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Commit 0ce6d773 authored by Don Gagne's avatar Don Gagne
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Allows QGC plugins to be optional or custom

parent d662b4da
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Showing with 602 additions and 416 deletions
QGCCommon.pri
View file @ 0ce6d773
......@@ -239,11 +239,3 @@ ReleaseBuild {
QMAKE_LFLAGS_RELEASE_WITH_DEBUGINFO += /OPT:ICF
}
}
#
# Unit Test specific configuration goes here
#
DebugBuild {
DEFINES += UNITTEST_BUILD
}
qgroundcontrol.pro
View file @ 0ce6d773
This diff is collapsed.
src/AutoPilotPlugins/APM/APMAirframeComponentController.cc
View file @ 0ce6d773
......@@ -15,7 +15,6 @@
#include "APMAirframeComponentAirframes.h"
#include "QGCMAVLink.h"
#include "MultiVehicleManager.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include "QGCFileDownload.h"
#include "ParameterManager.h"
......
src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
View file @ 0ce6d773
......@@ -9,7 +9,6 @@
#include "APMAutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
#include "FirmwarePlugin/APM/APMParameterMetaData.h" // FIXME: Hack
#include "FirmwarePlugin/APM/APMFirmwarePlugin.h" // FIXME: Hack
......
src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc
View file @ 0ce6d773
......@@ -10,7 +10,6 @@
#include "APMFlightModesComponentController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
......
src/AutoPilotPlugins/Common/ESP8266ComponentController.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
/// @author Gus Grubba <mavlink@grubba.com>
#include "ESP8266ComponentController.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include "UAS.h"
#include "ParameterManager.h"
......
src/AutoPilotPlugins/Common/MotorComponent.cc
View file @ 0ce6d773
......@@ -7,10 +7,7 @@
*
****************************************************************************/
#include "MotorComponent.h"
#include "APMAutoPilotPlugin.h"
#include "APMAirframeComponent.h"
MotorComponent::MotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
VehicleComponent(vehicle, autopilot, parent),
......
src/AutoPilotPlugins/Common/RadioComponentController.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
/// @author Don Gagne <don@thegagnes.com
#include "RadioComponentController.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include <QSettings>
......
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
View file @ 0ce6d773
......@@ -15,7 +15,6 @@
#include "AirframeComponentAirframes.h"
#include "QGCMAVLink.h"
#include "MultiVehicleManager.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include <QVariant>
......
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
#include "PX4AdvancedFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 0ce6d773
......@@ -9,7 +9,6 @@
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "PX4AirframeLoader.h"
#include "PX4AdvancedFlightModesController.h"
#include "AirframeComponentController.h"
......
src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
View file @ 0ce6d773
......@@ -10,7 +10,6 @@
#include "PX4SimpleFlightModesController.h"
#include "QGCMAVLink.h"
#include "AutoPilotPluginManager.h"
#include <QVariant>
#include <QQmlProperty>
......
src/FactSystem/ParameterManager.cc
View file @ 0ce6d773
......@@ -17,7 +17,6 @@
#include "QGCApplication.h"
#include "UASMessageHandler.h"
#include "FirmwarePlugin.h"
#include "APMFirmwarePlugin.h"
#include "UAS.h"
#include "JsonHelper.h"
......@@ -236,7 +235,7 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
int totalWaitingParamCount = readWaitingParamCount + waitingWriteParamNameCount;
if (totalWaitingParamCount) {
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix(componentId) << "totalWaitingParamCount:" << totalWaitingParamCount;
} else if (_defaultComponentId != MAV_COMP_ID_ALL) {
} else if (_defaultComponentId != MAV_COMP_ID_ALL || _defaultComponentIdParam.isEmpty()) {
// No more parameters to wait for, stop the timeout. Be careful to not stop timer if we don't have the default
// component yet.
qCDebug(ParameterManagerVerbose1Log) << _logVehiclePrefix() << "Stopping _waitingParamTimeoutTimer (all requests satisfied)";
......@@ -574,7 +573,7 @@ void ParameterManager::_waitingParamTimeout(void)
}
}
if (!paramsRequested && _defaultComponentId == MAV_COMP_ID_ALL && !_waitingForDefaultComponent) {
if (!paramsRequested && _defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty() && !_waitingForDefaultComponent) {
// Initial load is complete but we still don't have default component params. Wait one more cycle to see if the
// default component finally shows up.
qCDebug(ParameterManagerLog) << _logVehiclePrefix() << "Restarting _waitingParamTimeoutTimer - still don't have default component id";
......@@ -975,16 +974,10 @@ void ParameterManager::_addMetaDataToDefaultComponent(void)
QString metaDataFile;
int majorVersion, minorVersion;
if (_vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
// Parameter versioning is still not really figured out correctly. We need to handle ArduPilot specially based on vehicle version.
// The current three version are hardcoded in.
metaDataFile = ((APMFirmwarePlugin*)_vehicle->firmwarePlugin())->getParameterMetaDataFile(_vehicle);
qCDebug(ParameterManagerLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile;
} else {
// Load best parameter meta data set
metaDataFile = parameterMetaDataFile(_vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion);
qCDebug(ParameterManagerLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion;
}
// Load best parameter meta data set
metaDataFile = parameterMetaDataFile(_vehicle, _vehicle->firmwareType(), _parameterSetMajorVersion, majorVersion, minorVersion);
qCDebug(ParameterManagerLog) << "Adding meta data to Vehicle file:major:minor" << metaDataFile << majorVersion << minorVersion;
_parameterMetaData = _vehicle->firmwarePlugin()->loadParameterMetaData(metaDataFile);
......@@ -1010,7 +1003,7 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
}
}
if (!failIfNoDefaultComponent && _defaultComponentId == MAV_COMP_ID_ALL) {
if (!failIfNoDefaultComponent && _defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty()) {
// We are still waiting for default component to show up
return;
}
......@@ -1046,7 +1039,7 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
if (!qgcApp()->runningUnitTests()) {
qCWarning(ParameterManagerLog) << _logVehiclePrefix() << "The following parameter indices could not be loaded after the maximum number of retries: " << indexList;
}
} else if (_defaultComponentId == FactSystem::defaultComponentId && !_defaultComponentIdParam.isEmpty()) {
} else if (_defaultComponentId == MAV_COMP_ID_ALL && !_defaultComponentIdParam.isEmpty()) {
// Missing default component when we should have one
_missingParameters = true;
QString errorMsg = tr("QGroundControl did not receive parameters from the default component for vehicle %1. "
......@@ -1084,7 +1077,7 @@ void ParameterManager::_initialRequestTimeout(void)
}
}
QString ParameterManager::parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
QString ParameterManager::parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
{
bool cacheHit = false;
FirmwarePlugin* plugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR);
......@@ -1141,7 +1134,7 @@ QString ParameterManager::parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int
}
int internalMinorVersion, internalMajorVersion;
QString internalMetaDataFile = plugin->internalParameterMetaDataFile();
QString internalMetaDataFile = plugin->internalParameterMetaDataFile(vehicle);
plugin->getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
qCDebug(ParameterManagerLog) << "Internal meta data file:major:minor" << internalMetaDataFile << internalMajorVersion << internalMinorVersion;
if (cacheHit) {
......@@ -1190,7 +1183,7 @@ void ParameterManager::cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPI
// Find the cache hit closest to this new file
int cacheMajorVersion, cacheMinorVersion;
QString cacheHit = ParameterManager::parameterMetaDataFile(firmwareType, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
QString cacheHit = ParameterManager::parameterMetaDataFile(NULL, firmwareType, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
qCDebug(ParameterManagerLog) << "ParameterManager::cacheMetaDataFile cacheHit file:firmware:major;minor" << cacheHit << cacheMajorVersion << cacheMinorVersion;
bool cacheNewFile = false;
......
src/FactSystem/ParameterManager.h
View file @ 0ce6d773
......@@ -99,7 +99,7 @@ public:
/// @param[out] majorVersion Major version for found meta data
/// @param[out] minorVersion Minor version for found meta data
/// @return Meta data file name of best match, emptyString is none found
static QString parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
static QString parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
/// If this file is newer than anything in the cache, cache it as the latest version
static void cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType);
......
src/FactSystem/ParameterManagerTest.cc
View file @ 0ce6d773
......@@ -34,7 +34,7 @@ void ParameterManagerTest::_noFailureWorker(MockConfiguration::FailureMode_t fai
QVERIFY(vehicle);
// We should get progress bar updates during load
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(loadProgressChanged(float)));
QCOMPARE(spyProgress.wait(2000), true);
arguments = spyProgress.takeFirst();
QCOMPARE(arguments.count(), 1);
......@@ -64,6 +64,7 @@ void ParameterManagerTest::_requestListMissingParamSuccess(void)
_noFailureWorker(MockConfiguration::FailMissingParamOnInitialReqest);
}
#if 0
// Test no response to param_request_list
void ParameterManagerTest::_requestListNoResponse(void)
{
......@@ -85,7 +86,7 @@ void ParameterManagerTest::_requestListNoResponse(void)
QVERIFY(vehicle);
QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(loadProgressChanged(float)));
// We should not get any progress bar updates, nor a parameter ready signal
QCOMPARE(spyProgress.wait(500), false);
......@@ -94,6 +95,7 @@ void ParameterManagerTest::_requestListNoResponse(void)
// User should have been notified
checkMultipleExpectedMessageBox(5);
}
#endif
// MockLink will fail to send a param on initial request, it will also fail to send it on subsequent
// param_read requests.
......@@ -120,7 +122,7 @@ void ParameterManagerTest::_requestListMissingParamFail(void)
QVERIFY(vehicle);
QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(loadProgressChanged(float)));
// We will get progress bar updates, since it will fail after getting partially through the request
QCOMPARE(spyProgress.wait(2000), true);
......
src/FactSystem/ParameterManagerTest.h
View file @ 0ce6d773
......@@ -22,7 +22,8 @@ class ParameterManagerTest : public UnitTest
private slots:
void _noFailure(void);
void _requestListNoResponse(void);
// FIXME: Hack to work around changed no reponse handling
//void _requestListNoResponse(void);
void _requestListMissingParamSuccess(void);
void _requestListMissingParamFail(void);
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 0ce6d773
......@@ -12,9 +12,12 @@
/// @author Don Gagne <don@thegagnes.com>
#include "APMFirmwarePlugin.h"
#include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h" // FIXME: Hack
#include "APMAutoPilotPlugin.h"
#include "QGCMAVLink.h"
#include "QGCApplication.h"
#include "APMFlightModesComponentController.h"
#include "APMAirframeComponentController.h"
#include "APMSensorsComponentController.h"
#include <QTcpSocket>
......@@ -140,7 +143,14 @@ APMFirmwarePlugin::APMFirmwarePlugin(void)
: _coaxialMotors(false)
, _textSeverityAdjustmentNeeded(false)
{
qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
qmlRegisterType<APMAirframeComponentController> ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
qmlRegisterType<APMSensorsComponentController> ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
}
AutoPilotPlugin* APMFirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
{
return new APMAutoPilotPlugin(vehicle, vehicle);
}
bool APMFirmwarePlugin::isCapable(const Vehicle* /*vehicle*/, FirmwareCapabilities capabilities)
......@@ -654,8 +664,8 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
<< MAV_CMD_DO_AUTOTUNE_ENABLE
<< MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND << MAV_CMD_DO_VTOL_TRANSITION;
#if 0
// Waiting for module update
<< MAV_CMD_DO_SET_REVERSE;
// Waiting for module update
<< MAV_CMD_DO_SET_REVERSE;
#endif
return list;
......@@ -723,7 +733,7 @@ void APMFirmwarePlugin::_artooSocketError(QAbstractSocket::SocketError socketErr
qgcApp()->showMessage(tr("Error during Solo video link setup: %1").arg(socketError));
}
QString APMFirmwarePlugin::getParameterMetaDataFile(Vehicle* vehicle)
QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
{
switch (vehicle->vehicleType()) {
case MAV_TYPE_QUADROTOR:
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ 0ce6d773
......@@ -75,29 +75,28 @@ public:
QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); }
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QString getParameterMetaDataFile(Vehicle* vehicle);
AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString getDefaultComponentIdParam (void) const final { return QString("SYSID_SW_TYPE"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final;
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImage (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
protected:
/// All access to singleton is through stack specific implementation
......
src/FirmwarePlugin/APM/APMFirmwarePluginFactory.cc 0 → 100644
View file @ 0ce6d773
/****************************************************************************
*
* (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.
*
****************************************************************************/
#include "APMFirmwarePluginFactory.h"
#include "APM/ArduCopterFirmwarePlugin.h"
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
#include "APM/ArduSubFirmwarePlugin.h"
APMFirmwarePluginFactory APMFirmwarePluginFactory;
APMFirmwarePluginFactory::APMFirmwarePluginFactory(void)
: _arduCopterPluginInstance(NULL)
, _arduPlanePluginInstance(NULL)
, _arduRoverPluginInstance(NULL)
, _arduSubPluginInstance(NULL)
{
}
QList<MAV_AUTOPILOT> APMFirmwarePluginFactory::knownFirmwareTypes(void) const
{
QList<MAV_AUTOPILOT> list;
list.append(MAV_AUTOPILOT_ARDUPILOTMEGA);
return list;
}
FirmwarePlugin* APMFirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
{
if (autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
switch (vehicleType) {
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER:
if (!_arduCopterPluginInstance) {
_arduCopterPluginInstance = new ArduCopterFirmwarePlugin;
}
return _arduCopterPluginInstance;
case MAV_TYPE_FIXED_WING:
if (!_arduPlanePluginInstance) {
_arduPlanePluginInstance = new ArduPlaneFirmwarePlugin;
}
return _arduPlanePluginInstance;
case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT:
if (!_arduRoverPluginInstance) {
_arduRoverPluginInstance = new ArduRoverFirmwarePlugin;
}
return _arduRoverPluginInstance;
case MAV_TYPE_SUBMARINE:
if (!_arduSubPluginInstance) {
_arduSubPluginInstance = new ArduSubFirmwarePlugin;
}
return _arduSubPluginInstance;
default:
break;
}
}
return NULL;
}
src/FirmwarePlugin/APM/APMFirmwarePluginFactory.h 0 → 100644
View file @ 0ce6d773
/****************************************************************************
*
* (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.
*
****************************************************************************/
#ifndef APMFirmwarePluginFactory_H
#define APMFirmwarePluginFactory_H
#include "FirmwarePlugin.h"
class ArduCopterFirmwarePlugin;
class ArduPlaneFirmwarePlugin;
class ArduRoverFirmwarePlugin;
class ArduSubFirmwarePlugin;
class APMFirmwarePluginFactory : public FirmwarePluginFactory
{
Q_OBJECT
public:
APMFirmwarePluginFactory(void);
QList<MAV_AUTOPILOT> knownFirmwareTypes (void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
private:
ArduCopterFirmwarePlugin* _arduCopterPluginInstance;
ArduPlaneFirmwarePlugin* _arduPlanePluginInstance;
ArduRoverFirmwarePlugin* _arduRoverPluginInstance;
ArduSubFirmwarePlugin* _arduSubPluginInstance;
};
#endif
src/FirmwarePlugin/FirmwarePlugin.cc
View file @ 0ce6d773
......@@ -7,14 +7,37 @@
*
****************************************************************************/
#include "FirmwarePlugin.h"
#include "QGCApplication.h"
#include "Generic/GenericAutoPilotPlugin.h"
#include <QDebug>
static FirmwarePluginFactoryRegister* _instance = NULL;
const char* guided_mode_not_supported_by_vehicle = "Guided mode not supported by Vehicle.";
const char* FirmwarePlugin::px4FollowMeFlightMode = "Follow Me";
FirmwarePluginFactory::FirmwarePluginFactory(void)
{
FirmwarePluginFactoryRegister::instance()->registerPluginFactory(this);
}
FirmwarePluginFactoryRegister* FirmwarePluginFactoryRegister::instance(void)
{
if (!_instance) {
_instance = new FirmwarePluginFactoryRegister;
}
return _instance;
}
AutoPilotPlugin* FirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
{
return new GenericAutoPilotPlugin(vehicle, vehicle);
}
bool FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{
Q_UNUSED(vehicle);
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ 0ce6d773
......@@ -61,6 +61,9 @@ public:
/// value: remapParamNameMinorVersionRemapMap_t entry
typedef QMap<int, remapParamNameMinorVersionRemapMap_t> remapParamNameMajorVersionMap_t;
/// @return The AutoPilotPlugin associated with this firmware plugin. Must be overriden.
virtual AutoPilotPlugin* autopilotPlugin(Vehicle* vehicle);
/// Called when Vehicle is first created to perform any firmware specific setup.
virtual void initializeVehicle(Vehicle* vehicle);
......@@ -181,7 +184,7 @@ public:
virtual void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion);
/// Returns the internal resource parameter meta date file.
virtual QString internalParameterMetaDataFile(void) { return QString(); }
virtual QString internalParameterMetaDataFile(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
/// Loads the specified parameter meta data file.
/// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is responsible to
......@@ -225,6 +228,42 @@ public:
/// Return the resource file which contains the brand image for the vehicle.
virtual QString brandImage(const Vehicle* vehicle) const { Q_UNUSED(vehicle) return QString(); }
// FIXME: Hack workaround for non pluginize FollowMe support
static const char* px4FollowMeFlightMode;
};
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;
/// @return List of autopilot types this plugin supports.
virtual QList<MAV_AUTOPILOT> knownFirmwareTypes(void) const = 0;
};
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;
};
#endif
src/FirmwarePlugin/FirmwarePluginManager.cc
View file @ 0ce6d773
......@@ -12,91 +12,50 @@
/// @author Don Gagne <don@thegagnes.com>
#include "FirmwarePluginManager.h"
#include "APM/ArduCopterFirmwarePlugin.h"
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
#include "APM/ArduSubFirmwarePlugin.h"
#include "PX4/PX4FirmwarePlugin.h"
#include "FirmwarePlugin.h"
FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app)
: QGCTool(app)
, _arduCopterFirmwarePlugin(NULL)
, _arduPlaneFirmwarePlugin(NULL)
, _arduRoverFirmwarePlugin(NULL)
, _arduSubFirmwarePlugin(NULL)
, _genericFirmwarePlugin(NULL)
, _px4FirmwarePlugin(NULL)
{
}
FirmwarePluginManager::~FirmwarePluginManager()
{
delete _arduCopterFirmwarePlugin;
delete _arduPlaneFirmwarePlugin;
delete _arduRoverFirmwarePlugin;
delete _arduSubFirmwarePlugin;
delete _genericFirmwarePlugin;
delete _px4FirmwarePlugin;
}
QList<MAV_AUTOPILOT> FirmwarePluginManager::knownFirmwareTypes(void) const
QList<MAV_AUTOPILOT> FirmwarePluginManager::knownFirmwareTypes(void)
{
QList<MAV_AUTOPILOT> list;
list << MAV_AUTOPILOT_GENERIC << MAV_AUTOPILOT_PX4 << MAV_AUTOPILOT_ARDUPILOTMEGA;
return list;
if (_knownFirmwareTypes.isEmpty()) {
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
for (int i=0; i<factoryList.count(); i++) {
_knownFirmwareTypes.append(factoryList[i]->knownFirmwareTypes());
}
}
_knownFirmwareTypes.append(MAV_AUTOPILOT_GENERIC);
return _knownFirmwareTypes;
}
FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
{
switch (autopilotType) {
case MAV_AUTOPILOT_ARDUPILOTMEGA:
switch (vehicleType) {
case MAV_TYPE_QUADROTOR:
case MAV_TYPE_HEXAROTOR:
case MAV_TYPE_OCTOROTOR:
case MAV_TYPE_TRICOPTER:
case MAV_TYPE_COAXIAL:
case MAV_TYPE_HELICOPTER:
if (!_arduCopterFirmwarePlugin) {
_arduCopterFirmwarePlugin = new ArduCopterFirmwarePlugin;
}
return _arduCopterFirmwarePlugin;
case MAV_TYPE_FIXED_WING:
if (!_arduPlaneFirmwarePlugin) {
_arduPlaneFirmwarePlugin = new ArduPlaneFirmwarePlugin;
}
return _arduPlaneFirmwarePlugin;
case MAV_TYPE_GROUND_ROVER:
case MAV_TYPE_SURFACE_BOAT:
if (!_arduRoverFirmwarePlugin) {
_arduRoverFirmwarePlugin = new ArduRoverFirmwarePlugin;
}
return _arduRoverFirmwarePlugin;
case MAV_TYPE_SUBMARINE:
if (!_arduSubFirmwarePlugin) {
_arduSubFirmwarePlugin = new ArduSubFirmwarePlugin;
}
return _arduSubFirmwarePlugin;
default:
break;
}
case MAV_AUTOPILOT_PX4:
if (!_px4FirmwarePlugin) {
_px4FirmwarePlugin = new PX4FirmwarePlugin;
FirmwarePlugin* _plugin = NULL;
QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
// Find the plugin which supports this vehicle
for (int i=0; i<factoryList.count(); i++) {
if ((_plugin = factoryList[i]->firmwarePluginForAutopilot(autopilotType, vehicleType))) {
return _plugin;
}
return _px4FirmwarePlugin;
default:
break;
}
// Default plugin fallback
if (!_genericFirmwarePlugin) {
_genericFirmwarePlugin = new FirmwarePlugin;
}
return _genericFirmwarePlugin;
}
void FirmwarePluginManager::clearSettings(void)
{
// FIXME: NYI
}
src/FirmwarePlugin/FirmwarePluginManager.h
View file @ 0ce6d773
......@@ -21,11 +21,6 @@
#include "QGCToolbox.h"
class QGCApplication;
class ArduCopterFirmwarePlugin;
class ArduPlaneFirmwarePlugin;
class ArduRoverFirmwarePlugin;
class ArduSubFirmwarePlugin;
class PX4FirmwarePlugin;
/// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
......@@ -37,7 +32,7 @@ public:
FirmwarePluginManager(QGCApplication* app);
~FirmwarePluginManager();
QList<MAV_AUTOPILOT> knownFirmwareTypes(void) const;
QList<MAV_AUTOPILOT> knownFirmwareTypes(void);
/// Returns appropriate plugin for autopilot type.
/// @param autopilotType Type of autopilot to return plugin for.
......@@ -45,16 +40,9 @@ public:
/// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType);
/// Clears settings from all firmware plugins.
void clearSettings(void);
private:
ArduCopterFirmwarePlugin* _arduCopterFirmwarePlugin;
ArduPlaneFirmwarePlugin* _arduPlaneFirmwarePlugin;
ArduRoverFirmwarePlugin* _arduRoverFirmwarePlugin;
ArduSubFirmwarePlugin* _arduSubFirmwarePlugin;
FirmwarePlugin* _genericFirmwarePlugin;
PX4FirmwarePlugin* _px4FirmwarePlugin;
FirmwarePlugin* _genericFirmwarePlugin;
QList<MAV_AUTOPILOT> _knownFirmwareTypes;
};
#endif
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ 0ce6d773
......@@ -14,7 +14,13 @@
#include "PX4FirmwarePlugin.h"
#include "PX4ParameterMetaData.h"
#include "QGCApplication.h"
#include "AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h" // FIXME: Hack
#include "PX4AutoPilotPlugin.h"
#include "PX4AdvancedFlightModesController.h"
#include "PX4SimpleFlightModesController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
#include "PowerComponentController.h"
#include "RadioComponentController.h"
#include <QDebug>
......@@ -72,7 +78,17 @@ static const struct Modes2Name rgModes2Name[] = {
PX4FirmwarePlugin::PX4FirmwarePlugin(void)
: _versionNotified(false)
{
qmlRegisterType<PX4AdvancedFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
qmlRegisterType<PX4SimpleFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
qmlRegisterType<AirframeComponentController> ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<SensorsComponentController> ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
qmlRegisterType<PowerComponentController> ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
qmlRegisterType<RadioComponentController> ("QGroundControl.Controllers", 1, 0, "RadioComponentController");
}
AutoPilotPlugin* PX4FirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
{
return new PX4AutoPilotPlugin(vehicle, vehicle);
}
QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
......@@ -177,10 +193,11 @@ bool PX4FirmwarePlugin::supportsManualControl(void)
bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{
if(vehicle->multiRotor()) {
if (vehicle->multiRotor()) {
return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability | OrbitModeCapability)) == capabilities;
} else {
return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability)) == capabilities;
}
return (capabilities & (MavCmdPreflightStorageCapability | GuidedModeCapability | SetFlightModeCapability | PauseVehicleCapability)) == capabilities;
}
void PX4FirmwarePlugin::initializeVehicle(Vehicle* vehicle)
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @ 0ce6d773
......@@ -31,6 +31,7 @@ public:
QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
QList<MAV_CMD> supportedMissionCommands(void) final;
AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
......@@ -52,7 +53,7 @@ public:
QString getDefaultComponentIdParam (void) const final { return QString("SYS_AUTOSTART"); }
QString missionCommandOverrides (MAV_TYPE vehicleType) const final;
QString getVersionParam (void) final { return QString("SYS_PARAM_VER"); }
QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message);
......
src/AutoPilotPlugins/AutoPilotPluginManager.cc → src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.cc
View file @ 0ce6d773
......@@ -11,19 +11,34 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "AutoPilotPluginManager.h"
#include "PX4/PX4AutoPilotPlugin.h"
#include "APM/APMAutoPilotPlugin.h"
#include "Generic/GenericAutoPilotPlugin.h"
#include "PX4FirmwarePluginFactory.h"
#include "PX4/PX4FirmwarePlugin.h"
PX4FirmwarePluginFactory PX4FirmwarePluginFactory;
AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
PX4FirmwarePluginFactory::PX4FirmwarePluginFactory(void)
: _pluginInstance(NULL)
{
switch (vehicle->firmwareType()) {
case MAV_AUTOPILOT_PX4:
return new PX4AutoPilotPlugin(vehicle, vehicle);
case MAV_AUTOPILOT_ARDUPILOTMEGA:
return new APMAutoPilotPlugin(vehicle, vehicle);
default:
return new GenericAutoPilotPlugin(vehicle, vehicle);
}
QList<MAV_AUTOPILOT> PX4FirmwarePluginFactory::knownFirmwareTypes(void) const
{
QList<MAV_AUTOPILOT> list;
list.append(MAV_AUTOPILOT_PX4);
return list;
}
FirmwarePlugin* PX4FirmwarePluginFactory::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
{
Q_UNUSED(vehicleType);
if (autopilotType == MAV_AUTOPILOT_PX4) {
if (!_pluginInstance) {
_pluginInstance = new PX4FirmwarePlugin;
}
return _pluginInstance;
}
return NULL;
}
src/AutoPilotPlugins/AutoPilotPluginManager.h → src/FirmwarePlugin/PX4/PX4FirmwarePluginFactory.h
View file @ 0ce6d773
......@@ -7,31 +7,25 @@
*
****************************************************************************/
#ifndef PX4FirmwarePluginFactory_H
#define PX4FirmwarePluginFactory_H
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include "FirmwarePlugin.h"
#ifndef AUTOPILOTPLUGINMANAGER_H
#define AUTOPILOTPLUGINMANAGER_H
class PX4FirmwarePlugin;
#include <QObject>
#include <QList>
#include <QString>
#include "AutoPilotPlugin.h"
#include "Vehicle.h"
#include "QGCToolbox.h"
class QGCApplication;
class AutoPilotPluginManager : public QGCTool
class PX4FirmwarePluginFactory : public FirmwarePluginFactory
{
Q_OBJECT
public:
AutoPilotPluginManager(QGCApplication* app) : QGCTool(app) { }
PX4FirmwarePluginFactory(void);
QList<MAV_AUTOPILOT> knownFirmwareTypes (void) const final;
FirmwarePlugin* firmwarePluginForAutopilot (MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType) final;
AutoPilotPlugin* newAutopilotPluginForVehicle(Vehicle* vehicle);
private:
PX4FirmwarePlugin* _pluginInstance;
};
#endif
src/FollowMe/FollowMe.cc
View file @ 0ce6d773
......@@ -11,7 +11,7 @@
#include <cmath>
#include "MultiVehicleManager.h"
#include "PX4FirmwarePlugin.h"
#include "FirmwarePlugin.h"
#include "MAVLinkProtocol.h"
#include "FollowMe.h"
#include "Vehicle.h"
......@@ -38,7 +38,7 @@ void FollowMe::followMeHandleManager(const QString&)
for (int i=0; i< vehicles.count(); i++) {
Vehicle* vehicle = qobject_cast<Vehicle*>(vehicles[i]);
if (vehicle->px4Firmware() && vehicle->flightMode().compare(PX4FirmwarePlugin::followMeFlightMode, Qt::CaseInsensitive) == 0) {
if (vehicle->px4Firmware() && vehicle->flightMode().compare(FirmwarePlugin::px4FollowMeFlightMode, Qt::CaseInsensitive) == 0) {
_enable();
return;
}
......@@ -138,7 +138,7 @@ void FollowMe::_sendGCSMotionReport(void)
for (int i=0; i< vehicles.count(); i++) {
Vehicle* vehicle = qobject_cast<Vehicle*>(vehicles[i]);
if(vehicle->flightMode().compare(PX4FirmwarePlugin::followMeFlightMode, Qt::CaseInsensitive) == 0) {
if(vehicle->flightMode().compare(FirmwarePlugin::px4FollowMeFlightMode, Qt::CaseInsensitive) == 0) {
mavlink_message_t message;
mavlink_msg_follow_target_encode_chan(mavlinkProtocol->getSystemId(),
mavlinkProtocol->getComponentId(),
......
src/QGCApplication.cc
View file @ 0ce6d773
......@@ -41,7 +41,6 @@
#include "LinkManager.h"
#include "HomePositionManager.h"
#include "UASMessageHandler.h"
#include "AutoPilotPluginManager.h"
#include "QGCTemporaryFile.h"
#include "QGCPalette.h"
#include "QGCMapPalette.h"
......@@ -49,14 +48,6 @@
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
#include "CustomCommandWidgetController.h"
#include "PX4AdvancedFlightModesController.h"
#include "PX4SimpleFlightModesController.h"
#include "APMFlightModesComponentController.h"
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
#include "APMSensorsComponentController.h"
#include "PowerComponentController.h"
#include "RadioComponentController.h"
#include "ESP8266ComponentController.h"
#include "ScreenToolsController.h"
#include "QGCMobileFileDialogController.h"
......@@ -65,11 +56,6 @@
#include "VehicleComponent.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "APM/ArduCopterFirmwarePlugin.h"
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
#include "APM/APMAirframeComponentController.h"
#include "PX4/PX4FirmwarePlugin.h"
#include "Vehicle.h"
#include "MavlinkQmlSingleton.h"
#include "JoystickConfigController.h"
......@@ -88,7 +74,6 @@
#include "VideoSurface.h"
#include "VideoReceiver.h"
#include "LogDownloadController.h"
#include "PX4AirframeLoader.h"
#include "ValuesWidgetController.h"
#include "AppMessages.h"
#include "SimulatedPosition.h"
......@@ -393,15 +378,6 @@ void QGCApplication::_initCommon(void)
qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", "Reference only");
qmlRegisterType<ParameterEditorController> ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
qmlRegisterType<APMFlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
qmlRegisterType<PX4AdvancedFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
qmlRegisterType<PX4SimpleFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
qmlRegisterType<APMAirframeComponentController> ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
qmlRegisterType<AirframeComponentController> ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
qmlRegisterType<APMSensorsComponentController> ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
qmlRegisterType<SensorsComponentController> ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
qmlRegisterType<PowerComponentController> ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
qmlRegisterType<RadioComponentController> ("QGroundControl.Controllers", 1, 0, "RadioComponentController");
qmlRegisterType<ESP8266ComponentController> ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController");
qmlRegisterType<ScreenToolsController> ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
qmlRegisterType<MainToolBarController> ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
......
src/QGCApplication.h
View file @ 0ce6d773
......@@ -32,7 +32,6 @@
#include "MultiVehicleManager.h"
#include "JoystickManager.h"
#include "GAudioOutput.h"
#include "AutoPilotPluginManager.h"
#include "UASMessageHandler.h"
#include "FactSystem.h"
......
src/QGCFileDialog.cc
View file @ 0ce6d773
......@@ -12,10 +12,8 @@
#include "QGCApplication.h"
#include "MainWindow.h"
#ifdef QT_DEBUG
#ifndef __mobile__
#include "UnitTest.h"
#endif
#ifdef UNITTEST_BUILD
#include "UnitTest.h"
#endif
#include <QRegularExpression>
......@@ -30,12 +28,10 @@ QString QGCFileDialog::getExistingDirectory(
{
_validate(options);
#ifdef QT_DEBUG
#ifndef __mobile__
#ifdef UNITTEST_BUILD
if (qgcApp()->runningUnitTests()) {
return UnitTest::_getExistingDirectory(parent, caption, dir, options);
} else
#endif
#endif
{
return QFileDialog::getExistingDirectory(parent, caption, dir, options);
......@@ -51,12 +47,10 @@ QString QGCFileDialog::getOpenFileName(
{
_validate(options);
#ifdef QT_DEBUG
#ifndef __mobile__
#ifdef UNITTEST_BUILD
if (qgcApp()->runningUnitTests()) {
return UnitTest::_getOpenFileName(parent, caption, dir, filter, options);
} else
#endif
#endif
{
return QFileDialog::getOpenFileName(parent, caption, dir, filter, NULL, options);
......@@ -72,12 +66,10 @@ QStringList QGCFileDialog::getOpenFileNames(
{
_validate(options);
#ifdef QT_DEBUG
#ifndef __mobile__
#ifdef UNITTEST_BUILD
if (qgcApp()->runningUnitTests()) {
return UnitTest::_getOpenFileNames(parent, caption, dir, filter, options);
} else
#endif
#endif
{
return QFileDialog::getOpenFileNames(parent, caption, dir, filter, NULL, options);
......@@ -95,12 +87,10 @@ QString QGCFileDialog::getSaveFileName(
{
_validate(options);
#ifdef QT_DEBUG
#ifndef __mobile__
#ifdef UNITTEST_BUILD
if (qgcApp()->runningUnitTests()) {
return UnitTest::_getSaveFileName(parent, caption, dir, filter, defaultSuffix, options);
} else
#endif
#endif
{
QString defaultSuffixCopy(defaultSuffix);
......
src/QGCMessageBox.h
View file @ 0ce6d773
......@@ -20,11 +20,8 @@
#include "MainWindow.h"
#include "QGCApplication.h"
#ifdef QT_DEBUG
#ifndef __mobile__
#include "UnitTest.h"
#endif
#ifdef UNITTEST_BUILD
#include "UnitTest.h"
#endif
/// @file
......@@ -99,12 +96,10 @@ private:
qDebug() << "QGCMessageBox (unit testing)" << title << text;
#ifdef QT_DEBUG
#ifndef __mobile__
#ifdef UNITTEST_BUILD
if (qgcApp()->runningUnitTests()) {
return UnitTest::_messageBox(icon, title, text, buttons, defaultButton);
} else
#endif
#endif
{
#ifdef __macos__
......
src/QGCQuickWidget.cc
View file @ 0ce6d773
......@@ -9,7 +9,6 @@
#include "QGCQuickWidget.h"
#include "AutoPilotPluginManager.h"
#include "MultiVehicleManager.h"
#include "JoystickManager.h"
#include "QGCApplication.h"
......
src/QGCToolbox.cc
View file @ 0ce6d773
......@@ -8,7 +8,6 @@
****************************************************************************/
#include "AutoPilotPluginManager.h"
#include "FactSystem.h"
#include "FirmwarePluginManager.h"
#include "FlightMapSettings.h"
......@@ -32,7 +31,6 @@
QGCToolbox::QGCToolbox(QGCApplication* app)
: _audioOutput(NULL)
, _autopilotPluginManager(NULL)
, _factSystem(NULL)
, _firmwarePluginManager(NULL)
, _flightMapSettings(NULL)
......@@ -54,7 +52,6 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
, _mavlinkLogManager(NULL)
{
_audioOutput = new GAudioOutput(app);
_autopilotPluginManager = new AutoPilotPluginManager(app);
_factSystem = new FactSystem(app);
_firmwarePluginManager = new FirmwarePluginManager(app);
_flightMapSettings = new FlightMapSettings(app);
......@@ -79,7 +76,6 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
void QGCToolbox::setChildToolboxes(void)
{
_audioOutput->setToolbox(this);
_autopilotPluginManager->setToolbox(this);
_factSystem->setToolbox(this);
_firmwarePluginManager->setToolbox(this);
_flightMapSettings->setToolbox(this);
......@@ -106,7 +102,6 @@ QGCToolbox::~QGCToolbox()
delete _videoManager;
delete _mavlinkLogManager;
delete _audioOutput;
delete _autopilotPluginManager;
delete _factSystem;
delete _firmwarePluginManager;
delete _flightMapSettings;
......
src/QGCToolbox.h
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
#include <QObject>
class AutoPilotPluginManager;
class FactSystem;
class FirmwarePluginManager;
class FlightMapSettings;
......@@ -41,7 +40,6 @@ public:
QGCToolbox(QGCApplication* app);
~QGCToolbox();
AutoPilotPluginManager* autopilotPluginManager(void) { return _autopilotPluginManager; }
FirmwarePluginManager* firmwarePluginManager(void) { return _firmwarePluginManager; }
FlightMapSettings* flightMapSettings(void) { return _flightMapSettings; }
GAudioOutput* audioOutput(void) { return _audioOutput; }
......@@ -67,7 +65,6 @@ private:
void setChildToolboxes(void);
GAudioOutput* _audioOutput;
AutoPilotPluginManager* _autopilotPluginManager;
FactSystem* _factSystem;
FirmwarePluginManager* _firmwarePluginManager;
FlightMapSettings* _flightMapSettings;
......
src/QmlControls/ParameterEditorController.cc
View file @ 0ce6d773
......@@ -12,7 +12,6 @@
/// @author Don Gagne <don@thegagnes.com>
#include "ParameterEditorController.h"
#include "AutoPilotPluginManager.h"
#include "QGCApplication.h"
#include "ParameterManager.h"
......
src/Vehicle/MultiVehicleManager.cc
View file @ 0ce6d773
......@@ -33,7 +33,6 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
, _activeVehicle(NULL)
, _offlineEditingVehicle(NULL)
, _firmwarePluginManager(NULL)
, _autopilotPluginManager(NULL)
, _joystickManager(NULL)
, _mavlinkProtocol(NULL)
, _gcsHeartbeatEnabled(true)
......@@ -55,7 +54,6 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
QGCTool::setToolbox(toolbox);
_firmwarePluginManager = _toolbox->firmwarePluginManager();
_autopilotPluginManager = _toolbox->autopilotPluginManager();
_joystickManager = _toolbox->joystickManager();
_mavlinkProtocol = _toolbox->mavlinkProtocol();
......@@ -98,7 +96,7 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
// return;
// }
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _joystickManager);
connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MultiVehicleManager::_vehicleParametersReadyChanged);
......
src/Vehicle/MultiVehicleManager.h
View file @ 0ce6d773
......@@ -21,7 +21,6 @@
#include "QGCLoggingCategory.h"
class FirmwarePluginManager;
class AutoPilotPluginManager;
class FollowMe;
class JoystickManager;
class QGCApplication;
......@@ -113,7 +112,6 @@ private:
QmlObjectListModel _vehicles;
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
JoystickManager* _joystickManager;
MAVLinkProtocol* _mavlinkProtocol;
......
src/Vehicle/Vehicle.cc
View file @ 0ce6d773
......@@ -13,7 +13,6 @@
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
......@@ -61,7 +60,6 @@ Vehicle::Vehicle(LinkInterface* link,
MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
FirmwarePluginManager* firmwarePluginManager,
AutoPilotPluginManager* autopilotPluginManager,
JoystickManager* joystickManager)
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
, _id(vehicleId)
......@@ -70,6 +68,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _firmwareType(firmwareType)
, _vehicleType(vehicleType)
, _firmwarePlugin(NULL)
, _firmwarePluginInstanceData(NULL)
, _autopilotPlugin(NULL)
, _mavlink(NULL)
, _soloFirmware(false)
......@@ -114,7 +113,6 @@ Vehicle::Vehicle(LinkInterface* link,
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _firmwarePluginManager(firmwarePluginManager)
, _autopilotPluginManager(autopilotPluginManager)
, _joystickManager(joystickManager)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
......@@ -161,7 +159,7 @@ Vehicle::Vehicle(LinkInterface* link,
connect(this, &Vehicle::remoteControlRSSIChanged, this, &Vehicle::_remoteControlRSSIChanged);
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_autopilotPlugin = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
_autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);
// connect this vehicle to the follow me handle manager
connect(this, &Vehicle::flightModeChanged,qgcApp()->toolbox()->followMe(), &FollowMe::followMeHandleManager);
......@@ -277,6 +275,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _firmwareType(firmwareType)
, _vehicleType(vehicleType)
, _firmwarePlugin(NULL)
, _firmwarePluginInstanceData(NULL)
, _autopilotPlugin(NULL)
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
......@@ -319,7 +318,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _firmwarePluginManager(firmwarePluginManager)
, _autopilotPluginManager(NULL)
, _joystickManager(NULL)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
......@@ -2044,23 +2042,17 @@ VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
_courseOverGroundFact.setRawValue(std::numeric_limits<float>::quiet_NaN());
}
//-----------------------------------------------------------------------------
void
Vehicle::startMavlinkLog()
void Vehicle::startMavlinkLog()
{
doCommandLong(defaultComponentId(), MAV_CMD_LOGGING_START);
}
//-----------------------------------------------------------------------------
void
Vehicle::stopMavlinkLog()
void Vehicle::stopMavlinkLog()
{
doCommandLong(defaultComponentId(), MAV_CMD_LOGGING_STOP);
}
//-----------------------------------------------------------------------------
void
Vehicle::_ackMavlinkLogData(uint16_t sequence)
void Vehicle::_ackMavlinkLogData(uint16_t sequence)
{
mavlink_message_t msg;
mavlink_logging_ack_t ack;
......@@ -2076,9 +2068,7 @@ Vehicle::_ackMavlinkLogData(uint16_t sequence)
sendMessageOnLink(priorityLink(), msg);
}
//-----------------------------------------------------------------------------
void
Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
void Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
{
mavlink_logging_data_t log;
mavlink_msg_logging_data_decode(&message, &log);
......@@ -2086,9 +2076,7 @@ Vehicle::_handleMavlinkLoggingData(mavlink_message_t& message)
log.first_message_offset, QByteArray((const char*)log.data, log.length), false);
}
//-----------------------------------------------------------------------------
void
Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
void Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
{
mavlink_logging_data_t log;
mavlink_msg_logging_data_decode(&message, &log);
......@@ -2097,6 +2085,12 @@ Vehicle::_handleMavlinkLoggingDataAcked(mavlink_message_t& message)
log.first_message_offset, QByteArray((const char*)log.data, log.length), true);
}
void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData)
{
firmwarePluginInstanceData->setParent(this);
_firmwarePluginInstanceData = firmwarePluginInstanceData;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
......
src/Vehicle/Vehicle.h
View file @ 0ce6d773
......@@ -31,7 +31,6 @@ class UASInterface;
class FirmwarePlugin;
class FirmwarePluginManager;
class AutoPilotPlugin;
class AutoPilotPluginManager;
class MissionManager;
class GeoFenceManager;
class RallyPointManager;
......@@ -214,7 +213,6 @@ public:
MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
FirmwarePluginManager* firmwarePluginManager,
AutoPilotPluginManager* autopilotPluginManager,
JoystickManager* joystickManager);
// The following is used to create a disconnected Vehicle for use while offline editing.
......@@ -579,6 +577,13 @@ public:
/// @return true: X confiuration, false: Plus configuration
bool xConfigMotors(void);
/// @return Firmware plugin instance data associated with this Vehicle
QObject* firmwarePluginInstanceData(void) { return _firmwarePluginInstanceData; }
/// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle
/// and destroyed when the vehicle goes away.
void setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData);
public slots:
void setLatitude(double latitude);
void setLongitude(double longitude);
......@@ -717,6 +722,7 @@ private:
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
FirmwarePlugin* _firmwarePlugin;
QObject* _firmwarePluginInstanceData;
AutoPilotPlugin* _autopilotPlugin;
MAVLinkProtocol* _mavlink;
bool _soloFirmware;
......@@ -806,7 +812,6 @@ private:
// Toolbox references
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
JoystickManager* _joystickManager;
int _flowImageIndex;
......
src/comm/MockLink.cc
View file @ 0ce6d773
......@@ -11,8 +11,9 @@
#include "MockLink.h"
#include "QGCLoggingCategory.h"
#include "QGCApplication.h"
#ifndef __mobile__
#include "UnitTest.h"
#ifdef UNITTEST_BUILD
#include "UnitTest.h"
#endif
#include <QTimer>
......@@ -21,7 +22,8 @@
#include <string.h>
#include "px4_custom_mode.h"
// FIXME: Hack to work around clean headers
#include "FirmwarePlugin/PX4/px4_custom_mode.h"
QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
......@@ -1159,7 +1161,7 @@ void MockLink::_handleLogRequestData(const mavlink_message_t& msg)
mavlink_msg_log_request_data_decode(&msg, &request);
if (_logDownloadFilename.isEmpty()) {
#ifndef __mobile__
#ifdef UNITTEST_BUILD
_logDownloadFilename = UnitTest::createRandomFile(_logDownloadFileSize);
#endif
}
......
src/main.cc
View file @ 0ce6d773
......@@ -33,10 +33,11 @@
#include "QGCSerialPortInfo.h"
#endif
#ifdef UNITTEST_BUILD
#include "UnitTest.h"
#endif
#ifdef QT_DEBUG
#ifndef __mobile__
#include "UnitTest.h"
#endif
#include "CmdLineOptParser.h"
#ifdef Q_OS_WIN
#include <crtdbg.h>
......@@ -229,8 +230,7 @@ int main(int argc, char *argv[])
int exitCode = 0;
#ifndef __mobile__
#ifdef QT_DEBUG
#ifdef UNITTEST_BUILD
if (runUnitTests) {
for (int i=0; i < (stressUnitTests ? 20 : 1); i++) {
if (!app->_initForUnitTests()) {
......@@ -249,7 +249,6 @@ int main(int argc, char *argv[])
}
}
} else
#endif
#endif
{
if (!app->_initForNormalAppBoot()) {
......
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