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Commit 0f035389 authored by Bart Slinger's avatar Bart Slinger
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fix code style

parent e6a125ee
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src/comm/QGCXPlaneLink.cc
View file @ 0f035389
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src/comm/QGCXPlaneLink.h
View file @ 0f035389
......@@ -36,7 +36,7 @@ class QGCXPlaneLink : public QGCHilLink
//Q_INTERFACES(QGCXPlaneLinkInterface:LinkInterface)
public:
QGCXPlaneLink(Vehicle* vehicle, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005);
QGCXPlaneLink(Vehicle *vehicle, QString remoteHost = QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005);
~QGCXPlaneLink();
/**
......@@ -51,7 +51,8 @@ public:
bool isConnected();
qint64 bytesAvailable();
int getPort() const {
int getPort() const
{
return localPort;
}
......@@ -88,11 +89,13 @@ public:
return (int)airframeID;
}
bool sensorHilEnabled() {
bool sensorHilEnabled()
{
return _sensorHilEnabled;
}
bool useHilActuatorControls() {
bool useHilActuatorControls()
{
return _useHilActuatorControls;
}
......@@ -104,7 +107,7 @@ public slots:
// void setAddress(QString address);
void setPort(int port);
/** @brief Add a new host to broadcast messages to */
void setRemoteHost(const QString& host);
void setRemoteHost(const QString &host);
/** @brief Send new control states to the simulation */
void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
/** @brief Send new control commands to the simulation */
......@@ -127,13 +130,15 @@ public slots:
float ctl_15,
quint8 mode);
/** @brief Set the simulator version as text string */
void setVersion(const QString& version);
void setVersion(const QString &version);
/** @brief Set the simulator version as integer */
void setVersion(unsigned int version);
void enableSensorHIL(bool enable) {
void enableSensorHIL(bool enable)
{
if (enable != _sensorHilEnabled)
_sensorHilEnabled = enable;
emit sensorHilChanged(enable);
}
......@@ -159,7 +164,7 @@ public slots:
* @brief Select airplane model
* @param plane the name of the airplane
*/
void selectAirframe(const QString& airframe);
void selectAirframe(const QString &airframe);
/**
* @brief Set the airplane position and attitude
* @param lat
......@@ -182,14 +187,14 @@ public slots:
void setRandomAttitude();
protected:
Vehicle* _vehicle;
Vehicle *_vehicle;
QString name;
QHostAddress localHost;
quint16 localPort;
QHostAddress remoteHost;
quint16 remotePort;
int id;
QUdpSocket* socket;
QUdpSocket *socket;
bool connectState;
quint64 bitsSentTotal;
......@@ -202,8 +207,8 @@ protected:
QMutex statisticsMutex;
QMutex dataMutex;
QTimer refreshTimer;
QProcess* process;
QProcess* terraSync;
QProcess *process;
QProcess *terraSync;
bool gpsReceived;
bool attitudeReceived;
......
src/uas/UAS.cc
View file @ 0f035389
This diff is collapsed.
src/uas/UAS.h
View file @ 0f035389
......@@ -50,7 +50,7 @@ class UAS : public UASInterface
{
Q_OBJECT
public:
UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager);
UAS(MAVLinkProtocol *protocol, Vehicle *vehicle, FirmwarePluginManager *firmwarePluginManager);
float lipoFull; ///< 100% charged voltage
float lipoEmpty; ///< Discharged voltage
......@@ -89,8 +89,8 @@ public:
void setGroundSpeed(double val)
{
groundSpeed = val;
emit groundSpeedChanged(val,"groundSpeed");
emit valueChanged(this->uasId,"groundSpeed","m/s",QVariant(val),getUnixTime());
emit groundSpeedChanged(val, "groundSpeed");
emit valueChanged(this->uasId, "groundSpeed", "m/s", QVariant(val), getUnixTime());
}
double getGroundSpeed() const
{
......@@ -100,8 +100,8 @@ public:
void setAirSpeed(double val)
{
airSpeed = val;
emit airSpeedChanged(val,"airSpeed");
emit valueChanged(this->uasId,"airSpeed","m/s",QVariant(val),getUnixTime());
emit airSpeedChanged(val, "airSpeed");
emit valueChanged(this->uasId, "airSpeed", "m/s", QVariant(val), getUnixTime());
}
double getAirSpeed() const
......@@ -112,8 +112,8 @@ public:
void setLocalX(double val)
{
localX = val;
emit localXChanged(val,"localX");
emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
emit localXChanged(val, "localX");
emit valueChanged(this->uasId, "localX", "m", QVariant(val), getUnixTime());
}
double getLocalX() const
......@@ -124,8 +124,8 @@ public:
void setLocalY(double val)
{
localY = val;
emit localYChanged(val,"localY");
emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
emit localYChanged(val, "localY");
emit valueChanged(this->uasId, "localY", "m", QVariant(val), getUnixTime());
}
double getLocalY() const
{
......@@ -135,8 +135,8 @@ public:
void setLocalZ(double val)
{
localZ = val;
emit localZChanged(val,"localZ");
emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
emit localZChanged(val, "localZ");
emit valueChanged(this->uasId, "localZ", "m", QVariant(val), getUnixTime());
}
double getLocalZ() const
{
......@@ -146,8 +146,8 @@ public:
void setLatitude(double val)
{
latitude = val;
emit latitudeChanged(val,"latitude");
emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
emit latitudeChanged(val, "latitude");
emit valueChanged(this->uasId, "latitude", "deg", QVariant(val), getUnixTime());
}
double getLatitude() const
......@@ -158,8 +158,8 @@ public:
void setLongitude(double val)
{
longitude = val;
emit longitudeChanged(val,"longitude");
emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
emit longitudeChanged(val, "longitude");
emit valueChanged(this->uasId, "longitude", "deg", QVariant(val), getUnixTime());
}
double getLongitude() const
......@@ -171,10 +171,10 @@ public:
{
altitudeAMSL = val;
emit altitudeAMSLChanged(val, "altitudeAMSL");
emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(altitudeAMSL),getUnixTime());
emit valueChanged(this->uasId, "altitudeAMSL", "m", QVariant(altitudeAMSL), getUnixTime());
altitudeAMSLFT = 3.28084 * altitudeAMSL;
emit altitudeAMSLFTChanged(val, "altitudeAMSLFT");
emit valueChanged(this->uasId,"altitudeAMSLFT","m",QVariant(altitudeAMSLFT),getUnixTime());
emit valueChanged(this->uasId, "altitudeAMSLFT", "m", QVariant(altitudeAMSLFT), getUnixTime());
}
double getAltitudeAMSL() const
......@@ -191,7 +191,7 @@ public:
{
altitudeRelative = val;
emit altitudeRelativeChanged(val, "altitudeRelative");
emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
emit valueChanged(this->uasId, "altitudeRelative", "m", QVariant(val), getUnixTime());
}
double getAltitudeRelative() const
......@@ -217,8 +217,8 @@ public:
void setSatelliteCount(double val)
{
satelliteCount = val;
emit satelliteCountChanged(val,"satelliteCount");
emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
emit satelliteCountChanged(val, "satelliteCount");
emit valueChanged(this->uasId, "satelliteCount", "", QVariant(val), getUnixTime());
}
double getSatelliteCount() const
......@@ -234,8 +234,8 @@ public:
void setDistToWaypoint(double val)
{
distToWaypoint = val;
emit distToWaypointChanged(val,"distToWaypoint");
emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
emit distToWaypointChanged(val, "distToWaypoint");
emit valueChanged(this->uasId, "distToWaypoint", "m", QVariant(val), getUnixTime());
}
double getDistToWaypoint() const
......@@ -246,8 +246,8 @@ public:
void setBearingToWaypoint(double val)
{
bearingToWaypoint = val;
emit bearingToWaypointChanged(val,"bearingToWaypoint");
emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
emit bearingToWaypointChanged(val, "bearingToWaypoint");
emit valueChanged(this->uasId, "bearingToWaypoint", "deg", QVariant(val), getUnixTime());
}
double getBearingToWaypoint() const
......@@ -259,7 +259,7 @@ public:
void setRoll(double val)
{
roll = val;
emit rollChanged(val,"roll");
emit rollChanged(val, "roll");
}
double getRoll() const
......@@ -270,7 +270,7 @@ public:
void setPitch(double val)
{
pitch = val;
emit pitchChanged(val,"pitch");
emit pitchChanged(val, "pitch");
}
double getPitch() const
......@@ -281,7 +281,7 @@ public:
void setYaw(double val)
{
yaw = val;
emit yawChanged(val,"yaw");
emit yawChanged(val, "yaw");
}
double getYaw() const
......@@ -290,55 +290,68 @@ public:
}
// Setters for HIL noise variance
void setXaccVar(float var){
void setXaccVar(float var)
{
xacc_var = var;
}
void setYaccVar(float var){
void setYaccVar(float var)
{
yacc_var = var;
}
void setZaccVar(float var){
void setZaccVar(float var)
{
zacc_var = var;
}
void setRollSpeedVar(float var){
void setRollSpeedVar(float var)
{
rollspeed_var = var;
}
void setPitchSpeedVar(float var){
void setPitchSpeedVar(float var)
{
pitchspeed_var = var;
}
void setYawSpeedVar(float var){
void setYawSpeedVar(float var)
{
pitchspeed_var = var;
}
void setXmagVar(float var){
void setXmagVar(float var)
{
xmag_var = var;
}
void setYmagVar(float var){
void setYmagVar(float var)
{
ymag_var = var;
}
void setZmagVar(float var){
void setZmagVar(float var)
{
zmag_var = var;
}
void setAbsPressureVar(float var){
void setAbsPressureVar(float var)
{
abs_pressure_var = var;
}
void setDiffPressureVar(float var){
void setDiffPressureVar(float var)
{
diff_pressure_var = var;
}
void setPressureAltVar(float var){
void setPressureAltVar(float var)
{
pressure_alt_var = var;
}
void setTemperatureVar(float var){
void setTemperatureVar(float var)
{
temperature_var = var;
}
......@@ -352,7 +365,7 @@ protected: //COMMENTS FOR TEST UNIT
QMap<int, QString> components;///< IDs and names of all detected onboard components
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
MAVLinkProtocol *mavlink; ///< Reference to the MAVLink instance
float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
......@@ -450,20 +463,21 @@ protected: //COMMENTS FOR TEST UNIT
/// SIMULATION
#ifndef __mobile__
QGCHilLink* simulation; ///< Hardware in the loop simulation link
QGCHilLink *simulation; ///< Hardware in the loop simulation link
#endif
public:
/** @brief Get the human-readable status message for this code */
void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
void getStatusForCode(int statusCode, QString &uasState, QString &stateDescription);
#ifndef __mobile__
virtual FileManager* getFileManager() { return &fileManager; }
virtual FileManager *getFileManager() { return &fileManager; }
#endif
/** @brief Get the HIL simulation */
#ifndef __mobile__
QGCHilLink* getHILSimulation() const {
QGCHilLink *getHILSimulation() const
{
return simulation;
}
#endif
......@@ -480,7 +494,7 @@ public slots:
/** @brief Enable / disable HIL */
#ifndef __mobile__
void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration);
void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject *configuration);
void enableHilJSBSim(bool enable, QString options);
void enableHilXPlane(bool enable);
......@@ -548,45 +562,45 @@ public slots:
/** @brief Send command to disable all bindings/maps between RC and parameters */
void unsetRCToParameterMap();
signals:
void loadChanged(UASInterface* uas, double load);
void loadChanged(UASInterface *uas, double load);
void imageStarted(quint64 timestamp);
/** @brief A new camera image has arrived */
void imageReady(UASInterface* uas);
void imageReady(UASInterface *uas);
/** @brief HIL controls have changed */
void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
/** @brief HIL actuator controls (replaces HIL controls) */
void hilActuatorControlsChanged(quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode);
void localXChanged(double val,QString name);
void localYChanged(double val,QString name);
void localZChanged(double val,QString name);
void longitudeChanged(double val,QString name);
void latitudeChanged(double val,QString name);
void altitudeAMSLChanged(double val,QString name);
void altitudeAMSLFTChanged(double val,QString name);
void altitudeRelativeChanged(double val,QString name);
void satRawHDOPChanged (double value);
void satRawVDOPChanged (double value);
void satRawCOGChanged (double value);
void rollChanged(double val,QString name);
void pitchChanged(double val,QString name);
void yawChanged(double val,QString name);
void satelliteCountChanged(double val,QString name);
void distToWaypointChanged(double val,QString name);
void localXChanged(double val, QString name);
void localYChanged(double val, QString name);
void localZChanged(double val, QString name);
void longitudeChanged(double val, QString name);
void latitudeChanged(double val, QString name);
void altitudeAMSLChanged(double val, QString name);
void altitudeAMSLFTChanged(double val, QString name);
void altitudeRelativeChanged(double val, QString name);
void satRawHDOPChanged(double value);
void satRawVDOPChanged(double value);
void satRawCOGChanged(double value);
void rollChanged(double val, QString name);
void pitchChanged(double val, QString name);
void yawChanged(double val, QString name);
void satelliteCountChanged(double val, QString name);
void distToWaypointChanged(double val, QString name);
void groundSpeedChanged(double val, QString name);
void airSpeedChanged(double val, QString name);
void bearingToWaypointChanged(double val,QString name);
void bearingToWaypointChanged(double val, QString name);
protected:
/** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
quint64 getUnixTime(quint64 time=0);
quint64 getUnixTime(quint64 time = 0);
/** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
quint64 getUnixTimeFromMs(quint64 time);
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
virtual void processParamValueMsg(mavlink_message_t &msg, const QString &paramName, const mavlink_param_value_t &rawValue, mavlink_param_union_t &paramValue);
int componentID[256];
bool componentMulti[256];
......@@ -602,11 +616,11 @@ protected:
quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
private:
void _say(const QString& text, int severity = 6);
void _say(const QString &text, int severity = 6);
private:
Vehicle* _vehicle;
FirmwarePluginManager* _firmwarePluginManager;
Vehicle *_vehicle;
FirmwarePluginManager *_firmwarePluginManager;
};
......
src/ui/QGCHilXPlaneConfiguration.cc
View file @ 0f035389
......@@ -3,7 +3,7 @@
#include "QGCXPlaneLink.h"
#include "QGCHilConfiguration.h"
QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QGCHilConfiguration *parent) :
QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink *link, QGCHilConfiguration *parent) :
QWidget(parent),
ui(new Ui::QGCHilXPlaneConfiguration)
{
......@@ -12,7 +12,7 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QGCHilCon
connect(ui->startButton, &QPushButton::clicked, this, &QGCHilXPlaneConfiguration::toggleSimulation);
connect(ui->hostComboBox, static_cast<void (QComboBox::*)(const QString&)>(&QComboBox::activated),
connect(ui->hostComboBox, static_cast<void (QComboBox::*)(const QString &)>(&QComboBox::activated),
link, &QGCHilLink::setRemoteHost);
connect(link, &QGCHilLink::remoteChanged, ui->hostComboBox, &QComboBox::setEditText);
......@@ -23,7 +23,7 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QGCHilCon
ui->startButton->setText(tr("Connect"));
QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(link);
QGCXPlaneLink *xplane = dynamic_cast<QGCXPlaneLink *>(link);
if (xplane)
{
......@@ -58,17 +58,20 @@ void QGCHilXPlaneConfiguration::setVersion(int version)
void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
{
if (!link) {
if (!link)
{
return;
}
Q_UNUSED(connect);
if (!link->isConnected())
{
link->setRemoteHost(ui->hostComboBox->currentText());
link->connectSimulation();
ui->startButton->setText(tr("Disconnect"));
}
else
{
link->disconnectSimulation();
......
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