Actuators.h

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#pragma once
 
#include "ActuatorOutputs.h"
#include "ActuatorTesting.h"
#include "Mixer.h"
#include "MotorAssignment.h"
 
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QJsonDocument>
 
class Vehicle;
 
class Actuators : public QObject
{
    Q_OBJECT
public:
    Actuators(QObject* parent, Vehicle* vehicle);
    ~Actuators() = default;
 
    Q_PROPERTY(QmlObjectListModel* actuatorOutputs         READ actuatorOutputs           NOTIFY actuatorOutputsChanged)
    Q_PROPERTY(QmlObjectListModel* actuatorActions         READ actuatorActions           NOTIFY actuatorActionsChanged)
    Q_PROPERTY(bool isMultirotor                           READ isMultirotor              CONSTANT)
    Q_PROPERTY(bool imageRefreshFlag                       READ imageRefreshFlag          NOTIFY imageRefreshFlagChanged)
    Q_PROPERTY(bool hasUnsetRequiredFunctions              READ hasUnsetRequiredFunctions NOTIFY hasUnsetRequiredFunctionsChanged)
    Q_PROPERTY(bool motorAssignmentActive                  READ motorAssignmentActive     NOTIFY motorAssignmentActiveChanged)
    Q_PROPERTY(bool motorAssignmentEnabled                 READ motorAssignmentEnabled    NOTIFY motorAssignmentEnabledChanged)
    Q_PROPERTY(QString motorAssignmentMessage              READ motorAssignmentMessage    NOTIFY motorAssignmentMessageChanged)
 
    Q_PROPERTY(ActuatorTesting::ActuatorTest* actuatorTest                      READ actuatorTest              CONSTANT)
    Q_PROPERTY(Mixer::Mixers* mixer                                             READ mixer                     CONSTANT)
    Q_PROPERTY(ActuatorOutputs::ActuatorOutput* selectedActuatorOutput          READ selectedActuatorOutput    NOTIFY selectedActuatorOutputChanged)
 
    Q_INVOKABLE void imageClicked(QSizeF displaySize, float x, float y);
 
    Q_INVOKABLE void selectActuatorOutput(int index);
 
    void load(const QString& json_file);
 
    void init();
 
    QmlObjectListModel* actuatorOutputs() { return _actuatorOutputs; }
    ActuatorOutputs::ActuatorOutput* selectedActuatorOutput() const;
 
    ActuatorTesting::ActuatorTest* actuatorTest() { return &_actuatorTest; }
 
    bool isMultirotor() const;
 
    bool imageRefreshFlag() const { return _imageRefreshFlag; }
 
    Mixer::Mixers* mixer() { return &_mixer; }
 
    bool hasUnsetRequiredFunctions() const { return _hasUnsetRequiredFunctions; }
 
    bool showUi() const;
    bool isInitialized() const { return _init; }
    const QString& initializationError() const { return _initError; }
 
    QmlObjectListModel* actuatorActions() { return _actuatorActions; }
 
    Q_INVOKABLE bool initMotorAssignment();
    Q_INVOKABLE void startMotorAssignment();
    Q_INVOKABLE void spinCurrentMotor() { _motorAssignment.spinCurrentMotor(); }
    Q_INVOKABLE void abortMotorAssignment();
    bool motorAssignmentActive() const { return _motorAssignment.active(); }
    bool motorAssignmentEnabled() const { return _motorAssignmentEnabled; }
    const QString& motorAssignmentMessage() const { return _motorAssignment.message(); }
 
public slots:
    void parametersChanged();
 
signals:
    void actuatorOutputsChanged();
    void selectedActuatorOutputChanged();
    void imageRefreshFlagChanged();
    void hasUnsetRequiredFunctionsChanged();
    void motorAssignmentActiveChanged();
    void motorAssignmentEnabledChanged();
    void motorAssignmentMessageChanged();
    void actuatorActionsChanged();
 
private slots:
    void updateGeometryImage();
 
private:
    bool parseJson(const QJsonDocument& json);
 
    void updateActuatorActions();
 
    void subscribeFact(Fact* fact);
 
    Fact* getFact(const QString& paramName);
 
    void highlightActuators(bool highlight);
 
    void updateFunctionMetadata();
 
    QSet<Fact*> _subscribedFacts{};
    QJsonDocument _jsonMetadata;
    bool _init{false};
    QString _initError;
    Condition _showUi;
    QmlObjectListModel* _actuatorOutputs = new QmlObjectListModel(this); 
    QmlObjectListModel* _actuatorActions = new QmlObjectListModel(this); 
    ActuatorTesting::ActuatorTest _actuatorTest;
    Mixer::Mixers _mixer;
    MotorAssignment _motorAssignment;
    bool _motorAssignmentEnabled{false};
    bool _hasUnsetRequiredFunctions{false};
    bool _imageRefreshFlag{false}; 
    int _selectedActuatorOutput{0};
    Vehicle* _vehicle{nullptr};
    QMap<int, QString> _usedMixerLabels;
};