QG4/src/FirmwarePlugin/FirmwarePluginManager.cc

/*=====================================================================

 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

/// @file
///     @author Don Gagne <don@thegagnes.com>

#include "FirmwarePluginManager.h"
#include "Generic/GenericFirmwarePlugin.h"
#include "APM/ArduCopterFirmwarePlugin.h"
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
#include "PX4/PX4FirmwarePlugin.h"

FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app)
    : QGCTool(app)
    , _arduCopterFirmwarePlugin(NULL)
    , _arduPlaneFirmwarePlugin(NULL)
    , _arduRoverFirmwarePlugin(NULL)
    , _genericFirmwarePlugin(NULL)
    , _px4FirmwarePlugin(NULL)
{

}

FirmwarePluginManager::~FirmwarePluginManager()
{
    delete _arduCopterFirmwarePlugin;
    delete _arduPlaneFirmwarePlugin;
    delete _arduRoverFirmwarePlugin;
    delete _genericFirmwarePlugin;
    delete _px4FirmwarePlugin;
}

FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
{
    switch (autopilotType) {
    case MAV_AUTOPILOT_ARDUPILOTMEGA:
        switch (vehicleType) {
        case MAV_TYPE_QUADROTOR:
        case MAV_TYPE_HEXAROTOR:
        case MAV_TYPE_OCTOROTOR:
        case MAV_TYPE_TRICOPTER:
        case MAV_TYPE_COAXIAL:
        case MAV_TYPE_HELICOPTER:
            if (!_arduCopterFirmwarePlugin) {
                _arduCopterFirmwarePlugin = new ArduCopterFirmwarePlugin;
            }
            return _arduCopterFirmwarePlugin;
        case MAV_TYPE_FIXED_WING:
            if (!_arduPlaneFirmwarePlugin) {
                _arduPlaneFirmwarePlugin = new ArduPlaneFirmwarePlugin;
            }
            return _arduPlaneFirmwarePlugin;
        case MAV_TYPE_GROUND_ROVER:
        case MAV_TYPE_SURFACE_BOAT:
        case MAV_TYPE_SUBMARINE:
            if (!_arduRoverFirmwarePlugin) {
                _arduRoverFirmwarePlugin = new ArduRoverFirmwarePlugin;
            }
            return _arduRoverFirmwarePlugin;
        default:
            break;
        }
    case MAV_AUTOPILOT_PX4:
        if (!_px4FirmwarePlugin) {
            _px4FirmwarePlugin = new PX4FirmwarePlugin;
        }
        return _px4FirmwarePlugin;
    default:
        break;
    }

    if (!_genericFirmwarePlugin) {
        _genericFirmwarePlugin = new GenericFirmwarePlugin;
    }
    return _genericFirmwarePlugin;
}