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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef AUTOPILOTPLUGIN_H
#define AUTOPILOTPLUGIN_H
#include <QObject>
#include <QList>
#include <QString>
#include <QQmlContext>
#include "VehicleComponent.h"
#include "FactSystem.h"
#include "Vehicle.h"
class ParameterLoader;
class Vehicle;
class FirmwarePlugin;
/// 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 AutoPilotPlugin : public QObject
{
Q_OBJECT
public:
AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
~AutoPilotPlugin();
/// true: parameters are ready for use
Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
/// true: parameters are missing from firmware response, false: all parameters received from firmware
Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
/// List of VehicleComponent objects
Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
/// false: One or more vehicle components require setup
Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
/// Reset all parameters to their default values
Q_INVOKABLE void resetAllParametersToDefaults(void);
/// 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 the specific parameter
Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
/// Request a refresh on all parameters that begin with the specified prefix
Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
/// Returns true if the specifed parameter exists from the default component
Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
/// Returns all parameter names
QStringList parameterNames(int componentId);
/// 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);
/// Writes the parameter facts to the specified stream
void writeParametersToStream(QTextStream &stream);
/// Reads the parameters from the stream and updates values
/// @return Errors during load. Empty string for no errors
QString readParametersFromStream(QTextStream &stream);
/// 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 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
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
// Must be implemented by derived class
virtual const QVariantList& vehicleComponents(void) = 0;
// Property accessors
bool parametersReady(void) { return _parametersReady; }
bool missingParameters(void) { return _missingParameters; }
bool setupComplete(void);
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);
protected:
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
Vehicle* _vehicle;
FirmwarePlugin* _firmwarePlugin;
bool _parametersReady;
bool _missingParameters;
bool _setupComplete;