plugins/mavlink/mavlinkplugin.cpp

0001 /*
0002  * Copyright 2019 Patrick José Pereira <patrickjp@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 #include "mavlinkplugin.h"
0022
0023 #include "mavlinkudpconnection.h"
0024 #include "mavlinkvehicle.h"
0025
0026 #include <KLocalizedString>
0027 #include <KPluginFactory>
0028
0029 #include "mavlink_plugin_debug.h"
0030
0031 MAVLinkPlugin::MAVLinkPlugin(QObject *parent, const QVariantList & /* args */)
0032     : Kirogi::VehicleSupportPlugin(parent)
0033 {
0034     qCDebug(KIROGI_VEHICLESUPPORT_MAVLINK_PLUGIN) << "MAVLink Vehicle Support Plugin initializing ...";
0035     qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
0036
0037     Kirogi::UdpConfiguration connectionConfiguration;
0038     connectionConfiguration.setName("Main Connection");
0039     connectionConfiguration.setHost(QHostAddress("0.0.0.0"));
0040     connectionConfiguration.setPort(14550);
0041     m_connection = QSharedPointer<MAVLinkUdpConnection>(new MAVLinkUdpConnection(connectionConfiguration, 0, this));
0042     m_connection->connect();
0043
0044     MAVLinkVehicle::Configuration vehicleConfiguration;
0045     vehicleConfiguration.sysid = 0;
0046     vehicleConfiguration.compid = 0;
0047     vehicleConfiguration.type = MAV_TYPE_QUADROTOR;
0048     vehicleConfiguration.name = "Main Vehicle";
0049     m_vehicle = QSharedPointer<MAVLinkVehicle>(new MAVLinkVehicle(vehicleConfiguration, m_connection.data(), this));
0050
0051     QMetaObject::invokeMethod(this, "vehicleAdded", Qt::QueuedConnection, Q_ARG(Kirogi::AbstractVehicle *, m_vehicle.data()));
0052 }
0053
0054 MAVLinkPlugin::~MAVLinkPlugin()
0055 {
0056     qCDebug(KIROGI_VEHICLESUPPORT_MAVLINK_PLUGIN) << "MAVLink Vehicle Support Plugin unloaded.";
0057 }
0058
0059 QList<Kirogi::AbstractVehicle *> MAVLinkPlugin::vehicles() const
0060 {
0061     return QList<Kirogi::AbstractVehicle *>() << m_vehicle.data();
0062 }
0063
0064 K_PLUGIN_CLASS_WITH_JSON(MAVLinkPlugin, "kirogimavlinkplugin.json")
0065
0066 #include "mavlinkplugin.moc"