File indexing completed on 2024-05-26 05:54:04

 /*
  * Copyright 2019 Patrick José Pereira <patrickjp@kde.org>
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
  * License as published by the Free Software Foundation; either
  * version 2.1 of the License, or (at your option) version 3, or any
  * later version accepted by the membership of KDE e.V. (or its
  * successor approved by the membership of KDE e.V.), which shall
  * act as a proxy defined in Section 6 of version 3 of the license.
  *
  * This library is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  * Lesser General Public License for more details.
  *
  * You should have received a copy of the GNU Lesser General Public
  * License along with this library.  If not, see <http://www.gnu.org/licenses/>.
  */
 
 #pragma once
 
 #include "abstractconnection.h"
 
 #include "mavlinkpluginconfig.h"
 
 #include <QByteArray>
 #include <QObject>
 #include <QTimer>
 
 #if defined(__GNUC__) || defined(__clang__)
 #if __GNUC__ > 8 || defined(__clang__)
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wold-style-cast"
 #pragma GCC diagnostic ignored "-Wcast-align"
 #else
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wall"
 #endif
 #else
 #pragma warning(push, 0)
 #endif
 
 #include "mavlink.h"
 
 #if defined(__GNUC__) || defined(__clang__)
 #pragma GCC diagnostic pop
 #else
 #pragma warning(pop)
 #endif
 
 /**
  * A base class of UDP, TCP and Serial type connection of mavlink plugin.
  *
  * This class defines common functionalities of all types of mavlink connections.
  */
 class MAVLinkConnection : public Kirogi::AbstractConnection
 {
     Q_OBJECT
 
 public:
     MAVLinkConnection(uint8_t channel, QObject *parent = nullptr);
     ~MAVLinkConnection();
 
     template<typename T>
     constexpr void sendMessage(const T &message)
     {
         if constexpr (std::is_same<T, mavlink_message_t>::value) {
             const int length = mavlink_msg_to_send_buffer(m_buffer, &message);
             sendBytes({reinterpret_cast<const char *>(m_buffer), length});
         } else if constexpr (std::is_same<T, mavlink_command_long_t>::value) {
             mavlink_message_t mavlink_message = {};
             mavlink_msg_command_long_encode(MAVLinkPluginConfig::instance().sysid(), MAV_COMP_ID_MISSIONPLANNER, &mavlink_message, &message);
             sendMessage(mavlink_message);
         } else if constexpr (std::is_same<T, mavlink_manual_control_t>::value) {
             mavlink_message_t mavlink_message = {};
             mavlink_msg_manual_control_encode(MAVLinkPluginConfig::instance().sysid(), MAV_COMP_ID_MISSIONPLANNER, &mavlink_message, &message);
             sendMessage(mavlink_message);
         } else if constexpr (std::is_same<T, mavlink_param_request_list_t>::value) {
             mavlink_message_t mavlink_message = {};
             mavlink_msg_param_request_list_encode(MAVLinkPluginConfig::instance().sysid(), MAV_COMP_ID_MISSIONPLANNER, &mavlink_message, &message);
             sendMessage(mavlink_message);
         }
     }
 
 public Q_SLOTS:
     void parseData(const QByteArray &bytes);
     void sendHeartbeat();
 
 Q_SIGNALS:
     void messageReceived(MAVLinkConnection *connection, const mavlink_message_t &message);
 
 protected:
     uint8_t m_channel; ///< A channel that mavlink_parse_char() uses to manage internal buffers.
 
 private:
     QTimer m_gcsHeartbeatTimer;
     mavlink_message_t m_message; ///< Used for parsing incoming mavlink messages.
     mutable uint8_t m_buffer[1024]; ///< Buffer that sendMessage() uses.
 };