/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2014 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project QGROUNDCONTROL is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. QGROUNDCONTROL is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with QGROUNDCONTROL. If not, see . ======================================================================*/ /// @file /// @author Don Gagne #ifndef Vehicle_H #define Vehicle_H #include #include "LinkInterface.h" #include "QGCMAVLink.h" #include "UAS.h" class FirmwarePlugin; class AutoPilotPlugin; Q_DECLARE_LOGGING_CATEGORY(VehicleLog) class Vehicle : public QObject { Q_OBJECT public: Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType); Q_PROPERTY(int id READ id CONSTANT) Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT) // Property accesors int id(void) { return _id; } MAV_AUTOPILOT firmwareType(void) { return _firmwareType; } /// Sends this specified message to all links accociated with this vehicle void sendMessage(mavlink_message_t message); /// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out. UAS* uas(void) { return _uas; } /// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out. AutoPilotPlugin* autopilotPlugin(void) { return _autopilotPlugin; } QList links(void); signals: void allLinksDisconnected(void); /// Used internally to move sendMessage call to main thread void _sendMessageOnThread(mavlink_message_t message); private slots: void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message); void _linkDisconnected(LinkInterface* link); void _sendMessage(mavlink_message_t message); private: bool _containsLink(LinkInterface* link); void _addLink(LinkInterface* link); int _id; ///< Mavlink system id MAV_AUTOPILOT _firmwareType; FirmwarePlugin* _firmwarePlugin; AutoPilotPlugin* _autopilotPlugin; /// List of all links associated with this vehicle. We keep SharedLinkInterface objects /// which are QSharedPointer's in order to maintain reference counts across threads. /// This way Link deletion works correctly. QList _links; UAS* _uas; }; #endif