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/****************************************************************************
*
* (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 <QObject>
#include <QGeoCoordinate>
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceManager.h"
#endif
#include "QGCLoggingCategory.h"
#include "FactSystem.h"
#include "PlanManager.h"
#include "QGCFencePolygon.h"
#include "QGCFenceCircle.h"
#include "PlanManager.h"
class Vehicle;
class QmlObjectListModel;
Q_DECLARE_LOGGING_CATEGORY(GeoFenceManagerLog)
/// This is the base class for firmware specific geofence managers. A geofence manager is responsible
/// for communicating with the vehicle to set/get geofence settings.
class GeoFenceManager : public PlanManager
{
Q_OBJECT
public:
GeoFenceManager(Vehicle* vehicle);
~GeoFenceManager();
bool supported(void) const;
/// Signals sendComplete when done
void sendToVehicle(const QGeoCoordinate& breachReturn, ///< Breach return point
QmlObjectListModel& polygons, ///< List of QGCFencePolygons
QmlObjectListModel& circles); ///< List of QGCFenceCircles
/// Signals removeAllComplete when done
void removeAll(void);
/// Returns true if polygon fence is currently enabled on this vehicle
/// Signal: polygonEnabledChanged
bool polygonEnabled(void) const { return true; }
const QList<QGCFencePolygon>& polygons(void) { return _polygons; }
const QList<QGCFenceCircle>& circles(void) { return _circles; }
const QGeoCoordinate& breachReturnPoint(void) const { return _breachReturnPoint; }
/// Error codes returned in error signal
typedef enum {
InternalError,
PolygonTooFewPoints, ///< Too few points for valid fence polygon
PolygonTooManyPoints, ///< Too many points for valid fence polygon
IncompletePolygonLoad, ///< Incomplete polygon loaded
UnsupportedCommand, ///< Usupported command in mission type
BadPolygonItemFormat, ///< Error re-creating polygons from mission items
InvalidCircleRadius,
} ErrorCode_t;
signals:
void loadComplete (void);
void inProgressChanged (bool inProgress);
void error (int errorCode, const QString& errorMsg);
void removeAllComplete (bool error);
void sendComplete (bool error);
private slots:
void _sendComplete (bool error);
void _planManagerLoadComplete (bool removeAllRequested);
private:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
QList<QGCFencePolygon> _polygons;
QList<QGCFenceCircle> _circles;
QGeoCoordinate _breachReturnPoint;
bool _firstParamLoadComplete = false;
QList<QGCFencePolygon> _sendPolygons;
QList<QGCFenceCircle> _sendCircles;
#if defined(QGC_AIRMAP_ENABLED)
AirspaceManager* _airspaceManager = nullptr;
#endif
};