Skip to content
GitLab
Commit 5f00eab1 authored by pixhawk's avatar pixhawk
Browse files

Fixed issue in simulation link

parent 5dad474e
Expand all Hide whitespace changes
Inline Side-by-side
src/comm/MAVLinkSimulationLink.cc
View file @ 5f00eab1
......@@ -154,12 +154,12 @@ void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg)
unsigned int bufferlength = mavlink_msg_to_send_buffer(buf, msg);
// Pack to link buffer
// readyBufferMutex.lock();
readyBufferMutex.lock();
for (unsigned int i = 0; i < bufferlength; i++)
{
readyBuffer.enqueue(*(buf + i));
}
// readyBufferMutex.unlock();
readyBufferMutex.unlock();
}
void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg)
......@@ -891,8 +891,7 @@ void MAVLinkSimulationLink::readBytes() {
readyBufferMutex.lock();
const qint64 maxLength = 2048;
char data[maxLength];
qint64 len = maxLength;
if (maxLength > readyBuffer.size()) len = readyBuffer.size();
qint64 len = qMin((qint64)readyBuffer.size(), maxLength);
for (unsigned int i = 0; i < len; i++)
{
......
src/ui/WaypointGlobalView.cc deleted 100644 → 0
View file @ 5dad474e
#include "WaypointGlobalView.h"
#include "ui_WaypointGlobalView.h"
#include <math.h>
WaypointGlobalView::WaypointGlobalView(Waypoint* wp,QWidget *parent) :
QWidget(parent),
ui(new Ui::WaypointGlobalView)
{
ui->setupUi(this);
this->wp = wp;
ui->m_orbitalSpinBox->hide();
// set type
wp->setType(Waypoint::GLOBAL);
// Read values and set user interface
updateValues();
connect(ui->m_orbitalSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
connect(ui->m_heigthSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
//for spinBox Latitude
connect(ui->m_latitudGrados_spinBox, SIGNAL(valueChanged(int)), this, SLOT(updateLatitudeWP(int)));
connect(ui->m_latitudMinutos_spinBox, SIGNAL(valueChanged(double)), this, SLOT(updateLatitudeMinuteWP(double)));
connect(ui->m_dirLatitudeN_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLatitudeWP()));
connect(ui->m_dirLatitudeS_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLatitudeWP()));
//for spinBox Longitude
connect(ui->m_longitudGrados_spinBox, SIGNAL(valueChanged(int)), this, SLOT(updateLongitudeWP(int)));
connect(ui->m_longitudMinutos_spinBox, SIGNAL(valueChanged(double)), this, SLOT(updateLongitudeMinuteWP(double)));
connect(ui->m_dirLongitudeW_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLongitudeWP()));
connect(ui->m_dirLongitudeE_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLongitudeWP()));
connect(ui->m_orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
// connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
// connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
// connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
// //hidden degree to radian conversion of the yaw angle
// connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
// connect(this, SIGNAL(setYaw(double)), wp, SLOT(setYaw(double)));
// connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
// connect(m_ui->downButton, SIGNAL(clicked()), this, SLOT(moveDown()));
// connect(m_ui->removeButton, SIGNAL(clicked()), this, SLOT(remove()));
// connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
// connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
//
// connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
}
WaypointGlobalView::~WaypointGlobalView()
{
delete ui;
}
void WaypointGlobalView::updateValues()
{
int gradoLat, gradoLon;
float minLat, minLon;
QString dirLat, dirLon;
getLatitudeGradoMin(wp->getY(), &gradoLat, &minLat, &dirLat);
getLongitudGradoMin(wp->getX(), &gradoLon, &minLon, &dirLon);
//latitude on spinBox
ui->m_latitudGrados_spinBox->setValue(gradoLat);
ui->m_latitudMinutos_spinBox->setValue(minLat);
if(dirLat == "N")
{
ui->m_dirLatitudeN_radioButton->setChecked(true);
ui->m_dirLatitudeS_radioButton->setChecked(false);
}
else
{
ui->m_dirLatitudeS_radioButton->setChecked(true);
ui->m_dirLatitudeN_radioButton->setChecked(false);
}
//longitude on spinBox
ui->m_longitudGrados_spinBox->setValue(gradoLon);
ui->m_longitudMinutos_spinBox->setValue(minLon);
if(dirLon == "W")
{
ui->m_dirLongitudeW_radioButton->setChecked(true);
ui->m_dirLongitudeE_radioButton->setChecked(false);
}
else
{
ui->m_dirLongitudeE_radioButton->setChecked(true);
ui->m_dirLongitudeW_radioButton->setChecked(false);
}
ui->idWP_label->setText(QString("WP-%1").arg(wp->getId()));
}
void WaypointGlobalView::changeEvent(QEvent *e)
{
switch (e->type()) {
case QEvent::LanguageChange:
ui->retranslateUi(this);
break;
default:
break;
}
}
void WaypointGlobalView::remove()
{
emit removeWaypoint(wp);
delete this;
}
QString WaypointGlobalView::getLatitudString(float latitud)
{
QString tempNS ="";
QString stringLatitudTemp = "";
float minutos = 0;
float grados = 0;
float entero = 0;
float dec = 0;
if (latitud<0){tempNS="S"; latitud = latitud * -1;}
else {tempNS="N";}
if(latitud< 90 || latitud > -90)
{
dec = latitud - (entero = ::floor(latitud));;
minutos = dec * 60;
grados = entero;
if(grados < 0) grados = grados * (-1);
if(minutos < 0) minutos = minutos * (-1);
stringLatitudTemp = QString::number(grados)+ " "+ QString::number(minutos)+"' "+ tempNS;
return stringLatitudTemp;
}
else
{
stringLatitudTemp = "erroneous latitude";
return stringLatitudTemp;
}
}
QString WaypointGlobalView::getLongitudString(float longitud)
{
QString tempEW ="";
QString stringLongitudTemp = "";
float minutos = 0;
float grados = 0;
float entero = 0;
float dec = 0;
if (longitud<0){tempEW="W"; longitud = longitud * -1;}
else {tempEW="E";}
if(longitud<180 || longitud > -180)
{
dec = longitud - (entero = ::floor(longitud));;
minutos = dec * 60;
grados = entero;
if(grados < 0) grados = grados * (-1);
if(minutos < 0) minutos = minutos * (-1);
stringLongitudTemp = QString::number(grados)+ " "+ QString::number(minutos)+"' "+ tempEW;
return stringLongitudTemp;
}
else
{
stringLongitudTemp = "erroneous longitude";
return stringLongitudTemp;
}
}
void WaypointGlobalView::changeOrbitalState(int state)
{
Q_UNUSED(state);
if(ui->m_orbitCheckBox->isChecked())
{
ui->m_orbitalSpinBox->setEnabled(true);
ui->m_orbitalSpinBox->show();
wp->setType(Waypoint::GLOBAL_ORBIT);
}
else
{
ui->m_orbitalSpinBox->setEnabled(false);
ui->m_orbitalSpinBox->hide();
wp->setType(Waypoint::GLOBAL);
}
}
void WaypointGlobalView::getLatitudeGradoMin(float latitud, int *gradoLat, float *minLat, QString *dirLat)
{
float minutos = 0;
float grados = 0;
float entero = 0;
float dec = 0;
if (latitud<0){*dirLat="S"; latitud = latitud * -1;}
else {*dirLat="N";}
if(latitud< 90 || latitud > -90)
{
dec = latitud - (entero = ::floor(latitud));;
minutos = dec * 60;
grados = entero;
if(grados < 0) grados = grados * (-1);
if(minutos < 0) minutos = minutos * (-1);
*gradoLat = grados;
*minLat = minutos;
}
else
{
*gradoLat = -1;
*minLat = -1;
*dirLat="N/A";
}
}
void WaypointGlobalView::getLongitudGradoMin(float longitud, int *gradoLon, float *minLon, QString *dirLon)
{
float minutos = 0;
float grados = 0;
float entero = 0;
float dec = 0;
if (longitud<0){*dirLon="W"; longitud = longitud * -1;}
else {*dirLon="E";}
if(longitud<180 || longitud > -180)
{
dec = longitud - (entero = ::floor(longitud));;
minutos = dec * 60;
grados = entero;
if(grados < 0) grados = grados * (-1);
if(minutos < 0) minutos = minutos * (-1);
*gradoLon = grados;
*minLon = minutos;
}
else
{
*gradoLon = -1;
*minLon = -1;
*dirLon="N/A";
}
}
void WaypointGlobalView::updateCoordValues(float lat, float lon)
{
}
void WaypointGlobalView::updateLatitudeWP(int value)
{
Q_UNUSED(value);
int gradoLat;
float minLat;
float Latitud;
QString dirLat;
gradoLat = ui->m_latitudGrados_spinBox->value();
minLat = ui->m_latitudMinutos_spinBox->value();
if(ui->m_dirLatitudeN_radioButton->isChecked())
{
dirLat = "N";
}
else
{
dirLat = "S";
}
//dirLat = ui->m_dirLatitud_label->text();
Latitud = gradoLat + (minLat/60);
if(dirLat == "S"){Latitud = Latitud * -1;}
wp->setY(Latitud);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
void WaypointGlobalView::updateLatitudeMinuteWP(double value)
{
Q_UNUSED(value);
int gradoLat;
float minLat;
float Latitud;
QString dirLat;
gradoLat = ui->m_latitudGrados_spinBox->value();
minLat = ui->m_latitudMinutos_spinBox->value();
//dirLat = ui->m_dirLatitud_label->text();
if(ui->m_dirLatitudeN_radioButton->isChecked())
{
dirLat = "N";
}
else
{
dirLat = "S";
}
Latitud = gradoLat + (minLat/60);
if(dirLat == "S"){Latitud = Latitud * -1;}
wp->setY(Latitud);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
void WaypointGlobalView::updateLongitudeWP(int value)
{
Q_UNUSED(value);
int gradoLon;
float minLon;
float Longitud;
QString dirLon;
gradoLon = ui->m_longitudGrados_spinBox->value();
minLon = ui->m_longitudMinutos_spinBox->value();
// dirLon = ui->m_dirLongitud_label->text();
if(ui->m_dirLongitudeW_radioButton->isChecked())
{
dirLon = "W";
}
else
{
dirLon = "E";
}
Longitud = gradoLon + (minLon/60);
if(dirLon == "W"){Longitud = Longitud * -1;}
wp->setX(Longitud);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
void WaypointGlobalView::updateLongitudeMinuteWP(double value)
{
Q_UNUSED(value);
int gradoLon;
float minLon;
float Longitud;
QString dirLon;
gradoLon = ui->m_longitudGrados_spinBox->value();
minLon = ui->m_longitudMinutos_spinBox->value();
// dirLon = ui->m_dirLongitud_label->text();
if(ui->m_dirLongitudeW_radioButton->isChecked())
{
dirLon = "W";
}
else
{
dirLon = "E";
}
Longitud = gradoLon + (minLon/60);
if(dirLon == "W"){Longitud = Longitud * -1;}
wp->setX(Longitud);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
void WaypointGlobalView::changeDirectionLatitudeWP()
{
if(ui->m_dirLatitudeN_radioButton->isChecked())
{
if(wp->getY() < 0)
{
wp->setY(wp->getY()* -1);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
}
if(ui->m_dirLatitudeS_radioButton->isChecked())
{
if(wp->getY() > 0)
{
wp->setY(wp->getY()*-1);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
}
}
void WaypointGlobalView::changeDirectionLongitudeWP()
{
if(ui->m_dirLongitudeW_radioButton->isChecked())
{
if(wp->getX() > 0)
{
wp->setX(wp->getX()*-1);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
}
if(ui->m_dirLongitudeE_radioButton->isChecked())
{
if(wp->getX() < 0)
{
wp->setX(wp->getX()*-1);
//emit signal waypoint position was changed
emit changePositionWP(wp);
}
}
}
src/ui/WaypointGlobalView.h deleted 100644 → 0
View file @ 5dad474e
#ifndef WAYPOINTGLOBALVIEW_H
#define WAYPOINTGLOBALVIEW_H
#include <QWidget>
#include "Waypoint.h"
namespace Ui {
class WaypointGlobalView;
}
class WaypointGlobalView : public QWidget
{
Q_OBJECT
public:
explicit WaypointGlobalView(Waypoint* wp, QWidget *parent = 0);
~WaypointGlobalView();
public slots:
void updateValues(void);
void remove();
QString getLatitudString(float lat);
QString getLongitudString(float lon);
void getLatitudeGradoMin(float lat, int *gradoLat, float *minLat, QString *dirLat);
void getLongitudGradoMin(float lon, int *gradoLon, float *minLon, QString *dirLon);
void changeOrbitalState(int state);
void updateCoordValues(float lat, float lon);
//update latitude
void updateLatitudeWP(int value);
void updateLatitudeMinuteWP(double value);
void changeDirectionLatitudeWP();
//update longitude
void updateLongitudeWP(int value);
void updateLongitudeMinuteWP(double value);
void changeDirectionLongitudeWP();
signals:
void removeWaypoint(Waypoint*);
void changePositionWP(Waypoint*);
protected:
virtual void changeEvent(QEvent *e);
Waypoint* wp;
private:
Ui::WaypointGlobalView *ui;
private slots:
};
#endif // WAYPOINTGLOBALVIEW_H
src/ui/WaypointGlobalView.ui deleted 100644 → 0
View file @ 5dad474e
This diff is collapsed.
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment