Rework AutoPilotPlugin to support knowing if VehicleComponent available

mavlink · Feb 17, 2025 · 7a4b4e1 · 7a4b4e1
1 parent 9ab9d65
commit 7a4b4e1
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Showing 41 changed files with 135 additions and 99 deletions.
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc b/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
@@ -12,7 +12,7 @@
 #include "Vehicle.h"
 
 APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent      (vehicle, autopilot, parent)
+    : VehicleComponent      (vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _requiresFrameSetup   (false)
     , _name                 (tr("Frame"))
 {

diff --git a/src/AutoPilotPlugins/APM/APMCameraComponent.cc b/src/AutoPilotPlugins/APM/APMCameraComponent.cc
@@ -16,7 +16,7 @@
 #include "Vehicle.h"
 
 APMCameraComponent::APMCameraComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Camera"))
 {
 }

diff --git a/src/AutoPilotPlugins/APM/APMFlightModesComponent.cc b/src/AutoPilotPlugins/APM/APMFlightModesComponent.cc
@@ -10,9 +10,9 @@
 
 #include "APMFlightModesComponent.h"
 
-APMFlightModesComponent::APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Flight Modes"))
+APMFlightModesComponent::APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownFlightModesVehicleComponent, parent)
+    , _name(tr("Flight Modes"))
 {
 }
 

diff --git a/src/AutoPilotPlugins/APM/APMFollowComponent.cc b/src/AutoPilotPlugins/APM/APMFollowComponent.cc
@@ -11,8 +11,8 @@
 #include "APMAutoPilotPlugin.h"
 
 APMFollowComponent::APMFollowComponent(Vehicle *vehicle, AutoPilotPlugin *autopilot, QObject *parent)
-    : VehicleComponent(vehicle, autopilot, parent),
-    _name(QStringLiteral("Follow Me"))
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
+    , _name(QStringLiteral("Follow Me"))
 {
     // qCDebug() << Q_FUNC_INFO << this;
 }

diff --git a/src/AutoPilotPlugins/APM/APMHeliComponent.cc b/src/AutoPilotPlugins/APM/APMHeliComponent.cc
@@ -11,7 +11,7 @@
 #include "APMAutoPilotPlugin.h"
 
 APMHeliComponent::APMHeliComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Heli"))
 {
 }

diff --git a/src/AutoPilotPlugins/APM/APMLightsComponent.cc b/src/AutoPilotPlugins/APM/APMLightsComponent.cc
@@ -15,7 +15,7 @@
 #include "APMLightsComponent.h"
 
 APMLightsComponent::APMLightsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Lights"))
 {
 }

diff --git a/src/AutoPilotPlugins/APM/APMPowerComponent.cc b/src/AutoPilotPlugins/APM/APMPowerComponent.cc
@@ -11,8 +11,8 @@
 #include "APMPowerComponent.h"
 
 APMPowerComponent::APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Power"))
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownPowerVehicleComponent, parent)
+    , _name(tr("Power"))
 {
 }
 

diff --git a/src/AutoPilotPlugins/APM/APMRadioComponent.cc b/src/AutoPilotPlugins/APM/APMRadioComponent.cc
@@ -13,9 +13,9 @@
 #include "Fact.h"
 #include "Vehicle.h"
 
-APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Radio"))
+APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownRadioVehicleComponent, parent)
+    , _name(tr("Radio"))
 {
     _mapParams << QStringLiteral("RCMAP_ROLL") << QStringLiteral("RCMAP_PITCH") << QStringLiteral("RCMAP_YAW") << QStringLiteral("RCMAP_THROTTLE");
 

diff --git a/src/AutoPilotPlugins/APM/APMRemoteSupportComponent.cc b/src/AutoPilotPlugins/APM/APMRemoteSupportComponent.cc
@@ -11,7 +11,7 @@
 #include "APMRemoteSupportComponent.h"
 
 APMRemoteSupportComponent::APMRemoteSupportComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Remote Support"))
 {
 }

diff --git a/src/AutoPilotPlugins/APM/APMSafetyComponent.cc b/src/AutoPilotPlugins/APM/APMSafetyComponent.cc
@@ -16,7 +16,7 @@
 #include "QGCMAVLink.h"
 
 APMSafetyComponent::APMSafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownSafetyVehicleComponent, parent)
     , _name(tr("Safety"))
 {
 }

diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponent.cc b/src/AutoPilotPlugins/APM/APMSensorsComponent.cc
@@ -14,9 +14,9 @@
 
 // These two list must be kept in sync
 
-APMSensorsComponent::APMSensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Sensors"))
+APMSensorsComponent::APMSensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownSensorsVehicleComponent, parent)
+    , _name(tr("Sensors"))
 {
 
 }

diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc b/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc
@@ -15,7 +15,7 @@
 #include "APMSubFrameComponent.h"
 
 APMSubFrameComponent::APMSubFrameComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Frame"))
 {
 }

diff --git a/src/AutoPilotPlugins/APM/APMTuningComponent.cc b/src/AutoPilotPlugins/APM/APMTuningComponent.cc
@@ -12,7 +12,7 @@
 #include "Vehicle.h"
 
 APMTuningComponent::APMTuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Tuning"))
 {
 }

diff --git a/src/AutoPilotPlugins/AutoPilotPlugin.cc b/src/AutoPilotPlugins/AutoPilotPlugin.cc
@@ -76,8 +76,22 @@ void AutoPilotPlugin::parametersReadyPreChecks(void)
     if (!_setupComplete) {
         qgcApp()->showAppMessage(tr("One or more vehicle components require setup prior to flight."));
 
-        // Take the user to Vehicle Summary
-        qgcApp()->showSetupView();
+        // Take the user to Vehicle Config Summary
+        qgcApp()->showVehicleConfig();
         QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents);
     }
 }
+
+VehicleComponent* AutoPilotPlugin::findKnownVehicleComponent(KnownVehicleComponent knownVehicleComponent)
+{
+    if (knownVehicleComponent != UnknownVehicleComponent) {
+        for(const QVariant& componentVariant: vehicleComponents()) {
+            VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
+            if (component && component->KnownVehicleComponent() == knownVehicleComponent) {
+                return component;
+            }
+        }
+    }
+
+    return nullptr;
+}
diff --git a/src/AutoPilotPlugins/AutoPilotPlugin.h b/src/AutoPilotPlugins/AutoPilotPlugin.h
@@ -32,6 +32,17 @@ class AutoPilotPlugin : public QObject
     AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~AutoPilotPlugin();
 
+    // Vehicle Components which are available for firmware types
+    enum KnownVehicleComponent {
+        KnownRadioVehicleComponent,
+        KnownFlightModesVehicleComponent,
+        KnownSensorsVehicleComponent,
+        KnownSafetyVehicleComponent,
+        KnownPowerVehicleComponent,
+        UnknownVehicleComponent // Firmware specific vehicle components
+    };
+    Q_ENUM(KnownVehicleComponent)
+
     Q_PROPERTY(QVariantList vehicleComponents   READ vehicleComponents  NOTIFY vehicleComponentsChanged)    ///< List of VehicleComponent objects
     Q_PROPERTY(bool         setupComplete       READ setupComplete      NOTIFY setupCompleteChanged)        ///< false: One or more vehicle components require setup
 
@@ -45,6 +56,10 @@ class AutoPilotPlugin : public QObject
     /// Returns the name of the vehicle component which must complete setup prior to this one. Empty string for none.
     Q_INVOKABLE virtual QString prerequisiteSetup(VehicleComponent* component) const = 0;
 
+    Q_INVOKABLE VehicleComponent* findKnownVehicleComponent(KnownVehicleComponent knownVehicleComponent);
+
+    Q_INVOKABLE bool knownVehicleComponentAvailable(KnownVehicleComponent knownVehicleComponent) { return findKnownVehicleComponent(knownVehicleComponent) != nullptr; }
+
     // Property accessors
     bool setupComplete(void) const;
 
@@ -53,9 +68,6 @@ class AutoPilotPlugin : public QObject
     void vehicleComponentsChanged   (void);
 
 protected:
-    /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
-    AutoPilotPlugin(QObject* parent = nullptr) : QObject(parent) { }
-
     Vehicle*        _vehicle;
     FirmwarePlugin* _firmwarePlugin;
     bool            _setupComplete;

diff --git a/src/AutoPilotPlugins/CMakeLists.txt b/src/AutoPilotPlugins/CMakeLists.txt
@@ -13,6 +13,8 @@ qt_add_library(AutoPilotPlugins STATIC
     AutoPilotPlugin.h
     Generic/GenericAutoPilotPlugin.cc
     Generic/GenericAutoPilotPlugin.h
+    VehicleComponent.cc
+    VehicleComponent.h
 )
 
 target_link_libraries(AutoPilotPlugins

diff --git a/src/AutoPilotPlugins/Common/ESP8266Component.cc b/src/AutoPilotPlugins/Common/ESP8266Component.cc
@@ -12,7 +12,7 @@
 #include "AutoPilotPlugin.h"
 
 ESP8266Component::ESP8266Component(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("WiFi Bridge"))
 {
 

diff --git a/src/AutoPilotPlugins/Common/MotorComponent.cc b/src/AutoPilotPlugins/Common/MotorComponent.cc
@@ -10,9 +10,9 @@
 #include "MotorComponent.h"
 #include "AutoPilotPlugin.h"
 
-MotorComponent::MotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Motors"))
+MotorComponent::MotorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
+    , _name(tr("Motors"))
 {
 
 }

diff --git a/src/AutoPilotPlugins/Common/SyslinkComponent.cc b/src/AutoPilotPlugins/Common/SyslinkComponent.cc
@@ -12,7 +12,7 @@
 #include "AutoPilotPlugin.h"
 
 SyslinkComponent::SyslinkComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Syslink"))
 {
 

diff --git a/src/AutoPilotPlugins/PX4/ActuatorComponent.cc b/src/AutoPilotPlugins/PX4/ActuatorComponent.cc
@@ -16,9 +16,10 @@
 
 static bool imageProviderAdded{false};
 
-ActuatorComponent::ActuatorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Actuators")), _actuators(*vehicle->actuators())
+ActuatorComponent::ActuatorComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) 
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
+    , _name(tr("Actuators"))
+    , _actuators(*vehicle->actuators())
 {
     if (!imageProviderAdded) {
         // TODO: qmlAppEngine should not be accessed inside app

diff --git a/src/AutoPilotPlugins/PX4/AirframeComponent.cc b/src/AutoPilotPlugins/PX4/AirframeComponent.cc
@@ -15,9 +15,9 @@
 #include "ParameterManager.h"
 #include "Vehicle.h"
 
-AirframeComponent::AirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Airframe"))
+AirframeComponent::AirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
+    , _name(tr("Airframe"))
 {
 
 }

diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
@@ -20,9 +20,9 @@ struct SwitchListItem {
     const char* name;
 };
 
-FlightModesComponent::FlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Flight Modes"))
+FlightModesComponent::FlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) 
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownFlightModesVehicleComponent, parent)
+    , _name(tr("Flight Modes"))
 {
 }
 

diff --git a/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc b/src/AutoPilotPlugins/PX4/PX4FlightBehavior.cc
@@ -13,7 +13,7 @@
 #include "Vehicle.h"
 
 PX4FlightBehavior::PX4FlightBehavior(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("Flight Behavior"))
 {
 }

diff --git a/src/AutoPilotPlugins/PX4/PX4RadioComponent.cc b/src/AutoPilotPlugins/PX4/PX4RadioComponent.cc
@@ -12,9 +12,9 @@
 #include "ParameterManager.h"
 #include "Vehicle.h"
 
-PX4RadioComponent::PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Radio"))
+PX4RadioComponent::PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownRadioVehicleComponent, parent)
+    , _name(tr("Radio"))
 {
 }
 

diff --git a/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc b/src/AutoPilotPlugins/PX4/PX4TuningComponent.cc
@@ -13,7 +13,7 @@
 #include "Vehicle.h"
 
 PX4TuningComponent::PX4TuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::UnknownVehicleComponent, parent)
     , _name(tr("PID Tuning"))
 {
 }

diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.cc b/src/AutoPilotPlugins/PX4/PowerComponent.cc
@@ -15,9 +15,9 @@
 #include "ParameterManager.h"
 #include "Vehicle.h"
 
-PowerComponent::PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Power"))
+PowerComponent::PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownPowerVehicleComponent, parent)
+    , _name(tr("Power"))
 {
 }
 

diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -14,7 +14,7 @@
 #include "SafetyComponent.h"
 
 SafetyComponent::SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
+    VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownSafetyVehicleComponent, parent),
     _name(tr("Safety"))
 {
 }

diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
@@ -11,9 +11,9 @@
 #include "ParameterManager.h"
 #include "Vehicle.h"
 
-SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(vehicle, autopilot, parent),
-    _name(tr("Sensors"))
+SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, AutoPilotPlugin::KnownSensorsVehicleComponent, parent)
+    , _name(tr("Sensors"))
 {
     _deviceIds = QStringList({QStringLiteral("CAL_GYRO0_ID"), QStringLiteral("CAL_ACC0_ID") });
 

diff --git a/src/VehicleSetup/VehicleComponent.cc → src/AutoPilotPlugins/VehicleComponent.cc b/src/VehicleSetup/VehicleComponent.cc → src/AutoPilotPlugins/VehicleComponent.cc
@@ -18,10 +18,11 @@
 #include <QtQml/QQmlContext>
 #include <QtQuick/QQuickItem>
 
-VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    QObject(parent),
-    _vehicle(vehicle),
-    _autopilot(autopilot)
+VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, AutoPilotPlugin::KnownVehicleComponent KnownVehicleComponent, QObject* parent) 
+    : QObject           (parent)
+    , _vehicle          (vehicle)
+    , _autopilot        (autopilot)
+    , _KnownVehicleComponent  (KnownVehicleComponent)
 {
     if (!vehicle || !autopilot) {
         qWarning() << "Internal error";