ImageProtocolManager.h

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#pragma once
 
#include "MAVLinkLib.h"
 
#include <QtCore/QByteArray>
#include <QtCore/QLoggingCategory>
#include <QtCore/QObject>
#include <QtGui/QImage>
 
Q_DECLARE_LOGGING_CATEGORY(ImageProtocolManagerLog)
 
 
class ImageProtocolManager : public QObject
{
    Q_OBJECT
 
public:
    ImageProtocolManager(QObject *parent = nullptr);
    ~ImageProtocolManager();
 
    uint32_t flowImageIndex() const { return _flowImageIndex; }
 
    bool requestImage(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t &message);
    void cancelRequest(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t &message);
 
signals:
    void imageReady(const QImage &image);
    void flowImageIndexChanged(uint32_t index);
 
public slots:
    void mavlinkMessageReceived(const mavlink_message_t &message);
 
private:
    QImage _getImage();
 
    mavlink_data_transmission_handshake_t _imageHandshake = {};
    QByteArray _imageBytes;
    uint32_t _flowImageIndex = 0;
};