File indexing completed on 2024-06-16 05:22:59

 /*
  * 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 <memory>
 
 #include <QObject>
 
 #include "abstractvehicle.h"
 
 #include <QHostAddress>
 #include <QPointer>
 #include <QQueue>
 #include <QTimer>
 #include <QUdpSocket>
 
 struct RyzeTelloCommand {
     QString text;
     int retry = 0; // NOTE: Setting to -1 before sending means infinite retries.
 };
 
 class RyzeTelloConnection : public QObject
 {
     Q_OBJECT
 
 public:
     explicit RyzeTelloConnection(const QString &vehicleName, QObject *parent = nullptr);
     ~RyzeTelloConnection();
 
 public Q_SLOTS:
     void handshake();
     void reset();
     void sendCommand(const QString &command, bool retryForever = false);
     void pilot(qint8 roll, qint8 pitch, qint8 yaw, qint8 gaz);
 
 Q_SIGNALS:
     void stateChanged(Kirogi::AbstractVehicle::ConnectionState state);
     void responseReceived(const QString &response);
     void stateReceived(const QByteArray &state);
 
 private Q_SLOTS:
     void receiveData();
     void receiveState();
     void pumpCommandQueue();
     void sendPilotingCommand();
 
 private:
     void initSockets();
 
     QString m_vehicleName;
 
     QHostAddress m_address;
     QPointer<QUdpSocket> m_controlSocket;
     QPointer<QUdpSocket> m_stateSocket;
 
     QQueue<RyzeTelloCommand> m_commandQueue;
     std::unique_ptr<QTimer> m_commandQueueTimer;
 
     std::unique_ptr<QTimer> m_pilotingTimer;
     qint8 m_roll;
     qint8 m_pitch;
     qint8 m_yaw;
     qint8 m_gaz;
 };