Add BackEnd logic for GripperAction Feature

Created a Q_Property for return grip_enable option state to the
frontend and a parser for setGripperAction function

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -630,6 +630,15 @@ QString APMFirmwarePlugin::getHobbsMeter(Vehicle* vehicle)
     return timeStr;
 } 
 
+bool APMFirmwarePlugin::hasGripper(const Vehicle* vehicle) const
+{
+    if(vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "GRIP_ENABLE")) {
+        bool _hasGripper = (vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("GRIP_ENABLE"))->rawValue().toInt()) == 1 ? true : false;
+        return _hasGripper;
+    }
+    return false;
+}
+
 bool APMFirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
 {
     return vehicle->flightMode() == "Guided";

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -77,6 +77,7 @@ public:
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
     QString             getHobbsMeter                   (Vehicle* vehicle) override; 
+    bool                hasGripper                      (const Vehicle* vehicle) const override;
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/FirmwarePlugin.h

@@ -159,6 +159,9 @@ public:
     /// @return The minimum equivalent airspeed setpoint
     virtual double minimumEquivalentAirspeed(Vehicle* /*vehicle*/) { return NAN; }
 
+    /// @return Return true if the GCS has enabled Grip_enable option
+    virtual bool hasGripper(const Vehicle* /*vehicle*/) const { return false; } 
+    
     /// @return Return true if we have received the ground speed limits for the mulirotor.
     virtual bool mulirotorSpeedLimitsAvailable(Vehicle* /*vehicle*/) { return false; }
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -728,3 +728,12 @@ QString PX4FirmwarePlugin::getHobbsMeter(Vehicle* vehicle)
     qCDebug(VehicleLog) << "Hobbs Meter string:" << timeStr;
     return timeStr;
 }
+
+bool PX4FirmwarePlugin::hasGripper(const Vehicle* vehicle) const
+{
+    if(vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("PD_GRIPPER_EN"))) {
+        bool _hasGripper = (vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("PD_GRIPPER_EN"))->rawValue().toInt()) != 0 ? true : false;
+        return _hasGripper;
+    }
+    return false;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -72,6 +72,7 @@ public:
     uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) override;
     bool                supportsNegativeThrust          (Vehicle* vehicle) override;
     QString             getHobbsMeter                   (Vehicle* vehicle) override;
+    bool                hasGripper                      (const Vehicle* vehicle) const override;
 
 protected:
     typedef struct {

src/Vehicle/Vehicle.cc

@@ -2709,6 +2709,11 @@ double Vehicle::minimumEquivalentAirspeed()
     return _firmwarePlugin->minimumEquivalentAirspeed(this);
 }
 
+bool Vehicle::hasGripper()  const 
+{ 
+    return _firmwarePlugin->hasGripper(this);
+}
+
 void Vehicle::startMission()
 {
     _firmwarePlugin->startMission(this);
@@ -4270,3 +4275,20 @@ void Vehicle::setGripperAction(GRIPPER_ACTIONS gripperAction)
             gripperAction,                       // Param2: Gripper Action
             0, 0, 0, 0, 0);                      // Param 3 ~ 7 : unused
 }
+
+void Vehicle::sendGripperAction(GRIPPER_OPTIONS gripperOption)
+{
+    switch(gripperOption) {
+        case Gripper_release: 
+            setGripperAction(GRIPPER_ACTION_RELEASE);
+            break;
+        case Gripper_grab: 
+            setGripperAction(GRIPPER_ACTION_GRAB);
+            break;
+        case Invalid_option:
+            qDebug("unknown function");
+            break;
+        default: 
+        break;
+    }
+}

src/Vehicle/Vehicle.h

@@ -249,6 +249,7 @@ public:
     Q_PROPERTY(qreal                gimbalPitch                 READ gimbalPitch                                                    NOTIFY gimbalPitchChanged)
     Q_PROPERTY(qreal                gimbalYaw                   READ gimbalYaw                                                      NOTIFY gimbalYawChanged)
     Q_PROPERTY(bool                 gimbalData                  READ gimbalData                                                     NOTIFY gimbalDataChanged)
+    Q_PROPERTY(bool                 hasGripper                  READ hasGripper                                                     CONSTANT)
     Q_PROPERTY(bool                 isROIEnabled                READ isROIEnabled                                                   NOTIFY isROIEnabledChanged)
     Q_PROPERTY(CheckList            checkListState              READ checkListState             WRITE setCheckListState             NOTIFY checkListStateChanged)
     Q_PROPERTY(bool                 readyToFlyAvailable         READ readyToFlyAvailable                                            NOTIFY readyToFlyAvailableChanged)  ///< true: readyToFly signalling is available on this vehicle
@@ -470,7 +471,7 @@ public:
     bool    roiModeSupported        () const;
     bool    takeoffVehicleSupported () const;
     QString gotoFlightMode          () const;
-
+    bool    hasGripper              () const;
     bool haveMRSpeedLimits() const { return _multirotor_speed_limits_available; }
     bool haveFWSpeedLimits() const { return _fixed_wing_airspeed_limits_available; }
 
@@ -529,8 +530,18 @@ public:
      * @brief Send MAV_CMD_DO_GRIPPER command to trigger specified action in the vehicle
      * 
      * @param gripperAction Gripper action to trigger
-     */
+    */
+
+    enum    GRIPPER_OPTIONS
+    {
+    Gripper_release = GRIPPER_ACTION_RELEASE, 
+    Gripper_grab    = GRIPPER_ACTION_GRAB,
+    Invalid_option  = GRIPPER_ACTIONS_ENUM_END,
+    }; 
+    Q_ENUM(GRIPPER_OPTIONS)
+
     void setGripperAction(GRIPPER_ACTIONS gripperAction);
+    Q_INVOKABLE void sendGripperAction(GRIPPER_OPTIONS gripperOption); 
 
     bool fixedWing() const;
     bool multiRotor() const;