/*===================================================================== PIXHAWK Micro Air Vehicle Flying Robotics Toolkit (c) 2009 PIXHAWK PROJECT This file is part of the PIXHAWK project PIXHAWK 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. PIXHAWK 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 PIXHAWK. If not, see . ======================================================================*/ /** * @file * @brief Implementation of class UASManager * @author Lorenz Meier * */ #include #include #include #include #include "UAS.h" #include #include UASManager* UASManager::instance() { static UASManager* _instance = 0; if(_instance == 0) { _instance = new UASManager(); // Set the application as parent to ensure that this object // will be destroyed when the main application exits _instance->setParent(qApp); } return _instance; } /** * @brief Private singleton constructor * * This class implements the singleton design pattern and has therefore only a private constructor. **/ UASManager::UASManager() : activeUAS(NULL) { systems = QMap(); start(QThread::LowPriority); } UASManager::~UASManager() { } void UASManager::run() { } void UASManager::addUAS(UASInterface* uas) { // Only execute if there is no UAS at this index if (!systems.contains(uas->getUASID())) { systems.insert(uas->getUASID(), uas); emit UASCreated(uas); } // If there is no active UAS yet, set the first one as the active UAS if (activeUAS == NULL) { setActiveUAS(uas); } } UASInterface* UASManager::getActiveUAS() { if(!activeUAS) { QMessageBox msgBox; msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first.")); msgBox.exec(); } return activeUAS; ///< Return zero pointer if no UAS has been loaded } bool UASManager::launchActiveUAS() { // If the active UAS is set, execute command if (getActiveUAS()) activeUAS->launch(); return (activeUAS); ///< Returns true if the UAS exists, false else } bool UASManager::haltActiveUAS() { // If the active UAS is set, execute command if (getActiveUAS()) activeUAS->halt(); return (activeUAS); ///< Returns true if the UAS exists, false else } bool UASManager::continueActiveUAS() { // If the active UAS is set, execute command if (getActiveUAS()) activeUAS->go(); return (activeUAS); ///< Returns true if the UAS exists, false else } bool UASManager::returnActiveUAS() { // If the active UAS is set, execute command if (getActiveUAS()) activeUAS->home(); return (activeUAS); ///< Returns true if the UAS exists, false else } bool UASManager::stopActiveUAS() { // If the active UAS is set, execute command if (getActiveUAS()) activeUAS->emergencySTOP(); return (activeUAS); ///< Returns true if the UAS exists, false else } bool UASManager::killActiveUAS() { if (getActiveUAS()) activeUAS->emergencyKILL(); return (activeUAS); } bool UASManager::shutdownActiveUAS() { if (getActiveUAS()) activeUAS->shutdown(); return (activeUAS); } void UASManager::configureActiveUAS() { UASInterface* actUAS = getActiveUAS(); if(actUAS) { // Do something } } UASInterface* UASManager::getUASForId(int id) { // Return NULL pointer if UAS does not exist return systems.value(id, NULL); } void UASManager::setActiveUAS(UASInterface* uas) { if (uas != NULL) { activeUASMutex.lock(); if (activeUAS != NULL) { emit activeUASStatusChanged(activeUAS, false); emit activeUASStatusChanged(activeUAS->getUASID(), false); } activeUAS = uas; activeUASMutex.unlock(); qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << uas->getUASName(); emit activeUASSet(uas); emit activeUASSet(uas->getUASID()); emit activeUASStatusChanged(uas, true); emit activeUASStatusChanged(uas->getUASID(), true); } }