85 lines
2.6 KiB
C++
85 lines
2.6 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#ifndef RallyPointManager_H
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#define RallyPointManager_H
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#include <QObject>
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#include <QGeoCoordinate>
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#include "QGCLoggingCategory.h"
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#include "PlanManager.h"
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class Vehicle;
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class PlanManager;
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Q_DECLARE_LOGGING_CATEGORY(RallyPointManagerLog)
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/// This is the base class for firmware specific rally point managers. A rally point manager is responsible
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/// for communicating with the vehicle to set/get rally points.
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class RallyPointManager : public QObject
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{
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Q_OBJECT
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public:
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RallyPointManager(Vehicle* vehicle);
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~RallyPointManager();
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/// Returns true if GeoFence is supported by this vehicle
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virtual bool supported(void) const;
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/// Returns true if the manager is currently communicating with the vehicle
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virtual bool inProgress(void) const { return false; }
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/// Load the current settings from the vehicle
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/// Signals loadComplete when done
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virtual void loadFromVehicle(void);
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/// Send the current settings to the vehicle
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/// Signals sendComplete when done
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virtual void sendToVehicle(const QList<QGeoCoordinate>& rgPoints);
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/// Remove all rally points from the vehicle
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/// Signals removeAllCompleted when done
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virtual void removeAll(void);
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QList<QGeoCoordinate> points(void) const { return _rgPoints; }
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virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/RallyPointEditor.qml"); }
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/// Error codes returned in error signal
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typedef enum {
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InternalError,
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TooFewPoints, ///< Too few points for valid geofence
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TooManyPoints, ///< Too many points for valid geofence
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InvalidCircleRadius,
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} ErrorCode_t;
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signals:
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void loadComplete (void);
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void inProgressChanged (bool inProgress);
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void error (int errorCode, const QString& errorMsg);
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void removeAllComplete (bool error);
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void sendComplete (bool error);
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private slots:
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void _sendComplete (bool error);
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void _planManagerLoadComplete (bool removeAllRequested);
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protected:
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void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
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Vehicle* _vehicle;
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PlanManager _planManager;
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QList<QGeoCoordinate> _rgPoints;
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QList<QGeoCoordinate> _rgSendPoints;
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};
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#endif
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