APMAirframeComponent.cc 3.15 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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#include "APMAirframeComponent.h"
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#include "ArduCopterFirmwarePlugin.h"
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#include "ParameterManager.h"
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const char* APMAirframeComponent::_oldFrameParam = "FRAME";
const char* APMAirframeComponent::_newFrameParam = "FRAME_CLASS";

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APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
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    : VehicleComponent(vehicle, autopilot, parent)
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    , _requiresFrameSetup(false)
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    , _name("Airframe")
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{
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    if (qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL) {
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        ParameterManager* paramMgr = _vehicle->parameterManager();
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        _requiresFrameSetup = true;
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        if (paramMgr->parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) {
            _useNewFrameParam = false;
            _frameParamFact = paramMgr->getParameter(FactSystem::defaultComponentId, _oldFrameParam);
            MAV_TYPE vehicleType = vehicle->vehicleType();
            if (vehicleType == MAV_TYPE_TRICOPTER || vehicleType == MAV_TYPE_HELICOPTER) {
                _requiresFrameSetup = false;
            }
        } else {
            _useNewFrameParam = true;
            _frameParamFact = paramMgr->getParameter(FactSystem::defaultComponentId, _newFrameParam);
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        }
    }
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}

QString APMAirframeComponent::name(void) const
{
    return _name;
}

QString APMAirframeComponent::description(void) const
{
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    return tr("Airframe Setup is used to select the airframe which matches your vehicle. "
              "You can also the load default parameter values associated with known vehicle types.");
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}

QString APMAirframeComponent::iconResource(void) const
{
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    return QStringLiteral("/qmlimages/AirframeComponentIcon.png");
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}

bool APMAirframeComponent::requiresSetup(void) const
{
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    return _requiresFrameSetup;
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}

bool APMAirframeComponent::setupComplete(void) const
{
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    if (_requiresFrameSetup) {
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        if (_useNewFrameParam) {
            return _frameParamFact->rawValue().toInt() > 0;
        } else {
            return _frameParamFact->rawValue().toInt() >= 0;
        }
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    } else {
        return true;
    }
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}

QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
{
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    QStringList list;

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    if (_requiresFrameSetup) {
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        list << (_useNewFrameParam ? _newFrameParam : _oldFrameParam);
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    }

    return list;
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}

QUrl APMAirframeComponent::setupSource(void) const
{
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    if (_requiresFrameSetup) {
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        return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMAirframeComponent.qml"));
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    } else {
        return QUrl();
    }
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}

QUrl APMAirframeComponent::summaryQmlSource(void) const
{
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    if (_requiresFrameSetup) {
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        return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMAirframeComponentSummary.qml"));
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    } else {
        return QUrl();
    }
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}

QString APMAirframeComponent::prerequisiteSetup(void) const
{
    return QString();
}