AutoPilotPlugin.cc 5.18 KB
Newer Older
Don Gagne's avatar
Don Gagne committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27
/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2015 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>

#include "AutoPilotPlugin.h"
28 29 30
#include "QGCApplication.h"
#include "QGCMessageBox.h"
#include "MainWindow.h"
31
#include "ParameterLoader.h"
Don Gagne's avatar
Don Gagne committed
32

33
AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
Don Gagne's avatar
Don Gagne committed
34
    QObject(parent),
35
    _vehicle(vehicle),
36 37
    _pluginReady(false),
	_setupComplete(false)
Don Gagne's avatar
Don Gagne committed
38
{
39
    Q_ASSERT(vehicle);
40
	
41 42
	connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
    connect(_vehicle->uas(), &UASInterface::armingChanged, this, &AutoPilotPlugin::armedChanged);
43

44
	connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
45 46
}

47 48 49 50 51
AutoPilotPlugin::~AutoPilotPlugin()
{
    
}

52 53 54 55
void AutoPilotPlugin::_uasDisconnected(void)
{
	_pluginReady = false;
	emit pluginReadyChanged(_pluginReady);
Don Gagne's avatar
Don Gagne committed
56 57
}

58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99
void AutoPilotPlugin::_pluginReadyChanged(bool pluginReady)
{
	if (pluginReady) {
		_recalcSetupComplete();
		if (!_setupComplete) {
			QGCMessageBox::warning("Setup", "One or more vehicle components require setup prior to flight.");
			
			// Take the user to Vehicle Summary
			MainWindow* mainWindow = MainWindow::instance();
			Q_ASSERT(mainWindow);
			mainWindow->getMainToolBar()->onSetupView();
			qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
		}
	}
}

void AutoPilotPlugin::_recalcSetupComplete(void)
{
	bool newSetupComplete = true;
	
	foreach(const QVariant componentVariant, vehicleComponents()) {
		VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
		Q_ASSERT(component);
		
		if (!component->setupComplete()) {
			newSetupComplete = false;
			break;
		}
	}
	
	if (_setupComplete != newSetupComplete) {
		_setupComplete = newSetupComplete;
		emit setupCompleteChanged(_setupComplete);
	}
}

bool AutoPilotPlugin::setupComplete(void)
{
	Q_ASSERT(_pluginReady);
	return _setupComplete;
}

100 101 102 103 104
void AutoPilotPlugin::resetAllParametersToDefaults(void)
{
    mavlink_message_t msg;
    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();

105 106
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->uas()->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 0, 2, -1, 0, 0, 0, 0, 0);
    _vehicle->sendMessage(msg);
107 108
}

109 110 111 112 113 114 115 116 117 118 119 120 121 122 123
void AutoPilotPlugin::refreshAllParameters(void)
{
	_getParameterLoader()->refreshAllParameters();
}

void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
{
	_getParameterLoader()->refreshParameter(componentId, name);
}

void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
{
	_getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
}

Don Gagne's avatar
Don Gagne committed
124
bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
125
{
Don Gagne's avatar
Don Gagne committed
126
    return _getParameterLoader()->parameterExists(componentId, name);
127 128
}

Don Gagne's avatar
Don Gagne committed
129
Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
130
{
Don Gagne's avatar
Don Gagne committed
131
    return _getParameterLoader()->getFact(componentId, name);
132 133
}

134
bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
Don Gagne's avatar
Don Gagne committed
135
{
136 137
    switch (provider) {
        case FactSystem::ParameterProvider:
138
            return _getParameterLoader()->parameterExists(componentId, name);
139 140
            
        // Other providers will go here once they come online
Don Gagne's avatar
Don Gagne committed
141
    }
Don Gagne's avatar
Don Gagne committed
142 143 144
    
    Q_ASSERT(false);
    return false;
Don Gagne's avatar
Don Gagne committed
145
}
146

147
Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId, const QString& name)
148
{
149 150
    switch (provider) {
        case FactSystem::ParameterProvider:
151
            return _getParameterLoader()->getFact(componentId, name);
152 153 154
            
        // Other providers will go here once they come online
    }
Don Gagne's avatar
Don Gagne committed
155 156
    
    Q_ASSERT(false);
Don Gagne's avatar
Don Gagne committed
157
    return NULL;
158
}
159 160 161 162 163 164 165 166 167 168 169 170 171

QStringList AutoPilotPlugin::parameterNames(void)
{
	return _getParameterLoader()->parameterNames();
}

const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
{
    return _getParameterLoader()->getGroupMap();
}

void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
{
172
	_getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
173 174
}

175
QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
176
{
177
	return _getParameterLoader()->readParametersFromStream(stream);
178
}
179 180 181

bool AutoPilotPlugin::armed(void)
{
182
    return _vehicle->uas()->isArmed();
183
}