Move prerequisiteSetup method to AutopilotPlugin

This makes VehicleComponents reusable from core plugin without
requiring override of prerequisiteSetup

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -98,8 +98,3 @@ QUrl APMAirframeComponent::summaryQmlSource(void) const
         return QUrl();
     }
 }
-
-QString APMAirframeComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -31,7 +31,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
 
 private:
     bool            _requiresFrameSetup; ///< true: FRAME parameter must be set

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -137,3 +137,38 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 
     return _components;
 }
+
+QString APMAutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
+{
+    bool requiresAirframeCheck = false;
+
+    if (qobject_cast<const APMFlightModesComponent*>(component)) {
+        if (_airframeComponent && !_airframeComponent->setupComplete()) {
+            return _airframeComponent->name();
+        }
+        if (_radioComponent && !_radioComponent->setupComplete()) {
+            return _radioComponent->name();
+        }
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const APMRadioComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const APMCameraComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const APMPowerComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const APMSafetyComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const APMTuningComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const APMSensorsComponent*>(component)) {
+        requiresAirframeCheck = true;
+    }
+
+    if (requiresAirframeCheck) {
+        if (_airframeComponent && !_airframeComponent->setupComplete()) {
+            return _airframeComponent->name();
+        }
+    }
+
+    return QString();
+}

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -40,28 +40,10 @@ public:
 
     // Overrides from AutoPilotPlugin
     const QVariantList& vehicleComponents(void) final;
+    QString prerequisiteSetup(VehicleComponent* component) const override;
 
-    APMAirframeComponent*       airframeComponent   (void) const { return _airframeComponent; }
-    APMCameraComponent*         cameraComponent     (void) const { return _cameraComponent; }
-    APMLightsComponent*         lightsComponent     (void) const { return _lightsComponent; }
-    APMSubFrameComponent*       subFrameComponent   (void) const { return _subFrameComponent; }
-    APMFlightModesComponent*    flightModesComponent(void) const { return _flightModesComponent; }
-    APMPowerComponent*          powerComponent      (void) const { return _powerComponent; }
-#if 0
-    // Temporarily removed, waiting for new command implementation
-    MotorComponent*             motorComponent      (void) const { return _motorComponent; }
-#endif
-    APMRadioComponent*          radioComponent      (void) const { return _radioComponent; }
-    APMSafetyComponent*         safetyComponent     (void) const { return _safetyComponent; }
-    APMSensorsComponent*        sensorsComponent    (void) const { return _sensorsComponent; }
-    APMTuningComponent*         tuningComponent     (void) const { return _tuningComponent; }
-    ESP8266Component*           esp8266Component    (void) const { return _esp8266Component; }
-    MixersComponent*            mixersComponent     (void)       { return _mixersComponent; }
-
-private:
-    bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
-    QVariantList            _components;
-
+protected:
+    bool                        _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
     APMAirframeComponent*       _airframeComponent;
     APMCameraComponent*         _cameraComponent;
     APMLightsComponent*         _lightsComponent;
@@ -79,6 +61,9 @@ private:
     APMAirframeLoader*          _airframeFacts;
     ESP8266Component*           _esp8266Component;
     MixersComponent*            _mixersComponent;
+
+private:
+    QVariantList                _components;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMCameraComponent.cc

@@ -61,15 +61,3 @@ QUrl APMCameraComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMCameraComponentSummary.qml"));
 }
-
-QString APMCameraComponent::prerequisiteSetup(void) const
-{
-    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    }
-
-    return QString();
-}

src/AutoPilotPlugins/APM/APMCameraComponent.h

@@ -31,7 +31,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/APM/APMFlightModesComponent.cc

@@ -58,19 +58,3 @@ QUrl APMFlightModesComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMFlightModesComponentSummary.qml"));
 }
-
-QString APMFlightModesComponent::prerequisiteSetup(void) const
-{
-    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    } else if (plugin->radioComponent() != NULL) {
-        if (!plugin->radioComponent()->setupComplete()) {
-            return plugin->radioComponent()->name();
-        }
-    }
-    
-    return QString();
-}

src/AutoPilotPlugins/APM/APMFlightModesComponent.h

@@ -31,7 +31,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/APM/APMLightsComponent.cc

@@ -62,8 +62,3 @@ QUrl APMLightsComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMLightsComponentSummary.qml"));
 }
-
-QString APMLightsComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/APM/APMLightsComponent.h

@@ -31,7 +31,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/APM/APMPowerComponent.cc

@@ -62,13 +62,3 @@ QUrl APMPowerComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMPowerComponentSummary.qml"));
 }
-
-QString APMPowerComponent::prerequisiteSetup(void) const
-{
-    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    }
-    return QString();
-}

src/AutoPilotPlugins/APM/APMPowerComponent.h

@@ -31,7 +31,6 @@ public:
     bool        setupComplete           (void) const final;
     QUrl        setupSource             (void) const final;
     QUrl        summaryQmlSource        (void) const final;
-    QString     prerequisiteSetup       (void) const final;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -96,17 +96,6 @@ QUrl APMRadioComponent::summaryQmlSource(void) const
     return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMRadioComponentSummary.qml"));
 }
 
-QString APMRadioComponent::prerequisiteSetup(void) const
-{
-    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
-
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    }
-    
-    return QString();
-}
-
 void APMRadioComponent::_connectSetupTriggers(void)
 {
     // Disconnect previous triggers

src/AutoPilotPlugins/APM/APMRadioComponent.h

@@ -32,7 +32,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
 
 private slots:
     void _triggerChanged(void);

src/AutoPilotPlugins/APM/APMSafetyComponent.cc

@@ -127,15 +127,3 @@ QUrl APMSafetyComponent::summaryQmlSource(void) const
 
     return QUrl::fromUserInput(qmlFile);
 }
-
-QString APMSafetyComponent::prerequisiteSetup(void) const
-{
-    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    }
-
-    return QString();
-}

src/AutoPilotPlugins/APM/APMSafetyComponent.h

@@ -31,7 +31,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
     bool allowSetupWhileArmed(void) const final { return true; }
 
 private:

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -75,18 +75,6 @@ QUrl APMSensorsComponent::summaryQmlSource(void) const
     return QUrl::fromUserInput("qrc:/qml/APMSensorsComponentSummary.qml");
 }
 
-QString APMSensorsComponent::prerequisiteSetup(void) const
-{
-    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-    
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    }
-    
-    return QString();
-}
-
 bool APMSensorsComponent::compassSetupNeeded(void) const
 {
     const size_t cCompass = 3;

src/AutoPilotPlugins/APM/APMSensorsComponent.h

@@ -34,7 +34,6 @@ public:
     bool setupComplete(void) const final;
     QUrl setupSource(void) const final;
     QUrl summaryQmlSource(void) const final;
-    QString prerequisiteSetup(void) const final;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -24,7 +24,8 @@ QGC_LOGGING_CATEGORY(APMSensorsComponentControllerVerboseLog, "APMSensorsCompone
 const char* APMSensorsComponentController::_compassCalFitnessParam = "COMPASS_CAL_FIT";
 
 APMSensorsComponentController::APMSensorsComponentController(void)
-    : _statusLog(NULL)
+    : _sensorsComponent(NULL)
+    , _statusLog(NULL)
     , _progressBar(NULL)
     , _compassButton(NULL)
     , _accelButton(NULL)
@@ -68,8 +69,19 @@ APMSensorsComponentController::APMSensorsComponentController(void)
 
     APMAutoPilotPlugin * apmPlugin = qobject_cast<APMAutoPilotPlugin*>(_vehicle->autopilotPlugin());
 
-    _sensorsComponent = apmPlugin->sensorsComponent();
-    connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
+    // Find the sensors component
+    foreach (const QVariant& varVehicleComponent, apmPlugin->vehicleComponents()) {
+        _sensorsComponent = qobject_cast<APMSensorsComponent*>(varVehicleComponent.value<VehicleComponent*>());
+        if (_sensorsComponent) {
+            break;
+        }
+    }
+
+    if (_sensorsComponent) {
+        connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
+    } else {
+        qWarning() << "Sensors component is missing";
+    }
 
     connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
 }

src/AutoPilotPlugins/APM/APMSubFrameComponent.cc

@@ -64,8 +64,3 @@ QUrl APMSubFrameComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMSubFrameComponentSummary.qml"));
 }
-
-QString APMSubFrameComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}