Merge pull request #1940 from DonLakeFlyer/VehicleTypeSpecificFirmwarePlugin

Add support for MAV_TYPE specific FirmwarePlugin

QGCApplication.pro

@@ -577,6 +577,7 @@ HEADERS+= \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
+    src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/Vehicle/MultiVehicleManager.h \
@@ -614,6 +615,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
+    src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -30,7 +30,6 @@
 
 #include <QDebug>
 
-IMPLEMENT_QGC_SINGLETON(APMFirmwarePlugin, FirmwarePlugin)
 QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
 
 static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)");

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -28,8 +28,9 @@
 #define APMFirmwarePlugin_H
 
 #include "FirmwarePlugin.h"
+#include "QGCLoggingCategory.h"
 
-Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLogsLog)
+Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
 
 class APMFirmwareVersion
 {
@@ -54,11 +55,10 @@ private:
     int     _patch;
 };
 
+/// This is the base class for all stack specific APM firmware plugins
 class APMFirmwarePlugin : public FirmwarePlugin
 {
     Q_OBJECT
-
-    DECLARE_QGC_SINGLETON(APMFirmwarePlugin, FirmwarePlugin)
     
 public:
     // Overrides from FirmwarePlugin
@@ -71,9 +71,11 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     
-private:
-    /// All access to singleton is through AutoPilotPluginManager::instance
+protected:
+    /// All access to singleton is through stack specific implementation
     APMFirmwarePlugin(QObject* parent = NULL);
+    
+private:
     void _adjustSeverity(mavlink_message_t* message) const;
     static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
 

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "ArduCopterFirmwarePlugin.h"
+#include "Generic/GenericFirmwarePlugin.h"
+#include "QGCMAVLink.h"
+
+#include <QDebug>
+
+IMPLEMENT_QGC_SINGLETON(ArduCopterFirmwarePlugin, ArduCopterFirmwarePlugin)
+
+ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(QObject* parent) :
+    APMFirmwarePlugin(parent)
+{
+
+}
+
+bool ArduCopterFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+{
+    Q_UNUSED(capabilities);
+    
+    // FIXME: No capabilitis yet supported
+    
+    return false;
+}
+
+QList<VehicleComponent*> ArduCopterFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
+{
+    Q_UNUSED(vehicle);
+    
+    return QList<VehicleComponent*>();
+}
+
+QStringList ArduCopterFirmwarePlugin::flightModes(void)
+{
+    // FIXME: NYI
+    
+    qWarning() << "ArduCopterFirmwarePlugin::flightModes not supported";
+    
+    return QStringList();
+}
+
+QString ArduCopterFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
+{
+    // FIXME: Nothing more than generic support yet
+    return GenericFirmwarePlugin::instance()->flightMode(base_mode, custom_mode);
+}
+
+bool ArduCopterFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
+{
+    Q_UNUSED(flightMode);
+    Q_UNUSED(base_mode);
+    Q_UNUSED(custom_mode);
+    
+    qWarning() << "ArduCopterFirmwarePlugin::setFlightMode called on base class, not supported";
+    
+    return false;
+}

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef ArduCopterFirmwarePlugin_H
+#define ArduCopterFirmwarePlugin_H
+
+#include "APMFirmwarePlugin.h"
+
+class ArduCopterFirmwarePlugin : public APMFirmwarePlugin
+{
+    Q_OBJECT
+
+    DECLARE_QGC_SINGLETON(ArduCopterFirmwarePlugin, ArduCopterFirmwarePlugin)
+    
+public:
+    // Overrides from FirmwarePlugin
+    virtual bool isCapable(FirmwareCapabilities capabilities);
+    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
+    virtual QStringList flightModes(void);
+    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
+    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
+    
+protected:
+    /// All access to singleton is through instance()
+    ArduCopterFirmwarePlugin(QObject* parent = NULL);
+    
+private:
+};
+
+#endif

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -26,7 +26,7 @@
 
 #include "FirmwarePluginManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
-#include "APM/APMFirmwarePlugin.h"
+#include "APM/ArduCopterFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 
 IMPLEMENT_QGC_SINGLETON(FirmwarePluginManager, FirmwarePluginManager)
@@ -42,11 +42,46 @@ FirmwarePluginManager::~FirmwarePluginManager()
 
 }
 
-FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType)
+FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
 {
     switch (autopilotType) {
         case MAV_AUTOPILOT_ARDUPILOTMEGA:
-            return APMFirmwarePlugin::instance();
+            switch (vehicleType) {
+                case MAV_TYPE_QUADROTOR:
+                case MAV_TYPE_HEXAROTOR:
+                case MAV_TYPE_OCTOROTOR:
+                case MAV_TYPE_TRICOPTER:
+                    return ArduCopterFirmwarePlugin::instance();
+                    break;
+                // FIXME: The remainder of these need to be correctly assigned and new plugin classes created as needed.
+                // Once done, the unused cases can be removed and just the fall back default: left
+                case MAV_TYPE_FIXED_WING:
+                case MAV_TYPE_GENERIC:
+                case MAV_TYPE_COAXIAL:
+                case MAV_TYPE_HELICOPTER:
+                case MAV_TYPE_ANTENNA_TRACKER:
+                case MAV_TYPE_GCS:
+                case MAV_TYPE_AIRSHIP:
+                case MAV_TYPE_FREE_BALLOON:
+                case MAV_TYPE_ROCKET:
+                case MAV_TYPE_GROUND_ROVER:
+                case MAV_TYPE_SURFACE_BOAT:
+                case MAV_TYPE_SUBMARINE:
+                case MAV_TYPE_FLAPPING_WING:
+                case MAV_TYPE_KITE:
+                case MAV_TYPE_ONBOARD_CONTROLLER:
+                case MAV_TYPE_VTOL_DUOROTOR:
+                case MAV_TYPE_VTOL_QUADROTOR:
+                case MAV_TYPE_VTOL_TILTROTOR:
+                case MAV_TYPE_VTOL_RESERVED2:
+                case MAV_TYPE_VTOL_RESERVED3:
+                case MAV_TYPE_VTOL_RESERVED4:
+                case MAV_TYPE_VTOL_RESERVED5:
+                case MAV_TYPE_GIMBAL:
+                default:
+                    return GenericFirmwarePlugin::instance();
+                    break;
+            }
         case MAV_AUTOPILOT_PX4:
             return PX4FirmwarePlugin::instance();
         default:

src/FirmwarePlugin/FirmwarePluginManager.h

@@ -44,8 +44,9 @@ class FirmwarePluginManager : public QGCSingleton
 public:
     /// 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.
-    FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType);
+    FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType);
     
 private:
     /// All access to singleton is through FirmwarePluginManager::instance

src/QGCApplication.cc

@@ -74,7 +74,7 @@
 #include "FirmwarePluginManager.h"
 #include "MultiVehicleManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
-#include "APM/APMFirmwarePlugin.h"
+#include "APM/ArduCopterFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
@@ -597,7 +597,7 @@ void QGCApplication::_createSingletons(void)
     
     // No dependencies
     firmwarePlugin = PX4FirmwarePlugin::_createSingleton();
-    firmwarePlugin = APMFirmwarePlugin::_createSingleton();
+    firmwarePlugin = ArduCopterFirmwarePlugin::_createSingleton();
     
     // No dependencies
     FirmwarePluginManager* firmwarePluginManager = FirmwarePluginManager::_createSingleton();
@@ -673,7 +673,7 @@ void QGCApplication::_destroySingletons(void)
     FirmwarePluginManager::_deleteSingleton();
     GenericFirmwarePlugin::_deleteSingleton();
     PX4FirmwarePlugin::_deleteSingleton();
-    APMFirmwarePlugin::_deleteSingleton();
+    ArduCopterFirmwarePlugin::_deleteSingleton();
     HomePositionManager::_deleteSingleton();
     FlightMapSettings::_deleteSingleton();
 }

src/Vehicle/MultiVehicleManager.cc

@@ -64,7 +64,7 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
             return false;
         }
         
-        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot);
+        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type);
         
         if (!vehicle) {
             qWarning() << "New Vehicle allocation failed";

src/Vehicle/Vehicle.cc

@@ -42,10 +42,11 @@ const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 re
 const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
 const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";
 
-Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
+Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
     : _id(vehicleId)
     , _active(false)
     , _firmwareType(firmwareType)
+    , _vehicleType(vehicleType)
     , _firmwarePlugin(NULL)
     , _autopilotPlugin(NULL)
     , _joystickMode(JoystickModeRC)
@@ -106,7 +107,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
     connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
     
-    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);    
+    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
     _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
     
     connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged, this, &Vehicle::missingParametersChanged);

src/Vehicle/Vehicle.h

@@ -51,7 +51,7 @@ class Vehicle : public QObject
     Q_OBJECT
     
 public:
-    Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType);
+    Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType);
     ~Vehicle();
     
     Q_PROPERTY(int id READ id CONSTANT)
@@ -147,6 +147,7 @@ public:
     // Property accesors
     int id(void) { return _id; }
     MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
+    MAV_TYPE vehicleType(void) { return _vehicleType; }
     
     /// Sends this specified message to all links accociated with this vehicle
     void sendMessage(mavlink_message_t message);
@@ -344,6 +345,7 @@ private:
     bool    _active;
     
     MAV_AUTOPILOT       _firmwareType;
+    MAV_TYPE            _vehicleType;
     FirmwarePlugin*     _firmwarePlugin;
     AutoPilotPlugin*    _autopilotPlugin;
     MAVLinkProtocol*    _mavlink;

src/uas/UAS.cc

@@ -388,7 +388,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             bool statechanged = false;
             bool modechanged = false;
 
-            QString audiomodeText = FirmwarePluginManager::instance()->firmwarePluginForAutopilot((MAV_AUTOPILOT)autopilot)->flightMode(state.base_mode, state.custom_mode);
+            QString audiomodeText = FirmwarePluginManager::instance()->firmwarePluginForAutopilot((MAV_AUTOPILOT)state.autopilot, (MAV_TYPE)state.type)->flightMode(state.base_mode, state.custom_mode);
 
             if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
             {