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98 lines
3.1 KiB
C
98 lines
3.1 KiB
C
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/**
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******************************************************************************
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*
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* @file pathcompiler.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup OPMapPlugin OpenPilot Map Plugin
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* @{
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* @brief The OpenPilot Map plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PATHCOMPILER_H
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#define PATHCOMPILER_H
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#include <QObject>
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#include <uavobject.h>
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/**
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* This class is a two way adapter between a visualization of a path and the
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* UAVObject representation on the flight controller. It also can support multiple
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* ways of converting a path from what the user clicked to the underlying representation
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* to achieve the desired end flight trajectory
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*/
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class PathCompiler : public QObject
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{
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Q_OBJECT
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public:
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explicit PathCompiler(QObject *parent = 0);
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//! This method opens a dialog (if filename is null) and saves the path
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int savePath(QString filename = null);
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//! This method opens a dialog (if filename is null) and loads the path
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int loadPath(QString filename = null);
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//! Waypoint representation that is exchanged between visualization
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struct waypoint {
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float latitude;
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float longitude;
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};
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signals:
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/**
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* Indicates something changed the waypoints and the map should
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* update the display
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*/
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void visualizationChanged(QList<struct PathCompiler::waypoint>);
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public slots:
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/**
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* These are slots that the visualization can call to manipulate the path.
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* It is an important design detail that the visualiation _not_ attempt to maintain
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* the list of waypoints itself. This starts the slippery of moving the path logic
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* into the view.
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*/
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/**
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* add a waypoint
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* @param waypoint the new waypoint to add
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* @param position which position to insert it to, defaults to end
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*/
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void doAddWaypoint(struct PathCompiler::waypoint, int position = -1);
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/**
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* Delete a waypoint
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* @param index which waypoint to delete
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*/
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void doDelWaypoint(int index);
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public slots:
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/**
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* These are slots that the UAV can call to update the path.
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*/
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/**
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* When the UAV waypoints change trigger the pathcompiler to
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* get the latest version and then update the visualization
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*/
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void doUpdateFromUAV();
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};
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#endif // PATHCOMPILER_H
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