Working on plugin system to simplify build dependencies between QGroundControl and MAVLink

qgroundcontrol.pri

@@ -25,21 +25,6 @@
 #
 #-------------------------------------------------
 
-QT       += network opengl svg xml phonon
-
-TEMPLATE = app
-TARGET = qgroundcontrol
-
-BASEDIR = .
-BUILDDIR = build
-LANGUAGE = C++
-
-CONFIG += debug_and_release console
-
-OBJECTS_DIR = $$BUILDDIR/obj
-MOC_DIR = $$BUILDDIR/moc
-UI_HEADERS_DIR = src/ui/generated
-
 #$$BASEDIR/lib/qextserialport/include
 #               $$BASEDIR/lib/openjaus/libjaus/include \
 #               $$BASEDIR/lib/openjaus/libopenJaus/include

qgroundcontrol.pro

@@ -8,6 +8,22 @@
 include(lib/QMapControl/QMapControl.pri)
 message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
 
+
+QT       += network opengl svg xml phonon
+
+TEMPLATE = app
+TARGET = qgroundcontrol
+
+BASEDIR = .
+BUILDDIR = build
+LANGUAGE = C++
+
+CONFIG += debug_and_release console
+
+OBJECTS_DIR = $$BUILDDIR/obj
+MOC_DIR = $$BUILDDIR/moc
+UI_HEADERS_DIR = src/ui/generated
+
 # }
 # Include general settings for MAVGround
 # necessary as last include to override any non-acceptable settings
@@ -22,7 +38,8 @@ include(src/lib/qextserialport/qextserialport.pri)
 include(src/lib/qwt/qwt.pri)
 DEPENDPATH += . \
     lib/QMapControl \
-    lib/QMapControl/src
+    lib/QMapControl/src \
+    plugins
 INCLUDEPATH += . \
     lib/QMapControl \
     ../mavlink/include \

src/Core.cc

@@ -131,7 +131,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         }
     }
 
-   // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
+    // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     mainWindow->addLink(simulationLink);
 }
@@ -164,7 +164,42 @@ void Core::startLinkManager()
  **/
 void Core::startUASManager()
 {
-    UASManager::instance();
+    // Load UAS plugins
+    QDir pluginsDir = QDir(qApp->applicationDirPath());
+
+#if defined(Q_OS_WIN)
+    if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
+        pluginsDir.cdUp();
+#elif defined(Q_OS_LINUX)
+    if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
+        pluginsDir.cdUp();
+#elif defined(Q_OS_MAC)
+    if (pluginsDir.dirName() == "MacOS")
+    {
+        pluginsDir.cdUp();
+        pluginsDir.cdUp();
+        pluginsDir.cdUp();
+    }
+#endif
+    pluginsDir.cd("plugins");
+
+    UASManager* m = UASManager::instance();
+
+    // Load plugins
+
+    QStringList pluginFileNames;
+
+    foreach (QString fileName, pluginsDir.entryList(QDir::Files))
+    {
+        QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
+        QObject *plugin = loader.instance();
+        if (plugin)
+        {
+            //populateMenus(plugin);
+            pluginFileNames += fileName;
+            printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());
+        }
+    }
 }
 
 

src/plugins/.gitignore

+moc_*
+*.o
+Makefile
+Makefile.Debug
+Makefile.Release

src/plugins/PxMAV.cc

+#include "PxMAV.h"
+
+#include <QtCore>
+
+PxMAV::PxMAV() :
+        UAS(NULL, 0)
+{
+}
+
+PxMAV::PxMAV(MAVLinkProtocol* mavlink, int id) :
+        UAS(mavlink, id)
+{
+}
+
+/**
+ * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
+ * mavlink packet is received.
+ *
+ * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
+ *             messages can be sent back to the system via this link
+ * @param message MAVLink message, as received from the MAVLink protocol stack
+ */
+void PxMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
+{
+    // Let UAS handle the default message set
+    UAS::receiveMessage(link, message);
+    mavlink_message_t* msg = &message;
+
+        //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
+
+
+    // Handle your special messages
+    switch (msg->msgid)
+    {
+    case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
+        {
+            mavlink_watchdog_heartbeat_t payload;
+            mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
+            
+            emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
+        }
+        break;
+        
+    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
+        {
+            mavlink_watchdog_process_info_t payload;
+            mavlink_msg_watchdog_process_info_decode(msg, &payload);
+            
+            emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
+        }
+        break;
+        
+    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
+        {
+            mavlink_watchdog_process_status_t payload;
+            mavlink_msg_watchdog_process_status_decode(msg, &payload);
+            emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
+        }
+        break;
+    case MAVLINK_MSG_ID_DEBUG_VECT:
+        {
+            mavlink_debug_vect_t vect;
+            mavlink_msg_debug_vect_decode(msg, &vect);
+            QString str((const char*)vect.name);
+            emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
+            emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
+            emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
+        }
+        break;
+    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
+        {
+            mavlink_vision_position_estimate_t pos;
+            mavlink_msg_vision_position_estimate_decode(&message, &pos);
+            quint64 time = getUnixTime(pos.usec);
+            emit valueChanged(uasId, "vis. time", pos.usec, time);
+            emit valueChanged(uasId, "vis. roll", pos.roll, time);
+            emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
+            emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
+            emit valueChanged(uasId, "vis. x", pos.x, time);
+            emit valueChanged(uasId, "vis. y", pos.y, time);
+            emit valueChanged(uasId, "vis. z", pos.z, time);
+            emit valueChanged(uasId, "vis. vx", pos.vx, time);
+            emit valueChanged(uasId, "vis. vy", pos.vy, time);
+            emit valueChanged(uasId, "vis. vz", pos.vz, time);
+            emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
+            // Set internal state
+            if (!positionLock)
+            {
+                // If position was not locked before, notify positive
+               // GAudioOutput::instance()->notifyPositive();
+            }
+            positionLock = true;
+        }
+        break;
+    default:
+        // Do nothing
+        break;
+    }
+}
+
+void PxMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
+{
+    mavlink_watchdog_command_t payload;
+    payload.target_system_id = uasId;
+    payload.watchdog_id = watchdogId;
+    payload.process_id = processId;
+    payload.command_id = (uint8_t)command;
+
+    mavlink_message_t msg;
+    mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
+    sendMessage(msg);
+}
+
+ Q_EXPORT_PLUGIN2(pixhawk_plugins, PxMAV)

src/plugins/PxMAV.h

+#ifndef PXMAV_H
+#define PXMAV_H
+
+#include "UAS.h"
+
+class PxMAV : public UAS
+{
+    Q_OBJECT
+    Q_INTERFACES(UASInterface)
+public:
+    PxMAV(MAVLinkProtocol* mavlink, int id);
+    PxMAV();
+public slots:
+    /** @brief Receive a MAVLink message from this MAV */
+    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    /** @brief Send a command to an onboard process */
+    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
+signals:
+    void watchdogReceived(int systemId, int watchdogId, unsigned int processCount);
+    void processReceived(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
+    void processChanged(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
+};
+
+#endif // PXMAV_H

src/plugins/pixhawk_plugins.pro

+# This plugin is also identified by this line in PxMAV.cc
+# Q_EXPORT_PLUGIN2(pixhawk_plugins, PxMAV)
+
+include(../../qgroundcontrol.pri)
+
+TEMPLATE      = lib
+CONFIG       += plugin
+QT += phonon
+INCLUDEPATH  += ../. \
+    ../../../mavlink/include \
+    ../../MAVLink/include \
+    ../../mavlink/include \
+    ../uas \
+    ../comm
+HEADERS       = PxMAV.h
+SOURCES       = PxMAV.cc \
+    ../uas/UAS.cc \
+    ../GAudioOutput.cc \
+    ../comm/MAVLinkProtocol.cc \
+    ../uas/UASManager.cc
+TARGET        = $$qtLibraryTarget(pixhawk_plugins)
+DESTDIR       = ../../plugins

src/uas/PxQuadMAV.h

@@ -6,6 +6,7 @@
 class PxQuadMAV : public UAS
 {
     Q_OBJECT
+    Q_INTERFACES(UASInterface)
 public:
     PxQuadMAV(MAVLinkProtocol* mavlink, int id);
 public slots:

src/uas/UAS.cc

@@ -43,7 +43,7 @@ This file is part of the PIXHAWK project
 #include "MAVLinkProtocol.h"
 #include <mavlink.h>
 
-UAS::UAS(MAVLinkProtocol* protocol, int id) :
+UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         uasId(id),
         startTime(MG::TIME::getGroundTimeNow()),
         commStatus(COMM_DISCONNECTED),
@@ -73,6 +73,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) :
         positionLock(false),
         statusTimeout(new QTimer(this))
 {
+    color = UASInterface::getNextColor();
     setBattery(LIPOLY, 3);
     statusTimeout->setInterval(500);
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));

src/uas/UASInterface.h

@@ -51,10 +51,6 @@ class UASInterface : public QObject
 {
     Q_OBJECT
 public:
-    UASInterface() :
-            color(UASInterface::getNextColor())
-    {
-    }
     virtual ~UASInterface() {}
 
     /* MANAGEMENT */
@@ -312,4 +308,6 @@ signals:
     void systemTypeSet(UASInterface* uas, unsigned int type);
 };
 
+Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");
+
 #endif // _UASINTERFACE_H_