/**************************************************************************** * * (c) 2009-2018 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ // NO NEW CODE HERE // UASInterface, UAS.h/cc are deprecated. All new functionality should go into Vehicle.h/cc // #pragma once #include #include #include #include #include #include "LinkInterface.h" #include "ProtocolInterface.h" #ifndef __mobile__ class FileManager; #endif /** * @brief Interface for all robots. * * This interface is abstract and thus cannot be instantiated. It serves only as type definition. * It represents an unmanned aerial vehicle, e.g. a micro air vehicle. **/ class UASInterface : public QObject { Q_OBJECT public: virtual ~UASInterface() {} /* MANAGEMENT */ virtual int getUASID() const = 0; ///< Get the ID of the connected UAS /** @brief The time interval the robot is switched on **/ virtual quint64 getUptime() const = 0; #ifndef __mobile__ virtual FileManager* getFileManager() = 0; #endif virtual QMap getComponents() = 0; enum StartCalibrationType { StartCalibrationRadio, StartCalibrationGyro, StartCalibrationMag, StartCalibrationAirspeed, StartCalibrationAccel, StartCalibrationLevel, StartCalibrationPressure, StartCalibrationEsc, StartCalibrationCopyTrims, StartCalibrationUavcanEsc, StartCalibrationCompassMot, }; enum StartBusConfigType { StartBusConfigActuators, EndBusConfigActuators, }; /// Starts the specified calibration virtual void startCalibration(StartCalibrationType calType) = 0; /// Ends any current calibration virtual void stopCalibration(void) = 0; /// Starts the specified bus configuration virtual void startBusConfig(StartBusConfigType calType) = 0; /// Ends any current bus configuration virtual void stopBusConfig(void) = 0; public slots: /** @brief Order the robot to pair its receiver **/ virtual void pairRX(int rxType, int rxSubType) = 0; /** @brief Send the full HIL state to the MAV */ #ifndef __mobile__ virtual void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, double lat, double lon, double alt, float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc) = 0; /** @brief RAW sensors for sensor HIL */ virtual void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed) = 0; /** @brief Send raw GPS for sensor HIL */ virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites) = 0; /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/ virtual void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x, float flow_comp_m_y, quint8 quality, float ground_distance) = 0; #endif /** @brief Send command to map a RC channel to a parameter */ virtual void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax) = 0; /** @brief Send command to disable all bindings/maps between RC and parameters */ virtual void unsetRCToParameterMap() = 0; signals: /** * @brief Update the error count of a device * * The error count indicates how many errors occurred during the use of a device. * Usually a random error from time to time is acceptable, e.g. through electromagnetic * interferences on device lines like I2C and SPI. A constantly and rapidly increasing * error count however can help to identify broken cables or misbehaving drivers. * * @param uasid System ID * @param component Name of the component, e.g. "IMU" * @param device Name of the device, e.g. "SPI0" or "I2C1" * @param count Errors occurred since system startup */ void errCountChanged(int uasid, QString component, QString device, int count); /** @brief The robot is connected **/ void connected(); /** @brief The robot is disconnected **/ void disconnected(); /** @brief A value of the robot has changed. * * Typically this is used to send lowlevel information like the battery voltage to the plotting facilities of * the groundstation. The data here should be converted to human-readable values before being passed, so ideally * SI units. * * @param uasId ID of this system * @param name name of the value, e.g. "battery voltage" * @param unit The units this variable is in as an abbreviation. For system-dependent (such as raw ADC values) use "raw", for bitfields use "bits", for true/false or on/off use "bool", for unitless values use "-". * @param value the value that changed * @param msec the timestamp of the message, in milliseconds */ void valueChanged(const int uasid, const QString& name, const QString& unit, const QVariant &value,const quint64 msecs); void parameterUpdate(int uas, int component, QString parameterName, int parameterCount, int parameterId, int type, QVariant value); /** * @brief The battery status has been updated * * @param uas sending system * @param voltage battery voltage * @param percent remaining capacity in percent * @param seconds estimated remaining flight time in seconds */ void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds); void statusChanged(UASInterface* uas, QString status); void imageStarted(int imgid, int width, int height, int depth, int channels); void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex); /** @brief Optical flow status changed */ void opticalFlowStatusChanged(bool supported, bool enabled, bool ok); /** @brief Vision based localization status changed */ void visionLocalizationStatusChanged(bool supported, bool enabled, bool ok); /** @brief Infrared / Ultrasound status changed */ void distanceSensorStatusChanged(bool supported, bool enabled, bool ok); /** @brief Gyroscope status changed */ void gyroStatusChanged(bool supported, bool enabled, bool ok); /** @brief Accelerometer status changed */ void accelStatusChanged(bool supported, bool enabled, bool ok); /** @brief Magnetometer status changed */ void magSensorStatusChanged(bool supported, bool enabled, bool ok); /** @brief Barometer status changed */ void baroStatusChanged(bool supported, bool enabled, bool ok); /** @brief Differential pressure / airspeed status changed */ void airspeedStatusChanged(bool supported, bool enabled, bool ok); // ERROR AND STATUS SIGNALS /** @brief Name of system changed */ void nameChanged(QString newName); /** @brief Core specifications have changed */ void systemSpecsChanged(int uasId); // Log Download Signals void logEntry (UASInterface* uas, uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num); void logData (UASInterface* uas, uint32_t ofs, uint16_t id, uint8_t count, const uint8_t* data); }; Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0")