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DonLakeFlyer authored
Better flight trajectory point algorithm
1c2e8fe9
/**************************************************************************** * * (c) 2009-2018 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 <QVector>#include <QMutex>#include "QGCToolbox.h"class Vehicle;class UASInterface;class UASMessageHandler;class QGCApplication;/*! * @class UASMessage * @brief Message element */class UASMessage{ friend class UASMessageHandler;public: /** * @brief Get message source component ID */ int getComponentID() { return _compId; } /** * @brief Get message severity (from MAV_SEVERITY_XXX enum) */ int getSeverity() { return _severity; } /** * @brief Get message text (e.g. "[pm] sending list") */ QString getText() { return _text; } /** * @brief Get (html) formatted text (in the form: "[11:44:21.137 - COMP:50] Info: [pm] sending list") */ QString getFormatedText() { return _formatedText; } /** * @return true: This message is a of a severity which is considered an error */ bool severityIsError();private: UASMessage(int componentid, int severity, QString text); void _setFormatedText(const QString formatedText) { _formatedText = formatedText; } int _compId; int _severity; QString _text; QString _formatedText;};class UASMessageHandler : public QGCTool{ Q_OBJECTpublic: explicit UASMessageHandler(QGCApplication* app, QGCToolbox* toolbox); ~UASMessageHandler(); /** * @brief Locks access to the message list
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*/
void lockAccess() {_mutex.lock(); }
/**
* @brief Unlocks access to the message list
*/
void unlockAccess() {_mutex.unlock(); }
/**
* @brief Access to the message list
*/
const QVector<UASMessage*>& messages() { return _messages; }
/**
* @brief Clear messages
*/
void clearMessages();
/**
* @brief Get error message count (Resets count once read)
*/
int getErrorCount();
/**
* @brief Get error message count (never reset)
*/
int getErrorCountTotal();
/**
* @brief Get warning message count (Resets count once read)
*/
int getWarningCount();
/**
* @brief Get normal message count (Resets count once read)
*/
int getNormalCount();
/**
* @brief Get latest error message
*/
QString getLatestError() { return _latestError; }
/// Begin to show message which are errors in the toolbar
void showErrorsInToolbar(void) { _showErrorsInToolbar = true; }
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
public slots:
/**
* @brief Handle text message from current active UAS
* @param uasid UAS Id
* @param componentid Component Id
* @param severity Message severity
* @param text Message Text
*/
void handleTextMessage(int uasid, int componentid, int severity, QString text);
signals:
/**
* @brief Sent out when new message arrives
* @param message A pointer to the message. NULL if resetting (new UAS assigned)
*/
void textMessageReceived(UASMessage* message);
/**
* @brief Sent out when the message count changes
* @param count The new message count
*/
void textMessageCountChanged(int count);
private slots:
void _activeVehicleChanged(Vehicle* vehicle);
private:
Vehicle* _activeVehicle;
int _activeComponent;
bool _multiComp;