WaitForMavlinkMessageState.h

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#pragma once
 
#include "WaitStateBase.h"
#include "MAVLinkMessageType.h"
 
#include <cstdint>
#include <functional>
 
class Vehicle;
 
class WaitForMavlinkMessageState : public WaitStateBase
{
    Q_OBJECT
    Q_DISABLE_COPY(WaitForMavlinkMessageState)
 
public:
    using Predicate = std::function<bool(const mavlink_message_t &message)>;
 
    WaitForMavlinkMessageState(QState *parent, uint32_t messageId, int timeoutMsecs, Predicate predicate = Predicate());
 
    uint32_t messageId() const { return _messageId; }
 
protected:
    void connectWaitSignal() override;
    void disconnectWaitSignal() override;
 
private slots:
    void _messageReceived(const mavlink_message_t &message);
 
private:
    uint32_t _messageId = 0U;
    Predicate _predicate;
};