ActuatorActions.h

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#pragma once
 
#include "Common.h"
#include "VehicleTypes.h"
#include "MAVLinkMessageType.h"
#include "MAVLinkEnums.h"
#include "QGCMAVLinkTypes.h"
#include "QmlObjectListModel.h"
 
class Vehicle;
 
#include <QtCore/QObject>
#include <QtCore/QString>
 
namespace ActuatorActions {
 
struct Config {
    enum class Type {
        beep = ACTUATOR_CONFIGURATION_BEEP,                            
        set3DModeOn = ACTUATOR_CONFIGURATION_3D_MODE_ON,               
        set3DModeOff = ACTUATOR_CONFIGURATION_3D_MODE_OFF,             
        setSpinDirection1 = ACTUATOR_CONFIGURATION_SPIN_DIRECTION1,    
        setSpinDirection2 = ACTUATOR_CONFIGURATION_SPIN_DIRECTION2,    
    };
 
    QString typeToLabel() const;
 
    Type type;
    Condition condition;
    QSet<QString> actuatorTypes;
};
 
class Action : public QObject
{
    Q_OBJECT
public:
    Action(QObject* parent, const Config& action, const QString& label,
            int outputFunction, Vehicle* vehicle);
 
    Q_PROPERTY(QString label                     READ label              CONSTANT)
 
    const QString& label() const { return _label; }
 
    Q_INVOKABLE void trigger();
 
private:
    static void ackHandlerEntry(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, VehicleTypes::MavCmdResultFailureCode_t failureCode);
    void ackHandler(MAV_RESULT commandResult, VehicleTypes::MavCmdResultFailureCode_t failureCode);
    void sendMavlinkRequest();
 
    const QString _label;
    const int _outputFunction;
    const Config::Type _type;
    Vehicle* _vehicle{nullptr};
 
    bool _commandInProgress{false};
};
 
class ActionGroup : public QObject
{
    Q_OBJECT
public:
    ActionGroup(QObject* parent, const QString& label, Config::Type type);
 
    Q_PROPERTY(QString label                     READ label              CONSTANT)
    Q_PROPERTY(QmlObjectListModel* actions       READ actions            CONSTANT)
 
    QmlObjectListModel* actions() { return _actions; }
    const QString& label() const { return _label; }
 
    void addAction(Action* action) { _actions->append(action); }
 
    Config::Type type() const { return _type; }
 
private:
    const QString _label;
    QmlObjectListModel* _actions = new QmlObjectListModel(this); 
    const Config::Type _type;
};
 
} // namespace ActuatorActions