FirmwarePlugin.h 18 KB
Newer Older
1 2 3 4 5 6 7 8 9
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

Don Gagne's avatar
Don Gagne committed
10 11 12 13 14 15 16

/// @file
///     @author Don Gagne <don@thegagnes.com>

#ifndef FirmwarePlugin_H
#define FirmwarePlugin_H

Don Gagne's avatar
Don Gagne committed
17
#include "QGCMAVLink.h"
Don Gagne's avatar
Don Gagne committed
18 19
#include "VehicleComponent.h"
#include "AutoPilotPlugin.h"
20
#include "GeoFenceManager.h"
21
#include "RallyPointManager.h"
Don Gagne's avatar
Don Gagne committed
22 23 24

#include <QList>
#include <QString>
25
#include <QVariantList>
Don Gagne's avatar
Don Gagne committed
26

27
class Vehicle;
28 29
class QGCCameraControl;
class QGCCameraManager;
30

Don Gagne's avatar
Don Gagne committed
31 32
/// This is the base class for Firmware specific plugins
///
33 34 35 36
/// The FirmwarePlugin class 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 your own firmware specific plugin.
Don Gagne's avatar
Don Gagne committed
37

Don Gagne's avatar
Don Gagne committed
38
class FirmwarePlugin : public QObject
Don Gagne's avatar
Don Gagne committed
39 40 41 42 43 44
{
    Q_OBJECT

public:
    /// Set of optional capabilites which firmware may support
    typedef enum {
Don Gagne's avatar
Don Gagne committed
45
        SetFlightModeCapability =           1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
46 47 48 49
        PauseVehicleCapability =            1 << 1, ///< Vehicle supports pausing at current location
        GuidedModeCapability =              1 << 2, ///< Vehicle supports guided mode commands
        OrbitModeCapability =               1 << 3, ///< Vehicle supports orbit mode
        TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
Don Gagne's avatar
Don Gagne committed
50
    } FirmwareCapabilities;
51 52 53 54 55 56 57 58 59 60 61 62 63 64 65

    /// Maps from on parameter name to another
    ///     key:    parameter name to translate from
    ///     value:  mapped parameter name
    typedef QMap<QString, QString> remapParamNameMap_t;

    /// Maps from firmware minor version to remapParamNameMap_t entry
    ///     key:    firmware minor version
    ///     value:  remapParamNameMap_t entry
    typedef QMap<int, remapParamNameMap_t> remapParamNameMinorVersionRemapMap_t;

    /// Maps from firmware major version number to remapParamNameMinorVersionRemapMap_t entry
    ///     key:    firmware major version
    ///     value:  remapParamNameMinorVersionRemapMap_t entry
    typedef QMap<int, remapParamNameMinorVersionRemapMap_t> remapParamNameMajorVersionMap_t;
66

Patrick José Pereira's avatar
Patrick José Pereira committed
67
    /// @return The AutoPilotPlugin associated with this firmware plugin. Must be overridden.
68 69
    virtual AutoPilotPlugin* autopilotPlugin(Vehicle* vehicle);

70
    /// Called when Vehicle is first created to perform any firmware specific setup.
Don Gagne's avatar
Don Gagne committed
71 72
    virtual void initializeVehicle(Vehicle* vehicle);

Don Gagne's avatar
Don Gagne committed
73
    /// @return true: Firmware supports all specified capabilites
74
    virtual bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities);
75

Don Gagne's avatar
Don Gagne committed
76 77 78 79
    /// 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.
80
    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
81

Don Gagne's avatar
Don Gagne committed
82
    /// Returns the list of available flight modes
Daniel Agar's avatar
Daniel Agar committed
83
    virtual QStringList flightModes(Vehicle* vehicle) {
84 85 86 87
        Q_UNUSED(vehicle);
        return QStringList();
    }

Don Gagne's avatar
Don Gagne committed
88 89 90
    /// 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
Don Gagne's avatar
Don Gagne committed
91
    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode) const;
92

Don Gagne's avatar
Don Gagne committed
93 94 95
    /// 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
96
    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
Don Gagne's avatar
Don Gagne committed
97

98 99 100 101 102 103 104 105 106 107 108 109 110 111 112
    /// Returns The flight mode which indicates the vehicle is paused
    virtual QString pauseFlightMode(void) const { return QString(); }

    /// Returns the flight mode for running missions
    virtual QString missionFlightMode(void) const { return QString(); }

    /// Returns the flight mode for RTL
    virtual QString rtlFlightMode(void) const { return QString(); }

    /// Returns the flight mode for Land
    virtual QString landFlightMode(void) const { return QString(); }

    /// Returns the flight mode to use when the operator wants to take back control from autonomouse flight.
    virtual QString takeControlFlightMode(void) const { return QString(); }

Don Gagne's avatar
Don Gagne committed
113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128
    /// Returns whether the vehicle is in guided mode or not.
    virtual bool isGuidedMode(const Vehicle* vehicle) const;

    /// Set guided flight mode
    virtual void setGuidedMode(Vehicle* vehicle, bool guidedMode);

    /// Causes the vehicle to stop at current position. If guide mode is supported, vehicle will be let in guide mode.
    /// If not, vehicle will be left in Loiter.
    virtual void pauseVehicle(Vehicle* vehicle);

    /// Command vehicle to return to launch
    virtual void guidedModeRTL(Vehicle* vehicle);

    /// Command vehicle to land at current location
    virtual void guidedModeLand(Vehicle* vehicle);

129
    /// Command vehicle to takeoff from current location to a firmware specific height.
130
    virtual void guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel);
131

132 133 134
    /// @return The minimum takeoff altitude (relative) for guided takeoff.
    virtual double minimumTakeoffAltitude(Vehicle* vehicle) { Q_UNUSED(vehicle); return 10; }

135 136
    /// Command the vehicle to start the mission
    virtual void startMission(Vehicle* vehicle);
Don Gagne's avatar
Don Gagne committed
137

138 139 140 141
    /// Command vehicle to orbit given center point
    ///     @param centerCoord Center Coordinates
    virtual void guidedModeOrbit(Vehicle* vehicle, const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude);

Don Gagne's avatar
Don Gagne committed
142 143 144
    /// Command vehicle to move to specified location (altitude is included and relative)
    virtual void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord);

145 146 147
    /// Command vehicle to change altitude
    ///     @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
    virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange);
148

149
    /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
Don Gagne's avatar
Don Gagne committed
150
    /// not just this. I'm going to try to change that. If not, this will need to be removed.
151 152 153 154
    /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
    /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
    /// The remainder can be assigned to Vehicle actions.
    /// @return -1: reserver all buttons, >0 number of buttons to reserve
155
    virtual int manualControlReservedButtonCount(void);
156

157 158 159 160
    /// Default tx mode to apply to joystick axes
    /// TX modes are as outlined here: http://www.rc-airplane-world.com/rc-transmitter-modes.html
    virtual int defaultJoystickTXMode(void);

161 162 163 164 165
    /// Returns true if the vehicle and firmware supports the use of a throttle joystick that
    /// is zero when centered. Typically not supported on vehicles that have bidirectional
    /// throttle.
    virtual bool supportsThrottleModeCenterZero(void);

166 167 168 169
    /// Returns true if the vehicle and firmware supports the use of negative thrust
    /// Typically supported rover.
    virtual bool supportsNegativeThrust(void);

170 171 172 173
    /// Returns true if the firmware supports the use of the RC radio and requires the RC radio
    /// setup page. Returns true by default.
    virtual bool supportsRadio(void);

174 175 176 177
    /// Returns true if the firmware supports the AP_JSButton library, which allows joystick buttons
    /// to be assigned via parameters in firmware. Default is false.
    virtual bool supportsJSButton(void);

178 179 180 181
    /// Returns true if the firmware supports calibrating motor interference offsets for the compass
    /// (CompassMot). Default is true.
    virtual bool supportsMotorInterference(void);

nopeppermint's avatar
nopeppermint committed
182
    /// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
Don Gagne's avatar
Don Gagne committed
183 184
    /// can adjust any message characteristics. This is handy to adjust or differences in mavlink
    /// spec implementations such that the base code can remain mavlink generic.
185
    ///     @param vehicle Vehicle message came from
Don Gagne's avatar
Don Gagne committed
186
    ///     @param message[in,out] Mavlink message to adjust if needed.
187 188
    /// @return false: skip message, true: process message
    virtual bool adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
189

Don Gagne's avatar
Don Gagne committed
190 191 192 193
    /// Called before any mavlink message is sent to the Vehicle so plugin can adjust any message characteristics.
    /// This is handy to adjust or differences in mavlink spec implementations such that the base code can remain
    /// mavlink generic.
    ///     @param vehicle Vehicle message came from
194
    ///     @param outgoingLink Link that messae is going out on
Don Gagne's avatar
Don Gagne committed
195
    ///     @param message[in,out] Mavlink message to adjust if needed.
196
    virtual void adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
Don Gagne's avatar
Don Gagne committed
197

198 199 200 201 202 203
    /// Determines how to handle the first item of the mission item list. Internally to QGC the first item
    /// is always the home position.
    /// @return
    ///     true: Send first mission item as home position to vehicle. When vehicle has no mission items on
    ///             it, it may or may not return a home position back in position 0.
    ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
204
    virtual bool sendHomePositionToVehicle(void);
205

206 207 208 209 210 211 212
    /// Returns the parameter which is used to identify the version number of parameter set
    virtual QString getVersionParam(void) { return QString(); }

    /// Returns the parameter set version info pulled from inside the meta data file. -1 if not found.
    virtual void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion);

    /// Returns the internal resource parameter meta date file.
213
    virtual QString internalParameterMetaDataFile(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
214 215

    /// Loads the specified parameter meta data file.
Ricardo de Almeida Gonzaga's avatar
Ricardo de Almeida Gonzaga committed
216
    /// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is responsible to
217 218
    ///         call deleteParameterMetaData when no longer needed.
    virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return NULL; }
219

220 221 222 223 224
    /// Returns the FactMetaData associated with the parameter name
    ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
    ///     @param name Parameter name
    virtual FactMetaData* getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(name); Q_UNUSED(vehicleType); return NULL; }

225
    /// Adds the parameter meta data to the Fact
226 227
    ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
    virtual void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(fact); Q_UNUSED(vehicleType); return; }
Don Gagne's avatar
Don Gagne committed
228 229

    /// List of supported mission commands. Empty list for all commands supported.
230
    virtual QList<MAV_CMD> supportedMissionCommands(void);
231

232 233 234
    /// Returns the name of the mission command json override file for the specified vehicle type.
    ///     @param vehicleType Vehicle type to return file for, MAV_TYPE_GENERIC is a request for overrides for all vehicle types
    virtual QString missionCommandOverrides(MAV_TYPE vehicleType) const;
235

236 237 238 239 240
    /// Returns the mapping structure which is used to map from one parameter name to another based on firmware version.
    virtual const remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const;

    /// Returns the highest major version number that is known to the remap for this specified major version.
    virtual int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const;
Don Gagne's avatar
Don Gagne committed
241 242 243 244 245 246

    /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example
    virtual bool multiRotorCoaxialMotors(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; }

    /// @return true: X confiuration, false: Plus configuration
    virtual bool multiRotorXConfig(Vehicle* vehicle) { Q_UNUSED(vehicle); return false; }
247

248 249
    /// Return the resource file which contains the set of params loaded for offline editing.
    virtual QString offlineEditingParamFile(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
250

251 252 253 254 255
    /// Return the resource file which contains the brand image for the vehicle for Indoor theme.
    virtual QString brandImageIndoor(const Vehicle* vehicle) const { Q_UNUSED(vehicle) return QString(); }

    /// Return the resource file which contains the brand image for the vehicle for Outdoor theme.
    virtual QString brandImageOutdoor(const Vehicle* vehicle) const { Q_UNUSED(vehicle) return QString(); }
256

257 258 259 260 261 262 263 264 265
    /// Return the resource file which contains the vehicle icon used in the flight view when the view is dark (Satellite for instance)
    virtual QString vehicleImageOpaque(const Vehicle* vehicle) const;

    /// Return the resource file which contains the vehicle icon used in the flight view when the view is light (Map for instance)
    virtual QString vehicleImageOutline(const Vehicle* vehicle) const;

    /// Return the resource file which contains the vehicle icon used in the compass
    virtual QString vehicleImageCompass(const Vehicle* vehicle) const;

266
    /// Allows the core plugin to override the toolbar indicators
267
    ///     signals toolbarIndicatorsChanged
268
    /// @return A list of QUrl with the indicators (see MainToolBarIndicators.qml)
269
    virtual const QVariantList& toolBarIndicators(const Vehicle* vehicle);
270

271
    /// Returns a list of CameraMetaData objects for available cameras on the vehicle.
272
    /// TODO: This should go into QGCCameraManager
273 274
    virtual const QVariantList& cameraList(const Vehicle* vehicle);

275 276
    /// Creates vehicle camera manager. Returns NULL if not supported.
    virtual QGCCameraManager* createCameraManager(Vehicle *vehicle);
277 278 279 280

    /// Camera control. Returns NULL if not supported.
    virtual QGCCameraControl* createCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL);

281 282
    /// Returns a pointer to a dictionary of firmware-specific FactGroups
    virtual QMap<QString, FactGroup*>* factGroups(void);
283

284 285 286
    /// @true: When flying a mission the vehicle is always facing towards the next waypoint
    virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;

287 288 289 290
    /// Returns the data needed to do battery consumption calculations
    ///     @param[out] mAhBattery Battery milliamp-hours rating (0 for no battery data available)
    ///     @param[out] hoverAmps Current draw in amps during hover
    ///     @param[out] cruiseAmps Current draw in amps during cruise
Don Gagne's avatar
Don Gagne committed
291
    virtual void batteryConsumptionData(Vehicle* vehicle, int& mAhBattery, double& hoverAmps, double& cruiseAmps) const;
292

293
    // Returns the parameter which control auto-disarm. Assume == 0 means no auto disarm
294 295
    virtual QString autoDisarmParameter(Vehicle* vehicle);

296 297 298 299 300 301 302
    /// Used to determine whether a vehicle has a gimbal.
    ///     @param[out] rollSupported Gimbal supports roll
    ///     @param[out] pitchSupported Gimbal supports pitch
    ///     @param[out] yawSupported Gimbal supports yaw
    /// @return true: vehicle has gimbal, false: gimbal support unknown
    virtual bool hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitchSupported, bool& yawSupported);

303 304 305
    /// Returns true if the vehicle is a VTOL
    virtual bool isVtol(const Vehicle* vehicle) const;

306 307 308
    /// Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.
    virtual uint32_t highLatencyCustomModeTo32Bits(uint16_t hlCustomMode);

309
    // FIXME: Hack workaround for non pluginize FollowMe support
310
    static const QString px4FollowMeFlightMode;
311

312 313 314
signals:
    void toolbarIndicatorsChanged(void);

315
protected:
316
    // Arms the vehicle with validation and retries
317
    // @return: true - vehicle armed, false - vehicle failed to arm
318
    bool _armVehicleAndValidate(Vehicle* vehicle);
319

320 321 322 323
    // Sets the vehicle to the specified flight mode with validation and retries
    // @return: true - vehicle in specified flight mode, false - flight mode change failed
    bool _setFlightModeAndValidate(Vehicle* vehicle, const QString& flightMode);

324
private:
325
    QVariantList _toolBarIndicatorList;
326
    static QVariantList _cameraList;    ///< Standard QGC camera list
327 328 329 330 331 332 333 334 335 336 337 338 339 340 341
};

class FirmwarePluginFactory : public QObject
{
    Q_OBJECT

public:
    FirmwarePluginFactory(void);

    /// Returns appropriate plugin for autopilot type.
    ///     @param autopilotType Type of autopilot to return plugin for.
    ///     @param vehicleType Vehicle type of autopilot to return plugin for.
    /// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
    virtual FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) = 0;

342 343 344 345 346
    /// @return List of firmware types this plugin supports.
    virtual QList<MAV_AUTOPILOT> supportedFirmwareTypes(void) const = 0;

    /// @return List of vehicle types this plugin supports.
    virtual QList<MAV_TYPE> supportedVehicleTypes(void) const;
347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362
};

class FirmwarePluginFactoryRegister : public QObject
{
    Q_OBJECT

public:
    static FirmwarePluginFactoryRegister* instance(void);

    /// Registers the specified logging category to the system.
    void registerPluginFactory(FirmwarePluginFactory* pluginFactory) { _factoryList.append(pluginFactory); }

    QList<FirmwarePluginFactory*> pluginFactories(void) const { return _factoryList; }

private:
    QList<FirmwarePluginFactory*> _factoryList;
Don Gagne's avatar
Don Gagne committed
363 364 365
};

#endif