MAVLinkMessage.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QList>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "MAVLinkMessageType.h"
 
class QmlObjectListModel;
 
class QGCMAVLinkMessage : public QObject
{
    Q_OBJECT
    // QML_ELEMENT
    Q_MOC_INCLUDE("QmlObjectListModel.h")
    Q_PROPERTY(quint32              id              READ id             CONSTANT)
    Q_PROPERTY(quint32              sysId           READ sysId          CONSTANT)
    Q_PROPERTY(quint32              compId          READ compId         CONSTANT)
    Q_PROPERTY(QString              name            READ name           CONSTANT)
    Q_PROPERTY(QString              instanceValue   READ instanceValue  CONSTANT)
    Q_PROPERTY(qreal                actualRateHz    READ actualRateHz   NOTIFY actualRateHzChanged)
    Q_PROPERTY(int32_t              targetRateHz    READ targetRateHz   NOTIFY targetRateHzChanged)
    Q_PROPERTY(quint64              count           READ count          NOTIFY countChanged)
    Q_PROPERTY(QmlObjectListModel   *fields         READ fields         CONSTANT)
    Q_PROPERTY(bool                 fieldSelected   READ fieldSelected  NOTIFY fieldSelectedChanged)
    Q_PROPERTY(bool                 selected        READ selected       NOTIFY selectedChanged)
 
public:
    explicit QGCMAVLinkMessage(const mavlink_message_t &message, const QString &instanceValue = QString(), QObject *parent = nullptr);
    ~QGCMAVLinkMessage();
 
    static QString extractInstanceValue(const mavlink_message_t &message);
 
    quint32 id() const { return _message.msgid;  }
    quint8 sysId() const { return _message.sysid; }
    quint8 compId() const { return _message.compid; }
    QString name() const { return _name;  }
    QString instanceValue() const { return _instanceValue; }
    qreal actualRateHz() const { return _actualRateHz; }
    int32_t targetRateHz() const { return _targetRateHz; }
    quint64 count() const { return _count; }
    quint64 lastCount() const { return _lastCount; }
    QmlObjectListModel *fields() const { return _fields; }
    bool fieldSelected() const { return _fieldSelected; }
    bool selected() const { return _selected; }
 
    void updateFieldSelection();
    void update(const mavlink_message_t &message);
    void updateFreq();
    void setSelected(bool sel);
    void setTargetRateHz(int32_t rate);
 
signals:
    void countChanged();
    void actualRateHzChanged();
    void targetRateHzChanged();
    void fieldSelectedChanged();
    void selectedChanged();
 
private:
    void _updateFields();
    static QString _extractDebugInstanceValue(const mavlink_message_t &message);
 
    struct FieldMapping {
        unsigned int fieldIndex = 0;    
        int arrayElement = -1;          
    };
 
    mavlink_message_t _message{};
    QmlObjectListModel *_fields = nullptr;
    QList<FieldMapping> _fieldMappings;
    QString _name;
    QString _instanceValue;
    qreal _actualRateHz = 0.0;
    int32_t _targetRateHz = 0;
    uint64_t _count = 1;
    uint64_t _lastCount = 0;
    bool _fieldSelected = false;
    bool _selected = false;
};