TerrainProtocolHandler.h

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#pragma once
 
#include <QtCore/QLoggingCategory>
#include <QtCore/QObject>
#include <QtPositioning/QGeoCoordinate>
 
#include "MAVLinkLib.h"
 
class QTimer;
class TerrainFactGroup;
class Vehicle;
 
Q_DECLARE_LOGGING_CATEGORY(TerrainProtocolHandlerLog)
 
class TerrainProtocolHandler : public QObject
{
    Q_OBJECT
 
public:
    explicit TerrainProtocolHandler(Vehicle *vehicle, TerrainFactGroup *terrainFactGroup, QObject *parent = nullptr);
    ~TerrainProtocolHandler();
 
    bool mavlinkMessageReceived(const mavlink_message_t &message);
 
private slots:
    void _sendNextTerrainData();
 
private:
    void _handleTerrainRequest(const mavlink_message_t &message);
    void _handleTerrainReport(const mavlink_message_t &message);
    void _sendTerrainData(const QGeoCoordinate &swCorner, uint8_t gridBit);
 
    Vehicle *_vehicle = nullptr;
    TerrainFactGroup *_terrainFactGroup = nullptr;
    QTimer *_terrainDataSendTimer = nullptr;
    bool _terrainRequestActive = false;
    mavlink_terrain_request_t _currentTerrainRequest;
};