Gimbal.cc

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#include "Gimbal.h"
#include "GimbalController.h"
#include "QGCLoggingCategory.h"
 
QGC_LOGGING_CATEGORY(GimbalLog, "Gimbal.Gimbal")
 
Gimbal::Gimbal(GimbalController *parent)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/GimbalFact.json"), parent)
{
    qCDebug(GimbalLog) << this;
 
    _initFacts();
}
 
Gimbal::Gimbal(const Gimbal &other)
    : FactGroup(1000, QStringLiteral(":/json/Vehicle/GimbalFact.json"), other.parent())
{
    _initFacts();
    *this = other;
}
 
Gimbal::~Gimbal()
{
    // qCDebug(GimbalLog) << Q_FUNC_INFO << this;
}
 
const Gimbal &Gimbal::operator=(const Gimbal &other)
{
    _requestInformationRetries = other._requestInformationRetries;
    _requestStatusRetries = other._requestStatusRetries;
    _requestAttitudeRetries = other._requestAttitudeRetries;
    _lastStatusRequestMs = other._lastStatusRequestMs;
    _receivedGimbalManagerInformation = other._receivedGimbalManagerInformation;
    _receivedGimbalManagerStatus = other._receivedGimbalManagerStatus;
    _receivedGimbalDeviceAttitudeStatus = other._receivedGimbalDeviceAttitudeStatus;
    _deltaYawValid = other._deltaYawValid;
    _receivedGimbalDeviceInformation = other._receivedGimbalDeviceInformation;
    _deviceName = other._deviceName;
    _isComplete = other._isComplete;
    _retracted = other._retracted;
    _neutral = other._neutral;
    _haveControl = other._haveControl;
    _othersHaveControl = other._othersHaveControl;
    _absoluteRollFact = other._absoluteRollFact;
    _absolutePitchFact = other._absolutePitchFact;
    _bodyYawFact = other._bodyYawFact;
    _absoluteYawFact = other._absoluteYawFact;
    _deltaYawFact = other._deltaYawFact;
    _deviceIdFact = other._deviceIdFact;
    _yawLock = other._yawLock;
    _haveControl = other._haveControl;
    _othersHaveControl = other._othersHaveControl;
 
    return *this;
}
 
void Gimbal::_initFacts()
{
    _addFact(&_absoluteRollFact);
    _addFact(&_absolutePitchFact);
    _addFact(&_bodyYawFact);
    _addFact(&_absoluteYawFact);
    _addFact(&_deltaYawFact);
    _addFact(&_deviceIdFact);
    _addFact(&_managerCompidFact);
 
    _absoluteRollFact.setRawValue(0.0f);
    _absolutePitchFact.setRawValue(0.0f);
    _bodyYawFact.setRawValue(0.0f);
    _absoluteYawFact.setRawValue(0.0f);
    _deltaYawFact.setRawValue(qQNaN());
    _deviceIdFact.setRawValue(0);
    _managerCompidFact.setRawValue(0);
}
 
void Gimbal::setCapabilityFlags(uint32_t flags)
{
    if (_capabilityFlags != flags) {
        _capabilityFlags = flags;
        emit capabilityFlagsChanged();
    }
}