AirMapTelemetry.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 "LifetimeChecker.h"
#include "AirMapSharedState.h"

#include <QGCMAVLink.h>

#include <QObject>
#include <QElapsedTimer>

/// Class to send telemetry data to AirMap
class AirMapTelemetry : public QObject, public LifetimeChecker
{
    Q_OBJECT
public:
    AirMapTelemetry                 (AirMapSharedState& shared);
    virtual ~AirMapTelemetry        () = default;

    void startTelemetryStream       (const QString& flightID);
    void stopTelemetryStream        ();
    bool isTelemetryStreaming       ();

signals:
    void error                      (const QString& what, const QString& airmapdMessage, const QString& airmapdDetails);

public slots:
    void vehicleMessageReceived     (const mavlink_message_t& message);

private:

    void _handleGlobalPositionInt   (const mavlink_message_t& message);
    void _handleGPSRawInt           (const mavlink_message_t& message);

    enum class State {
        Idle,
        StartCommunication,
        EndCommunication,
        Streaming,
    };

    State                   _state = State::Idle;
    AirMapSharedState&      _shared;
    std::string             _key; ///< key for AES encryption (16 bytes)
    QString                 _flightID;
    float                   _lastHdop = 1.f;
    QElapsedTimer           _timerLastSent;
};