TerrainQueryCoordinator.h

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#pragma once
 
#include <QtCore/QElapsedTimer>
#include <QtCore/QList>
#include <QtCore/QObject>
#include <QtCore/QPointer>
#include <QtPositioning/QGeoCoordinate>
 
#include "MAVLinkEnums.h"
 
class TerrainAtCoordinateQuery;
class Vehicle;
 
class TerrainQueryCoordinator : public QObject
{
    Q_OBJECT
 
public:
    explicit TerrainQueryCoordinator(Vehicle* vehicle);
 
    void doSetHomeWithTerrain(const QGeoCoordinate& coord);
 
    void roiWithTerrain(const QGeoCoordinate& coord);
 
    void sendROICommand(const QGeoCoordinate& coord, MAV_FRAME frame, float altitude);
 
    void updateAltAboveTerrain();
 
private slots:
    void _doSetHomeTerrainReceived(bool success, QList<double> heights);
    void _roiTerrainReceived(bool success, QList<double> heights);
    void _altitudeAboveTerrainReceived(bool success, QList<double> heights);
 
private:
    Vehicle* _vehicle = nullptr;
 
    // QPointer: TerrainAtCoordinateQuery self-deletes after its signal (autoDelete=true).
    QPointer<TerrainAtCoordinateQuery> _doSetHomeQuery;
    QGeoCoordinate                     _doSetHomeCoordinate;
 
    QPointer<TerrainAtCoordinateQuery> _roiQuery;
    QGeoCoordinate                     _roiCoordinate;
 
    QElapsedTimer                      _altQueryTimer;
    QPointer<TerrainAtCoordinateQuery> _altQuery;
    QGeoCoordinate                     _altLastCoord;
    float                              _altLastRelAlt = qQNaN();
};