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118 lines
4.8 KiB
118 lines
4.8 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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/// @file |
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/// @author Don Gagne <don@thegagnes.com> |
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#ifndef MultiVehicleManager_H |
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#define MultiVehicleManager_H |
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#include "QGCSingleton.h" |
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#include "Vehicle.h" |
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#include "QGCMAVLink.h" |
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#include "UASWaypointManager.h" |
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#include "QmlObjectListModel.h" |
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class MultiVehicleManager : public QGCSingleton |
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{ |
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Q_OBJECT |
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DECLARE_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager) |
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public: |
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Q_INVOKABLE void saveSetting (const QString &key, const QString& value); |
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Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue); |
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Q_PROPERTY(bool activeVehicleAvailable READ activeVehicleAvailable NOTIFY activeVehicleAvailableChanged) |
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Q_PROPERTY(bool parameterReadyVehicleAvailable READ parameterReadyVehicleAvailable NOTIFY parameterReadyVehicleAvailableChanged) |
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Q_PROPERTY(Vehicle* activeVehicle READ activeVehicle WRITE setActiveVehicle NOTIFY activeVehicleChanged) |
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Q_PROPERTY(QmlObjectListModel* vehicles READ vehiclesModel CONSTANT) |
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// Methods |
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/// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager |
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/// will create/update Vehicles as necessary. |
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/// @param link Heartbeat came through on this link |
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/// @param vehicleId Mavlink system id for vehicle |
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/// @param heartbeat Mavlink heartbeat message |
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/// @return true: continue further processing of this message, false: disregard this message |
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bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat); |
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Q_INVOKABLE Vehicle* getVehicleById(int vehicleId); |
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void setHomePositionForAllVehicles(double lat, double lon, double alt); |
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UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; } |
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UASWaypointManager* activeWaypointManager(void); |
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QList<Vehicle*> vehicles(void); |
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// Property accessors |
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bool activeVehicleAvailable(void) { return _activeVehicleAvailable; } |
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bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; } |
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Vehicle* activeVehicle(void) { return _activeVehicle; } |
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void setActiveVehicle(Vehicle* vehicle); |
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QmlObjectListModel* vehiclesModel(void) { return &_vehicles; } |
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signals: |
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void vehicleAdded(Vehicle* vehicle); |
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void vehicleRemoved(Vehicle* vehicle); |
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void activeVehicleAvailableChanged(bool activeVehicleAvailable); |
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void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable); |
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void activeVehicleChanged(Vehicle* activeVehicle); |
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void _deleteVehiclePhase2Signal(void); |
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private slots: |
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void _deleteVehiclePhase1(Vehicle* vehicle); |
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void _deleteVehiclePhase2(void); |
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void _setActiveVehiclePhase2(void); |
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void _autopilotPluginReadyChanged(bool pluginReady); |
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private: |
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/// All access to singleton is through MultiVehicleManager::instance |
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MultiVehicleManager(QObject* parent = NULL); |
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~MultiVehicleManager(); |
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bool _vehicleExists(int vehicleId); |
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bool _activeVehicleAvailable; ///< true: An active vehicle is available |
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bool _parameterReadyVehicleAvailable; ///< true: An active vehicle with ready parameters is available |
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Vehicle* _activeVehicle; ///< Currently active vehicle from a ui perspective |
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Vehicle* _vehicleBeingDeleted; ///< Vehicle being deleted in queued phases |
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Vehicle* _vehicleBeingSetActive; ///< Vehicle being set active in queued phases |
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QList<int> _ignoreVehicleIds; ///< List of vehicle id for which we ignore further communication |
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QmlObjectListModel _vehicles; |
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UASWaypointManager* _offlineWaypointManager; |
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}; |
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#endif
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