From a7f039bf858019d0cef1337ec3132fb3d7a74203 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 5 May 2014 13:50:04 +0200 Subject: [PATCH] Operational toy examples --- src/uas/QGCMAVLinkUASFactory.cc | 1 + src/uas/QGCUASFileManager.cc | 102 +++++++++++++++++++++++++++++++- src/uas/QGCUASFileManager.h | 18 ++++++ src/ui/QGCUASFileView.cc | 22 +++++++ src/ui/QGCUASFileView.h | 4 ++ src/ui/QGCUASFileView.ui | 62 ++++++++++++++----- 6 files changed, 192 insertions(+), 17 deletions(-) diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc index 6b1b9967e2..77860aef52 100644 --- a/src/uas/QGCMAVLinkUASFactory.cc +++ b/src/uas/QGCMAVLinkUASFactory.cc @@ -30,6 +30,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte mav->setSystemType((int)heartbeat->type); // Connect this robot to the UAS object connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); + connect(mavlink, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), mav->getFileManager(), SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); #ifdef QGC_PROTOBUF_ENABLED connect(mavlink, SIGNAL(extendedMessageReceived(LinkInterface*, std::tr1::shared_ptr)), mav, SLOT(receiveExtendedMessage(LinkInterface*, std::tr1::shared_ptr))); #endif diff --git a/src/uas/QGCUASFileManager.cc b/src/uas/QGCUASFileManager.cc index c900bfdda0..6034117396 100644 --- a/src/uas/QGCUASFileManager.cc +++ b/src/uas/QGCUASFileManager.cc @@ -1,14 +1,112 @@ #include "QGCUASFileManager.h" #include "QGC.h" +#include "MAVLinkProtocol.h" + +#include +#include + +static const quint32 crctab[] = +{ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d +}; QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) : QObject(parent), - _mav(uas) + _mav(uas), + _encdata_seq(0) +{ +} + +quint32 +QGCUASFileManager::crc32(const uint8_t *src, unsigned len, unsigned state) { + for (unsigned i = 0; i < len; i++) + state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8); + return state; } -void QGCUASFileManager::nothingMessage() { +void QGCUASFileManager::nothingMessage() +{ mavlink_message_t message; + unsigned crcstate = 0; + RequestHeader hdr; + hdr.magic = 9; + crcstate = crc32((uint8_t*)&hdr, 4, crcstate); + hdr.crc32 = crcstate; + + mavlink_msg_encapsulated_data_pack(250, 0, &message, _encdata_seq, (uint8_t*)&hdr); + _mav->sendMessage(message); + qDebug() << "Sent message!"; +} + +void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t message) +{ + switch (message.msgid) { + case MAVLINK_MSG_ID_ENCAPSULATED_DATA: + emit statusMessage("GOT ENC DATA"); + break; + } +} + +void QGCUASFileManager::listRecursively(const QString &from) +{ + // This sends out one line to the text area + emit statusMessage("/"); + emit statusMessage(" fs/"); + emit statusMessage(" microsd/"); + emit statusMessage(" log001.bin"); +} + +void QGCUASFileManager::downloadPath(const QString &from, const QString &to) +{ + + // Send path, e.g. /fs/microsd and download content + // recursively into a local directory + + char buf[255]; + unsigned len = 10; + + QByteArray data(buf, len); + QString filename = "log001.bin"; // XXX get this from onboard + + // Qt takes care of slash conversions in paths + QFile file(to + QDir::separator() + filename); + file.open(QIODevice::WriteOnly); + file.write(data); + file.close(); + + emit statusMessage(QString("Downloaded: %1 to directory %2").arg(filename).arg(to)); } diff --git a/src/uas/QGCUASFileManager.h b/src/uas/QGCUASFileManager.h index d1d12882bc..e046190381 100644 --- a/src/uas/QGCUASFileManager.h +++ b/src/uas/QGCUASFileManager.h @@ -11,12 +11,30 @@ public: QGCUASFileManager(QObject* parent, UASInterface* uas); signals: + void statusMessage(const QString& msg); public slots: + void receiveMessage(LinkInterface* link, mavlink_message_t message); void nothingMessage(); + void listRecursively(const QString &from); + void downloadPath(const QString& from, const QString& to); protected: UASInterface* _mav; + quint16 _encdata_seq; + + struct RequestHeader + { + uint8_t magic; + uint8_t session; + uint8_t opcode; + uint8_t size; + uint32_t crc32; + uint32_t offset; + uint8_t data[]; + }; + + static quint32 crc32(const uint8_t *src, unsigned len, unsigned state); }; diff --git a/src/ui/QGCUASFileView.cc b/src/ui/QGCUASFileView.cc index 4f9a4e9d12..f3a73ddb90 100644 --- a/src/ui/QGCUASFileView.cc +++ b/src/ui/QGCUASFileView.cc @@ -2,6 +2,9 @@ #include "uas/QGCUASFileManager.h" #include "ui_QGCUASFileView.h" +#include +#include + QGCUASFileView::QGCUASFileView(QWidget *parent, QGCUASFileManager *manager) : QWidget(parent), _manager(manager), @@ -10,9 +13,28 @@ QGCUASFileView::QGCUASFileView(QWidget *parent, QGCUASFileManager *manager) : ui->setupUi(this); connect(ui->testButton, SIGNAL(clicked()), _manager, SLOT(nothingMessage())); + connect(ui->listFilesButton, SIGNAL(clicked()), this, SLOT(listFiles())); + connect(ui->downloadButton, SIGNAL(clicked()), this, SLOT(downloadFiles())); + + connect(_manager, SIGNAL(statusMessage(QString)), ui->messageArea, SLOT(appendPlainText(QString))); } QGCUASFileView::~QGCUASFileView() { delete ui; } + +void QGCUASFileView::listFiles() +{ + _manager->listRecursively(ui->pathLineEdit->text()); +} + +void QGCUASFileView::downloadFiles() +{ + QString dir = QFileDialog::getExistingDirectory(this, tr("Open Directory"), + QDir::homePath(), + QFileDialog::ShowDirsOnly + | QFileDialog::DontResolveSymlinks); + // And now download to this location + _manager->downloadPath(ui->pathLineEdit->text(), dir); +} diff --git a/src/ui/QGCUASFileView.h b/src/ui/QGCUASFileView.h index 92f179a48e..0bb3700416 100644 --- a/src/ui/QGCUASFileView.h +++ b/src/ui/QGCUASFileView.h @@ -16,6 +16,10 @@ public: explicit QGCUASFileView(QWidget *parent, QGCUASFileManager *manager); ~QGCUASFileView(); +public slots: + void listFiles(); + void downloadFiles(); + protected: QGCUASFileManager* _manager; diff --git a/src/ui/QGCUASFileView.ui b/src/ui/QGCUASFileView.ui index 2304a783c8..1cbc196fec 100644 --- a/src/ui/QGCUASFileView.ui +++ b/src/ui/QGCUASFileView.ui @@ -6,26 +6,58 @@ 0 0 - 400 - 300 + 414 + 518 Form - - - - 30 - 20 - 114 - 32 - - - - Test - - + + + + + List Files + + + + + + + + + + + 1 + + + + + + + + Null Message + + + + + + + Download File + + + + + + + Path: + + + + + + + -- GitLab