109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
/****************************************************************************
|
|
*
|
|
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
|
*
|
|
* QGroundControl is licensed according to the terms in the file
|
|
* COPYING.md in the root of the source code directory.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifndef GeoFenceManager_H
|
|
#define GeoFenceManager_H
|
|
|
|
#include <QObject>
|
|
#include <QGeoCoordinate>
|
|
|
|
#if defined(QGC_AIRMAP_ENABLED)
|
|
#include "AirspaceManager.h"
|
|
#endif
|
|
|
|
#include "QGCLoggingCategory.h"
|
|
#include "FactSystem.h"
|
|
#include "PlanManager.h"
|
|
#include "QGCFencePolygon.h"
|
|
#include "QGCFenceCircle.h"
|
|
|
|
class Vehicle;
|
|
class QmlObjectListModel;
|
|
class PlanManager;
|
|
|
|
Q_DECLARE_LOGGING_CATEGORY(GeoFenceManagerLog)
|
|
|
|
/// This is the base class for firmware specific geofence managers. A geofence manager is responsible
|
|
/// for communicating with the vehicle to set/get geofence settings.
|
|
class GeoFenceManager : public QObject
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
GeoFenceManager(Vehicle* vehicle);
|
|
~GeoFenceManager();
|
|
|
|
/// Returns true if GeoFence is supported by this vehicle
|
|
virtual bool supported(void) const;
|
|
|
|
/// Returns true if the manager is currently communicating with the vehicle
|
|
virtual bool inProgress(void) const;
|
|
|
|
/// Load the current settings from the vehicle
|
|
/// Signals loadComplete when done
|
|
virtual void loadFromVehicle(void);
|
|
|
|
/// Send the geofence settings to the vehicle
|
|
/// Signals sendComplete when done
|
|
virtual void sendToVehicle(const QGeoCoordinate& breachReturn, ///< Breach return point
|
|
QmlObjectListModel& polygons, ///< List of QGCFencePolygons
|
|
QmlObjectListModel& circles); ///< List of QGCFenceCircles
|
|
|
|
/// Remove all fence related items from vehicle (does not affect parameters)
|
|
/// Signals removeAllComplete when done
|
|
virtual void removeAll(void);
|
|
|
|
/// Returns true if polygon fence is currently enabled on this vehicle
|
|
/// Signal: polygonEnabledChanged
|
|
virtual bool polygonEnabled(void) const { return true; }
|
|
|
|
const QList<QGCFencePolygon>& polygons(void) { return _polygons; }
|
|
const QList<QGCFenceCircle>& circles(void) { return _circles; }
|
|
const QGeoCoordinate& breachReturnPoint(void) const { return _breachReturnPoint; }
|
|
|
|
/// Error codes returned in error signal
|
|
typedef enum {
|
|
InternalError,
|
|
PolygonTooFewPoints, ///< Too few points for valid fence polygon
|
|
PolygonTooManyPoints, ///< Too many points for valid fence polygon
|
|
IncompletePolygonLoad, ///< Incomplete polygon loaded
|
|
UnsupportedCommand, ///< Usupported command in mission type
|
|
BadPolygonItemFormat, ///< Error re-creating polygons from mission items
|
|
InvalidCircleRadius,
|
|
} ErrorCode_t;
|
|
|
|
signals:
|
|
void loadComplete (void);
|
|
void inProgressChanged (bool inProgress);
|
|
void error (int errorCode, const QString& errorMsg);
|
|
void removeAllComplete (bool error);
|
|
void sendComplete (bool error);
|
|
|
|
private slots:
|
|
void _sendComplete (bool error);
|
|
void _planManagerLoadComplete (bool removeAllRequested);
|
|
|
|
private:
|
|
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
|
|
|
|
Vehicle* _vehicle;
|
|
PlanManager _planManager;
|
|
QList<QGCFencePolygon> _polygons;
|
|
QList<QGCFenceCircle> _circles;
|
|
QGeoCoordinate _breachReturnPoint;
|
|
bool _firstParamLoadComplete;
|
|
QList<QGCFencePolygon> _sendPolygons;
|
|
QList<QGCFenceCircle> _sendCircles;
|
|
#if defined(QGC_AIRMAP_ENABLED)
|
|
AirspaceManager* _airspaceManager;
|
|
#endif
|
|
};
|
|
|
|
#endif
|