added mavlink cot parsing functions

addons/main/functions/api/fn_send_drone_cot.sqf

@@ -4,31 +4,6 @@
 
 params["_drone"];
 
-private _atak_role = "a-f-A";
-private _atak_callsign = [_drone] call armatak_fnc_extract_marker_callsign;
-
-switch (side _drone) do {
-	case "WEST": {
-		_atak_role = "a-f-A-M-F-Q"
-	};
-	case "EAST": {
-		_atak_role = "a-h-A-M-F-Q"
-	};
-	case "INDEPENDENT": {
-		_atak_role = "a-n-A-M-F-Q"
-	};
-	case "CIVILIAN": {
-		_atak_role = "a-f-A-C"
-	};
-	default {
-		_atak_role = "a-f-A-M-F-Q"
-	};
-};
-
-_pre_defined_role = _drone getVariable "_atak_group_role";
-
-if (!isNil "_pre_defined_role") then {
-	_callsign = _pre_defined_role;
-};
-
-_cot = [_drone, _atak_role, _atak_callsign] call armatak_fnc_send_marker_cot;
+[_drone] call armatak_fnc_send_uas_platform_cot;
+[_drone] call armatak_fnc_send_uas_video_cot;
+[_drone] call armatak_fnc_send_uas_sensor_cot;

addons/main/functions/api/fn_send_uas_platform_cot.sqf

@@ -0,0 +1,72 @@
+params ["_drone"];
+
+private _uuid = _drone call armatak_fnc_extract_uuid;
+private _uavControl = UAVControl _drone;
+private _controller = _uavControl param [0, objNull];
+private _controller_uid = if (!isNull _controller) then { [_controller] call armatak_fnc_extract_uuid } else { _drone getVariable ["armatak_uas_controller_uid", _uuid] };
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _atak_role = "a-f-A-M-H-Q";
+switch (side _drone) do {
+    case west: {
+        _atak_role = "a-f-A-M-H-Q";
+    };
+    case east: {
+        _atak_role = "a-h-A-M-H-Q";
+    };
+    case independent: {
+        _atak_role = "a-n-A-M-H-Q";
+    };
+    case civilian: {
+        _atak_role = "a-f-A-C";
+    };
+    default {
+        _atak_role = "a-f-A-M-H-Q";
+    };
+};
+
+private _position = _drone call armatak_client_fnc_extractClientPosition;
+private _lat = _position select 1;
+private _lon = _position select 2;
+private _hae = _position select 3;
+private _course = _position select 5;
+private _speed = _position select 6;
+
+private _cameraData = [_drone] call armatak_fnc_extract_uas_camera_data;
+private _azimuth = _cameraData select 0;
+private _elevation = _cameraData select 1;
+private _fov = _cameraData select 2;
+private _range = _cameraData select 3;
+private _vfov = _drone getVariable ["armatak_uas_vfov", _fov];
+
+private _yaw = round (getDir _drone);
+private _pitch = (vectorDir _drone) select 2;
+private _roll = (vectorUp _drone) select 0;
+private _isFlying = parseNumber (isEngineOn _drone);
+private _hal = ((getPosATL _drone) select 2) max 0;
+private _vehicleType = typeOf _drone;
+
+private _payload = [
+    _uuid,
+    _atak_role,
+    _callsign,
+    _lat,
+    _lon,
+    _hae,
+    _course,
+    _speed,
+    _azimuth,
+    _elevation,
+    _fov,
+    _vfov,
+    _range,
+    _yaw,
+    _pitch,
+    _roll,
+    _hal,
+    _vehicleType,
+    _isFlying,
+    _controller_uid
+];
+
+"armatak" callExtension ["tcp_socket:cot:uas_platform", [_payload]];

addons/main/functions/api/fn_send_uas_sensor_cot.sqf

@@ -0,0 +1,22 @@
+params ["_drone"];
+
+private _video_url = [_drone] call armatak_fnc_extract_marker_video_url;
+if (_video_url == "") exitWith {};
+
+private _uuid = _drone call armatak_fnc_extract_uuid;
+private _video_uid = _uuid + "-video";
+private _sensor_uid = _uuid + "-sensor";
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _position = _drone call armatak_client_fnc_extractClientPosition;
+private _lat = _position select 1;
+private _lon = _position select 2;
+private _hae = _position select 3;
+
+private _cameraData = [_drone] call armatak_fnc_extract_uas_camera_data;
+private _azimuth = _cameraData select 0;
+private _fov = _cameraData select 2;
+private _range = _cameraData select 3;
+
+private _payload = [_sensor_uid, _video_uid, _callsign, _lat, _lon, _hae, _azimuth, _fov, _range];
+"armatak" callExtension ["tcp_socket:cot:uas_sensor", [_payload]];

addons/main/functions/api/fn_send_uas_video_cot.sqf

@@ -0,0 +1,20 @@
+params ["_drone"];
+
+private _video_url = [_drone] call armatak_fnc_extract_marker_video_url;
+if (_video_url == "") exitWith {};
+
+private _uuid = _drone call armatak_fnc_extract_uuid;
+private _video_uid = _uuid + "-video";
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _signature = format ["%1|%2|%3", _video_uid, _callsign, _video_url];
+private _nextRefreshAt = _drone getVariable ["armatak_next_uas_video_refresh_at", 0];
+private _lastSignature = _drone getVariable ["armatak_last_uas_video_signature", ""];
+
+if (_signature == _lastSignature && {diag_tickTime < _nextRefreshAt}) exitWith {};
+
+_drone setVariable ["armatak_last_uas_video_signature", _signature, false];
+_drone setVariable ["armatak_next_uas_video_refresh_at", diag_tickTime + 300, false];
+
+private _payload = [_video_uid, _callsign, _video_url];
+"armatak" callExtension ["tcp_socket:cot:uas_video", [_payload]];

addons/main/functions/api/fn_set_uas_camera_override.sqf

@@ -0,0 +1,9 @@
+params ["_drone", ["_cameraData", []]];
+
+if (isNull _drone) exitWith {};
+
+if ((_cameraData isEqualType []) && {(count _cameraData) >= 6}) then {
+    _drone setVariable ["armatak_uas_camera_data_override", _cameraData + [serverTime], false];
+} else {
+    _drone setVariable ["armatak_uas_camera_data_override", nil, false];
+};

addons/main/functions/extract_data/fn_extract_uas_camera_data.sqf

@@ -0,0 +1,141 @@
+params ["_drone"];
+
+private _override = _drone getVariable ["armatak_uas_camera_data_override", []];
+private _isLocalController = hasInterface && {!isNull player} && {(getConnectedUAV player) isEqualTo _drone};
+
+if (!_isLocalController && {_override isEqualType []} && {(count _override) >= 7}) then {
+    private _updatedAt = _override param [6, -1000];
+    if ((time - _updatedAt) <= 5) exitWith {
+        private _overrideSpiAsl = _override param [4, []];
+        private _overrideSpiGeo = _override param [5, []];
+        _drone setVariable ["armatak_uas_spi_asl", _overrideSpiAsl, false];
+        _drone setVariable ["armatak_uas_spi_geo", _overrideSpiGeo, false];
+        _override select [0, 6]
+    };
+};
+
+private _defaultFov = _drone getVariable ["armatak_uas_fov", 60];
+private _maxRange = _drone getVariable ["armatak_uas_max_range", 15000];
+private _originASL = getPosASL _drone;
+private _originAGL = ASLToAGL _originASL;
+private _cameraDir = [];
+private _spiASL = [];
+private _slantRange = 0;
+
+private _laserTarget = laserTarget _drone;
+if (!isNull _laserTarget) then {
+    private _laserTargetWorld = getPosWorld _laserTarget;
+    private _laserTargetAslZ = (getPosASL _laserTarget) select 2;
+    _spiASL = [_laserTargetWorld select 0, _laserTargetWorld select 1, _laserTargetAslZ];
+    _cameraDir = _spiASL vectorDiff _originASL;
+    _slantRange = _originASL vectorDistance _spiASL;
+};
+
+if (_cameraDir isEqualTo []) then {
+    private _uavControl = UAVControl _drone;
+    private _controlledTurretPath = _uavControl param [1, []];
+    private _candidateTurrets = [];
+
+    if ((_controlledTurretPath isEqualType []) && {_controlledTurretPath isNotEqualTo []}) then {
+        _candidateTurrets pushBack _controlledTurretPath;
+    };
+
+    {
+        if !(_x in _candidateTurrets) then {
+            _candidateTurrets pushBack _x;
+        };
+    } forEach (allTurrets _drone);
+
+    {
+        private _turretWeapons = _drone weaponsTurret _x;
+        if (_turretWeapons isNotEqualTo []) exitWith {
+            private _weapon = _turretWeapons select 0;
+            private _weaponDirection = _drone weaponDirection _weapon;
+            if (_weaponDirection isNotEqualTo [0, 0, 0]) then {
+                _cameraDir = _weaponDirection;
+            };
+        };
+    } forEach _candidateTurrets;
+};
+
+if (_cameraDir isEqualTo []) then {
+    _cameraDir = vectorDirVisual _drone;
+};
+
+private _dirMagnitude = vectorMagnitude _cameraDir;
+if (_dirMagnitude <= 0) then {
+    private _fallbackAzimuth = getDir _drone;
+    _cameraDir = [sin _fallbackAzimuth, cos _fallbackAzimuth, -1];
+    _dirMagnitude = vectorMagnitude _cameraDir;
+};
+
+_cameraDir = _cameraDir vectorMultiply (1 / _dirMagnitude);
+
+private _dirX = _cameraDir select 0;
+private _dirY = _cameraDir select 1;
+private _dirZ = _cameraDir select 2;
+private _horizontalMagnitude = sqrt ((_dirX * _dirX) + (_dirY * _dirY));
+
+private _azimuth = (((_dirX atan2 _dirY) + 360) mod 360);
+private _elevation = (_dirZ atan2 (_horizontalMagnitude max 0.001));
+
+if (_spiASL isEqualTo []) then {
+    private _altitudeAGL = (_originAGL select 2) max 0.1;
+    private _probeASL = _originASL vectorAdd (_cameraDir vectorMultiply _maxRange);
+
+    if (_dirZ < -0.01 && {terrainIntersectASL [_originASL, _probeASL]}) then {
+        private _near = _originASL;
+        private _far = _probeASL;
+
+        for "_i" from 0 to 24 do {
+            private _mid = [
+                ((_near select 0) + (_far select 0)) / 2,
+                ((_near select 1) + (_far select 1)) / 2,
+                ((_near select 2) + (_far select 2)) / 2
+            ];
+
+            if (terrainIntersectASL [_originASL, _mid]) then {
+                _far = _mid;
+            } else {
+                _near = _mid;
+            };
+        };
+
+        _spiASL = _far;
+        _slantRange = _originASL vectorDistance _spiASL;
+    } else {
+        private _verticalComponent = abs _dirZ;
+
+        if (_verticalComponent > 0.01) then {
+            _slantRange = (_altitudeAGL / _verticalComponent) min _maxRange;
+        } else {
+            _slantRange = _maxRange;
+        };
+
+        _slantRange = _slantRange max 1;
+        _spiASL = _originASL vectorAdd (_cameraDir vectorMultiply _slantRange);
+        _spiASL set [2, getTerrainHeightASL [_spiASL select 0, _spiASL select 1]];
+    };
+};
+
+if (_slantRange <= 0) then {
+    _slantRange = (_originASL vectorDistance _spiASL) max 1;
+};
+
+private _spiAgl = ASLToAGL _spiASL;
+private _spiWorld = [_spiAgl select 0, _spiAgl select 1, (_spiAgl select 2) max 0];
+private _spiGeo = _spiWorld call armatak_client_fnc_convertClientLocation;
+
+_drone setVariable ["armatak_uas_spi_asl", _spiASL, false];
+_drone setVariable ["armatak_uas_spi_geo", _spiGeo, false];
+
+[
+    round _azimuth,
+    round _elevation,
+    round _defaultFov,
+    round (_slantRange max 1),
+    _spiASL,
+    _spiGeo
+]
+
+