File indexing completed on 2024-12-29 05:20:09

 /*
  * 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 "abstractvehicle.h"
 
 #include "mavlinkpluginconfig.h"
 #include "mavlinkudpconnection.h"
 
 #include <QTimer>
 #include <QVector>
 
 /**
  * A class for managing mavlink vehicle.
  */
 class MAVLinkVehicle : public Kirogi::AbstractVehicle
 {
     Q_OBJECT
 
 public:
     struct Configuration {
         uint8_t sysid; ///< System id that is used to identify vehicle on network.
         uint8_t compid; ///< Default component id of vehicle.
         MAV_TYPE type; ///< Type of vehicle.
         QString name;
     };
 
     MAVLinkVehicle(Configuration configuration, MAVLinkConnection *connection, QObject *parent = nullptr);
     ~MAVLinkVehicle() override;
 
     void processMessage(MAVLinkConnection *connection, const mavlink_message_t &message);
 
     QString name() const override;
     QString iconName() const override;
 
     Kirogi::AbstractVehicle::VehicleType vehicleType() const override;
 
     QList<Kirogi::AbstractVehicle::VehicleAction> supportedActions() const override;
 
     Q_INVOKABLE void requestAction(Kirogi::AbstractVehicle::VehicleAction action) override;
     Q_INVOKABLE void pilot(qint8 roll, qint8 pitch, qint8 yaw, qint8 gaz) override;
 
     float roll() const override;
     float pitch() const override;
     float yaw() const override;
 
     int signalStrength() const override;
     int batteryLevel() const override;
 
     bool gpsSupported() const override;
     bool gpsFix() const override;
     QGeoCoordinate gpsPosition() const override;
     float altitude() const override;
 
     QString videoSource() const override;
 
 private Q_SLOTS:
     void fetchParameters();
 
 private:
     struct AltitudeSource {
         bool altitudeMessage{false};
         float altitude{0.0f};
     };
 
     struct CommandQueueItem {
         bool command_int;
         float params[7];
         MAV_CMD command;
         uint8_t target_system;
         uint8_t target_component;
         uint8_t confirmation;
         MAV_FRAME frame; // Coordinate system of the command. (COMMAND_INT)
         uint8_t current; // False: 0, True: 1.
         uint8_t autocontinue; // Continue to next wp automatically.
     };
 
     void sendCommandInQueue();
 
     void handleHeartbeat(const mavlink_message_t &message);
     void handleCommandAck(const mavlink_message_t &message);
     void handleRcChannelsScaled(const mavlink_message_t &message);
     void handleRcChannelsRaw(const mavlink_message_t &message);
     void handleRcChannels(const mavlink_message_t &message);
     void handleAltitude(const mavlink_message_t &message);
     void handleAttitude(const mavlink_message_t &message);
     void handleBatteryStatus(const mavlink_message_t &message);
     void handleGlobalPositionInt(const mavlink_message_t &message);
     void handleParamValue(const mavlink_message_t &message);
 
     MAVLinkConnection *m_connection;
     Configuration m_configuration;
 
     QVector<CommandQueueItem> m_commandQueue;
     QTimer m_commandResendTimer;
     uint8_t m_commandResendCount;
 
     AltitudeSource m_altitudeSource;
     QString m_name;
     float m_roll;
     float m_pitch;
     float m_yaw;
     int m_signalStrength;
     int m_batteryLevel;
     bool m_gpsFix;
     QGeoCoordinate m_gpsPosition;
 };