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84 lines
3.3 KiB
84 lines
3.3 KiB
10 years ago
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/*=====================================================================
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QGroundControl Open Source Ground Control Station
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(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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QGROUNDCONTROL 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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QGROUNDCONTROL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/
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/// @file
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/// @author Don Gagne <don@thegagnes.com>
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#ifndef FirmwarePlugin_H
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#define FirmwarePlugin_H
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#include "QGCSingleton.h"
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#include "QGCMAVlink.h"
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#include "VehicleComponent.h"
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#include "AutoPilotPlugin.h"
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#include <QList>
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#include <QString>
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/// This is the base class for Firmware specific plugins
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///
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/// The FirmwarePlugin class is the abstract base class which represents the methods and objects
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/// which are specific to a certain Firmware flight stack. This is the only place where
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/// flight stack specific code should reside in QGroundControl. The remainder of the
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/// QGroundControl source is generic to a common mavlink implementation. The implementation
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/// in the base class supports mavlink generic firmware. Override the base clase virtuals
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/// to create you firmware specific plugin.
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class FirmwarePlugin : public QGCSingleton
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{
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Q_OBJECT
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public:
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/// Set of optional capabilites which firmware may support
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typedef enum {
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SetFlightModeCapability,
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} FirmwareCapabilities;
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/// @return true: Firmware supports all specified capabilites
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virtual bool isCapable(FirmwareCapabilities capabilities) = 0;
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/// Returns VehicleComponents for specified Vehicle
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/// @param vehicle Vehicle to associate with components
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/// @return List of VehicleComponents for the specified vehicle. Caller owns returned objects and must
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/// free when no longer needed.
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virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) = 0;
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/// Returns the list of available flight modes
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virtual QStringList flightModes(void) = 0;
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/// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.
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/// @param base_mode Base mode from mavlink HEARTBEAT message
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/// @param custom_mode Custom mode from mavlink HEARTBEAT message
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virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode) = 0;
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/// Sets base_mode and custom_mode to specified flight mode.
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/// @param[out] base_mode Base mode for SET_MODE mavlink message
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/// @param[out] custom_mode Custom mode for SET_MODE mavlink message
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virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
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protected:
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FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
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};
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#endif
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