#include <RequestMessageState.h>

Inheritance diagram for RequestMessageState:

Collaboration diagram for RequestMessageState:

Public Types
using	MessageHandler = std::function< void(Vehicle *vehicle, const mavlink_message_t &message)>

Public Types inherited from QGCAbstractState
using	EntryCallback = std::function< void()>

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

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

Signals
void	messageReceived (const mavlink_message_t &message)
	Emitted when the message is successfully received.

Signals inherited from WaitStateBase
void	completed ()

void	timeout ()

void	timedOut ()

Signals inherited from QGCAbstractState
void	advance ()

void	error ()

Public Member Functions
	RequestMessageState (QState *parent, uint32_t messageId, MessageHandler messageHandler=MessageHandler(), int compId=MAV_COMP_ID_AUTOPILOT1, int timeoutMsecs=5000, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, float param5=0.0f)

Vehicle::RequestMessageResultHandlerFailureCode_t	failureCode () const

MAV_RESULT	commandResult () const

Public Member Functions inherited from WaitStateBase
	WaitStateBase (const QString &stateName, QState *parent, int timeoutMsecs=0)

void	restartWait ()

Public Member Functions inherited from QGCState
	QGCState (const QString &stateName, QState *parentState)

template<typename PointerToMemberFunction >
QSignalTransition *	addThisTransition (PointerToMemberFunction signal, QAbstractState *target)
	Simpler version of QState::addTransition which assumes the sender is this.

void	setLocalErrorState (QAbstractState *errorState)

QAbstractState *	localErrorState () const
	Get the per-state error state (nullptr if using global)

void	setProperty (QObject object, const char name, const QVariant &value)

void	setEnabled (QObject *object, bool enabled)
	Convenience overload for setting enabled state on widgets/controls.

void	setVisible (QObject *object, bool visible)
	Convenience overload for setting visible state on widgets/controls.

Public Member Functions inherited from QGCAbstractState
	QGCAbstractState (const QString &stateName, QState *parent)

QGCStateMachine *	machine () const

Vehicle *	vehicle () const

QString	stateName () const

class StateContext *	context () const

void	setOnEntry (EntryCallback callback)
	Set a callback to be invoked when the state is entered.

void	setOnExit (ExitCallback callback)
	Set a callback to be invoked when the state is exited.

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

void	setEventHandler (EventHandler handler)
	Set a custom event handler for this state.

Protected Member Functions
void	connectWaitSignal () override
	Subclasses override to set up their signal connections.

void	disconnectWaitSignal () override
	Subclasses override to tear down their signal connections.

void	onWaitEntered () override
	Called when the state is entered - subclasses should call base implementation.

void	onWaitTimeout () override
	Called when the timeout expires - default emits timeout(), subclasses can override.

Protected Member Functions inherited from WaitStateBase
virtual void	onWaitExited ()
	Called when the state is exited - subclasses should call base implementation.

void	waitComplete ()

void	waitFailed ()

int	timeoutMsecs () const

Protected Member Functions inherited from QGCAbstractState
virtual void	onEnter ()
	Override to perform actions on state entry.

virtual void	onLeave ()
	Override to perform actions on state exit.

void	onEntry (QEvent *event) override

void	onExit (QEvent *event) override

bool	event (QEvent *event) override

Detailed Description

Requests a MAVLink message from the vehicle using MAV_CMD_REQUEST_MESSAGE. Emits messageReceived() with the decoded message on success. Emits completed()/advance() on success, timeout()/timedOut() on timeout, error() on failure.

Note: Vehicle::requestMessage() has its own internal timeout, but this state adds an additional safety timeout at the state machine level.

Definition at line 15 of file RequestMessageState.h.

Member Typedef Documentation

◆ MessageHandler

using RequestMessageState::MessageHandler = std::function<void(Vehicle* vehicle, const mavlink_message_t& message)>

Definition at line 21 of file RequestMessageState.h.

Constructor & Destructor Documentation

◆ RequestMessageState()

RequestMessageState::RequestMessageState	(	QState *	parent,
		uint32_t	messageId,
		MessageHandler	messageHandler = `MessageHandler()`,
		int	compId = `MAV_COMP_ID_AUTOPILOT1`,
		int	timeoutMsecs = `5000`,
		float	param1 = `0.0f`,
		float	param2 = `0.0f`,
		float	param3 = `0.0f`,
		float	param4 = `0.0f`,
		float	param5 = `0.0f`
	)

Parameters

parent	Parent state
messageId	MAVLink message ID to request
messageHandler	Optional handler called with the received message before advance() is emitted
compId	Component ID to request from (default: MAV_COMP_ID_AUTOPILOT1)
timeoutMsecs	Timeout in milliseconds (default: 5000, 0 = no timeout)
param1-param5	Optional parameters for the request

Definition at line 5 of file RequestMessageState.cc.

Member Function Documentation

◆ commandResult()

MAV_RESULT RequestMessageState::commandResult ( ) const

inline

Returns: The MAV_RESULT from the last request attempt

Definition at line 44 of file RequestMessageState.h.

◆ connectWaitSignal()

void RequestMessageState::connectWaitSignal ( )

inlineoverrideprotectedvirtual

Subclasses override to set up their signal connections.

Implements WaitStateBase.

Definition at line 51 of file RequestMessageState.h.

◆ disconnectWaitSignal()

void RequestMessageState::disconnectWaitSignal ( )

inlineoverrideprotectedvirtual

Subclasses override to tear down their signal connections.

Implements WaitStateBase.

Definition at line 52 of file RequestMessageState.h.

◆ failureCode()

Vehicle::RequestMessageResultHandlerFailureCode_t RequestMessageState::failureCode ( ) const

inline

Returns: The failure code from the last request attempt

Definition at line 41 of file RequestMessageState.h.

◆ messageReceived

void RequestMessageState::messageReceived ( const mavlink_message_t & message )

signal

Emitted when the message is successfully received.

◆ onWaitEntered()

void RequestMessageState::onWaitEntered ( )

overrideprotectedvirtual

Called when the state is entered - subclasses should call base implementation.

Reimplemented from WaitStateBase.

Definition at line 27 of file RequestMessageState.cc.

References WaitStateBase::onWaitEntered(), VehicleLinkManager::primaryLink(), Vehicle::requestMessage(), Vehicle::RequestMessageFailureCommandNotAcked, QGCAbstractState::stateName(), QGCAbstractState::vehicle(), Vehicle::vehicleLinkManager(), WaitStateBase::waitComplete(), and WaitStateBase::waitFailed().

◆ onWaitTimeout()

void RequestMessageState::onWaitTimeout ( )

overrideprotectedvirtual

Called when the timeout expires - default emits timeout(), subclasses can override.

Reimplemented from WaitStateBase.

Definition at line 51 of file RequestMessageState.cc.

References WaitStateBase::onWaitTimeout(), Vehicle::RequestMessageFailureMessageNotReceived, and QGCAbstractState::stateName().

The documentation for this class was generated from the following files:

src/Utilities/StateMachine/States/RequestMessageState.h
src/Utilities/StateMachine/States/RequestMessageState.cc

Public Types

Signals

Public Member Functions

Protected Member Functions