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src/uas/UAS.cc
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src/uas/UASManager.cc
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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class UASManager
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QList>
#include <QApplication>
#include <QMessageBox>
#include <QTimer>
#include "UAS.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "QGC.h"
UASManager* UASManager::instance()
{
static UASManager* _instance = 0;
if(_instance == 0) {
_instance = new UASManager();
// Set the application as parent to ensure that this object
// will be destroyed when the main application exits
_instance->setParent(qApp);
}
return _instance;
}
/**
* @brief Private singleton constructor
*
* This class implements the singleton design pattern and has therefore only a private constructor.
**/
UASManager::UASManager() :
activeUAS(NULL)
{
systems = QList<UASInterface*>();
start(QThread::LowPriority);
}
UASManager::~UASManager()
{
}
void UASManager::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
}
void UASManager::addUAS(UASInterface* uas)
{
// WARNING: The active uas is set here
// and then announced below. This is necessary
// to make sure the getActiveUAS() function
// returns the UAS once the UASCreated() signal
// is emitted. The code is thus NOT redundant.
bool firstUAS = false;
if (activeUAS == NULL)
{
firstUAS = true;
activeUAS = uas;
}
// Only execute if there is no UAS at this index
if (!systems.contains(uas))
{
systems.append(uas);
connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
emit UASCreated(uas);
}
// If there is no active UAS yet, set the first one as the active UAS
if (firstUAS)
{
setActiveUAS(uas);
}
}
void UASManager::removeUAS(QObject* uas)
{
UASInterface* mav = qobject_cast<UASInterface*>(uas);
if (mav)
{
int listindex = systems.indexOf(mav);
if (mav == activeUAS)
{
if (systems.count() > 1)
{
// We only set a new UAS if more than one is present
if (listindex != 0)
{
// The system to be removed is not at position 1
// set position one as new active system
setActiveUAS(systems.first());
}
else
{
// The system to be removed is at position 1,
// select the next system
setActiveUAS(systems.at(1));
}
}
else
{
// TODO send a null pointer if no UAS is present any more
// This has to be proberly tested however, since it might
// crash code parts not handling null pointers correctly.
}
}
systems.removeAt(listindex);
}
}
QList<UASInterface*> UASManager::getUASList()
{
return systems;
}
UASInterface* UASManager::getActiveUAS()
{
return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
UASInterface* UASManager::silentGetActiveUAS()
{
return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
bool UASManager::launchActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->launch();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::haltActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->halt();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::continueActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->go();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::returnActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->home();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::stopActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->emergencySTOP();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::killActiveUAS()
{
if (getActiveUAS()) activeUAS->emergencyKILL();
return (activeUAS);
}
bool UASManager::shutdownActiveUAS()
{
if (getActiveUAS()) activeUAS->shutdown();
return (activeUAS);
}
void UASManager::configureActiveUAS()
{
UASInterface* actUAS = getActiveUAS();
if(actUAS)
{
// Do something
}
}
UASInterface* UASManager::getUASForId(int id)
{
UASInterface* system = NULL;
foreach(UASInterface* sys, systems)
{
if (sys->getUASID() == id)
{
system = sys;
}
}
// Return NULL if not found
return system;
}
void UASManager::setActiveUAS(UASInterface* uas)
{
if (uas != NULL)
{
activeUASMutex.lock();
if (activeUAS != NULL)
{
emit activeUASStatusChanged(activeUAS, false);
emit activeUASStatusChanged(activeUAS->getUASID(), false);
}
activeUAS = uas;
activeUASMutex.unlock();
activeUAS->setSelected();
emit activeUASSet(uas);
emit activeUASSet(uas->getUASID());
emit activeUASSetListIndex(systems.indexOf(uas));
emit activeUASStatusChanged(uas, true);
emit activeUASStatusChanged(uas->getUASID(), true);
}
}
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class UASManager
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QList>
#include <QApplication>
#include <QMessageBox>
#include <QTimer>
#include "UAS.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "QGC.h"
UASManager* UASManager::instance()
{
static UASManager* _instance = 0;
if(_instance == 0) {
_instance = new UASManager();
// Set the application as parent to ensure that this object
// will be destroyed when the main application exits
_instance->setParent(qApp);
}
return _instance;
}
/**
* @brief Private singleton constructor
*
* This class implements the singleton design pattern and has therefore only a private constructor.
**/
UASManager::UASManager() :
activeUAS(NULL)
{
systems = QList<UASInterface*>();
start(QThread::LowPriority);
}
UASManager::~UASManager()
{
}
void UASManager::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
}
void UASManager::addUAS(UASInterface* uas)
{
// WARNING: The active uas is set here
// and then announced below. This is necessary
// to make sure the getActiveUAS() function
// returns the UAS once the UASCreated() signal
// is emitted. The code is thus NOT redundant.
bool firstUAS = false;
if (activeUAS == NULL)
{
firstUAS = true;
activeUAS = uas;
}
// Only execute if there is no UAS at this index
if (!systems.contains(uas))
{
systems.append(uas);
connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
emit UASCreated(uas);
}
// If there is no active UAS yet, set the first one as the active UAS
if (firstUAS)
{
setActiveUAS(uas);
}
}
void UASManager::removeUAS(QObject* uas)
{
UASInterface* mav = qobject_cast<UASInterface*>(uas);
if (mav)
{
int listindex = systems.indexOf(mav);
if (mav == activeUAS)
{
if (systems.count() > 1)
{
// We only set a new UAS if more than one is present
if (listindex != 0)
{
// The system to be removed is not at position 1
// set position one as new active system
setActiveUAS(systems.first());
}
else
{
// The system to be removed is at position 1,
// select the next system
setActiveUAS(systems.at(1));
}
}
else
{
// TODO send a null pointer if no UAS is present any more
// This has to be proberly tested however, since it might
// crash code parts not handling null pointers correctly.
}
}
systems.removeAt(listindex);
}
}
QList<UASInterface*> UASManager::getUASList()
{
return systems;
}
UASInterface* UASManager::getActiveUAS()
{
return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
UASInterface* UASManager::silentGetActiveUAS()
{
return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
bool UASManager::launchActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->launch();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::haltActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->halt();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::continueActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->go();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::returnActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->home();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::stopActiveUAS()
{
// If the active UAS is set, execute command
if (getActiveUAS()) activeUAS->emergencySTOP();
return (activeUAS); ///< Returns true if the UAS exists, false else
}
bool UASManager::killActiveUAS()
{
if (getActiveUAS()) activeUAS->emergencyKILL();
return (activeUAS);
}
bool UASManager::shutdownActiveUAS()
{
if (getActiveUAS()) activeUAS->shutdown();
return (activeUAS);
}
void UASManager::configureActiveUAS()
{
UASInterface* actUAS = getActiveUAS();
if(actUAS)
{
// Do something
}
}
UASInterface* UASManager::getUASForId(int id)
{
UASInterface* system = NULL;
foreach(UASInterface* sys, systems)
{
if (sys->getUASID() == id)
{
system = sys;
}
}
// Return NULL if not found
return system;
}
void UASManager::setActiveUAS(UASInterface* uas)
{
if (uas != NULL)
{
activeUASMutex.lock();
if (activeUAS != NULL)
{
emit activeUASStatusChanged(activeUAS, false);
emit activeUASStatusChanged(activeUAS->getUASID(), false);
}
activeUAS = uas;
activeUASMutex.unlock();
activeUAS->setSelected();
emit activeUASSet(uas);
emit activeUASSet(uas->getUASID());
emit activeUASSetListIndex(systems.indexOf(uas));
emit activeUASStatusChanged(uas, true);
emit activeUASStatusChanged(uas->getUASID(), true);
}
}
src/ui/MainWindow.cc
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src/ui/WaypointList.cc
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src/ui/designer/QGCActionButton.cc
View file @ ed323bbe
#include "QGCActionButton.h"
#include "ui_QGCActionButton.h"
#include "MAVLinkProtocol.h"
#include "UASManager.h"
const char* kActionLabels[MAV_ACTION_NB] =
{"HOLD",
"START MOTORS",
"LAUNCH",
"RETURN",
"EMERGENCY LAND",
"EMERGENCY KILL",
"CONFIRM KILL",
"CONTINUE",
"STOP MOTORS",
"HALT",
"SHUTDOWN",
"REBOOT",
"SET MANUAL",
"SET AUTO",
"READ STORAGE",
"WRITE STORAGE",
"CALIBRATE RC",
"CALIBRATE GYRO",
"CALIBRATE MAG",
"CALIBRATE ACC",
"CALIBRATE PRESSURE",
"START REC",
"PAUSE REC",
"STOP REC",
"TAKEOFF",
"NAVIGATE",
"LAND",
"LOITER",
"SET ORIGIN",
"RELAY ON",
//"RELAY OFF",
//"GET IMAGE",
//"START VIDEO",
//"STOP VIDEO",
"RESET MAP",
"RESET PLAN"};
QGCActionButton::QGCActionButton(QWidget *parent) :
QGCToolWidgetItem("Button", parent),
ui(new Ui::QGCActionButton),
uas(NULL)
{
ui->setupUi(this);
connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
// Hide all edit items
ui->editActionComboBox->hide();
ui->editActionsRefreshButton->hide();
ui->editFinishButton->hide();
ui->editNameLabel->hide();
ui->editButtonName->hide();
// add action labels to combobox
for (int i = 0; i < MAV_ACTION_NB; i++)
{
ui->editActionComboBox->addItem(kActionLabels[i]);
}
}
QGCActionButton::~QGCActionButton()
{
delete ui;
}
void QGCActionButton::sendAction()
{
if (QGCToolWidgetItem::uas)
{
MAV_ACTION action = static_cast<MAV_ACTION>(
ui->editActionComboBox->currentIndex());
QGCToolWidgetItem::uas->setAction(action);
}
else
{
qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
}
}
void QGCActionButton::setActionButtonName(QString text)
{
ui->actionButton->setText(text);
}
void QGCActionButton::startEditMode()
{
ui->editActionComboBox->show();
ui->editActionsRefreshButton->show();
ui->editFinishButton->show();
ui->editNameLabel->show();
ui->editButtonName->show();
isInEditMode = true;
}
void QGCActionButton::endEditMode()
{
ui->editActionComboBox->hide();
ui->editActionsRefreshButton->hide();
ui->editFinishButton->hide();
ui->editNameLabel->hide();
ui->editButtonName->hide();
// Write to settings
emit editingFinished();
isInEditMode = false;
}
void QGCActionButton::writeSettings(QSettings& settings)
{
settings.setValue("TYPE", "BUTTON");
settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
settings.sync();
}
void QGCActionButton::readSettings(const QSettings& settings)
{
ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
qDebug() << "DONE READING SETTINGS";
}
#include "QGCActionButton.h"
#include "ui_QGCActionButton.h"
#include "MAVLinkProtocol.h"
#include "UASManager.h"
const char* kActionLabels[MAV_ACTION_NB] =
{"HOLD",
"START MOTORS",
"LAUNCH",
"RETURN",
"EMERGENCY LAND",
"EMERGENCY KILL",
"CONFIRM KILL",
"CONTINUE",
"STOP MOTORS",
"HALT",
"SHUTDOWN",
"REBOOT",
"SET MANUAL",
"SET AUTO",
"READ STORAGE",
"WRITE STORAGE",
"CALIBRATE RC",
"CALIBRATE GYRO",
"CALIBRATE MAG",
"CALIBRATE ACC",
"CALIBRATE PRESSURE",
"START REC",
"PAUSE REC",
"STOP REC",
"TAKEOFF",
"NAVIGATE",
"LAND",
"LOITER",
"SET ORIGIN",
"RELAY ON",
//"RELAY OFF",
//"GET IMAGE",
//"START VIDEO",
//"STOP VIDEO",
"RESET MAP",
"RESET PLAN"};
QGCActionButton::QGCActionButton(QWidget *parent) :
QGCToolWidgetItem("Button", parent),
ui(new Ui::QGCActionButton),
uas(NULL)
{
ui->setupUi(this);
connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
// Hide all edit items
ui->editActionComboBox->hide();
ui->editActionsRefreshButton->hide();
ui->editFinishButton->hide();
ui->editNameLabel->hide();
ui->editButtonName->hide();
// add action labels to combobox
for (int i = 0; i < MAV_ACTION_NB; i++)
{
ui->editActionComboBox->addItem(kActionLabels[i]);
}
}
QGCActionButton::~QGCActionButton()
{
delete ui;
}
void QGCActionButton::sendAction()
{
if (QGCToolWidgetItem::uas)
{
MAV_ACTION action = static_cast<MAV_ACTION>(
ui->editActionComboBox->currentIndex());
QGCToolWidgetItem::uas->setAction(action);
}
else
{
qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
}
}
void QGCActionButton::setActionButtonName(QString text)
{
ui->actionButton->setText(text);
}
void QGCActionButton::startEditMode()
{
ui->editActionComboBox->show();
ui->editActionsRefreshButton->show();
ui->editFinishButton->show();
ui->editNameLabel->show();
ui->editButtonName->show();
isInEditMode = true;
}
void QGCActionButton::endEditMode()
{
ui->editActionComboBox->hide();
ui->editActionsRefreshButton->hide();
ui->editFinishButton->hide();
ui->editNameLabel->hide();
ui->editButtonName->hide();
// Write to settings
emit editingFinished();
isInEditMode = false;
}
void QGCActionButton::writeSettings(QSettings& settings)
{
settings.setValue("TYPE", "BUTTON");
settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
settings.sync();
}
void QGCActionButton::readSettings(const QSettings& settings)
{
ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
qDebug() << "DONE READING SETTINGS";
}
src/ui/uas/UASView.cc
View file @ ed323bbe
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