MAVLinkStreamConfig.h

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#pragma once
 
#include <QtCore/QList>
#include <QtCore/QLoggingCategory>
 
Q_DECLARE_LOGGING_CATEGORY(MAVLinkStreamConfigLog)
 
 
class MAVLinkStreamConfig
{
public:
    using SetMessageIntervalCb = std::function<void(int messageId, int rate)>;
 
    MAVLinkStreamConfig(const SetMessageIntervalCb &messageIntervalCb);
    ~MAVLinkStreamConfig();
 
    void setHighRateRateAndAttitude();
    void setHighRateVelAndPos();
    void setHighRateAltAirspeed();
 
    void restoreDefaults();
 
    void gotSetMessageIntervalAck();
private:
    enum class State {
        Idle,
        RestoringDefaults,
        Configuring
    };
 
    struct DesiredStreamRate {
        const int messageId = 0;
        const int rate = 0;
    };
 
    void restoreNextDefault();
    void nextDesiredRate();
    void setNextState(State state);
 
    State _state{State::Idle};
    QList<DesiredStreamRate> _desiredRates;
    QList<int> _changedIds;
 
    State _nextState{State::Idle};
    QList<DesiredStreamRate> _nextDesiredRates;
 
    const SetMessageIntervalCb _messageIntervalCb;
};