Vehicle.h

/****************************************************************************
 *
 * (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.
 *
 ****************************************************************************/

#pragma once

#include <QElapsedTimer>
#include <QObject>
#include <QVariantList>
#include <QGeoCoordinate>
#include <QTime>
#include <QQueue>

#include "FactGroup.h"
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QmlObjectListModel.h"
#include "MAVLinkProtocol.h"
#include "UASMessageHandler.h"
#include "SettingsFact.h"
#include "QGCMapCircle.h"
#include "TerrainFactGroup.h"
#include "SysStatusSensorInfo.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;
class QGCCameraManager;
class Joystick;
class VehicleObjectAvoidance;
class TrajectoryPoints;
class TerrainProtocolHandler;
class ComponentInformationManager;
class FTPManager;
class InitialConnectStateMachine;

#if defined(QGC_AIRMAP_ENABLED)
class AirspaceVehicleManager;
#endif

Q_DECLARE_LOGGING_CATEGORY(VehicleLog)

class Vehicle;

class VehicleDistanceSensorFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleDistanceSensorFactGroup(QObject* parent = nullptr);

    Q_PROPERTY(Fact* rotationNone       READ rotationNone       CONSTANT)
    Q_PROPERTY(Fact* rotationYaw45      READ rotationYaw45      CONSTANT)
    Q_PROPERTY(Fact* rotationYaw90      READ rotationYaw90      CONSTANT)
    Q_PROPERTY(Fact* rotationYaw135     READ rotationYaw135     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw180     READ rotationYaw180     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw225     READ rotationYaw225     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw270     READ rotationYaw270     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw315     READ rotationYaw315     CONSTANT)
    Q_PROPERTY(Fact* rotationPitch90    READ rotationPitch90    CONSTANT)
    Q_PROPERTY(Fact* rotationPitch270   READ rotationPitch270   CONSTANT)
    Q_PROPERTY(Fact* maxDistance        READ maxDistance        CONSTANT)

    Fact* rotationNone      () { return &_rotationNoneFact; }
    Fact* rotationYaw45     () { return &_rotationYaw45Fact; }
    Fact* rotationYaw90     () { return &_rotationYaw90Fact; }
    Fact* rotationYaw135    () { return &_rotationYaw135Fact; }
    Fact* rotationYaw180    () { return &_rotationYaw180Fact; }
    Fact* rotationYaw225    () { return &_rotationYaw225Fact; }
    Fact* rotationYaw270    () { return &_rotationYaw270Fact; }
    Fact* rotationYaw315    () { return &_rotationYaw315Fact; }
    Fact* rotationPitch90   () { return &_rotationPitch90Fact; }
    Fact* rotationPitch270  () { return &_rotationPitch270Fact; }
    Fact* maxDistance       () { return &_maxDistanceFact; }

    static const char* _rotationNoneFactName;
    static const char* _rotationYaw45FactName;
    static const char* _rotationYaw90FactName;
    static const char* _rotationYaw135FactName;
    static const char* _rotationYaw180FactName;
    static const char* _rotationYaw225FactName;
    static const char* _rotationYaw270FactName;
    static const char* _rotationYaw315FactName;
    static const char* _rotationPitch90FactName;
    static const char* _rotationPitch270FactName;
    static const char* _maxDistanceFactName;

private:
    Fact _rotationNoneFact;
    Fact _rotationYaw45Fact;
    Fact _rotationYaw90Fact;
    Fact _rotationYaw135Fact;
    Fact _rotationYaw180Fact;
    Fact _rotationYaw225Fact;
    Fact _rotationYaw270Fact;
    Fact _rotationYaw315Fact;
    Fact _rotationPitch90Fact;
    Fact _rotationPitch270Fact;
    Fact _maxDistanceFact;
};

class VehicleSetpointFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleSetpointFactGroup(QObject* parent = nullptr);

    Q_PROPERTY(Fact* roll       READ roll       CONSTANT)
    Q_PROPERTY(Fact* pitch      READ pitch      CONSTANT)
    Q_PROPERTY(Fact* yaw        READ yaw        CONSTANT)
    Q_PROPERTY(Fact* rollRate   READ rollRate   CONSTANT)
    Q_PROPERTY(Fact* pitchRate  READ pitchRate  CONSTANT)
    Q_PROPERTY(Fact* yawRate    READ yawRate    CONSTANT)

    Fact* roll      () { return &_rollFact; }
    Fact* pitch     () { return &_pitchFact; }
    Fact* yaw       () { return &_yawFact; }
    Fact* rollRate  () { return &_rollRateFact; }
    Fact* pitchRate () { return &_pitchRateFact; }
    Fact* yawRate   () { return &_yawRateFact; }

    static const char* _rollFactName;
    static const char* _pitchFactName;
    static const char* _yawFactName;
    static const char* _rollRateFactName;
    static const char* _pitchRateFactName;
    static const char* _yawRateFactName;

private:
    Fact _rollFact;
    Fact _pitchFact;
    Fact _yawFact;
    Fact _rollRateFact;
    Fact _pitchRateFact;
    Fact _yawRateFact;
};

class VehicleVibrationFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleVibrationFactGroup(QObject* parent = nullptr);

    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         () { return &_xAxisFact; }
    Fact* yAxis         () { return &_yAxisFact; }
    Fact* zAxis         () { return &_zAxisFact; }
    Fact* clipCount1    () { return &_clipCount1Fact; }
    Fact* clipCount2    () { return &_clipCount2Fact; }
    Fact* clipCount3    () { 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 = nullptr);

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