MockLinkGimbal.h

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#pragma once
 
#include "MAVLinkLib.h"
 
#include <QtCore/QMutex>
 
class MockLink;
 
class MockLinkGimbal
{
public:
    explicit MockLinkGimbal(
        MockLink *mockLink,
        bool hasRollAxis = true,
        bool hasPitchAxis = true,
        bool hasYawAxis = true,
        bool hasYawFollow = true,
        bool hasYawLock = true,
        bool hasRetract = true,
        bool hasNeutral = true);
    ~MockLinkGimbal() = default;
 
    void run1HzTasks();
 
    bool handleMavlinkMessage(const mavlink_message_t &msg);
 
private:
    bool _handleSetMessageInterval(const mavlink_command_long_t &request);
 
    bool _handleRequestMessage(const mavlink_command_long_t &request);
 
    bool _handleGimbalManagerPitchYaw(const mavlink_command_long_t &request);
 
    bool _handleGimbalManagerConfigure(const mavlink_command_long_t &request);
 
    void _sendGimbalManagerStatus();
    void _sendGimbalDeviceAttitudeStatus();
    void _sendGimbalManagerInformation();
    void _sendCommandAck(uint16_t command, uint8_t result);
 
    static constexpr uint8_t kGimbalCompId = MAV_COMP_ID_GIMBAL;
    static constexpr int kDefaultIntervalUs = 1000000; // 1 Hz default
 
    MockLink *_mockLink = nullptr;
    int       _managerStatusIntervalUs = 0;          // 0 = disabled
    int       _deviceAttitudeStatusIntervalUs = 0;  // 0 = disabled by default
    qint64    _managerStatusLastSentMs = 0;
    qint64    _deviceAttitudeStatusLastSentMs = 0;
 
    // Simulated gimbal attitude (degrees)
    float     _roll = 0.0f;
    float     _pitch = 0.0f;
    float     _yaw = 0.0f;
    bool      _manualControl = false;  // true when under external control command
    QMutex    _stateMutex;
 
    // Gimbal manager configuration
    uint8_t   _gimbalManagerSysidPrimary = 0;    // System ID for primary control
    uint8_t   _gimbalManagerCompidPrimary = 0;   // Component ID for primary control
    uint8_t   _gimbalManagerSysidSecondary = 0;  // System ID for secondary control
    uint8_t   _gimbalManagerCompidSecondary = 0; // Component ID for secondary control
 
    // Gimbal capability flags
    bool _hasRollAxis = true;
    bool _hasPitchAxis = true;
    bool _hasYawAxis = true;
    bool _hasYawFollow = true;
    bool _hasYawLock = true;
    bool _hasRetract = true;
    bool _hasNeutral = true;
};