Move prerequisiteSetup method to AutopilotPlugin

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

src/AutoPilotPlugins/APM/APMSubFrameComponent.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/APMTuningComponent.cc

@@ -77,15 +77,3 @@ QUrl APMTuningComponent::summaryQmlSource(void) const
 {
     return QUrl();
 }
-
-QString APMTuningComponent::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/APMTuningComponent.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/AutoPilotPlugin.h

@@ -38,11 +38,8 @@ public:
     AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~AutoPilotPlugin();
 
-    /// 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)
+    Q_PROPERTY(QVariantList vehicleComponents   READ vehicleComponents  CONSTANT)                       ///< List of VehicleComponent objects
+    Q_PROPERTY(bool         setupComplete       READ setupComplete      NOTIFY setupCompleteChanged)    ///< false: One or more vehicle components require setup
 
     /// Called when parameters are ready for the first time. Note that parameters may still be missing.
     /// Overrides must call base class.
@@ -51,6 +48,9 @@ public:
     // Must be implemented by derived class
     virtual const QVariantList& vehicleComponents(void) = 0;
 
+    /// Returns the name of the vehicle component which must complete setup prior to this one. Empty string for none.
+    Q_INVOKABLE virtual QString prerequisiteSetup(VehicleComponent* component) const = 0;
+
     // Property accessors
     bool setupComplete(void);
 

src/AutoPilotPlugins/Common/ESP8266Component.cc

@@ -57,8 +57,3 @@ QUrl ESP8266Component::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/ESP8266ComponentSummary.qml");
 }
-
-QString ESP8266Component::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/Common/ESP8266Component.h

@@ -30,7 +30,6 @@ public:
     bool    setupComplete       () const;
     QUrl    setupSource         () const;
     QUrl    summaryQmlSource    () const;
-    QString prerequisiteSetup   () const;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/Common/MixersComponent.cc

@@ -55,8 +55,3 @@ QUrl MixersComponent::summaryQmlSource(void) const
 {
     return QUrl();
 }
-
-QString MixersComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/Common/MixersComponent.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/Common/MotorComponent.cc

@@ -55,8 +55,3 @@ QUrl MotorComponent::summaryQmlSource(void) const
 {
     return QUrl();
 }
-
-QString MotorComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/Common/MotorComponent.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:
     const QString   _name;

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -25,3 +25,9 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
     
     return emptyList;
 }
+
+QString GenericAutoPilotPlugin:: prerequisiteSetup(VehicleComponent* component) const
+{
+    Q_UNUSED(component);
+    return QString();
+}

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -26,7 +26,8 @@ public:
     GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
-    virtual const QVariantList& vehicleComponents(void);
+    const QVariantList& vehicleComponents(void) final;
+    QString prerequisiteSetup(VehicleComponent* component) const final;
 };
 
 #endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -147,8 +147,3 @@ QUrl AirframeComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/AirframeComponentSummary.qml");
 }
-
-QString AirframeComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -35,7 +35,6 @@ public:
     virtual bool setupComplete(void) const;
     virtual QUrl setupSource(void) const;
     virtual QUrl summaryQmlSource(void) const;    
-    virtual QString prerequisiteSetup(void) const;
 
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/CameraComponent.cc

@@ -61,8 +61,3 @@ QUrl CameraComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/CameraComponentSummary.qml");
 }
-
-QString CameraComponent::prerequisiteSetup(void) const
-{
-    return QString();
-}

src/AutoPilotPlugins/PX4/CameraComponent.h

@@ -36,7 +36,6 @@ 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 false; }
 
 private:

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -78,24 +78,3 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 {
     return QUrl::fromUserInput("qrc:/qml/FlightModesComponentSummary.qml");
 }
-
-QString FlightModesComponent::prerequisiteSetup(void) const
-{
-    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
-        // No RC input
-        return QString();
-    } else {
-        PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
-        Q_ASSERT(plugin);
-
-        if (!plugin->airframeComponent()->setupComplete()) {
-            return plugin->airframeComponent()->name();
-        } else if (!plugin->radioComponent()->setupComplete()) {
-            return plugin->radioComponent()->name();
-        } else if (!_vehicle->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
-            return plugin->sensorsComponent()->name();
-        }
-    }
-
-    return QString();
-}

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -35,7 +35,6 @@ public:
     virtual bool setupComplete(void) const;
     virtual QUrl setupSource(void) const;
     virtual QUrl summaryQmlSource(void) const;
-    virtual QString prerequisiteSetup(void) const;
     
 private:
     const QString   _name;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -16,6 +16,12 @@
 #include "FirmwarePlugin/PX4/PX4ParameterMetaData.h"  // FIXME: Hack
 #include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h"  // FIXME: Hack
 #include "QGCApplication.h"
+#include "FlightModesComponent.h"
+#include "PX4RadioComponent.h"
+#include "PX4TuningComponent.h"
+#include "PowerComponent.h"
+#include "SafetyComponent.h"
+#include "SensorsComponent.h"
 
 /// @file
 ///     @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
@@ -131,3 +137,43 @@ void PX4AutoPilotPlugin::parametersReadyPreChecks(void)
                               "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
     }
 }
+
+QString PX4AutoPilotPlugin::prerequisiteSetup(VehicleComponent* component) const
+{
+    bool requiresAirframeCheck = false;
+
+    if (qobject_cast<const FlightModesComponent*>(component)) {
+        if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+            // No RC input
+            return QString();
+        } else {
+            if (_airframeComponent && !_airframeComponent->setupComplete()) {
+                return _airframeComponent->name();
+            } else if (_radioComponent && !_radioComponent->setupComplete()) {
+                return _radioComponent->name();
+            } else if (_sensorsComponent && !_vehicle->hilMode() && !_sensorsComponent->setupComplete()) {
+                return _sensorsComponent->name();
+            }
+        }
+    } else if (qobject_cast<const PX4RadioComponent*>(component)) {
+        if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+            requiresAirframeCheck = true;
+        }
+    } else if (qobject_cast<const PX4TuningComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const PowerComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const SafetyComponent*>(component)) {
+        requiresAirframeCheck = true;
+    } else if (qobject_cast<const SensorsComponent*>(component)) {
+        requiresAirframeCheck = true;
+    }
+
+    if (requiresAirframeCheck) {
+        if (_airframeComponent && !_airframeComponent->setupComplete()) {
+            return _airframeComponent->name();
+        }
+    }
+
+    return QString();
+}

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -43,26 +43,11 @@ public:
     // Overrides from AutoPilotPlugin
     const QVariantList& vehicleComponents(void) override;
     void parametersReadyPreChecks(void) override;
-
-    // These methods should only be used by objects within the plugin
-    AirframeComponent*      airframeComponent(void)     { return _airframeComponent; }
-    PX4RadioComponent*      radioComponent(void)        { return _radioComponent; }
-    ESP8266Component*       esp8266Component(void)      { return _esp8266Component; }
-    FlightModesComponent*   flightModesComponent(void)  { return _flightModesComponent; }
-    SensorsComponent*       sensorsComponent(void)      { return _sensorsComponent; }
-    SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
-    CameraComponent*        cameraComponent(void)       { return _cameraComponent; }
-    PowerComponent*         powerComponent(void)        { return _powerComponent; }
-    MotorComponent*         motorComponent(void)        { return _motorComponent; }
-    PX4TuningComponent*     tuningComponent(void)       { return _tuningComponent; }
-    MixersComponent*        mixersComponent(void)       { return _mixersComponent; }
+    QString prerequisiteSetup(VehicleComponent* component) const override;
 
 protected:
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
-
-private:
     PX4AirframeLoader*      _airframeFacts;
-    QVariantList            _components;
     AirframeComponent*      _airframeComponent;
     PX4RadioComponent*      _radioComponent;
     ESP8266Component*       _esp8266Component;
@@ -74,6 +59,9 @@ private:
     MotorComponent*         _motorComponent;
     PX4TuningComponent*     _tuningComponent;
     MixersComponent*        _mixersComponent;
+
+private:
+    QVariantList            _components;
 };
 
 #endif