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115 lines
5.2 KiB
115 lines
5.2 KiB
/*===================================================================== |
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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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class Vehicle; |
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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, ///< FirmwarePlugin::setFlightMode method is supported |
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MavCmdPreflightStorageCapability, ///< MAV_CMD_PREFLIGHT_STORAGE is supported |
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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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/// FIXME: This isn't quite correct being here. All code for Joystick support is currently firmware specific |
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/// not just this. I'm going to try to change that. If not, this will need to be removed. |
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/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink |
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/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches. |
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/// The remainder can be assigned to Vehicle actions. |
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/// @return -1: reserver all buttons, >0 number of buttons to reserve |
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virtual int manualControlReservedButtonCount(void) = 0; |
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/// Called before any mavlink message is processed by Vehicle such taht the firmwre plugin |
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/// can adjust any message characteristics. This is handy to adjust or differences in mavlink |
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/// spec implementations such that the base code can remain mavlink generic. |
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/// @param message[in,out] Mavlink message to adjust if needed. |
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virtual void adjustMavlinkMessage(mavlink_message_t* message) = 0; |
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/// Called when Vehicle is first created to send any necessary mavlink messages to the firmware. |
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virtual void initializeVehicle(Vehicle* vehicle) = 0; |
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/// Determines how to handle the first item of the mission item list. Internally to QGC the first item |
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/// is always the home position. |
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/// @return |
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/// true: Send first mission item as home position to vehicle. When vehicle has no mission items on |
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/// it, it may or may not return a home position back in position 0. |
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/// false: Do not send first item to vehicle, sequence numbers must be adjusted |
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virtual bool sendHomePositionToVehicle(void) = 0; |
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/// Returns the ParameterLoader |
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virtual ParameterLoader* getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle) = 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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