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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @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>
#include "LinkInterface.h"
#include "ProtocolInterface.h"
/**
* @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.
**/
Q_OBJECT
public:
virtual ~UASInterface() {}
/* MANAGEMENT */
/** @brief The name of the robot **/
virtual QString getUASName() const = 0;
virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
virtual quint64 getUptime() const = 0;
virtual int getCommunicationStatus() const = 0;
/** @brief Get reference to the waypoint manager **/
virtual UASWaypointManager &getWaypointManager(void) = 0;
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/* 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,
COMM_FAIL = 4, ///< Communication link failed
};
/**
* @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
colors.append(QColor(203,254,121));
colors.append(QColor(231,72,28));
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(104,64,240));
colors.append(QColor(75,133,243));
colors.append(QColor(242,255,128));
colors.append(QColor(230,126,23));
nextColor++;
}
return colors[nextColor++];
}
QColor getColor()
{
return color;
}
public slots:
/** @brief Launches the system/Liftof **/
virtual void launch() = 0;
/** @brief Set a new waypoint **/
/** @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;
/** 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;
/** @brief Request the list of stored waypoints from the robot */
/** @brief Clear all existing waypoints on the robot */
/** @brief Request all onboard parameters of all components */
virtual void requestParameters() = 0;
/** @brief Write parameter to permanent storage */
virtual void writeParameters() = 0;
/** @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
*/
virtual void setParameter(int component, QString id, float value) = 0;
/**
* @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;
virtual void enableAllDataTransmission(bool enabled) = 0;
virtual void enableRawSensorDataTransmission(bool enabled) = 0;
virtual void enableExtendedSystemStatusTransmission(bool enabled) = 0;
virtual void enableRCChannelDataTransmission(bool enabled) = 0;
virtual void enableRawControllerDataTransmission(bool enabled) = 0;
virtual void enableRawSensorFusionTransmission(bool enabled) = 0;
virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
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);
/**
* @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
* @param text the status text
* @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
*/
void textMessageReceived(int uasid, int severity, QString text);
/**
* @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);
/**
* @brief Drop rate of communication link updated
*
* @param systemId id of the air system
* @param receiveDrop drop rate of packets this MAV receives (sent from GCS or other MAVs)
void dropRateChanged(int systemId, float receiveDrop);
/** @brief Robot mode has changed */
void modeChanged(int sysId, QString status, QString description);
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/** @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
*/
void valueChanged(int uasId, QString name, double value, quint64 msec);
void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);
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);
void parameterChanged(int uas, int component, QString parameterName, float value);
void detectionReceived(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
/**
* @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);
void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
/** @brief Update the status of one satellite used for localization */
void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
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);
};
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");