Merge pull request #3896 from bluerobotics/pluginSemantics

Fix plugin semantics for ArduSub additions

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -66,7 +66,7 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
 
-            if ( !_vehicle->sub() ) {
+            if ( _vehicle->supportsRadio() ) {
                 _radioComponent = new APMRadioComponent(_vehicle, this);
                 _radioComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -52,3 +52,23 @@ int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void)
 {
     return 0;
 }
+
+bool ArduSubFirmwarePlugin::supportsThrottleModeCenterZero(void)
+{
+    return false;
+}
+
+bool ArduSubFirmwarePlugin::supportsManualControl(void)
+{
+    return true;
+}
+
+bool ArduSubFirmwarePlugin::supportsRadio(void)
+{
+    return false;
+}
+
+bool ArduSubFirmwarePlugin::supportsJSButton(void)
+{
+    return true;
+}

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -69,6 +69,13 @@ public:
     // Overrides from FirmwarePlugin
     int manualControlReservedButtonCount(void);
 
+    bool supportsThrottleModeCenterZero(void);
+
+    bool supportsManualControl(void);
+
+    bool supportsRadio(void);
+
+    bool supportsJSButton(void);
 };
 
 #endif

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -83,6 +83,27 @@ int FirmwarePlugin::manualControlReservedButtonCount(void)
     return -1;
 }
 
+bool FirmwarePlugin::supportsThrottleModeCenterZero(void)
+{
+    // By default, this is supported
+    return true;
+}
+
+bool FirmwarePlugin::supportsManualControl(void)
+{
+    return false;
+}
+
+bool FirmwarePlugin::supportsRadio(void)
+{
+    return true;
+}
+
+bool FirmwarePlugin::supportsJSButton(void)
+{
+    return false;
+}
+
 bool FirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);

src/FirmwarePlugin/FirmwarePlugin.h

@@ -128,6 +128,23 @@ public:
     /// @return -1: reserver all buttons, >0 number of buttons to reserve
     virtual int manualControlReservedButtonCount(void);
 
+    /// Returns true if the vehicle and firmware supports the use of a throttle joystick that
+    /// is zero when centered. Typically not supported on vehicles that have bidirectional
+    /// throttle.
+    virtual bool supportsThrottleModeCenterZero(void);
+
+    /// Returns true if the firmware supports the use of the MAVlink "MANUAL_CONTROL" message.
+    /// By default, this returns false unless overridden in the firmware plugin.
+    virtual bool supportsManualControl(void);
+
+    /// Returns true if the firmware supports the use of the RC radio and requires the RC radio
+    /// setup page. Returns true by default.
+    virtual bool supportsRadio(void);
+
+    /// Returns true if the firmware supports the AP_JSButton library, which allows joystick buttons
+    /// to be assigned via parameters in firmware. Default is false.
+    virtual bool supportsJSButton(void);
+
     /// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
     /// can adjust any message characteristics. This is handy to adjust or differences in mavlink
     /// spec implementations such that the base code can remain mavlink generic.

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -170,6 +170,11 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
     return 0;   // 0 buttons reserved for rc switch simulation
 }
 
+bool PX4FirmwarePlugin::supportsManualControl(void)
+{
+    return true;
+}
+
 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
     if(vehicle->multiRotor()) {

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -44,6 +44,7 @@ public:
     void        guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel) final;
     bool        isGuidedMode                    (const Vehicle* vehicle) const;
     int         manualControlReservedButtonCount(void) final;
+    bool        supportsManualControl           (void) final;
     void        initializeVehicle               (Vehicle* vehicle) final;
     bool        sendHomePositionToVehicle       (void) final;
     void        addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;

src/Joystick/Joystick.cc

@@ -284,7 +284,7 @@ void Joystick::run(void)
             throttle =  std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
 
             // Adjust throttle to 0:1 range
-            if (_throttleMode == ThrottleModeCenterZero && !_activeVehicle->sub()) {
+            if (_throttleMode == ThrottleModeCenterZero && _activeVehicle->supportsThrottleModeCenterZero()) {
                 throttle = std::max(0.0f, throttle);
             } else {
                 throttle = (throttle + 1.0f) / 2.0f;

src/Vehicle/Vehicle.cc

@@ -1517,15 +1517,22 @@ bool Vehicle::vtol(void) const
 
 bool Vehicle::supportsManualControl(void) const
 {
-    // PX4 Firmware supports manual control message
-    if ( px4Firmware() ) {
-        return true;
-    }
-    // ArduSub supports manual control message (identified by APM + Submarine type)
-    if ( apmFirmware() && vehicleType() == MAV_TYPE_SUBMARINE ) {
-        return true;
-    }
-    return false;
+    return _firmwarePlugin->supportsManualControl();
+}
+
+bool Vehicle::supportsThrottleModeCenterZero(void) const
+{
+    return _firmwarePlugin->supportsThrottleModeCenterZero();
+}
+
+bool Vehicle::supportsRadio(void) const
+{
+    return _firmwarePlugin->supportsRadio();
+}
+
+bool Vehicle::supportsJSButton(void) const
+{
+    return _firmwarePlugin->supportsJSButton();
 }
 
 void Vehicle::_setCoordinateValid(bool coordinateValid)

src/Vehicle/Vehicle.h

@@ -276,6 +276,8 @@ public:
     Q_PROPERTY(bool                 vtol                    READ vtol                                                   CONSTANT)
     Q_PROPERTY(bool                 rover                   READ rover                                                  CONSTANT)
     Q_PROPERTY(bool                 supportsManualControl   READ supportsManualControl                                  CONSTANT)
+    Q_PROPERTY(bool        supportsThrottleModeCenterZero   READ supportsThrottleModeCenterZero                         CONSTANT)
+    Q_PROPERTY(bool                 supportsJSButton        READ supportsJSButton                                       CONSTANT)
     Q_PROPERTY(bool                 sub                     READ sub                                                    CONSTANT)
     Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                                      NOTIFY autoDisconnectChanged)
     Q_PROPERTY(QString              prearmError             READ prearmError            WRITE setPrearmError            NOTIFY prearmErrorChanged)
@@ -473,6 +475,9 @@ public:
     bool sub(void) const;
 
     bool supportsManualControl(void) const;
+    bool supportsThrottleModeCenterZero(void) const;
+    bool supportsRadio(void) const;
+    bool supportsJSButton(void) const;
 
     void setFlying(bool flying);
     void setGuidedMode(bool guidedMode);

src/VehicleSetup/JoystickConfig.qml

@@ -381,7 +381,7 @@ QGCView {
 
                         Column {
                             spacing: ScreenTools.defaultFontPixelHeight / 3
-                            visible: !_activeVehicle.sub
+                            visible: _activeVehicle.supportsThrottleModeCenterZero
 
                             ExclusiveGroup { id: throttleModeExclusiveGroup }
 
@@ -449,8 +449,8 @@ QGCView {
                             if (buttonActionRepeater.itemAt(index)) {
                                 buttonActionRepeater.itemAt(index).pressed = pressed
                             }
-                            if (subButtonActionRepeater.itemAt(index)) {
-                                subButtonActionRepeater.itemAt(index).pressed = pressed
+                            if (jsButtonActionRepeater.itemAt(index)) {
+                                jsButtonActionRepeater.itemAt(index).pressed = pressed
                             }
                         }
                     }
@@ -474,7 +474,7 @@ QGCView {
 
                             Row {
                                 spacing: ScreenTools.defaultFontPixelWidth
-                                visible: (_activeVehicle.manualControlReservedButtonCount == -1 ? false : modelData >= _activeVehicle.manualControlReservedButtonCount) && !_activeVehicle.sub
+                                visible: (_activeVehicle.manualControlReservedButtonCount == -1 ? false : modelData >= _activeVehicle.manualControlReservedButtonCount) && !_activeVehicle.supportsJSButton
 
                                 property bool pressed
 
@@ -516,7 +516,7 @@ QGCView {
 
                         Row {
                             spacing: ScreenTools.defaultFontPixelWidth
-                            visible: _activeVehicle.sub
+                            visible: _activeVehicle.supportsJSButton
 
                             QGCLabel {
                                 horizontalAlignment:    Text.AlignHCenter
@@ -536,12 +536,12 @@ QGCView {
                         } // Row
 
                         Repeater {
-                            id:     subButtonActionRepeater
+                            id:     jsButtonActionRepeater
                             model:  _activeJoystick.totalButtonCount
 
                             Row {
                                 spacing: ScreenTools.defaultFontPixelWidth
-                                visible: _activeVehicle.sub
+                                visible: _activeVehicle.supportsJSButton
 
                                 property bool pressed
 
@@ -564,14 +564,14 @@ QGCView {
                                 }
 
                                 FactComboBox {
-                                    id:         mainSubButtonActionCombo
+                                    id:         mainJSButtonActionCombo
                                     width:      ScreenTools.defaultFontPixelWidth * 15
                                     fact:       controller.parameterExists(-1, "BTN"+index+"_FUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_FUNCTION") : null;
                                     indexModel: false
                                 }
 
                                 FactComboBox {
-                                    id:         shiftSubButtonActionCombo
+                                    id:         shiftJSButtonActionCombo
                                     width:      ScreenTools.defaultFontPixelWidth * 15
                                     fact:       controller.parameterExists(-1, "BTN"+index+"_SFUNCTION") ? controller.getParameterFact(-1, "BTN" + index + "_SFUNCTION") : null;
                                     indexModel: false