APMFirmwarePlugin.h 7.68 KB
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/****************************************************************************
 *
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 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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/// @file
///     @author Don Gagne <don@thegagnes.com>

#ifndef APMFirmwarePlugin_H
#define APMFirmwarePlugin_H

#include "FirmwarePlugin.h"
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#include "QGCLoggingCategory.h"
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#include "APMParameterMetaData.h"
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#include "FollowMe.h"
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#include <QAbstractSocket>

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Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
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class APMFirmwareVersion
{
public:
    APMFirmwareVersion(const QString &versionText = "");
    bool isValid() const;
    bool isBeta() const;
    bool isDev() const;
    bool operator<(const APMFirmwareVersion& other) const;
    QString versionString() const { return _versionString; }
    QString vehicleType() const { return _vehicleType; }
    int majorNumber() const { return _major; }
    int minorNumber() const { return _minor; }
    int patchNumber() const { return _patch; }

private:
    void _parseVersion(const QString &versionText);
    QString _versionString;
    QString _vehicleType;
    int     _major;
    int     _minor;
    int     _patch;
};

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class APMCustomMode
{
public:
    APMCustomMode(uint32_t mode, bool settable);
    uint32_t modeAsInt() const { return _mode; }
    bool canBeSet() const { return _settable; }
    QString modeString() const;

protected:
    void setEnumToStringMapping(const QMap<uint32_t,QString>& enumToString);

private:
    uint32_t               _mode;
    bool                   _settable;
    QMap<uint32_t,QString> _enumToString;
};

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/// This is the base class for all stack specific APM firmware plugins
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class APMFirmwarePlugin : public FirmwarePlugin
{
    Q_OBJECT
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public:
    // Overrides from FirmwarePlugin
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    QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) override;
    QList<MAV_CMD> supportedMissionCommands(void) override;
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    AutoPilotPlugin*    autopilotPlugin                 (Vehicle* vehicle) override;
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    bool                isCapable                       (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;
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    void                setGuidedMode                   (Vehicle* vehicle, bool guidedMode) override;
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    void                guidedModeTakeoff               (Vehicle* vehicle, double altitudeRel) override;
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    void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
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    double              minimumTakeoffAltitude          (Vehicle* vehicle) override;
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    void                startMission                    (Vehicle* vehicle) override;
    QStringList         flightModes                     (Vehicle* vehicle) override;
    QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;
    bool                setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) override;
    bool                isGuidedMode                    (const Vehicle* vehicle) const override;
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    QString             gotoFlightMode                  (void) const override { return QStringLiteral("Guided"); }
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    QString             rtlFlightMode                   (void) const override { return QString("RTL"); }
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    QString             smartRTLFlightMode              (void) const override { return QString("Smart RTL"); }
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    QString             missionFlightMode               (void) const override { return QString("Auto"); }
    void                pauseVehicle                    (Vehicle* vehicle) override;
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    void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) override;
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    void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeChange) override;
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    bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) override;
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    void                adjustOutgoingMavlinkMessage    (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) override;
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    virtual void        initializeStreamRates           (Vehicle* vehicle);
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    void                initializeVehicle               (Vehicle* vehicle) override;
    bool                sendHomePositionToVehicle       (void) override;
    void                addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) override;
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    QString             missionCommandOverrides         (MAV_TYPE vehicleType) const override;
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    QString             getVersionParam                 (void) override { return QStringLiteral("SYSID_SW_MREV"); }
    QString             internalParameterMetaDataFile   (Vehicle* vehicle) override;
    void                getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) override { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
    QObject*            loadParameterMetaData           (const QString& metaDataFile) override;
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    QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
    QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
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    bool                supportsTerrainFrame            (void) const override { return true; }
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protected:
    /// All access to singleton is through stack specific implementation
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    APMFirmwarePlugin(void);
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    void setSupportedModes  (QList<APMCustomMode> supportedModes);
    void _sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities);
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    bool                _coaxialMotors;
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private slots:
    void _artooSocketError(QAbstractSocket::SocketError socketError);
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private:
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    void _adjustSeverity(mavlink_message_t* message) const;
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    void _adjustCalibrationMessageSeverity(mavlink_message_t* message) const;
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    static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
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    void _setInfoSeverity(mavlink_message_t* message, bool longVersion) const;
    QString _getMessageText(mavlink_message_t* message, bool longVersion) const;
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    void _handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message);
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    bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message, bool longVersion);
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    void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
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    void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
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    void _soloVideoHandshake(Vehicle* vehicle, bool originalSoloFirmware);
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    bool _guidedModeTakeoff(Vehicle* vehicle, double altitudeRel);
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    void _handleRCChannels(Vehicle* vehicle, mavlink_message_t* message);
    void _handleRCChannelsRaw(Vehicle* vehicle, mavlink_message_t* message);
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    QString _getLatestVersionFileUrl(Vehicle* vehicle) override;
    QString _versionRegex() override;
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    // Any instance data here must be global to all vehicles
    // Vehicle specific data should go into APMFirmwarePluginInstanceData

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    QList<APMCustomMode>    _supportedModes;
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    QMap<int /* vehicle id */, QMap<int /* componentId */, bool /* true: component is part of ArduPilot stack */>> _ardupilotComponentMap;
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    static const char*      _artooIP;
    static const int        _artooVideoHandshakePort;
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};

class APMFirmwarePluginInstanceData : public QObject
{
    Q_OBJECT

public:
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    APMFirmwarePluginInstanceData(QObject* parent = nullptr);
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    bool                    textSeverityAdjustmentNeeded;
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};

#endif