src/lib/abstractvehicle.h

0001 /*
0002  * Copyright 2019 Eike Hein <hein@kde.org>
0003  *
0004  * This library is free software; you can redistribute it and/or
0005  * modify it under the terms of the GNU Lesser General Public
0006  * License as published by the Free Software Foundation; either
0007  * version 2.1 of the License, or (at your option) version 3, or any
0008  * later version accepted by the membership of KDE e.V. (or its
0009  * successor approved by the membership of KDE e.V.), which shall
0010  * act as a proxy defined in Section 6 of version 3 of the license.
0011  *
0012  * This library is distributed in the hope that it will be useful,
0013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
0014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0015  * Lesser General Public License for more details.
0016  *
0017  * You should have received a copy of the GNU Lesser General Public
0018  * License along with this library.  If not, see <http://www.gnu.org/licenses/>.
0019  */
0020
0021 #pragma once
0022
0023 #include <QGeoCoordinate>
0024 #include <QObject>
0025 #include <QSharedPointer>
0026
0027 #include "kirogicore_export.h"
0028
0029 class ParameterModel;
0030
0031 namespace Kirogi
0032 {
0033 class KIROGI_EXPORT AbstractVehicle : public QObject
0034 {
0035     Q_OBJECT
0036
0037     Q_PROPERTY(int id READ id CONSTANT)
0038
0039     Q_PROPERTY(QString name READ name NOTIFY nameChanged)
0040     Q_PROPERTY(QString iconName READ iconName NOTIFY iconNameChanged)
0041
0042     Q_PROPERTY(VehicleType vehicleType READ vehicleType CONSTANT)
0043
0044     Q_PROPERTY(ConnectionState connectionState READ connectionState NOTIFY connectionStateChanged)
0045     Q_PROPERTY(FlyingState flyingState READ flyingState NOTIFY flyingStateChanged)
0046     Q_PROPERTY(bool connected READ connected NOTIFY connectionStateChanged)
0047     Q_PROPERTY(bool ready READ ready NOTIFY connectionStateChanged)
0048     Q_PROPERTY(bool flying READ flying NOTIFY flyingStateChanged)
0049
0050     Q_PROPERTY(QList<VehicleAction> supportedActions READ supportedActions CONSTANT)
0051
0052     Q_PROPERTY(bool piloting READ piloting WRITE setPiloting NOTIFY pilotingChanged)
0053
0054     Q_PROPERTY(int flightTime READ flightTime NOTIFY flightTimeChanged)
0055
0056     Q_PROPERTY(PerformanceMode performanceMode READ performanceMode NOTIFY performanceModeChanged)
0057
0058     Q_PROPERTY(float maxRollSpeed READ maxRollSpeed NOTIFY maxRollSpeedChanged)
0059     Q_PROPERTY(float maxRollSpeedMin READ maxRollSpeedMin NOTIFY maxRollSpeedMinChanged)
0060     Q_PROPERTY(float maxRollSpeedMax READ maxRollSpeedMax NOTIFY maxRollSpeedMaxChanged)
0061
0062     Q_PROPERTY(float maxPitchSpeed READ maxPitchSpeed NOTIFY maxPitchSpeedChanged)
0063     Q_PROPERTY(float maxPitchSpeedMin READ maxPitchSpeedMin NOTIFY maxPitchSpeedMinChanged)
0064     Q_PROPERTY(float maxPitchSpeedMax READ maxPitchSpeedMax NOTIFY maxPitchSpeedMaxChanged)
0065
0066     Q_PROPERTY(float maxYawSpeed READ maxYawSpeed NOTIFY maxYawSpeedChanged)
0067     Q_PROPERTY(float maxYawSpeedMin READ maxYawSpeedMin NOTIFY maxYawSpeedMinChanged)
0068     Q_PROPERTY(float maxYawSpeedMax READ maxYawSpeedMax NOTIFY maxYawSpeedMaxChanged)
0069
0070     Q_PROPERTY(float maxGazSpeed READ maxGazSpeed NOTIFY maxGazSpeedChanged)
0071     Q_PROPERTY(float maxGazSpeedMin READ maxGazSpeedMin NOTIFY maxGazSpeedMinChanged)
0072     Q_PROPERTY(float maxGazSpeedMax READ maxGazSpeedMax NOTIFY maxGazSpeedMaxChanged)
0073
0074     Q_PROPERTY(float maxTilt READ maxTilt NOTIFY maxTiltChanged)
0075     Q_PROPERTY(float maxTiltMin READ maxTiltMin NOTIFY maxTiltMinChanged)
0076     Q_PROPERTY(float maxTiltMax READ maxTiltMax NOTIFY maxTiltMaxChanged)
0077
0078     Q_PROPERTY(bool bankedTurns READ bankedTurns NOTIFY bankedTurnsChanged)
0079
0080     Q_PROPERTY(bool geofence READ geofence NOTIFY geofenceChanged)
0081
0082     Q_PROPERTY(float maxAltitude READ maxAltitude NOTIFY maxAltitudeChanged)
0083     Q_PROPERTY(float maxAltitudeMin READ maxAltitudeMin NOTIFY maxAltitudeMinChanged)
0084     Q_PROPERTY(float maxAltitudeMax READ maxAltitudeMax NOTIFY maxAltitudeMaxChanged)
0085
0086     Q_PROPERTY(float maxDistance READ maxDistance NOTIFY maxDistanceChanged)
0087     Q_PROPERTY(float maxDistanceMin READ maxDistanceMin NOTIFY maxDistanceMinChanged)
0088     Q_PROPERTY(float maxDistanceMax READ maxDistanceMax NOTIFY maxDistanceMaxChanged)
0089
0090     Q_PROPERTY(QGeoCoordinate gpsPosition READ gpsPosition NOTIFY gpsPositionChanged)
0091     Q_PROPERTY(float distance READ distance NOTIFY distanceChanged)
0092     Q_PROPERTY(float altitude READ altitude NOTIFY altitudeChanged)
0093
0094     Q_PROPERTY(int speed READ speed NOTIFY speedChanged)
0095
0096     Q_PROPERTY(float roll READ roll NOTIFY attitudeChanged)
0097     Q_PROPERTY(float pitch READ pitch NOTIFY attitudeChanged)
0098     Q_PROPERTY(float yaw READ yaw NOTIFY attitudeChanged)
0099
0100     Q_PROPERTY(int signalStrength READ signalStrength NOTIFY signalStrengthChanged)
0101     Q_PROPERTY(int batteryLevel READ batteryLevel NOTIFY batteryLevelChanged)
0102     Q_PROPERTY(bool gpsSupported READ gpsSupported NOTIFY gpsSupportedChanged)
0103     Q_PROPERTY(bool gpsFix READ gpsFix NOTIFY gpsFixChanged)
0104
0105     Q_PROPERTY(QString videoSource READ videoSource NOTIFY videoSourceChanged)
0106     Q_PROPERTY(bool videoStreamEnabled READ videoStreamEnabled NOTIFY videoStreamEnabledChanged)
0107     Q_PROPERTY(bool videoStabilization READ videoStabilization NOTIFY videoStabilizationChanged)
0108     Q_PROPERTY(bool canTakePicture READ canTakePicture NOTIFY canTakePictureChanged)
0109     Q_PROPERTY(bool isRecordingVideo READ isRecordingVideo NOTIFY isRecordingVideoChanged)
0110
0111     Q_PROPERTY(quint16 numberOfFlights READ numberOfFlights NOTIFY numberOfFlightsChanged)
0112     Q_PROPERTY(quint16 lastFlightDuration READ lastFlightDuration NOTIFY lastFlightDurationChanged)
0113
0114     Q_PROPERTY(ParameterModel *parameters READ parameters NOTIFY parametersChanged)
0115
0116 public:
0117     enum VehicleType { UnknownVehicleType = 0, QuadCopter = 1 };
0118     Q_ENUM(VehicleType)
0119
0120     enum ConnectionState { Disconnected = 0, Connecting = 1, Connected = 2, Ready = 3 };
0121     Q_ENUM(ConnectionState)
0122
0123     enum FlyingState {
0124         Unknown = 0,
0125         Landed = 1,
0126         TakingOff = 2,
0127         Hovering = 3,
0128         Flying = 4,
0129         Landing = 5,
0130         // FIXME: (Parrot) Not handled yet.
0131         //             Emergency = 5,
0132         //             UserTakeoff = 6,
0133         //             MotorRamping = 7,
0134         //             EmergencyLanding = 8
0135     };
0136     Q_ENUM(FlyingState)
0137
0138     enum VehicleAction {
0139         TakeOff = 1,
0140         Land = 2,
0141         MoveTo = 3,
0142         FlatTrim = 4,
0143         FlipForward = 5,
0144         FlipBackward = 6,
0145         FlipLeft = 7,
0146         FlipRight = 8,
0147         SwitchPerformanceMode = 9,
0148         SetMaxRollSpeed = 10,
0149         SetMaxPitchSpeed = 11,
0150         SetMaxYawSpeed = 12,
0151         SetMaxGazSpeed = 13,
0152         SetMaxTilt = 14,
0153         ToggleBankedTurns = 15,
0154         ToggleGeofence = 16,
0155         SetMaxAltitude = 17,
0156         SetMaxDistance = 18,
0157         ToggleVideoStream = 19,
0158         ToggleVideoStabilization = 20,
0159         TakePicture = 21,
0160         RecordVideo = 22
0161     };
0162     Q_ENUM(VehicleAction)
0163
0164     enum PerformanceMode { CustomPerformance = 0, FilmPerformance = 1, SportPerformance = 2 };
0165     Q_ENUM(PerformanceMode)
0166
0167     explicit AbstractVehicle(QObject *parent = nullptr);
0168     virtual ~AbstractVehicle() override;
0169
0170     int id() const;
0171
0172     virtual QString name() const = 0;
0173     virtual QString iconName() const;
0174
0175     virtual VehicleType vehicleType() const;
0176
0177     virtual ConnectionState connectionState() const;
0178     virtual FlyingState flyingState() const;
0179     bool connected() const;
0180     bool ready() const;
0181     bool flying() const;
0182
0183     virtual QList<VehicleAction> supportedActions() const;
0184     Q_INVOKABLE virtual bool isActionSupported(VehicleAction action) const;
0185
0186     virtual bool piloting() const;
0187     Q_INVOKABLE virtual void setPiloting(bool piloting);
0188
0189     Q_INVOKABLE virtual void requestAction(VehicleAction action);
0190     Q_INVOKABLE virtual void requestTakeOff();
0191     Q_INVOKABLE virtual void requestLand();
0192
0193     Q_INVOKABLE virtual void pilot(qint8 roll, qint8 pitch, qint8 yaw, qint8 gaz);
0194     Q_INVOKABLE virtual void requestMoveTo(QGeoCoordinate destination);
0195
0196     virtual int flightTime() const;
0197
0198     virtual PerformanceMode performanceMode() const;
0199     Q_INVOKABLE virtual void requestPerformanceMode(PerformanceMode mode);
0200
0201     virtual float maxRollSpeed() const;
0202     Q_INVOKABLE virtual void requestMaxRollSpeed(float speed);
0203     virtual float maxRollSpeedMin() const;
0204     virtual float maxRollSpeedMax() const;
0205
0206     virtual float maxPitchSpeed() const;
0207     Q_INVOKABLE virtual void requestMaxPitchSpeed(float speed);
0208     virtual float maxPitchSpeedMin() const;
0209     virtual float maxPitchSpeedMax() const;
0210
0211     virtual float maxYawSpeed() const;
0212     Q_INVOKABLE virtual void requestMaxYawSpeed(float speed);
0213     virtual float maxYawSpeedMin() const;
0214     virtual float maxYawSpeedMax() const;
0215
0216     virtual float maxGazSpeed() const;
0217     Q_INVOKABLE virtual void requestMaxGazSpeed(float speed);
0218     virtual float maxGazSpeedMin() const;
0219     virtual float maxGazSpeedMax() const;
0220
0221     virtual float maxTilt() const;
0222     Q_INVOKABLE virtual void requestMaxTilt(float tilt);
0223     virtual float maxTiltMin() const;
0224     virtual float maxTiltMax() const;
0225
0226     virtual bool bankedTurns() const;
0227     Q_INVOKABLE virtual void requestEnableBankedTurns(bool enable);
0228
0229     virtual bool geofence() const;
0230     Q_INVOKABLE virtual void requestEnableGeofence(bool enable);
0231
0232     virtual float maxAltitude() const;
0233     Q_INVOKABLE virtual void requestMaxAltitude(float altitude);
0234     virtual float maxAltitudeMin() const;
0235     virtual float maxAltitudeMax() const;
0236
0237     virtual float maxDistance() const;
0238     Q_INVOKABLE virtual void requestMaxDistance(float distance);
0239     virtual float maxDistanceMin() const;
0240     virtual float maxDistanceMax() const;
0241
0242     virtual float roll() const;
0243     virtual float pitch() const;
0244     virtual float yaw() const;
0245
0246     virtual int signalStrength() const;
0247     virtual int batteryLevel() const;
0248
0249     virtual bool gpsSupported() const;
0250     virtual bool gpsFix() const;
0251     virtual QGeoCoordinate gpsPosition() const;
0252     virtual float distance() const;
0253     virtual float altitude() const;
0254     Q_INVOKABLE virtual void setControllerGpsPosition(const QGeoCoordinate &position);
0255     Q_INVOKABLE virtual void requestReturnHome();
0256
0257     virtual float speed() const;
0258
0259     virtual QString videoSource() const;
0260     virtual bool videoStreamEnabled() const;
0261     Q_INVOKABLE virtual void requestEnableVideoStream(bool enable);
0262     virtual bool videoStabilization() const;
0263     Q_INVOKABLE virtual void requestEnableVideoStabilization(bool enable);
0264     virtual bool canTakePicture() const;
0265     virtual bool isRecordingVideo() const;
0266
0267     virtual quint16 numberOfFlights() const;
0268     virtual quint16 lastFlightDuration() const;
0269
0270     ParameterModel *parameters();
0271
0272 Q_SIGNALS:
0273     void nameChanged();
0274     void iconNameChanged();
0275
0276     void connectionStateChanged();
0277     void flyingStateChanged();
0278
0279     void pilotingChanged();
0280
0281     void flightTimeChanged();
0282
0283     void performanceModeChanged();
0284
0285     void maxRollSpeedChanged();
0286     void maxRollSpeedMinChanged();
0287     void maxRollSpeedMaxChanged();
0288
0289     void maxPitchSpeedChanged();
0290     void maxPitchSpeedMinChanged();
0291     void maxPitchSpeedMaxChanged();
0292
0293     void maxYawSpeedChanged();
0294     void maxYawSpeedMinChanged();
0295     void maxYawSpeedMaxChanged();
0296
0297     void maxGazSpeedChanged();
0298     void maxGazSpeedMinChanged();
0299     void maxGazSpeedMaxChanged();
0300
0301     void maxTiltChanged();
0302     void maxTiltMinChanged();
0303     void maxTiltMaxChanged();
0304
0305     void bankedTurnsChanged();
0306
0307     void geofenceChanged();
0308
0309     void maxAltitudeChanged();
0310     void maxAltitudeMinChanged();
0311     void maxAltitudeMaxChanged();
0312
0313     void maxDistanceChanged();
0314     void maxDistanceMinChanged();
0315     void maxDistanceMaxChanged();
0316
0317     void attitudeChanged();
0318     void rollChanged();
0319     void pitchChanged();
0320     void yawChanged();
0321
0322     void signalStrengthChanged();
0323     void batteryLevelChanged();
0324
0325     void gpsSupportedChanged();
0326     void gpsFixChanged();
0327     void gpsPositionChanged();
0328     void distanceChanged();
0329     void altitudeChanged();
0330
0331     void speedChanged();
0332
0333     void videoSourceChanged();
0334     void videoStreamEnabledChanged();
0335     void videoStabilizationChanged();
0336     void canTakePictureChanged();
0337     void isRecordingVideoChanged();
0338
0339     void numberOfFlightsChanged();
0340     void lastFlightDurationChanged();
0341
0342     void parametersChanged();
0343
0344 protected Q_SLOTS:
0345     virtual void setConnectionState(ConnectionState state);
0346     virtual void setFlyingState(FlyingState state);
0347
0348 private:
0349     class Private;
0350     QScopedPointer<Private> d;
0351 };
0352
0353 }