlink_port = ctrlText 16967;
+private _video_feed_url = ctrlText 16969;
 
 private _udp_socket_fulladdress = _eud_address + ":" + _gnss_port;
 private _mavlink_address = _eud_address + ":" + _mavlink_port;
 
 player setVariable [QGVAR(udp_socket_address), _udp_socket_fulladdress];
 player setVariable [QGVAR(mavlink_address), _mavlink_address];
+player setVariable [QGVAR(video_feed_url), trim _video_feed_url];
 player setVariable [QGVAR(eudConnected), true];
 
+private _advertised_video_uri = [objNull] call EFUNC(uav,resolveVideoUri);
+
 "armatak" callExtension ["udp_socket:start", [_udp_socket_fulladdress]];
+"armatak" callExtension ["uas:start_endpoint", [parseNumber _mavlink_port]];
 
 private _mdnsInstanceName = format ["ArmaTAK-%1", name player];
-"armatak" callExtension ["mdns:start_uas_advertisement", [_mdnsInstanceName, parseNumber _mavlink_port, "rtp://0.0.0.0:5600"]];
+"armatak" callExtension ["mdns:start_uas_advertisement", [_mdnsInstanceName, parseNumber _mavlink_port, _advertised_video_uri]];
-"armatak" callExtension ["log", [["info", format ["Client UDP socket started for %1 and MAVLink target set to %2", _udp_socket_fulladdress, _mavlink_address]]]];
+"armatak" callExtension ["log", [["info", format ["Client UDP socket started for %1, MAVLink target set to %2 and advertised video URI set to %3", _udp_socket_fulladdress, _mavlink_address, _advertised_video_uri]]]];
 
 call EFUNC(uav,startMavlinkBroadcast);
 

addons/main/Cfg3den.hpp

@@ -80,7 +80,7 @@ class Cfg3den {
           };
           class armatak_attribute_marker_video_url {
             displayName = "Video Feed URL";
-            tooltip = "Video feed URL injected into __video on TAK";
+            tooltip = "Shared UAV video URL. This per-vehicle value overrides the optional session video URL from Connect to EUD.";
             property = "armatak_attribute_marker_video_url";
             control = "Edit";
             expression = "_this setVariable ['armatak_attribute_marker_video_url',_value]";

addons/main/XEH_postInit.sqf

@@ -14,6 +14,7 @@ addMissionEventHandler ["ExtensionCallback", {
 				case "EUD Disconnected": {
 					SETVAR(player,EGVAR(client,eudConnected),false);
 					call EFUNC(uav,stopMavlinkBroadcast);
+					"armatak" callExtension ["uas:stop_endpoint", []];
 					"armatak" callExtension ["mdns:stop", []];
 				};
 				default {};
@@ -28,15 +29,45 @@ addMissionEventHandler ["ExtensionCallback", {
 			if (_function == "UDP Socket is not running") then {
 				SETVAR(player,EGVAR(client,eudConnected),false);
 				call EFUNC(uav,stopMavlinkBroadcast);
+				"armatak" callExtension ["uas:stop_endpoint", []];
 				"armatak" callExtension ["mdns:stop", []];
 			};
 
 			if (_function == "failed to bind UDP socket") then {
 				SETVAR(player,EGVAR(client,eudConnected),false);
 				call EFUNC(uav,stopMavlinkBroadcast);
+				"armatak" callExtension ["uas:stop_endpoint", []];
 				"armatak" callExtension ["mdns:stop", []];
 			};
 		};
+		case "MAVLINK UDP ERROR": {
+			_message = _function;
+			if (_data isNotEqualTo "") then {
+				_message = format ["%1: %2", _function, _data];
+			};
+
+			[_message, "warning", _name] call FUNC(notify);
+		};
+		case "MAVLINK UDP": {
+			private _history = missionNamespace getVariable ["armatak_uav_mavlink_callback_history", []];
+			_history pushBack [diag_tickTime, _function, _data];
+			if ((count _history) > 50) then {
+				_history deleteRange [0, (count _history) - 50];
+			};
+			missionNamespace setVariable ["armatak_uav_mavlink_callback_history", _history];
+			missionNamespace setVariable ["armatak_uav_last_mavlink_callback", [diag_tickTime, _function, _data]];
+
+			switch (_function) do {
+				case "COMMAND_LONG";
+				case "COMMAND_INT";
+				case "COMMAND_ACK";
+				case "MANUAL_CONTROL": {
+					"armatak" callExtension ["log", [["info", format ["MAVLINK UDP CALLBACK %1 %2", _function, _data]]]];
+					[_function, _data] call EFUNC(uav,handleMavlinkCallback);
+				};
+				default {};
+			};
+		};
 		case "TCP SOCKET": {
 			[_function, "success", _name] call FUNC(notify);
 		};

addons/uav/XEH_PREP.hpp

@@ -1,3 +1,6 @@
 PREP(startMavlinkBroadcast);
 PREP(stopMavlinkBroadcast);
 PREP(updateMavlinkBroadcast);
+PREP(resolveVideoUri);
+PREP(handleMavlinkCallback);
+PREP(parseMavlinkCallbackData);

addons/uav/functions/fnc_handleMavlinkCallback.sqf

@@ -0,0 +1,63 @@
+#include "..\script_component.hpp"
+
+params ["_function", ["_data", "", [""]]];
+
+if (!hasInterface) exitWith {};
+
+private _payload = [_data] call FUNC(parseMavlinkCallbackData);
+private _uav = getConnectedUAV player;
+if (isNull _uav) exitWith {
+	"armatak" callExtension ["log", [["warn", format ["Ignoring MAVLINK UDP callback %1 because no UAV is connected: %2", _function, _data]]]];
+};
+
+private _command = parseNumber (_payload getOrDefault ["command", "-1"]);
+private _commandName = _payload getOrDefault ["command_name", "UNKNOWN"];
+
+switch (_function) do {
+	case "COMMAND_LONG": {
+		switch (_command) do {
+			case 400: {
+				private _armValue = parseNumber (_payload getOrDefault ["param1", "0"]);
+				private _doArm = _armValue >= 1;
+				_uav engineOn _doArm;
+				if (_doArm) then {
+					_uav setFuel ((fuel _uav) max 0.1);
+				};
+				systemChat format ["ATAK %1 %2", ["DISARM", "ARM"] select _doArm, [_uav] call armatak_fnc_extract_marker_callsign];
+				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK COMMAND_LONG %1 (%2) to UAV %3", _command, _commandName, _uav]]]];
+			};
+			case 22: {
+				_uav engineOn true;
+				_uav setFuel ((fuel _uav) max 0.1);
+				_uav flyInHeight 75;
+
+				if (_uav isKindOf "Helicopter" || {_uav isKindOf "VTOL_Base_F"} || {_uav isKindOf "Quadbike_01_F"}) then {
+					private _velocity = velocityModelSpace _uav;
+					_uav setVelocityModelSpace [
+						_velocity select 0,
+						(_velocity select 1) max 15,
+						((_velocity select 2) max 0) + 8
+					];
+				};
+
+				systemChat format ["ATAK TAKEOFF %1", [_uav] call armatak_fnc_extract_marker_callsign];
+				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK TAKEOFF to UAV %1", _uav]]]];
+			};
+			default {
+				"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_LONG %1 (%2): %3", _command, _commandName, _data]]]];
+			};
+		};
+	};
+	case "COMMAND_INT": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_INT %1 (%2): %3", _command, _commandName, _data]]]];
+	};
+	case "COMMAND_ACK": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_ACK %1 (%2): %3", _command, _commandName, _data]]]];
+	};
+	case "MANUAL_CONTROL": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK MANUAL_CONTROL: %1", _data]]]];
+	};
+	default {
+		"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK UDP callback %1: %2", _function, _data]]]];
+	};
+};

addons/uav/functions/fnc_parseMavlinkCallbackData.sqf

@@ -0,0 +1,17 @@
+#include "..\script_component.hpp"
+
+params [["_raw", "", [""]]];
+
+private _pairs = createHashMap;
+
+{
+	private _entry = _x;
+	private _separatorIndex = _entry find "=";
+	if (_separatorIndex > 0) then {
+		private _key = _entry select [0, _separatorIndex];
+		private _value = _entry select [_separatorIndex + 1];
+		_pairs set [_key, _value];
+	};
+} forEach (_raw splitString ";");
+
+_pairs

addons/uav/functions/fnc_resolveVideoUri.sqf

@@ -0,0 +1,37 @@
+#include "..\script_component.hpp"
+
+params [["_uav", objNull, [objNull]]];
+
+private _defaultVideoUri = "rtsp://irontak.com:554/fpv";
+private _activelyControlledUav = if (!isNull player) then {getConnectedUAV player} else {objNull};
+
+private _normalize = {
+	params ["_rawUrl"];
+
+	private _url = trim _rawUrl;
+	if (_url isEqualTo "") exitWith {""};
+
+	if (_url find "://" >= 0) exitWith {_url};
+
+	if (_url find "/" >= 0) exitWith {
+		format ["rtsp://%1", _url]
+	};
+
+	format ["rtp://%1", _url]
+};
+
+if (!isNull _uav && {_activelyControlledUav isEqualTo _uav}) then {
+	private _objectVideoUrl = [_uav] call armatak_fnc_extract_marker_video_url;
+	private _normalizedObjectVideoUrl = [_objectVideoUrl] call _normalize;
+	if (_normalizedObjectVideoUrl isNotEqualTo "") exitWith {
+		_normalizedObjectVideoUrl
+	};
+};
+
+private _sessionVideoUrl = player getVariable [QEGVAR(client,video_feed_url), ""];
+private _normalizedSessionVideoUrl = [_sessionVideoUrl] call _normalize;
+if (_normalizedSessionVideoUrl isNotEqualTo "") exitWith {
+	_normalizedSessionVideoUrl
+};
+
+_defaultVideoUri

addons/uav/functions/fnc_updateMavlinkBroadcast.sqf

@@ -37,6 +37,9 @@ private _mavlinkAddress = player getVariable [QEGVAR(client,mavlink_address), ""
 if (_mavlinkAddress isEqualTo "") exitWith {};
 
 private _pos = [_uav] call EFUNC(client,extractClientPosition);
+private _uuid = [_uav] call armatak_fnc_extract_uuid;
+private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
+private _videoUri = [_uav] call FUNC(resolveVideoUri);
 private _dir = vectorDir _uav;
 private _up = vectorUp _uav;
 private _yaw = getDir _uav;
@@ -45,24 +48,14 @@ private _roll = asin (((_up select 0) max -1) min 1);
 private _relAlt = ((getPosATL _uav) select 2) max 0;
 private _uavType = if (_uav isKindOf "Plane") then {1} else {[2, 3] select (_uav isKindOf "Helicopter")};
 
-private _bodyPayload = [
+private _gimbalRoll = 0;
-	_mavlinkAddress,
+private _gimbalPitch = _pitch;
-	1,
+private _gimbalYaw = _yaw;
-	1,
+private _hfov = _uav getVariable ["armatak_uas_fov", 60];
-	_uavType,
+private _vfov = _uav getVariable ["armatak_uas_vfov", (_hfov * 0.5625)];
-	_pos select 1,
+private _imageLat = _pos select 1;
-	_pos select 2,
+private _imageLon = _pos select 2;
-	_pos select 3,
+private _imageAlt = _pos select 3;
-	_relAlt,
-	_pos select 5,
-	_pos select 6,
-	_roll,
-	_pitch,
-	_yaw,
-	parseNumber isEngineOn _uav
-];
-
-"armatak" callExtension ["mavlink_mock:send_uas_telemetry", [_bodyPayload]];
 
 private _laser = laserTarget _uav;
 if (!isNull _laser) then {
@@ -84,27 +77,40 @@ if (!isNull _laser) then {
 
 		private _camYaw = ((_dirX atan2 _dirY) + 360) mod 360;
 		private _camPitch = _dirZ atan2 (_horizontalMag max 0.001);
+		_gimbalPitch = _camPitch;
+		_gimbalYaw = _camYaw;
 
-		private _spiAgl = ASLToAGL _spiASL;
+		private _imageGeo = [_targetWorld select 0, _targetWorld select 1, _targetAslZ] call EFUNC(client,convertClientLocation);
-		private _camRelAlt = (_spiAgl select 2) max 0;
+		_imageLat = _imageGeo select 0;
+		_imageLon = _imageGeo select 1;
+		_imageAlt = _imageGeo select 2;
+	};
+};
 
-		private _camPayload = [
+private _systemPayload = [
 	_mavlinkAddress,
-			2,
+	_uuid,
-			1,
+	_callsign,
 	_uavType,
 	_pos select 1,
 	_pos select 2,
 	_pos select 3,
-			_camRelAlt,
+	_relAlt,
-			_camYaw,
+	_pos select 5,
-			0,
+	_pos select 6,
-			0,
+	_roll,
-			_camPitch,
+	_pitch,
-			_camYaw,
+	_yaw,
-			1
+	parseNumber isEngineOn _uav,
+	_gimbalRoll,
+	_gimbalPitch,
+	_gimbalYaw,
+	_videoUri,
+	_hfov,
+	_vfov,
+	_imageLat,
+	_imageLon,
+	_imageAlt
 ];
 
-		"armatak" callExtension ["mavlink_mock:send_uas_telemetry", [_camPayload]];
+"armatak" callExtension ["uas:send_uas_system", [_systemPayload]];
-	};
-};