WaitForParamResponseState.h

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#pragma once
 
#include "WaitStateBase.h"
#include "QGCMAVLink.h"
 
#include <cstdint>
#include <functional>
 
class Vehicle;
 
class WaitForParamResponseState : public WaitStateBase
{
    Q_OBJECT
    Q_DISABLE_COPY(WaitForParamResponseState)
 
public:
    using Predicate = std::function<bool(const mavlink_message_t &message)>;
 
    WaitForParamResponseState(QState *parent, int timeoutMsecs,
                              Predicate paramValuePredicate,
                              Predicate paramErrorPredicate);
 
    uint8_t lastParamError() const { return _lastParamError; }
 
    QString lastParamErrorString() const { return _lastParamErrorString; }
 
protected:
    void connectWaitSignal() override;
    void disconnectWaitSignal() override;
 
private slots:
    void _messageReceived(const mavlink_message_t &message);
 
private:
    static QString _paramErrorToString(uint8_t errorCode);
 
    Predicate _paramValuePredicate;
    Predicate _paramErrorPredicate;
    uint8_t _lastParamError = 0;
    QString _lastParamErrorString;
};