Merge pull request #2153 from DonLakeFlyer/APMAiframeComponent

Empty APM Airframe vehicle component

QGCApplication.pro

@@ -509,6 +509,8 @@ HEADERS+= \
     src/AutoPilotPlugins/AutoPilotPlugin.h \
     src/AutoPilotPlugins/AutoPilotPluginManager.h \
     src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
+    src/AutoPilotPlugins/APM/APMAirframeComponent.h \
+    src/AutoPilotPlugins/APM/APMComponent.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
@@ -551,6 +553,8 @@ SOURCES += \
     src/AutoPilotPlugins/AutoPilotPlugin.cc \
     src/AutoPilotPlugins/AutoPilotPluginManager.cc \
     src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
+    src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
+    src/AutoPilotPlugins/APM/APMComponent.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \

qgroundcontrol.qrc

@@ -81,6 +81,10 @@
         <file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
         <file alias="MissionEditorHelp.qml">src/MissionEditor/MissionEditorHelp.qml</file>
 
+        <file alias="APMAirframeComponent.qml">src/AutoPilotPlugins/APM/APMAirframeComponent.qml</file>
+        <file alias="APMAirframeComponentSummary.qml">src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml</file>
+
+
         <!-- FlightDisplay module -->
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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 "APMAirframeComponent.h"
+#include "QGCQmlWidgetHolder.h"
+
+APMAirframeComponent::APMAirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(uas, autopilot, parent),
+    _name(tr("Airframe"))
+{
+
+}
+
+QString APMAirframeComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMAirframeComponent::description(void) const
+{
+    return tr("The Airframe Component is used to select the airframe which matches your vehicle. "
+              "This will in turn set up the various tuning values for flight paramters.");
+}
+
+QString APMAirframeComponent::iconResource(void) const
+{
+    return "/qmlimages/AirframeComponentIcon.png";
+}
+
+bool APMAirframeComponent::requiresSetup(void) const
+{
+    return true;
+}
+
+bool APMAirframeComponent::setupComplete(void) const
+{
+    // You'll need to figure out which parameters trigger setup complete
+#if 0
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt() != 0;
+#else
+    return true;
+#endif
+}
+
+QString APMAirframeComponent::setupStateDescription(void) const
+{
+    const char* stateDescription;
+    
+    if (requiresSetup()) {
+        stateDescription = "Requires calibration";
+    } else {
+        stateDescription = "Calibrated";
+    }
+    return QString(stateDescription);
+}
+
+QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
+{
+    // You'll need to figure out which parameters trigger setup complete
+#if 0
+    return QStringList("SYS_AUTOSTART");
+#else
+    return QStringList();
+#endif
+}
+
+QStringList APMAirframeComponent::paramFilterList(void) const
+{
+#if 0
+    QStringList list;
+    
+    list << "SYS_AUTOSTART";
+    
+    return list;
+#else
+    return QStringList();
+#endif
+}
+
+QUrl APMAirframeComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMAirframeComponent.qml");
+}
+
+QUrl APMAirframeComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMAirframeComponentSummary.qml");
+}
+
+QString APMAirframeComponent::prerequisiteSetup(void) const
+{
+    return QString();
+}

src/AutoPilotPlugins/APM/APMAirframeComponent.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMAirframeComponent_H
+#define APMAirframeComponent_H
+
+#include "APMComponent.h"
+
+class APMAirframeComponent : public APMComponent
+{
+    Q_OBJECT
+    
+public:
+    APMAirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from APMComponent
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
+
+    // Virtuals from VehicleComponent
+    virtual QString name(void) const;
+    virtual QString description(void) const;
+    virtual QString iconResource(void) const;
+    virtual bool requiresSetup(void) const;
+    virtual bool setupComplete(void) const;
+    virtual QString setupStateDescription(void) const;
+    virtual QUrl setupSource(void) const;
+    virtual QStringList paramFilterList(void) const;
+    virtual QUrl summaryQmlSource(void) const;    
+    virtual QString prerequisiteSetup(void) const;
+
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMAirframeComponent.qml

+/*=====================================================================
+
+ 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/>.
+
+ ======================================================================*/
+
+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QtQuick.Dialogs 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.ScreenTools 1.0
+
+QGCView {
+    id:         qgcView
+    viewPanel:  panel
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        QGCLabel {
+            text: "Work in progress";
+        }
+
+    } // QGCViewPanel
+} // QGCView

src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
+import QGroundControl.Palette 1.0
+
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+
+/*
+    property Fact sysIdFact:        controller.getParameterFact(-1, "MAV_SYS_ID")
+    property Fact sysAutoStartFact: controller.getParameterFact(-1, "SYS_AUTOSTART")
+
+    property bool autoStartSet: sysAutoStartFact.value != 0
+*/
+
+    Column {
+        anchors.fill: parent
+        anchors.margins: 8
+
+/*
+        VehicleSummaryRow {
+            labelText: "System ID:"
+            valueText: sysIdFact.valueString
+        }
+
+        VehicleSummaryRow {
+            labelText: "Airframe type:"
+            valueText: autoStartSet ? controller.currentAirframeType : "Setup required"
+        }
+
+        VehicleSummaryRow {
+            labelText: "Vehicle:"
+            valueText: autoStartSet ? controller.currentVehicleName : "Setup required"
+        }
+*/
+    }
+}

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -29,9 +29,10 @@
 #include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
-APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
-    AutoPilotPlugin(vehicle, parent),
-    _incorrectParameterVersion(false)
+APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
+    : AutoPilotPlugin(vehicle, parent)
+    , _incorrectParameterVersion(false)
+    , _airframeComponent(NULL)
 {
     Q_ASSERT(vehicle);
 }
@@ -43,9 +44,20 @@ APMAutoPilotPlugin::~APMAutoPilotPlugin()
 
 const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 {
-    static const QVariantList emptyList;
+    if (_components.count() == 0 && !_incorrectParameterVersion) {
+        Q_ASSERT(_vehicle);
 
-    return emptyList;
+        if (parametersReady()) {
+            _airframeComponent = new APMAirframeComponent(_vehicle->uas(), this);
+            Q_CHECK_PTR(_airframeComponent);
+            _airframeComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+        } else {
+            qWarning() << "Call to vehicleCompenents prior to parametersReady";
+        }
+    }
+
+    return _components;
 }
 
 /// This will perform various checks prior to signalling that the plug in ready

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -26,6 +26,7 @@
 
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
+#include "APMAirframeComponent.h"
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -44,7 +45,9 @@ public slots:
     void _parametersReadyPreChecks(bool missingParameters);
 
 private:
-    bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
+    bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
+    QVariantList            _components;
+    APMAirframeComponent*   _airframeComponent;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMComponent.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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 "APMComponent.h"
+#include "Fact.h"
+#include "AutoPilotPlugin.h"
+
+APMComponent::APMComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(uas, autopilot, parent)
+{
+    Q_ASSERT(uas);
+    Q_ASSERT(autopilot);
+}
+
+void APMComponent::setupTriggerSignals(void)
+{
+    // Watch for changed on trigger list params
+    foreach (QString paramName, setupCompleteChangedTriggerList()) {
+        Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
+        
+        connect(fact, &Fact::valueChanged, this, &APMComponent::_triggerUpdated);
+    }
+}
+
+
+void APMComponent::_triggerUpdated(QVariant value)
+{
+    Q_UNUSED(value);
+    emit setupCompleteChanged(setupComplete());
+}

src/AutoPilotPlugins/APM/APMComponent.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMComponent_H
+#define APMComponent_H
+
+#include "VehicleComponent.h"
+
+#include <QStringList>
+
+/// @file
+///     @brief This class is used as an abstract base class for all PX4 VehicleComponent objects.
+///     @author Don Gagne <don@thegagnes.com>
+
+class APMComponent : public VehicleComponent
+{
+    Q_OBJECT
+    
+public:
+    APMComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged
+    ///         signal to be emitted. Last element is signalled by NULL.
+    virtual QStringList setupCompleteChangedTriggerList(void) const = 0;
+    
+    /// Should be called after the component is created (but not in constructor) to setup the
+    /// signals which are used to track parameter changes which affect setupComplete state.
+    void setupTriggerSignals(void);
+    
+private slots:
+    void _triggerUpdated(QVariant value);
+};
+
+#endif