109 lines
3.8 KiB
C++
109 lines
3.8 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 GeoFenceManager_H
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#define GeoFenceManager_H
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#include <QObject>
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#include <QGeoCoordinate>
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#if defined(QGC_AIRMAP_ENABLED)
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#include "AirspaceManager.h"
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#endif
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#include "QGCLoggingCategory.h"
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#include "FactSystem.h"
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#include "PlanManager.h"
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#include "QGCFencePolygon.h"
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#include "QGCFenceCircle.h"
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class Vehicle;
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class QmlObjectListModel;
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class PlanManager;
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Q_DECLARE_LOGGING_CATEGORY(GeoFenceManagerLog)
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/// This is the base class for firmware specific geofence managers. A geofence manager is responsible
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/// for communicating with the vehicle to set/get geofence settings.
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class GeoFenceManager : public QObject
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{
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Q_OBJECT
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public:
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GeoFenceManager(Vehicle* vehicle);
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~GeoFenceManager();
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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;
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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 geofence settings to the vehicle
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/// Signals sendComplete when done
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virtual void sendToVehicle(const QGeoCoordinate& breachReturn, ///< Breach return point
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QmlObjectListModel& polygons, ///< List of QGCFencePolygons
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QmlObjectListModel& circles); ///< List of QGCFenceCircles
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/// Remove all fence related items from vehicle (does not affect parameters)
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/// Signals removeAllComplete when done
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virtual void removeAll(void);
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/// Returns true if polygon fence is currently enabled on this vehicle
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/// Signal: polygonEnabledChanged
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virtual bool polygonEnabled(void) const { return true; }
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const QList<QGCFencePolygon>& polygons(void) { return _polygons; }
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const QList<QGCFenceCircle>& circles(void) { return _circles; }
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const QGeoCoordinate& breachReturnPoint(void) const { return _breachReturnPoint; }
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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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PolygonTooFewPoints, ///< Too few points for valid fence polygon
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PolygonTooManyPoints, ///< Too many points for valid fence polygon
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IncompletePolygonLoad, ///< Incomplete polygon loaded
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UnsupportedCommand, ///< Usupported command in mission type
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BadPolygonItemFormat, ///< Error re-creating polygons from mission items
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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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private:
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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<QGCFencePolygon> _polygons;
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QList<QGCFenceCircle> _circles;
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QGeoCoordinate _breachReturnPoint;
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bool _firstParamLoadComplete;
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QList<QGCFencePolygon> _sendPolygons;
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QList<QGCFenceCircle> _sendCircles;
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#if defined(QGC_AIRMAP_ENABLED)
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AirspaceManager* _airspaceManager;
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#endif
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};
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#endif
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