RequestMessageCoordinator.h

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#pragma once
 
#include <QtCore/QElapsedTimer>
#include <QtCore/QList>
#include <QtCore/QMap>
#include <QtCore/QObject>
#include <QtCore/QPointer>
 
#include "MAVLinkMessageType.h"
#include "VehicleTypes.h"
 
class MavCommandQueue;
class Vehicle;
 
 
class RequestMessageCoordinator : public QObject, public VehicleTypes
{
    Q_OBJECT
 
public:
    RequestMessageCoordinator(Vehicle* vehicle, MavCommandQueue* commandQueue);
    ~RequestMessageCoordinator();
 
    void requestMessage(RequestMessageResultHandler resultHandler, void* resultHandlerData,
                        int compId, int messageId,
                        float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f);
 
    void handleReceivedMessage(const mavlink_message_t& message);
 
    void stop();
 
    void cancelRequests(void* resultHandlerData);
 
    static QString failureCodeToString(RequestMessageResultHandlerFailureCode_t failureCode);
 
private:
    typedef struct RequestMessageInfo {
        QPointer<Vehicle>           vehicle;                        // QPointer automatically becomes null when Vehicle is destroyed
        RequestMessageCoordinator*  coordinator         = nullptr;  // Back-pointer so the static ack handler can reach the instance.
        int                         compId              = 0;
        int                         msgId               = 0;
        float                       param1              = 0.0f;
        float                       param2              = 0.0f;
        float                       param3              = 0.0f;
        float                       param4              = 0.0f;
        float                       param5              = 0.0f;
        RequestMessageResultHandler resultHandler       = nullptr;
        void*                       resultHandlerData   = nullptr;
        bool                        commandAckReceived  = false;    // We keep track of the ack/message being received since the order in which this will come in is random
        bool                        messageReceived     = false;    // We only delete the allocated RequestMessageInfo when both the message is received and we get the ack
        QElapsedTimer               messageWaitElapsedTimer;        // Elapsed time since we started waiting message to show up
        mavlink_message_t           message;
    } RequestMessageInfo_t;
 
    void _removeInfo(int compId, int msgId);
    bool _duplicate(int compId, int msgId) const;
    void _sendNow(RequestMessageInfo_t* info);
    void _sendNextFromQueue(int compId);
 
    static void _cmdResultHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, MavCmdResultFailureCode_t failureCode);
 
    static void _noOpResultHandler(void* resultHandlerData, MAV_RESULT commandResult, RequestMessageResultHandlerFailureCode_t failureCode, const mavlink_message_t& message);
 
    Vehicle*                                                _vehicle     = nullptr;
    MavCommandQueue*                                        _commandQueue = nullptr;
 
    QMap<int /* compId */, QMap<int /* msgId */, RequestMessageInfo_t*>> _infoMap;   // Active requests awaiting response
    QMap<int /* compId */, QList<RequestMessageInfo_t*>>                  _queueMap; // Per-component queue waiting for active request to finish
};