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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.
*
****************************************************************************/
#ifndef RallyPointManager_H
#define RallyPointManager_H
#include <QObject>
#include <QGeoCoordinate>
#include "QGCLoggingCategory.h"
#include "PlanManager.h"
class Vehicle;
class PlanManager;
Q_DECLARE_LOGGING_CATEGORY(RallyPointManagerLog)
/// This is the base class for firmware specific rally point managers. A rally point manager is responsible
/// for communicating with the vehicle to set/get rally points.
class RallyPointManager : public QObject
{
Q_OBJECT
public:
RallyPointManager(Vehicle* vehicle);
~RallyPointManager();
/// Returns true if GeoFence is supported by this vehicle
virtual bool supported(void) const;
/// Returns true if the manager is currently communicating with the vehicle
virtual bool inProgress(void) const { return false; }
/// Load the current settings from the vehicle
/// Signals loadComplete when done
virtual void loadFromVehicle(void);
/// Send the current settings to the vehicle
/// Signals sendComplete when done
virtual void sendToVehicle(const QList<QGeoCoordinate>& rgPoints);
/// Remove all rally points from the vehicle
/// Signals removeAllCompleted when done
virtual void removeAll(void);
QList<QGeoCoordinate> points(void) const { return _rgPoints; }
virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/RallyPointEditor.qml"); }
/// Error codes returned in error signal
typedef enum {
InternalError,
TooFewPoints, ///< Too few points for valid geofence
TooManyPoints, ///< Too many points for valid geofence
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);
protected:
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
Vehicle* _vehicle;
PlanManager _planManager;
QList<QGeoCoordinate> _rgPoints;
QList<QGeoCoordinate> _rgSendPoints;
};
#endif