MotorAssignment.h

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#pragma once
 
#include "VehicleTypes.h"
#include "MAVLinkMessageType.h"
#include "MAVLinkEnums.h"
#include "QGCMAVLinkTypes.h"
 
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QTimer>
 
class Fact;
class QmlObjectListModel;
class Vehicle;
 
class MotorAssignment : public QObject
{
    Q_OBJECT
public:
    MotorAssignment(QObject* parent, Vehicle* vehicle, QmlObjectListModel* actuators);
 
    virtual ~MotorAssignment() = default;
 
    bool initAssignment(int selectedActuatorIdx, int firstMotorsFunction, int numMotors);
 
    void start();
 
    void selectMotor(int motorIndex);
 
    void spinCurrentMotor();
 
    void abort();
 
    bool active() const { return _state == State::Running; }
 
    const QString& message() const { return _message; }
 
signals:
    void activeChanged();
    void messageChanged();
    void onAbort();
 
private slots:
    void spinTimeout();
 
private:
    static constexpr int _spinTimeoutDefaultSec = 1000;
    static constexpr int _spinTimeoutHighSec = 3000; 
 
    static void ackHandlerEntry(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, VehicleTypes::MavCmdResultFailureCode_t failureCode);
    void ackHandler(MAV_RESULT commandResult, VehicleTypes::MavCmdResultFailureCode_t failureCode);
    void sendMavlinkRequest(int function, float value);
 
    enum class State {
        Idle,
        Init,
        Running
    };
 
    Vehicle* _vehicle{nullptr};
    QmlObjectListModel* _actuators{nullptr}; 
 
    int _selectedActuatorIdx{-1};
    int _firstMotorsFunction{};
    int _numMotors{};
    QTimer _spinTimer;
 
    State _state{State::Idle};
    bool _assignMotors{false};
    QList<int> _selectedMotors{};
    bool _commandInProgress{false};
    QList<QList<Fact*>> _functionFacts;
    QString _message; 
};