ComponentInformation: add actuators

qgroundcontrol.pro

@@ -697,6 +697,7 @@ HEADERS += \
     src/Vehicle/Actuators/Mixer.h \
     src/Vehicle/Actuators/MotorAssignment.h \
     src/Vehicle/CompInfo.h \
+    src/Vehicle/CompInfoActuators.h \
     src/Vehicle/CompInfoEvents.h \
     src/Vehicle/CompInfoParam.h \
     src/Vehicle/CompInfoGeneral.h \
@@ -947,6 +948,7 @@ SOURCES += \
     src/Vehicle/Actuators/Mixer.cc \
     src/Vehicle/Actuators/MotorAssignment.cc \
     src/Vehicle/CompInfo.cc \
+    src/Vehicle/CompInfoActuators.cc \
     src/Vehicle/CompInfoEvents.cc \
     src/Vehicle/CompInfoParam.cc \
     src/Vehicle/CompInfoGeneral.cc \

src/Vehicle/CMakeLists.txt

@@ -22,6 +22,8 @@ add_library(Vehicle
 	Autotune.h
 	CompInfo.cc
 	CompInfo.h
+	CompInfoActuators.cc
+	CompInfoActuators.h
 	CompInfoEvents.cc
 	CompInfoEvents.h
 	CompInfoParam.cc

src/Vehicle/CompInfoActuators.cc

@@ -0,0 +1,25 @@
+/****************************************************************************
+ *
+ * (c) 2020 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 "CompInfoActuators.h"
+#include "Vehicle.h"
+
+CompInfoActuators::CompInfoActuators(uint8_t compId, Vehicle* vehicle, QObject* parent)
+    : CompInfo(COMP_METADATA_TYPE_ACTUATORS, compId, vehicle, parent)
+{
+
+}
+
+void CompInfoActuators::setJson(const QString& metadataJsonFileName, const QString& translationJsonFileName)
+{
+    if (!metadataJsonFileName.isEmpty()) {
+        vehicle->setActuatorsMetadata(compId, metadataJsonFileName, translationJsonFileName);
+    }
+}
+

src/Vehicle/CompInfoActuators.h

@@ -0,0 +1,31 @@
+/****************************************************************************
+ *
+ * (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "CompInfo.h"
+
+#include <QObject>
+
+class FactMetaData;
+class Vehicle;
+class FirmwarePlugin;
+
+class CompInfoActuators : public CompInfo
+{
+    Q_OBJECT
+
+public:
+    CompInfoActuators(uint8_t compId, Vehicle* vehicle, QObject* parent = nullptr);
+
+    // Overrides from CompInfo
+    void setJson(const QString& metadataJsonFileName, const QString& translationJsonFileName) override;
+
+private:
+};

src/Vehicle/ComponentInformationManager.cc

@@ -15,6 +15,7 @@
 #include "CompInfoGeneral.h"
 #include "CompInfoParam.h"
 #include "CompInfoEvents.h"
+#include "CompInfoActuators.h"
 #include "QGCFileDownload.h"
 #include "QGCApplication.h"
 
@@ -29,6 +30,7 @@ const ComponentInformationManager::StateFn ComponentInformationManager::_rgState
     ComponentInformationManager::_stateRequestCompInfoGeneralComplete,
     ComponentInformationManager::_stateRequestCompInfoParam,
     ComponentInformationManager::_stateRequestCompInfoEvents,
+    ComponentInformationManager::_stateRequestCompInfoActuators,
     ComponentInformationManager::_stateRequestAllCompInfoComplete
 };
 
@@ -52,6 +54,7 @@ ComponentInformationManager::ComponentInformationManager(Vehicle* vehicle)
     _compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_GENERAL]    = new CompInfoGeneral   (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
     _compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_PARAMETER]  = new CompInfoParam     (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
     _compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_EVENTS]     = new CompInfoEvents    (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
+    _compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_ACTUATORS]  = new CompInfoActuators (MAV_COMP_ID_AUTOPILOT1, vehicle, this);
 }
 
 int ComponentInformationManager::stateCount(void) const
@@ -136,6 +139,18 @@ void ComponentInformationManager::_stateRequestCompInfoEvents(StateMachine* stat
     }
 }
 
+void ComponentInformationManager::_stateRequestCompInfoActuators(StateMachine* stateMachine)
+{
+    ComponentInformationManager* compMgr = static_cast<ComponentInformationManager*>(stateMachine);
+
+    if (compMgr->_isCompTypeSupported(COMP_METADATA_TYPE_ACTUATORS)) {
+        compMgr->_requestTypeStateMachine.request(compMgr->_compInfoMap[MAV_COMP_ID_AUTOPILOT1][COMP_METADATA_TYPE_ACTUATORS]);
+    } else {
+        qCDebug(ComponentInformationManagerLog) << "_stateRequestCompInfoActuators skipping, not supported";
+        compMgr->advance();
+    }
+}
+
 void ComponentInformationManager::_stateRequestAllCompInfoComplete(StateMachine* stateMachine)
 {
     ComponentInformationManager* compMgr = static_cast<ComponentInformationManager*>(stateMachine);
@@ -208,6 +223,7 @@ QString RequestMetaDataTypeStateMachine::typeToString(void)
         case COMP_METADATA_TYPE_COMMANDS: return "COMP_METADATA_TYPE_COMMANDS";
         case COMP_METADATA_TYPE_PERIPHERALS: return "COMP_METADATA_TYPE_PERIPHERALS";
         case COMP_METADATA_TYPE_EVENTS: return "COMP_METADATA_TYPE_EVENTS";
+        case COMP_METADATA_TYPE_ACTUATORS: return "COMP_METADATA_TYPE_ACTUATORS";
         default: break;
     }
     return "Unknown";

src/Vehicle/ComponentInformationManager.h

@@ -111,6 +111,7 @@ private:
     static void _stateRequestCompInfoGeneralComplete(StateMachine* stateMachine);
     static void _stateRequestCompInfoParam          (StateMachine* stateMachine);
     static void _stateRequestCompInfoEvents         (StateMachine* stateMachine);
+    static void _stateRequestCompInfoActuators      (StateMachine* stateMachine);
     static void _stateRequestAllCompInfoComplete    (StateMachine* stateMachine);
 
     Vehicle*                        _vehicle                    = nullptr;