MAVLinkInspectorController.h

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#pragma once
 
#include <QtCore/QLoggingCategory>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "MAVLinkLib.h"
 
Q_DECLARE_LOGGING_CATEGORY(MAVLinkInspectorControllerLog)
 
class LinkInterface;
class MAVLinkChartController;
class QGCMAVLinkSystem;
class QmlObjectListModel;
class QTimer;
class Vehicle;
 
class MAVLinkInspectorController : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    Q_MOC_INCLUDE("LinkInterface.h")
    Q_MOC_INCLUDE("Vehicle.h")
    Q_MOC_INCLUDE("MAVLinkSystem.h")
    Q_MOC_INCLUDE("MAVLinkChartController.h")
    Q_MOC_INCLUDE("QmlObjectListModel.h")
    Q_PROPERTY(QmlObjectListModel   *systems        READ systems        NOTIFY systemsChanged)
    Q_PROPERTY(QGCMAVLinkSystem     *activeSystem   READ activeSystem   NOTIFY activeSystemChanged)
    Q_PROPERTY(QStringList          timeScales      READ timeScales     NOTIFY timeScalesChanged)
    Q_PROPERTY(QStringList          rangeList       READ rangeList      NOTIFY rangeListChanged)
    Q_PROPERTY(QStringList          systemNames     READ systemNames    NOTIFY systemsChanged)
 
    struct TimeScale_st
    {
        TimeScale_st(const QString &label_, uint32_t timeScale_);
 
        QString label;
        uint32_t timeScale;
    };
 
    struct Range_st
    {
        Range_st(const QString &label_, qreal range_);
 
        QString label;
        qreal range;
    };
 
public:
    explicit MAVLinkInspectorController(QObject *parent = nullptr);
    ~MAVLinkInspectorController();
 
    Q_INVOKABLE void setActiveSystem(int systemId);
    Q_INVOKABLE void setMessageInterval(int32_t rate) const;
 
    QmlObjectListModel *systems() const { return _systems; }
    QGCMAVLinkSystem *activeSystem() const { return _activeSystem; }
    QStringList systemNames() const { return _systemNames; }
    QStringList timeScales();
    QStringList rangeList();
 
    const QList<TimeScale_st*> &timeScaleSt() const { return _timeScaleSt; }
    const QList<Range_st*> &rangeSt() const { return _rangeSt; }
 
signals:
    void activeSystemChanged();
    void rangeListChanged();
    void systemsChanged();
    void timeScalesChanged();
 
private slots:
    void _receiveMessage(LinkInterface *link, const mavlink_message_t &message);
    void _refreshFrequency();
    void _setActiveVehicle(Vehicle *vehicle);
    void _vehicleAdded(Vehicle *vehicle);
    void _vehicleRemoved(const Vehicle *vehicle);
 
private:
    QGCMAVLinkSystem *_findVehicle(uint8_t id);
    uint8_t _selectedSystemID() const;
    uint8_t _selectedComponentID() const;
 
    QStringList _timeScales;
    QStringList _rangeList;
    QStringList _systemNames;
    QList<TimeScale_st*>_timeScaleSt;
    QList<Range_st*> _rangeSt;
    QGCMAVLinkSystem *_activeSystem = nullptr;
    QTimer *_updateFrequencyTimer = nullptr;
    QmlObjectListModel *_systems = nullptr;     
};