APMAutoPilotPlugin.cc 6.19 KB
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/*=====================================================================
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 QGroundControl Open Source Ground Control Station
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 (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 This file is part of the QGROUNDCONTROL project
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 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.
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 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.
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 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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 ======================================================================*/

#include "APMAutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
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#include "FirmwarePlugin/APM/APMParameterMetaData.h"  // FIXME: Hack
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#include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
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#include "FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h"
#include "APMComponent.h"
#include "APMAirframeComponent.h"
#include "APMAirframeComponentAirframes.h"
#include "APMAirframeComponentController.h"
#include "APMAirframeLoader.h"
#include "APMRemoteParamsDownloader.h"
#include "APMFlightModesComponent.h"
#include "APMRadioComponent.h"
#include "APMSafetyComponent.h"
#include "APMTuningComponent.h"
#include "APMSensorsComponent.h"
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#include "APMPowerComponent.h"
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/// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
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APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
    : AutoPilotPlugin(vehicle, parent)
    , _incorrectParameterVersion(false)
    , _airframeComponent(NULL)
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    , _flightModesComponent(NULL)
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    , _powerComponent(NULL)
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    , _radioComponent(NULL)
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    , _safetyComponent(NULL)
    , _sensorsComponent(NULL)
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    , _tuningComponent(NULL)
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    , _airframeFacts(new APMAirframeLoader(this, vehicle->uas(), this))
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{
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    APMAirframeLoader::loadAirframeFactMetaData();
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}

APMAutoPilotPlugin::~APMAutoPilotPlugin()
{

}

const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
{
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    if (_components.count() == 0 && !_incorrectParameterVersion) {
        Q_ASSERT(_vehicle);
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        if (parametersReady()) {
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            if (dynamic_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin())){
                _airframeComponent = new APMAirframeComponent(_vehicle, this);
                if(_airframeComponent) {
                    _airframeComponent->setupTriggerSignals();
                    _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
                } else {
                    qWarning() << "new APMAirframeComponent failed";
                }
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            }
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            _flightModesComponent = new APMFlightModesComponent(_vehicle, this);
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            if (_flightModesComponent) {
                _flightModesComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
            } else {
                qWarning() << "new APMFlightModesComponent failed";
            }
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            _powerComponent = new APMPowerComponent(_vehicle, this);
            if (_powerComponent) {
                _powerComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
            } else {
                qWarning() << "new APMPowerComponent failed";
            }

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            _radioComponent = new APMRadioComponent(_vehicle, this);
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            if (_radioComponent) {
                _radioComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
            } else {
                qWarning() << "new APMRadioComponent failed";
            }

            _sensorsComponent = new APMSensorsComponent(_vehicle, this);
            if (_sensorsComponent) {
                _sensorsComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
            } else {
                qWarning() << "new APMSensorsComponent failed";
            }
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            _safetyComponent = new APMSafetyComponent(_vehicle, this);
            if (_safetyComponent) {
                _safetyComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
            } else {
                qWarning() << "new APMSafetyComponent failed";
            }
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            _tuningComponent = new APMTuningComponent(_vehicle, this);
            if (_tuningComponent) {
                _tuningComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
            } else {
                qWarning() << "new APMTuningComponent failed";
            }
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        } else {
            qWarning() << "Call to vehicleCompenents prior to parametersReady";
        }
    }

    return _components;
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}

/// This will perform various checks prior to signalling that the plug in ready
void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
{
#if 0
    I believe APM has parameter version stamp, we should check that
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            // Check for older parameter version set
            // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
            // should be used instead.
            if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
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        _incorrectParameterVersion = true;
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        qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
                              "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
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    }
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#endif
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    Q_UNUSED(missingParameters);
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    _parametersReady = true;
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    _missingParameters = false; // we apply only the parameters that do exists on the FactSystem.
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    emit missingParametersChanged(_missingParameters);
    emit parametersReadyChanged(_parametersReady);
}