MAVLinkConsoleController.h

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#pragma once
 
#include <QtCore/QLoggingCategory>
#include <QtCore/QMetaObject>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QStringListModel>
#include <QtQmlIntegration/QtQmlIntegration>
 
Q_DECLARE_LOGGING_CATEGORY(MAVLinkConsoleControllerLog)
 
class QGCPalette;
class Vehicle;
 
class MAVLinkConsoleController : public QStringListModel
{
    Q_OBJECT
    QML_ELEMENT
    Q_MOC_INCLUDE("Vehicle.h")
    Q_PROPERTY(QString text READ _getText CONSTANT)
 
    class CommandHistory
    {
    public:
        void append(const QString &command);
        QString up(const QString &current);
        QString down(const QString &current);
 
    private:
        QList<QString> _history;
        int _index = 0;
        static constexpr int kMaxHistoryLength = 100;
    };
 
public:
    explicit MAVLinkConsoleController(QObject *parent = nullptr);
    ~MAVLinkConsoleController();
 
    Q_INVOKABLE void sendCommand(const QString &command);
    Q_INVOKABLE QString historyUp(const QString &current) { return _history.up(current); }
    Q_INVOKABLE QString historyDown(const QString &current) { return _history.down(current); }
 
    Q_INVOKABLE QString handleClipboard(const QString &command_pre);
 
private slots:
    void _setActiveVehicle(Vehicle *vehicle);
    void _receiveData(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, const QByteArray &data);
 
private:
    bool _processANSItext(QByteArray &line);
    void _sendSerialData(const QByteArray &data, bool close = false);
    void _writeLine(int line, const QByteArray &text);
    QString _transformLineForRichText(const QString &line) const;
    QString _getText() const;
 
    QGCPalette *_palette = nullptr;
    int _cursorHomePos = -1;
    int _cursorY = 0;
    int _cursorX = 0;
    QByteArray _incomingBuffer;
    QList<QMetaObject::Connection> _connections;
    CommandHistory _history;
    Vehicle *_vehicle = nullptr;
 
    static constexpr int kMaxNumLines = 500;    
};