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Commit 395cf000 authored by Jessica's avatar Jessica
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Added some documentation to UAS.cc

parent 1f28caf8
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src/uas/UAS.cc
View file @ 395cf000
......@@ -31,6 +31,14 @@
#include <google/protobuf/descriptor.h>
#endif
/**
* constructor
* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
* by calling readSettings.
* This means the new UAS will have the same settings as the previous one created unless
* one calls deleteSettings in the code after creating the UAS.
* Gets a color for the UAS.
*/
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id),
startTime(QGC::groundTimeMilliseconds()),
......@@ -117,6 +125,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
emit armingChanged(false);
}
/**
* Destructor
* Saves the settings of name, airframe, autopilot type and battery specifications
* by calling writeSettings.
* Deallocate memory.
*/
UAS::~UAS()
{
writeSettings();
......@@ -126,9 +140,9 @@ UAS::~UAS()
}
/**
* @ Saves the settings of name, airframe, autopilot type and battery specifications
* for the next instantiation of UAS.
**/
*Saves the settings of name, airframe, autopilot type and battery specifications
*for the next instantiation of UAS.
*/
void UAS::writeSettings()
{
QSettings settings;
......@@ -181,8 +195,8 @@ int UAS::getUASID() const
}
/**
* Update whether the uas is alive or not. Updates the heartbeat.
**/
* Updates the heartbeat which is what keeps track of whether the UAS is alive or not.
*/
void UAS::updateState()
{
// Check if heartbeat timed out
......@@ -209,7 +223,9 @@ void UAS::updateState()
}
/**
* @ Selet a uas.
* @ Select a uas.
* If the acitve UAS(the UAS that was selected) is not the one that is currently active,
* then change the active UAS to the one that was selected.
**/
void UAS::setSelected()
{
......@@ -221,7 +237,7 @@ void UAS::setSelected()
}
/**
* @ return if the active uas is the current uas
* @ return if the active UAS is the current UAS
**/
bool UAS::getSelected() const
{
......@@ -230,9 +246,8 @@ bool UAS::getSelected() const
/**
* @param link The link interface
* @param The message ????
* @ Receives a message.
**/
* @param message
*/
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
if (!link) return;
......@@ -1167,7 +1182,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
* @param link
* @param message
* @ Receive an extended message.
**/
*/
#if defined(QGC_PROTOBUF_ENABLED)
void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
{
......@@ -1266,7 +1281,7 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
* @param lon The longitute of the home position
* @param alt The altitude of the home position
* @ SEt a new home position for the uas.
**/
*/
void UAS::setHomePosition(double lat, double lon, double alt)
{
QMessageBox msgBox;
......@@ -1331,7 +1346,7 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
* @param y position
* @param z position
* @ Set a local position setpoint.
**/
*/
void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1352,7 +1367,7 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
* @param z position
* @param yaw
* @Set a offset of the local position by sending a message.
**/
*/
void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1368,8 +1383,8 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
}
/**
* @ Start Radio Calibration by sending a message to the mav to start calibrating.
**/
* Start Radio Calibration by sending a message to the mav to start calibrating.
*/
void UAS::startRadioControlCalibration()
{
mavlink_message_t msg;
......@@ -1380,7 +1395,7 @@ void UAS::startRadioControlCalibration()
/**
* @ Start data recording by sending a mavlink message.
**/
*/
void UAS::startDataRecording()
{
mavlink_message_t msg;
......@@ -1390,7 +1405,7 @@ void UAS::startDataRecording()
/**
* @Stop data recording.
**/
*/
void UAS::stopDataRecording()
{
mavlink_message_t msg;
......@@ -1399,8 +1414,8 @@ void UAS::stopDataRecording()
}
/**
* @Start magnetometer calibration. ??look up magnetometer??
**/
* @Start magnetometer calibration. Measures direction of magnetic fields.
*/
void UAS::startMagnetometerCalibration()
{
mavlink_message_t msg;
......@@ -1410,7 +1425,7 @@ void UAS::startMagnetometerCalibration()
}
/**
* @ Start gyroscope calibration. ???look up what a gyroscope is.
* @ Start gyroscope calibration. Maintains orientation. ???look up what a gyroscope is.
**/
void UAS::startGyroscopeCalibration()
{
......@@ -1421,8 +1436,8 @@ void UAS::startGyroscopeCalibration()
}
/**
* @ Start pressure calibration by sending the mav a message.
**/
* @ Start pressure calibration by sending the a message.
*/
void UAS::startPressureCalibration()
{
mavlink_message_t msg;
......@@ -1434,8 +1449,7 @@ void UAS::startPressureCalibration()
/**
* @param quint64 time
* @ Get unix reference time.??To what end??
**/
*/
quint64 UAS::getUnixReferenceTime(quint64 time)
{
// Same as getUnixTime, but does not react to attitudeStamped mode
......@@ -1554,7 +1568,7 @@ quint64 UAS::getUnixTime(quint64 time)
/**
* @param component that could be in the map?
* @ Get parameter names.
**/
*/
QList<QString> UAS::getParameterNames(int component)
{
if (parameters.contains(component))
......@@ -1569,7 +1583,7 @@ QList<QString> UAS::getParameterNames(int component)
/**
* @ Get componenet ids.
**/
*/
QList<int> UAS::getComponentIds()
{
return parameters.keys();
......@@ -1577,8 +1591,8 @@ QList<int> UAS::getComponentIds()
/**
* @ Set the mode
* @param mode that uas is to be set to.
**/
* @param mode that UAS is to be set to.
*/
void UAS::setMode(int mode)
{
//this->mode = mode; //no call assignament, update receive message from UAS
......@@ -1590,7 +1604,7 @@ void UAS::setMode(int mode)
/**
* @param message that is to be sent
* @Send a message to the mav.
* @Send a message to every link that is connected.
**/
void UAS::sendMessage(mavlink_message_t message)
{
......@@ -1614,7 +1628,7 @@ void UAS::sendMessage(mavlink_message_t message)
/**
* @param message that is to be forwarded
* @Forward a message to all links that are currently connected.
**/
*/
void UAS::forwardMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
......@@ -1644,7 +1658,7 @@ void UAS::forwardMessage(mavlink_message_t message)
* @param link that the message will be sent to
* @message that is to be sent
* @Send a message to the link that is connected.
**/
*/
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
if(!link) return;
......@@ -1674,7 +1688,7 @@ float UAS::filterVoltage(float value) const
* @param mode
* @Return the modeo fo the autopilot
* @The mode can be preflight or unknown.
**/
*/
QString UAS::getNavModeText(int mode)
{
if (autopilot == MAV_AUTOPILOT_PIXHAWK)
......@@ -1707,7 +1721,7 @@ QString UAS::getNavModeText(int mode)
* @Get the status of the code and a descriptor of the code.
* @Status can be unitialized, booting up, calibrating sensors, active
* @standby, cirtical, emergency, shutdown or unknown.
**/
*/
void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
switch (statusCode)
......@@ -1760,7 +1774,7 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
/**
* @ Get the image ??of what??
* @return a image
**/
*/
QImage UAS::getImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1819,7 +1833,7 @@ QImage UAS::getImage()
/**
* @Request an image.
**/
*/
void UAS::requestImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......@@ -1838,11 +1852,11 @@ void UAS::requestImage()
/* MANAGEMENT */
/*
/**
*
* @return The uptime in milliseconds
*
**/
*/
quint64 UAS::getUptime() const
{
if(startTime == 0)
......@@ -1857,15 +1871,15 @@ quint64 UAS::getUptime() const
/**
* @return communication status
**/
*/
int UAS::getCommunicationStatus() const
{
return commStatus;
}
/**
* @Request list of parameters by sending a message.
**/
* @Request list of parameters.
*/
void UAS::requestParameters()
{
mavlink_message_t msg;
......@@ -1876,7 +1890,7 @@ void UAS::requestParameters()
/**
* @Write the parameters to storage.
**/
*/
void UAS::writeParametersToStorage()
{
mavlink_message_t msg;
......@@ -1898,7 +1912,7 @@ void UAS::readParametersFromStorage()
/**
* @param rate
* @Enable all types of data to be transmitted.
**/
*/
void UAS::enableAllDataTransmission(int rate)
{
// Buffers to write data to
......@@ -1927,7 +1941,7 @@ void UAS::enableAllDataTransmission(int rate)
/**
* @param rate
* @Enable raw sensor data to be transmitted.
**/
*/
void UAS::enableRawSensorDataTransmission(int rate)
{
// Buffers to write data to
......@@ -1952,7 +1966,7 @@ void UAS::enableRawSensorDataTransmission(int rate)
/**
* @param rate
* @Enable extended system status to be transmitted.
**/
*/
void UAS::enableExtendedSystemStatusTransmission(int rate)
{
// Buffers to write data to
......@@ -1977,7 +1991,7 @@ void UAS::enableExtendedSystemStatusTransmission(int rate)
/**
* @param rate
* @Enable RCC channel data to be transmitted.
**/
*/
void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
......@@ -2007,7 +2021,7 @@ void UAS::enableRCChannelDataTransmission(int rate)
/**
* @param rate
* @Enalbe raw controller data to be transmitted.
**/
*/
void UAS::enableRawControllerDataTransmission(int rate)
{
// Buffers to write data to
......@@ -2054,7 +2068,7 @@ void UAS::enableRawControllerDataTransmission(int rate)
/**
* @param rate
* @Enable postion to be transmitted.
**/
*/
void UAS::enablePositionTransmission(int rate)
{
// Buffers to write data to
......@@ -2079,7 +2093,7 @@ void UAS::enablePositionTransmission(int rate)
/**
* @param rate
* @ Enable extra1 to be transmitted.
**/
*/
void UAS::enableExtra1Transmission(int rate)
{
// Buffers to write data to
......@@ -2105,7 +2119,7 @@ void UAS::enableExtra1Transmission(int rate)
/**
* @param rate
* @Enable extra 2 to be transmitted.
**/
*/
void UAS::enableExtra2Transmission(int rate)
{
// Buffers to write data to
......@@ -2131,7 +2145,7 @@ void UAS::enableExtra2Transmission(int rate)
/**
* @param rate
* @Enable extra 2 to be transmitted.
**/
*/
void UAS::enableExtra3Transmission(int rate)
{
// Buffers to write data to
......@@ -2223,7 +2237,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
* @param component
* @param id
* @Request a prameter. How is this different??
**/
*/
void UAS::requestParameter(int component, int id)
{
// Request parameter, use parameter name to request it
......@@ -2242,7 +2256,7 @@ void UAS::requestParameter(int component, int id)
* @param component
* @QString parameter
* @Request a parameter
**/
*/
void UAS::requestParameter(int component, const QString& parameter)
{
// Request parameter, use parameter name to request it
......@@ -2265,8 +2279,8 @@ void UAS::requestParameter(int component, const QString& parameter)
/**
* @param systemType
* @Set the system type.
**/
* @Set the airfram depending on the mav type.
*/
void UAS::setSystemType(int systemType)
{
if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
......@@ -2293,7 +2307,7 @@ void UAS::setSystemType(int systemType)
/**
* @param name
* @Set the name of the UAS.
**/
*/
void UAS::setUASName(const QString& name)
{
if (name != "")
......@@ -2308,7 +2322,7 @@ void UAS::setUASName(const QString& name)
/**
* @param command
* @Execute a command.
**/
*/
void UAS::executeCommand(MAV_CMD command)
{
mavlink_message_t msg;
......@@ -2340,7 +2354,7 @@ void UAS::executeCommand(MAV_CMD command)
* @param param7
* @param component
* @Execute a command
**/
*/
void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
{
mavlink_message_t msg;
......@@ -2363,7 +2377,7 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float
/**
* Launches the system
*
**/
*/
void UAS::launch()
{
mavlink_message_t msg;
......@@ -2374,7 +2388,7 @@ void UAS::launch()
/**
* Depending on the UAS, this might make the rotors of a helicopter spinning
*
**/
*/
void UAS::armSystem()
{
mavlink_message_t msg;
......@@ -2385,7 +2399,7 @@ void UAS::armSystem()
/**
* @warning Depending on the UAS, this might completely stop all motors.
*
**/
*/
void UAS::disarmSystem()
{
mavlink_message_t msg;
......@@ -2399,7 +2413,8 @@ void UAS::disarmSystem()
* @param yaw
* @param thrust
* @Set the manual control commands.
**/
* This can only be done if the system has manual inputs enabled and is armed.
*/
void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
{
// Scale values
......@@ -2430,7 +2445,7 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
/**
* @return the type of the system
**/
*/
int UAS::getSystemType()
{
return this->type;
......@@ -2438,8 +2453,7 @@ int UAS::getSystemType()
/**
* @param buttonIndex
* @Receive a button being pushed???
**/
*/
void UAS::receiveButton(int buttonIndex)
{
switch (buttonIndex)
......@@ -2460,7 +2474,7 @@ void UAS::receiveButton(int buttonIndex)
/**
* @Halt the uas.
**/
*/
void UAS::halt()
{
mavlink_message_t msg;
......@@ -2470,7 +2484,7 @@ void UAS::halt()
/**
* @Make the uas go.
**/
*/
void UAS::go()
{
mavlink_message_t msg;
......@@ -2478,7 +2492,9 @@ void UAS::go()
sendMessage(msg);
}
/** Order the robot to return home **/
/**
* Order the robot to return home
*/
void UAS::home()
{
mavlink_message_t msg;
......@@ -2492,7 +2508,9 @@ void UAS::home()
sendMessage(msg);
}
/** Order the robot to land on the runway **/
/**
* Order the robot to land on the runway
*/
void UAS::land()
{
mavlink_message_t msg;
......@@ -2550,8 +2568,8 @@ bool UAS::emergencyKILL()
/**
* @param enable
* @ Connect the fligth gear link. Enable hardware in the loop??
**/
* @ If enabled, connect the fligth gear link.
*/
void UAS::enableHil(bool enable)
{
// Connect Flight Gear Link
......@@ -2593,7 +2611,7 @@ void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, flo
}
/**
* @Start hardware in the loop.
* Connect flight gear link.
**/
void UAS::startHil()
{
......@@ -2605,8 +2623,8 @@ void UAS::startHil()
}
/**
* @ Stop hardware in the loop??
**/
* @ disable flight gear link.
*/
void UAS::stopHil()
{
simulation->disconnectSimulation();
......@@ -2617,7 +2635,8 @@ void UAS::stopHil()
/**
* @Shutdown the uas.
**/
* Shuts down the onboard computer if told to do so.
*/
void UAS::shutdown()
{
bool result = false;
......@@ -2648,8 +2667,9 @@ void UAS::shutdown()
* @param y
* @param z
* @param yaw
* @Set the target position at (x,y,z) at yaw.
**/
* @Set the target position at (x,y,z) with yaw.
* Plans a path.
*/
void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
mavlink_message_t msg;
......@@ -2676,7 +2696,7 @@ QString UAS::getUASName(void) const
/**
* @return the state of the uas as a short text.
**/
*/
const QString& UAS::getShortState() const
{
return shortStateText;
......@@ -2685,7 +2705,9 @@ const QString& UAS::getShortState() const
/**
* @param id
* @return the audio mode text for the id given.
**/
* The mode can be autonomous, guided, manual or armed. It will also return if
* hardware in the loop is being used.
*/
QString UAS::getAudioModeTextFor(int id)
{
QString mode;
......@@ -2728,7 +2750,8 @@ QString UAS::getAudioModeTextFor(int id)
/**
* @param id
* @return the short text of the mode for the id given.
**/
* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
*/
QString UAS::getShortModeTextFor(int id)
{
QString mode;
......@@ -2787,15 +2810,15 @@ QString UAS::getShortModeTextFor(int id)
/**
* @return the short mode.
**/
*/
const QString& UAS::getShortMode() const
{
return shortModeText;
}
/**
* @add the link
**/
* @add the link and connect the signal that is set off when the link is destroyed.
*/
void UAS::addLink(LinkInterface* link)
{
if (!links->contains(link))
......@@ -2808,7 +2831,7 @@ void UAS::addLink(LinkInterface* link)
/**
* @param object
* @remove a link
**/
*/
void UAS::removeLink(QObject* object)
{
LinkInterface* link = dynamic_cast<LinkInterface*>(object);
......@@ -2820,7 +2843,7 @@ void UAS::removeLink(QObject* object)
/**
* @return the list of links
**/
*/
QList<LinkInterface*>* UAS::getLinks()
{
return links;
......@@ -2828,7 +2851,7 @@ QList<LinkInterface*>* UAS::getLinks()
/**
* @rerturn the map of the components
**/
*/
QMap<int, QString> UAS::getComponents()
{
return components;
......@@ -2838,7 +2861,7 @@ QMap<int, QString> UAS::getComponents()
* @param type of the battery
* @param cells Number of cells??
* @Set the battery type and the number of cells.
**/
*/
void UAS::setBattery(BatteryType type, int cells)
{
this->batteryType = type;
......@@ -2864,7 +2887,8 @@ void UAS::setBattery(BatteryType type, int cells)
/**
* @param specs of the battery
**/
* Set the battery specificaitons: empty voltage, warning voltage, and full voltage.
*/
void UAS::setBatterySpecs(const QString& specs)
{
if (specs.length() == 0 || specs.contains("%"))
......@@ -2912,8 +2936,9 @@ void UAS::setBatterySpecs(const QString& specs)
}
/**
* @return the battery specifications as a string.
**/
* @return the battery specifications(empty voltage, warning voltage, full voltage)
* as a string.
*/
QString UAS::getBatterySpecs()
{
if (batteryRemainingEstimateEnabled)
......@@ -2928,7 +2953,7 @@ QString UAS::getBatterySpecs()
/**
* @return the time remaining.
**/
*/
int UAS::calculateTimeRemaining()
{
quint64 dt = QGC::groundTimeMilliseconds() - startTime;
......@@ -2967,7 +2992,7 @@ float UAS::getChargeLevel()
/**
* @start the low battery alarm
**/
*/
void UAS::startLowBattAlarm()
{
if (!lowBattAlarm)
......@@ -2980,7 +3005,7 @@ void UAS::startLowBattAlarm()
/**
* @stop the battery alarm.
**/
*/
void UAS::stopLowBattAlarm()
{
if (lowBattAlarm)
......
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