UASInterface.h 25.4 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38

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

/**
 * @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>
39
#include <QPointer>
pixhawk's avatar
pixhawk committed
40 41 42

#include "LinkInterface.h"
#include "ProtocolInterface.h"
43
#include "UASWaypointManager.h"
44
#include "QGCUASParamManager.h"
45
#include "RadioCalibration/RadioCalibrationData.h"
pixhawk's avatar
pixhawk committed
46

47 48
#ifdef QGC_PROTOBUF_ENABLED
#include <tr1/memory>
49
#ifdef QGC_USE_PIXHAWK_MESSAGES
LM's avatar
LM committed
50
#include <pixhawk/pixhawk.pb.h>
51
#endif
52
#endif
53

pixhawk's avatar
pixhawk committed
54 55 56 57 58 59
/**
 * @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.
 **/
lm's avatar
lm committed
60 61
class UASInterface : public QObject
{
pixhawk's avatar
pixhawk committed
62 63 64 65 66 67 68
    Q_OBJECT
public:
    virtual ~UASInterface() {}

    /* MANAGEMENT */

    /** @brief The name of the robot **/
69
    virtual QString getUASName() const = 0;
70 71 72 73
    /** @brief Get short state */
    virtual const QString& getShortState() const = 0;
    /** @brief Get short mode */
    virtual const QString& getShortMode() const = 0;
74 75
    /** @brief Translate mode id into text */
    static QString getShortModeTextFor(int id);
pixhawk's avatar
pixhawk committed
76
    //virtual QColor getColor() = 0;
77
    virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
pixhawk's avatar
pixhawk committed
78
    /** @brief The time interval the robot is switched on **/
79
    virtual quint64 getUptime() const = 0;
pixhawk's avatar
pixhawk committed
80
    /** @brief Get the status flag for the communication **/
81
    virtual int getCommunicationStatus() const = 0;
pixhawk's avatar
pixhawk committed
82

lm's avatar
lm committed
83 84 85
    virtual double getLocalX() const = 0;
    virtual double getLocalY() const = 0;
    virtual double getLocalZ() const = 0;
86
    virtual bool localPositionKnown() const = 0;
lm's avatar
lm committed
87

88 89 90
    virtual double getLatitude() const = 0;
    virtual double getLongitude() const = 0;
    virtual double getAltitude() const = 0;
91
    virtual bool globalPositionKnown() const = 0;
92

lm's avatar
lm committed
93 94 95 96
    virtual double getRoll() const = 0;
    virtual double getPitch() const = 0;
    virtual double getYaw() const = 0;

97 98
    virtual bool getSelected() const = 0;

99
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
100 101
    virtual px::GLOverlay getOverlay() = 0;
    virtual px::GLOverlay getOverlay(qreal& receivedTimestamp) = 0;
102 103 104 105
    virtual px::ObstacleList getObstacleList() = 0;
    virtual px::ObstacleList getObstacleList(qreal& receivedTimestamp) = 0;
    virtual px::Path getPath() = 0;
    virtual px::Path getPath(qreal& receivedTimestamp) = 0;
106 107 108 109
    virtual px::PointCloudXYZRGB getPointCloud() = 0;
    virtual px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) = 0;
    virtual px::RGBDImage getRGBDImage() = 0;
    virtual px::RGBDImage getRGBDImage(qreal& receivedTimestamp) = 0;
110 111
#endif

112 113
    virtual bool isArmed() const = 0;

114 115 116
    /** @brief Set the airframe of this MAV */
    virtual int getAirframe() const = 0;

117
    /** @brief Get reference to the waypoint manager **/
118
    virtual UASWaypointManager* getWaypointManager(void) = 0;
119 120 121 122 123
    /** @brief Get reference to the param manager **/
    virtual QGCUASParamManager* getParamManager() const = 0;
    // TODO Will be removed
    /** @brief Set reference to the param manager **/
    virtual void setParamManager(QGCUASParamManager* manager) = 0;
124

pixhawk's avatar
pixhawk committed
125 126 127 128 129 130 131 132 133 134 135
    /* 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,
136 137
        COMM_FAIL = 4,
        COMM_TIMEDOUT = 5///< Communication link failed
pixhawk's avatar
pixhawk committed
138 139
    };

140 141
    enum Airframe {
        QGC_AIRFRAME_GENERIC = 0,
142 143 144 145 146 147 148 149
        QGC_AIRFRAME_EASYSTAR,
        QGC_AIRFRAME_TWINSTAR,
        QGC_AIRFRAME_MERLIN,
        QGC_AIRFRAME_CHEETAH,
        QGC_AIRFRAME_MIKROKOPTER,
        QGC_AIRFRAME_REAPER,
        QGC_AIRFRAME_PREDATOR,
        QGC_AIRFRAME_COAXIAL,
lm's avatar
lm committed
150 151
        QGC_AIRFRAME_PTERYX,
        QGC_AIRFRAME_TRICOPTER,
152 153
        QGC_AIRFRAME_HEXCOPTER,
        QGC_AIRFRAME_END_OF_ENUM
154
    };
pixhawk's avatar
pixhawk committed
155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172

    /**
         * @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.
     */
173
    static QColor getNextColor() {
pixhawk's avatar
pixhawk committed
174
        /* Create color map */
175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195
        static QList<QColor> colors = QList<QColor>() 
		<< QColor(231,72,28) 
		<< QColor(104,64,240) 
		<< QColor(203,254,121) 
		<< QColor(161,252,116)
               	<< QColor(232,33,47) 
		<< QColor(116,251,110) 
		<< QColor(234,38,107) 
		<< QColor(104,250,138)
                << QColor(235,43,165) 
		<< QColor(98,248,176) 
		<< QColor(236,48,221) 
		<< QColor(92,247,217)
                << QColor(200,54,238) 
		<< QColor(87,231,246) 
		<< QColor(151,59,239) 
		<< QColor(81,183,244)
                << QColor(75,133,243) 
		<< QColor(242,255,128) 
		<< QColor(230,126,23);
        
pixhawk's avatar
pixhawk committed
196
        static int nextColor = -1;
197 198
        if(nextColor == 18){//if at the end of the list
            nextColor = -1;//go back to the beginning
pixhawk's avatar
pixhawk committed
199
        }
200 201 202
        nextColor++; 
        return colors[nextColor];//return the next color
   }
pixhawk's avatar
pixhawk committed
203

204 205
    /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
    virtual int getSystemType() = 0;
lm's avatar
lm committed
206
    virtual QString getSystemTypeName() = 0;
LM's avatar
LM committed
207 208
    /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
    virtual int getAutopilotType() = 0;
lm's avatar
lm committed
209
    virtual QString getAutopilotTypeName() = 0;
LM's avatar
LM committed
210
    virtual void setAutopilotType(int apType) = 0;
211

LM's avatar
LM committed
212 213 214 215
    virtual QMap<int, QString> getComponents() = 0;

    QColor getColor()
    {
pixhawk's avatar
pixhawk committed
216 217 218 219 220
        return color;
    }

public slots:

221 222
    /** @brief Set a new name for the system */
    virtual void setUASName(const QString& name) = 0;
lm's avatar
lm committed
223 224
    /** @brief Execute command immediately **/
    virtual void executeCommand(MAV_CMD command) = 0;
225
    /** @brief Executes a command **/
226
    virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) = 0;
227

228 229 230
    /** @brief Selects the airframe */
    virtual void setAirframe(int airframe) = 0;

pixhawk's avatar
pixhawk committed
231 232 233
    /** @brief Launches the system/Liftof **/
    virtual void launch() = 0;
    /** @brief Set a new waypoint **/
pixhawk's avatar
pixhawk committed
234
    //virtual void setWaypoint(Waypoint* wp) = 0;
pixhawk's avatar
pixhawk committed
235
    /** @brief Set this waypoint as next waypoint to fly to */
pixhawk's avatar
pixhawk committed
236
    //virtual void setWaypointActive(int wp) = 0;
pixhawk's avatar
pixhawk committed
237 238
    /** @brief Order the robot to return home / to land on the runway **/
    virtual void home() = 0;
239 240
    /** @brief Order the robot to land **/
    virtual void land() = 0;
pixhawk's avatar
pixhawk committed
241 242 243 244
    /** @brief Halt the system */
    virtual void halt() = 0;
    /** @brief Start/continue the current robot action */
    virtual void go() = 0;
pixhawk's avatar
pixhawk committed
245
    /** @brief Set the current mode of operation */
pixhawk's avatar
pixhawk committed
246
    virtual void setMode(int mode) = 0;
pixhawk's avatar
pixhawk committed
247 248 249 250 251 252 253 254 255 256
    /** 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;
257 258 259 260 261 262 263
    /** @brief Set the target position for the robot to navigate to.
     *  @param x x-coordinate of the target position
     *  @param y y-coordinate of the target position
     *  @param z z-coordinate of the target position
     *  @param yaw heading of the target position
     */
    virtual void setTargetPosition(float x, float y, float z, float yaw) = 0;
264
    /** @brief Request the list of stored waypoints from the robot */
pixhawk's avatar
pixhawk committed
265
    //virtual void requestWaypoints() = 0;
266
    /** @brief Clear all existing waypoints on the robot */
pixhawk's avatar
pixhawk committed
267
    //virtual void clearWaypointList() = 0;
268 269
    /** @brief Set world frame origin at current GPS position */
    virtual void setLocalOriginAtCurrentGPSPosition() = 0;
270 271
    /** @brief Set world frame origin / home position at this GPS position */
    virtual void setHomePosition(double lat, double lon, double alt) = 0;
272 273
    /** @brief Request all onboard parameters of all components */
    virtual void requestParameters() = 0;
274
    /** @brief Request one specific onboard parameter */
275
    virtual void requestParameter(int component, const QString& parameter) = 0;
276
    /** @brief Write parameter to permanent storage */
277 278 279
    virtual void writeParametersToStorage() = 0;
    /** @brief Read parameter from permanent storage */
    virtual void readParametersFromStorage() = 0;
280 281 282 283 284 285
    /** @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
     */
286
    virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0;
pixhawk's avatar
pixhawk committed
287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302

    /**
     * @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;
lm's avatar
lm committed
303

304 305 306 307 308
    virtual void enableAllDataTransmission(int rate) = 0;
    virtual void enableRawSensorDataTransmission(int rate) = 0;
    virtual void enableExtendedSystemStatusTransmission(int rate) = 0;
    virtual void enableRCChannelDataTransmission(int rate) = 0;
    virtual void enableRawControllerDataTransmission(int rate) = 0;
lm's avatar
lm committed
309
    //virtual void enableRawSensorFusionTransmission(int rate) = 0;
310 311 312 313
    virtual void enablePositionTransmission(int rate) = 0;
    virtual void enableExtra1Transmission(int rate) = 0;
    virtual void enableExtra2Transmission(int rate) = 0;
    virtual void enableExtra3Transmission(int rate) = 0;
pixhawk's avatar
pixhawk committed
314

pixhawk's avatar
pixhawk committed
315
    virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
pixhawk's avatar
pixhawk committed
316 317 318 319 320 321
    virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;

    virtual void startRadioControlCalibration() = 0;
    virtual void startMagnetometerCalibration() = 0;
    virtual void startGyroscopeCalibration() = 0;
    virtual void startPressureCalibration() = 0;
pixhawk's avatar
pixhawk committed
322

323 324 325 326
    /** @brief Set the current battery type and voltages */
    virtual void setBatterySpecs(const QString& specs) = 0;
    /** @brief Get the current battery type and specs */
    virtual QString getBatterySpecs() = 0;
327

pixhawk's avatar
pixhawk committed
328 329 330 331
protected:
    QColor color;

signals:
LM's avatar
LM committed
332
    /** @brief The robot state has changed */
pixhawk's avatar
pixhawk committed
333
    void statusChanged(int stateFlag);
LM's avatar
LM committed
334 335
    /** @brief A new component was detected or created */
    void componentCreated(int uas, int component, const QString& name);
pixhawk's avatar
pixhawk committed
336 337 338 339 340 341 342
    /** @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);
343 344 345
    /** @brief System has been removed / disconnected / shutdown cleanly, remove */
    void systemRemoved(UASInterface* uas);
    void systemRemoved();
346 347 348 349 350 351
    /**
     * @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
352
     * @param compid ID of the sending component
353 354 355
     * @param text the status text
     * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
     */
356 357 358 359

    void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
    void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);

360
    /** @brief A text message from the system has been received */
361
    void textMessageReceived(int uasid, int componentid, int severity, QString text);
362 363 364

    void navModeChanged(int uasid, int mode, const QString& text);

365 366 367 368 369 370 371
    /** @brief System is now armed */
    void armed();
    /** @brief System is now disarmed */
    void disarmed();
    /** @brief Arming mode changed */
    void armingChanged(bool armed);

372 373 374 375 376 377 378 379 380 381 382 383 384 385 386
    /**
     * @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);

lm's avatar
lm committed
387 388 389 390
    /**
     * @brief Drop rate of communication link updated
     *
     * @param systemId id of the air system
391
     * @param receiveDrop drop rate of packets this MAV receives (sent from GCS or other MAVs)
lm's avatar
lm committed
392
     */
393
    void dropRateChanged(int systemId,  float receiveDrop);
pixhawk's avatar
pixhawk committed
394 395
    /** @brief Robot mode has changed */
    void modeChanged(int sysId, QString status, QString description);
396 397
    /** @brief Robot armed state has changed */
    void armingChanged(int sysId, QString armingState);
pixhawk's avatar
pixhawk committed
398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413
    /** @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();
414

pixhawk's avatar
pixhawk committed
415 416 417
    /** @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
418 419
      * the groundstation. The data here should be converted to human-readable values before being passed, so ideally
	  * SI units.
pixhawk's avatar
pixhawk committed
420 421 422
      *
      * @param uasId ID of this system
      * @param name name of the value, e.g. "battery voltage"
423
	  * @param unit The units this variable is in as an abbreviation. For system-dependent (such as raw ADC values) use "raw", for bitfields use "bits", for true/false or on/off use "bool", for unitless values use "-".
pixhawk's avatar
pixhawk committed
424 425 426
      * @param value the value that changed
      * @param msec the timestamp of the message, in milliseconds
      */
427 428 429 430 431 432 433 434
    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint8 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint8 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint16 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint16 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint32 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint32 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
435
    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
lm's avatar
lm committed
436

pixhawk's avatar
pixhawk committed
437 438 439 440 441
    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);
442 443
    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
    void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
444
    void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
pixhawk's avatar
pixhawk committed
445
    void letterDetected(int uasId, QString letter, float confidence, bool detected);
pixhawk's avatar
pixhawk committed
446 447 448 449 450 451 452 453 454 455 456 457 458 459
    /**
     * @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);
460
    void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
461
    void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
pixhawk's avatar
pixhawk committed
462
    void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
463
    /** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
lm's avatar
lm committed
464
    void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
465 466
    /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */
    void userPositionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
pixhawk's avatar
pixhawk committed
467
    void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
468
    void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
lm's avatar
lm committed
469
    void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
lm's avatar
lm committed
470
    void altitudeChanged(int uasid, double altitude);
lm's avatar
lm committed
471 472
    /** @brief Update the status of one satellite used for localization */
    void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
pixhawk's avatar
pixhawk committed
473 474 475 476 477
    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);
478

pixhawk's avatar
pixhawk committed
479 480 481 482 483 484 485 486
    /** @brief Attitude control enabled/disabled */
    void attitudeControlEnabled(bool enabled);
    /** @brief Position 2D control enabled/disabled */
    void positionXYControlEnabled(bool enabled);
    /** @brief Altitude control enabled/disabled */
    void positionZControlEnabled(bool enabled);
    /** @brief Heading control enabled/disabled */
    void positionYawControlEnabled(bool enabled);
487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510
    /** @brief Optical flow status changed */
    void opticalFlowStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Vision based localization status changed */
    void visionLocalizationStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Infrared / Ultrasound status changed */
    void distanceSensorStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Gyroscope status changed */
    void gyroStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Accelerometer status changed */
    void accelStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Magnetometer status changed */
    void magSensorStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Barometer status changed */
    void baroStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Differential pressure / airspeed status changed */
    void airspeedStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Actuator status changed */
    void actuatorStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Laser scanner status changed */
    void laserStatusChanged(bool supported, bool enabled, bool ok);
    /** @brief Vicon / Leica Geotracker status changed */
    void groundTruthSensorStatusChanged(bool supported, bool enabled, bool ok);


511 512 513 514
    /** @brief Value of a remote control channel (raw) */
    void remoteControlChannelRawChanged(int channelId, float raw);
    /** @brief Value of a remote control channel (scaled)*/
    void remoteControlChannelScaledChanged(int channelId, float normalized);
pixhawk's avatar
pixhawk committed
515 516
    /** @brief Remote control RSSI changed */
    void remoteControlRSSIChanged(float rssi);
517 518
    /** @brief Radio Calibration Data has been received from the MAV*/
    void radioCalibrationReceived(const QPointer<RadioCalibrationData>&);
pixhawk's avatar
pixhawk committed
519

520 521 522 523 524 525 526 527 528 529 530 531 532
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    /** @brief Overlay data has been changed */
    void overlayChanged(UASInterface* uas);
    /** @brief Obstacle list data has been changed */
    void obstacleListChanged(UASInterface* uas);
    /** @brief Path data has been changed */
    void pathChanged(UASInterface* uas);
    /** @brief Point cloud data has been changed */
    void pointCloudChanged(UASInterface* uas);
    /** @brief RGBD image data has been changed */
    void rgbdImageChanged(UASInterface* uas);
#endif

pixhawk's avatar
pixhawk committed
533 534 535 536 537 538 539 540 541 542 543 544 545 546 547
    /**
     * @brief Localization quality changed
     * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
     */
    void localizationChanged(UASInterface* uas, int fix);
    /**
     * @brief GPS localization quality changed
     * @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
     */
    void gpsLocalizationChanged(UASInterface* uas, int fix);
    /**
     * @brief Vision localization quality changed
     * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
     */
    void visionLocalizationChanged(UASInterface* uas, int fix);
548 549 550 551 552
    /**
     * @brief IR/U localization quality changed
     * @param fix 0: No IR/Ultrasound sensor, N > 0: Found N active sensors
     */
    void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
553

554
    // ERROR AND STATUS SIGNALS
555 556
    /** @brief Heartbeat timed out or was regained */
    void heartbeatTimeout(bool timeout, unsigned int ms);
557 558
    /** @brief Name of system changed */
    void nameChanged(QString newName);
559 560
    /** @brief System has been selected as focused system */
    void systemSelected(bool selected);
561 562
    /** @brief Core specifications have changed */
    void systemSpecsChanged(int uasId);
563

LM's avatar
LM committed
564 565 566
    /** @brief Object detected */
    void objectDetected(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);

567 568 569 570

    // HOME POSITION / ORIGIN CHANGES
    void homePositionChanged(int uas, double lat, double lon, double alt);

571
protected:
572

573
    // TIMEOUT CONSTANTS
Lorenz Meier's avatar
Lorenz Meier committed
574
    static const unsigned int timeoutIntervalHeartbeat = 3500 * 1000; ///< Heartbeat timeout is 2.5 seconds
575

pixhawk's avatar
pixhawk committed
576 577
};

lm's avatar
lm committed
578
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0")
579

pixhawk's avatar
pixhawk committed
580
#endif // _UASINTERFACE_H_