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.
 *
 ****************************************************************************/

#pragma once

#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;
class ADSBVehicle;
class QGCCameraManager;

Q_DECLARE_LOGGING_CATEGORY(VehicleLog)

class Vehicle;

class VehicleDistanceSensorFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleDistanceSensorFactGroup(QObject* parent = NULL);

    Q_PROPERTY(Fact* rotationNone   READ rotationNone   CONSTANT)
    Q_PROPERTY(Fact* rotationYaw90  READ rotationYaw90  CONSTANT)
    Q_PROPERTY(Fact* rotationYaw180 READ rotationYaw180 CONSTANT)
    Q_PROPERTY(Fact* rotationYaw270 READ rotationYaw270 CONSTANT)

    Fact* rotationNone      (void) { return &_rotationNoneFact; }
    Fact* rotationYaw90     (void) { return &_rotationYaw90Fact; }
    Fact* rotationYaw180    (void) { return &_rotationYaw180Fact; }
    Fact* rotationYaw270    (void) { return &_rotationYaw270Fact; }

    static const char* _rotationNoneFactName;
    static const char* _rotationYaw90FactName;
    static const char* _rotationYaw180FactName;
    static const char* _rotationYaw270FactName;

private:
    Fact _rotationNoneFact;
    Fact _rotationYaw90Fact;
    Fact _rotationYaw180Fact;
    Fact _rotationYaw270Fact;
};

class VehicleSetpointFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleSetpointFactGroup(QObject* parent = NULL);

    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      (void) { return &_rollFact; }
    Fact* pitch     (void) { return &_pitchFact; }
    Fact* yaw       (void) { return &_yawFact; }
    Fact* rollRate  (void) { return &_rollRateFact; }
    Fact* pitchRate (void) { return &_pitchRateFact; }
    Fact* yawRate   (void) { 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 = 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* lat                READ lat                CONSTANT)
    Q_PROPERTY(Fact* lon                READ lon                CONSTANT)
    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* lat               (void) { return &_latFact; }
    Fact* lon               (void) { return &_lonFact; }
    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* _latFactName;
    static const char* _lonFactName;
    static const char* _hdopFactName;
    static const char* _vdopFactName;
    static const char* _courseOverGroundFactName;
    static const char* _countFactName;
    static const char* _lockFactName;