MissionCommandTree.h

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#pragma once
 
#include "QGCMAVLink.h"
 
#include <QtCore/QMap>
#include <QtCore/QObject>
#include <QtCore/QVariantList>
#include <QtQmlIntegration/QtQmlIntegration>
 
class MissionCommandList;
class MissionCommandTreeTest;
class MissionCommandUIInfo;
class Vehicle;
 
class MissionCommandTree : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
    Q_MOC_INCLUDE("Vehicle.h")
 
#ifdef QGC_UNITTEST_BUILD
    friend class MissionCommandTreeTest;
#endif
 
public:
    explicit MissionCommandTree(bool unitTest = false, QObject *parent = nullptr);
 
    ~MissionCommandTree();
 
    static MissionCommandTree *instance();
 
    Q_INVOKABLE QStringList categoriesForVehicle(Vehicle *vehicle);
 
    Q_INVOKABLE QVariantList getCommandsForCategory(Vehicle *vehicle, const QString &category, bool showFlyThroughCommands);
 
    QString friendlyName(MAV_CMD command) const;
 
    QString rawName(MAV_CMD command) const;
 
    bool isLandCommand(MAV_CMD command) const;
    bool isTakeoffCommand(MAV_CMD command) const;
 
    const QList<MAV_CMD> &allCommandIds() const;
 
    const MissionCommandUIInfo *getUIInfo(Vehicle *vehicle, QGCMAVLink::VehicleClass_t vtolMode, MAV_CMD command);
 
private:
    void _collapseHierarchy(const MissionCommandList *cmdList, QMap<MAV_CMD, MissionCommandUIInfo*> &collapsedTree) const;
    void _buildAllCommands(Vehicle *vehicle, QGCMAVLink::VehicleClass_t vtolMode);
    QStringList _availableCategoriesForVehicle(Vehicle *vehicle);
    void _firmwareAndVehicleClassInfo(Vehicle *vehicle, QGCMAVLink::VehicleClass_t vtolMode, QGCMAVLink::FirmwareClass_t &firmwareClass, QGCMAVLink::VehicleClass_t &vehicleClass) const;
 
    const QString _allCommandsCategory = tr("All commands");    
 
    QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, MissionCommandList*>> _staticCommandTree;
 
    QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, QMap<MAV_CMD, MissionCommandUIInfo*>>> _allCommands;
 
    QMap<QGCMAVLink::FirmwareClass_t, QMap<QGCMAVLink::VehicleClass_t, QStringList /* category */>> _supportedCategories;
};