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# ifndef AUTOPILOTPLUGIN_H
# define AUTOPILOTPLUGIN_H
/// @file
/// @author Don Gagne <don@thegagnes.com>
# include <QObject>
# include <QList>
# include <QString>
# include <QQmlContext>
# ifndef AUTOPILOTPLUGIN_H
# define AUTOPILOTPLUGIN_H
# include "VehicleComponent.h"
# include "FactSystem.h"
# include "Vehicle.h"
# include <QObject>
# include <QList>
# include <QString>
# include <QQmlContext>
class ParameterLoader ;
class Vehicle ;
class FirmwarePlugin ;
# include "VehicleComponent.h"
# include "FactSystem.h"
# include "Vehicle.h"
/// This is the base class for AutoPilot plugins
///
/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
/// generic to a common mavlink implementation.
class ParameterLoader ;
class Vehicle ;
class FirmwarePlugin ;
class AutoPilotPlugin : public QObject
{
Q_OBJECT
/// This is the base class for AutoPilot plugins
///
/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
/// generic to a common mavlink implementation.
public :
AutoPilotPlugin ( Vehicle * vehicle , QObject * parent ) ;
~ AutoPilotPlugin ( ) ;
class AutoPilotPlugin : public QObject
{
Q_OBJECT
/// true: parameters are ready for use
Q_PROPERTY ( bool parametersReady READ parametersReady NOTIFY parametersReadyChanged )
public :
AutoPilotPlugin ( Vehicle * vehicle , QObject * parent ) ;
~ AutoPilotPlugin ( ) ;
/// true: parameters are missing from firmware response, false: all parameters received from firmware
Q_PROPERTY ( bool missingParameters READ missingParameters NOTIFY missingParametersChanged )
/// true: parameters are ready for use
Q_PROPERTY ( bool parametersReady READ parametersReady NOTIFY parametersReadyChanged )
/// List of VehicleComponent objects
Q_PROPERTY ( QVariantList vehicleComponents READ vehicleComponents CONSTANT )
/// true: parameters are missing from firmware response, false: all parameters received from firmware
Q_PROPERTY ( bool missingParameters READ missingParameters NOTIFY missingParameters Changed)
/// false: One or more vehicle components require setup
Q_PROPERTY ( bool setupComplete READ setupComplete NOTIFY setupComplete Changed)
/// List of VehicleComponent object s
Q_PROPERTY ( QVariantList vehicleComponents READ vehicleComponents CONSTANT )
/// Reset all parameters to their default value s
Q_INVOKABLE void resetAllParametersToDefaults ( void ) ;
/// false: One or more vehicle components require setup
Q_PROPERTY ( bool setupComplete READ setupComplete NOTIFY setupCompleteChanged )
/// Re-request the full set of parameters from the autopilot
Q_INVOKABLE void refreshAllParameters ( unsigned char componentID = MAV_COMP_ID_ALL ) ;
/// Reset all parameters to their default values
Q_INVOKABLE void resetAllParametersToDefaults ( void ) ;
/// Request a refresh on the specific parameter
Q_INVOKABLE void refreshParameter ( int componentId , const QString & name ) ;
/// Re-request the full set of parameters from the autopilot
Q_INVOKABLE void refreshAllParameters ( unsigned char componentID = MAV_COMP_ID_ALL ) ;
/// Request a refresh on all parameters that begin with the specified prefix
Q_INVOKABLE void refreshParametersPrefix ( int componentId , const QString & namePrefix ) ;
/// Request a refresh on the specific parameter
Q_INVOKABLE void refreshParameter ( int componentId , const QString & name ) ;
/// Returns all parameter names
QStringList parameterNames ( int componentId ) ;
/// Request a refresh on all parameters that begin with the specified prefix
Q_INVOKABLE void refreshParametersPrefix ( int componentId , const QString & namePrefix ) ;
/// Writes the parameter facts to the specified stream
void writeParametersToStream ( QTextStream & stream ) ;
/// Returns true if the specifed parameter exists from the default component
Q_INVOKABLE bool parameterExists ( int componentId , const QString & name ) const ;
/// Reads the parameters from the stream and updates values
/// @return Errors during load. Empty string for no errors
QString readParametersFromStream ( QTextStream & stream ) ;
/// Returns all parameter names
QStringList parameterNames ( int componentId ) ;
/// Returns true if the specifed fact exists
Q_INVOKABLE bool factExists ( FactSystem : : Provider_t provider , ///< fact provider
int componentId , ///< fact component, -1=default component
const QString & name ) ; ///< fact name
/// Returns the specified parameter Fact from the default component
/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
/// parameterExists.
Fact * getParameterFact ( int componentId , const QString & name ) ;
/// Returns the specified Fact.
/// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
/// factExists.
Fact * getFact ( FactSystem : : Provider_t provider , ///< fact provider
int componentId , ///< fact component, -1=default component
const QString & name ) ; ///< fact name
/// Writes the parameter facts to the specified stream
void writeParametersToStream ( QTextStream & stream ) ;
const QMap < int , QMap < QString , QStringList > > & getGroupMap ( void ) ;
/// Reads the parameters from the stream and updates values
/// @return Errors during load. Empty string for no errors
QString readParametersFromStream ( QTextStream & stream ) ;
// Must be implemented by derived class
virtual const QVariantList & vehicleComponents ( void ) = 0 ;
/// Returns true if the specifed fact exist s
Q_INVOKABLE bool factExists ( FactSystem : : Provider_t provider , ///< fact provider
int componentId , ///< fact component, -1=default component
const QString & name ) ; ///< fact name
// Property accessor s
bool parametersReady ( void ) { return _parametersReady ; }
bool missingParameters ( void ) { return _missingParameters ; }
bool setupComplete ( void ) ;
/// Returns the specified Fact.
/// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
/// factExists.
Fact * getFact ( FactSystem : : Provider_t provider , ///< fact provider
int componentId , ///< fact component, -1=default component
const QString & name ) ; ///< fact name
Vehicle * vehicle ( void ) { return _vehicle ; }
virtual void _parametersReadyPreChecks ( bool parametersReady ) = 0 ;
const QMap < int , QMap < QString , QStringList > > & getGroupMap ( void ) ;
signals :
void parametersReadyChanged ( bool parametersReady ) ;
void missingParametersChanged ( bool missingParameters ) ;
void setupCompleteChanged ( bool setupComplete ) ;
void parameterListProgress ( float value ) ;
// Must be implemented by derived class
virtual const QVariantList & vehicleComponents ( void ) = 0 ;
protected :
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
AutoPilotPlugin ( QObject * parent = NULL ) : QObject ( parent ) { }
// Property accessors
bool parametersReady ( void ) { return _parametersReady ; }
bool missingParameters ( void ) { return _missingParameters ; }
bool setupComplete ( void ) ;
Vehicle * _vehicle ;
FirmwarePlugin * _firmwarePlugin ;
bool _parametersReady ;
bool _missingParameters ;
bool _setupComplete ;
Vehicle * vehicle ( void ) { return _vehicle ; }
virtual void _parametersReadyPreChecks ( bool parametersReady ) = 0 ;
signals :
void parametersReadyChanged ( bool parametersReady ) ;
void missingParametersChanged ( bool missingParameters ) ;
void setupCompleteChanged ( bool setupComplete ) ;
void parameterListProgress ( float value ) ;
private slots :
void _uasDisconnected ( void ) ;
void _parametersReadyChanged ( bool parametersReady ) ;
protected :
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
AutoPilotPlugin ( QObject * parent = NULL ) : QObject ( parent ) { }
private :
void _recalcSetupComplete ( void ) ;
} ;
Vehicle * _vehicle ;
FirmwarePlugin * _firmwarePlugin ;
bool _parametersReady ;
bool _missingParameters ;
bool _setupComplete ;
private slots :
void _uasDisconnected ( void ) ;
void _parametersReadyChanged ( bool parametersReady ) ;
private :
void _recalcSetupComplete ( void ) ;
} ;
# endif
# endif
Don Gagne
9 years ago