AutoPilotPlugin.h

/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

#ifndef AUTOPILOTPLUGIN_H
#define AUTOPILOTPLUGIN_H

#include <QObject>
#include <QList>
#include <QString>
#include <QQmlContext>

#include "VehicleComponent.h"
#include "FactSystem.h"
#include "Vehicle.h"

class ParameterManager;
class Vehicle;
class FirmwarePlugin;

/// This is the base class for AutoPilot plugins
///
/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
/// code should reside in QGroundControl. The remainder of the QGroundControl source is
/// generic to a common mavlink implementation.

class AutoPilotPlugin : public QObject
{
    Q_OBJECT

public:
    AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
    ~AutoPilotPlugin();

    /// true: parameters are ready for use
    Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)

    /// true: parameters are missing from firmware response, false: all parameters received from firmware
    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)

    /// 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)

    /// Reset all parameters to their default values
    Q_INVOKABLE void resetAllParametersToDefaults(void);

    /// Re-request the full set of parameters from the autopilot
    Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);

    /// Request a refresh on the specific parameter
    Q_INVOKABLE void refreshParameter(int componentId, const QString& name);

    /// Request a refresh on all parameters that begin with the specified prefix
    Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);

    /// Returns all parameter names
    QStringList parameterNames(int componentId);

    /// Writes the parameter facts to the specified stream
    void writeParametersToStream(QTextStream &stream);

    /// Reads the parameters from the stream and updates values
    /// @return Errors during load. Empty string for no errors
    QString readParametersFromStream(QTextStream &stream);

    /// Returns true if the specifed fact exists
    Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
                                int                     componentId,    ///< fact component, -1=default component
                                const QString&          name);          ///< fact name

    /// Returns the specified Fact.
    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
    /// factExists.
    Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
                  int                       componentId,    ///< fact component, -1=default component
                  const QString&            name);          ///< fact name

    // Must be implemented by derived class
    virtual const QVariantList& vehicleComponents(void) = 0;

    // Property accessors
    bool parametersReady(void) { return _parametersReady; }
    bool missingParameters(void) { return _missingParameters; }
    bool setupComplete(void);

    Vehicle* vehicle(void) { return _vehicle; }
    virtual void _parametersReadyPreChecks(bool parametersReady) = 0;

signals:
    void parametersReadyChanged(bool parametersReady);
    void missingParametersChanged(bool missingParameters);
    void setupCompleteChanged(bool setupComplete);
    void parameterListProgress(float value);

protected:
    /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
    AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }

    Vehicle*        _vehicle;
    FirmwarePlugin* _firmwarePlugin;
    bool            _parametersReady;
    bool            _missingParameters;
    bool            _setupComplete;


private slots:
    void _uasDisconnected(void);
    void _parametersReadyChanged(bool parametersReady);

private:
    void _recalcSetupComplete(void);
};

#endif