UASInterface.h 19 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38

======================================================================*/

/**
 * @file
 *   @brief Abstract interface, represents one unmanned aerial vehicle
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef _UASINTERFACE_H_
#define _UASINTERFACE_H_

#include <QObject>
#include <QList>
#include <QAction>
#include <QColor>
39
#include <QPointer>
pixhawk's avatar
pixhawk committed
40 41 42

#include "LinkInterface.h"
#include "ProtocolInterface.h"
43
#include "UASWaypointManager.h"
44
#include "RadioCalibration/RadioCalibrationData.h"
pixhawk's avatar
pixhawk committed
45 46 47 48 49 50 51

/**
 * @brief Interface for all robots.
 *
 * This interface is abstract and thus cannot be instantiated. It serves only as type definition.
 * It represents an unmanned aerial vehicle, e.g. a micro air vehicle.
 **/
lm's avatar
lm committed
52 53
class UASInterface : public QObject
{
pixhawk's avatar
pixhawk committed
54 55 56 57 58 59 60
    Q_OBJECT
public:
    virtual ~UASInterface() {}

    /* MANAGEMENT */

    /** @brief The name of the robot **/
61
    virtual QString getUASName() const = 0;
pixhawk's avatar
pixhawk committed
62
    //virtual QColor getColor() = 0;
63
    virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
pixhawk's avatar
pixhawk committed
64
    /** @brief The time interval the robot is switched on **/
65
    virtual quint64 getUptime() const = 0;
pixhawk's avatar
pixhawk committed
66
    /** @brief Get the status flag for the communication **/
67
    virtual int getCommunicationStatus() const = 0;
pixhawk's avatar
pixhawk committed
68

lm's avatar
lm committed
69 70 71 72
    virtual double getLocalX() const = 0;
    virtual double getLocalY() const = 0;
    virtual double getLocalZ() const = 0;

73 74 75 76
    virtual double getLatitude() const = 0;
    virtual double getLongitude() const = 0;
    virtual double getAltitude() const = 0;

lm's avatar
lm committed
77 78 79 80
    virtual double getRoll() const = 0;
    virtual double getPitch() const = 0;
    virtual double getYaw() const = 0;

81 82
    virtual bool getSelected() const = 0;

83 84 85
    /** @brief Set the airframe of this MAV */
    virtual int getAirframe() const = 0;

86
    /** @brief Get reference to the waypoint manager **/
87
    virtual UASWaypointManager* getWaypointManager(void) = 0;
88

pixhawk's avatar
pixhawk committed
89 90 91 92 93 94 95 96 97 98 99
    /* COMMUNICATION FLAGS */

    enum CommStatus {
        /** Unit is disconnected, no failure state reached so far **/
        COMM_DISCONNECTED = 0,
        /** The communication is established **/
        COMM_CONNECTING = 1,
        /** The communication link is up **/
        COMM_CONNECTED = 2,
        /** The connection is closed **/
        COMM_DISCONNECTING = 3,
100 101
        COMM_FAIL = 4,
        COMM_TIMEDOUT = 5///< Communication link failed
pixhawk's avatar
pixhawk committed
102 103
    };

104 105
    enum Airframe {
        QGC_AIRFRAME_GENERIC = 0,
106 107 108 109 110 111 112 113 114
        QGC_AIRFRAME_EASYSTAR,
        QGC_AIRFRAME_TWINSTAR,
        QGC_AIRFRAME_MERLIN,
        QGC_AIRFRAME_CHEETAH,
        QGC_AIRFRAME_MIKROKOPTER,
        QGC_AIRFRAME_REAPER,
        QGC_AIRFRAME_PREDATOR,
        QGC_AIRFRAME_COAXIAL,
        QGC_AIRFRAME_PTERYX
115
    };
pixhawk's avatar
pixhawk committed
116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143

    /**
         * @brief Get the links associated with this robot
         *
         * @return List with all links this robot is associated with. Association is usually
         *         based on the fact that a message for this robot has been received through that
         *         interface. The LinkInterface can support multiple protocols.
         **/
    virtual QList<LinkInterface*>* getLinks() = 0;

    /**
     * @brief Get the color for this UAS
     *
     * This static function holds a color map that allows to draw a new color for each robot
     *
     * @return The next color in the color map. The map holds 20 colors and starts from the beginning
     *         if the colors are exceeded.
     */
    static QColor getNextColor()
    {
        /* Create color map */
        static QList<QColor> colors = QList<QColor>();
        static int nextColor = -1;

        if (nextColor == -1)
        {
            ///> Color map for plots, includes 20 colors
            ///> Map will start from beginning when the first 20 colors are exceeded
pixhawk's avatar
pixhawk committed
144

pixhawk's avatar
pixhawk committed
145
            colors.append(QColor(231,72,28));
146
            colors.append(QColor(104,64,240));
147
            colors.append(QColor(203,254,121));
pixhawk's avatar
pixhawk committed
148 149 150 151 152 153 154 155 156 157 158 159 160 161
            colors.append(QColor(161,252,116));
            colors.append(QColor(232,33,47));
            colors.append(QColor(116,251,110));
            colors.append(QColor(234,38,107));
            colors.append(QColor(104,250,138));
            colors.append(QColor(235,43,165));
            colors.append(QColor(98,248,176));
            colors.append(QColor(236,48,221));
            colors.append(QColor(92,247,217));
            colors.append(QColor(200,54,238));
            colors.append(QColor(87,231,246));
            colors.append(QColor(151,59,239));
            colors.append(QColor(81,183,244));
            colors.append(QColor(75,133,243));
pixhawk's avatar
pixhawk committed
162 163
            colors.append(QColor(242,255,128));
            colors.append(QColor(230,126,23));
164
            nextColor = 0;
pixhawk's avatar
pixhawk committed
165 166 167 168
        }
        return colors[nextColor++];
    }

169 170 171
    /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
    virtual int getSystemType() = 0;

pixhawk's avatar
pixhawk committed
172 173 174 175 176
    QColor getColor()
    {
        return color;
    }

177 178 179
    virtual int getAutopilotType() = 0;
    virtual void setAutopilotType(int apType)= 0;

pixhawk's avatar
pixhawk committed
180 181
public slots:

182 183
    /** @brief Set a new name for the system */
    virtual void setUASName(const QString& name) = 0;
184 185 186
    /** @brief Sets an action **/
    virtual void setAction(MAV_ACTION action) = 0;

187 188 189
    /** @brief Selects the airframe */
    virtual void setAirframe(int airframe) = 0;

pixhawk's avatar
pixhawk committed
190 191 192
    /** @brief Launches the system/Liftof **/
    virtual void launch() = 0;
    /** @brief Set a new waypoint **/
pixhawk's avatar
pixhawk committed
193
    //virtual void setWaypoint(Waypoint* wp) = 0;
pixhawk's avatar
pixhawk committed
194
    /** @brief Set this waypoint as next waypoint to fly to */
pixhawk's avatar
pixhawk committed
195
    //virtual void setWaypointActive(int wp) = 0;
pixhawk's avatar
pixhawk committed
196 197 198 199 200 201
    /** @brief Order the robot to return home / to land on the runway **/
    virtual void home() = 0;
    /** @brief Halt the system */
    virtual void halt() = 0;
    /** @brief Start/continue the current robot action */
    virtual void go() = 0;
pixhawk's avatar
pixhawk committed
202
    /** @brief Set the current mode of operation */
pixhawk's avatar
pixhawk committed
203
    virtual void setMode(int mode) = 0;
pixhawk's avatar
pixhawk committed
204 205 206 207 208 209 210 211 212 213
    /** Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
    virtual void emergencySTOP() = 0;
    /** Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
    virtual bool emergencyKILL() = 0;
    /**
     * @brief Shut down the system's computers
     *
     * Works only if already landed and will cleanly shut down all onboard computers.
     */
    virtual void shutdown() = 0;
214 215 216 217 218 219 220
    /** @brief Set the target position for the robot to navigate to.
     *  @param x x-coordinate of the target position
     *  @param y y-coordinate of the target position
     *  @param z z-coordinate of the target position
     *  @param yaw heading of the target position
     */
    virtual void setTargetPosition(float x, float y, float z, float yaw) = 0;
221
    /** @brief Request the list of stored waypoints from the robot */
pixhawk's avatar
pixhawk committed
222
    //virtual void requestWaypoints() = 0;
223
    /** @brief Clear all existing waypoints on the robot */
pixhawk's avatar
pixhawk committed
224
    //virtual void clearWaypointList() = 0;
225 226
    /** @brief Set world frame origin at current GPS position */
    virtual void setLocalOriginAtCurrentGPSPosition() = 0;
227 228
    /** @brief Request all onboard parameters of all components */
    virtual void requestParameters() = 0;
229
    /** @brief Write parameter to permanent storage */
230 231 232
    virtual void writeParametersToStorage() = 0;
    /** @brief Read parameter from permanent storage */
    virtual void readParametersFromStorage() = 0;
233 234 235 236 237 238
    /** @brief Set a system parameter
     * @param component ID of the system component to write the parameter to
     * @param id String identifying the parameter
     * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it
     * @param value Value of the parameter, IEEE 754 single precision floating point
     */
lm's avatar
lm committed
239
    virtual void setParameter(const int component, const QString& id, const float value) = 0;
pixhawk's avatar
pixhawk committed
240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255

    /**
     * @brief Add a link to the list of current links
     *
     * Adding the link to the robot's internal link list will allow him so send its own messages
     * over all registered links. Usually a link is added once a message for this particular robot
     * has been received over a link, but adding could also be done manually.
     * @warning Not all links should be added to all robots by default, because else all robots will
     *          attempt to send over all links, typically choking wireless serial links.
     */
    virtual void addLink(LinkInterface* link) = 0;

    /**
     * @brief Set the current robot as focused in the user interface
     */
    virtual void setSelected() = 0;
lm's avatar
lm committed
256

257 258 259 260 261 262
    virtual void enableAllDataTransmission(int rate) = 0;
    virtual void enableRawSensorDataTransmission(int rate) = 0;
    virtual void enableExtendedSystemStatusTransmission(int rate) = 0;
    virtual void enableRCChannelDataTransmission(int rate) = 0;
    virtual void enableRawControllerDataTransmission(int rate) = 0;
    virtual void enableRawSensorFusionTransmission(int rate) = 0;
pixhawk's avatar
pixhawk committed
263

pixhawk's avatar
pixhawk committed
264
    virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
pixhawk's avatar
pixhawk committed
265 266 267 268 269 270
    virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;

    virtual void startRadioControlCalibration() = 0;
    virtual void startMagnetometerCalibration() = 0;
    virtual void startGyroscopeCalibration() = 0;
    virtual void startPressureCalibration() = 0;
pixhawk's avatar
pixhawk committed
271

272 273 274 275
    /** @brief Set the current battery type and voltages */
    virtual void setBatterySpecs(const QString& specs) = 0;
    /** @brief Get the current battery type and specs */
    virtual QString getBatterySpecs() = 0;
276

pixhawk's avatar
pixhawk committed
277 278 279 280 281 282 283 284 285 286 287 288 289
protected:
    QColor color;

signals:
    /** @brief The robot state has changed **/
    void statusChanged(int stateFlag);
    /** @brief The robot state has changed
     *
     * @param uas this robot
     * @param status short description of status, e.g. "connected"
     * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
     */
    void statusChanged(UASInterface* uas, QString status, QString description);
290 291 292
    /** @brief System has been removed / disconnected / shutdown cleanly, remove */
    void systemRemoved(UASInterface* uas);
    void systemRemoved();
293 294 295 296 297 298
    /**
     * @brief Received a plain text message from the robot
     * This signal should NOT be used for standard communication, but rather for VERY IMPORTANT
     * messages like critical errors.
     *
     * @param uasid ID of the sending system
299
     * @param compid ID of the sending component
300 301 302
     * @param text the status text
     * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
     */
303 304 305 306

    void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
    void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);

307
    void textMessageReceived(int uasid, int componentid, int severity, QString text);
308 309 310 311 312 313 314 315 316 317 318 319 320 321 322
    /**
     * @brief Update the error count of a device
     *
     * The error count indicates how many errors occured during the use of a device.
     * Usually a random error from time to time is acceptable, e.g. through electromagnetic
     * interferences on device lines like I2C and SPI. A constantly and rapidly increasing
     * error count however can help to identify broken cables or misbehaving drivers.
     *
     * @param uasid System ID
     * @param component Name of the component, e.g. "IMU"
     * @param device Name of the device, e.g. "SPI0" or "I2C1"
     * @param count Errors occured since system startup
     */
    void errCountChanged(int uasid, QString component, QString device, int count);

lm's avatar
lm committed
323 324 325 326
    /**
     * @brief Drop rate of communication link updated
     *
     * @param systemId id of the air system
327
     * @param receiveDrop drop rate of packets this MAV receives (sent from GCS or other MAVs)
lm's avatar
lm committed
328
     */
329
    void dropRateChanged(int systemId,  float receiveDrop);
pixhawk's avatar
pixhawk committed
330 331
    /** @brief Robot mode has changed */
    void modeChanged(int sysId, QString status, QString description);
pixhawk's avatar
pixhawk committed
332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357
    /** @brief A command has been issued **/
    void commandSent(int command);
    /** @brief The connection status has changed **/
    void connectionChanged(CommStatus connectionFlag);
    /** @brief The robot is connecting **/
    void connecting();
    /** @brief The robot is connected **/
    void connected();
    /** @brief The robot is disconnected **/
    void disconnected();
    /** @brief The robot is active **/
    void activated();
    /** @brief The robot is inactive **/
    void deactivated();
    /** @brief The robot is manually controlled **/
    void manualControl();
    /** @brief A value of the robot has changed.
      *
      * Typically this is used to send lowlevel information like the battery voltage to the plotting facilities of
      * the groundstation
      *
      * @param uasId ID of this system
      * @param name name of the value, e.g. "battery voltage"
      * @param value the value that changed
      * @param msec the timestamp of the message, in milliseconds
      */
lm's avatar
lm committed
358

359 360 361
    //void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
lm's avatar
lm committed
362 363 364 365

//    void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
//    //void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);

pixhawk's avatar
pixhawk committed
366 367 368 369 370
    void voltageChanged(int uasId, double voltage);
    void waypointUpdated(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool active);
    void waypointSelected(int uasId, int id);
    void waypointReached(UASInterface* uas, int id);
    void autoModeChanged(bool autoMode);
371
    void parameterChanged(int uas, int component, QString parameterName, float value);
372
    void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
pixhawk's avatar
pixhawk committed
373
    void letterDetected(int uasId, QString letter, float confidence, bool detected);
pixhawk's avatar
pixhawk committed
374 375 376 377 378 379 380 381 382 383 384 385 386 387
    /**
     * @brief The battery status has been updated
     *
     * @param uas sending system
     * @param voltage battery voltage
     * @param percent remaining capacity in percent
     * @param seconds estimated remaining flight time in seconds
     */
    void batteryChanged(UASInterface* uas, double voltage, double percent, int seconds);
    void statusChanged(UASInterface* uas, QString status);
    void actuatorChanged(UASInterface*, int actId, double value);
    void thrustChanged(UASInterface*, double thrust);
    void heartbeat(UASInterface* uas);
    void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
388
    void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
pixhawk's avatar
pixhawk committed
389
    void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
lm's avatar
lm committed
390
    void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
pixhawk's avatar
pixhawk committed
391
    void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
lm's avatar
lm committed
392
    void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
lm's avatar
lm committed
393 394
    /** @brief Update the status of one satellite used for localization */
    void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
pixhawk's avatar
pixhawk committed
395 396 397 398 399
    void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
    void imageStarted(int imgid, int width, int height, int depth, int channels);
    void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
    /** @brief Emit the new system type */
    void systemTypeSet(UASInterface* uas, unsigned int type);
pixhawk's avatar
pixhawk committed
400 401 402 403 404 405 406 407
    /** @brief Attitude control enabled/disabled */
    void attitudeControlEnabled(bool enabled);
    /** @brief Position 2D control enabled/disabled */
    void positionXYControlEnabled(bool enabled);
    /** @brief Altitude control enabled/disabled */
    void positionZControlEnabled(bool enabled);
    /** @brief Heading control enabled/disabled */
    void positionYawControlEnabled(bool enabled);
408 409 410 411
    /** @brief Value of a remote control channel (raw) */
    void remoteControlChannelRawChanged(int channelId, float raw);
    /** @brief Value of a remote control channel (scaled)*/
    void remoteControlChannelScaledChanged(int channelId, float normalized);
pixhawk's avatar
pixhawk committed
412 413
    /** @brief Remote control RSSI changed */
    void remoteControlRSSIChanged(float rssi);
414 415
    /** @brief Radio Calibration Data has been received from the MAV*/
    void radioCalibrationReceived(const QPointer<RadioCalibrationData>&);
pixhawk's avatar
pixhawk committed
416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431

    /**
     * @brief Localization quality changed
     * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
     */
    void localizationChanged(UASInterface* uas, int fix);
    /**
     * @brief GPS localization quality changed
     * @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
     */
    void gpsLocalizationChanged(UASInterface* uas, int fix);
    /**
     * @brief Vision localization quality changed
     * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
     */
    void visionLocalizationChanged(UASInterface* uas, int fix);
432 433 434 435 436
    /**
     * @brief IR/U localization quality changed
     * @param fix 0: No IR/Ultrasound sensor, N > 0: Found N active sensors
     */
    void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
437

438 439 440 441 442 443 444
    // ERROR AND STATUS SIGNALS
    /** @brief Heartbeat timed out */
    void heartbeatTimeout();
    /** @brief Heartbeat timed out */
    void heartbeatTimeout(unsigned int ms);
    /** @brief Name of system changed */
    void nameChanged(QString newName);
445 446
    /** @brief System has been selected as focused system */
    void systemSelected(bool selected);
447 448
    /** @brief Core specifications have changed */
    void systemSpecsChanged(int uasId);
449

450
protected:
451

452 453
    // TIMEOUT CONSTANTS
    static const unsigned int timeoutIntervalHeartbeat = 2000 * 1000; ///< Heartbeat timeout is 1.5 seconds
454

pixhawk's avatar
pixhawk committed
455 456
};

457 458
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");

pixhawk's avatar
pixhawk committed
459
#endif // _UASINTERFACE_H_