Use QList<FactGroup*> to expose firmwareplugin factgroups

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -40,7 +40,8 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) :
     setEnumToStringMapping(enumToString);
 }
 
-ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
+ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
+    _infoFactGroup(this)
 {
     QList<APMCustomMode> supportedFlightModes;
     supportedFlightModes << APMSubMode(APMSubMode::MANUAL ,true);
@@ -100,7 +101,7 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
         _remapParamNameIntialized = true;
     }
 
-    fwFactGroup = new APMSubmarineFactGroup(this);
+    _factGroups.append(&_infoFactGroup);
 }
 
 int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
@@ -166,15 +167,15 @@ void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
     QString name = QString(value.name);
 
     if (name == "CamTilt") {
-        fwFactGroup->getFact("camera tilt")->setRawValue(value.value * 100);
+        _infoFactGroup.getFact("camera tilt")->setRawValue(value.value * 100);
     } else if (name == "TetherTrn") {
-        fwFactGroup->getFact("tether turns")->setRawValue(value.value);
+        _infoFactGroup.getFact("tether turns")->setRawValue(value.value);
     } else if (name == "Lights1") {
-        fwFactGroup->getFact("lights 1")->setRawValue(value.value * 100);
+        _infoFactGroup.getFact("lights 1")->setRawValue(value.value * 100);
     } else if (name == "Lights2") {
-        fwFactGroup->getFact("lights 2")->setRawValue(value.value * 100);
+        _infoFactGroup.getFact("lights 2")->setRawValue(value.value * 100);
     } else if (name == "PilotGain") {
-        fwFactGroup->getFact("pilot gain")->setRawValue(value.value * 100);
+        _infoFactGroup.getFact("pilot gain")->setRawValue(value.value * 100);
     }
 }
 

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -28,6 +28,40 @@
 #define ArduSubFirmwarePlugin_H
 
 #include "APMFirmwarePlugin.h"
+class APMSubmarineFactGroup : public FactGroup
+{
+    Q_OBJECT
+
+public:
+    APMSubmarineFactGroup(QObject* parent = NULL);
+
+    Q_PROPERTY(Fact* camTilt       READ camTilt       CONSTANT)
+    Q_PROPERTY(Fact* tetherTurns   READ tetherTurns   CONSTANT)
+    Q_PROPERTY(Fact* lightsLevel1  READ lightsLevel1  CONSTANT)
+    Q_PROPERTY(Fact* lightsLevel2  READ lightsLevel2  CONSTANT)
+    Q_PROPERTY(Fact* pilotGain     READ pilotGain     CONSTANT)
+
+    Fact* camTilt       (void) { return &_camTiltFact; }
+    Fact* tetherTurns   (void) { return &_tetherTurnsFact; }
+    Fact* lightsLevel1  (void) { return &_lightsLevel1Fact; }
+    Fact* lightsLevel2  (void) { return &_lightsLevel2Fact; }
+    Fact* pilotGain     (void) { return &_pilotGainFact; }
+
+    static const char* _camTiltFactName;
+    static const char* _tetherTurnsFactName;
+    static const char* _lightsLevel1FactName;
+    static const char* _lightsLevel2FactName;
+    static const char* _pilotGainFactName;
+
+    static const char* _settingsGroup;
+
+private:
+    Fact            _camTiltFact;
+    Fact            _tetherTurnsFact;
+    Fact            _lightsLevel1Fact;
+    Fact            _lightsLevel2Fact;
+    Fact            _pilotGainFact;
+};
 
 class APMSubMode : public APMCustomMode
 {
@@ -97,40 +131,7 @@ private:
     static FirmwarePlugin::remapParamNameMajorVersionMap_t  _remapParamName;
     void _handleNamedValueFloat(mavlink_message_t* message);
     void _handleMavlinkMessage(mavlink_message_t* message);
-};
-
-class APMSubmarineFactGroup : public FactGroup
-{
-    Q_OBJECT
-
-public:
-    APMSubmarineFactGroup(QObject* parent = NULL);
-
-    Q_PROPERTY(Fact* camTilt       READ camTilt       CONSTANT)
-    Q_PROPERTY(Fact* tetherTurns   READ tetherTurns   CONSTANT)
-    Q_PROPERTY(Fact* lightsLevel1  READ lightsLevel1  CONSTANT)
-    Q_PROPERTY(Fact* lightsLevel2  READ lightsLevel2  CONSTANT)
-    Q_PROPERTY(Fact* pilotGain     READ pilotGain     CONSTANT)
-
-    Fact* camTilt       (void) { return &_camTiltFact; }
-    Fact* tetherTurns   (void) { return &_tetherTurnsFact; }
-    Fact* lightsLevel1  (void) { return &_lightsLevel1Fact; }
-    Fact* lightsLevel2  (void) { return &_lightsLevel2Fact; }
-    Fact* pilotGain     (void) { return &_pilotGainFact; }
-
-    static const char* _camTiltFactName;
-    static const char* _tetherTurnsFactName;
-    static const char* _lightsLevel1FactName;
-    static const char* _lightsLevel2FactName;
-    static const char* _pilotGainFactName;
 
-    static const char* _settingsGroup;
-
-private:
-    Fact            _camTiltFact;
-    Fact            _tetherTurnsFact;
-    Fact            _lightsLevel1Fact;
-    Fact            _lightsLevel2Fact;
-    Fact            _pilotGainFact;
+    APMSubmarineFactGroup _infoFactGroup;
 };
 #endif

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -419,6 +419,10 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
     return _cameraList;
 }
 
+QList<FactGroup*> FirmwarePlugin::factGroups(void) {
+    return _factGroups;
+}
+
 bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
 {
     return vehicle->multiRotor() ? false : true;

src/FirmwarePlugin/FirmwarePlugin.h

@@ -273,6 +273,8 @@ public:
     /// Returns a list of CameraMetaData objects for available cameras on the vehicle.
     virtual const QVariantList& cameraList(const Vehicle* vehicle);
 
+    virtual QList<FactGroup*> factGroups(void);
+
     /// @true: When flying a mission the vehicle is always facing towards the next waypoint
     virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;
 
@@ -295,13 +297,11 @@ public:
     // FIXME: Hack workaround for non pluginize FollowMe support
     static const char* px4FollowMeFlightMode;
 
-    /// Used to add additional firmware-specific facts to the vehicle values widget
-    FactGroup* fwFactGroup = NULL;
-
 protected:
     // Arms the vehicle with validation and retries
     // @return: true - vehicle armed, false - vehicle failed to arm
     bool _armVehicleAndValidate(Vehicle* vehicle);
+    QList<FactGroup*> _factGroups;
 
     // Sets the vehicle to the specified flight mode with validation and retries
     // @return: true - vehicle in specified flight mode, false - flight mode change failed

src/Vehicle/Vehicle.cc

@@ -373,8 +373,9 @@ void Vehicle::_commonInit(void)
     _addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
 
     // Add firmware-specific fact group, if provided
-    if (_firmwarePlugin->fwFactGroup) {
-        _addFactGroup(_firmwarePlugin->fwFactGroup, "FWPlugin");
+    QList<FactGroup*> fwFactGroups = _firmwarePlugin->factGroups();
+    for (int i = 0; i < fwFactGroups.count(); i++) {
+        _addFactGroup(fwFactGroups[i], QString("FWPlugin%1").arg(i));
     }
 
     _flightDistanceFact.setRawValue(0);