UASInterface.h

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 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
 *   @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 <QPointer>

#include "LinkInterface.h"
#include "ProtocolInterface.h"
#include "UASWaypointManager.h"
#include "QGCUASParamManager.h"
#include "RadioCalibration/RadioCalibrationData.h"

#ifdef QGC_PROTOBUF_ENABLED
#include <tr1/memory>
#ifdef QGC_USE_PIXHAWK_MESSAGES
#include <pixhawk/pixhawk.pb.h>
#endif
#endif

/**
 * @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.
 **/
class UASInterface : public QObject
{
    Q_OBJECT
public:
    virtual ~UASInterface() {}

    /* MANAGEMENT */

    /** @brief The name of the robot **/
    virtual QString getUASName() const = 0;
    /** @brief Get short state */
    virtual const QString& getShortState() const = 0;
    /** @brief Get short mode */
    virtual const QString& getShortMode() const = 0;
    /** @brief Translate mode id into text */
    static QString getShortModeTextFor(int id);
    //virtual QColor getColor() = 0;
    virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
    /** @brief The time interval the robot is switched on **/
    virtual quint64 getUptime() const = 0;
    /** @brief Get the status flag for the communication **/
    virtual int getCommunicationStatus() const = 0;

    virtual double getLocalX() const = 0;
    virtual double getLocalY() const = 0;
    virtual double getLocalZ() const = 0;
    virtual bool localPositionKnown() const = 0;

    virtual double getLatitude() const = 0;
    virtual double getLongitude() const = 0;
    virtual double getAltitude() const = 0;
    virtual bool globalPositionKnown() const = 0;