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/****************************************************************************
*
* (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 MultiVehicleManager_H
#define MultiVehicleManager_H
#include "Vehicle.h"
#include "QGCMAVLink.h"
#include "QmlObjectListModel.h"
class JoystickManager;
class QGCApplication;
class MAVLinkProtocol;
class MultiVehicleManager : public QGCTool
MultiVehicleManager(QGCApplication* app, QGCToolbox* toolbox);
Q_INVOKABLE void saveSetting (const QString &key, const QString& value);
Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue);
Q_PROPERTY(bool activeVehicleAvailable READ activeVehicleAvailable NOTIFY activeVehicleAvailableChanged)
Q_PROPERTY(bool parameterReadyVehicleAvailable READ parameterReadyVehicleAvailable NOTIFY parameterReadyVehicleAvailableChanged)
Q_PROPERTY(Vehicle* activeVehicle READ activeVehicle WRITE setActiveVehicle NOTIFY activeVehicleChanged)
Q_PROPERTY(QmlObjectListModel* vehicles READ vehicles CONSTANT)
Q_PROPERTY(bool gcsHeartBeatEnabled READ gcsHeartbeatEnabled WRITE setGcsHeartbeatEnabled NOTIFY gcsHeartBeatEnabledChanged)
/// A disconnected vehicle used for offline editing. It will match the vehicle type specified in Settings.
Q_PROPERTY(Vehicle* offlineEditingVehicle READ offlineEditingVehicle CONSTANT)
Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
bool activeVehicleAvailable(void) { return _activeVehicleAvailable; }
bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; }
Vehicle* activeVehicle(void) { return _activeVehicle; }
void setActiveVehicle(Vehicle* vehicle);
QmlObjectListModel* vehicles(void) { return &_vehicles; }
bool gcsHeartbeatEnabled(void) const { return _gcsHeartbeatEnabled; }
void setGcsHeartbeatEnabled(bool gcsHeartBeatEnabled);
Vehicle* offlineEditingVehicle(void) { return _offlineEditingVehicle; }
/// Determines if the link is in use by a Vehicle
/// @param link Link to test against
/// @param skipVehicle Don't consider this Vehicle as part of the test
/// @return true: link is in use by one or more Vehicles
bool linkInUse(LinkInterface* link, Vehicle* skipVehicle);
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
signals:
void vehicleAdded(Vehicle* vehicle);
void vehicleRemoved(Vehicle* vehicle);
void activeVehicleAvailableChanged(bool activeVehicleAvailable);
void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
void activeVehicleChanged(Vehicle* activeVehicle);
void gcsHeartBeatEnabledChanged(bool gcsHeartBeatEnabled);
void _deleteVehiclePhase2Signal(void);
void _deleteVehiclePhase1(Vehicle* vehicle);
void _deleteVehiclePhase2(void);
void _setActiveVehiclePhase2(void);
void _vehicleParametersReadyChanged(bool parametersReady);
void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType);
void _requestProtocolVersion(unsigned version);
private:
bool _vehicleExists(int vehicleId);
bool _activeVehicleAvailable; ///< true: An active vehicle is available
bool _parameterReadyVehicleAvailable; ///< true: An active vehicle with ready parameters is available
Vehicle* _activeVehicle; ///< Currently active vehicle from a ui perspective
Vehicle* _offlineEditingVehicle; ///< Disconnected vechicle used for offline editing
QList<Vehicle*> _vehiclesBeingDeleted; ///< List of Vehicles being deleted in queued phases
Vehicle* _vehicleBeingSetActive; ///< Vehicle being set active in queued phases
QList<int> _ignoreVehicleIds; ///< List of vehicle id for which we ignore further communication
QmlObjectListModel _vehicles;
FirmwarePluginManager* _firmwarePluginManager;
JoystickManager* _joystickManager;
MAVLinkProtocol* _mavlinkProtocol;
QTimer _gcsHeartbeatTimer; ///< Timer to emit heartbeats
bool _gcsHeartbeatEnabled; ///< Enabled/disable heartbeat emission
static const int _gcsHeartbeatRateMSecs = 1000; ///< Heartbeat rate
static const char* _gcsHeartbeatEnabledKey;