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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
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.
QGROUNDCONTROL is distributed in the hope that it will be useful,
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
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef FirmwarePlugin_H
#define FirmwarePlugin_H
#include "QGCSingleton.h"
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#include "VehicleComponent.h"
#include "AutoPilotPlugin.h"
#include <QList>
#include <QString>
/// This is the base class for Firmware specific plugins
///
/// The FirmwarePlugin class is the abstract base class which represents the methods and objects
/// which are specific to a certain Firmware flight stack. This is the only place where
/// flight stack specific code should reside in QGroundControl. The remainder of the
/// QGroundControl source is generic to a common mavlink implementation. The implementation
/// in the base class supports mavlink generic firmware. Override the base clase virtuals
/// to create you firmware specific plugin.
class FirmwarePlugin : public QGCSingleton
{
Q_OBJECT
public:
/// Set of optional capabilites which firmware may support
typedef enum {
SetFlightModeCapability,
} FirmwareCapabilities;
/// @return true: Firmware supports all specified capabilites
virtual bool isCapable(FirmwareCapabilities capabilities) = 0;
/// Returns VehicleComponents for specified Vehicle
/// @param vehicle Vehicle to associate with components
/// @return List of VehicleComponents for the specified vehicle. Caller owns returned objects and must
/// free when no longer needed.
virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) = 0;
/// Returns the list of available flight modes
virtual QStringList flightModes(void) = 0;
/// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.
/// @param base_mode Base mode from mavlink HEARTBEAT message
/// @param custom_mode Custom mode from mavlink HEARTBEAT message
virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode) = 0;
/// Sets base_mode and custom_mode to specified flight mode.
/// @param[out] base_mode Base mode for SET_MODE mavlink message
/// @param[out] custom_mode Custom mode for SET_MODE mavlink message
virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
protected:
FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
};
#endif