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/****************************************************************************
*
* (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.
*
****************************************************************************/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "FirmwarePluginManager.h"
#include "FirmwarePlugin.h"
FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app, QGCToolbox* toolbox)
: QGCTool(app, toolbox)
, _genericFirmwarePlugin(NULL)
{
}
FirmwarePluginManager::~FirmwarePluginManager()
{
delete _genericFirmwarePlugin;
}
QList<MAV_AUTOPILOT> FirmwarePluginManager::supportedFirmwareTypes(void)
{
if (_supportedFirmwareTypes.isEmpty()) {
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
for (int i = 0; i < factoryList.count(); i++) {
_supportedFirmwareTypes.append(factoryList[i]->supportedFirmwareTypes());
}
_supportedFirmwareTypes.append(MAV_AUTOPILOT_GENERIC);
}
return _supportedFirmwareTypes;
}
QList<MAV_TYPE> FirmwarePluginManager::supportedVehicleTypes(MAV_AUTOPILOT firmwareType)
{
QList<MAV_TYPE> vehicleTypes;
FirmwarePluginFactory* factory = _findPluginFactory(firmwareType);
if (factory) {
vehicleTypes = factory->supportedVehicleTypes();
} else if (firmwareType == MAV_AUTOPILOT_GENERIC) {
vehicleTypes << MAV_TYPE_FIXED_WING << MAV_TYPE_QUADROTOR << MAV_TYPE_VTOL_QUADROTOR << MAV_TYPE_GROUND_ROVER << MAV_TYPE_SUBMARINE;
} else {
qWarning() << "Request for unknown firmware plugin factory" << firmwareType;
}
return vehicleTypes;
}
FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
{
FirmwarePluginFactory* factory = _findPluginFactory(firmwareType);
FirmwarePlugin* plugin = NULL;
if (factory) {
plugin = factory->firmwarePluginForAutopilot(firmwareType, vehicleType);
} else if (firmwareType != MAV_AUTOPILOT_GENERIC) {
qWarning() << "Request for unknown firmware plugin factory" << firmwareType;
}
if (!plugin) {
// Default plugin fallback
if (!_genericFirmwarePlugin) {
_genericFirmwarePlugin = new FirmwarePlugin;
}
plugin = _genericFirmwarePlugin;
}
return plugin;
}
FirmwarePluginFactory* FirmwarePluginManager::_findPluginFactory(MAV_AUTOPILOT firmwareType)
{
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
// Find the plugin which supports this vehicle
for (int i=0; i<factoryList.count(); i++) {
FirmwarePluginFactory* factory = factoryList[i];
if (factory->supportedFirmwareTypes().contains(firmwareType)) {
return factory;
}
}
return NULL;
}