Merge pull request #4259 from dogmaphobic/pluginSupport

Plugin support

android.pri

+include($$PWD/libs/qtandroidserialport/src/qtandroidserialport.pri)
+message("Adding Serial Java Classes")
+QT += androidextras
+ANDROID_PACKAGE_SOURCE_DIR = $$PWD/android
+OTHER_FILES += \
+    $$PWD/android/AndroidManifest.xml \
+    $$PWD/android/res/xml/device_filter.xml \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/CommonUsbSerialDriver.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/Cp2102SerialDriver.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/FtdiSerialDriver.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/ProlificSerialDriver.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/UsbId.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialDriver.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialProber.java \
+    $$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialRuntimeException.java \
+    $$PWD/android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java \
+    $$PWD/android/src/org/qgroundcontrol/qgchelper/UsbIoManager.java
+
+DISTFILES += \
+    $$PWD/android/gradle/wrapper/gradle-wrapper.jar \
+    $$PWD/android/gradlew \
+    $$PWD/android/res/values/libs.xml \
+    $$PWD/android/build.gradle \
+    $$PWD/android/gradle/wrapper/gradle-wrapper.properties \
+    $$PWD/android/gradlew.bat

api/IQGCApplication.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+
+/**
+ *   @brief QGC Main Application Interface (used for Dynamic Loaded plugins)
+ *   @author Gus Grubba <mavlink@grubba.com>
+ */
+
+#pragma once
+
+class IQGCApplication
+{
+public:
+    IQGCApplication() {}
+    virtual ~IQGCApplication() {}
+    //-- Not yet implemented
+};

api/IQGCCorePlugin.h

+#pragma once
+
+#include <QObject>
+
+/// @file
+///     @brief Core Plugin Interface for QGroundControl
+///     @author Gus Grubba <mavlink@grubba.com>
+
+// Work In Progress
+
+class QGCApplication;
+class IQGCApplication;
+class IQGCOptions;
+class IQGCQMLSource;
+
+class IQGCCorePlugin
+{
+public:
+    IQGCCorePlugin(QObject*)  {}
+    virtual ~IQGCCorePlugin() {}
+
+#if defined (QGC_DYNAMIC_PLUGIN)
+    virtual bool            init        (IQGCApplication* pApp) = 0;
+#else
+    virtual bool            init        (QGCApplication* pApp) = 0;
+#endif
+    virtual IQGCOptions*    uiOptions   () { return NULL; }
+    virtual IQGCQMLSource*  settingsQML () { return NULL; }
+};
+
+#if defined (QGC_DYNAMIC_PLUGIN)
+Q_DECLARE_INTERFACE(IQGCCorePlugin, "org.qgroundcontrol.qgccoreplugin")
+#endif

api/IQGCOptions.h

+#pragma once
+
+/// @file
+///     @brief Core Plugin Interface for QGroundControl
+///     @author Gus Grubba <mavlink@grubba.com>
+
+class IQGCOptions
+{
+public:
+    IQGCOptions() {}
+    virtual ~IQGCOptions() {}
+    //! Should QGC colapse its settings menu into one single menu (Settings and Vehicle Setup)?
+    /*!
+        @return true if QGC should consolidate both menus into one.
+    */
+    virtual bool        colapseSettings             () { return false; }
+    //! Should QGC use Maps as its default main view?
+    /*!
+        @return true if QGC should use Maps by default or false to show Video by default.
+    */
+    virtual bool        mainViewIsMap               () { return true;  }
+    //! Should QGC use virtual Joysticks?
+    /*!
+        @return false to disable Virtual Joysticks.
+    */
+    virtual bool        enableVirtualJoystick       () { return true;  }
+    //! Should QGC allow setting auto-connect options?
+    /*!
+        @return false to disable auto-connect options.
+    */
+    virtual bool        enableAutoConnectOptions    () { return true;  }
+    //! Should QGC allow setting video source options?
+    /*!
+        @return false to disable video source options.
+    */
+    virtual bool        enableVideoSourceOptions    () { return true;  }
+    //! Does your plugin defines its on video source?
+    /*!
+        @return true to define your own video source.
+    */
+    virtual bool        definesVideo                () { return false; }
+    //! UDP port to use for (RTP) video source.
+    /*!
+        @return UDP Port to use. Return 0 to disable UDP RTP.
+    */
+    virtual uint16_t    videoUDPPort                () { return 0; }
+    //! RTSP URL to use for video source.
+    /*!
+        @return RTSP url to use. Return "" to disable RTSP.
+    */
+    virtual QString     videoRSTPUrl                () { return QString(); }
+};

api/IQGCQMLSource.h

+#pragma once
+
+#include <QString>
+
+/// @file
+///     @brief Core Plugin Interface for QGroundControl
+///     @author Gus Grubba <mavlink@grubba.com>
+
+class IQGCQMLSource
+{
+public:
+    IQGCQMLSource() {}
+    virtual ~IQGCQMLSource() {}
+    virtual QString     pageUrl                () { return QString(); }
+    virtual QString     pageTitle              () { return QString(); }
+    virtual QString     pageIconUrl            () { return QString(); }
+};

apmresources.qrc

+<RCC>
+    <qresource prefix="/unittest">
+        <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
+        <file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
+        <file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
+    </qresource>
+    <qresource prefix="/qml">
+        <file alias="APMAirframeComponent.qml">src/AutoPilotPlugins/APM/APMAirframeComponent.qml</file>
+        <file alias="APMAirframeComponentSummary.qml">src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml</file>
+        <file alias="APMCameraComponent.qml">src/AutoPilotPlugins/APM/APMCameraComponent.qml</file>
+        <file alias="APMCameraComponentSummary.qml">src/AutoPilotPlugins/APM/APMCameraComponentSummary.qml</file>
+        <file alias="APMFlightModesComponent.qml">src/AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
+        <file alias="APMFlightModesComponentSummary.qml">src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
+        <file alias="APMLightsComponent.qml">src/AutoPilotPlugins/APM/APMLightsComponent.qml</file>
+        <file alias="APMLightsComponentSummary.qml">src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml</file>
+        <file alias="APMNotSupported.qml">src/AutoPilotPlugins/APM/APMNotSupported.qml</file>
+        <file alias="APMPowerComponent.qml">src/AutoPilotPlugins/APM/APMPowerComponent.qml</file>
+        <file alias="APMPowerComponentSummary.qml">src/AutoPilotPlugins/APM/APMPowerComponentSummary.qml</file>
+        <file alias="APMRadioComponentSummary.qml">src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml</file>
+        <file alias="APMSafetyComponentCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentCopter.qml</file>
+        <file alias="APMSafetyComponentPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentPlane.qml</file>
+        <file alias="APMSafetyComponentRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentRover.qml</file>
+        <file alias="APMSafetyComponentSub.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml</file>
+        <file alias="APMSafetyComponentSummaryCopter.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryCopter.qml</file>
+        <file alias="APMSafetyComponentSummaryPlane.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryPlane.qml</file>
+        <file alias="APMSafetyComponentSummaryRover.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummaryRover.qml</file>
+        <file alias="APMSafetyComponentSummarySub.qml">src/AutoPilotPlugins/APM/APMSafetyComponentSummarySub.qml</file>
+        <file alias="APMSensorsComponent.qml">src/AutoPilotPlugins/APM/APMSensorsComponent.qml</file>
+        <file alias="APMSensorsComponentSummary.qml">src/AutoPilotPlugins/APM/APMSensorsComponentSummary.qml</file>
+        <file alias="APMTuningComponentCopter.qml">src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml</file>
+    </qresource>
+    <qresource prefix="/json">
+        <file alias="APM/MavCmdInfoCommon.json">src/FirmwarePlugin/APM/MavCmdInfoCommon.json</file>
+        <file alias="APM/MavCmdInfoFixedWing.json">src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json</file>
+        <file alias="APM/MavCmdInfoMultiRotor.json">src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json</file>
+        <file alias="APM/MavCmdInfoRover.json">src/FirmwarePlugin/APM/MavCmdInfoRover.json</file>
+        <file alias="APM/MavCmdInfoSub.json">src/FirmwarePlugin/APM/MavCmdInfoSub.json</file>
+        <file alias="APM/MavCmdInfoVTOL.json">src/FirmwarePlugin/APM/MavCmdInfoVTOL.json</file>
+    </qresource>
+</RCC>

px4resources.qrc

+<RCC>
+    <qresource prefix="/unittest">
+        <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
+    </qresource>
+    <qresource prefix="/qml">
+        <file alias="PX4AdvancedFlightModes.qml">src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml</file>
+        <file alias="PX4FlightModes.qml">src/AutoPilotPlugins/PX4/PX4FlightModes.qml</file>
+        <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
+        <file alias="PX4RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml</file>
+        <file alias="PX4SimpleFlightModes.qml">src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml</file>
+        <file alias="PX4TuningComponentCopter.qml">src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml</file>
+        <file alias="PX4TuningComponentPlane.qml">src/AutoPilotPlugins/PX4/PX4TuningComponentPlane.qml</file>
+        <file alias="PX4TuningComponentVTOL.qml">src/AutoPilotPlugins/PX4/PX4TuningComponentVTOL.qml</file>
+    </qresource>
+    <qresource prefix="/json">
+        <file alias="PX4/MavCmdInfoCommon.json">src/FirmwarePlugin/PX4/MavCmdInfoCommon.json</file>
+        <file alias="PX4/MavCmdInfoFixedWing.json">src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json</file>
+        <file alias="PX4/MavCmdInfoMultiRotor.json">src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json</file>
+        <file alias="PX4/MavCmdInfoRover.json">src/FirmwarePlugin/PX4/MavCmdInfoRover.json</file>
+        <file alias="PX4/MavCmdInfoSub.json">src/FirmwarePlugin/PX4/MavCmdInfoSub.json</file>
+        <file alias="PX4/MavCmdInfoVTOL.json">src/FirmwarePlugin/PX4/MavCmdInfoVTOL.json</file>
+    </qresource>
+</RCC>

src/FactSystem/FactControls/FactCheckBox.qml

@@ -11,8 +11,8 @@ QGCCheckBox {
     property variant checkedValue: 1
     property variant uncheckedValue: 0
 
-    partiallyCheckedEnabled: fact.value != checkedValue && fact.value != uncheckedValue
-    checkedState: fact.value == checkedValue ? Qt.Checked : (fact.value == uncheckedValue ? Qt.Unchecked : Qt.PartiallyChecked)
+    partiallyCheckedEnabled: fact ? fact.value !== checkedValue && fact.value !== uncheckedValue : false
+    checkedState: fact ? fact.value === checkedValue ? Qt.Checked : (fact.value === uncheckedValue ? Qt.Unchecked : Qt.PartiallyChecked) : false
 
     text: qsTr("Label")
 

src/QGCApplication.cc

@@ -83,6 +83,10 @@
 #include "QGCMapPolygon.h"
 #include "ParameterManager.h"
 
+#if defined(QGC_CUSTOM_BUILD)
+#include CUSTOMHEADER
+#endif
+
 #ifndef __ios__
     #include "SerialLink.h"
 #endif
@@ -184,10 +188,15 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     , _toolbox(NULL)
     , _bluetoothAvailable(false)
     , _lastKnownHomePosition(37.803784, -122.462276, 0.0)
+    , _pQGCOptions(NULL)
+    , _pCorePlugin(NULL)
 {
     Q_ASSERT(_app == NULL);
     _app = this;
 
+    //-- Scan and load plugins
+    _scanAndLoadPlugins();
+
     // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
 #ifndef __android__
     setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
@@ -349,6 +358,9 @@ QGCApplication::~QGCApplication()
 #endif
     shutdownVideoStreaming();
     delete _toolbox;
+    if(_pCorePlugin) {
+        delete _pCorePlugin;
+    }
 }
 
 void QGCApplication::_initCommon(void)
@@ -445,6 +457,13 @@ bool QGCApplication::_initForNormalAppBoot(void)
 
     settings.sync();
 
+    //-- Initialize Core Plugin (if any)
+    if(_pCorePlugin) {
+        if(!_pCorePlugin->init(this)) {
+            return false;
+        }
+    }
+
     return true;
 }
 
@@ -564,7 +583,7 @@ void QGCApplication::setStyle(bool styleIsDark)
     emit styleChanged(_styleIsDark);
 }
 
-void QGCApplication::_loadCurrentStyle(void)
+void QGCApplication::_loadCurrentStyle()
 {
 #ifndef __mobile__
     bool success = true;
@@ -626,7 +645,7 @@ void QGCApplication::_missingParamsDisplay(void)
     showMessage(QString("Parameters missing from firmware: %1. You may be running an older version of firmware QGC does not work correctly with or your firmware has a bug in it.").arg(params));
 }
 
-QObject* QGCApplication::_rootQmlObject(void)
+QObject* QGCApplication::_rootQmlObject()
 {
 #ifdef __mobile__
     return _qmlAppEngine->rootObjects()[0];
@@ -689,3 +708,41 @@ void QGCApplication::setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosit
     settings.setValue(_lastKnownHomePositionAltKey, lastKnownHomePosition.altitude());
     _lastKnownHomePosition = lastKnownHomePosition;
 }
+
+IQGCOptions* QGCApplication::qgcOptions()
+{
+    return _pQGCOptions;
+}
+
+void QGCApplication::_scanAndLoadPlugins()
+{
+#if defined (QGC_DYNAMIC_PLUGIN)
+    //-- Look for plugins (Dynamic)
+    QString filter = "*.core.so";
+    QString path = QCoreApplication::applicationDirPath();
+    QDirIterator it(path, QStringList() << filter, QDir::Files);
+    while(it.hasNext()) {
+        QString pluginFile = it.next();
+        QPluginLoader loader(pluginFile);
+        QObject *plugin = loader.instance();
+        if(plugin) {
+            _pCorePlugin = qobject_cast<IQGCCorePlugin*>(plugin);
+            if(_pCorePlugin) {
+                _pQGCOptions = _pCorePlugin->uiOptions();
+                return;
+            }
+        } else {
+            qWarning() << "Plugin" << pluginFile << " not loaded:" << loader.errorString();
+        }
+    }
+#elif defined (QGC_CUSTOM_BUILD)
+    //-- Create custom plugin (Static)
+    _pCorePlugin = (IQGCCorePlugin*) new CUSTOMCLASS(this);
+    if(_pCorePlugin) {
+        _pQGCOptions = _pCorePlugin->uiOptions();
+        return;
+    }
+#endif
+    //-- No plugins found, use default options
+    _pQGCOptions = new IQGCOptions;
+}

src/QGCApplication.h

@@ -35,6 +35,12 @@
 #include "UASMessageHandler.h"
 #include "FactSystem.h"
 
+//-- Plugin Architecture
+#include "IQGCApplication.h"
+#include "IQGCCorePlugin.h"
+#include "IQGCOptions.h"
+#include "IQGCQMLSource.h"
+
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
 #endif
@@ -117,6 +123,11 @@ public:
     QGeoCoordinate lastKnownHomePosition(void) { return _lastKnownHomePosition; }
     void setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition);
 
+    /// Options (can be overwriten by a core plugin)
+    IQGCOptions*    qgcOptions();
+    /// Custom core plugin (NULL if none)
+    IQGCCorePlugin* customCorePlugin() { return _pCorePlugin; }
+
 public slots:
     /// You can connect to this slot to show an information message box from a different thread.
     void informationMessageBoxOnMainThread(const QString& title, const QString& msg);
@@ -166,8 +177,9 @@ private slots:
     void _missingParamsDisplay(void);
 
 private:
-    void _loadCurrentStyle(void);
-    QObject* _rootQmlObject(void);
+    void        _loadCurrentStyle   ();
+    QObject*    _rootQmlObject      ();
+    void        _scanAndLoadPlugins ();
 
 #ifdef __mobile__
     QQmlApplicationEngine* _qmlAppEngine;
@@ -205,6 +217,10 @@ private:
 
     /// Unit Test have access to creating and destroying singletons
     friend class UnitTest;
+
+    //-- Plugin Architecture
+    IQGCOptions*    _pQGCOptions;
+    IQGCCorePlugin* _pCorePlugin;
 };
 
 /// @brief Returns the QGCApplication object singleton.