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128 lines
4.9 KiB
128 lines
4.9 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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/// @file |
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/// @author Don Gagne <don@thegagnes.com> |
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#ifndef APMFirmwarePlugin_H |
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#define APMFirmwarePlugin_H |
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#include "FirmwarePlugin.h" |
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#include "QGCLoggingCategory.h" |
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#include "APMParameterMetaData.h" |
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#include <QAbstractSocket> |
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Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog) |
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class APMFirmwareVersion |
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{ |
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public: |
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APMFirmwareVersion(const QString &versionText = ""); |
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bool isValid() const; |
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bool isBeta() const; |
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bool isDev() const; |
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bool operator<(const APMFirmwareVersion& other) const; |
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QString versionString() const { return _versionString; } |
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QString vehicleType() const { return _vehicleType; } |
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int majorNumber() const { return _major; } |
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int minorNumber() const { return _minor; } |
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int patchNumber() const { return _patch; } |
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private: |
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void _parseVersion(const QString &versionText); |
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QString _versionString; |
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QString _vehicleType; |
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int _major; |
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int _minor; |
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int _patch; |
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}; |
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class APMCustomMode |
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{ |
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public: |
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APMCustomMode(uint32_t mode, bool settable); |
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uint32_t modeAsInt() const { return _mode; } |
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bool canBeSet() const { return _settable; } |
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QString modeString() const; |
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protected: |
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void setEnumToStringMapping(const QMap<uint32_t,QString>& enumToString); |
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private: |
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uint32_t _mode; |
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bool _settable; |
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QMap<uint32_t,QString> _enumToString; |
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}; |
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/// This is the base class for all stack specific APM firmware plugins |
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class APMFirmwarePlugin : public FirmwarePlugin |
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{ |
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Q_OBJECT |
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public: |
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// Overrides from FirmwarePlugin |
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QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final; |
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QList<MAV_CMD> supportedMissionCommands(void) final; |
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bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities); |
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QStringList flightModes(Vehicle* vehicle) final; |
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QString flightMode(uint8_t base_mode, uint32_t custom_mode) const final; |
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bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final; |
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bool isGuidedMode(const Vehicle* vehicle) const final; |
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void pauseVehicle(Vehicle* vehicle); |
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int manualControlReservedButtonCount(void); |
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bool adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final; |
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void adjustOutgoingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final; |
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void initializeVehicle(Vehicle* vehicle) final; |
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bool sendHomePositionToVehicle(void) final; |
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void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final; |
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QString getDefaultComponentIdParam(void) const final { return QString("SYSID_SW_TYPE"); } |
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void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final; |
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QString getVersionParam(void) final { return QStringLiteral("SYSID_SW_MREV"); } |
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QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); } |
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void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); } |
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QObject* loadParameterMetaData (const QString& metaDataFile); |
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QString getParameterMetaDataFile(Vehicle* vehicle); |
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protected: |
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/// All access to singleton is through stack specific implementation |
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APMFirmwarePlugin(void); |
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void setSupportedModes(QList<APMCustomMode> supportedModes); |
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bool _coaxialMotors; |
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private slots: |
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void _artooSocketError(QAbstractSocket::SocketError socketError); |
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private: |
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void _adjustSeverity(mavlink_message_t* message) const; |
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void _adjustCalibrationMessageSeverity(mavlink_message_t* message) const; |
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static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion); |
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void _setInfoSeverity(mavlink_message_t* message) const; |
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QString _getMessageText(mavlink_message_t* message) const; |
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void _handleParamValue(Vehicle* vehicle, mavlink_message_t* message); |
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void _handleParamSet(Vehicle* vehicle, mavlink_message_t* message); |
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bool _handleStatusText(Vehicle* vehicle, mavlink_message_t* message); |
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void _handleHeartbeat(Vehicle* vehicle, mavlink_message_t* message); |
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void _soloVideoHandshake(Vehicle* vehicle); |
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bool _textSeverityAdjustmentNeeded; |
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QList<APMCustomMode> _supportedModes; |
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QMap<QString, QTime> _noisyPrearmMap; |
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static const char* _artooIP; |
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static const int _artooVideoHandshakePort; |
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}; |
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#endif
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