FollowMe.h

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#pragma once
 
#include <QtCore/QLoggingCategory>
#include <QtCore/QObject>
#include <QtCore/QTimer>
#include <QtCore/QVariant>
 
Q_DECLARE_LOGGING_CATEGORY(FollowMeLog)
 
class Vehicle;
 
class FollowMe : public QObject
{
    Q_OBJECT
    Q_MOC_INCLUDE("Vehicle.h")
 
public:
    explicit FollowMe(QObject *parent = nullptr);
    ~FollowMe();
 
    static FollowMe* instance();
    void init();
 
    struct GCSMotionReport {
        int lat_int;            // X Position in WGS84 frame in 1e7 * meters
        int lon_int;            // Y Position in WGS84 frame in 1e7 * meters
        double altMetersAMSL;   // Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
        double headingDegrees;  // Heading in degrees
        double vxMetersPerSec;  // X velocity in NED frame in meter / s
        double vyMetersPerSec;  // Y velocity in NED frame in meter / s
        double vzMetersPerSec;  // Z velocity in NED frame in meter / s
        double pos_std_dev[3];  // -1 for unknown
    };
 
    enum MotionCapability {
        POS = 0,
        VEL = 1,
        ACCEL = 2,
        ATT_RATES = 3,
        HEADING = 4
    };
 
private slots:
    void _sendGCSMotionReport();
    void _settingsChanged(QVariant value);
    void _vehicleAdded(Vehicle *vehicle);
    void _vehicleRemoved(Vehicle *vehicle);
    void _enableIfVehicleInFollow();
 
private:
    enum FollowMode {
        MODE_NEVER,
        MODE_ALWAYS,
        MODE_FOLLOWME
    };
 
    void _disableFollowSend();
    void _enableFollowSend();
    bool _isFollowFlightMode(const Vehicle *vehicle, const QString &flightMode);
 
    QTimer *_gcsMotionReportTimer = nullptr;
    FollowMode _currentMode = MODE_NEVER;
 
    static constexpr int kMotionUpdateInterval = 250;
};