VehicleObjectAvoidance.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QVector>
#include <QtCore/QPointF>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include "MAVLinkMessageType.h"
#include "QGCMAVLinkTypes.h"
 
class Vehicle;
 
class VehicleObjectAvoidance : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
public:
    explicit VehicleObjectAvoidance(Vehicle* vehicle, QObject* parent = nullptr);
 
    Q_PROPERTY(bool             available   READ available      NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(bool             enabled     READ enabled        NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(QList<int>       distances   READ distances      NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(qreal            increment   READ increment      NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(int              minDistance READ minDistance    NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(int              maxDistance READ maxDistance    NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(qreal            angleOffset READ angleOffset    NOTIFY objectAvoidanceChanged)
    Q_PROPERTY(int              gridSize    READ gridSize       NOTIFY objectAvoidanceChanged)
 
    //-- Start collision avoidance. Argument is minimum distance the vehicle should keep to all obstacles
    Q_INVOKABLE void    start   (int minDistance);
    //-- Stop collision avoidance.
    Q_INVOKABLE void    stop    ();
    //-- Object locations (in relationship to vehicle)
    Q_INVOKABLE QPointF grid    (int i);
    Q_INVOKABLE qreal   distance(int i);
 
    bool            available   () { return _distances.count() > 0; }
    bool            enabled     ();
    QList<int>      distances   () { return _distances; }
    qreal           increment   () const{ return _increment; }
    int             minDistance () const{ return _minDistance; }
    int             maxDistance () const{ return _maxDistance; }
    qreal           angleOffset () const{ return _angleOffset; }
    int             gridSize    () { return _objGrid.count(); }
 
    void            update      (mavlink_obstacle_distance_t* message);
 
signals:
    void            objectAvoidanceChanged  ();
 
private:
    QList<int>      _distances;
    QVector<QPointF>_objGrid;
    QVector<qreal>  _objDistance;
    qreal           _increment      = 0;
    int             _minDistance    = 0;
    int             _maxDistance    = 0;
    qreal           _angleOffset    = 0;
    Vehicle*        _vehicle        = nullptr;
 
    static constexpr const char* kColPrevParam = "CP_DIST";
};