File indexing completed on 2024-06-09 05:46:37

 /*
  * Copyright 2019 Eike Hein <hein@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 "parrotprotocol.h"
 
 #include <QThread>
 
 class ParrotConnection;
 
 class ParrotVehicle : public Kirogi::AbstractVehicle
 {
     Q_OBJECT
 
 public:
     enum Type { Bebop2 = 0, Anafi };
     Q_ENUM(Type)
 
     explicit ParrotVehicle(Type type, const QString &hostName, int port, const QString &productSerial, QObject *parent = nullptr);
     ~ParrotVehicle() override;
 
     QString name() const override;
     QString iconName() const override;
 
     Kirogi::AbstractVehicle::VehicleType vehicleType() const override;
 
     QList<Kirogi::AbstractVehicle::VehicleAction> supportedActions() const override;
 
     bool piloting() const override;
     Q_INVOKABLE void setPiloting(bool piloting) override;
 
     Q_INVOKABLE void requestAction(Kirogi::AbstractVehicle::VehicleAction action) override;
 
     Q_INVOKABLE void pilot(qint8 roll, qint8 pitch, qint8 yaw, qint8 gaz) override;
     Q_INVOKABLE void requestMoveTo(QGeoCoordinate destination) override;
 
     Kirogi::AbstractVehicle::PerformanceMode performanceMode() const override;
     void requestPerformanceMode(Kirogi::AbstractVehicle::PerformanceMode mode) override;
 
     float maxRollSpeed() const override;
     void requestMaxRollSpeed(float speed) override;
     float maxRollSpeedMin() const override;
     float maxRollSpeedMax() const override;
 
     float maxPitchSpeed() const override;
     void requestMaxPitchSpeed(float speed) override;
     float maxPitchSpeedMin() const override;
     float maxPitchSpeedMax() const override;
 
     float maxYawSpeed() const override;
     void requestMaxYawSpeed(float speed) override;
     float maxYawSpeedMin() const override;
     float maxYawSpeedMax() const override;
 
     float maxGazSpeed() const override;
     void requestMaxGazSpeed(float speed) override;
     float maxGazSpeedMin() const override;
     float maxGazSpeedMax() const override;
 
     float maxTilt() const override;
     void requestMaxTilt(float tilt) override;
     float maxTiltMin() const override;
     float maxTiltMax() const override;
 
     bool bankedTurns() const override;
     void requestEnableBankedTurns(bool bankedTurns) override;
 
     bool geofence() const override;
     void requestEnableGeofence(bool enable) override;
 
     float maxAltitude() const override;
     void requestMaxAltitude(float altitude) override;
     float maxAltitudeMin() const override;
     float maxAltitudeMax() const override;
 
     float maxDistance() const override;
     void requestMaxDistance(float distance) override;
     float maxDistanceMin() const override;
     float maxDistanceMax() const 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;
     void setControllerGpsPosition(const QGeoCoordinate &position) override;
     void requestReturnHome() override;
 
     float speed() const override;
 
     quint16 numberOfFlights() const override;
     quint16 lastFlightDuration() const override;
 
     QString videoSource() const override;
     bool videoStreamEnabled() const override;
     Q_INVOKABLE void requestEnableVideoStream(bool enable) override;
     bool videoStabilization() const override;
     void requestEnableVideoStabilization(bool enable) override;
     bool canTakePicture() const override;
     bool isRecordingVideo() const override;
 
 public Q_SLOTS:
     void connectToVehicle();
 
 private Q_SLOTS:
     void processIncomingCommand(const ParrotCommand &command);
 
 private:
     void initVehicle();
     void sendCommand(Parrot::Command command, const QVariantList &arguments = QVariantList(), bool retryForever = false);
 
     Type m_type;
 
     QString m_hostName;
     QString m_productSerial;
 
     int m_initialized;
 
     bool m_piloting;
 
     float m_maxRollPitchSpeed;
     float m_maxRollPitchSpeedMin;
     float m_maxRollPitchSpeedMax;
 
     float m_maxYawSpeed;
     float m_maxYawSpeedMin;
     float m_maxYawSpeedMax;
 
     float m_maxGazSpeed;
     float m_maxGazSpeedMin;
     float m_maxGazSpeedMax;
 
     float m_maxTilt;
     float m_maxTiltMin;
     float m_maxTiltMax;
 
     bool m_bankedTurns;
 
     bool m_geofence;
 
     float m_maxAltitude;
     float m_maxAltitudeMin;
     float m_maxAltitudeMax;
 
     float m_maxDistance;
     float m_maxDistanceMin;
     float m_maxDistanceMax;
 
     float m_roll;
     float m_pitch;
     float m_yaw;
 
     float m_defaultCameraOrientationTilt;
     float m_defaultCameraOrientationPan;
 
     qint16 m_signalStrength;
     int m_batteryLevel;
 
     bool m_gpsFix;
     QGeoCoordinate m_gpsPosition;
     float m_altitude;
 
     float m_speed;
 
     bool m_videoStreamEnabled;
     qint32 m_videoStreamMode;
     qint32 m_videoStabilizationMode;
     bool m_canTakePicture;
     bool m_isRecordingVideo;
 
     quint16 m_numberOfFlights;
     quint16 m_lastFlightDuration;
 
     QThread m_connectionThread;
     ParrotConnection *m_connection;
 };