QG4/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


#include "APMAutoPilotPlugin.h"
#include "UAS.h"
#include "FirmwarePlugin/APM/APMParameterMetaData.h"  // FIXME: Hack
#include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
#include "FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h"
#include "VehicleComponent.h"
#include "APMAirframeComponent.h"
#include "APMAirframeComponentAirframes.h"
#include "APMAirframeLoader.h"
#include "APMFlightModesComponent.h"
#include "APMRadioComponent.h"
#include "APMSafetyComponent.h"
#include "APMTuningComponent.h"
#include "APMSensorsComponent.h"
#include "APMPowerComponent.h"
#include "APMMotorComponent.h"
#include "APMCameraComponent.h"
#include "APMLightsComponent.h"
#include "APMSubFrameComponent.h"
#include "ESP8266Component.h"
#include "APMHeliComponent.h"

/// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
    : AutoPilotPlugin           (vehicle, parent)
    , _incorrectParameterVersion(false)
    , _airframeComponent        (NULL)
    , _cameraComponent          (NULL)
    , _lightsComponent          (NULL)
    , _subFrameComponent        (NULL)
    , _flightModesComponent     (NULL)
    , _powerComponent           (NULL)
    , _motorComponent           (NULL)
    , _radioComponent           (NULL)
    , _safetyComponent          (NULL)
    , _sensorsComponent         (NULL)
    , _tuningComponent          (NULL)
    , _airframeFacts            (new APMAirframeLoader(this, vehicle->uas(), this))
    , _esp8266Component         (NULL)
    , _heliComponent            (NULL)
{
    APMAirframeLoader::loadAirframeFactMetaData();
}

APMAutoPilotPlugin::~APMAutoPilotPlugin()
{

}

const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
{
    if (_components.count() == 0 && !_incorrectParameterVersion) {
        if (_vehicle->parameterManager()->parametersReady()) {
            _airframeComponent = new APMAirframeComponent(_vehicle, this);
            _airframeComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));

            if ( _vehicle->supportsRadio() ) {
                _radioComponent = new APMRadioComponent(_vehicle, this);
                _radioComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
            }

            // No flight modes component for Sub versions 3.5 and up
            if (!_vehicle->sub() || (_vehicle->firmwareMajorVersion() == 3 && _vehicle->firmwareMinorVersion() <= 4)) {
                _flightModesComponent = new APMFlightModesComponent(_vehicle, this);
                _flightModesComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
            }

            _sensorsComponent = new APMSensorsComponent(_vehicle, this);
            _sensorsComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));

            _powerComponent = new APMPowerComponent(_vehicle, this);
            _powerComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));

            int versionInt = _vehicle->firmwareMajorVersion() * 100 + _vehicle->firmwareMinorVersion() * 10 + _vehicle->firmwarePatchVersion();
            if (_vehicle->sub() && versionInt >= 353) {
                _motorComponent = new APMMotorComponent(_vehicle, this);
                _motorComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
            }

            _safetyComponent = new APMSafetyComponent(_vehicle, this);
            _safetyComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));

            if (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER) {
                _heliComponent = new APMHeliComponent(_vehicle, this);
                _heliComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_heliComponent));
            }

            _tuningComponent = new APMTuningComponent(_vehicle, this);
            _tuningComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));

            _cameraComponent = new APMCameraComponent(_vehicle, this);
            _cameraComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));

            if (_vehicle->sub()) {
                _lightsComponent = new APMLightsComponent(_vehicle, this);
                _lightsComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_lightsComponent));

                if(_vehicle->firmwareMajorVersion() > 3 || (_vehicle->firmwareMajorVersion() == 3 && _vehicle->firmwareMinorVersion() >= 5)) {
                    _subFrameComponent = new APMSubFrameComponent(_vehicle, this);
                    _subFrameComponent->setupTriggerSignals();
                    _components.append(QVariant::fromValue((VehicleComponent*)_subFrameComponent));
                }
            }

            //-- Is there an ESP8266 Connected?
            if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
                _esp8266Component = new ESP8266Component(_vehicle, this);
                _esp8266Component->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
            }
        } else {
            qWarning() << "Call to vehicleCompenents prior to parametersReady";
        }
    }

    return _components;
}

QString APMAutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
{
    bool requiresAirframeCheck = false;

    if (qobject_cast<const APMFlightModesComponent*>(component)) {
        if (_airframeComponent && !_airframeComponent->setupComplete()) {
            return _airframeComponent->name();
        }
        if (_radioComponent && !_radioComponent->setupComplete()) {
            return _radioComponent->name();
        }
        requiresAirframeCheck = true;
    } else if (qobject_cast<const APMRadioComponent*>(component)) {
        requiresAirframeCheck = true;
    } else if (qobject_cast<const APMCameraComponent*>(component)) {
        requiresAirframeCheck = true;
    } else if (qobject_cast<const APMPowerComponent*>(component)) {
        requiresAirframeCheck = true;
    } else if (qobject_cast<const APMSafetyComponent*>(component)) {
        requiresAirframeCheck = true;
    } else if (qobject_cast<const APMTuningComponent*>(component)) {
        requiresAirframeCheck = true;
    } else if (qobject_cast<const APMSensorsComponent*>(component)) {
        requiresAirframeCheck = true;
    }

    if (requiresAirframeCheck) {
        if (_airframeComponent && !_airframeComponent->setupComplete()) {
            return _airframeComponent->name();
        }
    }

    return QString();
}