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Unverified Commit 2e033034 authored by Gus Grubba's avatar Gus Grubba Committed by GitHub
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Merge pull request #8272 from mavlink/pr-document 

Code documentation and updates
parents ef5bfab7 cc74ecea
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QGCCommon.pri
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# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Maintainer:
# Lorenz Meier <lm@inf.ethz.ch>
# (c) 2009-2019 QGroundControl Developers
# License terms set in COPYING.md
# -------------------------------------------------
################################################################################
#
# (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
#
# QGroundControl is licensed according to the terms in the file
# COPYING.md in the root of the source code directory.
#
################################################################################
#
# This file contains configuration settings which are common to both the QGC Application and
......
QGCExternalLibs.pri
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################################################################################
#
# (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
#
# QGroundControl is licensed according to the terms in the file
# COPYING.md in the root of the source code directory.
#
################################################################################
#
# [REQUIRED] Add support for <inttypes.h> to Windows.
#
......
QGCInstaller.pri
View file @ 2e033034
# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Maintainer:
# Lorenz Meier <lm@inf.ethz.ch>
# (c) 2009-2014 QGroundControl Developers
# License terms set in COPYING.md
# -------------------------------------------------
################################################################################
#
# (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
#
# QGroundControl is licensed according to the terms in the file
# COPYING.md in the root of the source code directory.
#
################################################################################
installer {
DEFINES += QGC_INSTALL_RELEASE
......
QGCSetup.pri
View file @ 2e033034
# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Maintainer:
# Lorenz Meier <lm@inf.ethz.ch>
# (c) 2009-2011 QGroundControl Developers
# License terms set in COPYING.md
# -------------------------------------------------
################################################################################
#
# (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
#
# QGroundControl is licensed according to the terms in the file
# COPYING.md in the root of the source code directory.
#
################################################################################
QMAKE_POST_LINK += echo "Copying files"
......
doc/Doxyfile
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doc/README
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Linux/Mac OS X
==============
To install doxygen:
$sudo apt-get install doxygen
Mac OS X
========
To install doxygen and dot:
brew install doxygen dot
If the above does not work go to:
http://www.stack.nl/~dimitri/doxygen/download.html for the correct download.
Then go to the following website for inforamtion on the install:
http://www.stack.nl/~dimitri/doxygen/install.html
doxyqml:
https://github.com/agateau/doxyqml
$sudo pip3 install doxyqml
Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
$doxygen Doxyfile
The html file index.html should be in doc/html unless you chenged the output directory.
The other option for generating the documentation is to use the wizard:
$doxywizard &
doxywizard information:
http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
Or go to the Doxygen Manual for information at the website noted below.
Windows
=======
Go to the following website for the correct download and follow the wizard to install:
http://www.stack.nl/~dimitri/doxygen/download.html
Run the wizard to generate the documentation.
Go to the website below or the Doxygen Manual for information on running doxywizard.
http://www.stack.nl/~dimitri/doxygen/doxywizard_usage.html
Doxygen Manual
==============
http://www.stack.nl/~dimitri/doxygen/
The html file index.html should be in doc/html.
doc/dot 0 → 100755
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#! /bin/bash
# This hack is a wrapper to GraphViz dot that removes any nodes that
# are contained in the following list.
LABELS_TO_FILTER="QObject Item"
ARGS=$@
for ARG in ${ARGS}
do
if [ -e ${ARG} ]
then
FILENAME=$(basename "${ARG}")
EXT="${FILENAME##*.}"
if [ ${EXT} == "dot" ]
then
DOT_FILE=${ARG}
for LABEL_TO_FILTER in ${LABELS_TO_FILTER}
do
NODE_NAME=$(grep "label=\"${LABEL_TO_FILTER}\"" ${DOT_FILE} | awk '{print $1}')
if [[ ! -z "${NODE_NAME}" ]]
then
echo "${NODE_NAME} is labelled ${LABEL_TO_FILTER}, filtering..."
sed -i -e "/${NODE_NAME}/d" ${DOT_FILE}
fi
done
break
fi
fi
done
/usr/local/bin/dot ${ARGS}
doc/header.html 0 → 100644
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<!-- HTML header for doxygen 1.8.16-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen $doxygenversion"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="$relpath^jquery.js"></script>
<script type="text/javascript" src="$relpath^dynsections.js"></script>
$treeview
$search
$mathjax
<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
$extrastylesheet
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<!--BEGIN TITLEAREA-->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<!--BEGIN PROJECT_LOGO-->
<td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo" style="width:64px;height:64px;"/></td>
<!--END PROJECT_LOGO-->
<!--BEGIN PROJECT_NAME-->
<td id="projectalign" style="padding-left: 0.5em;">
<div style="font: 200% Tahoma, Arial,sans-serif; margin: 0px; padding: 2px 0px;">$projectname
<!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
</div>
<!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
</td>
<!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME-->
<!--BEGIN PROJECT_BRIEF-->
<td style="padding-left: 0.5em;">
<div id="projectbrief">$projectbrief</div>
</td>
<!--END PROJECT_BRIEF-->
<!--END !PROJECT_NAME-->
<!--BEGIN DISABLE_INDEX-->
<!--BEGIN SEARCHENGINE-->
<td>$searchbox</td>
<!--END SEARCHENGINE-->
<!--END DISABLE_INDEX-->
</tr>
</tbody>
</table>
</div>
<!--END TITLEAREA-->
<!-- end header part -->
doc/links.md 0 → 100644
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# Link Management
The LinkManager creates, configures and maintains communication links. Links are created either through the user
interface or programmatically. The LinkConfiguration base classs defines the means to configure a given link
while the LinkInterface exposes the link itself.
Link specializations such as UDPLink, TCPLink, SerialLink, etc. are implemented in their own derived classes as well
as their equivalent configuration derivations such as UDPConfiguration, TCPConfiguration, SerialConfiguration, etc.
Links are primarily responsible to send and receive (MAVLink) data to and from a vehicle. When data arrives, the link will emit a
LinkInterface::bytesReceived signal and when data needs to be sent back to a vehicle, the code uses its
LinkInterface::writeBytesSafe method.
<div align="center">
<img src="../links.svg" style="width:80%; height=auto;">
</div>
\ No newline at end of file
doc/links.svg 0 → 100644
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<defs>
<filter id="Shadow" filterUnits="userSpaceOnUse" x="39.94" y="147.94">
<feGaussianBlur in="SourceAlpha" result="blur" stdDeviation="2.616"/>
<feOffset in="blur" result="offset" dx="1.44" dy="1.44"/>
<feFlood flood-color="black" flood-opacity=".5" result="flood"/>
<feComposite in="flood" in2="offset" operator="in" result="color"/>
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<feMergeNode in="color"/>
<feMergeNode in="SourceGraphic"/>
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<linearGradient x1="0" x2="1" id="Gradient" gradientUnits="userSpaceOnUse">
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<stop offset="1" stop-color="#afafaf"/>
</linearGradient>
<linearGradient id="Obj_Gradient" xl:href="#Gradient" gradientTransform="translate(342 153) rotate(90) scale(90)"/>
<font-face font-family="Courier" font-size="12" units-per-em="1000" underline-position="-178.22266" underline-thickness="57.61719" slope="0" x-height="456.54297" cap-height="586.91406" ascent="753.90625" descent="-246.09375" font-weight="400">
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<font-face-name name="Courier"/>
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<font-face-src>
<font-face-name name="HelveticaNeue"/>
</font-face-src>
</font-face>
<linearGradient x1="0" x2="1" id="Gradient_2" gradientUnits="userSpaceOnUse">
<stop offset="0" stop-color="#ff9691"/>
<stop offset=".45238096" stop-color="#eb7e79"/>
<stop offset="1" stop-color="#d56560"/>
</linearGradient>
<linearGradient id="Obj_Gradient_6" xl:href="#Gradient_2" gradientTransform="translate(471.00007 479.8125) rotate(-90) scale(27)"/>
<linearGradient x1="0" x2="1" id="Gradient_3" gradientUnits="userSpaceOnUse">
<stop offset="0" stop-color="#54ba6b"/>
<stop offset=".45238096" stop-color="#6dd98a"/>
<stop offset="1" stop-color="#84f8a8"/>
</linearGradient>
<linearGradient id="Obj_Gradient_7" xl:href="#Gradient_3" gradientTransform="translate(471.00007 402.1875) rotate(90) scale(27)"/>
<marker orient="auto" overflow="visible" markerUnits="strokeWidth" id="Diamond_Marker" stroke-linejoin="miter" stroke-miterlimit="10" viewBox="-9 -4 10 8" markerWidth="10" markerHeight="8" color="black">
<g>
<path d="M -8 0 L -4 3 L 0 0 L -4 -3 Z" fill="none" stroke="currentColor" stroke-width="1"/>
</g>
</marker>
<marker orient="auto" overflow="visible" markerUnits="strokeWidth" id="Arrow_Marker" stroke-linejoin="miter" stroke-miterlimit="10" viewBox="-9 -4 10 8" markerWidth="10" markerHeight="8" color="black">
<g>
<path d="M -8 0 L 0 3 L 0 -3 Z" fill="none" stroke="currentColor" stroke-width="1"/>
</g>
</marker>
<marker orient="auto" overflow="visible" markerUnits="strokeWidth" id="FilledDiamond_Marker" stroke-linejoin="miter" stroke-miterlimit="10" viewBox="-1 -4 10 8" markerWidth="10" markerHeight="8" color="black">
<g>
<path d="M 8 0 L 4 -3 L 0 0 L 4 3 Z" fill="currentColor" stroke="currentColor" stroke-width="1"/>
</g>
</marker>
</defs>
<metadata> Produced by OmniGraffle 7.12.1
<dc:date>2020-02-02 19:58:23 +0000</dc:date>
</metadata>
<g id="Canvas_1" fill-opacity="1" fill="none" stroke="none" stroke-opacity="1" stroke-dasharray="none">
<title>Canvas 1</title>
<g id="Canvas_1: Layer 1">
<title>Layer 1</title>
<g id="Graphic_2" filter="url(#Shadow)">
<path d="M 261 153 L 423 153 C 427.97056 153 432 157.02944 432 162 L 432 234 C 432 238.97056 427.97056 243 423 243 L 261 243 C 256.02944 243 252 238.97056 252 234 L 252 162 C 252 157.02944 256.02944 153 261 153 Z" fill="url(#Obj_Gradient)"/>
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<text transform="translate(257 191)" fill="black">
<tspan font-family="Courier" font-size="12" font-weight="400" fill="black" x="45.393555" y="11">LinkManager</tspan>
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</g>
<g id="Graphic_6" filter="url(#Shadow)">
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<text transform="translate(257 434)" fill="black">
<tspan font-family="Courier" font-size="12" font-weight="400" fill="black" x="59.7959" y="11">UDPLink</tspan>
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<tspan font-family="Courier" font-size="12" font-weight="400" fill="black" x="38.192383" y="25.336">bytesReceived</tspan>
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doc/qgcmain.svg 0 → 100644
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<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
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doc/qgroundcontrol.md 0 → 100644
View file @ 2e033034
QGroundControl Architecture Documentation {#mainpage}
=========================================
#### High Level Diagram
<div align="center">
<img src="../qgcmain.svg" style="width:80%; height=auto;">
</div>
* [Link Management](links.md)
* [Vehicle Management](vehicleMgmt.md)
doc/vehicleMgmt.md 0 → 100644
View file @ 2e033034
# Vehicle Management
The singleton MAVLinkProtocol implements the target slot for all LinkInterface::bytesReceived signals. As data is received, it parses and builds MAVLink messages.
All messages are then sent through a MAVLinkProcotol::messageReceived signal. In addition, when it detects a heartbeat message,
it emits MAVLinkProcotol::vehicleHeartbeatInfo signals.
The singleton MultiVehicleManager is responsible for creating and maintaining instances of the Vehicle class. When it receives a MAVLinkProcotol::vehicleHeartbeatInfo
signal for the first time, it creates a vehicle instance, recording the vehicle ID and the link used.
The Vehicle class holds all the functionality to handle vehicles. It receives all messages sent from the vehicle and manages all messages and commands to that vehicle.
<div align="center">
<img src="../vehicleMgmt.svg" style="width:80%; height=auto;">
</div>
doc/vehicleMgmt.svg 0 → 100644
View file @ 2e033034
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qgroundcontrol.pro
View file @ 2e033034
......@@ -587,7 +587,6 @@ HEADERS += \
src/JsonHelper.h \
src/KMLFileHelper.h \
src/LogCompressor.h \
src/MG.h \
src/MissionManager/CameraCalc.h \
src/MissionManager/CameraSection.h \
src/MissionManager/CameraSpec.h \
......@@ -691,7 +690,6 @@ HEADERS += \
src/comm/LinkManager.h \
src/comm/LogReplayLink.h \
src/comm/MAVLinkProtocol.h \
src/comm/ProtocolInterface.h \
src/comm/QGCMAVLink.h \
src/comm/TCPLink.h \
src/comm/UDPLink.h \
......
src/ADSB/ADSBVehicle.cc
View file @ 2e033034
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
......
src/ADSB/ADSBVehicle.h
View file @ 2e033034
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
......
src/ADSB/ADSBVehicleManager.cc
View file @ 2e033034
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
......
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