Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
/****************************************************************************
*
* (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 "Vehicle.h"
#include "QGCMAVLink.h"
#include "QGCLoggingCategory.h"
#include <QObject>
#include <QGeoCoordinate>
class TerrainFactGroup;
Q_DECLARE_LOGGING_CATEGORY(TerrainProtocolHandlerLog)
class TerrainProtocolHandler : public QObject
{
Q_OBJECT
public:
explicit TerrainProtocolHandler(Vehicle* vehicle, TerrainFactGroup* terrainFactGroup, QObject *parent = nullptr);
/// @return true: Allow vehicle to continue processing, false: Vehicle should not process message
bool mavlinkMessageReceived(const mavlink_message_t message);
private slots:
void _sendNextTerrainData(void);
private:
void _handleTerrainRequest (const mavlink_message_t& message);
void _handleTerrainReport (const mavlink_message_t& message);
void _sendTerrainData (const QGeoCoordinate& swCorner, uint8_t gridBit);
Vehicle* _vehicle;
TerrainFactGroup* _terrainFactGroup;
bool _terrainRequestActive = false;
mavlink_terrain_request_t _currentTerrainRequest;
QTimer _terrainDataSendTimer;
};