RequestMessageState.h

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#pragma once
 
#include "WaitStateBase.h"
#include "Vehicle.h"
 
#include <cstdint>
#include <functional>
 
class RequestMessageState : public WaitStateBase
{
    Q_OBJECT
    Q_DISABLE_COPY(RequestMessageState)
 
public:
    using MessageHandler = std::function<void(Vehicle* vehicle, const mavlink_message_t& message)>;
 
    RequestMessageState(QState* parent,
                        uint32_t messageId,
                        MessageHandler messageHandler = MessageHandler(),
                        int compId = MAV_COMP_ID_AUTOPILOT1,
                        int timeoutMsecs = 5000,
                        float param1 = 0.0f,
                        float param2 = 0.0f,
                        float param3 = 0.0f,
                        float param4 = 0.0f,
                        float param5 = 0.0f);
 
    Vehicle::RequestMessageResultHandlerFailureCode_t failureCode() const { return _failureCode; }
 
    MAV_RESULT commandResult() const { return _commandResult; }
 
signals:
    void messageReceived(const mavlink_message_t& message);
 
protected:
    void connectWaitSignal() override {}
    void disconnectWaitSignal() override {}
    void onWaitEntered() override;
    void onWaitTimeout() override;
 
private:
    static void _resultHandler(void* resultHandlerData,
                               MAV_RESULT commandResult,
                               Vehicle::RequestMessageResultHandlerFailureCode_t failureCode,
                               const mavlink_message_t& message);
 
    uint32_t        _messageId;
    MessageHandler  _messageHandler;
    int             _compId;
    float           _param1;
    float           _param2;
    float           _param3;
    float           _param4;
    float           _param5;
 
    Vehicle::RequestMessageResultHandlerFailureCode_t _failureCode = Vehicle::RequestMessageNoFailure;
    MAV_RESULT _commandResult = MAV_RESULT_ACCEPTED;
};