State machine for initial vehicle connection sequence. More...

#include <InitialConnectStateMachine.h>

Inheritance diagram for InitialConnectStateMachine:

Collaboration diagram for InitialConnectStateMachine:

Public Member Functions
	InitialConnectStateMachine (Vehicle vehicle, QObject parent=nullptr)

	~InitialConnectStateMachine () override

void	start ()

Public Member Functions inherited from QGCStateMachine
	QGCStateMachine (const QString &machineName, Vehicle vehicle, QObject parent=nullptr)

Vehicle *	vehicle () const

QString	machineName () const

StateContext &	context ()

const StateContext &	context () const

bool	active () const

QString	currentStateName () const

QStringList	stateHistory () const

void	setStateHistoryLimit (int limit)
	Set the maximum number of state history entries to keep.

void	setOnEntry (EntryCallback callback)
	Set a callback to be invoked when the machine starts.

void	setOnExit (ExitCallback callback)
	Set a callback to be invoked when the machine stops.

void	setCallbacks (EntryCallback onEntry, ExitCallback onExit=nullptr)
	Set both entry and exit callbacks.

void	setEventHandler (EventHandler handler)

void	enablePropertyRestore ()

bool	isPropertyRestoreEnabled () const
	Check if property restoration is enabled.

void	setGlobalErrorState (QAbstractState *errorState)

QAbstractState *	globalErrorState () const
	Get the global error state.

void	registerState (QGCState *state)

void	registerState (QGCAbstractState *state)

FunctionState *	addFunctionState (const QString &stateName, std::function< void()> function)

AsyncFunctionState *	addAsyncFunctionState (const QString &stateName, AsyncFunctionState::SetupFunction setupFunction, int timeoutMsecs=0)

QGCState *	addErrorRecoveryState (const QString &stateName, ErrorRecoveryBuilder::Action action, int maxRetries=0, int retryDelayMsecs=1000, ErrorRecoveryBuilder::ExhaustedBehavior exhaustedBehavior=ErrorRecoveryBuilder::EmitError, ErrorRecoveryBuilder::Action fallback=nullptr, ErrorRecoveryBuilder::VoidAction rollback=nullptr, int timeoutMsecs=0)

DelayState *	addDelayState (int delayMsecs)

ParallelState *	addParallelState (const QString &stateName)

void	postEvent (const QString &eventName, const QVariant &data=QVariant(), EventPriority priority=NormalPriority)

int	postDelayedEvent (const QString &eventName, int delayMsecs, const QVariant &data=QVariant())

bool	cancelDelayedEvent (int eventId)

void	setInitialState (QAbstractState *state, bool autoStart=false)

QGCFinalState *	addFinalState (const QString &stateName=QString())

ConditionalState *	addConditionalState (const QString &stateName, ConditionalState::Predicate predicate, ConditionalState::Action action=nullptr)

template<typename Func >
WaitForSignalState *	addWaitForSignalState (const QString &stateName, const QObject *sender, Func signal, int timeoutMsecs=0)

SubMachineState *	addSubMachineState (const QString &stateName, SubMachineState::MachineFactory factory)

EventQueuedState *	addEventQueuedState (const QString &stateName, const QString &eventName, int timeoutMsecs=0)

QState *	createTimedActionState (const QString &stateName, int durationMsecs, std::function< void()> onEntry=nullptr, std::function< void()> onExit=nullptr)

bool	isStateActive (QAbstractState *state) const

QSet< QAbstractState * >	activeStates () const

QAbstractState *	findState (const QString &stateName) const

template<typename T >
QList< T * >	findStates () const
	Find all states of a specific type.

bool	isInErrorState () const
	Check if the machine is in an error state.

FunctionState *	addLogAndContinueErrorState (const QString &stateName, QAbstractState *nextState, const QString &message=QString())
	Create a logging error handler state that advances to `nextState`.

FunctionState *	addLogAndStopErrorState (const QString &stateName, const QString &message=QString())
	Create a logging error handler state that stops the machine.

QString	lastError () const
	Get the last error message (from Qt's internal error handling)

void	clearError (bool restart=false)

bool	resetToState (QAbstractState *state)

bool	recoverFromError ()

void	setRecoveryState (QAbstractState *state)

QAbstractState *	recoveryState () const
	Get the recovery state.

bool	attemptRecovery ()

void	ensureRunning ()
	Start the machine if not already running.

void	stopMachine (bool deleteOnStop=true)

void	restart ()
	Restart the machine (stop then start)

template<typename Func >
QSignalTransition *	addTransition (QState from, Func signal, QAbstractState to, QAbstractAnimation *animation=nullptr)

template<typename Func >
GuardedTransition *	addGuardedTransition (QState from, Func signal, QAbstractState to, GuardedTransition::Guard guard, QAbstractAnimation *animation=nullptr)

MachineEventTransition *	addEventTransition (QState from, const QString &eventName, QAbstractState to, QAbstractAnimation *animation=nullptr)

TimeoutTransition *	addTimeoutTransition (QState from, int timeoutMsecs, QAbstractState to, QAbstractAnimation *animation=nullptr)

template<typename SenderType , typename Func >
RetryTransition *	addRetryTransition (SenderType from, Func signal, QAbstractState to, std::function< void()> retryAction, int maxRetries=1)

template<typename SenderType , typename Func >
GuardedTransition *	addConditionalTransition (SenderType from, Func signal, QAbstractState to, std::function< bool()> guard)

template<typename Sender , typename Signal >
QSignalTransition *	addSelfLoopTransition (QState state, Sender sender, Signal signal, std::function< void()> action)

template<typename Sender , typename Signal >
InternalTransition *	addInternalTransition (QState state, Sender sender, Signal signal, std::function< void()> action)

QList< QAbstractTransition * >	transitionsFrom (QAbstractState *state) const

QList< QAbstractTransition * >	transitionsTo (QAbstractState *state) const

QList< QAbstractState * >	reachableFrom (QAbstractState *state) const

QList< QAbstractState * >	predecessorsOf (QAbstractState *state) const

QString	dumpCurrentState () const

QString	dumpConfiguration () const

void	logCurrentState () const
	Log the current state to debug output.

void	logConfiguration () const
	Log the full configuration to debug output.

void	setHistoryRecordingEnabled (bool enabled, int maxEntries=1000)
	Enable/disable structured transition history recording.

bool	historyRecordingEnabled () const

QString	dumpRecordedHistory () const

QJsonArray	recordedHistoryJson () const

void	setProfilingEnabled (bool enabled)
	Enable/disable state timing profiler.

bool	profilingEnabled () const

QString	profilingSummary () const

void	setStructuredLoggingEnabled (bool enabled)
	Enable/disable structured state-machine logger.

bool	structuredLoggingEnabled () const

QString	exportAsDot () const

QList< QAbstractState * >	unreachableStates () const

int	maxPathLength () const

QList< QAbstractState * >	deadEndStates () const

void	setProgressWeights (const QList< QPair< QAbstractState *, int > > &stateWeights)

void	setSubProgress (float subProgress)

float	progress () const
	Get the current overall progress (0.0 to 1.0)

void	resetProgress ()
	Reset progress tracking (call when restarting the machine)

void	setTimeoutOverride (const QString &stateName, int timeoutMsecs)

void	removeTimeoutOverride (const QString &stateName)

int	timeoutOverride (const QString &stateName) const
	Get the timeout override for a state, or -1 if not set.

QHash< QString, int >	allTimeoutOverrides () const
	Get all timeout overrides.

void	clearTimeoutOverrides ()
	Clear all timeout overrides.

QHash< QString, int >	timeoutStats () const
	Get timeout statistics (how often each state timed out)

void	recordTimeout (const QString &stateName)
	Record a timeout for statistics.

void	clearTimeoutStats ()
	Clear timeout statistics.

Additional Inherited Members
Public Types inherited from QGCStateMachine
using	EntryCallback = std::function< void()>
	Name of the currently active state (for QML binding)

using	ExitCallback = std::function< void()>

using	EventHandler = std::function< bool(QEvent *)>

Public Slots inherited from QGCStateMachine
void	start ()
	Start the state machine with debug logging.

Signals inherited from QGCStateMachine
void	error ()

void	progressUpdate (float progress)

void	machineEvent (const QString &eventName)

void	currentStateNameChanged ()
	Emitted when the current state changes (for QML binding)

void	runningChanged ()
	Emitted when the running state changes (for QML binding)

void	stateHistoryChanged ()
	Emitted when the state history changes (for QML binding)

Protected Member Functions inherited from QGCStateMachine
virtual void	onEnter ()
	Override to perform actions when machine starts.

virtual void	onLeave ()
	Override to perform actions when machine stops.

void	onEntry (QEvent *event) override

void	onExit (QEvent *event) override

bool	event (QEvent *event) override

Detailed Description

State machine for initial vehicle connection sequence.

Handles requesting autopilot version, standard modes, component info, parameters, missions, geofence, and rally points in sequence.

Uses QGCStateMachine's built-in weighted progress tracking where different states contribute different amounts to the overall progress (e.g., parameter loading takes longer than version request).

Definition at line 21 of file InitialConnectStateMachine.h.