Vehicle.h

/****************************************************************************
 *
 *   (c) 2009-2016 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.
 *
 ****************************************************************************/


/// @file
///     @author Don Gagne <don@thegagnes.com>

#ifndef Vehicle_H
#define Vehicle_H

#include <QObject>
#include <QGeoCoordinate>
#include <QElapsedTimer>

#include "FactGroup.h"
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QmlObjectListModel.h"
#include "MAVLinkProtocol.h"
#include "UASMessageHandler.h"
#include "SettingsFact.h"

class UAS;
class UASInterface;
class FirmwarePlugin;
class FirmwarePluginManager;
class AutoPilotPlugin;
class MissionManager;
class GeoFenceManager;
class RallyPointManager;
class ParameterManager;
class JoystickManager;
class UASMessage;
class SettingsManager;

Q_DECLARE_LOGGING_CATEGORY(VehicleLog)

class Vehicle;

class VehicleVibrationFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleVibrationFactGroup(QObject* parent = NULL);

    Q_PROPERTY(Fact* xAxis      READ xAxis      CONSTANT)
    Q_PROPERTY(Fact* yAxis      READ yAxis      CONSTANT)
    Q_PROPERTY(Fact* zAxis      READ zAxis      CONSTANT)
    Q_PROPERTY(Fact* clipCount1 READ clipCount1 CONSTANT)
    Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
    Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)

    Fact* xAxis         (void) { return &_xAxisFact; }
    Fact* yAxis         (void) { return &_yAxisFact; }
    Fact* zAxis         (void) { return &_zAxisFact; }
    Fact* clipCount1    (void) { return &_clipCount1Fact; }
    Fact* clipCount2    (void) { return &_clipCount2Fact; }
    Fact* clipCount3    (void) { return &_clipCount3Fact; }

    static const char* _xAxisFactName;
    static const char* _yAxisFactName;
    static const char* _zAxisFactName;
    static const char* _clipCount1FactName;
    static const char* _clipCount2FactName;
    static const char* _clipCount3FactName;

private:
    Fact        _xAxisFact;
    Fact        _yAxisFact;
    Fact        _zAxisFact;
    Fact        _clipCount1Fact;
    Fact        _clipCount2Fact;
    Fact        _clipCount3Fact;
};

class VehicleWindFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleWindFactGroup(QObject* parent = NULL);

    Q_PROPERTY(Fact* direction      READ direction      CONSTANT)
    Q_PROPERTY(Fact* speed          READ speed          CONSTANT)
    Q_PROPERTY(Fact* verticalSpeed  READ verticalSpeed  CONSTANT)

    Fact* direction     (void) { return &_directionFact; }
    Fact* speed         (void) { return &_speedFact; }
    Fact* verticalSpeed (void) { return &_verticalSpeedFact; }

    static const char* _directionFactName;
    static const char* _speedFactName;
    static const char* _verticalSpeedFactName;

private:
    Fact        _directionFact;
    Fact        _speedFact;
    Fact        _verticalSpeedFact;
};

class VehicleGPSFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleGPSFactGroup(QObject* parent = NULL);

    Q_PROPERTY(Fact* hdop               READ hdop               CONSTANT)
    Q_PROPERTY(Fact* vdop               READ vdop               CONSTANT)
    Q_PROPERTY(Fact* courseOverGround   READ courseOverGround   CONSTANT)
    Q_PROPERTY(Fact* count              READ count              CONSTANT)
    Q_PROPERTY(Fact* lock               READ lock               CONSTANT)

    Fact* hdop              (void) { return &_hdopFact; }
    Fact* vdop              (void) { return &_vdopFact; }
    Fact* courseOverGround  (void) { return &_courseOverGroundFact; }
    Fact* count             (void) { return &_countFact; }
    Fact* lock              (void) { return &_lockFact; }

    static const char* _hdopFactName;
    static const char* _vdopFactName;
    static const char* _courseOverGroundFactName;
    static const char* _countFactName;
    static const char* _lockFactName;

private:
    Fact        _hdopFact;
    Fact        _vdopFact;
    Fact        _courseOverGroundFact;
    Fact        _countFact;
    Fact        _lockFact;
};

class VehicleBatteryFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleBatteryFactGroup(QObject* parent = NULL);

    Q_PROPERTY(Fact* voltage            READ voltage            CONSTANT)
    Q_PROPERTY(Fact* percentRemaining   READ percentRemaining   CONSTANT)
    Q_PROPERTY(Fact* mahConsumed        READ mahConsumed        CONSTANT)
    Q_PROPERTY(Fact* current            READ current            CONSTANT)
    Q_PROPERTY(Fact* temperature        READ temperature        CONSTANT)
    Q_PROPERTY(Fact* cellCount          READ cellCount          CONSTANT)

    Fact* voltage                   (void) { return &_voltageFact; }
    Fact* percentRemaining          (void) { return &_percentRemainingFact; }
    Fact* mahConsumed               (void) { return &_mahConsumedFact; }
    Fact* current                   (void) { return &_currentFact; }
    Fact* temperature               (void) { return &_temperatureFact; }
    Fact* cellCount                 (void) { return &_cellCountFact; }


    static const char* _voltageFactName;
    static const char* _percentRemainingFactName;
    static const char* _mahConsumedFactName;
    static const char* _currentFactName;
    static const char* _temperatureFactName;
    static const char* _cellCountFactName;

    static const char* _settingsGroup;

    static const double _voltageUnavailable;
    static const int    _percentRemainingUnavailable;
    static const int    _mahConsumedUnavailable;
    static const int    _currentUnavailable;
    static const double _temperatureUnavailable;
    static const int    _cellCountUnavailable;

private:
    Fact            _voltageFact;
    Fact            _percentRemainingFact;
    Fact            _mahConsumedFact;
    Fact            _currentFact;
    Fact            _temperatureFact;
    Fact            _cellCountFact;
};

class VehicleTemperatureFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleTemperatureFactGroup(QObject* parent = NULL);

    Q_PROPERTY(Fact* temperature1       READ temperature1       CONSTANT)
    Q_PROPERTY(Fact* temperature2       READ temperature2       CONSTANT)
    Q_PROPERTY(Fact* temperature3       READ temperature3       CONSTANT)

    Fact* temperature1 (void) { return &_temperature1Fact; }
    Fact* temperature2 (void) { return &_temperature2Fact; }