diff --git a/QGCApplication.pro b/QGCApplication.pro new file mode 100644 index 0000000000000000000000000000000000000000..f32186ca295398c22ae02db366304c2c95c6f3f1 --- /dev/null +++ b/QGCApplication.pro @@ -0,0 +1,661 @@ +# ------------------------------------------------- +# QGroundControl - Micro Air Vehicle Groundstation +# Please see our website at +# Maintainer: +# Lorenz Meier +# (c) 2009-2014 QGroundControl Developers +# This file is part of the open groundstation 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 . +# ------------------------------------------------- + +include(QGCCommon.pri) + +TARGET = qgroundcontrol + +# Load additional config flags from user_config.pri +exists(user_config.pri):infile(user_config.pri, CONFIG) { + CONFIG += $$fromfile(user_config.pri, CONFIG) + message($$sprintf("Using user-supplied additional config: '%1' specified in user_config.pri", $$fromfile(user_config.pri, CONFIG))) +} + +LinuxBuild { + CONFIG += link_pkgconfig +} + +message(BASEDIR $$BASEDIR DESTDIR $$DESTDIR TARGET $$TARGET) + +# QGC QtLocation plugin + +LIBS += -L$${LOCATION_PLUGIN_DESTDIR} +LIBS += -l$${LOCATION_PLUGIN_NAME} + +LinuxBuild|MacBuild|AndroidBuild { + PRE_TARGETDEPS += $${LOCATION_PLUGIN_DESTDIR}/lib$${LOCATION_PLUGIN_NAME}.a +} + +WindowsBuild { + PRE_TARGETDEPS += $${LOCATION_PLUGIN_DESTDIR}/$${LOCATION_PLUGIN_NAME}.lib +} + +# Qt configuration + +CONFIG += qt \ + thread + +QT += network \ + concurrent \ + gui \ + location \ + opengl \ + positioning \ + printsupport \ + qml \ + quick \ + quickwidgets \ + sql \ + svg \ + widgets \ + xml \ + +!AndroidBuild { + QT += serialport +} + +contains(DEFINES, QGC_NOTIFY_TUNES_ENABLED) { + QT += multimedia +} + +# testlib is needed even in release flavor for QSignalSpy support +QT += testlib + +# +# OS Specific settings +# + +MacBuild { + QMAKE_INFO_PLIST = Custom-Info.plist + ICON = $$BASEDIR/resources/icons/macx.icns + QT += quickwidgets +} + +LinuxBuild { + CONFIG += qesp_linux_udev +} + +WindowsBuild { + RC_FILE = $$BASEDIR/qgroundcontrol.rc +} + +# +# Build-specific settings +# + +DebugBuild { + CONFIG += console +} + +!AndroidBuild { +# qextserialport should not be used by general QGroundControl code. Use QSerialPort instead. This is only +# here to support special case Firmware Upgrade code. +include(libs/qextserialport/src/qextserialport.pri) +} + +# +# External library configuration +# + +include(QGCExternalLibs.pri) + +# +# Post link configuration +# + +include(QGCSetup.pri) + +# +# Installer targets +# + +include(QGCInstaller.pri) + +# +# Main QGroundControl portion of project file +# + +RESOURCES += qgroundcontrol.qrc + +DEPENDPATH += \ + . \ + plugins + +INCLUDEPATH += . + +INCLUDEPATH += \ + include/ui \ + src \ + src/audio \ + src/AutoPilotPlugins \ + src/comm \ + src/input \ + src/lib/qmapcontrol \ + src/QmlControls \ + src/uas \ + src/ui \ + src/ui/configuration \ + src/ui/flightdisplay \ + src/ui/linechart \ + src/ui/map \ + src/ui/mapdisplay \ + src/ui/mavlink \ + src/ui/mission \ + src/ui/px4_configuration \ + src/ui/toolbar \ + src/ui/uas \ + src/VehicleSetup \ + src/ViewWidgets \ + +FORMS += \ + src/QGCQmlWidgetHolder.ui \ + src/ui/configuration/SerialSettingsDialog.ui \ + src/ui/configuration/terminalconsole.ui \ + src/ui/DebugConsole.ui \ + src/ui/HDDisplay.ui \ + src/ui/Linechart.ui \ + src/ui/MainWindow.ui \ + src/ui/map/QGCMapTool.ui \ + src/ui/map/QGCMapToolBar.ui \ + src/ui/mavlink/QGCMAVLinkMessageSender.ui \ + src/ui/MAVLinkSettingsWidget.ui \ + src/ui/mission/QGCMissionConditionDelay.ui \ + src/ui/mission/QGCMissionDoFinishSearch.ui \ + src/ui/mission/QGCMissionDoJump.ui \ + src/ui/mission/QGCMissionDoStartSearch.ui \ + src/ui/mission/QGCMissionNavLand.ui \ + src/ui/mission/QGCMissionNavLoiterTime.ui \ + src/ui/mission/QGCMissionNavLoiterTurns.ui \ + src/ui/mission/QGCMissionNavLoiterUnlim.ui \ + src/ui/mission/QGCMissionNavReturnToLaunch.ui \ + src/ui/mission/QGCMissionNavSweep.ui \ + src/ui/mission/QGCMissionNavTakeoff.ui \ + src/ui/mission/QGCMissionNavWaypoint.ui \ + src/ui/mission/QGCMissionOther.ui \ + src/ui/px4_configuration/PX4RCCalibration.ui \ + src/ui/QGCCommConfiguration.ui \ + src/ui/QGCDataPlot2D.ui \ + src/ui/QGCHilConfiguration.ui \ + src/ui/QGCHilFlightGearConfiguration.ui \ + src/ui/QGCHilJSBSimConfiguration.ui \ + src/ui/QGCHilXPlaneConfiguration.ui \ + src/ui/QGCLinkConfiguration.ui \ + src/ui/QGCMapRCToParamDialog.ui \ + src/ui/QGCMAVLinkInspector.ui \ + src/ui/QGCMAVLinkLogPlayer.ui \ + src/ui/QGCPluginHost.ui \ + src/ui/QGCTabbedInfoView.ui \ + src/ui/QGCTCPLinkConfiguration.ui \ + src/ui/QGCUASFileView.ui \ + src/ui/QGCUASFileViewMulti.ui \ + src/ui/QGCUDPLinkConfiguration.ui \ + src/ui/QGCWaypointListMulti.ui \ + src/ui/SerialSettings.ui \ + src/ui/SettingsDialog.ui \ + src/ui/uas/QGCUnconnectedInfoWidget.ui \ + src/ui/uas/UASMessageView.ui \ + src/ui/uas/UASQuickView.ui \ + src/ui/uas/UASQuickViewItemSelect.ui \ + src/ui/UASControl.ui \ + src/ui/UASInfo.ui \ + src/ui/UASList.ui \ + src/ui/UASRawStatusView.ui \ + src/ui/UASView.ui \ + src/ui/WaypointEditableView.ui \ + src/ui/WaypointList.ui \ + src/ui/WaypointViewOnlyView.ui \ + +!AndroidBuild { +FORMS += \ + src/ui/JoystickButton.ui \ + src/ui/JoystickAxis.ui \ + src/ui/JoystickWidget.ui +} + +HEADERS += \ + src/audio/QGCAudioWorker.h \ + src/CmdLineOptParser.h \ + src/comm/LinkConfiguration.h \ + src/comm/LinkInterface.h \ + src/comm/LinkManager.h \ + src/comm/MAVLinkProtocol.h \ + src/comm/MockLink.h \ + src/comm/MockLinkMissionItemHandler.h \ + src/comm/ProtocolInterface.h \ + src/comm/QGCFlightGearLink.h \ + src/comm/QGCHilLink.h \ + src/comm/QGCJSBSimLink.h \ + src/comm/QGCMAVLink.h \ + src/comm/QGCXPlaneLink.h \ + src/comm/SerialLink.h \ + src/comm/TCPLink.h \ + src/comm/UDPLink.h \ + src/GAudioOutput.h \ + src/LogCompressor.h \ + src/MG.h \ + src/QGC.h \ + src/QGCApplication.h \ + src/QGCComboBox.h \ + src/QGCConfig.h \ + src/QGCDockWidget.h \ + src/QGCFileDialog.h \ + src/QGCGeo.h \ + src/QGCLoggingCategory.h \ + src/QGCMessageBox.h \ + src/QGCPalette.h \ + src/QGCQmlWidgetHolder.h \ + src/QGCQuickWidget.h \ + src/QGCSingleton.h \ + src/QGCTemporaryFile.h \ + src/QmlControls/ParameterEditorController.h \ + src/QmlControls/ScreenTools.h \ + src/uas/QGCMAVLinkUASFactory.h \ + src/uas/QGCUASFileManager.h \ + src/uas/UAS.h \ + src/uas/UASInterface.h \ + src/uas/UASManager.h \ + src/uas/UASManagerInterface.h \ + src/uas/UASMessageHandler.h \ + src/uas/UASWaypointManager.h \ + src/ui/configuration/ApmHighlighter.h \ + src/ui/configuration/console.h \ + src/ui/configuration/SerialSettingsDialog.h \ + src/ui/configuration/terminalconsole.h \ + src/ui/DebugConsole.h \ + src/ui/flightdisplay/QGCFlightDisplay.h \ + src/ui/HDDisplay.h \ + src/ui/HSIDisplay.h \ + src/ui/HUD.h \ + src/ui/linechart/ChartPlot.h \ + src/ui/linechart/IncrementalPlot.h \ + src/ui/linechart/LinechartPlot.h \ + src/ui/linechart/Linecharts.h \ + src/ui/linechart/LinechartWidget.h \ + src/ui/linechart/Scrollbar.h \ + src/ui/linechart/ScrollZoomer.h \ + src/ui/MainWindow.h \ + src/ui/map/MAV2DIcon.h \ + src/ui/map/QGCMapTool.h \ + src/ui/map/QGCMapToolBar.h \ + src/ui/map/QGCMapWidget.h \ + src/ui/map/Waypoint2DIcon.h \ + src/ui/mapdisplay/QGCMapDisplay.h \ + src/ui/mavlink/QGCMAVLinkMessageSender.h \ + src/ui/MAVLinkDecoder.h \ + src/ui/MAVLinkSettingsWidget.h \ + src/ui/mission/QGCMissionConditionDelay.h \ + src/ui/mission/QGCMissionDoFinishSearch.h \ + src/ui/mission/QGCMissionDoJump.h \ + src/ui/mission/QGCMissionDoStartSearch.h \ + src/ui/mission/QGCMissionNavLand.h \ + src/ui/mission/QGCMissionNavLoiterTime.h \ + src/ui/mission/QGCMissionNavLoiterTurns.h \ + src/ui/mission/QGCMissionNavLoiterUnlim.h \ + src/ui/mission/QGCMissionNavReturnToLaunch.h \ + src/ui/mission/QGCMissionNavSweep.h \ + src/ui/mission/QGCMissionNavTakeoff.h \ + src/ui/mission/QGCMissionNavWaypoint.h \ + src/ui/mission/QGCMissionOther.h \ + src/ui/px4_configuration/PX4RCCalibration.h \ + src/ui/px4_configuration/RCValueWidget.h \ + src/ui/QGCCommConfiguration.h \ + src/ui/QGCDataPlot2D.h \ + src/ui/QGCHilConfiguration.h \ + src/ui/QGCHilFlightGearConfiguration.h \ + src/ui/QGCHilJSBSimConfiguration.h \ + src/ui/QGCHilXPlaneConfiguration.h \ + src/ui/QGCLinkConfiguration.h \ + src/ui/QGCMainWindowAPConfigurator.h \ + src/ui/QGCMapRCToParamDialog.h \ + src/ui/QGCMAVLinkInspector.h \ + src/ui/QGCMAVLinkLogPlayer.h \ + src/ui/QGCPluginHost.h \ + src/ui/QGCRGBDView.h \ + src/ui/QGCTabbedInfoView.h \ + src/ui/QGCTCPLinkConfiguration.h \ + src/ui/QGCUASFileView.h \ + src/ui/QGCUASFileViewMulti.h \ + src/ui/QGCUDPLinkConfiguration.h \ + src/ui/QGCWaypointListMulti.h \ + src/ui/SerialConfigurationWindow.h \ + src/ui/SettingsDialog.h \ + src/ui/toolbar/MainToolBar.h \ + src/ui/uas/QGCUnconnectedInfoWidget.h \ + src/ui/uas/UASControlWidget.h \ + src/ui/uas/UASInfoWidget.h \ + src/ui/uas/UASListWidget.h \ + src/ui/uas/UASMessageView.h \ + src/ui/uas/UASQuickView.h \ + src/ui/uas/UASQuickViewGaugeItem.h \ + src/ui/uas/UASQuickViewItem.h \ + src/ui/uas/UASQuickViewItemSelect.h \ + src/ui/uas/UASQuickViewTextItem.h \ + src/ui/uas/UASView.h \ + src/ui/UASRawStatusView.h \ + src/ui/WaypointEditableView.h \ + src/ui/WaypointList.h \ + src/ui/WaypointViewOnlyView.h \ + src/ViewWidgets/ParameterEditorWidget.h \ + src/ViewWidgets/ViewWidgetController.h \ + src/Waypoint.h \ + +!AndroidBuild { +HEADERS += \ + src/input/JoystickInput.h \ + src/ui/JoystickAxis.h \ + src/ui/JoystickButton.h \ + src/ui/JoystickWidget.h \ + src/ui/CameraView.h \ +} + +SOURCES += \ + src/audio/QGCAudioWorker.cpp \ + src/CmdLineOptParser.cc \ + src/comm/LinkConfiguration.cc \ + src/comm/LinkManager.cc \ + src/comm/MAVLinkProtocol.cc \ + src/comm/MockLink.cc \ + src/comm/MockLinkMissionItemHandler.cc \ + src/comm/QGCFlightGearLink.cc \ + src/comm/QGCJSBSimLink.cc \ + src/comm/QGCXPlaneLink.cc \ + src/comm/SerialLink.cc \ + src/comm/TCPLink.cc \ + src/comm/UDPLink.cc \ + src/GAudioOutput.cc \ + src/LogCompressor.cc \ + src/main.cc \ + src/QGC.cc \ + src/QGCApplication.cc \ + src/QGCComboBox.cc \ + src/QGCDockWidget.cc \ + src/QGCFileDialog.cc \ + src/QGCLoggingCategory.cc \ + src/QGCPalette.cc \ + src/QGCQmlWidgetHolder.cpp \ + src/QGCQuickWidget.cc \ + src/QGCSingleton.cc \ + src/QGCTemporaryFile.cc \ + src/QmlControls/ParameterEditorController.cc \ + src/QmlControls/ScreenTools.cc \ + src/uas/QGCMAVLinkUASFactory.cc \ + src/uas/QGCUASFileManager.cc \ + src/uas/UAS.cc \ + src/uas/UASManager.cc \ + src/uas/UASMessageHandler.cc \ + src/uas/UASWaypointManager.cc \ + src/ui/configuration/ApmHighlighter.cc \ + src/ui/configuration/console.cpp \ + src/ui/configuration/SerialSettingsDialog.cc \ + src/ui/configuration/terminalconsole.cpp \ + src/ui/DebugConsole.cc \ + src/ui/flightdisplay/QGCFlightDisplay.cc \ + src/ui/HDDisplay.cc \ + src/ui/HSIDisplay.cc \ + src/ui/HUD.cc \ + src/ui/linechart/ChartPlot.cc \ + src/ui/linechart/IncrementalPlot.cc \ + src/ui/linechart/LinechartPlot.cc \ + src/ui/linechart/Linecharts.cc \ + src/ui/linechart/LinechartWidget.cc \ + src/ui/linechart/Scrollbar.cc \ + src/ui/linechart/ScrollZoomer.cc \ + src/ui/MainWindow.cc \ + src/ui/map/MAV2DIcon.cc \ + src/ui/map/QGCMapTool.cc \ + src/ui/map/QGCMapToolBar.cc \ + src/ui/map/QGCMapWidget.cc \ + src/ui/map/Waypoint2DIcon.cc \ + src/ui/mapdisplay/QGCMapDisplay.cc \ + src/ui/mavlink/QGCMAVLinkMessageSender.cc \ + src/ui/MAVLinkDecoder.cc \ + src/ui/MAVLinkSettingsWidget.cc \ + src/ui/mission/QGCMissionConditionDelay.cc \ + src/ui/mission/QGCMissionDoFinishSearch.cc \ + src/ui/mission/QGCMissionDoJump.cc \ + src/ui/mission/QGCMissionDoStartSearch.cc \ + src/ui/mission/QGCMissionNavLand.cc \ + src/ui/mission/QGCMissionNavLoiterTime.cc \ + src/ui/mission/QGCMissionNavLoiterTurns.cc \ + src/ui/mission/QGCMissionNavLoiterUnlim.cc \ + src/ui/mission/QGCMissionNavReturnToLaunch.cc \ + src/ui/mission/QGCMissionNavSweep.cc \ + src/ui/mission/QGCMissionNavTakeoff.cc \ + src/ui/mission/QGCMissionNavWaypoint.cc \ + src/ui/mission/QGCMissionOther.cc \ + src/ui/px4_configuration/PX4RCCalibration.cc \ + src/ui/px4_configuration/RCValueWidget.cc \ + src/ui/QGCCommConfiguration.cc \ + src/ui/QGCDataPlot2D.cc \ + src/ui/QGCHilConfiguration.cc \ + src/ui/QGCHilFlightGearConfiguration.cc \ + src/ui/QGCHilJSBSimConfiguration.cc \ + src/ui/QGCHilXPlaneConfiguration.cc \ + src/ui/QGCLinkConfiguration.cc \ + src/ui/QGCMainWindowAPConfigurator.cc \ + src/ui/QGCMapRCToParamDialog.cpp \ + src/ui/QGCMAVLinkInspector.cc \ + src/ui/QGCMAVLinkLogPlayer.cc \ + src/ui/QGCPluginHost.cc \ + src/ui/QGCRGBDView.cc \ + src/ui/QGCTabbedInfoView.cpp \ + src/ui/QGCTCPLinkConfiguration.cc \ + src/ui/QGCUASFileView.cc \ + src/ui/QGCUASFileViewMulti.cc \ + src/ui/QGCUDPLinkConfiguration.cc \ + src/ui/QGCWaypointListMulti.cc \ + src/ui/SerialConfigurationWindow.cc \ + src/ui/SettingsDialog.cc \ + src/ui/toolbar/MainToolBar.cc \ + src/ui/uas/QGCUnconnectedInfoWidget.cc \ + src/ui/uas/UASControlWidget.cc \ + src/ui/uas/UASInfoWidget.cc \ + src/ui/uas/UASListWidget.cc \ + src/ui/uas/UASMessageView.cc \ + src/ui/uas/UASQuickView.cc \ + src/ui/uas/UASQuickViewGaugeItem.cc \ + src/ui/uas/UASQuickViewItem.cc \ + src/ui/uas/UASQuickViewItemSelect.cc \ + src/ui/uas/UASQuickViewTextItem.cc \ + src/ui/uas/UASView.cc \ + src/ui/UASRawStatusView.cpp \ + src/ui/WaypointEditableView.cc \ + src/ui/WaypointList.cc \ + src/ui/WaypointViewOnlyView.cc \ + src/ViewWidgets/ParameterEditorWidget.cc \ + src/ViewWidgets/ViewWidgetController.cc \ + src/Waypoint.cc \ + +!AndroidBuild { +SOURCES += \ + src/input/JoystickInput.cc \ + src/ui/JoystickAxis.cc \ + src/ui/JoystickButton.cc \ + src/ui/JoystickWidget.cc \ + src/ui/CameraView.cc +} + +# +# Unit Test specific configuration goes here +# +# We have to special case Windows debug_and_release builds because you can't have files +# which are only in the debug variant [QTBUG-40351]. So in this case we include unit tests +# even in the release variant. If you want a Windows release build with no unit tests run +# qmake with CONFIG-=debug_and_release CONFIG+=release. +# + +DebugBuild|WindowsDebugAndRelease { + +HEADERS += src/QmlControls/QmlTestWidget.h +SOURCES += src/QmlControls/QmlTestWidget.cc + +!AndroidBuild { + +INCLUDEPATH += \ + src/qgcunittest + +HEADERS += \ + src/qgcunittest/FlightGearTest.h \ + src/qgcunittest/MockMavlinkFileServer.h \ + src/qgcunittest/MockMavlinkInterface.h \ + src/qgcunittest/MultiSignalSpy.h \ + src/qgcunittest/TCPLinkTest.h \ + src/qgcunittest/TCPLoopBackServer.h \ + src/FactSystem/FactSystemTestBase.h \ + src/FactSystem/FactSystemTestGeneric.h \ + src/FactSystem/FactSystemTestPX4.h \ + src/qgcunittest/FileDialogTest.h \ + src/qgcunittest/LinkManagerTest.h \ + src/qgcunittest/MainWindowTest.h \ + src/qgcunittest/MavlinkLogTest.h \ + src/qgcunittest/MessageBoxTest.h \ + src/qgcunittest/PX4RCCalibrationTest.h \ + src/qgcunittest/UnitTest.h \ + src/VehicleSetup/SetupViewTest.h \ + +SOURCES += \ + src/qgcunittest/FlightGearTest.cc \ + src/qgcunittest/MockMavlinkFileServer.cc \ + src/qgcunittest/MultiSignalSpy.cc \ + src/qgcunittest/TCPLinkTest.cc \ + src/qgcunittest/TCPLoopBackServer.cc \ + src/FactSystem/FactSystemTestBase.cc \ + src/FactSystem/FactSystemTestGeneric.cc \ + src/FactSystem/FactSystemTestPX4.cc \ + src/qgcunittest/FileDialogTest.cc \ + src/qgcunittest/LinkManagerTest.cc \ + src/qgcunittest/MainWindowTest.cc \ + src/qgcunittest/MavlinkLogTest.cc \ + src/qgcunittest/MessageBoxTest.cc \ + src/qgcunittest/PX4RCCalibrationTest.cc \ + src/qgcunittest/UnitTest.cc \ + src/VehicleSetup/SetupViewTest.cc \ + +} # DebugBuild|WindowsDebugAndRelease +} # AndroidBuild + +# +# AutoPilot Plugin Support +# + +INCLUDEPATH += \ + src/VehicleSetup + +FORMS += \ + src/VehicleSetup/SetupView.ui \ + +HEADERS+= \ + src/AutoPilotPlugins/AutoPilotPlugin.h \ + src/AutoPilotPlugins/AutoPilotPluginManager.h \ + src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \ + src/AutoPilotPlugins/Generic/GenericParameterFacts.h \ + src/AutoPilotPlugins/PX4/AirframeComponent.h \ + src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \ + src/AutoPilotPlugins/PX4/AirframeComponentController.h \ + src/AutoPilotPlugins/PX4/FlightModesComponent.h \ + src/AutoPilotPlugins/PX4/FlightModesComponentController.h \ + src/AutoPilotPlugins/PX4/PowerComponent.h \ + src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \ + src/AutoPilotPlugins/PX4/PX4Component.h \ + src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \ + src/AutoPilotPlugins/PX4/RadioComponent.h \ + src/AutoPilotPlugins/PX4/SafetyComponent.h \ + src/AutoPilotPlugins/PX4/SensorsComponent.h \ + src/AutoPilotPlugins/PX4/SensorsComponentController.h \ + src/VehicleSetup/SetupView.h \ + src/VehicleSetup/VehicleComponent.h \ + +!AndroidBuild { +HEADERS += \ + src/VehicleSetup/FirmwareUpgradeController.h \ + src/VehicleSetup/PX4Bootloader.h \ + src/VehicleSetup/PX4FirmwareUpgradeThread.h +} + +SOURCES += \ + src/AutoPilotPlugins/AutoPilotPlugin.cc \ + src/AutoPilotPlugins/AutoPilotPluginManager.cc \ + src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \ + src/AutoPilotPlugins/Generic/GenericParameterFacts.cc \ + src/AutoPilotPlugins/PX4/AirframeComponent.cc \ + src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \ + src/AutoPilotPlugins/PX4/AirframeComponentController.cc \ + src/AutoPilotPlugins/PX4/FlightModesComponent.cc \ + src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \ + src/AutoPilotPlugins/PX4/PowerComponent.cc \ + src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \ + src/AutoPilotPlugins/PX4/PX4Component.cc \ + src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \ + src/AutoPilotPlugins/PX4/RadioComponent.cc \ + src/AutoPilotPlugins/PX4/SafetyComponent.cc \ + src/AutoPilotPlugins/PX4/SensorsComponent.cc \ + src/AutoPilotPlugins/PX4/SensorsComponentController.cc \ + src/VehicleSetup/SetupView.cc \ + src/VehicleSetup/VehicleComponent.cc \ + +!AndroidBuild { +SOURCES += \ + src/VehicleSetup/FirmwareUpgradeController.cc \ + src/VehicleSetup/PX4Bootloader.cc \ + src/VehicleSetup/PX4FirmwareUpgradeThread.cc +} + +# Fact System code + +INCLUDEPATH += \ + src/FactSystem + +HEADERS += \ + src/FactSystem/Fact.h \ + src/FactSystem/FactBinder.h \ + src/FactSystem/FactMetaData.h \ + src/FactSystem/FactSystem.h \ + src/FactSystem/FactValidator.h \ + src/FactSystem/ParameterLoader.h \ + +SOURCES += \ + src/FactSystem/Fact.cc \ + src/FactSystem/FactBinder.cc \ + src/FactSystem/FactMetaData.cc \ + src/FactSystem/FactSystem.cc \ + src/FactSystem/FactValidator.cc \ + src/FactSystem/ParameterLoader.cc \ + +# Android + +AndroidBuild { + include($$PWD/libs/qtandroidserialport/src/qtandroidserialport.pri) + message("Adding Serial Java Classes") + QT += androidextras + ANDROID_PACKAGE_SOURCE_DIR = $$PWD/android + OTHER_FILES += \ + $$PWD/android/AndroidManifest.xml \ + $$PWD/android/res/xml/device_filter.xml \ + $$PWD/android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/CommonUsbSerialDriver.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/Cp2102SerialDriver.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/FtdiSerialDriver.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/ProlificSerialDriver.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/UsbId.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialDriver.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialProber.java \ + $$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialRuntimeException.java \ + $$PWD/android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java \ + $$PWD/android/src/org/qgroundcontrol/qgchelper/UsbIoManager.java +} diff --git a/QGCCommon.pri b/QGCCommon.pri new file mode 100644 index 0000000000000000000000000000000000000000..85510004bfb161df693a9ef1131d1d006fbda476 --- /dev/null +++ b/QGCCommon.pri @@ -0,0 +1,195 @@ +# ------------------------------------------------- +# QGroundControl - Micro Air Vehicle Groundstation +# Please see our website at +# Maintainer: +# Lorenz Meier +# (c) 2009-2014 QGroundControl Developers +# This file is part of the open groundstation 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 . +# ------------------------------------------------- + +# +# This file contains configuration settings which are common to both the QGC Application and +# the Location Plugin. It should mainly contains intial CONFIG tag setup and compiler settings. +# + +# Setup our supported build types. We do this once here and then use the defined config scopes +# to allow us to easily modify suported build types in one place instead of duplicated throughout +# the project file. + +linux { + linux-g++ | linux-g++-64 { + message("Linux build") + CONFIG += LinuxBuild + } else : android-g++ { + message("Android build") + CONFIG += AndroidBuild + DEFINES += __mobile__ + DEFINES += __android__ + warning("Android build is experimental and not fully functional") + } else { + error("Unsuported Linux toolchain, only GCC 32- or 64-bit is supported") + } +} else : win32 { + win32-msvc2010 | win32-msvc2012 | win32-msvc2013 { + message("Windows build") + CONFIG += WindowsBuild + } else { + error("Unsupported Windows toolchain, only Visual Studio 2010, 2012, and 2013 are supported") + } +} else : macx { + macx-clang | macx-llvm { + message("Mac build") + CONFIG += MacBuild + QMAKE_CXXFLAGS += -fvisibility=hidden + } else { + error("Unsupported Mac toolchain, only 64-bit LLVM+clang is supported") + } +} else { + error("Unsupported build platform, only Linux, Windows, and Mac are supported") +} + +# Installer configuration + +installer { + CONFIG -= debug + CONFIG -= debug_and_release + CONFIG += release + message(Build Installer) +} + +# Setup our supported build flavors + +CONFIG(debug, debug|release) { + message(Debug flavor) + CONFIG += DebugBuild +} else:CONFIG(release, debug|release) { + message(Release flavor) + CONFIG += ReleaseBuild +} else { + error(Unsupported build flavor) +} + +# Need to special case Windows debug_and_release since VS Project creation in this case does strange things [QTBUG-40351] +win32:debug_and_release { + CONFIG += WindowsDebugAndRelease +} + +# Setup our build directories + +BASEDIR = $${IN_PWD} + +DebugBuild { + DESTDIR = $${OUT_PWD}/debug + BUILDDIR = $${OUT_PWD}/build-debug +} + +ReleaseBuild { + DESTDIR = $${OUT_PWD}/release + BUILDDIR = $${OUT_PWD}/build-release +} + +OBJECTS_DIR = $${BUILDDIR}/obj +MOC_DIR = $${BUILDDIR}/moc +UI_DIR = $${BUILDDIR}/ui +RCC_DIR = $${BUILDDIR}/rcc +LANGUAGE = C++ + +# We place the created plugin lib into the objects dir so that make clean will clean it as well +LOCATION_PLUGIN_DESTDIR = $${OBJECTS_DIR} +LOCATION_PLUGIN_NAME = QGeoServiceProviderFactoryQGC + +message(BASEDIR $$BASEDIR DESTDIR $$DESTDIR TARGET $$TARGET) + +# Turn off serial port warnings +DEFINES += _TTY_NOWARN_ + +# +# OS Specific settings +# + +AndroidBuild { + DEFINES += __STDC_LIMIT_MACROS +} + +MacBuild { + CONFIG += x86_64 + CONFIG -= x86 + QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6 + QMAKE_MAC_SDK = macosx10.9 +} + +LinuxBuild { + DEFINES += __STDC_LIMIT_MACROS +} + +WindowsBuild { + DEFINES += __STDC_LIMIT_MACROS + + # Specify multi-process compilation within Visual Studio. + # (drastically improves compilation times for multi-core computers) + QMAKE_CXXFLAGS_DEBUG += -MP + QMAKE_CXXFLAGS_RELEASE += -MP +} + +# +# By default warnings as errors are turned off. Even so, in order for a pull request +# to be accepted you must compile cleanly with warnings as errors turned on the default +# set of OS builds. See http://www.qgroundcontrol.org/dev/contribute for more details. +# You can use the WarningsAsErrorsOn CONFIG switch to turn warnings as errors on for your +# own builds. +# + +MacBuild | LinuxBuild { + QMAKE_CXXFLAGS_WARN_ON += -Wall + WarningsAsErrorsOn { + QMAKE_CXXFLAGS_WARN_ON += -Werror + } +} + +WindowsBuild { + QMAKE_CXXFLAGS_WARN_ON += /W3 \ + /wd4996 \ # silence warnings about deprecated strcpy and whatnot + /wd4005 \ # silence warnings about macro redefinition + /wd4290 \ # ignore exception specifications + /Zc:strictStrings- # work around win 8.1 sdk sapi.h problem + WarningsAsErrorsOn { + QMAKE_CXXFLAGS_WARN_ON += /WX + } +} + +# +# Build-specific settings +# + +ReleaseBuild { + DEFINES += QT_NO_DEBUG + + WindowsBuild { + # Use link time code generation for better optimization (I believe this is supported in MSVC Express, but not 100% sure) + QMAKE_LFLAGS_LTCG = /LTCG + QMAKE_CFLAGS_LTCG = -GL + } +} + +# +# Unit Test specific configuration goes here +# +# We have to special case Windows debug_and_release builds because you can't have files +# which are only in the debug variant [QTBUG-40351]. So in this case we include unit tests +# even in the release variant. If you want a Windows release build with no unit tests run +# qmake with CONFIG-=debug_and_release CONFIG+=release. +# + +DebugBuild|WindowsDebugAndRelease { + DEFINES += UNITTEST_BUILD +} diff --git a/QGCExternalLibs.pri b/QGCExternalLibs.pri index dcda60c9a4fdbb2a6bf16c16738303a1cc1edfc9..03ae6cf709151af0462ced13d53a9cff23010ae6 100644 --- a/QGCExternalLibs.pri +++ b/QGCExternalLibs.pri @@ -55,153 +55,6 @@ exists($$MAVLINKPATH/common) { error($$sprintf("MAVLink folder does not exist at '%1'! Run 'git submodule init && git submodule update' on the command line.",$$MAVLINKPATH_REL)) } -# -# [OPTIONAL] OpenSceneGraph -# Allow the user to override OpenSceneGraph compilation through a DISABLE_OPEN_SCENE_GRAPH -# define like: `qmake DEFINES=DISABLE_OPEN_SCENE_GRAPH` -contains(DEFINES, DISABLE_OPEN_SCENE_GRAPH) { - message("Skipping support for OpenSceneGraph (manual override from command line)") - DEFINES -= DISABLE_OPEN_SCENE_GRAPH -} -# Otherwise the user can still disable this feature in the user_config.pri file. -else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_OPEN_SCENE_GRAPH) { - message("Skipping support for OpenSceneGraph (manual override from user_config.pri)") -} -else:MacBuild { - # GLUT and OpenSceneGraph are part of standard install on Mac - message("Including support for OpenSceneGraph") - CONFIG += OSGDependency - - INCLUDEPATH += \ - $$BASEDIR/libs/lib/mac64/include - - LIBS += \ - -L$$BASEDIR/libs/lib/mac64/lib \ - -losgWidget -} else:LinuxBuild { - exists(/usr/include/osg) | exists(/usr/local/include/osg) { - message("Including support for OpenSceneGraph") - CONFIG += OSGDependency - } else { - warning("Skipping support for OpenSceneGraph (missing libraries, see README)") - } -} else:WindowsBuild { - exists($$BASEDIR/libs/lib/osg123) { - message("Including support for OpenSceneGraph") - CONFIG += OSGDependency - - INCLUDEPATH += \ - $$BASEDIR/libs/lib/osgEarth/win32/include \ - $$BASEDIR/libs/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/include - - LIBS += -L$$BASEDIR/libs/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/lib - } else { - warning("Skipping support for OpenSceneGraph (missing libraries, see README)") - } -} else { - message("Skipping support for OpenSceneGraph (unsupported platform)") -} - -OSGDependency { - DEFINES += QGC_OSG_ENABLED - - LIBS += \ - -losg \ - -losgViewer \ - -losgGA \ - -losgDB \ - -losgText \ - -lOpenThreads - - HEADERS += \ - src/ui/map3D/gpl.h \ - src/ui/map3D/CameraParams.h \ - src/ui/map3D/ViewParamWidget.h \ - src/ui/map3D/SystemContainer.h \ - src/ui/map3D/SystemViewParams.h \ - src/ui/map3D/GlobalViewParams.h \ - src/ui/map3D/SystemGroupNode.h \ - src/ui/map3D/Q3DWidget.h \ - src/ui/map3D/GCManipulator.h \ - src/ui/map3D/ImageWindowGeode.h \ - src/ui/map3D/PixhawkCheetahNode.h \ - src/ui/map3D/Pixhawk3DWidget.h \ - src/ui/map3D/Q3DWidgetFactory.h \ - src/ui/map3D/WebImageCache.h \ - src/ui/map3D/WebImage.h \ - src/ui/map3D/TextureCache.h \ - src/ui/map3D/Texture.h \ - src/ui/map3D/Imagery.h \ - src/ui/map3D/HUDScaleGeode.h \ - src/ui/map3D/WaypointGroupNode.h \ - src/ui/map3D/TerrainParamDialog.h \ - src/ui/map3D/ImageryParamDialog.h - - SOURCES += \ - src/ui/map3D/gpl.cc \ - src/ui/map3D/CameraParams.cc \ - src/ui/map3D/ViewParamWidget.cc \ - src/ui/map3D/SystemContainer.cc \ - src/ui/map3D/SystemViewParams.cc \ - src/ui/map3D/GlobalViewParams.cc \ - src/ui/map3D/SystemGroupNode.cc \ - src/ui/map3D/Q3DWidget.cc \ - src/ui/map3D/ImageWindowGeode.cc \ - src/ui/map3D/GCManipulator.cc \ - src/ui/map3D/PixhawkCheetahNode.cc \ - src/ui/map3D/Pixhawk3DWidget.cc \ - src/ui/map3D/Q3DWidgetFactory.cc \ - src/ui/map3D/WebImageCache.cc \ - src/ui/map3D/WebImage.cc \ - src/ui/map3D/TextureCache.cc \ - src/ui/map3D/Texture.cc \ - src/ui/map3D/Imagery.cc \ - src/ui/map3D/HUDScaleGeode.cc \ - src/ui/map3D/WaypointGroupNode.cc \ - src/ui/map3D/TerrainParamDialog.cc \ - src/ui/map3D/ImageryParamDialog.cc -} - -# -# [OPTIONAL] Google Earth dependency. Provides Google Earth view to supplement 2D map view. -# Only supported on Mac and Windows where Google Earth can be installed. -# -GoogleEarthDisableOverride { - contains(DEFINES, DISABLE_GOOGLE_EARTH) { - message("Skipping support for Google Earth view (manual override from command line)") - DEFINES -= DISABLE_GOOGLE_EARTH - } - # Otherwise the user can still disable this feature in the user_config.pri file. - else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_GOOGLE_EARTH) { - message("Skipping support for Google Earth view (manual override from user_config.pri)") - } else:MacBuild { - message("Including support for Google Earth view") - DEFINES += QGC_GOOGLE_EARTH_ENABLED - HEADERS += src/ui/map3D/QGCGoogleEarthView.h \ - src/ui/map3D/QGCWebPage.h \ - src/ui/QGCWebView.h - SOURCES += src/ui/map3D/QGCGoogleEarthView.cc \ - src/ui/map3D/QGCWebPage.cc \ - src/ui/QGCWebView.cc - FORMS += src/ui/QGCWebView.ui - } else:WindowsBuild { - message("Including support for Google Earth view") - DEFINES += QGC_GOOGLE_EARTH_ENABLED - HEADERS += src/ui/map3D/QGCGoogleEarthView.h \ - src/ui/map3D/QGCWebPage.h \ - src/ui/QGCWebView.h - SOURCES += src/ui/map3D/QGCGoogleEarthView.cc \ - src/ui/map3D/QGCWebPage.cc \ - src/ui/QGCWebView.cc - FORMS += src/ui/QGCWebView.ui - QT += axcontainer - } else { - message("Skipping support for Google Earth view (unsupported platform)") - } -} else { - message("Skipping support for Google Earth due to Issue 1157") -} - # # [REQUIRED] EIGEN matrix library # NOMINMAX constant required to make internal min/max work. @@ -416,11 +269,12 @@ contains (DEFINES, DISABLE_SPEECH) { } # Mac support is built into OS 10.6+. else:MacBuild { - message("Including support for speech output") - DEFINES += QGC_SPEECH_ENABLED + message("Including support for speech output") + DEFINES += QGC_SPEECH_ENABLED } # Windows supports speech through native API. else:WindowsBuild { - message("Including support for speech output") - DEFINES += QGC_SPEECH_ENABLED + message("Including support for speech output") + DEFINES += QGC_SPEECH_ENABLED + LIBS += -lOle32 } diff --git a/QGCLocationPlugin.pro b/QGCLocationPlugin.pro new file mode 100644 index 0000000000000000000000000000000000000000..e2da91af333e2ad38abeb5ba0ceffb5e401c3c95 --- /dev/null +++ b/QGCLocationPlugin.pro @@ -0,0 +1,33 @@ +include(QGCCommon.pri) + +TEMPLATE = lib +TARGET = QGeoServiceProviderFactoryQGC +CONFIG += plugin static +QT += location-private positioning-private network +PLUGIN_TYPE = geoservices + +DESTDIR = $${LOCATION_PLUGIN_DESTDIR} + +INCLUDEPATH += $$QT.location.includes + +HEADERS += \ + src/QtLocationPlugin/qgeoserviceproviderpluginqgc.h \ + src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.h \ + src/QtLocationPlugin/qgeotilefetcherqgc.h \ + src/QtLocationPlugin/qgeomapreplyqgc.h \ + src/QtLocationPlugin/qgeocodingmanagerengineqgc.h \ + src/QtLocationPlugin/qgeocodereplyqgc.h \ + src/QtLocationPlugin/OpenPilotMaps.h + +SOURCES += \ + src/QtLocationPlugin/qgeoserviceproviderpluginqgc.cpp \ + src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.cpp \ + src/QtLocationPlugin/qgeotilefetcherqgc.cpp \ + src/QtLocationPlugin/qgeomapreplyqgc.cpp \ + src/QtLocationPlugin/qgeocodingmanagerengineqgc.cpp \ + src/QtLocationPlugin/qgeocodereplyqgc.cpp \ + src/QtLocationPlugin/OpenPilotMaps.cc + +OTHER_FILES += \ + src/QtLocationPlugin/qgc_maps_plugin.json + diff --git a/QGCSetup.pri b/QGCSetup.pri index 08dd8f8b716cdca65857644aa0ede36df4686e5e..cce994557c81bf9a1832c27e47c7a425323283be 100644 --- a/QGCSetup.pri +++ b/QGCSetup.pri @@ -19,6 +19,10 @@ QMAKE_POST_LINK += echo "Copying files" +AndroidBuild { + INSTALLS += $$DESTDIR +} + # # Copy the application resources to the associated place alongside the application # @@ -36,14 +40,14 @@ MacBuild { # in the target. WindowsBuild { # Make sure to keep both side of this if using the same set of directories - DESTDIR_COPY_RESOURCE_LIST = $$replace(DESTDIR,"/","\\") - BASEDIR_COPY_RESOURCE_LIST = $$replace(BASEDIR,"/","\\") - QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$BASEDIR_COPY_RESOURCE_LIST\\files\" \"$$DESTDIR_COPY_RESOURCE_LIST\\files\" - QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$BASEDIR_COPY_RESOURCE_LIST\\data\" \"$$DESTDIR_COPY_RESOURCE_LIST\\data\" + DESTDIR_COPY_RESOURCE_LIST = $$replace(DESTDIR,"/","\\") + BASEDIR_COPY_RESOURCE_LIST = $$replace(BASEDIR,"/","\\") + QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$BASEDIR_COPY_RESOURCE_LIST\\flightgear\" \"$$DESTDIR_COPY_RESOURCE_LIST\\flightgear\" } else { - # Make sure to keep both side of this if using the same set of directories - QMAKE_POST_LINK += && $$QMAKE_COPY_DIR $$BASEDIR/files $$DESTDIR_COPY_RESOURCE_LIST - QMAKE_POST_LINK += && $$QMAKE_COPY_DIR $$BASEDIR/data $$DESTDIR_COPY_RESOURCE_LIST + !AndroidBuild { + # Make sure to keep both sides of this if using the same set of directories + QMAKE_POST_LINK += && $$QMAKE_COPY_DIR $$BASEDIR/flightgear $$DESTDIR_COPY_RESOURCE_LIST + } } # @@ -153,13 +157,13 @@ MacBuild { } WindowsBuild { - BASEDIR_WIN = $$replace(BASEDIR, "/", "\\") - DESTDIR_WIN = $$replace(DESTDIR, "/", "\\") - D_DIR = $$[QT_INSTALL_LIBEXECS] - DLL_DIR = $$replace(D_DIR, "/", "\\") + BASEDIR_WIN = $$replace(BASEDIR, "/", "\\") + DESTDIR_WIN = $$replace(DESTDIR, "/", "\\") + D_DIR = $$[QT_INSTALL_LIBEXECS] + DLL_DIR = $$replace(D_DIR, "/", "\\") - # Copy dependencies - DebugBuild: DLL_QT_DEBUGCHAR = "d" + # Copy dependencies + DebugBuild: DLL_QT_DEBUGCHAR = "d" ReleaseBuild: DLL_QT_DEBUGCHAR = "" COPY_FILE_LIST = \ $$BASEDIR\\libs\\lib\\sdl\\win32\\SDL.dll \ @@ -167,6 +171,7 @@ WindowsBuild { $$DLL_DIR\\icu*.dll \ $$DLL_DIR\\Qt5Core$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Gui$${DLL_QT_DEBUGCHAR}.dll \ + $$DLL_DIR\\Qt5Location$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Multimedia$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5MultimediaWidgets$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Network$${DLL_QT_DEBUGCHAR}.dll \ @@ -178,7 +183,6 @@ WindowsBuild { $$DLL_DIR\\Qt5QuickWidgets$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Sensors$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5SerialPort$${DLL_QT_DEBUGCHAR}.dll \ - $$DLL_DIR\\Qt5OpenGL$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Sql$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Svg$${DLL_QT_DEBUGCHAR}.dll \ $$DLL_DIR\\Qt5Test$${DLL_QT_DEBUGCHAR}.dll \ @@ -190,17 +194,18 @@ WindowsBuild { QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$COPY_FILE\" \"$$DESTDIR_WIN\" } - # Copy platform plugins - P_DIR = $$[QT_INSTALL_PLUGINS] - PLUGINS_DIR_WIN = $$replace(P_DIR, "/", "\\") - QMAKE_POST_LINK += $$escape_expand(\\n) mkdir release\\platforms - QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$PLUGINS_DIR_WIN\\platforms\\qwindows$${DLL_QT_DEBUGCHAR}.dll\" \"$$DESTDIR_WIN\\platforms\\qwindows$${DLL_QT_DEBUGCHAR}.dll\" - QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\imageformats\" \"$$DESTDIR_WIN\\imageformats\" + # Copy platform plugins + P_DIR = $$[QT_INSTALL_PLUGINS] + PLUGINS_DIR_WIN = $$replace(P_DIR, "/", "\\") + QMAKE_POST_LINK += $$escape_expand(\\n) mkdir "$$DESTDIR_WIN\\platforms" + QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY \"$$PLUGINS_DIR_WIN\\platforms\\qwindows$${DLL_QT_DEBUGCHAR}.dll\" \"$$DESTDIR_WIN\\platforms\\qwindows$${DLL_QT_DEBUGCHAR}.dll\" + QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\imageformats\" \"$$DESTDIR_WIN\\imageformats\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\sqldrivers\" \"$$DESTDIR_WIN\\sqldrivers\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\bearer\" \"$$DESTDIR_WIN\\bearer\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\iconengines\" \"$$DESTDIR_WIN\\iconengines\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\printsupport\" \"$$DESTDIR_WIN\\printsupport\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\qmltooling\" \"$$DESTDIR_WIN\\qmltooling\" + QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$PLUGINS_DIR_WIN\\geoservices\" \"$$DESTDIR_WIN\\geoservices\" # Copy Qml libraries Q_DIR = $$[QT_INSTALL_QML] @@ -208,6 +213,8 @@ WindowsBuild { QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$QML_DIR_WIN\\QtGraphicalEffects\" \"$$DESTDIR_WIN\\QtGraphicalEffects\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$QML_DIR_WIN\\QtQuick\" \"$$DESTDIR_WIN\\QtQuick\" QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$QML_DIR_WIN\\QtQuick.2\" \"$$DESTDIR_WIN\\QtQuick.2\" + QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$QML_DIR_WIN\\QtLocation\" \"$$DESTDIR_WIN\\QtLocation\" + QMAKE_POST_LINK += $$escape_expand(\\n) $$QMAKE_COPY_DIR \"$$QML_DIR_WIN\\QtPositioning\" \"$$DESTDIR_WIN\\QtPositioning\" ReleaseBuild { # Copy Visual Studio DLLs diff --git a/README.md b/README.md index dd28e016560017aac5fcab821f5f2385741fe50e..f2d3becd1a67262440bb6aebd667da131573b09d 100644 --- a/README.md +++ b/README.md @@ -50,7 +50,7 @@ QGroundControl builds are supported for OSX, Linux and Windows. See the individu Supported builds are 64 bit, built using the clang compiler. #### Install QT -- - - + 1. Download Qt 5.4 from: 2. Double click the package installer and follow instructions. @@ -66,12 +66,14 @@ Supported builds for Linux are 32 or 64-bit, built using gcc. * For Fedora: `sudo yum install qt-creator qt5-qtbase-devel qt5-qtdeclarative-devel qt5-qtserialport-devel qt5-qtsvg-devel qt5-qtwebkit-devel SDL-devel SDL-static systemd-devel qt5-qtgraphicaleffects qt5-qtquickcontrols` * For Arch Linux: `pacman -Sy qtcreator qt5-base qt5-declarative qt5-serialport qt5-svg qt5-webkit` * For Ubuntu: Please be aware that the time of writing, Qt5.4 is unavailable in the official repositories Ubuntu 14.04/Mint 17 - * Add this PPA to your sources.list: `ppa:beineri/opt-qt541-trusty` + * Add this PPA for Qt5.4: `sudo add-apt-repository ppa:beineri/opt-qt541-trusty` * If you get a 404 error from "apt-get update" below, open System Settings:Software & Updates:Other Software and edit the entry for opt-qt541-trusty to reference Distribution: trusty. - * Run the following in your terminal: `sudo apt-get update && sudo apt-get install qt54tools qt54base qt54declarative qt54serialport qt54svg qt54webkit qt54quickcontrols qt54xmlpatterns qt54x11extras qt54websockets qt54sensors qt54script qt54quick1 qt54qbs qt54multimedia qt54location qt54imageformats qt54graphicaleffects qt54creator qt54connectivity` + * Run the following in your terminal: `sudo apt-get update && sudo apt-get install qt54tools qt54base qt54declarative qt54serialport qt54svg qt54webkit qt54quickcontrols qt54xmlpatterns qt54x11extras qt54websockets qt54sensors qt54script qt54quick1 qt54qbs qt54multimedia qt54location qt54imageformats qt54graphicaleffects qt54creator qt54connectivity libsdl1.2-dev libudev-dev` * Next, set the environment variables by executing in the terminal: `source /opt/qt54/bin/qt54-env.sh` or copy and paste the contents to your `~/.profile` file to set them on login. * Verify that the variables have been set: `echo $PATH && echo $QTDIR`. The output should read `/opt/qt54/bin:...` and `/opt/qt54`. +If you get this error when running qgroundcontrol: /usr/lib/x86_64-linux-gnu/libstdc++.so.6: version 'GLIBCXX_3.4.20' not found. You need to either update to the latest gcc, or install the latest libstdc++.6 using: sudo apt-get install libstdc++6. + #### [Optional] Install additional libraries * For text-to-speech (espeak) * For Ubuntu: `sudo apt-get install espeak libespeak-dev` @@ -84,12 +86,15 @@ Supported builds for Linux are 32 or 64-bit, built using gcc. #### Build QGroundControl 1. Change directory to you `qgroundcontrol` source directory. -2. Run `qmake` +2. Run `qmake -r qgroundcontrol.pro` 3. Run `make` ### Build on Windows Supported builds for Windows are 32 bit only built using Visual Studio 2013 or higher. +#### Install Windows USB driver to connect to Pixhawk/PX4Flow/3DR Radio +Install from here: http://www.pixhawk.org/firmware/downloads + #### Install Visual Studio Express 2013 Only compilation using Visual Studio 2013 is supported. Download and install Visual Studio Express Edition (free) from here: . Make sure you install the Windows Desktop version. @@ -100,9 +105,30 @@ Download Qt 5.4 from here: + * On Ubuntu, you have to set the file to executable:`chmod +x ~/Downloads/qt-opensource-linux-x64-1.6.0-8-online.run\` +* Run the installer and follow the installation steps. + * Select the directory you want to install Qt, which is handy if you don't want to install system wide or don't have root access. + * Select the components you want to install. *Tools* will be selected by default. You also want to install the Qt 5.4 module along with the targets you are interested in (i.e. 32-Bit OpenGL for Windows, etc.). On Ubuntu, *Android armv7* will be selected by default as well. You may or may not want to install that, depending on your desire to target that platform. Same idea for OS X. It will have *iOS* Kits selected as well. + * Accept the license and the installer will download all the necessary modules and install where you told it to install. +* Go to the Qt Creator directory: + * `~/local/Qt/Tools/QtCreator/bin` for Ubuntu (if that's where you installed it) + * `~/local/Qt/Qt Creator.app` for OS X (if that's where you installed it) + * `C:/local/Qt/Tools/QtCreator/bin` for Windows (if that's where you installed it) +* Launch Qt Creator and open the `qgroundcontrol.pro` project. + +When you open a project in Qt Creator for the first time, it will ask what targets (*Kits*) you want to target. The options will depend on what modules you downloaded above. For instance, on Mac OS X you would select *Desktop Qt 5.4.1 clang 64bit*. +It's also a good idea to go into *Projects/Build Steps* (side tool bar) and select Make's *Details*. For *Make Arguments*, add `-jx` (`/J x` on Windows) where `x` is at least the numbers of cores you have. That is, if you are running on a Mac Pro with 24 cores, you would use `-j24`. That will run 24 concurrent compiler instances at a time and run the build a whole lot faster. Your mileage may vary depending on your disk IO throughput. Note that for Windows, this method will build QGC x many times faster than when using Visual Studio as described above. Visual Studio allocates one process per *Project*. As QGroundControl is one very large project, it will still compile one file at a time within that one process. When you build from within Qt Creator (and give the ```/J x``` option to make), it will use x number of concurrent compiler processes. + +Qt Creator is a full-blown development IDE. You can even debug right from within it and it provides the full Qt API documentation. Just place the mouse cursor over a Qt class/element and hit the F1 key. ### Additional build notes for all supported OS @@ -114,7 +140,6 @@ Download Qt 5.4 from here: ). Since logging is on by default, an example qtlogging.ini file is included at the root of the repository which disables logging. Follow the instructions from Qt as to why and where to put this file. You can then edit the file to get a logging level that suits your needs. ## Additional functionality diff --git a/android/AndroidManifest.xml b/android/AndroidManifest.xml new file mode 100644 index 0000000000000000000000000000000000000000..21fcc18846fe7a5d125916d7b18a4e8044627469 --- /dev/null +++ b/android/AndroidManifest.xml @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files/images/icons/v2/t256.png b/android/res/drawable-ldpi/icon.png similarity index 100% rename from files/images/icons/v2/t256.png rename to android/res/drawable-ldpi/icon.png diff --git a/android/res/xml/device_filter.xml b/android/res/xml/device_filter.xml new file mode 100644 index 0000000000000000000000000000000000000000..a149a80b508d8f8978a9fdd66bfedd4b78ca4046 --- /dev/null +++ b/android/res/xml/device_filter.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java b/android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java new file mode 100644 index 0000000000000000000000000000000000000000..3dec53a9a78daf83393b11a77147bcc3a21abe86 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/CdcAcmSerialDriver.java @@ -0,0 +1,252 @@ +package com.hoho.android.usbserial.driver; + +import android.hardware.usb.UsbConstants; +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; +import android.hardware.usb.UsbEndpoint; +import android.hardware.usb.UsbInterface; +import android.util.Log; + +import java.io.IOException; +import java.util.LinkedHashMap; +import java.util.Map; + +/** + * USB CDC/ACM serial driver implementation. + * + * @author mike wakerly (opensource@hoho.com) + * @see Universal + * Serial Bus Class Definitions for Communication Devices, v1.1 + */ +public class CdcAcmSerialDriver extends CommonUsbSerialDriver { + + private final String TAG = CdcAcmSerialDriver.class.getSimpleName(); + + private UsbInterface mControlInterface; + private UsbInterface mDataInterface; + + private UsbEndpoint mControlEndpoint; + private UsbEndpoint mReadEndpoint; + private UsbEndpoint mWriteEndpoint; + + private boolean mRts = false; + private boolean mDtr = false; + + private static final int USB_RECIP_INTERFACE = 0x01; + private static final int USB_RT_ACM = UsbConstants.USB_TYPE_CLASS | USB_RECIP_INTERFACE; + + private static final int SET_LINE_CODING = 0x20; // USB CDC 1.1 section 6.2 + private static final int GET_LINE_CODING = 0x21; + private static final int SET_CONTROL_LINE_STATE = 0x22; + private static final int SEND_BREAK = 0x23; + + public CdcAcmSerialDriver(UsbDevice device, UsbDeviceConnection connection) { + super(device, connection); + } + + @Override + public void open() throws IOException { + Log.d(TAG, "claiming interfaces, count=" + mDevice.getInterfaceCount()); + + Log.d(TAG, "Claiming control interface."); + mControlInterface = mDevice.getInterface(0); + Log.d(TAG, "Control iface=" + mControlInterface); + // class should be USB_CLASS_COMM + + if (!mConnection.claimInterface(mControlInterface, true)) { + throw new IOException("Could not claim control interface."); + } + mControlEndpoint = mControlInterface.getEndpoint(0); + Log.d(TAG, "Control endpoint direction: " + mControlEndpoint.getDirection()); + + Log.d(TAG, "Claiming data interface."); + mDataInterface = mDevice.getInterface(1); + Log.d(TAG, "data iface=" + mDataInterface); + // class should be USB_CLASS_CDC_DATA + + if (!mConnection.claimInterface(mDataInterface, true)) { + throw new IOException("Could not claim data interface."); + } + mReadEndpoint = mDataInterface.getEndpoint(1); + Log.d(TAG, "Read endpoint direction: " + mReadEndpoint.getDirection()); + mWriteEndpoint = mDataInterface.getEndpoint(0); + Log.d(TAG, "Write endpoint direction: " + mWriteEndpoint.getDirection()); + } + + private int sendAcmControlMessage(int request, int value, byte[] buf) { + return mConnection.controlTransfer( + USB_RT_ACM, request, value, 0, buf, buf != null ? buf.length : 0, 5000); + } + + @Override + public void close() throws IOException { + mConnection.close(); + } + + @Override + public int read(byte[] dest, int timeoutMillis) throws IOException { + final int numBytesRead; + synchronized (mReadBufferLock) { + int readAmt = Math.min(dest.length, mReadBuffer.length); + numBytesRead = mConnection.bulkTransfer(mReadEndpoint, mReadBuffer, readAmt, + timeoutMillis); + if (numBytesRead < 0) { + // This sucks: we get -1 on timeout, not 0 as preferred. + // We *should* use UsbRequest, except it has a bug/api oversight + // where there is no way to determine the number of bytes read + // in response :\ -- http://b.android.com/28023 + return 0; + } + System.arraycopy(mReadBuffer, 0, dest, 0, numBytesRead); + } + return numBytesRead; + } + + @Override + public int write(byte[] src, int timeoutMillis) throws IOException { + // TODO(mikey): Nearly identical to FtdiSerial write. Refactor. + int offset = 0; + + while (offset < src.length) { + final int writeLength; + final int amtWritten; + + synchronized (mWriteBufferLock) { + final byte[] writeBuffer; + + writeLength = Math.min(src.length - offset, mWriteBuffer.length); + if (offset == 0) { + writeBuffer = src; + } else { + // bulkTransfer does not support offsets, make a copy. + System.arraycopy(src, offset, mWriteBuffer, 0, writeLength); + writeBuffer = mWriteBuffer; + } + + amtWritten = mConnection.bulkTransfer(mWriteEndpoint, writeBuffer, writeLength, + timeoutMillis); + } + if (amtWritten <= 0) { + throw new IOException("Error writing " + writeLength + + " bytes at offset " + offset + " length=" + src.length); + } + + //Log.d(TAG, "Wrote amt=" + amtWritten + " attempted=" + writeLength); + offset += amtWritten; + } + return offset; + } + + @Override + public void setParameters(int baudRate, int dataBits, int stopBits, int parity) { + byte stopBitsByte; + switch (stopBits) { + case STOPBITS_1: stopBitsByte = 0; break; + case STOPBITS_1_5: stopBitsByte = 1; break; + case STOPBITS_2: stopBitsByte = 2; break; + default: throw new IllegalArgumentException("Bad value for stopBits: " + stopBits); + } + + byte parityBitesByte; + switch (parity) { + case PARITY_NONE: parityBitesByte = 0; break; + case PARITY_ODD: parityBitesByte = 1; break; + case PARITY_EVEN: parityBitesByte = 2; break; + case PARITY_MARK: parityBitesByte = 3; break; + case PARITY_SPACE: parityBitesByte = 4; break; + default: throw new IllegalArgumentException("Bad value for parity: " + parity); + } + + byte[] msg = { + (byte) ( baudRate & 0xff), + (byte) ((baudRate >> 8 ) & 0xff), + (byte) ((baudRate >> 16) & 0xff), + (byte) ((baudRate >> 24) & 0xff), + stopBitsByte, + parityBitesByte, + (byte) dataBits}; + sendAcmControlMessage(SET_LINE_CODING, 0, msg); + } + + @Override + public boolean getCD() throws IOException { + return false; // TODO + } + + @Override + public boolean getCTS() throws IOException { + return false; // TODO + } + + @Override + public boolean getDSR() throws IOException { + return false; // TODO + } + + @Override + public boolean getDTR() throws IOException { + return mDtr; + } + + @Override + public void setDTR(boolean value) throws IOException { + mDtr = value; + setDtrRts(); + } + + @Override + public boolean getRI() throws IOException { + return false; // TODO + } + + @Override + public boolean getRTS() throws IOException { + return mRts; + } + + @Override + public void setRTS(boolean value) throws IOException { + mRts = value; + setDtrRts(); + } + + private void setDtrRts() { + int value = (mRts ? 0x2 : 0) | (mDtr ? 0x1 : 0); + sendAcmControlMessage(SET_CONTROL_LINE_STATE, value, null); + } + + public static Map getSupportedDevices() { + final Map supportedDevices = new LinkedHashMap(); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_ARDUINO), + new int[] { + UsbId.ARDUINO_UNO, + UsbId.ARDUINO_UNO_R3, + UsbId.ARDUINO_MEGA_2560, + UsbId.ARDUINO_MEGA_2560_R3, + UsbId.ARDUINO_SERIAL_ADAPTER, + UsbId.ARDUINO_SERIAL_ADAPTER_R3, + UsbId.ARDUINO_MEGA_ADK, + UsbId.ARDUINO_MEGA_ADK_R3, + UsbId.ARDUINO_LEONARDO, + }); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_VAN_OOIJEN_TECH), + new int[] { + UsbId.VAN_OOIJEN_TECH_TEENSYDUINO_SERIAL, + }); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_ATMEL), + new int[] { + UsbId.ATMEL_LUFA_CDC_DEMO_APP, + }); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_LEAFLABS), + new int[] { + UsbId.LEAFLABS_MAPLE, + }); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_PX4), + new int[] { + UsbId.DEVICE_PX4FMU, + }); + return supportedDevices; + } + +} diff --git a/android/src/com/hoho/android/usbserial/driver/CommonUsbSerialDriver.java b/android/src/com/hoho/android/usbserial/driver/CommonUsbSerialDriver.java new file mode 100644 index 0000000000000000000000000000000000000000..734933a22238264aa766ab39ec4365b3b4b0f50e --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/CommonUsbSerialDriver.java @@ -0,0 +1,156 @@ +/* Copyright 2013 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ + +package com.hoho.android.usbserial.driver; + +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; + +import java.io.IOException; + +/** + * A base class shared by several driver implementations. + * + * @author mike wakerly (opensource@hoho.com) + */ +abstract class CommonUsbSerialDriver implements UsbSerialDriver { + + public static final int DEFAULT_READ_BUFFER_SIZE = 16 * 1024; + public static final int DEFAULT_WRITE_BUFFER_SIZE = 16 * 1024; + + protected final UsbDevice mDevice; + protected final UsbDeviceConnection mConnection; + + protected final Object mReadBufferLock = new Object(); + protected final Object mWriteBufferLock = new Object(); + + /** Internal read buffer. Guarded by {@link #mReadBufferLock}. */ + protected byte[] mReadBuffer; + + /** Internal write buffer. Guarded by {@link #mWriteBufferLock}. */ + protected byte[] mWriteBuffer; + + public CommonUsbSerialDriver(UsbDevice device, UsbDeviceConnection connection) { + mDevice = device; + mConnection = connection; + + mReadBuffer = new byte[DEFAULT_READ_BUFFER_SIZE]; + mWriteBuffer = new byte[DEFAULT_WRITE_BUFFER_SIZE]; + } + + /** + * Returns the currently-bound USB device. + * + * @return the device + */ + @Override + public final UsbDevice getDevice() { + return mDevice; + } + + /** + * Returns the currently-bound USB device connection. + * + * @return the device connection + */ + @Override + public final UsbDeviceConnection getDeviceConnection() { + return mConnection; + } + + + + /** + * Sets the size of the internal buffer used to exchange data with the USB + * stack for read operations. Most users should not need to change this. + * + * @param bufferSize the size in bytes + */ + public final void setReadBufferSize(int bufferSize) { + synchronized (mReadBufferLock) { + if (bufferSize == mReadBuffer.length) { + return; + } + mReadBuffer = new byte[bufferSize]; + } + } + + /** + * Sets the size of the internal buffer used to exchange data with the USB + * stack for write operations. Most users should not need to change this. + * + * @param bufferSize the size in bytes + */ + public final void setWriteBufferSize(int bufferSize) { + synchronized (mWriteBufferLock) { + if (bufferSize == mWriteBuffer.length) { + return; + } + mWriteBuffer = new byte[bufferSize]; + } + } + + @Override + public abstract void open() throws IOException; + + @Override + public abstract void close() throws IOException; + + @Override + public abstract int read(final byte[] dest, final int timeoutMillis) throws IOException; + + @Override + public abstract int write(final byte[] src, final int timeoutMillis) throws IOException; + + @Override + public abstract void setParameters( + int baudRate, int dataBits, int stopBits, int parity) throws IOException; + + @Override + public abstract boolean getCD() throws IOException; + + @Override + public abstract boolean getCTS() throws IOException; + + @Override + public abstract boolean getDSR() throws IOException; + + @Override + public abstract boolean getDTR() throws IOException; + + @Override + public abstract void setDTR(boolean value) throws IOException; + + @Override + public abstract boolean getRI() throws IOException; + + @Override + public abstract boolean getRTS() throws IOException; + + @Override + public abstract void setRTS(boolean value) throws IOException; + + @Override + public boolean purgeHwBuffers(boolean flushReadBuffers, boolean flushWriteBuffers) throws IOException { + return !flushReadBuffers && !flushWriteBuffers; + } + +} + diff --git a/android/src/com/hoho/android/usbserial/driver/Cp2102SerialDriver.java b/android/src/com/hoho/android/usbserial/driver/Cp2102SerialDriver.java new file mode 100644 index 0000000000000000000000000000000000000000..aa151ba1a0e6887ea4b7985a43044dd4eb6fcbd2 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/Cp2102SerialDriver.java @@ -0,0 +1,292 @@ +package com.hoho.android.usbserial.driver; + +import android.hardware.usb.UsbConstants; +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; +import android.hardware.usb.UsbEndpoint; +import android.hardware.usb.UsbInterface; +import android.util.Log; + +import java.io.IOException; +import java.util.LinkedHashMap; +import java.util.Map; + +public class Cp2102SerialDriver extends CommonUsbSerialDriver { + + private static final String TAG = Cp2102SerialDriver.class.getSimpleName(); + + private static final int DEFAULT_BAUD_RATE = 9600; + + private static final int USB_WRITE_TIMEOUT_MILLIS = 5000; + + /* + * Configuration Request Types + */ + private static final int REQTYPE_HOST_TO_DEVICE = 0x41; + + /* + * Configuration Request Codes + */ + private static final int SILABSER_IFC_ENABLE_REQUEST_CODE = 0x00; + private static final int SILABSER_SET_BAUDDIV_REQUEST_CODE = 0x01; + private static final int SILABSER_SET_LINE_CTL_REQUEST_CODE = 0x03; + private static final int SILABSER_SET_MHS_REQUEST_CODE = 0x07; + private static final int SILABSER_SET_BAUDRATE = 0x1E; + private static final int SILABSER_FLUSH_REQUEST_CODE = 0x12; + + private static final int FLUSH_READ_CODE = 0x0a; + private static final int FLUSH_WRITE_CODE = 0x05; + + /* + * SILABSER_IFC_ENABLE_REQUEST_CODE + */ + private static final int UART_ENABLE = 0x0001; + private static final int UART_DISABLE = 0x0000; + + /* + * SILABSER_SET_BAUDDIV_REQUEST_CODE + */ + private static final int BAUD_RATE_GEN_FREQ = 0x384000; + + /* + * SILABSER_SET_MHS_REQUEST_CODE + */ + private static final int MCR_DTR = 0x0001; + private static final int MCR_RTS = 0x0002; + private static final int MCR_ALL = 0x0003; + + private static final int CONTROL_WRITE_DTR = 0x0100; + private static final int CONTROL_WRITE_RTS = 0x0200; + + private UsbEndpoint mReadEndpoint; + private UsbEndpoint mWriteEndpoint; + + public Cp2102SerialDriver(UsbDevice device, UsbDeviceConnection connection) { + super(device, connection); + } + + private int setConfigSingle(int request, int value) { + return mConnection.controlTransfer(REQTYPE_HOST_TO_DEVICE, request, value, + 0, null, 0, USB_WRITE_TIMEOUT_MILLIS); + } + + @Override + public void open() throws IOException { + boolean opened = false; + try { + for (int i = 0; i < mDevice.getInterfaceCount(); i++) { + UsbInterface usbIface = mDevice.getInterface(i); + if (mConnection.claimInterface(usbIface, true)) { + Log.d(TAG, "claimInterface " + i + " SUCCESS"); + } else { + Log.d(TAG, "claimInterface " + i + " FAIL"); + } + } + + UsbInterface dataIface = mDevice.getInterface(mDevice.getInterfaceCount() - 1); + for (int i = 0; i < dataIface.getEndpointCount(); i++) { + UsbEndpoint ep = dataIface.getEndpoint(i); + if (ep.getType() == UsbConstants.USB_ENDPOINT_XFER_BULK) { + if (ep.getDirection() == UsbConstants.USB_DIR_IN) { + mReadEndpoint = ep; + } else { + mWriteEndpoint = ep; + } + } + } + + setConfigSingle(SILABSER_IFC_ENABLE_REQUEST_CODE, UART_ENABLE); + setConfigSingle(SILABSER_SET_MHS_REQUEST_CODE, MCR_ALL | CONTROL_WRITE_DTR | CONTROL_WRITE_RTS); + setConfigSingle(SILABSER_SET_BAUDDIV_REQUEST_CODE, BAUD_RATE_GEN_FREQ / DEFAULT_BAUD_RATE); +// setParameters(DEFAULT_BAUD_RATE, DEFAULT_DATA_BITS, DEFAULT_STOP_BITS, DEFAULT_PARITY); + opened = true; + } finally { + if (!opened) { + close(); + } + } + } + + @Override + public void close() throws IOException { + setConfigSingle(SILABSER_IFC_ENABLE_REQUEST_CODE, UART_DISABLE); + mConnection.close(); + } + + @Override + public int read(byte[] dest, int timeoutMillis) throws IOException { + final int numBytesRead; + synchronized (mReadBufferLock) { + int readAmt = Math.min(dest.length, mReadBuffer.length); + numBytesRead = mConnection.bulkTransfer(mReadEndpoint, mReadBuffer, readAmt, + timeoutMillis); + if (numBytesRead < 0) { + // This sucks: we get -1 on timeout, not 0 as preferred. + // We *should* use UsbRequest, except it has a bug/api oversight + // where there is no way to determine the number of bytes read + // in response :\ -- http://b.android.com/28023 + return 0; + } + System.arraycopy(mReadBuffer, 0, dest, 0, numBytesRead); + } + return numBytesRead; + } + + @Override + public int write(byte[] src, int timeoutMillis) throws IOException { + int offset = 0; + + while (offset < src.length) { + final int writeLength; + final int amtWritten; + + synchronized (mWriteBufferLock) { + final byte[] writeBuffer; + + writeLength = Math.min(src.length - offset, mWriteBuffer.length); + if (offset == 0) { + writeBuffer = src; + } else { + // bulkTransfer does not support offsets, make a copy. + System.arraycopy(src, offset, mWriteBuffer, 0, writeLength); + writeBuffer = mWriteBuffer; + } + + amtWritten = mConnection.bulkTransfer(mWriteEndpoint, writeBuffer, writeLength, + timeoutMillis); + } + if (amtWritten <= 0) { + throw new IOException("Error writing " + writeLength + + " bytes at offset " + offset + " length=" + src.length); + } + + //Log.d(TAG, "Wrote amt=" + amtWritten + " attempted=" + writeLength); + offset += amtWritten; + } + return offset; + } + + private void setBaudRate(int baudRate) throws IOException { + byte[] data = new byte[] { + (byte) ( baudRate & 0xff), + (byte) ((baudRate >> 8 ) & 0xff), + (byte) ((baudRate >> 16) & 0xff), + (byte) ((baudRate >> 24) & 0xff) + }; + int ret = mConnection.controlTransfer(REQTYPE_HOST_TO_DEVICE, SILABSER_SET_BAUDRATE, + 0, 0, data, 4, USB_WRITE_TIMEOUT_MILLIS); + if (ret < 0) { + throw new IOException("Error setting baud rate."); + } + } + + @Override + public void setParameters(int baudRate, int dataBits, int stopBits, int parity) + throws IOException { + setBaudRate(baudRate); + + int configDataBits = 0; + switch (dataBits) { + case DATABITS_5: + configDataBits |= 0x0500; + break; + case DATABITS_6: + configDataBits |= 0x0600; + break; + case DATABITS_7: + configDataBits |= 0x0700; + break; + case DATABITS_8: + configDataBits |= 0x0800; + break; + default: + configDataBits |= 0x0800; + break; + } + setConfigSingle(SILABSER_SET_LINE_CTL_REQUEST_CODE, configDataBits); + + int configParityBits = 0; // PARITY_NONE + switch (parity) { + case PARITY_ODD: + configParityBits |= 0x0010; + break; + case PARITY_EVEN: + configParityBits |= 0x0020; + break; + } + setConfigSingle(SILABSER_SET_LINE_CTL_REQUEST_CODE, configParityBits); + + int configStopBits = 0; + switch (stopBits) { + case STOPBITS_1: + configStopBits |= 0; + break; + case STOPBITS_2: + configStopBits |= 2; + break; + } + setConfigSingle(SILABSER_SET_LINE_CTL_REQUEST_CODE, configStopBits); + } + + @Override + public boolean getCD() throws IOException { + return false; + } + + @Override + public boolean getCTS() throws IOException { + return false; + } + + @Override + public boolean getDSR() throws IOException { + return false; + } + + @Override + public boolean getDTR() throws IOException { + return true; + } + + @Override + public void setDTR(boolean value) throws IOException { + } + + @Override + public boolean getRI() throws IOException { + return false; + } + + @Override + public boolean getRTS() throws IOException { + return true; + } + + @Override + public boolean purgeHwBuffers(boolean purgeReadBuffers, + boolean purgeWriteBuffers) throws IOException { + int value = (purgeReadBuffers ? FLUSH_READ_CODE : 0) + | (purgeWriteBuffers ? FLUSH_WRITE_CODE : 0); + + if (value != 0) { + setConfigSingle(SILABSER_FLUSH_REQUEST_CODE, value); + } + + return true; + } + + @Override + public void setRTS(boolean value) throws IOException { + } + + public static Map getSupportedDevices() { + final Map supportedDevices = new LinkedHashMap(); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_SILAB), + new int[] { + UsbId.SILAB_CP2102 + }); + return supportedDevices; + } + + +} diff --git a/android/src/com/hoho/android/usbserial/driver/FtdiSerialDriver.java b/android/src/com/hoho/android/usbserial/driver/FtdiSerialDriver.java new file mode 100644 index 0000000000000000000000000000000000000000..ad3627ff38a75a50b71167ddf50f50b4ee5b1b51 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/FtdiSerialDriver.java @@ -0,0 +1,552 @@ +/* Copyright 2011 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ + +package com.hoho.android.usbserial.driver; + +import android.hardware.usb.UsbConstants; +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; +import android.hardware.usb.UsbEndpoint; +import android.hardware.usb.UsbRequest; +import android.util.Log; + + +import java.io.IOException; +import java.nio.ByteBuffer; +import java.util.LinkedHashMap; +import java.util.Map; + +/** + * A {@link CommonUsbSerialDriver} implementation for a variety of FTDI devices + *

+ * This driver is based on + * libftdi, and is + * copyright and subject to the following terms: + * + * 

+ *   Copyright (C) 2003 by Intra2net AG
+ *
+ *   This program is free software; you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License
+ *   version 2.1 as published by the Free Software Foundation;
+ *
+ *   opensource@intra2net.com
+ *   http://www.intra2net.com/en/developer/libftdi
+ *
+ * + *

+ *

+ * Some FTDI devices have not been tested; see later listing of supported and + * unsupported devices. Devices listed as "supported" support the following + * features: + *

    + *
  • Read and write of serial data (see {@link #read(byte[], int)} and + * {@link #write(byte[], int)}. + *
  • Setting baud rate (see {@link #setBaudRate(int)}). + *
+ *

+ *

+ * Supported and tested devices: + *

    + *
  • {@value DeviceType#TYPE_R}
    • + *
+ *

+ *

+ * Unsupported but possibly working devices (please contact the author with + * feedback or patches): + *

    + *
  • {@value DeviceType#TYPE_2232C}
    • + *
  • {@value DeviceType#TYPE_2232H}
    • + *
  • {@value DeviceType#TYPE_4232H}
    • + *
  • {@value DeviceType#TYPE_AM}
    • + *
  • {@value DeviceType#TYPE_BM}
    • + *
+ *

+ * + * @author mike wakerly (opensource@hoho.com) + * @see USB Serial + * for Android project page + * @see FTDI Homepage + * @see libftdi + */ +public class FtdiSerialDriver extends CommonUsbSerialDriver { + + public static final int USB_TYPE_STANDARD = 0x00 << 5; + public static final int USB_TYPE_CLASS = 0x00 << 5; + public static final int USB_TYPE_VENDOR = 0x00 << 5; + public static final int USB_TYPE_RESERVED = 0x00 << 5; + + public static final int USB_RECIP_DEVICE = 0x00; + public static final int USB_RECIP_INTERFACE = 0x01; + public static final int USB_RECIP_ENDPOINT = 0x02; + public static final int USB_RECIP_OTHER = 0x03; + + public static final int USB_ENDPOINT_IN = 0x80; + public static final int USB_ENDPOINT_OUT = 0x00; + + public static final int USB_WRITE_TIMEOUT_MILLIS = 5000; + public static final int USB_READ_TIMEOUT_MILLIS = 5000; + + // From ftdi.h + /** + * Reset the port. + */ + private static final int SIO_RESET_REQUEST = 0; + + /** + * Set the modem control register. + */ + private static final int SIO_MODEM_CTRL_REQUEST = 1; + + /** + * Set flow control register. + */ + private static final int SIO_SET_FLOW_CTRL_REQUEST = 2; + + /** + * Set baud rate. + */ + private static final int SIO_SET_BAUD_RATE_REQUEST = 3; + + /** + * Set the data characteristics of the port. + */ + private static final int SIO_SET_DATA_REQUEST = 4; + + private static final int SIO_RESET_SIO = 0; + private static final int SIO_RESET_PURGE_RX = 1; + private static final int SIO_RESET_PURGE_TX = 2; + + public static final int FTDI_DEVICE_OUT_REQTYPE = + UsbConstants.USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_OUT; + + public static final int FTDI_DEVICE_IN_REQTYPE = + UsbConstants.USB_TYPE_VENDOR | USB_RECIP_DEVICE | USB_ENDPOINT_IN; + + /** + * Length of the modem status header, transmitted with every read. + */ + private static final int MODEM_STATUS_HEADER_LENGTH = 2; + + private final String TAG = FtdiSerialDriver.class.getSimpleName(); + + private DeviceType mType; + + /** + * FTDI chip types. + */ + private static enum DeviceType { + TYPE_BM, TYPE_AM, TYPE_2232C, TYPE_R, TYPE_2232H, TYPE_4232H; + } + + private int mInterface = 0; /* INTERFACE_ANY */ + + private int mMaxPacketSize = 64; // TODO(mikey): detect + + /** + * Due to http://b.android.com/28023 , we cannot use UsbRequest async reads + * since it gives no indication of number of bytes read. Set this to + * {@code true} on platforms where it is fixed. + */ + private static final boolean ENABLE_ASYNC_READS = false; + + /** + * Filter FTDI status bytes from buffer + * @param src The source buffer (which contains status bytes) + * @param dest The destination buffer to write the status bytes into (can be src) + * @param totalBytesRead Number of bytes read to src + * @param maxPacketSize The USB endpoint max packet size + * @return The number of payload bytes + */ + private final int filterStatusBytes(byte[] src, byte[] dest, int totalBytesRead, int maxPacketSize) { + final int packetsCount = totalBytesRead / maxPacketSize + 1; + for (int packetIdx = 0; packetIdx < packetsCount; ++packetIdx) { + final int count = (packetIdx == (packetsCount - 1)) + ? (totalBytesRead % maxPacketSize) - MODEM_STATUS_HEADER_LENGTH + : maxPacketSize - MODEM_STATUS_HEADER_LENGTH; + if (count > 0) { + System.arraycopy(src, + packetIdx * maxPacketSize + MODEM_STATUS_HEADER_LENGTH, + dest, + packetIdx * (maxPacketSize - MODEM_STATUS_HEADER_LENGTH), + count); + } + } + + return totalBytesRead - (packetsCount * 2); + } + + /** + * Constructor. + * + * @param usbDevice the {@link UsbDevice} to use + * @param usbConnection the {@link UsbDeviceConnection} to use + * @throws UsbSerialRuntimeException if the given device is incompatible + * with this driver + */ + public FtdiSerialDriver(UsbDevice usbDevice, UsbDeviceConnection usbConnection) { + super(usbDevice, usbConnection); + mType = null; + } + + public void reset() throws IOException { + int result = mConnection.controlTransfer(FTDI_DEVICE_OUT_REQTYPE, SIO_RESET_REQUEST, + SIO_RESET_SIO, 0 /* index */, null, 0, USB_WRITE_TIMEOUT_MILLIS); + if (result != 0) { + throw new IOException("Reset failed: result=" + result); + } + + // TODO(mikey): autodetect. + mType = DeviceType.TYPE_R; + } + + @Override + public void open() throws IOException { + boolean opened = false; + try { + for (int i = 0; i < mDevice.getInterfaceCount(); i++) { + if (mConnection.claimInterface(mDevice.getInterface(i), true)) { + Log.d(TAG, "claimInterface " + i + " SUCCESS"); + } else { + throw new IOException("Error claiming interface " + i); + } + } + reset(); + opened = true; + } finally { + if (!opened) { + close(); + } + } + } + + @Override + public void close() { + mConnection.close(); + } + + @Override + public int read(byte[] dest, int timeoutMillis) throws IOException { + final UsbEndpoint endpoint = mDevice.getInterface(0).getEndpoint(0); + + if (ENABLE_ASYNC_READS) { + final int readAmt; + synchronized (mReadBufferLock) { + // mReadBuffer is only used for maximum read size. + readAmt = Math.min(dest.length, mReadBuffer.length); + } + + final UsbRequest request = new UsbRequest(); + request.initialize(mConnection, endpoint); + + final ByteBuffer buf = ByteBuffer.wrap(dest); + if (!request.queue(buf, readAmt)) { + throw new IOException("Error queueing request."); + } + + final UsbRequest response = mConnection.requestWait(); + if (response == null) { + throw new IOException("Null response"); + } + + final int payloadBytesRead = buf.position() - MODEM_STATUS_HEADER_LENGTH; + if (payloadBytesRead > 0) { + return payloadBytesRead; + } else { + return 0; + } + } else { + final int totalBytesRead; + + synchronized (mReadBufferLock) { + final int readAmt = Math.min(dest.length, mReadBuffer.length); + totalBytesRead = mConnection.bulkTransfer(endpoint, mReadBuffer, + readAmt, timeoutMillis); + + if (totalBytesRead < MODEM_STATUS_HEADER_LENGTH) { + throw new IOException("Expected at least " + MODEM_STATUS_HEADER_LENGTH + " bytes"); + } + + return filterStatusBytes(mReadBuffer, dest, totalBytesRead, endpoint.getMaxPacketSize()); + } + } + } + + @Override + public int write(byte[] src, int timeoutMillis) throws IOException { + final UsbEndpoint endpoint = mDevice.getInterface(0).getEndpoint(1); + int offset = 0; + + while (offset < src.length) { + final int writeLength; + final int amtWritten; + + synchronized (mWriteBufferLock) { + final byte[] writeBuffer; + + writeLength = Math.min(src.length - offset, mWriteBuffer.length); + if (offset == 0) { + writeBuffer = src; + } else { + // bulkTransfer does not support offsets, make a copy. + System.arraycopy(src, offset, mWriteBuffer, 0, writeLength); + writeBuffer = mWriteBuffer; + } + + amtWritten = mConnection.bulkTransfer(endpoint, writeBuffer, writeLength, + timeoutMillis); + } + + if (amtWritten <= 0) { + throw new IOException("Error writing " + writeLength + + " bytes at offset " + offset + " length=" + src.length); + } + + //Log.d(TAG, "Wrote amtWritten=" + amtWritten + " attempted=" + writeLength); + offset += amtWritten; + } + return offset; + } + + private int setBaudRate(int baudRate) throws IOException { + long[] vals = convertBaudrate(baudRate); + long actualBaudrate = vals[0]; + long index = vals[1]; + long value = vals[2]; + int result = mConnection.controlTransfer(FTDI_DEVICE_OUT_REQTYPE, + SIO_SET_BAUD_RATE_REQUEST, (int) value, (int) index, + null, 0, USB_WRITE_TIMEOUT_MILLIS); + if (result != 0) { + throw new IOException("Setting baudrate failed: result=" + result); + } + return (int) actualBaudrate; + } + + @Override + public void setParameters(int baudRate, int dataBits, int stopBits, int parity) + throws IOException { + setBaudRate(baudRate); + + int config = dataBits; + + switch (parity) { + case PARITY_NONE: + config |= (0x00 << 8); + break; + case PARITY_ODD: + config |= (0x01 << 8); + break; + case PARITY_EVEN: + config |= (0x02 << 8); + break; + case PARITY_MARK: + config |= (0x03 << 8); + break; + case PARITY_SPACE: + config |= (0x04 << 8); + break; + default: + throw new IllegalArgumentException("Unknown parity value: " + parity); + } + + switch (stopBits) { + case STOPBITS_1: + config |= (0x00 << 11); + break; + case STOPBITS_1_5: + config |= (0x01 << 11); + break; + case STOPBITS_2: + config |= (0x02 << 11); + break; + default: + throw new IllegalArgumentException("Unknown stopBits value: " + stopBits); + } + + int result = mConnection.controlTransfer(FTDI_DEVICE_OUT_REQTYPE, + SIO_SET_DATA_REQUEST, config, 0 /* index */, + null, 0, USB_WRITE_TIMEOUT_MILLIS); + if (result != 0) { + throw new IOException("Setting parameters failed: result=" + result); + } + } + + private long[] convertBaudrate(int baudrate) { + // TODO(mikey): Braindead transcription of libfti method. Clean up, + // using more idiomatic Java where possible. + int divisor = 24000000 / baudrate; + int bestDivisor = 0; + int bestBaud = 0; + int bestBaudDiff = 0; + int fracCode[] = { + 0, 3, 2, 4, 1, 5, 6, 7 + }; + + for (int i = 0; i < 2; i++) { + int tryDivisor = divisor + i; + int baudEstimate; + int baudDiff; + + if (tryDivisor <= 8) { + // Round up to minimum supported divisor + tryDivisor = 8; + } else if (mType != DeviceType.TYPE_AM && tryDivisor < 12) { + // BM doesn't support divisors 9 through 11 inclusive + tryDivisor = 12; + } else if (divisor < 16) { + // AM doesn't support divisors 9 through 15 inclusive + tryDivisor = 16; + } else { + if (mType == DeviceType.TYPE_AM) { + // TODO + } else { + if (tryDivisor > 0x1FFFF) { + // Round down to maximum supported divisor value (for + // BM) + tryDivisor = 0x1FFFF; + } + } + } + + // Get estimated baud rate (to nearest integer) + baudEstimate = (24000000 + (tryDivisor / 2)) / tryDivisor; + + // Get absolute difference from requested baud rate + if (baudEstimate < baudrate) { + baudDiff = baudrate - baudEstimate; + } else { + baudDiff = baudEstimate - baudrate; + } + + if (i == 0 || baudDiff < bestBaudDiff) { + // Closest to requested baud rate so far + bestDivisor = tryDivisor; + bestBaud = baudEstimate; + bestBaudDiff = baudDiff; + if (baudDiff == 0) { + // Spot on! No point trying + break; + } + } + } + + // Encode the best divisor value + long encodedDivisor = (bestDivisor >> 3) | (fracCode[bestDivisor & 7] << 14); + // Deal with special cases for encoded value + if (encodedDivisor == 1) { + encodedDivisor = 0; // 3000000 baud + } else if (encodedDivisor == 0x4001) { + encodedDivisor = 1; // 2000000 baud (BM only) + } + + // Split into "value" and "index" values + long value = encodedDivisor & 0xFFFF; + long index; + if (mType == DeviceType.TYPE_2232C || mType == DeviceType.TYPE_2232H + || mType == DeviceType.TYPE_4232H) { + index = (encodedDivisor >> 8) & 0xffff; + index &= 0xFF00; + index |= 0 /* TODO mIndex */; + } else { + index = (encodedDivisor >> 16) & 0xffff; + } + + // Return the nearest baud rate + return new long[] { + bestBaud, index, value + }; + } + + @Override + public boolean getCD() throws IOException { + return false; + } + + @Override + public boolean getCTS() throws IOException { + return false; + } + + @Override + public boolean getDSR() throws IOException { + return false; + } + + @Override + public boolean getDTR() throws IOException { + return false; + } + + @Override + public void setDTR(boolean value) throws IOException { + } + + @Override + public boolean getRI() throws IOException { + return false; + } + + @Override + public boolean getRTS() throws IOException { + return false; + } + + @Override + public void setRTS(boolean value) throws IOException { + } + + @Override + public boolean purgeHwBuffers(boolean purgeReadBuffers, boolean purgeWriteBuffers) throws IOException { + if (purgeReadBuffers) { + int result = mConnection.controlTransfer(FTDI_DEVICE_OUT_REQTYPE, SIO_RESET_REQUEST, + SIO_RESET_PURGE_RX, 0 /* index */, null, 0, USB_WRITE_TIMEOUT_MILLIS); + if (result != 0) { + throw new IOException("Flushing RX failed: result=" + result); + } + } + + if (purgeWriteBuffers) { + int result = mConnection.controlTransfer(FTDI_DEVICE_OUT_REQTYPE, SIO_RESET_REQUEST, + SIO_RESET_PURGE_TX, 0 /* index */, null, 0, USB_WRITE_TIMEOUT_MILLIS); + if (result != 0) { + throw new IOException("Flushing RX failed: result=" + result); + } + } + + return true; + } + + public static Map getSupportedDevices() { + final Map supportedDevices = new LinkedHashMap(); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_FTDI), + new int[] { + UsbId.FTDI_FT232R, + UsbId.FTDI_FT231X, + }); + /* + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_PX4), + new int[] { + UsbId.DEVICE_PX4FMU + }); + */ + return supportedDevices; + } + +} diff --git a/android/src/com/hoho/android/usbserial/driver/ProlificSerialDriver.java b/android/src/com/hoho/android/usbserial/driver/ProlificSerialDriver.java new file mode 100644 index 0000000000000000000000000000000000000000..d6e2d1338d1a1f08051b5f13d2303a526c7a3639 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/ProlificSerialDriver.java @@ -0,0 +1,523 @@ +/* This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ + +/* + * Ported to usb-serial-for-android + * by Felix Hädicke + * + * Based on the pyprolific driver written + * by Emmanuel Blot + * See https://github.com/eblot/pyftdi + */ + +package com.hoho.android.usbserial.driver; + +import android.hardware.usb.UsbConstants; +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; +import android.hardware.usb.UsbEndpoint; +import android.hardware.usb.UsbInterface; +import android.util.Log; + +import java.io.IOException; +import java.lang.reflect.Method; +import java.util.LinkedHashMap; +import java.util.Map; + +public class ProlificSerialDriver extends CommonUsbSerialDriver { + private static final int USB_READ_TIMEOUT_MILLIS = 1000; + private static final int USB_WRITE_TIMEOUT_MILLIS = 5000; + + private static final int USB_RECIP_INTERFACE = 0x01; + + private static final int PROLIFIC_VENDOR_READ_REQUEST = 0x01; + private static final int PROLIFIC_VENDOR_WRITE_REQUEST = 0x01; + + private static final int PROLIFIC_VENDOR_OUT_REQTYPE = UsbConstants.USB_DIR_OUT + | UsbConstants.USB_TYPE_VENDOR; + + private static final int PROLIFIC_VENDOR_IN_REQTYPE = UsbConstants.USB_DIR_IN + | UsbConstants.USB_TYPE_VENDOR; + + private static final int PROLIFIC_CTRL_OUT_REQTYPE = UsbConstants.USB_DIR_OUT + | UsbConstants.USB_TYPE_CLASS | USB_RECIP_INTERFACE; + + private static final int WRITE_ENDPOINT = 0x02; + private static final int READ_ENDPOINT = 0x83; + private static final int INTERRUPT_ENDPOINT = 0x81; + + private static final int FLUSH_RX_REQUEST = 0x08; + private static final int FLUSH_TX_REQUEST = 0x09; + + private static final int SET_LINE_REQUEST = 0x20; + private static final int SET_CONTROL_REQUEST = 0x22; + + private static final int CONTROL_DTR = 0x01; + private static final int CONTROL_RTS = 0x02; + + private static final int STATUS_FLAG_CD = 0x01; + private static final int STATUS_FLAG_DSR = 0x02; + private static final int STATUS_FLAG_RI = 0x08; + private static final int STATUS_FLAG_CTS = 0x80; + + private static final int STATUS_BUFFER_SIZE = 10; + private static final int STATUS_BYTE_IDX = 8; + + private static final int DEVICE_TYPE_HX = 0; + private static final int DEVICE_TYPE_0 = 1; + private static final int DEVICE_TYPE_1 = 2; + + private int mDeviceType = DEVICE_TYPE_HX; + + private UsbEndpoint mReadEndpoint; + private UsbEndpoint mWriteEndpoint; + private UsbEndpoint mInterruptEndpoint; + + private int mControlLinesValue = 0; + + private int mBaudRate = -1, mDataBits = -1, mStopBits = -1, mParity = -1; + + private int mStatus = 0; + private volatile Thread mReadStatusThread = null; + private final Object mReadStatusThreadLock = new Object(); + boolean mStopReadStatusThread = false; + private IOException mReadStatusException = null; + + private final String TAG = ProlificSerialDriver.class.getSimpleName(); + + private final byte[] inControlTransfer(int requestType, int request, + int value, int index, int length) throws IOException { + byte[] buffer = new byte[length]; + int result = mConnection.controlTransfer(requestType, request, value, + index, buffer, length, USB_READ_TIMEOUT_MILLIS); + if (result != length) { + throw new IOException( + String.format("ControlTransfer with value 0x%x failed: %d", + value, result)); + } + return buffer; + } + + private final void outControlTransfer(int requestType, int request, + int value, int index, byte[] data) throws IOException { + int length = (data == null) ? 0 : data.length; + int result = mConnection.controlTransfer(requestType, request, value, + index, data, length, USB_WRITE_TIMEOUT_MILLIS); + if (result != length) { + throw new IOException( + String.format("ControlTransfer with value 0x%x failed: %d", + value, result)); + } + } + + private final byte[] vendorIn(int value, int index, int length) + throws IOException { + return inControlTransfer(PROLIFIC_VENDOR_IN_REQTYPE, + PROLIFIC_VENDOR_READ_REQUEST, value, index, length); + } + + private final void vendorOut(int value, int index, byte[] data) + throws IOException { + outControlTransfer(PROLIFIC_VENDOR_OUT_REQTYPE, + PROLIFIC_VENDOR_WRITE_REQUEST, value, index, data); + } + + private final void ctrlOut(int request, int value, int index, byte[] data) + throws IOException { + outControlTransfer(PROLIFIC_CTRL_OUT_REQTYPE, request, value, index, + data); + } + + private void doBlackMagic() throws IOException { + vendorIn(0x8484, 0, 1); + vendorOut(0x0404, 0, null); + vendorIn(0x8484, 0, 1); + vendorIn(0x8383, 0, 1); + vendorIn(0x8484, 0, 1); + vendorOut(0x0404, 1, null); + vendorIn(0x8484, 0, 1); + vendorIn(0x8383, 0, 1); + vendorOut(0, 1, null); + vendorOut(1, 0, null); + vendorOut(2, (mDeviceType == DEVICE_TYPE_HX) ? 0x44 : 0x24, null); + } + + private void resetDevice() throws IOException { + purgeHwBuffers(true, true); + } + + private void setControlLines(int newControlLinesValue) throws IOException { + ctrlOut(SET_CONTROL_REQUEST, newControlLinesValue, 0, null); + mControlLinesValue = newControlLinesValue; + } + + private final void readStatusThreadFunction() { + try { + while (!mStopReadStatusThread) { + byte[] buffer = new byte[STATUS_BUFFER_SIZE]; + int readBytesCount = mConnection.bulkTransfer(mInterruptEndpoint, + buffer, + STATUS_BUFFER_SIZE, + 500); + if (readBytesCount > 0) { + if (readBytesCount == STATUS_BUFFER_SIZE) { + mStatus = buffer[STATUS_BYTE_IDX] & 0xff; + } else { + throw new IOException( + String.format("Invalid CTS / DSR / CD / RI status buffer received, expected %d bytes, but received %d", + STATUS_BUFFER_SIZE, + readBytesCount)); + } + } + } + } catch (IOException e) { + mReadStatusException = e; + } + } + + private final int getStatus() throws IOException { + if ((mReadStatusThread == null) && (mReadStatusException == null)) { + synchronized (mReadStatusThreadLock) { + if (mReadStatusThread == null) { + byte[] buffer = new byte[STATUS_BUFFER_SIZE]; + int readBytes = mConnection.bulkTransfer(mInterruptEndpoint, + buffer, + STATUS_BUFFER_SIZE, + 100); + if (readBytes != STATUS_BUFFER_SIZE) { + Log.w(TAG, "Could not read initial CTS / DSR / CD / RI status"); + } else { + mStatus = buffer[STATUS_BYTE_IDX] & 0xff; + } + + mReadStatusThread = new Thread(new Runnable() { + @Override + public void run() { + readStatusThreadFunction(); + } + }); + mReadStatusThread.setDaemon(true); + mReadStatusThread.start(); + } + } + } + + /* throw and clear an exception which occured in the status read thread */ + IOException readStatusException = mReadStatusException; + if (mReadStatusException != null) { + mReadStatusException = null; + throw readStatusException; + } + + return mStatus; + } + + private final boolean testStatusFlag(int flag) throws IOException { + return ((getStatus() & flag) == flag); + } + + public ProlificSerialDriver(UsbDevice device, UsbDeviceConnection connection) { + super(device, connection); + } + + @Override + public void open() throws IOException { + UsbInterface usbInterface = mDevice.getInterface(0); + + if (!mConnection.claimInterface(usbInterface, true)) { + throw new IOException("Error claiming Prolific interface 0"); + } + + boolean openSuccessful = false; + try { + for (int i = 0; i < usbInterface.getEndpointCount(); ++i) { + UsbEndpoint currentEndpoint = usbInterface.getEndpoint(i); + + switch (currentEndpoint.getAddress()) { + case READ_ENDPOINT: + mReadEndpoint = currentEndpoint; + break; + + case WRITE_ENDPOINT: + mWriteEndpoint = currentEndpoint; + break; + + case INTERRUPT_ENDPOINT: + mInterruptEndpoint = currentEndpoint; + break; + } + } + + if (mDevice.getDeviceClass() == 0x02) { + mDeviceType = DEVICE_TYPE_0; + } else { + try { + Method getRawDescriptorsMethod + = mConnection.getClass().getMethod("getRawDescriptors"); + byte[] rawDescriptors + = (byte[]) getRawDescriptorsMethod.invoke(mConnection); + byte maxPacketSize0 = rawDescriptors[7]; + if (maxPacketSize0 == 64) { + mDeviceType = DEVICE_TYPE_HX; + } else if ((mDevice.getDeviceClass() == 0x00) + || (mDevice.getDeviceClass() == 0xff)) { + mDeviceType = DEVICE_TYPE_1; + } else { + Log.w(TAG, "Could not detect PL2303 subtype, " + + "Assuming that it is a HX device"); + mDeviceType = DEVICE_TYPE_HX; + } + } catch (NoSuchMethodException e) { + Log.w(TAG, "Method UsbDeviceConnection.getRawDescriptors, " + + "required for PL2303 subtype detection, not " + + "available! Assuming that it is a HX device"); + mDeviceType = DEVICE_TYPE_HX; + } catch (Exception e) { + Log.e(TAG, "An unexpected exception occured while trying " + + "to detect PL2303 subtype", e); + } + } + + setControlLines(mControlLinesValue); + resetDevice(); + + doBlackMagic(); + openSuccessful = true; + } finally { + if (!openSuccessful) { + try { + mConnection.releaseInterface(usbInterface); + } catch (Exception ingored) { + // Do not cover possible exceptions + } + } + } + } + + @Override + public void close() throws IOException { + try { + mStopReadStatusThread = true; + synchronized (mReadStatusThreadLock) { + if (mReadStatusThread != null) { + try { + mReadStatusThread.join(); + } catch (Exception e) { + Log.w(TAG, "An error occured while waiting for status read thread", e); + } + } + } + + resetDevice(); + } finally { + mConnection.releaseInterface(mDevice.getInterface(0)); + } + } + + @Override + public int read(byte[] dest, int timeoutMillis) throws IOException { + synchronized (mReadBufferLock) { + int readAmt = Math.min(dest.length, mReadBuffer.length); + int numBytesRead = mConnection.bulkTransfer(mReadEndpoint, mReadBuffer, + readAmt, timeoutMillis); + if (numBytesRead < 0) { + return 0; + } + System.arraycopy(mReadBuffer, 0, dest, 0, numBytesRead); + return numBytesRead; + } + } + + @Override + public int write(byte[] src, int timeoutMillis) throws IOException { + int offset = 0; + + while (offset < src.length) { + final int writeLength; + final int amtWritten; + + synchronized (mWriteBufferLock) { + final byte[] writeBuffer; + + writeLength = Math.min(src.length - offset, mWriteBuffer.length); + if (offset == 0) { + writeBuffer = src; + } else { + // bulkTransfer does not support offsets, make a copy. + System.arraycopy(src, offset, mWriteBuffer, 0, writeLength); + writeBuffer = mWriteBuffer; + } + + amtWritten = mConnection.bulkTransfer(mWriteEndpoint, + writeBuffer, writeLength, timeoutMillis); + } + + if (amtWritten <= 0) { + throw new IOException("Error writing " + writeLength + + " bytes at offset " + offset + " length=" + + src.length); + } + + offset += amtWritten; + } + return offset; + } + + @Override + public void setParameters(int baudRate, int dataBits, int stopBits, + int parity) throws IOException { + if ((mBaudRate == baudRate) && (mDataBits == dataBits) + && (mStopBits == stopBits) && (mParity == parity)) { + // Make sure no action is performed if there is nothing to change + return; + } + + byte[] lineRequestData = new byte[7]; + + lineRequestData[0] = (byte) (baudRate & 0xff); + lineRequestData[1] = (byte) ((baudRate >> 8) & 0xff); + lineRequestData[2] = (byte) ((baudRate >> 16) & 0xff); + lineRequestData[3] = (byte) ((baudRate >> 24) & 0xff); + + switch (stopBits) { + case STOPBITS_1: + lineRequestData[4] = 0; + break; + + case STOPBITS_1_5: + lineRequestData[4] = 1; + break; + + case STOPBITS_2: + lineRequestData[4] = 2; + break; + + default: + throw new IllegalArgumentException("Unknown stopBits value: " + stopBits); + } + + switch (parity) { + case PARITY_NONE: + lineRequestData[5] = 0; + break; + + case PARITY_ODD: + lineRequestData[5] = 1; + break; + + case PARITY_EVEN: + lineRequestData[5] = 2; + break; + + case PARITY_MARK: + lineRequestData[5] = 3; + break; + + case PARITY_SPACE: + lineRequestData[5] = 4; + break; + + default: + throw new IllegalArgumentException("Unknown parity value: " + parity); + } + + lineRequestData[6] = (byte) dataBits; + + ctrlOut(SET_LINE_REQUEST, 0, 0, lineRequestData); + + resetDevice(); + + mBaudRate = baudRate; + mDataBits = dataBits; + mStopBits = stopBits; + mParity = parity; + } + + @Override + public boolean getCD() throws IOException { + return testStatusFlag(STATUS_FLAG_CD); + } + + @Override + public boolean getCTS() throws IOException { + return testStatusFlag(STATUS_FLAG_CTS); + } + + @Override + public boolean getDSR() throws IOException { + return testStatusFlag(STATUS_FLAG_DSR); + } + + @Override + public boolean getDTR() throws IOException { + return ((mControlLinesValue & CONTROL_DTR) == CONTROL_DTR); + } + + @Override + public void setDTR(boolean value) throws IOException { + int newControlLinesValue; + if (value) { + newControlLinesValue = mControlLinesValue | CONTROL_DTR; + } else { + newControlLinesValue = mControlLinesValue & ~CONTROL_DTR; + } + setControlLines(newControlLinesValue); + } + + @Override + public boolean getRI() throws IOException { + return testStatusFlag(STATUS_FLAG_RI); + } + + @Override + public boolean getRTS() throws IOException { + return ((mControlLinesValue & CONTROL_RTS) == CONTROL_RTS); + } + + @Override + public void setRTS(boolean value) throws IOException { + int newControlLinesValue; + if (value) { + newControlLinesValue = mControlLinesValue | CONTROL_RTS; + } else { + newControlLinesValue = mControlLinesValue & ~CONTROL_RTS; + } + setControlLines(newControlLinesValue); + } + + @Override + public boolean purgeHwBuffers(boolean purgeReadBuffers, boolean purgeWriteBuffers) throws IOException { + if (purgeReadBuffers) { + vendorOut(FLUSH_RX_REQUEST, 0, null); + } + + if (purgeWriteBuffers) { + vendorOut(FLUSH_TX_REQUEST, 0, null); + } + + return true; + } + + public static Map getSupportedDevices() { + final Map supportedDevices = new LinkedHashMap(); + supportedDevices.put(Integer.valueOf(UsbId.VENDOR_PROLIFIC), + new int[] { UsbId.PROLIFIC_PL2303, }); + return supportedDevices; + } +} + diff --git a/android/src/com/hoho/android/usbserial/driver/UsbId.java b/android/src/com/hoho/android/usbserial/driver/UsbId.java new file mode 100644 index 0000000000000000000000000000000000000000..618fbc844b398d5179c566933761188a2553e810 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/UsbId.java @@ -0,0 +1,69 @@ +/* Copyright 2012 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ +package com.hoho.android.usbserial.driver; + +/** + * Registry of USB vendor/product ID constants. + * + * Culled from various sources; see + * usb.ids for one listing. + * + * @author mike wakerly (opensource@hoho.com) + */ +public final class UsbId { + + public static final int VENDOR_FTDI = 0x0403; + public static final int FTDI_FT232R = 0x6001; + public static final int FTDI_FT231X = 0x6015; + + public static final int VENDOR_PX4 = 0x26AC; + public static final int DEVICE_PX4FMU = 0x11; + + public static final int VENDOR_ATMEL = 0x03EB; + public static final int ATMEL_LUFA_CDC_DEMO_APP = 0x2044; + + public static final int VENDOR_ARDUINO = 0x2341; + public static final int ARDUINO_UNO = 0x0001; + public static final int ARDUINO_MEGA_2560 = 0x0010; + public static final int ARDUINO_SERIAL_ADAPTER = 0x003b; + public static final int ARDUINO_MEGA_ADK = 0x003f; + public static final int ARDUINO_MEGA_2560_R3 = 0x0042; + public static final int ARDUINO_UNO_R3 = 0x0043; + public static final int ARDUINO_MEGA_ADK_R3 = 0x0044; + public static final int ARDUINO_SERIAL_ADAPTER_R3 = 0x0044; + public static final int ARDUINO_LEONARDO = 0x8036; + + public static final int VENDOR_VAN_OOIJEN_TECH = 0x16c0; + public static final int VAN_OOIJEN_TECH_TEENSYDUINO_SERIAL = 0x0483; + + public static final int VENDOR_LEAFLABS = 0x1eaf; + public static final int LEAFLABS_MAPLE = 0x0004; + + public static final int VENDOR_SILAB = 0x10c4; + public static final int SILAB_CP2102 = 0xea60; + + public static final int VENDOR_PROLIFIC = 0x067b; + public static final int PROLIFIC_PL2303 = 0x2303; + + private UsbId() { + throw new IllegalAccessError("Non-instantiable class."); + } + +} diff --git a/android/src/com/hoho/android/usbserial/driver/UsbSerialDriver.java b/android/src/com/hoho/android/usbserial/driver/UsbSerialDriver.java new file mode 100644 index 0000000000000000000000000000000000000000..ed4426fc4d540238fc2cae9706adb41602a3a7a4 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/UsbSerialDriver.java @@ -0,0 +1,228 @@ +/* Copyright 2011 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ + +package com.hoho.android.usbserial.driver; + +import java.io.IOException; + +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; + +/** + * Driver interface for a USB serial device. + * + * @author mike wakerly (opensource@hoho.com) + */ +public interface UsbSerialDriver { + + /** 5 data bits. */ + public static final int DATABITS_5 = 5; + + /** 6 data bits. */ + public static final int DATABITS_6 = 6; + + /** 7 data bits. */ + public static final int DATABITS_7 = 7; + + /** 8 data bits. */ + public static final int DATABITS_8 = 8; + + /** No flow control. */ + public static final int FLOWCONTROL_NONE = 0; + + /** RTS/CTS input flow control. */ + public static final int FLOWCONTROL_RTSCTS_IN = 1; + + /** RTS/CTS output flow control. */ + public static final int FLOWCONTROL_RTSCTS_OUT = 2; + + /** XON/XOFF input flow control. */ + public static final int FLOWCONTROL_XONXOFF_IN = 4; + + /** XON/XOFF output flow control. */ + public static final int FLOWCONTROL_XONXOFF_OUT = 8; + + /** No parity. */ + public static final int PARITY_NONE = 0; + + /** Odd parity. */ + public static final int PARITY_ODD = 1; + + /** Even parity. */ + public static final int PARITY_EVEN = 2; + + /** Mark parity. */ + public static final int PARITY_MARK = 3; + + /** Space parity. */ + public static final int PARITY_SPACE = 4; + + /** 1 stop bit. */ + public static final int STOPBITS_1 = 1; + + /** 1.5 stop bits. */ + public static final int STOPBITS_1_5 = 3; + + /** 2 stop bits. */ + public static final int STOPBITS_2 = 2; + + /** + * Returns the currently-bound USB device. + * + * @return the device + */ + public UsbDevice getDevice(); + + + /** + * Returns the currently-bound USB device. + * + * @return the device + */ + public UsbDeviceConnection getDeviceConnection(); + + /** + * Opens and initializes the device as a USB serial device. Upon success, + * caller must ensure that {@link #close()} is eventually called. + * + * @throws IOException on error opening or initializing the device. + */ + public void open() throws IOException; + + /** + * Closes the serial device. + * + * @throws IOException on error closing the device. + */ + public void close() throws IOException; + + /** + * Reads as many bytes as possible into the destination buffer. + * + * @param dest the destination byte buffer + * @param timeoutMillis the timeout for reading + * @return the actual number of bytes read + * @throws IOException if an error occurred during reading + */ + public int read(final byte[] dest, final int timeoutMillis) throws IOException; + + /** + * Writes as many bytes as possible from the source buffer. + * + * @param src the source byte buffer + * @param timeoutMillis the timeout for writing + * @return the actual number of bytes written + * @throws IOException if an error occurred during writing + */ + public int write(final byte[] src, final int timeoutMillis) throws IOException; + + /** + * Sets various serial port parameters. + * + * @param baudRate baud rate as an integer, for example {@code 115200}. + * @param dataBits one of {@link #DATABITS_5}, {@link #DATABITS_6}, + * {@link #DATABITS_7}, or {@link #DATABITS_8}. + * @param stopBits one of {@link #STOPBITS_1}, {@link #STOPBITS_1_5}, or + * {@link #STOPBITS_2}. + * @param parity one of {@link #PARITY_NONE}, {@link #PARITY_ODD}, + * {@link #PARITY_EVEN}, {@link #PARITY_MARK}, or + * {@link #PARITY_SPACE}. + * @throws IOException on error setting the port parameters + */ + public void setParameters( + int baudRate, int dataBits, int stopBits, int parity) throws IOException; + + /** + * Gets the CD (Carrier Detect) bit from the underlying UART. + * + * @return the current state, or {@code false} if not supported. + * @throws IOException if an error occurred during reading + */ + public boolean getCD() throws IOException; + + /** + * Gets the CTS (Clear To Send) bit from the underlying UART. + * + * @return the current state, or {@code false} if not supported. + * @throws IOException if an error occurred during reading + */ + public boolean getCTS() throws IOException; + + /** + * Gets the DSR (Data Set Ready) bit from the underlying UART. + * + * @return the current state, or {@code false} if not supported. + * @throws IOException if an error occurred during reading + */ + public boolean getDSR() throws IOException; + + /** + * Gets the DTR (Data Terminal Ready) bit from the underlying UART. + * + * @return the current state, or {@code false} if not supported. + * @throws IOException if an error occurred during reading + */ + public boolean getDTR() throws IOException; + + /** + * Sets the DTR (Data Terminal Ready) bit on the underlying UART, if + * supported. + * + * @param value the value to set + * @throws IOException if an error occurred during writing + */ + public void setDTR(boolean value) throws IOException; + + /** + * Gets the RI (Ring Indicator) bit from the underlying UART. + * + * @return the current state, or {@code false} if not supported. + * @throws IOException if an error occurred during reading + */ + public boolean getRI() throws IOException; + + /** + * Gets the RTS (Request To Send) bit from the underlying UART. + * + * @return the current state, or {@code false} if not supported. + * @throws IOException if an error occurred during reading + */ + public boolean getRTS() throws IOException; + + /** + * Sets the RTS (Request To Send) bit on the underlying UART, if + * supported. + * + * @param value the value to set + * @throws IOException if an error occurred during writing + */ + public void setRTS(boolean value) throws IOException; + + /** + * Flush non-transmitted output data and / or non-read input data + * @param flushRX {@code true} to flush non-transmitted output data + * @param flushTX {@code true} to flush non-read input data + * @return {@code true} if the operation was successful, or + * {@code false} if the operation is not supported by the driver or device + * @throws IOException if an error occurred during flush + */ + public boolean purgeHwBuffers(boolean flushRX, boolean flushTX) throws IOException; + +} diff --git a/android/src/com/hoho/android/usbserial/driver/UsbSerialProber.java b/android/src/com/hoho/android/usbserial/driver/UsbSerialProber.java new file mode 100644 index 0000000000000000000000000000000000000000..2e25a761e9c27488479ce383a7ee48bb6227413a --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/UsbSerialProber.java @@ -0,0 +1,250 @@ +/* Copyright 2011 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ + +package com.hoho.android.usbserial.driver; + +import android.hardware.usb.UsbDevice; +import android.hardware.usb.UsbDeviceConnection; +import android.hardware.usb.UsbManager; +import android.util.Log; + +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; +import java.util.Map; + +/** + * Helper class which finds compatible {@link UsbDevice}s and creates + * {@link UsbSerialDriver} instances. + * + *

+ * You don't need a Prober to use the rest of the library: it is perfectly + * acceptable to instantiate driver instances manually. The Prober simply + * provides convenience functions. + * + *

+ * For most drivers, the corresponding {@link #probe(UsbManager, UsbDevice)} + * method will either return an empty list (device unknown / unsupported) or a + * singleton list. However, multi-port drivers may return multiple instances. + * + * @author mike wakerly (opensource@hoho.com) + */ +public enum UsbSerialProber { + + // TODO(mikey): Too much boilerplate. + + /** + * Prober for {@link FtdiSerialDriver}. + * + * @see FtdiSerialDriver + */ + FTDI_SERIAL { + @Override + public List probe(final UsbManager manager, final UsbDevice usbDevice) { + if (!testIfSupported(usbDevice, FtdiSerialDriver.getSupportedDevices())) { + return Collections.emptyList(); + } + final UsbDeviceConnection connection = manager.openDevice(usbDevice); + if (connection == null) { + return Collections.emptyList(); + } + final UsbSerialDriver driver = new FtdiSerialDriver(usbDevice, connection); + return Collections.singletonList(driver); + } + }, + + CDC_ACM_SERIAL { + @Override + public List probe(UsbManager manager, UsbDevice usbDevice) { + if (!testIfSupported(usbDevice, CdcAcmSerialDriver.getSupportedDevices())) { + return Collections.emptyList(); + } + final UsbDeviceConnection connection = manager.openDevice(usbDevice); + if (connection == null) { + return Collections.emptyList(); + } + final UsbSerialDriver driver = new CdcAcmSerialDriver(usbDevice, connection); + return Collections.singletonList(driver); + } + }, + + SILAB_SERIAL { + @Override + public List probe(final UsbManager manager, final UsbDevice usbDevice) { + if (!testIfSupported(usbDevice, Cp2102SerialDriver.getSupportedDevices())) { + return Collections.emptyList(); + } + final UsbDeviceConnection connection = manager.openDevice(usbDevice); + if (connection == null) { + return Collections.emptyList(); + } + final UsbSerialDriver driver = new Cp2102SerialDriver(usbDevice, connection); + return Collections.singletonList(driver); + } + }, + + PROLIFIC_SERIAL { + @Override + public List probe(final UsbManager manager, final UsbDevice usbDevice) { + if (!testIfSupported(usbDevice, ProlificSerialDriver.getSupportedDevices())) { + return Collections.emptyList(); + } + final UsbDeviceConnection connection = manager.openDevice(usbDevice); + if (connection == null) { + return Collections.emptyList(); + } + final UsbSerialDriver driver = new ProlificSerialDriver(usbDevice, connection); + return Collections.singletonList(driver); + } + }; + + /** + * Tests the supplied {@link UsbDevice} for compatibility with this enum + * member, returning one or more driver instances if compatible. + * + * @param manager the {@link UsbManager} to use + * @param usbDevice the raw {@link UsbDevice} to use + * @return zero or more {@link UsbSerialDriver}, depending on compatibility + * (never {@code null}). + */ + protected abstract List probe(final UsbManager manager, final UsbDevice usbDevice); + + /** + * Creates and returns a new {@link UsbSerialDriver} instance for the first + * compatible {@link UsbDevice} found on the bus. If none are found, + * returns {@code null}. + * + *

+ * The order of devices is undefined, therefore if there are multiple + * devices on the bus, the chosen device may not be predictable (clients + * should use {@link #findAllDevices(UsbManager)} instead). + * + * @param usbManager the {@link UsbManager} to use. + * @return the first available {@link UsbSerialDriver}, or {@code null} if + * none are available. + */ + public static UsbSerialDriver findFirstDevice(final UsbManager usbManager) { + for (final UsbDevice usbDevice : usbManager.getDeviceList().values()) { + for (final UsbSerialProber prober : values()) { + final List probedDevices = prober.probe(usbManager, usbDevice); + if (!probedDevices.isEmpty()) { + return probedDevices.get(0); + } + } + } + return null; + } + + /** + * Creates a new {@link UsbSerialDriver} instance for all compatible + * {@link UsbDevice}s found on the bus. If no compatible devices are found, + * the list will be empty. + * + * @param usbManager + * @return + */ + public static List findAllDevices(final UsbManager usbManager) { + final List result = new ArrayList(); + //Log.i("QGC_UsbSerialProber", "Looking for USB devices"); + // For each UsbDevice, call probe() for each prober. + for (final UsbDevice usbDevice : usbManager.getDeviceList().values()) { + //Log.i("QGC_UsbSerialProber", "Probing device: " + usbDevice.getDeviceName() + " mid: " + usbDevice.getVendorId() + " pid: " + usbDevice.getDeviceId()); + result.addAll(probeSingleDevice(usbManager, usbDevice)); + } + return result; + } + + /** + * Special method for testing a specific device for driver support, + * returning any compatible driver(s). + * + *

+ * Clients should ordinarily use {@link #findAllDevices(UsbManager)}, which + * operates against the entire bus of devices. This method is useful when + * testing against only a single target is desired. + * + * @param usbManager the {@link UsbManager} to use. + * @param usbDevice the device to test against. + * @return a list containing zero or more {@link UsbSerialDriver} instances. + */ + public static List probeSingleDevice(final UsbManager usbManager, + UsbDevice usbDevice) + { + final List result = new ArrayList(); + for (final UsbSerialProber prober : values()) { + final List probedDevices = prober.probe(usbManager, usbDevice); + result.addAll(probedDevices); + } + return result; + } + + /** + * Deprecated; Use {@link #findFirstDevice(UsbManager)}. + * + * @param usbManager + * @return + */ + @Deprecated + public static UsbSerialDriver acquire(final UsbManager usbManager) { + return findFirstDevice(usbManager); + } + + /** + * Deprecated; use {@link #probeSingleDevice(UsbManager, UsbDevice)}. + * + * @param usbManager + * @param usbDevice + * @return + */ + @Deprecated + public static UsbSerialDriver acquire(final UsbManager usbManager, final UsbDevice usbDevice) { + final List probedDevices = probeSingleDevice(usbManager, usbDevice); + if (!probedDevices.isEmpty()) { + return probedDevices.get(0); + } + return null; + } + + /** + * Returns {@code true} if the given device is found in the driver's + * vendor/product map. + * + * @param usbDevice the device to test + * @param supportedDevices map of vendor IDs to product ID(s) + * @return {@code true} if supported + */ + private static boolean testIfSupported(final UsbDevice usbDevice, + final Map supportedDevices) { + final int[] supportedProducts = supportedDevices.get( + Integer.valueOf(usbDevice.getVendorId())); + if (supportedProducts == null) { + return false; + } + + final int productId = usbDevice.getProductId(); + for (int supportedProductId : supportedProducts) { + if (productId == supportedProductId) { + return true; + } + } + return false; + } + +} diff --git a/android/src/com/hoho/android/usbserial/driver/UsbSerialRuntimeException.java b/android/src/com/hoho/android/usbserial/driver/UsbSerialRuntimeException.java new file mode 100644 index 0000000000000000000000000000000000000000..b48607c59da80c203031a252bcf1ee09d3a9b160 --- /dev/null +++ b/android/src/com/hoho/android/usbserial/driver/UsbSerialRuntimeException.java @@ -0,0 +1,46 @@ +/* + * Copyright 2011 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + */ + +package com.hoho.android.usbserial.driver; + +/** + * Generic unchecked exception for the usbserial package. + * + * @author mike wakerly (opensource@hoho.com) + */ +@SuppressWarnings("serial") +public class UsbSerialRuntimeException extends RuntimeException { + + public UsbSerialRuntimeException() { + super(); + } + + public UsbSerialRuntimeException(String detailMessage, Throwable throwable) { + super(detailMessage, throwable); + } + + public UsbSerialRuntimeException(String detailMessage) { + super(detailMessage); + } + + public UsbSerialRuntimeException(Throwable throwable) { + super(throwable); + } + +} diff --git a/android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java b/android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java new file mode 100644 index 0000000000000000000000000000000000000000..f9bad7086d1b6fc065ebb9751d7d3651d6ab6846 --- /dev/null +++ b/android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java @@ -0,0 +1,631 @@ +package org.qgroundcontrol.qgchelper; + +/* Copyright 2013 Google Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, + * USA. + * + * Project home page: http://code.google.com/p/usb-serial-for-android/ + */ +/////////////////////////////////////////////////////////////////////////////////////////// +// Written by: Mike Goza April 2014 +// +// These routines interface with the Android USB Host devices for serial port communication. +// The code uses the usb-serial-for-android software library. The UsbDeviceJNI class is the +// interface to the C++ routines through jni calls. Do not change the functions without also +// changing the corresponding calls in the C++ routines or you will break the interface. +// +//////////////////////////////////////////////////////////////////////////////////////////// + +import java.util.HashMap; +import java.util.List; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; +import java.io.IOException; + +import android.app.Activity; +import android.content.BroadcastReceiver; +import android.content.Context; +import android.content.Intent; +import android.content.IntentFilter; +import android.hardware.usb.*; +import android.widget.Toast; +import android.util.Log; + +import com.hoho.android.usbserial.driver.*; +import org.qtproject.qt5.android.bindings.QtActivity; +import org.qtproject.qt5.android.bindings.QtApplication; + +public class UsbDeviceJNI extends QtActivity +{ + public static int BAD_PORT = 0; + private static UsbDeviceJNI m_instance; + private static UsbManager m_manager; // ANDROID USB HOST CLASS + private static List m_devices; // LIST OF CURRENT DEVICES + private static HashMap m_openedDevices; // LIST OF OPENED DEVICES + private static HashMap m_ioManager; // THREADS FOR LISTENING FOR INCOMING DATA + private static HashMap m_userData; // CORRESPONDING USER DATA FOR OPENED DEVICES. USED IN DISCONNECT CALLBACK + // USED TO DETECT WHEN A DEVICE HAS BEEN UNPLUGGED + private BroadcastReceiver m_UsbReceiver = null; + private final static ExecutorService m_Executor = Executors.newSingleThreadExecutor(); + private static final String TAG = "QGC_UsbDeviceJNI"; + + private final static UsbIoManager.Listener m_Listener = + new UsbIoManager.Listener() + { + @Override + public void onRunError(Exception eA, int userDataA) + { + Log.e(TAG, "onRunError Exception"); + nativeDeviceException(userDataA, eA.getMessage()); + } + + @Override + public void onNewData(final byte[] dataA, int userDataA) + { + nativeDeviceNewData(userDataA, dataA); + } + }; + + + // NATIVE C++ FUNCTION THAT WILL BE CALLED IF THE DEVICE IS UNPLUGGED + private static native void nativeDeviceHasDisconnected(int userDataA); + private static native void nativeDeviceException(int userDataA, String messageA); + private static native void nativeDeviceNewData(int userDataA, byte[] dataA); + + //////////////////////////////////////////////////////////////////////////////////////////////// + // + // Constructor. Only used once to create the initial instance for the static functions. + // + //////////////////////////////////////////////////////////////////////////////////////////////// + public UsbDeviceJNI() + { + m_instance = this; + m_openedDevices = new HashMap(); + m_userData = new HashMap(); + m_ioManager = new HashMap(); + Log.i(TAG, "Instance created"); + } + + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + // + // Find all current devices that match the device filter described in the androidmanifest.xml and the + // device_filter.xml + // + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + private static boolean getCurrentDevices() + { + if (m_instance == null) + return false; + + if (m_manager == null) + m_manager = (UsbManager)m_instance.getSystemService(Context.USB_SERVICE); + + if (m_devices != null) + m_devices.clear(); + + m_devices = UsbSerialProber.findAllDevices(m_manager); + + return true; + } + + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + // + // List all available devices that are not already open. It returns the serial port info + // in a : separated string array. Each string entry consists of the following: + // + // DeviceName:Company:ProductId:VendorId + // + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + public static String[] availableDevicesInfo() + { + // GET THE LIST OF CURRENT DEVICES + if (!getCurrentDevices()) + { + Log.e(TAG, "UsbDeviceJNI instance not present"); + return null; + } + + // MAKE SURE WE HAVE ENTRIES + if (m_devices.size() <= 0) + { + //Log.e(TAG, "No USB devices found"); + return null; + } + + if (m_openedDevices == null) + { + Log.e(TAG, "m_openedDevices is null"); + return null; + } + + int countL = 0; + int iL; + + // CHECK FOR ALREADY OPENED DEVICES AND DON"T INCLUDE THEM IN THE COUNT + for (iL=0; iL 0) + { + final Listener listener = getListener(); + if (listener != null) + { + final byte[] data = new byte[len]; + mReadBuffer.get(data, 0, len); + listener.onNewData(data, mUserData); + } + mReadBuffer.clear(); + } +/* + // Handle outgoing data. + byte[] outBuff = null; + synchronized (mWriteBuffer) + { + if (mWriteBuffer.position() > 0) + { + len = mWriteBuffer.position(); + outBuff = new byte[len]; + mWriteBuffer.rewind(); + mWriteBuffer.get(outBuff, 0, len); + mWriteBuffer.clear(); + } + } + if (outBuff != null) + mDriver.write(outBuff, READ_WAIT_MILLIS); +*/ + } +} + diff --git a/android_environment.sh b/android_environment.sh new file mode 100644 index 0000000000000000000000000000000000000000..477c0dbd1b3d3e3be5afd084fd7e7e47f65a8405 --- /dev/null +++ b/android_environment.sh @@ -0,0 +1,37 @@ +#!/bin/bash +#---------------------------------------------------------- +# You will need: +# - Qt 5.4 android_armv7 kit +# - Android SDK +# - Androig NDK +# - Current Java +# - ant +#---------------------------------------------------------- +# Update with correct location for these +export ANDROID_HOME=~/Library/Android/sdk +export ANDROID_SDK_ROOT=~/Library/Android/sdk +export ANDROID_NDK_ROOT=~/Library/Android/ndk +export ANDROID_NDK_HOST=darwin-x86_64 +export ANDROID_NDK_PLATFORM=/android-9 +export ANDROID_NDK_TOOLCHAIN_PREFIX=arm-linux-androideabi +export ANDROID_NDK_TOOLCHAIN_VERSION=4.9 +export ANDROID_NDK_TOOLS_PREFIX=arm-linux-androideabi +#---------------------------------------------------------- +# To build it, run (replacing the path with where you have Qt installed) +# +# For a shadow build: (strongly recomended) +# +# >source android_environment.sh +# cd ../ +# mkdir android_build +# cd android_build +# >~/local/Qt/5.4/android_armv7/bin/qmake -r -spec android-g++ CONFIG+=debug ../qgroundcontrol/qgroundcontrol.pro +# >make -j24 +# >~/local/Qt/5.4/android_armv7/bin/androiddeployqt --input ./android-libqgroundcontrol.so-deployment-settings.json --output ./android-build --deployment bundled --android-platform android-22 --jdk /System/Library/Frameworks/JavaVM.framework/Versions/CurrentJDK/Home --verbose --ant /opt/local/bin/ant +# +# For an in place build (not recomended) +# +# >source android_environment.sh +# >~/local/Qt/5.4/android_armv7/bin/qmake -r -spec android-g++ CONFIG+=debug qgroundcontrol.pro +# >make -j24 +# >~/local/Qt/5.4/android_armv7/bin/androiddeployqt --input ./android-libqgroundcontrol.so-deployment-settings.json --output ./android-build --deployment bundled --android-platform android-22 --jdk /System/Library/Frameworks/JavaVM.framework/Versions/CurrentJDK/Home --verbose --ant /opt/local/bin/ant diff --git a/data/ParameterList.xml b/data/ParameterList.xml deleted file mode 100644 index 445f4d5a738d0b7e3c202ad7ae67c7dfbbaa96f9..0000000000000000000000000000000000000000 --- a/data/ParameterList.xml +++ /dev/null @@ -1,227 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/data/kinect.cal b/data/kinect.cal deleted file mode 100644 index ee802fa7c43fcac35c76f002e4d856a39a0e0dfd..0000000000000000000000000000000000000000 --- a/data/kinect.cal +++ /dev/null @@ -1,37 +0,0 @@ -[rgb] -principal_point\x=314.70228964 -principal_point\y=264.30478827 -focal_length\x=527.91246131 -focal_length\y=527.91246131 -distortion\k1=0.20496745 -distortion\k2=-0.36341243 -distortion\k3=0.00000000 -distortion\k4=0.00000000 -distortion\k5=0.00000000 - -[depth] -principal_point\x=311.88621344 -principal_point\y=247.63447078 -focal_length\x=593.89813561 -focal_length\y=593.89813561 -distortion\k1=0.00000000 -distortion\k2=0.00000000 -distortion\k3=0.00000000 -distortion\k4=0.00000000 -distortion\k5=0.00000000 - -[transform] -R11=0.999982 -R12=0.000556 -R13=0.005927 -R21=-0.000563 -R22=0.999999 -R23=0.001235 -R31=-0.005926 -R32=-0.001239 -R33=0.999982 -Tx=-0.024287 -Ty=0.001018 -Tz=-0.015195 -baseline=0.06061 -disparity_offset=1092.3403 diff --git a/debian/changelog b/debian/changelog new file mode 100644 index 0000000000000000000000000000000000000000..f3d1a56c6598b1e18fb1d493e3619d072940449f --- /dev/null +++ b/debian/changelog @@ -0,0 +1,5 @@ +qgroundcontrol (2.4-0ubuntu1) trusty; urgency=low + + * Initial release (Closes: #nnnn) + + -- Daniel Agar Sat, 04 Apr 2015 17:14:10 -0400 diff --git a/debian/compat b/debian/compat new file mode 100644 index 0000000000000000000000000000000000000000..ec635144f60048986bc560c5576355344005e6e7 --- /dev/null +++ b/debian/compat @@ -0,0 +1 @@ +9 diff --git a/debian/control b/debian/control new file mode 100644 index 0000000000000000000000000000000000000000..d8593ea302d1c8d2faae8d91d7860f6ba4c72c65 --- /dev/null +++ b/debian/control @@ -0,0 +1,15 @@ +Source: qgroundcontrol +Section: electronics +Priority: optional +Maintainer: Daniel Agar +Build-Depends: debhelper (>= 9), qt54tools, qt54base, qt54declarative, qt54serialport, qt54svg, qt54webkit, qt54quickcontrols, qt54xmlpatterns, qt54x11extras, qt54websockets, qt54sensors, qt54script, qt54quick1, qt54qbs, qt54multimedia, qt54location, qt54imageformats, qt54graphicaleffects, qt54creator, qt54connectivity, libsdl1.2-dev, libudev-dev +Standards-Version: 3.9.5 +Homepage: https://github.com/mavlink/qgroundcontrol +Vcs-Git: git://github.com/mavlink/qgroundcontrol.git +#Vcs-Browser: http://git.debian.org/?p=collab-maint/qgroundcontrol.git;a=summary + +Package: qgroundcontrol +Architecture: any +Depends: ${shlibs:Depends}, ${misc:Depends}, qt54tools, qt54base, qt54declarative, qt54serialport, qt54svg, qt54webkit, qt54quickcontrols, qt54xmlpatterns, qt54x11extras, qt54websockets, qt54sensors, qt54script, qt54quick1, qt54multimedia, qt54location, qt54imageformats, qt54graphicaleffects, qt54connectivity +Description: Open Source Micro Air Vehicle Ground Control Station + diff --git a/debian/copyright b/debian/copyright new file mode 100644 index 0000000000000000000000000000000000000000..833c87414c389a5ff3d7431083bfa475caa6225a --- /dev/null +++ b/debian/copyright @@ -0,0 +1,7 @@ +Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ +Upstream-Name: qgroundcontrol +Source: https://github.com/mavlink/qgroundcontrol + +Files: * +Copyright: QGroundControl Developers https://github.com/mavlink/qgroundcontrol/graphs/contributors +License: GPL-3+ diff --git a/debian/menu b/debian/menu new file mode 100644 index 0000000000000000000000000000000000000000..8e03196aa2657c41bcb51a13a06dfe7d8e74f4e0 --- /dev/null +++ b/debian/menu @@ -0,0 +1,4 @@ + ?package(qgroundcontrol):needs="x11" \ + section="Applications/Electronics" \ + title="QGroundControl" \ + command="/usr/bin/qgroundcontrol" diff --git a/debian/qgroundcontrol.install b/debian/qgroundcontrol.install new file mode 100644 index 0000000000000000000000000000000000000000..0f7a95ee9ecf680ce60acd6d90af6ae235c1bb73 --- /dev/null +++ b/debian/qgroundcontrol.install @@ -0,0 +1,4 @@ +qgroundcontrol.desktop usr/share/applications +release/qgroundcontrol usr/bin +resources/ usr/share/qgroundcontrol +resources/icons/qgroundcontrol.png usr/share/pixmaps diff --git a/debian/rules b/debian/rules new file mode 100755 index 0000000000000000000000000000000000000000..7c1274abab733e4b41d6994fa7772c013ac3fc6d --- /dev/null +++ b/debian/rules @@ -0,0 +1,12 @@ +#!/usr/bin/make -f +# -*- makefile -*- +export QT_SELECT := qt5 + +# Uncomment this to turn on verbose mode. +export DH_VERBOSE=1 + +%: + dh $@ + +override_dh_auto_configure: + /opt/qt54/bin/qmake qgroundcontrol.pro diff --git a/debian/source/format b/debian/source/format new file mode 100644 index 0000000000000000000000000000000000000000..163aaf8d82b6c54f23c45f32895dbdfdcc27b047 --- /dev/null +++ b/debian/source/format @@ -0,0 +1 @@ +3.0 (quilt) diff --git a/debian/source/options b/debian/source/options new file mode 100644 index 0000000000000000000000000000000000000000..2059712f8865a8e5e74779116b6e19ac3c8c76e2 --- /dev/null +++ b/debian/source/options @@ -0,0 +1 @@ +tar-ignore = ".git/*" diff --git a/debian/watch b/debian/watch new file mode 100644 index 0000000000000000000000000000000000000000..ad20addfd5a70417e01ddc40d9a73cb64c316324 --- /dev/null +++ b/debian/watch @@ -0,0 +1,2 @@ +version=3 +https://github.com/mavlink/qgroundcontrol/tags .*/archive/[a-z](\d\S*)\.tar\.gz diff --git a/deploy/px4driver.msi b/deploy/px4driver.msi new file mode 100644 index 0000000000000000000000000000000000000000..4e2b0866d45b6735affffce5955a2b5775c22589 Binary files /dev/null and b/deploy/px4driver.msi differ diff --git a/deploy/qgroundcontrol_installer.nsi b/deploy/qgroundcontrol_installer.nsi index 322a17f38c15c59a110d16065a01a3be23fce0a3..57836ff0a83e719ccb9f9cd7b8be24737ba83800 100644 --- a/deploy/qgroundcontrol_installer.nsi +++ b/deploy/qgroundcontrol_installer.nsi @@ -14,9 +14,11 @@ LicenseData license.txt Section SetOutPath $INSTDIR File /r release\*.* + File deploy\px4driver.msi WriteUninstaller $INSTDIR\QGroundControl_uninstall.exe WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\QGroundControl" "DisplayName" "QGroundControl" WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\QGroundControl" "UninstallString" "$\"$INSTDIR\QGroundControl_uninstall.exe$\"" + ExecWait '"msiexec" /i "px4driver.msi"' SectionEnd Section "Uninstall" diff --git a/files/QLoggingCategory/qtlogging.ini b/files/QLoggingCategory/qtlogging.ini deleted file mode 100644 index c67fdd4cf2ace3d3b61f16e05690bfc50a237b0b..0000000000000000000000000000000000000000 --- a/files/QLoggingCategory/qtlogging.ini +++ /dev/null @@ -1,2 +0,0 @@ -[Rules] -*Log=false diff --git a/files/Setup/cogwheels.png b/files/Setup/cogwheels.png deleted file mode 100644 index 7ef3297fed5815fe15293da65e7cddf17ab25aab..0000000000000000000000000000000000000000 Binary files a/files/Setup/cogwheels.png and /dev/null differ diff --git a/files/images/.gitignore b/files/images/.gitignore deleted file mode 100644 index b25c15b81fae06e1c55946ac6270bfdb293870e8..0000000000000000000000000000000000000000 --- a/files/images/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*~ diff --git a/files/images/actions/address-book-new.svg b/files/images/actions/address-book-new.svg deleted file mode 100644 index 600a82c1b0e1bacf236764be2ec3310b98d9fc4b..0000000000000000000000000000000000000000 --- a/files/images/actions/address-book-new.svg +++ /dev/null @@ -1,389 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Addess Book - New - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - - address - contact - book - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/appointment-new.svg b/files/images/actions/appointment-new.svg deleted file mode 100644 index 4cb14f82f02d92ed24119a7d0c858848aead5f57..0000000000000000000000000000000000000000 --- a/files/images/actions/appointment-new.svg +++ /dev/null @@ -1,425 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - New Appointment - - - appointment - new - meeting - rvsp - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/bookmark-new.svg b/files/images/actions/bookmark-new.svg deleted file mode 100644 index d6d095b7155dd2a7519e842ef630e2dd03579cd3..0000000000000000000000000000000000000000 --- a/files/images/actions/bookmark-new.svg +++ /dev/null @@ -1,672 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - New Bookmark - - - bookmark - remember - favorite - - - - - - Andreas Nilsson - - - - - - Jakub Steiner - - - create bookmark action - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/contact-new.svg b/files/images/actions/contact-new.svg deleted file mode 100644 index 1efb89548d2ba6b8c216ef3ffda4ac380d1a807e..0000000000000000000000000000000000000000 --- a/files/images/actions/contact-new.svg +++ /dev/null @@ -1,606 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - New Contact - - - address - contact - e-mail - person - information - card - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-new.svg b/files/images/actions/document-new.svg deleted file mode 100644 index 1bfdb16409c0e93e4eeddc0758c4383ff3e5474c..0000000000000000000000000000000000000000 --- a/files/images/actions/document-new.svg +++ /dev/null @@ -1,448 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - New Document - - - Jakub Steiner - - - http://jimmac.musichall.cz - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-open.svg b/files/images/actions/document-open.svg deleted file mode 100644 index 55e6177d2ae26bdc89d30c2c2909033cf971f56b..0000000000000000000000000000000000000000 --- a/files/images/actions/document-open.svg +++ /dev/null @@ -1,535 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Folder Icon Accept - 2005-01-31 - - - Jakub Steiner - - - - http://jimmac.musichall.cz - Active state - when files are being dragged to. - - - Novell, Inc. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-print-preview.svg b/files/images/actions/document-print-preview.svg deleted file mode 100644 index d3501ac154d3f9f812cf7b23b2a64aab35bb2c52..0000000000000000000000000000000000000000 --- a/files/images/actions/document-print-preview.svg +++ /dev/null @@ -1,703 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Print Preview - - - Jakub Steiner - - - - http://jimmac.musichall.cz - - - printer - local - laser - bubblejet - inkjet - print - output - cups - lpd - preview - - - - - Corey Woodworth - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-print.svg b/files/images/actions/document-print.svg deleted file mode 100644 index 0b8837ba1df643c64257b24ebaa0b6c5394a78c2..0000000000000000000000000000000000000000 --- a/files/images/actions/document-print.svg +++ /dev/null @@ -1,532 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Print Document - - - Jakub Steiner - - - - http://jimmac.musichall.cz - - - document - lpr - print - local - laser - bubblejet - inkjet - print - output - cups - lpd - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-properties.svg b/files/images/actions/document-properties.svg deleted file mode 100644 index c57f96d2e29e2d45f61eb83d2dbbdaa2f467d0cd..0000000000000000000000000000000000000000 --- a/files/images/actions/document-properties.svg +++ /dev/null @@ -1,576 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Document Properties - - - document - settings - preferences - properties - tweak - - - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-save-as.svg b/files/images/actions/document-save-as.svg deleted file mode 100644 index 01e2fb7a5db34a0c407d5e5c2561a18c10df3f40..0000000000000000000000000000000000000000 --- a/files/images/actions/document-save-as.svg +++ /dev/null @@ -1,663 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Save As - - - Jakub Steiner - - - - - hdd - hard drive - save as - io - store - - - - - http://jimmac.musichall.cz - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/document-save.svg b/files/images/actions/document-save.svg deleted file mode 100644 index 2922c4331a7f566ada86784b0b96be5d44035d7c..0000000000000000000000000000000000000000 --- a/files/images/actions/document-save.svg +++ /dev/null @@ -1,619 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Save - - - Jakub Steiner - - - - - hdd - hard drive - save - io - store - - - - - http://jimmac.musichall.cz - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/edit-clear.svg b/files/images/actions/edit-clear.svg deleted file mode 100644 index b2f20d44e7038d46fbc7ae7b82bf6e89fcda70ff..0000000000000000000000000000000000000000 --- a/files/images/actions/edit-clear.svg +++ /dev/null @@ -1,416 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Edit Clear - - - Andreas Nilsson - - - http://www.tango-project.org - - - clear - reset - blank - edit - - - - - - Jakub Steiner (although minimally ;) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/edit-copy.svg b/files/images/actions/edit-copy.svg deleted file mode 100644 index f4d9e9776c1156da09af1339c918bd820cf1b7ff..0000000000000000000000000000000000000000 --- a/files/images/actions/edit-copy.svg +++ /dev/null @@ -1,328 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Edit Copy - 2005-10-15 - - - Andreas Nilsson - - - - - edit - copy - - - - - - Jakub Steiner - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/edit-cut.svg b/files/images/actions/edit-cut.svg deleted file mode 100644 index b9ac930c91a21bee2321d1cd510d4bf3bc4fa6bd..0000000000000000000000000000000000000000 --- a/files/images/actions/edit-cut.svg +++ /dev/null @@ -1,508 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Edit Cut - - - Garrett Le Sage - - - - - edit - cut - clipboard - - - - - - Jakub Steiner - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/edit-delete.svg b/files/images/actions/edit-delete.svg deleted file mode 100644 index 69281e4239411b408e8d8b08a0bf88c91ec6dac1..0000000000000000000000000000000000000000 --- a/files/images/actions/edit-delete.svg +++ /dev/null @@ -1,896 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Delete - - - - Jakub Steiner - - - - - edit - delete - shredder - - - - - Novell, Inc. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/edit-find-replace.svg 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image/svg+xml - - Mail - - - Jakub Steiner - - - - - Andreas Nilsson - - - - - - mail - e-mail - MUA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/mail-mark-junk.svg b/files/images/actions/mail-mark-junk.svg deleted file mode 100644 index 01631751f79fdae79551455aecefd3caf1f4d540..0000000000000000000000000000000000000000 --- a/files/images/actions/mail-mark-junk.svg +++ /dev/null @@ -1,504 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - Mark mail as Junk - - - mail - spam - junk - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/actions/mail-message-new.svg b/files/images/actions/mail-message-new.svg deleted file mode 100644 index 9f68587763947b6a2d331b602528f39d6ba19f8e..0000000000000000000000000000000000000000 --- 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Computer - 2005-03-08 - - - Jakub Steiner - - - - - workstation - computer - node - client - - - - http://jimmac.musichall.cz/ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/network-wireless-encrypted.svg b/files/images/status/network-wireless-encrypted.svg deleted file mode 100644 index 623a0a687be5bf8bbf16b86f142d9f9e787707f9..0000000000000000000000000000000000000000 --- a/files/images/status/network-wireless-encrypted.svg +++ /dev/null @@ -1,1288 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - Novell AppArmor - - - apparmor - novell - - - - - Garrett LeSage - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/printer-error.svg b/files/images/status/printer-error.svg deleted file mode 100644 index 14209f788cc4960cd9327d30a0415a48cb87db57..0000000000000000000000000000000000000000 --- a/files/images/status/printer-error.svg +++ /dev/null @@ -1,640 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Printer Error - - - Jakub Steiner - - - - http://jimmac.musichall.cz - - - printer - error - cups - lpd - halt - - - - - Andreas Nilsson - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/software-update-available.svg b/files/images/status/software-update-available.svg deleted file mode 100644 index 9a5a688be45c7c9307cd9d966dae823d8c82f9bd..0000000000000000000000000000000000000000 --- a/files/images/status/software-update-available.svg +++ /dev/null @@ -1,209 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - - - - - - - - - - - - - - - diff --git a/files/images/status/software-update-urgent.svg b/files/images/status/software-update-urgent.svg deleted file mode 100644 index 168a67c13e13fda9b2fb864dc2caed21a4fd4da4..0000000000000000000000000000000000000000 --- a/files/images/status/software-update-urgent.svg +++ /dev/null @@ -1,204 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - Jakub Steiner - - - http://jimmac.musichall.cz - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/user-trash-full.svg b/files/images/status/user-trash-full.svg deleted file mode 100644 index 393285f54584d59b7bd3b6ca538f118642ccd3e0..0000000000000000000000000000000000000000 --- a/files/images/status/user-trash-full.svg +++ /dev/null @@ -1,728 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - Trash Full - 2003-02-03 - - - Jakub Steiner - - - - - trash - delete - deleted files - waste - recycle - bin - full - - - - - Novell, Inc. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-clear-night.svg b/files/images/status/weather-clear-night.svg deleted file mode 100644 index 5737f251e22ea5571a17319409fed7dc554afaa3..0000000000000000000000000000000000000000 --- a/files/images/status/weather-clear-night.svg +++ /dev/null @@ -1,1426 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-clear-night - January 2006 - - - Ryan Collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - applet - notification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-clear.svg b/files/images/status/weather-clear.svg deleted file mode 100644 index 6a74ec853a4b08bf6320e567b40782bee1609ce0..0000000000000000000000000000000000000000 --- a/files/images/status/weather-clear.svg +++ /dev/null @@ -1,1324 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-clear - January 2006 - - - Ryan Collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - applet - notification - - - - - - Garrett LeSage - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-few-clouds-night.svg b/files/images/status/weather-few-clouds-night.svg deleted file mode 100644 index 52a0aab1e12e580bf76c7df1a5ea1f04e60f5b83..0000000000000000000000000000000000000000 --- a/files/images/status/weather-few-clouds-night.svg +++ /dev/null @@ -1,3902 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-few-clouds-night - January 2006 - - - Ryan Collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - applet - notify - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-few-clouds.svg b/files/images/status/weather-few-clouds.svg deleted file mode 100644 index 57d45e93232b0891656861647d2f67bdfbb755c0..0000000000000000000000000000000000000000 --- a/files/images/status/weather-few-clouds.svg +++ /dev/null @@ -1,738 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-clear - January 2006 - - - Ryan Collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - applet - notification - - - - - - Garrett LeSage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-overcast.svg b/files/images/status/weather-overcast.svg deleted file mode 100644 index 35fb4a4b9ce56f262f9bdf6ce38ed70064301675..0000000000000000000000000000000000000000 --- a/files/images/status/weather-overcast.svg +++ /dev/null @@ -1,3036 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-overcast - January 2006 - - - Ryan Collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - applet - notify - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-severe-alert.svg b/files/images/status/weather-severe-alert.svg deleted file mode 100644 index bdae6783e4dfb3525b8adad6313f0c0fe76b4100..0000000000000000000000000000000000000000 --- a/files/images/status/weather-severe-alert.svg +++ /dev/null @@ -1,4698 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-severe-alert - January 2006 - - - Ryan Collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - applet - notify - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-showers-scattered.svg b/files/images/status/weather-showers-scattered.svg deleted file mode 100644 index 5a3ae325c543f960b28fcc8130d2c703bc01f4d6..0000000000000000000000000000000000000000 --- a/files/images/status/weather-showers-scattered.svg +++ /dev/null @@ -1,5159 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-scattered-showers - January 2006 - - - Ryan collier (pseudo) - - - - - http://www.tango-project.org - - - http://www.pseudocode.org - - - weather - appplet - notify - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/files/images/status/weather-showers.svg b/files/images/status/weather-showers.svg deleted file mode 100644 index c814571c0f899b47a0e644a432ea5eed9a3eb122..0000000000000000000000000000000000000000 --- a/files/images/status/weather-showers.svg +++ /dev/null @@ -1,4753 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - image/svg+xml - - weather-showers - January 2006 - - - Ryan collier 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1925.7724409 3441.0039370 47.2440945 1929.7421260 3443.5413386 47.2440945 1934.2200787 3445.2622047 47.2440945 1939.0708661 3446.1145669 47.2440945 1944.1464567 3446.0728346 47.2440945 1949.2937008 3445.1377953 47.2440945 1954.3551181 3443.3377953 47.2440945 1959.1771654 3440.7283465 47.2440945 1963.6133858 3437.3877953 47.2440945 1967.5291339 4155.2125984 47.2440945 2182.9940945 3422.6240157 47.2440945 1993.1007874 3420.9031496 47.2440945 1997.9515748 3418.3661417 47.2440945 2002.4295276 3415.0905512 47.2440945 2006.3992126 3411.1740157 47.2440945 2009.7397638 3406.7381890 47.2440945 2012.3492126 3401.9157480 47.2440945 2014.1492126 3396.8543307 47.2440945 2015.0842520 2982.5759843 47.2440945 2123.1984252 2990.8618110 47.2440945 2125.4188976 2998.6362205 47.2440945 2129.0440945 3005.6633858 47.2440945 2133.9645669 3011.7291339 47.2440945 2140.0303150 3016.6492126 47.2440945 2147.0570866 3020.2748031 47.2440945 2154.8318898 3022.4948819 47.2440945 2163.1177165 3023.2425197 47.2440945 2171.6637795 4169.9881890 47.2440945 2189.8846457 4173.8700787 47.2440945 2193.7665354 4177.0196850 47.2440945 2198.2637795 4179.3385827 47.2440945 2203.2393701 4180.7598425 47.2440945 2208.5425197 4181.2362205 47.2440945 2214.0118110 4180.7598425 47.2440945 2219.4811024 4179.3385827 47.2440945 2224.7838583 4177.0196850 47.2440945 2229.7594488 4173.8700787 47.2440945 2234.2570866 4169.9881890 47.2440945 2238.1393701 4165.4881890 47.2440945 2241.2881890 4160.5157480 47.2440945 2243.6086614 4155.2125984 47.2440945 2245.0291339 4003.0314961 47.2440945 2457.1791339 3997.7322835 47.2440945 2455.7582677 3232.3062992 47.2440945 2329.3082677 3252.3460630 47.2440945 2334.0283465 4008.0078740 47.2440945 2459.4992126 4012.5078740 47.2440945 2462.6484252 4016.3897638 47.2440945 2466.5303150 4019.5393701 47.2440945 2471.0275591 4021.8582677 47.2440945 2476.0031496 4023.2795276 47.2440945 2481.3062992 4023.7559055 47.2440945 2486.7755906 4023.2795276 47.2440945 2492.2448819 4021.8582677 47.2440945 2497.5480315 4019.5393701 47.2440945 2502.5236220 4016.3897638 47.2440945 2507.0208661 4012.5078740 47.2440945 2510.9031496 4008.0078740 47.2440945 2514.0519685 4003.0354331 47.2440945 2516.3724409 6308.5275591 47.2440945 3424.5732283 3997.7322835 47.2440945 2517.7933071 6303.2283465 47.2440945 3423.1515748 6313.5039370 47.2440945 3426.8933071 6318.0039370 47.2440945 3430.0417323 6321.8858268 47.2440945 3433.9236220 6325.0354331 47.2440945 3438.4212598 6327.3543307 47.2440945 3443.3968504 6328.7755906 47.2440945 3448.7000000 6329.2519685 47.2440945 3454.1692913 6328.7755906 47.2440945 3459.6385827 6327.3543307 47.2440945 3464.9413386 6325.0354331 47.2440945 3469.9177165 6321.8858268 47.2440945 3474.4145669 6318.0039370 47.2440945 3478.2964567 6313.5039370 47.2440945 3481.4456693 6308.5275591 47.2440945 3483.7665354 6303.2283465 47.2440945 3485.1870079 2942.0440945 47.2440945 1739.1062992 2945.7897638 47.2440945 1735.9846457 2937.8334646 47.2440945 1741.5685039 2933.2763780 47.2440945 1743.3043307 2928.4952756 47.2440945 1744.2661417 2923.6212598 47.2440945 1744.4279528 3365.4590551 47.2440945 1978.2807087 2928.4952756 47.2440945 1744.2661417 2933.2763780 47.2440945 1743.3043307 2937.8334646 47.2440945 1741.5685039 2942.0440945 47.2440945 1739.1062992 2945.7897638 47.2440945 1735.9846457 6297.7559055 47.2440945 3485.6653543 6868.5196850 47.2440945 3644.6240157 6303.2283465 47.2440945 3485.1870079 6308.5275591 47.2440945 3483.7665354 6313.5039370 47.2440945 3481.4456693 6318.0039370 47.2440945 3478.2964567 6321.8858268 47.2440945 3474.4145669 6325.0354331 47.2440945 3469.9177165 6327.3543307 47.2440945 3464.9413386 6328.7755906 47.2440945 3459.6385827 6329.2519685 47.2440945 3454.1692913 6328.7755906 47.2440945 3448.7000000 6327.3543307 47.2440945 3443.3968504 6325.0354331 47.2440945 3438.4212598 6321.8858268 47.2440945 3433.9236220 6318.0039370 47.2440945 3430.0417323 6313.5039370 47.2440945 3426.8933071 6308.5275591 47.2440945 3424.5732283 6297.7559055 47.2440945 3422.6732283 6303.2283465 47.2440945 3423.1515748 3992.2598425 47.2440945 2518.2716535 3997.7322835 47.2440945 2517.7933071 4003.0354331 47.2440945 2516.3724409 4008.0078740 47.2440945 2514.0519685 4012.5078740 47.2440945 2510.9031496 4016.3897638 47.2440945 2507.0208661 4019.5393701 47.2440945 2502.5236220 4021.8582677 47.2440945 2497.5480315 4023.2795276 47.2440945 2492.2448819 4023.7559055 47.2440945 2486.7755906 4023.2795276 47.2440945 2481.3062992 4021.8582677 47.2440945 2476.0031496 4019.5393701 47.2440945 2471.0275591 4016.3897638 47.2440945 2466.5303150 4012.5078740 47.2440945 2462.6484252 4008.0078740 47.2440945 2459.4992126 4003.0314961 47.2440945 2457.1791339 3992.2598425 47.2440945 2455.2795276 3997.7322835 47.2440945 2455.7582677 3271.2614173 47.2440945 2342.1566929 3252.3460630 47.2440945 2334.0283465 3232.3062992 47.2440945 2329.3082677 3211.7515748 47.2440945 2328.1397638 4149.7401575 47.2440945 2245.5078740 4155.2125984 47.2440945 2245.0291339 4160.5157480 47.2440945 2243.6086614 4165.4881890 47.2440945 2241.2881890 4169.9881890 47.2440945 2238.1393701 4173.8700787 47.2440945 2234.2570866 4177.0196850 47.2440945 2229.7594488 4179.3385827 47.2440945 2224.7838583 4180.7598425 47.2440945 2219.4811024 4181.2362205 47.2440945 2214.0118110 4180.7598425 47.2440945 2208.5425197 4179.3385827 47.2440945 2203.2393701 4177.0196850 47.2440945 2198.2637795 4173.8700787 47.2440945 2193.7665354 4169.9881890 47.2440945 2189.8846457 4165.4881890 47.2440945 2186.7354331 3022.4948819 47.2440945 2180.2090551 4149.7401575 47.2440945 2182.5157480 3023.2425197 47.2440945 2171.6637795 3022.4948819 47.2440945 2163.1177165 3020.2748031 47.2440945 2154.8318898 3016.6492126 47.2440945 2147.0570866 3011.7291339 47.2440945 2140.0303150 3005.6633858 47.2440945 2133.9645669 2998.6362205 47.2440945 2129.0440945 2990.8618110 47.2440945 2125.4188976 2982.5759843 47.2440945 2123.1984252 2974.0299213 47.2440945 2122.4511811 2469.7374016 47.2440945 2062.3527559 3391.7074803 47.2440945 2015.1259843 4155.2125984 47.2440945 2182.9940945 3396.8543307 47.2440945 2015.0842520 3401.9157480 47.2440945 2014.1492126 3406.7381890 47.2440945 2012.3492126 3411.1740157 47.2440945 2009.7397638 3415.0905512 47.2440945 2006.3992126 3418.3661417 47.2440945 2002.4295276 3420.9031496 47.2440945 1997.9515748 3422.6240157 47.2440945 1993.1007874 3437.3877953 47.2440945 1967.5291339 4160.5118110 47.2440945 2184.4153543 3440.7283465 47.2440945 1963.6133858 3443.3377953 47.2440945 1959.1771654 3445.1377953 47.2440945 1954.3551181 3446.0728346 47.2440945 1949.2937008 3446.1145669 47.2440945 1944.1464567 3445.2622047 47.2440945 1939.0708661 3443.5413386 47.2440945 1934.2200787 3441.0039370 47.2440945 1929.7421260 3437.7279528 47.2440945 1925.7724409 3433.8122047 47.2440945 1922.4318898 3429.3755906 47.2440945 1919.8220472 3424.5535433 47.2440945 1918.0224409 3414.3456693 47.2440945 1917.0456693 3419.4917323 47.2440945 1917.0874016 2976.3015748 47.2440945 1683.1366142 2977.1547244 47.2440945 1678.0610236 2977.1122047 47.2440945 1672.9137795 2976.1779528 47.2440945 1667.8527559 2974.3775591 47.2440945 1663.0303150 3663.9976378 47.2440945 1661.9173228 2971.7685039 47.2440945 1658.5940945 2968.4279528 47.2440945 1654.6783465 2964.4582677 47.2440945 1651.4019685 3647.5011811 47.2440945 1649.6000000 2959.9799213 47.2440945 1648.8649606 2955.1295276 47.2440945 1647.1440945 2950.0535433 47.2440945 1646.2913386 2758.3248031 47.2440945 1641.7322835 2766.8704724 47.2440945 1640.9846457 2775.1570866 47.2440945 1638.7645669 2782.9311024 47.2440945 1635.1389764 3633.3937008 47.2440945 1634.6051181 2789.9582677 47.2440945 1630.2185039 2796.0244094 47.2440945 1624.1527559 3622.1035433 47.2440945 1617.3885827 2800.9440945 47.2440945 1617.1259843 2804.5696850 47.2440945 1609.3515748 2806.7897638 47.2440945 1601.0653543 2807.5374016 47.2440945 1592.5196850 2806.7905512 47.2440945 1583.9740157 2804.5696850 47.2440945 1575.6877953 2800.9440945 47.2440945 1567.9133858 2796.0244094 47.2440945 1560.8862205 2789.9582677 47.2440945 1554.8204724 2782.9311024 47.2440945 1549.9003937 2775.1570866 47.2440945 1546.2751969 2766.8708661 47.2440945 1544.0547244 2758.3248031 47.2440945 1543.3070866 3367.7307087 47.2440945 1538.9661417 3376.2767717 47.2440945 1538.2188976 3384.5625984 47.2440945 1535.9984252 3392.3370079 47.2440945 1532.3732283 3399.3637795 47.2440945 1527.4527559 3405.4299213 47.2440945 1521.3870079 3410.3500000 47.2440945 1514.3598425 3413.9755906 47.2440945 1506.5854331 3416.1956693 47.2440945 1498.2992126 3416.9433071 47.2440945 1489.7535433 3416.1956693 47.2440945 1481.2078740 3413.9755906 47.2440945 1472.9220472 3410.3500000 47.2440945 1465.1472441 3405.4299213 47.2440945 1458.1204724 3399.3641732 47.2440945 1452.0547244 3495.4000000 47.2440945 1381.6208661 3392.3370079 47.2440945 1447.1342520 3384.5625984 47.2440945 1443.5090551 3376.2767717 47.2440945 1441.2889764 3367.7307087 47.2440945 1440.5409449 7518.6968504 47.2440945 4038.2598425 7508.0984252 47.2440945 4037.3307087 7118.9645669 47.2440945 4039.6732283 7497.8228346 47.2440945 4034.5787402 7488.1850394 47.2440945 4030.0826772 7479.4724409 47.2440945 4023.9842520 7471.9488189 47.2440945 4016.4606299 7067.8188976 47.2440945 4010.1456693 7465.8464567 47.2440945 4007.7480315 7058.1811024 47.2440945 4005.6496063 7047.9055118 47.2440945 4002.8937008 7037.3110236 47.2440945 4001.9685039 7461.3543307 47.2440945 3998.1062992 7195.9527559 47.2440945 3932.2106299 7465.8464567 47.2440945 3946.7244094 7200.8464567 47.2440945 3932.0866142 7205.6496063 47.2440945 3931.1562992 7210.2362205 47.2440945 3929.4448819 7252.9606299 47.2440945 3912.6118110 7297.5039370 47.2440945 3901.4444882 7343.1141732 47.2440945 3896.1318898 7495.3740157 47.2440945 3895.5811024 7347.9685039 47.2440945 3895.4771654 7352.6456693 47.2440945 3894.0303150 7357.0196850 47.2440945 3891.8295276 7360.9685039 47.2440945 3888.9358268 7501.4763780 47.2440945 3886.8677165 7364.3858268 47.2440945 3885.4295276 7367.1771654 47.2440945 3881.4066929 7509.0000000 47.2440945 3879.3464567 7517.7125984 47.2440945 3873.2448819 7527.3503937 47.2440945 3868.7500000 7537.6259843 47.2440945 3865.9960630 7929.9094488 47.2440945 3848.3795276 7921.0669291 47.2440945 3832.0917323 7548.2244094 47.2440945 3865.0692913 7909.7834646 47.2440945 3817.3877953 7896.3385827 47.2440945 3804.6303150 7881.0669291 47.2440945 3794.1326772 7425.5708661 47.2440945 3780.2681102 7466.4685039 47.2440945 3709.4275591 7468.5236220 47.2440945 3705.0917323 7469.8464567 47.2440945 3700.4807087 7470.4055118 47.2440945 3695.7157480 7470.1889764 47.2440945 3690.9232283 7469.1968504 47.2440945 3686.2299213 7467.4566929 47.2440945 3681.7578740 7465.0157480 47.2440945 3677.6279528 7461.9370079 47.2440945 3673.9472441 7458.3070866 47.2440945 3670.8137795 7454.2125984 47.2440945 3668.3090551 7449.7716535 47.2440945 3666.5003937 6957.9291339 47.2440945 3659.1047244 7355.7559055 47.2440945 3659.4740157 6975.6062992 47.2440945 3653.4106299 6992.1692913 47.2440945 3645.0153543 7093.3661417 47.2440945 3593.9070866 7445.0905512 47.2440945 3665.4362205 7475.0275591 47.2440945 3559.7062992 7201.4212598 47.2440945 3559.5897638 7459.7834646 47.2440945 3552.3094488 7443.6377953 47.2440945 3547.1688976 7426.9251969 47.2440945 3544.3913386 7313.5629921 47.2440945 3542.9433071 2944.2188976 47.2440945 2336.2948819 4144.2716535 47.2440945 2245.0291339 4138.9685039 47.2440945 2243.6086614 4133.9921260 47.2440945 2241.2881890 4129.4960630 47.2440945 2238.1393701 4125.6141732 47.2440945 2234.2570866 4122.4645669 47.2440945 2229.7598425 4120.1456693 47.2440945 2224.7838583 2974.0299213 47.2440945 2220.8759843 2965.4846457 47.2440945 2220.1287402 2957.1984252 47.2440945 2217.9082677 2949.4236220 47.2440945 2214.2830709 2942.3968504 47.2440945 2209.3625984 2936.3311024 47.2440945 2203.2968504 2931.4106299 47.2440945 2196.2700787 2927.7858268 47.2440945 2188.4952756 2925.5649606 47.2440945 2180.2090551 2965.4846457 47.2440945 2123.1984252 2957.1984252 47.2440945 2125.4188976 2949.4236220 47.2440945 2129.0440945 2942.3968504 47.2440945 2133.9645669 2936.3311024 47.2440945 2140.0303150 2931.4106299 47.2440945 2147.0574803 2927.7858268 47.2440945 2154.8318898 2925.5653543 47.2440945 2163.1181102 2924.8173228 47.2440945 2171.6633858 2982.5759843 47.2440945 2220.1283465 4118.7244094 47.2440945 2219.4811024 2990.8618110 47.2440945 2217.9082677 2998.6362205 47.2440945 2214.2830709 4118.2440945 47.2440945 2214.0118110 3005.6629921 47.2440945 2209.3625984 4118.7244094 47.2440945 2208.5425197 3011.7291339 47.2440945 2203.2968504 4120.1456693 47.2440945 2203.2393701 4122.4645669 47.2440945 2198.2637795 3016.6492126 47.2440945 2196.2696850 4125.6141732 47.2440945 2193.7665354 4129.4960630 47.2440945 2189.8846457 3020.2748031 47.2440945 2188.4952756 4133.9921260 47.2440945 2186.7354331 4138.9685039 47.2440945 2184.4153543 4144.2716535 47.2440945 2182.9940945 6140.2755906 47.2440945 3758.4295276 7082.1929134 47.2440945 3758.6818898 6145.7480315 47.2440945 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0 1 2 1 0 3 3 8 1 8 3 9 12 2 13 2 12 0 8 16 17 16 8 9 12 20 21 20 12 13 16 24 17 24 16 25 21 28 29 28 21 20 24 32 33 32 24 25 29 36 37 36 29 28 32 40 33 40 32 41 37 44 45 44 37 36 40 48 49 48 40 41 45 52 53 52 45 44 49 56 57 56 49 48 53 60 61 60 53 52 57 64 65 64 57 56 61 68 69 68 61 60 65 72 73 72 65 64 69 76 77 76 69 68 73 80 81 80 73 72 77 84 85 84 77 76 81 88 89 88 81 80 85 92 93 92 85 84 89 96 97 96 89 88 100 93 92 93 100 101 97 104 105 104 97 96 108 100 109 100 108 101 105 112 113 112 105 104 116 108 109 108 116 117 113 120 121 120 113 112 124 116 125 116 124 117 121 128 129 128 121 120 132 125 133 125 132 124 129 136 137 136 129 128 140 132 133 132 140 141 136 140 137 140 136 141

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0 1 2 1 0 3 8 3 0 3 8 9 2 12 13 12 2 1 16 9 8 9 16 17 13 20 21 20 13 12 24 17 16 17 24 25 21 28 29 28 21 20 32 25 24 25 32 33 29 36 37 36 29 28 40 32 41 32 40 33 37 44 45 44 37 36 48 41 49 41 48 40 45 52 53 52 45 44 56 48 49 48 56 57 53 60 61 60 53 52 64 57 56 57 64 65 60 68 61 68 60 69 72 64 73 64 72 65 69 76 68 76 69 77 80 72 73 72 80 81 76 84 85 84 76 77 88 80 89 80 88 81 84 92 85 92 84 93 96 89 97 89 96 88 92 100 101 100 92 93 96 104 105 104 96 97 101 108 109 108 101 100 105 112 113 112 105 104 116 109 108 109 116 117 113 120 121 120 113 112 124 117 116 117 124 125 121 128 129 128 121 120 132 125 124 125 132 133 129 136 137 136 129 128 140 133 132 133 140 141 137 141 140 141 137 136

- - - -

4 5 6 7 6 5 10 11 4 5 4 11 6 7 14 15 14 7 18 19 10 11 10 19 14 15 22 23 22 15 26 27 18 19 18 27 22 23 30 31 30 23 34 35 26 27 26 35 30 31 38 39 38 31 34 42 35 43 35 42 38 39 46 47 46 39 42 50 43 51 43 50 46 47 54 55 54 47 58 59 50 51 50 59 54 55 62 63 62 55 66 67 58 59 58 67 70 62 71 63 71 62 66 74 67 75 67 74 78 70 79 71 79 70 82 83 74 75 74 83 78 79 86 87 86 79 82 90 83 91 83 90 94 86 95 87 95 86 90 98 91 99 91 98 94 95 102 103 102 95 99 98 106 107 106 98 102 103 110 111 110 103 106 107 114 115 114 107 118 119 111 110 111 119 114 115 122 123 122 115 126 127 118 119 118 127 122 123 130 131 130 123 134 135 126 127 126 135 130 131 138 139 138 131 142 143 134 135 134 143 138 139 142 143 142 139

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0 1 2 1 0 3 3 0 4 3 4 5 5 4 6 5 6 7 7 6 8 7 8 9 9 8 10 9 10 11 11 10 12 11 12 13 13 12 14 13 14 15 15 14 16 15 16 17 17 16 18 17 18 19 19 18 20 19 20 21 21 20 22 21 22 23 23 22 24 23 24 25 25 24 26 25 26 27 27 26 28 27 28 29 29 28 30 29 30 31 31 30 32 31 32 33 33 32 34 33 34 35 35 34 36 35 36 37 37 36 38 37 38 39 39 38 40 39 40 41 41 40 42 41 42 43 43 42 44 43 44 45 45 44 46 45 46 47 47 46 48 47 48 49 49 48 50 49 50 51 51 50 52 51 52 53 53 52 54 53 54 55 55 54 56 55 56 57 57 56 58 57 58 59 59 58 60 59 60 61

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flightgear/Protocol/quadhil.xml diff --git a/libs/opmapcontrol/src/core/tilecachequeue.cpp b/libs/opmapcontrol/src/core/tilecachequeue.cpp index db8e4d4b96230c352ad9c924f902081f826807b3..d50755d8e15f4e0043b14188cdb817612247baf9 100644 --- a/libs/opmapcontrol/src/core/tilecachequeue.cpp +++ b/libs/opmapcontrol/src/core/tilecachequeue.cpp @@ -28,45 +28,39 @@ //#define DEBUG_TILECACHEQUEUE - + +#ifndef DEBUG_TILECACHEQUEUE +#undef qDebug +#define qDebug QT_NO_QDEBUG_MACRO +#endif + namespace core { TileCacheQueue::TileCacheQueue() { } + TileCacheQueue::~TileCacheQueue() { - // QThread::wait(10000); + quit(); + _waitc.wakeAll(); + wait(); + this->deleteLater(); } void TileCacheQueue::EnqueueCacheTask(CacheItemQueue *task) { -#ifdef DEBUG_TILECACHEQUEUE qDebug()<<"DB Do I EnqueueCacheTask"<GetPosition().X()<<","<GetPosition().Y(); -#endif //DEBUG_TILECACHEQUEUE - if(!tileCacheQueue.contains(task)) - { -#ifdef DEBUG_TILECACHEQUEUE + if(!_tileCacheQueue.contains(task)) { qDebug()<<"EnqueueCacheTask"<GetPosition().X()<<","<GetPosition().Y(); -#endif //DEBUG_TILECACHEQUEUE - mutex.lock(); - tileCacheQueue.enqueue(task); - mutex.unlock(); - if(this->isRunning()) - { -#ifdef DEBUG_TILECACHEQUEUE + _mutex.lock(); + _tileCacheQueue.enqueue(task); + _mutex.unlock(); + if(this->isRunning()) { qDebug()<<"Wake Thread"; -#endif //DEBUG_TILECACHEQUEUE - //this->start(QThread::NormalPriority); - //waitmutex.lock(); - waitc.wakeAll(); - //waitmutex.unlock(); - } - else - { -#ifdef DEBUG_TILECACHEQUEUE + _waitc.wakeAll(); + } else { qDebug()<<"Start Thread"; -#endif //DEBUG_TILECACHEQUEUE this->start(QThread::NormalPriority); } } @@ -74,59 +68,35 @@ void TileCacheQueue::EnqueueCacheTask(CacheItemQueue *task) } void TileCacheQueue::run() { -#ifdef DEBUG_TILECACHEQUEUE qDebug()<<"Cache Engine Start"; -#endif //DEBUG_TILECACHEQUEUE - while(true) - { - CacheItemQueue *task; -#ifdef DEBUG_TILECACHEQUEUE - qDebug()<<"Cache"; -#endif //DEBUG_TILECACHEQUEUE - if(tileCacheQueue.count()>0) - { - mutex.lock(); - task=tileCacheQueue.dequeue(); - mutex.unlock(); -#ifdef DEBUG_TILECACHEQUEUE - qDebug()<<"Cache engine Put:"<GetPosition().X()<<","<GetPosition().Y(); -#endif //DEBUG_TILECACHEQUEUE - Cache::Instance()->ImageCache.PutImageToCache(task->GetImg(),task->GetMapType(),task->GetPosition(),task->GetZoom()); + while(true) { + CacheItemQueue *task = NULL; + qDebug() << "Cache"; + if(_tileCacheQueue.count() > 0) { + _mutex.lock(); + task = _tileCacheQueue.dequeue(); + _mutex.unlock(); + Q_ASSERT(task); + qDebug() << "Cache engine Put:" << task->GetPosition().X() << "," << task->GetPosition().Y(); + Cache* cache = Cache::Instance(); + if(cache) { + cache->ImageCache.PutImageToCache(task->GetImg(), task->GetMapType(), task->GetPosition(), task->GetZoom()); + } usleep(44); delete task; - } - - else - { - #ifdef DEBUG_TILECACHEQUEUE - qDebug()<<"Cache engine BEGIN WAIT"; - #endif //DEBUG_TILECACHEQUEUE - waitmutex.lock(); - int tout=4000; - if(!waitc.wait(&waitmutex,tout)) - { - waitmutex.unlock(); -#ifdef DEBUG_TILECACHEQUEUE - qDebug()<<"Cache Engine TimeOut"; -#endif //DEBUG_TILECACHEQUEUE - mutex.lock(); - if(tileCacheQueue.count()==0) - { - mutex.unlock(); - break; - } - mutex.unlock(); + } else { + qDebug() << "Cache engine BEGIN WAIT"; + _waitmutex.lock(); + _waitc.wait(&_waitmutex); + qDebug() << "Cache engine WOKE UP"; + if(!this->isRunning()) { + _waitmutex.unlock(); + break; } - #ifdef DEBUG_TILECACHEQUEUE - qDebug()<<"Cache Engine DID NOT TimeOut"; - #endif //DEBUG_TILECACHEQUEUE - waitmutex.unlock(); + _waitmutex.unlock(); } } -#ifdef DEBUG_TILECACHEQUEUE - qDebug()<<"Cache Engine Stopped"; -#endif //DEBUG_TILECACHEQUEUE + qDebug() << "Cache Engine Stopped"; } - } diff --git a/libs/opmapcontrol/src/core/tilecachequeue.h b/libs/opmapcontrol/src/core/tilecachequeue.h index 7842256cf5f32a1e0f2146f6c9a4846f3e804de3..45230a3867d3c1c694105ba71f6cb20fcfdd7134 100644 --- a/libs/opmapcontrol/src/core/tilecachequeue.h +++ b/libs/opmapcontrol/src/core/tilecachequeue.h @@ -37,7 +37,6 @@ #include "pureimagecache.h" #include "cache.h" - namespace core { class TileCacheQueue:public QThread { @@ -47,13 +46,12 @@ namespace core { ~TileCacheQueue(); void EnqueueCacheTask(CacheItemQueue *task); - protected: - QQueue tileCacheQueue; private: void run(); - QMutex mutex; - QMutex waitmutex; - QWaitCondition waitc; + QMutex _mutex; + QMutex _waitmutex; + QWaitCondition _waitc; + QQueue _tileCacheQueue; }; } #endif // TILECACHEQUEUE_H diff --git a/libs/qextserialport/src/qextserialport_unix.cpp b/libs/qextserialport/src/qextserialport_unix.cpp index 97d7ac1a3416edba120f09479e8126fc94a983fd..78c486568147216a35916a2fbe1c49cb0eb7b444 100755 --- a/libs/qextserialport/src/qextserialport_unix.cpp +++ b/libs/qextserialport/src/qextserialport_unix.cpp @@ -120,7 +120,11 @@ bool QextSerialPortPrivate::close_sys() bool QextSerialPortPrivate::flush_sys() { +#ifdef __android__ + ::ioctl(fd, TCSADRAIN, ¤tTermios); +#else ::tcdrain(fd); +#endif return true; } diff --git a/libs/qtandroidserialport/src/qserialport.cpp b/libs/qtandroidserialport/src/qserialport.cpp new file mode 100644 index 0000000000000000000000000000000000000000..54cbee2e28e7a06c9db986e970a0215ae6886cf5 --- /dev/null +++ b/libs/qtandroidserialport/src/qserialport.cpp @@ -0,0 +1,1375 @@ +/**************************************************************************** +** +** Copyright (C) 2011-2012 Denis Shienkov +** Copyright (C) 2011 Sergey Belyashov +** Copyright (C) 2012 Laszlo Papp +** Copyright (C) 2012 Andre Hartmann +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#include "qserialport.h" +#include "qserialportinfo.h" +#include "qserialportinfo_p.h" + +#ifdef Q_OS_WINCE +#include "qserialport_wince_p.h" +#elif defined (Q_OS_WIN) +#include "qserialport_win_p.h" +#elif defined (Q_OS_SYMBIAN) +#include "qserialport_symbian_p.h" +#elif defined (Q_OS_ANDROID) +#include "qserialport_android_p.h" +#elif defined (Q_OS_UNIX) +#include "qserialport_unix_p.h" +#else +#error Unsupported OS +#endif + +#ifndef SERIALPORT_BUFFERSIZE +# define SERIALPORT_BUFFERSIZE 16384 +#endif + +#include + +QT_BEGIN_NAMESPACE + +QSerialPortPrivateData::QSerialPortPrivateData(QSerialPort *q) + : readBufferMaxSize(0) + , readBuffer(SERIALPORT_BUFFERSIZE) + , writeBuffer(SERIALPORT_BUFFERSIZE) + , error(QSerialPort::NoError) + , inputBaudRate(9600) + , outputBaudRate(9600) + , dataBits(QSerialPort::Data8) + , parity(QSerialPort::NoParity) + , stopBits(QSerialPort::OneStop) + , flowControl(QSerialPort::NoFlowControl) + , policy(QSerialPort::IgnorePolicy) +#if QT_DEPRECATED_SINCE(5,3) + , settingsRestoredOnClose(true) +#endif + , q_ptr(q) +{ +} + +int QSerialPortPrivateData::timeoutValue(int msecs, int elapsed) +{ + if (msecs == -1) + return msecs; + msecs -= elapsed; + return qMax(msecs, 0); +} + +/*! + \class QSerialPort + + \brief Provides functions to access serial ports. + + \reentrant + \ingroup serialport-main + \inmodule QtSerialPort + \since 5.1 + + You can get information about the available serial ports using the + QSerialPortInfo helper class, which allows an enumeration of all the serial + ports in the system. This is useful to obtain the correct name of the + serial port you want to use. You can pass an object + of the helper class as an argument to the setPort() or setPortName() + methods to assign the desired serial device. + + After setting the port, you can open it in read-only (r/o), write-only + (w/o), or read-write (r/w) mode using the open() method. + + \note The serial port is always opened with exclusive access + (that is, no other process or thread can access an already opened serial port). + + Having successfully opened, QSerialPort tries to determine the current + configuration of the port and initializes itself. You can reconfigure the + port to the desired setting using the setBaudRate(), setDataBits(), + setParity(), setStopBits(), and setFlowControl() methods. + + There are a couple of properties to work with the pinout signals namely: + QSerialPort::dataTerminalReady, QSerialPort::requestToSend. It is also + possible to use the pinoutSignals() method to query the current pinout + signals set. + + Once you know that the ports are ready to read or write, you can + use the read() or write() methods. Alternatively the + readLine() and readAll() convenience methods can also be invoked. + If not all the data is read at once, the remaining data will + be available for later as new incoming data is appended to the + QSerialPort's internal read buffer. You can limit the size of the read + buffer using setReadBufferSize(). + + Use the close() method to close the port and cancel the I/O operations. + + See the following example: + + \code + int numRead = 0, numReadTotal = 0; + char buffer[50]; + + forever { + numRead = serial.read(buffer, 50); + + // Do whatever with the array + + numReadTotal += numRead; + if (numRead == 0 && !serial.waitForReadyRead()) + break; + } + \endcode + + If \l{QIODevice::}{waitForReadyRead()} returns false, the + connection has been closed or an error has occurred. + + Programming with a blocking serial port is radically different from + programming with a non-blocking serial port. A blocking serial port + does not require an event loop and typically leads to simpler code. + However, in a GUI application, blocking serial port should only be + used in non-GUI threads, to avoid freezing the user interface. + + For more details about these approaches, refer to the + \l {Examples}{example} applications. + + The QSerialPort class can also be used with QTextStream and QDataStream's + stream operators (operator<<() and operator>>()). There is one issue to be + aware of, though: make sure that enough data is available before attempting + to read by using the operator>>() overloaded operator. + + \sa QSerialPortInfo +*/ + +/*! + \enum QSerialPort::Direction + + This enum describes the possible directions of the data transmission. + + \note This enumeration is used for setting the baud rate of the device + separately for each direction on some operating systems (for example, + POSIX-like). + + \value Input Input direction. + \value Output Output direction. + \value AllDirections Simultaneously in two directions. +*/ + +/*! + \enum QSerialPort::BaudRate + + This enum describes the baud rate which the communication device operates + with. + + \note Only the most common standard baud rates are listed in this enum. + + \value Baud1200 1200 baud. + \value Baud2400 2400 baud. + \value Baud4800 4800 baud. + \value Baud9600 9600 baud. + \value Baud19200 19200 baud. + \value Baud38400 38400 baud. + \value Baud57600 57600 baud. + \value Baud115200 115200 baud. + \value UnknownBaud Unknown baud. This value is obsolete. It is provided to + keep old source code working. We strongly advise against + using it in new code. + + \sa QSerialPort::baudRate +*/ + +/*! + \enum QSerialPort::DataBits + + This enum describes the number of data bits used. + + \value Data5 The number of data bits in each character is 5. It + is used for Baudot code. It generally only makes + sense with older equipment such as teleprinters. + \value Data6 The number of data bits in each character is 6. It + is rarely used. + \value Data7 The number of data bits in each character is 7. It + is used for true ASCII. It generally only makes + sense with older equipment such as teleprinters. + \value Data8 The number of data bits in each character is 8. It + is used for most kinds of data, as this size matches + the size of a byte. It is almost universally used in + newer applications. + \value UnknownDataBits Unknown number of bits. This value is obsolete. It + is provided to keep old source code working. We + strongly advise against using it in new code. + + \sa QSerialPort::dataBits +*/ + +/*! + \enum QSerialPort::Parity + + This enum describes the parity scheme used. + + \value NoParity No parity bit it sent. This is the most common + parity setting. Error detection is handled by the + communication protocol. + \value EvenParity The number of 1 bits in each character, including + the parity bit, is always even. + \value OddParity The number of 1 bits in each character, including + the parity bit, is always odd. It ensures that at + least one state transition occurs in each character. + \value SpaceParity Space parity. The parity bit is sent in the space + signal condition. It does not provide error + detection information. + \value MarkParity Mark parity. The parity bit is always set to the + mark signal condition (logical 1). It does not + provide error detection information. + \value UnknownParity Unknown parity. This value is obsolete. It is + provided to keep old source code working. We + strongly advise against using it in new code. + + \sa QSerialPort::parity +*/ + +/*! + \enum QSerialPort::StopBits + + This enum describes the number of stop bits used. + + \value OneStop 1 stop bit. + \value OneAndHalfStop 1.5 stop bits. This is only for the Windows platform. + \value TwoStop 2 stop bits. + \value UnknownStopBits Unknown number of stop bits. This value is obsolete. + It is provided to keep old source code working. We + strongly advise against using it in new code. + + \sa QSerialPort::stopBits +*/ + +/*! + \enum QSerialPort::FlowControl + + This enum describes the flow control used. + + \value NoFlowControl No flow control. + \value HardwareControl Hardware flow control (RTS/CTS). + \value SoftwareControl Software flow control (XON/XOFF). + \value UnknownFlowControl Unknown flow control. This value is obsolete. It + is provided to keep old source code working. We + strongly advise against using it in new code. + + \sa QSerialPort::flowControl +*/ + +/*! + \enum QSerialPort::PinoutSignal + + This enum describes the possible RS-232 pinout signals. + + \value NoSignal No line active + \value TransmittedDataSignal TxD (Transmitted Data). This value is + obsolete. It is provided to keep old + source code working. We strongly + advise against using it in new code. + \value ReceivedDataSignal RxD (Received Data). This value is + obsolete. It is provided to keep old + source code working. We strongly + advise against using it in new code. + \value DataTerminalReadySignal DTR (Data Terminal Ready). + \value DataCarrierDetectSignal DCD (Data Carrier Detect). + \value DataSetReadySignal DSR (Data Set Ready). + \value RingIndicatorSignal RNG (Ring Indicator). + \value RequestToSendSignal RTS (Request To Send). + \value ClearToSendSignal CTS (Clear To Send). + \value SecondaryTransmittedDataSignal STD (Secondary Transmitted Data). + \value SecondaryReceivedDataSignal SRD (Secondary Received Data). + + \sa pinoutSignals(), QSerialPort::dataTerminalReady, + QSerialPort::requestToSend +*/ + +/*! + \enum QSerialPort::DataErrorPolicy + \obsolete + + This enum describes the policies for the received symbols + while parity errors were detected. + + \value SkipPolicy Skips the bad character. + \value PassZeroPolicy Replaces bad character with zero. + \value IgnorePolicy Ignores the error for a bad character. + \value StopReceivingPolicy Stops data reception on error. + \value UnknownPolicy Unknown policy. + + \sa QSerialPort::dataErrorPolicy +*/ + +/*! + \enum QSerialPort::SerialPortError + + This enum describes the errors that may be contained by the + QSerialPort::error property. + + \value NoError No error occurred. + + \value DeviceNotFoundError An error occurred while attempting to + open an non-existing device. + + \value PermissionError An error occurred while attempting to + open an already opened device by another + process or a user not having enough permission + and credentials to open. + + \value OpenError An error occurred while attempting to open an + already opened device in this object. + + \value NotOpenError This error occurs when an operation is executed + that can only be successfully performed if the + device is open. This value was introduced in + QtSerialPort 5.2. + + \value ParityError Parity error detected by the hardware while + reading data. + + \value FramingError Framing error detected by the hardware while + reading data. + + \value BreakConditionError Break condition detected by the hardware on + the input line. + + \value WriteError An I/O error occurred while writing the data. + + \value ReadError An I/O error occurred while reading the data. + + \value ResourceError An I/O error occurred when a resource becomes + unavailable, e.g. when the device is + unexpectedly removed from the system. + + \value UnsupportedOperationError The requested device operation is not + supported or prohibited by the running operating + system. + + \value TimeoutError A timeout error occurred. This value was + introduced in QtSerialPort 5.2. + + \value UnknownError An unidentified error occurred. + \sa QSerialPort::error +*/ + + + +/*! + Constructs a new serial port object with the given \a parent. +*/ +QSerialPort::QSerialPort(QObject *parent) + : QIODevice(parent) + , d_ptr(new QSerialPortPrivate(this)) +{} + +/*! + Constructs a new serial port object with the given \a parent + to represent the serial port with the specified \a name. + + The name should have a specific format; see the setPort() method. +*/ +QSerialPort::QSerialPort(const QString &name, QObject *parent) + : QIODevice(parent) + , d_ptr(new QSerialPortPrivate(this)) +{ + setPortName(name); +} + +/*! + Constructs a new serial port object with the given \a parent + to represent the serial port with the specified helper class + \a serialPortInfo. +*/ +QSerialPort::QSerialPort(const QSerialPortInfo &serialPortInfo, QObject *parent) + : QIODevice(parent) + , d_ptr(new QSerialPortPrivate(this)) +{ + setPort(serialPortInfo); +} + +/*! + Closes the serial port, if necessary, and then destroys object. +*/ +QSerialPort::~QSerialPort() +{ + /**/ + if (isOpen()) + close(); + delete d_ptr; +} + +/*! + Sets the \a name of the serial port. + + The name of the serial port can be passed as either a short name or + the long system location if necessary. + + \sa portName(), QSerialPortInfo +*/ +void QSerialPort::setPortName(const QString &name) +{ + Q_D(QSerialPort); + d->systemLocation = QSerialPortInfoPrivate::portNameToSystemLocation(name); +} + +/*! + Sets the port stored in the serial port info instance \a serialPortInfo. + + \sa portName(), QSerialPortInfo +*/ +void QSerialPort::setPort(const QSerialPortInfo &serialPortInfo) +{ + Q_D(QSerialPort); + d->systemLocation = serialPortInfo.systemLocation(); +} + +/*! + Returns the name set by setPort() or passed to the QSerialPort constructor. + This name is short, i.e. it is extracted and converted from the internal + variable system location of the device. The conversion algorithm is + platform specific: + \table + \header + \li Platform + \li Brief Description + \row + \li Windows + \li Removes the prefix "\\\\.\\" or "//./" from the system location + and returns the remainder of the string. + \row + \li Windows CE + \li Removes the suffix ":" from the system location + and returns the remainder of the string. + \row + \li Symbian + \li Returns the system location as it is, + as it is equivalent to the port name. + \row + \li Unix, BSD + \li Removes the prefix "/dev/" from the system location + and returns the remainder of the string. + \endtable + + \sa setPort(), QSerialPortInfo::portName() +*/ +QString QSerialPort::portName() const +{ + Q_D(const QSerialPort); + return QSerialPortInfoPrivate::portNameFromSystemLocation(d->systemLocation); +} + +/*! + \reimp + + Opens the serial port using OpenMode \a mode, and then returns true if + successful; otherwise returns false and sets an error code which can be + obtained by calling the error() method. + + \note The method returns false if opening the port is successful, but could + not set any of the port settings successfully. In that case, the port is + closed automatically not to leave the port around with incorrect settings. + + \warning The \a mode has to be QIODevice::ReadOnly, QIODevice::WriteOnly, + or QIODevice::ReadWrite. Other modes are unsupported. + + \sa QIODevice::OpenMode, setPort() +*/ +bool QSerialPort::open(OpenMode mode) +{ + Q_D(QSerialPort); + + if (isOpen()) { + setError(QSerialPort::OpenError); + return false; + } + + // Define while not supported modes. + static const OpenMode unsupportedModes = Append | Truncate | Text | Unbuffered; + if ((mode & unsupportedModes) || mode == NotOpen) { + setError(QSerialPort::UnsupportedOperationError); + return false; + } + + clearError(); + if (!d->open(mode)) + return false; + + if (!d->setBaudRate() + || !d->setDataBits(d->dataBits) + || !d->setParity(d->parity) + || !d->setStopBits(d->stopBits) + || !d->setFlowControl(d->flowControl)) { + d->close(); + return false; + } + + QIODevice::open(mode); + return true; +} + +/*! + \reimp + + \note The serial port has to be open before trying to close it; otherwise + sets the NotOpenError error code. + + \sa QIODevice::close() +*/ +void QSerialPort::close() +{ + Q_D(QSerialPort); + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + return; + } + + QIODevice::close(); + d->close(); +} + +/*! + \property QSerialPort::settingsRestoredOnClose + \brief the flag which specifies to restore the previous settings when closing + the serial port. + \obsolete + + If this flag is true, the settings will be restored; otherwise not. + The default state of the QSerialPort class is to restore the + settings. +*/ +#if QT_DEPRECATED_SINCE(5,3) +void QSerialPort::setSettingsRestoredOnClose(bool restore) +{ + Q_D(QSerialPort); + + if (d->settingsRestoredOnClose != restore) { + d->settingsRestoredOnClose = restore; + emit settingsRestoredOnCloseChanged(d->settingsRestoredOnClose); + } +} + +bool QSerialPort::settingsRestoredOnClose() const +{ + Q_D(const QSerialPort); + return d->settingsRestoredOnClose; +} +#endif // QT_DEPRECATED_SINCE(5,3) +/*! + \fn void QSerialPort::settingsRestoredOnCloseChanged(bool restore) + \obsolete + + This signal is emitted after the flag which specifies to restore the + previous settings while closing the serial port has been changed. The new + flag which specifies to restore the previous settings while closing the serial + port is passed as \a restore. + + \sa QSerialPort::settingsRestoredOnClose +*/ + +/*! + \property QSerialPort::baudRate + \brief the data baud rate for the desired direction + + If the setting is successful or set before opening the port, returns true; + otherwise returns false and sets an error code which can be obtained by + accessing the value of the QSerialPort::error property. To set the baud + rate, use the enumeration QSerialPort::BaudRate or any positive qint32 + value. + + \note If the setting is set before opening the port, the actual serial port + setting is done automatically in the \l{QSerialPort::open()} method right + after that the opening of the port succeeds. + + \warning Setting the AllDirections flag is only supported on + the Windows, Windows CE, and Symbian platforms. + + \warning Returns equal baud rate in any direction on Windows, Windows CE, and + Symbian. + + The default value is Baud9600, i.e. 9600 bits per second. +*/ +bool QSerialPort::setBaudRate(qint32 baudRate, Directions directions) +{ + Q_D(QSerialPort); + + if (!isOpen() || d->setBaudRate(baudRate, directions)) { + if (directions & QSerialPort::Input) { + if (d->inputBaudRate != baudRate) + d->inputBaudRate = baudRate; + else + directions &= ~QSerialPort::Input; + } + + if (directions & QSerialPort::Output) { + if (d->outputBaudRate != baudRate) + d->outputBaudRate = baudRate; + else + directions &= ~QSerialPort::Output; + } + + if (directions) + emit baudRateChanged(baudRate, directions); + + return true; + } + + return false; +} + +qint32 QSerialPort::baudRate(Directions directions) const +{ + Q_D(const QSerialPort); + if (directions == QSerialPort::AllDirections) + return d->inputBaudRate == d->outputBaudRate ? + d->inputBaudRate : -1; + return directions & QSerialPort::Input ? d->inputBaudRate : d->outputBaudRate; +} + +/*! + \fn void QSerialPort::baudRateChanged(qint32 baudRate, Directions directions) + + This signal is emitted after the baud rate has been changed. The new baud + rate is passed as \a baudRate and directions as \a directions. + + \sa QSerialPort::baudRate +*/ + +/*! + \property QSerialPort::dataBits + \brief the data bits in a frame + + If the setting is successful or set before opening the port, returns + true; otherwise returns false and sets an error code which can be obtained + by accessing the value of the QSerialPort::error property. + + \note If the setting is set before opening the port, the actual serial port + setting is done automatically in the \l{QSerialPort::open()} method right + after that the opening of the port succeeds. + + The default value is Data8, i.e. 8 data bits. +*/ +bool QSerialPort::setDataBits(DataBits dataBits) +{ + Q_D(QSerialPort); + + if (!isOpen() || d->setDataBits(dataBits)) { + if (d->dataBits != dataBits) { + d->dataBits = dataBits; + emit dataBitsChanged(d->dataBits); + } + return true; + } + + return false; +} + +QSerialPort::DataBits QSerialPort::dataBits() const +{ + Q_D(const QSerialPort); + return d->dataBits; +} + +/*! + \fn void QSerialPort::dataBitsChanged(DataBits dataBits) + + This signal is emitted after the data bits in a frame has been changed. The + new data bits in a frame is passed as \a dataBits. + + \sa QSerialPort::dataBits +*/ + + +/*! + \property QSerialPort::parity + \brief the parity checking mode + + If the setting is successful or set before opening the port, returns true; + otherwise returns false and sets an error code which can be obtained by + accessing the value of the QSerialPort::error property. + + \note If the setting is set before opening the port, the actual serial port + setting is done automatically in the \l{QSerialPort::open()} method right + after that the opening of the port succeeds. + + The default value is NoParity, i.e. no parity. +*/ +bool QSerialPort::setParity(Parity parity) +{ + Q_D(QSerialPort); + + if (!isOpen() || d->setParity(parity)) { + if (d->parity != parity) { + d->parity = parity; + emit parityChanged(d->parity); + } + return true; + } + + return false; +} + +QSerialPort::Parity QSerialPort::parity() const +{ + Q_D(const QSerialPort); + return d->parity; +} + +/*! + \fn void QSerialPort::parityChanged(Parity parity) + + This signal is emitted after the parity checking mode has been changed. The + new parity checking mode is passed as \a parity. + + \sa QSerialPort::parity +*/ + +/*! + \property QSerialPort::stopBits + \brief the number of stop bits in a frame + + If the setting is successful or set before opening the port, returns true; + otherwise returns false and sets an error code which can be obtained by + accessing the value of the QSerialPort::error property. + + \note If the setting is set before opening the port, the actual serial port + setting is done automatically in the \l{QSerialPort::open()} method right + after that the opening of the port succeeds. + + The default value is OneStop, i.e. 1 stop bit. +*/ +bool QSerialPort::setStopBits(StopBits stopBits) +{ + Q_D(QSerialPort); + + if (!isOpen() || d->setStopBits(stopBits)) { + if (d->stopBits != stopBits) { + d->stopBits = stopBits; + emit stopBitsChanged(d->stopBits); + } + return true; + } + + return false; +} + +QSerialPort::StopBits QSerialPort::stopBits() const +{ + Q_D(const QSerialPort); + return d->stopBits; +} + +/*! + \fn void QSerialPort::stopBitsChanged(StopBits stopBits) + + This signal is emitted after the number of stop bits in a frame has been + changed. The new number of stop bits in a frame is passed as \a stopBits. + + \sa QSerialPort::stopBits +*/ + +/*! + \property QSerialPort::flowControl + \brief the desired flow control mode + + If the setting is successful or set before opening the port, returns true; + otherwise returns false and sets an error code which can be obtained by + accessing the value of the QSerialPort::error property. + + \note If the setting is set before opening the port, the actual serial port + setting is done automatically in the \l{QSerialPort::open()} method right + after that the opening of the port succeeds. + + The default value is NoFlowControl, i.e. no flow control. +*/ +bool QSerialPort::setFlowControl(FlowControl flowControl) +{ + Q_D(QSerialPort); + + if (!isOpen() || d->setFlowControl(flowControl)) { + if (d->flowControl != flowControl) { + d->flowControl = flowControl; + emit flowControlChanged(d->flowControl); + } + return true; + } + + return false; +} + +QSerialPort::FlowControl QSerialPort::flowControl() const +{ + Q_D(const QSerialPort); + return d->flowControl; +} + +/*! + \fn void QSerialPort::flowControlChanged(FlowControl flow) + + This signal is emitted after the flow control mode has been changed. The + new flow control mode is passed as \a flow. + + \sa QSerialPort::flowControl +*/ + +/*! + \property QSerialPort::dataTerminalReady + \brief the state (high or low) of the line signal DTR + + Returns true on success, false otherwise. + If the flag is true then the DTR signal is set to high; otherwise low. + + \note The serial port has to be open before trying to set or get this + property; otherwise false is returned and the error code is set to + NotOpenError. + + \sa pinoutSignals() +*/ +bool QSerialPort::setDataTerminalReady(bool set) +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + const bool dataTerminalReady = isDataTerminalReady(); + const bool retval = d->setDataTerminalReady(set); + if (retval && (dataTerminalReady != set)) + emit dataTerminalReadyChanged(set); + + return retval; +} + +bool QSerialPort::isDataTerminalReady() +{ + Q_D(QSerialPort); + return d->pinoutSignals() & QSerialPort::DataTerminalReadySignal; +} + +/*! + \fn void QSerialPort::dataTerminalReadyChanged(bool set) + + This signal is emitted after the state (high or low) of the line signal DTR + has been changed. The new the state (high or low) of the line signal DTR is + passed as \a set. + + \sa QSerialPort::dataTerminalReady +*/ + +/*! + \property QSerialPort::requestToSend + \brief the state (high or low) of the line signal RTS + + Returns true on success, false otherwise. + If the flag is true then the RTS signal is set to high; otherwise low. + + \note The serial port has to be open before trying to set or get this + property; otherwise false is returned and the error code is set to + NotOpenError. + + \sa pinoutSignals() +*/ +bool QSerialPort::setRequestToSend(bool set) +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + const bool requestToSend = isRequestToSend(); + const bool retval = d->setRequestToSend(set); + if (retval && (requestToSend != set)) + emit requestToSendChanged(set); + + return retval; +} + +bool QSerialPort::isRequestToSend() +{ + Q_D(QSerialPort); + return d->pinoutSignals() & QSerialPort::RequestToSendSignal; +} + +/*! + \fn void QSerialPort::requestToSendChanged(bool set) + + This signal is emitted after the state (high or low) of the line signal RTS + has been changed. The new the state (high or low) of the line signal RTS is + passed as \a set. + + \sa QSerialPort::requestToSend +*/ + +/*! + Returns the state of the line signals in a bitmap format. + + From this result, it is possible to allocate the state of the + desired signal by applying a mask "AND", where the mask is + the desired enumeration value from QSerialPort::PinoutSignals. + + \note This method performs a system call, thus ensuring that the line signal + states are returned properly. This is necessary when the underlying + operating systems cannot provide proper notifications about the changes. + + \note The serial port has to be open before trying to get the pinout + signals; otherwise returns NoSignal and sets the NotOpenError error code. + + \sa QSerialPort::dataTerminalReady, QSerialPort::requestToSend +*/ +QSerialPort::PinoutSignals QSerialPort::pinoutSignals() +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return QSerialPort::NoSignal; + } + + return d->pinoutSignals(); +} + +/*! + This function writes as much as possible from the internal write + buffer to the underlying serial port without blocking. If any data + was written, this function returns true; otherwise returns false. + + Call this function for sending the buffered data immediately to the serial + port. The number of bytes successfully written depends on the operating + system. In most cases, this function does not need to be called, because the + QSerialPort class will start sending data automatically once control is + returned to the event loop. In the absence of an event loop, call + waitForBytesWritten() instead. + + \note The serial port has to be open before trying to flush any buffered + data; otherwise returns false and sets the NotOpenError error code. + + \sa write(), waitForBytesWritten() +*/ +bool QSerialPort::flush() +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + return d->flush(); +} + +/*! + Discards all characters from the output or input buffer, depending on + given directions \a directions. This includes clearing the internal class buffers and + the UART (driver) buffers. Also terminate pending read or write operations. + If successful, returns true; otherwise returns false. + + \note The serial port has to be open before trying to clear any buffered + data; otherwise returns false and sets the NotOpenError error code. +*/ +bool QSerialPort::clear(Directions directions) +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + if (directions & Input) + d->readBuffer.clear(); + if (directions & Output) + d->writeBuffer.clear(); + return d->clear(directions); +} + +/*! + \reimp + + Returns true if no more data is currently available for reading; otherwise + returns false. + + This function is most commonly used when reading data from the + serial port in a loop. For example: + + \code + // This slot is connected to QSerialPort::readyRead() + void QSerialPortClass::readyReadSlot() + { + while (!port.atEnd()) { + QByteArray data = port.read(100); + .... + } + } + \endcode + + \sa bytesAvailable(), readyRead() + */ +bool QSerialPort::atEnd() const +{ + Q_D(const QSerialPort); + return QIODevice::atEnd() && (!isOpen() || (d->readBuffer.size() == 0)); +} + +/*! + \property QSerialPort::dataErrorPolicy + \brief the error policy for how the process receives characters in the case where + a parity error is detected. + \obsolete + + If the setting is successful, returns true; otherwise returns false. The + default policy set is IgnorePolicy. + + \note The serial port has to be open before trying to set this property; + otherwise returns false and sets the NotOpenError error code. This is a bit + unusual as opposed to the regular Qt property settings of a class. However, + this is a special use case since the property is set through the interaction + with the kernel and hardware. Hence, the two scenarios cannot be completely + compared to each other. +*/ +#if QT_DEPRECATED_SINCE(5, 2) +bool QSerialPort::setDataErrorPolicy(DataErrorPolicy policy) +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + const bool ret = d->policy == policy || d->setDataErrorPolicy(policy); + if (ret && (d->policy != policy)) { + d->policy = policy; + emit dataErrorPolicyChanged(d->policy); + } + + return ret; +} + +QSerialPort::DataErrorPolicy QSerialPort::dataErrorPolicy() const +{ + Q_D(const QSerialPort); + return d->policy; +} +#endif // QT_DEPRECATED_SINCE(5, 2) +/*! + \fn void QSerialPort::dataErrorPolicyChanged(DataErrorPolicy policy) + \obsolete + + This signal is emitted after the error policy for how the process receives + characters in case of parity error detection has been changed. The new error + policy for how the process receives the character in case of parity error + detection is passed as \a policy. + + \sa QSerialPort::dataErrorPolicy +*/ + +/*! + \property QSerialPort::error + \brief the error status of the serial port + + The I/O device status returns an error code. For example, if open() + returns false, or a read/write operation returns -1, this property can + be used to figure out the reason why the operation failed. + + The error code is set to the default QSerialPort::NoError after a call to + clearError() +*/ +QSerialPort::SerialPortError QSerialPort::error() const +{ + Q_D(const QSerialPort); + return d->error; +} + +void QSerialPort::clearError() +{ + setError(QSerialPort::NoError); +} + +/*! + \fn void QSerialPort::error(SerialPortError error) + + This signal is emitted after the error has been changed. The new error + is passed as \a error. + + \sa QSerialPort::error +*/ + +/*! + Returns the size of the internal read buffer. This limits the + amount of data that the client can receive before calling the read() + or readAll() methods. + + A read buffer size of 0 (the default) means that the buffer has + no size limit, ensuring that no data is lost. + + \sa setReadBufferSize(), read() +*/ +qint64 QSerialPort::readBufferSize() const +{ + Q_D(const QSerialPort); + return d->readBufferMaxSize; +} + +/*! + Sets the size of QSerialPort's internal read buffer to be \a + size bytes. + + If the buffer size is limited to a certain size, QSerialPort + will not buffer more than this size of data. The special case of a buffer + size of 0 means that the read buffer is unlimited and all + incoming data is buffered. This is the default. + + This option is useful if the data is only read at certain points + in time (for instance in a real-time streaming application) or if the serial + port should be protected against receiving too much data, which may + eventually cause the application to run out of memory. + + \sa readBufferSize(), read() +*/ +void QSerialPort::setReadBufferSize(qint64 size) +{ + Q_D(QSerialPort); + + if (d->readBufferMaxSize == size) + return; + d->readBufferMaxSize = size; +} + +/*! + \reimp + + Always returns true. The serial port is a sequential device. +*/ +bool QSerialPort::isSequential() const +{ + return true; +} + +/*! + \reimp + + Returns the number of incoming bytes that are waiting to be read. + + \sa bytesToWrite(), read() +*/ +qint64 QSerialPort::bytesAvailable() const +{ + Q_D(const QSerialPort); + return d->readBuffer.size() + QIODevice::bytesAvailable(); +} + +/*! + \reimp + + Returns the number of bytes that are waiting to be written. The + bytes are written when control goes back to the event loop or + when flush() is called. + + \sa bytesAvailable(), flush() +*/ +qint64 QSerialPort::bytesToWrite() const +{ + Q_D(const QSerialPort); + return d->bytesToWrite() + QIODevice::bytesToWrite(); +} + +/*! + \reimp + + Returns true if a line of data can be read from the serial port; + otherwise returns false. + + \sa readLine() +*/ +bool QSerialPort::canReadLine() const +{ + Q_D(const QSerialPort); + const bool hasLine = (d->readBuffer.size() > 0) && d->readBuffer.canReadLine(); + return hasLine || QIODevice::canReadLine(); +} + +/*! + \reimp + + This function blocks until new data is available for reading and the + \l{QIODevice::}{readyRead()} signal has been emitted. The function + will timeout after \a msecs milliseconds. + + The function returns true if the readyRead() signal is emitted and + there is new data available for reading; otherwise it returns false + (if an error occurred or the operation timed out). + + \sa waitForBytesWritten() +*/ +bool QSerialPort::waitForReadyRead(int msecs) +{ + Q_D(QSerialPort); + return d->waitForReadyRead(msecs); +} + +/*! + \fn Handle QSerialPort::handle() const + \since 5.2 + + If the platform is supported and the serial port is open, returns the native + serial port handle; otherwise returns -1. + + \warning This function is for expert use only; use it at your own risk. + Furthermore, this function carries no compatibility promise between minor + Qt releases. +*/ + +/*! + \reimp +*/ +bool QSerialPort::waitForBytesWritten(int msecs) +{ + Q_D(QSerialPort); + return d->waitForBytesWritten(msecs); +} + +/*! + Sends a continuous stream of zero bits during a specified period + of time \a duration in msec if the terminal is using asynchronous + serial data. If successful, returns true; otherwise returns false. + + If the duration is zero then zero bits are transmitted by at least + 0.25 seconds, but no more than 0.5 seconds. + + If the duration is non zero then zero bits are transmitted within a certain + period of time depending on the implementation. + + \note The serial port has to be open before trying to send a break + duration; otherwise returns false and sets the NotOpenError error code. + + \sa setBreakEnabled() +*/ +bool QSerialPort::sendBreak(int duration) +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + return d->sendBreak(duration); +} + +/*! + Controls the signal break, depending on the flag \a set. + If successful, returns true; otherwise returns false. + + If \a set is true then enables the break transmission; otherwise disables. + + \note The serial port has to be open before trying to set break enabled; + otherwise returns false and sets the NotOpenError error code. + + \sa sendBreak() +*/ +bool QSerialPort::setBreakEnabled(bool set) +{ + Q_D(QSerialPort); + + if (!isOpen()) { + setError(QSerialPort::NotOpenError); + qWarning("%s: device not open", Q_FUNC_INFO); + return false; + } + + return d->setBreakEnabled(set); +} + +/*! + \reimp +*/ +qint64 QSerialPort::readData(char *data, qint64 maxSize) +{ + Q_D(QSerialPort); +#ifdef Q_OS_ANDROID + qint64 retL = d->readBuffer.read(data, maxSize); + d->startReadThread(); + return retL; +#else + return d->readData(data, maxSize); +#endif +} + +/*! + \reimp +*/ +qint64 QSerialPort::readLineData(char *data, qint64 maxSize) +{ +#ifdef Q_OS_ANDROID + qint64 retL = QIODevice::readLineData(data, maxSize); + Q_D(QSerialPort); + d->startReadThread(); + return retL; +#else + return QIODevice::readLineData(data, maxSize); +#endif +} + +/*! + \reimp +*/ +qint64 QSerialPort::writeData(const char *data, qint64 maxSize) +{ + Q_D(QSerialPort); + return d->writeData(data, maxSize); +} + +void QSerialPort::setError(QSerialPort::SerialPortError serialPortError, const QString &errorString) +{ + Q_D(QSerialPort); + + d->error = serialPortError; + + if (errorString.isNull()) + setErrorString(qt_error_string(-1)); + else + setErrorString(errorString); + + emit error(serialPortError); +} + +#include "moc_qserialport.cpp" + +QT_END_NAMESPACE diff --git a/libs/qtandroidserialport/src/qserialport.h b/libs/qtandroidserialport/src/qserialport.h new file mode 100644 index 0000000000000000000000000000000000000000..e1b6aea92d2ced14cf3a7f5dda84b05ee4d33a6f --- /dev/null +++ b/libs/qtandroidserialport/src/qserialport.h @@ -0,0 +1,287 @@ +/**************************************************************************** +** +** Copyright (C) 2012 Denis Shienkov +** Copyright (C) 2013 Laszlo Papp +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QSERIALPORT_H +#define QSERIALPORT_H + +#include + +QT_BEGIN_NAMESPACE + +class QSerialPortInfo; +class QSerialPortPrivate; + +class QSerialPort : public QIODevice +{ + Q_OBJECT + Q_DECLARE_PRIVATE(QSerialPort) + + Q_PROPERTY(qint32 baudRate READ baudRate WRITE setBaudRate NOTIFY baudRateChanged) + Q_PROPERTY(DataBits dataBits READ dataBits WRITE setDataBits NOTIFY dataBitsChanged) + Q_PROPERTY(Parity parity READ parity WRITE setParity NOTIFY parityChanged) + Q_PROPERTY(StopBits stopBits READ stopBits WRITE setStopBits NOTIFY stopBitsChanged) + Q_PROPERTY(FlowControl flowControl READ flowControl WRITE setFlowControl NOTIFY flowControlChanged) +#if QT_DEPRECATED_SINCE(5, 2) + Q_PROPERTY(DataErrorPolicy dataErrorPolicy READ dataErrorPolicy WRITE setDataErrorPolicy NOTIFY dataErrorPolicyChanged) +#endif + Q_PROPERTY(bool dataTerminalReady READ isDataTerminalReady WRITE setDataTerminalReady NOTIFY dataTerminalReadyChanged) + Q_PROPERTY(bool requestToSend READ isRequestToSend WRITE setRequestToSend NOTIFY requestToSendChanged) + Q_PROPERTY(SerialPortError error READ error RESET clearError NOTIFY error) +#if QT_DEPRECATED_SINCE(5, 3) + Q_PROPERTY(bool settingsRestoredOnClose READ settingsRestoredOnClose WRITE setSettingsRestoredOnClose NOTIFY settingsRestoredOnCloseChanged) +#endif + + Q_ENUMS(BaudRate DataBits Parity StopBits FlowControl DataErrorPolicy SerialPortError) + Q_FLAGS(Directions PinoutSignals) + +#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE) + typedef void* Handle; +#else + typedef int Handle; +#endif + +public: + + enum Direction { + Input = 1, + Output = 2, + AllDirections = Input | Output + }; + Q_DECLARE_FLAGS(Directions, Direction) + + enum BaudRate { + Baud1200 = 1200, + Baud2400 = 2400, + Baud4800 = 4800, + Baud9600 = 9600, + Baud19200 = 19200, + Baud38400 = 38400, + Baud57600 = 57600, + Baud115200 = 115200, + UnknownBaud = -1 + }; + + enum DataBits { + Data5 = 5, + Data6 = 6, + Data7 = 7, + Data8 = 8, + UnknownDataBits = -1 + }; + + enum Parity { + NoParity = 0, + EvenParity = 2, + OddParity = 3, + SpaceParity = 4, + MarkParity = 5, + UnknownParity = -1 + }; + + enum StopBits { + OneStop = 1, + OneAndHalfStop = 3, + TwoStop = 2, + UnknownStopBits = -1 + }; + + enum FlowControl { + NoFlowControl, + HardwareControl, + SoftwareControl, + UnknownFlowControl = -1 + }; + + enum PinoutSignal { + NoSignal = 0x00, + TransmittedDataSignal = 0x01, + ReceivedDataSignal = 0x02, + DataTerminalReadySignal = 0x04, + DataCarrierDetectSignal = 0x08, + DataSetReadySignal = 0x10, + RingIndicatorSignal = 0x20, + RequestToSendSignal = 0x40, + ClearToSendSignal = 0x80, + SecondaryTransmittedDataSignal = 0x100, + SecondaryReceivedDataSignal = 0x200 + }; + Q_DECLARE_FLAGS(PinoutSignals, PinoutSignal) + +#if QT_DEPRECATED_SINCE(5, 2) +#if defined _MSC_VER +#pragma deprecated(UnknownBaud) +#pragma deprecated(UnknownDataBits) +#pragma deprecated(UnknownParity) +#pragma deprecated(UnknownStopBits) +#pragma deprecated(UnknownFlowControl) +#pragma deprecated(TransmittedDataSignal) +#pragma deprecated(ReceivedDataSignal) +#endif +#endif + +#if QT_DEPRECATED_SINCE(5, 2) + enum DataErrorPolicy { + SkipPolicy, + PassZeroPolicy, + IgnorePolicy, + StopReceivingPolicy, + UnknownPolicy = -1 + }; +#endif + + enum SerialPortError { + NoError, + DeviceNotFoundError, + PermissionError, + OpenError, + ParityError, + FramingError, + BreakConditionError, + WriteError, + ReadError, + ResourceError, + UnsupportedOperationError, + UnknownError, + TimeoutError, + NotOpenError + }; + + explicit QSerialPort(QObject *parent = Q_NULLPTR); + explicit QSerialPort(const QString &name, QObject *parent = Q_NULLPTR); + explicit QSerialPort(const QSerialPortInfo &info, QObject *parent = Q_NULLPTR); + virtual ~QSerialPort(); + + void setPortName(const QString &name); + QString portName() const; + + void setPort(const QSerialPortInfo &info); + + bool open(OpenMode mode) Q_DECL_OVERRIDE; + void close() Q_DECL_OVERRIDE; + +#if QT_DEPRECATED_SINCE(5, 3) + QT_DEPRECATED void setSettingsRestoredOnClose(bool restore); + QT_DEPRECATED bool settingsRestoredOnClose() const; +#endif + + bool setBaudRate(qint32 baudRate, Directions directions = AllDirections); + qint32 baudRate(Directions directions = AllDirections) const; + + bool setDataBits(DataBits dataBits); + DataBits dataBits() const; + + bool setParity(Parity parity); + Parity parity() const; + + bool setStopBits(StopBits stopBits); + StopBits stopBits() const; + + bool setFlowControl(FlowControl flowControl); + FlowControl flowControl() const; + + bool setDataTerminalReady(bool set); + bool isDataTerminalReady(); + + bool setRequestToSend(bool set); + bool isRequestToSend(); + + PinoutSignals pinoutSignals(); + + bool flush(); + bool clear(Directions directions = AllDirections); + bool atEnd() const Q_DECL_OVERRIDE; + +#if QT_DEPRECATED_SINCE(5, 2) + QT_DEPRECATED bool setDataErrorPolicy(DataErrorPolicy policy = IgnorePolicy); + QT_DEPRECATED DataErrorPolicy dataErrorPolicy() const; +#endif + + SerialPortError error() const; + void clearError(); + + qint64 readBufferSize() const; + void setReadBufferSize(qint64 size); + + bool isSequential() const Q_DECL_OVERRIDE; + + qint64 bytesAvailable() const Q_DECL_OVERRIDE; + qint64 bytesToWrite() const Q_DECL_OVERRIDE; + bool canReadLine() const Q_DECL_OVERRIDE; + + bool waitForReadyRead(int msecs) Q_DECL_OVERRIDE; + bool waitForBytesWritten(int msecs) Q_DECL_OVERRIDE; + + bool sendBreak(int duration = 0); + bool setBreakEnabled(bool set = true); + + Handle handle() const; + +Q_SIGNALS: + void baudRateChanged(qint32 baudRate, QSerialPort::Directions directions); + void dataBitsChanged(QSerialPort::DataBits dataBits); + void parityChanged(QSerialPort::Parity parity); + void stopBitsChanged(QSerialPort::StopBits stopBits); + void flowControlChanged(QSerialPort::FlowControl flowControl); + void dataErrorPolicyChanged(QSerialPort::DataErrorPolicy policy); + void dataTerminalReadyChanged(bool set); + void requestToSendChanged(bool set); + void error(QSerialPort::SerialPortError serialPortError); + void settingsRestoredOnCloseChanged(bool restore); + +protected: + qint64 readData(char *data, qint64 maxSize) Q_DECL_OVERRIDE; + qint64 readLineData(char *data, qint64 maxSize) Q_DECL_OVERRIDE; + qint64 writeData(const char *data, qint64 maxSize) Q_DECL_OVERRIDE; + +private: + void setError(QSerialPort::SerialPortError error, const QString &errorString = QString()); + + QSerialPortPrivate * const d_ptr; + + Q_DISABLE_COPY(QSerialPort) + +#if defined (Q_OS_WIN32) + Q_PRIVATE_SLOT(d_func(), bool _q_completeAsyncCommunication()) + Q_PRIVATE_SLOT(d_func(), bool _q_completeAsyncRead()) + Q_PRIVATE_SLOT(d_func(), bool _q_completeAsyncWrite()) + Q_PRIVATE_SLOT(d_func(), bool _q_startAsyncWrite()) +#endif +}; + +Q_DECLARE_OPERATORS_FOR_FLAGS(QSerialPort::Directions) +Q_DECLARE_OPERATORS_FOR_FLAGS(QSerialPort::PinoutSignals) + +QT_END_NAMESPACE + +#endif // QSERIALPORT_H diff --git a/libs/qtandroidserialport/src/qserialport_android.cpp b/libs/qtandroidserialport/src/qserialport_android.cpp new file mode 100644 index 0000000000000000000000000000000000000000..4c15cd2ea97f092d6f5eafda80aec03fc45e7447 --- /dev/null +++ b/libs/qtandroidserialport/src/qserialport_android.cpp @@ -0,0 +1,822 @@ +/**************************************************************************** +** +** Copyright (C) 2012 Denis Shienkov +** Copyright (C) 2012 Laszlo Papp +** Copyright (C) 2012 Andre Hartmann +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +// Written by: S. Michael Goza 2014 +// Adapted for QGC by: Gus Grubba 2015 + + +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include "qserialport_android_p.h" + +QT_BEGIN_NAMESPACE + +#define BAD_PORT 0 + +static const char kJniClassName[] {"org/qgroundcontrol/qgchelper/UsbDeviceJNI"}; +static const char kJTag[] {"QGC_QSerialPort"}; + +static void jniDeviceHasDisconnected(JNIEnv *envA, jobject thizA, jint userDataA) +{ + Q_UNUSED(envA); + Q_UNUSED(thizA); + if (userDataA != 0) + ((QSerialPortPrivate *)userDataA)->q_ptr->close(); +} + +static void jniDeviceNewData(JNIEnv *envA, jobject thizA, jint userDataA, jbyteArray dataA) +{ + Q_UNUSED(thizA); + if (userDataA != 0) + { + jbyte *bytesL = envA->GetByteArrayElements(dataA, NULL); + jsize lenL = envA->GetArrayLength(dataA); + ((QSerialPortPrivate *)userDataA)->newDataArrived((char *)bytesL, lenL); + envA->ReleaseByteArrayElements(dataA, bytesL, JNI_ABORT); + } +} + +static void jniDeviceException(JNIEnv *envA, jobject thizA, jint userDataA, jstring messageA) +{ + Q_UNUSED(thizA); + if(userDataA != 0) + { + const char *stringL = envA->GetStringUTFChars(messageA, NULL); + QString strL = QString::fromUtf8(stringL); + envA->ReleaseStringUTFChars(messageA, stringL); + if(envA->ExceptionCheck()) + envA->ExceptionClear(); + ((QSerialPortPrivate *)userDataA)->exceptionArrived(strL); + } +} + +void cleanJavaException() +{ + QAndroidJniEnvironment env; + if (env->ExceptionCheck()) { + env->ExceptionDescribe(); + env->ExceptionClear(); + } +} + +QSerialPortPrivate::QSerialPortPrivate(QSerialPort *q) + : QSerialPortPrivateData(q) + , descriptor(-1) + , isCustomBaudRateSupported(false) + , emittedBytesWritten(false) + , pendingBytesWritten(0) + , hasRegisteredFunctions(false) + , jniDataBits(8) + , jniStopBits(1) + , jniParity(0) + , internalWriteTimeoutMsec(0) + , isReadStopped(true) +{ +} + +bool QSerialPortPrivate::open(QIODevice::OpenMode mode) +{ + rwMode = mode; + __android_log_print(ANDROID_LOG_INFO, kJTag, "Opening %s", systemLocation.toLatin1().data()); + + __android_log_print(ANDROID_LOG_INFO, kJTag, "Calling Java Open"); + QAndroidJniObject jnameL = QAndroidJniObject::fromString(systemLocation); + cleanJavaException(); + deviceId = QAndroidJniObject::callStaticMethod( + kJniClassName, + "open", + "(Ljava/lang/String;I)I", + jnameL.object(), + (jint)this); + cleanJavaException(); + + isReadStopped = false; + + if (deviceId == BAD_PORT) + { + __android_log_print(ANDROID_LOG_ERROR, kJTag, "Error opening %s", systemLocation.toLatin1().data()); + q_ptr->setError(QSerialPort::DeviceNotFoundError); + return false; + } + + if (!hasRegisteredFunctions) + { + __android_log_print(ANDROID_LOG_INFO, kJTag, "Registering Native Functions"); + // REGISTER THE C++ FUNCTION WITH JNI + JNINativeMethod javaMethods[] { + {"nativeDeviceHasDisconnected", "(I)V", reinterpret_cast(jniDeviceHasDisconnected)}, + {"nativeDeviceNewData", "(I[B)V", reinterpret_cast(jniDeviceNewData)}, + {"nativeDeviceException", "(ILjava/lang/String;)V", reinterpret_cast(jniDeviceException)} + }; + + QAndroidJniEnvironment jniEnv; + if (jniEnv->ExceptionCheck()) { + jniEnv->ExceptionDescribe(); + jniEnv->ExceptionClear(); + } + + QAndroidJniObject javaClass(kJniClassName); + if(!javaClass.isValid()) { + __android_log_print(ANDROID_LOG_ERROR, kJTag, "Java class %s not valid", kJniClassName); + return false; + } + jclass objectClass = jniEnv->GetObjectClass(javaClass.object()); + jint val = jniEnv->RegisterNatives(objectClass, javaMethods, sizeof(javaMethods) / sizeof(javaMethods[0])); + jniEnv->DeleteLocalRef(objectClass); + hasRegisteredFunctions = true; + __android_log_print(ANDROID_LOG_INFO, kJTag, "Native Functions Registered"); + + if (jniEnv->ExceptionCheck()) { + jniEnv->ExceptionDescribe(); + jniEnv->ExceptionClear(); + } + + if(val < 0) { + __android_log_print(ANDROID_LOG_ERROR, kJTag, "Error registering methods"); + q_ptr->setError(QSerialPort::OpenError); + return false; + } + } + + __android_log_print(ANDROID_LOG_INFO, kJTag, "Calling Java getDeviceHandle"); + cleanJavaException(); + descriptor = QAndroidJniObject::callStaticMethod( + kJniClassName, + "getDeviceHandle", + "(I)I", + deviceId); + cleanJavaException(); + + if (rwMode == QIODevice::WriteOnly) + stopReadThread(); + + return true; +} + +void QSerialPortPrivate::close() +{ + if (deviceId == BAD_PORT) + return; + + __android_log_print(ANDROID_LOG_INFO, kJTag, "Closing %s", systemLocation.toLatin1().data()); + cleanJavaException(); + jboolean resultL = QAndroidJniObject::callStaticMethod( + kJniClassName, + "close", + "(I)Z", + deviceId); + cleanJavaException(); + + descriptor = -1; + isCustomBaudRateSupported = false; + pendingBytesWritten = 0; + deviceId = BAD_PORT; + + if (!resultL) + q_ptr->setErrorString(QStringLiteral("Closing device failed")); +} + +bool QSerialPortPrivate::setParameters(int baudRateA, int dataBitsA, int stopBitsA, int parityA) +{ + if (deviceId == BAD_PORT) + { + q_ptr->setError(QSerialPort::NotOpenError); + return false; + } + + cleanJavaException(); + jboolean resultL = QAndroidJniObject::callStaticMethod( + kJniClassName, + "setParameters", + "(IIIII)Z", + deviceId, + baudRateA, + dataBitsA, + stopBitsA, + parityA); + cleanJavaException(); + + if(resultL) + { + // SET THE JNI VALUES TO WHAT WAS SENT + inputBaudRate = outputBaudRate = baudRateA; + jniDataBits = dataBitsA; + jniStopBits = stopBitsA; + jniParity = parityA; + } + + return resultL; +} + + + +void QSerialPortPrivate::stopReadThread() +{ + if (isReadStopped) + return; + cleanJavaException(); + QAndroidJniObject::callStaticMethod( + kJniClassName, + "stopIoManager", + "(I)V", + deviceId); + cleanJavaException(); + isReadStopped = true; +} + + + +void QSerialPortPrivate::startReadThread() +{ + if (!isReadStopped) + return; + cleanJavaException(); + QAndroidJniObject::callStaticMethod( + kJniClassName, + "startIoManager", + "(I)V", + deviceId); + cleanJavaException(); + isReadStopped = false; +} + +QSerialPort::PinoutSignals QSerialPortPrivate::pinoutSignals() +{ + return QSerialPort::NoSignal; +} + +bool QSerialPortPrivate::setDataTerminalReady(bool set) +{ + if (deviceId == BAD_PORT) + { + q_ptr->setError(QSerialPort::NotOpenError); + return false; + } + cleanJavaException(); + bool res = QAndroidJniObject::callStaticMethod( + kJniClassName, + "setDataTerminalReady", + "(IZ)Z", + deviceId, + set); + cleanJavaException(); + return res; +} + +bool QSerialPortPrivate::setRequestToSend(bool set) +{ + if (deviceId == BAD_PORT) + { + q_ptr->setError(QSerialPort::NotOpenError); + return false; + } + cleanJavaException(); + bool res = QAndroidJniObject::callStaticMethod( + kJniClassName, + "setRequestToSend", + "(IZ)Z", + deviceId, + set); + cleanJavaException(); + return res; +} + +bool QSerialPortPrivate::flush() +{ + return writeDataOneShot(); +} + +bool QSerialPortPrivate::clear(QSerialPort::Directions directions) +{ + if (deviceId == BAD_PORT) + { + q_ptr->setError(QSerialPort::NotOpenError); + return false; + } + + bool inputL = false; + bool outputL = false; + + if (directions == QSerialPort::AllDirections) + inputL = outputL = true; + else + { + if (directions & QSerialPort::Input) + inputL = true; + + if (directions & QSerialPort::Output) + outputL = true; + } + + cleanJavaException(); + bool res = QAndroidJniObject::callStaticMethod( + kJniClassName, + "purgeBuffers", + "(IZZ)Z", + deviceId, + inputL, + outputL); + + cleanJavaException(); + return res; +} + +bool QSerialPortPrivate::sendBreak(int duration) +{ + Q_UNUSED(duration); + return true; +} + +bool QSerialPortPrivate::setBreakEnabled(bool set) +{ + Q_UNUSED(set); + return true; +} + +void QSerialPortPrivate::startWriting() +{ + writeDataOneShot(); +} + +bool QSerialPortPrivate::waitForReadyRead(int msecs) +{ + int origL = readBuffer.size(); + + if (origL > 0) + return true; + + for (int iL=0; iLpolicy = policy; + return true; +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void QSerialPortPrivate::newDataArrived(char *bytesA, int lengthA) +{ + Q_Q(QSerialPort); + + int bytesToReadL = lengthA; + + // Always buffered, read data from the port into the read buffer + if (readBufferMaxSize && (bytesToReadL > (readBufferMaxSize - readBuffer.size()))) { + bytesToReadL = readBufferMaxSize - readBuffer.size(); + if (bytesToReadL <= 0) { + // Buffer is full. User must read data from the buffer + // before we can read more from the port. + stopReadThread(); + return; + } + } + + char *ptr = readBuffer.reserve(bytesToReadL); + memcpy(ptr, bytesA, bytesToReadL); + + emit q->readyRead(); +} + + + +void QSerialPortPrivate::exceptionArrived(QString strA) +{ + q_ptr->setErrorString(strA); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool QSerialPortPrivate::writeDataOneShot() +{ + Q_Q(QSerialPort); + + pendingBytesWritten = -1; + + while (!writeBuffer.isEmpty()) + { + pendingBytesWritten = writeToPort(writeBuffer.readPointer(), writeBuffer.nextDataBlockSize()); + + if (pendingBytesWritten <= 0) + { + QSerialPort::SerialPortError errorL = decodeSystemError(); + if (errorL != QSerialPort::ResourceError) + errorL = QSerialPort::WriteError; + q->setError(errorL); + return false; + } + + writeBuffer.free(pendingBytesWritten); + + emit q->bytesWritten(pendingBytesWritten); + } + + return (pendingBytesWritten < 0)? false: true; +} + +QSerialPort::SerialPortError QSerialPortPrivate::decodeSystemError() const +{ + QSerialPort::SerialPortError error; + switch (errno) { + case ENODEV: + error = QSerialPort::DeviceNotFoundError; + break; + case EACCES: + error = QSerialPort::PermissionError; + break; + case EBUSY: + error = QSerialPort::PermissionError; + break; + case EAGAIN: + error = QSerialPort::ResourceError; + break; + case EIO: + error = QSerialPort::ResourceError; + break; + case EBADF: + error = QSerialPort::ResourceError; + break; + default: + error = QSerialPort::UnknownError; + break; + } + return error; +} + +//////////////////////////////////////////////////////////////////////////////////////////////////// +qint64 QSerialPortPrivate::writeToPort(const char *data, qint64 maxSize) +{ + if (deviceId == BAD_PORT) + { + q_ptr->setError(QSerialPort::NotOpenError); + return 0; + } + + QAndroidJniEnvironment jniEnv; + jbyteArray jarrayL = jniEnv->NewByteArray(maxSize); + jniEnv->SetByteArrayRegion(jarrayL, 0, maxSize, (jbyte *)data); + if (jniEnv->ExceptionCheck()) + jniEnv->ExceptionClear(); + int resultL = QAndroidJniObject::callStaticMethod( + kJniClassName, + "write", + "(I[BI)I", + deviceId, + jarrayL, + internalWriteTimeoutMsec); + + if (jniEnv->ExceptionCheck()) + { + jniEnv->ExceptionClear(); + q_ptr->setErrorString(QStringLiteral("Writing to the device threw an exception")); + jniEnv->DeleteLocalRef(jarrayL); + return 0; + } + jniEnv->DeleteLocalRef(jarrayL); + return resultL; +} + +static inline bool evenParity(quint8 c) +{ + c ^= c >> 4; //(c7 ^ c3)(c6 ^ c2)(c5 ^ c1)(c4 ^ c0) + c ^= c >> 2; //[(c7 ^ c3)(c5 ^ c1)][(c6 ^ c2)(c4 ^ c0)] + c ^= c >> 1; + return c & 1; //(c7 ^ c3)(c5 ^ c1)(c6 ^ c2)(c4 ^ c0) +} + +typedef QMap BaudRateMap; + +// The OS specific defines can be found in termios.h + +static const BaudRateMap createStandardBaudRateMap() +{ + BaudRateMap baudRateMap; + +#ifdef B50 + baudRateMap.insert(50, B50); +#endif + +#ifdef B75 + baudRateMap.insert(75, B75); +#endif + +#ifdef B110 + baudRateMap.insert(110, B110); +#endif + +#ifdef B134 + baudRateMap.insert(134, B134); +#endif + +#ifdef B150 + baudRateMap.insert(150, B150); +#endif + +#ifdef B200 + baudRateMap.insert(200, B200); +#endif + +#ifdef B300 + baudRateMap.insert(300, B300); +#endif + +#ifdef B600 + baudRateMap.insert(600, B600); +#endif + +#ifdef B1200 + baudRateMap.insert(1200, B1200); +#endif + +#ifdef B1800 + baudRateMap.insert(1800, B1800); +#endif + +#ifdef B2400 + baudRateMap.insert(2400, B2400); +#endif + +#ifdef B4800 + baudRateMap.insert(4800, B4800); +#endif + +#ifdef B7200 + baudRateMap.insert(7200, B7200); +#endif + +#ifdef B9600 + baudRateMap.insert(9600, B9600); +#endif + +#ifdef B14400 + baudRateMap.insert(14400, B14400); +#endif + +#ifdef B19200 + baudRateMap.insert(19200, B19200); +#endif + +#ifdef B28800 + baudRateMap.insert(28800, B28800); +#endif + +#ifdef B38400 + baudRateMap.insert(38400, B38400); +#endif + +#ifdef B57600 + baudRateMap.insert(57600, B57600); +#endif + +#ifdef B76800 + baudRateMap.insert(76800, B76800); +#endif + +#ifdef B115200 + baudRateMap.insert(115200, B115200); +#endif + +#ifdef B230400 + baudRateMap.insert(230400, B230400); +#endif + +#ifdef B460800 + baudRateMap.insert(460800, B460800); +#endif + +#ifdef B500000 + baudRateMap.insert(500000, B500000); +#endif + +#ifdef B576000 + baudRateMap.insert(576000, B576000); +#endif + +#ifdef B921600 + baudRateMap.insert(921600, B921600); +#endif + +#ifdef B1000000 + baudRateMap.insert(1000000, B1000000); +#endif + +#ifdef B1152000 + baudRateMap.insert(1152000, B1152000); +#endif + +#ifdef B1500000 + baudRateMap.insert(1500000, B1500000); +#endif + +#ifdef B2000000 + baudRateMap.insert(2000000, B2000000); +#endif + +#ifdef B2500000 + baudRateMap.insert(2500000, B2500000); +#endif + +#ifdef B3000000 + baudRateMap.insert(3000000, B3000000); +#endif + +#ifdef B3500000 + baudRateMap.insert(3500000, B3500000); +#endif + +#ifdef B4000000 + baudRateMap.insert(4000000, B4000000); +#endif + + return baudRateMap; +} + +static const BaudRateMap& standardBaudRateMap() +{ + static const BaudRateMap baudRateMap = createStandardBaudRateMap(); + return baudRateMap; +} + +qint32 QSerialPortPrivate::baudRateFromSetting(qint32 setting) +{ + return standardBaudRateMap().key(setting); +} + +qint32 QSerialPortPrivate::settingFromBaudRate(qint32 baudRate) +{ + return standardBaudRateMap().value(baudRate); +} + +QList QSerialPortPrivate::standardBaudRates() +{ + return standardBaudRateMap().keys(); +} + +QSerialPort::Handle QSerialPort::handle() const +{ + Q_D(const QSerialPort); + return d->descriptor; +} + +qint64 QSerialPortPrivate::bytesToWrite() const +{ + return writeBuffer.size(); +} + +qint64 QSerialPortPrivate::writeData(const char *data, qint64 maxSize) +{ + return writeToPort(data, maxSize); +} + +QT_END_NAMESPACE + diff --git a/libs/qtandroidserialport/src/qserialport_android_p.h b/libs/qtandroidserialport/src/qserialport_android_p.h new file mode 100644 index 0000000000000000000000000000000000000000..f105c1fd74f0441ede8327a2b9bd297aa5bef232 --- /dev/null +++ b/libs/qtandroidserialport/src/qserialport_android_p.h @@ -0,0 +1,133 @@ +#ifndef QSERIALPORT_ANDROID_P_H +#define QSERIALPORT_ANDROID_P_H +/**************************************************************************** +** +** Copyright (C) 2012 Denis Shienkov +** Copyright (C) 2012 Laszlo Papp +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#include "qserialport_p.h" + +#include +#include +#include +#include + + +QT_BEGIN_NAMESPACE + +class QSerialPortPrivate : public QSerialPortPrivateData +{ + Q_DECLARE_PUBLIC(QSerialPort) + +public: + QSerialPortPrivate(QSerialPort *q); + + bool open(QIODevice::OpenMode mode); + void close(); + + QSerialPort::PinoutSignals pinoutSignals(); + + bool setDataTerminalReady(bool set); + bool setRequestToSend(bool set); + + bool flush(); + bool clear(QSerialPort::Directions directions); + + bool sendBreak(int duration); + bool setBreakEnabled(bool set); + + void startWriting(); + + bool waitForReadyRead(int msecs); + bool waitForBytesWritten(int msecs); + + bool setBaudRate(); + bool setBaudRate(qint32 baudRate, QSerialPort::Directions directions); + bool setDataBits(QSerialPort::DataBits dataBits); + bool setParity(QSerialPort::Parity parity); + bool setStopBits(QSerialPort::StopBits stopBits); + bool setFlowControl(QSerialPort::FlowControl flowControl); + bool setDataErrorPolicy(QSerialPort::DataErrorPolicy policy); + + bool startAsyncWrite(); + bool completeAsyncWrite(); + void newDataArrived(char *bytesA, int lengthA); + void exceptionArrived(QString strA); + + void stopReadThread(); + void startReadThread(); + qint64 bytesToWrite() const; + qint64 writeData(const char *data, qint64 maxSize); + + static qint32 baudRateFromSetting(qint32 setting); + static qint32 settingFromBaudRate(qint32 baudRate); + + static QList standardBaudRates(); + + int descriptor; + bool isCustomBaudRateSupported; + + bool emittedBytesWritten; + + qint64 pendingBytesWritten; + +private: + QIODevice::OpenMode rwMode; + int deviceId; + bool hasRegisteredFunctions; + int jniDataBits; + int jniStopBits; + int jniParity; + qint64 internalWriteTimeoutMsec; + bool isReadStopped; + + bool setParameters(int baudRateA, int dataBitsA, int stopBitsA, int parityA); + + QSerialPort::SerialPortError decodeSystemError() const; + + qint64 writeToPort(const char *data, qint64 maxSize); + + bool writeDataOneShot(); +}; + +QT_END_NAMESPACE + +#endif // QSERIALPORT_ANDROID_P_H + diff --git a/libs/qtandroidserialport/src/qserialport_p.h b/libs/qtandroidserialport/src/qserialport_p.h new file mode 100644 index 0000000000000000000000000000000000000000..7bbdaaa7ca172e62ced4e401bdaa1644f6b11681 --- /dev/null +++ b/libs/qtandroidserialport/src/qserialport_p.h @@ -0,0 +1,338 @@ +/**************************************************************************** +** +** Copyright (C) 2011-2012 Denis Shienkov +** Copyright (C) 2011 Sergey Belyashov +** Copyright (C) 2012 Laszlo Papp +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QSERIALPORT_P_H +#define QSERIALPORT_P_H + +// +// W A R N I N G +// ------------- +// +// This file is not part of the Qt API. It exists purely as an +// implementation detail. This header file may change from version to +// version without notice, or even be removed. +// +// We mean it. +// + +#include "qserialport.h" + +QT_BEGIN_NAMESPACE + +class QGCRingBuffer +{ +public: + explicit inline QGCRingBuffer(int growth = 4096) : + head(0), tail(0), tailBuffer(0), basicBlockSize(growth), bufferSize(0) { + buffers.append(QByteArray()); + } + + inline int nextDataBlockSize() const { + return (tailBuffer == 0 ? tail : buffers.first().size()) - head; + } + + inline const char *readPointer() const { + return buffers.isEmpty() ? 0 : (buffers.first().constData() + head); + } + + // access the bytes at a specified position + // the out-variable length will contain the amount of bytes readable + // from there, e.g. the amount still the same QByteArray + inline const char *readPointerAtPosition(qint64 pos, qint64 &length) const { + if (pos >= 0) { + pos += head; + for (int i = 0; i < buffers.size(); ++i) { + length = (i == tailBuffer ? tail : buffers[i].size()); + if (length > pos) { + length -= pos; + return buffers[i].constData() + pos; + } + pos -= length; + } + } + + length = 0; + return 0; + } + + inline void free(int bytes) { + while (bytes > 0) { + int blockSize = buffers.first().size() - head; + + if (tailBuffer == 0 || blockSize > bytes) { + bufferSize -= bytes; + if (bufferSize <= 0) + clear(); // try to minify/squeeze us + else + head += bytes; + return; + } + + bufferSize -= blockSize; + bytes -= blockSize; + buffers.removeFirst(); + --tailBuffer; + head = 0; + } + } + + inline char *reserve(int bytes) { + if (bytes <= 0) + return 0; + + // if need buffer reallocation + if (tail + bytes > buffers.last().size()) { + if (tail >= basicBlockSize) { + // shrink this buffer to its current size + buffers.last().resize(tail); + + // create a new QByteArray + buffers.append(QByteArray()); + ++tailBuffer; + tail = 0; + } + buffers.last().resize(qMax(basicBlockSize, tail + bytes)); + } + + char *writePtr = buffers.last().data() + tail; + bufferSize += bytes; + tail += bytes; + return writePtr; + } + + inline void truncate(int pos) { + if (pos < size()) + chop(size() - pos); + } + + inline void chop(int bytes) { + while (bytes > 0) { + if (tailBuffer == 0 || tail > bytes) { + bufferSize -= bytes; + if (bufferSize <= 0) + clear(); // try to minify/squeeze us + else + tail -= bytes; + return; + } + + bufferSize -= tail; + bytes -= tail; + buffers.removeLast(); + --tailBuffer; + tail = buffers.last().size(); + } + } + + inline bool isEmpty() const { + return tailBuffer == 0 && tail == 0; + } + + inline int getChar() { + if (isEmpty()) + return -1; + char c = *readPointer(); + free(1); + return int(uchar(c)); + } + + inline void putChar(char c) { + char *ptr = reserve(1); + *ptr = c; + } + + inline void ungetChar(char c) { + --head; + if (head < 0) { + buffers.prepend(QByteArray()); + buffers.first().resize(basicBlockSize); + head = basicBlockSize - 1; + ++tailBuffer; + } + buffers.first()[head] = c; + ++bufferSize; + } + + inline int size() const { + return bufferSize; + } + + inline void clear() { + buffers.erase(buffers.begin() + 1, buffers.end()); + buffers.first().clear(); + + head = tail = 0; + tailBuffer = 0; + bufferSize = 0; + } + + inline int indexOf(char c) const { + int index = 0; + int j = head; + for (int i = 0; i < buffers.size(); ++i) { + const char *ptr = buffers[i].constData() + j; + j = index + (i == tailBuffer ? tail : buffers[i].size()) - j; + + while (index < j) { + if (*ptr++ == c) + return index; + ++index; + } + j = 0; + } + return -1; + } + + inline int indexOf(char c, int maxLength) const { + int index = 0; + int j = head; + for (int i = 0; index < maxLength && i < buffers.size(); ++i) { + const char *ptr = buffers[i].constData() + j; + j = qMin(index + (i == tailBuffer ? tail : buffers[i].size()) - j, maxLength); + + while (index < j) { + if (*ptr++ == c) + return index; + ++index; + } + j = 0; + } + return -1; + } + + inline int read(char *data, int maxLength) { + int bytesToRead = qMin(size(), maxLength); + int readSoFar = 0; + while (readSoFar < bytesToRead) { + int bytesToReadFromThisBlock = qMin(bytesToRead - readSoFar, nextDataBlockSize()); + if (data) + memcpy(data + readSoFar, readPointer(), bytesToReadFromThisBlock); + readSoFar += bytesToReadFromThisBlock; + free(bytesToReadFromThisBlock); + } + return readSoFar; + } + + // read an unspecified amount (will read the first buffer) + inline QByteArray read() { + if (bufferSize == 0) + return QByteArray(); + + QByteArray qba(buffers.takeFirst()); + + qba.reserve(0); // avoid that resizing needlessly reallocates + if (tailBuffer == 0) { + qba.resize(tail); + tail = 0; + buffers.append(QByteArray()); + } else { + --tailBuffer; + } + qba.remove(0, head); // does nothing if head is 0 + head = 0; + bufferSize -= qba.size(); + return qba; + } + + // append a new buffer to the end + inline void append(const QByteArray &qba) { + if (tail == 0) { + buffers.last() = qba; + } else { + buffers.last().resize(tail); + buffers.append(qba); + ++tailBuffer; + } + tail = qba.size(); + bufferSize += tail; + } + + inline int skip(int length) { + return read(0, length); + } + + inline int readLine(char *data, int maxLength) { + if (!data || --maxLength <= 0) + return -1; + + int i = indexOf('\n', maxLength); + i = read(data, i >= 0 ? (i + 1) : maxLength); + + // Terminate it. + data[i] = '\0'; + return i; + } + + inline bool canReadLine() const { + return indexOf('\n') >= 0; + } + +private: + QList buffers; + int head, tail; + int tailBuffer; // always buffers.size() - 1 + const int basicBlockSize; + int bufferSize; +}; + +class QSerialPortPrivateData +{ +public: + enum IoConstants { + ReadChunkSize = 512 + }; + + QSerialPortPrivateData(QSerialPort *q); + int timeoutValue(int msecs, int elapsed); + + qint64 readBufferMaxSize; + QGCRingBuffer readBuffer; + QGCRingBuffer writeBuffer; + QSerialPort::SerialPortError error; + QString systemLocation; + qint32 inputBaudRate; + qint32 outputBaudRate; + QSerialPort::DataBits dataBits; + QSerialPort::Parity parity; + QSerialPort::StopBits stopBits; + QSerialPort::FlowControl flowControl; + QSerialPort::DataErrorPolicy policy; + bool settingsRestoredOnClose; + QSerialPort * const q_ptr; +}; + +QT_END_NAMESPACE + +#endif // QSERIALPORT_P_H diff --git a/libs/qtandroidserialport/src/qserialportinfo.cpp b/libs/qtandroidserialport/src/qserialportinfo.cpp new file mode 100644 index 0000000000000000000000000000000000000000..be3eed17c55e7fc4aba35e1cc780158e3c18213e --- /dev/null +++ b/libs/qtandroidserialport/src/qserialportinfo.cpp @@ -0,0 +1,292 @@ +/**************************************************************************** +** +** Copyright (C) 2011-2012 Denis Shienkov +** Copyright (C) 2011 Sergey Belyashov +** Copyright (C) 2012 Laszlo Papp +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#include "qserialportinfo.h" +#include "qserialportinfo_p.h" +#include "qserialport.h" + +QT_BEGIN_NAMESPACE + + +/*! + \class QSerialPortInfo + + \brief Provides information about existing serial ports. + + \ingroup serialport-main + \inmodule QtSerialPort + \since 5.1 + + Use the static functions to generate a list of QSerialPortInfo + objects. Each QSerialPortInfo object in the list represents a single + serial port and can be queried for the port name, system location, + description, and manufacturer. The QSerialPortInfo class can also be + used as an input parameter for the setPort() method of the QSerialPort + class. + + \sa QSerialPort +*/ + +/*! + Constructs an empty QSerialPortInfo object. + + \sa isNull() +*/ +QSerialPortInfo::QSerialPortInfo() +{ +} + +/*! + Constructs a copy of \a other. +*/ +QSerialPortInfo::QSerialPortInfo(const QSerialPortInfo &other) + : d_ptr(other.d_ptr ? new QSerialPortInfoPrivate(*other.d_ptr) : Q_NULLPTR) +{ +} + +/*! + Constructs a QSerialPortInfo object from serial \a port. +*/ +QSerialPortInfo::QSerialPortInfo(const QSerialPort &port) +{ + foreach (const QSerialPortInfo &serialPortInfo, availablePorts()) { + if (port.portName() == serialPortInfo.portName()) { + *this = serialPortInfo; + break; + } + } +} + +/*! + Constructs a QSerialPortInfo object from serial port \a name. + + This constructor finds the relevant serial port among the available ones + according to the port name \a name, and constructs the serial port info + instance for that port. +*/ +QSerialPortInfo::QSerialPortInfo(const QString &name) +{ + foreach (const QSerialPortInfo &serialPortInfo, availablePorts()) { + if (name == serialPortInfo.portName()) { + *this = serialPortInfo; + break; + } + } +} + +QSerialPortInfo::QSerialPortInfo(const QSerialPortInfoPrivate &dd) + : d_ptr(new QSerialPortInfoPrivate(dd)) +{ +} + +/*! + Destroys the QSerialPortInfo object. References to the values in the + object become invalid. +*/ +QSerialPortInfo::~QSerialPortInfo() +{ +} + +/*! \fn void QSerialPortInfo::swap(QSerialPortInfo &other) + + Swaps QSerialPortInfo \a other with this QSerialPortInfo. This operation is + very fast and never fails. +*/ +void QSerialPortInfo::swap(QSerialPortInfo &other) +{ + d_ptr.swap(other.d_ptr); +} + +/*! + Sets the QSerialPortInfo object to be equal to \a other. +*/ +QSerialPortInfo& QSerialPortInfo::operator=(const QSerialPortInfo &other) +{ + QSerialPortInfo(other).swap(*this); + return *this; +} + +/*! + Returns the name of the serial port. + + \sa systemLocation() +*/ +QString QSerialPortInfo::portName() const +{ + Q_D(const QSerialPortInfo); + return !d ? QString() : d->portName; +} + +/*! + Returns the system location of the serial port. + + \sa portName() +*/ +QString QSerialPortInfo::systemLocation() const +{ + Q_D(const QSerialPortInfo); + return !d ? QString() : d->device; +} + +/*! + Returns the description string of the serial port, + if available; otherwise returns an empty string. + + \sa manufacturer(), serialNumber() +*/ +QString QSerialPortInfo::description() const +{ + Q_D(const QSerialPortInfo); + return !d ? QString() : d->description; +} + +/*! + Returns the manufacturer string of the serial port, + if available; otherwise returns an empty string. + + \sa description(), serialNumber() +*/ +QString QSerialPortInfo::manufacturer() const +{ + Q_D(const QSerialPortInfo); + return !d ? QString() : d->manufacturer; +} + +/*! + \since 5.3 + + Returns the serial number string of the serial port, + if available; otherwise returns an empty string. + + \note The serial number may include letters. + + \sa description(), manufacturer() +*/ +QString QSerialPortInfo::serialNumber() const +{ + Q_D(const QSerialPortInfo); + return !d ? QString() : d->serialNumber; +} + +/*! + Returns the 16-bit vendor number for the serial port, if available; + otherwise returns zero. + + \sa hasVendorIdentifier(), productIdentifier(), hasProductIdentifier() +*/ +quint16 QSerialPortInfo::vendorIdentifier() const +{ + Q_D(const QSerialPortInfo); + return !d ? 0 : d->vendorIdentifier; +} + +/*! + Returns the 16-bit product number for the serial port, if available; + otherwise returns zero. + + \sa hasProductIdentifier(), vendorIdentifier(), hasVendorIdentifier() +*/ +quint16 QSerialPortInfo::productIdentifier() const +{ + Q_D(const QSerialPortInfo); + return !d ? 0 : d->productIdentifier; +} + +/*! + Returns true if there is a valid 16-bit vendor number present; otherwise + returns false. + + \sa vendorIdentifier(), productIdentifier(), hasProductIdentifier() +*/ +bool QSerialPortInfo::hasVendorIdentifier() const +{ + Q_D(const QSerialPortInfo); + return !d ? false : d->hasVendorIdentifier; +} + +/*! + Returns true if there is a valid 16-bit product number present; otherwise + returns false. + + \sa productIdentifier(), vendorIdentifier(), hasVendorIdentifier() +*/ +bool QSerialPortInfo::hasProductIdentifier() const +{ + Q_D(const QSerialPortInfo); + return !d ? false : d->hasProductIdentifier; +} + +/*! + \fn bool QSerialPortInfo::isNull() const + + Returns whether this QSerialPortInfo object holds a + serial port definition. + + \sa isBusy() +*/ + +/*! + \fn bool QSerialPortInfo::isBusy() const + + Returns true if serial port is busy; + otherwise returns false. + + \sa isNull() +*/ + +/*! + \fn bool QSerialPortInfo::isValid() const + \obsolete + + Returns true if serial port is present on system; + otherwise returns false. + + \sa isNull(), isBusy() +*/ + +/*! + \fn QList QSerialPortInfo::standardBaudRates() + + Returns a list of available standard baud rates supported by + the current serial port. +*/ + +/*! + \fn QList QSerialPortInfo::availablePorts() + + Returns a list of available serial ports on the system. +*/ + +QT_END_NAMESPACE diff --git a/libs/qtandroidserialport/src/qserialportinfo.h b/libs/qtandroidserialport/src/qserialportinfo.h new file mode 100644 index 0000000000000000000000000000000000000000..099656a5b7e1d18ccac29ccbd4cc70ef83ad0058 --- /dev/null +++ b/libs/qtandroidserialport/src/qserialportinfo.h @@ -0,0 +1,95 @@ +/**************************************************************************** +** +** Copyright (C) 2012 Denis Shienkov +** Copyright (C) 2012 Laszlo Papp +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QSERIALPORTINFO_H +#define QSERIALPORTINFO_H + +#include +#include + +QT_BEGIN_NAMESPACE + +class QSerialPort; +class QSerialPortInfoPrivate; +class QSerialPortInfoPrivateDeleter; + +class QSerialPortInfo +{ + Q_DECLARE_PRIVATE(QSerialPortInfo) +public: + QSerialPortInfo(); + explicit QSerialPortInfo(const QSerialPort &port); + explicit QSerialPortInfo(const QString &name); + QSerialPortInfo(const QSerialPortInfo &other); + ~QSerialPortInfo(); + + QSerialPortInfo& operator=(const QSerialPortInfo &other); + void swap(QSerialPortInfo &other); + + QString portName() const; + QString systemLocation() const; + QString description() const; + QString manufacturer() const; + QString serialNumber() const; + + quint16 vendorIdentifier() const; + quint16 productIdentifier() const; + + bool hasVendorIdentifier() const; + bool hasProductIdentifier() const; + + bool isNull() const; + bool isBusy() const; +#if QT_DEPRECATED_SINCE(5, 2) + QT_DEPRECATED bool isValid() const; +#endif + + static QList standardBaudRates(); + static QList availablePorts(); + + QScopedPointer d_ptr; + +private: + QSerialPortInfo(const QSerialPortInfoPrivate &dd); + friend QList availablePortsByUdev(bool &ok); + friend QList availablePortsBySysfs(bool &ok); + friend QList availablePortsByFiltersOfDevices(bool &ok); +}; + +inline bool QSerialPortInfo::isNull() const +{ return !d_ptr; } + +QT_END_NAMESPACE + +#endif // QSERIALPORTINFO_H diff --git a/libs/qtandroidserialport/src/qserialportinfo_android.cpp b/libs/qtandroidserialport/src/qserialportinfo_android.cpp new file mode 100644 index 0000000000000000000000000000000000000000..569be0c24f46ecff6de98405d84a6ec7e740407d --- /dev/null +++ b/libs/qtandroidserialport/src/qserialportinfo_android.cpp @@ -0,0 +1,160 @@ +/**************************************************************************** +** +** Copyright (C) 2011-2012 Denis Shienkov +** Copyright (C) 2011 Sergey Belyashov +** Copyright (C) 2012 Laszlo Papp +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#include "qserialportinfo.h" +#include "qserialportinfo_p.h" +#include "qserialport_android_p.h" + +#include +#include +#include +#include + +#include + +QT_BEGIN_NAMESPACE +static const char V_jniClassName[] {"org/qgroundcontrol/qgchelper/UsbDeviceJNI"}; +static const char V_TAG[] {"QGC_QSerialPortInfo"}; + +extern void cleanJavaException(); + +QList availablePortsByFiltersOfDevices(bool &ok) +{ + QList serialPortInfoList; + + //__android_log_print(ANDROID_LOG_INFO, V_TAG, "Collecting device list"); + QAndroidJniObject resultL = QAndroidJniObject::callStaticObjectMethod( + V_jniClassName, + "availableDevicesInfo", + "()[Ljava/lang/String;"); + + if (!resultL.isValid()) { + __android_log_print(ANDROID_LOG_ERROR, V_TAG, "Error from availableDevicesInfo"); + ok = false; + return serialPortInfoList; + } + + QAndroidJniEnvironment envL; + jobjectArray objArrayL = resultL.object(); + int countL = envL->GetArrayLength(objArrayL); + + for (int iL = 0; iL < countL; iL++) + { + QSerialPortInfoPrivate priv; + jstring stringL = (jstring)(envL->GetObjectArrayElement(objArrayL, iL)); + const char *rawStringL = envL->GetStringUTFChars(stringL, 0); + //__android_log_print(ANDROID_LOG_INFO, V_TAG, "Adding device: %s", rawStringL); + QStringList strListL = QString::fromUtf8(rawStringL).split(QStringLiteral(":")); + envL->ReleaseStringUTFChars(stringL, rawStringL); + + priv.portName = strListL[0]; + priv.device = strListL[0]; + priv.manufacturer = strListL[1]; + priv.productIdentifier = strListL[2].toInt(); + priv.hasProductIdentifier = (priv.productIdentifier != 0) ? true: false; + priv.vendorIdentifier = strListL[3].toInt(); + priv.hasVendorIdentifier = (priv.vendorIdentifier != 0) ? true: false; + + serialPortInfoList.append(priv); + } + + return serialPortInfoList; +} + +QList availablePortsBySysfs() +{ + bool ok; + return availablePortsByFiltersOfDevices(ok); +} + +QList availablePortsByUdev() +{ + bool ok; + return availablePortsByFiltersOfDevices(ok); +} + +QList QSerialPortInfo::availablePorts() +{ + bool ok; + return availablePortsByFiltersOfDevices(ok); +} + +QList QSerialPortInfo::standardBaudRates() +{ + return QSerialPortPrivate::standardBaudRates(); +} + +bool QSerialPortInfo::isBusy() const +{ + QAndroidJniObject jstrL = QAndroidJniObject::fromString(d_ptr->portName); + cleanJavaException(); + jboolean resultL = QAndroidJniObject::callStaticMethod( + V_jniClassName, + "isDeviceNameOpen", + "(Ljava/lang/String;)Z", + jstrL.object()); + cleanJavaException(); + return resultL; +} + +bool QSerialPortInfo::isValid() const +{ + QAndroidJniObject jstrL = QAndroidJniObject::fromString(d_ptr->portName); + cleanJavaException(); + jboolean resultL = QAndroidJniObject::callStaticMethod( + V_jniClassName, + "isDeviceNameValid", + "(Ljava/lang/String;)Z", + jstrL.object()); + cleanJavaException(); + return resultL; +} + +QString QSerialPortInfoPrivate::portNameToSystemLocation(const QString &source) +{ + return (source.startsWith(QLatin1Char('/')) + || source.startsWith(QStringLiteral("./")) + || source.startsWith(QStringLiteral("../"))) + ? source : (QStringLiteral("/dev/") + source); +} + +QString QSerialPortInfoPrivate::portNameFromSystemLocation(const QString &source) +{ + return source.startsWith(QStringLiteral("/dev/")) + ? source.mid(5) : source; +} + +QT_END_NAMESPACE + diff --git a/libs/qtandroidserialport/src/qserialportinfo_p.h b/libs/qtandroidserialport/src/qserialportinfo_p.h new file mode 100644 index 0000000000000000000000000000000000000000..5a15dcfebe74b5e173b5a615a8d050e81476f44a --- /dev/null +++ b/libs/qtandroidserialport/src/qserialportinfo_p.h @@ -0,0 +1,95 @@ +/**************************************************************************** +** +** Copyright (C) 2011-2012 Denis Shienkov +** Copyright (C) 2011 Sergey Belyashov +** Copyright (C) 2012 Laszlo Papp +** Contact: http://www.qt.io/licensing/ +** +** This file is part of the QtSerialPort module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL21$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see http://www.qt.io/terms-conditions. For further +** information use the contact form at http://www.qt.io/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 or version 3 as published by the Free +** Software Foundation and appearing in the file LICENSE.LGPLv21 and +** LICENSE.LGPLv3 included in the packaging of this file. Please review the +** following information to ensure the GNU Lesser General Public License +** requirements will be met: https://www.gnu.org/licenses/lgpl.html and +** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** As a special exception, The Qt Company gives you certain additional +** rights. These rights are described in The Qt Company LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QSERIALPORTINFO_P_H +#define QSERIALPORTINFO_P_H + +// +// W A R N I N G +// ------------- +// +// This file is not part of the Qt API. It exists purely as an +// implementation detail. This header file may change from version to +// version without notice, or even be removed. +// +// We mean it. +// + +#include + +QT_BEGIN_NAMESPACE + +class Q_AUTOTEST_EXPORT QSerialPortInfoPrivate +{ +public: + QSerialPortInfoPrivate() + : vendorIdentifier(0) + , productIdentifier(0) + , hasVendorIdentifier(false) + , hasProductIdentifier(false) + { + } + + ~QSerialPortInfoPrivate() + { + } + + static QString portNameToSystemLocation(const QString &source); + static QString portNameFromSystemLocation(const QString &source); + + QString portName; + QString device; + QString description; + QString manufacturer; + QString serialNumber; + + quint16 vendorIdentifier; + quint16 productIdentifier; + + bool hasVendorIdentifier; + bool hasProductIdentifier; +}; + +class QSerialPortInfoPrivateDeleter +{ +public: + static void cleanup(QSerialPortInfoPrivate *p) { + delete p; + } +}; + +QT_END_NAMESPACE + +#endif // QSERIALPORTINFO_P_H diff --git a/libs/qtandroidserialport/src/qtandroidserialport.pri b/libs/qtandroidserialport/src/qtandroidserialport.pri new file mode 100644 index 0000000000000000000000000000000000000000..d3d98a0ba880c05feaaa2e0ae6769ed9c717136a --- /dev/null +++ b/libs/qtandroidserialport/src/qtandroidserialport.pri @@ -0,0 +1,26 @@ +android { + + QT += androidextras + + INCLUDEPATH += $$PWD + + PUBLIC_HEADERS += \ + $$PWD/qserialport.h \ + $$PWD/qserialportinfo.h + + PRIVATE_HEADERS += \ + $$PWD/qserialport_p.h \ + $$PWD/qserialportinfo_p.h \ + $$PWD/qserialport_android_p.h + + SOURCES += \ + $$PWD/qserialport.cpp \ + $$PWD/qserialportinfo.cpp \ + $$PWD/qserialport_android.cpp \ + $$PWD/qserialportinfo_android.cpp + + CONFIG += mobility + + HEADERS += $$PUBLIC_HEADERS $$PRIVATE_HEADERS + +} diff --git a/qgroundcontrol.desktop b/qgroundcontrol.desktop new file mode 100644 index 0000000000000000000000000000000000000000..9f815f8e1edc32205ca0dc8429613e0b90d37bf6 --- /dev/null +++ b/qgroundcontrol.desktop @@ -0,0 +1,10 @@ +[Desktop Entry] +Type=Application +Name=qgroundcontrol +GenericName=Ground Control Station +Comment=UAS ground control station +Icon=qgroundcontrol +Exec=qgroundcontrol +Terminal=false +Categories=Utility; +Keywords=computer; diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index ffbc0bf66f6fee9b832c12bee1cef512fe25492b..6928aadf96b2ef13c0e8365a3b6c38315f2aa07e 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -3,7 +3,7 @@ # Please see our website at # Maintainer: # Lorenz Meier -# (c) 2009-2014 QGroundControl Developers +# (c) 2009-2015 QGroundControl Developers # This file is part of the open groundstation 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 @@ -17,772 +17,16 @@ # along with QGroundControl. If not, see . # ------------------------------------------------- -message(Qt version $$[QT_VERSION]) +TEMPLATE = subdirs +CONFIG += ordered +SUBDIRS = ./QGCLocationPlugin.pro +SUBDIRS += ./QGCApplication.pro -# Load additional config flags from user_config.pri -exists(user_config.pri):infile(user_config.pri, CONFIG) { - CONFIG += $$fromfile(user_config.pri, CONFIG) - message($$sprintf("Using user-supplied additional config: '%1' specified in user_config.pri", $$fromfile(user_config.pri, CONFIG))) -} +QGCApplication.depends = QGCLocationPlugin -# Setup our supported build types. We do this once here and then use the defined config scopes -# to allow us to easily modify suported build types in one place instead of duplicated throughout -# the project file. +message(Qt version $$[QT_VERSION]) !equals(QT_MAJOR_VERSION, 5) | !greaterThan(QT_MINOR_VERSION, 3) { error("Unsupported Qt version, 5.4+ is required") } -linux { - linux-g++ | linux-g++-64 { - message("Linux build") - CONFIG += LinuxBuild link_pkgconfig - } else { - error("Unsuported Linux toolchain, only GCC 32- or 64-bit is supported") - } -} else : win32 { - win32-msvc2010 | win32-msvc2012 | win32-msvc2013 { - message("Windows build") - CONFIG += WindowsBuild - } else { - error("Unsupported Windows toolchain, only Visual Studio 2010, 2012, and 2013 are supported") - } -} else : macx { - macx-clang | macx-llvm { - message("Mac build") - CONFIG += MacBuild - } else { - error("Unsupported Mac toolchain, only 64-bit LLVM+clang is supported") - } -} else { - error("Unsupported build platform, only Linux, Windows, and Mac are supported") -} - -# Installer configuration - -installer { - CONFIG -= debug - CONFIG -= debug_and_release - CONFIG += release - message(Build Installer) -} - -# Setup our supported build flavors - -CONFIG(debug, debug|release) { - message(Debug flavor) - CONFIG += DebugBuild -} else:CONFIG(release, debug|release) { - message(Release flavor) - CONFIG += ReleaseBuild -} else { - error(Unsupported build flavor) -} - -# Need to special case Windows debug_and_release since VS Project creation in this case does strange things [QTBUG-40351] -win32:debug_and_release { - CONFIG += WindowsDebugAndRelease -} - -# Setup our build directories - -BASEDIR = $${IN_PWD} -DebugBuild { - DESTDIR = $${OUT_PWD}/debug - BUILDDIR = $${OUT_PWD}/build-debug -} -ReleaseBuild { - DESTDIR = $${OUT_PWD}/release - BUILDDIR = $${OUT_PWD}/build-release -} -OBJECTS_DIR = $${BUILDDIR}/obj -MOC_DIR = $${BUILDDIR}/moc -UI_DIR = $${BUILDDIR}/ui -RCC_DIR = $${BUILDDIR}/rcc -LANGUAGE = C++ - -message(BASEDIR $$BASEDIR DESTDIR $$DESTDIR TARGET $$TARGET) - -# Qt configuration -CONFIG += qt \ - thread - -QT += network \ - opengl \ - svg \ - xml \ - concurrent \ - widgets \ - gui \ - serialport \ - sql \ - printsupport \ - qml \ - quick \ - quickwidgets - -contains(DEFINES, QGC_NOTIFY_TUNES_ENABLED) { - QT += multimedia -} - -!contains(DEFINES, DISABLE_GOOGLE_EARTH) { - QT += webkit webkitwidgets -} - - -# testlib is needed even in release flavor for QSignalSpy support -QT += testlib - -# Turn off serial port warnings -DEFINES += _TTY_NOWARN_ - -# -# OS Specific settings -# - -MacBuild { - QMAKE_INFO_PLIST = Custom-Info.plist - CONFIG += x86_64 - CONFIG -= x86 - QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6 - QMAKE_MAC_SDK = macosx10.9 - ICON = $$BASEDIR/files/images/icons/macx.icns - QT += quickwidgets -} - -LinuxBuild { - DEFINES += __STDC_LIMIT_MACROS - CONFIG += qesp_linux_udev -} - -WindowsBuild { - DEFINES += __STDC_LIMIT_MACROS - - # Specify multi-process compilation within Visual Studio. - # (drastically improves compilation times for multi-core computers) - QMAKE_CXXFLAGS_DEBUG += -MP - QMAKE_CXXFLAGS_RELEASE += -MP - - RC_FILE = $$BASEDIR/qgroundcontrol.rc -} - -# -# By default warnings as errors are turned off. Even so, in order for a pull request -# to be accepted you must compile cleanly with warnings as errors turned on the default -# set of OS builds. See http://www.qgroundcontrol.org/dev/contribute for more details. -# You can use the WarningsAsErrorsOn CONFIG switch to turn warnings as errors on for your -# own builds. -# - -MacBuild | LinuxBuild { - QMAKE_CXXFLAGS_WARN_ON += -Wall - WarningsAsErrorsOn { - QMAKE_CXXFLAGS_WARN_ON += -Werror - } -} - -WindowsBuild { - QMAKE_CXXFLAGS_WARN_ON += /W3 \ - /wd4996 \ # silence warnings about deprecated strcpy and whatnot - /wd4005 \ # silence warnings about macro redefinition - /wd4290 \ # ignore exception specifications - /Zc:strictStrings- # work around win 8.1 sdk sapi.h problem - WarningsAsErrorsOn { - QMAKE_CXXFLAGS_WARN_ON += /WX - } -} - -# -# Build-specific settings -# - -DebugBuild { - CONFIG += console -} - -ReleaseBuild { - DEFINES += QT_NO_DEBUG - - WindowsBuild { - # Use link time code generation for better optimization (I believe this is supported in MSVC Express, but not 100% sure) - QMAKE_LFLAGS_LTCG = /LTCG - QMAKE_CFLAGS_LTCG = -GL - } -} - -# qextserialport should not be used by general QGroundControl code. Use QSerialPort instead. This is only -# here to support special case Firmware Upgrade code. -include(libs/qextserialport/src/qextserialport.pri) - -# -# External library configuration -# - -include(QGCExternalLibs.pri) - -# -# Post link configuration -# - -include(QGCSetup.pri) - -# -# Installer targets -# - -include(QGCInstaller.pri) - -# -# Main QGroundControl portion of project file -# - -RESOURCES += qgroundcontrol.qrc - -TRANSLATIONS += \ - es-MX.ts \ - en-US.ts - -DEPENDPATH += \ - . \ - plugins - -INCLUDEPATH += . - -INCLUDEPATH += \ - src \ - src/ui \ - src/ui/linechart \ - src/ui/uas \ - src/ui/map \ - src/uas \ - src/comm \ - src/audio \ - include/ui \ - src/input \ - src/lib/qmapcontrol \ - src/ui/mavlink \ - src/ui/param \ - src/ui/map3D \ - src/ui/mission \ - src/ui/designer \ - src/ui/configuration \ - src/ui/px4_configuration \ - src/ui/main \ - src/ui/toolbar \ - src/VehicleSetup \ - src/AutoPilotPlugins \ - src/QmlControls - -FORMS += \ - src/ui/MainWindow.ui \ - src/ui/SerialSettings.ui \ - src/ui/UASControl.ui \ - src/ui/UASList.ui \ - src/ui/UASInfo.ui \ - src/ui/Linechart.ui \ - src/ui/UASView.ui \ - src/ui/ParameterInterface.ui \ - src/ui/WaypointList.ui \ - src/ui/JoystickWidget.ui \ - src/ui/DebugConsole.ui \ - src/ui/HDDisplay.ui \ - src/ui/MAVLinkSettingsWidget.ui \ - src/ui/AudioOutputWidget.ui \ - src/ui/QGCSensorSettingsWidget.ui \ - src/ui/QGCDataPlot2D.ui \ - src/ui/QMap3D.ui \ - src/ui/map3D/QGCGoogleEarthView.ui \ - src/ui/uas/QGCUnconnectedInfoWidget.ui \ - src/ui/designer/QGCToolWidget.ui \ - src/ui/designer/QGCParamSlider.ui \ - src/ui/designer/QGCActionButton.ui \ - src/ui/designer/QGCCommandButton.ui \ - src/ui/designer/QGCToolWidgetComboBox.ui \ - src/ui/designer/QGCTextLabel.ui \ - src/ui/designer/QGCXYPlot.ui \ - src/ui/QGCMAVLinkLogPlayer.ui \ - src/ui/QGCWaypointListMulti.ui \ - src/ui/QGCUASFileViewMulti.ui \ - src/ui/QGCTCPLinkConfiguration.ui \ - src/ui/SettingsDialog.ui \ - src/ui/map/QGCMapTool.ui \ - src/ui/map/QGCMapToolBar.ui \ - src/ui/QGCMAVLinkInspector.ui \ - src/ui/WaypointViewOnlyView.ui \ - src/ui/WaypointEditableView.ui \ - src/ui/mavlink/QGCMAVLinkMessageSender.ui \ - src/ui/QGCPluginHost.ui \ - src/ui/mission/QGCMissionOther.ui \ - src/ui/mission/QGCMissionNavWaypoint.ui \ - src/ui/mission/QGCMissionDoJump.ui \ - src/ui/mission/QGCMissionConditionDelay.ui \ - src/ui/mission/QGCMissionNavLoiterUnlim.ui \ - src/ui/mission/QGCMissionNavLoiterTurns.ui \ - src/ui/mission/QGCMissionNavLoiterTime.ui \ - src/ui/mission/QGCMissionNavReturnToLaunch.ui \ - src/ui/mission/QGCMissionNavLand.ui \ - src/ui/mission/QGCMissionNavTakeoff.ui \ - src/ui/mission/QGCMissionNavSweep.ui \ - src/ui/mission/QGCMissionDoStartSearch.ui \ - src/ui/mission/QGCMissionDoFinishSearch.ui \ - src/ui/QGCHilConfiguration.ui \ - src/ui/QGCHilFlightGearConfiguration.ui \ - src/ui/QGCHilJSBSimConfiguration.ui \ - src/ui/QGCHilXPlaneConfiguration.ui \ - src/ui/uas/UASQuickView.ui \ - src/ui/uas/UASQuickViewItemSelect.ui \ - src/ui/QGCTabbedInfoView.ui \ - src/ui/UASRawStatusView.ui \ - src/ui/uas/UASMessageView.ui \ - src/ui/JoystickButton.ui \ - src/ui/JoystickAxis.ui \ - src/ui/configuration/terminalconsole.ui \ - src/ui/configuration/SerialSettingsDialog.ui \ - src/ui/px4_configuration/QGCPX4AirframeConfig.ui \ - src/ui/px4_configuration/PX4RCCalibration.ui \ - src/ui/QGCUASFileView.ui \ - src/QGCQmlWidgetHolder.ui \ - src/ui/QGCMapRCToParamDialog.ui \ - src/ui/QGCLinkConfiguration.ui \ - src/ui/QGCCommConfiguration.ui \ - src/ui/QGCUDPLinkConfiguration.ui - -HEADERS += \ - src/MG.h \ - src/QGCApplication.h \ - src/QGCSingleton.h \ - src/uas/UASInterface.h \ - src/uas/UAS.h \ - src/uas/UASManager.h \ - src/comm/LinkManager.h \ - src/comm/LinkInterface.h \ - src/comm/SerialLink.h \ - src/comm/ProtocolInterface.h \ - src/comm/MAVLinkProtocol.h \ - src/comm/QGCFlightGearLink.h \ - src/comm/QGCJSBSimLink.h \ - src/comm/QGCXPlaneLink.h \ - src/ui/SerialConfigurationWindow.h \ - src/ui/MainWindow.h \ - src/ui/uas/UASControlWidget.h \ - src/ui/uas/UASListWidget.h \ - src/ui/uas/UASInfoWidget.h \ - src/ui/HUD.h \ - src/ui/linechart/LinechartWidget.h \ - src/ui/linechart/LinechartPlot.h \ - src/ui/linechart/Scrollbar.h \ - src/ui/linechart/ScrollZoomer.h \ - src/QGCConfig.h \ - src/ui/uas/UASView.h \ - src/ui/CameraView.h \ - src/comm/MAVLinkSimulationLink.h \ - src/comm/UDPLink.h \ - src/comm/TCPLink.h \ - src/ui/ParameterInterface.h \ - src/ui/WaypointList.h \ - src/Waypoint.h \ - src/input/JoystickInput.h \ - src/ui/JoystickWidget.h \ - src/ui/DebugConsole.h \ - src/ui/HDDisplay.h \ - src/ui/MAVLinkSettingsWidget.h \ - src/ui/AudioOutputWidget.h \ - src/GAudioOutput.h \ - src/LogCompressor.h \ - src/ui/QGCParamWidget.h \ - src/ui/QGCSensorSettingsWidget.h \ - src/ui/linechart/Linecharts.h \ - src/uas/UASWaypointManager.h \ - src/ui/HSIDisplay.h \ - src/QGC.h \ - src/ui/QGCDataPlot2D.h \ - src/ui/linechart/IncrementalPlot.h \ - src/comm/QGCMAVLink.h \ - src/ui/QGCMainWindowAPConfigurator.h \ - src/comm/MAVLinkSwarmSimulationLink.h \ - src/ui/uas/QGCUnconnectedInfoWidget.h \ - src/ui/designer/QGCToolWidget.h \ - src/ui/designer/QGCParamSlider.h \ - src/ui/designer/QGCCommandButton.h \ - src/ui/designer/QGCToolWidgetItem.h \ - src/ui/designer/QGCToolWidgetComboBox.h \ - src/ui/designer/QGCTextLabel.h \ - src/ui/designer/QGCRadioChannelDisplay.h \ - src/ui/designer/QGCXYPlot.h \ - src/ui/designer/RCChannelWidget.h \ - src/ui/QGCMAVLinkLogPlayer.h \ - src/comm/MAVLinkSimulationWaypointPlanner.h \ - src/comm/MAVLinkSimulationMAV.h \ - src/uas/QGCMAVLinkUASFactory.h \ - src/ui/QGCWaypointListMulti.h \ - src/ui/QGCUASFileViewMulti.h \ - src/ui/QGCTCPLinkConfiguration.h \ - src/ui/SettingsDialog.h \ - src/uas/QGCUASParamManager.h \ - src/ui/map/QGCMapWidget.h \ - src/ui/map/MAV2DIcon.h \ - src/ui/map/Waypoint2DIcon.h \ - src/ui/map/QGCMapTool.h \ - src/ui/map/QGCMapToolBar.h \ - src/QGCGeo.h \ - src/ui/QGCToolBar.h \ - src/ui/QGCMAVLinkInspector.h \ - src/ui/MAVLinkDecoder.h \ - src/ui/WaypointViewOnlyView.h \ - src/ui/WaypointEditableView.h \ - src/ui/QGCRGBDView.h \ - src/ui/mavlink/QGCMAVLinkMessageSender.h \ - src/ui/QGCPluginHost.h \ - src/ui/mission/QGCMissionOther.h \ - src/ui/mission/QGCMissionNavWaypoint.h \ - src/ui/mission/QGCMissionDoJump.h \ - src/ui/mission/QGCMissionConditionDelay.h \ - src/ui/mission/QGCMissionNavLoiterUnlim.h \ - src/ui/mission/QGCMissionNavLoiterTurns.h \ - src/ui/mission/QGCMissionNavLoiterTime.h \ - src/ui/mission/QGCMissionNavReturnToLaunch.h \ - src/ui/mission/QGCMissionNavLand.h \ - src/ui/mission/QGCMissionNavTakeoff.h \ - src/ui/mission/QGCMissionNavSweep.h \ - src/ui/mission/QGCMissionDoStartSearch.h \ - src/ui/mission/QGCMissionDoFinishSearch.h \ - src/comm/QGCHilLink.h \ - src/ui/QGCHilConfiguration.h \ - src/ui/QGCHilFlightGearConfiguration.h \ - src/ui/QGCHilJSBSimConfiguration.h \ - src/ui/QGCHilXPlaneConfiguration.h \ - src/ui/uas/UASQuickView.h \ - src/ui/uas/UASQuickViewItem.h \ - src/ui/linechart/ChartPlot.h \ - src/ui/uas/UASQuickViewItemSelect.h \ - src/ui/uas/UASQuickViewTextItem.h \ - src/ui/uas/UASQuickViewGaugeItem.h \ - src/ui/QGCTabbedInfoView.h \ - src/ui/UASRawStatusView.h \ - src/ui/PrimaryFlightDisplay.h \ - src/ui/uas/UASMessageView.h \ - src/ui/JoystickButton.h \ - src/ui/JoystickAxis.h \ - src/ui/configuration/console.h \ - src/ui/configuration/SerialSettingsDialog.h \ - src/ui/configuration/terminalconsole.h \ - src/ui/configuration/ApmHighlighter.h \ - src/uas/UASParameterDataModel.h \ - src/uas/UASParameterCommsMgr.h \ - src/ui/QGCPendingParamWidget.h \ - src/ui/px4_configuration/QGCPX4AirframeConfig.h \ - src/ui/QGCBaseParamWidget.h \ - src/ui/px4_configuration/PX4RCCalibration.h \ - src/ui/px4_configuration/RCValueWidget.h \ - src/uas/UASManagerInterface.h \ - src/uas/QGCUASParamManagerInterface.h \ - src/uas/QGCUASFileManager.h \ - src/ui/QGCUASFileView.h \ - src/CmdLineOptParser.h \ - src/uas/QGXPX4UAS.h \ - src/QGCFileDialog.h \ - src/QGCMessageBox.h \ - src/QGCComboBox.h \ - src/QGCTemporaryFile.h \ - src/audio/QGCAudioWorker.h \ - src/QGCQuickWidget.h \ - src/QGCPalette.h \ - src/QGCQmlWidgetHolder.h \ - src/ui/QGCParamTreeWidget.h \ - src/ui/QGCMapRCToParamDialog.h \ - src/QGCDockWidget.h \ - src/ui/QGCLinkConfiguration.h \ - src/comm/LinkConfiguration.h \ - src/ui/QGCCommConfiguration.h \ - src/ui/QGCUDPLinkConfiguration.h \ - src/uas/UASMessageHandler.h \ - src/ui/toolbar/MainToolBar.h \ - src/QmlControls/MousePosition.h - -SOURCES += \ - src/main.cc \ - src/QGCApplication.cc \ - src/QGCSingleton.cc \ - src/uas/UASManager.cc \ - src/uas/UAS.cc \ - src/comm/LinkManager.cc \ - src/comm/SerialLink.cc \ - src/comm/MAVLinkProtocol.cc \ - src/comm/QGCFlightGearLink.cc \ - src/comm/QGCJSBSimLink.cc \ - src/comm/QGCXPlaneLink.cc \ - src/ui/SerialConfigurationWindow.cc \ - src/ui/MainWindow.cc \ - src/ui/uas/UASControlWidget.cc \ - src/ui/uas/UASListWidget.cc \ - src/ui/uas/UASInfoWidget.cc \ - src/ui/HUD.cc \ - src/ui/linechart/LinechartWidget.cc \ - src/ui/linechart/LinechartPlot.cc \ - src/ui/linechart/Scrollbar.cc \ - src/ui/linechart/ScrollZoomer.cc \ - src/ui/uas/UASView.cc \ - src/ui/CameraView.cc \ - src/comm/MAVLinkSimulationLink.cc \ - src/comm/UDPLink.cc \ - src/comm/TCPLink.cc \ - src/ui/ParameterInterface.cc \ - src/ui/WaypointList.cc \ - src/Waypoint.cc \ - src/input/JoystickInput.cc \ - src/ui/JoystickWidget.cc \ - src/ui/DebugConsole.cc \ - src/ui/HDDisplay.cc \ - src/ui/MAVLinkSettingsWidget.cc \ - src/ui/AudioOutputWidget.cc \ - src/GAudioOutput.cc \ - src/LogCompressor.cc \ - src/ui/QGCParamWidget.cc \ - src/ui/QGCSensorSettingsWidget.cc \ - src/ui/linechart/Linecharts.cc \ - src/uas/UASWaypointManager.cc \ - src/ui/HSIDisplay.cc \ - src/QGC.cc \ - src/ui/QGCDataPlot2D.cc \ - src/ui/linechart/IncrementalPlot.cc \ - src/ui/QGCMainWindowAPConfigurator.cc \ - src/comm/MAVLinkSwarmSimulationLink.cc \ - src/ui/uas/QGCUnconnectedInfoWidget.cc \ - src/ui/designer/QGCToolWidget.cc \ - src/ui/designer/QGCParamSlider.cc \ - src/ui/designer/QGCCommandButton.cc \ - src/ui/designer/QGCToolWidgetItem.cc \ - src/ui/designer/QGCToolWidgetComboBox.cc \ - src/ui/designer/QGCTextLabel.cc \ - src/ui/designer/QGCRadioChannelDisplay.cpp \ - src/ui/designer/QGCXYPlot.cc \ - src/ui/designer/RCChannelWidget.cc \ - src/ui/QGCMAVLinkLogPlayer.cc \ - src/comm/MAVLinkSimulationWaypointPlanner.cc \ - src/comm/MAVLinkSimulationMAV.cc \ - src/uas/QGCMAVLinkUASFactory.cc \ - src/ui/QGCWaypointListMulti.cc \ - src/ui/QGCUASFileViewMulti.cc \ - src/ui/QGCTCPLinkConfiguration.cc \ - src/ui/SettingsDialog.cc \ - src/uas/QGCUASParamManager.cc \ - src/ui/map/QGCMapWidget.cc \ - src/ui/map/MAV2DIcon.cc \ - src/ui/map/Waypoint2DIcon.cc \ - src/ui/map/QGCMapTool.cc \ - src/ui/map/QGCMapToolBar.cc \ - src/ui/QGCToolBar.cc \ - src/ui/QGCMAVLinkInspector.cc \ - src/ui/MAVLinkDecoder.cc \ - src/ui/WaypointViewOnlyView.cc \ - src/ui/WaypointEditableView.cc \ - src/ui/QGCRGBDView.cc \ - src/ui/mavlink/QGCMAVLinkMessageSender.cc \ - src/ui/QGCPluginHost.cc \ - src/ui/mission/QGCMissionOther.cc \ - src/ui/mission/QGCMissionNavWaypoint.cc \ - src/ui/mission/QGCMissionDoJump.cc \ - src/ui/mission/QGCMissionConditionDelay.cc \ - src/ui/mission/QGCMissionNavLoiterUnlim.cc \ - src/ui/mission/QGCMissionNavLoiterTurns.cc \ - src/ui/mission/QGCMissionNavLoiterTime.cc \ - src/ui/mission/QGCMissionNavReturnToLaunch.cc \ - src/ui/mission/QGCMissionNavLand.cc \ - src/ui/mission/QGCMissionNavTakeoff.cc \ - src/ui/mission/QGCMissionNavSweep.cc \ - src/ui/mission/QGCMissionDoStartSearch.cc \ - src/ui/mission/QGCMissionDoFinishSearch.cc \ - src/ui/QGCHilConfiguration.cc \ - src/ui/QGCHilFlightGearConfiguration.cc \ - src/ui/QGCHilJSBSimConfiguration.cc \ - src/ui/QGCHilXPlaneConfiguration.cc \ - src/ui/uas/UASQuickViewItem.cc \ - src/ui/uas/UASQuickView.cc \ - src/ui/linechart/ChartPlot.cc \ - src/ui/uas/UASQuickViewTextItem.cc \ - src/ui/uas/UASQuickViewGaugeItem.cc \ - src/ui/uas/UASQuickViewItemSelect.cc \ - src/ui/QGCTabbedInfoView.cpp \ - src/ui/UASRawStatusView.cpp \ - src/ui/PrimaryFlightDisplay.cc \ - src/ui/JoystickButton.cc \ - src/ui/JoystickAxis.cc \ - src/ui/uas/UASMessageView.cc \ - src/ui/configuration/terminalconsole.cpp \ - src/ui/configuration/console.cpp \ - src/ui/configuration/SerialSettingsDialog.cc \ - src/ui/configuration/ApmHighlighter.cc \ - src/uas/UASParameterDataModel.cc \ - src/uas/UASParameterCommsMgr.cc \ - src/ui/QGCPendingParamWidget.cc \ - src/ui/px4_configuration/QGCPX4AirframeConfig.cc \ - src/ui/QGCBaseParamWidget.cc \ - src/ui/px4_configuration/PX4RCCalibration.cc \ - src/ui/px4_configuration/RCValueWidget.cc \ - src/uas/QGCUASFileManager.cc \ - src/ui/QGCUASFileView.cc \ - src/CmdLineOptParser.cc \ - src/uas/QGXPX4UAS.cc \ - src/QGCFileDialog.cc \ - src/QGCComboBox.cc \ - src/QGCTemporaryFile.cc \ - src/audio/QGCAudioWorker.cpp \ - src/QGCQuickWidget.cc \ - src/QGCPalette.cc \ - src/QGCQmlWidgetHolder.cpp \ - src/ui/QGCParamTreeWidget.cpp \ - src/ui/QGCMapRCToParamDialog.cpp \ - src/QGCDockWidget.cc \ - src/ui/QGCLinkConfiguration.cc \ - src/comm/LinkConfiguration.cc \ - src/ui/QGCCommConfiguration.cc \ - src/ui/QGCUDPLinkConfiguration.cc \ - src/uas/UASMessageHandler.cc \ - src/ui/toolbar/MainToolBar.cc \ - src/QmlControls/MousePosition.cc - -# -# Unit Test specific configuration goes here -# -# We have to special case Windows debug_and_release builds because you can't have files -# which are only in the debug variant [QTBUG-40351]. So in this case we include unit tests -# even in the release variant. If you want a Windows release build with no unit tests run -# qmake with CONFIG-=debug_and_release CONFIG+=release. -# - -DebugBuild|WindowsDebugAndRelease { - -DEFINES += UNITTEST_BUILD - -INCLUDEPATH += \ - src/qgcunittest - -HEADERS += \ - src/qgcunittest/UnitTest.h \ - src/qgcunittest/MessageBoxTest.h \ - src/qgcunittest/FileDialogTest.h \ - src/qgcunittest/MockLink.h \ - src/qgcunittest/MockLinkMissionItemHandler.h \ - src/qgcunittest/MockUASManager.h \ - src/qgcunittest/MockUAS.h \ - src/qgcunittest/MockQGCUASParamManager.h \ - src/qgcunittest/MockMavlinkInterface.h \ - src/qgcunittest/MockMavlinkFileServer.h \ - src/qgcunittest/MultiSignalSpy.h \ - src/qgcunittest/FlightGearTest.h \ - src/qgcunittest/TCPLinkTest.h \ - src/qgcunittest/TCPLoopBackServer.h \ - src/qgcunittest/QGCUASFileManagerTest.h \ - src/qgcunittest/PX4RCCalibrationTest.h \ - src/qgcunittest/LinkManagerTest.h \ - src/qgcunittest/MainWindowTest.h \ - src/qgcunittest/MavlinkLogTest.h \ - src/FactSystem/FactSystemTestBase.h \ - src/FactSystem/FactSystemTestPX4.h \ - src/FactSystem/FactSystemTestGeneric.h \ - src/QmlControls/QmlTestWidget.h \ - src/VehicleSetup/SetupViewTest.h \ - -SOURCES += \ - src/qgcunittest/UnitTest.cc \ - src/qgcunittest/MessageBoxTest.cc \ - src/qgcunittest/FileDialogTest.cc \ - src/qgcunittest/MockLink.cc \ - src/qgcunittest/MockLinkMissionItemHandler.cc \ - src/qgcunittest/MockUASManager.cc \ - src/qgcunittest/MockUAS.cc \ - src/qgcunittest/MockQGCUASParamManager.cc \ - src/qgcunittest/MockMavlinkFileServer.cc \ - src/qgcunittest/MultiSignalSpy.cc \ - src/qgcunittest/FlightGearTest.cc \ - src/qgcunittest/TCPLinkTest.cc \ - src/qgcunittest/TCPLoopBackServer.cc \ - src/qgcunittest/QGCUASFileManagerTest.cc \ - src/qgcunittest/PX4RCCalibrationTest.cc \ - src/qgcunittest/LinkManagerTest.cc \ - src/qgcunittest/MainWindowTest.cc \ - src/qgcunittest/MavlinkLogTest.cc \ - src/FactSystem/FactSystemTestBase.cc \ - src/FactSystem/FactSystemTestPX4.cc \ - src/FactSystem/FactSystemTestGeneric.cc \ - src/QmlControls/QmlTestWidget.cc \ - src/VehicleSetup/SetupViewTest.cc \ - -} - -# -# AutoPilot Plugin Support -# - -INCLUDEPATH += \ - src/VehicleSetup - -FORMS += \ - src/VehicleSetup/ParameterEditor.ui \ - src/ui/QGCPX4VehicleConfig.ui \ - src/VehicleSetup/SetupView.ui \ - -HEADERS+= \ - src/VehicleSetup/SetupView.h \ - src/VehicleSetup/ParameterEditor.h \ - src/VehicleSetup/VehicleComponent.h \ - src/VehicleSetup/FirmwareUpgradeController.h \ - src/VehicleSetup/PX4Bootloader.h \ - src/VehicleSetup/PX4FirmwareUpgradeThread.h \ - src/AutoPilotPlugins/AutoPilotPluginManager.h \ - src/AutoPilotPlugins/AutoPilotPlugin.h \ - src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \ - src/AutoPilotPlugins/Generic/GenericParameterFacts.h \ - src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \ - src/AutoPilotPlugins/PX4/PX4Component.h \ - src/AutoPilotPlugins/PX4/RadioComponent.h \ - src/AutoPilotPlugins/PX4/FlightModesComponent.h \ - src/AutoPilotPlugins/PX4/FlightModesComponentController.h \ - src/AutoPilotPlugins/PX4/AirframeComponent.h \ - src/AutoPilotPlugins/PX4/SensorsComponent.h \ - src/AutoPilotPlugins/PX4/SensorsComponentController.h \ - src/AutoPilotPlugins/PX4/SafetyComponent.h \ - src/AutoPilotPlugins/PX4/PX4ParameterFacts.h \ - -SOURCES += \ - src/VehicleSetup/SetupView.cc \ - src/VehicleSetup/ParameterEditor.cc \ - src/VehicleSetup/VehicleComponent.cc \ - src/VehicleSetup/FirmwareUpgradeController.cc \ - src/VehicleSetup/PX4Bootloader.cc \ - src/VehicleSetup/PX4FirmwareUpgradeThread.cc \ - src/AutoPilotPlugins/AutoPilotPluginManager.cc \ - src/AutoPilotPlugins/AutoPilotPlugin.cc \ - src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \ - src/AutoPilotPlugins/Generic/GenericParameterFacts.cc \ - src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \ - src/AutoPilotPlugins/PX4/PX4Component.cc \ - src/AutoPilotPlugins/PX4/RadioComponent.cc \ - src/AutoPilotPlugins/PX4/FlightModesComponent.cc \ - src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \ - src/AutoPilotPlugins/PX4/AirframeComponent.cc \ - src/AutoPilotPlugins/PX4/SensorsComponent.cc \ - src/AutoPilotPlugins/PX4/SensorsComponentController.cc \ - src/AutoPilotPlugins/PX4/SafetyComponent.cc \ - src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc \ - -# Fact System code - -INCLUDEPATH += \ - src/FactSystem - -HEADERS += \ - src/FactSystem/FactSystem.h \ - src/FactSystem/Fact.h \ - src/FactSystem/FactBinder.h \ - src/FactSystem/FactMetaData.h \ - src/FactSystem/FactValidator.h \ - src/FactSystem/FactLoader.h \ - -SOURCES += \ - src/FactSystem/FactSystem.cc \ - src/FactSystem/Fact.cc \ - src/FactSystem/FactBinder.cc \ - src/FactSystem/FactMetaData.cc \ - src/FactSystem/FactValidator.cc \ - src/FactSystem/FactLoader.cc \ diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index 16459b2f42d82337cf273530d5f93621be5920bc..c3b264b8a1866729cefe8cc7d5cbc1631d030235 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ 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files/images/categories/applications-development.svg - files/images/devices/network-wireless.svg - files/images/devices/network-wired.svg - files/images/apps/utilities-terminal.svg - files/images/apps/utilities-system-monitor.svg - files/images/apps/accessories-text-editor.svg - files/images/apps/accessories-calculator.svg - files/images/devices/input-gaming.svg - files/images/mavs/helicopter.svg - files/images/mavs/unknown.svg - files/images/mavs/fixed-wing.svg - files/images/mavs/groundstation.svg - files/images/mavs/generic.svg - files/images/mavs/quadrotor.svg - files/images/mavs/coaxial.svg - files/images/mavs/airship.svg - files/images/mavs/antenna-tracker.svg - files/images/mavs/flapping-wing.svg - files/images/mavs/free-balloon.svg - files/images/mavs/ground-rover.svg - files/images/mavs/hexarotor.svg - files/images/mavs/kite.svg - files/images/mavs/octorotor.svg - files/images/mavs/rocket.svg - files/images/mavs/submarine.svg - files/images/mavs/surface-boat.svg - 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files/images/px4/calibration/3dr_gps/gps_14.png - files/images/px4/calibration/3dr_gps/gps_13.png - files/images/px4/calibration/3dr_gps/gps_12.png - files/images/px4/calibration/3dr_gps/gps_19.png - files/images/px4/calibration/3dr_gps/gps_18.png - files/images/px4/calibration/3dr_gps/gps_17.png - files/images/px4/calibration/3dr_gps/gps_16.png - files/images/px4/calibration/3dr_gps/gps_07.png - files/images/px4/calibration/3dr_gps/gps_06.png - files/images/px4/calibration/3dr_gps/gps_04.png - files/images/px4/calibration/3dr_gps/gps_03.png - files/images/px4/calibration/3dr_gps/gps_02.png - files/images/px4/calibration/3dr_gps/gps_01.png - files/images/px4/calibration/3dr_gps/gps_24.png - files/images/px4/calibration/3dr_gps/gps_00.png - files/images/px4/menu/toggle_switch.png - files/images/px4/boards/px4flow_1.x.png - files/images/px4/boards/px4fmu_1.x.png - files/images/px4/boards/px4fmu_2.x.png - - - files/styles/Vera.ttf - - src/qgcunittest/MockLink.param + src/comm/MockLink.params src/FactSystem/FactSystemTest.qml - - files/QLoggingCategory/qtlogging.ini - + src/test.qml src/QmlControls/QmlTest.qml @@ -263,34 +23,40 @@ src/QmlControls/QGCComboBox.qml src/QmlControls/QGCColoredImage.qml src/QmlControls/QGCToolBarButton.qml + src/QmlControls/QGCMovableItem.qml src/QmlControls/SubMenuButton.qml src/QmlControls/IndicatorButton.qml src/QmlControls/VehicleRotationCal.qml - + src/QmlControls/VehicleSummaryRow.qml src/QmlControls/arrow-down.png + src/ViewWidgets/ViewWidget.qml + src/QmlControls/ParameterEditor.qml + + src/ViewWidgets/ParameterEditorWidget.qml + + src/VehicleSetup/SetupViewButtonsConnected.qml + src/VehicleSetup/SetupViewButtonsDisconnected.qml - files/images/px4/airframes/octo_x.png - files/images/px4/boards/px4fmu_2.x.png - src/VehicleSetup/SetupViewButtons.qml src/VehicleSetup/VehicleSummary.qml src/VehicleSetup/FirmwareUpgrade.qml - + src/VehicleSetup/SetupParameterEditor.qml src/AutoPilotPlugins/PX4/SafetyComponent.qml + src/AutoPilotPlugins/PX4/PowerComponent.qml src/AutoPilotPlugins/PX4/SensorsComponent.qml src/AutoPilotPlugins/PX4/FlightModesComponent.qml - src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml + src/AutoPilotPlugins/PX4/PowerComponentSummary.qml src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml src/AutoPilotPlugins/PX4/RadioComponentSummary.qml src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml - - src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.png + src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.svg src/AutoPilotPlugins/PX4/Images/SafetyComponentHome.png src/AutoPilotPlugins/PX4/Images/SafetyComponentArrowDown.png src/AutoPilotPlugins/PX4/Images/SafetyComponentPlane.png + src/AutoPilotPlugins/PX4/Images/VehicleDown.png src/AutoPilotPlugins/PX4/Images/VehicleUpsideDown.png src/AutoPilotPlugins/PX4/Images/VehicleLeft.png @@ -298,18 +64,198 @@ src/AutoPilotPlugins/PX4/Images/VehicleNoseDown.png src/AutoPilotPlugins/PX4/Images/VehicleTailDown.png - files/Setup/cogwheels.png + src/AutoPilotPlugins/PX4/Images/VehicleDownRotate.png + src/AutoPilotPlugins/PX4/Images/VehicleLeftRotate.png + src/AutoPilotPlugins/PX4/Images/VehicleNoseDownRotate.png + + + src/AutoPilotPlugins/PX4/AirframeComponent.qml + src/AutoPilotPlugins/PX4/Images/AirframeStandardPlane.png + src/AutoPilotPlugins/PX4/Images/AirframeFlyingWing.png + src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorX.png + src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorPlus.png + src/AutoPilotPlugins/PX4/Images/AirframeOctoRotorX.png + src/AutoPilotPlugins/PX4/Images/AirframeOctoRotorPlus.png + src/AutoPilotPlugins/PX4/Images/AirframeHexaRotorX.png + src/AutoPilotPlugins/PX4/Images/AirframeHexaRotorPlus.png + src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorH.png + src/AutoPilotPlugins/PX4/Images/AirframeSimulation.png + + resources/CogWheels.png src/AutoPilotPlugins/PX4/Images/SensorsComponentIcon.png src/AutoPilotPlugins/PX4/Images/RadioComponentIcon.png src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png src/AutoPilotPlugins/PX4/Images/AirframeComponentIcon.png src/AutoPilotPlugins/PX4/Images/SafetyComponentIcon.png + src/AutoPilotPlugins/PX4/Images/PowerComponentIcon.png src/VehicleSetup/FirmwareUpgradeIcon.png src/VehicleSetup/VehicleSummaryIcon.png + src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_01cell.svg + src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_02cell.svg + src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_03cell.svg + src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_04cell.svg + src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_05cell.svg + src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg + src/ui/toolbar/MainToolBar.qml + src/ui/flightdisplay/FlightDisplay.qml + src/ui/mapdisplay/MapDisplay.qml + + src/ui/qmlcommon/qmldir + src/ui/qmlcommon/QGCAltitudeWidget.qml + src/ui/qmlcommon/QGCAttitudeWidget.qml + src/ui/qmlcommon/QGCAttitudeInstrument.qml + src/ui/qmlcommon/QGCCompass.qml + src/ui/qmlcommon/QGCCompassInstrument.qml + src/ui/qmlcommon/QGCCurrentAltitude.qml + src/ui/qmlcommon/QGCCurrentSpeed.qml + src/ui/qmlcommon/QGCMapBackground.qml + src/ui/qmlcommon/QGCPitchWidget.qml + src/ui/qmlcommon/QGCSpeedWidget.qml + src/ui/qmlcommon/QGCSlider.qml + src/ui/qmlcommon/QGCWaypointEditor.qml + src/ui/qmlcommon/QGCMapToolButton.qml + src/ui/qmlcommon/QGCArtificialHorizon.qml + + src/ui/qmlcommon/compass.svg + src/ui/qmlcommon/compassNeedle.svg + src/ui/qmlcommon/crossHair.svg + src/ui/qmlcommon/rollDialWhite.svg + src/ui/qmlcommon/rollPointerWhite.svg + src/ui/qmlcommon/scale.png + src/ui/qmlcommon/scale_end.png + src/ui/qmlcommon/buttonLeft.svg + src/ui/qmlcommon/buttonRight.svg + src/ui/qmlcommon/buttonHome.svg + src/ui/qmlcommon/buttonMore.svg + src/ui/qmlcommon/attitudeInstrument.svg + src/ui/qmlcommon/attitudeDial.svg + src/ui/qmlcommon/attitudePointer.svg + src/ui/qmlcommon/compassInstrumentAirplane.svg + src/ui/qmlcommon/compassInstrumentDial.svg + src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml + + + resources/LeftArrow.svg + resources/RightArrow.svg + resources/DownArrow.svg + resources/UpArrow.svg + resources/BottomArrow.svg + resources/JumpArrow.svg + + resources/PlusSign.svg + resources/MinusSign.svg + + resources/Play.svg + resources/Pause.svg + resources/Stop.svg + + resources/Launch.svg + resources/Land.svg + resources/Kill.svg + resources/Shutdown.svg + + resources/Antenna_T.svg + resources/Antenna_RC.svg + resources/Gps.svg + resources/Megaphone.png + resources/Yield.png + + resources/Battery_0.svg + resources/Battery_20.svg + resources/Battery_40.svg + resources/Battery_60.svg + resources/Battery_80.svg + resources/Battery_100.svg + + resources/SystemLockScreen.svg + + resources/SplashScreen.png + + resources/QGroundControlConnect.svg + + + + resources/mavs/helicopter.svg + resources/mavs/unknown.svg + resources/mavs/fixed-wing.svg + resources/mavs/groundstation.svg + resources/mavs/generic.svg + resources/mavs/quadrotor.svg + resources/mavs/coaxial.svg + resources/mavs/airship.svg + resources/mavs/antenna-tracker.svg + resources/mavs/flapping-wing.svg + resources/mavs/free-balloon.svg + resources/mavs/ground-rover.svg + resources/mavs/hexarotor.svg + resources/mavs/kite.svg + resources/mavs/octorotor.svg + resources/mavs/rocket.svg + resources/mavs/submarine.svg + resources/mavs/surface-boat.svg + resources/mavs/tricopter.svg + + + + resources/mapproviders/openstreetmap.png + resources/mapproviders/google.png + resources/mapproviders/yahoo.png + resources/mapproviders/googleearth.svg + + + + resources/calibration/accel_back.png + resources/calibration/accel_front.png + resources/calibration/accel_right.png + resources/calibration/accel_down.png + resources/calibration/accel_up.png + resources/calibration/accel_left.png + + 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resources/calibration/mode2/radioThrottleDown.png + resources/calibration/mode2/radioSwitchMinMax.png + + + + resources/styles/style-dark.css + resources/styles/style-light.css + + + + resources/styles/Vera.ttf + + + + resources/audio/alert.wav + diff --git a/qgroundcontrol.rc b/qgroundcontrol.rc index 31f38f1b9991618a757030c63a3a6402a057d06e..b1bc3a8bdcb59cf295563fc7bd76730238ad60c5 100644 --- a/qgroundcontrol.rc +++ b/qgroundcontrol.rc @@ -1,4 +1,4 @@ -IDI_ICON1 ICON DISCARDABLE "files/images/icons/qgroundcontrol.ico" +IDI_ICON1 ICON DISCARDABLE "resources/icons/qgroundcontrol.ico" 1 VERSIONINFO FILEVERSION 2,0,0,227 diff --git a/resources/Antenna_RC.svg b/resources/Antenna_RC.svg new file mode 100644 index 0000000000000000000000000000000000000000..f323ef3138441b3d62bf7c517e05125283c40afb --- /dev/null +++ b/resources/Antenna_RC.svg @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + diff --git a/resources/Antenna_T.svg b/resources/Antenna_T.svg new file mode 100644 index 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100644 index 0000000000000000000000000000000000000000..8fe7d19bc05c2cb21bd63a5daa803a1e07143564 Binary files /dev/null and b/resources/flightgear/Aircraft/EasyStar/Models/wing.jpg differ diff --git a/resources/flightgear/Aircraft/EasyStar/easystar.xml b/resources/flightgear/Aircraft/EasyStar/easystar.xml new file mode 100644 index 0000000000000000000000000000000000000000..742c6cb6318b5269fb93c35561020a5362a506b3 --- /dev/null +++ b/resources/flightgear/Aircraft/EasyStar/easystar.xml @@ -0,0 +1,643 @@ + + + + + + Ron Jensen Aeromatic v 0.91 + 2010-03-28 + $Revison: $ + Models a EasyStar. + + + + + + 2.570 + 4.500 + 0.000 + 0.571 + 0.384 + 1.752 + 0.257 + 1.752 + + 0.080 + 0.00 + 0.00 + + + -0.1 + 0.00 + 0.00 + + + 0 + 0 + 0 + + + + + 1.636 + 0.649 + 2.125 + 0.9 + + 0.078 + 0.00 + -0.035 + + + + + + + + 0.1 + 0.0 + -0.1 + + 0.800 + 0.500 + 0.500 + 20.0 + 7.0 + 4.0 + 0 + NONE + 0 + + + + -0.26 + 0.00 + -0.06 + + 0.800 + 0.500 + 0.500 + 20.0 + 7.0 + 4.0 + 0 + NONE + 0 + + + + + 0.6 + 0.0 + -0.082 + + 0.80 + 0.50 + 20.0 + 7.0 + 4.0 + + + + + 0.14 + -0.707 + 0.08 + + 0.80 + 0.50 + 20.0 + 7.0 + 4.0 + + + + + 0.14 + 0.707 + -0.08 + + 0.80 + 0.50 + 20.0 + 7.0 + 4.0 + + + + + + + + 0.216 + 0.00 + 0.040 + + + -10.00 + 0.00 + 0.00 + + 0 + + + 0.238 + 0.00 + 0.042 + + + -10.00 + 0.00 + 0.00 + + + + + + 0.078 + 0.00 + -0.04 + + .60 + .60 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.35 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + + + + + -fcs/aileron-cmd-norm + fcs/yaw-trim-cmd-norm + + -1.0 + 1.0 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + fcs/throttle-cmd-norm + 0 + + 0.0 + 1.0 + + + -0.1 + 1.0 + + fcs/throttle-pos-norm + + + + + + + + Change in lift due to ground effect factor + + + aero/h_b-mac-ft + + 0.0 1.203 + 0.1 1.127 + 0.15 1.090 + 0.2 1.073 + 0.3 1.046 + 0.4 1.055 + 0.5 1.019 + 0.6 1.013 + 0.7 1.008 + 0.8 1.006 + 0.9 1.003 + 1.0 1.002 + 1.1 1.0 + +
+ + + + + Change in drag due to ground effect + + + aero/h_b-mac-ft + + 0.0 0.480 + 0.1 0.515 + 0.15 0.629 + 0.2 0.709 + 0.3 0.815 + 0.4 0.882 + 0.5 0.928 + 0.6 0.962 + 0.7 0.988 + 0.8 1.0 + 0.9 1.0 + 1.0 1.0 + 1.1 1.0 + +
+ + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + aero/function/ground-effect-factor-lift + + aero/alpha-rad + + -3.1416 0.0 + -2.62 0.86 + -2.36 1.0 + -2.09 0.86 + -1.57 -0.00 + -1.05 -0.86 + -0.79 -1.0 + -0.52 -0.50 + -0.39 -0.38 + -0.20 -0.850 + 0.00 0.250 + 0.21 1.400 + 0.60 0.710 + 0.79 1.0 + 1.05 0.86 + 1.57 0.00 + 2.09 -0.86 + 2.36 -1.0 + 2.62 -0.86 + 3.1416 0.0 + +
+ + + + + Lift_due_to_Elevator_Deflection + + aero/function/ground-effect-factor-lift + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2 + + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + aero/function/ground-effect-factor-drag + + aero/alpha-rad + + -3.1416 0.012 + -1.57 1.500 + -0.21 0.016 + 0.00 0.012 + 0.21 0.016 + 1.57 1.500 + 3.1416 0.012 + +
+ + + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.023 + + + + + Drag_due_to_mach + + aero/qbar-psf + metrics/Sw-sqft + + velocities/mach + + 0.00 0.000 + 0.7 0.000 + 1.10 0.023 + 1.80 0.015 + +
+ + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -3.1416 0.0 + -1.57 1.230 + -0.26 0.050 + 0.00 0.000 + 0.26 0.050 + 1.57 1.230 + 3.1416 0.0 + +
+ + + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.04 + + + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1 + + + + + + + + + Roll_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1 + + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4 + + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.15 + + + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.01 + + + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + + aero/alpha-rad + + -3.14 0.0 + -2.62 0.2252 + -2.36 0.26 + -2.09 0.2252 + -1.57 0.0 + -1.05 -0.2252 + -0.79 -0.26 + -0.52 -0.2252 + -0.39 -0.1838 + -0.26 -0.2588 + 0.0 0.0 + 0.26 0.2588 + 0.39 0.1838 + 0.52 0.2252 + 0.79 0.26 + 1.05 0.2252 + 1.57 0.0 + 2.09 -0.2252 + 2.36 -0.26 + 2.62 -0.2252 + 3.14 0.0 + +
+ -0.5 + + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0 -0.800 + 2.0 -0.200 + +
+ + + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -9 + + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -12 + + + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.12 + + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.15 + + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.03 + + + + + + + + diff --git a/resources/flightgear/Aircraft/EasyStar/readme.txt b/resources/flightgear/Aircraft/EasyStar/readme.txt new file mode 100644 index 0000000000000000000000000000000000000000..ce0b8d625ed5d810ecf5ce772798decf4ff5729e --- /dev/null +++ b/resources/flightgear/Aircraft/EasyStar/readme.txt @@ -0,0 +1,15 @@ +Origional readme: +************************************************************************ +* MULTIPLEX Modellsport GmbH & Co. KG * +* Neuer Weg 2, D-75223 Niefern, Germany * +************************************************************************ + +Wir haben die Flugeigenschaften so genau wie möglich +dem realen Modell angenähert. In extremen Flugsituationen sind jedoch Ab- +weichungen möglich. + + +This Model was created for FMS and now modified by Ken Northup using AC3D and is freely distributed. Please feel free to modify as you wish using AC3D. If you modify and make a better paint scheme, feel free to contact me via email, as I would love to see different versions created for Clearview RC Simulator. To Install, simply extract the file and put the folder under the models in the Clearview RC Simulator. The next time you run Clearview, it will appear under the Airplane selections. + +Ken Northup +Helos360@bellsouth.net \ No newline at end of file diff --git a/resources/flightgear/Aircraft/EasyStar/readme_qgroundcontrol.txt b/resources/flightgear/Aircraft/EasyStar/readme_qgroundcontrol.txt new file mode 100644 index 0000000000000000000000000000000000000000..0725d6b379159dd64ba8fba4672afea9278a4c59 --- /dev/null +++ b/resources/flightgear/Aircraft/EasyStar/readme_qgroundcontrol.txt @@ -0,0 +1,5 @@ +The EasyStar model is from http://gitorious.org/ron-s-hanger/easystar-rc (fork at https://gitorious.org/~thomasgubler/ron-s-hanger/thomasgublers-easystar-rc) + +I slightly adapted some files in order to make the model work when it's not located in the default flightgear aircraft folder. + +-Thomas Gubler diff --git a/resources/flightgear/Aircraft/EasyStar/reset00.xml b/resources/flightgear/Aircraft/EasyStar/reset00.xml new file mode 100644 index 0000000000000000000000000000000000000000..7d27b824486f7fafdd6faacca1e53b55d03ff722 --- /dev/null +++ b/resources/flightgear/Aircraft/EasyStar/reset00.xml @@ -0,0 +1,16 @@ + + + + 0.0 + 0.0 + 0.0 + 47.0 + 122.0 + 0.0 + 0.0 + 150.0 + 4.7 + diff --git a/resources/flightgear/Aircraft/EasyStar/reset01.xml b/resources/flightgear/Aircraft/EasyStar/reset01.xml new file mode 100644 index 0000000000000000000000000000000000000000..0ed8db936ba4af5b2393feaab0500a5c70b9fbf2 --- /dev/null +++ b/resources/flightgear/Aircraft/EasyStar/reset01.xml @@ -0,0 +1,15 @@ + + + + 0.0 + 0.0 + 0.0 + 47.0 + 122.0 + 0.0 + 0.0 + 150.0 + 1000.7 + diff --git a/resources/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1 b/resources/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1 new file mode 100644 index 0000000000000000000000000000000000000000..c85509bb879e38ce222f55a9aefbfdff00a8de68 --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/.#Malolo1-set.xml.1.1 @@ -0,0 +1,103 @@ + + + + + + + Malolo1(R/C) + Innis Cunningham, Josh Wilson + 0.0 + + + Aircraft/Malolo1/Malolo1-splash.rgb + + + jsb + Malolo1 + 0.8 + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Malolo1/Models/Malolo1.xml + + + + true + + 0.0 + 0.26 + 0.34 + -8 + + + + -15.0 + + YardStik 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/resources/flightgear/Aircraft/Malolo1/COPYING b/resources/flightgear/Aircraft/Malolo1/COPYING new file mode 100644 index 0000000000000000000000000000000000000000..d60c31a97a544b53039088d14fe9114583c0efc3 --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/COPYING @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc. + 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Library General +Public License instead of this License. diff --git a/resources/flightgear/Aircraft/Malolo1/Engines/18x8.xml b/resources/flightgear/Aircraft/Malolo1/Engines/18x8.xml new file mode 100644 index 0000000000000000000000000000000000000000..6f4aae8cf672c85b47d0f2a469a496641f2b0c5e --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/Engines/18x8.xml @@ -0,0 +1,51 @@ + + + + + + 0.00085 + 18.0 + 2 + 30 + 30 + + + + 0.0 0.0776 + 0.1 0.0744 + 0.2 0.0712 + 0.3 0.0655 + 0.4 0.0588 + 0.5 0.0518 + 0.6 0.0419 + 0.7 0.0318 + 0.8 0.0172 + 1.0 -0.0058 + 1.4 -0.0549 + +
+ + + + 0.0 0.0902 + 0.1 0.0893 + 0.2 0.0880 + 0.3 0.0860 + 0.4 0.0810 + 0.5 0.0742 + 0.6 0.0681 + 0.7 0.0572 + 0.8 0.0467 + 1.0 0.0167 + 1.4 -0.0803 + +
+ + diff --git a/resources/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml b/resources/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml new file mode 100644 index 0000000000000000000000000000000000000000..86d43a827e807510a32e0328dc425a9f219ef9fa --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/Engines/Zenoah_G-26A.xml @@ -0,0 +1,8 @@ + + + + + + + 2207.27 + diff --git a/resources/flightgear/Aircraft/Malolo1/Malolo1-set.xml b/resources/flightgear/Aircraft/Malolo1/Malolo1-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..67eda11d3170dd79e969057e215214d5e0ed8b63 --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/Malolo1-set.xml @@ -0,0 +1,129 @@ + + + + + + + Malolo1(R/C) + Innis Cunningham, Josh Wilson + 0.0 + + + Aircraft/Malolo1/Malolo1-splash.rgb + + + jsb + Malolo1 + 0.8 + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Malolo1/Models/Malolo1.xml + + + + true + + 0.0 + 0.26 + 0.34 + -8 + + + + -15.0 + + YardStik 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + true + + + + nasal + + + + + + + + + + + + + Aircraft/Malolo1/Nasal/catapult.nas + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + + + diff --git a/resources/flightgear/Aircraft/Malolo1/Malolo1-splash.rgb b/resources/flightgear/Aircraft/Malolo1/Malolo1-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..02f47ac2ed3c920a63e3b9bb69851102b4e13bd4 Binary files /dev/null and b/resources/flightgear/Aircraft/Malolo1/Malolo1-splash.rgb differ diff --git a/resources/flightgear/Aircraft/Malolo1/Malolo1.xml b/resources/flightgear/Aircraft/Malolo1/Malolo1.xml new file mode 100644 index 0000000000000000000000000000000000000000..a38ff1f19ee644b189bcd13f3454a5f9de08557b --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/Malolo1.xml @@ -0,0 +1,561 @@ + + + + + + Author Name + Creation Date + Version + Models a Malolo + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1 + 1 + 2 + 0 + 0 + 0 + 12 + + 36.4 + 0 + 4 + + + 1 + + 0 + 0 + 0 + + + + + + + + 40.1 + -9.9 + -10.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 40.1 + 9.9 + -10.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -4.3 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + 10 + 0 + -8.3 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
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+ 0.65 + 1.4 + 0.07 +
+ + 0.215 + 1 + 0.056 + + + + + rotate + rhelevon + controls/flight/aileron + -15 + 0 +
+ 0.65 + 1.4 + 0.07 +
+ + 0.215 + 1 + 0.056 + + + + + rotate + lhelevon + controls/flight/elevator + 15 + 0 +
+ 0.65 + -1.4 + 0.07 +
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+ 0.65 + -1.4 + 0.07 +
+ + -0.215 + 1 + -0.056 + + + + + + spin + prop2 + engines/engine/rpm + -0.2 +
+ 0 + 0 + 0.0156 +
+ + 1 + 0 + 0 + + + + + + diff --git a/resources/flightgear/Aircraft/Malolo1/Nasal/catapult.nas b/resources/flightgear/Aircraft/Malolo1/Nasal/catapult.nas new file mode 100644 index 0000000000000000000000000000000000000000..519d72f2ed70767382de2ae65c13624f07b8a051 --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/Nasal/catapult.nas @@ -0,0 +1,40 @@ +var launchCatapult = func { + # time on catapult = 1/10 sec + # speed when leaving catapult = 50 km/h ? + var countdownRunning = 1; + var count = 3; + var countdown = func { + if (countdownRunning) { + if (count != 0) { + setprop("/sim/screen/white",count); + count = count - 1; + settimer(countdown, 1); + } + else { + countdownRunning = 0; + setprop("/sim/screen/yellow","Go!"); + launch(); + } + } + } + countdown(); + + var launchRunning = 1; + var magnitude = 230; # lbs, unrealisticly high, because the FDM is wrong + var launch = func { + if (launchRunning) { + if (magnitude == 0){ + launchRunning = 0; + + # remove launcher contact points + setprop("/fdm/jsbsim/contact/unit[6]/pos-norm",0); + setprop("/fdm/jsbsim/contact/unit[7]/pos-norm",0); + setprop("/fdm/jsbsim/contact/unit[8]/pos-norm",0); + } + setprop("/fdm/jsbsim/external_reactions/catapult/magnitude",magnitude); + print (magnitude); + magnitude = 0; + settimer(launch, 0.1); + } + } +} diff --git a/resources/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt b/resources/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1eb2c4ff4a7ec9c891417ad05e9e4655333be5a --- /dev/null +++ b/resources/flightgear/Aircraft/Malolo1/readme_qgroundcontrol.txt @@ -0,0 +1,3 @@ +This is the original Malolo1 model with added catapult functionality. The catapult is from https://gitorious.org/mavlab/x100/ + +-Thomas Gubler diff --git a/resources/flightgear/Aircraft/Malolo1/thumbnail.jpg b/resources/flightgear/Aircraft/Malolo1/thumbnail.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ebc3d8ac3d0e9421859467680a0383bede02046e Binary files /dev/null and b/resources/flightgear/Aircraft/Malolo1/thumbnail.jpg differ diff --git a/resources/flightgear/Aircraft/Rascal/Dialogs/config.xml b/resources/flightgear/Aircraft/Rascal/Dialogs/config.xml new file mode 100644 index 0000000000000000000000000000000000000000..fde85591a355cd43876b710f19a89effc9df0907 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Dialogs/config.xml @@ -0,0 +1,92 @@ + + + + rascal-config + vbox + 40 + 40 + + + hbox + + true + + + + + + true + + + + + + + + table + + + + 0 0 + left + + /ugear/settings/ap-enable + true + + dialog-apply + + + + + + 1 0 + left + + /ugear/settings/turret-enable + true + + dialog-apply + + + + + + 2 0 + left + + /sim/multiplay/generic/int[0] + true + + dialog-apply + + + + + + 3 0 + left + + /sim/multiplay/generic/int[1] + true + + dialog-apply + + + + + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Engines/18x8.xml b/resources/flightgear/Aircraft/Rascal/Engines/18x8.xml new file mode 100644 index 0000000000000000000000000000000000000000..6f4aae8cf672c85b47d0f2a469a496641f2b0c5e --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Engines/18x8.xml @@ -0,0 +1,51 @@ + + + + + + 0.00085 + 18.0 + 2 + 30 + 30 + + + + 0.0 0.0776 + 0.1 0.0744 + 0.2 0.0712 + 0.3 0.0655 + 0.4 0.0588 + 0.5 0.0518 + 0.6 0.0419 + 0.7 0.0318 + 0.8 0.0172 + 1.0 -0.0058 + 1.4 -0.0549 + +
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b/resources/flightgear/Aircraft/Rascal/Models/Rascal110.xml @@ -0,0 +1,87 @@ + + + + + Rascal110-000-013.ac + + + Aircraft/Rascal/Models/smokeW.xml + + 2.0 + 0.0 + 0.0 + 0 + 0 + 0 + + + + + rotate + L_Aileron + /surface-positions/left-aileron-pos-norm + 20.0 +
+ 0.735 + -0.450 + 0.139 +
+ + 0.037 + 1.0 + -0.029 + + + + + rotate + R_Aileron + /surface-positions/right-aileron-pos-norm + 20.0 +
+ 0.735 + 0.450 + 0.139 +
+ + -0.037 + 1.0 + 0.029 + + + + + rotate + Elevator + /surface-positions/elevator-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.051 +
+ + 0.0 + 1.0 + 0.0 + + + + + rotate + Rudder + /surface-positions/rudder-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.0 +
+ + 0.0 + 0.0 + 1.0 + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.ac b/resources/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.ac new file mode 100644 index 0000000000000000000000000000000000000000..4daabfce065f9b6f285485a28fd08776a6e09320 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.ac @@ -0,0 +1,30 @@ +AC3Db +MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0 +MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0 +OBJECT world +kids 2 +OBJECT poly +name "line" +loc 0 0.5 0 +numvert 2 +0 0.5 0 +0 -0.5 0 +numsurf 1 +SURF 0x22 +mat 0 +refs 2 +0 0 1 +1 0 0 +kids 0 +OBJECT poly +name "line" +numvert 2 +0 0 -3 +0 0 3 +numsurf 1 +SURF 0x22 +mat 1 +refs 2 +0 0 1 +1 0 0 +kids 0 diff --git a/resources/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.xml b/resources/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.xml new file mode 100644 index 0000000000000000000000000000000000000000..f0897f2c6f274741524f56d946f3c14459dcd9f8 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Models/Trajectory-Marker.xml @@ -0,0 +1,9 @@ + + + + + + + Trajectory-Marker.ac + + diff --git a/resources/flightgear/Aircraft/Rascal/Models/fix.sh b/resources/flightgear/Aircraft/Rascal/Models/fix.sh new file mode 100755 index 0000000000000000000000000000000000000000..eb14cb636ddff14eb6213dc57c4eaf88e455e739 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Models/fix.sh @@ -0,0 +1,8 @@ +#! /bin/sh + +for f in "$@" ; do + sed -i.before-color-change 's,\(MATERIAL.*\)rgb\(.*\)amb\(.*\)emis\(.*\)spec\(.*\)shi\(.*\)trans\(.*\)$,\1rgb\2amb\2emis\4spec\5shi\6trans\7,1' "$f" + if ! cmp "${f}" "${f}.before-color-change" > /dev/null 2>&1 ; then + echo "$f has changed colors!" + fi +done diff --git a/resources/flightgear/Aircraft/Rascal/Models/smoke.png b/resources/flightgear/Aircraft/Rascal/Models/smoke.png new file mode 100644 index 0000000000000000000000000000000000000000..7bad8c685f636179ff1ce401869188bae2d2225a Binary files /dev/null and b/resources/flightgear/Aircraft/Rascal/Models/smoke.png differ diff --git a/resources/flightgear/Aircraft/Rascal/Models/smokeW.xml b/resources/flightgear/Aircraft/Rascal/Models/smokeW.xml new file mode 100644 index 0000000000000000000000000000000000000000..6d7f06730e22e410a602869d069138a752c42fcf --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Models/smokeW.xml @@ -0,0 +1,102 @@ + + + + + + + + + smoke + + + 0.000 + 0.000 + -0.000 + 0.000 + 0.000 + 0.000 + + + smoke.png + + + sim/multiplay/generic/int[0] + + + false + false + billboard + world + + + point + + + + 10 + 86 + -1.5 + 8 + + 10 + 2.5 + + + 5 + 5 + 5 + 60 + 60 + 60 + + + + + + 100 + 1 + + + + + + + 0.9 + 0.9 + 0.9 + 0.3 + + + 0.3 + + + + + + 0.900 + 0.900 + 0.900 + 0.001 + + + 10.0 + + + + + 60 + + + 0.001 + 1.0 + + + + air + false + true + + + + + diff --git a/resources/flightgear/Aircraft/Rascal/README.Rascal b/resources/flightgear/Aircraft/Rascal/README.Rascal new file mode 100644 index 0000000000000000000000000000000000000000..53559bf73c3fabde9ebf0dd8079b8674bf9d37ac --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/README.Rascal @@ -0,0 +1,236 @@ +This information has not been updated for the Rascal, please ignore, we +are still at pre-pre-pre-alpha with this model! + +PIPER J3 CUB PERFORMANCE DATA +============================= + +[This information is copied from the 1946 J3C-65 owner's handbook.] + + FLYING HINTS + +The Piper Cub Special represents more than 15 years of diligent +aircraft engineering and manufacturing experience. Its simplicity of +design and construction, its low operating and maintenance costs, its +inherent stability, ruggedness, and its outstanding safety and ease of +flying, have made it the most popular airplane in aviation history. +The Piper Cub Special is the time-tested product of millions of hours +of flying under all conceivable conditions both in the military and in +peace time. + +There are hints on starting, flying, stopping, and other related +topics that are important to the owner who wants to conserve his +airplane -- keep it in maximum airworthy condition -- and enjoy a full +measure of flying satisfaction. + + +First, each pilot should become familiar enough with his Piper Cub +Special that he can accomplish a satisfactory pre-flight inspection. +This check is simple and requires only a few minutes. See Section IX +for check list. Daily check of airplane prior to flight should be the +first in a number of safe flying habits the pilot should acquire. + + +A. BEFORE STARTING ENGINE + +(1) Make routine check of gasoline supply. Visible fuel gauge is +integral part of gas tank cap; it will not show number of gallons but +will show proportion of fuel in tank by length of rod which extends +upward from cap. A full tank of 12 U.S. gallons will be indicated by +11 inches of rod extending beyond cap. Keep gas gauge rod clean and +smooth with crocus cloth for accuracy and freedom of movement. + +(2) Check oil level in engine sump by removing oil cap and gauge. Oil +stick should indicate oil level up to index mark of 4 quarts. + +(3) Check freedom of movement of flight and engine controls. + + +B. STARTING ENGINE + +(1) Chock wheels, or have occupant who is familiar with controls set +brakes in cabin. + +(2) Ignition switch OFF. Verify. + +(3) Set throttle approximately 1/10 open. + +(4) Push fuel shut-off ON. + +(5) Turn propeller through several times. + +(6) Turn ignition switch ON. + +(7) Start engine by pulling propeller through with a snap. + +CAUTION -- Always handle propeller as if switch were "ON." Stand as +far in front of propeller as possible. Use both hands and grasp one +blad approximately midway from tip. Do not overgrasp blade. Do not +wear long, loose clothing. Make sure footing is sure to preclude +possibility of feet slipping. + +(8) If engine does not start, turn switch OFF. Turn primer knob to +unlock, pull out, pump three or four times, then reseat primer and +lock by turning in opposite direction. In extremely cold weather a +few strokes of the primer as the engine starts will enable it to keep +running. NOTE -- Avoid excessive priming as it causes raw gasoline to +wash lubricating oil from engine cylinder walls. Do not prime warm +engine. + +(9) Repeat starting procedures 6, 7. + +(10) If engine loads up and refuses to start, turn ignition switch +"OFF,", open throttle wide and turn propeller through backwards +several times to unload excessive gas mixture in cylinders. Then +close throttle and repeat starting procedure. + + +C. ENGINE WARM-UP + +(1) As soon as engine starts, advance throttle slightly to idle at 700 +R.P.M. Check engine instruments. If oil pressure gauge does not +indicate pressure within 30 seconds, stop engine immediately, check +and correct trouble before any further operation. Oil temperature +during operating should not rise above 200° F. and oil pressure should +not fall below 30 pounds. With engine warm, idling speed should be +550-600 R.P.M. + +(2) Rev engine up to 2100 R.P.M. on both magnetos. Switch to LEFT and +RIGHT magnetos. R.P.M. drop should not be over 75 R.P.M. CAUTION +--Do not operate engine on either single magneto for more than 30 +seconds at a time, as this tends to foul the non-operating spark plugs +in the ignition circuit of the magneto that is switched off. + + +D. STOPPING ENGINE + +(1) Never cut switch immediately after landing as this causes engine +to cool too rapidly. + +(2) Idle engine, especially in high temperature operating conditions, +for several minutes. It is advisable to switch to each magneto for 30 +second intervals to allow gradual cooling of engine. This helps to +prevent overheating of spark plug insulators and will lessen tendency +for "after-firing." + +(3) Check for carburetor heat OFF during idling. + + +E. TAXIING + +(1) Open throttle to start airplane in motion; then close throttle to +a setting sufficient to keep airplane rolling. Do not keep throttle +advanced so that it is necessary to control taxi speed of airplane +with brakes. This causes unnecessary wear and tear on brakes and +tires. + +(2) Taxi slowly (speed of a fast walk) controlling direction with +rudder which is connected to a steerable tail wheel. Use brakes only +for positive, precision ground control when necessary. + +(3) Taxi upwind with stick back; downwind with stick foreward. When +ground winds are in excess of 15 M.P.H., turn into wind using ailerons +in direction of turn; apply ailerons away from the turn when turning +downwind. This procedure helps to prevent the wind "picking up" a +wing during windy, gusty conditions. Always make ground turns slowly. + + +F. GENERAL FLYING + +(1) For takeoff use full throttle, heading into wind. Airplane loaded +will become airborne at approximately 39 M.P.H. Best climb speed is +an indicated 55 M.P.H. + +(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150. +Take-off R.P.M. is 2300. Do not fly at full throttle over 3 minutes. + +(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer +shows drop in R.P.M. which may be due to ice forming in carburetor. +Tachometer should recover to within 50 R.P.M. below normal when using +carburetor heat. Push heater to "OFF" position, and if icing +condition has been cleared, R.P.M. should return to normal. Continued +use of carburetor heat will only cause increased fuel consumption and +loss of power. + +(4) Maximum permissible diving speed is 122 M.P.H. + + +G. APPROACH AND LANDING + +(1) Push carburetor heat ON prior to throttling back for glide, or for +any other flight maneuver. + +(2) Glide between 50-60 M.P.H. depending upon loading of airplane and +gust conditions. + +NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet +of descent during a long glide so that engine temperature will be +maintained. + +Throttle action on the part of the pilot should be smooth and gentle +at all times. + + +H. PARKING AND MOORING + +(1) After termination of flight, enter flying time in aircraft and +engine log books. + +(2) Turn ignition and fuel OFF. + +(3) Chcok the wheels of airplane. + +(4) If airplane is not to be flown for some time, it should be +hangared or tied down. Use good quality 1/2" - 5/8" diameter rope. +Secure to lift assist handle at aft end of fuselage; also at upper end +of both front wing lift struts where they attach to wing. Make sure +that rope passes between aileron cable and lift strut. Mooring ropes, +when airplane is tied down, should have no slack. + +(5) Lock aileron and elevator controls by wrapping front seat belt +completely around rear control stick, tighten and buckle. + +(6) Under excessively wind conditions, airplane should be tailed into +wind for mooring. + + + + +[Here is my older information.] + +These are the only numbers I could find. They are for a J3 Cub with +an 85HP engine rather than 65 hp, so some adjustments may be +necessary. The source is + + http://www.evergreenfs.com/planedata.htm + + +Speeds +------ + Best rate of climb (Vy): 65 mph (57 kt) + Best angle of climb (Vx): 55 mph (48 kt) + Cruise: 70 mph (61 kt) + Never-exceed (Vne): 122 mph (106 kt) + Best Glide (Vglide): 60 mph (52 kt) + Stall (Vs): 38 mph (33 kt) + Maneuvering (Va): 70 mph (61 kt) + Approach: 50-60 mph (44-52 kt) + +Power +----- + Take off: full + Climb: 50 rpm below full + Cruise: 2300 rpm + Approach: 1200 rpm + Practice stalls: 1200 rpm + +Distances +--------- + Take-off: 450-800 ft + Landing: 200-800 ft + +Fuel +---- + Total fuel: 12 gal US + Usable fuel: 12 gal US + Grade: 80/87 + GPH: 5 gal US/hr diff --git a/resources/flightgear/Aircraft/Rascal/Rascal-keyboard.xml b/resources/flightgear/Aircraft/Rascal/Rascal-keyboard.xml new file mode 100644 index 0000000000000000000000000000000000000000..504ecca2ce180a41060d2598a7ac0e3e7ed831c0 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Rascal-keyboard.xml @@ -0,0 +1,24 @@ + + + + + + Ctrl-I + Show configuration dialog + + nasal + + + + + + S + Toggle smoke + + property-toggle + sim/multiplay/generic/int[0] + + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Rascal-submodels.xml b/resources/flightgear/Aircraft/Rascal/Rascal-submodels.xml new file mode 100644 index 0000000000000000000000000000000000000000..2ebff47f5354afc2c55bdbe7252a2e9465831ccd --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Rascal-submodels.xml @@ -0,0 +1,25 @@ + + + + + + trajectory marker + Aircraft/Rascal/Models/Trajectory-Marker.xml + /sim/multiplay/generic/int[1] + 0 + true + 0.75 + -1 + -0.5 + 0.0 + -0.08 + 0.0 + 0.0 + 1000000000.00 + 600 + 32 + false + false + + + diff --git a/resources/flightgear/Aircraft/Rascal/Rascal110-JSBSim-set.xml b/resources/flightgear/Aircraft/Rascal/Rascal110-JSBSim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..e3ebc4c0ae49ea7b7cedb3717e60823979487480 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Rascal110-JSBSim-set.xml @@ -0,0 +1,213 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + jsb + Rascal110-JSBSim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + Huds/NTPS.xml + true + + true + true + 0.85 + 0.85 + + + + 0.38 + 1.0 + 0.22 + + + 1.0 + 0.0 + 0.0 + + + + + + true + + 0.0 + -0.15 + 0.9 + -8 + + + + + 1 + Aircraft/Rascal/Rascal-submodels.xml + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + News Camera + lookat + true + + /position/latitude-deg + /position/longitude-deg + /position/altitude-ft + /orientation/heading-deg + /orientation/pitch-deg + /orientation/roll-deg + 0.0 + -0.35 + -0.4 + + /sim/input/click/latitude-deg + /sim/input/click/longitude-deg + /sim/input/click/elevation-ft + + + + + Camera View + true + lookfrom + false + + true + 0 + 0.5f + 55.0 + + + + + 1 + + 0 + 0 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 kts + Never-exceed (Vne): 85 kts + Best Glide (Vglide): 20 kts + Maneuvering (Va): 50 kts + Approach speed: 20-25 kts + Stall speed (Vs): 15 kts + + + + + + + Aircraft/Rascal/Systems/main.nas + Aircraft/Rascal/Systems/airdata.nas + Aircraft/Rascal/Systems/ugear.nas + + + + + + 2 + + + + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + + + + + + + 700 + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Rascal110-JSBSim.xml b/resources/flightgear/Aircraft/Rascal/Rascal110-JSBSim.xml new file mode 100644 index 0000000000000000000000000000000000000000..e09dd7b15b2105e6c0da1a349592f38a3abc7d2a --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Rascal110-JSBSim.xml @@ -0,0 +1,522 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1.95 + 1.55 + 1.91 + 0 + 0 + 0 + 13 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 33.1 + 9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -6.6 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Rascal110-YASim-set.xml b/resources/flightgear/Aircraft/Rascal/Rascal110-YASim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..3b92a5950a5682bce0a5cab7bd54976aa22323f1 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Rascal110-YASim-set.xml @@ -0,0 +1,108 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + yasim + Rascal110-YASim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + true + + 0.0 + -0.3 + 0.9 + -8 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + 2 + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Rascal110-YASim.xml b/resources/flightgear/Aircraft/Rascal/Rascal110-YASim.xml new file mode 100644 index 0000000000000000000000000000000000000000..50b36d8320c95520bd2e3bebfd8e3962ac34ebf9 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Rascal110-YASim.xml @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Rascal110-splash.rgb b/resources/flightgear/Aircraft/Rascal/Rascal110-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..0b0daff89d40685b7c99d7ceb32625a63e5d3de4 Binary files /dev/null and b/resources/flightgear/Aircraft/Rascal/Rascal110-splash.rgb differ diff --git a/resources/flightgear/Aircraft/Rascal/Systems/.#110-autopilot.xml.1.2 b/resources/flightgear/Aircraft/Rascal/Systems/.#110-autopilot.xml.1.2 new file mode 100644 index 0000000000000000000000000000000000000000..6ffff8d76eb5e8c45cb8c1010f5b5a981c7df228 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/.#110-autopilot.xml.1.2 @@ -0,0 +1,711 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + + 0.0 + -8.33 + + 8.33 + + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.0001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml b/resources/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml new file mode 100644 index 0000000000000000000000000000000000000000..7ab47ed98f0845b6f37d088aeb24f63d15d3423e --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml @@ -0,0 +1,767 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml-a b/resources/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml-a new file mode 100644 index 0000000000000000000000000000000000000000..05f17e152937819d2212f3ff5240c7be1855ddbc --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/110-autopilot.xml-a @@ -0,0 +1,707 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Systems/airdata.nas b/resources/flightgear/Aircraft/Rascal/Systems/airdata.nas new file mode 100644 index 0000000000000000000000000000000000000000..8322cbb1699cc19f77458d80609519ac7932e3bf --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/airdata.nas @@ -0,0 +1,40 @@ +var last_time = 0.0; +var last_speed = 0.0; +var speed_sensed = 0.0; +var sensor_step = 1.0; +var speed_filt = 0.0; +var accel_filt = 0.0; + +var compute_airspeed_accel = func( speed_filt, dt ) { + # print ( "computing forward acceleration ", dt ); + + var delta_speed = speed_filt - last_speed; + last_speed = speed_filt; + + var accel = delta_speed / dt; + + return accel; +} + + +var update_airdata = func( dt ) { + # crude model of a noisy electronic pitot tube + sensed_speed = getprop("/velocities/airspeed-kt"); + var r = rand(); + if ( r < 0.3333 ) { + sensed_speed = sensed_speed - sensor_step; + } elsif ( r > 0.6666 ) { + sensed_speed = sensed_speed + sensor_step; + } + + speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed; + + var sensed_accel = 0.0; + if ( dt > 0 ) { + sensed_accel = compute_airspeed_accel( speed_filt, dt ); + } + + accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel; + + setprop("/accelerations/airspeed-ktps", accel_filt); +} diff --git a/resources/flightgear/Aircraft/Rascal/Systems/electrical.xml b/resources/flightgear/Aircraft/Rascal/Systems/electrical.xml new file mode 100644 index 0000000000000000000000000000000000000000..88bd52e62cc92cd5f38104b7ba4aa7beed8bf424 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/electrical.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + Battery 1 + /systems/electrical/suppliers/battery[0] + battery + 28 + 60 + + + + Alternator 1 + /systems/electrical/suppliers/alternator[0] + alternator + /engines/engine[0]/rpm + 28 + 60 + + + + + + Master Bus + /systems/electrical/outputs/bus[0] + /systems/electrical/outputs/transponder + + + + + + Starter 1 Power + /systems/electrical/outputs/starter[0] + + + + Landing Light Power + /systems/electrical/outputs/landing-light + + + + Beacon Power + /systems/electrical/outputs/beacon + + + + Strobe Lights Power + /systems/electrical/outputs/strobe-lights + + + + Taxi Lights Power + /systems/electrical/outputs/taxi-lights + + + + Pitot Heat Power + /systems/electrical/outputs/pitot-heat + + + + + + + Alternator 1 + Master Bus + + /controls/engines/engine[0]/master-alt + + + + + Battery 1 + Master Bus + + /controls/engines/engine[0]/master-bat + + + + + + + Master Bus + Starter 1 Power + + /controls/engines/engine[0]/starter + off + + + + + + + Master Bus + Landing Light Power + + /controls/switches/landing-light + + + + + Master Bus + Beacon Power + + /controls/switches/flashing-beacon + + + + + Master Bus + Strobe Lights Power + + /controls/switches/strobe-lights + + + + + Master Bus + Taxi Lights Power + + /controls/switches/taxi-lights + + + + + Master Bus + Pitot Heat Power + + /controls/switches/pitot-heat + + + + diff --git a/resources/flightgear/Aircraft/Rascal/Systems/main.nas b/resources/flightgear/Aircraft/Rascal/Systems/main.nas new file mode 100644 index 0000000000000000000000000000000000000000..7aec75186ffeb8a0ff801a8513f74cc3738fef2e --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/main.nas @@ -0,0 +1,22 @@ +var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog", + "Aircraft/Rascal/Dialogs/config.xml"); + +var last_time = 0.0; + + +var main_loop = func { + var time = getprop("/sim/time/elapsed-sec"); + var dt = time - last_time; + last_time = time; + + update_airdata( dt ); + update_ugear( dt ); + + settimer(main_loop, 0); +} + + +setlistener("/sim/signals/fdm-initialized", + func { + main_loop(); + }); diff --git a/resources/flightgear/Aircraft/Rascal/Systems/ugear.nas b/resources/flightgear/Aircraft/Rascal/Systems/ugear.nas new file mode 100644 index 0000000000000000000000000000000000000000..3a33c6cb2258896b960dd856db46175e99aa5335 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/Systems/ugear.nas @@ -0,0 +1,54 @@ +var update_ugear = func( dt ) { + var max_zoom_rate = 10*dt; + var max_pan_rate = 30*dt; + var max_tilt_rate = 45*dt; + + var ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + if ( ap_enable == nil ) { + props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1); + ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + } + if ( ap_enable.getBoolValue() ) { + setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") ); + setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") ); + } + + var turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + if ( turret_enable == nil ) { + props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1); + turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + } + + if ( (getprop("/sim/current-view/name") == "Camera View") + and turret_enable.getBoolValue() ) + { + var target_zoom = getprop("/ugear/act/channel6"); + var target_pan = -getprop("/ugear/act/channel7"); + if ( target_pan < -180.0 ) { target_pan += 360.0; } + if ( target_pan > 180.0 ) { target_pan -= 360.0; } + var target_tilt = -getprop("/ugear/act/channel8"); + var cur_zoom = getprop("/sim/current-view/field-of-view"); + var cur_pan = getprop("/sim/current-view/heading-offset-deg"); + var cur_tilt = getprop("/sim/current-view/pitch-offset-deg"); + var diff = 0.0; + + diff = target_zoom - cur_zoom; + if ( diff > max_zoom_rate ) { diff = max_zoom_rate; } + if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; } + setprop("/sim/current-view/field-of-view", cur_zoom + diff); + + diff = target_pan - cur_pan; + if ( diff > 180 ) { diff -= 360; } + if ( diff < -180 ) { diff += 360; } + if ( diff > max_pan_rate ) { diff = max_pan_rate; } + if ( diff < -max_pan_rate ) { diff = -max_pan_rate; } + setprop("/sim/current-view/heading-offset-deg", cur_pan + diff); + + diff = target_tilt - cur_tilt; + if ( diff > 90 ) { diff = 90; } + if ( diff < -90 ) { diff = -90; } + if ( diff > max_tilt_rate ) { diff = max_tilt_rate; } + if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; } + setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff); + } +} diff --git a/resources/flightgear/Aircraft/Rascal/initfile.xml b/resources/flightgear/Aircraft/Rascal/initfile.xml new file mode 100644 index 0000000000000000000000000000000000000000..621b522cf1ad13a82178e710a5df2421f0afca18 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal/initfile.xml @@ -0,0 +1,12 @@ + + + 110.783 + 5.03584 + -0.226825 + -2.16197 + -1.06069 + 2.95853 + 0 + 0 + -0.401227 + diff --git a/resources/flightgear/Aircraft/Rascal/thumbnail.jpg b/resources/flightgear/Aircraft/Rascal/thumbnail.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdc375c3e59e4b14dc25efd65e1b2922ca1f1d4d Binary files /dev/null and b/resources/flightgear/Aircraft/Rascal/thumbnail.jpg differ diff --git a/resources/flightgear/Aircraft/Rascal110/Dialogs/config.xml b/resources/flightgear/Aircraft/Rascal110/Dialogs/config.xml new file mode 100644 index 0000000000000000000000000000000000000000..fde85591a355cd43876b710f19a89effc9df0907 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Dialogs/config.xml @@ -0,0 +1,92 @@ + + + + rascal-config + vbox + 40 + 40 + + + hbox + + true + + + + + + true + + + + + + + + table + + + + 0 0 + left + + /ugear/settings/ap-enable + true + + dialog-apply + + + + + + 1 0 + left + + /ugear/settings/turret-enable + true + + dialog-apply + + + + + + 2 0 + left + + /sim/multiplay/generic/int[0] + true + + dialog-apply + + + + + + 3 0 + left + + /sim/multiplay/generic/int[1] + true + + dialog-apply + + + + + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Engines/18x8.xml b/resources/flightgear/Aircraft/Rascal110/Engines/18x8.xml new file mode 100644 index 0000000000000000000000000000000000000000..6f4aae8cf672c85b47d0f2a469a496641f2b0c5e --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Engines/18x8.xml @@ -0,0 +1,51 @@ + + + + + + 0.00085 + 18.0 + 2 + 30 + 30 + + + + 0.0 0.0776 + 0.1 0.0744 + 0.2 0.0712 + 0.3 0.0655 + 0.4 0.0588 + 0.5 0.0518 + 0.6 0.0419 + 0.7 0.0318 + 0.8 0.0172 + 1.0 -0.0058 + 1.4 -0.0549 + +
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+ + diff --git a/resources/flightgear/Aircraft/Rascal110/Engines/Zenoah_G-26A.xml b/resources/flightgear/Aircraft/Rascal110/Engines/Zenoah_G-26A.xml new file mode 100644 index 0000000000000000000000000000000000000000..86d43a827e807510a32e0328dc425a9f219ef9fa --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Engines/Zenoah_G-26A.xml @@ -0,0 +1,8 @@ + + + + + + + 2207.27 + diff --git a/resources/flightgear/Aircraft/Rascal110/Models/Rascal.rgb b/resources/flightgear/Aircraft/Rascal110/Models/Rascal.rgb new file mode 100755 index 0000000000000000000000000000000000000000..108c50cae5ed250e8e38950cca59942fc89732f4 Binary files /dev/null and b/resources/flightgear/Aircraft/Rascal110/Models/Rascal.rgb differ diff --git a/resources/flightgear/Aircraft/Rascal110/Models/Rascal110-000-013.ac b/resources/flightgear/Aircraft/Rascal110/Models/Rascal110-000-013.ac new file mode 100755 index 0000000000000000000000000000000000000000..fd1fe631ec7c37a1d557f65ac2f19d4ecaa06d9c --- /dev/null +++ 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b/resources/flightgear/Aircraft/Rascal110/Models/Rascal110.xml @@ -0,0 +1,87 @@ + + + + + Rascal110-000-013.ac + + + Aircraft/Rascal/Models/smokeW.xml + + 2.0 + 0.0 + 0.0 + 0 + 0 + 0 + + + + + rotate + L_Aileron + /surface-positions/left-aileron-pos-norm + 20.0 +
+ 0.735 + -0.450 + 0.139 +
+ + 0.037 + 1.0 + -0.029 + + + + + rotate + R_Aileron + /surface-positions/right-aileron-pos-norm + 20.0 +
+ 0.735 + 0.450 + 0.139 +
+ + -0.037 + 1.0 + 0.029 + + + + + rotate + Elevator + /surface-positions/elevator-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.051 +
+ + 0.0 + 1.0 + 0.0 + + + + + rotate + Rudder + /surface-positions/rudder-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.0 +
+ + 0.0 + 0.0 + 1.0 + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac b/resources/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac new file mode 100644 index 0000000000000000000000000000000000000000..4daabfce065f9b6f285485a28fd08776a6e09320 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.ac @@ -0,0 +1,30 @@ +AC3Db +MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0 +MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0 +OBJECT world +kids 2 +OBJECT poly +name "line" +loc 0 0.5 0 +numvert 2 +0 0.5 0 +0 -0.5 0 +numsurf 1 +SURF 0x22 +mat 0 +refs 2 +0 0 1 +1 0 0 +kids 0 +OBJECT poly +name "line" +numvert 2 +0 0 -3 +0 0 3 +numsurf 1 +SURF 0x22 +mat 1 +refs 2 +0 0 1 +1 0 0 +kids 0 diff --git a/resources/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml b/resources/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml new file mode 100644 index 0000000000000000000000000000000000000000..f0897f2c6f274741524f56d946f3c14459dcd9f8 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Models/Trajectory-Marker.xml @@ -0,0 +1,9 @@ + + + + + + + Trajectory-Marker.ac + + diff --git a/resources/flightgear/Aircraft/Rascal110/Models/fix.sh b/resources/flightgear/Aircraft/Rascal110/Models/fix.sh new file mode 100755 index 0000000000000000000000000000000000000000..eb14cb636ddff14eb6213dc57c4eaf88e455e739 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Models/fix.sh @@ -0,0 +1,8 @@ +#! /bin/sh + +for f in "$@" ; do + sed -i.before-color-change 's,\(MATERIAL.*\)rgb\(.*\)amb\(.*\)emis\(.*\)spec\(.*\)shi\(.*\)trans\(.*\)$,\1rgb\2amb\2emis\4spec\5shi\6trans\7,1' "$f" + if ! cmp "${f}" "${f}.before-color-change" > /dev/null 2>&1 ; then + echo "$f has changed colors!" + fi +done diff --git a/resources/flightgear/Aircraft/Rascal110/Models/smoke.png b/resources/flightgear/Aircraft/Rascal110/Models/smoke.png new file mode 100644 index 0000000000000000000000000000000000000000..7bad8c685f636179ff1ce401869188bae2d2225a Binary files /dev/null and b/resources/flightgear/Aircraft/Rascal110/Models/smoke.png differ diff --git a/resources/flightgear/Aircraft/Rascal110/Models/smokeW.xml b/resources/flightgear/Aircraft/Rascal110/Models/smokeW.xml new file mode 100644 index 0000000000000000000000000000000000000000..6d7f06730e22e410a602869d069138a752c42fcf --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Models/smokeW.xml @@ -0,0 +1,102 @@ + + + + + + + + + smoke + + + 0.000 + 0.000 + -0.000 + 0.000 + 0.000 + 0.000 + + + smoke.png + + + sim/multiplay/generic/int[0] + + + false + false + billboard + world + + + point + + + + 10 + 86 + -1.5 + 8 + + 10 + 2.5 + + + 5 + 5 + 5 + 60 + 60 + 60 + + + + + + 100 + 1 + + + + + + + 0.9 + 0.9 + 0.9 + 0.3 + + + 0.3 + + + + + + 0.900 + 0.900 + 0.900 + 0.001 + + + 10.0 + + + + + 60 + + + 0.001 + 1.0 + + + + air + false + true + + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/README.Rascal b/resources/flightgear/Aircraft/Rascal110/README.Rascal new file mode 100644 index 0000000000000000000000000000000000000000..53559bf73c3fabde9ebf0dd8079b8674bf9d37ac --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/README.Rascal @@ -0,0 +1,236 @@ +This information has not been updated for the Rascal, please ignore, we +are still at pre-pre-pre-alpha with this model! + +PIPER J3 CUB PERFORMANCE DATA +============================= + +[This information is copied from the 1946 J3C-65 owner's handbook.] + + FLYING HINTS + +The Piper Cub Special represents more than 15 years of diligent +aircraft engineering and manufacturing experience. Its simplicity of +design and construction, its low operating and maintenance costs, its +inherent stability, ruggedness, and its outstanding safety and ease of +flying, have made it the most popular airplane in aviation history. +The Piper Cub Special is the time-tested product of millions of hours +of flying under all conceivable conditions both in the military and in +peace time. + +There are hints on starting, flying, stopping, and other related +topics that are important to the owner who wants to conserve his +airplane -- keep it in maximum airworthy condition -- and enjoy a full +measure of flying satisfaction. + + +First, each pilot should become familiar enough with his Piper Cub +Special that he can accomplish a satisfactory pre-flight inspection. +This check is simple and requires only a few minutes. See Section IX +for check list. Daily check of airplane prior to flight should be the +first in a number of safe flying habits the pilot should acquire. + + +A. BEFORE STARTING ENGINE + +(1) Make routine check of gasoline supply. Visible fuel gauge is +integral part of gas tank cap; it will not show number of gallons but +will show proportion of fuel in tank by length of rod which extends +upward from cap. A full tank of 12 U.S. gallons will be indicated by +11 inches of rod extending beyond cap. Keep gas gauge rod clean and +smooth with crocus cloth for accuracy and freedom of movement. + +(2) Check oil level in engine sump by removing oil cap and gauge. Oil +stick should indicate oil level up to index mark of 4 quarts. + +(3) Check freedom of movement of flight and engine controls. + + +B. STARTING ENGINE + +(1) Chock wheels, or have occupant who is familiar with controls set +brakes in cabin. + +(2) Ignition switch OFF. Verify. + +(3) Set throttle approximately 1/10 open. + +(4) Push fuel shut-off ON. + +(5) Turn propeller through several times. + +(6) Turn ignition switch ON. + +(7) Start engine by pulling propeller through with a snap. + +CAUTION -- Always handle propeller as if switch were "ON." Stand as +far in front of propeller as possible. Use both hands and grasp one +blad approximately midway from tip. Do not overgrasp blade. Do not +wear long, loose clothing. Make sure footing is sure to preclude +possibility of feet slipping. + +(8) If engine does not start, turn switch OFF. Turn primer knob to +unlock, pull out, pump three or four times, then reseat primer and +lock by turning in opposite direction. In extremely cold weather a +few strokes of the primer as the engine starts will enable it to keep +running. NOTE -- Avoid excessive priming as it causes raw gasoline to +wash lubricating oil from engine cylinder walls. Do not prime warm +engine. + +(9) Repeat starting procedures 6, 7. + +(10) If engine loads up and refuses to start, turn ignition switch +"OFF,", open throttle wide and turn propeller through backwards +several times to unload excessive gas mixture in cylinders. Then +close throttle and repeat starting procedure. + + +C. ENGINE WARM-UP + +(1) As soon as engine starts, advance throttle slightly to idle at 700 +R.P.M. Check engine instruments. If oil pressure gauge does not +indicate pressure within 30 seconds, stop engine immediately, check +and correct trouble before any further operation. Oil temperature +during operating should not rise above 200° F. and oil pressure should +not fall below 30 pounds. With engine warm, idling speed should be +550-600 R.P.M. + +(2) Rev engine up to 2100 R.P.M. on both magnetos. Switch to LEFT and +RIGHT magnetos. R.P.M. drop should not be over 75 R.P.M. CAUTION +--Do not operate engine on either single magneto for more than 30 +seconds at a time, as this tends to foul the non-operating spark plugs +in the ignition circuit of the magneto that is switched off. + + +D. STOPPING ENGINE + +(1) Never cut switch immediately after landing as this causes engine +to cool too rapidly. + +(2) Idle engine, especially in high temperature operating conditions, +for several minutes. It is advisable to switch to each magneto for 30 +second intervals to allow gradual cooling of engine. This helps to +prevent overheating of spark plug insulators and will lessen tendency +for "after-firing." + +(3) Check for carburetor heat OFF during idling. + + +E. TAXIING + +(1) Open throttle to start airplane in motion; then close throttle to +a setting sufficient to keep airplane rolling. Do not keep throttle +advanced so that it is necessary to control taxi speed of airplane +with brakes. This causes unnecessary wear and tear on brakes and +tires. + +(2) Taxi slowly (speed of a fast walk) controlling direction with +rudder which is connected to a steerable tail wheel. Use brakes only +for positive, precision ground control when necessary. + +(3) Taxi upwind with stick back; downwind with stick foreward. When +ground winds are in excess of 15 M.P.H., turn into wind using ailerons +in direction of turn; apply ailerons away from the turn when turning +downwind. This procedure helps to prevent the wind "picking up" a +wing during windy, gusty conditions. Always make ground turns slowly. + + +F. GENERAL FLYING + +(1) For takeoff use full throttle, heading into wind. Airplane loaded +will become airborne at approximately 39 M.P.H. Best climb speed is +an indicated 55 M.P.H. + +(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150. +Take-off R.P.M. is 2300. Do not fly at full throttle over 3 minutes. + +(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer +shows drop in R.P.M. which may be due to ice forming in carburetor. +Tachometer should recover to within 50 R.P.M. below normal when using +carburetor heat. Push heater to "OFF" position, and if icing +condition has been cleared, R.P.M. should return to normal. Continued +use of carburetor heat will only cause increased fuel consumption and +loss of power. + +(4) Maximum permissible diving speed is 122 M.P.H. + + +G. APPROACH AND LANDING + +(1) Push carburetor heat ON prior to throttling back for glide, or for +any other flight maneuver. + +(2) Glide between 50-60 M.P.H. depending upon loading of airplane and +gust conditions. + +NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet +of descent during a long glide so that engine temperature will be +maintained. + +Throttle action on the part of the pilot should be smooth and gentle +at all times. + + +H. PARKING AND MOORING + +(1) After termination of flight, enter flying time in aircraft and +engine log books. + +(2) Turn ignition and fuel OFF. + +(3) Chcok the wheels of airplane. + +(4) If airplane is not to be flown for some time, it should be +hangared or tied down. Use good quality 1/2" - 5/8" diameter rope. +Secure to lift assist handle at aft end of fuselage; also at upper end +of both front wing lift struts where they attach to wing. Make sure +that rope passes between aileron cable and lift strut. Mooring ropes, +when airplane is tied down, should have no slack. + +(5) Lock aileron and elevator controls by wrapping front seat belt +completely around rear control stick, tighten and buckle. + +(6) Under excessively wind conditions, airplane should be tailed into +wind for mooring. + + + + +[Here is my older information.] + +These are the only numbers I could find. They are for a J3 Cub with +an 85HP engine rather than 65 hp, so some adjustments may be +necessary. The source is + + http://www.evergreenfs.com/planedata.htm + + +Speeds +------ + Best rate of climb (Vy): 65 mph (57 kt) + Best angle of climb (Vx): 55 mph (48 kt) + Cruise: 70 mph (61 kt) + Never-exceed (Vne): 122 mph (106 kt) + Best Glide (Vglide): 60 mph (52 kt) + Stall (Vs): 38 mph (33 kt) + Maneuvering (Va): 70 mph (61 kt) + Approach: 50-60 mph (44-52 kt) + +Power +----- + Take off: full + Climb: 50 rpm below full + Cruise: 2300 rpm + Approach: 1200 rpm + Practice stalls: 1200 rpm + +Distances +--------- + Take-off: 450-800 ft + Landing: 200-800 ft + +Fuel +---- + Total fuel: 12 gal US + Usable fuel: 12 gal US + Grade: 80/87 + GPH: 5 gal US/hr diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml b/resources/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml new file mode 100644 index 0000000000000000000000000000000000000000..504ecca2ce180a41060d2598a7ac0e3e7ed831c0 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Rascal-keyboard.xml @@ -0,0 +1,24 @@ + + + + + + Ctrl-I + Show configuration dialog + + nasal + + + + + + S + Toggle smoke + + property-toggle + sim/multiplay/generic/int[0] + + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal-submodels.xml b/resources/flightgear/Aircraft/Rascal110/Rascal-submodels.xml new file mode 100644 index 0000000000000000000000000000000000000000..2ebff47f5354afc2c55bdbe7252a2e9465831ccd --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Rascal-submodels.xml @@ -0,0 +1,25 @@ + + + + + + trajectory marker + Aircraft/Rascal/Models/Trajectory-Marker.xml + /sim/multiplay/generic/int[1] + 0 + true + 0.75 + -1 + -0.5 + 0.0 + -0.08 + 0.0 + 0.0 + 1000000000.00 + 600 + 32 + false + false + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml b/resources/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..e3ebc4c0ae49ea7b7cedb3717e60823979487480 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Rascal110-JSBSim-set.xml @@ -0,0 +1,213 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + jsb + Rascal110-JSBSim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + Huds/NTPS.xml + true + + true + true + 0.85 + 0.85 + + + + 0.38 + 1.0 + 0.22 + + + 1.0 + 0.0 + 0.0 + + + + + + true + + 0.0 + -0.15 + 0.9 + -8 + + + + + 1 + Aircraft/Rascal/Rascal-submodels.xml + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + News Camera + lookat + true + + /position/latitude-deg + /position/longitude-deg + /position/altitude-ft + /orientation/heading-deg + /orientation/pitch-deg + /orientation/roll-deg + 0.0 + -0.35 + -0.4 + + /sim/input/click/latitude-deg + /sim/input/click/longitude-deg + /sim/input/click/elevation-ft + + + + + Camera View + true + lookfrom + false + + true + 0 + 0.5f + 55.0 + + + + + 1 + + 0 + 0 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 kts + Never-exceed (Vne): 85 kts + Best Glide (Vglide): 20 kts + Maneuvering (Va): 50 kts + Approach speed: 20-25 kts + Stall speed (Vs): 15 kts + + + + + + + Aircraft/Rascal/Systems/main.nas + Aircraft/Rascal/Systems/airdata.nas + Aircraft/Rascal/Systems/ugear.nas + + + + + + 2 + + + + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + + + + + + + 700 + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal110-JSBSim.xml b/resources/flightgear/Aircraft/Rascal110/Rascal110-JSBSim.xml new file mode 100644 index 0000000000000000000000000000000000000000..e09dd7b15b2105e6c0da1a349592f38a3abc7d2a --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Rascal110-JSBSim.xml @@ -0,0 +1,522 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1.95 + 1.55 + 1.91 + 0 + 0 + 0 + 13 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 33.1 + 9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -6.6 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml b/resources/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..3b92a5950a5682bce0a5cab7bd54976aa22323f1 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Rascal110-YASim-set.xml @@ -0,0 +1,108 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + yasim + Rascal110-YASim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + true + + 0.0 + -0.3 + 0.9 + -8 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + 2 + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml b/resources/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml new file mode 100644 index 0000000000000000000000000000000000000000..50b36d8320c95520bd2e3bebfd8e3962ac34ebf9 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Rascal110-YASim.xml @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Rascal110-splash.rgb b/resources/flightgear/Aircraft/Rascal110/Rascal110-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..0b0daff89d40685b7c99d7ceb32625a63e5d3de4 Binary files /dev/null and b/resources/flightgear/Aircraft/Rascal110/Rascal110-splash.rgb differ diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/.#110-autopilot.xml.1.2 b/resources/flightgear/Aircraft/Rascal110/Systems/.#110-autopilot.xml.1.2 new file mode 100644 index 0000000000000000000000000000000000000000..6ffff8d76eb5e8c45cb8c1010f5b5a981c7df228 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/.#110-autopilot.xml.1.2 @@ -0,0 +1,711 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + + 0.0 + -8.33 + + 8.33 + + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.0001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml b/resources/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml new file mode 100644 index 0000000000000000000000000000000000000000..7ab47ed98f0845b6f37d088aeb24f63d15d3423e --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml @@ -0,0 +1,767 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml-a b/resources/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml-a new file mode 100644 index 0000000000000000000000000000000000000000..05f17e152937819d2212f3ff5240c7be1855ddbc --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/110-autopilot.xml-a @@ -0,0 +1,707 @@ + + + + + + + + + + + + + + + + + + Wing Leveler (Turn Coordinator based) + false + + /autopilot/locks/heading + wing-leveler + + + /orientation/roll-deg + + + 0.0 + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + Bank Hold + false + + /autopilot/locks/heading + bank-hold + + + /orientation/roll-deg + + + /autopilot/settings/target-bank-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Heading Bug Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/airdata.nas b/resources/flightgear/Aircraft/Rascal110/Systems/airdata.nas new file mode 100644 index 0000000000000000000000000000000000000000..8322cbb1699cc19f77458d80609519ac7932e3bf --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/airdata.nas @@ -0,0 +1,40 @@ +var last_time = 0.0; +var last_speed = 0.0; +var speed_sensed = 0.0; +var sensor_step = 1.0; +var speed_filt = 0.0; +var accel_filt = 0.0; + +var compute_airspeed_accel = func( speed_filt, dt ) { + # print ( "computing forward acceleration ", dt ); + + var delta_speed = speed_filt - last_speed; + last_speed = speed_filt; + + var accel = delta_speed / dt; + + return accel; +} + + +var update_airdata = func( dt ) { + # crude model of a noisy electronic pitot tube + sensed_speed = getprop("/velocities/airspeed-kt"); + var r = rand(); + if ( r < 0.3333 ) { + sensed_speed = sensed_speed - sensor_step; + } elsif ( r > 0.6666 ) { + sensed_speed = sensed_speed + sensor_step; + } + + speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed; + + var sensed_accel = 0.0; + if ( dt > 0 ) { + sensed_accel = compute_airspeed_accel( speed_filt, dt ); + } + + accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel; + + setprop("/accelerations/airspeed-ktps", accel_filt); +} diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/electrical.xml b/resources/flightgear/Aircraft/Rascal110/Systems/electrical.xml new file mode 100644 index 0000000000000000000000000000000000000000..88bd52e62cc92cd5f38104b7ba4aa7beed8bf424 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/electrical.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + Battery 1 + /systems/electrical/suppliers/battery[0] + battery + 28 + 60 + + + + Alternator 1 + /systems/electrical/suppliers/alternator[0] + alternator + /engines/engine[0]/rpm + 28 + 60 + + + + + + Master Bus + /systems/electrical/outputs/bus[0] + /systems/electrical/outputs/transponder + + + + + + Starter 1 Power + /systems/electrical/outputs/starter[0] + + + + Landing Light Power + /systems/electrical/outputs/landing-light + + + + Beacon Power + /systems/electrical/outputs/beacon + + + + Strobe Lights Power + /systems/electrical/outputs/strobe-lights + + + + Taxi Lights Power + /systems/electrical/outputs/taxi-lights + + + + Pitot Heat Power + /systems/electrical/outputs/pitot-heat + + + + + + + Alternator 1 + Master Bus + + /controls/engines/engine[0]/master-alt + + + + + Battery 1 + Master Bus + + /controls/engines/engine[0]/master-bat + + + + + + + Master Bus + Starter 1 Power + + /controls/engines/engine[0]/starter + off + + + + + + + Master Bus + Landing Light Power + + /controls/switches/landing-light + + + + + Master Bus + Beacon Power + + /controls/switches/flashing-beacon + + + + + Master Bus + Strobe Lights Power + + /controls/switches/strobe-lights + + + + + Master Bus + Taxi Lights Power + + /controls/switches/taxi-lights + + + + + Master Bus + Pitot Heat Power + + /controls/switches/pitot-heat + + + + diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/main.nas b/resources/flightgear/Aircraft/Rascal110/Systems/main.nas new file mode 100644 index 0000000000000000000000000000000000000000..7aec75186ffeb8a0ff801a8513f74cc3738fef2e --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/main.nas @@ -0,0 +1,22 @@ +var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog", + "Aircraft/Rascal/Dialogs/config.xml"); + +var last_time = 0.0; + + +var main_loop = func { + var time = getprop("/sim/time/elapsed-sec"); + var dt = time - last_time; + last_time = time; + + update_airdata( dt ); + update_ugear( dt ); + + settimer(main_loop, 0); +} + + +setlistener("/sim/signals/fdm-initialized", + func { + main_loop(); + }); diff --git a/resources/flightgear/Aircraft/Rascal110/Systems/ugear.nas b/resources/flightgear/Aircraft/Rascal110/Systems/ugear.nas new file mode 100644 index 0000000000000000000000000000000000000000..3a33c6cb2258896b960dd856db46175e99aa5335 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/Systems/ugear.nas @@ -0,0 +1,54 @@ +var update_ugear = func( dt ) { + var max_zoom_rate = 10*dt; + var max_pan_rate = 30*dt; + var max_tilt_rate = 45*dt; + + var ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + if ( ap_enable == nil ) { + props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1); + ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + } + if ( ap_enable.getBoolValue() ) { + setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") ); + setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") ); + } + + var turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + if ( turret_enable == nil ) { + props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1); + turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + } + + if ( (getprop("/sim/current-view/name") == "Camera View") + and turret_enable.getBoolValue() ) + { + var target_zoom = getprop("/ugear/act/channel6"); + var target_pan = -getprop("/ugear/act/channel7"); + if ( target_pan < -180.0 ) { target_pan += 360.0; } + if ( target_pan > 180.0 ) { target_pan -= 360.0; } + var target_tilt = -getprop("/ugear/act/channel8"); + var cur_zoom = getprop("/sim/current-view/field-of-view"); + var cur_pan = getprop("/sim/current-view/heading-offset-deg"); + var cur_tilt = getprop("/sim/current-view/pitch-offset-deg"); + var diff = 0.0; + + diff = target_zoom - cur_zoom; + if ( diff > max_zoom_rate ) { diff = max_zoom_rate; } + if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; } + setprop("/sim/current-view/field-of-view", cur_zoom + diff); + + diff = target_pan - cur_pan; + if ( diff > 180 ) { diff -= 360; } + if ( diff < -180 ) { diff += 360; } + if ( diff > max_pan_rate ) { diff = max_pan_rate; } + if ( diff < -max_pan_rate ) { diff = -max_pan_rate; } + setprop("/sim/current-view/heading-offset-deg", cur_pan + diff); + + diff = target_tilt - cur_tilt; + if ( diff > 90 ) { diff = 90; } + if ( diff < -90 ) { diff = -90; } + if ( diff > max_tilt_rate ) { diff = max_tilt_rate; } + if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; } + setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff); + } +} diff --git a/resources/flightgear/Aircraft/Rascal110/initfile.xml b/resources/flightgear/Aircraft/Rascal110/initfile.xml new file mode 100644 index 0000000000000000000000000000000000000000..621b522cf1ad13a82178e710a5df2421f0afca18 --- /dev/null +++ b/resources/flightgear/Aircraft/Rascal110/initfile.xml @@ -0,0 +1,12 @@ + + + 110.783 + 5.03584 + -0.226825 + -2.16197 + -1.06069 + 2.95853 + 0 + 0 + -0.401227 + diff --git a/resources/flightgear/Aircraft/Rascal110/thumbnail.jpg b/resources/flightgear/Aircraft/Rascal110/thumbnail.jpg new file mode 100644 index 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0.229508 0.913043 +12 0.393442 1 +SURF 0x30 +mat 0 +refs 4 +32 0 0 +33 0 0 +34 0 0 +35 0 0 +SURF 0x30 +mat 0 +refs 4 +33 0 0 +36 0 0 +37 0 0 +34 0 0 +SURF 0x30 +mat 0 +refs 4 +36 0 0 +38 0 0 +39 0 0 +37 0 0 +SURF 0x30 +mat 0 +refs 4 +38 0 0 +40 0 0 +41 0 0 +39 0 0 +SURF 0x30 +mat 0 +refs 4 +40 0 0 +42 0 0 +43 0 0 +41 0 0 +SURF 0x30 +mat 0 +refs 4 +42 0 0 +32 0 0 +35 0 0 +43 0 0 +SURF 0x30 +mat 0 +refs 6 +42 0 0.507246 +40 0.25238 0.00966183 +38 0.761908 0 +36 1 0.492754 +33 0.7381 1 +32 0.24762 0.995169 +kids 0 diff --git a/resources/flightgear/Aircraft/YardStick/Models/yardstik.xml b/resources/flightgear/Aircraft/YardStick/Models/yardstik.xml new file mode 100644 index 0000000000000000000000000000000000000000..dffe5f5c93324f6f3e5366318deb26a725e98fbb --- /dev/null +++ b/resources/flightgear/Aircraft/YardStick/Models/yardstik.xml @@ -0,0 +1,106 @@ + + + + + yardstik.ac + + 0.0 + 0.2 + + + + rotate + elevator + elevatorattach + controls/flight/elevator + 15 + 0 +
+ 1.0 + 0.0 + 0.04 +
+ + 0.0 + 1 + 0.0 + + + + + rotate + elevatorservo + controls/flight/elevator + 15 + 0 +
+ 0.3 + 0.01 + 0.11 +
+ + 0.0 + 1 + 0.0 + + + + + + rotate + rudder + rudderattach + controls/flight/rudder + 15 + 0 +
+ 1.01 + 0.0 + 0.17 +
+ + 0.0 + 0.0 + 1.0 + + + + + rotate + rudderservo + controls/flight/rudder + -15 + 0 +
+ 0.3 + -0.1 + 0.10 +
+ + 0.0 + 1.0 + 0.0 + + + + + + spin + prop2 + engines/engine/n1 + -30 +
+ 0.002 + -0.001 + 0.19 +
+ + 1 + 0 + 0 + + + + + + diff --git a/resources/flightgear/Aircraft/YardStick/YardStik-set.xml b/resources/flightgear/Aircraft/YardStick/YardStik-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..a4b222f35f2ecefb82a6d3918881e74f5e018448 --- /dev/null +++ b/resources/flightgear/Aircraft/YardStick/YardStik-set.xml @@ -0,0 +1,102 @@ + + + + + + + Yard Stik (R/C) + Innis Cunningham + 0.0 + + + Aircraft/YardStik/YardStik-splash.rgb + + + jsb + YardStik + 0.8 + + + + Aircraft/YardStik/Systems/110-autopilot.xml + + + Aircraft/YardStik/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/YardStik/Models/yardstik.xml + + + + true + + 0.0 + -0.3 + 0.9 + -8 + + + + + YardStik 110 (Sig Mfg) + Cruise speed: 60 mph + Never-exceed (Vne): 85 mph + Best Glide (Vglide): 20 mph + Maneuvering (Va): 50 mph + Approach speed: 15-25 mph + Stall speed (Vs): 10 mph + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + 1.0 + + + + + 700 + + + + + + + 48.0 + 56.0 + 400.0 + 1000.0 + 6000.0 + 0.008 + 0.35 + 0.001 + + + + diff --git a/resources/flightgear/Aircraft/YardStick/YardStik-splash.rgb b/resources/flightgear/Aircraft/YardStick/YardStik-splash.rgb new file mode 100644 index 0000000000000000000000000000000000000000..5b9459fe2e57bd6393cb31e0312a6450b3556fc1 Binary files /dev/null and b/resources/flightgear/Aircraft/YardStick/YardStik-splash.rgb differ diff --git a/resources/flightgear/Aircraft/YardStick/YardStik.xml b/resources/flightgear/Aircraft/YardStick/YardStik.xml new file mode 100644 index 0000000000000000000000000000000000000000..e6a5b46d7c28fda7331f0759548d4acc1e4e1209 --- /dev/null +++ b/resources/flightgear/Aircraft/YardStick/YardStik.xml @@ -0,0 +1,522 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1 + 1 + 2 + 0 + 0 + 0 + 12 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 33.1 + 9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -6.6 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/resources/flightgear/Aircraft/YardStick/thumbnail.jpg b/resources/flightgear/Aircraft/YardStick/thumbnail.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdc375c3e59e4b14dc25efd65e1b2922ca1f1d4d Binary files /dev/null and b/resources/flightgear/Aircraft/YardStick/thumbnail.jpg differ diff --git a/resources/flightgear/Aircraft/arducopter/Engines/a2830-12.xml b/resources/flightgear/Aircraft/arducopter/Engines/a2830-12.xml new file mode 100755 index 0000000000000000000000000000000000000000..2c81e177ddf66c18c98c4d305d49429b3b77e256 --- /dev/null +++ b/resources/flightgear/Aircraft/arducopter/Engines/a2830-12.xml @@ -0,0 +1,4 @@ + + + 187 + diff --git a/resources/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml b/resources/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml new file mode 100755 index 0000000000000000000000000000000000000000..d45e85903f60b4299703c5ca37f75d66b6da3f79 --- /dev/null +++ b/resources/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml @@ -0,0 +1,76 @@ + + + + + 0.000041666666 + + 10.0 + 2 + 1.0 + 0.79 + + + 0.0 0.0054513 + 1.4 0.0054513 + + + + + + + + + + + + + + +
+ + + 0.0 0.0028 + 0.1 0.0028 + 0.2 0.0027 + 0.3 0.0027 + 0.4 0.0025 + 0.5 0.0023 + 0.6 0.0021 + 0.7 0.0018 + 0.8 0.0015 + 1.0 0.0005 + 1.2 -0.0008 + 1.4 -0.0025 + 1.6 -0.0042 + +
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aero/qbar-psf + metrics/Sw-sqft + 1 + + + + + + + + + + + + + + diff --git a/resources/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt b/resources/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt new file mode 100755 index 0000000000000000000000000000000000000000..26360d230182594269d05110a6c7b013099bdfde --- /dev/null +++ b/resources/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt @@ -0,0 +1,9239 @@ +Force, Ch A, Run #5 +Time ( s ) Force ( N ) +0.0000 0.2 +0.0050 0.2 +0.0100 0.2 +0.0150 0.2 +0.0200 0.2 +0.0250 0.2 +0.0300 0.2 +0.0350 0.2 +0.0400 0.2 +0.0450 0.2 +0.0500 0.2 +0.0550 0.2 +0.0600 0.2 +0.0650 0.2 +0.0700 0.2 +0.0750 0.2 +0.0800 0.2 +0.0850 0.2 +0.0900 0.2 +0.0950 0.2 +0.1000 0.2 +0.1050 0.2 +0.1100 0.2 +0.1150 0.2 +0.1200 0.2 +0.1250 0.2 +0.1300 0.2 +0.1350 0.2 +0.1400 0.2 +0.1450 0.2 +0.1500 0.2 +0.1550 0.2 +0.1600 0.2 +0.1650 0.2 +0.1700 0.2 +0.1750 0.2 +0.1800 0.2 +0.1850 0.2 +0.1900 0.2 +0.1950 0.2 +0.2000 0.2 +0.2050 0.2 +0.2100 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100755 index 0000000000000000000000000000000000000000..363cee94f786a5b79a1c7e36abbb6d9c2af0e0cb --- /dev/null +++ b/resources/flightgear/Aircraft/arducopter/initfile.xml @@ -0,0 +1,12 @@ + + + nan + nan + nan + nan + -nan + nan + nan + nan + nan + diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml new file mode 100755 index 0000000000000000000000000000000000000000..61940e773fb671ff2f72dde38e5ae967039ed2cc --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml @@ -0,0 +1,14 @@ + + + + + + + Brit. Airborn Jeep + + AI-Liveries/jeep-1d.png + AI-Liveries/softroof-a.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml new file mode 100755 index 0000000000000000000000000000000000000000..5ad0a0e91539b8e8c78d5e065eb2e465a8ba162d --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml @@ -0,0 +1,14 @@ + + + + + + + US Army green + + AI-Liveries/jeep-1.png + AI-Liveries/softroof.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml new file mode 100755 index 0000000000000000000000000000000000000000..b6b3ebe0393d454d7d0cce7f1b5020af922cf472 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml @@ -0,0 +1,14 @@ + + + + + + + Hippie pink + + AI-Liveries/jeep-1c.png + AI-Liveries/softroof.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png new file mode 100755 index 0000000000000000000000000000000000000000..cae0cb42bcd51a0c0db8df4124c71510d1a46b69 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png new file mode 100755 index 0000000000000000000000000000000000000000..de16e087ed5d2c9050ee93a62f1a45ca1f9d233c Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png new file mode 100755 index 0000000000000000000000000000000000000000..e2d78d6deedb923bb477464a7fd1f72231c5cd7d Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png new file mode 100755 index 0000000000000000000000000000000000000000..434e493de18f18bcfd4f9d00ecb9dc6d3d00fdc1 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png new file mode 100755 index 0000000000000000000000000000000000000000..6440c1b02bf86b2f3f38a6cdff5fed6af99cdbce Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml new file mode 100755 index 0000000000000000000000000000000000000000..7fc8f6890191afdfc2cb75bbf4fb9a21d0bb4b0b --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml @@ -0,0 +1,14 @@ + + + + + + + US Navy blue + + Liveries/jeep-1a.png + Liveries/softroof-a.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml new file mode 100755 index 0000000000000000000000000000000000000000..023d37559f45a7a7022b7dd882e8585cbf5648e0 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml @@ -0,0 +1,14 @@ + + + + + + + RAF + + Liveries/jeep-1b.png + Liveries/softroof-a.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png new file mode 100755 index 0000000000000000000000000000000000000000..e17e0f7869b93f67375554e85cb0b9fa013e34ac Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png new file mode 100755 index 0000000000000000000000000000000000000000..f860522898ec3973aa5df8e891b7ba8baae618b8 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/GPA.xml b/resources/flightgear/Aircraft/jeep/Models/GPA.xml new file mode 100644 index 0000000000000000000000000000000000000000..120af376109371f8b18fb3020142b230b15f1637 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/GPA.xml @@ -0,0 +1,320 @@ + + gpa.ac + + -0.15 + + + + Aircraft/jeep/Models/fuelgauge.xml + + 1.3 + 0.01 + 1.18 + -22 + + + + Aircraft/jeep/Models/speedometer.xml + + 1.33 + 0.1 + 1.123 + -22 + + + + Aircraft/jeep/Models/current.xml + + 1.3 + 0.19 + 1.18 + -22 + + + + + + translate + fwheel.L + fwheel2.L + fscrews.L + gear/gear[0]/compression-norm + + + 0.0 + 0 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + fwheel.R + fwheel2.R + fscrews.R + gear/gear[1]/compression-norm + + + 0.0 + 0 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + rwheel.L + rwheel2.L + rscrews.L + gear/gear[2]/compression-norm + + + 0.0 + 0 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + rwheel.R + rwheel2.R + rscrews.R + gear/gear[3]/compression-norm + + + 0.0 + 0 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + controls/flight/aileron + -25 +
+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + rotate + fwheel.R + fwheel2.R + fscrews.R + controls/flight/aileron + -25 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + + spin + fwheel.L + fwheel2.L + fscrews.L + gear/gear[1]/rollspeed-ms + -15 +
+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + fwheel.R + fwheel2.R + fscrews.R + gear/gear[1]/rollspeed-ms + -15 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + rwheel.L + rwheel2.L + rscrews.L + gear/gear[2]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + rwheel.R + rwheel2.R + rscrews.R + gear/gear[3]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + rotate + steerwheel + controls/flight/aileron + -100 +
+ 1.467 + -0.331 + 1.008 +
+ + 1.185 + -0.331 + 0.713 + 1.750 + -0.331 + 1.303 + + + + + rotate + screen + wiper.L + wiper.R + controls/gear/screen + -100 +
+ 1.014 + 0.0 + 1.175 +
+ + 0.0 + 1.0 + 0.0 + + + + rotate + + shield + controls/gear/shield + -165^ +
+ -0.169 + 0.0 + 1.187 +
+ + 0.0 + 1.0 + 0.0 + + + + + Aircraft/jeep/Models/pilot.xml + pilot + + + 2.1 + -0.32 + 0.9 + 14 + + + + select + pilot + + + sim/current-view/view-number + 0.0 + + + + + + Aircraft/jeep/Models/gpatrans.xml + + 0.0 + 0.0 + 0.0 + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Jeep.xml b/resources/flightgear/Aircraft/jeep/Models/Jeep.xml new file mode 100755 index 0000000000000000000000000000000000000000..836b9d0e61bd5ceba024d4cee66d31f0719f6caa --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/Jeep.xml @@ -0,0 +1,540 @@ + + jeep.ac + + + -0.03 + + + + + var update = aircraft.overlay_update.new(); + update.add("Aircraft/jeep/Models/AI-Liveries", "sim/model/livery/file"); + + + + print ("bye"); + loopid += 1; + + + + + + + Aircraft/jeep/Models/fuelgauge.xml + + 1.442 + 0.01 + 1.08 + + + + Aircraft/jeep/Models/speedometer.xml + + 1.442 + 0.1 + 1.023 + + + + Aircraft/jeep/Models/current.xml + + 1.442 + 0.19 + 1.08 + + + + + + translate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[0]/compression-norm + + + gear/gear[1]/compression-norm + gear/gear[0]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[1]/compression-norm + + + gear/gear[0]/compression-norm + gear/gear[1]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[0]/compression-norm + 11.5 +
+ 0.554 + 0.0 + 0.408 +
+ + -1.0 + 0.0 + 0.0 + + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + fwheel.R + fwheel2.R + fscrews.R + frontaxle + gear/gear[1]/compression-norm + 11.5 +
+ 0.554 + 0.0 + 0.408 +
+ + 1.0 + 0.0 + 0.0 + + + + rotate + fwheel.L + fwheel2.L + fscrews.L + controls/flight/aileron + -25 +
+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + rotate + fwheel.R + fwheel2.R + fscrews.R + controls/flight/aileron + -25 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 0.0 + 1.0 + + + + spin + fwheel.L + fwheel2.L + fscrews.L + gear/gear[1]/rollspeed-ms + -15 +
+ 0.554 + -0.439 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + fwheel.R + fwheel2.R + fscrews.R + gear/gear[1]/rollspeed-ms + -15 +
+ 0.554 + 0.439 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + + + translate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[2]/compression-norm + + + gear/gear[3]/compression-norm + gear/gear[2]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + translate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[3]/compression-norm + + + gear/gear[2]/compression-norm + gear/gear[3]/compression-norm + + + + + 0.0 + -0.05 + + + 1.00 + 0.2 + + + + 0 + 0 + 1 + + + + + rotate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[2]/compression-norm + 11.5 +
+ 2.696 + 0.0 + 0.408 +
+ + -1.0 + 0.0 + 0.0 + + + + + rotate + rwheel.L + rwheel2.L + rscrews.L + rwheel.R + rwheel2.R + rscrews.R + rearaxle + gear/gear[3]/compression-norm + 11.5 +
+ 2.696 + 0.0 + 0.408 +
+ + 1.0 + 0.0 + 0.0 + + + + + spin + rwheel.L + rwheel2.L + rscrews.L + gear/gear[2]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + spin + rwheel.R + rwheel2.R + rscrews.R + gear/gear[3]/rollspeed-ms + -15 +
+ 2.696 + -0.746 + 0.408 +
+ + 0.0 + 1.0 + 0.0 + + + + + + + + rotate + steerwheel + controls/flight/aileron + -100 +
+ 1.467 + -0.331 + 1.008 +
+ + 1.185 + -0.331 + 0.713 + 1.750 + -0.331 + 1.303 + + + + + rotate + screen + screenglass + wiper.L + wiper.R + controls/gear/screen + -108 +
+ 1.167 + 0.0 + 0.992 +
+ + 0.0 + 1.0 + 0.0 + + + + + Aircraft/jeep/Models/pilot.xml + pilot + + + 2.1 + -0.32 + 0.9 + 14 + + + + select + pilot + + + sim/current-view/view-number + 0.0 + + + + + select + roof1 + roof2 + + + controls/gear/roof + 0 + + + + + Aircraft/jeep/Models/roof.ac + softroof + + + 0.0 + 0.0 + 0.0 + + + + select + softroof + + + controls/gear/roof + 1 + + + + + + + material + chassis + chassis.001 + Cylinder.001 + canister.RL + fwheel.L + fwheel.R + rwheel.L + rwheel.R + sparewheel + steerwheel + Circle.007 + Circle.008 + frontbumper + screen + sim/model/livery + texture + jeep-1.png + + + material + roof + sim/model/livery + texture-roof + softroof.png + + + + + select + canister.HL + canister.HR + sparewheel.F + canister.M + canister.L + canister.R + + + sim/model/livery/name + Brit. Airborn Jeep + + + + + select + screen + screenglass + wiper.L + wiper.R + canister.RL + sparewheel + sparewheel2 + rscrews.L.001 + + + sim/model/livery/name + Brit. Airborn Jeep + + + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml b/resources/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml new file mode 100755 index 0000000000000000000000000000000000000000..ca7edfd6cea4b1b545111ba060a3baea51a4c509 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml @@ -0,0 +1,14 @@ + + + + + + + Brit. Airborn Jeep + + Liveries/jeep-1d.png + Liveries/softroof-a.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml b/resources/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml new file mode 100755 index 0000000000000000000000000000000000000000..55f67b6d64d9f2c7006095c5240d125fba086ba3 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml @@ -0,0 +1,14 @@ + + + + + + + US Army green + + jeep-1.png + softroof.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml b/resources/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml new file mode 100755 index 0000000000000000000000000000000000000000..cd3e24d879a14d8e4c4704f6a97b135def58e7bd --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml @@ -0,0 +1,14 @@ + + + + + + + Hippie pink + + Liveries/jeep-1c.png + softroof.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png new file mode 100755 index 0000000000000000000000000000000000000000..6c541c76dd8b2905d5d32fb145cd210c91f926f9 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png new file mode 100755 index 0000000000000000000000000000000000000000..78c6f51a91003719cfb1a117062b83233f41981d Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png new file mode 100755 index 0000000000000000000000000000000000000000..eaa74833349624266c9e4e9d2a3493032d0a8ae2 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png new file mode 100755 index 0000000000000000000000000000000000000000..bb3b4c77e8f6940bcd4ebe629ab7b175ab3d5c22 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/navy.xml b/resources/flightgear/Aircraft/jeep/Models/Liveries/navy.xml new file mode 100755 index 0000000000000000000000000000000000000000..7fc8f6890191afdfc2cb75bbf4fb9a21d0bb4b0b --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/Liveries/navy.xml @@ -0,0 +1,14 @@ + + + + + + + US Navy blue + + Liveries/jeep-1a.png + Liveries/softroof-a.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/raf.xml b/resources/flightgear/Aircraft/jeep/Models/Liveries/raf.xml new file mode 100755 index 0000000000000000000000000000000000000000..023d37559f45a7a7022b7dd882e8585cbf5648e0 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/Liveries/raf.xml @@ -0,0 +1,14 @@ + + + + + + + RAF + + Liveries/jeep-1b.png + Liveries/softroof-a.png + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png b/resources/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png new file mode 100755 index 0000000000000000000000000000000000000000..0d85ec39ddb976be9c0b41ea05d7e7615708b9be Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/cabin.png b/resources/flightgear/Aircraft/jeep/Models/cabin.png new file mode 100755 index 0000000000000000000000000000000000000000..d3ad949e11577c4bb18dcf64ca5e49bd8172a4e7 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/Models/cabin.png differ diff --git a/resources/flightgear/Aircraft/jeep/Models/current.ac b/resources/flightgear/Aircraft/jeep/Models/current.ac new file mode 100755 index 0000000000000000000000000000000000000000..8d93f5780d9d24142a6ff590e3a949bfb49c24ff --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/current.ac @@ -0,0 +1,1221 @@ +AC3Db +MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0 +MATERIAL "Material" rgb 0.15 0.15 0.15 amb 1 1 1 emis 0 0 0 spec 1 1 1 shi 32 trans 0 +MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0 +OBJECT world +kids 3 +OBJECT poly +name "case" +data 4 +Cube +crease 30.000000 +numvert 144 +1e-06 0.025909 0.025909 +1e-06 0.01832 0.031732 +1e-06 0.009483 0.035392 +1e-06 0 0.036641 +1e-06 -0.009483 0.035392 +1e-06 -0.01832 0.031732 +1e-06 -0.025909 0.025909 +1e-06 -0.031732 0.01832 +1e-06 -0.035392 0.009483 +1e-06 -0.036641 0 +1e-06 -0.035392 -0.009483 +1e-06 -0.031732 -0.01832 +1e-06 -0.025909 -0.025909 +1e-06 -0.01832 -0.031732 +1e-06 -0.009483 -0.035392 +1e-06 0 -0.036641 +1e-06 0.009483 -0.035392 +1e-06 0.01832 -0.031732 +1e-06 0.025909 -0.025909 +1e-06 0.031732 -0.01832 +1e-06 0.035392 -0.009483 +1e-06 0.036641 0 +1e-06 0.035392 0.009483 +1e-06 0.031732 0.01832 +0.001188 0.017718 0.030689 +0.001188 0.025058 0.025058 +0.001188 0.009172 0.034229 +0.001188 0 0.035437 +0.001188 -0.009172 0.034229 +0.001188 -0.017718 0.030689 +0.001188 -0.025058 0.025058 +0.001188 -0.030689 0.017718 +0.001188 -0.034229 0.009172 +0.001188 -0.035437 0 +0.001188 -0.034229 -0.009172 +0.001188 -0.030689 -0.017718 +0.001188 -0.025058 -0.025057 +0.001188 -0.017718 -0.030689 +0.001188 -0.009172 -0.034229 +0.001188 0 -0.035437 +0.001188 0.009172 -0.034229 +0.001188 0.017718 -0.030689 +0.001188 0.025057 -0.025058 +0.001188 0.030689 -0.017718 +0.001188 0.034229 -0.009172 +0.001188 0.035437 0 +0.001188 0.034229 0.009172 +0.001188 0.030689 0.017718 +0.001781 0.016956 0.029368 +0.001781 0.023979 0.023979 +0.001781 0.008777 0.032756 +0.001781 0 0.033912 +0.001781 -0.008777 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a/resources/flightgear/Aircraft/jeep/Models/speedometer.xml b/resources/flightgear/Aircraft/jeep/Models/speedometer.xml new file mode 100755 index 0000000000000000000000000000000000000000..a2ff31150b8d64a5a0487870ff8f608bb1ffc9a6 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/speedometer.xml @@ -0,0 +1,29 @@ + + + + + + + + + + speedometer.ac + + rotate + needle + velocities/groundspeed-kt + -4.23 +
+ 0.0 + 0.0 + 0.0 +
+ + 1.0 + 0.0 + 0.0 + + + + + diff --git a/resources/flightgear/Aircraft/jeep/Models/transparent.ac b/resources/flightgear/Aircraft/jeep/Models/transparent.ac new file mode 100755 index 0000000000000000000000000000000000000000..bd8c24118168fddf1f7092f1671a9ee64006edbe --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/transparent.ac @@ -0,0 +1,35 @@ +AC3Db +MATERIAL "DefaultWhite" rgb 1 1 1 amb 1 1 1 emis 0 0 0 spec 0.5 0.5 0.5 shi 64 trans 0 +MATERIAL "glass" rgb 0.1 0.1 0.1 amb 1 1 1 emis 0 0 0 spec 1 1 1 shi 32 trans 0.601077 +OBJECT world +kids 1 +OBJECT poly +name "noshadow.screenglass" +data 8 +Cube.008 +crease 30.000000 +numvert 8 +1.546748 1.634888 -0.02227 +1.546748 1.634888 0.022271 +1.444319 1.324749 0.022271 +1.444319 1.324749 -0.02227 +1.546748 1.634888 -0.620687 +1.546748 1.634889 0.620687 +1.444319 1.324749 0.620687 +1.444319 1.324749 -0.620687 +numsurf 2 +SURF 0x00 +mat 1 +refs 4 +1 0.0 1.0 +2 0.0 0.0 +6 1.0 0.0 +5 1.0 1.0 +SURF 0x00 +mat 1 +refs 4 +0 0.0 1.0 +4 1.0 1.0 +7 1.0 0.0 +3 0.0 0.0 +kids 0 diff --git a/resources/flightgear/Aircraft/jeep/Models/transparent.xml b/resources/flightgear/Aircraft/jeep/Models/transparent.xml new file mode 100755 index 0000000000000000000000000000000000000000..565b57c5885a3eb4cc173f826527203a190ed020 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Models/transparent.xml @@ -0,0 +1,29 @@ + + + + + + + + + + transparent.ac + + rotate + noshadow.screenglass + controls/gear//screen + -108 +
+ 1.167 + 0.0 + 0.992 +
+ + 0.0 + 1.0 + 0.0 + + + + + diff --git a/resources/flightgear/Aircraft/jeep/Nasal/failure.nas b/resources/flightgear/Aircraft/jeep/Nasal/failure.nas new file mode 100755 index 0000000000000000000000000000000000000000..6055e061542353f3d07a45dd02583482390a43f6 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Nasal/failure.nas @@ -0,0 +1,10 @@ +var nofuel = props.globals.getNode("engines/engine[0]/out-of-fuel",1 ); + + +var kill_engine = func { + nofuel.setValue(1); + nofuel.setAttribute("writable", 0); +# interpolate ("/engines/engine[0]/fuel-press", 0, 1); +# interpolate ("/engines/engine[0]/mp-osi", 0, 1.5); + +} diff --git a/resources/flightgear/Aircraft/jeep/Nasal/jeep.nas b/resources/flightgear/Aircraft/jeep/Nasal/jeep.nas new file mode 100755 index 0000000000000000000000000000000000000000..58d3d53bf0e08ae01c3e340bc99561f1ba010df5 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Nasal/jeep.nas @@ -0,0 +1 @@ +aircraft.livery.init("Aircraft/jeep/Models/Liveries", "sim/model/livery/name"); diff --git a/resources/flightgear/Aircraft/jeep/Nasal/walk.nas b/resources/flightgear/Aircraft/jeep/Nasal/walk.nas new file mode 100755 index 0000000000000000000000000000000000000000..6c46ab082684105bb6392f99fb8da1f0d0fce86e --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/Nasal/walk.nas @@ -0,0 +1,101 @@ +var sin = func(a) { math.sin(a * math.pi / 180.0) } +var cos = func(a) { math.cos(a * math.pi / 180.0) } +var posx= 0; +var posy= 0; +var posz= 0; + + setlistener("sim/walker/walking", func { + walk(); + }); + +var main_loop = func { + if (getprop ("sim/walker/outside") == 0) { + setprop ("sim/walker/latitude-deg" , (getprop ("position/latitude-deg"))); + setprop ("sim/walker/longitude-deg" , (getprop ("position/longitude-deg"))); + setprop ("sim/walker/altitude-ft" , (getprop ("position/altitude-ft"))); + setprop ("sim/walker/roll-deg" , (getprop ("orientation/roll-deg"))); + setprop ("sim/walker/pitch-deg" , (getprop ("orientation/pitch-deg"))); + setprop ("sim/walker/heading-deg" , (getprop ("orientation/heading-deg"))); + } + settimer(main_loop, 0.008) +} +var walk = func { + + + if (getprop ("sim/current-view/view-number") == view.indexof("Walk View")) { + if (getprop ("devices/status/mice/mouse/mode") == 2){ + + + if (getprop ("sim/walker/outside") == 1) { + ext_mov(); + } else { + int_mov(); + } + } + } +} + +var ext_mov = func { + speed = getprop ("sim/walker/speed"); + head = getprop ("sim/current-view/heading-offset-deg"); + posy = getprop ("sim/walker/latitude-deg"); + posx = getprop ("sim/walker/longitude-deg"); + posz1 = getprop ("sim/walker/altitude-ft"); + posx1 = posx - speed*sin(head); + if (posy < 0 ) { + # southern hemisphere + posy1 = posy + (speed+0.000001*sin(posy))*cos(head); +# print ("south"); + } else { + # northern hemisphere +# print ("north"); + posy1 = posy + (speed-0.000001*sin(posy))*cos(head); + } +# print (head," ",speed," ",speed+0.0000001*sin(posy)); +# print (cos(head)," ",sin(head)); +# print (posy," ",speed+0.000001*sin(posy)); + posz2 = geo.elevation (posy1,posx1); + + if ((posz2 * 3.28084) < (posz1+10)) { + interpolate ("sim/walker/latitude-deg", posy1,0.25,0.3); +# print (posy); + interpolate ("sim/walker/longitude-deg", posx1,0.25,0.3); +# print (posx); + +# print (posz1," ", posz2 * 3.28084); + if ((posz1+0.4) > (posz2 * 3.28084) or (posz1-0.4) < posz2 * 3.28084) { + interpolate ("sim/walker/altitude-ft", posz2 * 3.28084 ,0.25,0.3); + } + } +if (getprop ("sim/walker/walking") == 1) { + settimer(ext_mov, 0.25); + } +} +var get_out = func { + if (getprop ("sim/current-view/view-number") == view.indexof("Walk View")) { + posx = getprop ("position/longitude-deg"); + posy = getprop ("sim/walker/latitude-deg"); + head = getprop ("orientation/heading-deg"); + posy1 = posy + (0.000001*sin(posy))*sin(head); + + setprop ("sim/walker/heading-deg", 0); + setprop ("sim/walker/outside", 1); + setprop ("sim/current-view/x-offset-m", 0); + setprop ("sim/current-view/y-offset-m", 1.87); + setprop ("sim/current-view/z-offset-m", 0); + setprop ("sim/current-view/roll-offset-deg", 0); + } +} + +var get_in = func { + if (getprop ("sim/current-view/view-number") == view.indexof("Walk View")) { + setprop ("sim/walker/outside", 0); + setprop ("sim/current-view/x-offset-m", 0.35); + setprop ("sim/current-view/y-offset-m", 1.5); + setprop ("sim/current-view/z-offset-m", 2.295); + setprop ("sim/current-view/roll-offset-deg", 0); + } +} +var int_mov = func { +print ("Not yet implemented"); +} diff --git a/resources/flightgear/Aircraft/jeep/README b/resources/flightgear/Aircraft/jeep/README new file mode 100755 index 0000000000000000000000000000000000000000..61ea6b1ec1abe6fdbd504a3b2dfbd065c1c75728 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/README @@ -0,0 +1,15 @@ +A Willys Jeep for Flightgear + +by Detlef Faber +don@sol2500.net + +This model is released under the terms of the GPLv2 + +Steer the car with aileron control. "," is Brake and "." is Accelerator. + +If you have rudder pedals with Toebrakes, the left pedal is Brake and +the right is Accelerator. + +The Jeep also had a hand throttle, so you can use normal throttle control too. + +M (Shift-m) engages Reverse, m disengages reverse. \ No newline at end of file diff --git a/resources/flightgear/Aircraft/jeep/gpa-set.xml b/resources/flightgear/Aircraft/jeep/gpa-set.xml new file mode 100644 index 0000000000000000000000000000000000000000..d2c7a72e297d9633cae7afe7200154630cb00633 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/gpa-set.xml @@ -0,0 +1,239 @@ + + + + + + + + GPA amphibious Jeep + Detlef Faber + alpha + yasim + gpa-yasim + + + true + true + + + Aircraft/Generic/generic-sound.xml + + + + Aircraft/jeep/Models/GPA.xml + + + 1 + + + + + false + false + 0.000006 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + -14.0 + + true + + -0.35 + 1.5 + 2.295 + -15.0 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + Walk View + lookfrom + + sim/walker/latitude-deg + sim/walker/longitude-deg + sim/walker/altitude-ft + sim/walker/heading-deg + sim/walker/roll-deg + sim/walker/pitch-deg + + + 10.0 + 55.0 + + 0.35 + 1.5 + 2.295 + + + + + + + false + + + + + , + Brakes + + + . + Accelerator + + + o + Walker gets outside + + + o + Walker gets back in + + + w + Walk forward while in Walk View + + + + + + + true + + + + property-toggle + /controls/gear/screen + + + + + + property-toggle + /controls/gear/shield + + + + + + + + + + 700 + + + + + + 3 + + + + false + false + + + + + + M + engage Reverse + + property-assign + controls/engines/engine[0]/mixture + 0.0 + + + + m + disengage Reverse + + property-assign + controls/engines/engine[0]/mixture + 1.0 + + + + o + get Walker out + + nasal + + + + + O + get Walker in + + nasal + + + + + w + walk forward + + property-toggle + /sim/walker/walking + + + + property-toggle + /sim/walker/walking + + + + + + + + Aircraft/jeep/Nasal/walk.nas + + + + + + + + diff --git a/resources/flightgear/Aircraft/jeep/gpa-yasim.xml b/resources/flightgear/Aircraft/jeep/gpa-yasim.xml new file mode 100644 index 0000000000000000000000000000000000000000..922db30eb7ea66eab0a60d878c79735f760d4c60 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/gpa-yasim.xml @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/resources/flightgear/Aircraft/jeep/jeep-set.xml b/resources/flightgear/Aircraft/jeep/jeep-set.xml new file mode 100755 index 0000000000000000000000000000000000000000..4ab66f15edae4d6654e239a1a36fcca9297b51f1 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/jeep-set.xml @@ -0,0 +1,269 @@ + + + + +true +0 +5 + + + + Willys Jeep + Detlef Faber + alpha + yasim + jeep-yasim + + + true + true + + + Aircraft/Generic/generic-sound.xml + + + + Aircraft/jeep/Models/Jeep.xml + + + 1 + + + + + + + + + + + false + false + 0.000006 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + -14.0 + + true + + -0.35 + 1.5 + 2.295 + -15.0 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + + 1.6 + + + + + Walk View + lookfrom + + sim/walker/latitude-deg + sim/walker/longitude-deg + sim/walker/altitude-ft + sim/walker/heading-deg + sim/walker/roll-deg + sim/walker/pitch-deg + + + 10.0 + 55.0 + + 0.35 + 1.5 + 2.295 + + + + + + + false + + + + + , + Brakes + + + . + Accelerator + + + o + Walker gets outside + + + o + Walker gets back in + + + w + Walk forward while in Walk View + + + + + + + true + + + + property-toggle + /controls/gear/screen + + + + + + property-toggle + /controls/gear/roof + + + + + + nasal + + + + + + + + + 0 + 0 + 0 + + + + + + + 700 + + + + + + 3 + + + + false + false + + + + + + M + engage Reverse + + property-assign + controls/engines/engine[0]/mixture + 0.0 + + + + + m + disengage Reverse + + property-assign + controls/engines/engine[0]/mixture + 1.0 + + + + o + get Walker out + + nasal + + + + + O + get Walker in + + nasal + + + + + w + walk forward + + property-toggle + /sim/walker/walking + + + + property-toggle + /sim/walker/walking + + + + + + + + Aircraft/jeep/Nasal/jeep.nas + + + Aircraft/jeep/Nasal/walk.nas + + + + Aircraft/jeep/Nasal/failure.nas + + + + + + + diff --git a/resources/flightgear/Aircraft/jeep/jeep-yasim.xml b/resources/flightgear/Aircraft/jeep/jeep-yasim.xml new file mode 100755 index 0000000000000000000000000000000000000000..2923e6840a7c4314a057bf5c587812762541d461 --- /dev/null +++ b/resources/flightgear/Aircraft/jeep/jeep-yasim.xml @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/resources/flightgear/Aircraft/jeep/thumbnail.jpg b/resources/flightgear/Aircraft/jeep/thumbnail.jpg new file mode 100755 index 0000000000000000000000000000000000000000..819724a16e9e87587a47857988fde99730ea14c1 Binary files /dev/null and b/resources/flightgear/Aircraft/jeep/thumbnail.jpg differ diff --git a/resources/flightgear/Protocol/qgroundcontrol-fixed-wing.xml b/resources/flightgear/Protocol/qgroundcontrol-fixed-wing.xml new file mode 100644 index 0000000000000000000000000000000000000000..5ecb9966bc1e3283c91b3c1d961ba1a57dda120c --- /dev/null +++ b/resources/flightgear/Protocol/qgroundcontrol-fixed-wing.xml @@ -0,0 +1,231 @@ + + + + + + + newline + tab + + + time (sec) + float + %.4f + /sim/time/elapsed-sec + + + + + latitude-deg + double + %.18f + /position/latitude-deg + + + + longitude-deg + double + %.18f + /position/longitude-deg + + + + altitiude (m) + double + %.5f + /position/altitude-ft + 0.3048 + + + + + + roll angle + float + %.5f + /orientation/roll-deg + 0.01745329251994329576 + + + + pitch angle (rad) + float + %.5f + /orientation/pitch-deg + 0.01745329251994329576 + + + + yaw angle + float + %.5f + /orientation/heading-deg + 0.01745329251994329576 + + + + roll rate ("p" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/pi-rad_sec + + + + pitch rate ("q" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/qi-rad_sec + + + + yaw rate ("r" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/ri-rad_sec + + + + X accel (body axis) (mps) + float + %.5f + /accelerations/pilot/x-accel-fps_sec + 0.3048 + + + + Y accel (body axis) (mps) + float + %.5f + /accelerations/pilot/y-accel-fps_sec + 0.3048 + + + + Z accel (body axis) (mps) + float + %.5f + /accelerations/pilot/z-accel-fps_sec + 0.3048 + + + + + + Velocity North ("vn" mps) + float + %.8f + /velocities/speed-north-fps + 0.3048 + + + + Velocity East ("ve" mps) + float + %.8f + /velocities/speed-east-fps + 0.3048 + + + + Velocity Down ("vd" mps) + float + %.8f + /velocities/speed-down-fps + 0.3048 + + + + airspeed-mps + float + %.8f + /velocities/airspeed-kt + 0.514444444444444 + + + + + Magnetic Variation (rad) + float + %.8f + /environment/magnetic-variation-deg + 0.01745329251994329576 + + + + Magnetic Dip (rad) + float + %.8f + /environment/magnetic-dip-deg + 0.01745329251994329576 + + + + + Temperature (deg C) + float + %.8f + /environment/temperature-degc + 1 + + + + + Pressure (hPa) + float + %.8f + /environment/pressure-inhg + 33.86389 + + + + + Altitude AGL (m) + float + %.5f + /position/altitude-agl-ft + 0.3048 + + + + + + newline + tab + + + + aileron + float + /controls/flight/aileron + + + + elevator + float + /controls/flight/elevator + + + + rudder + float + /controls/flight/rudder + + + + running + bool + /engines/engine/running + + + + throttle + float + /controls/engines/engine/throttle + + + + + + + + diff --git a/resources/flightgear/Protocol/qgroundcontrol-quadrotor.xml b/resources/flightgear/Protocol/qgroundcontrol-quadrotor.xml new file mode 100644 index 0000000000000000000000000000000000000000..ddd2809a950799258e5bee8ac700f27a2017d7ae --- /dev/null +++ b/resources/flightgear/Protocol/qgroundcontrol-quadrotor.xml @@ -0,0 +1,228 @@ + + + + + + + newline + tab + + + time (sec) + float + %.4f + /sim/time/elapsed-sec + + + + + latitude-deg + double + %.18f + /position/latitude-deg + + + + longitude-deg + double + %.18f + /position/longitude-deg + + + + altitiude (m) + double + %.5f + /position/altitude-ft + 0.3048 + + + + + + roll angle + float + %.5f + /orientation/roll-deg + 0.01745329251994329576 + + + + pitch angle (rad) + float + %.5f + /orientation/pitch-deg + 0.01745329251994329576 + + + + yaw angle + float + %.5f + /orientation/heading-deg + 0.01745329251994329576 + + + + roll rate ("p" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/pi-rad_sec + + + + pitch rate ("q" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/qi-rad_sec + + + + yaw rate ("r" rad/sec) + float + %.6f + /fdm/jsbsim/velocities/ri-rad_sec + + + + X accel (body axis) (mps) + float + %.5f + /accelerations/pilot/x-accel-fps_sec + 0.3048 + + + + Y accel (body axis) (mps) + float + %.5f + /accelerations/pilot/y-accel-fps_sec + 0.3048 + + + + Z accel (body axis) (mps) + float + %.5f + /accelerations/pilot/z-accel-fps_sec + 0.3048 + + + + + + Velocity North ("vn" mps) + float + %.8f + /velocities/speed-north-fps + 0.3048 + + + + Velocity East ("ve" mps) + float + %.8f + /velocities/speed-east-fps + 0.3048 + + + + Velocity Down ("vd" mps) + float + %.8f + /velocities/speed-down-fps + 0.3048 + + + + airspeed-mps + float + %.8f + /velocities/airspeed-kt + 0.514444444444444 + + + + + Magnetic Variation (rad) + float + %.8f + /environment/magnetic-variation-deg + 0.01745329251994329576 + + + + Magnetic Dip (rad) + float + %.8f + /environment/magnetic-dip-deg + 0.01745329251994329576 + + + + + Temperature (deg C) + float + %.8f + /environment/temperature-degc + 1 + + + + + Pressure (hPa) + float + %.8f + /environment/pressure-inhg + 33.86389 + + + + + Altitude AGL (m) + float + %.5f + /position/altitude-agl-ft + 0.3048 + + + + + + newline + tab + + + + + throttle0 + float + /controls/engines/engine[0]/throttle + + + throttle1 + float + /controls/engines/engine[1]/throttle + + + throttle2 + float + /controls/engines/engine[2]/throttle + + + running + bool + /engines/engine/running + + + throttle3 + float + /controls/engines/engine[3]/throttle + + + + + + + + diff --git a/resources/flightgear/Protocol/quadhil.xml b/resources/flightgear/Protocol/quadhil.xml new file mode 100755 index 0000000000000000000000000000000000000000..a666b6e1a5d511dd0383f9fce5907114bc99b8a7 --- /dev/null +++ b/resources/flightgear/Protocol/quadhil.xml @@ -0,0 +1,120 @@ + + + + + + + + + true + + + + + throttle0 + double + /controls/engines/engine[0]/throttle + + + throttle1 + double + /controls/engines/engine[1]/throttle + + + throttle2 + double + /controls/engines/engine[2]/throttle + + + throttle3 + double + /controls/engines/engine[3]/throttle + + + + + latitude-deg + double + /position/latitude-deg + + + + longitude-deg + double + /position/longitude-deg + + + + altitude-ft + double + /position/altitude-ft + + + + altitude-agl-ft + double + /position/altitude-agl-ft + + + + + roll-deg + double + /orientation/roll-deg + + + + pitch-deg + double + /orientation/pitch-deg + + + + heading-deg + double + /orientation/heading-deg + + + + + + + true + magic,0xc465414e + + + + ground-elev-m + double + /position/ground-elev-m + + + + + latitude-deg + double + /position/latitude-deg + + + + longitude-deg + double + /position/longitude-deg + + + + heading-deg + double + /orientation/heading-deg + + + + + + + diff --git a/files/images/icons/macx.icns b/resources/icons/macx.icns similarity index 100% rename from files/images/icons/macx.icns rename to resources/icons/macx.icns diff --git a/files/images/icons/macx_128x128x32.png b/resources/icons/macx_128x128x32.png similarity index 100% rename from files/images/icons/macx_128x128x32.png rename to resources/icons/macx_128x128x32.png diff --git a/files/images/icons/macx_16x16x1.png b/resources/icons/macx_16x16x1.png similarity index 100% rename from files/images/icons/macx_16x16x1.png rename to resources/icons/macx_16x16x1.png diff --git a/files/images/icons/macx_16x16x32.png b/resources/icons/macx_16x16x32.png similarity index 100% rename from files/images/icons/macx_16x16x32.png rename to resources/icons/macx_16x16x32.png diff --git a/files/images/icons/macx_32x32x1.png b/resources/icons/macx_32x32x1.png similarity index 100% rename from files/images/icons/macx_32x32x1.png rename to resources/icons/macx_32x32x1.png diff --git a/files/images/icons/macx_32x32x32.png b/resources/icons/macx_32x32x32.png similarity index 100% rename from files/images/icons/macx_32x32x32.png rename to resources/icons/macx_32x32x32.png diff --git a/files/images/icons/macx_48x48x1.png b/resources/icons/macx_48x48x1.png similarity index 100% rename from files/images/icons/macx_48x48x1.png rename to resources/icons/macx_48x48x1.png diff --git a/files/images/icons/macx_48x48x32.png b/resources/icons/macx_48x48x32.png similarity index 100% rename from files/images/icons/macx_48x48x32.png rename to resources/icons/macx_48x48x32.png diff --git a/files/images/icons/qgroundcontrol.ico b/resources/icons/qgroundcontrol.ico similarity index 100% rename from files/images/icons/qgroundcontrol.ico rename to resources/icons/qgroundcontrol.ico diff --git a/resources/icons/qgroundcontrol.png b/resources/icons/qgroundcontrol.png new file mode 100644 index 0000000000000000000000000000000000000000..0cc381c8d040aa2f1442c2140c241563405d9841 Binary files /dev/null and b/resources/icons/qgroundcontrol.png differ diff --git a/files/images/mapproviders/google.png b/resources/mapproviders/google.png similarity index 100% rename from files/images/mapproviders/google.png rename to resources/mapproviders/google.png diff --git a/files/images/mapproviders/googleearth.svg b/resources/mapproviders/googleearth.svg similarity index 100% rename from files/images/mapproviders/googleearth.svg rename to resources/mapproviders/googleearth.svg diff --git a/files/images/mapproviders/openstreetmap.png b/resources/mapproviders/openstreetmap.png similarity index 100% rename from files/images/mapproviders/openstreetmap.png rename to resources/mapproviders/openstreetmap.png diff --git a/files/images/mapproviders/yahoo.png b/resources/mapproviders/yahoo.png similarity index 100% rename from files/images/mapproviders/yahoo.png rename to resources/mapproviders/yahoo.png diff --git a/files/images/mavs/airship.svg b/resources/mavs/airship.svg similarity index 100% rename from files/images/mavs/airship.svg rename to resources/mavs/airship.svg diff --git a/files/images/mavs/antenna-tracker.svg b/resources/mavs/antenna-tracker.svg similarity index 100% rename from files/images/mavs/antenna-tracker.svg rename to resources/mavs/antenna-tracker.svg diff --git a/files/images/mavs/coaxial.svg b/resources/mavs/coaxial.svg similarity index 100% rename from files/images/mavs/coaxial.svg rename to resources/mavs/coaxial.svg diff --git a/files/images/mavs/fixed-wing.svg b/resources/mavs/fixed-wing.svg similarity index 100% rename from files/images/mavs/fixed-wing.svg rename to resources/mavs/fixed-wing.svg diff --git a/files/images/mavs/flapping-wing.svg b/resources/mavs/flapping-wing.svg similarity index 100% rename from files/images/mavs/flapping-wing.svg rename to resources/mavs/flapping-wing.svg diff --git a/files/images/mavs/free-balloon.svg b/resources/mavs/free-balloon.svg similarity index 100% rename from files/images/mavs/free-balloon.svg rename to resources/mavs/free-balloon.svg diff --git a/files/images/mavs/generic.svg b/resources/mavs/generic.svg similarity index 100% rename from files/images/mavs/generic.svg rename to resources/mavs/generic.svg diff --git a/files/images/mavs/ground-rover.svg b/resources/mavs/ground-rover.svg similarity index 100% rename from files/images/mavs/ground-rover.svg rename to resources/mavs/ground-rover.svg diff --git a/files/images/mavs/groundstation.svg b/resources/mavs/groundstation.svg similarity index 100% rename from files/images/mavs/groundstation.svg rename to resources/mavs/groundstation.svg diff --git a/files/images/mavs/helicopter.svg b/resources/mavs/helicopter.svg similarity index 100% rename from files/images/mavs/helicopter.svg rename to resources/mavs/helicopter.svg diff --git a/files/images/mavs/hexarotor.svg b/resources/mavs/hexarotor.svg similarity index 100% rename from files/images/mavs/hexarotor.svg rename to resources/mavs/hexarotor.svg diff --git a/files/images/mavs/kite.svg b/resources/mavs/kite.svg similarity index 100% rename from files/images/mavs/kite.svg rename to resources/mavs/kite.svg diff --git a/files/images/mavs/octorotor.svg b/resources/mavs/octorotor.svg similarity index 100% rename from files/images/mavs/octorotor.svg rename to resources/mavs/octorotor.svg diff --git a/files/images/mavs/quadrotor.svg b/resources/mavs/quadrotor.svg similarity index 100% rename from files/images/mavs/quadrotor.svg rename to resources/mavs/quadrotor.svg diff --git a/files/images/mavs/rocket.svg b/resources/mavs/rocket.svg similarity index 100% rename from files/images/mavs/rocket.svg rename to resources/mavs/rocket.svg diff --git a/files/images/mavs/submarine.svg b/resources/mavs/submarine.svg similarity index 100% rename from files/images/mavs/submarine.svg rename to resources/mavs/submarine.svg diff --git a/files/images/mavs/surface-boat.svg b/resources/mavs/surface-boat.svg similarity index 100% rename from files/images/mavs/surface-boat.svg rename to resources/mavs/surface-boat.svg diff --git a/files/images/mavs/tricopter.svg b/resources/mavs/tricopter.svg similarity index 100% rename from files/images/mavs/tricopter.svg rename to resources/mavs/tricopter.svg diff --git a/files/images/mavs/unknown.svg b/resources/mavs/unknown.svg similarity index 100% rename from files/images/mavs/unknown.svg rename to resources/mavs/unknown.svg diff --git a/files/styles/Vera.ttf b/resources/styles/Vera.ttf similarity index 100% rename from files/styles/Vera.ttf rename to resources/styles/Vera.ttf diff --git a/files/styles/style-dark.css b/resources/styles/style-dark.css similarity index 82% rename from files/styles/style-dark.css rename to resources/styles/style-dark.css index ad246f437140269aef8cd3f7564a8dc6f43e1e82..ae439e8a87b052056efcd11328949d856be477b9 100644 --- a/files/styles/style-dark.css +++ b/resources/styles/style-dark.css @@ -7,7 +7,7 @@ * { background-color: #222; color: #FFF; - font-size: 11px; + font-size: 12pt; } QWidget#viewModeWidget { @@ -105,138 +105,6 @@ QGCMAVLinkLogPlayer QLabel:disabled { color: #AAA; } -QGCToolBar { - border-top-color: #969696; - border-bottom-color: #484848; - background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #4B4B4B, stop: 0.3 #404040, stop: 0.34 #383838, stop:1 #181818); - padding: 0; - margin: 0; -} - -QGCToolBar QLabel { - font-size: 12pt; - font-weight: bold; - margin: 4px 2px; - padding: 0 2px; - border-radius: 4px; -} - -QGCToolBar QLabel#toolBarBatteryBar { - color: #0F0; -} - -QGCToolBar QLabel#toolBarTimeoutLabel { - color: #FFFFFF; - background-color: #FF0037; - font-size: 15pt; -} - -QGCToolBar QLabel#toolBarSafetyLabel { - /* color is for this label defined within the code */ - font-size: 15pt; -} - -QGCToolBar QLabel#toolBarModeLabel { - color: #ACEBFE; - font-size: 15pt; -} - -QGCToolBar QLabel#toolBarStateLabel { - color: #FEC654; - font-size: 15pt; -} - -QGCToolBar QLabel#toolBarBatteryVoltageLabel { - color: #0F0; - font-size: 15pt; -} - -QGCToolBar QLabel#toolBarWpLabel { - color: #ACEBFE; - font-size: 15pt; -} - -QGCToolBar QLabel#toolBarMessageLabel { - color: #ACEBFE; -} - -QGCToolBar QProgressBar { - margin: 4px 2px; -} - -QGCToolBar QToolButton { - margin: 0; - padding: 0 2px; - border: none; - border-top: 1px solid #333; - border-bottom: 1px solid #333; - border-radius: 0; - height: 24px; - min-width: 30px; - margin-bottom: 4px; - text-align: left; - font-weight: bold; - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #AAA, stop: 1 #BBB); - color: #000; -} - -QGCToolBar QToolButton:checked, QGCToolBar QToolButton:pressed, QGCToolBar QToolButton:checked:hover { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555, stop: 1 #777); - color: #FFF; -} - -QGCToolBar QToolButton:hover { - color: #FFF; -} - -QGCToolBar QToolButton#advancedButton { - margin-left: 0; - margin-right: 13px; - padding-right: 10px; - border-radius: 0; - border-bottom-right-radius: 6px; - border-top-right-radius: 6px; - border-left: none; -} - -QGCToolBar QToolButton#firstAction { - margin-left: 2px; - border-bottom-left-radius: 6px; - border-top-left-radius: 6px; - border-right: none; -} - -QGCToolBar .QWidget { - margin: 0; - background-color: transparent; -} - -QGCPX4SensorCalibration QLabel#magLabel { - font-size: 15pt; - font-weight: bold; - border-radius: 4px; - min-height: 25px; -} - -QGCPX4SensorCalibration QLabel#gyroLabel { - font-size: 15pt; - font-weight: bold; - border-radius: 4px; - min-height: 25px; -} - -QGCPX4SensorCalibration QLabel#accelLabel { - font-size: 15pt; - font-weight: bold; - border-radius: 4px; - min-height: 25px; -} - -QGCPX4VehicleConfig QLabel#rcLabel { - color: #FEC654; - font-size: 18pt; -} - QGCToolWidgetItem { border: 1px solid #666; border-radius: 3px; @@ -284,19 +152,11 @@ QLabel#noUas { font-size: 30pt; } -QMessageBox QLabel { - font-size: 14pt; -} - QMessageBox { min-width: 400px; min-height: 300px; } -QLabel#calibrationExplanationLabel { - font-size: 20pt; -} - QLabel#tabTitleLabel { font-size: 28pt; font-weight: lighter; @@ -595,7 +455,7 @@ QSpinBox, QDoubleSpinBox { } QSpinBox::down-arrow, QDoubleSpinBox::down-arrow { - image: url(:/files/images/actions/go-down.svg); + image: url(:/res/DownArrow); width: 16px; } @@ -604,7 +464,7 @@ QSpinBox::down-button, QDoubleSpinBox::down-button { } QSpinBox::up-arrow, QDoubleSpinBox::up-arrow { - image: url(:/files/images/actions/go-up.svg); + image: url(:/res/UpArrow); width: 16px; } diff --git a/files/styles/style-light.css b/resources/styles/style-light.css similarity index 88% rename from files/styles/style-light.css rename to resources/styles/style-light.css index 8e80798864fa112618cc04b3772fa3863419aa6e..9e4e1dbf9771dde394593c74b06eb63f089dfa59 100644 --- a/files/styles/style-light.css +++ b/resources/styles/style-light.css @@ -88,61 +88,6 @@ QGCMAVLinkLogPlayer QLabel:disabled { color: #666; } -QGCToolBar { - border-top-color: #969696; - border-bottom-color: #484848; - background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #DDD, stop: 1 #999); -} - -QGCToolBar QLabel#toolBarBatteryBar { - color: #008000; -} - -QGCToolBar QLabel#toolBarTimeoutLabel { - color: #FFFFFF; - background-color: #FF0037; -} - -QGCToolBar QLabel#toolBarModeLabel { - color: #475E66; -} - -QGCToolBar QLabel#toolBarStateLabel { - color: #80632A; -} - -QGCToolBar QLabel#toolBarBatteryVoltageLabel { - color: #008000; -} - -QGCToolBar QLabel#toolBarWpLabel { - color: #475E66; -} - -QGCToolBar QLabel#toolBarMessageLabel { - color: #475E66; -} - -QGCToolBar QToolButton { - border-top: #DDD; - border-bottom: #DDD; - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #333, stop: 1 #444); - color: #FFF; -} - -QGCToolBar QToolButton:checked, QGCToolBar QToolButton:pressed, QGCToolBar QToolButton:checked:hover { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #999); - color: #FFF; -} - -QGCToolBar QToolButton:hover { - color: #000; -} - -QGCToolBar .QWidget { - background-color: transparent; -} - QGCToolWidgetItem { border-color: #666; } diff --git a/src/AutoPilotPlugins/AutoPilotPlugin.cc b/src/AutoPilotPlugins/AutoPilotPlugin.cc index 4e73549701bcdbd4d6d62d8bbecd15896b8139b8..932b430d9c0793cf25186f70e55d0eacf93fc84c 100644 --- a/src/AutoPilotPlugins/AutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/AutoPilotPlugin.cc @@ -25,50 +25,145 @@ /// @author Don Gagne #include "AutoPilotPlugin.h" +#include "SetupView.h" +#include "QGCApplication.h" +#include "QGCMessageBox.h" +#include "MainWindow.h" +#include "ParameterLoader.h" AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) : QObject(parent), - _uas(uas) + _uas(uas), + _pluginReady(false), + _setupComplete(false) { Q_ASSERT(_uas); + + connect(_uas, &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected); + connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged); +} + +void AutoPilotPlugin::_uasDisconnected(void) +{ + _pluginReady = false; + emit pluginReadyChanged(_pluginReady); +} + +void AutoPilotPlugin::_pluginReadyChanged(bool pluginReady) +{ + if (pluginReady) { + _recalcSetupComplete(); + if (!_setupComplete) { + QGCMessageBox::warning("Setup", "One or more vehicle components require setup prior to flight."); + + // Take the user to Vehicle Summary + MainWindow* mainWindow = MainWindow::instance(); + Q_ASSERT(mainWindow); + mainWindow->getMainToolBar()->onSetupView(); + qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + QWidget* setupViewWidget = mainWindow->getCurrentViewWidget(); + Q_ASSERT(setupViewWidget); + SetupView* setupView = qobject_cast(setupViewWidget); + Q_ASSERT(setupView); + setupView->summaryButtonClicked(); + qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + } + } +} + +void AutoPilotPlugin::_recalcSetupComplete(void) +{ + bool newSetupComplete = true; + + foreach(const QVariant componentVariant, vehicleComponents()) { + VehicleComponent* component = qobject_cast(qvariant_cast(componentVariant)); + Q_ASSERT(component); + + if (!component->setupComplete()) { + newSetupComplete = false; + break; + } + } + + if (_setupComplete != newSetupComplete) { + _setupComplete = newSetupComplete; + emit setupCompleteChanged(_setupComplete); + } +} + +bool AutoPilotPlugin::setupComplete(void) +{ + Q_ASSERT(_pluginReady); + return _setupComplete; } void AutoPilotPlugin::refreshAllParameters(void) { - Q_ASSERT(_uas); - QGCUASParamManagerInterface* paramMgr = _uas->getParamManager(); - Q_ASSERT(paramMgr); - paramMgr->requestParameterList(); + _getParameterLoader()->refreshAllParameters(); } -void AutoPilotPlugin::refreshParameter(const QString& param) +void AutoPilotPlugin::refreshParameter(int componentId, const QString& name) { - Q_ASSERT(_uas); - QGCUASParamManagerInterface* paramMgr = _uas->getParamManager(); - Q_ASSERT(paramMgr); + _getParameterLoader()->refreshParameter(componentId, name); +} + +void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix) +{ + _getParameterLoader()->refreshParametersPrefix(componentId, namePrefix); +} + +bool AutoPilotPlugin::parameterExists(const QString& name) +{ + return _getParameterLoader()->parameterExists(FactSystem::defaultComponentId, name); +} + +Fact* AutoPilotPlugin::getParameterFact(const QString& name) +{ + return _getParameterLoader()->getFact(FactSystem::defaultComponentId, name); +} + +bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name) +{ + switch (provider) { + case FactSystem::ParameterProvider: + return _getParameterLoader()->parameterExists(componentId, name); + + // Other providers will go here once they come online + } - QList compIdList = paramMgr->getComponentForParam(param); - Q_ASSERT(compIdList.count() > 0); - paramMgr->requestParameterUpdate(compIdList[0], param); + Q_ASSERT(false); + return false; } -void AutoPilotPlugin::refreshParametersPrefix(const QString& paramPrefix) +Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId, const QString& name) { - foreach(QVariant varFact, parameters()) { - Fact* fact = qvariant_cast(varFact); - Q_ASSERT(fact); - if (fact->name().startsWith(paramPrefix)) { - refreshParameter(fact->name()); - } + switch (provider) { + case FactSystem::ParameterProvider: + return _getParameterLoader()->getFact(componentId, name); + + // Other providers will go here once they come online } + + Q_ASSERT(false); + return NULL; +} + +QStringList AutoPilotPlugin::parameterNames(void) +{ + return _getParameterLoader()->parameterNames(); +} + +const QMap >& AutoPilotPlugin::getGroupMap(void) +{ + return _getParameterLoader()->getGroupMap(); } -bool AutoPilotPlugin::factExists(const QString& param) +void AutoPilotPlugin::writeParametersToStream(QTextStream &stream) { - return parameters().contains(param); + _getParameterLoader()->writeParametersToStream(stream, _uas->getUASName()); } -Fact* AutoPilotPlugin::getFact(const QString& name) +void AutoPilotPlugin::readParametersFromStream(QTextStream &stream) { - return parameters()[name].value(); + _getParameterLoader()->readParametersFromStream(stream); } diff --git a/src/AutoPilotPlugins/AutoPilotPlugin.h b/src/AutoPilotPlugins/AutoPilotPlugin.h index 01842495cb512308fe314cbd3b15b2fea8244323..4f635afb96528d743f2736de63686d8c7d0e282a 100644 --- a/src/AutoPilotPlugins/AutoPilotPlugin.h +++ b/src/AutoPilotPlugins/AutoPilotPlugin.h @@ -36,6 +36,8 @@ #include "VehicleComponent.h" #include "FactSystem.h" +class ParameterLoader; + /// This is the base class for AutoPilot plugins /// /// The AutoPilotPlugin class is an abstract base class which represent the methods and objects @@ -50,44 +52,89 @@ class AutoPilotPlugin : public QObject public: AutoPilotPlugin(UASInterface* uas, QObject* parent); - Q_PROPERTY(QVariantList components READ components CONSTANT) - Q_PROPERTY(QUrl setupBackgroundImage READ setupBackgroundImage CONSTANT) - + /// true: plugin is ready for use, plugin should no longer be used + Q_PROPERTY(bool pluginReady READ pluginReady NOTIFY pluginReadyChanged) + + /// List of VehicleComponent objects + Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT) + + /// false: One or more vehicle components require setup + Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged) + /// Re-request the full set of parameters from the autopilot - Q_INVOKABLE void refreshAllParameters(void); + Q_INVOKABLE void refreshAllParameters(void); /// Request a refresh on the specific parameter - Q_INVOKABLE void refreshParameter(const QString& param); + Q_INVOKABLE void refreshParameter(int componentId, const QString& name); - // Request a refresh on all parameters that begin with the specified prefix - Q_INVOKABLE void refreshParametersPrefix(const QString& paramPrefix); + /// Request a refresh on all parameters that begin with the specified prefix + Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix); - Q_INVOKABLE bool factExists(const QString& param); + /// Returns true if the specifed parameter exists from the default component + Q_INVOKABLE bool parameterExists(const QString& name); + + /// Returns all parameter names + /// FIXME: component id missing, generic to fact + QStringList parameterNames(void); + + /// Returns the specified parameter Fact from the default component + /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with + /// factExists. + Fact* getParameterFact(const QString& name); + + /// Writes the parameter facts to the specified stream + void writeParametersToStream(QTextStream &stream); + + /// Reads the parameters from the stream and updates values + void readParametersFromStream(QTextStream &stream); + + /// Returns true if the specifed fact exists + Q_INVOKABLE bool factExists(FactSystem::Provider_t provider, ///< fact provider + int componentId, ///< fact component, -1=default component + const QString& name); ///< fact name - Fact* getFact(const QString& name); - - // Property accessors - virtual const QVariantList& components(void) = 0; - virtual const QVariantMap& parameters(void) = 0; - virtual QUrl setupBackgroundImage(void) = 0; + /// Returns the specified Fact. + /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with + /// factExists. + Fact* getFact(FactSystem::Provider_t provider, ///< fact provider + int componentId, ///< fact component, -1=default component + const QString& name); ///< fact name - /// Returns true if the plugin is ready for use - virtual bool pluginIsReady(void) const = 0; + const QMap >& getGroupMap(void); + + // Must be implemented by derived class + virtual const QVariantList& vehicleComponents(void) = 0; - /// FIXME: Kind of hacky static void clearStaticData(void); - + + // Property accessors + bool pluginReady(void) { return _pluginReady; } + bool setupComplete(void); + UASInterface* uas(void) { return _uas; } signals: - /// Signalled when plugin is ready for use - void pluginReady(void); - + void pluginReadyChanged(bool pluginReady); + void setupCompleteChanged(bool setupComplete); + void parameterListProgress(float value); + protected: /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { } - UASInterface* _uas; + /// Returns the ParameterLoader + virtual ParameterLoader* _getParameterLoader(void) = 0; + + UASInterface* _uas; + bool _pluginReady; + bool _setupComplete; + +private slots: + void _uasDisconnected(void); + void _pluginReadyChanged(bool pluginReady); + +private: + void _recalcSetupComplete(void); }; #endif diff --git a/src/AutoPilotPlugins/AutoPilotPluginManager.cc b/src/AutoPilotPlugins/AutoPilotPluginManager.cc index 097198218d7ba6feaff553a04757aefc9ada1651..624f0073806fc060cdaa7450ed550654f6ce2b7d 100644 --- a/src/AutoPilotPlugins/AutoPilotPluginManager.cc +++ b/src/AutoPilotPlugins/AutoPilotPluginManager.cc @@ -93,10 +93,10 @@ void AutoPilotPluginManager::_uasDeleted(UASInterface* uas) int uasId = uas->getUASID(); Q_ASSERT(uasId != 0); - Q_ASSERT(_pluginMap.contains(autopilotType)); - Q_ASSERT(_pluginMap[autopilotType].contains(uasId)); - delete _pluginMap[autopilotType][uasId]; - _pluginMap[autopilotType].remove(uasId); + if (_pluginMap.contains(autopilotType) && _pluginMap[autopilotType].contains(uasId)) { + delete _pluginMap[autopilotType][uasId]; + _pluginMap[autopilotType].remove(uasId); + } } AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas) diff --git a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc index bdd97ef10c27188f1edb18ba81cda7998b89f831..f2ddfac47d791dfdd2bfa41789ddd7dfc87c0446 100644 --- a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc @@ -31,11 +31,11 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* paren { Q_ASSERT(uas); - _parameterFacts = new GenericParameterFacts(uas, this); + _parameterFacts = new GenericParameterFacts(this, uas, this); Q_CHECK_PTR(_parameterFacts); - connect(_parameterFacts, &GenericParameterFacts::factsReady, this, &GenericAutoPilotPlugin::pluginReady); - + connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReady); + connect(_parameterFacts, &GenericParameterFacts::parameterListProgress, this, &GenericAutoPilotPlugin::parameterListProgress); } QList GenericAutoPilotPlugin::getModes(void) @@ -88,19 +88,15 @@ void GenericAutoPilotPlugin::clearStaticData(void) // No Static data yet } -const QVariantList& GenericAutoPilotPlugin::components(void) +const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void) { static QVariantList emptyList; return emptyList; } -const QVariantMap& GenericAutoPilotPlugin::parameters(void) -{ - return _parameterFacts->factMap(); -} - -QUrl GenericAutoPilotPlugin::setupBackgroundImage(void) +void GenericAutoPilotPlugin::_parametersReady(void) { - return QUrl::fromUserInput("qrc:/qml/px4fmu_2.x.png"); + _pluginReady = true; + emit pluginReadyChanged(_pluginReady); } diff --git a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h index 5a2262b1e6ba90a72a97b912410c8a147dfc801c..87f37de0880c17be7fdee1c3c3edb8edd481655d 100644 --- a/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h +++ b/src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h @@ -41,16 +41,19 @@ public: GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL); // Overrides from AutoPilotPlugin - virtual bool pluginIsReady(void) const { return _parameterFacts->factsAreReady(); } - virtual QUrl setupBackgroundImage(void); - virtual const QVariantList& components(void); - virtual const QVariantMap& parameters(void); + virtual const QVariantList& vehicleComponents(void); static QList getModes(void); static QString getShortModeText(uint8_t baseMode, uint32_t customMode); static void clearStaticData(void); +private slots: + void _parametersReady(void); + private: + // Overrides from AutoPilotPlugin + virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; } + GenericParameterFacts* _parameterFacts; }; diff --git a/src/AutoPilotPlugins/Generic/GenericParameterFacts.cc b/src/AutoPilotPlugins/Generic/GenericParameterFacts.cc index c37d05dc5fec7d71b7511e5f16188d9a32c77268..fb1e1d18a0b633b41f18ade6c58515dc2e0bc440 100644 --- a/src/AutoPilotPlugins/Generic/GenericParameterFacts.cc +++ b/src/AutoPilotPlugins/Generic/GenericParameterFacts.cc @@ -25,13 +25,11 @@ /// @author Don Gagne #include "GenericParameterFacts.h" -#include "QGCApplication.h" -#include #include -GenericParameterFacts::GenericParameterFacts(UASInterface* uas, QObject* parent) : - FactLoader(uas, parent) +GenericParameterFacts::GenericParameterFacts(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) : + ParameterLoader(autopilot, uas, parent) { Q_ASSERT(uas); } diff --git a/src/AutoPilotPlugins/Generic/GenericParameterFacts.h b/src/AutoPilotPlugins/Generic/GenericParameterFacts.h index ae363b432494de6efc8492949cacd7485173fc87..dd5d10ed8b86468936a6d4dde180c0f9e95b373d 100644 --- a/src/AutoPilotPlugins/Generic/GenericParameterFacts.h +++ b/src/AutoPilotPlugins/Generic/GenericParameterFacts.h @@ -25,25 +25,26 @@ #define GenericParameterFacts_h #include -#include -#include -#include -#include "FactSystem.h" +#include "ParameterLoader.h" #include "UASInterface.h" +#include "AutoPilotPlugin.h" /// @file /// @author Don Gagne /// Collection of Parameter Facts for Generic AutoPilot -class GenericParameterFacts : public FactLoader +class GenericParameterFacts : public ParameterLoader { Q_OBJECT public: /// @param uas Uas which this set of facts is associated with - GenericParameterFacts(UASInterface* uas, QObject* parent = NULL); + GenericParameterFacts(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL); + + /// Override from ParameterLoader + virtual QString getDefaultComponentIdParam(void) const { return QString(); } }; #endif \ No newline at end of file diff --git a/src/AutoPilotPlugins/PX4/AirframeComponent.cc b/src/AutoPilotPlugins/PX4/AirframeComponent.cc index 04b757afc7cb4a97e0459b27d826f1c9a616d0b6..e9e4cd7db6dc503bae186d8f5663f02be3ebd705 100644 --- a/src/AutoPilotPlugins/PX4/AirframeComponent.cc +++ b/src/AutoPilotPlugins/PX4/AirframeComponent.cc @@ -25,7 +25,7 @@ /// @author Don Gagne #include "AirframeComponent.h" -#include "QGCPX4AirframeConfig.h" +#include "QGCQmlWidgetHolder.h" #if 0 // Broken by latest mavlink module changes. Not used yet. Comment out for now. @@ -142,13 +142,7 @@ bool AirframeComponent::requiresSetup(void) const bool AirframeComponent::setupComplete(void) const { - QVariant value; - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SYS_AUTOSTART", value)) { - return value.toInt() != 0; - } else { - Q_ASSERT(false); - return false; - } + return _autopilot->getParameterFact("SYS_AUTOSTART")->value().toInt() != 0; } QString AirframeComponent::setupStateDescription(void) const @@ -179,7 +173,14 @@ QStringList AirframeComponent::paramFilterList(void) const QWidget* AirframeComponent::setupWidget(void) const { - return new QGCPX4AirframeConfig; + QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder(); + Q_CHECK_PTR(holder); + + holder->setAutoPilot(_autopilot); + + holder->setSource(QUrl::fromUserInput("qrc:/qml/AirframeComponent.qml")); + + return holder; } QUrl AirframeComponent::summaryQmlSource(void) const diff --git a/src/AutoPilotPlugins/PX4/AirframeComponent.qml b/src/AutoPilotPlugins/PX4/AirframeComponent.qml new file mode 100644 index 0000000000000000000000000000000000000000..96ea119466f74195ae5d092b7d9416558b562b0e --- /dev/null +++ b/src/AutoPilotPlugins/PX4/AirframeComponent.qml @@ -0,0 +1,155 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.FactControls 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.Controllers 1.0 + +Rectangle { + AirframeComponentController { id: controller } + QGCPalette { id: qgcPal; colorGroupEnabled: true } + + color: qgcPal.window + + Column { + anchors.fill: parent + + QGCLabel { + text: "AIRFRAME CONFIG" + font.pointSize: 20 + } + + Item { height: 20; width: 10 } // spacer + + Row { + width: parent.width + + QGCLabel { + width: parent.width - applyButton.width + text: "Select you airframe type and specific vehicle bellow. Click 'Apply and Restart' when ready and your vehicle will be disconnected, rebooted to the new settings and re-connected." + wrapMode: Text.WordWrap + } + + QGCButton { + id: applyButton + text: "Apply and Restart" + onClicked: { controller.changeAutostart() } + } + } + + Item { height: 20; width: 10 } // spacer + + Flow { + width: parent.width + spacing: 10 + + ExclusiveGroup { + id: airframeTypeExclusive + } + + Repeater { + model: controller.airframeTypes + + // Outer summary item rectangle + Rectangle { + readonly property real titleHeight: 30 + readonly property real innerMargin: 10 + + width: 250 + height: 200 + color: qgcPal.windowShade + + Rectangle { + id: title + width: parent.width + height: parent.titleHeight + color: qgcPal.windowShadeDark + + Text { + anchors.fill: parent + + color: qgcPal.buttonText + font.pixelSize: 12 + text: modelData.name + + verticalAlignment: TextEdit.AlignVCenter + horizontalAlignment: TextEdit.AlignHCenter + } + } + + Image { + id: image + x: innerMargin + width: parent.width - (innerMargin * 2) + height: parent.height - title.height - combo.height - (innerMargin * 3) + anchors.topMargin: innerMargin + anchors.top: title.bottom + + source: modelData.imageResource + fillMode: Image.PreserveAspectFit + smooth: true + + } + + QGCCheckBox { + id: airframeCheckBox + anchors.bottom: image.bottom + anchors.right: image.right + checked: modelData.name == controller.currentAirframeType + exclusiveGroup: airframeTypeExclusive + + onCheckedChanged: { + if (checked && combo.currentIndex != -1) { + controller.autostartId = modelData.airframes[combo.currentIndex].autostartId + } + } + } + + QGCComboBox { + id: combo + objectName: modelData.airframeType + "ComboBox" + x: innerMargin + anchors.topMargin: innerMargin + anchors.top: image.bottom + width: parent.width - (innerMargin * 2) + model: modelData.airframes + currentIndex: (modelData.name == controller.currentAirframeType) ? controller.currentVehicleIndex : 0 + + onCurrentIndexChanged: { + if (airframeCheckBox.checked) { + controller.autostartId = modelData.airframes[currentIndex].autostartId + } + } + } + } + } + } + + } +} diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc b/src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc new file mode 100644 index 0000000000000000000000000000000000000000..46cf2368bf6ca7611ad25cc4627737959ee2d47b --- /dev/null +++ b/src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc @@ -0,0 +1,110 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#include "AirframeComponentAirframes.h" + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoStandardPlane[] = { + { "Multiplex Easystar 1/2", 2100 }, + { "Hobbyking Bixler 1/2", 2101 }, + { "3DR Skywalker", 2102 }, + { "Skyhunter (1800 mm)", 2103 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoSimulation[] = { + { "Plane (HilStar, X-Plane)", 1000 }, + { "Plane (Rascal, FlightGear)", 1004 }, + { "Quad X HIL", 1001 }, + { "Quad + HIL", 1003 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoFlyingWing[] = { + { "Z-84 Wing Wing (845 mm)", 3033 }, + { "TBS Caipirinha (850 mm)", 3100 }, + { "Bormatec Camflyer Q (800 mm)", 3030 }, + { "FX-61 Phantom FPV (1550 mm)", 3031 }, + { "FX-79 Buffalo (2000 mm)", 3034 }, + { "Skywalker X5 (1180 mm)", 3032 }, + { "Viper v2 (3000 mm)", 3035 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoQuadRotorX[] = { + { "DJI F330 8\" Quad", 4010 }, + { "DJI F450 10\" Quad", 4011 }, + { "X frame Quad UAVCAN", 4012 }, + { "AR.Drone Frame Quad", 4008 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoQuadRotorPlus[] = { + { "Generic 10\" Quad +", 5001 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoHexaRotorX[] = { + { "Standard 10\" Hexa X", 6001 }, + { "Coaxial 10\" Hexa X", 11001 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoHexaRotorPlus[] = { + { "Standard 10\" Hexa", 7001 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoOctoRotorX[] = { + { "Standard 10\" Octo", 8001 }, + { "Coaxial 10\" Octo", 12001 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoOctoRotorPlus[] = { + { "Standard 10\" Octo", 9001 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeInfo_t AirframeComponentAirframes::_rgAirframeInfoQuadRotorH[] = { + { "3DR Iris", 10016 }, + { "TBS Discovery", 10015 }, + { "SteadiDrone QU4D", 10017 }, + { NULL, 0 } +}; + +const AirframeComponentAirframes::AirframeType_t AirframeComponentAirframes::rgAirframeTypes[] = { + { "Standard Airplane", "qrc:/qml/AirframeStandardPlane.png", AirframeComponentAirframes::_rgAirframeInfoStandardPlane }, + { "Flying Wing", "qrc:/qml/AirframeFlyingWing.png", AirframeComponentAirframes::_rgAirframeInfoFlyingWing }, + { "QuadRotor X", "qrc:/qml/AirframeQuadRotorX.png", AirframeComponentAirframes::_rgAirframeInfoQuadRotorX }, + { "QuadRotor +", "qrc:/qml/AirframeQuadRotorPlus.png", AirframeComponentAirframes::_rgAirframeInfoQuadRotorPlus }, + { "HexaRotor X", "qrc:/qml/AirframeHexaRotorX.png", AirframeComponentAirframes::_rgAirframeInfoHexaRotorX }, + { "HexaRotor +", "qrc:/qml/AirframeHexaRotorPlus.png", AirframeComponentAirframes::_rgAirframeInfoHexaRotorPlus }, + { "OctoRotor X", "qrc:/qml/AirframeOctoRotorX.png", AirframeComponentAirframes::_rgAirframeInfoOctoRotorX }, + { "OctoRotor +", "qrc:/qml/AirframeOctoRotorPlus.png", AirframeComponentAirframes::_rgAirframeInfoOctoRotorPlus }, + { "QuadRotor H", "qrc:/qml/AirframeQuadRotorH.png", AirframeComponentAirframes::_rgAirframeInfoQuadRotorH }, + { "Simulation", "qrc:/qml/AirframeSimulation.png", AirframeComponentAirframes::_rgAirframeInfoSimulation }, + { NULL, NULL, NULL } +}; diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h b/src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h new file mode 100644 index 0000000000000000000000000000000000000000..8c20e90b1ef11d9530fd4a2c823b866954ac1b56 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h @@ -0,0 +1,68 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#ifndef AIRFRAMECOMPONENTAIRFRAMES_H +#define AIRFRAMECOMPONENTAIRFRAMES_H + +#include +#include +#include + +#include "UASInterface.h" +#include "AutoPilotPlugin.h" + +/// MVC Controller for AirframeComponent.qml. +class AirframeComponentAirframes +{ +public: + typedef struct { + const char* name; + int autostartId; + } AirframeInfo_t; + + typedef struct { + const char* name; + const char* imageResource; + const AirframeInfo_t* rgAirframeInfo; + } AirframeType_t; + +public: + static const AirframeType_t rgAirframeTypes[]; + +private: + static const AirframeInfo_t _rgAirframeInfoStandardPlane[]; + static const AirframeInfo_t _rgAirframeInfoFlyingWing[]; + static const AirframeInfo_t _rgAirframeInfoQuadRotorX[]; + static const AirframeInfo_t _rgAirframeInfoQuadRotorPlus[]; + static const AirframeInfo_t _rgAirframeInfoOctoRotorX[]; + static const AirframeInfo_t _rgAirframeInfoOctoRotorPlus[]; + static const AirframeInfo_t _rgAirframeInfoHexaRotorX[]; + static const AirframeInfo_t _rgAirframeInfoHexaRotorPlus[]; + static const AirframeInfo_t _rgAirframeInfoQuadRotorH[]; + static const AirframeInfo_t _rgAirframeInfoSimulation[]; +}; + +#endif diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentController.cc b/src/AutoPilotPlugins/PX4/AirframeComponentController.cc new file mode 100644 index 0000000000000000000000000000000000000000..6e367f175a4c5ade2c3ee906876584c6c15e98a7 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/AirframeComponentController.cc @@ -0,0 +1,156 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#include "AirframeComponentController.h" +#include "AirframeComponentAirframes.h" +#include "QGCMAVLink.h" +#include "UASManager.h" +#include "AutoPilotPluginManager.h" +#include "QGCApplication.h" +#include "QGCMessageBox.h" + +#include +#include + +bool AirframeComponentController::_typesRegistered = false; + +AirframeComponentController::AirframeComponentController(QObject* parent) : + QObject(parent), + _uas(NULL), + _autoPilotPlugin(NULL), + _currentVehicleIndex(0), + _autostartId(0) +{ + _uas = UASManager::instance()->getActiveUAS(); + Q_ASSERT(_uas); + + _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas); + Q_ASSERT(_autoPilotPlugin); + Q_ASSERT(_autoPilotPlugin->pluginReady()); + + if (!_typesRegistered) { + _typesRegistered = true; + qmlRegisterUncreatableType("QGroundControl.Controllers", 1, 0, "AiframeType", "Can only reference AirframeType"); + qmlRegisterUncreatableType("QGroundControl.Controllers", 1, 0, "Aiframe", "Can only reference Airframe"); + } + + // Load up member variables + + bool autostartFound = false; + _autostartId = _autoPilotPlugin->getParameterFact("SYS_AUTOSTART")->value().toInt(); + + for (const AirframeComponentAirframes::AirframeType_t* pType=&AirframeComponentAirframes::rgAirframeTypes[0]; pType->name != NULL; pType++) { + AirframeType* airframeType = new AirframeType(pType->name, pType->imageResource, this); + Q_CHECK_PTR(airframeType); + + int index = 0; + for (const AirframeComponentAirframes::AirframeInfo_t* pInfo=&pType->rgAirframeInfo[0]; pInfo->name != NULL; pInfo++) { + if (_autostartId == pInfo->autostartId) { + Q_ASSERT(!autostartFound); + autostartFound = true; + _currentAirframeType = pType->name; + _currentVehicleName = pInfo->name; + _currentVehicleIndex = index; + } + airframeType->addAirframe(pInfo->name, pInfo->autostartId); + index++; + } + + _airframeTypes.append(QVariant::fromValue(airframeType)); + } + + if (_autostartId != 0) { + // FIXME: Should be a user error + Q_UNUSED(autostartFound); + Q_ASSERT(autostartFound); + } +} + +AirframeComponentController::~AirframeComponentController() +{ + +} + +void AirframeComponentController::changeAutostart(void) +{ + if (UASManager::instance()->getUASList().count() > 1) { + QGCMessageBox::warning("Airframe Config", "You cannot change airframe configuration while connected to multiple vehicles."); + return; + } + + _autoPilotPlugin->getParameterFact("SYS_AUTOSTART")->setValue(_autostartId); + _autoPilotPlugin->getParameterFact("SYS_AUTOCONFIG")->setValue(1); + + qgcApp()->setOverrideCursor(Qt::WaitCursor); + + // Wait for the parameters to flow through system + qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + QGC::SLEEP::sleep(1); + qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + + // Reboot board and reconnect + + _uas->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); + qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + QGC::SLEEP::sleep(1); + qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + + qgcApp()->reconnectAfterWait(5); +} + +AirframeType::AirframeType(const QString& name, const QString& imageResource, QObject* parent) : + QObject(parent), + _name(name), + _imageResource(imageResource) +{ + +} + +AirframeType::~AirframeType() +{ + +} + +void AirframeType::addAirframe(const QString& name, int autostartId) +{ + Airframe* airframe = new Airframe(name, autostartId); + Q_CHECK_PTR(airframe); + + _airframes.append(QVariant::fromValue(airframe)); +} + +Airframe::Airframe(const QString& name, int autostartId, QObject* parent) : + QObject(parent), + _name(name), + _autostartId(autostartId) +{ + +} + +Airframe::~Airframe() +{ + +} diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentController.h b/src/AutoPilotPlugins/PX4/AirframeComponentController.h new file mode 100644 index 0000000000000000000000000000000000000000..25ac266a348e1100d4e1418583140a1c2ebe657b --- /dev/null +++ b/src/AutoPilotPlugins/PX4/AirframeComponentController.h @@ -0,0 +1,110 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#ifndef AIRFRAMECOMPONENTCONTROLLER_H +#define AIRFRAMECOMPONENTCONTROLLER_H + +#include +#include +#include + +#include "UASInterface.h" +#include "AutoPilotPlugin.h" + +/// MVC Controller for AirframeComponent.qml. +class AirframeComponentController : public QObject +{ + Q_OBJECT + +public: + AirframeComponentController(QObject* parent = NULL); + ~AirframeComponentController(); + + Q_PROPERTY(QVariantList airframeTypes MEMBER _airframeTypes CONSTANT) + + Q_PROPERTY(QString currentAirframeType MEMBER _currentAirframeType CONSTANT) + Q_PROPERTY(QString currentVehicleName MEMBER _currentVehicleName CONSTANT) + Q_PROPERTY(int currentVehicleIndex MEMBER _currentVehicleIndex CONSTANT) + + Q_PROPERTY(int autostartId MEMBER _autostartId NOTIFY autostartIdChanged) + + Q_INVOKABLE void changeAutostart(void); + + int currentAirframeIndex(void); + void setCurrentAirframeIndex(int newIndex); + +signals: + void autostartIdChanged(int newAutostartId); + +private: + static bool _typesRegistered; + + UASInterface* _uas; + AutoPilotPlugin* _autoPilotPlugin; + QVariantList _airframeTypes; + QString _currentAirframeType; + QString _currentVehicleName; + int _currentVehicleIndex; + int _autostartId; +}; + +class Airframe : public QObject +{ + Q_OBJECT + +public: + Airframe(const QString& name, int autostartId, QObject* parent = NULL); + ~Airframe(); + + Q_PROPERTY(QString text MEMBER _name CONSTANT) + Q_PROPERTY(int autostartId MEMBER _autostartId CONSTANT) + +private: + QString _name; + int _autostartId; +}; + +class AirframeType : public QObject +{ + Q_OBJECT + +public: + AirframeType(const QString& name, const QString& imageResource, QObject* parent = NULL); + ~AirframeType(); + + Q_PROPERTY(QString name MEMBER _name CONSTANT) + Q_PROPERTY(QString imageResource MEMBER _imageResource CONSTANT) + Q_PROPERTY(QVariantList airframes MEMBER _airframes CONSTANT) + + void addAirframe(const QString& name, int autostartId); + +private: + QString _name; + QString _imageResource; + QVariantList _airframes; +}; + +#endif diff --git a/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml b/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml index c7f67f233d4df39c21477f78ed2ae29959940600..7677cb66775490f6f1dd4059a447c14c560829c2 100644 --- a/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml +++ b/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml @@ -5,31 +5,31 @@ import QtQuick.Controls.Styles 1.2 import QGroundControl.FactSystem 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Controls 1.0 +import QGroundControl.Controllers 1.0 Column { + Fact { id: sysIdFact; name: "MAV_SYS_ID" } + Fact { id: sysAutoStartFact; name: "SYS_AUTOSTART" } + + property bool autoStartSet: sysAutoStartFact.value != 0 + anchors.fill: parent anchors.margins: 8 - Row { - width: parent.width + AirframeComponentController { id: controller } - QGCLabel { id: systemId; text: "System ID:" } - FactLabel { - horizontalAlignment: Text.AlignRight - width: parent.width - systemId.contentWidth - fact: Fact { name: "MAV_SYS_ID" } - } + VehicleSummaryRow { + labelText: "System ID:" + valueText: sysIdFact.valueString } - Row { - width: parent.width + VehicleSummaryRow { + labelText: "Airframe type:" + valueText: autoStartSet ? controller.currentAirframeType : "Setup required" + } - QGCLabel { id: airframe; text: "Airframe:" } - QGCLabel { - property Fact fact: Fact { name: "SYS_AUTOSTART" } - horizontalAlignment: Text.AlignRight - width: parent.width - airframe.contentWidth - text: fact.value == 0 ? "Setup required" : fact.value - } + VehicleSummaryRow { + labelText: "Vehicle:" + valueText: autoStartSet ? controller.currentVehicleName : "Setup required" } } diff --git a/src/AutoPilotPlugins/PX4/FlightModeConfig.cc b/src/AutoPilotPlugins/PX4/FlightModeConfig.cc deleted file mode 100644 index 792b067b86d954344d02e1156e695e8395af8695..0000000000000000000000000000000000000000 --- a/src/AutoPilotPlugins/PX4/FlightModeConfig.cc +++ /dev/null @@ -1,247 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009, 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @brief Flight Mode Configuration -/// @author Don Gagne setupUi(this); - - // Expectation is that we have an active uas, it is connected and the parameters are ready - _mav = UASManager::instance()->getActiveUAS(); - Q_ASSERT(_mav); - - _paramMgr = _mav->getParamManager(); - Q_ASSERT(_paramMgr); - Q_ASSERT(_paramMgr->parametersReady()); - - _componentId = _paramMgr->getDefaultComponentId(); - - connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant))); - - _initUi(); -} - -/// @brief Intialize the UI elements -void FlightModeConfig::_initUi(void) { - struct Combo2Param { - QGCComboBox* combo; - QButtonGroup* buttonGroup; - const char* param; - const char* description; - }; - - struct Combo2Param rgCombo2ParamMap[] = { - { _ui->modeSwitchChannel, _ui->modeSwitchGroup, _modeSwitchParam, "Mode Switch" }, - { _ui->manualSwitchChannel, _ui->manualSwitchGroup, _manualSwitchParam, "Manual Switch" }, - { _ui->assistSwitchChannel, _ui->assistSwitchGroup, _assistSwitchParam, "Assist Switch" }, - { _ui->returnSwitchChannel, _ui->returnSwitchGroup, _returnSwitchParam, "Return Switch" }, - { _ui->loiterSwitchChannel, _ui->loiterSwitchGroup, _loiterSwitchParam, "Loiter Switch" }, - { NULL, NULL, "RC_MAP_THROTTLE", "Throttle" }, - { NULL, NULL, "RC_MAP_YAW", "Rudder" }, - { NULL, NULL, "RC_MAP_ROLL", "Aileron" }, - { NULL, NULL, "RC_MAP_PITCH", "Elevator" }, - { NULL, NULL, "RC_MAP_AUX1", "Aux1" }, - { NULL, NULL, "RC_MAP_AUX2", "Aux2" }, - { NULL, NULL, "RC_MAP_AUX3", "Aux3" } - }; - - // Setup up maps - for (size_t i=0; icombo) { - Q_ASSERT(!_mapChannelCombo2Param.contains(map->combo)); - _mapChannelCombo2Param[map->combo] = map->param; - - Q_ASSERT(!_mapChannelCombo2ButtonGroup.contains(map->combo)); - _mapChannelCombo2ButtonGroup[map->combo] = map->buttonGroup; - - // We connect to activated because we only want signals from user initiated changes - connect(map->combo, SIGNAL(activated(int)), this, SLOT(_channelSelected(int))); - } - - Q_ASSERT(!_mapParam2FunctionInfo.contains(map->param)); - _mapParam2FunctionInfo[map->param] = map->description; - } - - _updateAllSwitches(); -} - -void FlightModeConfig::_updateAllSwitches(void) -{ - foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) { - _updateSwitchUiGroup(combo); - } -} - -/// @brief Selects the channel in the combo for the given parameter -void FlightModeConfig::_selectChannelForParam(QGCComboBox* combo, const QString& parameter) -{ - int channel = _getChannelMapForParam(parameter); - - int index = combo->findData(channel); - Q_ASSERT(index != -1); - - combo->setCurrentIndex(index); -} - -/// @brief Fills a channel selection combo box with channel values -void FlightModeConfig::_updateSwitchUiGroup(QGCComboBox* combo) -{ - QMap mapChannelUsed2Description; - - // Make a map of all channels currently mapped - foreach(QString paramId, _mapParam2FunctionInfo.keys()) { - int channel = _getChannelMapForParam(paramId); - if (channel != 0) { - mapChannelUsed2Description[channel] = _mapParam2FunctionInfo[paramId]; - } - } - - combo->clear(); - combo->addItem("Disabled", 0); - for (int i=1; i<=_maxChannels; i++) { - QString comboText = QString("Channel %1").arg(i); - - if (mapChannelUsed2Description.contains(i)) { - comboText += QString(" (%1)").arg(mapChannelUsed2Description[i]); - } - - combo->addItem(comboText, i); - } - - _selectChannelForParam(combo, _mapChannelCombo2Param[combo]); - - // Enable/Disable radio buttons appropriately - - int channelMap = _getChannelMapForParam(_mapChannelCombo2Param[combo]); - - Q_ASSERT(_mapChannelCombo2ButtonGroup.contains(combo)); - Q_ASSERT(_mapChannelCombo2ButtonGroup[combo]->buttons().count() > 0); - - foreach(QAbstractButton* button, _mapChannelCombo2ButtonGroup[combo]->buttons()) { - QRadioButton* radio = qobject_cast(button); - - Q_ASSERT(radio); - - radio->setEnabled(channelMap != 0); - } -} - -/// @brief Returns channel mapping for the specified parameters -int FlightModeConfig::_getChannelMapForParam(const QString& paramId) -{ - QVariant value; - bool found = _paramMgr->getParameterValue(_componentId, paramId, value); - Q_UNUSED(found); - Q_ASSERT(found); - - bool conversionOk; - int channel = value.toInt(&conversionOk); - Q_UNUSED(conversionOk); - Q_ASSERT(conversionOk); - - return channel; -} - -/// @brief Called when a selection occurs in one of the channel combo boxes -void FlightModeConfig::_channelSelected(int requestedMapping) -{ - QGCComboBox* combo = qobject_cast(sender()); - Q_ASSERT(combo); - Q_ASSERT(_mapChannelCombo2Param.contains(combo)); - - // Check for no-op - - int currentMapping = _getChannelMapForParam(_mapChannelCombo2Param[combo]); - if (currentMapping == requestedMapping) { - return; - } - - // Make sure that channel is not already mapped - - if (requestedMapping == 0) { - // Channel was disabled - if (combo == _ui->modeSwitchChannel) { - // Mode switch is not allowed to be disabled. - QGCMessageBox::warning(tr("Flight Mode"), "Mode Switch is a required switch and cannot be disabled."); - _selectChannelForParam(combo, _mapChannelCombo2Param[combo]); - return; - } - } else { - // Channel was remapped to a non-disabled channel - foreach(QString paramId, _mapParam2FunctionInfo.keys()) { - int usedChannelMap = _getChannelMapForParam(paramId); - - if (requestedMapping == usedChannelMap) { - QGCMessageBox::warning(tr("Flight Mode"), "You cannot use a channel which is already mapped."); - _selectChannelForParam(combo, _mapChannelCombo2Param[combo]); - return; - } - } - } - - // Save the new setting to the parameter - _paramMgr->setParameter(_componentId, _mapChannelCombo2Param[combo], requestedMapping); - _paramMgr->sendPendingParameters(true, false); -} - -void FlightModeConfig::_parameterUpdated(int componentId, QString parameter, QVariant value) -{ - Q_UNUSED(componentId); - Q_UNUSED(value); - - // If this is a function mapping parameter update the combos - if (_mapParam2FunctionInfo.contains(parameter)) { - _updateAllSwitches(); - } - - // Finally if RC Calibration suddenly needs to be re-done disable the entire widget and inform user - if (parameter == _modeSwitchParam) { - // FIXME: Do something more than disable - if (isEnabled() == false && value.toInt() != 0) { - setEnabled(true); - } else if (isEnabled() == true && value.toInt() == 0) { - setEnabled(false); - } - } -} \ No newline at end of file diff --git a/src/AutoPilotPlugins/PX4/FlightModeConfig.h b/src/AutoPilotPlugins/PX4/FlightModeConfig.h deleted file mode 100644 index 891d5ce32a3f636e0b879de4d9a2a5376400ddf4..0000000000000000000000000000000000000000 --- a/src/AutoPilotPlugins/PX4/FlightModeConfig.h +++ /dev/null @@ -1,81 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009, 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - - -/// @file -/// @brief Flight Mode Configuration -/// @author Don Gagne - -#include "UASInterface.h" -#include "ui_FlightModeConfig.h" - -namespace Ui { - class FlightModeConfig; -} - - -class FlightModeConfig : public QWidget -{ - Q_OBJECT - - friend class FlightModeConfigTest; ///< This allows our unit test to access internal information needed. - -public: - explicit FlightModeConfig(QWidget *parent = 0); - -private slots: - void _channelSelected(int index); - void _parameterUpdated(int componentId, QString parameter, QVariant value); - -private: - void _initUi(void); - void _updateSwitchUiGroup(QGCComboBox* combo); - void _selectChannelForParam(QGCComboBox* combo, const QString& parameter); - void _updateAllSwitches(void); - int _getChannelMapForParam(const QString& parameter); - - UASInterface* _mav; ///< The current MAV - int _componentId; ///< Default component id - QGCUASParamManagerInterface* _paramMgr; - - static const int _maxChannels = 18; - - QMap _mapChannelCombo2Param; - QMap _mapChannelCombo2ButtonGroup; - QMap _mapParam2FunctionInfo; - - static const char* _modeSwitchParam; - static const char* _manualSwitchParam; - static const char* _assistSwitchParam; - static const char* _returnSwitchParam; - static const char* _loiterSwitchParam; - - Ui::FlightModeConfig* _ui; -}; - -#endif diff --git a/src/AutoPilotPlugins/PX4/FlightModeConfig.ui b/src/AutoPilotPlugins/PX4/FlightModeConfig.ui deleted file mode 100644 index fce5fc124f90853fbff5986a68d52151b994881a..0000000000000000000000000000000000000000 --- a/src/AutoPilotPlugins/PX4/FlightModeConfig.ui +++ /dev/null @@ -1,380 +0,0 @@ - - - FlightModeConfig - - - - 0 - 0 - 642 - 645 - - - - - 0 - 0 - - - - - 642 - 645 - - - - Form - - - - - - This implementation is a work in progress. Visuals are meant to be functional only. Active display of switch positions is not yet implemented. If this entire screen is disabled, you must do a Radio Calibration before settings Flight Modes. - - - true - - - - - - - - - Flight Modes on multiple channels - - - true - - - modeSwitchGroup - - - - - - - false - - - Flight Modes on single channel (coming soon) - - - modeSwitchGroup - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - 0 - 0 - - - - 1 - - - - - - - - - - Main Mode Switch - - - - - - - - - - Current switch position: - - - - - - - Manual Mode - - - mainSwitchGroup - - - - - - - Assist Mode - - - mainSwitchGroup - - - - - - - Mission Mode - - - mainSwitchGroup - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - - - - Manual Mode Switch - - - - - - - - - - Current switch position: - - - - - - - Acro - - - manualSwitchGroup - - - - - - - Manual - - - manualSwitchGroup - - - - - - - Stabilize - - - manualSwitchGroup - - - - - - - - - - - Assist Mode Switch - - - - - - - - - - Altitude Control - - - assistSwitchGroup - - - - - - - Position Control - - - assistSwitchGroup - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - - - - - - - - - - Loiter Switch - - - - - - - - - - Current switch position - - - - - - - Loiter - - - loiterSwitchGroup - - - - - - - Off - - - loiterSwitchGroup - - - - - - - - - - - Return to Home Switch - - - - - - - - - - Current switch position - - - - - - - Return to Home - - - returnSwitchGroup - - - - - - - Off - - - returnSwitchGroup - - - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - QGCComboBox - QComboBox -
QGCComboBox.h
- - - - - - - - - - - - - diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc index e573a26c218d3e67d923c3286a144ef755459a54..c03f66c1b7b9979f1be166d9a553c20304b086a1 100644 --- a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc +++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc @@ -72,13 +72,7 @@ bool FlightModesComponent::requiresSetup(void) const bool FlightModesComponent::setupComplete(void) const { - QVariant value; - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_MODE_SW", value)) { - return value.toInt() != 0; - } else { - Q_ASSERT(false); - return false; - } + return _autopilot->getParameterFact("RC_MAP_MODE_SW")->value().toInt() != 0; } QString FlightModesComponent::setupStateDescription(void) const diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.qml b/src/AutoPilotPlugins/PX4/FlightModesComponent.qml index ce09311832ad0c9f0f0630ed937e82cb94cfee46..2e55283abfaafe006b565760cd57463027807522 100644 --- a/src/AutoPilotPlugins/PX4/FlightModesComponent.qml +++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.qml @@ -1,3 +1,26 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.2 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 @@ -7,6 +30,7 @@ import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Controls 1.0 import QGroundControl.Controllers 1.0 +import QGroundControl.ScreenTools 1.0 Item { Loader { @@ -35,6 +59,7 @@ Item { Fact { id: rc_map_mode_sw; name: "RC_MAP_MODE_SW" } Fact { id: rc_map_posctl_sw; name: "RC_MAP_POSCTL_SW" } Fact { id: rc_map_return_sw; name: "RC_MAP_RETURN_SW" } + Fact { id: rc_map_offboard_sw; name: "RC_MAP_OFFB_SW" } Fact { id: rc_map_loiter_sw; name: "RC_MAP_LOITER_SW" } Fact { id: rc_assist_th; name: "RC_ASSIST_TH" } @@ -42,6 +67,7 @@ Item { Fact { id: rc_auto_th; name: "RC_AUTO_TH" } Fact { id: rc_loiter_th; name: "RC_LOITER_TH" } Fact { id: rc_return_th; name: "RC_RETURN_TH" } + Fact { id: rc_offboard_th; name: "RC_OFFB_TH" } Fact { id: rc_th_user; name: "RC_TH_USER" } @@ -56,6 +82,7 @@ Item { property int modeChannel: rc_map_mode_sw.value property int posCtlChannel: rc_map_posctl_sw.value property int returnChannel: rc_map_return_sw.value + property int offboardChannel: rc_map_offboard_sw.value property int loiterChannel: rc_map_loiter_sw.value property real rcThUserValue: rc_th_user.value @@ -162,15 +189,19 @@ Item { // If dropped over a channel target remap switch if (parent.Drag.target && parent.Drag.target.dropAllowed) { - fact.value = parent.Drag.target.channel + if (!singleSwitchRequired || parent.Drag.target.unassignedChannel) { + fact.value = parent.Drag.target.channel + } } } } DropArea { // This will cause to tile to go back to unassigned if dropped here - readonly property int channel: 0 - property bool dropAllowed: true + readonly property int channel: 0 + property bool dropAllowed: true + property bool unassignedChannel: true + id: dropArea width: parent.width @@ -233,7 +264,9 @@ Item { // If dropped over a channel target remap switch if (parent.Drag.target && parent.Drag.target.dropAllowed) { - fact.value = parent.Drag.target.channel + if (!singleSwitchRequired || parent.Drag.target.unassignedChannel) { + fact.value = parent.Drag.target.channel + } } } } @@ -242,6 +275,7 @@ Item { onModeChannelChanged: if (!inRedistribution) redistributeThresholds() onReturnChannelChanged: if (!inRedistribution) redistributeThresholds() + onOffboardChannelChanged: if (!inRedistribution) redistributeThresholds() onLoiterChannelChanged: if (!inRedistribution) redistributeThresholds() onPosCtlChannelChanged: if (!inRedistribution) redistributeThresholds() onRcThUserValue: if (!inRedistribution) redistributeThresholds() @@ -255,11 +289,9 @@ Item { if (modeChannel != 0) { var positions = 3 // Manual/Assist/Auto always exist - var returnOnModeSwitch = modeChannel == returnChannel var loiterOnModeSwitch = modeChannel == loiterChannel var posCtlOnModeSwitch = modeChannel == posCtlChannel - positions += returnOnModeSwitch ? 1 : 0 positions += loiterOnModeSwitch ? 1 : 0 positions += posCtlOnModeSwitch ? 1 : 0 @@ -281,75 +313,49 @@ Item { currentThreshold += increment rc_loiter_th.value = currentThreshold } - if (returnOnModeSwitch) { - currentThreshold += increment - rc_return_th.value = currentThreshold - } inRedistribution = false } - if (returnChannel != 0 && returnChannel != modeChannel) { - var positions = 2 // On/off always exist - - var loiterOnReturnSwitch = returnChannel == loiterChannel - - positions += loiterOnReturnSwitch ? 1 : 0 - - var increment = 1.0 / positions - var currentThreshold = 0.0 - - if (positions == 2) { - // If only two positions don't set threshold at midrange. Setting to 0.25 - // allows for this channel to work with either two or three position switch - increment = 0.25 - } - - // Make sure we don't re-enter + if (returnChannel != 0) { inRedistribution = true - if (loiterOnReturnSwitch) { - currentThreshold += increment - rc_loiter_th.value = currentThreshold - } - currentThreshold += increment - rc_return_th.value = currentThreshold + // If only two positions don't set threshold at midrange. Setting to 0.25 + // allows for this channel to work with either two or three position switch + rc_return_th.value = 0.25 inRedistribution = false } - if (loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel) { + if (offboardChannel != 0) { + inRedistribution = true + // If only two positions don't set threshold at midrange. Setting to 0.25 // allows for this channel to work with either two or three position switch - var increment = 0.25 + rc_offboard_th.value = 0.25 - var currentThreshold = 0.0 + inRedistribution = false + } - // Make sure we don't re-enter + if (loiterChannel != 0 && loiterChannel != modeChannel) { inRedistribution = true - currentThreshold += increment - rc_loiter_th.value = currentThreshold + // If only two positions don't set threshold at midrange. Setting to 0.25 + // allows for this channel to work with either two or three position switch + rc_loiter_th.value = 0.25 inRedistribution = false } if (posCtlChannel != 0 & posCtlChannel != modeChannel) { - // If only two positions don't set threshold at midrange. Setting to 0.25 - // allows for this channel to work with either two or three position switch - var increment = 0.25 - - var currentThreshold = 0.0 - - // Make sure we don't re-enter inRedistribution = true - currentThreshold += increment - rc_posctl_th.value = currentThreshold + // If only two positions don't set threshold at midrange. Setting to 0.25 + // allows for this channel to work with either two or three position switch + rc_posctl_th.value = 0.25 inRedistribution = false } - } Column { @@ -357,16 +363,17 @@ Item { QGCLabel { text: "FLIGHT MODES CONFIG" - font.pointSize: 20 + font.pointSize: ScreenTools.fontPointFactor * (20); } Item { height: 20; width: 10 } // spacer QGCLabel { width: parent.width - text: "Flight Mode switches can be assigned to any channel which is not currently being used for attitude control. All channels are displayed below. " + - "You can drag Flight Modes from the Flight Modes section below to a channel and drop it there. You can also drag switches assigned to a channel " + - "to another channel or back to the Unassigned Switches section. The Switch Display section at the very bottom will show you the results of your Flight Mode setup." + text: "The Main Mode, Loiter and PostCtl switches can be assigned to any channel which is not currently being used for attitude control. The Return and Offboard switches must be assigned to their seperate channel. " + + "All channels are displayed below. " + + "You can drag Flight Modes from the Flight Modes section below to a channel and drop it there. You can also drag switches assigned to a channel " + + "to another channel or back to the Unassigned Switches section. The Switch Display section at the very bottom will show you the results of your Flight Mode setup." wrapMode: Text.WordWrap } @@ -395,10 +402,12 @@ Item { property bool modeMapped: channel == modeChannel property bool posCtlMapped: channel == posCtlChannel property bool returnMapped: channel == returnChannel + property bool offboardMapped: channel == offboardChannel property bool loiterMapped: channel == loiterChannel property bool nonFlightModeMapping: throttleMapped | yawMapped | pitchMapped | rollMapped | flapsMapped | aux1Mapped | aux2Mapped - property bool unassignedMapping: !(nonFlightModeMapping | modeMapped | posCtlMapped | returnMapped | loiterMapped) + property bool unassignedMapping: !(nonFlightModeMapping | modeMapped | posCtlMapped | returnMapped | offboardMapped | loiterMapped) + property bool singleSwitchMapping: returnMapped | offboardMapped id: channelTarget width: tileWidth @@ -408,7 +417,7 @@ Item { states: [ State { - when: dropArea.containsDrag && dropArea.dropAllowed + when: dropArea.containsDrag && dropArea.dropAllowed && (!dropArea.drag.source.singleSwitchRequired || dropArea.unassignedChannel) PropertyChanges { target: channelHeader color: "red" @@ -497,37 +506,51 @@ Item { sourceComponent: assignedModeTileComponent } Loader { - property string tileLabel: "Main Mode" - property bool tileVisible: visible - property bool tileDragEnabled: true - property string tileParam: "RC_MAP_MODE_SW" + property string tileLabel: "Main Mode" + property bool tileVisible: visible + property bool tileDragEnabled: true + property string tileParam: "RC_MAP_MODE_SW" + property bool singleSwitchRequired: false visible: modeMapped sourceComponent: assignedModeTileComponent } Loader { - property string tileLabel: "Return" - property bool tileVisible: visible - property bool tileDragEnabled: true - property string tileParam: "RC_MAP_RETURN_SW" + property string tileLabel: "Return" + property bool tileVisible: visible + property bool tileDragEnabled: true + property string tileParam: "RC_MAP_RETURN_SW" + property bool singleSwitchRequired: true visible: returnMapped sourceComponent: assignedModeTileComponent } Loader { - property string tileLabel: "Loiter" - property bool tileVisible: visible - property bool tileDragEnabled: true - property string tileParam: "RC_MAP_LOITER_SW" + property string tileLabel: "Offboard" + property bool tileVisible: visible + property bool tileDragEnabled: true + property string tileParam: "RC_MAP_OFFB_SW" + property bool singleSwitchRequired: true + + visible: offboardMapped + sourceComponent: assignedModeTileComponent + } + Loader { + property string tileLabel: "Loiter" + property bool tileVisible: visible + property bool tileDragEnabled: true + property string tileParam: "RC_MAP_LOITER_SW" + property bool singleSwitchRequired: false visible: loiterMapped sourceComponent: assignedModeTileComponent } Loader { - property string tileLabel: "PosCtl" - property bool tileVisible: visible - property bool tileDragEnabled: true - property string tileParam: "RC_MAP_POSCTL_SW" + property string tileLabel: "PosCtl" + property bool tileVisible: visible + property bool tileDragEnabled: true + property string tileParam: "RC_MAP_POSCTL_SW" + property bool singleSwitchRequired: false visible: posCtlMapped sourceComponent: assignedModeTileComponent @@ -536,7 +559,8 @@ Item { DropArea { // Drops are not allowed on channels which are mapped to non-flight mode switches - property bool dropAllowed: !nonFlightModeMapping + property bool dropAllowed: !nonFlightModeMapping && !singleSwitchMapping + property bool unassignedChannel: unassignedMapping property int channel: parent.channel id: dropArea @@ -567,24 +591,34 @@ Item { spacing: 5 Loader { - property string tileLabel: "Main Mode" - property string tileParam: "RC_MAP_MODE_SW" - sourceComponent: unassignedModeTileComponent + property string tileLabel: "Main Mode" + property string tileParam: "RC_MAP_MODE_SW" + property bool singleSwitchRequired: false + sourceComponent: unassignedModeTileComponent + } + Loader { + property string tileLabel: "Loiter" + property string tileParam: "RC_MAP_LOITER_SW" + property bool singleSwitchRequired: false + sourceComponent: unassignedModeTileComponent } Loader { - property string tileLabel: "Return" - property string tileParam: "RC_MAP_RETURN_SW" - sourceComponent: unassignedModeTileComponent + property string tileLabel: "PosCtl" + property string tileParam: "RC_MAP_POSCTL_SW" + property bool singleSwitchRequired: false + sourceComponent: unassignedModeTileComponent } Loader { - property string tileLabel: "Loiter" - property string tileParam: "RC_MAP_LOITER_SW" - sourceComponent: unassignedModeTileComponent + property string tileLabel: "Return" + property string tileParam: "RC_MAP_RETURN_SW" + property bool singleSwitchRequired: true + sourceComponent: unassignedModeTileComponent } Loader { - property string tileLabel: "PosCtl" - property string tileParam: "RC_MAP_POSCTL_SW" - sourceComponent: unassignedModeTileComponent + property string tileLabel: "Offboard" + property string tileParam: "RC_MAP_OFFB_SW" + property bool singleSwitchRequired: true + sourceComponent: unassignedModeTileComponent } } @@ -618,9 +652,10 @@ Item { Row { property bool modeSwitchVisible: modeChannel != 0 - property bool returnSwitchVisible: returnChannel != 0 && returnChannel != modeChannel property bool loiterSwitchVisible: loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel property bool posCtlSwitchVisible: posCtlChannel != 0 && posCtlChannel != modeChannel + property bool returnSwitchVisible: returnChannel != 0 + property bool offboardSwitchVisible: offboardChannel != 0 width: parent.width spacing: 20 @@ -643,14 +678,6 @@ Item { text: "Auto" } - QGCLabel { - width: parent.width - y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2) - visible: modeChannel == returnChannel - horizontalAlignment: Text.AlignRight - text: "Auto: Return" - } - QGCLabel { width: parent.width y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) @@ -716,9 +743,9 @@ Item { } Column { - visible: parent.returnSwitchVisible + visible: parent.loiterSwitchVisible - QGCLabel { text: "Return Switch" } + QGCLabel { text: "Loiter Switch" } Row { Item { @@ -727,48 +754,64 @@ Item { QGCLabel { width: parent.width - y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2) + y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) horizontalAlignment: Text.AlignRight - text: "Auto: Return" + text: "Auto: Loiter" } QGCLabel { width: parent.width - y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) - visible: returnChannel == loiterChannel + y: parent.height - (implicitHeight / 2) horizontalAlignment: Text.AlignRight - text: "Auto: Loiter" + text: "Auto: Mission" } + } + + ProgressBar { + height: progressBarHeight + orientation: Qt.Vertical + value: controller.loiterSwitchLiveRange + } + } + } + + Column { + visible: parent.posCtlSwitchVisible + + QGCLabel { text: "PosCtl Switch" } + + Row { + Item { + height: progressBarHeight + width: 150 QGCLabel { width: parent.width - y: parent.height - (implicitHeight / 2) - visible: returnChannel == loiterChannel + y: (parent.height * (1.0 - rc_posctl_th.value)) - (implicitHeight / 2) horizontalAlignment: Text.AlignRight - text: "Auto: Mission" + text: "Assist: PosCtl" } QGCLabel { width: parent.width y: parent.height - (implicitHeight / 2) - visible: returnChannel != loiterChannel horizontalAlignment: Text.AlignRight - text: "Auto: Return Off" + text: "Assist: AltCtl" } } ProgressBar { height: progressBarHeight orientation: Qt.Vertical - value: controller.returnSwitchLiveRange + value: controller.posCtlSwitchLiveRange } } } Column { - visible: parent.loiterSwitchVisible + visible: parent.returnSwitchVisible - QGCLabel { text: "Loiter Switch" } + QGCLabel { text: "Return Switch" } Row { Item { @@ -777,31 +820,32 @@ Item { QGCLabel { width: parent.width - y: (parent.height * (1.0 - rc_loiter_th.value)) - (implicitHeight / 2) + y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2) horizontalAlignment: Text.AlignRight - text: "Auto: Loiter" + text: "Return" } QGCLabel { width: parent.width y: parent.height - (implicitHeight / 2) + visible: returnChannel != loiterChannel horizontalAlignment: Text.AlignRight - text: "Auto: Mission" + text: "Return Off" } } ProgressBar { height: progressBarHeight orientation: Qt.Vertical - value: controller.loiterSwitchLiveRange + value: controller.returnSwitchLiveRange } } } Column { - visible: parent.posCtlSwitchVisible + visible: parent.offboardSwitchVisible - QGCLabel { text: "PosCtl Switch" } + QGCLabel { text: "Offboard Switch" } Row { Item { @@ -810,23 +854,24 @@ Item { QGCLabel { width: parent.width - y: (parent.height * (1.0 - rc_posctl_th.value)) - (implicitHeight / 2) + y: (parent.height * (1.0 - rc_return_th.value)) - (implicitHeight / 2) horizontalAlignment: Text.AlignRight - text: "Assist: PosCtl" + text: "Offboad" } QGCLabel { width: parent.width y: parent.height - (implicitHeight / 2) + visible: returnChannel != loiterChannel horizontalAlignment: Text.AlignRight - text: "Assist: AltCtl" + text: "Offboard Off" } } ProgressBar { height: progressBarHeight orientation: Qt.Vertical - value: controller.posCtlSwitchLiveRange + value: controller.offboardSwitchLiveRange } } } @@ -848,7 +893,7 @@ Item { QGCLabel { text: "FLIGHT MODES CONFIG" - font.pointSize: 20 + font.pointSize: ScreenTools.fontPointFactor * (20); } QGCLabel { diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc b/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc index ef5c346f8f176395f11d54fa4b22fb986ac8a0ae..90f78113aa9a5da65199ab0afb757534f0afd2d4 100644 --- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc +++ b/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc @@ -44,7 +44,7 @@ FlightModesComponentController::FlightModesComponentController(QObject* parent) _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas); Q_ASSERT(_autoPilotPlugin); - Q_ASSERT(_autoPilotPlugin->pluginIsReady()); + Q_ASSERT(_autoPilotPlugin->pluginReady()); _initRcValues(); _validateConfiguration(); @@ -69,18 +69,24 @@ void FlightModesComponentController::_validateConfiguration(void) { _validConfiguration = true; - _channelCount = _autoPilotPlugin->factExists("RC_CHAN_CNT") ? _autoPilotPlugin->getFact("RC_CHAN_CNT")->value().toInt() : 18; + _channelCount = _autoPilotPlugin->parameterExists("RC_CHAN_CNT") ? + _autoPilotPlugin->getParameterFact("RC_CHAN_CNT")->value().toInt() : + _chanMax; + if (_channelCount <= 0 || _channelCount > _chanMax) { + // Parameter exists, but has not yet been set or is invalid. Use default + _channelCount = _chanMax; + } // Make sure switches are valid and within channel range QStringList switchParams, switchNames; QList switchMappings; - switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW"; - switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch"; + switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_OFFB_SW"; + switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch" << "Offboard Switch"; for(int i=0; igetFact(switchParams[i])->value().toInt(); + int map = _autoPilotPlugin->getParameterFact(switchParams[i])->value().toInt(); switchMappings << map; if (map < 0 || map > _channelCount) { @@ -89,15 +95,15 @@ void FlightModesComponentController::_validateConfiguration(void) } } - // Make sure switches are not mapped to attitude control channels + // Make sure switches are not double-mapped QStringList attitudeParams, attitudeNames; - attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2"; - attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2"; + attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2" << "RC_MAP_ACRO_SW"; + attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2" << "Acro"; for (int i=0; igetFact(attitudeParams[i])->value().toInt(); + int map = _autoPilotPlugin->getParameterFact(attitudeParams[i])->value().toInt(); for (int j=0; jgetParameterFact(singleSwitchParams[i])->value().toInt(); + + for (int j=0; jgetFact(rcMinParam)->value().toInt(); - _rgRCMax[i] = _autoPilotPlugin->getFact(rcMaxParam)->value().toInt(); + _rgRCMin[i] = _autoPilotPlugin->getParameterFact(rcMinParam)->value().toInt(); + _rgRCMax[i] = _autoPilotPlugin->getParameterFact(rcMaxParam)->value().toInt(); - float floatReversed = _autoPilotPlugin->getFact(rcRevParam)->value().toFloat(); + float floatReversed = _autoPilotPlugin->getParameterFact(rcRevParam)->value().toFloat(); _rgRCReversed[i] = floatReversed == -1.0f; } - _uas->startRadioControlCalibration(); + _uas->startCalibration(UASInterface::StartCalibrationRadio); connect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &FlightModesComponentController::_remoteControlChannelRawChanged); } else { disconnect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &FlightModesComponentController::_remoteControlChannelRawChanged); - _uas->endRadioControlCalibration(); + _uas->stopCalibration(); _initRcValues(); emit switchLiveRangeChanged(); } @@ -166,7 +190,7 @@ double FlightModesComponentController::_switchLiveRange(const QString& param) { QVariant value; - int channel = _autoPilotPlugin->getFact(param)->value().toInt(); + int channel = _autoPilotPlugin->getParameterFact(param)->value().toInt(); if (channel == 0) { return 1.0; } else { @@ -184,6 +208,11 @@ double FlightModesComponentController::returnSwitchLiveRange(void) return _switchLiveRange("RC_MAP_RETURN_SW"); } +double FlightModesComponentController::offboardSwitchLiveRange(void) +{ + return _switchLiveRange("RC_MAP_OFFB_SW"); +} + double FlightModesComponentController::loiterSwitchLiveRange(void) { return _switchLiveRange("RC_MAP_LOITER_SW"); diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.h b/src/AutoPilotPlugins/PX4/FlightModesComponentController.h index ccc27715fa6d182e04b11894a6fe0c783d4ea138..8fa0448b4d24604ca03fbfc9f83d6d846edaa265 100644 --- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.h +++ b/src/AutoPilotPlugins/PX4/FlightModesComponentController.h @@ -49,16 +49,18 @@ public: Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT) Q_PROPERTY(double modeSwitchLiveRange READ modeSwitchLiveRange NOTIFY switchLiveRangeChanged) - Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged) Q_PROPERTY(double loiterSwitchLiveRange READ loiterSwitchLiveRange NOTIFY switchLiveRangeChanged) Q_PROPERTY(double posCtlSwitchLiveRange READ posCtlSwitchLiveRange NOTIFY switchLiveRangeChanged) + Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged) + Q_PROPERTY(double offboardSwitchLiveRange READ offboardSwitchLiveRange NOTIFY switchLiveRangeChanged) Q_PROPERTY(bool sendLiveRCSwitchRanges READ sendLiveRCSwitchRanges WRITE setSendLiveRCSwitchRanges NOTIFY liveRCSwitchRangesChanged) double modeSwitchLiveRange(void); - double returnSwitchLiveRange(void); double loiterSwitchLiveRange(void); double posCtlSwitchLiveRange(void); + double returnSwitchLiveRange(void); + double offboardSwitchLiveRange(void); bool sendLiveRCSwitchRanges(void) { return _liveRCValues; } void setSendLiveRCSwitchRanges(bool start); diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml index dfd4af9cdd2ff1ac08fbd5a137672ee859c3a97a..a61aa64575dddf9fd50821eb483ae18abfc1deff 100644 --- a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml +++ b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml @@ -6,54 +6,31 @@ import QGroundControl.FactSystem 1.0 import QGroundControl.Controls 1.0 Column { - anchors.fill: parent - anchors.margins: 8 + Fact { id: modeSwFact; name: "RC_MAP_MODE_SW" } + Fact { id: posCtlSwFact; name: "RC_MAP_POSCTL_SW" } + Fact { id: loiterSwFact; name: "RC_MAP_LOITER_SW" } + Fact { id: returnSwFact; name: "RC_MAP_RETURN_SW" } - Component { - id: component + anchors.fill: parent + anchors.margins: 8 - Row { - width: parent.width - - QGCLabel { id: label; text: labelText } - QGCLabel { - property Fact fact: Fact { name: factName } - horizontalAlignment: Text.AlignRight - width: parent.width - label.contentWidth - text: fact.value == 0 ? zeroText : fact.value - } - } - } - - Loader { - property string labelText: "Mode switch:" - property string zeroText: "Setup required" - property string factName: "RC_MAP_MODE_SW" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Mode switch:" + valueText: modeSwFact.value == 0 ? "Setup required" : modeSwFact.valueString } - Loader { - property string labelText: "Position Ctl switch:" - property string zeroText: "Disabled" - property string factName: "RC_MAP_POSCTL_SW" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Position Ctl switch:" + valueText: posCtlSwFact.value == 0 ? "Disabled" : posCtlSwFact.valueString } - Loader { - property string labelText: "Position Ctl switch:" - property string zeroText: "Disabled" - property string factName: "RC_MAP_LOITER_SW" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Loiter switch:" + valueText: loiterSwFact.value == 0 ? "Disabled" : loiterSwFact.valueString } - Loader { - property string labelText: "Return switch:" - property string zeroText: "Disabled" - property string factName: "RC_MAP_RETURN_SW" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Return switch:" + valueText: returnSwFact.value == 0 ? "Disabled" : returnSwFact.valueString } } diff --git a/files/images/px4/airframes/flying_wing.png b/src/AutoPilotPlugins/PX4/Images/AirframeFlyingWing.png similarity index 100% rename from files/images/px4/airframes/flying_wing.png rename to src/AutoPilotPlugins/PX4/Images/AirframeFlyingWing.png diff --git a/files/images/px4/airframes/hexa_+.png b/src/AutoPilotPlugins/PX4/Images/AirframeHexaRotorPlus.png similarity index 100% rename from files/images/px4/airframes/hexa_+.png rename to src/AutoPilotPlugins/PX4/Images/AirframeHexaRotorPlus.png diff --git a/files/images/px4/airframes/hexa_x.png b/src/AutoPilotPlugins/PX4/Images/AirframeHexaRotorX.png similarity index 100% rename from files/images/px4/airframes/hexa_x.png rename to src/AutoPilotPlugins/PX4/Images/AirframeHexaRotorX.png diff --git a/files/images/px4/airframes/octo_+.png b/src/AutoPilotPlugins/PX4/Images/AirframeOctoRotorPlus.png similarity index 100% rename from files/images/px4/airframes/octo_+.png rename to src/AutoPilotPlugins/PX4/Images/AirframeOctoRotorPlus.png diff --git a/files/images/px4/airframes/octo_x.png b/src/AutoPilotPlugins/PX4/Images/AirframeOctoRotorX.png similarity index 100% rename from files/images/px4/airframes/octo_x.png rename to src/AutoPilotPlugins/PX4/Images/AirframeOctoRotorX.png diff --git a/files/images/px4/airframes/quad_h.png b/src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorH.png similarity index 100% rename from files/images/px4/airframes/quad_h.png rename to src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorH.png diff --git a/files/images/px4/airframes/quad_+.png b/src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorPlus.png similarity index 100% rename from files/images/px4/airframes/quad_+.png rename to src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorPlus.png diff --git a/files/images/px4/airframes/quad_x.png b/src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorX.png similarity index 100% rename from files/images/px4/airframes/quad_x.png rename to src/AutoPilotPlugins/PX4/Images/AirframeQuadRotorX.png diff --git a/files/images/px4/airframes/plane_aert.png b/src/AutoPilotPlugins/PX4/Images/AirframeSimulation.png similarity index 100% rename from files/images/px4/airframes/plane_aert.png rename to src/AutoPilotPlugins/PX4/Images/AirframeSimulation.png diff --git a/src/AutoPilotPlugins/PX4/Images/AirframeStandardPlane.png b/src/AutoPilotPlugins/PX4/Images/AirframeStandardPlane.png new file mode 100644 index 0000000000000000000000000000000000000000..583d08d01d25dea95eff062b8eef00ba35668d53 Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/AirframeStandardPlane.png differ diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_01cell.svg b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_01cell.svg new file mode 100644 index 0000000000000000000000000000000000000000..c026fe3f82a0d6843f3a425f7aace1ad0f24345b --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_01cell.svg @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_02cell.svg b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_02cell.svg new file mode 100644 index 0000000000000000000000000000000000000000..cd2b371cf9909ccfc60d190316464f7b366f7ace --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_02cell.svg @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_03cell.svg b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_03cell.svg new file mode 100644 index 0000000000000000000000000000000000000000..54859ffa16a9908275142041ece91f6fc3ce1f11 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_03cell.svg @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_04cell.svg b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_04cell.svg new file mode 100644 index 0000000000000000000000000000000000000000..2d0dda8ec05742853bab5253ab387ad02ac46007 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_04cell.svg @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_05cell.svg b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_05cell.svg new file mode 100644 index 0000000000000000000000000000000000000000..150bc0b897dcc6b11c97ebb55cfdc7f065a6af93 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_05cell.svg @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg new file mode 100644 index 0000000000000000000000000000000000000000..1d8d9f26f6d57ecffc80cde65c87d9a3fa279136 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/PowerComponentBattery_06cell.svg @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/PowerComponentIcon.png b/src/AutoPilotPlugins/PX4/Images/PowerComponentIcon.png new file mode 100644 index 0000000000000000000000000000000000000000..cba13b67525fa2e315ea53d7ac3e0eb3474cb834 Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/PowerComponentIcon.png differ diff --git a/src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.png b/src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.png deleted file mode 100644 index 9c618a3060326f456f2cb2ac7aee2cdb466e1025..0000000000000000000000000000000000000000 Binary files a/src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.png and /dev/null differ diff --git a/src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.svg b/src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.svg new file mode 100644 index 0000000000000000000000000000000000000000..2b9645a77667f8399f68fe47fe043787526e7b39 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/Images/SafetyComponentTree.svg @@ -0,0 +1,19 @@ + + + + + Layer 1 + + + + + + + + + + diff --git a/src/AutoPilotPlugins/PX4/Images/VehicleDownRotate.png b/src/AutoPilotPlugins/PX4/Images/VehicleDownRotate.png new file mode 100644 index 0000000000000000000000000000000000000000..4dbf238223c44aa386e3faa6ce364999f5e2035c Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/VehicleDownRotate.png differ diff --git a/src/AutoPilotPlugins/PX4/Images/VehicleLeftRotate.png b/src/AutoPilotPlugins/PX4/Images/VehicleLeftRotate.png new file mode 100644 index 0000000000000000000000000000000000000000..eaeb62d2cf35a9904508b8062138ec2839c8020e Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/VehicleLeftRotate.png differ diff --git a/src/AutoPilotPlugins/PX4/Images/VehicleNoseDownRotate.png b/src/AutoPilotPlugins/PX4/Images/VehicleNoseDownRotate.png new file mode 100644 index 0000000000000000000000000000000000000000..45f9650bf924e0bbc2aef4e598f49c4ed7d1e09c Binary files /dev/null and b/src/AutoPilotPlugins/PX4/Images/VehicleNoseDownRotate.png differ diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc index e9e553efe25e97edaf7450477ee8923dc85786a7..41204218075490efc67c74d40934e51ce2479ce7 100644 --- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc @@ -24,9 +24,9 @@ #include "PX4AutoPilotPlugin.h" #include "AutoPilotPluginManager.h" #include "UASManager.h" -#include "QGCUASParamManagerInterface.h" -#include "PX4ParameterFacts.h" +#include "PX4ParameterLoader.h" #include "FlightModesComponentController.h" +#include "AirframeComponentController.h" #include "QGCMessageBox.h" /// @file @@ -70,24 +70,26 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) : _flightModesComponent(NULL), _sensorsComponent(NULL), _safetyComponent(NULL), + _powerComponent(NULL), _incorrectParameterVersion(false) { Q_ASSERT(uas); qmlRegisterType("QGroundControl.Controllers", 1, 0, "FlightModesComponentController"); + qmlRegisterType("QGroundControl.Controllers", 1, 0, "AirframeComponentController"); - _parameterFacts = new PX4ParameterFacts(uas, this); + _parameterFacts = new PX4ParameterLoader(this, uas, this); Q_CHECK_PTR(_parameterFacts); - connect(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::_checkForIncorrectParameterVersion); + connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_pluginReadyPreChecks); + connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress); - PX4ParameterFacts::loadParameterFactMetaData(); + PX4ParameterLoader::loadParameterFactMetaData(); } PX4AutoPilotPlugin::~PX4AutoPilotPlugin() { delete _parameterFacts; - PX4ParameterFacts::deleteParameterFactMetaData(); } QList PX4AutoPilotPlugin::getModes(void) @@ -185,59 +187,60 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo void PX4AutoPilotPlugin::clearStaticData(void) { - PX4ParameterFacts::clearStaticData(); + PX4ParameterLoader::clearStaticData(); } -bool PX4AutoPilotPlugin::pluginIsReady(void) const -{ - return _parameterFacts->factsAreReady(); -} - -const QVariantList& PX4AutoPilotPlugin::components(void) +const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void) { if (_components.count() == 0 && !_incorrectParameterVersion) { Q_ASSERT(_uas); _airframeComponent = new AirframeComponent(_uas, this); Q_CHECK_PTR(_airframeComponent); + _airframeComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent)); _radioComponent = new RadioComponent(_uas, this); Q_CHECK_PTR(_radioComponent); + _radioComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent)); _flightModesComponent = new FlightModesComponent(_uas, this); Q_CHECK_PTR(_flightModesComponent); + _flightModesComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent)); _sensorsComponent = new SensorsComponent(_uas, this); Q_CHECK_PTR(_sensorsComponent); + _sensorsComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent)); + _powerComponent = new PowerComponent(_uas, this); + Q_CHECK_PTR(_powerComponent); + _powerComponent->setupTriggerSignals(); + _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent)); + _safetyComponent = new SafetyComponent(_uas, this); Q_CHECK_PTR(_safetyComponent); + _safetyComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent)); } return _components; } -const QVariantMap& PX4AutoPilotPlugin::parameters(void) +/// This will perform various checks prior to signalling that the plug in ready +void PX4AutoPilotPlugin::_pluginReadyPreChecks(void) { - return _parameterFacts->factMap(); -} - -QUrl PX4AutoPilotPlugin::setupBackgroundImage(void) -{ - return QUrl::fromUserInput("qrc:/qml/px4fmu_2.x.png"); -} - -void PX4AutoPilotPlugin::_checkForIncorrectParameterVersion(void) -{ - if (parameters().contains("SENS_GYRO_XOFF")) { + // Check for older parameter version set + // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp + // should be used instead. + if (parameterExists("SENS_GYRO_XOFF")) { _incorrectParameterVersion = true; - QGCMessageBox::warning(tr("Setup"), tr("This version of GroundControl can only perform vehicle setup on a newer version of firmware. " - "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.")); - } - emit pluginReady(); + QGCMessageBox::warning("Setup", "This version of GroundControl can only perform vehicle setup on a newer version of firmware. " + "Please perform a Firmware Upgrade if you wish to use Vehicle Setup."); + } + + _pluginReady = true; + emit pluginReadyChanged(_pluginReady); } diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h index 92e1499c033d6e8f18606bf9e1c2f90ea1cc521c..e757900d452541536a7390649492c4c44a033671 100644 --- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h +++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h @@ -27,12 +27,13 @@ #include "AutoPilotPlugin.h" #include "AutoPilotPluginManager.h" #include "UASInterface.h" -#include "PX4ParameterFacts.h" +#include "PX4ParameterLoader.h" #include "AirframeComponent.h" #include "RadioComponent.h" #include "FlightModesComponent.h" #include "SensorsComponent.h" #include "SafetyComponent.h" +#include "PowerComponent.h" #include @@ -49,33 +50,35 @@ public: ~PX4AutoPilotPlugin(); // Overrides from AutoPilotPlugin - virtual bool pluginIsReady(void) const; - virtual const QVariantList& components(void); - virtual const QVariantMap& parameters(void); - virtual QUrl setupBackgroundImage(void); + virtual const QVariantList& vehicleComponents(void); static QList getModes(void); static QString getShortModeText(uint8_t baseMode, uint32_t customMode); static void clearStaticData(void); // These methods should only be used by objects within the plugin - AirframeComponent* airframeComponent(void) { return _airframeComponent; } - RadioComponent* radioComponent(void) { return _radioComponent; } - FlightModesComponent* flightModesComponent(void) { return _flightModesComponent; } - SensorsComponent* sensorsComponent(void) { return _sensorsComponent; } - SafetyComponent* safetyComponent(void) { return _safetyComponent; } - + AirframeComponent* airframeComponent(void) { return _airframeComponent; } + RadioComponent* radioComponent(void) { return _radioComponent; } + FlightModesComponent* flightModesComponent(void) { return _flightModesComponent; } + SensorsComponent* sensorsComponent(void) { return _sensorsComponent; } + SafetyComponent* safetyComponent(void) { return _safetyComponent; } + PowerComponent* powerComponent(void) { return _powerComponent; } + private slots: - void _checkForIncorrectParameterVersion(void); + void _pluginReadyPreChecks(void); private: - PX4ParameterFacts* _parameterFacts; + // Overrides from AutoPilotPlugin + virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; } + + PX4ParameterLoader* _parameterFacts; QVariantList _components; AirframeComponent* _airframeComponent; RadioComponent* _radioComponent; FlightModesComponent* _flightModesComponent; SensorsComponent* _sensorsComponent; SafetyComponent* _safetyComponent; + PowerComponent* _powerComponent; bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed }; diff --git a/src/AutoPilotPlugins/PX4/PX4Component.cc b/src/AutoPilotPlugins/PX4/PX4Component.cc index d43a2644ad3708287a1f91eb9a9e9181a8e0cdd8..81072833ab7a6ffb213d915c8122416ce480b7b4 100644 --- a/src/AutoPilotPlugins/PX4/PX4Component.cc +++ b/src/AutoPilotPlugins/PX4/PX4Component.cc @@ -25,26 +25,29 @@ /// @author Don Gagne #include "PX4Component.h" +#include "Fact.h" +#include "AutoPilotPlugin.h" PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) : VehicleComponent(uas, autopilot, parent) { - bool fSuccess = connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant))); - Q_ASSERT(fSuccess); - Q_UNUSED(fSuccess); + Q_ASSERT(uas); + Q_ASSERT(autopilot); } -void PX4Component::_parameterUpdated(int compId, QString paramName, QVariant value) +void PX4Component::setupTriggerSignals(void) { - Q_UNUSED(value); - - if (compId == _paramMgr->getDefaultComponentId()) { - QStringList triggerList = setupCompleteChangedTriggerList(); - foreach(QString triggerParam, triggerList) { - if (paramName == triggerParam) { - emit setupCompleteChanged(setupComplete()); - return; - } - } + // Watch for changed on trigger list params + foreach (QString paramName, setupCompleteChangedTriggerList()) { + Fact* fact = _autopilot->getParameterFact(paramName); + + connect(fact, &Fact::valueChanged, this, &PX4Component::_triggerUpdated); } } + + +void PX4Component::_triggerUpdated(QVariant value) +{ + Q_UNUSED(value); + emit setupCompleteChanged(setupComplete()); +} diff --git a/src/AutoPilotPlugins/PX4/PX4Component.h b/src/AutoPilotPlugins/PX4/PX4Component.h index c84ca2ab1d1f7561eb7edf49b21dadfa7aec19c7..74455ceda59946efb651c0b80d0fc01644abb4e7 100644 --- a/src/AutoPilotPlugins/PX4/PX4Component.h +++ b/src/AutoPilotPlugins/PX4/PX4Component.h @@ -43,10 +43,12 @@ public: /// signal to be emitted. Last element is signalled by NULL. virtual QStringList setupCompleteChangedTriggerList(void) const = 0; + /// Should be called after the component is created (but not in constructor) to setup the + /// signals which are used to track parameter changes which affect setupComplete state. + void setupTriggerSignals(void); + private slots: - /// @brief Connected to QGCUASParamManagerInterface::parameterUpdated signal in order to signal - /// setupCompleteChanged at appropriate times. - void _parameterUpdated(int compId, QString paramName, QVariant value); + void _triggerUpdated(QVariant value); }; #endif diff --git a/src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc b/src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc deleted file mode 100644 index a7fdf87ac74cf1624840a34bcccedeaac6f0d932..0000000000000000000000000000000000000000 --- a/src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc +++ /dev/null @@ -1,277 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @author Don Gagne - -#include "PX4ParameterFacts.h" -#include "QGCApplication.h" - -#include -#include - -Q_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog") - -bool PX4ParameterFacts::_parameterMetaDataLoaded = false; -QMap PX4ParameterFacts::_mapParameterName2FactMetaData; - -PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) : - FactLoader(uas, parent) -{ - Q_ASSERT(uas); -} - -void PX4ParameterFacts::deleteParameterFactMetaData(void) -{ - foreach (QString param, _mapParameterName2FactMetaData.keys()) { - delete _mapParameterName2FactMetaData[param]; - } - _mapParameterName2FactMetaData.clear(); -} - -/// Parse the Parameter element of parameter xml meta data -/// @param[in] xml stream reader -/// @param[in] group fact group associated with this Param element -/// @return Returns the meta data object for this parameter -FactMetaData* PX4ParameterFacts::_parseParameter(QXmlStreamReader& xml, const QString& group) -{ - Q_UNUSED(group); - - QString name = xml.attributes().value("name").toString(); - QString type = xml.attributes().value("type").toString(); - - qCDebug(PX4ParameterFactsMetaDataLog) << "Parsed parameter: " << name << type; - - Q_ASSERT(!name.isEmpty()); - Q_ASSERT(!type.isEmpty()); - - FactMetaData* metaData = new FactMetaData(); - Q_CHECK_PTR(metaData); - - // Convert type from string to FactMetaData::ValueType_t - - struct String2Type { - const char* strType; - FactMetaData::ValueType_t type; - }; - - static const struct String2Type rgString2Type[] = { - { "FLOAT", FactMetaData::valueTypeFloat }, - { "INT32", FactMetaData::valueTypeInt32 }, - }; - static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]); - - bool found = false; - for (size_t i=0; istrType) { - found = true; - metaData->type = info->type; - break; - } - } - Q_UNUSED(found); - Q_ASSERT(found); - - _initMetaData(metaData); - - // FIXME: Change to change the parameter build scheme in Firmware to get rid of ifdef dup problem - if (!_mapParameterName2FactMetaData.contains(name)) { - _mapParameterName2FactMetaData[name] = metaData; - } - - return metaData; -} - -/// This will fill in missing meta data such as range info -void PX4ParameterFacts::_initMetaData(FactMetaData* metaData) -{ - switch (metaData->type) { - case FactMetaData::valueTypeUint8: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeInt8: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeUint16: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeInt16: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeUint32: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeInt32: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeFloat: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - case FactMetaData::valueTypeDouble: - metaData->min = QVariant(std::numeric_limits::min()); - metaData->max = QVariant(std::numeric_limits::max()); - break; - } -} - -/// Converts a string to a typed QVariant -/// @param type Type for Fact which dictates the QVariant type as well -/// @param failOk - true: Don't assert if convert fails -/// @return Returns the correctly type QVariant -QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk) -{ - QVariant var(string); - bool convertOk; - - Q_UNUSED(convertOk); - - switch (type) { - case FactMetaData::valueTypeUint8: - case FactMetaData::valueTypeUint16: - case FactMetaData::valueTypeUint32: - convertOk = var.convert(QVariant::UInt); - if (!failOk) { - Q_ASSERT(convertOk); - } - break; - case FactMetaData::valueTypeInt8: - case FactMetaData::valueTypeInt16: - case FactMetaData::valueTypeInt32: - convertOk = var.convert(QVariant::Int); - if (!failOk) { - Q_ASSERT(convertOk); - } - break; - case FactMetaData::valueTypeFloat: - case FactMetaData::valueTypeDouble: - convertOk = var.convert(QVariant::Double); - if (!failOk) { - Q_ASSERT(convertOk); - } - break; - } - - return var; -} - -/// Load Parameter Fact meta data -/// -/// The meta data comes from firmware parameters.xml file. -void PX4ParameterFacts::loadParameterFactMetaData(void) -{ - if (_parameterMetaDataLoaded) { - return; - } - _parameterMetaDataLoaded = true; - - qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data"; - - Q_ASSERT(_mapParameterName2FactMetaData.count() == 0); - - QFile xmlFile(":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml"); - - Q_ASSERT(xmlFile.exists()); - - bool success = xmlFile.open(QIODevice::ReadOnly); - Q_UNUSED(success); - Q_ASSERT(success); - - QXmlStreamReader xml(xmlFile.readAll()); - xmlFile.close(); - - QString factGroup; - FactMetaData* metaData = NULL; - - while (!xml.atEnd()) { - if (xml.isStartElement()) { - QString elementName = xml.name().toString(); - if (elementName == "parameters") { - // Just move to next state - } else if (elementName == "group") { - factGroup = xml.attributes().value("name").toString(); - qCDebug(PX4ParameterFactsMetaDataLog) << "Found group: " << factGroup; - } else if (elementName == "parameter") { - metaData = _parseParameter(xml, factGroup); - } else if (elementName == "short_desc") { - Q_ASSERT(metaData); - QString text = xml.readElementText(); - metaData->shortDescription = text; - } else if (elementName == "long_desc") { - Q_ASSERT(metaData); - QString text = xml.readElementText(); - metaData->longDescription = text; - } else if (elementName == "default") { - Q_ASSERT(metaData); - QString text = xml.readElementText(); - // FIXME: failOk=true Is a hack to handle enum values in default value. Need - // to implement enums in the meta data. - metaData->defaultValue = _stringToTypedVariant(text, metaData->type, true /* failOk */); - } else if (elementName == "min") { - Q_ASSERT(metaData); - QString text = xml.readElementText(); - metaData->min = _stringToTypedVariant(text, metaData->type); - } else if (elementName == "max") { - Q_ASSERT(metaData); - QString text = xml.readElementText(); - metaData->max = _stringToTypedVariant(text, metaData->type); - metaData->shortDescription = text; - } else if (elementName == "unit") { - Q_ASSERT(metaData); - QString text = xml.readElementText(); - metaData->units = text; - } - } else if (xml.isEndElement() && xml.name() == "parameter") { - metaData = NULL; - } - xml.readNext(); - } -} - -void PX4ParameterFacts::clearStaticData(void) -{ - foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) { - delete _mapParameterName2FactMetaData[parameterName]; - } - _mapParameterName2FactMetaData.clear(); - _parameterMetaDataLoaded = false; -} - -/// Override from FactLoad which connects the meta data to the fact -void PX4ParameterFacts::_addMetaDataToFact(Fact* fact) -{ - if (_mapParameterName2FactMetaData.contains(fact->name())) { - fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]); - } else { - // Use generic meta data - FactLoader::_addMetaDataToFact(fact); - } -} diff --git a/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc b/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc new file mode 100644 index 0000000000000000000000000000000000000000..36e16035ab65c82ec5a5f6250d152c5039cb8cff --- /dev/null +++ b/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc @@ -0,0 +1,337 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#include "PX4ParameterLoader.h" +#include "QGCApplication.h" +#include "QGCLoggingCategory.h" + +#include +#include +#include +#include + +QGC_LOGGING_CATEGORY(PX4ParameterLoaderLog, "PX4ParameterLoaderLog") + +bool PX4ParameterLoader::_parameterMetaDataLoaded = false; +QMap PX4ParameterLoader::_mapParameterName2FactMetaData; + +PX4ParameterLoader::PX4ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) : + ParameterLoader(autopilot, uas, parent) +{ + Q_ASSERT(uas); +} + +/// Converts a string to a typed QVariant +/// @param string String to convert +/// @param type Type for Fact which dictates the QVariant type as well +/// @param convertOk Returned: true: conversion success, false: conversion failure +/// @return Returns the correctly type QVariant +QVariant PX4ParameterLoader::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk) +{ + QVariant var(string); + + int convertTo = QVariant::Int; // keep compiler warning happy + switch (type) { + case FactMetaData::valueTypeUint8: + case FactMetaData::valueTypeUint16: + case FactMetaData::valueTypeUint32: + convertTo = QVariant::UInt; + break; + case FactMetaData::valueTypeInt8: + case FactMetaData::valueTypeInt16: + case FactMetaData::valueTypeInt32: + convertTo = QVariant::Int; + break; + case FactMetaData::valueTypeFloat: + convertTo = QMetaType::Float; + break; + case FactMetaData::valueTypeDouble: + convertTo = QVariant::Double; + break; + } + + *convertOk = var.convert(convertTo); + + return var; +} + +/// Load Parameter Fact meta data +/// +/// The meta data comes from firmware parameters.xml file. +void PX4ParameterLoader::loadParameterFactMetaData(void) +{ + if (_parameterMetaDataLoaded) { + return; + } + _parameterMetaDataLoaded = true; + + qCDebug(PX4ParameterLoaderLog) << "Loading PX4 parameter fact meta data"; + + Q_ASSERT(_mapParameterName2FactMetaData.count() == 0); + + // First look for meta data that comes from a firmware download. Fall back to resource if not there. + QSettings settings; + QDir parameterDir = QFileInfo(settings.fileName()).dir(); + QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml"); + if (!QFile(parameterFilename).exists()) { + parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml"; + } + + qCDebug(PX4ParameterLoaderLog) << "Loading parameter meta data:" << parameterFilename; + + QFile xmlFile(parameterFilename); + Q_ASSERT(xmlFile.exists()); + + bool success = xmlFile.open(QIODevice::ReadOnly); + Q_UNUSED(success); + Q_ASSERT(success); + + QXmlStreamReader xml(xmlFile.readAll()); + xmlFile.close(); + if (xml.hasError()) { + qWarning() << "Badly formed XML" << xml.errorString(); + return; + } + + QString factGroup; + FactMetaData* metaData = NULL; + int xmlState = XmlStateNone; + bool badMetaData = true; + + while (!xml.atEnd()) { + if (xml.isStartElement()) { + QString elementName = xml.name().toString(); + + if (elementName == "parameters") { + if (xmlState != XmlStateNone) { + qWarning() << "Badly formed XML"; + return; + } + xmlState = XmlStateFoundParameters; + + } else if (elementName == "version") { + if (xmlState != XmlStateFoundParameters) { + qWarning() << "Badly formed XML"; + return; + } + xmlState = XmlStateFoundVersion; + + bool convertOk; + QString strVersion = xml.readElementText(); + int intVersion = strVersion.toInt(&convertOk); + if (!convertOk) { + qWarning() << "Badly formed XML"; + return; + } + if (intVersion <= 2) { + // We can't read these old files + qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename; + return; + } + + + } else if (elementName == "group") { + if (xmlState != XmlStateFoundVersion) { + // We didn't get a version stamp, assume older version we can't read + qDebug() << "Parameter version stamp not found, skipping load" << parameterFilename; + return; + } + xmlState = XmlStateFoundGroup; + + if (!xml.attributes().hasAttribute("name")) { + qWarning() << "Badly formed XML"; + return; + } + factGroup = xml.attributes().value("name").toString(); + qCDebug(PX4ParameterLoaderLog) << "Found group: " << factGroup; + + } else if (elementName == "parameter") { + if (xmlState != XmlStateFoundGroup) { + qWarning() << "Badly formed XML"; + return; + } + xmlState = XmlStateFoundParameter; + + if (!xml.attributes().hasAttribute("name") || !xml.attributes().hasAttribute("type")) { + qWarning() << "Badly formed XML"; + return; + } + + QString name = xml.attributes().value("name").toString(); + QString type = xml.attributes().value("type").toString(); + QString strDefault = xml.attributes().value("default").toString(); + + qCDebug(PX4ParameterLoaderLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault; + + // Convert type from string to FactMetaData::ValueType_t + + struct String2Type { + const char* strType; + FactMetaData::ValueType_t type; + }; + + static const struct String2Type rgString2Type[] = { + { "FLOAT", FactMetaData::valueTypeFloat }, + { "INT32", FactMetaData::valueTypeInt32 }, + }; + static const size_t crgString2Type = sizeof(rgString2Type) / sizeof(rgString2Type[0]); + + bool found = false; + FactMetaData::ValueType_t foundType; + for (size_t i=0; istrType) { + found = true; + foundType = info->type; + break; + } + } + if (!found) { + qWarning() << "Parameter meta data with bad type:" << type << " name:" << name; + return; + } + + // Now that we know type we can create meta data object and add it to the system + + metaData = new FactMetaData(foundType); + Q_CHECK_PTR(metaData); + if (_mapParameterName2FactMetaData.contains(name)) { + // We can't trust the meta dafa since we have dups + qCDebug(PX4ParameterLoaderLog) << "Duplicate parameter found:" << name; + badMetaData = true; + // Reset to default meta data + _mapParameterName2FactMetaData[name] = metaData; + } else { + _mapParameterName2FactMetaData[name] = metaData; + metaData->setGroup(factGroup); + + if (xml.attributes().hasAttribute("default")) { + bool convertOk; + QVariant varDefault = _stringToTypedVariant(strDefault, metaData->type(), &convertOk); + if (convertOk) { + metaData->setDefaultValue(varDefault); + } else { + // Non-fatal + qCDebug(PX4ParameterLoaderLog) << "Parameter meta data with bad default value, name:" << name << " type:" << type << " default:" << strDefault; + } + } + } + + } else { + // We should be getting meta data now + if (xmlState != XmlStateFoundParameter) { + qWarning() << "Badly formed XML"; + return; + } + + if (!badMetaData) { + if (elementName == "short_desc") { + Q_ASSERT(metaData); + QString text = xml.readElementText(); + qCDebug(PX4ParameterLoaderLog) << "Short description:" << text; + metaData->setShortDescription(text); + + } else if (elementName == "long_desc") { + Q_ASSERT(metaData); + QString text = xml.readElementText(); + qCDebug(PX4ParameterLoaderLog) << "Long description:" << text; + metaData->setLongDescription(text); + + } else if (elementName == "min") { + Q_ASSERT(metaData); + QString text = xml.readElementText(); + qCDebug(PX4ParameterLoaderLog) << "Min:" << text; + bool convertOk; + QVariant varMin = _stringToTypedVariant(text, metaData->type(), &convertOk); + if (convertOk) { + metaData->setMin(varMin); + } else { + // Non-fatal + qDebug() << "Parameter meta data with bad min value:" << text; + } + + } else if (elementName == "max") { + Q_ASSERT(metaData); + QString text = xml.readElementText(); + qCDebug(PX4ParameterLoaderLog) << "Max:" << text; + bool convertOk; + QVariant varMax = _stringToTypedVariant(text, metaData->type(), &convertOk); + if (convertOk) { + metaData->setMax(varMax); + } else { + // Non-fatal + qDebug() << "Parameter meta data with bad max value:" << text; + } + + } else if (elementName == "unit") { + Q_ASSERT(metaData); + QString text = xml.readElementText(); + qCDebug(PX4ParameterLoaderLog) << "Unit:" << text; + metaData->setUnits(text); + + } else { + qDebug() << "Unknown element in XML: " << elementName; + } + } + } + } else if (xml.isEndElement()) { + QString elementName = xml.name().toString(); + + if (elementName == "parameter") { + // Done loading this one parameter + metaData = NULL; + badMetaData = false; + xmlState = XmlStateFoundGroup; + } else if (elementName == "group") { + xmlState = XmlStateFoundVersion; + } else if (elementName == "parameters") { + xmlState = XmlStateFoundParameters; + } + } + xml.readNext(); + } +} + +void PX4ParameterLoader::clearStaticData(void) +{ + foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) { + delete _mapParameterName2FactMetaData[parameterName]; + } + _mapParameterName2FactMetaData.clear(); + _parameterMetaDataLoaded = false; +} + +/// Override from FactLoad which connects the meta data to the fact +void PX4ParameterLoader::_addMetaDataToFact(Fact* fact) +{ + if (_mapParameterName2FactMetaData.contains(fact->name())) { + fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]); + } else { + // Use generic meta data + ParameterLoader::_addMetaDataToFact(fact); + } +} diff --git a/src/AutoPilotPlugins/PX4/PX4ParameterFacts.h b/src/AutoPilotPlugins/PX4/PX4ParameterLoader.h similarity index 71% rename from src/AutoPilotPlugins/PX4/PX4ParameterFacts.h rename to src/AutoPilotPlugins/PX4/PX4ParameterLoader.h index e39ba6eac9c8ba72a7a4dc9165e9c3a877b46ccb..c90631c0ec2a4286fa347cddd4fd3ea341eba0bf 100644 --- a/src/AutoPilotPlugins/PX4/PX4ParameterFacts.h +++ b/src/AutoPilotPlugins/PX4/PX4ParameterLoader.h @@ -21,44 +21,55 @@ ======================================================================*/ -#ifndef PX4ParameterFacts_h -#define PX4ParameterFacts_h +#ifndef PX4PARAMETERLOADER_H +#define PX4PARAMETERLOADER_H #include #include #include #include +#include "ParameterLoader.h" #include "FactSystem.h" #include "UASInterface.h" +#include "AutoPilotPlugin.h" /// @file /// @author Don Gagne -Q_DECLARE_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog) +Q_DECLARE_LOGGING_CATEGORY(PX4ParameterLoaderLog) /// Collection of Parameter Facts for PX4 AutoPilot -class PX4ParameterFacts : public FactLoader +class PX4ParameterLoader : public ParameterLoader { Q_OBJECT public: /// @param uas Uas which this set of facts is associated with - PX4ParameterFacts(UASInterface* uas, QObject* parent = NULL); + PX4ParameterLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL); + + /// Override from ParameterLoader + virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); } static void loadParameterFactMetaData(void); - static void deleteParameterFactMetaData(void); static void clearStaticData(void); private: - // Overrides from FactLoader + enum { + XmlStateNone, + XmlStateFoundParameters, + XmlStateFoundVersion, + XmlStateFoundGroup, + XmlStateFoundParameter, + XmlStateDone + }; + + // Overrides from ParameterLoader virtual void _addMetaDataToFact(Fact* fact); // Class methods - static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group); - static void _initMetaData(FactMetaData* metaData); - static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false); + static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk); static bool _parameterMetaDataLoaded; ///< true: parameter meta data already loaded static QMap _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml index bde8da849f57ed7ade9be84fc6dd7d161e76737b..409dd51805876e354c429e0ca943a22298f1775d 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml @@ -1,481 +1,506 @@ - + 3 + + + Body angular rate process noise + + + Body angular acceleration process noise + + + Acceleration process noise + + + Magnet field vector process noise + + + Gyro measurement noise + + + Accel measurement noise + + + Mag measurement noise + + + Moment of inertia matrix diagonal entry (1, 1) + kg*m^2 + + + Moment of inertia matrix diagonal entry (2, 2) + kg*m^2 + + + Moment of inertia matrix diagonal entry (3, 3) + kg*m^2 + + + Moment of inertia enabled in estimator + If set to != 0 the moment of inertia will be used in the estimator + 0 + 1 + + - + Empty cell voltage Defines the voltage where a single cell of the battery is considered empty. - 3.4 + V - + Full cell voltage Defines the voltage where a single cell of the battery is considered full. - 4.2 + V - + Voltage drop per cell on 100% load This implicitely defines the internal resistance to maximum current ratio and assumes linearity. - 0.07 + V - + Number of cells Defines the number of cells the attached battery consists of. - 3 + S - + Battery capacity Defines the capacity of the attached battery. - -1.0 + mA - + Scaling factor for battery voltage sensor on PX4IO - 10000 - + + CONFIG_ARCH_BOARD_PX4FMU_V2 Scaling factor for battery voltage sensor on FMU v2 - 0.0082 - - - Scaling factor for battery voltage sensor on AeroCore - For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 - 0.0063 - - Scaling factor for battery voltage sensor on FMU v1 - FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 - FMUv1 with PX4IO: 0.00459340659 - FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 - 0.00459340659 - - + Scaling factor for battery current sensor - 0.0124 - + Circuit breaker for power supply check Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 0 894281 - + Circuit breaker for rate controller output Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 0 140253 - + Circuit breaker for IO safety Setting this parameter to 894281 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 0 22027 - + Circuit breaker for airspeed sensor Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 0 162128 - + Circuit breaker for flight termination Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 121212 0 121212 - + Circuit breaker for engine failure detection Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the enine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 284953 0 284953 - - Circuit breaker for gps failure detection - Setting this parameter to 240024 will disable the gps failure detection. - If the aircraft is in gps failure mode the gps failure flag will be - set to healthy - WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 240024 + + + + Datalink loss mode enabled + Set to 1 to enable actions triggered when the datalink is lost. + 0 + 1 + + + After this amount of seconds without datalink the data link lost mode triggers + 0 + 30 + second + + + After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' + flag is set back to false + 0 + 30 + second + + + Engine failure triggers only above this throttle value + 0.0 + 1.0 + + + Engine failure triggers only below this current/throttle value + 0.0 + 7.0 + + + Engine failure triggers only if the throttle threshold and the + current to throttle threshold are violated for this time + 0.0 + 7.0 + second + + + After this amount of seconds without RC connection the rc lost flag is set to true + 0 + 35 + second + + + If not equal to zero the commander will automatically save parameters to persistent storage once changed. + Default is on, as the interoperability with currently deployed GCS solutions depends on parameters + being sticky. Developers can default it to off 0 - 240024 + 1 - - + + Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint - 120.0 0.0 seconds - + Comms hold Lat Latitude of comms hold waypoint - -266072120 0 degrees * 1e7 - + Comms hold Lon Longitude of comms hold waypoint - 1518453890 0 degrees * 1e7 - + Comms hold alt Altitude of comms hold waypoint - 600.0 0.0 m - + Aifield hole wait time The amount of time in seconds the system should wait at the airfield home waypoint - 120.0 0.0 seconds - + Number of allowed Datalink timeouts After more than this number of data link timeouts the aircraft returns home directly - 2 0 1000 - timeouts - + Skip comms hold wp If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home - 0 0 1 - + Airfield home Lat Latitude of airfield home waypoint - -265847810 0 degrees * 1e7 - + Airfield home Lon Longitude of airfield home waypoint - 1518423250 0 degrees * 1e7 - + Airfield home alt Altitude of airfield home waypoint - 600.0 0.0 m - + Attitude Time Constant This defines the latency between a step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.5 0.4 1.0 seconds - + Pitch rate proportional gain This defines how much the elevator input will be commanded depending on the current body angular rate error. - 0.05 - + Pitch rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. - 0.0 0.0 50.0 - + Maximum positive / up pitch rate This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. - 0.0 0.0 90.0 deg/s - + Maximum negative / down pitch rate This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. - 0.0 0.0 90.0 deg/s - + Pitch rate integrator limit The portion of the integrator part in the control surface deflection is limited to this value - 0.2 0.0 1.0 - + Roll to Pitch feedforward gain This compensates during turns and ensures the nose stays level. - 0.0 0.0 2.0 - + Roll rate proportional Gain This defines how much the aileron input will be commanded depending on the current body angular rate error. - 0.05 - + Roll rate integrator Gain This gain defines how much control response will result out of a steady state error. It trims any constant error. - 0.0 0.0 100.0 - + Roll Integrator Anti-Windup The portion of the integrator part in the control surface deflection is limited to this value. - 0.2 0.0 1.0 - + Maximum Roll Rate This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. - 0.0 0.0 90.0 deg/s - + Yaw rate proportional gain This defines how much the rudder input will be commanded depending on the current body angular rate error. - 0.05 - + Yaw rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. - 0.0 0.0 50.0 - + Yaw rate integrator limit The portion of the integrator part in the control surface deflection is limited to this value - 0.2 0.0 1.0 - + Maximum Yaw Rate This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. - 0.0 0.0 90.0 deg/s - + Roll rate feed forward Direct feed forward from rate setpoint to control surface output - 0.3 0.0 10.0 - + Pitch rate feed forward Direct feed forward from rate setpoint to control surface output - 0.4 0.0 10.0 - + Yaw rate feed forward Direct feed forward from rate setpoint to control surface output - 0.3 0.0 10.0 - + Minimal speed for yaw coordination For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. - 1000.0 m/s - + + Method used for yaw coordination + The param value sets the method used to calculate the yaw rate + 0: open-loop zero lateral acceleration based on kinematic constraints + 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration + 0 + 1 + m/s + + Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. - 13.0 0.0 - 30.0 + 40 m/s - + Trim Airspeed The TECS controller tries to fly at this airspeed. - 20.0 0.0 - 30.0 + 40 m/s - + Maximum Airspeed If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively. - 50.0 0.0 - 30.0 + 40 m/s - + Roll Setpoint Offset An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe. - 0.0 -90.0 90.0 deg - + Pitch Setpoint Offset An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe. - 0.0 -90.0 90.0 deg - + Max Manual Roll Max roll for manual control in attitude stabilized mode - 45.0 0.0 90.0 deg - + Max Manual Pitch Max pitch for manual control in attitude stabilized mode - 45.0 0.0 90.0 deg - + Minimum descent rate This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX. - 2.0 - + Maximum descent rate This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft. - 5.0 - + TECS time constant This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. - 5.0 - + TECS Throttle time constant This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. - 8.0 - + Throttle damping factor This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height. - 0.5 - + Integrator gain This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. - 0.1 - + Maximum vertical acceleration This is the maximum vertical acceleration (in metres/second square) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions. - 7.0 - - Complementary filter "omega" parameter for height + + Complementary filter "omega" parameter for height This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data. - 3.0 - - Complementary filter "omega" parameter for speed + + Complementary filter "omega" parameter for speed This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the arispeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data. - 2.0 - + Roll -> Throttle feedforward Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. @@ -485,9 +510,8 @@ aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value. - 10.0 - + Speed <--> Altitude priority This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the @@ -499,159 +523,145 @@ control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height). - 1.0 - + Pitch damping factor This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly. - 0.0 - + Height rate P factor - 0.05 - + Height rate FF factor - 0.0 - + Speed rate P factor - 0.05 - - + + Loiter time The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination. - 30.0 0.0 seconds - + Open loop loiter roll Roll in degrees during the open loop loiter - 15.0 0.0 30.0 deg - + Open loop loiter pitch Pitch in degrees during the open loop loiter - 0.0 -30.0 30.0 deg - + Open loop loiter thrust Thrust value which is set during the open loop loiter - 0.7 0.0 1.0 - - Enable geofence - Set to 1 to enable geofence. - Defaults to 1 because geofence is only enabled when the geofence.txt file is present. - 1 + + Geofence mode + 0 = disabled, 1 = geofence file only, 2 = max horizontal (GF_MAX_HOR_DIST) and vertical (GF_MAX_VER_DIST) distances, 3 = both 0 - 1 + 3 - + Geofence altitude mode Select which altitude reference should be used 0 = WGS84, 1 = AMSL - 0 0 1 - + Geofence source Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS - 0 0 1 - + Geofence counter limit Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered - -1 -1 10 + + Max horizontal distance in meters + Set to > 0 to activate RTL if horizontal distance to home exceeds this value. + + + Max vertical distance in meters + Set to > 0 to activate RTL if vertical distance to home exceeds this value. + - + L1 period This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. - 25.0 1.0 100.0 - + L1 damping Damping factor for L1 control. - 0.75 0.6 0.9 - + Cruise throttle This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. - 0.7 0.0 1.0 - + Throttle max slew rate Maximum slew rate for the commanded throttle - 0.0 0.0 1.0 - + Negative pitch limit The minimum negative pitch the controller will output. - -45.0 -60.0 0.0 degrees - + Positive pitch limit The maximum positive pitch the controller will output. - 45.0 0.0 60.0 degrees - + Controller roll limit The maximum roll the controller will output. - 45.0 0.0 degrees - + Throttle limit max This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. - 1.0 - + Throttle limit min This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set @@ -660,23 +670,20 @@ some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm. - 0.0 - + Throttle limit value before flare This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare. - 1.0 - + Climbout Altitude difference If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to zero to disable climbout mode (not recommended). - 25.0 - + Maximum climb rate This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the @@ -690,2349 +697,2733 @@ demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced. - 5.0 - + Landing slope angle - 5.0 - + FW_LND_HVIRT - 10.0 - + Landing flare altitude (relative to landing altitude) - 8.0 meter - + Landing throttle limit altitude (relative landing altitude) Default of -1.0f lets the system default to applying throttle limiting at 2/3 of the flare altitude. - -1.0 meter - + Landing heading hold horizontal distance - 15.0 - + Enable or disable usage of terrain estimate during landing 0: disabled, 1: enabled - 0 + + + + + Multicopter max climb rate + Maximum vertical velocity allowed to trigger a land (m/s up and down) + + + Multicopter max horizontal velocity + Maximum horizontal velocity allowed to trigger a land (m/s) + + + Multicopter max rotation + Maximum allowed around each axis to trigger a land (degrees per second) + + + Multicopter max throttle + Maximum actuator output on throttle before triggering a land + + + Fixedwing max horizontal velocity + Maximum horizontal velocity allowed to trigger a land (m/s) + + + Fixedwing max climb rate + Maximum vertical velocity allowed to trigger a land (m/s up and down) + + + Airspeed max + Maximum airspeed allowed to trigger a land (m/s) - + Enable launch detection - 0 0 1 - + Catapult accelerometer theshold LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. - 30.0 0 - + Catapult time theshold LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. - 0.05 0 - + Motor delay Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate - 0.0 0 seconds - + Maximum pitch before the throttle is powered up (during motor delay phase) This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep). - 30.0 0 45 deg - + Throttle setting while detecting launch The throttle is set to this value while the system is waiting for the take-off. - 0.0 0 1 - + MAVLink system ID - 1 - + MAVLink component ID - 50 - + MAVLink type - MAV_TYPE_FIXED_WING - - Use/Accept HIL GPS message (even if not in HIL mode) - If set to 1 incomming HIL GPS messages are parsed - 0 + + Use/Accept HIL GPS message (even if not in HIL mode) + If set to 1 incomming HIL GPS messages are parsed. - - Forward external setpoint messages - If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard - control mode - 1 + + Forward external setpoint messages + If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard + control mode + + + + + Enables testmode (Identify) of MKBLCTRL Driver - + Take-off altitude Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to MIS_TAKEOFF_ALT on takeoff, then go to waypoint. - 10.0 meters - + Enable persistent onboard mission storage When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. - 1 0 1 - + Maximal horizontal distance from home to first waypoint Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the current position. - 500 0 1000 - + Altitude setpoint mode 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode - 0 0 1 - + + Multirotor only. Yaw setpoint mode + 0: Set the yaw heading to the yaw value specified for the destination waypoint. + 1: Maintain a yaw heading pointing towards the next waypoint. + 2: Maintain a yaw heading that always points to the home location. + 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). + The values are defined in the enum mission_altitude_mode + 0 + 3 + + Loiter radius (FW only) Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). - 50.0 - 0.0 + 20 + 200 meters - + Acceptance Radius Default acceptance radius, overridden by acceptance radius of waypoint if set. - 25.0 - 1.0 + 0.05 + 200 meters - + Set OBC mode for data link loss If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules - 0 0 - + Set OBC mode for rc loss If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules - 0 0 - + Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 6.0 0.0 - + Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.1 0.0 - + Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 0.0 - + Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.002 0.0 - + + Roll rate feedforward + Improves tracking performance. + 0.0 + + Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 6.0 0.0 1/s - + Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.1 0.0 - + Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 0.0 - + Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.002 0.0 - + + Pitch rate feedforward + Improves tracking performance. + 0.0 + + Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 2.0 0.0 1/s - + Yaw rate P gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.3 0.0 - + Yaw rate I gain Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 0.0 - + Yaw rate D gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 0.0 - + + Yaw rate feedforward + Improves tracking performance. + 0.0 + + Yaw feed forward Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.5 0.0 1.0 - + + Max roll rate + Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + + + Max pitch rate + Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + + Max yaw rate Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 120.0 0.0 360.0 deg/s - - Max manual roll - 35.0 + + Max acro roll rate 0.0 - 90.0 - deg + 360.0 + deg/s - - Max manual pitch - 35.0 + + Max acro pitch rate 0.0 - 90.0 - deg + 360.0 + deg/s - - Max manual yaw rate - 120.0 + + Max acro yaw rate + 0.0 + deg/s + + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 + + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Yaw feed forward + Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + + + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 deg/s - + Max acro roll rate - 90.0 0.0 360.0 deg/s - + Max acro pitch rate - 90.0 0.0 360.0 deg/s - + Max acro yaw rate - 120.0 + 0.0 + deg/s + + + Max manual roll + 0.0 + 90.0 + deg + + + Max manual pitch + 0.0 + 90.0 + deg + + + Max manual yaw rate 0.0 deg/s - + Minimum thrust Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. - 0.1 0.0 1.0 - + Maximum thrust Limit max allowed thrust. - 1.0 0.0 1.0 - + Proportional gain for vertical position error - 1.0 0.0 - + Proportional gain for vertical velocity error - 0.1 0.0 - + Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - 0.02 0.0 - + Differential gain for vertical velocity error - 0.0 0.0 - + Maximum vertical velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). - 5.0 0.0 m/s - + Vertical velocity feed forward Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.5 0.0 1.0 - + Proportional gain for horizontal position error - 1.0 0.0 - + Proportional gain for horizontal velocity error - 0.1 0.0 - + Integral gain for horizontal velocity error Non-zero value allows to resist wind. - 0.02 0.0 - + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - 0.01 0.0 - + Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). - 5.0 0.0 m/s - + Horizontal velocity feed forward Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.5 0.0 1.0 - + Maximum tilt angle in air Limits maximum tilt in AUTO and POSCTRL modes during flight. - 45.0 0.0 90.0 deg - + Maximum tilt during landing Limits maximum tilt angle on landing. - 15.0 0.0 90.0 deg - + Landing descend rate - 1.0 0.0 m/s - - - - Ground drag property - This parameter encodes the ground drag coefficient and the corresponding - decrease in wind speed from the plane altitude to ground altitude. - 0.03 - 0.001 - 0.1 - unknown + + Max manual roll + 0.0 + 90.0 + deg - - Plane turn radius - The planes known minimal turn radius - use a higher value - to make the plane maneuver more distant from the actual drop - position. This is to ensure the wings are level during the drop. - 120.0 - 30.0 - 500.0 - meter + + Max manual pitch + 0.0 + 90.0 + deg - - Drop precision - If the system is closer than this distance on passing over the - drop position, it will release the payload. This is a safeguard - to prevent a drop out of the required accuracy. - 30.0 - 1.0 - 80.0 - meter + + Max manual yaw rate + 0.0 + deg/s - - Payload drag coefficient of the dropped object - The drag coefficient (cd) is the typical drag - constant for air. It is in general object specific, - but the closest primitive shape to the actual object - should give good results: - http://en.wikipedia.org/wiki/Drag_coefficient - 0.1 - 0.08 - 1.5 - meter + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 - - Payload mass - A typical small toy ball: - 0.025 kg - OBC water bottle: - 0.6 kg - 0.6 - 0.001 - 5.0 - kilogram + + Maximum thrust + Limit max allowed thrust. + 0.0 + 1.0 - + + Proportional gain for vertical position error + 0.0 + + + Proportional gain for vertical velocity error + 0.0 + + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.0 + + + Differential gain for vertical velocity error + 0.0 + + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + 0.0 + m/s + + + Vertical velocity feed forward + Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + + + Proportional gain for horizontal position error + 0.0 + + + Proportional gain for horizontal velocity error + 0.0 + + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.0 + + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.0 + + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 0.0 + m/s + + + Horizontal velocity feed forward + Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 0.0 + 90.0 + deg + + + Maximum tilt during landing + Limits maximum tilt angle on landing. + 0.0 + 90.0 + deg + + + Landing descend rate + 0.0 + m/s + + + + + Ground drag property + This parameter encodes the ground drag coefficient and the corresponding + decrease in wind speed from the plane altitude to ground altitude. + 0.001 + 0.1 + unknown + + + Plane turn radius + The planes known minimal turn radius - use a higher value + to make the plane maneuver more distant from the actual drop + position. This is to ensure the wings are level during the drop. + 30.0 + 500.0 + meter + + + Drop precision + If the system is closer than this distance on passing over the + drop position, it will release the payload. This is a safeguard + to prevent a drop out of the required accuracy. + 1.0 + 80.0 + meter + + + Payload drag coefficient of the dropped object + The drag coefficient (cd) is the typical drag + constant for air. It is in general object specific, + but the closest primitive shape to the actual object + should give good results: + http://en.wikipedia.org/wiki/Drag_coefficient + 0.08 + 1.5 + meter + + + Payload mass + A typical small toy ball: + 0.025 kg + OBC water bottle: + 0.6 kg + 0.001 + 5.0 + kilogram + + Payload front surface area A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 - 0.00311724531 0.001 0.5 m^2 - + Velocity estimate delay The delay in milliseconds of the velocity estimate from GPS. - 230 0 1000 - + Position estimate delay The delay in milliseconds of the position estimate from GPS. - 210 0 1000 - + Height estimate delay The delay in milliseconds of the height estimate from the barometer. - 350 0 1000 - + Mag estimate delay The delay in milliseconds of the magnetic field estimate from the magnetometer. - 30 0 1000 - + True airspeeed estimate delay The delay in milliseconds of the airspeed estimate. - 210 0 1000 - + GPS vs. barometric altitude update weight RE-CHECK this. - 0.9 0.0 1.0 - + Airspeed measurement noise Increasing this value will make the filter trust this sensor less and trust other sensors more. - 1.4 0.5 5.0 - + Velocity measurement noise in north-east (horizontal) direction Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 - 0.3 0.05 5.0 - + Velocity noise in down (vertical) direction Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 - 0.5 0.05 5.0 - + Position noise in north-east (horizontal) direction Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 - 0.5 0.1 10.0 - + Position noise in down (vertical) direction Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 - 0.5 0.1 10.0 - + Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 - 0.05 0.1 10.0 - + Gyro process noise Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more. - 0.015 0.001 0.05 - + Accelerometer process noise Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. - 0.25 0.05 1.0 - + Gyro bias estimate process noise Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. - 1e-07 0.0000001 0.00001 - + Accelerometer bias estimate process noise Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. Increasing this value makes the bias estimation faster and noisier. - 0.00005 0.00001 0.001 - + Magnetometer earth frame offsets process noise Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. - 0.0003 0.0001 0.01 - + Magnetometer body frame offsets process noise Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier. - 0.0003 0.0001 0.01 - + Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. - 5.0 0.3 10.0 - + Z axis weight for barometer Weight (cutoff frequency) for barometer altitude measurements. - 0.5 0.0 10.0 - + Z axis weight for GPS Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. - 0.005 0.0 10.0 - + + Z velocity weight for GPS + Weight (cutoff frequency) for GPS altitude velocity measurements. + 0.0 + 10.0 + + Z axis weight for vision Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. - 0.5 0.0 10.0 - + Z axis weight for sonar Weight (cutoff frequency) for sonar measurements. - 3.0 0.0 10.0 - + XY axis weight for GPS position Weight (cutoff frequency) for GPS position measurements. - 1.0 0.0 10.0 - + XY axis weight for GPS velocity Weight (cutoff frequency) for GPS velocity measurements. - 2.0 0.0 10.0 - + XY axis weight for vision position Weight (cutoff frequency) for vision position measurements. - 5.0 0.0 10.0 - + XY axis weight for vision velocity Weight (cutoff frequency) for vision velocity measurements. - 0.0 0.0 10.0 - + XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. - 5.0 0.0 10.0 - + XY axis weight for resetting velocity When velocity sources lost slowly decrease estimated horizontal velocity with this weight. - 0.5 0.0 10.0 - + XY axis weight factor for GPS when optical flow available When optical flow data available, multiply GPS weights (for position and velocity) by this factor. - 0.1 0.0 1.0 - + Accelerometer bias estimation weight Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. - 0.05 0.0 0.1 - + Optical flow scale factor Factor to convert raw optical flow (in pixels) to radians [rad/px]. - 0.15 0.0 1.0 rad/px - + Minimal acceptable optical flow quality 0 - lowest quality, 1 - best quality. - 0.5 0.0 1.0 - + Weight for sonar filter Sonar filter detects spikes on sonar measurements and used to detect new surface level. - 0.05 0.0 1.0 - + Sonar maximal error for new surface If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). - 0.5 0.0 1.0 m - + Land detector time Vehicle assumed landed if no altitude changes happened during this time on low throttle. - 3.0 0.0 10.0 s - + Land detector altitude dispersion threshold Dispersion threshold for triggering land detector. - 0.7 0.0 10.0 m - + Land detector throttle threshold Value should be lower than minimal hovering thrust. Half of it is good choice. - 0.2 0.0 1.0 - + GPS delay GPS delay compensation - 0.2 0.0 1.0 s - + Disable vision input Set to the appropriate key (328754) to disable vision input. - 0 0 1 - - - - Loiter Time - The amount of time in seconds the system should loiter at current position before termination - Set to -1 to make the system skip loitering - 120.0 - -1.0 - seconds - - - - - Loiter radius after RTL (FW only) - Default value of loiter radius after RTL (fixedwing only). - 50.0 - 0.0 - meters - - - RTL altitude - Altitude to fly back in RTL in meters - 100 + + INAV enabled + If set to 1, use INAV for position estimation + the system uses the combined attitude / position + filter framework. 0 1 - meters - - - RTL loiter altitude - Stay at this altitude above home position after RTL descending. - Land (i.e. slowly descend) from this altitude if autolanding allowed. - 20 - 0 - 100 - meters - - - RTL delay - Delay after descend before landing in RTL mode. - If set to -1 the system will not land but loiter at NAV_LAND_ALT. - -1.0 - -1.0 - seconds - + RC Channel 1 Minimum Minimum value for RC channel 1 - 1000.0 800.0 1500.0 - + RC Channel 1 Trim Mid point value (same as min for throttle) - 1500.0 800.0 2200.0 - + RC Channel 1 Maximum Maximum value for RC channel 1 - 2000.0 1500.0 2200.0 - + RC Channel 1 Reverse Set to -1 to reverse channel. - 1.0 -1.0 1.0 - + RC Channel 1 dead zone The +- range of this value around the trim value will be considered as zero. - 10.0 0.0 100.0 - + RC Channel 2 Minimum Minimum value for RC channel 2 - 1000.0 800.0 1500.0 - + RC Channel 2 Trim Mid point value (same as min for throttle) - 1500.0 800.0 2200.0 - + RC Channel 2 Maximum Maximum value for RC channel 2 - 2000.0 1500.0 2200.0 - + RC Channel 2 Reverse Set to -1 to reverse channel. - 1.0 -1.0 1.0 - + RC Channel 2 dead zone The +- range of this value around the trim value will be considered as zero. - 10.0 0.0 100.0 - - DSM binding trigger - -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind - -1 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Roll control channel mapping - The channel index (starting from 1 for channel 1) indicates - which channel should be used for reading roll inputs from. - A value of zero indicates the switch is not assigned. - 1 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Pitch control channel mapping - The channel index (starting from 1 for channel 1) indicates - which channel should be used for reading pitch inputs from. - A value of zero indicates the switch is not assigned. - 2 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Throttle control channel mapping - The channel index (starting from 1 for channel 1) indicates - which channel should be used for reading throttle inputs from. - A value of zero indicates the switch is not assigned. - 3 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Yaw control channel mapping - The channel index (starting from 1 for channel 1) indicates - which channel should be used for reading yaw inputs from. - A value of zero indicates the switch is not assigned. - 4 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Mode switch channel mapping - This is the main flight mode selector. - The channel index (starting from 1 for channel 1) indicates - which channel should be used for deciding about the main mode. - A value of zero indicates the switch is not assigned. - 0 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Return switch channel mapping - 0 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 - - Posctl switch channel mapping - 0 - 0 - 18 + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + DSM binding trigger + -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + + + RC channel count + This parameter is used by Ground Station software to save the number + of channels which were used during RC calibration. It is only meant + for ground station use. + 0 + 18 + + + RC mode switch threshold automaic distribution + This parameter is used by Ground Station software to specify whether + the threshold values for flight mode switches were automatically calculated. + 0 indicates that the threshold values were set by the user. Any other value + indicates that the threshold value where automatically set by the ground + station software. It is only meant for ground station use. + 0 + 1 + + + Roll control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading roll inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Pitch control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading pitch inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Throttle control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading throttle inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Yaw control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading yaw inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Auxiliary switch 1 channel mapping + Default function: Camera pitch + 0 + 18 + + + Auxiliary switch 2 channel mapping + Default function: Camera roll + 0 + 18 + + + Auxiliary switch 3 channel mapping + Default function: Camera azimuth / yaw + 0 + 18 + + + Channel which changes a parameter + Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. + Set to 0 to deactivate * + 0 + 18 + + + Channel which changes a parameter + Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. + Set to 0 to deactivate * + 0 + 18 + + + Channel which changes a parameter + Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. + Set to 0 to deactivate * + 0 + 18 + + + Failsafe channel PWM threshold + 800 + 2200 + + + PWM input channel that provides RSSI + 0: do not read RSSI from input channel + 1-18: read RSSI from specified input channel + Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters. + 0 + 18 + + + Max input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + + + Min input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + + + + + Loiter Time + The amount of time in seconds the system should loiter at current position before termination + Set to -1 to make the system skip loitering + -1.0 + seconds + + + + + Mode switch channel mapping + This is the main flight mode selector. + The channel index (starting from 1 for channel 1) indicates + which channel should be used for deciding about the main mode. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Return switch channel mapping + 0 + 18 + + + Posctl switch channel mapping + 0 + 18 + + + Loiter switch channel mapping + 0 + 18 + + + Acro switch channel mapping + 0 + 18 + + + Offboard switch channel mapping + 0 + 18 + + + Flaps channel mapping + 0 + 18 + + + Threshold for selecting assist mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting auto mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting return to launch mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting loiter mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting acro mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting offboard mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + + + RTL altitude + Altitude to fly back in RTL in meters + 0 + 150 + meters + + + RTL loiter altitude + Stay at this altitude above home position after RTL descending. + Land (i.e. slowly descend) from this altitude if autolanding allowed. + 2 + 100 + meters + + + RTL delay + Delay after descend before landing in RTL mode. + If set to -1 the system will not land but loiter at NAV_LAND_ALT. + -1 + 300 + seconds + + + + + Logging rate + A value of -1 indicates the commandline argument + should be obeyed. A value of 0 sets the minimum rate, + any other value is interpreted as rate in Hertz. This + parameter is only read out before logging starts (which + commonly is before arming). + -1 + 1 + + + Enable extended logging mode + A value of -1 indicates the commandline argument + should be obeyed. A value of 0 disables extended + logging mode, a value of 1 enables it. This + parameter is only read out before logging starts + (which commonly is before arming). + -1 + 1 + + + + + ID of the board this parameter set was calibrated on + + + ID of the Gyro that the calibration is for + + + Gyro X-axis offset + -10.0 + 10.0 + + + Gyro Y-axis offset + -10.0 + 10.0 + + + Gyro Z-axis offset + -5.0 + 5.0 + + + Gyro X-axis scaling factor + -1.5 + 1.5 + + + Gyro Y-axis scaling factor + -1.5 + 1.5 + + + Gyro Z-axis scaling factor + -1.5 + 1.5 + + + ID of Magnetometer the calibration is for + + + Rotation of magnetometer 0 relative to airframe + An internal magnetometer will force a value of -1, so a GCS + should only attempt to configure the rotation if the value is + greater than or equal to zero. + -1 + 30 + + + Magnetometer X-axis offset + -500.0 + 500.0 + + + Magnetometer Y-axis offset + -500.0 + 500.0 + + + Magnetometer Z-axis offset + -500.0 + 500.0 + + + Magnetometer X-axis scaling factor + + + Magnetometer Y-axis scaling factor + + + Magnetometer Z-axis scaling factor + + + ID of the Accelerometer that the calibration is for + + + Accelerometer X-axis offset + + + Accelerometer Y-axis offset + + + Accelerometer Z-axis offset + + + Accelerometer X-axis scaling factor + + + Accelerometer Y-axis scaling factor + + + Accelerometer Z-axis scaling factor + + + ID of the Gyro that the calibration is for + + + Gyro X-axis offset + -10.0 + 10.0 + + + Gyro Y-axis offset + -10.0 + 10.0 + + + Gyro Z-axis offset + -5.0 + 5.0 + + + Gyro X-axis scaling factor + -1.5 + 1.5 + + + Gyro Y-axis scaling factor + -1.5 + 1.5 + + + Gyro Z-axis scaling factor + -1.5 + 1.5 + + + ID of Magnetometer the calibration is for + + + Rotation of magnetometer 1 relative to airframe + An internal magnetometer will force a value of -1, so a GCS + should only attempt to configure the rotation if the value is + greater than or equal to zero. + -1 + 30 + + + Magnetometer X-axis offset + -500.0 + 500.0 + + + Magnetometer Y-axis offset + -500.0 + 500.0 + + + Magnetometer Z-axis offset + -500.0 + 500.0 - - Loiter switch channel mapping - 0 - 0 - 18 + + Magnetometer X-axis scaling factor - - Acro switch channel mapping - 0 - 0 - 18 + + Magnetometer Y-axis scaling factor - - Offboard switch channel mapping - 0 - 0 - 18 + + Magnetometer Z-axis scaling factor - - Flaps channel mapping - 0 - 0 - 18 + + ID of the Accelerometer that the calibration is for - - Auxiliary switch 1 channel mapping - Default function: Camera pitch - 0 - 0 - 18 + + Accelerometer X-axis offset - - Auxiliary switch 2 channel mapping - Default function: Camera roll - 0 - 0 - 18 + + Accelerometer Y-axis offset - - Auxiliary switch 3 channel mapping - Default function: Camera azimuth / yaw - 0 - 0 - 18 + + Accelerometer Z-axis offset - - Failsafe channel PWM threshold - 0 - 800 - 2200 + + Accelerometer X-axis scaling factor - - - - Logging rate - A value of -1 indicates the commandline argument - should be obeyed. A value of 0 sets the minimum rate, - any other value is interpreted as rate in Hertz. This - parameter is only read out before logging starts (which - commonly is before arming). - -1 - -1 - 1 + + Accelerometer Y-axis scaling factor - - Enable extended logging mode - A value of -1 indicates the commandline argument - should be obeyed. A value of 0 disables extended - logging mode, a value of 1 enables it. This - parameter is only read out before logging starts - (which commonly is before arming). - -1 - -1 - 1 + + Accelerometer Z-axis scaling factor - - - + + ID of the Gyro that the calibration is for + + Gyro X-axis offset - 0.0 -10.0 10.0 - + Gyro Y-axis offset - 0.0 -10.0 10.0 - + Gyro Z-axis offset - 0.0 -5.0 5.0 - + Gyro X-axis scaling factor - 1.0 -1.5 1.5 - + Gyro Y-axis scaling factor - 1.0 -1.5 1.5 - + Gyro Z-axis scaling factor - 1.0 -1.5 1.5 - + + ID of Magnetometer the calibration is for + + + Rotation of magnetometer 2 relative to airframe + An internal magnetometer will force a value of -1, so a GCS + should only attempt to configure the rotation if the value is + greater than or equal to zero. + -1 + 30 + + Magnetometer X-axis offset - 0.0 -500.0 500.0 - + Magnetometer Y-axis offset - 0.0 -500.0 500.0 - + Magnetometer Z-axis offset - 0.0 -500.0 500.0 - + Magnetometer X-axis scaling factor - 1.0 - + Magnetometer Y-axis scaling factor - 1.0 - + Magnetometer Z-axis scaling factor - 1.0 - + + ID of the Accelerometer that the calibration is for + + Accelerometer X-axis offset - 0.0 - + Accelerometer Y-axis offset - 0.0 - + Accelerometer Z-axis offset - 0.0 - + Accelerometer X-axis scaling factor - 1.0 - + Accelerometer Y-axis scaling factor - 1.0 - + Accelerometer Z-axis scaling factor - 1.0 - + Differential pressure sensor offset The offset (zero-reading) in Pascal - 0.0 - + Differential pressure sensor analog scaling Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes. - 0 - + QNH for barometer - 1013.25 500 1500 hPa - + Board rotation This parameter defines the rotation of the FMU board relative to the platform. Possible values are: 0 = No rotation - 1 = Yaw 45° - 2 = Yaw 90° - 3 = Yaw 135° - 4 = Yaw 180° - 5 = Yaw 225° - 6 = Yaw 270° - 7 = Yaw 315° - 8 = Roll 180° - 9 = Roll 180°, Yaw 45° - 10 = Roll 180°, Yaw 90° - 11 = Roll 180°, Yaw 135° - 12 = Pitch 180° - 13 = Roll 180°, Yaw 225° - 14 = Roll 180°, Yaw 270° - 15 = Roll 180°, Yaw 315° - 16 = Roll 90° - 17 = Roll 90°, Yaw 45° - 18 = Roll 90°, Yaw 90° - 19 = Roll 90°, Yaw 135° - 20 = Roll 270° - 21 = Roll 270°, Yaw 45° - 22 = Roll 270°, Yaw 90° - 23 = Roll 270°, Yaw 135° - 24 = Pitch 90° - 25 = Pitch 270° - 0 - - + 1 = Yaw 45° + 2 = Yaw 90° + 3 = Yaw 135° + 4 = Yaw 180° + 5 = Yaw 225° + 6 = Yaw 270° + 7 = Yaw 315° + 8 = Roll 180° + 9 = Roll 180°, Yaw 45° + 10 = Roll 180°, Yaw 90° + 11 = Roll 180°, Yaw 135° + 12 = Pitch 180° + 13 = Roll 180°, Yaw 225° + 14 = Roll 180°, Yaw 270° + 15 = Roll 180°, Yaw 315° + 16 = Roll 90° + 17 = Roll 90°, Yaw 45° + 18 = Roll 90°, Yaw 90° + 19 = Roll 90°, Yaw 135° + 20 = Roll 270° + 21 = Roll 270°, Yaw 45° + 22 = Roll 270°, Yaw 90° + 23 = Roll 270°, Yaw 135° + 24 = Pitch 90° + 25 = Pitch 270° + + + PX4Flow board rotation + This parameter defines the rotation of the PX4FLOW board relative to the platform. + Zero rotation is defined as Y on flow board pointing towards front of vehicle + Possible values are: + 0 = No rotation + 1 = Yaw 45° + 2 = Yaw 90° + 3 = Yaw 135° + 4 = Yaw 180° + 5 = Yaw 225° + 6 = Yaw 270° + 7 = Yaw 315° + + Board rotation Y (Pitch) offset This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment. - 0.0 - + Board rotation X (Roll) offset This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment. - 0.0 - + Board rotation Z (YAW) offset This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment. - 0.0 - + External magnetometer rotation This parameter defines the rotation of the external magnetometer relative to the platform (not relative to the FMU). See SENS_BOARD_ROT for possible values. - 0 - + Set usage of external magnetometer * Set to 0 (default) to auto-detect (will try to get the external as primary) * Set to 1 to force the external magnetometer as primary * Set to 2 to force the internal magnetometer as primary - 0 0 2 + + + Interval of one subscriber in the example in ms + + + Float Demonstration Parameter in the Example + + - + Auto-start script index Defines the auto-start script used to bootstrap the system. - 0 - + Automatically configure default values - Set to 1 to set platform-specific parameters to their default - values on next system startup. - 0 + Set to 1 to reset parameters on next system startup (setting defaults). + Platform-specific values are used if available. + RC* parameters are preserved. 0 1 - + Set usage of IO board Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. - 1 0 1 - + Set restart type Set by px4io to indicate type of restart - 2 0 2 + + Companion computer interface + Configures the baud rate of the companion computer interface. + Set to zero to disable, set to 921600 to enable. + CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for + other baud rates. + 0 + 921600 + + + Parameter version + This monotonically increasing number encodes the parameter compatibility set. + whenever it increases parameters might not be backwards compatible and + ground control stations should suggest a fresh configuration. + 0 + - + Enable UAVCAN Enables support for UAVCAN-interfaced actuators and sensors. - 0 0 1 - + UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. - 1 1 125 - + UAVCAN CAN bus bitrate - 1000000 20000 1000000 - - - Body angular rate process noise - 1e-4 - - - Body angular acceleration process noise - 0.08 - - - Acceleration process noise - 0.009 - - - Magnet field vector process noise - 0.005 - - - Gyro measurement noise - 0.0008 - - - Accel measurement noise - 10000.0 + + + VTOL number of engines + 1 - - Mag measurement noise - 100.0 + + Idle speed of VTOL when in multicopter mode + 900 - - Moment of inertia matrix diagonal entry (1, 1) - 0.0018 - kg*m^2 + + Minimum airspeed in multicopter mode + This is the minimum speed of the air flowing over the control surfaces. + 0.0 - - Moment of inertia matrix diagonal entry (2, 2) - 0.0018 - kg*m^2 + + Maximum airspeed in multicopter mode + This is the maximum speed of the air flowing over the control surfaces. + 0.0 - - Moment of inertia matrix diagonal entry (3, 3) - 0.0037 - kg*m^2 + + Trim airspeed when in multicopter mode + This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + 0.0 - - Moment of inertia enabled in estimator - If set to != 0 the moment of inertia will be used in the estimator - 0 + + Permanent stabilization in fw mode + If set to one this parameter will cause permanent attitude stabilization in fw mode. + This parameter has been introduced for pure convenience sake. 0 1 - - - - Datalink loss mode enabled - Set to 1 to enable actions triggered when the datalink is lost. - 0 - 0 + + Fixed wing pitch trim + This parameter allows to adjust the neutral elevon position in fixed wing mode. + -1 1 - - After this amount of seconds without datalink the data link lost mode triggers - 10 - 0 - 30 - second - - - After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' - flag is set back to false - 0 - 0 - 30 - second - - - Engine failure triggers only above this throttle value - 0.5 - 0.0 - 1.0 + + Motor max power + Indicates the maximum power the motor is able to produce. Used to calculate + propeller efficiency map. + 1 - - Engine failure triggers only below this current/throttle value - 5.0 - 0.0 - 7.0 + + Propeller efficiency parameter + Influences propeller efficiency at different power settings. Should be tuned beforehand. + 0.5 + 0.9 - - Engine failure triggers only if the throttle threshold and the - current to throttle threshold are violated for this time - 10.0 + + Total airspeed estimate low-pass filter gain + Gain for tuning the low-pass filter for the total airspeed estimate 0.0 - 7.0 - second - - - After this amount of seconds without RC connection the rc lost flag is set to true - 0.5 - 0 - 35 - seconds + 0.99 - + mTECS enabled Set to 1 to enable mTECS - 0 0 1 - + Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint - 0.7 0.0 10.0 - + Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint - 0.1 0.0 10.0 - + Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint - 0.25 0.0 10.0 - + Total Energy Rate Control Offset (Cruise throttle sp) - 0.7 0.0 10.0 - + Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint - 0.4 0.0 10.0 - + Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint - 0.03 0.0 10.0 - + Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint - 0.03 0.0 10.0 - + Total Energy Distribution Offset (Cruise pitch sp) - 0.0 0.0 10.0 - + Minimal Throttle Setpoint - 0.0 0.0 1.0 - + Maximal Throttle Setpoint - 1.0 0.0 1.0 - + Minimal Pitch Setpoint in Degrees - -45.0 -90.0 90.0 deg - + Maximal Pitch Setpoint in Degrees - 20.0 -90.0 90.0 deg - + Lowpass (cutoff freq.) for altitude - 1.0 - + Lowpass (cutoff freq.) for the flight path angle - 1.0 - + P gain for the altitude control Maps the altitude error to the flight path angle setpoint - 0.3 0.0 10.0 - + D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint - 0.0 0.0 10.0 - + Lowpass for FPA error derivative calculation (see MT_FPA_D) - 1.0 - + Minimal flight path angle setpoint - -20.0 -90.0 90.0 deg - + Maximal flight path angle setpoint - 30.0 -90.0 90.0 deg - + Lowpass (cutoff freq.) for airspeed - 0.5 - + Airspeed derivative calculation lowpass - 0.5 - + P gain for the airspeed control Maps the airspeed error to the acceleration setpoint - 0.3 0.0 10.0 - + D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint - 0.0 0.0 10.0 - + Lowpass for ACC error derivative calculation (see MT_ACC_D) - 0.5 - + Minimal acceleration (air) - -40.0 m/s^2 - + Maximal acceleration (air) - 40.0 m/s^2 - + Minimal throttle during takeoff - 1.0 0.0 1.0 - + Maximal throttle during takeoff - 1.0 0.0 1.0 - + Minimal pitch during takeoff - 0.0 -90.0 90.0 deg - + Maximal pitch during takeoff - 45.0 -90.0 90.0 deg - + Minimal throttle in underspeed mode - 1.0 0.0 1.0 - + Maximal throttle in underspeed mode - 1.0 0.0 1.0 - + Minimal pitch in underspeed mode - -45.0 -90.0 90.0 deg - + Maximal pitch in underspeed mode - 0.0 -90.0 90.0 deg - + Minimal throttle in landing mode (only last phase of landing) - 0.0 0.0 1.0 - + Maximal throttle in landing mode (only last phase of landing) - 0.0 0.0 1.0 - + Minimal pitch in landing mode - -5.0 -90.0 90.0 deg - + Maximal pitch in landing mode - 15.0 -90.0 90.0 deg - + Integrator Limit for Total Energy Rate Control - 10.0 0.0 10.0 - + Integrator Limit for Energy Distribution Rate Control - 10.0 0.0 10.0 - + EXFW_HDNG_P - 0.1 - + EXFW_ROLL_P - 0.2 - + EXFW_PITCH_P - 0.2 - + FPE_LO_THRUST - 0.4 - + FPE_SONAR_LP_U - 0.5 - + FPE_SONAR_LP_L - 0.2 - + FPE_DEBUG - 0 - - - FSC_S_P - 0.1 - - - FSC_L_PITCH - 0.4 - - FSC_L_ROLL - 0.4 + + RV_YAW_P - + ATT_MAG_DECL - 0.0 - + ATT_ACC_COMP - 2 - + SO3_COMP_KP - 1.0 - + SO3_COMP_KI - 0.05 - + SO3_ROLL_OFFS - 0.0 - + SO3_PITCH_OFFS - 0.0 - + SO3_YAW_OFFS - 0.0 - + TRIM_ROLL - 0.0 - + TRIM_PITCH - 0.0 - + TRIM_YAW - 0.0 - + TEST_MIN - -1.0 - + TEST_MAX - 1.0 - + TEST_TRIM - 0.5 - + TEST_HP - 10.0 - + TEST_LP - 10.0 - + TEST_P - 0.2 - + TEST_I - 0.1 - + TEST_I_MAX - 1.0 - + TEST_D - 0.01 - + TEST_D_LP - 10.0 - + TEST_MEAN - 1.0 - + TEST_DEV - 2.0 - + FWB_P_LP - 300.0 - + FWB_Q_LP - 300.0 - + FWB_R_LP - 300.0 - + FWB_R_HP - 1.0 - + FWB_P2AIL - 0.3 - + FWB_Q2ELV - 0.1 - + FWB_R2RDR - 0.1 - + FWB_PSI2PHI - 0.5 - + FWB_PHI2P - 1.0 - + FWB_PHI_LIM_MAX - 0.3 - + FWB_V2THE_P - 1.0 - + FWB_V2THE_I - 0.0 - + FWB_V2THE_D - 0.0 - + FWB_V2THE_D_LP - 0.0 - + FWB_V2THE_I_MAX - 0.0 - + FWB_THE_MIN - -0.5 - + FWB_THE_MAX - 0.5 - + FWB_THE2Q_P - 1.0 - + FWB_THE2Q_I - 0.0 - + FWB_THE2Q_D - 0.0 - + FWB_THE2Q_D_LP - 0.0 - + FWB_THE2Q_I_MAX - 0.0 - + FWB_H2THR_P - 0.01 - + FWB_H2THR_I - 0.0 - + FWB_H2THR_D - 0.0 - + FWB_H2THR_D_LP - 0.0 - + FWB_H2THR_I_MAX - 0.0 - + FWB_XT2YAW_MAX - 1.57 - + FWB_XT2YAW - 0.005 - + FWB_V_MIN - 10.0 - + FWB_V_CMD - 12.0 - + FWB_V_MAX - 16.0 - + FWB_CR_MAX - 1.0 - + FWB_CR2THR_P - 0.01 - + FWB_CR2THR_I - 0.0 - + FWB_CR2THR_D - 0.0 - + FWB_CR2THR_D_LP - 0.0 - + FWB_CR2THR_I_MAX - 0.0 - + FWB_TRIM_THR - 0.8 - + FWB_TRIM_V - 12.0 - + Flare, minimum pitch Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached - 2.5 - + Flare, maximum pitch Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached - 15.0 - + SEG_TH2V_P - 10.0 - + SEG_TH2V_I - 0.0 - + SEG_TH2V_I_MAX - 0.0 - + SEG_Q2V - 1.0 - - - RC3_MIN - 1000 - - - RC3_TRIM - 1500 - - - RC3_MAX - 2000 - - - RC3_REV - 1.0 - - - RC3_DZ - 10.0 - - - RC4_MIN - 1000 - - - RC4_TRIM - 1500 - - - RC4_MAX - 2000 - - - RC4_REV - 1.0 - - - RC4_DZ - 10.0 - - - RC5_MIN - 1000 - - - RC5_TRIM - 1500 - - - RC5_MAX - 2000 - - - RC5_REV - 1.0 - - - RC5_DZ - 10.0 - - - RC6_MIN - 1000 - - - RC6_TRIM - 1500 - - - RC6_MAX - 2000 - - - RC6_REV - 1.0 - - - RC6_DZ - 10.0 - - - RC7_MIN - 1000 - - - RC7_TRIM - 1500 - - - RC7_MAX - 2000 - - - RC7_REV - 1.0 - - - RC7_DZ - 10.0 - - - RC8_MIN - 1000 - - - RC8_TRIM - 1500 - - - RC8_MAX - 2000 - - - RC8_REV - 1.0 - - - RC8_DZ - 10.0 - - - RC9_MIN - 1000 - - - RC9_TRIM - 1500 - - - RC9_MAX - 2000 - - - RC9_REV - 1.0 - - - RC9_DZ - 0.0 - - - RC10_MIN - 1000 - - - RC10_TRIM - 1500 - - - RC10_MAX - 2000 - - - RC10_REV - 1.0 - - - RC10_DZ - 0.0 - - - RC11_MIN - 1000 - - - RC11_TRIM - 1500 - - - RC11_MAX - 2000 - - - RC11_REV - 1.0 - - - RC11_DZ - 0.0 - - - RC12_MIN - 1000 - - - RC12_TRIM - 1500 - - - RC12_MAX - 2000 - - - RC12_REV - 1.0 - - - RC12_DZ - 0.0 - - - RC13_MIN - 1000 - - - RC13_TRIM - 1500 - - - RC13_MAX - 2000 - - - RC13_REV - 1.0 - - - RC13_DZ - 0.0 - - - RC14_MIN - 1000 - - - RC14_TRIM - 1500 - - - RC14_MAX - 2000 - - - RC14_REV - 1.0 - - - RC14_DZ - 0.0 - - RC15_MIN - 1000 - - - RC15_TRIM - 1500 - - - RC15_MAX - 2000 - - - RC15_REV - 1.0 - - - RC15_DZ - 0.0 - - - RC16_MIN - 1000 - - - RC16_TRIM - 1500 - - - RC16_MAX - 2000 - - - RC16_REV - 1.0 - - - RC16_DZ - 0.0 - - - RC17_MIN - 1000 - - - RC17_TRIM - 1500 - - - RC17_MAX - 2000 - - - RC17_REV - 1.0 - - - RC17_DZ - 0.0 - - - RC18_MIN - 1000 - - - RC18_TRIM - 1500 - - - RC18_MAX - 2000 - - - RC18_REV - 1.0 - - - RC18_DZ - 0.0 - - + RC_RL1_DSM_VCC - 0 - + Failsafe channel mapping The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific rc channel to use - 0 0 18 - - Threshold for selecting assist mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits - 0 : min - 1 : max - sign indicates polarity of comparison - positive : true when channel>th - negative : true when channel<th - 0.25 - - - Threshold for selecting auto mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits - 0 : min - 1 : max - sign indicates polarity of comparison - positive : true when channel>th - negative : true when channel<th - 0.75 - - + Threshold for selecting posctl mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits - 0 : min - 1 : max - sign indicates polarity of comparison - positive : true when channel>th - negative : true when channel<th - 0.5 - - - Threshold for selecting return to launch mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits - 0 : min - 1 : max - sign indicates polarity of comparison - positive : true when channel>th - negative : true when channel<th - 0.5 - - - Threshold for selecting loiter mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - 0.5 - - - Threshold for selecting acro mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits - 0 : min - 1 : max - sign indicates polarity of comparison - positive : true when channel>th - negative : true when channel<th - 0.5 - - - Threshold for selecting offboard mode - min:-1 - max:+1 - 0-1 indicate where in the full channel range the threshold sits - 0 : min - 1 : max - sign indicates polarity of comparison - positive : true when channel>th - negative : true when channel<th - 0.5 + -1 + 1 diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.cc b/src/AutoPilotPlugins/PX4/PowerComponent.cc new file mode 100644 index 0000000000000000000000000000000000000000..d1bf8fef201d5dcaf588073ebc3f7d2eefdce2a3 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/PowerComponent.cc @@ -0,0 +1,112 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Gus Grubba + +#include "PowerComponent.h" +#include "PX4RCCalibration.h" +#include "QGCQmlWidgetHolder.h" +#include "PX4AutoPilotPlugin.h" + +PowerComponent::PowerComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) : + PX4Component(uas, autopilot, parent), + _name(tr("Power")) +{ +} + +QString PowerComponent::name(void) const +{ + return _name; +} + +QString PowerComponent::description(void) const +{ + return tr("The Power Component is used to setup battery parameters as well as advanced settings for propellers and magnetometer."); +} + +QString PowerComponent::iconResource(void) const +{ + return "PowerComponentIcon.png"; +} + +bool PowerComponent::requiresSetup(void) const +{ + return true; +} + +bool PowerComponent::setupComplete(void) const +{ + QVariant cvalue, evalue, nvalue; + return _autopilot->getParameterFact("BAT_V_CHARGED")->value().toFloat() != 0.0f && + _autopilot->getParameterFact("BAT_V_EMPTY")->value().toFloat() != 0.0f && + _autopilot->getParameterFact("BAT_N_CELLS")->value().toInt() != 0; +} + +QString PowerComponent::setupStateDescription(void) const +{ + const char* stateDescription; + + if (requiresSetup()) { + stateDescription = "Requires setup"; + } else { + stateDescription = "Setup complete"; + } + return QString(stateDescription); +} + +QStringList PowerComponent::setupCompleteChangedTriggerList(void) const +{ + return QStringList(); +} + +QStringList PowerComponent::paramFilterList(void) const +{ + QStringList list; + + return list; +} + +QWidget* PowerComponent::setupWidget(void) const +{ + QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder(); + Q_CHECK_PTR(holder); + holder->setAutoPilot(_autopilot); + holder->setSource(QUrl::fromUserInput("qrc:/qml/PowerComponent.qml")); + return holder; +} + +QUrl PowerComponent::summaryQmlSource(void) const +{ + return QUrl::fromUserInput("qrc:/qml/PowerComponentSummary.qml"); +} + +QString PowerComponent::prerequisiteSetup(void) const +{ + PX4AutoPilotPlugin* plugin = dynamic_cast(_autopilot); + Q_ASSERT(plugin); + if (!plugin->airframeComponent()->setupComplete()) { + return plugin->airframeComponent()->name(); + } + return QString(); +} diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.h b/src/AutoPilotPlugins/PX4/PowerComponent.h new file mode 100644 index 0000000000000000000000000000000000000000..a89ef9a4acd611d827f65817cccec95dad74b595 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/PowerComponent.h @@ -0,0 +1,60 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +#ifndef PowerComponent_H +#define PowerComponent_H + +#include "PX4Component.h" + +/// @file +/// @brief Battery, propeller and magnetometer settings +/// @author Gus Grubba + +class PowerComponent : public PX4Component +{ + Q_OBJECT + +public: + PowerComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL); + + // Virtuals from PX4Component + virtual QStringList setupCompleteChangedTriggerList(void) const; + + // Virtuals from VehicleComponent + virtual QString name (void) const; + virtual QString description (void) const; + virtual QString iconResource (void) const; + virtual bool requiresSetup (void) const; + virtual bool setupComplete (void) const; + virtual QString setupStateDescription (void) const; + virtual QWidget* setupWidget (void) const; + virtual QStringList paramFilterList (void) const; + virtual QUrl summaryQmlSource (void) const; + virtual QString prerequisiteSetup (void) const; + +private: + const QString _name; + QVariantList _summaryItems; +}; + +#endif diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml new file mode 100644 index 0000000000000000000000000000000000000000..61378e93c0ca0b6eaa1cdbeb7a90627526920385 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml @@ -0,0 +1,292 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @brief Battery, propeller and magnetometer settings +/// @author Gus Grubba + +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.FactControls 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +Rectangle { + QGCPalette { id: palette; colorGroupEnabled: true } + + id: powerSettings + width: 600 + height: 600 + color: palette.window + + property int firstColumnWidth: 220 + property int textEditWidth: 80 + + property Fact battNumCells: Fact { name: "BAT_N_CELLS" } + property Fact battHighVolt: Fact { name: "BAT_V_CHARGED" } + property Fact battLowVolt: Fact { name: "BAT_V_EMPTY" } + + property alias battHigh: battHighRow + property alias battLow: battLowRow + + function getBatteryImage() + { + switch(battNumCells.value) { + case 1: return "/qml/PowerComponentBattery_01cell.svg"; + case 2: return "/qml/PowerComponentBattery_02cell.svg" + case 3: return "/qml/PowerComponentBattery_03cell.svg" + case 4: return "/qml/PowerComponentBattery_04cell.svg" + case 5: return "/qml/PowerComponentBattery_05cell.svg" + case 6: return "/qml/PowerComponentBattery_06cell.svg" + default: return "/qml/PowerComponentBattery_01cell.svg"; + } + } + + function drawArrowhead(ctx, x, y, radians) + { + ctx.save(); + ctx.beginPath(); + ctx.translate(x,y); + ctx.rotate(radians); + ctx.moveTo(0,0); + ctx.lineTo(5,10); + ctx.lineTo(-5,10); + ctx.closePath(); + ctx.restore(); + ctx.fill(); + } + + function drawLineWithArrow(ctx, x1, y1, x2, y2) + { + ctx.beginPath(); + ctx.moveTo(x1, y1); + ctx.lineTo(x2, y2); + ctx.stroke(); + var rd = Math.atan((y2 - y1) / (x2 - x1)); + rd += ((x2 > x1) ? 90 : -90) * Math.PI/180; + drawArrowhead(ctx, x2, y2, rd); + } + + Column { + anchors.fill: parent + spacing: 10 + + QGCLabel { + text: "POWER CONFIG" + font.pointSize: ScreenTools.fontPointFactor * (20); + } + + QGCLabel { + text: "Battery" + color: palette.text + font.pointSize: ScreenTools.fontPointFactor * (20); + } + + Rectangle { + width: parent.width + height: 120 + color: palette.windowShade + + Column { + id: batteryColumn + spacing: 10 + anchors.verticalCenter: parent.verticalCenter + x: (parent.x + 20) + + Row { + spacing: 10 + Column { + id: voltageCol + spacing: 10 + Row { + spacing: 10 + QGCLabel { text: "Number of Cells (in Series)"; width: firstColumnWidth; anchors.baseline: cellsField.baseline} + FactTextField { + id: cellsField + width: textEditWidth + fact: Fact { name: "BAT_N_CELLS" } + showUnits: true + } + } + Row { + id: battHighRow + spacing: 10 + QGCLabel { text: "Full Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battHighField.baseline} + FactTextField { + id: battHighField + width: textEditWidth + fact: Fact { name: "BAT_V_CHARGED" } + showUnits: true + } + } + Row { + id: battLowRow + spacing: 10 + QGCLabel { text: "Empty Voltage (per cell)"; width: firstColumnWidth; anchors.baseline: battLowField.baseline} + FactTextField { + id: battLowField + width: textEditWidth + fact: Fact { name: "BAT_V_EMPTY" } + showUnits: true + } + } + } + Canvas { + id: arrows + height: voltageCol.height + width: 40 + antialiasing: true + Connections { + target: ScreenTools + onRepaintRequestedChanged: { + arrows.requestPaint(); + } + } + onPaint: { + var y0 = voltageCol.mapFromItem(battHigh, 0, battHigh.height / 2).y; + var y1 = voltageCol.mapFromItem(battLow, 0, battLow.height / 2).y; + var context = getContext("2d"); + context.reset(); + context.strokeStyle = palette.button; + context.fillStyle = palette.button; + drawLineWithArrow(context, 0, y0, width, height * 0.25); + drawLineWithArrow(context, 0, y1, width, height * 0.85); + } + } + QGCColoredImage { + height: voltageCol.height + width: voltageCol.height * 0.75 + source: getBatteryImage(); + fillMode: Image.PreserveAspectFit + smooth: true + color: palette.button + cache: false + } + Item { width: 20; height: 1; } + Column { + spacing: 10 + anchors.verticalCenter: parent.verticalCenter + Row { + spacing: 10 + QGCLabel { + text: "Battery Max:" + color: palette.text + width: 80 + } + QGCLabel { + text: (battNumCells.value * battHighVolt.value).toFixed(1) + ' V' + color: palette.text + } + } + Row { + spacing: 10 + QGCLabel { + text: "Battery Min:" + color: palette.text + width: 80 + } + QGCLabel { + text: (battNumCells.value * battLowVolt.value).toFixed(1) + ' V' + color: palette.text + } + } + } + } + } + } + /* + * This is disabled for now + Row { + width: parent.width + spacing: 30 + visible: showAdvanced.checked + Column { + spacing: 10 + width: (parent.width / 2) - 5 + QGCLabel { + text: "Propeller Function" + color: palette.text + font.pointSize: ScreenTools.fontPointFactor * (20); + } + Rectangle { + width: parent.width + height: 160 + color: palette.windowShade + } + } + Column { + spacing: 10 + width: (parent.width / 2) - 5 + QGCLabel { + text: "Magnetometer Distortion" + color: palette.text + font.pointSize: ScreenTools.fontPointFactor * (20); + } + Rectangle { + width: parent.width + height: 160 + color: palette.windowShade + } + + } + } + */ + //-- Advanced Settings + QGCCheckBox { + id: showAdvanced + text: "Show Advanced Settings" + } + QGCLabel { + text: "Advanced Power Settings" + color: palette.text + font.pointSize: ScreenTools.fontPointFactor * (20); + visible: showAdvanced.checked + } + Rectangle { + width: parent.width + height: 40 + color: palette.windowShade + visible: showAdvanced.checked + Column { + id: advBatteryColumn + spacing: 10 + anchors.verticalCenter: parent.verticalCenter + x: (parent.x + 20) + Row { + spacing: 10 + QGCLabel { text: "Voltage Drop on Full Load (per cell)"; width: firstColumnWidth; anchors.baseline: battDropField.baseline} + FactTextField { + id: battDropField + width: textEditWidth + fact: Fact { name: "BAT_V_LOAD_DROP" } + showUnits: true + } + } + } + } + } +} diff --git a/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml b/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml new file mode 100644 index 0000000000000000000000000000000000000000..6577fe9bcc435221d49770852ae2f83aedc19531 --- /dev/null +++ b/src/AutoPilotPlugins/PX4/PowerComponentSummary.qml @@ -0,0 +1,58 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @brief Battery, propeller and magnetometer summary +/// @author Gus Grubba + +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.FactControls 1.0 +import QGroundControl.Controls 1.0 + +Column { + Fact { id: batVChargedFact; name: "BAT_V_CHARGED" } + Fact { id: batVEmptyFact; name: "BAT_V_EMPTY" } + Fact { id: batCellsFact; name: "BAT_N_CELLS" } + + anchors.fill: parent + anchors.margins: 8 + + VehicleSummaryRow { + labelText: "Battery Full:" + valueText: batVChargedFact.valueString + } + + VehicleSummaryRow { + labelText: "Battery Empty:" + valueText: batVEmptyFact.valueString + } + + VehicleSummaryRow { + labelText: "Number of Cells:" + valueText: batCellsFact.valueString + } +} diff --git a/src/AutoPilotPlugins/PX4/RadioComponent.cc b/src/AutoPilotPlugins/PX4/RadioComponent.cc index 1a3536d8827dff5f7421945bd2a8ae79aa878ed0..275cc813968df5b093299d3c468e99763a655370 100644 --- a/src/AutoPilotPlugins/PX4/RadioComponent.cc +++ b/src/AutoPilotPlugins/PX4/RadioComponent.cc @@ -62,13 +62,7 @@ bool RadioComponent::setupComplete(void) const QStringList attitudeMappings; attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE"; foreach(QString mapParam, attitudeMappings) { - QVariant value; - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), mapParam, value)) { - if (value.toInt() == 0) { - return false; - } - } else { - Q_ASSERT(false); + if (_autopilot->getParameterFact(mapParam)->value().toInt() == 0) { return false; } } @@ -86,28 +80,13 @@ bool RadioComponent::setupComplete(void) const QString param; param = QString("RC%1_MIN").arg(i); - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) { - rcMin = value.toInt(); - } else { - Q_ASSERT(false); - return false; - } + rcMin = _autopilot->getParameterFact(param)->value().toInt(); param = QString("RC%1_MAX").arg(i); - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) { - rcMax = value.toInt(); - } else { - Q_ASSERT(false); - return false; - } + rcMax = _autopilot->getParameterFact(param)->value().toInt(); param = QString("RC%1_TRIM").arg(i); - if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) { - rcTrim = value.toInt(); - } else { - Q_ASSERT(false); - return false; - } + rcTrim = _autopilot->getParameterFact(param)->value().toInt(); if (rcMin == rcMinDefault && rcMax == rcMaxDefault && rcTrim == rcTrimDefault) { return false; diff --git a/src/AutoPilotPlugins/PX4/RadioComponentSummary.qml b/src/AutoPilotPlugins/PX4/RadioComponentSummary.qml index d6951d5860d8b7fadf5b1ce3c61c9a6ea0e7dd7b..4038a6161b21980a18938dce14a704616652fe0e 100644 --- a/src/AutoPilotPlugins/PX4/RadioComponentSummary.qml +++ b/src/AutoPilotPlugins/PX4/RadioComponentSummary.qml @@ -6,78 +6,49 @@ import QGroundControl.FactSystem 1.0 import QGroundControl.Controls 1.0 Column { - anchors.fill: parent - anchors.margins: 8 + Fact { id: mapRollFact; name: "RC_MAP_ROLL" } + Fact { id: mapPitchFact; name: "RC_MAP_PITCH" } + Fact { id: mapYawFact; name: "RC_MAP_YAW" } + Fact { id: mapThrottleFact; name: "RC_MAP_THROTTLE" } + Fact { id: mapFlapsFact; name: "RC_MAP_FLAPS" } + Fact { id: mapAux1Fact; name: "RC_MAP_AUX1" } + Fact { id: mapAux2Fact; name: "RC_MAP_AUX2" } - Component { - id: component + anchors.fill: parent + anchors.margins: 8 - Row { - width: parent.width - - QGCLabel { id: label; text: labelText } - QGCLabel { - Fact { id: fact; name: factName } - horizontalAlignment: Text.AlignRight - width: parent.width - label.contentWidth - text: fact.value == 0 ? zeroText : fact.value - } - } - } - - Loader { - property string labelText: "Roll:" - property string zeroText: "Setup required" - property string factName: "RC_MAP_ROLL" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Roll:" + valueText: mapRollFact.value == 0 ? "Setup required" : mapRollFact.valueString } - Loader { - property string labelText: "Pitch:" - property string zeroText: "Setup required" - property string factName: "RC_MAP_PITCH" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Pitch:" + valueText: mapPitchFact.value == 0 ? "Setup required" : mapPitchFact.valueString } - Loader { - property string labelText: "Yaw:" - property string zeroText: "Setup required" - property string factName: "RC_MAP_YAW" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Yaw:" + valueText: mapYawFact.value == 0 ? "Setup required" : mapYawFact.valueString } - Loader { - property string labelText: "Throttle:" - property string zeroText: "Setup required" - property string factName: "RC_MAP_THROTTLE" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Throttle:" + valueText: mapThrottleFact.value == 0 ? "Setup required" : mapThrottleFact.valueString } - Loader { - property string labelText: "Flaps:" - property string zeroText: "Disabled" - property string factName: "RC_MAP_FLAPS" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Flaps:" + valueText: mapFlapsFact.value == 0 ? "Disabled" : mapFlapsFact.valueString } - Loader { - property string labelText: "Aux1:" - property string zeroText: "Disabled" - property string factName: "RC_MAP_AUX1" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Aux1:" + valueText: mapAux1Fact.value == 0 ? "Disabled" : mapAux1Fact.valueString } - Loader { - property string labelText: "Aux2:" - property string zeroText: "Disabled" - property string factName: "RC_MAP_AUX2" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Aux2:" + valueText: mapAux2Fact.value == 0 ? "Disabled" : mapAux2Fact.valueString } } diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml index 42ca8cc0ecbfa9ca85e7cf0eb6db265a78083226..a955a4d2bf281a3f10a2babe2f8cf559b34e227d 100644 --- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml +++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml @@ -1,3 +1,26 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.2 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 @@ -6,6 +29,7 @@ import QGroundControl.FactSystem 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 Rectangle { QGCPalette { id: palette; colorGroupEnabled: true } @@ -29,7 +53,7 @@ Rectangle { QGCLabel { text: "SAFETY CONFIG" - font.pointSize: 20 + font.pointSize: ScreenTools.fontPointFactor * (20); } Item { height: 20; width: 10 } // spacer @@ -37,7 +61,7 @@ Rectangle { //----------------------------------------------------------------- //-- Return Home Triggers - QGCLabel { text: "Triggers For Return Home"; color: palette.text; font.pointSize: 20 } + QGCLabel { text: "Triggers For Return Home"; color: palette.text; font.pointSize: ScreenTools.fontPointFactor * (20); } Item { height: 10; width: 10 } // spacer @@ -96,7 +120,7 @@ Rectangle { //----------------------------------------------------------------- //-- Return Home Settings - QGCLabel { text: "Return Home Settings"; font.pointSize: 20 } + QGCLabel { text: "Return Home Settings"; font.pointSize: ScreenTools.fontPointFactor * (20); } Item { height: 10; width: 10 } // spacer @@ -201,7 +225,7 @@ Rectangle { y: parent.height - height - 20 width: 80 height: parent.height / 2 - source: "/qml/SafetyComponentTree.png" + source: "/qml/SafetyComponentTree.svg" fillMode: Image.Stretch smooth: true color: palette.windowShadeDark @@ -212,8 +236,8 @@ Rectangle { y: parent.height - height width: 100 height: parent.height * .75 - source: "/qml/SafetyComponentTree.png" - fillMode: Image.Stretch + source: "/qml/SafetyComponentTree.svg" + fillMode: Image.PreserveAspectFit smooth: true color: palette.button } @@ -248,12 +272,12 @@ Rectangle { QGCLabel { text: "Home loiter altitude"; color: palette.text; - enabled: homeLoiterCheckbox.checked == true + enabled: homeLoiterCheckbox.checked === true } FactTextField { id: descendField; fact: Fact { name: "RTL_DESCEND_ALT" } - enabled: homeLoiterCheckbox.checked == true + enabled: homeLoiterCheckbox.checked === true showUnits: true } } @@ -266,17 +290,17 @@ Rectangle { QGCLabel { property Fact fact: Fact { name: "NAV_RCL_OBC" } width: parent.width - font.pointSize: 14 + font.pointSize: ScreenTools.fontPointFactor * (14); text: "Warning: You have an advanced safety configuration set using the NAV_RCL_OBC parameter. The above settings may not apply."; - visible: fact.value != 0 + visible: fact.value !== 0 wrapMode: Text.Wrap } QGCLabel { property Fact fact: Fact { name: "NAV_DLL_OBC" } width: parent.width - font.pointSize: 14 + font.pointSize: ScreenTools.fontPointFactor * (14); text: "Warning: You have an advanced safety configuration set using the NAV_DLL_OBC parameter. The above settings may not apply."; - visible: fact.value != 0 + visible: fact.value !== 0 wrapMode: Text.Wrap } } diff --git a/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml b/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml index ab50fbb2228dee6c61ce90376050b0fd6b2ef8f6..f55be12b61ed816b7b5615245f2ed3945b7221df 100644 --- a/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml +++ b/src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml @@ -7,63 +7,37 @@ import QGroundControl.FactControls 1.0 import QGroundControl.Controls 1.0 Column { - anchors.fill: parent - anchors.margins: 8 - - Row { - width: parent.width - - QGCLabel { id: rtlMinAlt; text: "RTL min alt:" } - FactLabel { - fact: Fact { name: "RTL_RETURN_ALT" } - horizontalAlignment: Text.AlignRight; - width: parent.width - rtlMinAlt.contentWidth; - } + Fact { id: returnAltFact; name: "RTL_RETURN_ALT" } + Fact { id: descendAltFact; name: "RTL_DESCEND_ALT" } + Fact { id: landDelayFact; name: "RTL_LAND_DELAY" } + Fact { id: commDLLossFact; name: "COM_DL_LOSS_EN" } + Fact { id: commRCLossFact; name: "COM_RC_LOSS_T" } + + anchors.fill: parent + anchors.margins: 8 + + VehicleSummaryRow { + labelText: "RTL min alt:" + valueText: returnAltFact.valueString } - Row { - width: parent.width - - QGCLabel { id: rtlHomeAlt; text: "RTL home alt:" } - FactLabel { - fact: Fact { name: "RTL_DESCEND_ALT" } - horizontalAlignment: Text.AlignRight; - width: parent.width - rtlHomeAlt.contentWidth; - } + VehicleSummaryRow { + labelText: "RTL home alt:" + valueText: descendAltFact.valueString } - Row { - width: parent.width - - QGCLabel { id: rtlLoiter; text: "RTL loiter delay:" } - QGCLabel { - property Fact fact: Fact { name: "RTL_LAND_DELAY" } - horizontalAlignment: Text.AlignRight; - width: parent.width - rtlLoiter.contentWidth; - text: fact.value < 0 ? "Disabled" : fact.valueString - } + VehicleSummaryRow { + labelText: "RTL loiter delay:" + valueText: landDelayFact.value < 0 ? "Disabled" : landDelayFact.valueString } - Row { - width: parent.width - - QGCLabel { id: commLoss; text: "Telemetry loss RTL:" } - QGCLabel { - property Fact fact: Fact { name: "COM_DL_LOSS_EN" } - horizontalAlignment: Text.AlignRight; - width: parent.width - commLoss.contentWidth; - text: fact.value != 1 ? "Disabled" : fact.valueString - } + VehicleSummaryRow { + labelText: "Telemetry loss RTL:" + valueText: commDLLossFact.value != -1 ? "Disabled" : commDLLossFact.valueString } - Row { - width: parent.width - - QGCLabel { id: rcLoss; text: "RC loss RTL (seconds):" } - FactLabel { - fact: Fact { name: "COM_RC_LOSS_T" } - horizontalAlignment: Text.AlignRight; - width: parent.width - rcLoss.contentWidth; - } + VehicleSummaryRow { + labelText: "RC loss RTL (seconds):" + valueText: commRCLossFact.valueString } } diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc index 4c14ba7c32bf97e85f298913c7bb505fb38de232..60caa24922d363f8fab50804b43c8ffc9cf04566 100644 --- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc +++ b/src/AutoPilotPlugins/PX4/SensorsComponent.cc @@ -62,14 +62,7 @@ bool SensorsComponent::requiresSetup(void) const bool SensorsComponent::setupComplete(void) const { foreach(QString triggerParam, setupCompleteChangedTriggerList()) { - QVariant value; - - if (!_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParam, value)) { - Q_ASSERT(false); - return false; - } - - if (value.toFloat() == 0.0f) { + if (_autopilot->getParameterFact(triggerParam)->value().toFloat() == 0.0f) { return false; } } diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.qml b/src/AutoPilotPlugins/PX4/SensorsComponent.qml index ad8159738f41607baa6b23b6c0754ceca70c6580..619de30c583f5868d57a372e0df8f0f8dd403352 100644 --- a/src/AutoPilotPlugins/PX4/SensorsComponent.qml +++ b/src/AutoPilotPlugins/PX4/SensorsComponent.qml @@ -1,11 +1,36 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.2 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 +import QtQuick.Dialogs 1.2 import QGroundControl.FactSystem 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 Rectangle { property QGCPalette qgcPal: QGCPalette { colorGroupEnabled: true } @@ -41,6 +66,25 @@ Rectangle { "ROTATION_ROLL_270_YAW_270" ] + readonly property string statusTextAreaDefaultText: "Sensor config is a work in progress. Not all visuals for all calibration types fully implemented.\n\n" + + "For Compass calibration you will need to rotate your vehicle through a number of positions. For this calibration is is best " + + "to be connected to you vehicle via radio instead of USB since the USB cable will likely get in the way.\n\n" + + "For Gyroscope calibration you will need to place your vehicle right side up on solid surface and leave it still.\n\n" + + "For Accelerometer calibration you will need to place your vehicle on all six sides and hold it there for a few seconds.\n\n" + + "For Airspeed calibration you will need to keep your airspeed sensor out of any wind.\n\n" + + Fact { id: cal_mag0_id; name: "CAL_MAG0_ID" } + Fact { id: cal_mag1_id; name: "CAL_MAG1_ID" } + Fact { id: cal_mag2_id; name: "CAL_MAG2_ID" } + Fact { id: cal_mag0_rot; name: "CAL_MAG0_ROT" } + Fact { id: cal_mag1_rot; name: "CAL_MAG1_ROT" } + Fact { id: cal_mag2_rot; name: "CAL_MAG2_ROT" } + + // Id > = signals compass available, rot < 0 signals internal compass + property bool showCompass0Rot: cal_mag0_id.value > 0 && cal_mag0_rot.value >= 0 + property bool showCompass1Rot: cal_mag1_id.value > 0 && cal_mag1_rot.value >= 0 + property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0 + color: qgcPal.window // We use this bogus loader just so we can get an onLoaded signal to hook to in order to @@ -54,6 +98,231 @@ Rectangle { onLoaded: { controller.statusLog = statusTextArea controller.progressBar = progressBar + controller.compassButton = compassButton + controller.gyroButton = gyroButton + controller.accelButton = accelButton + controller.airspeedButton = airspeedButton + controller.cancelButton = cancelButton + controller.orientationCalAreaHelpText = orientationCalAreaHelpText + } + } + + Connections { + target: controller + + onResetStatusTextArea: statusTextArea.text = statusTextAreaDefaultText + onSetCompassRotations: showCompassRotationOverlay() + } + + Rectangle { + id: overlay + anchors.fill: parent + color: qgcPal.window + opacity: 0.75 + z: 100 + visible: false + } + + Rectangle { + width: 300 + height: 100 + anchors.verticalCenter: parent.verticalCenter + anchors.horizontalCenter: parent.horizontalCenter + color: qgcPal.window + border.width: 1 + border.color: qgcPal.text + visible: controller.waitingForCancel + z: overlay.z + 1 + + onVisibleChanged: { + overlay.visible = visible + } + + QGCLabel { + anchors.fill: parent + verticalAlignment: Text.AlignVCenter + horizontalAlignment: Text.AlignHCenter + text: "Waiting for Cancel (may take a few seconds)" + } + } + + Rectangle { + property string calibrationType + + id: boardRotationOverlay + width: 300 + height: boardRotationOverlayColumn.height + 11 + anchors.verticalCenter: parent.verticalCenter + anchors.horizontalCenter: parent.horizontalCenter + color: qgcPal.window + border.width: 1 + border.color: qgcPal.text + visible: false + z: overlay.z + 1 + + Column { + id: boardRotationOverlayColumn + anchors.topMargin: 10 + anchors.top: parent.top + width: parent.width + spacing: 10 + + Column { + anchors.leftMargin: 10 + anchors.rightMargin: 10 + anchors.left: parent.left + anchors.right: parent.right + spacing: 10 + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + text: "Please check and/or update board rotation before calibrating" + } + + FactComboBox { + width: rotationColumnWidth + model: rotations + fact: Fact { name: "SENS_BOARD_ROT" } + } + } + + QGCButton { + x: 1 + width: parent.width - 2 + primary: true + text: "OK" + + onClicked: { + boardRotationOverlay.visible = false + overlay.visible = false + + if (boardRotationOverlay.calibrationType == "gyro") { + controller.calibrateGyro() + } else if (boardRotationOverlay.calibrationType == "accel") { + controller.calibrateAccel() + } else if (boardRotationOverlay.calibrationType == "compass") { + controller.calibrateCompass() + } + } + } + } + } + + function showBoardRotationOverlay(calibrationType) { + boardRotationOverlay.calibrationType = calibrationType + boardRotationOverlay.visible = true + overlay.visible = true + } + + Rectangle { + id: compassRotationOverlay + width: 300 + height: compassRotationOverlayColumn.height + 11 + anchors.verticalCenter: parent.verticalCenter + anchors.horizontalCenter: parent.horizontalCenter + color: qgcPal.window + border.width: 1 + border.color: qgcPal.text + visible: false + z: overlay.z + 1 + + Column { + id: compassRotationOverlayColumn + anchors.topMargin: 10 + anchors.top: parent.top + width: parent.width + spacing: 10 + + Column { + anchors.leftMargin: 10 + anchors.rightMargin: 10 + anchors.left: parent.left + anchors.right: parent.right + spacing: 10 + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + text: "Please check and/or update compass rotation(s)" + } + + // Compass 0 rotation + Component { + id: compass0ComponentLabel + + QGCLabel { text: "Compass Orientation" } + } + Component { + id: compass0ComponentCombo + + FactComboBox { + id: compass0RotationCombo + width: rotationColumnWidth + model: rotations + fact: Fact { name: "CAL_MAG0_ROT" } + } + } + Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel : null } + Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo : null } + + // Compass 1 rotation + Component { + id: compass1ComponentLabel + + QGCLabel { text: "Compass 1 Orientation" } + } + Component { + id: compass1ComponentCombo + + FactComboBox { + id: compass1RotationCombo + width: rotationColumnWidth + model: rotations + fact: Fact { name: "CAL_MAG1_ROT" } + } + } + Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel : null } + Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo : null } + + // Compass 2 rotation + Component { + id: compass2ComponentLabel + + QGCLabel { text: "Compass 2 Orientation" } + } + Component { + id: compass2ComponentCombo + + FactComboBox { + id: compass1RotationCombo + width: rotationColumnWidth + model: rotations + fact: Fact { name: "CAL_MAG2_ROT" } + } + } + Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel : null } + Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo : null } + } + + QGCButton { + x: 1 + width: parent.width - 2 + primary: true + text: "OK" + + onClicked: { + compassRotationOverlay.visible = false + overlay.visible = false + } + } + } + } + + function showCompassRotationOverlay() { + if (showCompass0Rot || showCompass1Rot || showCompass2Rot) { + compassRotationOverlay.visible = true + overlay.visible = true } } @@ -62,7 +331,7 @@ Rectangle { QGCLabel { text: "SENSORS CONFIG" - font.pointSize: 20 + font.pointSize: ScreenTools.fontPointFactor * (20); } Item { height: 20; width: 10 } // spacer @@ -72,45 +341,58 @@ Rectangle { spacing: 20 - QGCLabel { text: "Calibrate:"; anchors.baseline: firstButton.baseline } + QGCLabel { text: "Calibrate:"; anchors.baseline: compassButton.baseline } IndicatorButton { property Fact fact: Fact { name: "CAL_MAG0_ID" } - id: firstButton + id: compassButton width: parent.buttonWidth text: "Compass" indicatorGreen: fact.value != 0 - onClicked: controller.calibrateCompass() + + onClicked: showBoardRotationOverlay("compass") } IndicatorButton { property Fact fact: Fact { name: "CAL_GYRO0_ID" } + id: gyroButton width: parent.buttonWidth text: "Gyroscope" indicatorGreen: fact.value != 0 - onClicked: controller.calibrateGyro() + + onClicked: showBoardRotationOverlay("gyro") } IndicatorButton { property Fact fact: Fact { name: "CAL_ACC0_ID" } + id: accelButton width: parent.buttonWidth text: "Accelerometer" indicatorGreen: fact.value != 0 - onClicked: controller.calibrateAccel() + + onClicked: showBoardRotationOverlay("accel") } IndicatorButton { property Fact fact: Fact { name: "SENS_DPRES_OFF" } + id: airspeedButton width: parent.buttonWidth text: "Airspeed" visible: controller.fixedWing indicatorGreen: fact.value != 0 onClicked: controller.calibrateAirspeed() } + + QGCButton { + id: cancelButton + text: "Cancel" + enabled: false + onClicked: controller.cancelCalibration() + } } Item { height: 20; width: 10 } // spacer @@ -135,12 +417,7 @@ Rectangle { height: parent.height readOnly: true frameVisible: false - text: "Sensor config is a work in progress. Not all visuals for all calibration types fully implemented.\n\n" + - "For Compass calibration you will need to rotate your vehicle through a number of positions. For this calibration is is best " + - "to be connected to you vehicle via radio instead of USB since the USB cable will likely get in the way.\n\n" + - "For Gyroscope calibration you will need to place your vehicle right side up on solid surface and leave it still.\n\n" + - "For Accelerometer calibration you will need to place your vehicle on all six sides and hold it there for a few seconds.\n\n" + - "For Airspeed calibration you will need to keep your airspeed sensor out of any wind.\n\n" + text: statusTextAreaDefaultText style: TextAreaStyle { textColor: qgcPal.text @@ -149,112 +426,77 @@ Rectangle { } Rectangle { - id: gyroCalArea - width: parent.calDisplayAreaWidth - height: parent.height - visible: controller.showGyroCalArea - color: qgcPal.windowShade - - Column { - width: parent.width - - QGCLabel { - text: "Place your vehicle upright on a solid surface and hold it still." - } - - VehicleRotationCal { - width: 200 - height: 200 - calValid: true - calInProgress: controller.gyroCalInProgress - imageSource: "qrc:///qml/VehicleDown.png" - } - - } - } - - Rectangle { - id: accelCalArea + id: orientationCalArea width: parent.calDisplayAreaWidth height: parent.height - visible: controller.showAccelCalArea + visible: controller.showOrientationCalArea color: qgcPal.windowShade QGCLabel { - id: calAreaLabel - width: parent.width - wrapMode: Text.WordWrap - - text: "Place your vehicle into each of the positions below and hold still. Once that position is completed you can move to another." + id: orientationCalAreaHelpText + width: parent.width + wrapMode: Text.WordWrap + font.pointSize: ScreenTools.fontPointFactor * (17); } Flow { - y: calAreaLabel.height + y: orientationCalAreaHelpText.height width: parent.width - height: parent.height - calAreaLabel.implicitHeight + height: parent.height - orientationCalAreaHelpText.implicitHeight spacing: 5 VehicleRotationCal { - width: 200 - height: 200 - calValid: controller.accelCalDownSideDone - calInProgress: controller.accelCalDownSideInProgress - imageSource: "qrc:///qml/VehicleDown.png" + visible: controller.orientationCalDownSideVisible + calValid: controller.orientationCalDownSideDone + calInProgress: controller.orientationCalDownSideInProgress + calInProgressText: controller.orientationCalDownSideRotate ? "Rotate" : "Hold Still" + imageSource: controller.orientationCalDownSideRotate ? "qrc:///qml/VehicleDownRotate.png" : "qrc:///qml/VehicleDown.png" } VehicleRotationCal { - width: 200 - height: 200 - calValid: controller.accelCalUpsideDownSideDone - calInProgress: controller.accelCalUpsideDownSideInProgress - imageSource: "qrc:///qml/VehicleUpsideDown.png" + visible: controller.orientationCalUpsideDownSideVisible + calValid: controller.orientationCalUpsideDownSideDone + calInProgress: controller.orientationCalUpsideDownSideInProgress + calInProgressText: "Hold Still" + imageSource: "qrc:///qml/VehicleUpsideDown.png" } VehicleRotationCal { - width: 200 - height: 200 - calValid: controller.accelCalNoseDownSideDone - calInProgress: controller.accelCalNoseDownSideInProgress - imageSource: "qrc:///qml/VehicleNoseDown.png" + visible: controller.orientationCalNoseDownSideVisible + calValid: controller.orientationCalNoseDownSideDone + calInProgress: controller.orientationCalNoseDownSideInProgress + calInProgressText: controller.orientationCalNoseDownSideRotate ? "Rotate" : "Hold Still" + imageSource: controller.orientationCalNoseDownSideRotate ? "qrc:///qml/VehicleNoseDownRotate.png" : "qrc:///qml/VehicleNoseDown.png" } VehicleRotationCal { - width: 200 - height: 200 - calValid: controller.accelCalTailDownSideDone - calInProgress: controller.accelCalTailDownSideInProgress - imageSource: "qrc:///qml/VehicleTailDown.png" + visible: controller.orientationCalTailDownSideVisible + calValid: controller.orientationCalTailDownSideDone + calInProgress: controller.orientationCalTailDownSideInProgress + calInProgressText: "Hold Still" + imageSource: "qrc:///qml/VehicleTailDown.png" } VehicleRotationCal { - width: 200 - height: 200 - calValid: controller.accelCalLeftSideDone - calInProgress: controller.accelCalLeftSideInProgress - imageSource: "qrc:///qml/VehicleLeft.png" + visible: controller.orientationCalLeftSideVisible + calValid: controller.orientationCalLeftSideDone + calInProgress: controller.orientationCalLeftSideInProgress + calInProgressText: controller.orientationCalLeftSideRotate ? "Rotate" : "Hold Still" + imageSource: controller.orientationCalLeftSideRotate ? "qrc:///qml/VehicleLeftRotate.png" : "qrc:///qml/VehicleLeft.png" } VehicleRotationCal { - width: 200 - height: 200 - calValid: controller.accelCalRightSideDone - calInProgress: controller.accelCalRightSideInProgress - imageSource: "qrc:///qml/VehicleRight.png" + visible: controller.orientationCalRightSideVisible + calValid: controller.orientationCalRightSideDone + calInProgress: controller.orientationCalRightSideInProgress + calInProgressText: "Hold Still" + imageSource: "qrc:///qml/VehicleRight.png" } } } Column { - property Fact cal_mag0_rot: Fact { name: "CAL_MAG0_ROT" } - property Fact cal_mag1_rot: Fact { name: "CAL_MAG1_ROT" } - property Fact cal_mag2_rot: Fact { name: "CAL_MAG2_ROT" } - - // Compass rotation parameter < 0 indicates either internal compass, or no compass. So in - // both those cases we do not show a rotation combo. - property bool showCompass0: cal_mag0_rot.value >= 0 - property bool showCompass1: cal_mag1_rot.value >= 0 - property bool showCompass2: cal_mag2_rot.value >= 0 - x: parent.width - rotationColumnWidth QGCLabel { text: "Autpilot Orientation" } FactComboBox { + id: boardRotationCombo width: rotationColumnWidth; model: rotations fact: Fact { name: "SENS_BOARD_ROT" } @@ -262,57 +504,60 @@ Rectangle { // Compass 0 rotation Component { - id: compass0ComponentLabel + id: compass0ComponentLabel2 QGCLabel { text: "Compass Orientation" } } Component { - id: compass0ComponentCombo + id: compass0ComponentCombo2 FactComboBox { + id: compass0RotationCombo width: rotationColumnWidth model: rotations fact: Fact { name: "CAL_MAG0_ROT" } } } - Loader { sourceComponent: parent.showCompass0 ? compass0ComponentLabel : null } - Loader { sourceComponent: parent.showCompass0 ? compass0ComponentCombo : null } + Loader { sourceComponent: showCompass0Rot ? compass0ComponentLabel2 : null } + Loader { sourceComponent: showCompass0Rot ? compass0ComponentCombo2 : null } // Compass 1 rotation Component { - id: compass1ComponentLabel + id: compass1ComponentLabel2 QGCLabel { text: "Compass 1 Orientation" } } Component { - id: compass1ComponentCombo + id: compass1ComponentCombo2 FactComboBox { + id: compass1RotationCombo width: rotationColumnWidth model: rotations fact: Fact { name: "CAL_MAG1_ROT" } } } - Loader { sourceComponent: parent.showCompass1 ? compass1ComponentLabel : null } - Loader { sourceComponent: parent.showCompass1 ? compass1ComponentCombo : null } + Loader { sourceComponent: showCompass1Rot ? compass1ComponentLabel2 : null } + Loader { sourceComponent: showCompass1Rot ? compass1ComponentCombo2 : null } // Compass 2 rotation Component { - id: compass2ComponentLabel + id: compass2ComponentLabel2 QGCLabel { text: "Compass 2 Orientation" } } Component { - id: compass2ComponentCombo + id: compass2ComponentCombo2 FactComboBox { + id: compass1RotationCombo width: rotationColumnWidth model: rotations fact: Fact { name: "CAL_MAG2_ROT" } } } - Loader { sourceComponent: parent.showCompass2 ? compass2ComponentLabel : null } - Loader { sourceComponent: parent.showCompass2 ? compass2ComponentCombo : null } + Loader { sourceComponent: showCompass2Rot ? compass2ComponentLabel2 : null } + Loader { sourceComponent: showCompass2Rot ? compass2ComponentCombo2 : null } } } } diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc index 6b44d110e31968f9fb17ceb83e19e205e4ca789a..c3d8ac7575943defd72853d9d8bf4f56b6986f58 100644 --- a/src/AutoPilotPlugins/PX4/SensorsComponentController.cc +++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.cc @@ -36,24 +36,53 @@ SensorsComponentController::SensorsComponentController(AutoPilotPlugin* autopilo QObject(parent), _statusLog(NULL), _progressBar(NULL), - _showGyroCalArea(false), - _showAccelCalArea(false), + _compassButton(NULL), + _gyroButton(NULL), + _accelButton(NULL), + _airspeedButton(NULL), + _cancelButton(NULL), + _showOrientationCalArea(false), _gyroCalInProgress(false), - _accelCalDownSideDone(false), - _accelCalUpsideDownSideDone(false), - _accelCalLeftSideDone(false), - _accelCalRightSideDone(false), - _accelCalNoseDownSideDone(false), - _accelCalTailDownSideDone(false), - _accelCalDownSideInProgress(false), - _accelCalUpsideDownSideInProgress(false), - _accelCalLeftSideInProgress(false), - _accelCalRightSideInProgress(false), - _accelCalNoseDownSideInProgress(false), - _accelCalTailDownSideInProgress(false), + _magCalInProgress(false), + _accelCalInProgress(false), + _orientationCalDownSideDone(false), + _orientationCalUpsideDownSideDone(false), + _orientationCalLeftSideDone(false), + _orientationCalRightSideDone(false), + _orientationCalNoseDownSideDone(false), + _orientationCalTailDownSideDone(false), + _orientationCalDownSideVisible(false), + _orientationCalUpsideDownSideVisible(false), + _orientationCalLeftSideVisible(false), + _orientationCalRightSideVisible(false), + _orientationCalNoseDownSideVisible(false), + _orientationCalTailDownSideVisible(false), + _orientationCalDownSideInProgress(false), + _orientationCalUpsideDownSideInProgress(false), + _orientationCalLeftSideInProgress(false), + _orientationCalRightSideInProgress(false), + _orientationCalNoseDownSideInProgress(false), + _orientationCalTailDownSideInProgress(false), + _orientationCalDownSideRotate(false), + _orientationCalLeftSideRotate(false), + _orientationCalNoseDownSideRotate(false), + _unknownFirmwareVersion(false), + _waitingForCancel(false), _autopilot(autopilot) { - Q_ASSERT(autopilot); + Q_ASSERT(_autopilot); + Q_ASSERT(_autopilot->pluginReady()); + + _uas = _autopilot->uas(); + Q_ASSERT(_uas); + + // Mag rotation parameters are optional + _showCompass0 = _autopilot->parameterExists("CAL_MAG0_ROT") && + _autopilot->getParameterFact("CAL_MAG0_ROT")->value().toInt() >= 0; + _showCompass1 = _autopilot->parameterExists("CAL_MAG1_ROT") && + _autopilot->getParameterFact("CAL_MAG1_ROT")->value().toInt() >= 0; + _showCompass2 = _autopilot->parameterExists("CAL_MAG2_ROT") && + _autopilot->getParameterFact("CAL_MAG2_ROT")->value().toInt() >= 0; } /// Appends the specified text to the status log area in the ui @@ -69,56 +98,115 @@ void SensorsComponentController::_appendStatusLog(const QString& text) Q_ARG(QVariant, varText)); } -void SensorsComponentController::calibrateGyro(void) +void SensorsComponentController::_startLogCalibration(void) { - _beginTextLogging(); + _unknownFirmwareVersion = false; + _hideAllCalAreas(); - UASInterface* uas = _autopilot->uas(); - Q_ASSERT(uas); - uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); + connect(_uas, &UASInterface::textMessageReceived, this, &SensorsComponentController::_handleUASTextMessage); + + _cancelButton->setEnabled(false); } -void SensorsComponentController::calibrateCompass(void) +void SensorsComponentController::_startVisualCalibration(void) { - _hideAllCalAreas(); - _beginTextLogging(); - - UASInterface* uas = _autopilot->uas(); - Q_ASSERT(uas); - uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); + _compassButton->setEnabled(false); + _gyroButton->setEnabled(false); + _accelButton->setEnabled(false); + _airspeedButton->setEnabled(false); + _cancelButton->setEnabled(true); + + _progressBar->setProperty("value", 0); } -void SensorsComponentController::calibrateAccel(void) +void SensorsComponentController::_stopCalibration(SensorsComponentController::StopCalibrationCode code) { - _beginTextLogging(); + disconnect(_uas, &UASInterface::textMessageReceived, this, &SensorsComponentController::_handleUASTextMessage); + + _compassButton->setEnabled(true); + _gyroButton->setEnabled(true); + _accelButton->setEnabled(true); + _airspeedButton->setEnabled(true); + _cancelButton->setEnabled(false); + + if (code == StopCalibrationSuccess) { + _orientationCalDownSideDone = true; + _orientationCalUpsideDownSideDone = true; + _orientationCalLeftSideDone = true; + _orientationCalRightSideDone = true; + _orientationCalTailDownSideDone = true; + _orientationCalNoseDownSideDone = true; + _orientationCalDownSideInProgress = false; + _orientationCalUpsideDownSideInProgress = false; + _orientationCalLeftSideInProgress = false; + _orientationCalRightSideInProgress = false; + _orientationCalNoseDownSideInProgress = false; + _orientationCalTailDownSideInProgress = false; + emit orientationCalSidesDoneChanged(); + emit orientationCalSidesInProgressChanged(); + + _progressBar->setProperty("value", 1); + } else { + _progressBar->setProperty("value", 0); + } + + _waitingForCancel = false; + emit waitingForCancelChanged(); - UASInterface* uas = _autopilot->uas(); - Q_ASSERT(uas); - uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0); + _refreshParams(); + + switch (code) { + case StopCalibrationSuccess: + _orientationCalAreaHelpText->setProperty("text", "Calibration complete"); + emit resetStatusTextArea(); + if (_magCalInProgress) { + emit setCompassRotations(); + } + break; + + case StopCalibrationCancelled: + emit resetStatusTextArea(); + _hideAllCalAreas(); + break; + + default: + // Assume failed + _hideAllCalAreas(); + QGCMessageBox::warning("Calibration", "Calibration failed. Calibration log will be displayed."); + break; + } + + _magCalInProgress = false; + _accelCalInProgress = false; + _gyroCalInProgress = false; } -void SensorsComponentController::calibrateAirspeed(void) +void SensorsComponentController::calibrateGyro(void) { - _hideAllCalAreas(); - _beginTextLogging(); + _startLogCalibration(); + _uas->startCalibration(UASInterface::StartCalibrationGyro); +} - UASInterface* uas = _autopilot->uas(); - Q_ASSERT(uas); - uas->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0); +void SensorsComponentController::calibrateCompass(void) +{ + _startLogCalibration(); + _uas->startCalibration(UASInterface::StartCalibrationMag); } -void SensorsComponentController::_beginTextLogging(void) +void SensorsComponentController::calibrateAccel(void) { - UASInterface* uas = _autopilot->uas(); - Q_ASSERT(uas); - connect(uas, &UASInterface::textMessageReceived, this, &SensorsComponentController::_handleUASTextMessage); + _startLogCalibration(); + _uas->startCalibration(UASInterface::StartCalibrationAccel); +} + +void SensorsComponentController::calibrateAirspeed(void) +{ + _startLogCalibration(); + _uas->startCalibration(UASInterface::StartCalibrationAirspeed); } void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, int severity, QString text) { - QString startingSidePrefix("Hold still, starting to measure "); - QString sideDoneSuffix(" side done, rotate to a different side"); - Q_UNUSED(compId); Q_UNUSED(severity); @@ -128,14 +216,6 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in return; } - QStringList ignorePrefixList; - ignorePrefixList << "[cmd]" << "[mavlink pm]" << "[ekf check]" << "[pm]" << "[inav]"; - foreach (QString ignorePrefix, ignorePrefixList) { - if (text.startsWith(ignorePrefix)) { - return; - } - } - if (text.contains("progress <")) { QString percent = text.split("<").last().split(">").first(); bool ok; @@ -148,113 +228,180 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in } _appendStatusLog(text); + + if (_unknownFirmwareVersion) { + // We don't know how to do visual cal with the version of firwmare + return; + } + + // All calibration messages start with [cal] + QString calPrefix("[cal] "); + if (!text.startsWith(calPrefix)) { + return; + } + text = text.right(text.length() - calPrefix.length()); - if (text == "gyro calibration: started") { - _hideAllCalAreas(); - _updateAndEmitShowGyroCalArea(true); - _updateAndEmitGyroCalInProgress(true); - } else if (text == "accel calibration: started") { - _hideAllCalAreas(); - _accelCalDownSideDone = false; - _accelCalUpsideDownSideDone = false; - _accelCalLeftSideDone = false; - _accelCalRightSideDone = false; - _accelCalTailDownSideDone = false; - _accelCalNoseDownSideDone = false; - _accelCalDownSideInProgress = false; - _accelCalUpsideDownSideInProgress = false; - _accelCalLeftSideInProgress = false; - _accelCalRightSideInProgress = false; - _accelCalNoseDownSideInProgress = false; - _accelCalTailDownSideInProgress = false; - emit accelCalSidesDoneChanged(); - emit accelCalSidesInProgressChanged(); - _updateAndEmitShowAccelCalArea(true); - } else if (text.startsWith(startingSidePrefix)) { - QString side = text.right(text.length() - startingSidePrefix.length()).section(" ", 0, 0); + QString calStartPrefix("calibration started: "); + if (text.startsWith(calStartPrefix)) { + text = text.right(text.length() - calStartPrefix.length()); + + // Split version number and cal type + QStringList parts = text.split(" "); + if (parts.count() != 2 && parts[0].toInt() != 1) { + _unknownFirmwareVersion = true; + qDebug() << "Unknown cal firmware version, using log"; + return; + } + + _startVisualCalibration(); + + text = parts[1]; + if (text == "accel" || text == "mag" || text == "gyro") { + // Reset all progress indication + _orientationCalDownSideDone = false; + _orientationCalUpsideDownSideDone = false; + _orientationCalLeftSideDone = false; + _orientationCalRightSideDone = false; + _orientationCalTailDownSideDone = false; + _orientationCalNoseDownSideDone = false; + _orientationCalDownSideInProgress = false; + _orientationCalUpsideDownSideInProgress = false; + _orientationCalLeftSideInProgress = false; + _orientationCalRightSideInProgress = false; + _orientationCalNoseDownSideInProgress = false; + _orientationCalTailDownSideInProgress = false; + + // Reset all visibility + _orientationCalDownSideVisible = false; + _orientationCalUpsideDownSideVisible = false; + _orientationCalLeftSideVisible = false; + _orientationCalRightSideVisible = false; + _orientationCalTailDownSideVisible = false; + _orientationCalNoseDownSideVisible = false; + + _orientationCalAreaHelpText->setProperty("text", "Place your vehicle into one of the Incomplete orientations shown below and hold it still"); + + if (text == "accel") { + _accelCalInProgress = true; + _orientationCalDownSideVisible = true; + _orientationCalUpsideDownSideVisible = true; + _orientationCalLeftSideVisible = true; + _orientationCalRightSideVisible = true; + _orientationCalTailDownSideVisible = true; + _orientationCalNoseDownSideVisible = true; + } else if (text == "mag") { + _magCalInProgress = true; + _orientationCalDownSideVisible = true; + _orientationCalLeftSideVisible = true; + _orientationCalNoseDownSideVisible = true; + } else if (text == "gyro") { + _gyroCalInProgress = true; + _orientationCalDownSideVisible = true; + } else { + Q_ASSERT(false); + } + emit orientationCalSidesDoneChanged(); + emit orientationCalSidesVisibleChanged(); + emit orientationCalSidesInProgressChanged(); + _updateAndEmitShowOrientationCalArea(true); + } + return; + } + + if (text.endsWith("orientation detected")) { + QString side = text.section(" ", 0, 0); qDebug() << "Side started" << side; + if (side == "down") { - _accelCalDownSideInProgress = true; + _orientationCalDownSideInProgress = true; + if (_magCalInProgress) { + _orientationCalDownSideRotate = true; + } } else if (side == "up") { - _accelCalUpsideDownSideInProgress = true; + _orientationCalUpsideDownSideInProgress = true; } else if (side == "left") { - _accelCalLeftSideInProgress = true; + _orientationCalLeftSideInProgress = true; + if (_magCalInProgress) { + _orientationCalLeftSideRotate = true; + } } else if (side == "right") { - _accelCalRightSideInProgress = true; + _orientationCalRightSideInProgress = true; } else if (side == "front") { - _accelCalNoseDownSideInProgress = true; + _orientationCalNoseDownSideInProgress = true; + if (_magCalInProgress) { + _orientationCalNoseDownSideRotate = true; + } } else if (side == "back") { - _accelCalTailDownSideInProgress = true; + _orientationCalTailDownSideInProgress = true; } - emit accelCalSidesInProgressChanged(); - } else if (text.endsWith(sideDoneSuffix)) { + + if (_magCalInProgress) { + _orientationCalAreaHelpText->setProperty("text", "Rotate the vehicle continuously as shown in the diagram until marked as Completed"); + } else { + _orientationCalAreaHelpText->setProperty("text", "Hold still in the current orientation"); + } + + emit orientationCalSidesInProgressChanged(); + emit orientationCalSidesRotateChanged(); + return; + } + + if (text.endsWith("side done, rotate to a different side")) { QString side = text.section(" ", 0, 0); qDebug() << "Side finished" << side; + if (side == "down") { - _accelCalDownSideInProgress = false; - _accelCalDownSideDone = true; + _orientationCalDownSideInProgress = false; + _orientationCalDownSideDone = true; + _orientationCalDownSideRotate = false; } else if (side == "up") { - _accelCalUpsideDownSideInProgress = false; - _accelCalUpsideDownSideDone = true; + _orientationCalUpsideDownSideInProgress = false; + _orientationCalUpsideDownSideDone = true; } else if (side == "left") { - _accelCalLeftSideInProgress = false; - _accelCalLeftSideDone = true; + _orientationCalLeftSideInProgress = false; + _orientationCalLeftSideDone = true; + _orientationCalLeftSideRotate = false; } else if (side == "right") { - _accelCalRightSideInProgress = false; - _accelCalRightSideDone = true; + _orientationCalRightSideInProgress = false; + _orientationCalRightSideDone = true; } else if (side == "front") { - _accelCalNoseDownSideInProgress = false; - _accelCalNoseDownSideDone = true; + _orientationCalNoseDownSideInProgress = false; + _orientationCalNoseDownSideDone = true; + _orientationCalNoseDownSideRotate = false; } else if (side == "back") { - _accelCalTailDownSideInProgress = false; - _accelCalTailDownSideDone = true; + _orientationCalTailDownSideInProgress = false; + _orientationCalTailDownSideDone = true; } - emit accelCalSidesInProgressChanged(); - emit accelCalSidesDoneChanged(); - } else if (text == "accel calibration: done") { - _progressBar->setProperty("value", 1); - _accelCalDownSideDone = true; - _accelCalUpsideDownSideDone = true; - _accelCalLeftSideDone = true; - _accelCalRightSideDone = true; - _accelCalTailDownSideDone = true; - _accelCalNoseDownSideDone = true; - _accelCalDownSideInProgress = false; - _accelCalUpsideDownSideInProgress = false; - _accelCalLeftSideInProgress = false; - _accelCalRightSideInProgress = false; - _accelCalNoseDownSideInProgress = false; - _accelCalTailDownSideInProgress = false; - emit accelCalSidesDoneChanged(); - emit accelCalSidesInProgressChanged(); - _refreshParams(); - } else if (text == "gyro calibration: done") { - _progressBar->setProperty("value", 1); - _updateAndEmitGyroCalInProgress(false); - _refreshParams(); - } else if (text == "mag calibration: done" || text == "dpress calibration: done") { - _progressBar->setProperty("value", 1); - _refreshParams(); - } else if (text.endsWith(" calibration: failed")) { - QGCMessageBox::warning("Calibration", "Calibration failed. Calibration log will be displayed."); - _hideAllCalAreas(); - _progressBar->setProperty("value", 0); - _updateAndEmitGyroCalInProgress(false); - _refreshParams(); + + _orientationCalAreaHelpText->setProperty("text", "Place you vehicle into one of the orientations shown below and hold it still"); + + emit orientationCalSidesInProgressChanged(); + emit orientationCalSidesDoneChanged(); + emit orientationCalSidesRotateChanged(); + return; + } + + QString calCompletePrefix("calibration done:"); + if (text.startsWith(calCompletePrefix)) { + _stopCalibration(StopCalibrationSuccess); + return; + } + + if (text.startsWith("calibration cancelled")) { + _stopCalibration(_waitingForCancel ? StopCalibrationCancelled : StopCalibrationFailed); + return; + } + + if (text.startsWith("calibration failed")) { + _stopCalibration(StopCalibrationFailed); + return; } } void SensorsComponentController::_refreshParams(void) { -#if 0 - // FIXME: Not sure if firmware issue yet - _autopilot->refreshParametersPrefix("CAL_"); - _autopilot->refreshParametersPrefix("SENS_"); -#else - // Sending too many parameter requests like above doesn't seem to work. So for now, - // ask for everything back - _autopilot->refreshAllParameters(); -#endif + _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "CAL_"); + _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "SENS_"); } bool SensorsComponentController::fixedWing(void) @@ -264,26 +411,23 @@ bool SensorsComponentController::fixedWing(void) return uas->getSystemType() == MAV_TYPE_FIXED_WING; } -void SensorsComponentController::_updateAndEmitGyroCalInProgress(bool inProgress) -{ - _gyroCalInProgress = inProgress; - emit gyroCalInProgressChanged(); -} - -void SensorsComponentController::_updateAndEmitShowGyroCalArea(bool show) +void SensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show) { - _showGyroCalArea = show; - emit showGyroCalAreaChanged(); + _showOrientationCalArea = show; + emit showOrientationCalAreaChanged(); } -void SensorsComponentController::_updateAndEmitShowAccelCalArea(bool show) +void SensorsComponentController::_hideAllCalAreas(void) { - _showAccelCalArea = show; - emit showAccelCalAreaChanged(); + _updateAndEmitShowOrientationCalArea(false); } -void SensorsComponentController::_hideAllCalAreas(void) +void SensorsComponentController::cancelCalibration(void) { - _updateAndEmitShowGyroCalArea(false); - _updateAndEmitShowAccelCalArea(false); -} + // The firmware doesn't allow us to cancel calibration. The best we can do is wait + // for it to timeout. + _waitingForCancel = true; + emit waitingForCancelChanged(); + _cancelButton->setEnabled(false); + _uas->stopCalibration(); +} \ No newline at end of file diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentController.h b/src/AutoPilotPlugins/PX4/SensorsComponentController.h index 44d096a33362301a4863f65e0778f883d3689d7f..dd5c62c7875bf6b322724d87380e70d329e3425c 100644 --- a/src/AutoPilotPlugins/PX4/SensorsComponentController.h +++ b/src/AutoPilotPlugins/PX4/SensorsComponentController.h @@ -46,76 +46,130 @@ public: Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog) Q_PROPERTY(QQuickItem* progressBar MEMBER _progressBar) - Q_PROPERTY(bool showGyroCalArea MEMBER _showGyroCalArea NOTIFY showGyroCalAreaChanged) - Q_PROPERTY(bool showAccelCalArea MEMBER _showAccelCalArea NOTIFY showAccelCalAreaChanged) - - Q_PROPERTY(bool gyroCalInProgress MEMBER _gyroCalInProgress NOTIFY gyroCalInProgressChanged) - - Q_PROPERTY(bool accelCalDownSideDone MEMBER _accelCalDownSideDone NOTIFY accelCalSidesDoneChanged) - Q_PROPERTY(bool accelCalUpsideDownSideDone MEMBER _accelCalUpsideDownSideDone NOTIFY accelCalSidesDoneChanged) - Q_PROPERTY(bool accelCalLeftSideDone MEMBER _accelCalLeftSideDone NOTIFY accelCalSidesDoneChanged) - Q_PROPERTY(bool accelCalRightSideDone MEMBER _accelCalRightSideDone NOTIFY accelCalSidesDoneChanged) - Q_PROPERTY(bool accelCalNoseDownSideDone MEMBER _accelCalNoseDownSideDone NOTIFY accelCalSidesDoneChanged) - Q_PROPERTY(bool accelCalTailDownSideDone MEMBER _accelCalTailDownSideDone NOTIFY accelCalSidesDoneChanged) - - Q_PROPERTY(bool accelCalDownSideInProgress MEMBER _accelCalDownSideInProgress NOTIFY accelCalSidesInProgressChanged) - Q_PROPERTY(bool accelCalUpsideDownSideInProgress MEMBER _accelCalUpsideDownSideInProgress NOTIFY accelCalSidesInProgressChanged) - Q_PROPERTY(bool accelCalLeftSideInProgress MEMBER _accelCalLeftSideInProgress NOTIFY accelCalSidesInProgressChanged) - Q_PROPERTY(bool accelCalRightSideInProgress MEMBER _accelCalRightSideInProgress NOTIFY accelCalSidesInProgressChanged) - Q_PROPERTY(bool accelCalNoseDownSideInProgress MEMBER _accelCalNoseDownSideInProgress NOTIFY accelCalSidesInProgressChanged) - Q_PROPERTY(bool accelCalTailDownSideInProgress MEMBER _accelCalTailDownSideInProgress NOTIFY accelCalSidesInProgressChanged) + Q_PROPERTY(QQuickItem* compassButton MEMBER _compassButton) + Q_PROPERTY(QQuickItem* gyroButton MEMBER _gyroButton) + Q_PROPERTY(QQuickItem* accelButton MEMBER _accelButton) + Q_PROPERTY(QQuickItem* airspeedButton MEMBER _airspeedButton) + Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton) + Q_PROPERTY(QQuickItem* orientationCalAreaHelpText MEMBER _orientationCalAreaHelpText) + + Q_PROPERTY(bool showOrientationCalArea MEMBER _showOrientationCalArea NOTIFY showOrientationCalAreaChanged) + + Q_PROPERTY(bool orientationCalDownSideDone MEMBER _orientationCalDownSideDone NOTIFY orientationCalSidesDoneChanged) + Q_PROPERTY(bool orientationCalUpsideDownSideDone MEMBER _orientationCalUpsideDownSideDone NOTIFY orientationCalSidesDoneChanged) + Q_PROPERTY(bool orientationCalLeftSideDone MEMBER _orientationCalLeftSideDone NOTIFY orientationCalSidesDoneChanged) + Q_PROPERTY(bool orientationCalRightSideDone MEMBER _orientationCalRightSideDone NOTIFY orientationCalSidesDoneChanged) + Q_PROPERTY(bool orientationCalNoseDownSideDone MEMBER _orientationCalNoseDownSideDone NOTIFY orientationCalSidesDoneChanged) + Q_PROPERTY(bool orientationCalTailDownSideDone MEMBER _orientationCalTailDownSideDone NOTIFY orientationCalSidesDoneChanged) + + Q_PROPERTY(bool orientationCalDownSideVisible MEMBER _orientationCalDownSideVisible NOTIFY orientationCalSidesVisibleChanged) + Q_PROPERTY(bool orientationCalUpsideDownSideVisible MEMBER _orientationCalUpsideDownSideVisible NOTIFY orientationCalSidesVisibleChanged) + Q_PROPERTY(bool orientationCalLeftSideVisible MEMBER _orientationCalLeftSideVisible NOTIFY orientationCalSidesVisibleChanged) + Q_PROPERTY(bool orientationCalRightSideVisible MEMBER _orientationCalRightSideVisible NOTIFY orientationCalSidesVisibleChanged) + Q_PROPERTY(bool orientationCalNoseDownSideVisible MEMBER _orientationCalNoseDownSideVisible NOTIFY orientationCalSidesVisibleChanged) + Q_PROPERTY(bool orientationCalTailDownSideVisible MEMBER _orientationCalTailDownSideVisible NOTIFY orientationCalSidesVisibleChanged) + + Q_PROPERTY(bool orientationCalDownSideInProgress MEMBER _orientationCalDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) + Q_PROPERTY(bool orientationCalUpsideDownSideInProgress MEMBER _orientationCalUpsideDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) + Q_PROPERTY(bool orientationCalLeftSideInProgress MEMBER _orientationCalLeftSideInProgress NOTIFY orientationCalSidesInProgressChanged) + Q_PROPERTY(bool orientationCalRightSideInProgress MEMBER _orientationCalRightSideInProgress NOTIFY orientationCalSidesInProgressChanged) + Q_PROPERTY(bool orientationCalNoseDownSideInProgress MEMBER _orientationCalNoseDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) + Q_PROPERTY(bool orientationCalTailDownSideInProgress MEMBER _orientationCalTailDownSideInProgress NOTIFY orientationCalSidesInProgressChanged) + + Q_PROPERTY(bool orientationCalDownSideRotate MEMBER _orientationCalDownSideRotate NOTIFY orientationCalSidesRotateChanged) + Q_PROPERTY(bool orientationCalLeftSideRotate MEMBER _orientationCalLeftSideRotate NOTIFY orientationCalSidesRotateChanged) + Q_PROPERTY(bool orientationCalNoseDownSideRotate MEMBER _orientationCalNoseDownSideRotate NOTIFY orientationCalSidesRotateChanged) + + Q_PROPERTY(bool waitingForCancel MEMBER _waitingForCancel NOTIFY waitingForCancelChanged) Q_INVOKABLE void calibrateCompass(void); Q_INVOKABLE void calibrateGyro(void); Q_INVOKABLE void calibrateAccel(void); Q_INVOKABLE void calibrateAirspeed(void); + Q_INVOKABLE void cancelCalibration(void); bool fixedWing(void); signals: void showGyroCalAreaChanged(void); - void showAccelCalAreaChanged(void); - void gyroCalInProgressChanged(void); - void accelCalSidesDoneChanged(void); - void accelCalSidesInProgressChanged(void); + void showOrientationCalAreaChanged(void); + void orientationCalSidesDoneChanged(void); + void orientationCalSidesVisibleChanged(void); + void orientationCalSidesInProgressChanged(void); + void orientationCalSidesRotateChanged(void); + void resetStatusTextArea(void); + void waitingForCancelChanged(void); + void setCompassRotations(void); private slots: void _handleUASTextMessage(int uasId, int compId, int severity, QString text); private: - void _beginTextLogging(void); + void _startLogCalibration(void); + void _startVisualCalibration(void); void _appendStatusLog(const QString& text); void _refreshParams(void); void _hideAllCalAreas(void); - void _updateAndEmitGyroCalInProgress(bool inProgress); + enum StopCalibrationCode { + StopCalibrationSuccess, + StopCalibrationFailed, + StopCalibrationCancelled + }; + void _stopCalibration(StopCalibrationCode code); - void _updateAndEmitShowGyroCalArea(bool show); - void _updateAndEmitShowAccelCalArea(bool show); + void _updateAndEmitShowOrientationCalArea(bool show); - QQuickItem* _statusLog; - QQuickItem* _progressBar; + QQuickItem* _statusLog; + QQuickItem* _progressBar; + QQuickItem* _compassButton; + QQuickItem* _gyroButton; + QQuickItem* _accelButton; + QQuickItem* _airspeedButton; + QQuickItem* _cancelButton; + QQuickItem* _orientationCalAreaHelpText; bool _showGyroCalArea; - bool _showAccelCalArea; + bool _showOrientationCalArea; - bool _gyroCalInProgress; - - bool _accelCalDownSideDone; - bool _accelCalUpsideDownSideDone; - bool _accelCalLeftSideDone; - bool _accelCalRightSideDone; - bool _accelCalNoseDownSideDone; - bool _accelCalTailDownSideDone; + bool _showCompass0; + bool _showCompass1; + bool _showCompass2; - bool _accelCalDownSideInProgress; - bool _accelCalUpsideDownSideInProgress; - bool _accelCalLeftSideInProgress; - bool _accelCalRightSideInProgress; - bool _accelCalNoseDownSideInProgress; - bool _accelCalTailDownSideInProgress; + bool _gyroCalInProgress; + bool _magCalInProgress; + bool _accelCalInProgress; + + bool _orientationCalDownSideDone; + bool _orientationCalUpsideDownSideDone; + bool _orientationCalLeftSideDone; + bool _orientationCalRightSideDone; + bool _orientationCalNoseDownSideDone; + bool _orientationCalTailDownSideDone; + + bool _orientationCalDownSideVisible; + bool _orientationCalUpsideDownSideVisible; + bool _orientationCalLeftSideVisible; + bool _orientationCalRightSideVisible; + bool _orientationCalNoseDownSideVisible; + bool _orientationCalTailDownSideVisible; + + bool _orientationCalDownSideInProgress; + bool _orientationCalUpsideDownSideInProgress; + bool _orientationCalLeftSideInProgress; + bool _orientationCalRightSideInProgress; + bool _orientationCalNoseDownSideInProgress; + bool _orientationCalTailDownSideInProgress; + + bool _orientationCalDownSideRotate; + bool _orientationCalLeftSideRotate; + bool _orientationCalNoseDownSideRotate; + + bool _unknownFirmwareVersion; + bool _waitingForCancel; AutoPilotPlugin* _autopilot; + UASInterface* _uas; }; #endif diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml b/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml index 56b53115fc5fa4bde7fa7cca4c543564323ddcbd..3fabc547a18722c97237e55d7ca5e8b3f606580a 100644 --- a/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml +++ b/src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml @@ -6,47 +6,29 @@ import QGroundControl.FactSystem 1.0 import QGroundControl.Controls 1.0 /* - IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummaryFixedWing.qml + IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml */ Column { - anchors.fill: parent - anchors.margins: 8 + Fact { id: mag0IdFact; name: "CAL_MAG0_ID" } + Fact { id: gyro0IdFact; name: "CAL_GYRO0_ID" } + Fact { id: accel0IdFact; name: "CAL_ACC0_ID" } - Component { - id: component + anchors.fill: parent + anchors.margins: 8 - Row { - width: parent.width - - QGCLabel { id: label; text: labelText } - QGCLabel { - property Fact fact: Fact { name: factName } - horizontalAlignment: Text.AlignRight; - width: parent.width - label.contentWidth; - text: fact.value == 0 ? "Setup required" : "Ready" - } - } - } - - Loader { - property string labelText: "Compass:" - property string factName: "CAL_MAG0_ID" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Compass:" + valueText: mag0IdFact.value == 0 ? "Setup required" : "Ready" } - Loader { - property string labelText: "Gyro:" - property string factName: "CAL_GYRO0_ID" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Gyro:" + valueText: gyro0IdFact.value == 0 ? "Setup required" : "Ready" } - Loader { - property string labelText: "Accelerometer:" - property string factName: "CAL_ACC0_ID" - width: parent.width - sourceComponent: component + VehicleSummaryRow { + labelText: "Accelerometer:" + valueText: accel0IdFact.value == 0 ? "Setup required" : "Ready" } } diff --git a/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml b/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml index 680ffed87aad8df7a2556c5b019814de50a935e2..7705086747fff718f256f4369494166726c98713 100644 --- a/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml +++ b/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml @@ -10,54 +10,31 @@ import QGroundControl.Controls 1.0 */ Column { - anchors.fill: parent - anchors.margins: 8 - - Row { - width: parent.width - - QGCLabel { id: compass; text: "Compass:" } - QGCLabel { - property Fact fact: Fact { name: "CAL_MAG0_ID" } - horizontalAlignment: Text.AlignRight; - width: parent.width - compass.contentWidth; - text: fact.value == 0 ? "Setup required" : "Ready" - } - } + Fact { id: mag0IdFact; name: "CAL_MAG0_ID" } + Fact { id: gyro0IdFact; name: "CAL_GYRO0_ID" } + Fact { id: accel0IdFact; name: "CAL_ACC0_ID" } + Fact { id: dPressOffFact; name: "SENS_DPRES_OFF" } - Row { - width: parent.width + anchors.fill: parent + anchors.margins: 8 - QGCLabel { id: gyro; text: "Gyro:" } - QGCLabel { - property Fact fact: Fact { name: "CAL_GYRO0_ID" } - horizontalAlignment: Text.AlignRight; - width: parent.width - compass.contentWidth; - text: fact.value == 0 ? "Setup required" : "Ready" - } + VehicleSummaryRow { + labelText: "Compass:" + valueText: mag0IdFact.value == 0 ? "Setup required" : "Ready" } - Row { - width: parent.width - - QGCLabel { id: accel; text: "Accelerometer:" } - QGCLabel { - property Fact fact: Fact { name: "CAL_ACC0_ID" } - horizontalAlignment: Text.AlignRight; - width: parent.width - compass.contentWidth; - text: fact.value == 0 ? "Setup required" : "Ready" - } + VehicleSummaryRow { + labelText: "Gyro:" + valueText: gyro0IdFact.value == 0 ? "Setup required" : "Ready" } - Row { - width: parent.width + VehicleSummaryRow { + labelText: "Accelerometer:" + valueText: accel0IdFact.value == 0 ? "Setup required" : "Ready" + } - QGCLabel { id: airspeed; text: "Airspeed:" } - QGCLabel { - property Fact fact: Fact { name: "SENS_DPRES_OFF" } - horizontalAlignment: Text.AlignRight; - width: parent.width - airspeed.contentWidth; - text: fact.value == 0.0 ? "Setup required" : "Ready" - } + VehicleSummaryRow { + labelText: "Airspeed:" + valueText: dPressOffFact.value == 0 ? "Setup required" : "Ready" } } diff --git a/src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc b/src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc deleted file mode 100644 index c8a10edcd477b78f350fa5a81fdaac380f6ec387..0000000000000000000000000000000000000000 --- a/src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.cc +++ /dev/null @@ -1,305 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#include "FlightModeConfigTest.h" -#include "UASManager.h" -#include "MockQGCUASParamManager.h" -#include "QGCMessageBox.h" - -/// @file -/// @brief FlightModeConfig Widget unit test -/// -/// @author Don Gagne - -// Turned off due to signletonn shutdown sequencing problem. Also since FlightMode config is -// being re-written this test will need to be re-written as well. -//UT_REGISTER_TEST(FlightModeConfigTest) - -FlightModeConfigTest::FlightModeConfigTest(void) : - _mockUASManager(NULL), - _paramMgr(NULL), - _configWidget(NULL), - _defaultComponentId(0) -{ - -} - -void FlightModeConfigTest::initTestCase(void) -{ - -} - -void FlightModeConfigTest::init(void) -{ - UnitTest::init(); - - _mockUASManager = new MockUASManager(); - Q_ASSERT(_mockUASManager); - - UASManager::setMockInstance(_mockUASManager); - - _mockUAS = new MockUAS(); - Q_CHECK_PTR(_mockUAS); - _paramMgr = _mockUAS->getParamManager(); - _defaultComponentId = _paramMgr->getDefaultComponentId(); - - _mockUASManager->setMockActiveUAS(_mockUAS); - - struct SetupParamInfo { - const char* param; - int mappedChannel; - }; - - struct SetupParamInfo rgSetupParamInfo[] = { - { "RC_MAP_MODE_SW", 5 }, - { "RC_MAP_ACRO_SW", 0 }, - { "RC_MAP_POSCTL_SW", 0 }, - { "RC_MAP_RETURN_SW", 0 }, - { "RC_MAP_LOITER_SW", 0 }, - { "RC_MAP_THROTTLE", 1 }, - { "RC_MAP_YAW", 2 }, - { "RC_MAP_ROLL", 3 }, - { "RC_MAP_PITCH", 4 }, - { "RC_MAP_AUX1", 0 }, - { "RC_MAP_AUX2", 0 }, - { "RC_MAP_AUX3", 0 } - }; - size_t crgSetupParamInfo = sizeof(rgSetupParamInfo) / sizeof(rgSetupParamInfo[0]); - - // Set initial parameter values - for (size_t i=0; isetParameter(_defaultComponentId, info->param, info->mappedChannel); - } - - _configWidget = new FlightModeConfig; - Q_CHECK_PTR(_configWidget); - - // Setup combo maps - - struct SetupComboInfo { - QGCComboBox* combo; - QButtonGroup* buttonGroup; - const char* param; - }; - - struct SetupComboInfo rgSetupComboInfo[] = { - { _configWidget->_ui->modeSwitchChannel, _configWidget->_ui->modeSwitchGroup, "RC_MAP_MODE_SW" }, - { _configWidget->_ui->manualSwitchChannel, _configWidget->_ui->manualSwitchGroup, "RC_MAP_ACRO_SW" }, - { _configWidget->_ui->assistSwitchChannel, _configWidget->_ui->assistSwitchGroup, "RC_MAP_POSCTL_SW" }, - { _configWidget->_ui->returnSwitchChannel, _configWidget->_ui->returnSwitchGroup, "RC_MAP_RETURN_SW" }, - { _configWidget->_ui->loiterSwitchChannel, _configWidget->_ui->loiterSwitchGroup, "RC_MAP_LOITER_SW" } - }; - size_t crgSetupComboInfo = sizeof(rgSetupComboInfo) / sizeof(rgSetupComboInfo[0]); - - Q_ASSERT(_mapChannelCombo2Param.count() == 0); - for (size_t i=0; icombo)); - _mapChannelCombo2Param[info->combo] = info->param; - - Q_ASSERT(!_mapChannelCombo2ButtonGroup.contains(info->combo)); - _mapChannelCombo2ButtonGroup[info->combo] = info->buttonGroup; - } -} - -void FlightModeConfigTest::cleanup(void) -{ - Q_ASSERT(_configWidget); - delete _configWidget; - - Q_ASSERT(_mockUAS); - delete _mockUAS; - - UASManager::setMockInstance(NULL); - - Q_ASSERT(_mockUASManager); - delete _mockUASManager; - - _mapChannelCombo2Param.clear(); - _mapChannelCombo2ButtonGroup.clear(); - - UnitTest::cleanup(); -} - -/// @brief Returns channel mapping for the specified parameters -int FlightModeConfigTest::_getChannelMapForParam(const QString& paramId) -{ - QVariant value; - bool found = _paramMgr->getParameterValue(_defaultComponentId, paramId, value); - Q_UNUSED(found); - Q_ASSERT(found); - - bool conversionOk; - int channel = value.toInt(&conversionOk); - Q_UNUSED(conversionOk); - Q_ASSERT(conversionOk); - - return channel; -} - -void FlightModeConfigTest::_create_test(void) -{ - // This just test widget creation which is handled in init -} - -void FlightModeConfigTest::_validateInitialState_test(void) -{ - // Make sure that the combo boxes are set to the correct selections - foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) { - QVariant value; - - Q_ASSERT(_mapChannelCombo2Param.contains(combo)); - int expectedMappedChannel = _getChannelMapForParam(_mapChannelCombo2Param[combo]); - - int currentIndex = combo->currentIndex(); - QVERIFY(currentIndex != -1); - - int comboMappedChannel = combo->itemData(currentIndex).toInt(); - - QCOMPARE(comboMappedChannel, expectedMappedChannel); - } - - QGCComboBox* combo = _configWidget->_ui->modeSwitchChannel; - - // combo should have entry for each channel plus disabled - QCOMPARE(combo->count(), _availableChannels + 1); - - for (int i=0; icount(); i++) { - // Combo data equates to channel mapping value. These are one-base channel values with - // 0 meaning disabled. The channel should match the index. - QCOMPARE(i, combo->itemData(i).toInt()); - - // Channels which are mapped are displayed after the channel number in the form "(name)". - // Check for the ending parentheses to indicate mapped channels - QString text = combo->itemText(i); - if (text.endsWith(")")) { - // Channels 1-5 are mapped - QVERIFY(i >= 1 && i <= 5); - } else { - QVERIFY(!(i >= 1 && i <= 5)); - } - } -} - -void FlightModeConfigTest::_validateRCCalCheck_test(void) -{ - // Mode switch mapped is used to signal RC Calibration not complete. You must complete RC Cal before - // doing Flight Mode Config. - - // Set mode switch mapping to not set - Q_ASSERT(_mapChannelCombo2Param.contains(_configWidget->_ui->modeSwitchChannel)); - _paramMgr->setParameter(_defaultComponentId, _mapChannelCombo2Param[_configWidget->_ui->modeSwitchChannel], 0); - - // Widget should disable - QCOMPARE(_configWidget->isEnabled(), false); - - // Set mode switch mapping to mapped - Q_ASSERT(_mapChannelCombo2Param.contains(_configWidget->_ui->modeSwitchChannel)); - _paramMgr->setParameter(_defaultComponentId, _mapChannelCombo2Param[_configWidget->_ui->modeSwitchChannel], 5); - - // Widget should re-enable - QCOMPARE(_configWidget->isEnabled(), true); -} - -void FlightModeConfigTest::_attempChannelReuse_test(void) -{ - // Attempt to select a channel that is already in use for a switch mapping - foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) { - - Q_ASSERT(_mapChannelCombo2Param.contains(combo)); - int beforeMapping = _getChannelMapForParam(_mapChannelCombo2Param[combo]); - - setExpectedMessageBox(QMessageBox::Ok); - - // Channel 1 mapped to throttle. This should pop a message box and the parameter value should - // not change. - combo->simulateUserSetCurrentIndex(1); - - checkExpectedMessageBox(); - - int afterMapping = _getChannelMapForParam(_mapChannelCombo2Param[combo]); - - QCOMPARE(beforeMapping, afterMapping); - } -} - -void FlightModeConfigTest::_validateRadioButtonEnableDisable_test(void) -{ - // Radio button should enable/disable according to selection - foreach(QGCComboBox* combo, _mapChannelCombo2Param.keys()) { - // Mode switch can't be disabled - if (combo == _configWidget->_ui->modeSwitchChannel) { - continue; - } - - // Index 0 is disabled - combo->simulateUserSetCurrentIndex(0); - - Q_ASSERT(_mapChannelCombo2ButtonGroup.contains(combo)); - QButtonGroup* buttonGroup = _mapChannelCombo2ButtonGroup[combo]; - - foreach(QAbstractButton* button, buttonGroup->buttons()) { - QRadioButton* radio = qobject_cast(button); - Q_ASSERT(radio); - - QCOMPARE(radio->isEnabled(), false); - } - - // Index 6 should be a valid mapping - combo->simulateUserSetCurrentIndex(6); - - foreach(QAbstractButton* button, buttonGroup->buttons()) { - QRadioButton* radio = qobject_cast(button); - Q_ASSERT(radio); - - QCOMPARE(radio->isEnabled(), true); - } - - // Set back to disabled for next iteration through loop. Otherwise we'll error out - // with the channel already in use - combo->simulateUserSetCurrentIndex(0); - } -} - -void FlightModeConfigTest::_validateModeSwitchMustBeEnabled_test(void) -{ - QGCComboBox* modeCombo = _configWidget->_ui->modeSwitchChannel; - - Q_ASSERT(_mapChannelCombo2Param.contains(modeCombo)); - int beforeMapping = _getChannelMapForParam(_mapChannelCombo2Param[modeCombo]); - - setExpectedMessageBox(QMessageBox::Ok); - - // Index 0 is disabled. This should pop a message box and the parameter value should - // not change. - modeCombo->simulateUserSetCurrentIndex(0); - - checkExpectedMessageBox(); - - int afterMapping = _getChannelMapForParam(_mapChannelCombo2Param[modeCombo]); - - QCOMPARE(beforeMapping, afterMapping); -} diff --git a/src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h b/src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h deleted file mode 100644 index c6cb77eeafd3aabfeaaaf3544413fc943e2af40d..0000000000000000000000000000000000000000 --- a/src/AutoPilotPlugins/PX4/Tests/FlightModeConfigTest.h +++ /dev/null @@ -1,71 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#ifndef FlightModeConfigTest_H -#define FlightModeConfigTest_H - -#include "UnitTest.h" -#include "MockUASManager.h" -#include "MockUAS.h" -#include "AutoPilotPlugins/PX4/FlightModeConfig.h" - -/// @file -/// @brief FlightModeConfig Widget unit test -/// -/// @author Don Gagne - -class FlightModeConfigTest : public UnitTest -{ - Q_OBJECT - -public: - FlightModeConfigTest(void); - -private slots: - void initTestCase(void); - void init(void); - void cleanup(void); - - void _create_test(void); - void _validateInitialState_test(void); - void _validateRCCalCheck_test(void); - void _attempChannelReuse_test(void); - void _validateRadioButtonEnableDisable_test(void); - void _validateModeSwitchMustBeEnabled_test(void); - -private: - int _getChannelMapForParam(const QString& parameter); - - MockUASManager* _mockUASManager; - MockUAS* _mockUAS; - QGCUASParamManagerInterface* _paramMgr; - FlightModeConfig* _configWidget; - int _defaultComponentId; - - QMap _mapChannelCombo2Param; - QMap _mapChannelCombo2ButtonGroup; - - static const int _availableChannels = 18; ///< Simulate 18 channel RC Transmitter -}; - -#endif diff --git a/src/FactSystem/Fact.cc b/src/FactSystem/Fact.cc index 860fd1c5ee72f38390e93b833522ae4b08d9d675..356b3493e797cb80142520a3ed707bc07e4d74ce 100644 --- a/src/FactSystem/Fact.cc +++ b/src/FactSystem/Fact.cc @@ -28,9 +28,10 @@ #include -Fact::Fact(QString name, FactMetaData::ValueType_t type, QObject* parent) : +Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent) : QObject(parent), _name(name), + _componentId(componentId), _type(type), _metaData(NULL) { @@ -39,9 +40,35 @@ Fact::Fact(QString name, FactMetaData::ValueType_t type, QObject* parent) : void Fact::setValue(const QVariant& value) { - _value = value; - emit valueChanged(_value); - emit _containerValueChanged(_value); + QVariant newValue; + + switch (type()) { + case FactMetaData::valueTypeInt8: + case FactMetaData::valueTypeInt16: + case FactMetaData::valueTypeInt32: + newValue = QVariant(value.toInt()); + break; + + case FactMetaData::valueTypeUint8: + case FactMetaData::valueTypeUint16: + case FactMetaData::valueTypeUint32: + newValue = QVariant(value.toUInt()); + break; + + case FactMetaData::valueTypeFloat: + newValue = QVariant(value.toFloat()); + break; + + case FactMetaData::valueTypeDouble: + newValue = QVariant(value.toDouble()); + break; + } + + if (newValue != _value) { + _value.setValue(newValue); + emit valueChanged(_value); + emit _containerValueChanged(_value); + } } void Fact::_containerSetValue(const QVariant& value) @@ -55,6 +82,11 @@ QString Fact::name(void) const return _name; } +int Fact::componentId(void) const +{ + return _componentId; +} + QVariant Fact::value(void) const { return _value; @@ -68,7 +100,10 @@ QString Fact::valueString(void) const QVariant Fact::defaultValue(void) { Q_ASSERT(_metaData); - return _metaData->defaultValue; + if (!_metaData->defaultValueAvailable()) { + qDebug() << "Access to unavailable default value"; + } + return _metaData->defaultValue(); } FactMetaData::ValueType_t Fact::type(void) @@ -78,44 +113,57 @@ FactMetaData::ValueType_t Fact::type(void) QString Fact::shortDescription(void) { - if (_metaData) { - return _metaData->shortDescription; - } else { - return QString(); - } + Q_ASSERT(_metaData); + return _metaData->shortDescription(); } QString Fact::longDescription(void) { - if (_metaData) { - return _metaData->longDescription; - } else { - return QString(); - } + Q_ASSERT(_metaData); + return _metaData->longDescription(); } QString Fact::units(void) { - if (_metaData) { - return _metaData->units; - } else { - return QString(); - } + Q_ASSERT(_metaData); + return _metaData->units(); } QVariant Fact::min(void) { Q_ASSERT(_metaData); - return _metaData->min; + return _metaData->min(); } QVariant Fact::max(void) { Q_ASSERT(_metaData); - return _metaData->max; + return _metaData->max(); +} + +QString Fact::group(void) +{ + Q_ASSERT(_metaData); + return _metaData->group(); } void Fact::setMetaData(FactMetaData* metaData) { _metaData = metaData; } + +bool Fact::valueEqualsDefault(void) +{ + Q_ASSERT(_metaData); + if (_metaData->defaultValueAvailable()) { + return _metaData->defaultValue() == value(); + } else { + return false; + } +} + +bool Fact::defaultValueAvailable(void) +{ + Q_ASSERT(_metaData); + return _metaData->defaultValueAvailable(); +} \ No newline at end of file diff --git a/src/FactSystem/Fact.h b/src/FactSystem/Fact.h index 2398a98b5e619e984cde7ade23101c243a301792..5ba11139500c74d778851970dcff5143e7195d9e 100644 --- a/src/FactSystem/Fact.h +++ b/src/FactSystem/Fact.h @@ -43,56 +43,27 @@ class Fact : public QObject { Q_OBJECT - Q_PROPERTY(QString name READ name CONSTANT) - Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true) - Q_PROPERTY(QVariant valueString READ valueString NOTIFY valueChanged) - Q_PROPERTY(QVariant defaultValue READ defaultValue CONSTANT) - Q_PROPERTY(FactMetaData::ValueType_t type READ type CONSTANT) - Q_PROPERTY(QString shortDescription READ shortDescription CONSTANT) - Q_PROPERTY(QString longDescription READ longDescription CONSTANT) - Q_PROPERTY(QString units READ units CONSTANT) - Q_PROPERTY(QVariant min READ min CONSTANT) - Q_PROPERTY(QVariant max READ max CONSTANT) - - Q_ENUMS(FactMetaData::ValueType_t) - public: - Fact(QString name = "", FactMetaData::ValueType_t type = FactMetaData::valueTypeInt32, QObject* parent = NULL); + //Fact(int componentId, QString name = "", FactMetaData::ValueType_t type = FactMetaData::valueTypeInt32, QObject* parent = NULL); + Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL); // Property system methods - /// Read accessor or name property QString name(void) const; - - /// Read accessor for value property + int componentId(void) const; QVariant value(void) const; - - /// Read accessor for valueString property QString valueString(void) const; - - /// Write accessor for value property void setValue(const QVariant& value); - - /// Read accesor for defaultValue property QVariant defaultValue(void); - - /// Read accesor for type property + bool defaultValueAvailable(void); + bool valueEqualsDefault(void); FactMetaData::ValueType_t type(void); - - /// Read accesor for shortDescription property QString shortDescription(void); - - /// Read accesor for longDescription property QString longDescription(void); - - /// Read accesor for units property QString units(void); - - /// Read accesor for min property QVariant min(void); - - /// Read accesor for max property - QVariant max(void); + QVariant max(void); + QString group(void); /// Sets the meta data associated with the Fact. void setMetaData(FactMetaData* metaData); @@ -112,6 +83,7 @@ signals: private: QString _name; + int _componentId; QVariant _value; FactMetaData::ValueType_t _type; FactMetaData* _metaData; diff --git a/src/FactSystem/FactBinder.cc b/src/FactSystem/FactBinder.cc index 16976fca77db50562b997329fdadb79d945f21e1..d0979c390974ef87f6a266f792f75f006b8d6b2d 100644 --- a/src/FactSystem/FactBinder.cc +++ b/src/FactSystem/FactBinder.cc @@ -27,18 +27,21 @@ #include "FactBinder.h" #include "UASManager.h" #include "AutoPilotPluginManager.h" +#include "QGCApplication.h" + #include FactBinder::FactBinder(void) : _autopilotPlugin(NULL), - _fact(NULL) + _fact(NULL), + _componentId(FactSystem::defaultComponentId) { UASInterface* uas = UASManager::instance()->getActiveUAS(); Q_ASSERT(uas); _autopilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas); Q_ASSERT(_autopilotPlugin); - Q_ASSERT(_autopilotPlugin->pluginIsReady()); + Q_ASSERT(_autopilotPlugin->pluginReady()); } QString FactBinder::name(void) const @@ -50,6 +53,11 @@ QString FactBinder::name(void) const } } +int FactBinder::componentId(void) const +{ + return _componentId; +} + void FactBinder::setName(const QString& name) { if (_fact) { @@ -58,14 +66,27 @@ void FactBinder::setName(const QString& name) } if (!name.isEmpty()) { - if (_autopilotPlugin->factExists(name)) { - _fact = _autopilotPlugin->getFact(name); + QString parsedName = name; + + // Component id + name combination? + if (name.contains(":")) { + QStringList parts = name.split(":"); + if (parts.count() == 2) { + parsedName = parts[0]; + _componentId = parts[1].toInt(); + } + } + + if (_autopilotPlugin->factExists(FactSystem::ParameterProvider, _componentId, parsedName)) { + _fact = _autopilotPlugin->getFact(FactSystem::ParameterProvider, _componentId, parsedName); connect(_fact, &Fact::valueChanged, this, &FactBinder::valueChanged); emit valueChanged(); emit nameChanged(); - } else { - qDebug() << "FAILED BINDING PARAM" << name << ": PARAM DOES NOT EXIST ON SYSTEM!"; + emit metaDataChanged(); + } else { + QString panicMessage("Required parameter (component id: %1, name: %2), is missing from vehicle. QGroundControl cannot operate with this firmware revision. QGroundControl will now shut down."); + qgcApp()->panicShutdown(panicMessage.arg(_componentId).arg(parsedName)); } } } @@ -84,7 +105,8 @@ void FactBinder::setValue(const QVariant& value) if (_fact) { _fact->setValue(value); } else { - qDebug() << "FAILED SETTING PARAM VALUE" << value.toString() << ": PARAM DOES NOT EXIST ON SYSTEM!"; + qWarning() << "FAILED SETTING PARAM VALUE" << _fact->name() << ": PARAM DOES NOT EXIST ON SYSTEM!"; + Q_ASSERT(false); } } @@ -105,3 +127,84 @@ QString FactBinder::units(void) const return QString(); } } + +QVariant FactBinder::defaultValue(void) +{ + if (_fact) { + return _fact->defaultValue(); + } else { + return QVariant(0); + } +} + +FactMetaData::ValueType_t FactBinder::type(void) +{ + if (_fact) { + return _fact->type(); + } else { + return FactMetaData::valueTypeUint32; + } +} + +QString FactBinder::shortDescription(void) +{ + if (_fact) { + return _fact->shortDescription(); + } else { + return QString(); + } +} + +QString FactBinder::longDescription(void) +{ + if (_fact) { + return _fact->longDescription(); + } else { + return QString(); + } +} + +QVariant FactBinder::min(void) +{ + if (_fact) { + return _fact->min(); + } else { + return QVariant(0); + } +} + +QVariant FactBinder::max(void) +{ + if (_fact) { + return _fact->max(); + } else { + return QVariant(0); + } +} + +QString FactBinder::group(void) +{ + if (_fact) { + return _fact->group(); + } else { + return QString(); + } +} + +bool FactBinder::defaultValueAvailable(void) +{ + if (_fact) { + return _fact->defaultValueAvailable(); + } else { + return false; + } +} + +bool FactBinder::valueEqualsDefault(void) +{ + if (_fact) { + return _fact->valueEqualsDefault(); + } else { + return false; + } +} diff --git a/src/FactSystem/FactBinder.h b/src/FactSystem/FactBinder.h index 897396429b58f9b6093806eaab3558e2e3e91c8a..8cac12080c063a35a41c0d771b1ca656363e9717 100644 --- a/src/FactSystem/FactBinder.h +++ b/src/FactSystem/FactBinder.h @@ -38,14 +38,26 @@ class FactBinder : public QObject { Q_OBJECT + Q_PROPERTY(int componentId READ componentId NOTIFY nameChanged) Q_PROPERTY(QString name READ name WRITE setName NOTIFY nameChanged) Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true) Q_PROPERTY(QVariant valueString READ valueString NOTIFY valueChanged) - Q_PROPERTY(QString units READ units CONSTANT) - + Q_PROPERTY(QString units READ units NOTIFY metaDataChanged) + Q_PROPERTY(QVariant defaultValue READ defaultValue NOTIFY metaDataChanged) + Q_PROPERTY(bool defaultValueAvailable READ defaultValueAvailable NOTIFY metaDataChanged) + Q_PROPERTY(bool valueEqualsDefault READ valueEqualsDefault NOTIFY valueChanged) + Q_PROPERTY(FactMetaData::ValueType_t type READ type NOTIFY metaDataChanged) + Q_PROPERTY(QString shortDescription READ shortDescription NOTIFY metaDataChanged) + Q_PROPERTY(QString longDescription READ longDescription NOTIFY metaDataChanged) + Q_PROPERTY(QVariant min READ min NOTIFY metaDataChanged) + Q_PROPERTY(QVariant max READ max NOTIFY metaDataChanged) + Q_PROPERTY(QString group READ group NOTIFY metaDataChanged) + public: FactBinder(void); + int componentId(void) const; + QString name(void) const; void setName(const QString& name); @@ -54,16 +66,26 @@ public: QString valueString(void) const; - /// Read accesor for units property - QString units(void) const; - + QString units(void) const; + QVariant defaultValue(void); + bool defaultValueAvailable(void); + bool valueEqualsDefault(void); + FactMetaData::ValueType_t type(void); + QString shortDescription(void); + QString longDescription(void); + QVariant min(void); + QVariant max(void); + QString group(void); + signals: void nameChanged(void); void valueChanged(void); + void metaDataChanged(void); private: AutoPilotPlugin* _autopilotPlugin; Fact* _fact; + int _componentId; }; #endif \ No newline at end of file diff --git a/src/FactSystem/FactLoader.cc b/src/FactSystem/FactLoader.cc deleted file mode 100644 index 394d7fb374ace5ddedc0af62e897e2e1e3e6c942..0000000000000000000000000000000000000000 --- a/src/FactSystem/FactLoader.cc +++ /dev/null @@ -1,199 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @author Don Gagne - -#include "FactLoader.h" -#include "QGCApplication.h" - -#include -#include - -Q_LOGGING_CATEGORY(FactLoaderLog, "FactLoaderLog") - -FactLoader::FactLoader(UASInterface* uas, QObject* parent) : - QObject(parent), - _lastSeenComponent(-1), - _paramMgr(NULL), - _factsReady(false) -{ - Q_ASSERT(uas); - - _uasId = uas->getUASID(); - - _paramMgr = uas->getParamManager(); - Q_ASSERT(_paramMgr); - - // We need to be initialized before param mgr starts sending parameters so we catch each one - Q_ASSERT(!_paramMgr->parametersReady()); - - // We need to know when the param mgr is done sending the initial set of paramters - connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate())); - - // We track parameters changes to keep Facts up to date. - connect(uas, &UASInterface::parameterUpdate, this, &FactLoader::_parameterUpdate); -} - -FactLoader::~FactLoader() -{ - -} - -/// Called whenever a parameter is updated or first seen. -void FactLoader::_parameterUpdate(int uas, int component, QString parameterName, int mavType, QVariant value) -{ - // Is this for our uas? - if (uas != _uasId) { - return; - } - - if (_lastSeenComponent == -1) { - _lastSeenComponent = component; - } else { - // Code cannot handle parameters coming form different components yets - Q_ASSERT(component == _lastSeenComponent); - } - - bool setMetaData = false; - if (!_mapParameterName2Variant.contains(parameterName)) { - qCDebug(FactLoaderLog) << "Adding new fact" << parameterName; - - FactMetaData::ValueType_t factType; - switch (mavType) { - case MAV_PARAM_TYPE_UINT8: - factType = FactMetaData::valueTypeUint8; - break; - case MAV_PARAM_TYPE_INT8: - factType = FactMetaData::valueTypeUint8; - break; - case MAV_PARAM_TYPE_UINT16: - factType = FactMetaData::valueTypeUint16; - break; - case MAV_PARAM_TYPE_INT16: - factType = FactMetaData::valueTypeInt16; - break; - case MAV_PARAM_TYPE_UINT32: - factType = FactMetaData::valueTypeUint32; - break; - case MAV_PARAM_TYPE_INT32: - factType = FactMetaData::valueTypeInt32; - break; - case MAV_PARAM_TYPE_REAL32: - factType = FactMetaData::valueTypeFloat; - break; - case MAV_PARAM_TYPE_REAL64: - factType = FactMetaData::valueTypeDouble; - break; - default: - factType = FactMetaData::valueTypeInt32; - qCritical() << "Unsupported fact type" << mavType; - break; - } - - Fact* fact = new Fact(parameterName, factType, this); - setMetaData = true; - - _mapParameterName2Variant[parameterName] = QVariant::fromValue(fact); - _mapFact2ParameterName[fact] = parameterName; - - // We need to know when the fact changes from QML so that we can send the new value to the parameter manager - connect(fact, &Fact::_containerValueChanged, this, &FactLoader::_valueUpdated); - } - - Q_ASSERT(_mapParameterName2Variant.contains(parameterName)); - - qCDebug(FactLoaderLog) << "Updating fact value" << parameterName << value; - - Fact* fact = _mapParameterName2Variant[parameterName].value(); - Q_ASSERT(fact); - fact->_containerSetValue(value); - - if (setMetaData) { - _addMetaDataToFact(fact); - } -} - -/// Connected to Fact::valueUpdated -/// -/// Sets the new value into the Parameter Manager. Parameter is persisted after send. -void FactLoader::_valueUpdated(const QVariant& value) -{ - Fact* fact = qobject_cast(sender()); - Q_ASSERT(fact); - - Q_ASSERT(_lastSeenComponent != -1); - Q_ASSERT(_paramMgr); - Q_ASSERT(_mapFact2ParameterName.contains(fact)); - - QVariant typedValue; - switch (fact->type()) { - case FactMetaData::valueTypeInt8: - case FactMetaData::valueTypeInt16: - case FactMetaData::valueTypeInt32: - typedValue.setValue(QVariant(value.toInt())); - break; - - case FactMetaData::valueTypeUint8: - case FactMetaData::valueTypeUint16: - case FactMetaData::valueTypeUint32: - typedValue.setValue(value.toUInt()); - break; - - case FactMetaData::valueTypeFloat: - typedValue.setValue(value.toFloat()); - break; - - case FactMetaData::valueTypeDouble: - typedValue.setValue(value.toDouble()); - break; - } - - qCDebug(FactLoaderLog) << "Set parameter" << fact->name() << typedValue; - - _paramMgr->setParameter(_lastSeenComponent, _mapFact2ParameterName[fact], typedValue); - _paramMgr->sendPendingParameters(true /* persistAfterSend */, false /* forceSend */); -} - -// Called when param mgr list is up to date -void FactLoader::_paramMgrParameterListUpToDate(void) -{ - if (!_factsReady) { - _factsReady = true; - - // We don't need this any more - disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate())); - - // There may be parameterUpdated signals still in our queue. Flush them out. - qgcApp()->processEvents(); - - // We should have all paramters now so we can signal ready - emit factsReady(); - } -} - -void FactLoader::_addMetaDataToFact(Fact* fact) -{ - FactMetaData* metaData = new FactMetaData(this); - metaData->initFromTypeOnly(fact->type()); -} diff --git a/src/FactSystem/FactLoader.h b/src/FactSystem/FactLoader.h deleted file mode 100644 index a61b147543b943d2841ff0f63fcf026265ee8402..0000000000000000000000000000000000000000 --- a/src/FactSystem/FactLoader.h +++ /dev/null @@ -1,86 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#ifndef FactLoader_h -#define FactLoader_h - -#include -#include -#include -#include - -#include "Fact.h" -#include "UASInterface.h" - -/// @file -/// @author Don Gagne - -Q_DECLARE_LOGGING_CATEGORY(FactLoaderLog) - -/// Connects to Parameter Manager to load/update Facts -class FactLoader : public QObject -{ - Q_OBJECT - -public: - /// @param uas Uas which this set of facts is associated with - FactLoader(UASInterface* uas, QObject* parent = NULL); - - ~FactLoader(); - - /// Returns true if the full set of facts are ready - bool factsAreReady(void) { return _factsReady; } - - /// Returns the fact QVariantMap - const QVariantMap& factMap(void) { return _mapParameterName2Variant; } - -signals: - /// Signalled when the full set of facts are ready - void factsReady(void); - -protected: - /// Base implementation adds generic meta data based on variant type. Derived class can override to provide - /// more details meta data. - virtual void _addMetaDataToFact(Fact* fact); - -private slots: - void _parameterUpdate(int uas, int component, QString parameterName, int mavType, QVariant value); - void _valueUpdated(const QVariant& value); - void _paramMgrParameterListUpToDate(void); - -private: - static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false); - - QMap _mapFact2ParameterName; ///< Maps from a Fact to a parameter name - - int _uasId; ///< Id for uas which this set of Facts are associated with - int _lastSeenComponent; - - QGCUASParamManagerInterface* _paramMgr; - - QVariantMap _mapParameterName2Variant; - - bool _factsReady; ///< All facts received from param mgr -}; - -#endif \ No newline at end of file diff --git a/src/FactSystem/FactMetaData.cc b/src/FactSystem/FactMetaData.cc index 5de76f6a68a1ed4b8421b29bb2f55c8ac9e76fc4..ea46a6d3979974791b6ce6d31df2e05baaa29cde 100644 --- a/src/FactSystem/FactMetaData.cc +++ b/src/FactSystem/FactMetaData.cc @@ -28,13 +28,108 @@ #include "FactMetaData.h" -FactMetaData::FactMetaData(QObject* parent) : - QObject(parent) +#include + +#include + +FactMetaData::FactMetaData(ValueType_t type, QObject* parent) : + QObject(parent), + _group("Default Group"), + _type(type), + _defaultValue(0), + _defaultValueAvailable(false), + _min(_minForType()), + _max(_maxForType()) +{ + +} + +QVariant FactMetaData::defaultValue(void) +{ + if (_defaultValueAvailable) { + return _defaultValue; + } else { + qWarning() << "Attempt to access unavailable default value"; + return QVariant(0); + } +} + +void FactMetaData::setDefaultValue(const QVariant& defaultValue) +{ + if (_min <= defaultValue && defaultValue <= _max) { + _defaultValue = defaultValue; + _defaultValueAvailable = true; + } else { + qWarning() << "Attempt to set default value which is outside min/max range"; + } +} + +void FactMetaData::setMin(const QVariant& min) +{ + if (min > _minForType()) { + _min = min; + } else { + qWarning() << "Attempt to set min below allowable value"; + _min = _minForType(); + } +} + +void FactMetaData::setMax(const QVariant& max) +{ + if (max > _maxForType()) { + qWarning() << "Attempt to set max above allowable value"; + _max = _maxForType(); + } else { + _max = max; + } +} + +QVariant FactMetaData::_minForType(void) { - initFromTypeOnly(valueTypeInt32); + switch (_type) { + case valueTypeUint8: + return QVariant(std::numeric_limits::min()); + case valueTypeInt8: + return QVariant(std::numeric_limits::min()); + case valueTypeUint16: + return QVariant(std::numeric_limits::min()); + case valueTypeInt16: + return QVariant(std::numeric_limits::min()); + case valueTypeUint32: + return QVariant(std::numeric_limits::min()); + case valueTypeInt32: + return QVariant(std::numeric_limits::min()); + case valueTypeFloat: + return QVariant(-std::numeric_limits::max()); + case valueTypeDouble: + return QVariant(-std::numeric_limits::max()); + } + + // Make windows compiler happy, even switch is full cased + return QVariant(); } -void FactMetaData::initFromTypeOnly(ValueType_t initType) +QVariant FactMetaData::_maxForType(void) { - type = initType; + switch (_type) { + case valueTypeUint8: + return QVariant(std::numeric_limits::max()); + case valueTypeInt8: + return QVariant(std::numeric_limits::max()); + case valueTypeUint16: + return QVariant(std::numeric_limits::max()); + case valueTypeInt16: + return QVariant(std::numeric_limits::max()); + case valueTypeUint32: + return QVariant(std::numeric_limits::max()); + case valueTypeInt32: + return QVariant(std::numeric_limits::max()); + case valueTypeFloat: + return QVariant(std::numeric_limits::max()); + case valueTypeDouble: + return QVariant(std::numeric_limits::max()); + } + + // Make windows compiler happy, even switch is full cased + return QVariant(); } diff --git a/src/FactSystem/FactMetaData.h b/src/FactSystem/FactMetaData.h index 47924be5ee81e5a1fcde420f35c4f129874e9ac9..2d218b06e77f75f52c562e3f0092d1f58064c444 100644 --- a/src/FactSystem/FactMetaData.h +++ b/src/FactSystem/FactMetaData.h @@ -41,8 +41,6 @@ class FactMetaData : public QObject Q_OBJECT public: - FactMetaData(QObject* parent = NULL); - typedef enum { valueTypeUint8, valueTypeInt8, @@ -54,17 +52,41 @@ public: valueTypeDouble } ValueType_t; - /// Initialize the meta data given only the type. - void initFromTypeOnly(ValueType_t initType); + FactMetaData(ValueType_t type, QObject* parent = NULL); + + // Property accessors + QString group(void) { return _group; } + ValueType_t type(void) { return _type; } + QVariant defaultValue(void); + bool defaultValueAvailable(void) { return _defaultValueAvailable; } + QString shortDescription(void) { return _shortDescription; } + QString longDescription(void) { return _longDescription;} + QString units(void) { return _units; } + QVariant min(void) { return _min; } + QVariant max(void) { return _max; } + + // Property setters + void setGroup(const QString& group) { _group = group; } + void setDefaultValue(const QVariant& defaultValue); + void setShortDescription(const QString& shortDescription) { _shortDescription = shortDescription; } + void setLongDescription(const QString& longDescription) { _longDescription = longDescription;} + void setUnits(const QString& units) { _units = units; } + void setMin(const QVariant& max); + void setMax(const QVariant& max); - // FIXME: This needs to switch over to Q_PROPERTY mechanism - ValueType_t type; - QVariant defaultValue; - QString shortDescription; - QString longDescription; - QString units; - QVariant min; - QVariant max; +private: + QVariant _minForType(void); + QVariant _maxForType(void); + + QString _group; + ValueType_t _type; + QVariant _defaultValue; + bool _defaultValueAvailable; + QString _shortDescription; + QString _longDescription; + QString _units; + QVariant _min; + QVariant _max; }; #endif \ No newline at end of file diff --git a/src/FactSystem/FactSystem.cc b/src/FactSystem/FactSystem.cc index 528f75bdba3fcef5e5539aae4b53de9d8ebc01fb..450b0b8e354e85a52fa35fd9f54c3c72f6b5257e 100644 --- a/src/FactSystem/FactSystem.cc +++ b/src/FactSystem/FactSystem.cc @@ -40,9 +40,7 @@ FactSystem::FactSystem(QObject* parent) : QGCSingleton(parent) { qmlRegisterType(_factSystemQmlUri, 1, 0, "Fact"); - - // FIXME: Where should these go? - qmlRegisterUncreatableType(_factSystemQmlUri, 1, 0, "VehicleComponent", "Can only reference VehicleComponent"); + qmlRegisterUncreatableType(_factSystemQmlUri, 1, 0, "VehicleComponent", "Can only reference, cannot create"); } FactSystem::~FactSystem() diff --git a/src/FactSystem/FactSystem.h b/src/FactSystem/FactSystem.h index 8a9b533ac685fc66adde0cee9c0a46c27ce34c3d..91daf249e951590964b38241baad1c7e6d0bbda1 100644 --- a/src/FactSystem/FactSystem.h +++ b/src/FactSystem/FactSystem.h @@ -24,15 +24,12 @@ /// @file /// @author Don Gagne -#ifndef FactSystem_h -#define FactSystem_h +#ifndef FACTSYSTEM_H +#define FACTSYSTEM_H #include "Fact.h" -#include "FactLoader.h" #include "FactMetaData.h" -#include "UASInterface.h" #include "QGCSingleton.h" -#include "FactValidator.h" /// FactSystem is a singleton which provides access to the Facts in the system /// @@ -40,14 +37,22 @@ /// additional meta data associated with a Fact such as description, min/max ranges and so forth. /// The FactValidator object is a QML validator which validates input according to the FactMetaData /// settings. Client code can then use this system to expose sets of Facts to QML code. An example -/// of this is the PX4ParameterFacts onbject which is part of the PX4 AutoPilot plugin. It exposes +/// of this is the PX4ParameterLoader onbject which is part of the PX4 AutoPilot plugin. It exposes /// the firmware parameters to QML such that you can bind QML ui elements directly to parameters. + class FactSystem : public QGCSingleton { Q_OBJECT DECLARE_QGC_SINGLETON(FactSystem, FactSystem) +public: + typedef enum { + ParameterProvider, + } Provider_t; + + static const int defaultComponentId = -1; + private: /// All access to FactSystem is through FactSystem::instance, so constructor is private FactSystem(QObject* parent = NULL); diff --git a/src/FactSystem/FactSystemTest.qml b/src/FactSystem/FactSystemTest.qml index 7693ada3121f685014d85e44ae4d1f2b41796c03..885b4b22ff6f24d824777265d1684034a85c486b 100644 --- a/src/FactSystem/FactSystemTest.qml +++ b/src/FactSystem/FactSystemTest.qml @@ -1,16 +1,44 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.2 import QtQuick.Controls 1.2 import QGroundControl.FactSystem 1.0 Item { + // Use default component id + TextInput { + objectName: "testControl" + Fact { id: fact1; name: "RC_MAP_THROTTLE" } + text: fact1.value + onAccepted: { fact1.value = text; } + } + + // Use specific component id TextInput { objectName: "testControl" - Fact { id: fact; name: "RC_MAP_THROTTLE" } - text: fact.value - font.family: "Helvetica" - font.pointSize: 24 - color: "red" - focus: true - onAccepted: { fact.value = text; } + Fact { id: fact2; name: "COMPONENT_51:51" } + text: fact2.value + onAccepted: { fact2.value = text; } } -} \ No newline at end of file +} diff --git a/src/FactSystem/FactSystemTestBase.cc b/src/FactSystem/FactSystemTestBase.cc index d8bf606b56e682aa3b5829760936adc6d1989b0f..b0944b722e4e2b0561c6010bcad274343c16ed48 100644 --- a/src/FactSystem/FactSystemTestBase.cc +++ b/src/FactSystem/FactSystemTestBase.cc @@ -48,7 +48,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot) MockLink* link = new MockLink(); link->setAutopilotType(autopilot); - _linkMgr->addLink(link); + _linkMgr->_addLink(link); _linkMgr->connectLink(link); // Wait for the uas to work it's way through the various threads @@ -59,9 +59,6 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot) _uas = UASManager::instance()->getActiveUAS(); Q_ASSERT(_uas); - _paramMgr = _uas->getParamManager(); - Q_ASSERT(_paramMgr); - // Get the plugin for the uas AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance(); @@ -72,11 +69,11 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot) // Wait for the plugin to be ready - QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReady())); - if (!_plugin->pluginIsReady()) { - QCOMPARE(spyPlugin.wait(5000), true); + QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReadyChanged(bool))); + if (!_plugin->pluginReady()) { + QCOMPARE(spyPlugin.wait(10000), true); } - Q_ASSERT(_plugin->pluginIsReady()); + Q_ASSERT(_plugin->pluginReady()); } void FactSystemTestBase::_cleanup(void) @@ -85,23 +82,36 @@ void FactSystemTestBase::_cleanup(void) } /// Basic test of parameter values in Fact System -void FactSystemTestBase::_parameter_test(void) +void FactSystemTestBase::_parameter_default_component_id_test(void) { - // Get the parameter facts from the AutoPilot - - const QVariantMap& parameterFacts = _plugin->parameters(); - - // Compare the value in the Parameter Manager with the value from the FactSystem + QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE")); + Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE"); + QVERIFY(fact != NULL); + QVariant factValue = fact->value(); + QCOMPARE(factValue.isValid(), true); - Fact* fact = parameterFacts["RC_MAP_THROTTLE"].value(); + QCOMPARE(factValue.toInt(), 3); +} + +void FactSystemTestBase::_parameter_specific_component_id_test(void) +{ + QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE")); + Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE"); QVERIFY(fact != NULL); QVariant factValue = fact->value(); QCOMPARE(factValue.isValid(), true); - QVariant paramValue; - Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue)); - QCOMPARE(factValue.toInt(), paramValue.toInt()); + QCOMPARE(factValue.toInt(), 3); + + // Test another component id + QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 51, "COMPONENT_51")); + fact = _plugin->getFact(FactSystem::ParameterProvider, 51, "COMPONENT_51"); + QVERIFY(fact != NULL); + factValue = fact->value(); + QCOMPARE(factValue.isValid(), true); + + QCOMPARE(factValue.toInt(), 51); } /// Test that QML can reference a Fact @@ -118,40 +128,7 @@ void FactSystemTestBase::_qml_test(void) QVERIFY(control != NULL); QVariant qmlValue = control->property("text").toInt(); - QVariant paramMgrValue; - Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramMgrValue)); - - QCOMPARE(qmlValue.toInt(), paramMgrValue.toInt()); -} - -// Test correct behavior when the Param Manager gets a parameter update -void FactSystemTestBase::_paramMgrSignal_test(void) -{ - // Get the parameter Fact from the AutoPilot - - const QVariantMap& parameterFacts = _plugin->parameters(); - - Fact* fact = parameterFacts["RC_MAP_THROTTLE"].value(); - QVERIFY(fact != NULL); - - // Setting a new value into the parameter should trigger a valueChanged signal on the Fact - - QSignalSpy spyFact(fact, SIGNAL(valueChanged(QVariant))); - - QVariant paramValue = 12; - _paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue); - _paramMgr->sendPendingParameters(true, false); - - // Wait for the Fact::valueChanged signal to come through - QCOMPARE(spyFact.wait(5000), true); - - // Make sure the signal has the right value - QList arguments = spyFact.takeFirst(); - qDebug() << arguments.at(0).type(); - QCOMPARE(arguments.at(0).toInt(), 12); - - // Make sure the Fact has the new value - QCOMPARE(fact->value().toInt(), 12); + QCOMPARE(qmlValue.toInt(), 3); } /// Test QML getting an updated Fact value @@ -163,11 +140,10 @@ void FactSystemTestBase::_qmlUpdate_test(void) widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml")); - // Change the value using param manager + // Change the value QVariant paramValue = 12; - _paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue); - _paramMgr->sendPendingParameters(true, false); + _plugin->getParameterFact("RC_MAP_THROTTLE")->setValue(paramValue); QTest::qWait(500); // Let the signals flow through diff --git a/src/FactSystem/FactSystemTestBase.h b/src/FactSystem/FactSystemTestBase.h index 818f765cd174d20a51eaa0203e58fc687f043af8..0a6cf311939d81143bf7f9a238523ae9f67d9bdb 100644 --- a/src/FactSystem/FactSystemTestBase.h +++ b/src/FactSystem/FactSystemTestBase.h @@ -43,13 +43,12 @@ protected: void _init(MAV_AUTOPILOT autopilot); void _cleanup(void); - void _parameter_test(void); + void _parameter_default_component_id_test(void); + void _parameter_specific_component_id_test(void); void _qml_test(void); - void _paramMgrSignal_test(void); void _qmlUpdate_test(void); UASInterface* _uas; - QGCUASParamManagerInterface* _paramMgr; AutoPilotPlugin* _plugin; LinkManager* _linkMgr; }; diff --git a/src/FactSystem/FactSystemTestGeneric.h b/src/FactSystem/FactSystemTestGeneric.h index 0435ccf6510adcaccad8c35343f44bfd064d3d08..df0c1199b973a6772e1b9f6af6194b71d4b6ebe8 100644 --- a/src/FactSystem/FactSystemTestGeneric.h +++ b/src/FactSystem/FactSystemTestGeneric.h @@ -43,9 +43,9 @@ private slots: void init(void); void cleanup(void) { _cleanup(); } - void parameter_test(void) { _parameter_test(); } + void parameter_default_component_id_test(void) { _parameter_default_component_id_test(); } + void parameter_specific_component_id_test(void) { _parameter_specific_component_id_test(); } void qml_test(void) { _qml_test(); } - void paramMgrSignal_test(void) { _paramMgrSignal_test(); } void qmlUpdate_test(void) { _qmlUpdate_test(); } }; diff --git a/src/FactSystem/FactSystemTestPX4.h b/src/FactSystem/FactSystemTestPX4.h index 54118e9070c3861ea8c07cda2ad1bbf3952b39ca..929e6a306eccdfcf4329be84fa94f59844f64da6 100644 --- a/src/FactSystem/FactSystemTestPX4.h +++ b/src/FactSystem/FactSystemTestPX4.h @@ -43,9 +43,9 @@ private slots: void init(void); void cleanup(void) { _cleanup(); } - void parameter_test(void) { _parameter_test(); } + void parameter_default_component_id_test(void) { _parameter_default_component_id_test(); } + void parameter_specific_component_id_test(void) { _parameter_specific_component_id_test(); } void qml_test(void) { _qml_test(); } - void paramMgrSignal_test(void) { _paramMgrSignal_test(); } void qmlUpdate_test(void) { _qmlUpdate_test(); } }; diff --git a/src/FactSystem/ParameterLoader.cc b/src/FactSystem/ParameterLoader.cc new file mode 100644 index 0000000000000000000000000000000000000000..27d235fe3de1dc799a411d276251ea7805aad234 --- /dev/null +++ b/src/FactSystem/ParameterLoader.cc @@ -0,0 +1,706 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#include "ParameterLoader.h" +#include "QGCApplication.h" +#include "QGCLoggingCategory.h" +#include "QGCApplication.h" +#include "QGCMessageBox.h" + +#include +#include + +QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog") + +ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) : + QObject(parent), + _autopilot(autopilot), + _uas(uas), + _mavlink(MAVLinkProtocol::instance()), + _parametersReady(false), + _defaultComponentId(FactSystem::defaultComponentId), + _totalParamCount(0), + _fullRefresh(false) +{ + Q_ASSERT(_autopilot); + Q_ASSERT(_uas); + Q_ASSERT(_mavlink); + + // We signal this to ouselves in order to start timer on our thread + connect(this, &ParameterLoader::restartWaitingParamTimer, this, &ParameterLoader::_restartWaitingParamTimer); + + _waitingParamTimeoutTimer.setSingleShot(true); + _waitingParamTimeoutTimer.setInterval(100); + connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout); + + // FIXME: Why not direct connect? + connect(_uas, SIGNAL(parameterUpdate(int, int, QString, int, int, int, QVariant)), this, SLOT(_parameterUpdate(int, int, QString, int, int, int, QVariant))); + + // Request full param list + refreshAllParameters(); +} + +ParameterLoader::~ParameterLoader() +{ + +} + +/// Called whenever a parameter is updated or first seen. +void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value) +{ + bool setMetaData = false; + + // Is this for our uas? + if (uasId != _uas->getUASID()) { + return; + } + + qCDebug(ParameterLoaderLog) << "_parameterUpdate (usaId:" << uasId << + "componentId:" << componentId << + "name:" << parameterName << + "count:" << parameterCount << + "index:" << parameterId << + "mavType:" << mavType << + "value:" << value << + ")"; + + _dataMutex.lock(); + + // Restart our waiting for param timer + _waitingParamTimeoutTimer.start(); + + // Update our total parameter counts + if (!_paramCountMap.contains(componentId)) { + _paramCountMap[componentId] = parameterCount; + _totalParamCount += parameterCount; + } + + // If we've never seen this component id before, setup the wait lists. + if (!_waitingReadParamIndexMap.contains(componentId)) { + QStringList paramNameList; + QList paramIndexList; + + // Parameter index is 0-based + for (int i=0; i(); + Q_ASSERT(fact); + fact->_containerSetValue(value); + + if (setMetaData) { + _addMetaDataToFact(fact); + } + + _dataMutex.unlock(); + + if (waitingParamCount == 0) { + // Now that we know vehicle is up to date persist + _saveToEEPROM(); + } + + // Check to see if we have the full param list for the first time + + if (_fullRefresh) { + if (waitingParamCount == 0) { + if (!_parametersReady) { + _parametersReady = true; + _determineDefaultComponentId(); + _setupGroupMap(); + emit parametersReady(); + } + } + } +} + +/// Connected to Fact::valueUpdated +/// +/// Writes the parameter to mavlink, sets up for write wait +void ParameterLoader::_valueUpdated(const QVariant& value) +{ + Fact* fact = qobject_cast(sender()); + Q_ASSERT(fact); + + int componentId = fact->componentId(); + QString name = fact->name(); + + _dataMutex.lock(); + + Q_ASSERT(_waitingWriteParamNameMap.contains(componentId)); + _waitingWriteParamNameMap[componentId].removeOne(name); + _waitingWriteParamNameMap[componentId] << name; + _waitingParamTimeoutTimer.start(); + + _dataMutex.unlock(); + + _writeParameterRaw(componentId, fact->name(), value); + qCDebug(ParameterLoaderLog) << "Set parameter (componentId:" << componentId << "name:" << name << value << ")"; +} + +void ParameterLoader::_addMetaDataToFact(Fact* fact) +{ + FactMetaData* metaData = new FactMetaData(fact->type(), this); + fact->setMetaData(metaData); +} + +void ParameterLoader::refreshAllParameters(void) +{ + _dataMutex.lock(); + + _fullRefresh = true; + + // Reset index wait lists + foreach (int componentId, _paramCountMap.keys()) { + QList paramIndexList; + + // Parameter index is 0-based + for (int i=0; i<_paramCountMap[componentId]; i++) { + paramIndexList << i; + } + + _waitingReadParamIndexMap[componentId] = paramIndexList; + } + + _dataMutex.unlock(); + + MAVLinkProtocol* mavlink = MAVLinkProtocol::instance(); + Q_ASSERT(mavlink); + + mavlink_message_t msg; + mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _uas->getUASID(), MAV_COMP_ID_ALL); + _uas->sendMessage(msg); + + qCDebug(ParameterLoaderLog) << "Request to refresh all parameters"; +} + +void ParameterLoader::_determineDefaultComponentId(void) +{ + if (_defaultComponentId == FactSystem::defaultComponentId) { + // We don't have a default component id yet. That means the plugin can't provide + // the param to trigger off of. Instead we use the most prominent component id in + // the set of parameters. Better than nothing! + + _defaultComponentId = -1; + foreach(int componentId, _mapParameterName2Variant.keys()) { + if (_mapParameterName2Variant[componentId].count() > _defaultComponentId) { + _defaultComponentId = componentId; + } + } + Q_ASSERT(_defaultComponentId != -1); + } +} + +/// Translates FactSystem::defaultComponentId to real component id if needed +int ParameterLoader::_actualComponentId(int componentId) +{ + if (componentId == FactSystem::defaultComponentId) { + componentId = _defaultComponentId; + Q_ASSERT(componentId != FactSystem::defaultComponentId); + } + + return componentId; +} + +void ParameterLoader::refreshParameter(int componentId, const QString& name) +{ + componentId = _actualComponentId(componentId); + qCDebug(ParameterLoaderLog) << "refreshParameter (component id:" << componentId << "name:" << name << ")"; + + _dataMutex.lock(); + + Q_ASSERT(_waitingReadParamNameMap.contains(componentId)); + + if (_waitingReadParamNameMap.contains(componentId)) { + _waitingReadParamNameMap[componentId].removeOne(name); + _waitingReadParamNameMap[componentId] << name; + emit restartWaitingParamTimer(); + } + + _dataMutex.unlock(); + + _readParameterRaw(componentId, name, -1); +} + +void ParameterLoader::refreshParametersPrefix(int componentId, const QString& namePrefix) +{ + componentId = _actualComponentId(componentId); + qCDebug(ParameterLoaderLog) << "refreshParametersPrefix (component id:" << componentId << "name:" << namePrefix << ")"; + + foreach(QString name, _mapParameterName2Variant[componentId].keys()) { + if (name.startsWith(namePrefix)) { + refreshParameter(componentId, name); + } + } +} + +bool ParameterLoader::parameterExists(int componentId, const QString& name) +{ + bool ret = false; + + componentId = _actualComponentId(componentId); + if (_mapParameterName2Variant.contains(componentId)) { + ret = _mapParameterName2Variant[componentId].contains(name); + } + + return ret; +} + +Fact* ParameterLoader::getFact(int componentId, const QString& name) +{ + componentId = _actualComponentId(componentId); + + if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(name)) { + QString panicMessage("Required parameter (component id: %1, name: %2), is missing from vehicle. QGroundControl cannot operate with this firmware revision. QGroundControl will now shut down."); + qgcApp()->panicShutdown(panicMessage.arg(componentId).arg(name)); + } + + Fact* fact = _mapParameterName2Variant[componentId][name].value(); + Q_ASSERT(fact); + + return fact; +} + +QStringList ParameterLoader::parameterNames(void) +{ + QStringList names; + + foreach(QString paramName, _mapParameterName2Variant[_defaultComponentId].keys()) { + names << paramName; + } + + return names; +} + +void ParameterLoader::_setupGroupMap(void) +{ + foreach (int componentId, _mapParameterName2Variant.keys()) { + foreach (QString name, _mapParameterName2Variant[componentId].keys()) { + Fact* fact = _mapParameterName2Variant[componentId][name].value(); + _mapGroup2ParameterName[componentId][fact->group()] += name; + } + } +} + +const QMap >& ParameterLoader::getGroupMap(void) +{ + return _mapGroup2ParameterName; +} + +void ParameterLoader::_waitingParamTimeout(void) +{ + bool paramsRequested = false; + const int maxBatchSize = 10; + int batchCount = 0; + + // We timed out waiting for some parameters from the initial set. Re-request those. + + batchCount = 0; + foreach(int componentId, _waitingReadParamIndexMap.keys()) { + foreach(int paramIndex, _waitingReadParamIndexMap[componentId]) { + paramsRequested = true; + _readParameterRaw(componentId, "", paramIndex); + qCDebug(ParameterLoaderLog) << "Read re-request for (componentId:" << componentId << "paramIndex:" << paramIndex << ")"; + + if (++batchCount > maxBatchSize) { + goto Out; + } + } + } + + if (!paramsRequested) { + foreach(int componentId, _waitingWriteParamNameMap.keys()) { + foreach(QString paramName, _waitingWriteParamNameMap[componentId]) { + paramsRequested = true; + _writeParameterRaw(componentId, paramName, _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->value()); + qCDebug(ParameterLoaderLog) << "Write resend for (componentId:" << componentId << "paramName:" << paramName << ")"; + + if (++batchCount > maxBatchSize) { + goto Out; + } + } + } + } + + if (!paramsRequested) { + foreach(int componentId, _waitingReadParamNameMap.keys()) { + foreach(QString paramName, _waitingReadParamNameMap[componentId]) { + paramsRequested = true; + _readParameterRaw(componentId, paramName, -1); + qCDebug(ParameterLoaderLog) << "Read re-request for (componentId:" << componentId << "paramName:" << paramName << ")"; + + if (++batchCount > maxBatchSize) { + goto Out; + } + } + } + } + +Out: + if (paramsRequested) { + _waitingParamTimeoutTimer.start(); + } +} + +void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex) +{ + mavlink_message_t msg; + char fixedParamName[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN]; + + strncpy(fixedParamName, paramName.toStdString().c_str(), sizeof(fixedParamName)); + mavlink_msg_param_request_read_pack(_mavlink->getSystemId(), // Our system id + _mavlink->getComponentId(), // Our component id + &msg, // Pack into this mavlink_message_t + _uas->getUASID(), // Target system id + componentId, // Target component id + fixedParamName, // Named parameter being requested + paramIndex); // Parameter index being requested, -1 for named + _uas->sendMessage(msg); +} + +void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value) +{ + bool floatHack = _uas->getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA; + + mavlink_param_set_t p; + mavlink_param_union_t union_value; + + FactMetaData::ValueType_t factType = _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->type(); + p.param_type = _factTypeToMavType(factType); + + switch (factType) { + case FactMetaData::valueTypeUint8: + if (floatHack) { + union_value.param_float = (uint8_t)value.toUInt(); + } else { + union_value.param_uint8 = (uint8_t)value.toUInt(); + } + break; + + case FactMetaData::valueTypeInt8: + if (floatHack) { + union_value.param_float = (int8_t)value.toInt(); + } else { + union_value.param_int8 = (int8_t)value.toInt(); + } + break; + + case FactMetaData::valueTypeUint16: + if (floatHack) { + union_value.param_float = (uint16_t)value.toUInt(); + } else { + union_value.param_uint16 = (uint16_t)value.toUInt(); + } + break; + + case FactMetaData::valueTypeInt16: + if (floatHack) { + union_value.param_float = (int16_t)value.toInt(); + } else { + union_value.param_int16 = (int16_t)value.toInt(); + } + break; + + case FactMetaData::valueTypeUint32: + if (floatHack) { + union_value.param_float = (uint32_t)value.toUInt(); + } else { + union_value.param_uint32 = (uint32_t)value.toUInt(); + } + break; + + case FactMetaData::valueTypeFloat: + union_value.param_float = value.toFloat(); + break; + + default: + qCritical() << "Unsupported fact type" << factType; + // fall through + + case FactMetaData::valueTypeInt32: + if (floatHack) { + union_value.param_float = (int32_t)value.toInt(); + } else { + union_value.param_int32 = (int32_t)value.toInt(); + } + break; + } + + p.param_value = union_value.param_float; + p.target_system = (uint8_t)_uas->getUASID(); + p.target_component = (uint8_t)componentId; + + strncpy(p.param_id, paramName.toStdString().c_str(), sizeof(p.param_id)); + + mavlink_message_t msg; + mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p); + _uas->sendMessage(msg); +} + +void ParameterLoader::_saveToEEPROM(void) +{ + mavlink_message_t msg; + mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _uas->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0); + _uas->sendMessage(msg); + qCDebug(ParameterLoaderLog) << "_saveToEEPROM"; +} + +void ParameterLoader::readParametersFromStream(QTextStream& stream) +{ + bool userWarned = false; + + while (!stream.atEnd()) { + QString line = stream.readLine(); + if (!line.startsWith("#")) { + QStringList wpParams = line.split("\t"); + int lineMavId = wpParams.at(0).toInt(); + if (wpParams.size() == 5) { + if (!userWarned && (_uas->getUASID() != lineMavId)) { + userWarned = true; + QString msg("The parameters in the stream have been saved from System Id %1, but the current vehicle has the System Id %2."); + QGCMessageBox::StandardButton button = QGCMessageBox::warning("Parameter Load", + msg.arg(lineMavId).arg(_uas->getUASID()), + QGCMessageBox::Ok | QGCMessageBox::Cancel, + QGCMessageBox::Cancel); + if (button == QGCMessageBox::Cancel) { + return; + } + } + + int componentId = wpParams.at(1).toInt(); + QString paramName = wpParams.at(2); + QString valStr = wpParams.at(3); + uint mavType = wpParams.at(4).toUInt(); + + if (!_autopilot->factExists(FactSystem::ParameterProvider, componentId, paramName)) { + continue; + } + + Fact* fact = _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName); + if (fact->type() != _mavTypeToFactType((MAV_PARAM_TYPE)mavType)) { + continue; + } + + fact->setValue(valStr); + } + } + } +} + +void ParameterLoader::writeParametersToStream(QTextStream &stream, const QString& name) +{ + stream << "# Onboard parameters for system " << name << "\n"; + stream << "#\n"; + stream << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n"; + + foreach (int componentId, _mapParameterName2Variant.keys()) { + foreach (QString paramName, _mapParameterName2Variant[componentId].keys()) { + Fact* fact = _mapParameterName2Variant[componentId][paramName].value(); + Q_ASSERT(fact); + + stream << _uas->getUASID() << "\t" << componentId << "\t" << paramName << "\t" << fact->valueString() << "\t" << QString("%1").arg(_factTypeToMavType(fact->type())) << "\n"; + } + } + + stream.flush(); +} + +MAV_PARAM_TYPE ParameterLoader::_factTypeToMavType(FactMetaData::ValueType_t factType) +{ + switch (factType) { + case FactMetaData::valueTypeUint8: + return MAV_PARAM_TYPE_UINT8; + + case FactMetaData::valueTypeInt8: + return MAV_PARAM_TYPE_INT8; + + case FactMetaData::valueTypeUint16: + return MAV_PARAM_TYPE_UINT16; + + case FactMetaData::valueTypeInt16: + return MAV_PARAM_TYPE_INT16; + + case FactMetaData::valueTypeUint32: + return MAV_PARAM_TYPE_UINT32; + + case FactMetaData::valueTypeFloat: + return MAV_PARAM_TYPE_REAL32; + + default: + qWarning() << "Unsupported fact type" << factType; + // fall through + + case FactMetaData::valueTypeInt32: + return MAV_PARAM_TYPE_INT32; + } +} + +FactMetaData::ValueType_t ParameterLoader::_mavTypeToFactType(MAV_PARAM_TYPE mavType) +{ + switch (mavType) { + case MAV_PARAM_TYPE_UINT8: + return FactMetaData::valueTypeUint8; + + case MAV_PARAM_TYPE_INT8: + return FactMetaData::valueTypeInt8; + + case MAV_PARAM_TYPE_UINT16: + return FactMetaData::valueTypeUint16; + + case MAV_PARAM_TYPE_INT16: + return FactMetaData::valueTypeInt16; + + case MAV_PARAM_TYPE_UINT32: + return FactMetaData::valueTypeUint32; + + case MAV_PARAM_TYPE_REAL32: + return FactMetaData::valueTypeFloat; + + default: + qWarning() << "Unsupported mav param type" << mavType; + // fall through + + case MAV_PARAM_TYPE_INT32: + return FactMetaData::valueTypeInt32; + } +} + +void ParameterLoader::_restartWaitingParamTimer(void) +{ + _waitingParamTimeoutTimer.start(); +} diff --git a/src/FactSystem/ParameterLoader.h b/src/FactSystem/ParameterLoader.h new file mode 100644 index 0000000000000000000000000000000000000000..925faaebc7b779275b6d986dd77a5783758cf089 --- /dev/null +++ b/src/FactSystem/ParameterLoader.h @@ -0,0 +1,152 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +#ifndef PARAMETERLOADER_H +#define PARAMETERLOADER_H + +#include +#include +#include +#include +#include + +#include "FactSystem.h" +#include "UASInterface.h" +#include "MAVLinkProtocol.h" +#include "AutoPilotPlugin.h" +#include "QGCMAVLink.h" + +/// @file +/// @author Don Gagne + +Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog) + +/// Connects to Parameter Manager to load/update Facts +class ParameterLoader : public QObject +{ + Q_OBJECT + +public: + /// @param uas Uas which this set of facts is associated with + ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL); + + ~ParameterLoader(); + + /// Returns true if the full set of facts are ready + bool parametersAreReady(void) { return _parametersReady; } + + /// Re-request the full set of parameters from the autopilot + void refreshAllParameters(void); + + /// Request a refresh on the specific parameter + void refreshParameter(int componentId, const QString& name); + + /// Request a refresh on all parameters that begin with the specified prefix + void refreshParametersPrefix(int componentId, const QString& namePrefix); + + /// Returns true if the specifed parameter exists + bool parameterExists(int componentId, ///< fact component, -1=default component + const QString& name); ///< fact name + + /// Returns all parameter names + /// FIXME: component id missing + QStringList parameterNames(void); + + /// Returns the specified Fact. + /// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existince first with + /// parameterExists. + Fact* getFact(int componentId, ///< fact component, -1=default component + const QString& name); ///< fact name + + const QMap >& getGroupMap(void); + + void readParametersFromStream(QTextStream& stream); + void writeParametersToStream(QTextStream &stream, const QString& name); + + /// Return the parameter for which the default component id is derived from. Return an empty + /// string is this is not available. + virtual QString getDefaultComponentIdParam(void) const = 0; + +signals: + /// Signalled when the full set of facts are ready + void parametersReady(void); + + /// Signalled to update progress of full parameter list request + void parameterListProgress(float value); + + /// Signalled to ourselves in order to get call on our own thread + void restartWaitingParamTimer(void); + +protected: + /// Base implementation adds generic meta data based on variant type. Derived class can override to provide + /// more details meta data. + virtual void _addMetaDataToFact(Fact* fact); + +private slots: + void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value); + void _valueUpdated(const QVariant& value); + void _restartWaitingParamTimer(void); + void _waitingParamTimeout(void); + +private: + static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false); + int _actualComponentId(int componentId); + void _determineDefaultComponentId(void); + void _setupGroupMap(void); + void _readParameterRaw(int componentId, const QString& paramName, int paramIndex); + void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value); + MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType); + FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType); + void _saveToEEPROM(void); + + AutoPilotPlugin* _autopilot; + UASInterface* _uas; + MAVLinkProtocol* _mavlink; + + /// First mapping is by component id + /// Second mapping is parameter name, to Fact* in QVariant + QMap _mapParameterName2Variant; + + /// First mapping is by component id + /// Second mapping is group name, to Fact + QMap > _mapGroup2ParameterName; + + bool _parametersReady; ///< All params received from param mgr + int _defaultComponentId; + QString _defaultComponentIdParam; + + QMap _paramCountMap; ///< Map of total known parameter count, keyed by component id + QMap > _waitingReadParamIndexMap; ///< Map of param indices waiting for initial first time read, keyed by component id + QMap _waitingReadParamNameMap; ///< Map of param names we are waiting to hear a read response from, keyed by component id + QMap _waitingWriteParamNameMap; ///< Map of param names we are waiting to hear a write response from, keyed by component id + + int _totalParamCount; ///< Number of parameters across all components + + QTimer _waitingParamTimeoutTimer; + + bool _fullRefresh; + + QMutex _dataMutex; +}; + +#endif \ No newline at end of file diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc index 6d1e2fff66c07660512536a694393bfc414466b4..2e48dbc16669a13987440d2e97cb0348afc033dd 100644 --- a/src/GAudioOutput.cc +++ b/src/GAudioOutput.cc @@ -54,8 +54,8 @@ GAudioOutput::GAudioOutput(QObject *parent) : muted |= qgcApp()->runningUnitTests(); worker->moveToThread(thread); - connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int))); - connect(this, SIGNAL(beepOnce()), worker, SLOT(beep())); + connect(this, &GAudioOutput::textToSpeak, worker, &QGCAudioWorker::say); + connect(this, &GAudioOutput::beepOnce, worker, &QGCAudioWorker::beep); thread->start(); } @@ -103,69 +103,6 @@ bool GAudioOutput::alert(QString text) return true; } -void GAudioOutput::notifyPositive() -{ - if (!muted) - { - // Use QFile to transform path for all OS - // FIXME: Get working with Qt5's QtMultimedia module - //QFile f(QCoreApplication::applicationDirPath() + QString("/files/audio/double_notify.wav")); - //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str())); - //m_media->play(); - } -} - -void GAudioOutput::notifyNegative() -{ - if (!muted) - { - // Use QFile to transform path for all OS - // FIXME: Get working with Qt5's QtMultimedia module - //QFile f(QCoreApplication::applicationDirPath() + QString("/files/audio/flat_notify.wav")); - //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str())); - //m_media->play(); - } -} - -/** - * The emergency sound will be played continously during the emergency. - * call stopEmergency() to disable it again. No speech synthesis or other - * audio output is available during the emergency. - * - * @return true if the emergency could be started, false else - */ -bool GAudioOutput::startEmergency() -{ -// if (!emergency) -// { -// emergency = true; - -// // Beep immediately and then start timer - -// emergencyTimer->start(1500); -// QTimer::singleShot(5000, this, SLOT(stopEmergency())); -// } - - return true; -} - -/** - * Stops the continous emergency sound. Use startEmergency() to start - * the emergency sound. - * - * @return true if the emergency could be stopped, false else - */ -bool GAudioOutput::stopEmergency() -{ -// if (emergency) -// { -// emergency = false; -// emergencyTimer->stop(); -// } - - return true; -} - void GAudioOutput::beep() { if (!muted) { diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h index ee97e8515c838224a8342d65a96bee1c9abb8b20..ffbd49dbf26000cee0416fef79a98aa55ab35260 100644 --- a/src/GAudioOutput.h +++ b/src/GAudioOutput.h @@ -80,20 +80,8 @@ public slots: bool say(QString text, int severity = 6); /** @brief Play alert sound and say notification message */ bool alert(QString text); - /** @brief Start emergency sound */ - bool startEmergency(); - /** @brief Stop emergency sound */ - bool stopEmergency(); -// /** @brief Select female voice */ -// void selectFemaleVoice(); -// /** @brief Select male voice */ -// void selectMaleVoice(); /** @brief Play emergency sound once */ void beep(); - /** @brief Notify about positive event */ - void notifyPositive(); - /** @brief Notify about negative event */ - void notifyNegative(); /** @brief Mute/unmute sound */ void mute(bool mute); diff --git a/src/MG.h b/src/MG.h index 8bc9426028092e8cf3df148f176c0150dde7adc8..f5b4cf9d3e7b47dd525a1d93850fa38bac00442f 100644 --- a/src/MG.h +++ b/src/MG.h @@ -341,64 +341,6 @@ public: } }; - -class DIR -{ - -public: - /** - * @brief Get the current support file directory. - * - * The support files are files like icons or fonts and are typically found in the - * same directory as the main executable. - * - * @return The absolute path of the directory - **/ - static QString getSupportFilesDirectory() { - - // Checks if the software is executed in the development environment - QString path = QDir::current().absolutePath(); - QDir currentDir = QDir::current(); - - if (QDir::current().dirName().toLower() == "debug") { - // Debug folder of development environment - path.append("/.."); - } else if (QDir::current().dirName().toLower() == "release") { - // Release folder of development environment - path.append("/.."); - } else if (QDir::current().dirName().toLower() == "bin") { - // Release folder of development environment - path.append("/.."); - } else if (QDir::current().dirName().toLower() == "macos") { - // Mac application bundle in development environment - path.append("/../../../../.."); - } - - // Check if we are still in a development folder - if(currentDir.cdUp()) { - if(currentDir.dirName().toLower() == "build") { - path.append("/.."); - } - } - //TODO The Mac application bundle in distribution is not yet included here - //qDebug() << "MG::supportfilesdirectory" << path; - return path; - } - - /** - * @brief Get the current icon directory. - * - * The icon directory is typically a subdirectory of the main directory, - * but depends on the platform. For example in OS X it is part of the bundle. - * - * @return The absolute path of the icon directory - **/ - static QString getIconDirectory() { - return MG::DIR::getSupportFilesDirectory() + "/files/images/"; - } - -}; - } #endif // _MG_H_ diff --git a/src/QGC.h b/src/QGC.h index 2ffca0600b2f428b388703fa77075fbae2d54f86..35f58e14ede8136a4d21ff2edb64c3ca60bfa14e 100644 --- a/src/QGC.h +++ b/src/QGC.h @@ -60,6 +60,9 @@ inline bool isinf(T value) #define isinf(x) std::isinf(x) #endif #endif +#ifdef __android__ +#define isinf(x) std::isinf(x) +#endif namespace QGC { diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc index 631649ba496558b333130b48a36b258fc83bff74..90c5e5a2ba39a38e05e4da4fc7e73c86cec770e7 100644 --- a/src/QGCApplication.cc +++ b/src/QGCApplication.cc @@ -49,7 +49,6 @@ #include "QGCMessageBox.h" #include "MainWindow.h" #include "UDPLink.h" -#include "MAVLinkSimulationLink.h" #include "SerialLink.h" #include "QGCSingleton.h" #include "LinkManager.h" @@ -59,7 +58,10 @@ #include "QGCTemporaryFile.h" #include "QGCFileDialog.h" #include "QGCPalette.h" -#include "MousePosition.h" +#include "ScreenTools.h" +#include "QGCLoggingCategory.h" +#include "ViewWidgetController.h" +#include "ParameterEditorController.h" #ifdef QGC_RTLAB_ENABLED #include "OpalLink.h" @@ -78,8 +80,20 @@ const char* QGCApplication::_defaultSavedFileDirectoryName = "QGroundControl"; const char* QGCApplication::_savedFileMavlinkLogDirectoryName = "FlightData"; const char* QGCApplication::_savedFileParameterDirectoryName = "SavedParameters"; -const char* QGCApplication::_darkStyleFile = ":files/styles/style-dark.css"; -const char* QGCApplication::_lightStyleFile = ":files/styles/style-light.css"; +const char* QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css"; +const char* QGCApplication::_lightStyleFile = ":/res/styles/style-light.css"; + +/** + * @brief ScreenTools creation callback + * + * This is called by the QtQuick engine for creating the singleton + **/ + +static QObject* screenToolsSingletonFactory(QQmlEngine*, QJSEngine*) +{ + ScreenTools* screenTools = new ScreenTools; + return screenTools; +} /** * @brief Constructor for the main application. @@ -101,8 +115,15 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) : _app = this; // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings +#ifndef __android__ setAttribute(Qt::AA_DontCreateNativeWidgetSiblings); +#endif +#ifdef __android__ + QLoggingCategory::setFilterRules(QStringLiteral("*Log.debug=false")); +#endif + +#ifndef __android__ #ifdef QT_DEBUG // First thing we want to do is set up the qtlogging.ini file. If it doesn't already exist we copy // it to the correct location. This way default debug builds will have logging turned off. @@ -128,13 +149,23 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) : if (loggingDirectoryOk) { qDebug () << iniFileLocation; if (!iniFileLocation.exists(qtLoggingFile)) { - if (!QFile::copy(":QLoggingCategory/qtlogging.ini", iniFileLocation.filePath(qtLoggingFile))) { - qDebug() << "Unable to copy" << QString(qtLoggingFile) << "to" << iniFileLocation; + QFile loggingFile(iniFileLocation.filePath(qtLoggingFile)); + if (loggingFile.open(QIODevice::WriteOnly | QIODevice::Text)) { + QTextStream out(&loggingFile); + out << "[Rules]\n"; + out << "*Log.debug=false\n"; + foreach(QString category, QGCLoggingCategoryRegister::instance()->registeredCategories()) { + out << category << ".debug=false\n"; + } + } else { + qDebug() << "Unable to create logging file" << QString(qtLoggingFile) << "in" << iniFileLocation; } } } #endif +#endif + // Set application information if (_runningUnitTests) { // We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app @@ -242,7 +273,7 @@ void QGCApplication::_initCommon(void) // Load application font QFontDatabase fontDatabase = QFontDatabase(); - const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app + const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app //const QString fontFamilyName = "Bitstream Vera Sans"; if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str()); fontDatabase.addApplicationFont(fontFileName); @@ -252,7 +283,11 @@ void QGCApplication::_initCommon(void) // Register our Qml objects qmlRegisterType("QGroundControl.Palette", 1, 0, "QGCPalette"); - qmlRegisterType("QGroundControl.MousePosition", 1, 0, "MousePosition"); + qmlRegisterType("QGroundControl.Controllers", 1, 0, "ViewWidgetController"); + qmlRegisterType("QGroundControl.Controllers", 1, 0, "ParameterEditorController"); + //-- Create QML Singleton Interfaces + qmlRegisterSingletonType("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory); + } bool QGCApplication::_initForNormalAppBoot(void) @@ -262,7 +297,7 @@ bool QGCApplication::_initForNormalAppBoot(void) _createSingletons(); // Show splash screen - QPixmap splashImage(":/files/images/splash.png"); + QPixmap splashImage(":/res/SplashScreen"); QSplashScreen* splashScreen = new QSplashScreen(splashImage); // Delete splash screen after mainWindow was displayed splashScreen->setAttribute(Qt::WA_DeleteOnClose); @@ -443,6 +478,7 @@ void QGCApplication::_createSingletons(void) MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton(); Q_UNUSED(mavlink); Q_ASSERT(mavlink); + } void QGCApplication::_destroySingletons(void) @@ -557,9 +593,33 @@ void QGCApplication::_loadCurrentStyle(void) success = false; } } + + // Now that we have the styles loaded we need to dpi adjust the font point sizes + + QString dpiAdjustedStyles; + if (success) { + QTextStream styleStream(&styles, QIODevice::ReadOnly); + QRegularExpression regex("font-size:.+(\\d\\d)pt;"); + + while (!styleStream.atEnd()) { + QString adjustedLine; + QString line = styleStream.readLine(); + + QRegularExpressionMatch match = regex.match(line); + if (match.hasMatch()) { + //qDebug() << "found:" << line << match.captured(1); + adjustedLine = QString("font-size: %1pt;").arg(ScreenTools::adjustFontPointSize_s(match.captured(1).toDouble())); + //qDebug() << "adjusted:" << adjustedLine; + } else { + adjustedLine = line; + } + + dpiAdjustedStyles += adjustedLine; + } + } - if (!styles.isEmpty()) { - setStyleSheet(styles); + if (!dpiAdjustedStyles.isEmpty()) { + setStyleSheet(dpiAdjustedStyles); } if (!success) { @@ -572,3 +632,35 @@ void QGCApplication::_loadCurrentStyle(void) // Finally restore the cursor before returning. restoreOverrideCursor(); } + +void QGCApplication::reconnectAfterWait(int waitSeconds) +{ + LinkManager* linkManager = LinkManager::instance(); + Q_ASSERT(linkManager); + + Q_ASSERT(linkManager->getLinks().count() == 1); + LinkInterface* link = linkManager->getLinks()[0]; + + // Save the link configuration so we can restart the link laster + _reconnectLinkConfig = LinkConfiguration::duplicateSettings(linkManager->getLinks()[0]->getLinkConfiguration()); + + // Disconnect and wait + + linkManager->disconnectLink(link); + QTimer::singleShot(waitSeconds * 1000, this, &QGCApplication::_reconnect); +} + +void QGCApplication::_reconnect(void) +{ + Q_ASSERT(_reconnectLinkConfig); + + qgcApp()->restoreOverrideCursor(); + LinkManager::instance()->createConnectedLink(_reconnectLinkConfig); + _reconnectLinkConfig = NULL; +} + +void QGCApplication::panicShutdown(const QString& panicMessage) +{ + QGCMessageBox::critical("Panic Shutdown", panicMessage); + ::exit(0); +} diff --git a/src/QGCApplication.h b/src/QGCApplication.h index 5b75acfed0cd29757c6d8a244890f1ea3d5ec3a9..695d3d7d404ed73797d96cb6bef4f486b0d1019a 100644 --- a/src/QGCApplication.h +++ b/src/QGCApplication.h @@ -34,6 +34,8 @@ #include +#include "LinkConfiguration.h" + #ifdef QGC_RTLAB_ENABLED #include "OpalLink.h" #endif @@ -93,6 +95,13 @@ public: /// Set the current UI style void setStyle(bool styleIsDark); + /// Disconnects the current link and waits for the specified number of seconds before reconnecting. + void reconnectAfterWait(int waitSeconds); + + /// Used to shutdown the app if a fatal condition occurs from which it cannot recover + /// @param panicMessage Message to display to user + void panicShutdown(const QString& panicMessage); + public slots: /// You can connect to this slot to show an information message box from a different thread. void informationMessageBoxOnMainThread(const QString& title, const QString& msg); @@ -132,6 +141,9 @@ public: static QGCApplication* _app; ///< Our own singleton. Should be reference directly by qgcApp +private slots: + void _reconnect(void); + private: void _createSingletons(void); void _destroySingletons(void); @@ -153,6 +165,8 @@ private: static const char* _lightStyleFile; bool _styleIsDark; ///< true: dark style, false: light style + LinkConfiguration* _reconnectLinkConfig; ///< Configuration to reconnect for reconnectAfterWai + /// Unit Test have access to creating and destroying singletons friend class UnitTest; }; diff --git a/src/QGCConfig.h b/src/QGCConfig.h index a119bc823a921ce09dccd48f344422223752e6d4..0d8f0754f669caea32357ec5a6db28b09cbbb9e7 100644 --- a/src/QGCConfig.h +++ b/src/QGCConfig.h @@ -12,14 +12,14 @@ // If you need to make an incompatible changes to stored settings, bump this version number // up by 1. This will caused store settings to be cleared on next boot. -#define QGC_SETTINGS_VERSION 3 +#define QGC_SETTINGS_VERSION 6 #define QGC_APPLICATION_NAME "QGroundControl" #define QGC_ORG_NAME "QGroundControl.org" #define QGC_ORG_DOMAIN "org.qgroundcontrol" #define QGC_APPLICATION_VERSION_MAJOR 2 -#define QGC_APPLICATION_VERSION_MINOR 3 +#define QGC_APPLICATION_VERSION_MINOR 4 // The following #definess can be overriden from the command line so that automated build systems can // add additional build identification. @@ -32,7 +32,7 @@ #endif #ifndef QGC_APPLICATION_VERSION_BUILDTYPE -#define QGC_APPLICATION_VERSION_BUILDTYPE "(Developer Build)" +#define QGC_APPLICATION_VERSION_BUILDTYPE "(Development)" #endif #endif // QGC_CONFIGURATION_H diff --git a/src/QGCDockWidget.cc b/src/QGCDockWidget.cc index b087abbbaa70742ac87249e48dca6d326d56dd35..7fce8d78564fcb092879e10f12a7bd5c2ae5f9da 100644 --- a/src/QGCDockWidget.cc +++ b/src/QGCDockWidget.cc @@ -25,15 +25,23 @@ #include -QGCDockWidget::QGCDockWidget(const QString& title, QWidget *parent, Qt::WindowFlags flags) : - QDockWidget(title, parent, flags) +QGCDockWidget::QGCDockWidget(const QString& title, QAction* action, QWidget *parent, Qt::WindowFlags flags) : + QDockWidget(title, parent, flags), + _action(action) { - + QDockWidget::DockWidgetFeatures features = QDockWidget::DockWidgetMovable; + + if (action) { + features |= QDockWidget::DockWidgetClosable; + } + setFeatures(features); } // Instead of destroying the widget just hide it void QGCDockWidget::closeEvent(QCloseEvent* event) { + Q_ASSERT(_action); + event->ignore(); - setVisible(false); + _action->trigger(); } diff --git a/src/QGCDockWidget.h b/src/QGCDockWidget.h index ffc2fb1352b59f28a88bda264475849a50d11241..24f6e6a771a46010745f7306191ee12e9ca2caf9 100644 --- a/src/QGCDockWidget.h +++ b/src/QGCDockWidget.h @@ -25,6 +25,7 @@ #define QGCDockWidget_h #include +#include /// @file /// @brief Subclass of QDockWidget so we can intercept the closeEvent. @@ -35,9 +36,12 @@ class QGCDockWidget : public QDockWidget { Q_OBJECT public: - QGCDockWidget(const QString& title, QWidget *parent = 0, Qt::WindowFlags flags = 0); + QGCDockWidget(const QString& title, QAction* action, QWidget *parent = 0, Qt::WindowFlags flags = 0); void closeEvent(QCloseEvent* event); + +private: + QAction* _action; }; diff --git a/src/QGCFileDialog.cc b/src/QGCFileDialog.cc index 25c667ea928685dd4ffa8a46cef47e300d70ab07..398017bb1a3baf91fa117161d7e44b07a9fd8720 100644 --- a/src/QGCFileDialog.cc +++ b/src/QGCFileDialog.cc @@ -26,8 +26,10 @@ #include #include "MainWindow.h" #ifdef QT_DEBUG +#ifndef __android__ #include "UnitTest.h" #endif +#endif QString QGCFileDialog::getExistingDirectory( QWidget* parent, @@ -38,9 +40,11 @@ QString QGCFileDialog::getExistingDirectory( _validate(options); #ifdef QT_DEBUG +#ifndef __android__ if (qgcApp()->runningUnitTests()) { return UnitTest::_getExistingDirectory(parent, caption, dir, options); } else +#endif #endif { return QFileDialog::getExistingDirectory(parent, caption, dir, options); @@ -57,9 +61,11 @@ QString QGCFileDialog::getOpenFileName( _validate(options); #ifdef QT_DEBUG +#ifndef __android__ if (qgcApp()->runningUnitTests()) { return UnitTest::_getOpenFileName(parent, caption, dir, filter, options); } else +#endif #endif { return QFileDialog::getOpenFileName(parent, caption, dir, filter, NULL, options); @@ -76,9 +82,11 @@ QStringList QGCFileDialog::getOpenFileNames( _validate(options); #ifdef QT_DEBUG +#ifndef __android__ if (qgcApp()->runningUnitTests()) { return UnitTest::_getOpenFileNames(parent, caption, dir, filter, options); } else +#endif #endif { return QFileDialog::getOpenFileNames(parent, caption, dir, filter, NULL, options); @@ -97,9 +105,11 @@ QString QGCFileDialog::getSaveFileName( _validate(options); #ifdef QT_DEBUG +#ifndef __android__ if (qgcApp()->runningUnitTests()) { return UnitTest::_getSaveFileName(parent, caption, dir, filter, defaultSuffix, options); } else +#endif #endif { QString defaultSuffixCopy(defaultSuffix); @@ -207,10 +217,12 @@ void QGCFileDialog::_validate(Options& options) Q_ASSERT(qgcApp()); Q_ASSERT_X(QThread::currentThread() == qgcApp()->thread(), "Threading issue", "QGCFileDialog can only be called from main thread"); - +#ifdef __android__ + Q_UNUSED(options) +#else // On OSX native dialog can hang so we always use Qt dialogs options |= DontUseNativeDialog; - +#endif if (MainWindow::instance()) { MainWindow::instance()->hideSplashScreen(); } diff --git a/src/VehicleSetup/ParameterEditor.cc b/src/QGCLoggingCategory.cc similarity index 61% rename from src/VehicleSetup/ParameterEditor.cc rename to src/QGCLoggingCategory.cc index ed43081d2c03ced9d81cace5f896a937005e157f..7a7c3cdaeb62ad7056e963391913212f4fc6744c 100644 --- a/src/VehicleSetup/ParameterEditor.cc +++ b/src/QGCLoggingCategory.cc @@ -2,7 +2,7 @@ QGroundControl Open Source Ground Control Station - (c) 2009 - 2014 QGROUNDCONTROL PROJECT + (c) 2009 - 2015 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project @@ -24,23 +24,19 @@ /// @file /// @author Don Gagne -#include "ParameterEditor.h" -#include "ui_ParameterEditor.h" +#include "QGCLoggingCategory.h" -ParameterEditor::ParameterEditor(UASInterface* uas, const QStringList& filterList, QWidget* parent) : - QWidget(parent), - _ui(new Ui::ParameterEditor) -{ - _ui->setupUi(this); +// Add Global logging categories (not class specific) here using QGC_LOGGING_CATEGORY + // There currently are no global categories - _ui->paramTreeWidget->setFilterList(filterList); - _ui->paramTreeWidget->setUAS(uas); - _ui->paramTreeWidget->handleOnboardParameterListUpToDate(); - _ui->pendingCommitsWidget->setUAS(uas); - _ui->pendingCommitsWidget->update(); -} +QGCLoggingCategoryRegister* _instance = NULL; -ParameterEditor::~ParameterEditor() +QGCLoggingCategoryRegister* QGCLoggingCategoryRegister::instance(void) { - delete _ui; + if (!_instance) { + _instance = new QGCLoggingCategoryRegister(); + Q_CHECK_PTR(_instance); + } + + return _instance; } diff --git a/src/QGCLoggingCategory.h b/src/QGCLoggingCategory.h new file mode 100644 index 0000000000000000000000000000000000000000..e059f833dd0567c8edbc82e8fd152e30e968ec51 --- /dev/null +++ b/src/QGCLoggingCategory.h @@ -0,0 +1,63 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#ifndef QGC_LOGGING_CATEGORY_H +#define QGC_LOGGING_CATEGORY_H + +#include +#include + +// Add Global logging categories (not class specific) here using Q_DECLARE_LOGGING_CATEGORY + // There currently are no global categories + +/// @def QGC_LOGGING_CATEGORY +/// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a +/// global list. It's usage is the same as Q_LOGGING_CATEOGRY. +#define QGC_LOGGING_CATEGORY(name, ...) \ + static QGCLoggingCategory qgcCategory(__VA_ARGS__); \ + Q_LOGGING_CATEGORY(name, __VA_ARGS__) + +class QGCLoggingCategoryRegister +{ +public: + static QGCLoggingCategoryRegister* instance(void); + + void registerCategory(const char* category) { _registeredCategories << category; } + const QStringList& registeredCategories(void) { return _registeredCategories; } + +private: + QGCLoggingCategoryRegister(void) { } + + QStringList _registeredCategories; +}; + +class QGCLoggingCategory +{ +public: + QGCLoggingCategory(const char* category) { QGCLoggingCategoryRegister::instance()->registerCategory(category); } +}; + +#endif diff --git a/src/QGCMessageBox.h b/src/QGCMessageBox.h index dfda32d18a7bac8e3721784d09ee07f9deb60b63..91402a9d033711b930b8230e4cfba2ca4f3459e5 100644 --- a/src/QGCMessageBox.h +++ b/src/QGCMessageBox.h @@ -29,8 +29,10 @@ #include "MainWindow.h" #include "QGCApplication.h" #ifdef QT_DEBUG +#ifndef __android__ #include "UnitTest.h" #endif +#endif /// @file /// @brief Subclass of QMessageBox which re-implements the static public functions. There are two reasons for this: @@ -104,10 +106,12 @@ private: } #ifdef QT_DEBUG +#ifndef __android__ if (qgcApp()->runningUnitTests()) { qDebug() << "QGCMessageBox (unit testing)" << title << text; return UnitTest::_messageBox(icon, title, text, buttons, defaultButton); } else +#endif #endif { #ifdef Q_OS_MAC diff --git a/src/QGCPalette.cc b/src/QGCPalette.cc index 61e2fba42f80e976e5c1d8048f73b4241f556666..dfc6deb0c88e4e81dbbb7e7841210cceea0e8ec4 100644 --- a/src/QGCPalette.cc +++ b/src/QGCPalette.cc @@ -25,6 +25,7 @@ /// @author Don Gagne #include "QGCPalette.h" +#include "ScreenTools.h" #include #include @@ -34,12 +35,12 @@ QList QGCPalette::_paletteObjects; QGCPalette::Theme QGCPalette::_theme = QGCPalette::Dark; QColor QGCPalette::_window[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = { - { QColor(0xF6, 0xF6, 0xF6), QColor(0xF6, 0xF6, 0xF6) }, + { QColor(0xDD, 0xDD, 0xDD), QColor(0xDD, 0xDD, 0xDD) }, { QColor(0x22, 0x22, 0x22), QColor(0x22, 0x22, 0x22) } }; QColor QGCPalette::_windowShade[QGCPalette::_cThemes][QGCPalette::_cColorGroups] = { - { QColor(255, 235, 211), QColor(255, 235, 211) }, + { QColor(204, 204, 204), QColor(204, 204, 204) }, { QColor(51, 51, 51), QColor(51, 51, 51) } }; @@ -130,3 +131,4 @@ void QGCPalette::_themeChanged(void) { emit paletteChanged(); } + diff --git a/src/QGCPalette.h b/src/QGCPalette.h index 219c8b6b45320f97abcf79123d777edd9b00d21c..6f703e5282e514603a2e3b9dc4d89bf116d675e2 100644 --- a/src/QGCPalette.h +++ b/src/QGCPalette.h @@ -82,7 +82,7 @@ class QGCPalette : public QObject // Text color for TextFields Q_PROPERTY(QColor textFieldText READ textFieldText NOTIFY paletteChanged) - + public: enum ColorGroup { Disabled = 0, @@ -119,7 +119,7 @@ public: static Theme globalTheme(void) { return _theme; } static void setGlobalTheme(Theme newTheme); - + signals: void paletteChanged(void); diff --git a/src/QmlControls/ParameterEditor.qml b/src/QmlControls/ParameterEditor.qml new file mode 100644 index 0000000000000000000000000000000000000000..d40f849b2df4277505bcbd73badc3d8a3a99f2b3 --- /dev/null +++ b/src/QmlControls/ParameterEditor.qml @@ -0,0 +1,419 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +import QtQuick 2.3 +import QtQuick.Controls 1.3 +import QtQuick.Controls.Styles 1.2 +import QtQuick.Dialogs 1.2 + +import QGroundControl.Controls 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Controllers 1.0 +import QGroundControl.FactSystem 1.0 +import QGroundControl.FactControls 1.0 + +Rectangle { + /// true: show full information, false: for use in smaller widgets + property bool fullMode: true + + QGCPalette { id: __qgcPal; colorGroupEnabled: true } + ParameterEditorController { id: __controller } + QGCLabel { id: __textControl; text: "X"; visible: false } + + readonly property real __leftMargin: 10 + readonly property real __rightMargin: 20 + readonly property int __maxParamChars: 16 + + color: __qgcPal.window + + // We use an ExclusiveGroup to maintain the visibility of a single editing control at a time + ExclusiveGroup { + id: __exclusiveEditorGroup + } + + property Fact __editorOverlayFact: Fact { } + property real __textHeight: __textControl.contentHeight + property real __textWidth: __textControl.contentWidth + + Item { + id: __editorOverlay + + anchors.fill: parent + visible: false + z: 100 + + Rectangle { + width: __textWidth * 75 + height: parent.height + anchors.left: parent.left + anchors.right: editorDialog.left + opacity: 0.80 + color: __qgcPal.window + } + + Rectangle { + id: editorDialog + width: fullMode ? __textWidth * 50 : parent.width + height: parent.height + anchors.right: parent.right + color: __qgcPal.windowShadeDark + + Column { + spacing: __textHeight + anchors.fill: parent + + Rectangle { + width: parent.width + height: saveButton.height + color: __qgcPal.windowShade + + QGCLabel { + x: __textWidth + height: parent.height + verticalAlignment: Text.AlignVCenter + text: "Edit Parameter" + } + + QGCButton { + anchors.right: saveButton.left + anchors.bottom: parent.bottom + text: "Cancel" + + onClicked: { + __editorOverlay.visible = false + } + } + + QGCButton { + id: saveButton + anchors.right: parent.right + primary: true + text: "Save" + + onClicked: { + __editorOverlayFact.value = valueField.text + __editorOverlay.visible = false + } + } + } + + Column { + spacing: __textHeight + anchors.leftMargin: __textWidth * 2 + anchors.rightMargin: __textWidth + anchors.left: parent.left + anchors.right: parent.right + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + text: __editorOverlayFact.shortDescription ? __editorOverlayFact.shortDescription : "Description missing" + } + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + visible: __editorOverlayFact.longDescription + text: __editorOverlayFact.longDescription + } + + QGCTextField { + id: valueField + text: __editorOverlayFact.valueString + } + + QGCLabel { text: __editorOverlayFact.name } + + Row { + spacing: __textWidth + + QGCLabel { text: "Units:" } + QGCLabel { text: __editorOverlayFact.units ? __editorOverlayFact.units : "none" } + } + + Row { + spacing: __textWidth + + QGCLabel { text: "Minimum value:" } + QGCLabel { text: __editorOverlayFact.min } + } + + Row { + spacing: __textWidth + + QGCLabel { text: "Maxmimum value:" } + QGCLabel { text: __editorOverlayFact.max } + } + + Row { + spacing: __textWidth + + QGCLabel { text: "Default value:" } + QGCLabel { text: __editorOverlayFact.defaultValueAvailable ? __editorOverlayFact.defaultValue : "none" } + } + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + text: "Warning: Modifying parameters while vehicle is in flight can lead to vehicle instability and possible vehicle loss. " + + "Make sure you know what you are doing and double-check your values before Save!" + } + } // Column - Fact information + } // Column - Header + Fact information + + + QGCButton { + anchors.rightMargin: __textWidth + anchors.right: rcButton.left + anchors.bottom: parent.bottom + visible: __editorOverlayFact.defaultValueAvailable + text: "Reset to default" + + onClicked: { + __editorOverlayFact.value = __editorOverlayFact.defaultValue + __editorOverlay.visible = false + } + } + + QGCButton { + id: rcButton + anchors.right: parent.right + anchors.bottom: parent.bottom + visible: __editorOverlayFact.defaultValueAvailable + text: "Set RC to Param..." + onClicked: __controller.setRCToParam(__editorOverlayFact.name) + } + } // Rectangle - editorDialog + } // Item - editorOverlay + + Component { + id: factRowsComponent + + Column { + id: factColumn + x: __leftMargin + + QGCLabel { + height: __textHeight + (ScreenTools.pixelSizeFactor * (9)) + text: group + verticalAlignment: Text.AlignVCenter + font.pointSize: ScreenTools.fontPointFactor * (16); + } + + Rectangle { + width: parent.width + height: 1 + color: __qgcPal.text + } + + Repeater { + model: __controller.getFactsForGroup(componentId, group) + + Column { + Item { + x: __leftMargin + width: parent.width + height: __textHeight + (ScreenTools.pixelSizeFactor * (9)) + + Fact { + id: modelFact + + Component.onCompleted: { + name = modelData + ":" + componentId + } + } + + QGCLabel { + id: nameLabel + width: __textWidth * (__maxParamChars + 1) + height: parent.height + verticalAlignment: Text.AlignVCenter + text: modelFact.name + } + + QGCLabel { + id: valueLabel + width: __textWidth * 20 + height: parent.height + anchors.left: nameLabel.right + verticalAlignment: Text.AlignVCenter + color: modelFact.valueEqualsDefault ? __qgcPal.text : "orange" + text: modelFact.valueString + " " + modelFact.units + } + + QGCLabel { + height: parent.height + anchors.left: valueLabel.right + verticalAlignment: Text.AlignVCenter + visible: fullMode + text: modelFact.shortDescription + } + + MouseArea { + anchors.fill: parent + acceptedButtons: Qt.LeftButton + + onClicked: { + __editorOverlayFact = modelFact + __editorOverlay.visible = true + } + } + } + + Rectangle { + x: __leftMargin + width: factColumn.width - __leftMargin - __rightMargin + height: 1 + color: __qgcPal.windowShade + } + } // Column - Fact + } // Repeater - Facts + } // Column - Facts + } // Component - factRowsComponent + + Column { + anchors.fill: parent + + Item { + width: parent.width + height: firstButton.height + + QGCLabel { + font.pointSize: ScreenTools.fontPointFactor * (20) + visible: fullMode + text: "PARAMETER EDITOR" + } + + Row { + spacing: 10 + layoutDirection: Qt.RightToLeft + width: parent.width + + QGCButton { + text: "Clear RC to Param" + onClicked: __controller.clearRCToParam() + } + QGCButton { + text: "Save to file" + visible: fullMode + onClicked: __controller.saveToFile() + } + QGCButton { + text: "Load from file" + visible: fullMode + onClicked: __controller.loadFromFile() + } + QGCButton { + id: firstButton + text: "Refresh" + onClicked: __controller.refresh() + } + } + } + + Item { + id: lastSpacer + height: 10 + width: 5 + } + + Item { + width: parent.width + height: parent.height - (lastSpacer.y + lastSpacer.height) + + ScrollView { + id : groupScroll + width: __textWidth * 25 + height: parent.height + + Column { + Repeater { + model: __controller.componentIds + + Column { + id: componentColumn + + readonly property int componentId: parseInt(modelData) + + QGCLabel { + height: contentHeight + (ScreenTools.pixelSizeFactor * (9)) + text: "Component #: " + componentId.toString() + verticalAlignment: Text.AlignVCenter + font.pointSize: ScreenTools.fontPointFactor * (16); + } + + Repeater { + model: __controller.getGroupsForComponent(componentColumn.componentId) + + Column { + QGCButton { + x: __leftMargin + width: groupScroll.width - __leftMargin - __rightMargin + text: modelData + + onClicked: { + factRowsLoader.sourceComponent = null + factRowsLoader.componentId = componentId + factRowsLoader.group = modelData + factRowsLoader.sourceComponent = factRowsComponent + } + } + + Item { + width: 1 + height: ScreenTools.pixelSizeFactor * (3) + } + } // Column - Group + } // Repeater - Groups + + Item { + height: 10 + width: 10 + } + } // Column - Component + } // Repeater - Components + } // Column - Component + } // ScrollView - Groups + + ScrollView { + id: factScrollView + anchors.left: groupScroll.right + anchors.right: parent.right + height: parent.height + + Loader { + id: factRowsLoader + width: factScrollView.width + + property int componentId: __controller.componentIds[0] + property string group: __controller.getGroupsForComponent(__controller.componentIds[0])[0] + sourceComponent: factRowsComponent + } + } // ScrollView - Facts + } // Item - Group ScrollView + Facts + } // Column - Outer +} diff --git a/src/QmlControls/ParameterEditorController.cc b/src/QmlControls/ParameterEditorController.cc new file mode 100644 index 0000000000000000000000000000000000000000..03e000f2bd46089b7ec30a5464d761e4f522a80e --- /dev/null +++ b/src/QmlControls/ParameterEditorController.cc @@ -0,0 +1,134 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Don Gagne + +#include "ParameterEditorController.h" +#include "UASManager.h" +#include "AutoPilotPluginManager.h" +#include "QGCFileDialog.h" +#include "QGCMessageBox.h" +#include "QGCMapRCToParamDialog.h" +#include "MainWindow.h" + +/// @Brief Constructs a new ParameterEditorController Widget. This widget is used within the PX4VehicleConfig set of screens. +ParameterEditorController::ParameterEditorController(void) : + _uas(NULL), + _autopilot(NULL) +{ + _uas = UASManager::instance()->getActiveUAS(); + Q_ASSERT(_uas); + + _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas); + Q_ASSERT(_autopilot); + Q_ASSERT(_autopilot->pluginReady()); + + const QMap >& groupMap = _autopilot->getGroupMap(); + + foreach (int componentId, groupMap.keys()) { + _componentIds += QString("%1").arg(componentId); + } +} + +QStringList ParameterEditorController::getGroupsForComponent(int componentId) +{ + const QMap >& groupMap = _autopilot->getGroupMap(); + + return groupMap[componentId].keys(); +} + +QStringList ParameterEditorController::getFactsForGroup(int componentId, QString group) +{ + const QMap >& groupMap = _autopilot->getGroupMap(); + + return groupMap[componentId][group]; +} + +void ParameterEditorController::clearRCToParam(void) +{ + Q_ASSERT(_uas); + _uas->unsetRCToParameterMap(); +} + +void ParameterEditorController::saveToFile(void) +{ + Q_ASSERT(_autopilot); + + QString msgTitle("Save Parameters"); + + QString fileName = QGCFileDialog::getSaveFileName(NULL, + msgTitle, + qgcApp()->savedParameterFilesLocation(), + "Parameter Files (*.params)", + "params", + true); + if (!fileName.isEmpty()) { + QFile file(fileName); + + if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) { + QGCMessageBox::critical(msgTitle, "Unable to create file"); + return; + } + + QTextStream stream(&file); + _autopilot->writeParametersToStream(stream); + file.close(); + } +} + +void ParameterEditorController::loadFromFile(void) +{ + Q_ASSERT(_autopilot); + + QString msgTitle("Load Parameters"); + + QString fileName = QGCFileDialog::getOpenFileName(NULL, + msgTitle, + qgcApp()->savedParameterFilesLocation(), + "Parameter Files (*.params);;All Files (*)"); + if (!fileName.isEmpty()) { + QFile file(fileName); + + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { + QGCMessageBox::critical(msgTitle, "Unable to open file"); + return; + } + + QTextStream stream(&file); + _autopilot->readParametersFromStream(stream); + file.close(); + } +} + +void ParameterEditorController::refresh(void) +{ + _autopilot->refreshAllParameters(); +} + +void ParameterEditorController::setRCToParam(const QString& paramName) +{ + Q_ASSERT(_uas); + QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, MainWindow::instance()); + d->exec(); +} diff --git a/src/QmlControls/MousePosition.h b/src/QmlControls/ParameterEditorController.h similarity index 58% rename from src/QmlControls/MousePosition.h rename to src/QmlControls/ParameterEditorController.h index 64c7a3a4f5e72dee6a22b6d17f7349bddc278e50..3f38266712e2a54576a32afd34fdc2f63940ec60 100644 --- a/src/QmlControls/MousePosition.h +++ b/src/QmlControls/ParameterEditorController.h @@ -24,27 +24,39 @@ /// @file /// @author Don Gagne -#ifndef MOUSEPOSITION_H -#define MOUSEPOSITION_H +#ifndef PARAMETEREDITORCONTROLLER_H +#define PARAMETEREDITORCONTROLLER_H #include -#include +#include -/// This Qml control is used to return global mouse positions. It is needed to fix -/// a problem with hover state of buttons not being updated correctly if the mouse -/// moves out of a QQuickWidget control. -class MousePosition : public QObject +#include "AutoPilotPlugin.h" +#include "UASInterface.h" + +class ParameterEditorController : public QObject { Q_OBJECT public: - MousePosition(void); - - Q_PROPERTY(int mouseX READ mouseX) - Q_PROPERTY(int mouseY READ mouseY) - - int mouseX(void) { return QCursor::pos().x(); } - int mouseY(void) { return QCursor::pos().y(); } + ParameterEditorController(void); + + Q_PROPERTY(QStringList componentIds MEMBER _componentIds CONSTANT) + + Q_INVOKABLE QStringList getGroupsForComponent(int componentId); + Q_INVOKABLE QStringList getFactsForGroup(int componentId, QString group); + + Q_INVOKABLE void clearRCToParam(void); + Q_INVOKABLE void saveToFile(void); + Q_INVOKABLE void loadFromFile(void); + Q_INVOKABLE void refresh(void); + Q_INVOKABLE void setRCToParam(const QString& paramName); + + QList model(void); + +private: + UASInterface* _uas; + AutoPilotPlugin* _autopilot; + QStringList _componentIds; }; #endif diff --git a/src/QmlControls/QGCButton.qml b/src/QmlControls/QGCButton.qml index a3d31b2670236c2b44baa9fb7347caf2acfb2aea..716549a3c4a9ac0f5f041d9cee0d08c8c8477d9c 100644 --- a/src/QmlControls/QGCButton.qml +++ b/src/QmlControls/QGCButton.qml @@ -4,7 +4,7 @@ import QtQuick.Controls.Styles 1.2 import QtQuick.Controls.Private 1.0 import QGroundControl.Palette 1.0 -import QGroundControl.MousePosition 1.0 +import QGroundControl.ScreenTools 1.0 Button { // primary: true - this is the primary button for this group of buttons @@ -23,17 +23,15 @@ Button { property int __lastGlobalMouseX: 0 property int __lastGlobalMouseY: 0 - property MousePosition __globalMousePosition: MousePosition { } - Connections { target: __behavior onMouseXChanged: { - __lastGlobalMouseX = __globalMousePosition.mouseX - __lastGlobalMouseY = __globalMousePosition.mouseY + __lastGlobalMouseX = ScreenTools.mouseX + __lastGlobalMouseY = ScreenTools.mouseY } onMouseYChanged: { - __lastGlobalMouseX = __globalMousePosition.mouseX - __lastGlobalMouseY = __globalMousePosition.mouseY + __lastGlobalMouseX = ScreenTools.mouseX + __lastGlobalMouseY = ScreenTools.mouseY } onEntered: { __forceHoverOff; false; hoverTimer.start() } onExited: { __forceHoverOff; false; hoverTimer.stop() } @@ -45,7 +43,7 @@ Button { repeat: true onTriggered: { - if (__lastGlobalMouseX != __globalMousePosition.mouseX || __lastGlobalMouseY != __globalMousePosition.mouseY) { + if (__lastGlobalMouseX != ScreenTools.mouseX || __lastGlobalMouseY != ScreenTools.mouseY) { __forceHoverOff = true } else { __forceHoverOff = false @@ -103,10 +101,13 @@ Button { } Text { - id: text - renderType: Text.NativeRendering + id: text + antialiasing: true + text: control.text + font.pointSize: ScreenTools.defaultFontPointSize + anchors.verticalCenter: parent.verticalCenter - text: control.text + color: __showHighlight ? control.__qgcPal.buttonHighlightText : (primary ? control.__qgcPal.primaryButtonText : control.__qgcPal.buttonText) diff --git a/src/QmlControls/QGCCheckBox.qml b/src/QmlControls/QGCCheckBox.qml index 356c4ddf0056b51c965b860ec953ef39c14d8c82..6403ccdf7b5092470919d8a451829b167e7ead4a 100644 --- a/src/QmlControls/QGCCheckBox.qml +++ b/src/QmlControls/QGCCheckBox.qml @@ -3,6 +3,7 @@ import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 CheckBox { property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } @@ -25,9 +26,13 @@ CheckBox { opacity: 0.6 } Text { - id: text - text: control.text + id: text + text: control.text + antialiasing: true + font.pointSize: ScreenTools.defaultFontPointSize + anchors.centerIn: parent + color: control.__qgcPal.text } } diff --git a/src/QmlControls/QGCColoredImage.qml b/src/QmlControls/QGCColoredImage.qml index 72e4ee77580ddd6aab3504edf31e2b5e4e179b44..716ccf7181301d0981327ae3002b9cd8b38a4fc3 100644 --- a/src/QmlControls/QGCColoredImage.qml +++ b/src/QmlControls/QGCColoredImage.qml @@ -1,4 +1,4 @@ -import QtQuick 2.2 +import QtQuick 2.3 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QtGraphicalEffects 1.0 @@ -17,24 +17,27 @@ Item { property alias paintedWidth: image.paintedWidth property alias progress: image.progress property alias smooth: image.smooth + property alias mipmap: image.mipmap property alias source: image.source property alias sourceSize: image.sourceSize property alias status: image.status property alias verticalAlignment: image.verticalAlignment - width: image.width + width: image.width height: image.height Image { - id: image - smooth: true - visible: false - anchors.fill: parent + id: image + smooth: true + mipmap: true + antialiasing: true + visible: false + anchors.fill: parent } ColorOverlay { - anchors.fill: image - source: image - color: parent.color + anchors.fill: image + source: image + color: parent.color } -} \ No newline at end of file +} diff --git a/src/QmlControls/QGCComboBox.qml b/src/QmlControls/QGCComboBox.qml index a8f3555c3545579d00078a8da14b7351380ab58a..efdc83cc140b0e04f52c841fee9e5858606fd599 100644 --- a/src/QmlControls/QGCComboBox.qml +++ b/src/QmlControls/QGCComboBox.qml @@ -4,13 +4,14 @@ import QtQuick.Controls.Styles 1.2 import QtQuick.Controls.Private 1.0 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 ComboBox { property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } - property bool __showHighlight: pressed | hovered style: ComboBoxStyle { + font.pointSize: ScreenTools.defaultFontPointSize textColor: __showHighlight ? control.__qgcPal.buttonHighlightText : control.__qgcPal.buttonText diff --git a/src/QmlControls/QGCLabel.qml b/src/QmlControls/QGCLabel.qml index 2afa5cda90cc9e8d88f4287a46ba11252ad09d30..ab9261d8716a51cceec324381992a1a104df003d 100644 --- a/src/QmlControls/QGCLabel.qml +++ b/src/QmlControls/QGCLabel.qml @@ -3,10 +3,14 @@ import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 Text { - property var __palette: QGCPalette { colorGroupEnabled: enabled } + QGCPalette { id: __qgcPal; colorGroupEnabled: enabled } + property bool enabled: true - color: __palette.text + font.pointSize: ScreenTools.defaultFontPointSize + color: __qgcPal.text + antialiasing: true } diff --git a/src/QmlControls/QGCMovableItem.qml b/src/QmlControls/QGCMovableItem.qml new file mode 100644 index 0000000000000000000000000000000000000000..b16f20c7ca281510ed10a543a38d1b7c93e0364a --- /dev/null +++ b/src/QmlControls/QGCMovableItem.qml @@ -0,0 +1,64 @@ +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QGroundControl.ScreenTools 1.0 + +// This item can be dragged around within its parent. +// Double click issues a signal the parent can use to +// reset its default position. + +Item { + id: root + property bool allowDragging: true + property real minimumWidth: ScreenTools.pixelSizeFactor * (60) + property real minimumHeight: ScreenTools.pixelSizeFactor * (60) + property alias tForm: tform + signal resetRequested() + transform: Scale { + id: tform + } + MouseArea { + property double factor: 25 + enabled: root.allowDragging + cursorShape: Qt.OpenHandCursor + anchors.fill: parent + drag.target: parent + drag.axis: Drag.XAndYAxis + drag.minimumX: 0 + drag.minimumY: 0 + drag.maximumX: root.parent.width - (root.width * tform.xScale) + drag.maximumY: root.parent.height - (root.height * tform.yScale) + drag.filterChildren: true + onPressed: { + root.anchors.left = undefined + root.anchors.right = undefined + } + onDoubleClicked: { + root.resetRequested(); + } + onWheel: + { + var zoomFactor = 1; + if(wheel.angleDelta.y > 0) + zoomFactor = 1 + (1/factor) + else + zoomFactor = 1 - (1/factor) + var realX = wheel.x * tform.xScale + var realY = wheel.y * tform.yScale + var tx = root.x + (1-zoomFactor)*realX + var ty = root.y + (1-zoomFactor)*realY + if(tx < 0) tx = 0 + if(ty < 0) ty = 0 + var ts = tform.xScale * zoomFactor + if(root.width * ts >= root.minimumWidth) { + if(root.height * ts >= root.minimumHeight) { + if(((root.width * ts) + tx) < root.parent.width && ((root.height * ts) + ty) < root.parent.height) { + root.x = tx + root.y = ty + tform.xScale = ts + tform.yScale = ts + } + } + } + } + } +} diff --git a/src/QmlControls/QGCRadioButton.qml b/src/QmlControls/QGCRadioButton.qml index f1f9b8656f2c4dcfa286f743829f7e848924b83a..3f2bad99a58e4e2c81e2acaaabacdc6eaea99019 100644 --- a/src/QmlControls/QGCRadioButton.qml +++ b/src/QmlControls/QGCRadioButton.qml @@ -3,6 +3,7 @@ import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 RadioButton { property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } @@ -25,9 +26,13 @@ RadioButton { opacity: 0.6 } Text { - id: text - text: control.text + id: text + text: control.text + font.pointSize: ScreenTools.defaultFontPointSize + antialiasing: true + anchors.centerIn: parent + color: control.__qgcPal.text } } diff --git a/src/QmlControls/QGCTextField.qml b/src/QmlControls/QGCTextField.qml index 0b5dec2fcf13e069fb61ac61f9fb94c965ccdbd6..96a6caa95212064859d6fdd4b20f25563222c3ec 100644 --- a/src/QmlControls/QGCTextField.qml +++ b/src/QmlControls/QGCTextField.qml @@ -3,6 +3,7 @@ import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 TextField { property bool showUnits: false @@ -17,6 +18,7 @@ TextField { text: unitsLabel width: contentWidth + ((parent.__contentHeight/3)*2) visible: false + antialiasing: true } style: TextFieldStyle { @@ -31,7 +33,6 @@ TextField { Rectangle { anchors.fill: parent - border.color: control.activeFocus ? "#47b" : "#999" color: __qgcPal.textField } @@ -49,6 +50,9 @@ TextField { width: unitsLabelWidthGenerator.width text: control.unitsLabel + font.pointSize: ScreenTools.defaultFontPointSize + antialiasing: true + color: control.textColor visible: control.showUnits } diff --git a/src/QmlControls/QGCToolBarButton.qml b/src/QmlControls/QGCToolBarButton.qml index 0bfa181400d566c7d8115951b9773bd49b698e02..c14b4f42827b1e6ad591b834a57595e5c1d94e18 100644 --- a/src/QmlControls/QGCToolBarButton.qml +++ b/src/QmlControls/QGCToolBarButton.qml @@ -13,7 +13,7 @@ QGCButton { property bool showHighlight: __showHighlight style: ButtonStyle { background: Item { - anchors.margins: 3 + anchors.margins: height * 0.1 // 3 Canvas { id: chevron anchors.fill: parent @@ -34,14 +34,17 @@ QGCButton { onPaint: { var vMiddle = height / 2; var context = getContext("2d"); + var w12 = button.height * 0.4 // 12 + var w3 = button.height * 0.1 // 3 + var w15 = w12 + w3 context.reset(); context.beginPath(); - context.lineWidth = 6; + context.lineWidth = button.height * 0.2; // 6 context.beginPath(); context.moveTo(0, 0); - context.lineTo(width - 12 - 3, 0); - context.lineTo(width - 3, vMiddle); - context.lineTo(width - 12 - 3, height); + context.lineTo(width - w15, 0); + context.lineTo(width - w3, vMiddle); + context.lineTo(width - w15, height); context.lineTo(0, height); context.closePath(); context.strokeStyle = __qgcPal.windowShade @@ -51,10 +54,10 @@ QGCButton { } } } - label: Label { + label: QGCLabel { text: button.text horizontalAlignment: Text.AlignHCenter - verticalAlignment: Text.AlignVCenter + verticalAlignment: Text.AlignVCenter color: showHighlight ? __qgcPal.buttonHighlightText : (button.checked ? __qgcPal.primaryButtonText : __qgcPal.buttonText) } } diff --git a/src/QmlControls/ScreenTools.cc b/src/QmlControls/ScreenTools.cc new file mode 100644 index 0000000000000000000000000000000000000000..000afe0a17b8c8f0975f8439a674cfbd54bf6d5b --- /dev/null +++ b/src/QmlControls/ScreenTools.cc @@ -0,0 +1,111 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Gus Grubba + +#include "ScreenTools.h" +#include "MainWindow.h" + +#include +#include + +const double ScreenTools::_defaultFontPointSize = 12; + +ScreenTools::ScreenTools() +{ + connect(MainWindow::instance(), &MainWindow::repaintCanvas, this, &ScreenTools::_updateCanvas); + connect(MainWindow::instance(), &MainWindow::pixelSizeChanged, this, &ScreenTools::_updatePixelSize); + connect(MainWindow::instance(), &MainWindow::fontSizeChanged, this, &ScreenTools::_updateFontSize); +} + +qreal ScreenTools::adjustFontPointSize(qreal pointSize) +{ + return adjustFontPointSize_s(pointSize); +} + +qreal ScreenTools::adjustFontPointSize_s(qreal pointSize) +{ + return pointSize * MainWindow::fontPointFactor(); +} + +qreal ScreenTools::adjustPixelSize(qreal pixelSize) +{ + return adjustPixelSize_s(pixelSize); +} + +qreal ScreenTools::adjustPixelSize_s(qreal pixelSize) +{ + return pixelSize * MainWindow::pixelSizeFactor(); +} + +void ScreenTools::increasePixelSize() +{ + MainWindow::instance()->setPixelSizeFactor(MainWindow::pixelSizeFactor() + 0.025); +} + +void ScreenTools::decreasePixelSize() +{ + MainWindow::instance()->setPixelSizeFactor(MainWindow::pixelSizeFactor() - 0.025); +} + +void ScreenTools::increaseFontSize() +{ + MainWindow::instance()->setFontSizeFactor(MainWindow::fontPointFactor() + 0.025); +} + +void ScreenTools::decreaseFontSize() +{ + MainWindow::instance()->setFontSizeFactor(MainWindow::fontPointFactor() - 0.025); +} + +void ScreenTools::_updateCanvas() +{ + emit repaintRequestedChanged(); +} + +void ScreenTools::_updatePixelSize() +{ + emit pixelSizeFactorChanged(); +} + +void ScreenTools::_updateFontSize() +{ + emit fontPointFactorChanged(); + emit defaultFontPointSizeChanged(); +} + +double ScreenTools::fontPointFactor() +{ + return MainWindow::fontPointFactor(); +} + +double ScreenTools::pixelSizeFactor() +{ + return MainWindow::pixelSizeFactor(); +} + +double ScreenTools::defaultFontPointSize(void) +{ + return _defaultFontPointSize * MainWindow::fontPointFactor(); +} diff --git a/src/QmlControls/ScreenTools.h b/src/QmlControls/ScreenTools.h new file mode 100644 index 0000000000000000000000000000000000000000..e3908e478f399493b3b4cf1a9dfd2fd622455168 --- /dev/null +++ b/src/QmlControls/ScreenTools.h @@ -0,0 +1,129 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009, 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +/// @file +/// @author Gus Grubba + +#ifndef SCREENTOOLS_H +#define SCREENTOOLS_H + +#include +#include + +/*! + @brief Screen helper tools for QML widgets + To use its functions, you need to import the module with the following line: + @code + import QGroundControl.ScreenTools 1.0 + @endcode +*/ + +/// This Qml control is used to return screen parameters +class ScreenTools : public QObject +{ + Q_OBJECT +public: + ScreenTools(); + + //! Returns the global mouse X position + Q_PROPERTY(int mouseX READ mouseX) + //! Returns the global mouse Y position + Q_PROPERTY(int mouseY READ mouseY) + //! Used to trigger a \c Canvas element repaint. + /*! + There is a bug as of Qt 5.4 where a Canvas element defined within a QQuickWidget does not receive + repaint events. QGC's main window will emit these signals when a \c Canvas element needs to be + repainted. + If you use a \c Canvas element inside some QML widget, you can use this code to handle repaint: + @code + import QGroundControl.ScreenTools 1.0 + ... + Canvas { + id: myCanvas + height: 40 + width: 40 + Connections { + target: ScreenTools + onRepaintRequestedChanged: { + myCanvas.requestPaint(); + } + } + onPaint: { + var context = getContext("2d"); + ... + } + } + @endcode + */ + + Q_PROPERTY(bool repaintRequested READ repaintRequested NOTIFY repaintRequestedChanged) + //! Returns the font point size factor + Q_PROPERTY(double fontPointFactor READ fontPointFactor NOTIFY fontPointFactorChanged) + //! Returns the pixel size factor + Q_PROPERTY(double pixelSizeFactor READ pixelSizeFactor NOTIFY pixelSizeFactorChanged) + //! Returns the system wide default font point size (properly scaled) + Q_PROPERTY(double defaultFontPointSize READ defaultFontPointSize NOTIFY defaultFontPointSizeChanged) + + //! Utility for adjusting font point size. Not dynamic (no signals) + Q_INVOKABLE qreal adjustFontPointSize(qreal pointSize); + //! Utility for adjusting pixel size. Not dynamic (no signals) + Q_INVOKABLE qreal adjustPixelSize(qreal pixelSize); + + //! Utility for increasing pixel size. + Q_INVOKABLE void increasePixelSize(); + //! Utility for decreasing pixel size. + Q_INVOKABLE void decreasePixelSize(); + //! Utility for increasing font size. + Q_INVOKABLE void increaseFontSize(); + //! Utility for decreasing font size. + Q_INVOKABLE void decreaseFontSize(); + + /// Static version of adjustFontPointSize of use in C++ code + static qreal adjustFontPointSize_s(qreal pointSize); + /// Static version of adjustPixelSize of use in C++ code + static qreal adjustPixelSize_s(qreal pixelSize); + + int mouseX () { return QCursor::pos().x(); } + int mouseY () { return QCursor::pos().y(); } + bool repaintRequested () { return true; } + double fontPointFactor (); + double pixelSizeFactor (); + double defaultFontPointSize(void); + +signals: + void repaintRequestedChanged(); + void pixelSizeFactorChanged(); + void fontPointFactorChanged(); + void defaultFontPointSizeChanged(); + +private slots: + void _updateCanvas(); + void _updatePixelSize(); + void _updateFontSize(); + +private: + static const double _defaultFontPointSize; + +}; + +#endif diff --git a/src/QmlControls/SubMenuButton.qml b/src/QmlControls/SubMenuButton.qml index 5282d3d6a4fe3bdc6036fb440d871a6048804799..9c5ef6db44af94361eee0981a5dff7aee8722922 100644 --- a/src/QmlControls/SubMenuButton.qml +++ b/src/QmlControls/SubMenuButton.qml @@ -4,6 +4,7 @@ import QtQuick.Controls.Styles 1.2 import QtGraphicalEffects 1.0 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 Button { checkable: true @@ -39,7 +40,8 @@ Button { horizontalAlignment: TextEdit.AlignHCenter text: control.text - font.pixelSize: 12 + font.pointSize: ScreenTools.defaultFontPointSize + antialiasing: true color: __showHighlight ? __qgcPal.buttonHighlightText : __qgcPal.buttonText Rectangle { diff --git a/src/QmlControls/VehicleRotationCal.qml b/src/QmlControls/VehicleRotationCal.qml index b65a76256fd23db2768ff5d7072a6eb2a5450646..d1e2e3e06025cdbb905c6b8ef12cc6b5f1dd94de 100644 --- a/src/QmlControls/VehicleRotationCal.qml +++ b/src/QmlControls/VehicleRotationCal.qml @@ -1,28 +1,55 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.2 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 Rectangle { - property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } - // Indicates whether calibration is valid for this control property bool calValid: false // Indicates whether the control is currently being calibrated property bool calInProgress: false + // Text to show while calibration is in progress + property string calInProgressText: "Hold Still" + // Image source property var imageSource: "" + property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } + width: 200 height: 200 color: calInProgress ? "yellow" : (calValid ? "green" : "red") Rectangle { readonly property int inset: 5 - property string calText: calInProgress ? "Hold Still" : (calValid ? "Completed" : "Incomplete") + property string calText: calInProgress ? calInProgressText : (calValid ? "Completed" : "Incomplete") x: inset y: inset @@ -38,23 +65,23 @@ Rectangle { smooth: true } - Label { + QGCLabel { width: parent.width height: parent.height horizontalAlignment: Text.AlignHCenter verticalAlignment: Text.AlignBottom - font.pointSize: 25 + font.pointSize: ScreenTools.fontPointFactor * (25); font.bold: true color: "black" text: parent.calText } - Label { + QGCLabel { width: parent.width height: parent.height horizontalAlignment: Text.AlignHCenter verticalAlignment: Text.AlignBottom - font.pointSize: 25 + font.pointSize: ScreenTools.fontPointFactor * (25); color: calInProgress ? "yellow" : "white" text: parent.calText diff --git a/src/QmlControls/VehicleSummaryRow.qml b/src/QmlControls/VehicleSummaryRow.qml new file mode 100644 index 0000000000000000000000000000000000000000..cc2a035fb947c55fd4c912d3f7ba7d324d465c95 --- /dev/null +++ b/src/QmlControls/VehicleSummaryRow.qml @@ -0,0 +1,20 @@ +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 + +Row { + property string labelText: "Label" + property string valueText: "value" + + width: parent.width + + QGCLabel { + id: label + text: labelText + } + QGCLabel { + width: parent.width - label.contentWidth + text: valueText + horizontalAlignment: Text.AlignRight; + } +} diff --git a/src/QmlControls/qmldir b/src/QmlControls/qmldir index ea2f99def55251bce11451dc0d81001ed83a32c5..b62af1bcbd73ebb6588a628c0514fd3f90f65902 100644 --- a/src/QmlControls/qmldir +++ b/src/QmlControls/qmldir @@ -8,8 +8,12 @@ QGCTextField 1.0 QGCTextField.qml QGCComboBox 1.0 QGCComboBox.qml QGCColoredImage 1.0 QGCColoredImage.qml QGCToolBarButton 1.0 QGCToolBarButton.qml +QGCMovableItem 1.0 QGCMovableItem.qml SubMenuButton 1.0 SubMenuButton.qml IndicatorButton 1.0 IndicatorButton.qml VehicleRotationCal 1.0 VehicleRotationCal.qml +VehicleSummaryRow 1.0 VehicleSummaryRow.qml +ParameterEditor 1.0 ParameterEditor.qml +ViewWidget 1.0 ViewWidget.qml diff --git a/src/QtLocationPlugin/OpenPilotMaps.cc b/src/QtLocationPlugin/OpenPilotMaps.cc new file mode 100644 index 0000000000000000000000000000000000000000..c3a46959e81c8b2dab7eeb9adf94262d51048366 --- /dev/null +++ b/src/QtLocationPlugin/OpenPilotMaps.cc @@ -0,0 +1,503 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Open Pilot Mapping Tools + * @author Gus Grubba + * Original work: The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + */ + +#include +#include +#include +#include + +#include "OpenPilotMaps.h" + +namespace OpenPilot { + +const QString ProviderStrings::kLevelsForSigPacSpainMap[] = + { "0", "1", "2", "3", "4", + "MTNSIGPAC", + "MTN2000", "MTN2000", "MTN2000", "MTN2000", "MTN2000", + "MTN200", "MTN200", "MTN200", + "MTN25", "MTN25", + "ORTOFOTOS", "ORTOFOTOS", "ORTOFOTOS", "ORTOFOTOS" }; + +ProviderStrings::ProviderStrings() +{ + // Google version strings + VersionGoogleMap = "m@296306248"; + VersionGoogleSatellite = "s@168"; + VersionGoogleLabels = "h@296000000"; + VersionGoogleTerrain = "t@132,r@296000000"; + SecGoogleWord = "Galileo"; + + // Google (China) version strings + VersionGoogleMapChina = "m@132"; + VersionGoogleSatelliteChina = "s@71"; + VersionGoogleLabelsChina = "h@132"; + VersionGoogleTerrainChina = "t@125,r@132"; + + // Google (Korea) version strings + VersionGoogleMapKorea = "kr1.12"; + VersionGoogleSatelliteKorea = "66"; + VersionGoogleLabelsKorea = "kr1t.12"; + + /// + /// Google Maps API generated using http://greatmaps.codeplex.com/ + /// from http://code.google.com/intl/en-us/apis/maps/signup.html + /// + GoogleMapsAPIKey = "ABQIAAAAWaQgWiEBF3lW97ifKnAczhRAzBk5Igf8Z5n2W3hNnMT0j2TikxTLtVIGU7hCLLHMAuAMt-BO5UrEWA"; + + // Yahoo version strings + VersionYahooMap = "4.3"; + VersionYahooSatellite = "1.9"; + VersionYahooLabels = "4.3"; + + // BingMaps + VersionBingMaps = "563"; + + // YandexMap + VersionYandexMap = "2.16.0"; + + /// + /// Bing Maps Customer Identification, more info here + /// http://msdn.microsoft.com/en-us/library/bb924353.aspx + /// + BingMapsClientToken = ""; +} + +UrlFactory::UrlFactory(QNetworkAccessManager *network) + : _timeout(5 * 1000) + , _googleVersionRetrieved(false) + , _network(network) + , _googleReply(NULL) +{ +} + +UrlFactory::~UrlFactory() +{ + if(_googleReply) + _googleReply->deleteLater(); +} + +QString UrlFactory::_tileXYToQuadKey(const int& tileX, const int& tileY, const int& levelOfDetail) const +{ + QString quadKey; + for (int i = levelOfDetail; i > 0; i--) { + char digit = '0'; + int mask = 1 << (i - 1); + if ((tileX & mask) != 0) { + digit++; + } + if ((tileY & mask) != 0) { + digit++; + digit++; + } + quadKey.append(digit); + } + return quadKey; +} + +int UrlFactory::_getServerNum(const QPoint &pos, const int &max) const +{ + return (pos.x() + 2 * pos.y()) % max; +} + +void UrlFactory::_networkReplyError(QNetworkReply::NetworkError error) +{ + qWarning() << "Could not connect to google maps. Error:" << error; + if(_googleReply) + { + _googleReply->deleteLater(); + _googleReply = NULL; + } +} + +void UrlFactory::_replyDestroyed() +{ + _googleReply = NULL; +} + +void UrlFactory::_googleVersionCompleted() +{ + if (!_googleReply || (_googleReply->error() != QNetworkReply::NoError)) { + qDebug() << "Error collecting Google maps version info"; + return; + } + QString html = QString(_googleReply->readAll()); + QRegExp reg("\"*http://mts0.google.com/vt/lyrs=m@(\\d*)", Qt::CaseInsensitive); + if (reg.indexIn(html) != -1) { + QStringList gc = reg.capturedTexts(); + VersionGoogleMap = QString("m@%1").arg(gc[1]); + VersionGoogleMapChina = VersionGoogleMap; + VersionGoogleMapKorea = VersionGoogleMap; + } + reg = QRegExp("\"*http://mts0.google.com/vt/lyrs=h@(\\d*)", Qt::CaseInsensitive); + if (reg.indexIn(html) != -1) { + QStringList gc = reg.capturedTexts(); + VersionGoogleLabels = QString("h@%1").arg(gc[1]); + VersionGoogleLabelsChina = VersionGoogleLabels; + VersionGoogleLabelsKorea = VersionGoogleLabels; + } + reg = QRegExp("\"*http://khms0.google.com/kh/v=(\\d*)", Qt::CaseInsensitive); + if (reg.indexIn(html) != -1) { + QStringList gc = reg.capturedTexts(); + VersionGoogleSatellite = "s@" + gc[1]; + VersionGoogleSatelliteKorea = VersionGoogleSatellite; + VersionGoogleSatelliteChina = VersionGoogleSatellite; + } + reg = QRegExp("\"*http://mts0.google.com/vt/lyrs=t@(\\d*),r@(\\d*)", Qt::CaseInsensitive); + if (reg.indexIn(html) != -1) { + QStringList gc = reg.capturedTexts(); + VersionGoogleTerrain = QString("t@%1,r@%2").arg(gc[1]).arg(gc[2]); + VersionGoogleTerrainChina = VersionGoogleTerrain; + VersionGoogleTerrainChina = VersionGoogleTerrain; + } + _googleReply->deleteLater(); + _googleReply = NULL; +} + +void UrlFactory::_tryCorrectGoogleVersions() +{ + QMutexLocker locker(&_googleVersionMutex); + if (_googleVersionRetrieved) { + return; + } + _googleVersionRetrieved = true; + if(_network) + { + QNetworkRequest qheader; + QNetworkProxy proxy = _network->proxy(); + QNetworkProxy tProxy; + tProxy.setType(QNetworkProxy::NoProxy); + _network->setProxy(tProxy); + QString url = "http://maps.google.com/maps?output=classic"; + qheader.setUrl(QUrl(url)); + QByteArray userAgent = "Mozilla/5.0 (Windows; U; Windows NT 6.0; en-US; rv:1.9.1.7) Gecko/20091221 Firefox/3.5.7"; + qheader.setRawHeader("User-Agent", userAgent); + _googleReply = _network->get(qheader); + connect(_googleReply, SIGNAL(finished()), this, SLOT(_googleVersionCompleted())); + connect(_googleReply, SIGNAL(error(QNetworkReply::NetworkError)), this, SLOT(_networkReplyError(QNetworkReply::NetworkError))); + connect(_googleReply, SIGNAL(destroyed()), this, SLOT(_replyDestroyed())); + _network->setProxy(proxy); + } +} + +QString UrlFactory::makeImageUrl(const MapType &type, const QPoint& pos, const int &zoom, const QString &language) +{ + switch (type) { + case GoogleMap: + { + // http://mt1.google.com/vt/lyrs=m + QString server = "mt"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10&scale=2").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleMap).arg(language).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleSatellite: + { + // http://mt1.google.com/vt/lyrs=s + QString server = "mt"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10&scale=2").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleSatellite).arg(language).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleLabels: + { + QString server = "mts"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleLabels).arg(language).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleTerrain: + { + QString server = "mts"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + return QString("http://%1%2.google.com/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10&scale=2").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleTerrain).arg(language).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleMapChina: + { + QString server = "mt"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://mt0.google.cn/vt/v=w2.101&hl=zh-CN&gl=cn&x=12&y=6&z=4&s=Ga + return QString("http://%1%2.google.cn/%3/lyrs=%4&hl=%5&gl=cn&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleMapChina).arg("zh-CN").arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleSatelliteChina: + { + QString server = "mt"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://khm0.google.cn/kh/v=46&x=12&y=6&z=4&s=Ga + return QString("http://%1%2.google.cn/%3/lyrs=%4&gl=cn&x=%5%6&y=%7&z=%8&s=%9").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleSatelliteChina).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleLabelsChina: + { + QString server = "mt"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://mt0.google.cn/vt/v=w2t.110&hl=zh-CN&gl=cn&x=12&y=6&z=4&s=Ga + return QString("http://%1%2.google.cn/%3/imgtp=png32&lyrs=%4&hl=%5&gl=cn&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleLabelsChina).arg("zh-CN").arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleTerrainChina: + { + QString server = "mt"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://mt0.google.cn/vt/v=w2p.110&hl=zh-CN&gl=cn&x=12&y=6&z=4&s=Ga + return QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&gl=cn&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleTerrainChina).arg("zh-CN").arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleMapKorea: + { + QString server = "mts"; + QString request = "vt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://mts0.google.com/vt/lyrs=m@224000000&hl=ko&gl=KR&src=app&x=107&y=50&z=7&s=Gal + // http://mts0.google.com/mt/v=kr1.11&hl=ko&x=109&y=49&z=7&s= + QString ret = QString("http://%1%2.google.com/%3/lyrs=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleMapKorea).arg(language).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + return ret; + } + break; + case GoogleSatelliteKorea: + { + QString server = "khms"; + QString request = "kh"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://khm1.google.co.kr/kh/v=54&x=109&y=49&z=7&s= + return QString("http://%1%2.google.co.kr/%3/v=%4&x=%5%6&y=%7&z=%8&s=%9").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleSatelliteKorea).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case GoogleLabelsKorea: + { + QString server = "mts"; + QString request = "mt"; + QString sec1 = ""; // after &x=... + QString sec2 = ""; // after &zoom=... + _getSecGoogleWords(pos, sec1, sec2); + _tryCorrectGoogleVersions(); + // http://mts1.gmaptiles.co.kr/mt/v=kr1t.11&hl=lt&x=109&y=50&z=7&s=G + return QString("http://%1%2.gmaptiles.co.kr/%3/v=%4&hl=%5&x=%6%7&y=%8&z=%9&s=%10").arg(server).arg(_getServerNum(pos, 4)).arg(request).arg(VersionGoogleLabelsKorea).arg(language).arg(pos.x()).arg(sec1).arg(pos.y()).arg(zoom).arg(sec2); + } + break; + case YahooMap: + { + return QString("http://maps%1.yimg.com/hx/tl?v=%2&.intl=%3&x=%4&y=%5&z=%6&r=1").arg(((_getServerNum(pos, 2)) + 1)).arg(VersionYahooMap).arg(language).arg(pos.x()).arg((((1 << zoom) >> 1) - 1 - pos.y())).arg((zoom + 1)); + } + case YahooSatellite: + { + return QString("http://maps%1.yimg.com/ae/ximg?v=%2&t=a&s=256&.intl=%3&x=%4&y=%5&z=%6&r=1").arg("3").arg(VersionYahooSatellite).arg(language).arg(pos.x()).arg(((1 << zoom) >> 1) - 1 - pos.y()).arg(zoom + 1); + } + break; + case YahooLabels: + { + return QString("http://maps%1.yimg.com/hx/tl?v=%2&t=h&.intl=%3&x=%4&y=%5&z=%6&r=1").arg("1").arg(VersionYahooLabels).arg(language).arg(pos.x()).arg(((1 << zoom) >> 1) - 1 - pos.y()).arg(zoom + 1); + } + break; + case OpenStreetMap: + { + char letter = "abc"[_getServerNum(pos, 3)]; + return QString("http://%1.tile.openstreetmap.org/%2/%3/%4.png").arg(letter).arg(zoom).arg(pos.x()).arg(pos.y()); + } + break; + case OpenStreetOsm: + { + char letter = "abc"[_getServerNum(pos, 3)]; + return QString("http://%1.tah.openstreetmap.org/Tiles/tile/%2/%3/%4.png").arg(letter).arg(zoom).arg(pos.x()).arg(pos.y()); + } + break; + case OpenStreetMapSurfer: + { + // http://tiles1.mapsurfer.net/tms_r.ashx?x=37378&y=20826&z=16 + return QString("http://tiles1.mapsurfer.net/tms_r.ashx?x=%1&y=%2&z=%3").arg(pos.x()).arg(pos.y()).arg(zoom); + } + break; + case OpenStreetMapSurferTerrain: + { + // http://tiles2.mapsurfer.net/tms_t.ashx?x=9346&y=5209&z=14 + return QString("http://tiles2.mapsurfer.net/tms_t.ashx?x=%1&y=%2&z=%3").arg(pos.x()).arg(pos.y()).arg(zoom); + } + break; + case BingMap: + { + QString key = _tileXYToQuadKey(pos.x(), pos.y(), zoom); + return QString("http://ecn.t%1.tiles.virtualearth.net/tiles/r%2.png?g=%3&mkt=%4%5").arg(_getServerNum(pos, 4)).arg(key).arg(VersionBingMaps).arg(language).arg(!(BingMapsClientToken.isNull() | BingMapsClientToken.isEmpty()) ? "&token=" + BingMapsClientToken : QString("")); + } + break; + case BingSatellite: + { + QString key = _tileXYToQuadKey(pos.x(), pos.y(), zoom); + return QString("http://ecn.t%1.tiles.virtualearth.net/tiles/a%2.jpeg?g=%3&mkt=%4%5").arg(_getServerNum(pos, 4)).arg(key).arg(VersionBingMaps).arg(language).arg(!(BingMapsClientToken.isNull() | BingMapsClientToken.isEmpty()) ? "&token=" + BingMapsClientToken : QString("")); + } + break; + case BingHybrid: + { + QString key = _tileXYToQuadKey(pos.x(), pos.y(), zoom); + return QString("http://ecn.t%1.tiles.virtualearth.net/tiles/h%2.jpeg?g=%3&mkt=%4%5").arg(_getServerNum(pos, 4)).arg(key).arg(VersionBingMaps).arg(language).arg(!(BingMapsClientToken.isNull() | BingMapsClientToken.isEmpty()) ? "&token=" + BingMapsClientToken : QString("")); + } + case ArcGIS_Map: + { + // http://server.arcgisonline.com/ArcGIS/rest/services/ESRI_StreetMap_World_2D/MapServer/tile/0/0/0.jpg + return QString("http://server.arcgisonline.com/ArcGIS/rest/services/ESRI_StreetMap_World_2D/MapServer/tile/%1/%2/%3").arg(zoom).arg(pos.y()).arg(pos.x()); + } + break; + case ArcGIS_Satellite: + { + // http://server.arcgisonline.com/ArcGIS/rest/services/ESRI_Imagery_World_2D/MapServer/tile/1/0/1.jpg + return QString("http://server.arcgisonline.com/ArcGIS/rest/services/ESRI_Imagery_World_2D/MapServer/tile/%1/%2/%3").arg(zoom).arg(pos.y()).arg(pos.x()); + } + break; + case ArcGIS_ShadedRelief: + { + // http://server.arcgisonline.com/ArcGIS/rest/services/ESRI_ShadedRelief_World_2D/MapServer/tile/1/0/1.jpg + return QString("http://server.arcgisonline.com/ArcGIS/rest/services/ESRI_ShadedRelief_World_2D/MapServer/tile/%1/%2/%3").arg(zoom).arg(pos.y()).arg(pos.x()); + } + break; + case ArcGIS_Terrain: + { + // http://server.arcgisonline.com/ArcGIS/rest/services/NGS_Topo_US_2D/MapServer/tile/4/3/15 + return QString("http://server.arcgisonline.com/ArcGIS/rest/services/NGS_Topo_US_2D/MapServer/tile/%1/%2/%3").arg(zoom).arg(pos.y()).arg(pos.x()); + } + break; + case ArcGIS_MapsLT_OrtoFoto: + { + // http://www.maps.lt/ortofoto/mapslt_ortofoto_vector_512/map/_alllayers/L02/R0000001b/C00000028.jpg + // http://arcgis.maps.lt/ArcGIS/rest/services/mapslt_ortofoto/MapServer/tile/0/9/13 + // return string.Format("http://www.maps.lt/ortofoto/mapslt_ortofoto_vector_512/map/_alllayers/L{0:00}/R{1:x8}/C{2:x8}.jpg", zoom, pos.y(), pos.x()); + // http://dc1.maps.lt/cache/mapslt_ortofoto_512/map/_alllayers/L03/R0000001c/C00000029.jpg + // return string.Format("http://arcgis.maps.lt/ArcGIS/rest/services/mapslt_ortofoto/MapServer/tile/{0}/{1}/{2}", zoom, pos.y(), pos.x()); + // http://dc1.maps.lt/cache/mapslt_ortofoto_512/map/_alllayers/L03/R0000001d/C0000002a.jpg + // TODO verificar + return QString("http://dc1.maps.lt/cache/mapslt_ortofoto/map/_alllayers/L%1/R%2/C%3.jpg").arg(zoom, 2, 10, (QChar)'0').arg(pos.y(), 8, 16, (QChar)'0').arg(pos.x(), 8, 16, (QChar)'0'); + } + break; + case ArcGIS_MapsLT_Map: + { + // http://www.maps.lt/ortofoto/mapslt_ortofoto_vector_512/map/_alllayers/L02/R0000001b/C00000028.jpg + // http://arcgis.maps.lt/ArcGIS/rest/services/mapslt_ortofoto/MapServer/tile/0/9/13 + // return string.Format("http://www.maps.lt/ortofoto/mapslt_ortofoto_vector_512/map/_alllayers/L{0:00}/R{1:x8}/C{2:x8}.jpg", zoom, pos.y(), pos.x()); + // http://arcgis.maps.lt/ArcGIS/rest/services/mapslt/MapServer/tile/7/1162/1684.png + // http://dc1.maps.lt/cache/mapslt_512/map/_alllayers/L03/R0000001b/C00000029.png + // TODO verificar + // http://dc1.maps.lt/cache/mapslt/map/_alllayers/L02/R0000001c/C00000029.png + return QString("http://dc1.maps.lt/cache/mapslt/map/_alllayers/L%1/R%2/C%3.png").arg(zoom, 2, 10, (QChar)'0').arg(pos.y(), 8, 16, (QChar)'0').arg(pos.x(), 8, 16, (QChar)'0'); + } + break; + case ArcGIS_MapsLT_Map_Labels: + { + // http://arcgis.maps.lt/ArcGIS/rest/services/mapslt_ortofoto_overlay/MapServer/tile/0/9/13 + // return string.Format("http://arcgis.maps.lt/ArcGIS/rest/services/mapslt_ortofoto_overlay/MapServer/tile/{0}/{1}/{2}", zoom, pos.y(), pos.x()); + // http://dc1.maps.lt/cache/mapslt_ortofoto_overlay_512/map/_alllayers/L03/R0000001d/C00000029.png + // TODO verificar + return QString("http://dc1.maps.lt/cache/mapslt_ortofoto_overlay/map/_alllayers/L%1/R%2/C%3.png").arg(zoom, 2, 10, (QChar)'0').arg(pos.y(), 8, 16, (QChar)'0').arg(pos.x(), 8, 16, (QChar)'0'); + } + break; + case PergoTurkeyMap: + { + // http://{domain}/{layerName}/{zoomLevel}/{first3LetterOfTileX}/{second3LetterOfTileX}/{third3LetterOfTileX}/{first3LetterOfTileY}/{second3LetterOfTileY}/{third3LetterOfTileXY}.png + // http://map3.pergo.com.tr/tile/00/000/000/001/000/000/000.png + // That means: Zoom Level: 0 TileX: 1 TileY: 0 + // http://domain/tile/14/000/019/371/000/011/825.png + // That means: Zoom Level: 14 TileX: 19371 TileY:11825 + // string x = pos.x().ToString("000000000").Insert(3, "/").Insert(7, "/"); // - 000/000/001 + // string y = pos.y().ToString("000000000").Insert(3, "/").Insert(7, "/"); // - 000/000/000 + QString x = QString("%1").arg(QString::number(pos.x()), 9, (QChar)'0'); + x.insert(3, "/").insert(7, "/"); + QString y = QString("%1").arg(QString::number(pos.y()), 9, (QChar)'0'); + y.insert(3, "/").insert(7, "/"); + // "http://map03.pergo.com.tr/tile/2/000/000/003/000/000/002.png" + return QString("http://map%1.pergo.com.tr/tile/%2/%3/%4.png").arg(_getServerNum(pos, 4)).arg(zoom, 2, 10, (QChar)'0').arg(x).arg(y); + } + break; + case SigPacSpainMap: + { + return QString("http://sigpac.mapa.es/kmlserver/raster/%1@3785/%2.%3.%4.img").arg(kLevelsForSigPacSpainMap[zoom]).arg(zoom).arg(pos.x()).arg((2 << (zoom - 1)) - pos.y() - 1); + } + break; + case YandexMapRu: + { + QString server = "vec"; + // http://vec01.maps.yandex.ru/tiles?l=map&v=2.10.2&x=1494&y=650&z=11 + return QString("http://%1").arg(server) + QString("0%2.maps.yandex.ru/tiles?l=map&v=%3&x=%4&y=%5&z=%6").arg(_getServerNum(pos, 4) + 1).arg(VersionYandexMap).arg(pos.x()).arg(pos.y()).arg(zoom); + } + break; + default: + qWarning("Unknown map id %d\n", type); + break; + } + return QString::null; +} + +void UrlFactory::_getSecGoogleWords(const QPoint &pos, QString &sec1, QString &sec2) +{ + sec1 = ""; // after &x=... + sec2 = ""; // after &zoom=... + int seclen = ((pos.x() * 3) + pos.y()) % 8; + sec2 = SecGoogleWord.left(seclen); + if (pos.y() >= 10000 && pos.y() < 100000) { + sec1 = "&s="; + } +} + +} diff --git a/src/QtLocationPlugin/OpenPilotMaps.h b/src/QtLocationPlugin/OpenPilotMaps.h new file mode 100644 index 0000000000000000000000000000000000000000..a8fc609ded8214c5c5fc3b0acda5bb61fab851bf --- /dev/null +++ b/src/QtLocationPlugin/OpenPilotMaps.h @@ -0,0 +1,164 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Open Pilot Mapping Tools + * @author Gus Grubba + * Original work: The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + */ + +#ifndef OPENPILOTTOOLS_H +#define OPENPILOTTOOLS_H + +#include +#include +#include +#include +#include +#include + +#define MAX_MAP_ZOOM (20.0) + +namespace OpenPilot { + +enum MapType +{ + GoogleMap = 1, + GoogleSatellite = 4, + GoogleLabels = 8, + GoogleTerrain = 16, + GoogleHybrid = 20, + + GoogleMapChina = 22, + GoogleSatelliteChina = 24, + GoogleLabelsChina = 26, + GoogleTerrainChina = 28, + GoogleHybridChina = 29, + + OpenStreetMap = 32, + OpenStreetOsm = 33, + OpenStreetMapSurfer = 34, + OpenStreetMapSurferTerrain=35, + + YahooMap = 64, + YahooSatellite = 128, + YahooLabels = 256, + YahooHybrid = 333, + + BingMap = 444, + BingSatellite = 555, + BingHybrid = 666, + + ArcGIS_Map = 777, + ArcGIS_Satellite = 788, + ArcGIS_ShadedRelief = 799, + ArcGIS_Terrain = 811, + + ArcGIS_MapsLT_Map = 1000, + ArcGIS_MapsLT_OrtoFoto = 1001, + ArcGIS_MapsLT_Map_Labels= 1002, + ArcGIS_MapsLT_Map_Hybrid= 1003, + + PergoTurkeyMap = 2001, + SigPacSpainMap = 3001, + + GoogleMapKorea = 4001, + GoogleSatelliteKorea = 4002, + GoogleLabelsKorea = 4003, + GoogleHybridKorea = 4005, + + YandexMapRu = 5000 +}; + +class ProviderStrings : public QObject { + Q_OBJECT +public: + ProviderStrings(); + static const QString kLevelsForSigPacSpainMap[]; + QString GoogleMapsAPIKey; + // Google version strings + QString VersionGoogleMap; + QString VersionGoogleSatellite; + QString VersionGoogleLabels; + QString VersionGoogleTerrain; + QString SecGoogleWord; + // Google (China) version strings + QString VersionGoogleMapChina; + QString VersionGoogleSatelliteChina; + QString VersionGoogleLabelsChina; + QString VersionGoogleTerrainChina; + // Google (Korea) version strings + QString VersionGoogleMapKorea; + QString VersionGoogleSatelliteKorea; + QString VersionGoogleLabelsKorea; + /// + /// Google Maps API generated using http://greatmaps.codeplex.com/ + /// from http://code.google.com/intl/en-us/apis/maps/signup.html + /// + // Yahoo version strings + QString VersionYahooMap; + QString VersionYahooSatellite; + QString VersionYahooLabels; + // BingMaps + QString VersionBingMaps; + // YandexMap + QString VersionYandexMap; + /// + /// Bing Maps Customer Identification, more info here + /// http://msdn.microsoft.com/en-us/library/bb924353.aspx + /// + QString BingMapsClientToken; +}; + +class UrlFactory : public ProviderStrings { + Q_OBJECT +public: + + UrlFactory(QNetworkAccessManager* network); + ~UrlFactory(); + + QString makeImageUrl (const MapType &type, const QPoint &pos, const int &zoom, const QString &language); + +private slots: + void _networkReplyError (QNetworkReply::NetworkError error); + void _googleVersionCompleted (); + void _replyDestroyed (); + +private: + void _getSecGoogleWords (const QPoint &pos, QString &sec1, QString &sec2); + int _getServerNum (const QPoint& pos, const int &max) const; + void _tryCorrectGoogleVersions (); + QString _tileXYToQuadKey (const int &tileX, const int &tileY, const int &levelOfDetail) const; + + int _timeout; + bool _googleVersionRetrieved; + QNetworkAccessManager* _network; + QNetworkReply* _googleReply; + QMutex _googleVersionMutex; + QByteArray _userAgent; +}; + +} + +#endif // FOO_H diff --git a/src/QtLocationPlugin/qgc_maps_plugin.json b/src/QtLocationPlugin/qgc_maps_plugin.json new file mode 100644 index 0000000000000000000000000000000000000000..dd52d9feede3a77ff58625511e7f901758338153 --- /dev/null +++ b/src/QtLocationPlugin/qgc_maps_plugin.json @@ -0,0 +1,11 @@ +{ + "Keys": ["qgc-maps"], + "Provider": "QGroundControl", + "Version": 101, + "Experimental": false, + "Features": [ + "OnlineMappingFeature", + "OnlineGeocodingFeature", + "ReverseGeocodingFeature" + ] +} diff --git a/src/QtLocationPlugin/qgeocodereplyqgc.cpp b/src/QtLocationPlugin/qgeocodereplyqgc.cpp new file mode 100644 index 0000000000000000000000000000000000000000..3c0348faa0cf9b8f8b7b272292af366e0d274d83 --- /dev/null +++ b/src/QtLocationPlugin/qgeocodereplyqgc.cpp @@ -0,0 +1,296 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include + +#include "qgeocodereplyqgc.h" + +enum QGeoCodeTypeGoogle { + GeoCodeTypeUnknown, + StreetAddress, // indicates a precise street address. + Route, // indicates a named route (such as "US 101"). + Intersection, // indicates a major intersection, usually of two major roads. + Political, // indicates a political entity. Usually, this type indicates a polygon of some civil administration. + Country, // indicates the national political entity, and is typically the highest order type returned by the Geocoder. + AdministrativeAreaLevel1, // indicates a first-order civil entity below the country level. Within the United States, these administrative levels are states. + AdministrativeAreaLevel2, // indicates a second-order civil entity below the country level. Within the United States, these administrative levels are counties. + AdministrativeAreaLevel3, // indicates a third-order civil entity below the country level. This type indicates a minor civil division. + ColloquialArea, // indicates a commonly-used alternative name for the entity. + Locality, // indicates an incorporated city or town political entity. + Sublocality, // indicates a first-order civil entity below a locality. For some locations may receive one of the additional types: sublocality_level_1 through to sublocality_level_5. Each sublocality level is a civil entity. Larger numbers indicate a smaller geographic area. + SublocalityLevel1, + SublocalityLevel2, + SublocalityLevel3, + SublocalityLevel4, + SublocalityLevel5, + Neighborhood, // indicates a named neighborhood + Premise, // indicates a named location, usually a building or collection of buildings with a common name + Subpremise, // indicates a first-order entity below a named location, usually a singular building within a collection of buildings with a common name + PostalCode, // indicates a postal code as used to address postal mail within the country. + NaturalFeature, // indicates a prominent natural feature. + Airport, // indicates an airport. + Park, // indicates a named park. + PointOfInterest, // indicates a named point of interest. Typically, these "POI"s are prominent local entities that don't easily fit in another category such as "Empire State Building" or "Statue of Liberty." + Floor, // indicates the floor of a building address. + Establishment, // typically indicates a place that has not yet been categorized. + Parking, // indicates a parking lot or parking structure. + PostBox, // indicates a specific postal box. + PostalTown, // indicates a grouping of geographic areas, such as locality and sublocality, used for mailing addresses in some countries. + RoomIndicates, // the room of a building address. + StreetNumber, // indicates the precise street number. + BusStation, // indicate the location of a bus stop. + TrainStation, // indicate the location of a train stop. + TransitStation, // indicate the location of a public transit stop. +}; + +class JasonMonger { +public: + JasonMonger(); + QSet json2QGeoCodeTypeGoogle(const QJsonArray &types); +private: + int _getCode(const QString &key); + QMap _m; +}; + +JasonMonger::JasonMonger() +{ + _m[QStringLiteral("street_address")] = StreetAddress; + _m[QStringLiteral("route")] = Route; + _m[QStringLiteral("intersection")] = Intersection; + _m[QStringLiteral("political")] = Political; + _m[QStringLiteral("country")] = Country; + _m[QStringLiteral("administrative_area_level_1")] = AdministrativeAreaLevel1; + _m[QStringLiteral("administrative_area_level_2")] = AdministrativeAreaLevel2; + _m[QStringLiteral("administrative_area_level_3")] = AdministrativeAreaLevel3; + _m[QStringLiteral("colloquial_area")] = ColloquialArea; + _m[QStringLiteral("locality")] = Locality; + _m[QStringLiteral("sublocality")] = Sublocality; + _m[QStringLiteral("sublocality_level_1")] = SublocalityLevel1; + _m[QStringLiteral("sublocality_level_2")] = SublocalityLevel2; + _m[QStringLiteral("sublocality_level_3")] = SublocalityLevel3; + _m[QStringLiteral("sublocality_level_4")] = SublocalityLevel4; + _m[QStringLiteral("sublocality_level_5")] = SublocalityLevel5; + _m[QStringLiteral("neighborhood")] = Neighborhood; + _m[QStringLiteral("premise")] = Premise; + _m[QStringLiteral("subpremise")] = Subpremise; + _m[QStringLiteral("postal_code")] = PostalCode; + _m[QStringLiteral("natural_feature")] = NaturalFeature; + _m[QStringLiteral("airport")] = Airport; + _m[QStringLiteral("park")] = Park; + _m[QStringLiteral("point_of_interest")] = PointOfInterest; + _m[QStringLiteral("floor")] = Floor; + _m[QStringLiteral("establishment")] = Establishment; + _m[QStringLiteral("parking")] = Parking; + _m[QStringLiteral("post_box")] = PostBox; + _m[QStringLiteral("postal_town")] = PostalTown; + _m[QStringLiteral("room indicates")] = RoomIndicates; + _m[QStringLiteral("street_number")] = StreetNumber; + _m[QStringLiteral("bus_station")] = BusStation; + _m[QStringLiteral("train_station")] = TrainStation; + _m[QStringLiteral("transit_station")] = TransitStation; +} + +int JasonMonger::_getCode(const QString &key) { + return _m.value(key, GeoCodeTypeUnknown); +} + +QSet JasonMonger::json2QGeoCodeTypeGoogle(const QJsonArray &types) { + QSet result; + for (int i=0; ideleteLater(); +} + +void QGeoCodeReplyQGC::abort() +{ + if (!m_reply) + return; + + m_reply->abort(); + + m_reply->deleteLater(); + m_reply = 0; +} + +void QGeoCodeReplyQGC::networkReplyFinished() +{ + if (!m_reply) + return; + + if (m_reply->error() != QNetworkReply::NoError) + return; + + QJsonDocument document = QJsonDocument::fromJson(m_reply->readAll()); + QJsonObject object = document.object(); + + if (object.value(QStringLiteral("status")) != QStringLiteral("OK")) { + QString error = object.value(QStringLiteral("status")).toString(); + qWarning() << m_reply->url() << "returned" << error; + setError(QGeoCodeReply::CommunicationError, error); + m_reply->deleteLater(); + m_reply = 0; + return; + } + + QList locations; + QJsonArray results = object.value(QStringLiteral("results")).toArray(); + for (int i=0; i types = kMonger.json2QGeoCodeTypeGoogle(c[QStringLiteral("types")].toArray()); + QString long_name = c[QStringLiteral("long_name")].toString(); + QString short_name = c[QStringLiteral("short_name")].toString(); + if (types.contains(Country)) { + address.setCountry(long_name); + address.setCountryCode(short_name); + } else if (types.contains(AdministrativeAreaLevel1)) { + address.setState(long_name); + } else if (types.contains(AdministrativeAreaLevel2)) { + address.setCounty(long_name); + } else if (types.contains(Locality)) { + address.setCity(long_name); + } else if (types.contains(Sublocality)) { + address.setDistrict(long_name); + } else if (types.contains(PostalCode)) { + address.setPostalCode(long_name); + } else if (types.contains(StreetAddress) || types.contains(Route) || types.contains(Intersection)) { + address.setStreet(long_name); + } + } + } + + QGeoCoordinate coordinate; + QGeoRectangle boundingBox; + if (geocode.contains(QStringLiteral("geometry"))) { + QJsonObject geom = geocode.value(QStringLiteral("geometry")).toObject(); + if (geom.contains(QStringLiteral("location"))) { + QJsonObject location = geom.value(QStringLiteral("location")).toObject(); + coordinate.setLatitude(location.value(QStringLiteral("lat")).toDouble()); + coordinate.setLongitude(location.value(QStringLiteral("lng")).toDouble()); + } + if (geom.contains(QStringLiteral("bounds"))) { + QJsonObject bounds = geom.value(QStringLiteral("bounds")).toObject(); + QJsonObject northeast = bounds.value(QStringLiteral("northeast")).toObject(); + QJsonObject southwest = bounds.value(QStringLiteral("southwest")).toObject(); + QGeoCoordinate topRight(northeast.value(QStringLiteral("lat")).toDouble(), + northeast.value(QStringLiteral("lng")).toDouble()); + QGeoCoordinate bottomLeft(southwest.value(QStringLiteral("lat")).toDouble(), + southwest.value(QStringLiteral("lng")).toDouble()); + boundingBox.setTopRight(topRight); + boundingBox.setBottomLeft(bottomLeft); + } + } + + QGeoLocation location; + location.setAddress(address); + location.setCoordinate(coordinate); + location.setBoundingBox(boundingBox); + + locations << location; + } + + setLocations(locations); + setFinished(true); + + m_reply->deleteLater(); + m_reply = 0; +} + +void QGeoCodeReplyQGC::networkReplyError(QNetworkReply::NetworkError error) +{ + Q_UNUSED(error) + if (!m_reply) + return; + setError(QGeoCodeReply::CommunicationError, m_reply->errorString()); + m_reply->deleteLater(); + m_reply = 0; +} diff --git a/src/QtLocationPlugin/qgeocodereplyqgc.h b/src/QtLocationPlugin/qgeocodereplyqgc.h new file mode 100644 index 0000000000000000000000000000000000000000..b53b1726c85f6a04c15bb31fe56189ff8e3cf62f --- /dev/null +++ b/src/QtLocationPlugin/qgeocodereplyqgc.h @@ -0,0 +1,71 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#ifndef QGEOCODEREPLYGOOGLE_H +#define QGEOCODEREPLYGOOGLE_H + +#include +#include + +class QGeoCodeReplyQGC : public QGeoCodeReply +{ + Q_OBJECT + +public: + explicit QGeoCodeReplyQGC(QNetworkReply *reply, QObject *parent = 0); + ~QGeoCodeReplyQGC(); + + void abort(); + +private Q_SLOTS: + void networkReplyFinished(); + void networkReplyError(QNetworkReply::NetworkError error); + +private: + QNetworkReply *m_reply; +}; + +#endif // QGEOCODEREPLYGOOGLE_H diff --git a/src/QtLocationPlugin/qgeocodingmanagerengineqgc.cpp b/src/QtLocationPlugin/qgeocodingmanagerengineqgc.cpp new file mode 100644 index 0000000000000000000000000000000000000000..59f7fdd43942d699648e33100467761f9a891e0c --- /dev/null +++ b/src/QtLocationPlugin/qgeocodingmanagerengineqgc.cpp @@ -0,0 +1,177 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "qgeocodingmanagerengineqgc.h" +#include "qgeocodereplyqgc.h" + +static QString addressToQuery(const QGeoAddress &address) +{ + return address.street() + QStringLiteral(", ") + + address.district() + QStringLiteral(", ") + + address.city() + QStringLiteral(", ") + + address.state() + QStringLiteral(", ") + + address.country(); +} + +static QString boundingBoxToLtrb(const QGeoRectangle &rect) +{ + return QString::number(rect.topLeft().longitude()) + QLatin1Char(',') + + QString::number(rect.topLeft().latitude()) + QLatin1Char(',') + + QString::number(rect.bottomRight().longitude()) + QLatin1Char(',') + + QString::number(rect.bottomRight().latitude()); +} + +QGeoCodingManagerEngineQGC::QGeoCodingManagerEngineQGC( + const QVariantMap ¶meters, + QGeoServiceProvider::Error *error, + QString *errorString) + : QGeoCodingManagerEngine(parameters), m_networkManager(new QNetworkAccessManager(this)) +{ + if (parameters.contains(QStringLiteral("useragent"))) + m_userAgent = parameters.value(QStringLiteral("useragent")).toString().toLatin1(); + else + m_userAgent = "Qt Location based application"; + *error = QGeoServiceProvider::NoError; + errorString->clear(); +} + +QGeoCodingManagerEngineQGC::~QGeoCodingManagerEngineQGC() +{ +} + +QGeoCodeReply *QGeoCodingManagerEngineQGC::geocode(const QGeoAddress &address, const QGeoShape &bounds) +{ + return geocode(addressToQuery(address), -1, -1, bounds); +} + +QGeoCodeReply *QGeoCodingManagerEngineQGC::geocode(const QString &address, int limit, int offset, const QGeoShape &bounds) +{ + Q_UNUSED(limit); + Q_UNUSED(offset); + + QNetworkRequest request; + request.setRawHeader("User-Agent", m_userAgent); + + QUrl url(QStringLiteral("http://maps.googleapis.com/maps/api/geocode/json")); + QUrlQuery query; + query.addQueryItem(QStringLiteral("sensor"), QStringLiteral("false")); + query.addQueryItem(QStringLiteral("language"), locale().name().left(2)); + query.addQueryItem(QStringLiteral("address"), address); + if (bounds.type() == QGeoShape::RectangleType) { + query.addQueryItem(QStringLiteral("bounds"), boundingBoxToLtrb(bounds)); + } + + url.setQuery(query); + request.setUrl(url); + qDebug() << url; + + QNetworkReply *reply = m_networkManager->get(request); + reply->setParent(0); + + QGeoCodeReplyQGC *geocodeReply = new QGeoCodeReplyQGC(reply); + + connect(geocodeReply, SIGNAL(finished()), this, SLOT(replyFinished())); + connect(geocodeReply, SIGNAL(error(QGeoCodeReply::Error,QString)), + this, SLOT(replyError(QGeoCodeReply::Error,QString))); + + return geocodeReply; +} + +QGeoCodeReply *QGeoCodingManagerEngineQGC::reverseGeocode(const QGeoCoordinate &coordinate, const QGeoShape &bounds) +{ + Q_UNUSED(bounds) + + QNetworkRequest request; + request.setRawHeader("User-Agent", m_userAgent); + + QUrl url(QStringLiteral("http://maps.googleapis.com/maps/api/geocode/json")); + QUrlQuery query; + query.addQueryItem(QStringLiteral("sensor"), QStringLiteral("false")); + query.addQueryItem(QStringLiteral("language"), locale().name().left(2)); + query.addQueryItem(QStringLiteral("latlng"), QStringLiteral("%1,%2") + .arg(coordinate.latitude()) + .arg(coordinate.longitude())); + + url.setQuery(query); + request.setUrl(url); + qDebug() << url; + + QNetworkReply *reply = m_networkManager->get(request); + reply->setParent(0); + + QGeoCodeReplyQGC *geocodeReply = new QGeoCodeReplyQGC(reply); + + connect(geocodeReply, SIGNAL(finished()), this, SLOT(replyFinished())); + connect(geocodeReply, SIGNAL(error(QGeoCodeReply::Error,QString)), + this, SLOT(replyError(QGeoCodeReply::Error,QString))); + + return geocodeReply; +} + +void QGeoCodingManagerEngineQGC::replyFinished() +{ + QGeoCodeReply *reply = qobject_cast(sender()); + if (reply) + emit finished(reply); +} + +void QGeoCodingManagerEngineQGC::replyError(QGeoCodeReply::Error errorCode, const QString &errorString) +{ + QGeoCodeReply *reply = qobject_cast(sender()); + if (reply) + emit error(reply, errorCode, errorString); +} diff --git a/src/QtLocationPlugin/qgeocodingmanagerengineqgc.h b/src/QtLocationPlugin/qgeocodingmanagerengineqgc.h new file mode 100644 index 0000000000000000000000000000000000000000..56040f4cdbf5eaf360573f10aed755c6cbe48023 --- /dev/null +++ b/src/QtLocationPlugin/qgeocodingmanagerengineqgc.h @@ -0,0 +1,81 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#ifndef QGEOCODINGMANAGERENGINEGOOGLE_H +#define QGEOCODINGMANAGERENGINEGOOGLE_H + +#include +#include +#include + +QT_BEGIN_NAMESPACE + +class QNetworkAccessManager; + +class QGeoCodingManagerEngineQGC : public QGeoCodingManagerEngine +{ + Q_OBJECT + +public: + QGeoCodingManagerEngineQGC(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString); + ~QGeoCodingManagerEngineQGC(); + + QGeoCodeReply* geocode (const QGeoAddress &address, const QGeoShape &bounds) Q_DECL_OVERRIDE; + QGeoCodeReply* geocode (const QString &address, int limit, int offset, const QGeoShape &bounds) Q_DECL_OVERRIDE; + QGeoCodeReply* reverseGeocode (const QGeoCoordinate &coordinate, const QGeoShape &bounds) Q_DECL_OVERRIDE; + +private Q_SLOTS: + void replyFinished (); + void replyError (QGeoCodeReply::Error errorCode, const QString &errorString); + +private: + QNetworkAccessManager *m_networkManager; + QByteArray m_userAgent; +}; + +QT_END_NAMESPACE + +#endif // QGEOCODINGMANAGERENGINEGOOGLE_H diff --git a/src/QtLocationPlugin/qgeomapreplyqgc.cpp b/src/QtLocationPlugin/qgeomapreplyqgc.cpp new file mode 100644 index 0000000000000000000000000000000000000000..0801de86a172a7cfc59e392d003b54517d2e73e4 --- /dev/null +++ b/src/QtLocationPlugin/qgeomapreplyqgc.cpp @@ -0,0 +1,162 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#include + +#include "qgeomapreplyqgc.h" +#include "OpenPilotMaps.h" + +QGeoMapReplyQGC::QGeoMapReplyQGC(QNetworkReply *reply, const QGeoTileSpec &spec, QObject *parent) + : QGeoTiledMapReply(spec, parent) + , m_reply(reply) +{ + if(!reply) + { + setError(QGeoTiledMapReply::UnknownError, "Invalid tile request"); + setFinished(true); + } + else + { + connect(m_reply, SIGNAL(finished()), this, SLOT(networkReplyFinished())); + connect(m_reply, SIGNAL(error(QNetworkReply::NetworkError)), this, SLOT(networkReplyError(QNetworkReply::NetworkError))); + connect(m_reply, SIGNAL(destroyed()), this, SLOT(replyDestroyed())); + } +} + +QGeoMapReplyQGC::~QGeoMapReplyQGC() +{ + if (m_reply) { + m_reply->deleteLater(); + m_reply = 0; + } +} + +void QGeoMapReplyQGC::abort() +{ + if (!m_reply) + return; + m_reply->abort(); +} + +QNetworkReply *QGeoMapReplyQGC::networkReply() const +{ + return m_reply; +} + +void QGeoMapReplyQGC::replyDestroyed() +{ + m_reply = 0; +} + +void QGeoMapReplyQGC::networkReplyFinished() +{ + if (!m_reply) + { + qWarning() << "NULL Map request reply"; + return; + } + + if (m_reply->error() != QNetworkReply::NoError) + { + qWarning() << "Map request reply error:" << m_reply->error(); + return; + } + + QByteArray a = m_reply->readAll(); + setMapImageData(a); + + if(a.size() > 2) + { + if((char)a[0] == (char)0xff && (char)a[1] == (char)0xd8) + setMapImageFormat("jpg"); + else if((char)a[0] == (char)0x89 && (char)a[1] == (char)0x50) + setMapImageFormat("png"); + else + { + switch ((OpenPilot::MapType)tileSpec().mapId()) { + case OpenPilot::GoogleMap: + case OpenPilot::GoogleLabels: + case OpenPilot::GoogleTerrain: + case OpenPilot::GoogleHybrid: + case OpenPilot::BingMap: + case OpenPilot::OpenStreetMap: + setMapImageFormat("png"); + break; + case OpenPilot::GoogleSatellite: + case OpenPilot::BingSatellite: + case OpenPilot::BingHybrid: + setMapImageFormat("jpg"); + break; + default: + qWarning("Unknown map id %d", tileSpec().mapId()); + break; + } + } + } + + setFinished(true); + m_reply->deleteLater(); + m_reply = 0; +} + +void QGeoMapReplyQGC::networkReplyError(QNetworkReply::NetworkError error) +{ + if (!m_reply) + { + qWarning() << "NULL Map request error"; + return; + } + + if (error != QNetworkReply::OperationCanceledError) + { + setError(QGeoTiledMapReply::CommunicationError, m_reply->errorString()); + qWarning() << "Map request reply error:" << m_reply->errorString(); + } + + setFinished(true); + m_reply->deleteLater(); + m_reply = 0; +} diff --git a/src/QtLocationPlugin/qgeomapreplyqgc.h b/src/QtLocationPlugin/qgeomapreplyqgc.h new file mode 100644 index 0000000000000000000000000000000000000000..90d85583cd18a0bc37e1cec472e2f60a5c08c980 --- /dev/null +++ b/src/QtLocationPlugin/qgeomapreplyqgc.h @@ -0,0 +1,74 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#ifndef QGEOMAPREPLYGOOGLE_H +#define QGEOMAPREPLYGOOGLE_H + +#include +#include + +class QGeoMapReplyQGC : public QGeoTiledMapReply +{ + Q_OBJECT + +public: + explicit QGeoMapReplyQGC(QNetworkReply *reply, const QGeoTileSpec &spec, QObject *parent = 0); + ~QGeoMapReplyQGC(); + + void abort(); + + QNetworkReply *networkReply() const; + +private Q_SLOTS: + void replyDestroyed (); + void networkReplyFinished (); + void networkReplyError (QNetworkReply::NetworkError error); + +private: + QNetworkReply* m_reply; +}; + +#endif // QGEOMAPREPLYGOOGLE_H diff --git a/src/QtLocationPlugin/qgeoserviceproviderpluginqgc.cpp b/src/QtLocationPlugin/qgeoserviceproviderpluginqgc.cpp new file mode 100644 index 0000000000000000000000000000000000000000..446ea2f9aaaeac44232806d14a6c867c07ee80c3 --- /dev/null +++ b/src/QtLocationPlugin/qgeoserviceproviderpluginqgc.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#include + +#include "qdebug.h" +#include "qgeoserviceproviderpluginqgc.h" +#include "qgeotiledmappingmanagerengineqgc.h" +#include "qgeocodingmanagerengineqgc.h" + +QGeoCodingManagerEngine *QGeoServiceProviderFactoryQGC::createGeocodingManagerEngine( + const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) const +{ + return new QGeoCodingManagerEngineQGC(parameters, error, errorString); +} + +QGeoMappingManagerEngine *QGeoServiceProviderFactoryQGC::createMappingManagerEngine( + const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) const +{ + return new QGeoTiledMappingManagerEngineQGC(parameters, error, errorString); +} + +QGeoRoutingManagerEngine *QGeoServiceProviderFactoryQGC::createRoutingManagerEngine( + const QVariantMap &, QGeoServiceProvider::Error *, QString *) const +{ + // Not implemented for QGC + return NULL; +} + +QPlaceManagerEngine *QGeoServiceProviderFactoryQGC::createPlaceManagerEngine( + const QVariantMap &, QGeoServiceProvider::Error *, QString *) const +{ + // Not implemented for QGC + return NULL; +} diff --git a/src/QtLocationPlugin/qgeoserviceproviderpluginqgc.h b/src/QtLocationPlugin/qgeoserviceproviderpluginqgc.h new file mode 100644 index 0000000000000000000000000000000000000000..a4d86e8fe23270bf887023af16593a49de178701 --- /dev/null +++ b/src/QtLocationPlugin/qgeoserviceproviderpluginqgc.h @@ -0,0 +1,67 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#ifndef QGEOSERVICEPROVIDER_GOOGLE_H +#define QGEOSERVICEPROVIDER_GOOGLE_H + +#include +#include +#include + +class QGeoServiceProviderFactoryQGC: public QObject, public QGeoServiceProviderFactory +{ + Q_OBJECT + Q_INTERFACES(QGeoServiceProviderFactory) + Q_PLUGIN_METADATA(IID "org.qt-project.qt.geoservice.serviceproviderfactory/5.0" FILE "qgc_maps_plugin.json") + +public: + QGeoCodingManagerEngine* createGeocodingManagerEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) const; + QGeoMappingManagerEngine* createMappingManagerEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) const; + QGeoRoutingManagerEngine* createRoutingManagerEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) const; + QPlaceManagerEngine* createPlaceManagerEngine(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) const; +}; + +#endif // QGEOSERVICEPROVIDER_GOOGLE_H diff --git a/src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.cpp b/src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.cpp new file mode 100644 index 0000000000000000000000000000000000000000..51b613d70125105c896aa34a836f72261d6d432f --- /dev/null +++ b/src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.cpp @@ -0,0 +1,163 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#include +#include +#include +#include +#include + +#include "qgeotiledmappingmanagerengineqgc.h" +#include "qgeotilefetcherqgc.h" +#include "OpenPilotMaps.h" + +QGeoTiledMappingManagerEngineQGC::QGeoTiledMappingManagerEngineQGC(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString) +: QGeoTiledMappingManagerEngine() +{ + QGeoCameraCapabilities cameraCaps; + cameraCaps.setMinimumZoomLevel(2.0); + cameraCaps.setMaximumZoomLevel(MAX_MAP_ZOOM); + cameraCaps.setSupportsBearing(true); + setCameraCapabilities(cameraCaps); + + setTileSize(QSize(256, 256)); + + QList mapTypes; + mapTypes << QGeoMapType(QGeoMapType::StreetMap, tr("Google Street Map"), tr("Google street map"), false, false, OpenPilot::GoogleMap); + mapTypes << QGeoMapType(QGeoMapType::SatelliteMapDay, tr("Google Satellite Map"),tr("Google satellite map"), false, false, OpenPilot::GoogleSatellite); + mapTypes << QGeoMapType(QGeoMapType::TerrainMap, tr("Google Terrain Map"), tr("Google terrain map"), false, false, OpenPilot::GoogleTerrain); + // TODO: + // Proper hybrid maps requires collecting two separate bimaps and overlaying them. + //mapTypes << QGeoMapType(QGeoMapType::HybridMap, tr("Google Hybrid Map"), tr("Google hybrid map"), false, false, OpenPilot::GoogleHybrid); + // Bing + mapTypes << QGeoMapType(QGeoMapType::StreetMap, tr("Bing Street Map"), tr("Bing street map"), false, false, OpenPilot::BingMap); + mapTypes << QGeoMapType(QGeoMapType::SatelliteMapDay, tr("Bing Satellite Map"), tr("Bing satellite map"), false, false, OpenPilot::BingSatellite); + mapTypes << QGeoMapType(QGeoMapType::HybridMap, tr("Bing Hybrid Map"), tr("Bing hybrid map"), false, false, OpenPilot::BingHybrid); + mapTypes << QGeoMapType(QGeoMapType::StreetMap, tr("Open Street Map"), tr("Open Street map"), false, false, OpenPilot::OpenStreetMap); + setSupportedMapTypes(mapTypes); + + QGeoTileFetcherQGC *tileFetcher = new QGeoTileFetcherQGC(this); + if (parameters.contains(QStringLiteral("useragent"))) { + const QByteArray ua = parameters.value(QStringLiteral("useragent")).toString().toLatin1(); + tileFetcher->setUserAgent(ua); + } else + // QGC Default + tileFetcher->setUserAgent("Mozilla/5.0 (Windows; U; Windows NT 6.0; en-US; rv:1.9.1.7) Gecko/20091221 Firefox/3.5.7"); + + setTileFetcher(tileFetcher); + + QString cacheDir; + if (parameters.contains(QStringLiteral("mapping.cache.directory"))) + cacheDir = parameters.value(QStringLiteral("mapping.cache.directory")).toString(); + else { + cacheDir = QStandardPaths::writableLocation(QStandardPaths::GenericCacheLocation) + QLatin1String("/QGCMapCache"); + if(!QDir::root().mkpath(cacheDir)) { + qWarning() << "Could not create mapping disk cache directory: " << cacheDir; + cacheDir = QDir::homePath() + QLatin1String("/.qgcmapscache/"); + } + } + + if(!QDir::root().mkpath(cacheDir)) + { + qWarning() << "Could not create mapping disk cache directory: " << cacheDir; + cacheDir.clear(); + } + //else { + // qDebug() << "Mapping cache directory:" << cacheDir; + //} + + QGeoTileCache *tileCache = createTileCacheWithDir(cacheDir); + + int cacheLimit = 0; + if (parameters.contains(QStringLiteral("mapping.cache.disk.size"))) { + bool ok = false; + cacheLimit = parameters.value(QStringLiteral("mapping.cache.disk.size")).toString().toInt(&ok); + if (!ok) + cacheLimit = 0; + } + if(!cacheLimit) + // QGC Default + cacheLimit = 1024 * 1024 * 1024; + tileCache->setMaxDiskUsage(cacheLimit); + //qDebug() << "Disk caching limit:" << cacheLimit; + + cacheLimit = 0; + if (parameters.contains(QStringLiteral("mapping.cache.memory.size"))) { + bool ok = false; + cacheLimit = parameters.value(QStringLiteral("mapping.cache.memory.size")).toString().toInt(&ok); + if (!ok) + cacheLimit = 0; + } + if(!cacheLimit) + // QGC Default + cacheLimit = 10 * 1024 * 1024; + tileCache->setMaxMemoryUsage(cacheLimit); + //qDebug() << "Memory caching limit:" << cacheLimit; + + cacheLimit = 0; + if (parameters.contains(QStringLiteral("mapping.cache.texture.size"))) { + bool ok = false; + cacheLimit = parameters.value(QStringLiteral("mapping.cache.texture.size")).toString().toInt(&ok); + if (!ok) + cacheLimit = 0; + } + if(!cacheLimit) + // QGC Default + cacheLimit = 10 * 1024 * 1024; + tileCache->setExtraTextureUsage(cacheLimit); + + *error = QGeoServiceProvider::NoError; + errorString->clear(); +} + +QGeoTiledMappingManagerEngineQGC::~QGeoTiledMappingManagerEngineQGC() +{ +} + +QGeoMapData *QGeoTiledMappingManagerEngineQGC::createMapData() +{ + return new QGeoTiledMapData(this, 0); +} diff --git a/src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.h b/src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.h new file mode 100644 index 0000000000000000000000000000000000000000..0bee02cd40300b4def0353a4cf82c1f7b35f19d9 --- /dev/null +++ b/src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.h @@ -0,0 +1,62 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#ifndef QGEOTILEDMAPPINGMANAGERENGINEGOOGLE_H +#define QGEOTILEDMAPPINGMANAGERENGINEGOOGLE_H + +#include +#include + +class QGeoTiledMappingManagerEngineQGC : public QGeoTiledMappingManagerEngine +{ + Q_OBJECT +public: + QGeoTiledMappingManagerEngineQGC(const QVariantMap ¶meters, QGeoServiceProvider::Error *error, QString *errorString); + ~QGeoTiledMappingManagerEngineQGC(); + QGeoMapData *createMapData(); +}; + +#endif // QGEOTILEDMAPPINGMANAGERENGINEGOOGLE_H diff --git a/src/QtLocationPlugin/qgeotilefetcherqgc.cpp b/src/QtLocationPlugin/qgeotilefetcherqgc.cpp new file mode 100644 index 0000000000000000000000000000000000000000..5d69be6624f3451f62c1c6001b5037a921251daa --- /dev/null +++ b/src/QtLocationPlugin/qgeotilefetcherqgc.cpp @@ -0,0 +1,154 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#include +#include +#include +#include + +#include "qgeotilefetcherqgc.h" +#include "qgeomapreplyqgc.h" + +QGeoTileFetcherQGC::QGeoTileFetcherQGC(QGeoTiledMappingManagerEngine *parent) + : QGeoTileFetcher(parent) + , m_networkManager(new QNetworkAccessManager(this)) + , m_userAgent("Qt Application") + , m_UrlFactory(NULL) +{ + QStringList langs = QLocale::system().uiLanguages(); + if (langs.length() > 0) { + m_Language = langs[0]; + } + m_UrlFactory = new OpenPilot::UrlFactory(m_networkManager); +} + +QGeoTileFetcherQGC::~QGeoTileFetcherQGC() +{ + if(m_UrlFactory) + delete m_UrlFactory; +} + +void QGeoTileFetcherQGC::setUserAgent(const QByteArray &userAgent) +{ + m_userAgent = userAgent; +} + +QGeoTiledMapReply *QGeoTileFetcherQGC::getTileImage(const QGeoTileSpec &spec) +{ + QNetworkRequest request; + QString url = m_UrlFactory->makeImageUrl((OpenPilot::MapType)spec.mapId(), QPoint(spec.x(), spec.y()), spec.zoom(), m_Language); + + request.setUrl(QUrl(url)); + request.setRawHeader("User-Agent", m_userAgent); + request.setRawHeader("Accept", "*/*"); + switch ((OpenPilot::MapType)spec.mapId()) { + case OpenPilot::GoogleMap: + case OpenPilot::GoogleSatellite: + case OpenPilot::GoogleLabels: + case OpenPilot::GoogleTerrain: + case OpenPilot::GoogleHybrid: + { + request.setRawHeader("Referrer", "http://maps.google.com/"); + } + break; + case OpenPilot::GoogleMapChina: + case OpenPilot::GoogleSatelliteChina: + case OpenPilot::GoogleLabelsChina: + case OpenPilot::GoogleTerrainChina: + case OpenPilot::GoogleHybridChina: + { + request.setRawHeader("Referrer", "http://ditu.google.cn/"); + } + break; + case OpenPilot::BingHybrid: + case OpenPilot::BingMap: + case OpenPilot::BingSatellite: + { + request.setRawHeader("Referrer", "http://www.bing.com/maps/"); + } + break; + case OpenPilot::YahooHybrid: + case OpenPilot::YahooLabels: + case OpenPilot::YahooMap: + case OpenPilot::YahooSatellite: + { + request.setRawHeader("Referrer", "http://maps.yahoo.com/"); + } + break; + case OpenPilot::ArcGIS_MapsLT_Map_Labels: + case OpenPilot::ArcGIS_MapsLT_Map: + case OpenPilot::ArcGIS_MapsLT_OrtoFoto: + case OpenPilot::ArcGIS_MapsLT_Map_Hybrid: + { + request.setRawHeader("Referrer", "http://www.maps.lt/map_beta/"); + } + break; + case OpenPilot::OpenStreetMapSurfer: + case OpenPilot::OpenStreetMapSurferTerrain: + { + request.setRawHeader("Referrer", "http://www.mapsurfer.net/"); + } + break; + case OpenPilot::OpenStreetMap: + case OpenPilot::OpenStreetOsm: + { + request.setRawHeader("Referrer", "http://www.openstreetmap.org/"); + } + break; + case OpenPilot::YandexMapRu: + { + request.setRawHeader("Referrer", "http://maps.yandex.ru/"); + } + break; + default: + break; + } + + QNetworkReply *reply = m_networkManager->get(request); + reply->setParent(0); + return new QGeoMapReplyQGC(reply, spec); + +} diff --git a/src/QtLocationPlugin/qgeotilefetcherqgc.h b/src/QtLocationPlugin/qgeotilefetcherqgc.h new file mode 100644 index 0000000000000000000000000000000000000000..5f3dfab8df9ab1ff0a5ad681dfb5c39837e86b9a --- /dev/null +++ b/src/QtLocationPlugin/qgeotilefetcherqgc.h @@ -0,0 +1,75 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Aaron McCarthy +** Contact: http://www.qt-project.org/legal +** +** This file is part of the QtLocation module of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:LGPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and Digia. For licensing terms and +** conditions see http://qt.digia.com/licensing. For further information +** use the contact form at http://qt.digia.com/contact-us. +** +** GNU Lesser General Public License Usage +** Alternatively, this file may be used under the terms of the GNU Lesser +** General Public License version 2.1 as published by the Free Software +** Foundation and appearing in the file LICENSE.LGPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU Lesser General Public License version 2.1 requirements +** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html. +** +** In addition, as a special exception, Digia gives you certain additional +** rights. These rights are described in the Digia Qt LGPL Exception +** version 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3.0 as published by the Free Software +** Foundation and appearing in the file LICENSE.GPL included in the +** packaging of this file. Please review the following information to +** ensure the GNU General Public License version 3.0 requirements will be +** met: http://www.gnu.org/copyleft/gpl.html. +** +** +** $QT_END_LICENSE$ +** +** 2015.4.4 +** Adapted for use with QGroundControl +** +** Gus Grubba +** +****************************************************************************/ + +#ifndef QGEOTILEFETCHERGOOGLE_H +#define QGEOTILEFETCHERGOOGLE_H + +#include +#include +#include "OpenPilotMaps.h" + +class QGeoTiledMappingManagerEngine; +class QNetworkAccessManager; + +class QGeoTileFetcherQGC : public QGeoTileFetcher +{ + Q_OBJECT + +public: + explicit QGeoTileFetcherQGC(QGeoTiledMappingManagerEngine *parent = 0); + ~QGeoTileFetcherQGC(); + + void setUserAgent(const QByteArray &userAgent); + +private: + QGeoTiledMapReply* getTileImage(const QGeoTileSpec &spec); + QNetworkAccessManager* m_networkManager; + QByteArray m_userAgent; + OpenPilot::UrlFactory* m_UrlFactory; + QString m_Language; +}; + +#endif // QGEOTILEFETCHERGOOGLE_H diff --git a/src/VehicleSetup/FirmwareUpgrade.qml b/src/VehicleSetup/FirmwareUpgrade.qml index 740142124b091f2b65da425dfab66be97f6719e0..74170c2ff354f57c6b240de71cb57fc71d3ec592 100644 --- a/src/VehicleSetup/FirmwareUpgrade.qml +++ b/src/VehicleSetup/FirmwareUpgrade.qml @@ -1,3 +1,26 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.3 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 @@ -5,7 +28,8 @@ import QtQuick.Controls.Styles 1.2 import QGroundControl.Controls 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 -import QGroundControl.FirmwareUpgradeController 1.0 +import QGroundControl.Controllers 1.0 +import QGroundControl.ScreenTools 1.0 Rectangle { width: 600 @@ -26,7 +50,7 @@ Rectangle { QGCLabel { text: "FIRMWARE UPDATE" - font.pointSize: 20 + font.pointSize: ScreenTools.fontPointFactor * (20); } Item { @@ -89,11 +113,15 @@ Rectangle { TextArea { id: statusTextArea - width: parent.width - height: 300 - readOnly: true - frameVisible: false - text: qsTr("Please disconnect all connections and unplug board from USB before selecting Upgrade.") + + width: parent.width + height: 300 + readOnly: true + frameVisible: false + font.pointSize: ScreenTools.defaultFontPointSize + + text: qsTr("Please disconnect all vehicles from QGroundControl before selecting Upgrade.") + style: TextAreaStyle { textColor: qgcPal.text backgroundColor: qgcPal.windowShade diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc index 6b16a21049b344cbd4cd613f5c7f25aefa9b2674..94d518ba8bca31babf7c72d1c42f470f4c4d018a 100644 --- a/src/VehicleSetup/FirmwareUpgradeController.cc +++ b/src/VehicleSetup/FirmwareUpgradeController.cc @@ -146,40 +146,6 @@ void FirmwareUpgradeController::_findTimeout(void) _cancel(); } -/// @brief Sets the board image into the icon label according to the board id. -void FirmwareUpgradeController::_setBoardIcon(int boardID) -{ - QString imageFile; - - switch (boardID) { - case _boardIDPX4FMUV1: - imageFile = ":/files/images/px4/boards/px4fmu_1.x.png"; - break; - - case _boardIDPX4Flow: - imageFile = ":/files/images/px4/boards/px4flow_1.x.png"; - break; - - case _boardIDPX4FMUV2: - imageFile = ":/files/images/px4/boards/px4fmu_2.x.png"; - break; - } - - if (!imageFile.isEmpty()) { - bool success = _boardIcon.load(imageFile); - Q_ASSERT(success); - Q_UNUSED(success); - /* - // FIXME: NYI - - int w = _ui->icon->width(); - int h = _ui->icon->height(); - - _ui->icon->setPixmap(_boardIcon.scaled(w, h, Qt::KeepAspectRatio)); - */ - } -} - /// @brief Prompts the user to select a firmware file if needed and moves the state machine to the next state. void FirmwareUpgradeController::_getFirmwareFile(void) { @@ -378,55 +344,51 @@ void FirmwareUpgradeController::_downloadFinished(void) return; } - _imageSize = px4Json.value(QString("image_size")).toInt(); - if (_imageSize == 0) { - _appendStatusLog(tr("Image size of 0 in .px4 file %1").arg(downloadFilename)); - _cancel(); - return; + // Decompress the parameter xml and save to file + QByteArray decompressedBytes; + bool success = _decompressJsonValue(px4Json, // JSON object + bytes, // Raw bytes of JSON document + "parameter_xml_size", // key which holds byte size + "parameter_xml", // key which holds compress bytes + decompressedBytes); // Returned decompressed bytes + if (success) { + QSettings settings; + QDir parameterDir = QFileInfo(settings.fileName()).dir(); + QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml"); + qDebug() << parameterFilename; + QFile parameterFile(parameterFilename); + if (parameterFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) { + qint64 bytesWritten = parameterFile.write(decompressedBytes); + if (bytesWritten != decompressedBytes.count()) { + _appendStatusLog(tr("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString())); + parameterFile.close(); + QFile::remove(parameterFilename); + } else { + parameterFile.close(); + } + } else { + _appendStatusLog(tr("Unable to open parameter meta data file %1 for writing, error: %2").arg(parameterFilename).arg(parameterFile.errorString())); + } + } - qDebug() << "Image size from px4:" << _imageSize; - - // Convert image from base-64 and decompress - // XXX Qt's JSON string handling is terribly broken, strings - // with some length (18K / 25K) are just weirdly cut. - // The code below works around this by manually 'parsing' - // for the image string. Since its compressed / checksummed - // this should be fine. + // FIXME: Save NYI - QStringList list = QString(bytes).split("\"image\": \""); - list = list.last().split("\""); - - // Convert String to QByteArray and unzip it - QByteArray raw; - - // Store image size - raw.append((unsigned char)((_imageSize >> 24) & 0xFF)); - raw.append((unsigned char)((_imageSize >> 16) & 0xFF)); - raw.append((unsigned char)((_imageSize >> 8) & 0xFF)); - raw.append((unsigned char)((_imageSize >> 0) & 0xFF)); - - QByteArray raw64 = list.first().toUtf8(); - - raw.append(QByteArray::fromBase64(raw64)); - QByteArray uncompressed = qUncompress(raw); - - QByteArray b = uncompressed; - - if (b.count() == 0) { - _appendStatusLog(tr("Firmware file has 0 length image")); - _cancel(); - return; - } - if (b.count() != (int)_imageSize) { - _appendStatusLog(tr("Image size for decompressed image does not match stored image size: Expected(%1) Actual(%2)").arg(_imageSize).arg(b.count())); + // Decompress the image and save to file + _imageSize = px4Json.value(QString("image_size")).toInt(); + success = _decompressJsonValue(px4Json, // JSON object + bytes, // Raw bytes of JSON document + "image_size", // key which holds byte size + "image", // key which holds compress bytes + decompressedBytes); // Returned decompressed bytes + if (!success) { _cancel(); return; } - + // Pad image to 4-byte boundary - while ((b.count() % 4) != 0) { - b.append(static_cast(static_cast(0xFF))); + while ((decompressedBytes.count() % 4) != 0) { + decompressedBytes.append(static_cast(static_cast(0xFF))); } // Store decompressed image file in same location as original download file @@ -440,8 +402,8 @@ void FirmwareUpgradeController::_downloadFinished(void) return; } - qint64 bytesWritten = decompressFile.write(b); - if (bytesWritten != b.count()) { + qint64 bytesWritten = decompressFile.write(decompressedBytes); + if (bytesWritten != decompressedBytes.count()) { _appendStatusLog(tr("Write failed for decompressed image file, error: %1").arg(decompressFile.errorString())); _cancel(); return; @@ -493,6 +455,65 @@ void FirmwareUpgradeController::_downloadFinished(void) _erase(); } +/// Decompress a set of bytes stored in a Json document. +bool FirmwareUpgradeController::_decompressJsonValue(const QJsonObject& jsonObject, ///< JSON object + const QByteArray& jsonDocBytes, ///< Raw bytes of JSON document + const QString& sizeKey, ///< key which holds byte size + const QString& bytesKey, ///< key which holds compress bytes + QByteArray& decompressedBytes) ///< Returned decompressed bytes +{ + // Validate decompressed size key + if (!jsonObject.contains(sizeKey)) { + _appendStatusLog(QString("Firmware file missing %1 key").arg(sizeKey)); + return false; + } + int decompressedSize = jsonObject.value(QString(sizeKey)).toInt(); + if (decompressedSize == 0) { + _appendStatusLog(QString("Firmware file has invalid decompressed size for %1").arg(sizeKey)); + return false; + } + + // XXX Qt's JSON string handling is terribly broken, strings + // with some length (18K / 25K) are just weirdly cut. + // The code below works around this by manually 'parsing' + // for the image string. Since its compressed / checksummed + // this should be fine. + + QStringList parts = QString(jsonDocBytes).split(QString("\"%1\": \"").arg(bytesKey)); + if (parts.count() == 1) { + _appendStatusLog(QString("Could not find compressed bytes for %1 in Firmware file").arg(bytesKey)); + return false; + } + parts = parts.last().split("\""); + if (parts.count() == 1) { + _appendStatusLog(QString("Incorrectly formed compressed bytes section for %1 in Firmware file").arg(bytesKey)); + return false; + } + + // Store decompressed size as first four bytes. This is required by qUncompress routine. + QByteArray raw; + raw.append((unsigned char)((decompressedSize >> 24) & 0xFF)); + raw.append((unsigned char)((decompressedSize >> 16) & 0xFF)); + raw.append((unsigned char)((decompressedSize >> 8) & 0xFF)); + raw.append((unsigned char)((decompressedSize >> 0) & 0xFF)); + + QByteArray raw64 = parts.first().toUtf8(); + raw.append(QByteArray::fromBase64(raw64)); + decompressedBytes = qUncompress(raw); + + if (decompressedBytes.count() == 0) { + _appendStatusLog(QString("Firmware file has 0 length %1").arg(bytesKey)); + return false; + } + if (decompressedBytes.count() != decompressedSize) { + _appendStatusLog(QString("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.count())); + return false; + } + + _appendStatusLog(QString("Succesfully decompressed %1").arg(bytesKey)); + return true; +} + /// @brief Called when an error occurs during download void FirmwareUpgradeController::_downloadError(QNetworkReply::NetworkError code) { diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h index f3d3cce9f8c27a162d4cc24e18ddcb2c0f5de73d..de90c18369768dcdec9a434e6e6ca844989dcfeb 100644 --- a/src/VehicleSetup/FirmwareUpgradeController.h +++ b/src/VehicleSetup/FirmwareUpgradeController.h @@ -105,14 +105,14 @@ private: void _findBootloader(void); void _cancel(void); void _getFirmwareFile(void); - - void _setBoardIcon(int boardID); - void _downloadFirmware(void); - void _erase(void); - void _appendStatusLog(const QString& text); + bool _decompressJsonValue(const QJsonObject& jsonObject, + const QByteArray& jsonDocBytes, + const QString& sizeKey, + const QString& bytesKey, + QByteArray& decompressedBytes); QString _portName; QString _portDescription; diff --git a/src/VehicleSetup/PX4Bootloader.cc b/src/VehicleSetup/PX4Bootloader.cc index deab12ea492b22da07ec10be313e206825f72268..62c69c75d7a07a777d75478203d7508e297cafb8 100644 --- a/src/VehicleSetup/PX4Bootloader.cc +++ b/src/VehicleSetup/PX4Bootloader.cc @@ -28,7 +28,11 @@ #include "PX4Bootloader.h" #include +#ifdef __android__ +#include "qserialportinfo.h" +#else #include +#endif #include #include @@ -439,10 +443,6 @@ bool PX4Bootloader::getBoardInfo(QextSerialPort* port, uint32_t& bootloaderVersi if (!getBoardInfo(port, INFO_BOARD_ID, _boardID)) { goto Error; } - if (_boardID != _boardIDPX4Flow && _boardID != _boardIDPX4FMUV1 && _boardID != _boardIDPX4FMUV2 && _boardID != _boardIDuNode) { - _errorString = tr("Unsupported board: %1").arg(_boardID); - goto Error; - } if (!getBoardInfo(port, INFO_FLASH_SIZE, _boardFlashSize)) { qWarning() << _errorString; diff --git a/src/VehicleSetup/PX4Bootloader.h b/src/VehicleSetup/PX4Bootloader.h index 12c95b2ca534403cf9f838f5b454b7b689a04698..dcf35d5c9fa204f250b729cd379938b696372a4d 100644 --- a/src/VehicleSetup/PX4Bootloader.h +++ b/src/VehicleSetup/PX4Bootloader.h @@ -142,11 +142,6 @@ private: bool _bootloaderVerifyRev2(QextSerialPort* port, const QString firmwareFilename); bool _bootloaderVerifyRev3(QextSerialPort* port); - static const int _boardIDPX4FMUV1 = 5; ///< Board ID for PX4 V1 board - static const int _boardIDPX4FMUV2 = 9; ///< Board ID for PX4 V2 board - static const int _boardIDPX4Flow = 6; ///< Board ID for PX4 Floaw board - static const int _boardIDuNode = 29; ///< Board ID for uNode board - uint32_t _boardID; ///< board id for currently connected board uint32_t _boardFlashSize; ///< flash size for currently connected board uint32_t _imageCRC; ///< CRC for image in currently selected firmware file diff --git a/src/VehicleSetup/PX4FirmwareUpgradeThread.cc b/src/VehicleSetup/PX4FirmwareUpgradeThread.cc index 784948eb239a612e1abb0d6c266519242357bf57..0f581facf9834551e9778c1aa5b025fc3558cac8 100644 --- a/src/VehicleSetup/PX4FirmwareUpgradeThread.cc +++ b/src/VehicleSetup/PX4FirmwareUpgradeThread.cc @@ -29,7 +29,11 @@ #include "PX4Bootloader.h" #include +#ifdef __android__ +#include "qserialportinfo.h" +#else #include +#endif #include PX4FirmwareUpgradeThreadWorker::PX4FirmwareUpgradeThreadWorker(QObject* parent) : diff --git a/src/VehicleSetup/ParameterEditor.ui b/src/VehicleSetup/ParameterEditor.ui deleted file mode 100644 index ba61c7fa684f36aa3677ce9e608fe1fdf50dd3c8..0000000000000000000000000000000000000000 --- a/src/VehicleSetup/ParameterEditor.ui +++ /dev/null @@ -1,191 +0,0 @@ - - - ParameterEditor - - - - 0 - 0 - 750 - 600 - - - - - 0 - 0 - - - - - 802 - 471 - - - - Form - - - - - - - - - 3 - 1 - - - - Onboard Configuration - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - - - - 0 - 0 - - - - true - - - - - - - - - - - - - - Qt::Horizontal - - - - 10 - 20 - - - - - - - - - 2 - 0 - - - - - 329 - 400 - - - - Changes Pending - - - - - - -1 - - - - - - 0 - 0 - - - - true - - - - - - - - - - - - Qt::Horizontal - - - - 10 - 20 - - - - - - - - - - - 0 - 0 - - - - Status - - - - - - - - QGCPendingParamWidget - QWidget -
ui/QGCPendingParamWidget.h
- 1 - - - QGCParamWidget - QWidget -
ui/QGCParamWidget.h
- 1 - - - - - diff --git a/src/QmlControls/MousePosition.cc b/src/VehicleSetup/SetupParameterEditor.qml similarity index 76% rename from src/QmlControls/MousePosition.cc rename to src/VehicleSetup/SetupParameterEditor.qml index 594f313e1068a0c7d01655728154c044906664f8..5856f086b8046d16831e7ab8b48fcbb921e9d57c 100644 --- a/src/QmlControls/MousePosition.cc +++ b/src/VehicleSetup/SetupParameterEditor.qml @@ -1,32 +1,33 @@ /*===================================================================== - + QGroundControl Open Source Ground Control Station - - (c) 2009, 2015 QGROUNDCONTROL PROJECT - + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + 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 . - - ======================================================================*/ -/// @file -/// @author Don Gagne + ======================================================================*/ -#include "MousePosition.h" +import QtQuick 2.3 +import QtQuick.Controls 1.2 -MousePosition::MousePosition(void) -{ +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Palette 1.0 +ParameterEditor { + fullMode: true } diff --git a/src/VehicleSetup/SetupView.cc b/src/VehicleSetup/SetupView.cc index 1ba00d1c8cfe1d7bcb205ca9ea021f5aa0370770..31fc188cb1571c8e1e8ff6148f9730c7eb7010ce 100644 --- a/src/VehicleSetup/SetupView.cc +++ b/src/VehicleSetup/SetupView.cc @@ -30,11 +30,13 @@ #include "UASManager.h" #include "AutoPilotPluginManager.h" #include "VehicleComponent.h" -#include "ParameterEditor.h" #include "QGCQmlWidgetHolder.h" #include "MainWindow.h" #include "QGCMessageBox.h" +#ifndef __android__ #include "FirmwareUpgradeController.h" +#endif +#include "ParameterEditorController.h" #include #include @@ -54,12 +56,13 @@ SetupView::SetupView(QWidget* parent) : Q_UNUSED(fSucceeded); Q_ASSERT(fSucceeded); - _ui->buttonHolder->setAutoPilot(NULL); - _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtons.qml")); - +#ifndef __android__ + qmlRegisterType("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController"); +#endif + _ui->buttonHolder->rootContext()->setContextProperty("controller", this); - - qmlRegisterType("QGroundControl.FirmwareUpgradeController", 1, 0, "FirmwareUpgradeController"); + _ui->buttonHolder->setAutoPilot(NULL); + _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsDisconnected.qml")); _setActiveUAS(UASManager::instance()->getActiveUAS()); } @@ -73,35 +76,37 @@ void SetupView::_setActiveUAS(UASInterface* uas) { if (_uasCurrent) { Q_ASSERT(_autoPilotPlugin); - disconnect(_autoPilotPlugin, &AutoPilotPlugin::pluginReady, this, &SetupView::_pluginReady); + disconnect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged); } - _autoPilotPlugin = NULL; - _ui->buttonHolder->setAutoPilot(NULL); - firmwareButtonClicked(); - QObject* button = _ui->buttonHolder->rootObject()->findChild("firmwareButton"); - Q_ASSERT(button); - button->setProperty("checked", true); + _pluginReadyChanged(false); _uasCurrent = uas; if (_uasCurrent) { _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent); - - connect(_autoPilotPlugin, &AutoPilotPlugin::pluginReady, this, &SetupView::_pluginReady); - if (_autoPilotPlugin->pluginIsReady()) { - _pluginReady(); - } + _pluginReadyChanged(_autoPilotPlugin->pluginReady()); + connect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged); } } -void SetupView::_pluginReady(void) +void SetupView::_pluginReadyChanged(bool pluginReady) { - _ui->buttonHolder->setAutoPilot(_autoPilotPlugin); - summaryButtonClicked(); - QObject* button = _ui->buttonHolder->rootObject()->findChild("summaryButton"); - Q_ASSERT(button); - button->setProperty("checked", true); + if (pluginReady) { + _ui->buttonHolder->setAutoPilot(_autoPilotPlugin); + _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsConnected.qml")); + summaryButtonClicked(); + QObject* button = _ui->buttonHolder->rootObject()->findChild("summaryButton"); + Q_ASSERT(button); + button->setProperty("checked", true); + } else { + _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsDisconnected.qml")); + _ui->buttonHolder->setAutoPilot(NULL); + firmwareButtonClicked(); + QObject* button = _ui->buttonHolder->rootObject()->findChild("firmwareButton"); + Q_ASSERT(button); + button->setProperty("checked", true); + } } void SetupView::_changeSetupWidget(QWidget* newWidget) @@ -115,6 +120,8 @@ void SetupView::_changeSetupWidget(QWidget* newWidget) void SetupView::firmwareButtonClicked(void) { +#ifndef __android__ + //FIXME: Hack out for android for now if (_uasCurrent && _uasCurrent->isArmed()) { QGCMessageBox::warning("Setup", "Firmware Update cannot be performed while vehicle is armed."); return; @@ -126,12 +133,19 @@ void SetupView::firmwareButtonClicked(void) setup->setSource(QUrl::fromUserInput("qrc:/qml/FirmwareUpgrade.qml")); _changeSetupWidget(setup); +#endif } void SetupView::parametersButtonClicked(void) { - ParameterEditor* setup = new ParameterEditor(_uasCurrent, QStringList(), this); - _changeSetupWidget(setup); + QGCQmlWidgetHolder* setup = new QGCQmlWidgetHolder; + Q_CHECK_PTR(setup); + + Q_ASSERT(_autoPilotPlugin); + setup->setAutoPilot(_autoPilotPlugin); + setup->setSource(QUrl::fromUserInput("qrc:/qml/SetupParameterEditor.qml")); + + _changeSetupWidget(setup); } void SetupView::summaryButtonClicked(void) diff --git a/src/VehicleSetup/SetupView.h b/src/VehicleSetup/SetupView.h index 40809ac05fdac60cdba6f43a32f6be205179bcb4..0a931ca0390a69cfbc2a46df2a2281e8422acc80 100644 --- a/src/VehicleSetup/SetupView.h +++ b/src/VehicleSetup/SetupView.h @@ -25,7 +25,6 @@ #define SETUPVIEW_H #include "UASInterface.h" -#include "ParameterEditor.h" #include "VehicleComponent.h" #include "AutoPilotPlugin.h" @@ -54,7 +53,7 @@ public: private slots: void _setActiveUAS(UASInterface* uas); - void _pluginReady(void); + void _pluginReadyChanged(bool pluginReady); private: void _changeSetupWidget(QWidget* newWidget); diff --git a/src/VehicleSetup/SetupViewButtons.qml b/src/VehicleSetup/SetupViewButtons.qml deleted file mode 100644 index c810ff38c08bc219c9b7c1183c8fb95a6e0d1467..0000000000000000000000000000000000000000 --- a/src/VehicleSetup/SetupViewButtons.qml +++ /dev/null @@ -1,99 +0,0 @@ -import QtQuick 2.3 -import QtQuick.Controls 1.2 -import QtQuick.Controls.Styles 1.2 -import QtGraphicalEffects 1.0 - -import QGroundControl.FactSystem 1.0 -import QGroundControl.Palette 1.0 -import QGroundControl.Controls 1.0 - -Rectangle { - id: topLevel - - QGCPalette { id: palette; colorGroupEnabled: true } - color: palette.window - - ExclusiveGroup { id: setupButtonGroup } - - Component { - id: disconnectedButtons - - Column { - anchors.fill: parent - - SubMenuButton { - id: firmwareButton; objectName: "firmwareButton" - width: parent.width - text: "FIRMWARE" - imageResource: "FirmwareUpgradeIcon.png" - setupIndicator: false - exclusiveGroup: setupButtonGroup - onClicked: controller.firmwareButtonClicked() - } - - Item { width: parent.width; height: 10 } // spacer - - QGCLabel { - width: parent.width - text: "You must be connected to your board to use all available setup options." - wrapMode: Text.WordWrap - horizontalAlignment: Text.AlignHCenter - } - } - } - - Component { - id: connectedButtons - - Column { - anchors.fill: parent - - SubMenuButton { - id: summaryButton; objectName: "summaryButton" - width: parent.width - text: "SUMMARY" - imageResource: "VehicleSummaryIcon.png" - setupIndicator: false - exclusiveGroup: setupButtonGroup - onClicked: controller.summaryButtonClicked() - } - - SubMenuButton { - id: firmwareButton; objectName: "firmwareButton" - width: parent.width - text: "FIRMWARE" - imageResource: "FirmwareUpgradeIcon.png" - setupIndicator: false - exclusiveGroup: setupButtonGroup - onClicked: controller.firmwareButtonClicked() - } - - Repeater { - model: autopilot.components - - SubMenuButton { - width: parent.width - text: modelData.name.toUpperCase() - imageResource: modelData.iconResource - setupComplete: modelData.setupComplete - exclusiveGroup: setupButtonGroup - onClicked: controller.setupButtonClicked(modelData) - } - } - - SubMenuButton { - width: parent.width - text: "PARAMETERS" - setupIndicator: false - exclusiveGroup: setupButtonGroup - onClicked: controller.parametersButtonClicked() - } - } - } - - - Loader { - anchors.fill: parent - sourceComponent: autopilot ? connectedButtons : disconnectedButtons - } -} diff --git a/src/VehicleSetup/SetupViewButtonsConnected.qml b/src/VehicleSetup/SetupViewButtonsConnected.qml new file mode 100644 index 0000000000000000000000000000000000000000..df5514e4c861f905795904b40a2a53deade80dd4 --- /dev/null +++ b/src/VehicleSetup/SetupViewButtonsConnected.qml @@ -0,0 +1,62 @@ +import QtQuick 2.3 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 +import QtGraphicalEffects 1.0 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 + +Rectangle { + id: topLevel + + QGCPalette { id: palette; colorGroupEnabled: true } + color: palette.window + + ExclusiveGroup { id: setupButtonGroup } + + Column { + anchors.fill: parent + + SubMenuButton { + id: summaryButton; objectName: "summaryButton" + width: parent.width + text: "SUMMARY" + imageResource: "VehicleSummaryIcon.png" + setupIndicator: false + exclusiveGroup: setupButtonGroup + onClicked: controller.summaryButtonClicked() + } + + SubMenuButton { + id: firmwareButton; objectName: "firmwareButton" + width: parent.width + text: "FIRMWARE" + imageResource: "FirmwareUpgradeIcon.png" + setupIndicator: false + exclusiveGroup: setupButtonGroup + onClicked: controller.firmwareButtonClicked() + } + + Repeater { + model: autopilot ? autopilot.vehicleComponents : 0 + + SubMenuButton { + width: parent.width + text: modelData.name.toUpperCase() + imageResource: modelData.iconResource + setupComplete: modelData.setupComplete + exclusiveGroup: setupButtonGroup + onClicked: controller.setupButtonClicked(modelData) + } + } + + SubMenuButton { + width: parent.width + text: "PARAMETERS" + setupIndicator: false + exclusiveGroup: setupButtonGroup + onClicked: controller.parametersButtonClicked() + } + } +} diff --git a/src/VehicleSetup/SetupViewButtonsDisconnected.qml b/src/VehicleSetup/SetupViewButtonsDisconnected.qml new file mode 100644 index 0000000000000000000000000000000000000000..e5634ccbf77750a9da7356ca800a9ecea74c3a08 --- /dev/null +++ b/src/VehicleSetup/SetupViewButtonsDisconnected.qml @@ -0,0 +1,40 @@ +import QtQuick 2.3 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 +import QtGraphicalEffects 1.0 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 + +Rectangle { + id: topLevel + + QGCPalette { id: palette; colorGroupEnabled: true } + color: palette.window + + ExclusiveGroup { id: setupButtonGroup } + + Column { + anchors.fill: parent + + SubMenuButton { + id: firmwareButton; objectName: "firmwareButton" + width: parent.width + text: "FIRMWARE" + imageResource: "FirmwareUpgradeIcon.png" + setupIndicator: false + exclusiveGroup: setupButtonGroup + onClicked: controller.firmwareButtonClicked() + } + + Item { width: parent.width; height: 10 } // spacer + + QGCLabel { + width: parent.width + text: "Full setup options are only available when connected to vehicle and full parameter list has completed downloading." + wrapMode: Text.WordWrap + horizontalAlignment: Text.AlignHCenter + } + } +} diff --git a/src/VehicleSetup/SetupViewTest.cc b/src/VehicleSetup/SetupViewTest.cc index 113072edbdd36ba75e46bc857618823651398aa3..7f6b2583f4439b2e818f5ca52081c0ed31cb7ffb 100644 --- a/src/VehicleSetup/SetupViewTest.cc +++ b/src/VehicleSetup/SetupViewTest.cc @@ -27,6 +27,9 @@ #include "SetupViewTest.h" #include "MockLink.h" #include "QGCMessageBox.h" +#include "SetupView.h" +#include "UASManager.h" +#include "AutoPilotPluginManager.h" UT_REGISTER_TEST(SetupViewTest) @@ -64,17 +67,43 @@ void SetupViewTest::_clickThrough_test(void) MockLink* link = new MockLink(); Q_CHECK_PTR(link); link->setAutopilotType(MAV_AUTOPILOT_PX4); - LinkManager::instance()->addLink(link); + LinkManager::instance()->_addLink(link); linkMgr->connectLink(link); QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through + + AutoPilotPlugin* autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS()); + Q_ASSERT(autopilot); + + QSignalSpy spyPlugin(autopilot, SIGNAL(pluginReadyChanged(bool))); + if (!autopilot->pluginReady()) { + QCOMPARE(spyPlugin.wait(10000), true); + } + Q_ASSERT(autopilot->pluginReady()); // Switch to the Setup view _mainToolBar->onSetupView(); QTest::qWait(1000); - // Click through all the setup buttons - // FIXME: NYI + MainWindow* mainWindow = MainWindow::instance(); + Q_ASSERT(mainWindow); + QWidget* setupViewWidget = mainWindow->getCurrentViewWidget(); + Q_ASSERT(setupViewWidget); + SetupView* setupView = qobject_cast(setupViewWidget); + Q_ASSERT(setupView); + + // Click through fixed buttons + setupView->firmwareButtonClicked(); + QTest::qWait(1000); + setupView->parametersButtonClicked(); + QTest::qWait(1000); + setupView->summaryButtonClicked(); + QTest::qWait(1000); + const QVariantList& components = autopilot->vehicleComponents(); + foreach(QVariant varComponent, components) { + setupView->setupButtonClicked(varComponent); + } + // On MainWindow close we should get a message box telling the user to disconnect first. Disconnect will then pop // the log file save dialog. diff --git a/src/VehicleSetup/VehicleComponent.cc b/src/VehicleSetup/VehicleComponent.cc index 956e6076fbc56a5a72049c6bf2f5103a2ea23810..d9cf5f0d205f1df730a0811d19a18886a996d906 100644 --- a/src/VehicleSetup/VehicleComponent.cc +++ b/src/VehicleSetup/VehicleComponent.cc @@ -34,9 +34,6 @@ VehicleComponent::VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot { Q_ASSERT(uas); Q_ASSERT(autopilot); - - _paramMgr = _uas->getParamManager(); - Q_ASSERT(_paramMgr); } VehicleComponent::~VehicleComponent() diff --git a/src/VehicleSetup/VehicleComponent.h b/src/VehicleSetup/VehicleComponent.h index 397f3c6c882ee0a2756bcf2e28c18eb07ccbf119..5d928cfc43d54df7b8f71694fd255b494d5dfeb7 100644 --- a/src/VehicleSetup/VehicleComponent.h +++ b/src/VehicleSetup/VehicleComponent.h @@ -75,7 +75,6 @@ signals: protected: UASInterface* _uas; AutoPilotPlugin* _autopilot; - QGCUASParamManagerInterface* _paramMgr; }; #endif diff --git a/src/VehicleSetup/VehicleSummary.qml b/src/VehicleSetup/VehicleSummary.qml index f9105eb267c8960a1ecf0b1ae6e90c947126c48a..e5b38f64daa83510834753c352578ec56855f43b 100644 --- a/src/VehicleSetup/VehicleSummary.qml +++ b/src/VehicleSetup/VehicleSummary.qml @@ -1,3 +1,26 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2015 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + import QtQuick 2.2 import QtQuick.Controls 1.2 import QtQuick.Controls.Styles 1.2 @@ -5,6 +28,7 @@ import QtQuick.Controls.Styles 1.2 import QGroundControl.FactSystem 1.0 import QGroundControl.Palette 1.0 import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 Rectangle { width: 600 @@ -22,7 +46,25 @@ Rectangle { QGCLabel { text: "VEHICLE SUMMARY" - font.pointSize: 20 + font.pointSize: ScreenTools.fontPointFactor * (20); + } + + Item { + // Just used as a spacer + height: 15 + width: 10 + } + + QGCLabel { + width: parent.width + wrapMode: Text.WordWrap + color: autopilot.setupComplete ? qgcPal.text : "red" + font.pointSize: autopilot.setupComplete ? ScreenTools.defaultFontPointSize : ScreenTools.fontPointFactor * (20) + text: autopilot.setupComplete ? + "Below you will find a summary of the settings for your vehicle. To the left are the setup buttons for deatiled settings for each component." : + "WARNING: One or more of your vehicle's components require setup prior to flight. It will be shown with a red circular indicator below. " + + "Find the matching setup button to the left and click it to get to the setup screen you need to complete. " + + "Once all indicators go green you will be ready to fly." } Item { @@ -36,7 +78,7 @@ Rectangle { spacing: 10 Repeater { - model: autopilot.components + model: autopilot.vehicleComponents // Outer summary item rectangle Rectangle { @@ -54,11 +96,10 @@ Rectangle { color: qgcPal.windowShadeDark // Title text - Text { + QGCLabel { anchors.fill: parent color: qgcPal.buttonText - font.pixelSize: 12 text: modelData.name.toUpperCase() verticalAlignment: TextEdit.AlignVCenter diff --git a/src/ui/AudioOutputWidget.h b/src/ViewWidgets/ParameterEditorWidget.cc similarity index 68% rename from src/ui/AudioOutputWidget.h rename to src/ViewWidgets/ParameterEditorWidget.cc index 4fd439872016d9eebcfed0aca8007ae7a1e84c91..a1151c038cc68c652dde1aaa40aa98c5203736e1 100644 --- a/src/ui/AudioOutputWidget.h +++ b/src/ViewWidgets/ParameterEditorWidget.cc @@ -23,36 +23,15 @@ This file is part of the QGROUNDCONTROL project /** * @file - * @brief Definition of class AudioOutputWidget + * @brief Definition of class ParameterEditorWidget * @author Lorenz Meier * */ -#ifndef AUDIOOUTPUTWIDGET_H -#define AUDIOOUTPUTWIDGET_H +#include "ParameterEditorWidget.h" -#include - -namespace Ui +ParameterEditorWidget::ParameterEditorWidget(QWidget *parent) : + QGCQmlWidgetHolder(parent) { -class AudioOutputWidget; + setSource(QUrl::fromUserInput("qrc:/qml/ParameterEditorWidget.qml")); } - -/** - * @brief Widget to control audio/volume/mute - */ -class AudioOutputWidget : public QWidget -{ - Q_OBJECT -public: - AudioOutputWidget(QWidget *parent = 0); - ~AudioOutputWidget(); - -protected: - void changeEvent(QEvent *e); - -private: - Ui::AudioOutputWidget *m_ui; -}; - -#endif // AUDIOOUTPUTWIDGET_H diff --git a/src/ui/map3D/ObstacleGroupNode.h b/src/ViewWidgets/ParameterEditorWidget.h similarity index 62% rename from src/ui/map3D/ObstacleGroupNode.h rename to src/ViewWidgets/ParameterEditorWidget.h index 8a0715ebe566fa67ff97e4e298c724e1b1cdd6df..809d647e6d68b48b8f574d1a13f5886034f59028 100644 --- a/src/ui/map3D/ObstacleGroupNode.h +++ b/src/ViewWidgets/ParameterEditorWidget.h @@ -2,7 +2,7 @@ QGroundControl Open Source Ground Control Station -(c) 2009, 2010 QGROUNDCONTROL PROJECT +(c) 2009, 2015 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project @@ -21,30 +21,20 @@ This file is part of the QGROUNDCONTROL project ======================================================================*/ -/** - * @file - * @brief Definition of the class ObstacleGroupNode. - * - * @author Lionel Heng - * - */ +/// @file +/// @author Don Gagne -#ifndef OBSTACLEGROUPNODE_H -#define OBSTACLEGROUPNODE_H +#ifndef PARAMETEREDITORWIDGET_H +#define PARAMETEREDITORWIDGET_H -#include +#include "QGCQmlWidgetHolder.h" -#include "UASInterface.h" - -class ObstacleGroupNode : public osg::Group +class ParameterEditorWidget : public QGCQmlWidgetHolder { + Q_OBJECT + public: - ObstacleGroupNode(); - - void init(void); - void clear(void); - void update(double robotX, double robotY, double robotZ, - const px::ObstacleList& obstacleList); + ParameterEditorWidget(QWidget *parent = 0); }; -#endif // OBSTACLEGROUPNODE_H +#endif diff --git a/src/ViewWidgets/ParameterEditorWidget.qml b/src/ViewWidgets/ParameterEditorWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..234dee17ab79a6de8dd9d061a01c64e1527df879 --- /dev/null +++ b/src/ViewWidgets/ParameterEditorWidget.qml @@ -0,0 +1,42 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/// @file +/// @author Don Gagne + +import QtQuick 2.2 + +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 + +ViewWidget { + connectedComponent: editorComponent + + Component { + id: editorComponent + + ParameterEditor { + fullMode: false + } + } +} diff --git a/src/ViewWidgets/ViewWidget.qml b/src/ViewWidgets/ViewWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..aab2e57cca8ffa22466aecb5466b9f78c4124dad --- /dev/null +++ b/src/ViewWidgets/ViewWidget.qml @@ -0,0 +1,82 @@ +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 + +import QGroundControl.Palette 1.0 +import QGroundControl.Controllers 1.0 + +Rectangle { + property Component connectedComponent: __componentConnected + property Component disconnectedComponent: __componentDisconnected + + QGCPalette { id: __qgcPal; colorGroupEnabled: enabled } + ViewWidgetController { id: __controller } + + color: __qgcPal.window + + Component.onCompleted: __controller.checkForVehicle() + + Connections { + target: __controller + + onPluginConnected: { + pageLoader.autopilot = autopilot + pageLoader.sourceComponent = connectedComponent + } + + onPluginDisconnected: { + pageLoader.sourceComponent = disconnectedComponent + pageLoader.autopilot = {} + } + } + + Loader { + id: pageLoader + + anchors.fill: parent + + property var autopilot + + sourceComponent: __componentDisconnected + } + + Component { + id: __componentConnected + + Rectangle { + QGCPalette { id: __qgcPal; colorGroupEnabled: enabled } + + anchors.fill: parent + color: __qgcPal.window + + QGCLabel { + anchors.fill: parent + + horizontalAlignment: Text.AlignHCenter + verticalAlignment: Text.AlignVCenter + + text: "missing connected implementation" + } + } + } + + Component { + id: __componentDisconnected + + Rectangle { + QGCPalette { id: __qgcPal; colorGroupEnabled: enabled } + + anchors.fill: parent + color: __qgcPal.window + + QGCLabel { + anchors.fill: parent + + horizontalAlignment: Text.AlignHCenter + verticalAlignment: Text.AlignVCenter + + text: "no vehicle connected" + } + } + } +} diff --git a/src/ViewWidgets/ViewWidgetController.cc b/src/ViewWidgets/ViewWidgetController.cc new file mode 100644 index 0000000000000000000000000000000000000000..095bb4db34b2fb5ab1d0437be248389ad33fe5d9 --- /dev/null +++ b/src/ViewWidgets/ViewWidgetController.cc @@ -0,0 +1,75 @@ +/*===================================================================== + + QGroundControl Open Source Ground Control Station + + (c) 2009 - 2014 QGROUNDCONTROL PROJECT + + 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 . + + ======================================================================*/ + +#include "ViewWidgetController.h" +#include "UASManager.h" +#include "AutoPilotPluginManager.h" + +ViewWidgetController::ViewWidgetController(void) : + _autopilot(NULL), + _uas(NULL) +{ + _uasManager = UASManager::instance(); + Q_ASSERT(_uasManager); + + connect(_uasManager, &UASManagerInterface::activeUASSet, this, &ViewWidgetController::_activeUasChanged); +} + +void ViewWidgetController::_activeUasChanged(UASInterface* currentUas) +{ + if (currentUas != _uas) { + if (_uas) { + disconnect(_autopilot, &AutoPilotPlugin::pluginReadyChanged, this, &ViewWidgetController::_pluginReadyChanged); + _uas = NULL; + _autopilot = NULL; + emit pluginDisconnected(); + } + + if (currentUas) { + _uas = currentUas; + _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(currentUas); + Q_ASSERT(_autopilot); + + connect(_autopilot, &AutoPilotPlugin::pluginReadyChanged, this, &ViewWidgetController::_pluginReadyChanged); + if (_autopilot->pluginReady()) { + _pluginReadyChanged(true); + } + } + } +} + +void ViewWidgetController::_pluginReadyChanged(bool pluginReady) +{ + Q_ASSERT(_autopilot); + + if (pluginReady) { + emit pluginConnected(QVariant::fromValue(_autopilot)); + } else { + _activeUasChanged(NULL); + } +} + +Q_INVOKABLE void ViewWidgetController::checkForVehicle(void) +{ + _activeUasChanged(_uasManager->getActiveUAS()); +} diff --git a/src/VehicleSetup/ParameterEditor.h b/src/ViewWidgets/ViewWidgetController.h similarity index 64% rename from src/VehicleSetup/ParameterEditor.h rename to src/ViewWidgets/ViewWidgetController.h index 55d349265281f4d16deae0c70543f462444ceeeb..63a73f00dc3db8973f112f229016153692d1f305 100644 --- a/src/VehicleSetup/ParameterEditor.h +++ b/src/ViewWidgets/ViewWidgetController.h @@ -21,31 +21,36 @@ ======================================================================*/ -#ifndef PARAMETEREDITOR_H -#define PARAMETEREDITOR_H +#ifndef VIEWWIDGETCONTROLLER_H +#define VIEWWIDGETCONTROLLER_H -#include +#include #include "UASInterface.h" +#include "AutoPilotPlugin.h" +#include "UASManagerInterface.h" -/// @file -/// @brief This is the Parameter Editor widget which is used in the Parameters tab of Vehicle Setup. -/// @author Don Gagne - -namespace Ui { - class ParameterEditor; -} - -class ParameterEditor : public QWidget +class ViewWidgetController : public QObject { - Q_OBJECT - + Q_OBJECT + public: - explicit ParameterEditor(UASInterface* uas, const QStringList& filterList, QWidget* parent = 0); - ~ParameterEditor(); + ViewWidgetController(void); + + Q_INVOKABLE void checkForVehicle(void); + +signals: + void pluginConnected(QVariant autopilot); + void pluginDisconnected(void); + +private slots: + void _activeUasChanged(UASInterface* UAS); + void _pluginReadyChanged(bool pluginReady); private: - Ui::ParameterEditor* _ui; + AutoPilotPlugin* _autopilot; + UASManagerInterface* _uasManager; + UASInterface* _uas; }; -#endif +#endif \ No newline at end of file diff --git a/src/apps/qgcvideo/QGCVideoApp.cc b/src/apps/qgcvideo/QGCVideoApp.cc index 6695e48e91127256dbc84a17f95fcee9ed5fa747..4830ebc049bfad1a47c9f01dc483d51dfc21687c 100644 --- a/src/apps/qgcvideo/QGCVideoApp.cc +++ b/src/apps/qgcvideo/QGCVideoApp.cc @@ -71,7 +71,7 @@ QGCVideoApp::QGCVideoApp(int &argc, char* argv[]) : QApplication(argc, argv) // Set application font QFontDatabase fontDatabase = QFontDatabase(); - const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app + const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app const QString fontFamilyName = "Bitstream Vera Sans"; if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str()); fontDatabase.addApplicationFont(fontFileName); diff --git a/src/apps/qgcvideo/QGCVideoWidget.cc b/src/apps/qgcvideo/QGCVideoWidget.cc index fdb10bd7898a04aeb35d924227474033b2cb4c20..59327fd11803707752b23a6edf3da58fbb7f3f03 100644 --- a/src/apps/qgcvideo/QGCVideoWidget.cc +++ b/src/apps/qgcvideo/QGCVideoWidget.cc @@ -177,7 +177,7 @@ QGCVideoWidget::QGCVideoWidget(QWidget* parent) //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); fontDatabase = QFontDatabase(); - const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app + const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app const QString fontFamilyName = "Bitstream Vera Sans"; if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!"; diff --git a/src/audio/QGCAudioWorker.cpp b/src/audio/QGCAudioWorker.cpp index 9738e29e3c8477f277aa15405076150008cc01e7..4425a7908725de69f00159264cb6106cbe5405d3 100644 --- a/src/audio/QGCAudioWorker.cpp +++ b/src/audio/QGCAudioWorker.cpp @@ -45,7 +45,7 @@ QGCAudioWorker::QGCAudioWorker(QObject *parent) : void QGCAudioWorker::init() { #ifdef QGC_NOTIFY_TUNES_ENABLED - sound = new QSound(":/files/audio/alert.wav"); + sound = new QSound(":/res/Alert"); #endif #if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED @@ -100,7 +100,7 @@ void QGCAudioWorker::say(QString inText, int severity) if (!muted) { - QString text = _fixMillisecondString(inText); + QString text = _fixTextMessageForAudio(inText); // Prepend high priority text with alert beep if (severity < GAudioOutput::AUDIO_SEVERITY_CRITICAL) { beep(); @@ -163,7 +163,7 @@ void QGCAudioWorker::beep() if (!muted) { #ifdef QGC_NOTIFY_TUNES_ENABLED - sound->play(":/files/audio/alert.wav"); + sound->play(":/res/Alert"); #endif } } @@ -187,10 +187,18 @@ bool QGCAudioWorker::_getMillisecondString(const QString& string, QString& match return false; } -QString QGCAudioWorker::_fixMillisecondString(const QString& string) { +QString QGCAudioWorker::_fixTextMessageForAudio(const QString& string) { QString match; QString newNumber; QString result = string; + //-- Look for modes + if(result.contains("POSCTL", Qt::CaseInsensitive)) { + result.replace("POSCTL", "Position Control", Qt::CaseInsensitive); + } else if(result.contains("ALTCTL", Qt::CaseInsensitive)) { + result.replace("ALTCTL", "Altitude Control", Qt::CaseInsensitive); + } else if(result.contains("RTL", Qt::CaseInsensitive)) { + result.replace("RTL", "Return To Land", Qt::CaseInsensitive); + } int number; if(_getMillisecondString(string, match, number) && number > 1000) { if(number < 60000) { diff --git a/src/audio/QGCAudioWorker.h b/src/audio/QGCAudioWorker.h index beafe429e7329040576ba11728787def41dcad60..1d40322912c976340feb02b4cbc6c7049ab1ecbe 100644 --- a/src/audio/QGCAudioWorker.h +++ b/src/audio/QGCAudioWorker.h @@ -51,7 +51,7 @@ protected: QTimer *emergencyTimer; bool muted; private: - QString _fixMillisecondString(const QString& string); + QString _fixTextMessageForAudio(const QString& string); bool _getMillisecondString(const QString& string, QString& match, int& number); }; diff --git a/src/comm/LinkConfiguration.cc b/src/comm/LinkConfiguration.cc index 57ee6c929496a9ede30825fd3b12c79f185d718c..2b793a4ffe95e383a4127a47b7802a898954e5b0 100644 --- a/src/comm/LinkConfiguration.cc +++ b/src/comm/LinkConfiguration.cc @@ -32,7 +32,7 @@ This file is part of the QGROUNDCONTROL project #include "UDPLink.h" #include "TCPLink.h" -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG #include "MockLink.h" #endif @@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project LinkConfiguration::LinkConfiguration(const QString& name) : _preferred(false) + , _dynamic(false) { _link = NULL; _name = name; @@ -48,18 +49,20 @@ LinkConfiguration::LinkConfiguration(const QString& name) LinkConfiguration::LinkConfiguration(LinkConfiguration* copy) { - _link = copy->getLink(); - _name = copy->name(); - _preferred = copy->isPreferred(); + _link = copy->getLink(); + _name = copy->name(); + _preferred = copy->isPreferred(); + _dynamic = copy->isDynamic(); Q_ASSERT(!_name.isEmpty()); } void LinkConfiguration::copyFrom(LinkConfiguration* source) { Q_ASSERT(source != NULL); - _link = source->getLink(); - _name = source->name(); - _preferred = source->isPreferred(); + _link = source->getLink(); + _name = source->name(); + _preferred = source->isPreferred(); + _dynamic = source->isDynamic(); } /*! @@ -88,7 +91,7 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na case LinkConfiguration::TypeTcp: config = new TCPConfiguration(name); break; -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG case LinkConfiguration::TypeMock: config = new MockConfiguration(name); break; @@ -114,7 +117,7 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc case TypeTcp: dupe = new TCPConfiguration(dynamic_cast(source)); break; -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG case TypeMock: dupe = new MockConfiguration(dynamic_cast(source)); break; diff --git a/src/comm/LinkConfiguration.h b/src/comm/LinkConfiguration.h index 1216d40487d8e1d9ca36a04ce184594e59249de8..34639bc60d44f3936adfe1552aaa0dae60c40d18 100644 --- a/src/comm/LinkConfiguration.h +++ b/src/comm/LinkConfiguration.h @@ -44,14 +44,11 @@ public: TypeTcp, ///< TCP Link // TODO Below is not yet implemented #if 0 - TypeSimulation, ///< Simulation Link TypeForwarding, ///< Forwarding Link TypeXbee, ///< XBee Proprietary Link TypeOpal, ///< Opal-RT Link #endif -#ifdef UNITTEST_BUILD TypeMock, ///< Mock Link for Unitesting -#endif TypeLast // Last type value (type >= TypeLast == invalid) }; @@ -97,6 +94,18 @@ public: */ void setPreferred(bool preferred = true) { _preferred = preferred; } + /*! + * + * Is this a dynamic configuration? (non persistent) + * @return True if this is an automatically added configuration. + */ + bool isDynamic() { return _dynamic; } + + /*! + * Set if this is this a dynamic configuration. (decided at runtime) + */ + void setDynamic(bool dynamic = true) { _dynamic = dynamic; } + /// Virtual Methods /*! @@ -171,6 +180,7 @@ protected: private: QString _name; bool _preferred; ///< Determined internally if this is a preferred connection. It comes up first in the drop down box. + bool _dynamic; ///< A connection added automatically and not persistent (unless it's edited). }; #endif // LINKCONFIGURATION_H diff --git a/src/comm/LinkInterface.h b/src/comm/LinkInterface.h index ac0cd704ea1b373e8251051c25593150c9d7f04a..04bd5a2a9a2be545e8de1f1c36396e2efe1db8ef 100644 --- a/src/comm/LinkInterface.h +++ b/src/comm/LinkInterface.h @@ -37,6 +37,9 @@ along with PIXHAWK. If not, see . #include #include #include +#include + +#include "QGCMAVLink.h" class LinkManager; class LinkConfiguration; @@ -50,38 +53,10 @@ class LinkInterface : public QThread { Q_OBJECT - // Only LinkManager is allowed to _connect, _disconnect or delete a link + // Only LinkManager is allowed to create/delete or _connect/_disconnect a link friend class LinkManager; public: - LinkInterface() : - QThread(0), - _ownedByLinkManager(false), - _deletedByLinkManager(false), - _flaggedForDeletion(false) - { - // Initialize everything for the data rate calculation buffers. - inDataIndex = 0; - outDataIndex = 0; - - // Initialize our data rate buffers. - memset(inDataWriteAmounts, 0, sizeof(inDataWriteAmounts)); - memset(inDataWriteTimes, 0, sizeof(inDataWriteTimes)); - memset(outDataWriteAmounts,0, sizeof(outDataWriteAmounts)); - memset(outDataWriteTimes, 0, sizeof(outDataWriteTimes)); - - qRegisterMetaType("LinkInterface*"); - } - - /** - * @brief Destructor - * LinkManager take ownership of Links once they are added to it. Once added to LinkManager - * use LinkManager::deleteLink to remove if necessary. - **/ - virtual ~LinkInterface() { - Q_ASSERT(!_ownedByLinkManager || _deletedByLinkManager); - } - /** * @brief Get link configuration (if used) * @return A pointer to the instance of LinkConfiguration if supported. NULL otherwise. @@ -90,14 +65,6 @@ public: /* Connection management */ - /** - * @brief Get the ID of this link - * - * The ID is an unsigned integer, starting at 0 - * @return ID of this link - **/ - virtual int getId() const = 0; - /** * @brief Get the human readable name of this link */ @@ -150,6 +117,10 @@ public: { return getCurrentDataRate(outDataIndex, outDataWriteTimes, outDataWriteAmounts); } + + /// mavlink channel to use for this link, as used by mavlink_parse_char. The mavlink channel is only + /// set into the link when it is added to LinkManager + uint8_t getMavlinkChannel(void) const { Q_ASSERT(_mavlinkChannelSet); return _mavlinkChannel; } // These are left unimplemented in order to cause linker errors which indicate incorrect usage of // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager. @@ -169,7 +140,26 @@ public slots: * @param length The length of the data array **/ virtual void writeBytes(const char *bytes, qint64 length) = 0; - + +protected: + // Links are only created by LinkManager so constructor is not public + LinkInterface() : + QThread(0), + _mavlinkChannelSet(false) + { + // Initialize everything for the data rate calculation buffers. + inDataIndex = 0; + outDataIndex = 0; + + // Initialize our data rate buffers. + memset(inDataWriteAmounts, 0, sizeof(inDataWriteAmounts)); + memset(inDataWriteTimes, 0, sizeof(inDataWriteTimes)); + memset(outDataWriteAmounts,0, sizeof(outDataWriteAmounts)); + memset(outDataWriteTimes, 0, sizeof(outDataWriteTimes)); + + qRegisterMetaType("LinkInterface*"); + } + signals: /** @@ -309,11 +299,6 @@ protected: return dataRate; } - static int getNextLinkId() { - static int nextId = 1; - return nextId++; - } - protected slots: /** @@ -338,10 +323,14 @@ private: * @return True if connection could be terminated, false otherwise **/ virtual bool _disconnect(void) = 0; - - bool _ownedByLinkManager; ///< true: This link has been added to LinkManager, false: Link not added to LinkManager - bool _deletedByLinkManager; ///< true: Link being deleted from LinkManager, false: error, Links should only be deleted from LinkManager - bool _flaggedForDeletion; ///< true: Garbage colletion ready + + /// Sets the mavlink channel to use for this link + void _setMavlinkChannel(uint8_t channel) { Q_ASSERT(!_mavlinkChannelSet); _mavlinkChannelSet = true; _mavlinkChannel = channel; } + + bool _mavlinkChannelSet; ///< true: _mavlinkChannel has been set + uint8_t _mavlinkChannel; ///< mavlink channel to use for this link, as used by mavlink_parse_char }; +typedef QSharedPointer SharedLinkInterface; + #endif // _LINKINTERFACE_H_ diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc index f8ba9d11f50115ebe88a8b3d1e29dae8e172c41e..78caa91cc8cb14fb153cc75f0c3dc3213774ca2a 100644 --- a/src/comm/LinkManager.cc +++ b/src/comm/LinkManager.cc @@ -32,7 +32,11 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#ifdef __android__ +#include "qserialportinfo.h" +#else #include +#endif #include "LinkManager.h" #include "MainWindow.h" @@ -52,6 +56,8 @@ LinkManager::LinkManager(QObject* parent) , _configUpdateSuspended(false) , _configurationsLoaded(false) , _connectionsSuspended(false) + , _mavlinkChannelsUsedBitMask(0) + , _nullSharedLink(NULL) { connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateConfigurationList); _portListTimer.start(1000); @@ -68,7 +74,7 @@ LinkManager::~LinkManager() Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously"); } -LinkInterface* LinkManager::createLink(LinkConfiguration* config) +LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config) { Q_ASSERT(config); LinkInterface* pLink = NULL; @@ -82,40 +88,48 @@ LinkInterface* LinkManager::createLink(LinkConfiguration* config) case LinkConfiguration::TypeTcp: pLink = new TCPLink(dynamic_cast(config)); break; -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG case LinkConfiguration::TypeMock: pLink = new MockLink(dynamic_cast(config)); break; #endif } if(pLink) { - addLink(pLink); + _addLink(pLink); + connectLink(pLink); } return pLink; } -LinkInterface* LinkManager::createLink(const QString& name) +LinkInterface* LinkManager::createConnectedLink(const QString& name) { Q_ASSERT(name.isEmpty() == false); for(int i = 0; i < _linkConfigurations.count(); i++) { LinkConfiguration* conf = _linkConfigurations.at(i); if(conf && conf->name() == name) - return createLink(conf); + return createConnectedLink(conf); } return NULL; } -void LinkManager::addLink(LinkInterface* link) +void LinkManager::_addLink(LinkInterface* link) { Q_ASSERT(link); - // Take ownership for delete - link->_ownedByLinkManager = true; - _linkListMutex.lock(); - if (!_links.contains(link)) { - _links.append(link); + if (!containsLink(link)) { + // Find a mavlink channel to use for this link + for (int i=0; i<32; i++) { + if (!(_mavlinkChannelsUsedBitMask && 1 << i)) { + mavlink_reset_channel_status(i); + link->_setMavlinkChannel(i); + _mavlinkChannelsUsedBitMask |= i << i; + break; + } + } + + _links.append(QSharedPointer(link)); _linkListMutex.unlock(); emit newLink(link); } else { @@ -145,14 +159,12 @@ bool LinkManager::connectAll() bool allConnected = true; - _linkListMutex.lock(); - foreach (LinkInterface* link, _links) { - Q_ASSERT(link); - if (!link->_connect()) { + foreach (SharedLinkInterface sharedLink, _links) { + Q_ASSERT(sharedLink.data()); + if (!sharedLink.data()->_connect()) { allConnected = false; } } - _linkListMutex.unlock(); return allConnected; } @@ -161,15 +173,15 @@ bool LinkManager::disconnectAll() { bool allDisconnected = true; - _linkListMutex.lock(); - foreach (LinkInterface* link, _links) - { - Q_ASSERT(link); - if (!link->_disconnect()) { + // Make a copy so the list is modified out from under us + QList links = _links; + + foreach (SharedLinkInterface sharedLink, links) { + Q_ASSERT(sharedLink.data()); + if (!disconnectLink(sharedLink.data())) { allDisconnected = false; } } - _linkListMutex.unlock(); return allDisconnected; } @@ -197,51 +209,37 @@ bool LinkManager::disconnectLink(LinkInterface* link) if(config) { config->setLink(NULL); } - // Link is now done and over with. We can't yet delete it because it - // takes a while for the MAVLink protocol to take notice of it. We - // flag it for delayed deletion for final clean up. - link->_flaggedForDeletion = true; - QTimer::singleShot(1000, this, &LinkManager::_delayedDeleteLink); + _deleteLink(link); return true; } else { return false; } } -void LinkManager::_delayedDeleteLink() -{ - _linkListMutex.lock(); - foreach (LinkInterface* link, _links) - { - Q_ASSERT(link); - if (link->_flaggedForDeletion) { - qDebug() << "Link deleted: " << link->getName(); - _linkListMutex.unlock(); - deleteLink(link); - return; - } - } - _linkListMutex.unlock(); -} - -void LinkManager::deleteLink(LinkInterface* link) +void LinkManager::_deleteLink(LinkInterface* link) { Q_ASSERT(link); _linkListMutex.lock(); - - Q_ASSERT(_links.contains(link)); - _links.removeOne(link); - Q_ASSERT(!_links.contains(link)); + + // Free up the mavlink channel associated with this link + _mavlinkChannelsUsedBitMask &= ~(1 << link->getMavlinkChannel()); + + bool found = false; + for (int i=0; i<_links.count(); i++) { + if (_links[i].data() == link) { + _links.removeAt(i); + found = true; + break; + } + } + Q_UNUSED(found); + Q_ASSERT(found); _linkListMutex.unlock(); // Emit removal of link emit linkDeleted(link); - - Q_ASSERT(link->_ownedByLinkManager); - link->_deletedByLinkManager = true; // Signal that this is a valid delete - delete link; } /** @@ -249,29 +247,13 @@ void LinkManager::deleteLink(LinkInterface* link) */ const QList LinkManager::getLinks() { - _linkListMutex.lock(); - QList ret(_links); - _linkListMutex.unlock(); - return ret; -} - -const QList LinkManager::getSerialLinks() -{ - _linkListMutex.lock(); - QList s; - - foreach (LinkInterface* link, _links) - { - Q_ASSERT(link); - - SerialLink* serialLink = qobject_cast(link); - - if (serialLink) - s.append(serialLink); + QList list; + + foreach (SharedLinkInterface sharedLink, _links) { + list << sharedLink.data(); } - _linkListMutex.unlock(); - - return s; + + return list; } /// @brief If all new connections should be suspended a message is displayed to the user and true @@ -296,10 +278,8 @@ void LinkManager::setConnectionsSuspended(QString reason) void LinkManager::_shutdown(void) { - QList links = _links; - foreach(LinkInterface* link, links) { - disconnectLink(link); - deleteLink(link); + while (_links.count() != 0) { + disconnectLink(_links[0].data()); } } @@ -349,19 +329,22 @@ void LinkManager::saveLinkConfigurationList() { QSettings settings; settings.remove(LinkConfiguration::settingsRoot()); - QString root(LinkConfiguration::settingsRoot()); - settings.setValue(root + "/count", _linkConfigurations.count()); int index = 0; foreach (LinkConfiguration* pLink, _linkConfigurations) { Q_ASSERT(pLink != NULL); - root = LinkConfiguration::settingsRoot(); - root += QString("/Link%1").arg(index++); - settings.setValue(root + "/name", pLink->name()); - settings.setValue(root + "/type", pLink->type()); - settings.setValue(root + "/preferred", pLink->isPreferred()); - // Have the instance save its own values - pLink->saveSettings(settings, root); + if(!pLink->isDynamic()) + { + QString root = LinkConfiguration::settingsRoot(); + root += QString("/Link%1").arg(index++); + settings.setValue(root + "/name", pLink->name()); + settings.setValue(root + "/type", pLink->type()); + settings.setValue(root + "/preferred", pLink->isPreferred()); + // Have the instance save its own values + pLink->saveSettings(settings, root); + } } + QString root(LinkConfiguration::settingsRoot()); + settings.setValue(root + "/count", index); emit linkConfigurationChanged(); } @@ -399,7 +382,7 @@ void LinkManager::loadLinkConfigurationList() pLink = (LinkConfiguration*)new TCPConfiguration(name); pLink->setPreferred(preferred); break; -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG case LinkConfiguration::TypeMock: pLink = (LinkConfiguration*)new MockConfiguration(name); pLink->setPreferred(false); @@ -426,6 +409,15 @@ void LinkManager::loadLinkConfigurationList() } emit linkConfigurationChanged(); } + + // Debug buids always add MockLink automatically +#ifdef QT_DEBUG + MockConfiguration* pMock = new MockConfiguration("Mock Link"); + pMock->setDynamic(true); + addLinkConfiguration(pMock); + emit linkConfigurationChanged(); +#endif + // Enable automatic PX4 hunting _configurationsLoaded = true; } @@ -451,6 +443,7 @@ void LinkManager::_updateConfigurationList(void) return; } bool saveList = false; + QStringList currentPorts; QList portList = QSerialPortInfo::availablePorts(); // Iterate Comm Ports foreach (QSerialPortInfo portInfo, portList) { @@ -463,9 +456,11 @@ void LinkManager::_updateConfigurationList(void) qDebug() << "serialNumber: " << portInfo.serialNumber(); qDebug() << "vendorIdentifier: " << portInfo.vendorIdentifier(); #endif + // Save port name + currentPorts << portInfo.systemLocation(); // Is this a PX4? if (portInfo.vendorIdentifier() == 9900) { - SerialConfiguration* pSerial = _findSerialConfiguration(portInfo.portName()); + SerialConfiguration* pSerial = _findSerialConfiguration(portInfo.systemLocation()); if (pSerial) { //-- If this port is configured make sure it has the preferred flag set if(!pSerial->isPreferred()) { @@ -475,17 +470,92 @@ void LinkManager::_updateConfigurationList(void) } else { // Lets create a new Serial configuration automatically pSerial = new SerialConfiguration(QString("Pixhawk on %1").arg(portInfo.portName().trimmed())); + pSerial->setDynamic(true); pSerial->setPreferred(true); pSerial->setBaud(115200); - pSerial->setPortName(portInfo.portName()); + pSerial->setPortName(portInfo.systemLocation()); + addLinkConfiguration(pSerial); + saveList = true; + } + } + // Is this an FTDI Chip? It could be a 3DR Modem + if (portInfo.vendorIdentifier() == 1027) { + SerialConfiguration* pSerial = _findSerialConfiguration(portInfo.systemLocation()); + if (pSerial) { + //-- If this port is configured make sure it has the preferred flag set, unless someone else already has it set. + if(!pSerial->isPreferred() && !saveList) { + pSerial->setPreferred(true); + saveList = true; + } + } else { + // Lets create a new Serial configuration automatically (an assumption at best) + pSerial = new SerialConfiguration(QString("3DR Radio on %1").arg(portInfo.portName().trimmed())); + pSerial->setDynamic(true); + pSerial->setPreferred(true); + pSerial->setBaud(57600); + pSerial->setPortName(portInfo.systemLocation()); addLinkConfiguration(pSerial); saveList = true; } } } + // Now we go through the current configuration list and make sure any dynamic config has gone away + QList _confToDelete; + foreach (LinkConfiguration* pLink, _linkConfigurations) { + Q_ASSERT(pLink != NULL); + // We only care about dynamic links + if(pLink->isDynamic()) { + if(pLink->type() == LinkConfiguration::TypeSerial) { + SerialConfiguration* pSerial = dynamic_cast(pLink); + if(!currentPorts.contains(pSerial->portName())) { + _confToDelete.append(pSerial); + } + } + } + } + // Now remove all links that are gone + foreach (LinkConfiguration* pDelete, _confToDelete) { + removeLinkConfiguration(pDelete); + saveList = true; + } // Save configuration list, which will also trigger a signal for the UI if(saveList) { saveLinkConfigurationList(); } } +bool LinkManager::containsLink(LinkInterface* link) +{ + bool found = false; + foreach (SharedLinkInterface sharedLink, _links) { + if (sharedLink.data() == link) { + found = true; + break; + } + } + return found; +} + +bool LinkManager::anyConnectedLinks(void) +{ + bool found = false; + foreach (SharedLinkInterface sharedLink, _links) { + if (sharedLink.data()->isConnected()) { + found = true; + break; + } + } + return found; +} + +SharedLinkInterface& LinkManager::sharedPointerForLink(LinkInterface* link) +{ + for (int i=0; i<_links.count(); i++) { + if (_links[i].data() == link) { + return _links[i]; + } + } + // This should never happen + Q_ASSERT(false); + return _nullSharedLink; +} diff --git a/src/comm/LinkManager.h b/src/comm/LinkManager.h index 1553f07a6bef5c3e1e6376c3cdfd463310d89516..4cbab25798f3473cd620e1ce65bd0f166ff0870e 100644 --- a/src/comm/LinkManager.h +++ b/src/comm/LinkManager.h @@ -39,7 +39,7 @@ This file is part of the PIXHAWK project #include "UDPLink.h" #include "TCPLink.h" -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG #include "MockLink.h" #endif @@ -103,21 +103,18 @@ public: /// Sets the flag to allow new connections to be made void setConnectionsAllowed(void) { _connectionsSuspended = false; } - /// Creates (and adds) a link based on the given configuration instance. LinkManager takes ownership of this object. To delete - /// it, call LinkManager::deleteLink. - LinkInterface* createLink(LinkConfiguration* config); + /// Creates, connects (and adds) a link based on the given configuration instance. + LinkInterface* createConnectedLink(LinkConfiguration* config); - /// Creates (and adds) a link based on the given configuration name. LinkManager takes ownership of this object. To delete - /// it, call LinkManager::deleteLink. - LinkInterface* createLink(const QString& name); + /// Creates, connects (and adds) a link based on the given configuration name. + LinkInterface* createConnectedLink(const QString& name); - /// Adds the link to the LinkManager. LinkManager takes ownership of this object. To delete - /// it, call LinkManager::deleteLink. - void addLink(LinkInterface* link); - - /// Deletes the specified link. Will disconnect if connected. - // TODO Will also crash if called. MAVLink protocol is not handling the disconnect properly. - void deleteLink(LinkInterface* link); + /// Returns true if the link manager is holding this link + bool containsLink(LinkInterface* link); + + /// Returns the QSharedPointer for this link. You must use SharedLinkInterface if you are going to + /// keep references to a link in a thread other than the main ui thread. + SharedLinkInterface& sharedPointerForLink(LinkInterface* link); /// Re-connects all existing links bool connectAll(); @@ -130,6 +127,14 @@ public: /// Disconnect the specified link bool disconnectLink(LinkInterface* link); + + /// Returns true if there are any connected links + bool anyConnectedLinks(void); + + // The following APIs are public but should not be called in normal use. The are mainly exposed + // here for unit test code. + void _deleteLink(LinkInterface* link); + void _addLink(LinkInterface* link); signals: void newLink(LinkInterface* link); @@ -141,13 +146,12 @@ signals: private slots: void _linkConnected(void); void _linkDisconnected(void); - void _delayedDeleteLink(); private: /// All access to LinkManager is through LinkManager::instance LinkManager(QObject* parent = NULL); ~LinkManager(); - + virtual void _shutdown(void); bool _connectionsSuspendedMsg(void); @@ -155,7 +159,12 @@ private: SerialConfiguration* _findSerialConfiguration(const QString& portName); QList _linkConfigurations; ///< List of configured links - QList _links; ///< List of available links + + /// List of available links kept as QSharedPointers. We use QSharedPointer since + /// there are other objects that maintain copies of these links in other threads. + /// The reference counting allows for orderly deletion. + QList _links; + QMutex _linkListMutex; ///< Mutex for thread safe access to _links list bool _configUpdateSuspended; ///< true: stop updating configuration list @@ -163,6 +172,10 @@ private: bool _connectionsSuspended; ///< true: all new connections should not be allowed QString _connectionsSuspendedReason; ///< User visible reason for suspension QTimer _portListTimer; + + uint32_t _mavlinkChannelsUsedBitMask; + + SharedLinkInterface _nullSharedLink; }; #endif diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc index 5922b558560f1ecdfa6bca388cdd56ff8eb33eee..c4af745c401d88910c2021c66a716d43091bdd07 100644 --- a/src/comm/MAVLinkProtocol.cc +++ b/src/comm/MAVLinkProtocol.cc @@ -29,10 +29,11 @@ #include "QGCMAVLinkUASFactory.h" #include "QGC.h" #include "QGCApplication.h" +#include "QGCLoggingCategory.h" Q_DECLARE_METATYPE(mavlink_message_t) IMPLEMENT_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol) -Q_LOGGING_CATEGORY(MAVLinkProtocolLog, "MAVLinkProtocolLog") +QGC_LOGGING_CATEGORY(MAVLinkProtocolLog, "MAVLinkProtocolLog") const char* MAVLinkProtocol::_tempLogFileTemplate = "FlightDataXXXXXX"; ///< Template for temporary log file const char* MAVLinkProtocol::_logFileExtension = "mavlink"; ///< Extension for log files @@ -144,12 +145,12 @@ void MAVLinkProtocol::storeSettings() void MAVLinkProtocol::resetMetadataForLink(const LinkInterface *link) { - int linkId = link->getId(); - totalReceiveCounter[linkId] = 0; - totalLossCounter[linkId] = 0; - totalErrorCounter[linkId] = 0; - currReceiveCounter[linkId] = 0; - currLossCounter[linkId] = 0; + int channel = link->getMavlinkChannel(); + totalReceiveCounter[channel] = 0; + totalLossCounter[channel] = 0; + totalErrorCounter[channel] = 0; + currReceiveCounter[channel] = 0; + currLossCounter[channel] = 0; } void MAVLinkProtocol::linkConnected(void) @@ -174,8 +175,12 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected) Q_ASSERT(link); if (connected) { - Q_ASSERT(!_connectedLinks.contains(link)); - _connectedLinks.append(link); + foreach (SharedLinkInterface sharedLink, _connectedLinks) { + Q_ASSERT(sharedLink.data() != link); + } + + // Use the same shared pointer as LinkManager + _connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link)); if (_connectedLinks.count() == 1) { // This is the first link, we need to start logging @@ -191,8 +196,16 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected) link->writeBytes(cmd, strlen(cmd)); link->writeBytes(init, 4); } else { - Q_ASSERT(_connectedLinks.contains(link)); - _connectedLinks.removeOne(link); + bool found = false; + for (int i=0; i<_connectedLinks.count(); i++) { + if (_connectedLinks[i].data() == link) { + found = true; + _connectedLinks.removeAt(i); + break; + } + } + Q_UNUSED(found); + Q_ASSERT(found); if (_connectedLinks.count() == 0) { // Last link is gone, close out logging @@ -210,12 +223,18 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected) **/ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) { + // Since receiveBytes signals cross threads we can end up with signals in the queue + // that come through after the link is disconnected. For these we just drop the data + // since the link is closed. + if (!LinkManager::instance()->containsLink(link)) { + return; + } + // receiveMutex.lock(); mavlink_message_t message; mavlink_status_t status; - // Cache the link ID for common use. - int linkId = link->getId(); + int mavlinkChannel = link->getMavlinkChannel(); static int mavlink09Count = 0; static int nonmavlinkCount = 0; @@ -224,9 +243,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) static bool checkedUserNonMavlink = false; static bool warnedUserNonMavlink = false; - // FIXME: Add check for if link->getId() >= MAVLINK_COMM_NUM_BUFFERS for (int position = 0; position < b.size(); position++) { - unsigned int decodeState = mavlink_parse_char(linkId, (uint8_t)(b[position]), &message, &status); + unsigned int decodeState = mavlink_parse_char(mavlinkChannel, (uint8_t)(b[position]), &message, &status); if ((uint8_t)b[position] == 0x55) mavlink09Count++; if ((mavlink09Count > 100) && !decodedFirstPacket && !warnedUser) @@ -368,8 +386,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) } // Increase receive counter - totalReceiveCounter[linkId]++; - currReceiveCounter[linkId]++; + totalReceiveCounter[mavlinkChannel]++; + currReceiveCounter[mavlinkChannel]++; // Determine what the next expected sequence number is, accounting for // never having seen a message for this system/component pair. @@ -390,22 +408,22 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) } // And log how many were lost for all time and just this timestep - totalLossCounter[linkId] += lostMessages; - currLossCounter[linkId] += lostMessages; + totalLossCounter[mavlinkChannel] += lostMessages; + currLossCounter[mavlinkChannel] += lostMessages; } // And update the last sequence number for this system/component pair lastIndex[message.sysid][message.compid] = expectedSeq; // Update on every 32th packet - if ((totalReceiveCounter[linkId] & 0x1F) == 0) + if ((totalReceiveCounter[mavlinkChannel] & 0x1F) == 0) { // Calculate new loss ratio // Receive loss - float receiveLoss = (double)currLossCounter[linkId]/(double)(currReceiveCounter[linkId]+currLossCounter[linkId]); + float receiveLoss = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]); receiveLoss *= 100.0f; - currLossCounter[linkId] = 0; - currReceiveCounter[linkId] = 0; + currLossCounter[mavlinkChannel] = 0; + currReceiveCounter[mavlinkChannel] = 0; emit receiveLossChanged(message.sysid, receiveLoss); } @@ -484,7 +502,7 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message static uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; // Rewriting header to ensure correct link ID is set static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS; - if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]); + mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]); // Write message into buffer, prepending start sign int len = mavlink_msg_to_send_buffer(buffer, &message); // If link is connected @@ -507,7 +525,7 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message static uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; // Rewriting header to ensure correct link ID is set static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS; - if (link->getId() != 0) mavlink_finalize_message_chan(&message, systemid, componentid, link->getId(), message.len, messageKeys[message.msgid]); + mavlink_finalize_message_chan(&message, systemid, componentid, link->getMavlinkChannel(), message.len, messageKeys[message.msgid]); // Write message into buffer, prepending start sign int len = mavlink_msg_to_send_buffer(buffer, &message); // If link is connected diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h index efdd4e4a553905dc6f6b04c62445c29881aaf14f..b190008f6351bad9f71b6c46c3ba854d6972d0f0 100644 --- a/src/comm/MAVLinkProtocol.h +++ b/src/comm/MAVLinkProtocol.h @@ -121,21 +121,21 @@ public: * @returns -1 if this is not available for this protocol, # of packets otherwise. */ qint32 getReceivedPacketCount(const LinkInterface *link) const { - return totalReceiveCounter[link->getId()]; + return totalReceiveCounter[link->getMavlinkChannel()]; } /** * Retrieve a total of all parsing errors for the specified link. * @returns -1 if this is not available for this protocol, # of errors otherwise. */ qint32 getParsingErrorCount(const LinkInterface *link) const { - return totalErrorCounter[link->getId()]; + return totalErrorCounter[link->getMavlinkChannel()]; } /** * Retrieve a total of all dropped packets for the specified link. * @returns -1 if this is not available for this protocol, # of packets otherwise. */ qint32 getDroppedPacketCount(const LinkInterface *link) const { - return totalLossCounter[link->getId()]; + return totalLossCounter[link->getMavlinkChannel()]; } /** * Reset the counters for all metadata for this link. @@ -254,7 +254,7 @@ signals: void paramRewriteTimeoutChanged(int ms); /** @brief Emitted if action guard status changed */ void actionGuardChanged(bool enabled); - /** @brief Emitted if actiion request timeout changed */ + /** @brief Emitted if action request timeout changed */ void actionRetransmissionTimeoutChanged(int ms); /** @brief Update the packet loss from one system */ void receiveLossChanged(int uasId, float loss); @@ -285,7 +285,10 @@ private: void _startLogging(void); void _stopLogging(void); - QList _connectedLinks; ///< List of all links connected to protocol + /// List of all links connected to protocol. We keep SharedLinkInterface objects + /// which are QSharedPointer's in order to maintain reference counts across threads. + /// This way Link deletion works correctly. + QList _connectedLinks; bool _logSuspendError; ///< true: Logging suspended due to error bool _logSuspendReplay; ///< true: Logging suspended due to replay diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc deleted file mode 100644 index 0403823767f4cfbc1ca35f8d94d9e44757381ddd..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSimulationLink.cc +++ /dev/null @@ -1,866 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Implementation of simulated system link - * - * @author Lorenz Meier - * - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include "LinkManager.h" -#include "MAVLinkProtocol.h" -#include "MAVLinkSimulationLink.h" -#include "QGCMAVLink.h" -#include "QGC.h" -#include "MAVLinkSimulationMAV.h" - -/** - * Create a simulated link. This link is connected to an input and output file. - * The link sends one line at a time at the specified sendrate. The timing of - * the sendrate is free of drift, which means it is stable on the long run. - * However, small deviations are mixed in to vary the sendrate slightly - * in order to simulate disturbances on a real communication link. - * - * @param readFile The file with the messages to read (must be in ASCII format, line breaks can be Unix or Windows style) - * @param writeFile The received messages are written to that file - * @param rate The rate at which the messages are sent (in intervals of milliseconds) - **/ -MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate) : - readyBytes(0), - timeOffset(0) -{ - this->rate = rate; - _isConnected = false; - - onboardParams = QMap(); - onboardParams.insert("PID_ROLL_K_P", 0.5f); - onboardParams.insert("PID_PITCH_K_P", 0.5f); - onboardParams.insert("PID_YAW_K_P", 0.5f); - onboardParams.insert("PID_XY_K_P", 100.0f); - onboardParams.insert("PID_ALT_K_P", 0.5f); - onboardParams.insert("SYS_TYPE", 1); - onboardParams.insert("SYS_ID", systemId); - onboardParams.insert("RC4_REV", 0); - onboardParams.insert("RC5_REV", 1); - onboardParams.insert("HDNG2RLL_P", 0.7f); - onboardParams.insert("HDNG2RLL_I", 0.01f); - onboardParams.insert("HDNG2RLL_D", 0.02f); - onboardParams.insert("HDNG2RLL_IMAX", 500.0f); - onboardParams.insert("RLL2SRV_P", 0.4f); - onboardParams.insert("RLL2SRV_I", 0.0f); - onboardParams.insert("RLL2SRV_D", 0.0f); - onboardParams.insert("RLL2SRV_IMAX", 500.0f); - - // Comments on the variables can be found in the header file - - simulationFile = new QFile(readFile, this); - if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text)) - { - simulationHeader = simulationFile->readLine(); - } - receiveFile = new QFile(writeFile, this); - lastSent = QGC::groundTimeMilliseconds(); - - if (simulationFile->exists()) - { - this->name = "Simulation: " + QFileInfo(simulationFile->fileName()).fileName(); - } - else - { - this->name = "MAVLink simulation link"; - } - - - - // Initialize the pseudo-random number generator - srand(QTime::currentTime().msec()); - maxTimeNoise = 0; - this->id = getNextLinkId(); - LinkManager::instance()->addLink(this); -} - -MAVLinkSimulationLink::~MAVLinkSimulationLink() -{ - //TODO Check destructor - // fileStream->flush(); - // outStream->flush(); - // Force termination, there is no - // need for cleanup since - // this thread is not manipulating - // any relevant data - terminate(); - delete simulationFile; -} - -void MAVLinkSimulationLink::run() -{ - - status.voltage_battery = 0; - status.errors_comm = 0; - - system.base_mode = MAV_MODE_PREFLIGHT; - system.custom_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_SAFETY_ARMED; - system.system_status = MAV_STATE_UNINIT; - - forever - { - static quint64 last = 0; - - if (QGC::groundTimeMilliseconds() - last >= rate) - { - if (_isConnected) - { - mainloop(); - readBytes(); - } - else - { - // Sleep for substantially longer - // if not connected - QGC::SLEEP::msleep(500); - } - last = QGC::groundTimeMilliseconds(); - } - QGC::SLEEP::msleep(3); - } -} - -void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg) -{ - // Allocate buffer with packet data - uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - unsigned int bufferlength = mavlink_msg_to_send_buffer(buf, msg); - - // Pack to link buffer - readyBufferMutex.lock(); - for (unsigned int i = 0; i < bufferlength; i++) - { - readyBuffer.enqueue(*(buf + i)); - } - readyBufferMutex.unlock(); -} - -void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg) -{ - // Allocate buffer with packet data - uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - unsigned int bufferlength = mavlink_msg_to_send_buffer(buf, msg); - //add data into datastream - memcpy(stream+(*index),buf, bufferlength); - (*index) += bufferlength; -} - -void MAVLinkSimulationLink::mainloop() -{ - - // Test for encoding / decoding packets - - // Test data stream - streampointer = 0; - - // Fake system values - - static float fullVoltage = 4.2f * 3.0f; - static float emptyVoltage = 3.35f * 3.0f; - static float voltage = fullVoltage; - static float drainRate = 0.025f; // x.xx% of the capacity is linearly drained per second - - mavlink_attitude_t attitude; - memset(&attitude, 0, sizeof(mavlink_attitude_t)); - mavlink_raw_imu_t rawImuValues; - memset(&rawImuValues, 0, sizeof(mavlink_raw_imu_t)); - - uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; - int bufferlength; - mavlink_message_t msg; - - // Timers - static unsigned int rate1hzCounter = 1; - static unsigned int rate10hzCounter = 1; - static unsigned int rate50hzCounter = 1; - static unsigned int circleCounter = 0; - - // Vary values - - // VOLTAGE - // The battery is drained constantly - voltage = voltage - ((fullVoltage - emptyVoltage) * drainRate / rate); - if (voltage < 3.550f * 3.0f) voltage = 3.550f * 3.0f; - - static int state = 0; - - if (state == 0) - { - state++; - } - - - // 50 HZ TASKS - if (rate50hzCounter == 1000 / rate / 40) - { - if (simulationFile->isOpen()) - { - if (simulationFile->atEnd()) { - // We reached the end of the file, start from scratch - simulationFile->reset(); - simulationHeader = simulationFile->readLine(); - } - - // Data was made available, read one line - // first entry is the timestamp - QString values = QString(simulationFile->readLine()); - QStringList parts = values.split("\t"); - QStringList keys = simulationHeader.split("\t"); - //qDebug() << simulationHeader; - //qDebug() << values; - bool ok; - static quint64 lastTime = 0; - static quint64 baseTime = 0; - quint64 time = QString(parts.first()).toLongLong(&ok, 10); - // FIXME Remove multiplicaton by 1000 - time *= 1000; - - if (ok) { - if (timeOffset == 0) { - timeOffset = time; - baseTime = time; - } - - if (lastTime > time) { - // We have wrapped around in the logfile - // Add the measurement time interval to the base time - baseTime += lastTime - timeOffset; - } - lastTime = time; - - time = time - timeOffset + baseTime; - - // Gather individual measurement values - for (int i = 1; i < (parts.size() - 1); ++i) { - // Get one data field - bool res; - double d = QString(parts.at(i)).toDouble(&res); - if (!res) d = 0; - - if (keys.value(i, "") == "Accel._X") { - rawImuValues.xacc = d; - } - - if (keys.value(i, "") == "Accel._Y") { - rawImuValues.yacc = d; - } - - if (keys.value(i, "") == "Accel._Z") { - rawImuValues.zacc = d; - } - if (keys.value(i, "") == "Gyro_Phi") { - rawImuValues.xgyro = d; - attitude.rollspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65; - } - - if (keys.value(i, "") == "Gyro_Theta") { - rawImuValues.ygyro = d; - attitude.pitchspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65; - } - - if (keys.value(i, "") == "Gyro_Psi") { - rawImuValues.zgyro = d; - attitude.yawspeed = ((d-29.000)/3000.0)*2.7-2.7-2.65; - } - if (keys.value(i, "") == "roll_IMU") { - attitude.roll = d; - } - - if (keys.value(i, "") == "pitch_IMU") { - attitude.pitch = d; - } - - if (keys.value(i, "") == "yaw_IMU") { - attitude.yaw = d; - } - - //Accel._X Accel._Y Accel._Z Battery Bottom_Rotor CPU_Load Ground_Dist. Gyro_Phi Gyro_Psi Gyro_Theta Left_Servo Mag._X Mag._Y Mag._Z Pressure Right_Servo Temperature Top_Rotor pitch_IMU roll_IMU yaw_IMU - - } - // Send out packets - - - // ATTITUDE - attitude.time_boot_ms = time/1000; - // Pack message and get size of encoded byte string - mavlink_msg_attitude_encode(systemId, componentId, &msg, &attitude); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - // IMU - rawImuValues.time_usec = time; - rawImuValues.xmag = 0; - rawImuValues.ymag = 0; - rawImuValues.zmag = 0; - // Pack message and get size of encoded byte string - mavlink_msg_raw_imu_encode(systemId, componentId, &msg, &rawImuValues); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - //qDebug() << "ATTITUDE" << "BUF LEN" << bufferlength << "POINTER" << streampointer; - - //qDebug() << "REALTIME" << QGC::groundTimeMilliseconds() << "ONBOARDTIME" << attitude.msec << "ROLL" << attitude.roll; - - } - - } - - rate50hzCounter = 1; - } - - - // 10 HZ TASKS - if (rate10hzCounter == 1000 / rate / 9) { - rate10hzCounter = 1; - - double lastX = x; - double lastY = y; - double lastZ = z; - double hackDt = 0.1f; // 100 ms - - // Move X Position - x = 12.0*sin(((double)circleCounter)/200.0); - y = 5.0*cos(((double)circleCounter)/200.0); - z = 1.8 + 1.2*sin(((double)circleCounter)/200.0); - - double xSpeed = (x - lastX)/hackDt; - double ySpeed = (y - lastY)/hackDt; - double zSpeed = (z - lastZ)/hackDt; - - - - circleCounter++; - - -// x = (x > 5.0f) ? 5.0f : x; -// y = (y > 5.0f) ? 5.0f : y; -// z = (z > 3.0f) ? 3.0f : z; - -// x = (x < -5.0f) ? -5.0f : x; -// y = (y < -5.0f) ? -5.0f : y; -// z = (z < -3.0f) ? -3.0f : z; - - mavlink_message_t ret; - - // Send back new position - mavlink_msg_local_position_ned_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), xSpeed, ySpeed, zSpeed); - bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - -// // GPS RAW -// mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.00001), 8.548103+(y*0.00001), z, 0, 0, 2.5f, 0.1f); -// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); -// //add data into datastream -// memcpy(stream+streampointer,buffer, bufferlength); -// streampointer += bufferlength; - - // GLOBAL POSITION - mavlink_msg_global_position_int_pack(systemId, componentId, &ret, 0, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, (z+550.0)*1000.0-1, xSpeed, ySpeed, zSpeed, yaw); - bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - // GLOBAL POSITION VEHICLE 2 - mavlink_msg_global_position_int_pack(systemId+1, componentId+1, &ret, 0, (473780.28137103+(x+0.00001))*1E3, (85489.9892510421+((y/2)+0.00001))*1E3, (z+550.0)*1000.0, (z+550.0)*1000.0-1, xSpeed, ySpeed, zSpeed, yaw); - bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - -// // ATTITUDE VEHICLE 2 -// mavlink_msg_attitude_pack(54, MAV_COMP_ID_IMU, &ret, 0, 0, 0, atan2((y/2)+0.3, (x+0.002)), 0, 0, 0); -// sendMAVLinkMessage(&ret); - - -// // GLOBAL POSITION VEHICLE 3 -// mavlink_msg_global_position_int_pack(60, componentId, &ret, 0, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0); -// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret); -// //add data into datastream -// memcpy(stream+streampointer,buffer, bufferlength); -// streampointer += bufferlength; - - static int rcCounter = 0; - if (rcCounter == 2) { - mavlink_rc_channels_t chan; - chan.time_boot_ms = 0; - chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000); - chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000); - chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000); - chan.chan4_raw = (chan.chan1_raw + chan.chan2_raw) / 2.0f; - chan.chan5_raw = (chan.chan3_raw + chan.chan4_raw) / 2.0f; - chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f; - chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f; - chan.chan8_raw = 0; - chan.rssi = 100; - mavlink_msg_rc_channels_encode(systemId, componentId, &msg, &chan); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - rcCounter = 0; - } - rcCounter++; - - } - - // 1 HZ TASKS - if (rate1hzCounter == 1000 / rate / 1) { - // STATE - static int statusCounter = 0; - if (statusCounter == 100) { - system.base_mode = (system.base_mode + 1) % MAV_MODE_ENUM_END; - statusCounter = 0; - } - statusCounter++; - - static int detectionCounter = 6; - if (detectionCounter % 10 == 0) { - } - detectionCounter++; - - status.voltage_battery = voltage * 1000; // millivolts - status.load = 33 * detectionCounter % 1000; - - // Pack message and get size of encoded byte string - mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - // Pack debug text message - mavlink_statustext_t text; - text.severity = 0; - strcpy((char*)(text.text), "Text message from system 32"); - mavlink_msg_statustext_encode(systemId, componentId, &msg, &text); - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - memcpy(stream+streampointer, buffer, bufferlength); - streampointer += bufferlength; - - /* - // Pack message and get size of encoded byte string - mavlink_msg_boot_pack(systemId, componentId, &msg, version); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength;*/ - - // HEARTBEAT - - static int typeCounter = 0; - uint8_t mavType; - if (typeCounter < 10) - { - mavType = MAV_TYPE_QUADROTOR; - } - else - { - mavType = typeCounter % (MAV_TYPE_GCS); - } - typeCounter++; - - // Pack message and get size of encoded byte string - mavlink_msg_heartbeat_pack(systemId, componentId, &msg, mavType, MAV_AUTOPILOT_PIXHAWK, system.base_mode, system.custom_mode, system.system_status); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //qDebug() << "CRC:" << msg.ck_a << msg.ck_b; - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - // Pack message and get size of encoded byte string - mavlink_msg_heartbeat_pack(systemId+1, componentId+1, &msg, mavType, MAV_AUTOPILOT_GENERIC, system.base_mode, system.custom_mode, system.system_status); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //qDebug() << "CRC:" << msg.ck_a << msg.ck_b; - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - - // Send controller states - - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - memcpy(stream+streampointer, buffer, bufferlength); - streampointer += bufferlength; - - // Pack message and get size of encoded byte string - mavlink_msg_sys_status_encode(54, componentId, &msg, &status); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - rate1hzCounter = 1; - } - - // FULL RATE TASKS - // Default is 50 Hz - - /* - // 50 HZ TASKS - if (rate50hzCounter == 1000 / rate / 50) - { - - //streampointer = 0; - - // Attitude - - // Pack message and get size of encoded byte string - mavlink_msg_attitude_pack(systemId, componentId, &msg, usec, roll, pitch, yaw, 0, 0, 0); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer += bufferlength; - - rate50hzCounter = 1; - }*/ - - readyBufferMutex.lock(); - for (unsigned int i = 0; i < streampointer; i++) { - readyBuffer.enqueue(*(stream + i)); - } - readyBufferMutex.unlock(); - - // Increment counters after full main loop - rate1hzCounter++; - rate10hzCounter++; - rate50hzCounter++; -} - - -void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) -{ - // Parse bytes - mavlink_message_t msg; - mavlink_status_t comm; - - uint8_t stream[2048]; - int streampointer = 0; - uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; - int bufferlength = 0; - - // Initialize drop count to 0 so it isn't referenced uninitialized when returned at the bottom of this function - comm.packet_rx_drop_count = 0; - - // Output all bytes as hex digits - for (int i=0; iid, data[i], &msg, &comm)) - { - // MESSAGE RECEIVED! -// qDebug() << "SIMULATION LINK RECEIVED MESSAGE!"; - emit messageReceived(msg); - - switch (msg.msgid) - { - // SET THE SYSTEM MODE - case MAVLINK_MSG_ID_SET_MODE: - { - mavlink_set_mode_t mode; - mavlink_msg_set_mode_decode(&msg, &mode); - // Set mode indepent of mode.target - system.base_mode = mode.base_mode; - } - break; - // EXECUTE OPERATOR ACTIONS - case MAVLINK_MSG_ID_COMMAND_LONG: - { - mavlink_command_long_t action; - mavlink_msg_command_long_decode(&msg, &action); - -// qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system; - - // FIXME MAVLINKV10PORTINGNEEDED -// switch (action.action) { -// case MAV_ACTION_LAUNCH: -// status.status = MAV_STATE_ACTIVE; -// status.mode = MAV_MODE_AUTO; -// break; -// case MAV_ACTION_RETURN: -// status.status = MAV_STATE_ACTIVE; -// break; -// case MAV_ACTION_MOTORS_START: -// status.status = MAV_STATE_ACTIVE; -// status.mode = MAV_MODE_LOCKED; -// break; -// case MAV_ACTION_MOTORS_STOP: -// status.status = MAV_STATE_STANDBY; -// status.mode = MAV_MODE_LOCKED; -// break; -// case MAV_ACTION_EMCY_KILL: -// status.status = MAV_STATE_EMERGENCY; -// status.mode = MAV_MODE_MANUAL; -// break; -// case MAV_ACTION_SHUTDOWN: -// status.status = MAV_STATE_POWEROFF; -// status.mode = MAV_MODE_LOCKED; -// break; -// } - } - break; - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: - { -// qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION"; - mavlink_param_request_list_t read; - mavlink_msg_param_request_list_decode(&msg, &read); - if (read.target_system == systemId) - { - // Output all params - // Iterate through all components, through all parameters and emit them - QMap::iterator i; - // Iterate through all components / subsystems - int j = 0; - for (i = onboardParams.begin(); i != onboardParams.end(); ++i) { - if (j != 5) { - // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), MAV_PARAM_TYPE_REAL32, onboardParams.size(), j); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer+=bufferlength; - } - j++; - } - -// qDebug() << "SIMULATION SENT PARAMETERS TO GCS"; - } - } - break; - case MAVLINK_MSG_ID_PARAM_SET: - { - // Drop on even milliseconds - if (QGC::groundTimeMilliseconds() % 2 == 0) - { -// qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER"; - mavlink_param_set_t set; - mavlink_msg_param_set_decode(&msg, &set); - // if (set.target_system == systemId) - // { - QString key = QString((char*)set.param_id); - if (onboardParams.contains(key)) - { - onboardParams.remove(key); - onboardParams.insert(key, set.param_value); - - // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(set.target_system, componentId, &msg, key.toStdString().c_str(), set.param_value, MAV_PARAM_TYPE_REAL32, onboardParams.size(), onboardParams.keys().indexOf(key)); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer+=bufferlength; - } - // } - } - } - break; - case MAVLINK_MSG_ID_PARAM_REQUEST_READ: - { -// qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER"; - mavlink_param_request_read_t read; - mavlink_msg_param_request_read_decode(&msg, &read); - QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN); - QString key = QString(bytes); - if (onboardParams.contains(key)) - { - float paramValue = onboardParams.value(key); - - // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, MAV_PARAM_TYPE_REAL32, onboardParams.size(), onboardParams.keys().indexOf(key)); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer+=bufferlength; - //qDebug() << "Sending PARAM" << key; - } - else if (read.param_index >= 0 && read.param_index < onboardParams.keys().size()) - { - key = onboardParams.keys().at(read.param_index); - float paramValue = onboardParams.value(key); - - // Pack message and get size of encoded byte string - mavlink_msg_param_value_pack(read.target_system, componentId, &msg, key.toStdString().c_str(), paramValue, MAV_PARAM_TYPE_REAL32, onboardParams.size(), onboardParams.keys().indexOf(key)); - // Allocate buffer with packet data - bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); - //add data into datastream - memcpy(stream+streampointer,buffer, bufferlength); - streampointer+=bufferlength; - //qDebug() << "Sending PARAM #ID" << (read.param_index) << "KEY:" << key; - } - } - break; - } - } - } - - // Log the amount and time written out for future data rate calculations. - // While this interface doesn't actually write any data to external systems, - // this data "transmit" here should still count towards the outgoing data rate. - QMutexLocker dataRateLocker(&dataRateMutex); - logDataRateToBuffer(outDataWriteAmounts, outDataWriteTimes, &outDataIndex, size, QDateTime::currentMSecsSinceEpoch()); - - readyBufferMutex.lock(); - for (int i = 0; i < streampointer; i++) - { - readyBuffer.enqueue(*(stream + i)); - } - readyBufferMutex.unlock(); - - // Update comm status - status.errors_comm = comm.packet_rx_drop_count; - -} - - -void MAVLinkSimulationLink::readBytes() -{ - // Lock concurrent resource readyBuffer - readyBufferMutex.lock(); - const qint64 maxLength = 2048; - char data[maxLength]; - qint64 len = qMin((qint64)readyBuffer.size(), maxLength); - - for (unsigned int i = 0; i < len; i++) { - *(data + i) = readyBuffer.takeFirst(); - } - - QByteArray b(data, len); - emit bytesReceived(this, b); - readyBufferMutex.unlock(); - - // Log the amount and time received for future data rate calculations. - QMutexLocker dataRateLocker(&dataRateMutex); - logDataRateToBuffer(inDataWriteAmounts, inDataWriteTimes, &inDataIndex, len, QDateTime::currentMSecsSinceEpoch()); - -} - -/** - * Disconnect the connection. - * - * @return True if connection has been disconnected, false if connection - * couldn't be disconnected. - **/ -bool MAVLinkSimulationLink::_disconnect(void) -{ - - if(isConnected()) - { - // timer->stop(); - - _isConnected = false; - - emit disconnected(); - - //exit(); - } - - return true; -} - -/** - * Connect the link. - * - * @return True if connection has been established, false if connection - * couldn't be established. - **/ -bool MAVLinkSimulationLink::_connect(void) -{ - _isConnected = true; - emit connected(); - - start(LowPriority); - MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 37.480391, -122.282883); - Q_UNUSED(mav1); -// MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2, 47.375, 8.548, 1); -// Q_UNUSED(mav2); - // timer->start(rate); - return true; -} - -/** - * Check if connection is active. - * - * @return True if link is connected, false otherwise. - **/ -bool MAVLinkSimulationLink::isConnected() const -{ - return _isConnected; -} - -int MAVLinkSimulationLink::getId() const -{ - return id; -} - -QString MAVLinkSimulationLink::getName() const -{ - return name; -} - -qint64 MAVLinkSimulationLink::getConnectionSpeed() const -{ - /* 100 Mbit is reasonable fast and sufficient for all embedded applications */ - return 100000000; -} - -qint64 MAVLinkSimulationLink::getCurrentInDataRate() const -{ - return 0; -} - -qint64 MAVLinkSimulationLink::getCurrentOutDataRate() const -{ - return 0; -} diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h deleted file mode 100644 index 1c35a69fc3aec2dd2adaeb835802b7e578eec4f3..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSimulationLink.h +++ /dev/null @@ -1,140 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of MAVLinkSimulationLink - * - * @author Lorenz Meier - * - */ - -#ifndef MAVLINKSIMULATIONLINK_H -#define MAVLINKSIMULATIONLINK_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include "QGCMAVLink.h" - -#include "LinkInterface.h" - -class MAVLinkSimulationLink : public LinkInterface -{ - Q_OBJECT -public: - MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5); - ~MAVLinkSimulationLink(); - bool isConnected() const; - - void run(); - void requestReset() { } - - // Extensive statistics for scientific purposes - qint64 getConnectionSpeed() const; - qint64 getCurrentInDataRate() const; - qint64 getCurrentOutDataRate() const; - - QString getName() const; - int getId() const; - int getBaudRate() const; - int getBaudRateType() const; - int getFlowType() const; - int getParityType() const; - int getDataBitsType() const; - int getStopBitsType() const; - - // These are left unimplemented in order to cause linker errors which indicate incorrect usage of - // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager. - bool connect(void); - bool disconnect(void); - -public slots: - void writeBytes(const char* data, qint64 size); - void readBytes(); - /** @brief Mainloop simulating the mainloop of the MAV */ - virtual void mainloop(); - void sendMAVLinkMessage(const mavlink_message_t* msg); - - -protected: - - // UAS properties - float roll, pitch, yaw; - double x, y, z; - double spX, spY, spZ, spYaw; - int battery; - - QTimer* timer; - /** File which contains the input data (simulated robot messages) **/ - QFile* simulationFile; - QFile* mavlinkLogFile; - QString simulationHeader; - /** File where the commands sent by the groundstation are stored **/ - QFile* receiveFile; - QTextStream textStream; - QTextStream* fileStream; - QTextStream* outStream; - /** Buffer which can be read from connected protocols through readBytes(). **/ - QMutex readyBufferMutex; - bool _isConnected; - quint64 rate; - int maxTimeNoise; - quint64 lastSent; - static const int streamlength = 4096; - unsigned int streampointer; - //const int testoffset = 0; - uint8_t stream[streamlength]; - - int readyBytes; - QQueue readyBuffer; - - int id; - QString name; - qint64 timeOffset; - mavlink_sys_status_t status; - mavlink_heartbeat_t system; - QMap onboardParams; - - void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg); - - static const uint8_t systemId = 220; - static const uint8_t componentId = 200; - static const uint16_t version = 1000; - -signals: - void valueChanged(int uasId, QString curve, double value, quint64 usec); - void messageReceived(const mavlink_message_t& message); - -private: - // From LinkInterface - virtual bool _connect(void); - virtual bool _disconnect(void); -}; - -#endif // MAVLINKSIMULATIONLINK_H diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc deleted file mode 100644 index af12867dd26344cabe9c49d8a5feb62fb068bc4b..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSimulationMAV.cc +++ /dev/null @@ -1,522 +0,0 @@ -#include -#include -#include -#include - -#include "MAVLinkSimulationMAV.h" - -MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat, double lon, int version) : - QObject(parent), - link(parent), - planner(parent, systemid), - systemid(systemid), - timer25Hz(0), - timer10Hz(0), - timer1Hz(0), - latitude(lat), - longitude(lon), - altitude(550.0), - x(lat), - y(lon), - z(altitude), - roll(0.0), - pitch(0.0), - yaw(0.0), - rollspeed(0.0), - pitchspeed(0.0), - yawspeed(0.0), - globalNavigation(true), - firstWP(false), - // previousSPX(8.548056), - // previousSPY(47.376389), - // previousSPZ(550), - // previousSPYaw(0.0), - // nextSPX(8.548056), - // nextSPY(47.376389), - // nextSPZ(550), - previousSPX(37.480391), - previousSPY(122.282883), - previousSPZ(550), - previousSPYaw(0.0), - nextSPX(37.480391), - nextSPY(122.282883), - nextSPZ(550), - nextSPYaw(0.0), - sys_mode(MAV_MODE_PREFLIGHT), - sys_state(MAV_STATE_STANDBY), - nav_mode(0), - flying(false), - mavlink_version(version) -{ - // Please note: The waypoint planner is running - connect(&mainloopTimer, SIGNAL(timeout()), this, SLOT(mainloop())); - connect(&planner, SIGNAL(messageSent(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t))); - connect(link, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t))); - mainloopTimer.start(20); - mainloop(); -} - -void MAVLinkSimulationMAV::mainloop() -{ - // Calculate new simulator values - // double maxSpeed = 0.0001; // rad/s in earth coordinate frame - - // double xNew = // (nextSPX - previousSPX) - - if (flying) { - sys_state = MAV_STATE_ACTIVE; - sys_mode = MAV_MODE_AUTO_ARMED; - nav_mode = 0; - } - - // 1 Hz execution - if (timer1Hz <= 0) { - mavlink_message_t msg; - mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); - link->sendMAVLinkMessage(&msg); - planner.handleMessage(msg); - - mavlink_servo_output_raw_t servos; - servos.time_usec = 0; - servos.servo1_raw = 1000; - servos.servo2_raw = 1250; - servos.servo3_raw = 1400; - servos.servo4_raw = 1500; - servos.servo5_raw = 1800; - servos.servo6_raw = 1500; - servos.servo7_raw = 1500; - servos.servo8_raw = 2000; - servos.port = 1; // set a fake port number - - mavlink_msg_servo_output_raw_encode(systemid, MAV_COMP_ID_IMU, &msg, &servos); - link->sendMAVLinkMessage(&msg); - timer1Hz = 50; - } - - // 10 Hz execution - if (timer10Hz <= 0) { - double radPer100ms = 0.00006; - double altPer100ms = 0.4; - double xm = (nextSPX - x); - double ym = (nextSPY - y); - double zm = (nextSPZ - z); - - float zsign = (zm < 0) ? -1.0f : 1.0f; - - if (!(sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL)) - { - if (!firstWP) { - //float trueyaw = atan2f(xm, ym); - - float newYaw = atan2f(ym, xm); - - if (fabs(yaw - newYaw) < 90) { - yaw = yaw*0.7 + 0.3*newYaw; - } else { - yaw = newYaw; - } - - //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw; - - //if (sqrt(xm*xm+ym*ym) > 0.0000001) - if (flying) { - x += cos(yaw)*radPer100ms; - y += sin(yaw)*radPer100ms; - z += altPer100ms*zsign; - } - - //if (xm < 0.001) xm - } else { - x = nextSPX; - y = nextSPY; - z = nextSPZ; - firstWP = false; -// qDebug() << "INIT STEP"; - } - } - else - { - // FIXME Implement heading and altitude controller - - } - - // GLOBAL POSITION - mavlink_message_t msg; - mavlink_global_position_int_t pos; - pos.alt = altitude*1000.0; - pos.lat = longitude*1E7; - pos.lon = longitude*1E7; - pos.vx = sin(yaw)*10.0f*100.0f; - pos.vy = 0; - pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f; - mavlink_msg_global_position_int_encode(systemid, MAV_COMP_ID_IMU, &msg, &pos); - link->sendMAVLinkMessage(&msg); - planner.handleMessage(msg); - - // ATTITUDE - mavlink_attitude_t attitude; - attitude.time_boot_ms = 0; - attitude.roll = roll; - attitude.pitch = pitch; - attitude.yaw = yaw; - attitude.rollspeed = rollspeed; - attitude.pitchspeed = pitchspeed; - attitude.yawspeed = yawspeed; - - mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude); - link->sendMAVLinkMessage(&msg); - - // SYSTEM STATUS - mavlink_sys_status_t status; - - // Since the simulation outputs global position, attitude and raw pressure we specify that the - // sensors that would be collecting this information are present, enabled and healthy. - - status.onboard_control_sensors_present = MAV_SYS_STATUS_SENSOR_3D_GYRO | - MAV_SYS_STATUS_SENSOR_3D_ACCEL | - MAV_SYS_STATUS_SENSOR_3D_MAG | - MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | - MAV_SYS_STATUS_SENSOR_GPS; - - status.onboard_control_sensors_enabled = status.onboard_control_sensors_present; - status.onboard_control_sensors_health = status.onboard_control_sensors_present; - status.load = 300; - status.voltage_battery = 10500; - status.current_battery = -1; // -1: autopilot does not measure the current - status.drop_rate_comm = 0; - status.errors_comm = 0; - status.errors_count1 = 0; - status.errors_count2 = 0; - status.errors_count3 = 0; - status.errors_count4 = 0; - status.battery_remaining = 90; - mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status); - link->sendMAVLinkMessage(&msg); - timer10Hz = 5; - - // VFR HUD - mavlink_vfr_hud_t hud; - hud.airspeed = pos.vx/100.0f; - hud.groundspeed = pos.vx/100.0f; - hud.alt = altitude; - hud.heading = static_cast((yaw/M_PI)*180.0f+180.0f) % 360; - hud.climb = pos.vz/100.0f; - hud.throttle = 90; - mavlink_msg_vfr_hud_encode(systemid, MAV_COMP_ID_IMU, &msg, &hud); - link->sendMAVLinkMessage(&msg); - - // NAV CONTROLLER - mavlink_nav_controller_output_t nav; - nav.nav_roll = roll; - nav.nav_pitch = pitch; - nav.nav_bearing = yaw; - nav.target_bearing = yaw; - nav.wp_dist = 2.0f; - nav.alt_error = 0.5f; - nav.xtrack_error = 0.2f; - nav.aspd_error = 0.0f; - mavlink_msg_nav_controller_output_encode(systemid, MAV_COMP_ID_IMU, &msg, &nav); - link->sendMAVLinkMessage(&msg); - - // RAW PRESSURE - mavlink_raw_pressure_t pressure; - pressure.press_abs = 1000; - pressure.press_diff1 = 2000; - pressure.press_diff2 = 5000; - pressure.temperature = 18150; // 18.15 deg Celsius - pressure.time_usec = 0; // Works also with zero timestamp - mavlink_msg_raw_pressure_encode(systemid, MAV_COMP_ID_IMU, &msg, &pressure); - link->sendMAVLinkMessage(&msg); - } - - // 25 Hz execution - if (timer25Hz <= 0) { - // The message container to be used for sending - mavlink_message_t ret; - - if (sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL) - { - mavlink_hil_controls_t hil; - hil.roll_ailerons = 0.0f; - hil.pitch_elevator = 0.05f; - hil.yaw_rudder = 0.05f; - hil.throttle = 0.6f; - hil.aux1 = 0.0f; - hil.aux2 = 0.0f; - hil.aux3 = 0.0f; - hil.aux4 = 0.0f; - hil.mode = MAV_MODE_FLAG_HIL_ENABLED; - hil.nav_mode = 0; // not currently used by any HIL consumers - - // Encode the data (adding header and checksums, etc.) - mavlink_msg_hil_controls_encode(systemid, MAV_COMP_ID_IMU, &ret, &hil); - // And send it - link->sendMAVLinkMessage(&ret); - } - - // Send actual controller outputs - // This message just shows the direction - // and magnitude of the control output - // mavlink_position_controller_output_t pos; - // pos.x = sin(yaw)*127.0f; - // pos.y = cos(yaw)*127.0f; - // pos.z = 0; - // mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos); - // link->sendMAVLinkMessage(&ret); - - // Send a named value with name "FLOAT" and 0.5f as value - - // The message container to be used for sending - //mavlink_message_t ret; - // The C-struct holding the data to be sent - mavlink_named_value_float_t val; - - // Fill in the data - // Name of the value, maximum 10 characters - // see full message specs at: - // http://pixhawk.ethz.ch/wiki/mavlink/ - strcpy((char *)val.name, "FLOAT"); - // Value, in this case 0.5 - val.value = 0.5f; - - // Encode the data (adding header and checksums, etc.) - mavlink_msg_named_value_float_encode(systemid, MAV_COMP_ID_IMU, &ret, &val); - // And send it - link->sendMAVLinkMessage(&ret); - - // MICROCONTROLLER SEND CODE: - - // uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - // int16_t len = mavlink_msg_to_send_buffer(buf, &ret); - // uart0_transmit(buf, len); - - - // SEND INTEGER VALUE - - // We are reusing the "mavlink_message_t ret" - // message buffer - - // The C-struct holding the data to be sent - mavlink_named_value_int_t valint; - - // Fill in the data - // Name of the value, maximum 10 characters - // see full message specs at: - // http://pixhawk.ethz.ch/wiki/mavlink/ - strcpy((char *)valint.name, "INTEGER"); - // Value, in this case 18000 - valint.value = 18000; - - // Encode the data (adding header and checksums, etc.) - mavlink_msg_named_value_int_encode(systemid, MAV_COMP_ID_IMU, &ret, &valint); - // And send it - link->sendMAVLinkMessage(&ret); - - // MICROCONTROLLER SEND CODE: - - // uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - // int16_t len = mavlink_msg_to_send_buffer(buf, &ret); - // uart0_transmit(buf, len); - - timer25Hz = 2; - } - - timer1Hz--; - timer10Hz--; - timer25Hz--; -} - -// Uncomment to turn on debug message printing -//#define DEBUG_PRINT_MESSAGE - -#ifdef DEBUG_PRINT_MESSAGE - -//static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS]; - -static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS; -//static unsigned error_count; - -mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO; - -static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx) -{ -#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def) - switch (f->type) { - case MAVLINK_TYPE_CHAR: - qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1)); - break; - case MAVLINK_TYPE_UINT8_T: - qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1)); - break; - case MAVLINK_TYPE_INT8_T: - qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1)); - break; - case MAVLINK_TYPE_UINT16_T: - qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2)); - break; - case MAVLINK_TYPE_INT16_T: - qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2)); - break; - case MAVLINK_TYPE_UINT32_T: - qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4)); - break; - case MAVLINK_TYPE_INT32_T: - qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4)); - break; - case MAVLINK_TYPE_UINT64_T: - qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8)); - break; - case MAVLINK_TYPE_INT64_T: - qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8)); - break; - case MAVLINK_TYPE_FLOAT: - qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4)); - break; - case MAVLINK_TYPE_DOUBLE: - qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8)); - break; - } -} - -static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f) -{ - qDebug("%s: ", f->name); - if (f->array_length == 0) { - print_one_field(msg, f, 0); - qDebug(" "); - } else { - unsigned i; - /* print an array */ - if (f->type == MAVLINK_TYPE_CHAR) { - qDebug("'%.*s'", f->array_length, - f->wire_offset+(const char *)_MAV_PAYLOAD(msg)); - - } else { - qDebug("[ "); - for (i=0; iarray_length; i++) { - print_one_field(msg, f, i); - if (i < f->array_length) { - qDebug(", "); - } - } - qDebug("]"); - } - } - qDebug(" "); -} -#endif - -static void print_message(const mavlink_message_t *msg) -{ -#ifdef DEBUG_PRINT_MESSAGE - const mavlink_message_info_t *m = &message_info[msg->msgid]; - const mavlink_field_info_t *f = m->fields; - unsigned i; - qDebug("%s { ", m->name); - for (i=0; inum_fields; i++) { - print_field(msg, &f[i]); - } - qDebug("}\n"); -#else - Q_UNUSED(msg); -#endif -} - -void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg) -{ - if (msg.sysid != systemid) - { - print_message(&msg); -// qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid; - } - - switch(msg.msgid) { - case MAVLINK_MSG_ID_ATTITUDE: - break; - case MAVLINK_MSG_ID_SET_MODE: { - mavlink_set_mode_t mode; - mavlink_msg_set_mode_decode(&msg, &mode); - if (systemid == mode.target_system) sys_mode = mode.base_mode; - } - break; - case MAVLINK_MSG_ID_HIL_STATE_QUATERNION: - { - mavlink_hil_state_quaternion_t state; - mavlink_msg_hil_state_quaternion_decode(&msg, &state); - - double a = state.attitude_quaternion[0]; - double b = state.attitude_quaternion[1]; - double c = state.attitude_quaternion[2]; - double d = state.attitude_quaternion[3]; - double aSq = a * a; - double bSq = b * b; - double cSq = c * c; - double dSq = d * d; - float dcm[3][3]; - dcm[0][0] = aSq + bSq - cSq - dSq; - dcm[0][1] = 2.0 * (b * c - a * d); - dcm[0][2] = 2.0 * (a * c + b * d); - dcm[1][0] = 2.0 * (b * c + a * d); - dcm[1][1] = aSq - bSq + cSq - dSq; - dcm[1][2] = 2.0 * (c * d - a * b); - dcm[2][0] = 2.0 * (b * d - a * c); - dcm[2][1] = 2.0 * (a * b + c * d); - dcm[2][2] = aSq - bSq - cSq + dSq; - - float phi, theta, psi; - theta = asin(-dcm[2][0]); - - if (fabs(theta - M_PI_2) < 1.0e-3f) { - phi = 0.0f; - psi = (atan2(dcm[1][2] - dcm[0][1], - dcm[0][2] + dcm[1][1]) + phi); - - } else if (fabs(theta + M_PI_2) < 1.0e-3f) { - phi = 0.0f; - psi = atan2f(dcm[1][2] - dcm[0][1], - dcm[0][2] + dcm[1][1] - phi); - - } else { - phi = atan2f(dcm[2][1], dcm[2][2]); - psi = atan2f(dcm[1][0], dcm[0][0]); - } - - roll = phi; - pitch = theta; - yaw = psi; - rollspeed = state.rollspeed; - pitchspeed = state.pitchspeed; - yawspeed = state.yawspeed; - latitude = state.lat; - longitude = state.lon; - altitude = state.alt; - } - break; - // FIXME MAVLINKV10PORTINGNEEDED - // case MAVLINK_MSG_ID_ACTION: { - // mavlink_action_t action; - // mavlink_msg_action_decode(&msg, &action); - // if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) { - // mavlink_action_ack_t ack; - // ack.action = action.action; - //// switch (action.action) { - //// case MAV_ACTION_TAKEOFF: - //// flying = true; - //// nav_mode = MAV_NAV_LIFTOFF; - //// ack.result = 1; - //// break; - //// default: { - //// ack.result = 0; - //// } - //// break; - //// } - - // // Give feedback about action - // mavlink_message_t r_msg; - // mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack); - // link->sendMAVLinkMessage(&r_msg); - // } - // } - break; - } -} diff --git a/src/comm/MAVLinkSimulationMAV.h b/src/comm/MAVLinkSimulationMAV.h deleted file mode 100644 index 3b7bea63e3fcb4ffa62e8d4d94f716aae8e57cff..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSimulationMAV.h +++ /dev/null @@ -1,75 +0,0 @@ -#ifndef MAVLINKSIMULATIONMAV_H -#define MAVLINKSIMULATIONMAV_H - -#include -#include - -#include "MAVLinkSimulationLink.h" -#include "MAVLinkSimulationWaypointPlanner.h" - -class MAVLinkSimulationMAV : public QObject -{ - Q_OBJECT -public: - explicit MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat=47.376389, double lon=8.548056, int version=MAVLINK_VERSION); - -signals: - -public slots: - void mainloop(); - void handleMessage(const mavlink_message_t& msg); - -protected: - MAVLinkSimulationLink* link; - MAVLinkSimulationWaypointPlanner planner; - int systemid; - QTimer mainloopTimer; - int timer25Hz; - int timer10Hz; - int timer1Hz; - double latitude; - double longitude; - double altitude; - double x; - double y; - double z; - double roll; - double pitch; - double yaw; - double rollspeed; - double pitchspeed; - double yawspeed; - - bool globalNavigation; - bool firstWP; - - double previousSPX; - double previousSPY; - double previousSPZ; - double previousSPYaw; - - double nextSPX; - double nextSPY; - double nextSPZ; - double nextSPYaw; - uint8_t sys_mode; - uint8_t sys_state; - uint8_t nav_mode; - bool flying; - int mavlink_version; - - // FIXME MAVLINKV10PORTINGNEEDED -// static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) { -// uint16_t i = 0; -// msg->msgid = MAVLINK_MSG_ID_HEARTBEAT; - -// i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) -// i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM -// i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version - -// return mavlink_finalize_message(msg, system_id, component_id, i); -// } - -}; - -#endif // MAVLINKSIMULATIONMAV_H diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.cc b/src/comm/MAVLinkSimulationWaypointPlanner.cc deleted file mode 100644 index aa6384166c947a50cb5761233cbcbeaf72f56efe..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSimulationWaypointPlanner.cc +++ /dev/null @@ -1,1131 +0,0 @@ -/*====================================================================== - -PIXHAWK Micro Air Vehicle Flying Robotics Toolkit - -(c) 2009-2011 PIXHAWK PROJECT - -This file is part of the PIXHAWK project - - PIXHAWK 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. - - PIXHAWK 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 PIXHAWK. If not, see . - -========================================================================*/ - -/** -* @file -* @brief a program to manage waypoints and exchange them with the ground station -* -* @author Petri Tanskanen -* @author Benjamin Knecht -* @author Christian Schluchter -*/ - -#include - -#include "MAVLinkSimulationWaypointPlanner.h" -#include "QGC.h" -#include - -#ifndef M_PI -#define M_PI 3.14159265358979323846 -#endif - -class PxMatrix3x3; - - -/** - * @brief Pixhawk 3D vector class, can be cast to a local OpenCV CvMat. - * - */ -class PxVector3 -{ -public: - /** @brief standard constructor */ - PxVector3(void) {} - /** @brief copy constructor */ - PxVector3(const PxVector3 &v) { - for (int i=0; i < 3; i++) { - m_vec[i] = v.m_vec[i]; - } - } - /** @brief x,y,z constructor */ - PxVector3(const float _x, const float _y, const float _z) { - m_vec[0] = _x; - m_vec[1] = _y; - m_vec[2] = _z; - } - /** @brief broadcast constructor */ - PxVector3(const float _f) { - for (int i=0; i < 3; i++) { - m_vec[i] = _f; - } - } - -private: - /** @brief private constructor (not used here, for SSE compatibility) */ - PxVector3(const float (&_vec)[3]) { - for (int i=0; i < 3; i++) { - m_vec[i] = _vec[i]; - } - } - -public: - /** @brief assignment operator */ - void operator= (const PxVector3 &r) { - for (int i=0; i < 3; i++) { - m_vec[i] = r.m_vec[i]; - } - } - /** @brief const element access */ - float operator[] (const int i) const { - return m_vec[i]; - } - /** @brief element access */ - float &operator[] (const int i) { - return m_vec[i]; - } - - // === arithmetic operators === - /** @brief element-wise negation */ - friend PxVector3 operator- (const PxVector3 &v) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = -v.m_vec[i]; - } - return ret; - } - friend PxVector3 operator+ (const PxVector3 &l, const PxVector3 &r) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] + r.m_vec[i]; - } - return ret; - } - friend PxVector3 operator- (const PxVector3 &l, const PxVector3 &r) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] - r.m_vec[i]; - } - return ret; - } - friend PxVector3 operator* (const PxVector3 &l, const PxVector3 &r) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] * r.m_vec[i]; - } - return ret; - } - friend PxVector3 operator/ (const PxVector3 &l, const PxVector3 &r) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] / r.m_vec[i]; - } - return ret; - } - - friend void operator+= (PxVector3 &l, const PxVector3 &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] + r.m_vec[i]; - } - } - friend void operator-= (PxVector3 &l, const PxVector3 &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] - r.m_vec[i]; - } - } - friend void operator*= (PxVector3 &l, const PxVector3 &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] * r.m_vec[i]; - } - } - friend void operator/= (PxVector3 &l, const PxVector3 &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] / r.m_vec[i]; - } - } - - friend PxVector3 operator+ (const PxVector3 &l, float f) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] + f; - } - return ret; - } - friend PxVector3 operator- (const PxVector3 &l, float f) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] - f; - } - return ret; - } - friend PxVector3 operator* (const PxVector3 &l, float f) { - PxVector3 ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] * f; - } - return ret; - } - friend PxVector3 operator/ (const PxVector3 &l, float f) { - PxVector3 ret; - float inv = 1.f/f; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] * inv; - } - return ret; - } - - friend void operator+= (PxVector3 &l, float f) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] + f; - } - } - friend void operator-= (PxVector3 &l, float f) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] - f; - } - } - friend void operator*= (PxVector3 &l, float f) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] * f; - } - } - friend void operator/= (PxVector3 &l, float f) { - float inv = 1.f/f; - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] * inv; - } - } - - // === vector operators === - /** @brief dot product */ - float dot(const PxVector3 &v) const { - return m_vec[0]*v.m_vec[0] + m_vec[1]*v.m_vec[1] + m_vec[2]*v.m_vec[2]; - } - /** @brief length squared of the vector */ - float lengthSquared(void) const { - return m_vec[0]*m_vec[0] + m_vec[1]*m_vec[1] + m_vec[2]*m_vec[2]; - } - /** @brief length of the vector */ - float length(void) const { - return sqrt(lengthSquared()); - } - /** @brief cross product */ - PxVector3 cross(const PxVector3 &v) const { - return PxVector3(m_vec[1]*v.m_vec[2] - m_vec[2]*v.m_vec[1], m_vec[2]*v.m_vec[0] - m_vec[0]*v.m_vec[2], m_vec[0]*v.m_vec[1] - m_vec[1]*v.m_vec[0]); - } - /** @brief normalizes the vector */ - PxVector3 &normalize(void) { - const float l = 1.f / length(); - for (int i=0; i < 3; i++) { - m_vec[i] *= l; - } - return *this; - } - - friend class PxMatrix3x3; -protected: - float m_vec[3]; -}; - -/** - * @brief Pixhawk 3D vector class in double precision, can be cast to a local OpenCV CvMat. - * - */ -class PxVector3Double -{ -public: - /** @brief standard constructor */ - PxVector3Double(void) {} - /** @brief copy constructor */ - PxVector3Double(const PxVector3Double &v) { - for (int i=0; i < 3; i++) { - m_vec[i] = v.m_vec[i]; - } - } - /** @brief x,y,z constructor */ - PxVector3Double(const double _x, const double _y, const double _z) { - m_vec[0] = _x; - m_vec[1] = _y; - m_vec[2] = _z; - } - /** @brief broadcast constructor */ - PxVector3Double(const double _f) { - for (int i=0; i < 3; i++) { - m_vec[i] = _f; - } - } - -private: - /** @brief private constructor (not used here, for SSE compatibility) */ - PxVector3Double(const double (&_vec)[3]) { - for (int i=0; i < 3; i++) { - m_vec[i] = _vec[i]; - } - } - -public: - /** @brief assignment operator */ - void operator= (const PxVector3Double &r) { - for (int i=0; i < 3; i++) { - m_vec[i] = r.m_vec[i]; - } - } - /** @brief const element access */ - double operator[] (const int i) const { - return m_vec[i]; - } - /** @brief element access */ - double &operator[] (const int i) { - return m_vec[i]; - } - - // === arithmetic operators === - /** @brief element-wise negation */ - friend PxVector3Double operator- (const PxVector3Double &v) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = -v.m_vec[i]; - } - return ret; - } - friend PxVector3Double operator+ (const PxVector3Double &l, const PxVector3Double &r) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] + r.m_vec[i]; - } - return ret; - } - friend PxVector3Double operator- (const PxVector3Double &l, const PxVector3Double &r) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] - r.m_vec[i]; - } - return ret; - } - friend PxVector3Double operator* (const PxVector3Double &l, const PxVector3Double &r) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] * r.m_vec[i]; - } - return ret; - } - friend PxVector3Double operator/ (const PxVector3Double &l, const PxVector3Double &r) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] / r.m_vec[i]; - } - return ret; - } - - friend void operator+= (PxVector3Double &l, const PxVector3Double &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] + r.m_vec[i]; - } - } - friend void operator-= (PxVector3Double &l, const PxVector3Double &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] - r.m_vec[i]; - } - } - friend void operator*= (PxVector3Double &l, const PxVector3Double &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] * r.m_vec[i]; - } - } - friend void operator/= (PxVector3Double &l, const PxVector3Double &r) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] / r.m_vec[i]; - } - } - - friend PxVector3Double operator+ (const PxVector3Double &l, double f) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] + f; - } - return ret; - } - friend PxVector3Double operator- (const PxVector3Double &l, double f) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] - f; - } - return ret; - } - friend PxVector3Double operator* (const PxVector3Double &l, double f) { - PxVector3Double ret; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] * f; - } - return ret; - } - friend PxVector3Double operator/ (const PxVector3Double &l, double f) { - PxVector3Double ret; - double inv = 1.f/f; - for (int i=0; i < 3; i++) { - ret.m_vec[i] = l.m_vec[i] * inv; - } - return ret; - } - - friend void operator+= (PxVector3Double &l, double f) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] + f; - } - } - friend void operator-= (PxVector3Double &l, double f) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] - f; - } - } - friend void operator*= (PxVector3Double &l, double f) { - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] * f; - } - } - friend void operator/= (PxVector3Double &l, double f) { - double inv = 1.f/f; - for (int i=0; i < 3; i++) { - l.m_vec[i] = l.m_vec[i] * inv; - } - } - - // === vector operators === - /** @brief dot product */ - double dot(const PxVector3Double &v) const { - return m_vec[0]*v.m_vec[0] + m_vec[1]*v.m_vec[1] + m_vec[2]*v.m_vec[2]; - } - /** @brief length squared of the vector */ - double lengthSquared(void) const { - return m_vec[0]*m_vec[0] + m_vec[1]*m_vec[1] + m_vec[2]*m_vec[2]; - } - /** @brief length of the vector */ - double length(void) const { - return sqrt(lengthSquared()); - } - /** @brief cross product */ - PxVector3Double cross(const PxVector3Double &v) const { - return PxVector3Double(m_vec[1]*v.m_vec[2] - m_vec[2]*v.m_vec[1], m_vec[2]*v.m_vec[0] - m_vec[0]*v.m_vec[2], m_vec[0]*v.m_vec[1] - m_vec[1]*v.m_vec[0]); - } - /** @brief normalizes the vector */ - PxVector3Double &normalize(void) { - const double l = 1.f / length(); - for (int i=0; i < 3; i++) { - m_vec[i] *= l; - } - return *this; - } - - friend class PxMatrix3x3; -protected: - double m_vec[3]; -}; - -MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int sysid) : - QObject(parent), - link(parent), - idle(false), - current_active_wp_id(-1), - yawReached(false), - posReached(false), - timestamp_lastoutside_orbit(0), - timestamp_firstinside_orbit(0), - waypoints(&waypoints1), - waypoints_receive_buffer(&waypoints2), - current_state(PX_WPP_IDLE), - protocol_current_wp_id(0), - protocol_current_count(0), - protocol_current_partner_systemid(0), - protocol_current_partner_compid(0), - protocol_timestamp_lastaction(0), - protocol_timeout(1000), - timestamp_last_send_setpoint(0), - systemid(sysid), - compid(MAV_COMP_ID_MISSIONPLANNER), - setpointDelay(10), - yawTolerance(0.4f), - verbose(true), - debug(false), - silent(false) -{ - connect(parent, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t))); - qDebug() << "PLANNER FOR SYSTEM" << systemid << "INITIALIZED"; -} - - - -/* -* @brief Sends an waypoint ack message -*/ -void MAVLinkSimulationWaypointPlanner::send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type) -{ - mavlink_message_t msg; - mavlink_mission_ack_t wpa; - - wpa.target_system = target_systemid; - wpa.target_component = target_compid; - wpa.type = type; - - mavlink_msg_mission_ack_encode(systemid, compid, &msg, &wpa); - link->sendMAVLinkMessage(&msg); - - - - if (verbose) qDebug("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); -} - -/* -* @brief Broadcasts the new target waypoint and directs the MAV to fly there -* -* This function broadcasts its new active waypoint sequence number and -* sends a message to the controller, advising it to fly to the coordinates -* of the waypoint with a given orientation -* -* @param seq The waypoint sequence number the MAV should fly to. -*/ -void MAVLinkSimulationWaypointPlanner::send_waypoint_current(uint16_t seq) -{ - if(seq < waypoints->size()) { - mavlink_mission_item_t *cur = waypoints->at(seq); - - mavlink_message_t msg; - mavlink_mission_current_t wpc; - - wpc.seq = cur->seq; - - mavlink_msg_mission_current_encode(systemid, compid, &msg, &wpc); - link->sendMAVLinkMessage(&msg); - - - - if (verbose) qDebug("Broadcasted new current waypoint %u\n", wpc.seq); - } -} - -/* -* @brief Directs the MAV to fly to a position -* -* Sends a message to the controller, advising it to fly to the coordinates -* of the waypoint with a given orientation -* -* @param seq The waypoint sequence number the MAV should fly to. -*/ -void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) -{ - Q_UNUSED(seq); -} - -void MAVLinkSimulationWaypointPlanner::send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count) -{ - mavlink_message_t msg; - mavlink_mission_count_t wpc; - - wpc.target_system = target_systemid; - wpc.target_component = target_compid; - wpc.count = count; - - mavlink_msg_mission_count_encode(systemid, compid, &msg, &wpc); - link->sendMAVLinkMessage(&msg); - - if (verbose) qDebug("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); - - -} - -void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq) -{ - if (seq < waypoints->size()) { - mavlink_message_t msg; - mavlink_mission_item_t *wp = waypoints->at(seq); - wp->target_system = target_systemid; - wp->target_component = target_compid; - - if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->command, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue); - - mavlink_msg_mission_item_encode(systemid, compid, &msg, wp); - link->sendMAVLinkMessage(&msg); - if (verbose) qDebug("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); - - - } else { - if (verbose) qDebug("ERROR: index out of bounds\n"); - } -} - -void MAVLinkSimulationWaypointPlanner::send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_request_t wpr; - wpr.target_system = target_systemid; - wpr.target_component = target_compid; - wpr.seq = seq; - mavlink_msg_mission_request_encode(systemid, compid, &msg, &wpr); - link->sendMAVLinkMessage(&msg); - if (verbose) qDebug("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); - - -} - -/* -* @brief emits a message that a waypoint reached -* -* This function broadcasts a message that a waypoint is reached. -* -* @param seq The waypoint sequence number the MAV has reached. -*/ -void MAVLinkSimulationWaypointPlanner::send_waypoint_reached(uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_item_reached_t wp_reached; - - wp_reached.seq = seq; - - mavlink_msg_mission_item_reached_encode(systemid, compid, &msg, &wp_reached); - link->sendMAVLinkMessage(&msg); - - if (verbose) qDebug("Sent waypoint %u reached message\n", wp_reached.seq); - - -} - -float MAVLinkSimulationWaypointPlanner::distanceToSegment(uint16_t seq, float x, float y, float z) -{ - if (seq < waypoints->size()) { - mavlink_mission_item_t *cur = waypoints->at(seq); - - const PxVector3 A(cur->x, cur->y, cur->z); - const PxVector3 C(x, y, z); - - // seq not the second last waypoint - if ((uint16_t)(seq+1) < waypoints->size()) { - mavlink_mission_item_t *next = waypoints->at(seq+1); - const PxVector3 B(next->x, next->y, next->z); - const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); - if (r >= 0 && r <= 1) { - const PxVector3 P(A + r*(B-A)); - return (P-C).length(); - } else if (r < 0.f) { - return (C-A).length(); - } else { - return (C-B).length(); - } - } else { - return (C-A).length(); - } - } - return -1.f; -} - -float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y, float z) -{ - if (seq < waypoints->size()) { - mavlink_mission_item_t *cur = waypoints->at(seq); - - const PxVector3 A(cur->x, cur->y, cur->z); - const PxVector3 C(x, y, z); - - return (C-A).length(); - } - return -1.f; -} - -float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y) -{ - if (seq < waypoints->size()) { - mavlink_mission_item_t *cur = waypoints->at(seq); - - const PxVector3 A(cur->x, cur->y, 0); - const PxVector3 C(x, y, 0); - - return (C-A).length(); - } - return -1.f; -} - -void MAVLinkSimulationWaypointPlanner::handleMessage(const mavlink_message_t& msg) -{ - mavlink_handler(&msg); -} - -void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* msg) -{ - // Handle param messages -// paramClient->handleMAVLinkPacket(msg); - - //check for timed-out operations - - //qDebug() << "MAV: %d WAYPOINTPLANNER GOT MESSAGE" << systemid; - - uint64_t now = QGC::groundTimeMilliseconds(); - if (now-protocol_timestamp_lastaction > protocol_timeout && current_state != PX_WPP_IDLE) { - if (verbose) qDebug() << "Last operation (state=%u) timed out, changing state to PX_WPP_IDLE" << current_state; - current_state = PX_WPP_IDLE; - protocol_current_count = 0; - protocol_current_partner_systemid = 0; - protocol_current_partner_compid = 0; - protocol_current_wp_id = -1; - - if(waypoints->size() == 0) { - current_active_wp_id = -1; - } - } - - if(now-timestamp_last_send_setpoint > setpointDelay) { - send_setpoint(current_active_wp_id); - } - - switch(msg->msgid) { - case MAVLINK_MSG_ID_ATTITUDE: { - if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) { - mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id); - if(wp->frame == 1) { - mavlink_attitude_t att; - mavlink_msg_attitude_decode(msg, &att); - float yaw_tolerance = yawTolerance; - //compare current yaw - if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI) { - if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4) - yawReached = true; - } else if(att.yaw - yaw_tolerance < 0.0f) { - float lowerBound = 360.0f + att.yaw - yaw_tolerance; - if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance) - yawReached = true; - } else { - float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI; - if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound) - yawReached = true; - } - - // FIXME HACK: Ignore yaw: - - yawReached = true; - } - } - break; - } - - case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { - if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) { - mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id); - - if(wp->frame == 1) { - mavlink_local_position_ned_t pos; - mavlink_msg_local_position_ned_decode(msg, &pos); - //qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z; - - posReached = false; - - // compare current position (given in message) with current waypoint - float orbit = wp->param1; - - float dist; - if (wp->param2 == 0) { - dist = distanceToSegment(current_active_wp_id, pos.x, pos.y, pos.z); - } else { - dist = distanceToPoint(current_active_wp_id, pos.x, pos.y, pos.z); - } - - if (dist >= 0.f && dist <= orbit && yawReached) { - posReached = true; - } - } - } - break; - } - - case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { - if(msg->sysid == systemid && current_active_wp_id < waypoints->size()) { - mavlink_mission_item_t *wp = waypoints->at(current_active_wp_id); - - if(wp->frame == 0) { - mavlink_global_position_int_t pos; - mavlink_msg_global_position_int_decode(msg, &pos); - - float x = static_cast(pos.lat)/1E7; - float y = static_cast(pos.lon)/1E7; - //float z = static_cast(pos.alt)/1000; - - //qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z; - - posReached = false; - yawReached = true; - - // FIXME big hack for simulation! - //float oneDegreeOfLatMeters = 111131.745f; - float orbit = 0.00008f; - - // compare current position (given in message) with current waypoint - //float orbit = wp->param1; - - // Convert to degrees - - - float dist; - dist = distanceToPoint(current_active_wp_id, x, y); - - if (dist >= 0.f && dist <= orbit && yawReached) { - posReached = true; - qDebug() << "WP PLANNER: REACHED POSITION"; - } - } - } - break; - } - - case MAVLINK_MSG_ID_COMMAND_LONG: - { // special action from ground station - mavlink_command_long_t action; - mavlink_msg_command_long_decode(msg, &action); - if(action.target_system == systemid) { - if (verbose) qDebug("Waypoint: received message with action %d\n", action.command); -// switch (action.action) { -// case MAV_ACTION_LAUNCH: -// if (verbose) std::cerr << "Launch received" << std::endl; -// current_active_wp_id = 0; -// if (waypoints->size()>0) -// { -// setActive(waypoints[current_active_wp_id]); -// } -// else -// if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; -// break; - -// case MAV_ACTION_CONTINUE: -// if (verbose) std::c -// err << "Continue received" << std::endl; -// idle = false; -// setActive(waypoints[current_active_wp_id]); -// break; - -// case MAV_ACTION_HALT: -// if (verbose) std::cerr << "Halt received" << std::endl; -// idle = true; -// break; - -// default: -// if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; -// break; -// } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_mission_ack_t wpa; - mavlink_msg_mission_ack_decode(msg, &wpa); - - if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wpa.target_system == systemid && wpa.target_component == compid)) { - protocol_timestamp_lastaction = now; - - if (current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS) { - if (protocol_current_wp_id == waypoints->size()-1) { - if (verbose) qDebug("Received Ack after having sent last waypoint, going to state PX_WPP_IDLE\n"); - current_state = PX_WPP_IDLE; - protocol_current_wp_id = 0; - } - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { - mavlink_mission_set_current_t wpc; - mavlink_msg_mission_set_current_decode(msg, &wpc); - - if(wpc.target_system == systemid && wpc.target_component == compid) { - protocol_timestamp_lastaction = now; - - if (current_state == PX_WPP_IDLE) { - if (wpc.seq < waypoints->size()) { - if (verbose) qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); - current_active_wp_id = wpc.seq; - uint32_t i; - for(i = 0; i < waypoints->size(); i++) { - if (i == current_active_wp_id) { - waypoints->at(i)->current = true; - } else { - waypoints->at(i)->current = false; - } - } - if (verbose) qDebug("New current waypoint %u\n", current_active_wp_id); - yawReached = false; - posReached = false; - send_waypoint_current(current_active_wp_id); - send_setpoint(current_active_wp_id); - timestamp_firstinside_orbit = 0; - } else { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); - } - } - } else { - qDebug() << "SYSTEM / COMPONENT ID MISMATCH: target sys:" << wpc.target_system << "this system:" << systemid << "target comp:" << wpc.target_component << "this comp:" << compid; - } - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { - mavlink_mission_request_list_t wprl; - mavlink_msg_mission_request_list_decode(msg, &wprl); - if(wprl.target_system == systemid && wprl.target_component == compid) { - protocol_timestamp_lastaction = now; - - if (current_state == PX_WPP_IDLE || current_state == PX_WPP_SENDLIST) { - if (waypoints->size() > 0) { - if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to PX_WPP_SENDLIST\n", msg->sysid); - if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state PX_WPP_SENDLIST\n", msg->sysid); - current_state = PX_WPP_SENDLIST; - protocol_current_wp_id = 0; - protocol_current_partner_systemid = msg->sysid; - protocol_current_partner_compid = msg->compid; - } else { - if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); - } - protocol_current_count = static_cast(waypoints->size()); - send_waypoint_count(msg->sysid,msg->compid, protocol_current_count); - } else { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", current_state); - } - } else { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because not my systemid or compid.\n"); - } - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_mission_request_t wpr; - mavlink_msg_mission_request_decode(msg, &wpr); - if(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid && wpr.target_system == systemid && wpr.target_component == compid) { - protocol_timestamp_lastaction = now; - - //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - if ((current_state == PX_WPP_SENDLIST && wpr.seq == 0) || (current_state == PX_WPP_SENDLIST_SENDWPS && (wpr.seq == protocol_current_wp_id || wpr.seq == protocol_current_wp_id + 1) && wpr.seq < waypoints->size())) { - if (verbose && current_state == PX_WPP_SENDLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id + 1) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - if (verbose && current_state == PX_WPP_SENDLIST_SENDWPS && wpr.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state PX_WPP_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - - current_state = PX_WPP_SENDLIST_SENDWPS; - protocol_current_wp_id = wpr.seq; - send_waypoint(protocol_current_partner_systemid, protocol_current_partner_compid, wpr.seq); - } else { - if (verbose) { - if (!(current_state == PX_WPP_SENDLIST || current_state == PX_WPP_SENDLIST_SENDWPS)) { - qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", current_state); - break; - } else if (current_state == PX_WPP_SENDLIST) { - if (wpr.seq != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); - } else if (current_state == PX_WPP_SENDLIST_SENDWPS) { - if (wpr.seq != protocol_current_wp_id && wpr.seq != protocol_current_wp_id + 1) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, protocol_current_wp_id, protocol_current_wp_id+1); - else if (wpr.seq >= waypoints->size()) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); - } else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); - } - } - } else { - //we we're target but already communicating with someone else - if((wpr.target_system == systemid && wpr.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid)) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, protocol_current_partner_systemid); - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_mission_count_t wpc; - mavlink_msg_mission_count_decode(msg, &wpc); - if(wpc.target_system == systemid && wpc.target_component == compid) { - protocol_timestamp_lastaction = now; - - if (current_state == PX_WPP_IDLE || (current_state == PX_WPP_GETLIST && protocol_current_wp_id == 0)) { - if (wpc.count > 0) { - if (verbose && current_state == PX_WPP_IDLE) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) from %u changing state to PX_WPP_GETLIST\n", wpc.count, msg->sysid); - if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_COUNT (%u) again from %u\n", wpc.count, msg->sysid); - - current_state = PX_WPP_GETLIST; - protocol_current_wp_id = 0; - protocol_current_partner_systemid = msg->sysid; - protocol_current_partner_compid = msg->compid; - protocol_current_count = wpc.count; - - qDebug("clearing receive buffer and readying for receiving waypoints\n"); - while(waypoints_receive_buffer->size() > 0) { - delete waypoints_receive_buffer->back(); - waypoints_receive_buffer->pop_back(); - } - - send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id); - } else { - if (verbose) qDebug("Ignoring MAVLINK_MSG_ID_MISSION_COUNT from %u with count of %u\n", msg->sysid, wpc.count); - } - } else { - if (verbose && !(current_state == PX_WPP_IDLE || current_state == PX_WPP_GETLIST)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm doing something else already (state=%i).\n", current_state); - else if (verbose && current_state == PX_WPP_GETLIST && protocol_current_wp_id != 0) qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT because i'm already receiving waypoint %u.\n", protocol_current_wp_id); - else qDebug("Ignored MAVLINK_MSG_ID_MISSION_COUNT - FIXME: missed error description\n"); - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_mission_item_t wp; - mavlink_msg_mission_item_decode(msg, &wp); - - if((msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && (wp.target_system == systemid && wp.target_component == compid)) { - protocol_timestamp_lastaction = now; - - //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids - if ((current_state == PX_WPP_GETLIST && wp.seq == 0) || (current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id && wp.seq < protocol_current_count)) { - if (verbose && current_state == PX_WPP_GETLIST) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to PX_WPP_GETLIST_GETWPS\n", wp.seq, msg->sysid); - if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); - if (verbose && current_state == PX_WPP_GETLIST_GETWPS && wp.seq-1 == protocol_current_wp_id) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); - - current_state = PX_WPP_GETLIST_GETWPS; - protocol_current_wp_id = wp.seq + 1; - mavlink_mission_item_t* newwp = new mavlink_mission_item_t; - memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); - waypoints_receive_buffer->push_back(newwp); - - if(protocol_current_wp_id == protocol_current_count && current_state == PX_WPP_GETLIST_GETWPS) { - if (verbose) qDebug("Got all %u waypoints, changing state to PX_WPP_IDLE\n", protocol_current_count); - - send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0); - - if (current_active_wp_id > waypoints_receive_buffer->size()-1) { - current_active_wp_id = static_cast(waypoints_receive_buffer->size()) - 1; - } - - // switch the waypoints list - std::vector* waypoints_temp = waypoints; - waypoints = waypoints_receive_buffer; - waypoints_receive_buffer = waypoints_temp; - - //get the new current waypoint - uint32_t i; - for(i = 0; i < waypoints->size(); i++) { - if (waypoints->at(i)->current == 1) { - current_active_wp_id = i; - //if (verbose) qDebug("New current waypoint %u\n", current_active_wp_id); - yawReached = false; - posReached = false; - send_waypoint_current(current_active_wp_id); - send_setpoint(current_active_wp_id); - timestamp_firstinside_orbit = 0; - break; - } - } - - if (i == waypoints->size()) { - current_active_wp_id = -1; - yawReached = false; - posReached = false; - timestamp_firstinside_orbit = 0; - } - - current_state = PX_WPP_IDLE; - } else { - send_waypoint_request(protocol_current_partner_systemid, protocol_current_partner_compid, protocol_current_wp_id); - } - } else { - if (current_state == PX_WPP_IDLE) { - //we're done receiving waypoints, answer with ack. - send_waypoint_ack(protocol_current_partner_systemid, protocol_current_partner_compid, 0); - qDebug("Received MAVLINK_MSG_ID_MISSION_ITEM while state=PX_WPP_IDLE, answered with WAYPOINT_ACK.\n"); - } - if (verbose) { - if (!(current_state == PX_WPP_GETLIST || current_state == PX_WPP_GETLIST_GETWPS)) { - qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, current_state); - break; - } else if (current_state == PX_WPP_GETLIST) { - if(!(wp.seq == 0)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); - else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } else if (current_state == PX_WPP_GETLIST_GETWPS) { - if (!(wp.seq == protocol_current_wp_id)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, protocol_current_wp_id); - else if (!(wp.seq < protocol_current_count)) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); - else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } else qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } - } else { - // We're target but already communicating with someone else - if((wp.target_system == systemid && wp.target_component == compid) && !(msg->sysid == protocol_current_partner_systemid && msg->compid == protocol_current_partner_compid) && current_state != PX_WPP_IDLE) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, protocol_current_partner_systemid); - } else if(wp.target_system == systemid && wp.target_component == compid) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { - mavlink_mission_clear_all_t wpca; - mavlink_msg_mission_clear_all_decode(msg, &wpca); - - if(wpca.target_system == systemid && wpca.target_component == compid && current_state == PX_WPP_IDLE) { - protocol_timestamp_lastaction = now; - - if (verbose) qDebug("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); - while(waypoints->size() > 0) { - delete waypoints->back(); - waypoints->pop_back(); - } - current_active_wp_id = -1; - } else if (wpca.target_system == systemid && wpca.target_component == compid && current_state != PX_WPP_IDLE) { - if (verbose) qDebug("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, current_state); - } - break; - } - - default: { - if (debug) qDebug("Waypoint: received message of unknown type\n"); - break; - } - } - - //check if the current waypoint was reached - if ((posReached && /*yawReached &&*/ !idle)) { - if (current_active_wp_id < waypoints->size()) { - mavlink_mission_item_t *cur_wp = waypoints->at(current_active_wp_id); - - if (timestamp_firstinside_orbit == 0) { - // Announce that last waypoint was reached - if (verbose) qDebug("*** Reached waypoint %u ***\n", cur_wp->seq); - send_waypoint_reached(cur_wp->seq); - timestamp_firstinside_orbit = now; - } - - // check if the MAV was long enough inside the waypoint orbit - //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) - if(now-timestamp_firstinside_orbit >= cur_wp->param2*1000) { - if (cur_wp->autocontinue) { - cur_wp->current = 0; - if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 0) { - //the last waypoint was reached, if auto continue is - //activated restart the waypoint list from the beginning - current_active_wp_id = 0; - } else { - current_active_wp_id++; - } - - // Fly to next waypoint - timestamp_firstinside_orbit = 0; - send_waypoint_current(current_active_wp_id); - send_setpoint(current_active_wp_id); - waypoints->at(current_active_wp_id)->current = true; - posReached = false; - //yawReached = false; - if (verbose) qDebug("Set new waypoint (%u)\n", current_active_wp_id); - } - } - } - } else { - timestamp_lastoutside_orbit = now; - } -} diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.h b/src/comm/MAVLinkSimulationWaypointPlanner.h deleted file mode 100644 index 03ba4490909b5c23a698466918348b77a5ff7c24..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSimulationWaypointPlanner.h +++ /dev/null @@ -1,75 +0,0 @@ -#ifndef MAVLINKSIMULATIONWAYPOINTPLANNER_H -#define MAVLINKSIMULATIONWAYPOINTPLANNER_H - -#include -#include - -#include "MAVLinkSimulationLink.h" -#include "QGCMAVLink.h" - -enum PX_WAYPOINTPLANNER_STATES { - PX_WPP_IDLE = 0, - PX_WPP_SENDLIST, - PX_WPP_SENDLIST_SENDWPS, - PX_WPP_GETLIST, - PX_WPP_GETLIST_GETWPS, - PX_WPP_GETLIST_GOTALL -}; - -class MAVLinkSimulationWaypointPlanner : public QObject -{ - Q_OBJECT -public: - explicit MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int systemid); - -signals: - void messageSent(const mavlink_message_t& msg); - -public slots: - void handleMessage(const mavlink_message_t& msg); - -protected: - MAVLinkSimulationLink* link; - bool idle; ///< indicates if the system is following the waypoints or is waiting - uint16_t current_active_wp_id; ///< id of current waypoint - bool yawReached; ///< boolean for yaw attitude reached - bool posReached; ///< boolean for position reached - uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value - uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value - - std::vector waypoints1; ///< vector1 that holds the waypoints - std::vector waypoints2; ///< vector2 that holds the waypoints - - std::vector* waypoints; ///< pointer to the currently active waypoint vector - std::vector* waypoints_receive_buffer; ///< pointer to the receive buffer waypoint vector - PX_WAYPOINTPLANNER_STATES current_state; - uint16_t protocol_current_wp_id; - uint16_t protocol_current_count; - uint8_t protocol_current_partner_systemid; - uint8_t protocol_current_partner_compid; - uint64_t protocol_timestamp_lastaction; - unsigned int protocol_timeout; - uint64_t timestamp_last_send_setpoint; - uint8_t systemid; - uint8_t compid; - unsigned int setpointDelay; - float yawTolerance; - bool verbose; - bool debug; - bool silent; - - void send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type); - void send_waypoint_current(uint16_t seq); - void send_setpoint(uint16_t seq); - void send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count); - void send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq); - void send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq); - void send_waypoint_reached(uint16_t seq); - float distanceToSegment(uint16_t seq, float x, float y, float z); - float distanceToPoint(uint16_t seq, float x, float y, float z); - float distanceToPoint(uint16_t seq, float x, float y); - void mavlink_handler(const mavlink_message_t* msg); - -}; - -#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H diff --git a/src/comm/MAVLinkSwarmSimulationLink.cc b/src/comm/MAVLinkSwarmSimulationLink.cc deleted file mode 100644 index e6cc882759b76f0f1081190ad21074e34f4e4d8d..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSwarmSimulationLink.cc +++ /dev/null @@ -1,12 +0,0 @@ -#include "MAVLinkSwarmSimulationLink.h" - -MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QString readFile, QString writeFile, int rate) : - MAVLinkSimulationLink(readFile, writeFile, rate) -{ -} - - -void MAVLinkSwarmSimulationLink::mainloop() -{ - -} diff --git a/src/comm/MAVLinkSwarmSimulationLink.h b/src/comm/MAVLinkSwarmSimulationLink.h deleted file mode 100644 index 25e206535da45170501fc3700d0767f8dfd4efb7..0000000000000000000000000000000000000000 --- a/src/comm/MAVLinkSwarmSimulationLink.h +++ /dev/null @@ -1,19 +0,0 @@ -#ifndef MAVLINKSWARMSIMULATIONLINK_H -#define MAVLINKSWARMSIMULATIONLINK_H - -#include "MAVLinkSimulationLink.h" - -class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink -{ - Q_OBJECT -public: - MAVLinkSwarmSimulationLink(QString readFile="", QString writeFile="", int rate=5); - -signals: - -public slots: - void mainloop(); - -}; - -#endif // MAVLINKSWARMSIMULATIONLINK_H diff --git a/src/qgcunittest/MockLink.cc b/src/comm/MockLink.cc similarity index 62% rename from src/qgcunittest/MockLink.cc rename to src/comm/MockLink.cc index d348aac67a7fb9de91e5746acbc1fc1be1b7f0e9..c6d682eb10b2016060e4d6b43207b6eb7f3c75df 100644 --- a/src/qgcunittest/MockLink.cc +++ b/src/comm/MockLink.cc @@ -22,6 +22,7 @@ ======================================================================*/ #include "MockLink.h" +#include "QGCLoggingCategory.h" #include #include @@ -29,7 +30,7 @@ #include -Q_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog") +QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog") /// @file /// @brief Mock implementation of a Link. @@ -66,7 +67,6 @@ union px4_custom_mode { }; MockLink::MockLink(MockConfiguration* config) : - _linkId(getNextLinkId()), _name("MockLink"), _connected(false), _vehicleSystemId(128), // FIXME: Pull from eventual parameter manager @@ -166,7 +166,7 @@ void MockLink::_run50HzTasks(void) void MockLink::_loadParams(void) { - QFile paramFile(":/unittest/MockLink.param"); + QFile paramFile(":/unittest/MockLink.params"); bool success = paramFile.open(QFile::ReadOnly); Q_UNUSED(success); @@ -184,6 +184,7 @@ void MockLink::_loadParams(void) QStringList paramData = line.split("\t"); Q_ASSERT(paramData.count() == 5); + int componentId = paramData.at(1).toInt(); QString paramName = paramData.at(2); QString valStr = paramData.at(3); uint paramType = paramData.at(4).toUInt(); @@ -209,7 +210,7 @@ void MockLink::_loadParams(void) qCDebug(MockLinkLog) << "Loading param" << paramName << paramValue; - _mapParamName2Value[paramName] = paramValue; + _mapParamName2Value[componentId][paramName] = paramValue; _mapParamName2MavParamType[paramName] = static_cast(paramType); } } @@ -286,7 +287,7 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes) for (qint64 i=0; i= 0 && request.param_index < _mapParamName2Value.count()); + Q_ASSERT(request.param_index >= 0 && request.param_index < _mapParamName2Value[componentId].count()); - QString key = _mapParamName2Value.keys().at(request.param_index); + QString key = _mapParamName2Value[componentId].keys().at(request.param_index); Q_ASSERT(key.length() <= MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN); strcpy(paramId, key.toLocal8Bit().constData()); } - Q_ASSERT(_mapParamName2Value.contains(paramId)); + Q_ASSERT(_mapParamName2Value[componentId].contains(paramId)); Q_ASSERT(_mapParamName2MavParamType.contains(paramId)); mavlink_message_t responseMsg; mavlink_msg_param_value_pack(_vehicleSystemId, - _vehicleComponentId, - &responseMsg, // Outgoing message - paramId, // Parameter name - _floatUnionForParam(paramId), // Parameter value - _mapParamName2MavParamType[paramId], // Parameter type - _mapParamName2Value.count(), // Total number of parameters - _mapParamName2Value.keys().indexOf(paramId)); // Index of this parameter + componentId, // component id + &responseMsg, // Outgoing message + paramId, // Parameter name + _floatUnionForParam(componentId, paramId), // Parameter value + _mapParamName2MavParamType[paramId], // Parameter type + _mapParamName2Value[componentId].count(), // Total number of parameters + _mapParamName2Value[componentId].keys().indexOf(paramId)); // Index of this parameter _emitMavlinkMessage(responseMsg); } @@ -607,3 +676,40 @@ void MockLink::_handleMissionItem(const mavlink_message_t& msg) _missionItems[request.seq] = request; } + +void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw) +{ + uint16_t chanRaw[18]; + + for (int i=0; i<18; i++) { + chanRaw[i] = UINT16_MAX; + } + chanRaw[channel] = raw; + + mavlink_message_t responseMsg; + mavlink_msg_rc_channels_pack(_vehicleSystemId, + _vehicleComponentId, + &responseMsg, // Outgoing message + 0, // time since boot, ignored + 18, // channel count + chanRaw[0], // channel raw value + chanRaw[1], // channel raw value + chanRaw[2], // channel raw value + chanRaw[3], // channel raw value + chanRaw[4], // channel raw value + chanRaw[5], // channel raw value + chanRaw[6], // channel raw value + chanRaw[7], // channel raw value + chanRaw[8], // channel raw value + chanRaw[9], // channel raw value + chanRaw[10], // channel raw value + chanRaw[11], // channel raw value + chanRaw[12], // channel raw value + chanRaw[13], // channel raw value + chanRaw[14], // channel raw value + chanRaw[15], // channel raw value + chanRaw[16], // channel raw value + chanRaw[17], // channel raw value + 0); // rss + _emitMavlinkMessage(responseMsg); +} diff --git a/src/qgcunittest/MockLink.h b/src/comm/MockLink.h similarity index 92% rename from src/qgcunittest/MockLink.h rename to src/comm/MockLink.h index dad2286657e33476e4a9f368121a0b3997385197..9db0d5b4d98966fb2e6175340154d494b731c865 100644 --- a/src/qgcunittest/MockLink.h +++ b/src/comm/MockLink.h @@ -61,7 +61,6 @@ public: ~MockLink(void); // Virtuals from LinkInterface - virtual int getId(void) const { return _linkId; } virtual QString getName(void) const { return _name; } virtual void requestReset(void){ } virtual bool isConnected(void) const { return _connected; } @@ -71,6 +70,7 @@ public: // MockLink methods MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; } void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; } + void emitRemoteControlChannelRawChanged(int channel, uint16_t raw); // These are left unimplemented in order to cause linker errors which indicate incorrect usage of // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager. @@ -118,12 +118,11 @@ private: void _handleMissionRequestList(const mavlink_message_t& msg); void _handleMissionRequest(const mavlink_message_t& msg); void _handleMissionItem(const mavlink_message_t& msg); - float _floatUnionForParam(const QString& paramName); - void _setParamFloatUnionIntoMap(const QString& paramName, float paramFloat); + float _floatUnionForParam(int componentId, const QString& paramName); + void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat); MockLinkMissionItemHandler* _missionItemHandler; - int _linkId; QString _name; bool _connected; @@ -133,8 +132,8 @@ private: bool _inNSH; bool _mavlinkStarted; - QMap _mapParamName2Value; - QMap _mapParamName2MavParamType; + QMap > _mapParamName2Value; + QMap _mapParamName2MavParamType; typedef QMap MissionList_t; MissionList_t _missionItems; diff --git a/src/qgcunittest/MockLink.param b/src/comm/MockLink.params similarity index 91% rename from src/qgcunittest/MockLink.param rename to src/comm/MockLink.params index 6fc11ee57c64ac2cfb6f9d07d926651c0a618bc1..36588f4d55be98b7e8cb91a728997f8879890f63 100644 --- a/src/qgcunittest/MockLink.param +++ b/src/comm/MockLink.params @@ -21,20 +21,20 @@ 1 50 BD_OBJ_SURFACE 0.00311725 9 1 50 BD_PRECISION 30 9 1 50 BD_TURNRADIUS 120 9 -1 50 CAL_ACC0_ID 0 6 -1 50 CAL_ACC0_XOFF 0 9 -1 50 CAL_ACC0_XSCALE 1 9 -1 50 CAL_ACC0_YOFF 0 9 -1 50 CAL_ACC0_YSCALE 1 9 -1 50 CAL_ACC0_ZOFF 0 9 -1 50 CAL_ACC0_ZSCALE 1 9 -1 50 CAL_ACC1_ID 0 6 -1 50 CAL_ACC1_XOFF 0 9 -1 50 CAL_ACC1_XSCALE 1 9 -1 50 CAL_ACC1_YOFF 0 9 -1 50 CAL_ACC1_YSCALE 1 9 -1 50 CAL_ACC1_ZOFF 0 9 -1 50 CAL_ACC1_ZSCALE 1 9 +1 50 CAL_ACC0_ID 1246218 6 +1 50 CAL_ACC0_XOFF 0.0657825 9 +1 50 CAL_ACC0_XSCALE 0.99657 9 +1 50 CAL_ACC0_YOFF -0.0470138 9 +1 50 CAL_ACC0_YSCALE 1.00066 9 +1 50 CAL_ACC0_ZOFF 0.2244 9 +1 50 CAL_ACC0_ZSCALE 0.985475 9 +1 50 CAL_ACC1_ID 1114634 6 +1 50 CAL_ACC1_XOFF 0.976983 9 +1 50 CAL_ACC1_XSCALE 0.978487 9 +1 50 CAL_ACC1_YOFF 0.92215 9 +1 50 CAL_ACC1_YSCALE 1.01181 9 +1 50 CAL_ACC1_ZOFF 1.07291 9 +1 50 CAL_ACC1_ZSCALE 1.00673 9 1 50 CAL_ACC2_ID 0 6 1 50 CAL_ACC2_XOFF 0 9 1 50 CAL_ACC2_XSCALE 1 9 @@ -42,20 +42,20 @@ 1 50 CAL_ACC2_YSCALE 1 9 1 50 CAL_ACC2_ZOFF 0 9 1 50 CAL_ACC2_ZSCALE 1 9 -1 50 CAL_BOARD_ID 0 6 -1 50 CAL_GYRO0_ID 0 6 -1 50 CAL_GYRO0_XOFF 0 9 +1 50 CAL_BOARD_ID 825374003 6 +1 50 CAL_GYRO0_ID 2163722 6 +1 50 CAL_GYRO0_XOFF 0.0102227 9 1 50 CAL_GYRO0_XSCALE 1 9 -1 50 CAL_GYRO0_YOFF 0 9 +1 50 CAL_GYRO0_YOFF 0.0485427 9 1 50 CAL_GYRO0_YSCALE 1 9 -1 50 CAL_GYRO0_ZOFF 0 9 +1 50 CAL_GYRO0_ZOFF -0.00950837 9 1 50 CAL_GYRO0_ZSCALE 1 9 -1 50 CAL_GYRO1_ID 0 6 -1 50 CAL_GYRO1_XOFF 0 9 +1 50 CAL_GYRO1_ID 2228490 6 +1 50 CAL_GYRO1_XOFF 0.012822 9 1 50 CAL_GYRO1_XSCALE 1 9 -1 50 CAL_GYRO1_YOFF 0 9 +1 50 CAL_GYRO1_YOFF 0.00126972 9 1 50 CAL_GYRO1_YSCALE 1 9 -1 50 CAL_GYRO1_ZOFF 0 9 +1 50 CAL_GYRO1_ZOFF -0.0285923 9 1 50 CAL_GYRO1_ZSCALE 1 9 1 50 CAL_GYRO2_ID 0 6 1 50 CAL_GYRO2_XOFF 0 9 @@ -64,21 +64,21 @@ 1 50 CAL_GYRO2_YSCALE 1 9 1 50 CAL_GYRO2_ZOFF 0 9 1 50 CAL_GYRO2_ZSCALE 1 9 -1 50 CAL_MAG0_ID 0 6 -1 50 CAL_MAG0_ROT -1 6 -1 50 CAL_MAG0_XOFF 0 9 -1 50 CAL_MAG0_XSCALE 1 9 -1 50 CAL_MAG0_YOFF 0 9 -1 50 CAL_MAG0_YSCALE 1 9 -1 50 CAL_MAG0_ZOFF 0 9 -1 50 CAL_MAG0_ZSCALE 1 9 -1 50 CAL_MAG1_ID 0 6 +1 50 CAL_MAG0_ID 73225 6 +1 50 CAL_MAG0_ROT 0 6 +1 50 CAL_MAG0_XOFF 0.0546612 9 +1 50 CAL_MAG0_XSCALE 1.03474 9 +1 50 CAL_MAG0_YOFF -0.0299049 9 +1 50 CAL_MAG0_YSCALE 0.934338 9 +1 50 CAL_MAG0_ZOFF -0.100793 9 +1 50 CAL_MAG0_ZSCALE 0.981021 9 +1 50 CAL_MAG1_ID 131594 6 1 50 CAL_MAG1_ROT -1 6 -1 50 CAL_MAG1_XOFF 0 9 +1 50 CAL_MAG1_XOFF -0.0239289 9 1 50 CAL_MAG1_XSCALE 1 9 -1 50 CAL_MAG1_YOFF 0 9 +1 50 CAL_MAG1_YOFF 0.0811809 9 1 50 CAL_MAG1_YSCALE 1 9 -1 50 CAL_MAG1_ZOFF 0 9 +1 50 CAL_MAG1_ZOFF 0.0455695 9 1 50 CAL_MAG1_ZSCALE 1 9 1 50 CAL_MAG2_ID 0 6 1 50 CAL_MAG2_ROT -1 6 @@ -180,6 +180,7 @@ 1 50 GF_ON 1 6 1 50 GF_SOURCE 0 6 1 50 INAV_DELAY_GPS 0.2 9 +1 50 INAV_ENABLED 0 6 1 50 INAV_FLOW_K 0.15 9 1 50 INAV_FLOW_Q_MIN 0.5 9 1 50 INAV_LAND_DISP 0.7 9 @@ -433,30 +434,32 @@ 1 50 RC_ACRO_TH 0.5 9 1 50 RC_ASSIST_TH 0.25 9 1 50 RC_AUTO_TH 0.75 9 +1 50 RC_CHAN_CNT 0 6 1 50 RC_DSM_BIND -1 6 1 50 RC_FAILS_THR 0 6 1 50 RC_LOITER_TH 0.5 9 1 50 RC_MAP_ACRO_SW 0 6 -1 50 RC_MAP_AUX1 0 6 -1 50 RC_MAP_AUX2 0 6 +1 50 RC_MAP_AUX1 11 6 +1 50 RC_MAP_AUX2 12 6 1 50 RC_MAP_AUX3 0 6 1 50 RC_MAP_FAILSAFE 0 6 -1 50 RC_MAP_FLAPS 0 6 -1 50 RC_MAP_LOITER_SW 0 6 -1 50 RC_MAP_MODE_SW 0 6 +1 50 RC_MAP_FLAPS 10 6 +1 50 RC_MAP_LOITER_SW 9 6 +1 50 RC_MAP_MODE_SW 6 6 1 50 RC_MAP_OFFB_SW 0 6 1 50 RC_MAP_PARAM1 0 6 1 50 RC_MAP_PARAM2 0 6 1 50 RC_MAP_PARAM3 0 6 1 50 RC_MAP_PITCH 2 6 -1 50 RC_MAP_POSCTL_SW 0 6 -1 50 RC_MAP_RETURN_SW 0 6 +1 50 RC_MAP_POSCTL_SW 7 6 +1 50 RC_MAP_RETURN_SW 8 6 1 50 RC_MAP_ROLL 1 6 1 50 RC_MAP_THROTTLE 3 6 1 50 RC_MAP_YAW 4 6 1 50 RC_OFFB_TH 0.5 9 1 50 RC_POSCTL_TH 0.5 9 1 50 RC_RETURN_TH 0.5 9 +1 50 RC_TH_USER 1 6 1 50 RTL_DESCEND_ALT 10 9 1 50 RTL_LAND_DELAY -1 9 1 50 RTL_LOITER_RAD 50 9 @@ -507,3 +510,4 @@ 1 50 VT_MOT_COUNT 0 6 1 50 VT_POWER_MAX 120 9 1 50 VT_PROP_EFF 0 9 +1 51 COMPONENT_51 51 6 diff --git a/src/qgcunittest/MockLinkMissionItemHandler.cc b/src/comm/MockLinkMissionItemHandler.cc similarity index 100% rename from src/qgcunittest/MockLinkMissionItemHandler.cc rename to src/comm/MockLinkMissionItemHandler.cc diff --git a/src/qgcunittest/MockLinkMissionItemHandler.h b/src/comm/MockLinkMissionItemHandler.h similarity index 99% rename from src/qgcunittest/MockLinkMissionItemHandler.h rename to src/comm/MockLinkMissionItemHandler.h index 640f1fcf369380052817e0f692473efe9a2a3910..801c80e53459f80ca3b8169fb09e5aa3f53cf404 100644 --- a/src/qgcunittest/MockLinkMissionItemHandler.h +++ b/src/comm/MockLinkMissionItemHandler.h @@ -29,7 +29,6 @@ #include #include -#include "MAVLinkSimulationLink.h" #include "QGCMAVLink.h" /* Alreedy defined in MAVLinkSimulationLink.h above! diff --git a/src/comm/Parameter.cc b/src/comm/Parameter.cc deleted file mode 100644 index 9a4b66a64669b53d590acdac88c98932decddb9c..0000000000000000000000000000000000000000 --- a/src/comm/Parameter.cc +++ /dev/null @@ -1,118 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Implementation of class OpalRT::Parameter - * @author Bryan Godbolt - */ -#include "Parameter.h" -using namespace OpalRT; - -//Parameter::Parameter(char *simulinkPath, char *simulinkName, uint8_t componentID, -// QGCParamID paramID, unsigned short opalID) -// : simulinkPath(new QString(simulinkPath)), -// simulinkName(new QString(simulinkName)), -// componentID(componentID), -// paramID(new QGCParamID(paramID)), -// opalID(opalID) -// -//{ -//} -Parameter::Parameter(QString simulinkPath, QString simulinkName, uint8_t componentID, - QGCParamID paramID, unsigned short opalID) - : simulinkPath(new QString(simulinkPath)), - simulinkName(new QString(simulinkName)), - componentID(componentID), - paramID(new QGCParamID(paramID)), - opalID(opalID) - -{ -} -Parameter::Parameter(const Parameter &other) - : componentID(other.componentID), - opalID(other.opalID) -{ - simulinkPath = new QString(*other.simulinkPath); - simulinkName = new QString(*other.simulinkName); - paramID = new QGCParamID(*other.paramID); -} - -Parameter::~Parameter() -{ - delete simulinkPath; - delete simulinkName; - delete paramID; -} - -bool Parameter::operator ==(const Parameter& other) const -{ - return - (*simulinkPath) == *(other.simulinkPath) - && *simulinkName == *(other.simulinkName) - && componentID == other.componentID - && *paramID == *(other.paramID) - && opalID == other.opalID; - -} - -float Parameter::getValue() -{ - unsigned short allocatedParams = 1; - unsigned short numParams; - unsigned short numValues = 1; - unsigned short returnedNumValues; - double value; - - int returnVal = OpalGetParameters(allocatedParams, &numParams, &opalID, - numValues, &returnedNumValues, &value); - - if (returnVal != EOK) { - OpalRT::OpalErrorMsg::displayLastErrorMsg(); - return FLT_MAX; - } - - return static_cast(value); -} - -void Parameter::setValue(float val) -{ - unsigned short allocatedParams = 1; - unsigned short numParams; - unsigned short numValues = 1; - unsigned short returnedNumValues; - double value = static_cast(val); - - int returnVal = OpalSetParameters(allocatedParams, &numParams, &opalID, - numValues, &returnedNumValues, &value); - if (returnVal != EOK) { - //qDebug() << __FILE__ << ":" << __LINE__ << ": Error numer: " << QString::number(returnVal); - OpalErrorMsg::displayLastErrorMsg(); - } -} - -Parameter::operator QString() const -{ - return *simulinkPath + *simulinkName + " " + QString::number(componentID) - + " " + *paramID + " " + QString::number(opalID); -} diff --git a/src/comm/Parameter.h b/src/comm/Parameter.h deleted file mode 100644 index 8b20b55ef10e00d0f27142dde75bf90ca6b48d51..0000000000000000000000000000000000000000 --- a/src/comm/Parameter.h +++ /dev/null @@ -1,92 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Parameter Object used to intefrace with an OpalRT Simulink Parameter - \see OpalLink - \see OpalRT::ParameterList - * @author Bryan Godbolt - */ - -#ifndef PARAMETER_H -#define PARAMETER_H - -#include -#include - -#include "mavlink_types.h" -#include "QGCParamID.h" -#include "OpalApi.h" -#include "OpalRT.h" -#include - -namespace OpalRT -{ -class Parameter -{ -public: -// Parameter(char *simulinkPath = "", -// char *simulinkName = "", -// uint8_t componentID = 0, -// QGCParamID paramID = QGCParamID(), -// unsigned short opalID = 0); - Parameter(QString simulinkPath = QString(), - QString simulinkName = QString(), - uint8_t componentID = 0, - QGCParamID paramID = QGCParamID(), - unsigned short opalID = 0); - Parameter(const Parameter& other); - ~Parameter(); - - const QGCParamID& getParamID() const { - return *paramID; - } - void setOpalID(unsigned short opalID) { - this->opalID = opalID; - } - const QString& getSimulinkPath() const { - return *simulinkPath; - } - const QString& getSimulinkName() const { - return *simulinkName; - } - uint8_t getComponentID() const { - return componentID; - } - float getValue(); - void setValue(float value); - - bool operator==(const Parameter& other) const; - operator QString() const; - -protected: - QString *simulinkPath; - QString *simulinkName; - uint8_t componentID; - QGCParamID *paramID; - unsigned short opalID; -}; -} - -#endif // PARAMETER_H diff --git a/src/comm/ParameterList.cc b/src/comm/ParameterList.cc deleted file mode 100644 index ecb627e39cdbff893834aa10eb474a90d518befe..0000000000000000000000000000000000000000 --- a/src/comm/ParameterList.cc +++ /dev/null @@ -1,332 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Implementation of class OpalRT::ParameterList - * @author Bryan Godbolt - */ - -#include "ParameterList.h" -using namespace OpalRT; - -ParameterList::ParameterList() - :params(new QMap >), - paramList(new QList >()), - reqdServoParams(new QStringList()) -{ - - QDir settingsDir = QDir(qApp->applicationDirPath()); - if (settingsDir.dirName() == "bin") - settingsDir.cdUp(); - settingsDir.cd("data"); - - // Enforce a list of parameters which are necessary for flight - reqdServoParams->append("AIL_RIGHT_IN"); - reqdServoParams->append("AIL_CENTER_IN"); - reqdServoParams->append("AIL_LEFT_IN"); - reqdServoParams->append("AIL_RIGHT_OUT"); - reqdServoParams->append("AIL_CENTER_OUT"); - reqdServoParams->append("AIL_LEFT_OUT"); - reqdServoParams->append("ELE_DOWN_IN"); - reqdServoParams->append("ELE_CENTER_IN"); - reqdServoParams->append("ELE_UP_IN"); - reqdServoParams->append("ELE_DOWN_OUT"); - reqdServoParams->append("ELE_CENTER_OUT"); - reqdServoParams->append("ELE_UP_OUT"); - reqdServoParams->append("RUD_LEFT_IN"); - reqdServoParams->append("RUD_CENTER_IN"); - reqdServoParams->append("RUD_RIGHT_IN"); - - QString filename(settingsDir.path() + "/ParameterList.xml"); - if ((QFile::exists(filename)) && open(filename)) { - - /* Get a list of the available parameters from opal-rt */ - QMap *opalParams = new QMap; - getParameterList(opalParams); - - /* Iterate over the parameters we want to use in qgc and populate their ids */ - QMap >::iterator componentIter; - QMap::iterator paramIter; - QString s; - for (componentIter = params->begin(); componentIter != params->end(); ++componentIter) { - paramList->append(QList()); - for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter) { - paramList->last().append(paramIter.operator ->()); - s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName(); - if (opalParams->contains(s)) { - (*paramIter).setOpalID(opalParams->value(s)); - // qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s; - } else { - qDebug() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list"; - } - } - } - delete opalParams; - } -} - -ParameterList::~ParameterList() -{ - delete params; - delete paramList; -} - -/** - Get the list of parameters in the simulink model. This function does not require - any prior knowlege of the parameters. It works by first calling OpalGetParameterList to - get the number of paramters, then allocates the required amount of memory and then gets - the paramter list using a second call to OpalGetParameterList. - */ -void ParameterList::getParameterList(QMap *opalParams) -{ - /* inputs */ - unsigned short allocatedParams=0; - unsigned short allocatedPathLen=0; - unsigned short allocatedNameLen=0; - unsigned short allocatedVarLen=0; - - /* outputs */ - unsigned short numParams; - unsigned short *idParam=NULL; - unsigned short maxPathLen; - char **paths=NULL; - unsigned short maxNameLen; - char **names=NULL; - unsigned short maxVarLen; - char **var=NULL; - - int returnValue; - - returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam, - allocatedPathLen, &maxPathLen, paths, - allocatedNameLen, &maxNameLen, names, - allocatedVarLen, &maxVarLen, var); - if (returnValue!=E2BIG) { -// OpalRT::setLastErrorMsg(); - OpalRT::OpalErrorMsg::displayLastErrorMsg(); - return; - } - - // allocate memory for parameter list - - idParam = new unsigned short[numParams]; - allocatedParams = numParams; - - paths = new char*[numParams]; - for (int i=0; iinsert(path+name, idParam[i]); - else - opalParams->insert(path+'/'+name, idParam[i]); - } -// Dump out the list of parameters -// QMap::const_iterator paramPrint; -// for (paramPrint = opalParams->begin(); paramPrint != opalParams->end(); ++paramPrint) -// qDebug() << paramPrint.key(); - - -} - -int ParameterList::indexOf(const Parameter &p) -{ - // incase p is a copy of the actual parameter we want (i.e., addresses differ) - Parameter *pPtr = &((*params)[p.getComponentID()][p.getParamID()]); - - QList >::const_iterator iter; - int index = -1; - for (iter = paramList->begin(); iter != paramList->end(); ++iter) { - if ((index = (*iter).indexOf(pPtr)) != -1) - return index; - } - return index; -} - - -ParameterList::const_iterator::const_iterator(QList paramList) -{ - this->paramList = QList(paramList); - index = 0; -} - -ParameterList::const_iterator::const_iterator(const const_iterator &other) -{ - paramList = QList(other.paramList); - index = other.index; -} - -ParameterList::const_iterator ParameterList::begin() const -{ - QList > compList = params->values(); - QList paramList; - QList >::const_iterator compIter; - for (compIter = compList.begin(); compIter != compList.end(); ++compIter) - paramList.append((*compIter).values()); - return const_iterator(paramList); -} - -ParameterList::const_iterator ParameterList::end() const -{ - const_iterator iter = begin(); - return iter+=iter.paramList.size(); -} - -int ParameterList::count() -{ - int count = 0; - QList >::const_iterator iter; - for (iter = paramList->begin(); iter != paramList->end(); ++iter) - count += (*iter).count(); - return count; -} - -/* Functions related to reading the xml config file */ - -bool ParameterList::open(QString filename) -{ - QFile paramFile(filename); - if (!paramFile.exists()) { - /// \todo open dialog box (maybe: that could also go in comm config window) - return false; - } - - if (!paramFile.open(QIODevice::ReadOnly)) { - return false; - } - - read(¶mFile); - - paramFile.close(); - - return true; -} - -bool ParameterList::read(QIODevice *device) -{ - QDomDocument *paramConfig = new QDomDocument(); - - QString errorStr; - int errorLine; - int errorColumn; - - if (!paramConfig->setContent(device, true, &errorStr, &errorLine, - &errorColumn)) { - qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr; - return false; - } - - QDomElement root = paramConfig->documentElement(); - if (root.tagName() != "ParameterList") { - qDebug() << __FILE__ << __LINE__ << "This is not a parameter list xml file"; - return false; - } - - QDomElement child = root.firstChildElement("Block"); - while (!child.isNull()) { - parseBlock(child); - child = child.nextSiblingElement("Block"); - } - - if (!reqdServoParams->empty()) { - qDebug() << __FILE__ << __LINE__ << "Missing the following required servo parameters"; - foreach(QString s, *reqdServoParams) { - qDebug() << s; - } - } - - delete paramConfig; - return true; -} - -void ParameterList::parseBlock(const QDomElement &block) -{ - - QDomNodeList paramList; - QDomElement e; - Parameter *p; - SubsystemIds id; - if (block.attribute("name") == "Navigation") - id = OpalRT::NAV; - else if (block.attribute("name") == "Controller") - id = OpalRT::CONTROLLER; - else if (block.attribute("name") == "ServoOutputs") - id = OpalRT::SERVO_OUTPUTS; - else if (block.attribute("name") == "ServoInputs") - id = OpalRT::SERVO_INPUTS; - - paramList = block.elementsByTagName("Parameter"); - for (int i=0; i < paramList.size(); ++i) { - e = paramList.item(i).toElement(); - if (e.hasAttribute("SimulinkPath") && - e.hasAttribute("SimulinkParameterName") && - e.hasAttribute("QGCParamID")) { - - p = new Parameter(e.attribute("SimulinkPath"), - e.attribute("SimulinkParameterName"), - static_cast(id), - QGCParamID(e.attribute("QGCParamID"))); - (*params)[id].insert(p->getParamID(), *p); - if (reqdServoParams->contains((QString)p->getParamID())) - reqdServoParams->removeAt(reqdServoParams->indexOf((QString)p->getParamID())); - - delete p; - - - } else { - qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc in block" << block.attribute("name"); - } - } - - - -} diff --git a/src/comm/ParameterList.h b/src/comm/ParameterList.h deleted file mode 100644 index 6e4a2423e3a3217f6438e3ec6669aa361c47e5f6..0000000000000000000000000000000000000000 --- a/src/comm/ParameterList.h +++ /dev/null @@ -1,175 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -#ifndef PARAMETERLIST_H -#define PARAMETERLIST_H - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "mavlink_types.h" -#include "QGCParamID.h" -#include "Parameter.h" -#include "OpalRT.h" - -namespace OpalRT -{ -class ParameterList -{ -public: - - class const_iterator - { - friend class ParameterList; - - public: - inline const_iterator() {} - const_iterator(const const_iterator& other); - - const_iterator& operator+=(int i) { - index += i; - return *this; - } - bool operator<(const const_iterator& other) const { - return (this->paramList == other.paramList) - &&(this->indexparamList == other.paramList) - &&(this->index==other.index); - } - bool operator!=(const const_iterator& other) const { - return !((*this) == other); - } - const Parameter& operator*() const { - return paramList[index]; - } - const Parameter* operator->() const { - return ¶mList[index]; - } - - const_iterator& operator++() { - ++index; - return *this; - } - private: - const_iterator(QList); - QList paramList; - int index; - }; - - - ParameterList(); - ~ParameterList(); - - /** Count the number of parameters in the list. - \return Total number of parameters - */ - int count(); - - /** Find p in the list and return its index. - \note In order to use this index to look up p, the component is also needed. - \return the index of p or -1 if p is not found - \example - \code - int compid = OpalRT::CONTROLLER_ID; - Parameter p("simulinkpath", "simulinkparamname", compid, QGCParamID("PID_GAIN")); - ParameterList pList; - if ((int index=pList.indexOf(p)) != -1) - qDebug() << "PID_GAIN is at index " << index; - \endcode - */ - int indexOf(const Parameter& p); - bool contains(int compid, QGCParamID paramid) const { - return (*params)[compid].contains(paramid); - } - - /// Get a parameter from the list - const Parameter getParameter(int compid, QGCParamID paramid) const { - return (*params)[compid][paramid]; - } - Parameter& getParameter(int compid, QGCParamID paramid) { - return (*params)[compid][paramid]; - } - const Parameter getParameter(int compid, int index) const { - return *((*paramList)[compid][index]); - } - - /** Convenient syntax for calling OpalRT::Parameter::getParameter() */ - Parameter& operator()(int compid, QGCParamID paramid) { - return getParameter(compid, paramid); - } - Parameter& operator()(uint8_t compid, QGCParamID paramid) { - return getParameter(static_cast(compid), paramid); - } - - const_iterator begin() const; - const_iterator end() const; - -protected: - /** Store the parameters mapped by componentid, and paramid. - \code - // Look up a parameter - int compid = 1; - QGCParamID paramid("PID_GAIN"); - Parameter p = params[compid][paramid]; - \endcode - */ - QMap > *params; - /** - Store pointers to the parameters to allow fast lookup by index. - This variable may be changed to const pointers to ensure all changes - are made through the map container. - */ - QList > *paramList; - /** - List of parameters which are necessary to control the servos. - */ - QStringList *reqdServoParams; - /** - Get the list of available parameters from Opal-RT. - \param[out] opalParams Map of parameter paths/names to ids which are valid in Opal-RT - */ - void getParameterList(QMap* opalParams); - - /** - Open a file for reading in the xml config data - */ - bool open(QString filename=QString()); - /** - Attempt to read XML configuration data from device - \param[in] the device to read the xml data from - \return true if the configuration was read successfully, false otherwise - */ - bool read(QIODevice *device); - - void parseBlock(const QDomElement &block); -}; -} -#endif // PARAMETERLIST_H diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc index cc2de31692ae89452cfcee4d68c9b116222cb6a9..e6e234056602b168fff7311ed75e30ba326cd80e 100644 --- a/src/comm/QGCFlightGearLink.cc +++ b/src/comm/QGCFlightGearLink.cc @@ -833,7 +833,7 @@ bool QGCFlightGearLink::connectSimulation() #endif // Setup and verify directory which contains QGC provided aircraft files - QString qgcAircraftDir(QApplication::applicationDirPath() + "/files/flightgear/Aircraft"); + QString qgcAircraftDir(QApplication::applicationDirPath() + "/flightgear/Aircraft"); if (!QFileInfo(qgcAircraftDir).isDir()) { QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. Aircraft directory is missing: '%1'.").arg(qgcAircraftDir)); return false; @@ -854,7 +854,7 @@ bool QGCFlightGearLink::connectSimulation() } // Verify directory which contains QGC provided FlightGear communication protocol files - QDir qgcProtocolDir(QApplication::applicationDirPath() + "/files/flightgear/Protocol/"); + QDir qgcProtocolDir(QApplication::applicationDirPath() + "/flightgear/Protocol/"); if (!qgcProtocolDir.isReadable()) { QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. Protocol directory is missing (%1).").arg(qgcProtocolDir.path())); return false; diff --git a/src/comm/QGCParamID.h b/src/comm/QGCParamID.h deleted file mode 100644 index 44f9ddead9dc01d114a788a273a63fd7d81f4398..0000000000000000000000000000000000000000 --- a/src/comm/QGCParamID.h +++ /dev/null @@ -1,82 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009 - 2011 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Stores the paramid used for mavlink - * @author Bryan Godbolt - */ - -#ifndef QGCPARAMID_H -#define QGCPARAMID_H - -#include - -#include "mavlink_types.h" - -//namespace OpalRT -//{ -// class QGCParamID; -//} -// -//QDataStream& operator<<(QDataStream&, const OpalRT::QGCParamID&); - -namespace OpalRT -{ -/** Stores a param_id for the mavlink parameter packets. This class adds the convenience - of storing the id as a string (e.g., easy comparison). - - \todo Fix: warning: deprecated conversion from string constant to 'char*' - */ -class QGCParamID -{ -// friend QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid); -public: - - QGCParamID(const char[]); - QGCParamID(const QString); - QGCParamID() {} - QGCParamID(const QGCParamID& other); - - bool operator<(const QGCParamID& other) const { - return data(data); - } - int8_t* toInt8_t() const { - return (int8_t*)data.toLatin1().data(); - } - -protected: - QString data; -}; -} -#endif // QGCPARAMID_H diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc index 2641edd68823521abfc498c03663e47bf8956bc2..d998badb0ec74a791185d1e16e1b8b5bc90a1889 100644 --- a/src/comm/SerialLink.cc +++ b/src/comm/SerialLink.cc @@ -12,14 +12,21 @@ #include #include #include + +#ifdef __android__ +#include "qserialport.h" +#include "qserialportinfo.h" +#else #include #include +#endif #include "SerialLink.h" #include "QGC.h" #include "MG.h" +#include "QGCLoggingCategory.h" -Q_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog") +QGC_LOGGING_CATEGORY(SerialLinkLog, "SerialLinkLog") SerialLink::SerialLink(SerialConfiguration* config) { @@ -33,8 +40,6 @@ SerialLink::SerialLink(SerialConfiguration* config) // We're doing it wrong - because the Qt folks got the API wrong: // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/ moveToThread(this); - // Set unique ID and add link to the list of links - _id = getNextLinkId(); qCDebug(SerialLinkLog) << "Create SerialLink " << config->portName() << config->baud() << config->flowControl() << config->parity() << config->dataBits() << config->stopBits(); @@ -62,7 +67,7 @@ SerialLink::~SerialLink() bool SerialLink::_isBootloader() { - QList portList = QSerialPortInfo::availablePorts(); + QList portList = QSerialPortInfo::availablePorts(); if( portList.count() == 0){ return false; } @@ -88,6 +93,7 @@ bool SerialLink::_isBootloader() **/ void SerialLink::run() { +#ifndef __android__ // Initialize the connection if (!_hardwareConnect(_type)) { // Need to error out here. @@ -98,6 +104,7 @@ void SerialLink::run() _emitLinkError("Error connecting: " + err); return; } +#endif qint64 msecs = QDateTime::currentMSecsSinceEpoch(); qint64 initialmsecs = QDateTime::currentMSecsSinceEpoch(); @@ -250,10 +257,13 @@ bool SerialLink::_disconnect(void) _stopp = true; } wait(); // This will terminate the thread and close the serial port - return true; + } else { + _transmitBuffer.clear(); //clear the output buffer to avoid sending garbage at next connect + qCDebug(SerialLinkLog) << "Already disconnected"; } - _transmitBuffer.clear(); //clear the output buffer to avoid sending garbage at next connect - qCDebug(SerialLinkLog) << "Already disconnected"; +#ifdef __android__ + LinkManager::instance()->suspendConfigurationUpdates(false); +#endif return true; } @@ -271,6 +281,19 @@ bool SerialLink::_connect(void) QMutexLocker locker(&this->_stoppMutex); _stopp = false; } +#ifdef __android__ + LinkManager::instance()->suspendConfigurationUpdates(true); + // Initialize the connection + if (!_hardwareConnect(_type)) { + // Need to error out here. + QString err("Could not create port."); + if (_port) { + err = _port->errorString(); + } + _emitLinkError("Error connecting: " + err); + return false; + } +#endif start(HighPriority); return true; } @@ -333,6 +356,9 @@ bool SerialLink::_hardwareConnect(QString &type) // After the bootloader times out, it still can take a second or so for the Pixhawk USB driver to come up and make // the port available for open. So we retry a few times to wait for it. +#ifdef __android__ + _port->open(QIODevice::ReadWrite); +#else for (int openRetries = 0; openRetries < 4; openRetries++) { if (!_port->open(QIODevice::ReadWrite)) { qCDebug(SerialLinkLog) << "Port open failed, retrying"; @@ -341,6 +367,7 @@ bool SerialLink::_hardwareConnect(QString &type) break; } } +#endif if (!_port->isOpen() ) { emit communicationUpdate(getName(),"Error opening port: " + _port->errorString()); _port->close(); @@ -390,11 +417,6 @@ bool SerialLink::isConnected() const return isConnected; } -int SerialLink::getId() const -{ - return _id; -} - QString SerialLink::getName() const { return _config->portName(); @@ -581,14 +603,3 @@ void SerialConfiguration::loadSettings(QSettings& settings, const QString& root) if(settings.contains("portName")) _portName = settings.value("portName").toString(); settings.endGroup(); } - -QList SerialConfiguration::getCurrentPorts() -{ - QList ports; - QList portList = QSerialPortInfo::availablePorts(); - foreach (const QSerialPortInfo &info, portList) - { - ports.append(info.portName()); - } - return ports; -} diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h index b641d113e4daff22a3e495a24f199acdef39f409..8f2011e83b84e2bf42f738be511c5ff68274873f 100644 --- a/src/comm/SerialLink.h +++ b/src/comm/SerialLink.h @@ -40,7 +40,11 @@ class SerialLink; #include #include #include +#ifdef __android__ +#include "qserialport.h" +#else #include +#endif #include #include @@ -81,9 +85,6 @@ public: void saveSettings(QSettings& settings, const QString& root); void updateSettings(); - /*! @brief Get a list of the currently available ports */ - static QList getCurrentPorts(); - private: int _baud; int _dataBits; @@ -105,16 +106,14 @@ private: class SerialLink : public LinkInterface { Q_OBJECT + friend class SerialConfiguration; + friend class LinkManager; + public: - - SerialLink(SerialConfiguration* config); - ~SerialLink(); - // LinkInterface LinkConfiguration* getLinkConfiguration(); - int getId() const; QString getName() const; void requestReset(); bool isConnected() const; @@ -148,7 +147,6 @@ protected: QSerialPort* _port; quint64 _bytesRead; int _timeout; - int _id; QMutex _dataMutex; // Mutex for reading data from _port QMutex _writeMutex; // Mutex for accessing the _transmitBuffer. QString _type; @@ -157,9 +155,13 @@ private slots: void _rerouteDisconnected(void); private: + // Links are only created/destroyed by LinkManager so constructor/destructor is not public + SerialLink(SerialConfiguration* config); + ~SerialLink(); + // From LinkInterface - bool _connect(void); - bool _disconnect(void); + virtual bool _connect(void); + virtual bool _disconnect(void); // Internal methods void _emitLinkError(const QString& errorMsg); diff --git a/src/comm/TCPLink.cc b/src/comm/TCPLink.cc index 67cd1ded84e6fe4525f711e09f66ed2683933c48..35a0b6e69fb6511e77611e17cfe92bceb89f6368 100644 --- a/src/comm/TCPLink.cc +++ b/src/comm/TCPLink.cc @@ -46,7 +46,6 @@ TCPLink::TCPLink(TCPConfiguration *config) // We're doing it wrong - because the Qt folks got the API wrong: // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/ moveToThread(this); - _linkId = getNextLinkId(); qDebug() << "TCP Created " << _config->name(); } @@ -200,11 +199,6 @@ bool TCPLink::isConnected() const return _socketIsConnected; } -int TCPLink::getId() const -{ - return _linkId; -} - QString TCPLink::getName() const { return _config->name(); diff --git a/src/comm/TCPLink.h b/src/comm/TCPLink.h index 36ce8815addbd509d39518ce7623a487ef439791..2d0e5a52eef1ee511a36f5290671048187a2de03 100644 --- a/src/comm/TCPLink.h +++ b/src/comm/TCPLink.h @@ -115,18 +115,17 @@ private: class TCPLink : public LinkInterface { Q_OBJECT + friend class TCPLinkUnitTest; friend class TCPConfiguration; -public: - TCPLink(TCPConfiguration* config); - ~TCPLink(); + friend class LinkManager; +public: QTcpSocket* getSocket(void) { return _socket; } void signalBytesWritten(void); // LinkInterface methods - virtual int getId(void) const; virtual QString getName(void) const; virtual bool isConnected(void) const; virtual void requestReset(void) {}; @@ -159,9 +158,13 @@ protected: virtual void run(void); private: + // Links are only created/destroyed by LinkManager so constructor/destructor is not public + TCPLink(TCPConfiguration* config); + ~TCPLink(); + // From LinkInterface - bool _connect(void); - bool _disconnect(void); + virtual bool _connect(void); + virtual bool _disconnect(void); bool _hardwareConnect(); void _restartConnection(); @@ -170,7 +173,6 @@ private: void _writeDebugBytes(const char *data, qint16 size); #endif - int _linkId; TCPConfiguration* _config; QTcpSocket* _socket; bool _socketIsConnected; diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc index 2ef238b1638c7b2b60be06ea6f2783cc189669f4..327a5ce3c4c17b631c3f6b26d63dd343a6dbe2b0 100644 --- a/src/comm/UDPLink.cc +++ b/src/comm/UDPLink.cc @@ -51,8 +51,6 @@ UDPLink::UDPLink(UDPConfiguration* config) // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/ moveToThread(this); - // Set unique ID and add link to the list of links - _id = getNextLinkId(); qDebug() << "UDP Created " << _config->name(); } @@ -94,7 +92,6 @@ QString UDPLink::getName() const void UDPLink::addHost(const QString& host) { - qDebug() << "UDP:" << "ADDING HOST:" << host; _config->addHost(host); } @@ -176,8 +173,7 @@ void UDPLink::readBytes() // added to the list and will start receiving datagrams from here. Even a port scanner // would trigger this. // Add host to broadcast list if not yet present, or update its port - QString host(sender.toString() + ":" + QString("%1").arg((int)senderPort)); - _config->addHost(host); + _config->addHost(sender.toString(), (int)senderPort); } } @@ -242,11 +238,6 @@ bool UDPLink::isConnected() const return _connectState; } -int UDPLink::getId() const -{ - return _id; -} - qint64 UDPLink::getConnectionSpeed() const { return 54000000; // 54 Mbit @@ -285,7 +276,6 @@ UDPConfiguration::UDPConfiguration(UDPConfiguration* source) : LinkConfiguration void UDPConfiguration::copyFrom(LinkConfiguration *source) { - _confMutex.lock(); LinkConfiguration::copyFrom(source); UDPConfiguration* usource = dynamic_cast(source); Q_ASSERT(usource != NULL); @@ -297,7 +287,6 @@ void UDPConfiguration::copyFrom(LinkConfiguration *source) addHost(host, port); } while(usource->nextHost(host, port)); } - _confMutex.unlock(); } /** @@ -305,7 +294,6 @@ void UDPConfiguration::copyFrom(LinkConfiguration *source) */ void UDPConfiguration::addHost(const QString& host) { - qDebug() << "UDP:" << "ADDING HOST:" << host; if (host.contains(":")) { QHostInfo info = QHostInfo::fromName(host.split(":").first()); @@ -316,33 +304,44 @@ void UDPConfiguration::addHost(const QString& host) QHostAddress address; for (int i = 0; i < hostAddresses.size(); i++) { - // Exclude loopback IPv4 and all IPv6 addresses + // Exclude all IPv6 addresses if (!hostAddresses.at(i).toString().contains(":")) { address = hostAddresses.at(i); } } + _confMutex.lock(); _hosts[address.toString()] = host.split(":").last().toInt(); + _confMutex.unlock(); + qDebug() << "UDP:" << "ADDING HOST:" << address.toString() << ":" << host.split(":").last(); } } else { - QHostInfo info = QHostInfo::fromName(host); - if (info.error() == QHostInfo::NoError) - { - // Set port according to default (same as local port) - _hosts[info.addresses().first().toString()] = (int)_localPort; - } + addHost(host, (int)_localPort); } } void UDPConfiguration::addHost(const QString& host, int port) { - _hosts[host.trimmed()] = port; + QMutexLocker locker(&_confMutex); + if(_hosts.contains(host)) { + if(_hosts[host] != port) { + _hosts[host] = port; + } + } else { + QHostInfo info = QHostInfo::fromName(host); + if (info.error() == QHostInfo::NoError) + { + _hosts[info.addresses().first().toString()] = port; + qDebug() << "UDP:" << "ADDING HOST:" << info.addresses().first().toString() << ":" << port; + } + } } void UDPConfiguration::removeHost(const QString& host) { + QMutexLocker locker(&_confMutex); QString tHost = host; if (tHost.contains(":")) { tHost = tHost.split(":").first(); @@ -356,15 +355,19 @@ void UDPConfiguration::removeHost(const QString& host) bool UDPConfiguration::firstHost(QString& host, int& port) { + _confMutex.lock(); _it = _hosts.begin(); if(_it == _hosts.end()) { + _confMutex.unlock(); return false; } + _confMutex.unlock(); return nextHost(host, port); } bool UDPConfiguration::nextHost(QString& host, int& port) { + QMutexLocker locker(&_confMutex); if(_it != _hosts.end()) { host = _it.key(); port = _it.value(); @@ -402,8 +405,9 @@ void UDPConfiguration::saveSettings(QSettings& settings, const QString& root) void UDPConfiguration::loadSettings(QSettings& settings, const QString& root) { _confMutex.lock(); - settings.beginGroup(root); _hosts.clear(); + _confMutex.unlock(); + settings.beginGroup(root); _localPort = (quint16)settings.value("port", QGC_UDP_LOCAL_PORT).toUInt(); int hostCount = settings.value("hostCount", 0).toInt(); for(int i = 0; i < hostCount; i++) { @@ -414,7 +418,6 @@ void UDPConfiguration::loadSettings(QSettings& settings, const QString& root) } } settings.endGroup(); - _confMutex.unlock(); } void UDPConfiguration::updateSettings() diff --git a/src/comm/UDPLink.h b/src/comm/UDPLink.h index 578de01c121e15f3ac0d97d80334597265d4245a..bb6b17a56f0bafc1d2f84bea0b468f52e6128566 100644 --- a/src/comm/UDPLink.h +++ b/src/comm/UDPLink.h @@ -143,11 +143,11 @@ private: class UDPLink : public LinkInterface { Q_OBJECT + friend class UDPConfiguration; + friend class LinkManager; + public: - UDPLink(UDPConfiguration* config); - ~UDPLink(); - void requestReset() { } bool isConnected() const; QString getName() const; @@ -158,7 +158,6 @@ public: qint64 getCurrentOutDataRate() const; void run(); - int getId() const; // These are left unimplemented in order to cause linker errors which indicate incorrect usage of // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager. @@ -189,9 +188,12 @@ protected: QUdpSocket* _socket; UDPConfiguration* _config; bool _connectState; - int _id; private: + // Links are only created/destroyed by LinkManager so constructor/destructor is not public + UDPLink(UDPConfiguration* config); + ~UDPLink(); + // From LinkInterface virtual bool _connect(void); virtual bool _disconnect(void); diff --git a/src/comm/XbeeLink.cpp b/src/comm/XbeeLink.cpp index a190678e1314267946bf810dc746b49f2d54ec9b..ee3baa0c63e8bbf02637bb851d122be6892e9c3d 100644 --- a/src/comm/XbeeLink.cpp +++ b/src/comm/XbeeLink.cpp @@ -8,7 +8,6 @@ XbeeLink::XbeeLink(QString portName, int baudRate) : m_xbeeCon(NULL), - m_id(-1), m_portName(NULL), m_portNameLength(0), m_baudRate(baudRate), @@ -19,13 +18,6 @@ XbeeLink::XbeeLink(QString portName, int baudRate) : /* setup the xbee */ this->setPortName(portName); - - //this->connect(); - // Set unique ID and add link to the list of links - this->m_id = getNextLinkId(); - // set the Name - this->m_name = tr("xbee link") + QString::number(this->m_id); - emit nameChanged(this->m_name); } XbeeLink::~XbeeLink() @@ -110,11 +102,6 @@ bool XbeeLink::setBaudRate(int rate) return retVal; } -int XbeeLink::getId() const -{ - return this->m_id; -} - QString XbeeLink::getName() const { return this->m_name; diff --git a/src/comm/XbeeLink.h b/src/comm/XbeeLink.h index 167b0bb2f2c6c94223d8f13df36c6531330b96f3..04bb62aa3504ef5cc9c54a764f0ab71585dbff3c 100644 --- a/src/comm/XbeeLink.h +++ b/src/comm/XbeeLink.h @@ -35,8 +35,8 @@ public slots: // virtual functions from XbeeLinkInterface bool setRemoteAddressHigh(quint32 high); bool setRemoteAddressLow(quint32 low); -public: // virtual functions from LinkInterface - int getId() const; +public: + // virtual functions from LinkInterface QString getName() const; bool isConnected() const; @@ -56,7 +56,6 @@ public: protected: xbee_con *m_xbeeCon; - int m_id; char *m_portName; unsigned int m_portNameLength; int m_baudRate; diff --git a/src/input/Freenect.cc b/src/input/Freenect.cc deleted file mode 100644 index 3f683c3ea2b1149e82cfc9ea4bb807e1303034d2..0000000000000000000000000000000000000000 --- a/src/input/Freenect.cc +++ /dev/null @@ -1,449 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Freenect. - * - * @author Lionel Heng - * - */ - -#include "Freenect.h" - -#include -#include -#include - -Freenect::Freenect() - : context(NULL) - , device(NULL) - , tiltAngle(0) - , rgbData(new QByteArray) - , rawDepthData(new QByteArray) - , coloredDepthData(new QByteArray) - , pointCloud3D(new QVector) - , pointCloud6D(new QVector) -{ - -} - -Freenect::~Freenect() -{ - if (device != NULL) { - freenect_stop_depth(device); - freenect_stop_video(device); - } - - freenect_close_device(device); - - freenect_shutdown(context); -} - -bool -Freenect::init(int userDeviceNumber) -{ - // read in settings - readConfigFile(); - - // populate gamma lookup table - for (int i = 0; i < 2048; ++i) { - float v = static_cast(i) / 2048.0f; - v = powf(v, 3.0f) * 6.0f; - gammaTable[i] = static_cast(v * 6.0f * 256.0f); - } - - // populate depth projection matrix - for (int i = 0; i < FREENECT_FRAME_H; ++i) { - for (int j = 0; j < FREENECT_FRAME_W; ++j) { - QVector2D originalPoint(j, i); - QVector2D rectifiedPoint; - rectifyPoint(originalPoint, rectifiedPoint, depthCameraParameters); - - QVector3D rectifiedRay; - projectPixelTo3DRay(rectifiedPoint, rectifiedRay, depthCameraParameters); - - depthProjectionMatrix[i * FREENECT_FRAME_W + j] = rectifiedRay; - - rectifyPoint(originalPoint, rectifiedPoint, rgbCameraParameters); - rgbRectificationMap[i * FREENECT_FRAME_W + j] = rectifiedPoint; - } - } - - if (freenect_init(&context, NULL) < 0) { - return false; - } - - freenect_set_log_level(context, FREENECT_LOG_DEBUG); - - if (freenect_num_devices(context) < 1) { - return false; - } - - if (freenect_open_device(context, &device, userDeviceNumber) < 0) { - return false; - } - - freenect_set_user(device, this); - - memset(rgb, 0, FREENECT_VIDEO_RGB_SIZE); - memset(depth, 0, FREENECT_DEPTH_11BIT_SIZE); - - // set Kinect parameters - if (freenect_set_tilt_degs(device, tiltAngle) != 0) { - return false; - } - if (freenect_set_led(device, LED_RED) != 0) { - return false; - } - if (freenect_set_video_format(device, FREENECT_VIDEO_RGB) != 0) { - return false; - } - if (freenect_set_depth_format(device, FREENECT_DEPTH_11BIT) != 0) { - return false; - } - freenect_set_video_callback(device, videoCallback); - freenect_set_depth_callback(device, depthCallback); - - if (freenect_start_depth(device) != 0) { - return false; - } - if (freenect_start_video(device) != 0) { - return false; - } - - thread.reset(new FreenectThread(device)); - thread->start(); - - return true; -} - -bool -Freenect::process(void) -{ - if (freenect_process_events(context) < 0) { - return false; - } - - freenect_raw_tilt_state* state; - freenect_update_tilt_state(device); - state = freenect_get_tilt_state(device); - freenect_get_mks_accel(state, &ax, &ay, &az); - - return true; -} - -QSharedPointer -Freenect::getRgbData(void) -{ - QMutexLocker locker(&rgbMutex); - rgbData->clear(); - rgbData->append(rgb, FREENECT_VIDEO_RGB_SIZE); - - return rgbData; -} - -QSharedPointer -Freenect::getRawDepthData(void) -{ - QMutexLocker locker(&depthMutex); - rawDepthData->clear(); - rawDepthData->append(depth, FREENECT_DEPTH_11BIT_SIZE); - - return rawDepthData; -} - -QSharedPointer -Freenect::getColoredDepthData(void) -{ - QMutexLocker locker(&coloredDepthMutex); - coloredDepthData->clear(); - coloredDepthData->append(coloredDepth, FREENECT_VIDEO_RGB_SIZE); - - return coloredDepthData; -} - -QSharedPointer< QVector > -Freenect::get3DPointCloudData(void) -{ - QMutexLocker locker(&depthMutex); - - pointCloud3D->clear(); - unsigned short* data = reinterpret_cast(depth); - for (int i = 0; i < FREENECT_FRAME_PIX; ++i) { - if (data[i] > 0 && data[i] <= 2048) { - double range = baseline * depthCameraParameters.fx - / (1.0 / 8.0 * (disparityOffset - - static_cast(data[i]))); - - if (range > 0.0f) { - QVector3D ray = depthProjectionMatrix[i]; - ray *= range; - - pointCloud3D->push_back(QVector3D(ray.x(), ray.y(), ray.z())); - } - } - } - - return pointCloud3D; -} - -QSharedPointer< QVector > -Freenect::get6DPointCloudData(void) -{ - get3DPointCloudData(); - - pointCloud6D->clear(); - for (int i = 0; i < pointCloud3D->size(); ++i) { - Vector6D point; - - point.x = pointCloud3D->at(i).x(); - point.y = pointCloud3D->at(i).y(); - point.z = pointCloud3D->at(i).z(); - - QVector4D transformedPoint = transformMatrix * QVector4D(point.x, point.y, point.z, 1.0); - - float iz = 1.0 / transformedPoint.z(); - QVector2D rectifiedPoint(transformedPoint.x() * iz * rgbCameraParameters.fx + rgbCameraParameters.cx, - transformedPoint.y() * iz * rgbCameraParameters.fy + rgbCameraParameters.cy); - - QVector2D originalPoint; - unrectifyPoint(rectifiedPoint, originalPoint, rgbCameraParameters); - - if (originalPoint.x() >= 0.0 && originalPoint.x() < FREENECT_FRAME_W && - originalPoint.y() >= 0.0 && originalPoint.y() < FREENECT_FRAME_H) { - int x = static_cast(originalPoint.x()); - int y = static_cast(originalPoint.y()); - unsigned char* pixel = reinterpret_cast(rgb) - + (y * FREENECT_FRAME_W + x) * 3; - - point.r = pixel[0]; - point.g = pixel[1]; - point.b = pixel[2]; - - pointCloud6D->push_back(point); - } - } - - return pointCloud6D; -} - -int -Freenect::getTiltAngle(void) const -{ - return tiltAngle; -} - -void -Freenect::setTiltAngle(int angle) -{ - if (angle > 30) { - angle = 30; - } - if (angle < -30) { - angle = -30; - } - - tiltAngle = angle; -} - -Freenect::FreenectThread::FreenectThread(freenect_device* _device) -{ - device = _device; -} - -void -Freenect::FreenectThread::run(void) -{ - Freenect* freenect = static_cast(freenect_get_user(device)); - while (1) { - freenect->process(); - } -} - -void -Freenect::readConfigFile(void) -{ - QSettings settings("src/data/kinect.cal", QSettings::IniFormat, 0); - - rgbCameraParameters.cx = settings.value("rgb/principal_point/x").toDouble(); - rgbCameraParameters.cy = settings.value("rgb/principal_point/y").toDouble(); - rgbCameraParameters.fx = settings.value("rgb/focal_length/x").toDouble(); - rgbCameraParameters.fy = settings.value("rgb/focal_length/y").toDouble(); - rgbCameraParameters.k[0] = settings.value("rgb/distortion/k1").toDouble(); - rgbCameraParameters.k[1] = settings.value("rgb/distortion/k2").toDouble(); - rgbCameraParameters.k[2] = settings.value("rgb/distortion/k3").toDouble(); - rgbCameraParameters.k[3] = settings.value("rgb/distortion/k4").toDouble(); - rgbCameraParameters.k[4] = settings.value("rgb/distortion/k5").toDouble(); - - depthCameraParameters.cx = settings.value("depth/principal_point/x").toDouble(); - depthCameraParameters.cy = settings.value("depth/principal_point/y").toDouble(); - depthCameraParameters.fx = settings.value("depth/focal_length/x").toDouble(); - depthCameraParameters.fy = settings.value("depth/focal_length/y").toDouble(); - depthCameraParameters.k[0] = settings.value("depth/distortion/k1").toDouble(); - depthCameraParameters.k[1] = settings.value("depth/distortion/k2").toDouble(); - depthCameraParameters.k[2] = settings.value("depth/distortion/k3").toDouble(); - depthCameraParameters.k[3] = settings.value("depth/distortion/k4").toDouble(); - depthCameraParameters.k[4] = settings.value("depth/distortion/k5").toDouble(); - - transformMatrix = QMatrix4x4(settings.value("transform/R11").toDouble(), - settings.value("transform/R12").toDouble(), - settings.value("transform/R13").toDouble(), - settings.value("transform/Tx").toDouble(), - settings.value("transform/R21").toDouble(), - settings.value("transform/R22").toDouble(), - settings.value("transform/R23").toDouble(), - settings.value("transform/Ty").toDouble(), - settings.value("transform/R31").toDouble(), - settings.value("transform/R32").toDouble(), - settings.value("transform/R33").toDouble(), - settings.value("transform/Tz").toDouble(), - 0.0, 0.0, 0.0, 1.0); - transformMatrix = transformMatrix.inverted(); - - baseline = settings.value("transform/baseline").toDouble(); - disparityOffset = settings.value("transform/disparity_offset").toDouble(); -} - -void -Freenect::rectifyPoint(const QVector2D& originalPoint, - QVector2D& rectifiedPoint, - const IntrinsicCameraParameters& params) -{ - double x = (originalPoint.x() - params.cx) / params.fx; - double y = (originalPoint.y() - params.cy) / params.fy; - - double x0 = x; - double y0 = y; - - // eliminate lens distortion iteratively - for (int i = 0; i < 4; ++i) { - double r2 = x * x + y * y; - - // tangential distortion vector [dx dy] - double dx = 2 * params.k[2] * x * y + params.k[3] * (r2 + 2 * x * x); - double dy = params.k[2] * (r2 + 2 * y * y) + 2 * params.k[3] * x * y; - - double icdist = 1.0 / (1.0 + r2 * (params.k[0] + r2 * (params.k[1] + r2 * params.k[4]))); - x = (x0 - dx) * icdist; - y = (y0 - dy) * icdist; - } - - rectifiedPoint.setX(x * params.fx + params.cx); - rectifiedPoint.setY(y * params.fy + params.cy); -} - -void -Freenect::unrectifyPoint(const QVector2D& rectifiedPoint, - QVector2D& originalPoint, - const IntrinsicCameraParameters& params) -{ - double x = (rectifiedPoint.x() - params.cx) / params.fx; - double y = (rectifiedPoint.y() - params.cy) / params.fy; - - double r2 = x * x + y * y; - - // tangential distortion vector [dx dy] - double dx = 2 * params.k[2] * x * y + params.k[3] * (r2 + 2 * x * x); - double dy = params.k[2] * (r2 + 2 * y * y) + 2 * params.k[3] * x * y; - - double cdist = 1.0 + r2 * (params.k[0] + r2 * (params.k[1] + r2 * params.k[4])); - x = x * cdist + dx; - y = y * cdist + dy; - - originalPoint.setX(x * params.fx + params.cx); - originalPoint.setY(y * params.fy + params.cy); -} - -void -Freenect::projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray, - const IntrinsicCameraParameters& params) -{ - ray.setX((pixel.x() - params.cx) / params.fx); - ray.setY((pixel.y() - params.cy) / params.fy); - ray.setZ(1.0); -} - -void -Freenect::videoCallback(freenect_device* device, void* video, uint32_t timestamp) -{ - Freenect* freenect = static_cast(freenect_get_user(device)); - - QMutexLocker locker(&freenect->rgbMutex); - memcpy(freenect->rgb, video, FREENECT_VIDEO_RGB_SIZE); -} - -void -Freenect::depthCallback(freenect_device* device, void* depth, uint32_t timestamp) -{ - Freenect* freenect = static_cast(freenect_get_user(device)); - uint16_t* data = reinterpret_cast(depth); - - QMutexLocker depthLocker(&freenect->depthMutex); - memcpy(freenect->depth, data, FREENECT_DEPTH_11BIT_SIZE); - - QMutexLocker coloredDepthLocker(&freenect->coloredDepthMutex); - unsigned short* src = reinterpret_cast(data); - unsigned char* dst = reinterpret_cast(freenect->coloredDepth); - for (int i = 0; i < FREENECT_FRAME_PIX; ++i) { - unsigned short pval = freenect->gammaTable[src[i]]; - unsigned short lb = pval & 0xFF; - switch (pval >> 8) { - case 0: - dst[3 * i] = 255; - dst[3 * i + 1] = 255 - lb; - dst[3 * i + 2] = 255 - lb; - break; - case 1: - dst[3 * i] = 255; - dst[3 * i + 1] = lb; - dst[3 * i + 2] = 0; - break; - case 2: - dst[3 * i] = 255 - lb; - dst[3 * i + 1] = 255; - dst[3 * i + 2] = 0; - break; - case 3: - dst[3 * i] = 0; - dst[3 * i + 1] = 255; - dst[3 * i + 2] = lb; - break; - case 4: - dst[3 * i] = 0; - dst[3 * i + 1] = 255 - lb; - dst[3 * i + 2] = 255; - break; - case 5: - dst[3 * i] = 0; - dst[3 * i + 1] = 0; - dst[3 * i + 2] = 255 - lb; - break; - default: - dst[3 * i] = 0; - dst[3 * i + 1] = 0; - dst[3 * i + 2] = 0; - break; - } - } -} diff --git a/src/input/Freenect.h b/src/input/Freenect.h deleted file mode 100644 index 11f5ccfe56100775cad08a6898663a2581de5781..0000000000000000000000000000000000000000 --- a/src/input/Freenect.h +++ /dev/null @@ -1,154 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Freenect. - * - * @author Lionel Heng - * - */ - -#ifndef FREENECT_H -#define FREENECT_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -class Freenect -{ -public: - Freenect(); - ~Freenect(); - - bool init(int userDeviceNumber = 0); - bool process(void); - - QSharedPointer getRgbData(void); - QSharedPointer getRawDepthData(void); - QSharedPointer getColoredDepthData(void); - QSharedPointer< QVector > get3DPointCloudData(void); - - typedef struct { - double x; - double y; - double z; - unsigned char r; - unsigned char g; - unsigned char b; - } Vector6D; - QSharedPointer< QVector > get6DPointCloudData(); - - int getTiltAngle(void) const; - void setTiltAngle(int angle); - -private: - typedef struct { - // coordinates of principal point - double cx; - double cy; - - // focal length in pixels - double fx; - double fy; - - // distortion parameters - double k[5]; - - } IntrinsicCameraParameters; - - void readConfigFile(void); - - void rectifyPoint(const QVector2D& originalPoint, - QVector2D& rectifiedPoint, - const IntrinsicCameraParameters& params); - void unrectifyPoint(const QVector2D& rectifiedPoint, - QVector2D& originalPoint, - const IntrinsicCameraParameters& params); - void projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray, - const IntrinsicCameraParameters& params); - - static void videoCallback(freenect_device* device, void* video, uint32_t timestamp); - static void depthCallback(freenect_device* device, void* depth, uint32_t timestamp); - - freenect_context* context; - freenect_device* device; - - class FreenectThread : public QThread - { - public: - explicit FreenectThread(freenect_device* _device); - - protected: - virtual void run(void); - - freenect_device* device; - }; - QScopedPointer thread; - - IntrinsicCameraParameters rgbCameraParameters; - IntrinsicCameraParameters depthCameraParameters; - - QMatrix4x4 transformMatrix; - double baseline; - double disparityOffset; - - // tilt angle of Kinect camera - int tiltAngle; - - // rgbd data - char rgb[FREENECT_VIDEO_RGB_SIZE]; - QMutex rgbMutex; - - char depth[FREENECT_DEPTH_11BIT_SIZE]; - QMutex depthMutex; - - char coloredDepth[FREENECT_VIDEO_RGB_SIZE]; - QMutex coloredDepthMutex; - - // accelerometer data - double ax, ay, az; - double dx, dy, dz; - - // gamma map - unsigned short gammaTable[2048]; - - QVector3D depthProjectionMatrix[FREENECT_FRAME_PIX]; - QVector2D rgbRectificationMap[FREENECT_FRAME_PIX]; - - // variables for use outside class - QSharedPointer rgbData; - QSharedPointer rawDepthData; - QSharedPointer coloredDepthData; - QSharedPointer< QVector > pointCloud3D; - QSharedPointer< QVector > pointCloud6D; -}; - -#endif // FREENECT_H diff --git a/src/main.cc b/src/main.cc index 3435cd535a8180a49f8dfd715c38af58242e5ea7..5f6dc5f28707f8de438222e23c660205e7a34680 100644 --- a/src/main.cc +++ b/src/main.cc @@ -35,7 +35,9 @@ This file is part of the QGROUNDCONTROL project #include "MainWindow.h" #include "configuration.h" #ifdef QT_DEBUG +#ifndef __android__ #include "UnitTest.h" +#endif #include "CmdLineOptParser.h" #ifdef Q_OS_WIN #include @@ -101,6 +103,14 @@ int main(int argc, char *argv[]) // anyway to silence the debug output. qRegisterMetaType(); qRegisterMetaType(); + // We statically link to the google QtLocation plugin + +#ifdef Q_OS_WIN + // In Windows, the compiler doesn't see the use of the class created by Q_IMPORT_PLUGIN +#pragma warning( disable : 4930 4101 ) +#endif + + Q_IMPORT_PLUGIN(QGeoServiceProviderFactoryQGC) bool runUnitTests = false; // Run unit tests @@ -148,6 +158,7 @@ int main(int argc, char *argv[]) int exitCode; +#ifndef __android__ #ifdef QT_DEBUG if (runUnitTests) { if (!app->_initForUnitTests()) { @@ -163,6 +174,7 @@ int main(int argc, char *argv[]) } exitCode = -failures; } else +#endif #endif { if (!app->_initForNormalAppBoot()) { diff --git a/src/qgcunittest/LinkManagerTest.cc b/src/qgcunittest/LinkManagerTest.cc index f613683dd719d74b1934a5a073519d12af4eb347..67d143b582271a61c43f3b2da5833a9841f91223 100644 --- a/src/qgcunittest/LinkManagerTest.cc +++ b/src/qgcunittest/LinkManagerTest.cc @@ -78,7 +78,7 @@ void LinkManagerTest::_add_test(void) Q_ASSERT(_linkMgr->getLinks().count() == 0); MockLink* link = new MockLink(); - _linkMgr->addLink(link); + _linkMgr->_addLink(link); QList links = _linkMgr->getLinks(); QCOMPARE(links.count(), 1); @@ -91,8 +91,8 @@ void LinkManagerTest::_delete_test(void) Q_ASSERT(_linkMgr->getLinks().count() == 0); MockLink* link = new MockLink(); - _linkMgr->addLink(link); - _linkMgr->deleteLink(link); + _linkMgr->_addLink(link); + _linkMgr->_deleteLink(link); QCOMPARE(_linkMgr->getLinks().count(), 0); } @@ -104,7 +104,7 @@ void LinkManagerTest::_addSignals_test(void) Q_ASSERT(_multiSpy->checkNoSignals() == true); MockLink* link = new MockLink(); - _linkMgr->addLink(link); + _linkMgr->_addLink(link); QCOMPARE(_multiSpy->checkOnlySignalByMask(newLinkSignalMask), true); QSignalSpy* spy = _multiSpy->getSpyByIndex(newLinkSignalIndex); @@ -125,10 +125,10 @@ void LinkManagerTest::_deleteSignals_test(void) Q_ASSERT(_multiSpy->checkNoSignals() == true); MockLink* link = new MockLink(); - _linkMgr->addLink(link); + _linkMgr->_addLink(link); _multiSpy->clearAllSignals(); - _linkMgr->deleteLink(link); + _linkMgr->_deleteLink(link); QCOMPARE(_multiSpy->checkOnlySignalByMask(linkDeletedSignalMask), true); QSignalSpy* spy = _multiSpy->getSpyByIndex(linkDeletedSignalIndex); diff --git a/src/qgcunittest/MainWindowTest.cc b/src/qgcunittest/MainWindowTest.cc index 2b007bb6735e6615d4725cab1ae6bc592c213bb4..6e43bf1fe57fe132d8f66b4eb26d852882d32c02 100644 --- a/src/qgcunittest/MainWindowTest.cc +++ b/src/qgcunittest/MainWindowTest.cc @@ -27,7 +27,6 @@ /// @author Don Gagne #include "MainWindowTest.h" -#include "QGCToolBar.h" #include "MockLink.h" #include "QGCMessageBox.h" @@ -67,7 +66,7 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot) MockLink* link = new MockLink(); Q_CHECK_PTR(link); link->setAutopilotType(autopilot); - LinkManager::instance()->addLink(link); + LinkManager::instance()->_addLink(link); linkMgr->connectLink(link); QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through diff --git a/src/qgcunittest/MavlinkLogTest.cc b/src/qgcunittest/MavlinkLogTest.cc index a870b3b9dabde2ccec80e9a2ad36ac29a6175056..a34c69954590e5429f6172627fb7dc7fe866e1bb 100644 --- a/src/qgcunittest/MavlinkLogTest.cc +++ b/src/qgcunittest/MavlinkLogTest.cc @@ -140,7 +140,7 @@ void MavlinkLogTest::_connectLog_test(void) MockLink* link = new MockLink(); Q_CHECK_PTR(link); - LinkManager::instance()->addLink(link); + LinkManager::instance()->_addLink(link); linkMgr->connectLink(link); QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through diff --git a/src/qgcunittest/MockQGCUASParamManager.cc b/src/qgcunittest/MockQGCUASParamManager.cc deleted file mode 100644 index e8e574ecbd07063e07a40044e1b2070983059a6f..0000000000000000000000000000000000000000 --- a/src/qgcunittest/MockQGCUASParamManager.cc +++ /dev/null @@ -1,115 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#include "MockQGCUASParamManager.h" -#include "mavlink.h" - -#include -#include - -Q_LOGGING_CATEGORY(MockQGCUASParamManagerLog, "MockQGCUASParamManagerLog") - -MockQGCUASParamManager::MockQGCUASParamManager(void) -{ - _loadParams(); -} - -bool MockQGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const -{ - Q_UNUSED(component); - - if (_mapParams.contains(parameter)) { - value = _mapParams[parameter]; - return true; - } - - qCDebug(MockQGCUASParamManagerLog) << QString("getParameterValue: parameter not found %1").arg(parameter); - return false; -} - -void MockQGCUASParamManager::setParameter(int component, QString parameterName, QVariant value) -{ - qCDebug(MockQGCUASParamManagerLog) << QString("setParameter: component(%1) parameter(%2) value(%3)").arg(component).arg(parameterName).arg(value.toString()); - - _mapParams[parameterName] = value; - emit parameterUpdated(_defaultComponentId, parameterName, value); -} - -void MockQGCUASParamManager::_loadParams(void) -{ - QFile paramFile(":/unittest/MockLink.param"); - - bool success = paramFile.open(QFile::ReadOnly); - Q_UNUSED(success); - Q_ASSERT(success); - - QTextStream paramStream(¶mFile); - - while (!paramStream.atEnd()) { - QString line = paramStream.readLine(); - - if (line.startsWith("#")) { - continue; - } - - QStringList paramData = line.split("\t"); - Q_ASSERT(paramData.count() == 5); - - QString paramName = paramData.at(2); - QString valStr = paramData.at(3); - uint paramType = paramData.at(4).toUInt(); - - QVariant paramValue; - switch (paramType) { - case MAV_PARAM_TYPE_REAL32: - paramValue = QVariant(valStr.toFloat()); - break; - case MAV_PARAM_TYPE_UINT32: - paramValue = QVariant(valStr.toUInt()); - break; - case MAV_PARAM_TYPE_INT32: - paramValue = QVariant(valStr.toInt()); - break; - case MAV_PARAM_TYPE_INT8: - paramValue = QVariant((unsigned char)valStr.toUInt()); - break; - default: - Q_ASSERT(false); - break; - } - - Q_ASSERT(!_mapParams.contains(paramName)); - _mapParams[paramName] = paramValue; - } -} - -QList MockQGCUASParamManager::getComponentForParam(const QString& parameter) const -{ - if (_mapParams.contains(parameter)) { - QList list; - list << 50; - return list; - } else { - return QList(); - } -} diff --git a/src/qgcunittest/MockQGCUASParamManager.h b/src/qgcunittest/MockQGCUASParamManager.h deleted file mode 100644 index 257e5fbdb392f8de70afad2efb7bffe4e646a121..0000000000000000000000000000000000000000 --- a/src/qgcunittest/MockQGCUASParamManager.h +++ /dev/null @@ -1,110 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#ifndef MOCKQGCUASPARAMMANAGER_H -#define MOCKQGCUASPARAMMANAGER_H - -#include - -#include "QGCUASParamManagerInterface.h" - -Q_DECLARE_LOGGING_CATEGORY(MockQGCUASParamManagerLog) - -/// @file -/// @brief This is a mock implementation of QGCUASParamManager for writing Unit Tests. -/// -/// @author Don Gagne - - -class MockQGCUASParamManager : public QGCUASParamManagerInterface -{ - Q_OBJECT - -signals: - // The following QGCSUASParamManagerInterface signals are supported - void parameterListUpToDate(); // You can connect to this signal, but it will never be emitted - void parameterUpdated(int compId, QString paramName, QVariant value); - -public: - // Implemented QGCSUASParamManager overrides - virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const; - virtual int getDefaultComponentId(void) { return _defaultComponentId; } - virtual int countOnboardParams(void) { return _mapParams.count(); } - -public slots: - // Implemented QGCSUASParamManager overrides - void setParameter(int component, QString parameterName, QVariant value); - virtual void setPendingParam(int componentId, const QString& key, const QVariant& value, bool forceSend = false) - { Q_UNUSED(forceSend); setParameter(componentId, key, value); } - virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false) - { Q_UNUSED(persistAfterSend); Q_UNUSED(forceSend); } - virtual bool parametersReady(void) { return true; } - -public: - // MockQGCUASParamManager methods - MockQGCUASParamManager(void); - - /// QMap of parameters, QString key is paremeter name, QVariant value is parameter value - typedef QMap ParamMap_t; - - /// Sets current set of parameters to support calls like getParameterValue - void setMockParameters(ParamMap_t& map) { _mapParams = map; } - - /// Returns the parameters which were set by calls to setParameter calls - ParamMap_t getMockSetParameters(void) { return _mapParams; } - /// Clears the set of parameters set by setParameter calls - void clearMockSetParameters(void) { _mapParams.clear(); } - -public: - // Unimplemented QGCUASParamManagerInterface overrides - virtual QList getComponentForParam(const QString& parameter) const; - virtual void setParamDescriptions(const QMap& paramDescs) { Q_ASSERT(false); Q_UNUSED(paramDescs); } - virtual int countPendingParams() { Q_ASSERT(false); return 0; } - virtual UASParameterDataModel* dataModel() { Q_ASSERT(false); return NULL; } - -public slots: - // Unimplemented QGCUASParamManagerInterface overrides - virtual void requestParameterList() { Q_ASSERT(false); } - virtual void requestParameterListIfEmpty() { Q_ASSERT(false); } - virtual void clearAllPendingParams() { Q_ASSERT(false); } - virtual void requestParameterUpdate(int component, const QString& parameter) - { Q_ASSERT(false); Q_UNUSED(component); Q_UNUSED(parameter); } - virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName) - { Q_ASSERT(false); Q_UNUSED(stream); Q_UNUSED(uasName); } - virtual void readPendingParamsFromStream(QTextStream &stream) { Q_ASSERT(false); Q_UNUSED(stream); } - virtual void requestRcCalibrationParamsUpdate() { Q_ASSERT(false); } - virtual void copyVolatileParamsToPersistent() { Q_ASSERT(false); } - virtual void copyPersistentParamsToVolatile() { Q_ASSERT(false); } - -private: - void _loadParams(void); - - ParamMap_t _mapParams; - - static const int _defaultComponentId = 50; - - // Bogus variables used for return types of NYI methods - QList _bogusQListInt; -}; - -#endif \ No newline at end of file diff --git a/src/qgcunittest/MockUAS.cc b/src/qgcunittest/MockUAS.cc deleted file mode 100644 index 82dedffc2f10f1a7ff87b4647184e4d50faa43f9..0000000000000000000000000000000000000000 --- a/src/qgcunittest/MockUAS.cc +++ /dev/null @@ -1,54 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#include "MockUAS.h" - -QString MockUAS::_bogusStaticString; - -MockUAS::MockUAS(void) : - _systemType(MAV_TYPE_QUADROTOR), - _systemId(1), - _mavlinkPlugin(NULL) -{ - -} - -void MockUAS::setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map) -{ - _paramManager.setMockParameters(map); - - QMapIterator i(map); - while (i.hasNext()) { - i.next(); - emit parameterChanged(_systemId, 0, i.key(), i.value()); - } -} - -void MockUAS::sendMessage(mavlink_message_t message) -{ - if (!_mavlinkPlugin) { - Q_ASSERT(false); - } - - _mavlinkPlugin->sendMessage(message); -} \ No newline at end of file diff --git a/src/qgcunittest/MockUAS.h b/src/qgcunittest/MockUAS.h deleted file mode 100644 index e20ac200558d65d48c8711cca9d4de64b6b84036..0000000000000000000000000000000000000000 --- a/src/qgcunittest/MockUAS.h +++ /dev/null @@ -1,194 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#ifndef MOCKUAS_H -#define MOCKUAS_H - -#include "UASInterface.h" -#include "MockQGCUASParamManager.h" -#include "MockMavlinkInterface.h" - -#include - -/// @file -/// @brief This is a mock implementation of a UAS used for writing Unit Tests. Normal usage is to -/// call MockUASManager::setMockActiveUAS to set it to the active mock UAS> -/// -/// @author Don Gagne - -class MockUAS : public UASInterface -{ - Q_OBJECT - -signals: - // The following UASInterface signals are supported - // void parameterChanged(int uas, int component, QString parameterName, QVariant value); - // void remoteControlChannelRawChanged(int channelId, float raw); - -public: - // Implemented UASInterface overrides - virtual int getSystemType(void) { return _systemType; } - virtual int getUASID(void) const { return _systemId; } - virtual QGCUASParamManagerInterface* getParamManager() { return &_paramManager; }; - - // sendMessage is only supported if a mavlink plugin is installed. - virtual void sendMessage(mavlink_message_t message); - -public: - // MockUAS methods - MockUAS(void); - - // Use these methods to setup/control the mock UAS - - void setMockSystemType(int systemType) { _systemType = systemType; } - void setMockSystemId(int systemId) { _systemId = systemId; } - - /// @return returns mock QGCUASParamManager associated with the UAS. This mock implementation - /// allows you to simulate parameter input and validate parameter setting - MockQGCUASParamManager* getMockQGCUASParamManager(void) { return &_paramManager; } - - /// @brief Sets the parameter map into the mock QGCUASParamManager and signals parameterChanged for - /// each param - void setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map); - - void emitRemoteControlChannelRawChanged(int channel, float raw) { emit remoteControlChannelRawChanged(channel, raw); } - - /// @brief Installs a mavlink plugin. Only a single mavlink plugin is supported at a time. - void setMockMavlinkPlugin(MockMavlinkInterface* mavlinkPlugin) { _mavlinkPlugin = mavlinkPlugin; }; - -public: - // Unimplemented UASInterface overrides - virtual QString getUASName() const { Q_ASSERT(false); return _bogusString; }; - virtual const QString& getShortState() const { Q_ASSERT(false); return _bogusString; }; - virtual const QString& getShortMode() const { Q_ASSERT(false); return _bogusString; }; - virtual QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const { Q_UNUSED(base_mode); Q_UNUSED(custom_mode); Q_ASSERT(false); return _bogusStaticString; }; - virtual quint64 getUptime() const { Q_ASSERT(false); return 0; }; - virtual int getCommunicationStatus() const { Q_ASSERT(false); return 0; }; - virtual double getLocalX() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getLocalY() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getLocalZ() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual bool localPositionKnown() const { Q_ASSERT(false); return false; }; - virtual double getLatitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getLongitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getAltitudeAMSL() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getAltitudeRelative() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual bool globalPositionKnown() const { Q_ASSERT(false); return false; }; - virtual double getRoll() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getPitch() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual double getYaw() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); }; - virtual bool getSelected() const { Q_ASSERT(false); return false; }; - virtual bool isArmed() const { Q_ASSERT(false); return false; }; - virtual int getAirframe() const { Q_ASSERT(false); return 0; }; - virtual UASWaypointManager* getWaypointManager(void) { Q_ASSERT(false); return NULL; }; - virtual QList getLinks() { Q_ASSERT(false); return QList(); }; - virtual bool systemCanReverse() const { Q_ASSERT(false); return false; }; - virtual QString getSystemTypeName() { Q_ASSERT(false); return _bogusString; }; - virtual int getAutopilotType() { return MAV_AUTOPILOT_PX4; }; - virtual QGCUASFileManager* getFileManager() {Q_ASSERT(false); return NULL; } - - /** @brief Send a message over this link (to this or to all UAS on this link) */ - virtual void sendMessage(LinkInterface* link, mavlink_message_t message){ Q_UNUSED(link); Q_UNUSED(message); Q_ASSERT(false); } - virtual QString getAutopilotTypeName() { Q_ASSERT(false); return _bogusString; }; - virtual void setAutopilotType(int apType) { Q_UNUSED(apType); Q_ASSERT(false); }; - virtual QMap getComponents() { Q_ASSERT(false); return _bogusMapIntQString; }; - virtual QList getActions() const { Q_ASSERT(false); return _bogusQListQActionPointer; }; - -public slots: - // Unimplemented UASInterface overrides - virtual void setUASName(const QString& name) { Q_UNUSED(name); Q_ASSERT(false); }; - virtual void executeCommand(MAV_CMD command) { Q_UNUSED(command); Q_ASSERT(false); }; - virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) { Q_UNUSED(command); Q_UNUSED(confirmation); Q_UNUSED(param1); Q_UNUSED(param2); Q_UNUSED(param3); Q_UNUSED(param4); Q_UNUSED(param5); Q_UNUSED(param6); Q_UNUSED(param7); Q_UNUSED(component); Q_ASSERT(false); }; - virtual void executeCommandAck(int num, bool success) { Q_UNUSED(num); Q_UNUSED(success); Q_ASSERT(false); }; - virtual void setAirframe(int airframe) { Q_UNUSED(airframe); Q_ASSERT(false); }; - virtual void launch() { Q_ASSERT(false); }; - virtual void home() { Q_ASSERT(false); }; - virtual void land() { Q_ASSERT(false); }; - virtual void pairRX(int rxType, int rxSubType) { Q_UNUSED(rxType); Q_UNUSED(rxSubType); Q_ASSERT(false); }; - virtual void halt() { Q_ASSERT(false); }; - virtual void go() { Q_ASSERT(false); }; - virtual void setMode(uint8_t newBaseMode, uint32_t newCustomMode) { Q_UNUSED(newBaseMode); Q_UNUSED(newCustomMode); Q_ASSERT(false); }; - virtual void emergencySTOP() { Q_ASSERT(false); }; - virtual bool emergencyKILL() { Q_ASSERT(false); return false; }; - virtual void shutdown() { Q_ASSERT(false); }; - virtual void setTargetPosition(float x, float y, float z, float yaw) { Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(yaw); Q_ASSERT(false); }; - virtual void setLocalOriginAtCurrentGPSPosition() { Q_ASSERT(false); }; - virtual void setHomePosition(double lat, double lon, double alt) { Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_ASSERT(false); }; - virtual void requestParameter(int component, const QString& parameter) { Q_UNUSED(component); Q_UNUSED(parameter); Q_ASSERT(false); }; - virtual void writeParametersToStorage() { Q_ASSERT(false); }; - virtual void readParametersFromStorage() { Q_ASSERT(false); }; - virtual void setParameter(const int component, const QString& id, const QVariant& value) - { Q_UNUSED(component); Q_UNUSED(id); Q_UNUSED(value); Q_ASSERT(false); }; - virtual void addLink(LinkInterface* link) { Q_UNUSED(link); Q_ASSERT(false); }; - virtual void setSelected() { Q_ASSERT(false); } - virtual void enableAllDataTransmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableRawSensorDataTransmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableExtendedSystemStatusTransmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableRCChannelDataTransmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableRawControllerDataTransmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enablePositionTransmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableExtra1Transmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableExtra2Transmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void enableExtra3Transmission(int rate) { Q_UNUSED(rate); Q_ASSERT(false); }; - virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) - { Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(yaw); Q_ASSERT(false); }; - virtual void setLocalPositionOffset(float x, float y, float z, float yaw) { Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(yaw); Q_ASSERT(false); }; - virtual void startRadioControlCalibration(int param) { Q_UNUSED(param); return; }; - virtual void endRadioControlCalibration() { return; }; - virtual void startMagnetometerCalibration() { Q_ASSERT(false); }; - virtual void startGyroscopeCalibration() { Q_ASSERT(false); }; - virtual void startPressureCalibration() { Q_ASSERT(false); }; - virtual void setBatterySpecs(const QString& specs) { Q_UNUSED(specs); Q_ASSERT(false); }; - virtual QString getBatterySpecs() { Q_ASSERT(false); return _bogusString; }; - virtual void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, double lat, double lon, double alt, float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc) - { Q_UNUSED(time_us); Q_UNUSED(roll); Q_UNUSED(pitch); Q_UNUSED(yaw); Q_UNUSED(rollspeed); Q_UNUSED(pitchspeed); Q_UNUSED(yawspeed); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(vx); Q_UNUSED(vy); Q_UNUSED(vz); Q_UNUSED(ind_airspeed); Q_UNUSED(true_airspeed); Q_UNUSED(xacc); Q_UNUSED(yacc); Q_UNUSED(zacc); Q_ASSERT(false); }; - virtual void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed) - { Q_UNUSED(time_us); Q_UNUSED(xacc); Q_UNUSED(yacc); Q_UNUSED(zacc); Q_UNUSED(rollspeed); Q_UNUSED(pitchspeed); Q_UNUSED(yawspeed); Q_UNUSED(xmag); Q_UNUSED(ymag); Q_UNUSED(zmag); Q_UNUSED(abs_pressure); Q_UNUSED(diff_pressure); Q_UNUSED(pressure_alt); Q_UNUSED(temperature); Q_UNUSED(fields_changed); Q_ASSERT(false); }; - virtual void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites) - { Q_UNUSED(time_us); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(fix_type); Q_UNUSED(eph); Q_UNUSED(epv); Q_UNUSED(vel); Q_UNUSED(vn); Q_UNUSED(ve); Q_UNUSED(vd); Q_UNUSED(cog); Q_UNUSED(satellites); Q_ASSERT(false); }; - virtual void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x, - float flow_comp_m_y, quint8 quality, float ground_distance) - { Q_UNUSED(time_us); Q_UNUSED(flow_x); Q_UNUSED(flow_y); Q_UNUSED(flow_comp_m_x); Q_UNUSED(flow_comp_m_y); Q_UNUSED(quality); Q_UNUSED(ground_distance); Q_ASSERT(false);}; - virtual void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax) - { Q_UNUSED(param_id); Q_UNUSED(scale); Q_UNUSED(value0); Q_UNUSED(param_rc_channel_index); Q_UNUSED(valueMin); Q_UNUSED(valueMax); } - virtual void unsetRCToParameterMap() {} - - virtual bool isRotaryWing() { Q_ASSERT(false); return false; } - virtual bool isFixedWing() { Q_ASSERT(false); return false; } - -private: - int _systemType; - int _systemId; - - MockQGCUASParamManager _paramManager; - - MockMavlinkInterface* _mavlinkPlugin; ///< Mock Mavlink plugin, NULL for none - - // Bogus variables used for return types of NYI methods - QString _bogusString; - static QString _bogusStaticString; - QMap _bogusMapIntQString; - QList _bogusQListQActionPointer; - QList _bogusQListInt; -}; - -#endif diff --git a/src/qgcunittest/MockUASManager.cc b/src/qgcunittest/MockUASManager.cc deleted file mode 100644 index 953dd9fc32328e950ad4ccb3c5244947bef4ff78..0000000000000000000000000000000000000000 --- a/src/qgcunittest/MockUASManager.cc +++ /dev/null @@ -1,57 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#include "MockUASManager.h" - -MockUASManager::MockUASManager(void) : - UASManagerInterface(NULL), - _mockUAS(NULL) -{ - -} - -UASInterface* MockUASManager::getActiveUAS(void) -{ - return _mockUAS; -} - -void MockUASManager::setMockActiveUAS(MockUAS* mockUAS) -{ - // Signal components that the last UAS is no longer active. - if (_mockUAS != NULL) { - emit activeUASStatusChanged(_mockUAS, false); - emit activeUASStatusChanged(_mockUAS->getUASID(), false); - } - _mockUAS = mockUAS; - - // And signal that a new UAS is. - emit activeUASSet(_mockUAS); - if (_mockUAS) - { - // We don't support swiching between different UAS - //_mockUAS->setSelected(); - emit activeUASStatusChanged(_mockUAS, true); - emit activeUASStatusChanged(_mockUAS->getUASID(), true); - } -} - diff --git a/src/qgcunittest/MockUASManager.h b/src/qgcunittest/MockUASManager.h deleted file mode 100644 index a1e83eca2322ffdf3393b951b7baa53a98cd165e..0000000000000000000000000000000000000000 --- a/src/qgcunittest/MockUASManager.h +++ /dev/null @@ -1,126 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -#ifndef MOCKUASMANAGER_H -#define MOCKUASMANAGER_H - -#include "UASManagerInterface.h" -#include "MockUAS.h" - -/// @file -/// @brief This is a mock implementation of a UASManager used for writing Unit Tests. In order -/// to use it you must call UASManager::setMockUASManager which will then cause all further -/// calls to UASManager::instance to return the mock UASManager instead of the normal one. -/// -/// @author Don Gagne - -class MockUASManager : public UASManagerInterface -{ - Q_OBJECT - -signals: - // The following signals from UASManager interface are supported: - // void activeUASSet(UASInterface* UAS); - // void activeUASStatusChanged(UASInterface* UAS, bool active); - // void activeUASStatusChanged(int systemId, bool active); - -public: - // Implemented UASManagerInterface overrides - virtual UASInterface* getActiveUAS(void); - -public: - // MockUASManager methods - MockUASManager(void); - - // Does not support singleton deletion - virtual void deleteInstance(void) { Q_ASSERT(false); } - - /// Sets the currently active mock UAS - /// @param mockUAS new mock uas, NULL for no active UAS - void setMockActiveUAS(MockUAS* mockUAS); - -public: - // Unimplemented UASManagerInterface overrides - virtual UASWaypointManager *getActiveUASWaypointManager() { Q_ASSERT(false); return NULL; } - virtual UASInterface* silentGetActiveUAS() { Q_ASSERT(false); return NULL; } - virtual UASInterface* getUASForId(int id) { Q_ASSERT(false); Q_UNUSED(id); return NULL; } - virtual QList getUASList() { Q_ASSERT(false); return _bogusQListUASInterface; } - virtual double getHomeLatitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); } - virtual double getHomeLongitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); } - virtual double getHomeAltitude() const { Q_ASSERT(false); return std::numeric_limits::quiet_NaN(); } - virtual int getHomeFrame() const { Q_ASSERT(false); return 0; } - virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude) - { Q_ASSERT(false); Q_UNUSED(latitude); Q_UNUSED(longitude); Q_UNUSED(altitude); return _bogusEigenVector3d; } - virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef) - { Q_ASSERT(false); Q_UNUSED(ecef); return _bogusEigenVector3d; } - virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up) - { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(east); Q_UNUSED(north); Q_UNUSED(up); } - virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) - { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); } - virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt) - { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); } - virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2) - { Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); } - virtual bool isInLocalNEDSafetyLimits(double x, double y, double z) - { Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); return false; } - -public slots: - // Unimplemented UASManagerInterface overrides - virtual void setActiveUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); } - virtual void addUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); } - virtual void removeUAS(UASInterface* uas) { Q_ASSERT(false); Q_UNUSED(uas);} - virtual bool launchActiveUAS() { Q_ASSERT(false); return false; } - virtual bool haltActiveUAS() { Q_ASSERT(false); return false; } - virtual bool continueActiveUAS() { Q_ASSERT(false); return false; } - virtual bool returnActiveUAS() { Q_ASSERT(false); return false; } - virtual bool stopActiveUAS() { Q_ASSERT(false); return false; } - virtual bool killActiveUAS() { Q_ASSERT(false); return false; } - virtual bool shutdownActiveUAS() { Q_ASSERT(false); return false; } - virtual bool setHomePosition(double lat, double lon, double alt) - { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; } - virtual bool setHomePositionAndNotify(double lat, double lon, double alt) - { Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; } - virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2) - { Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); } - virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt) - { Q_ASSERT(false); Q_UNUSED(uav); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); } - virtual void loadSettings() { Q_ASSERT(false); } - virtual void storeSettings() { Q_ASSERT(false); } - virtual void _shutdown(void) { Q_ASSERT(false); } - -private: - MockUAS* _mockUAS; - - // Bogus variables used for return types of NYI methods - QList _bogusQListUASInterface; - Eigen::Vector3d _bogusEigenVector3d; - -public: - /* Need to align struct pointer to prevent a memory assertion: - * See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html - * for details - */ - EIGEN_MAKE_ALIGNED_OPERATOR_NEW -}; - -#endif \ No newline at end of file diff --git a/src/qgcunittest/PX4RCCalibrationTest.cc b/src/qgcunittest/PX4RCCalibrationTest.cc index 19c50bcd872b10243221fee28567e2d82944c53e..966c586b6c585754812ff4ba2fea268c102d807d 100644 --- a/src/qgcunittest/PX4RCCalibrationTest.cc +++ b/src/qgcunittest/PX4RCCalibrationTest.cc @@ -23,7 +23,7 @@ #include "PX4RCCalibrationTest.h" #include "UASManager.h" -#include "MockQGCUASParamManager.h" +#include "AutoPilotPluginManager.h" /// @file /// @brief QPX4RCCalibration Widget unit test @@ -31,6 +31,7 @@ /// @author Don Gagne UT_REGISTER_TEST(PX4RCCalibrationTest) +QGC_LOGGING_CATEGORY(PX4RCCalibrationTestLog, "PX4RCCalibrationTestLog") // This will check for the wizard buttons being enabled of disabled according to the mask you pass in. // We use a macro instead of a method so that we get better line number reporting on failure. @@ -39,7 +40,7 @@ UT_REGISTER_TEST(PX4RCCalibrationTest) if (_nextButton->isEnabled() != !!((mask) & nextButtonMask) || \ _skipButton->isEnabled() != !!((mask) & skipButtonMask) || \ _cancelButton->isEnabled() != !!((mask) & cancelButtonMask) ) { \ - qDebug() << _statusLabel->text(); \ + qCDebug(PX4RCCalibrationTestLog) << _statusLabel->text(); \ } \ QCOMPARE(_nextButton->isEnabled(), !!((mask) & nextButtonMask)); \ QCOMPARE(_skipButton->isEnabled(), !!((mask) & skipButtonMask)); \ @@ -66,10 +67,6 @@ const int PX4RCCalibrationTest::_testMinValue = PX4RCCalibration::_rcCalPWMDefau const int PX4RCCalibrationTest::_testMaxValue = PX4RCCalibration::_rcCalPWMDefaultMaxValue - 10; const int PX4RCCalibrationTest::_testCenterValue = PX4RCCalibrationTest::_testMinValue + ((PX4RCCalibrationTest::_testMaxValue - PX4RCCalibrationTest::_testMinValue) / 2); -/// @brief Maps from function index to channel index. -1 signals no mapping. Channel indices are offset 1 from function index -/// to catch bugs where function index is incorrectly used as channel index. -const int PX4RCCalibrationTest::_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]= { 1, 2, 3, 4, -1, -1, -1, -1, 9, 10, 11 }; - const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChannelSettings[PX4RCCalibrationTest::_availableChannels] = { // Function Min Max # Reversed @@ -140,37 +137,28 @@ const struct PX4RCCalibrationTest::ChannelSettings PX4RCCalibrationTest::_rgChan }; PX4RCCalibrationTest::PX4RCCalibrationTest(void) : - _mockUASManager(NULL), _calWidget(NULL) { } -/// @brief Called one time before any test cases are run. -void PX4RCCalibrationTest::initTestCase(void) -{ - // Validate that our function to channel mapping is still correct. - for (int function=0; function_addLink(_mockLink); + LinkManager::instance()->connectLink(_mockLink); + QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through - _mockUAS = new MockUAS(); - Q_CHECK_PTR(_mockUAS); + _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS()); + Q_ASSERT(_autopilot); - _mockUASManager->setMockActiveUAS(_mockUAS); + QSignalSpy spyPlugin(_autopilot, SIGNAL(pluginReadyChanged(bool))); + if (!_autopilot->pluginReady()) { + QCOMPARE(spyPlugin.wait(10000), true); + } + Q_ASSERT(_autopilot->pluginReady()); // This will instatiate the widget with an active uas with ready parameters _calWidget = new PX4RCCalibration(); @@ -211,13 +199,10 @@ void PX4RCCalibrationTest::cleanup(void) Q_ASSERT(_calWidget); delete _calWidget; - Q_ASSERT(_mockUAS); - delete _mockUAS; - - UASManager::setMockInstance(NULL); + // Disconnecting the link will prompt for log file save + setExpectedFileDialog(getSaveFileName, QStringList()); - Q_ASSERT(_mockUASManager); - delete _mockUASManager; + LinkManager::instance()->disconnectLink(_mockLink); UnitTest::cleanup(); } @@ -227,7 +212,7 @@ void PX4RCCalibrationTest::_minRCChannels_test(void) { // Next button won't be enabled until we see the minimum number of channels. for (int chan=0; chanemitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint); + _mockLink->emitRemoteControlChannelRawChanged(chan, (float)PX4RCCalibration::_rcCalPWMCenterPoint); // We use _chanCount internally so we should validate it QCOMPARE(_calWidget->_chanCount, chan+1); @@ -252,7 +237,7 @@ void PX4RCCalibrationTest::_minRCChannels_test(void) // Only available channels should have visible widget. A ui update cycle needs to have passed so we wait a little. QTest::qWait(PX4RCCalibration::_updateInterval * 2); for (int chanWidget=0; chanWidgetobjectName() << chanWidget << chan; + qCDebug(PX4RCCalibrationTestLog) << _rgValueWidget[chanWidget]->objectName() << chanWidget << chan; QCOMPARE(_rgValueWidget[chanWidget]->isVisible(), !!(chanWidget <= chan)); } #endif @@ -272,25 +257,25 @@ void PX4RCCalibrationTest::_beginCalibration(void) void PX4RCCalibrationTest::_stickMoveWaitForSettle(int channel, int value) { - //qDebug() << "_stickMoveWaitForSettle channel:value" << channel << value; + qCDebug(PX4RCCalibrationTestLog) << "_stickMoveWaitForSettle channel:value" << channel << value; // Move the stick, this will initialized the settle checker - _mockUAS->emitRemoteControlChannelRawChanged(channel, value); + _mockLink->emitRemoteControlChannelRawChanged(channel, value); // Emit the signal again to start the settle timer - _mockUAS->emitRemoteControlChannelRawChanged(channel, value); + _mockLink->emitRemoteControlChannelRawChanged(channel, value); // Wait long enough for the settle timer to expire QTest::qWait(PX4RCCalibration::_stickDetectSettleMSecs * 1.5); // Emit the signal again so that we detect stick settle - _mockUAS->emitRemoteControlChannelRawChanged(channel, value); + _mockLink->emitRemoteControlChannelRawChanged(channel, value); } void PX4RCCalibrationTest::_stickMoveAutoStep(const char* functionStr, enum PX4RCCalibration::rcCalFunctions function, enum PX4RCCalibrationTest::MoveToDirection direction, bool identifyStep) { Q_UNUSED(functionStr); - //qDebug() << "_stickMoveAutoStep function:direction:reversed:identifyStep" << functionStr << function << direction << identifyStep; + qCDebug(PX4RCCalibrationTestLog) << "_stickMoveAutoStep function:direction:reversed:identifyStep" << functionStr << function << direction << identifyStep; CHK_BUTTONS(cancelButtonMask); @@ -338,16 +323,15 @@ void PX4RCCalibrationTest::_switchMinMaxStep(void) CHK_BUTTONS(nextButtonMask | cancelButtonMask); // Try setting a min/max value that is below the threshold to make sure min/max doesn't go valid - _mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMinValue + 1)); - _mockUAS->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMaxValue - 1)); + _mockLink->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMinValue + 1)); + _mockLink->emitRemoteControlChannelRawChanged(0, (float)(PX4RCCalibration::_rcCalPWMValidMaxValue - 1)); QCOMPARE(_rgValueWidget[0]->isMinValid(), false); QCOMPARE(_rgValueWidget[0]->isMaxValid(), false); // Send min/max values switch channels for (int chan=0; chan<_availableChannels; chan++) { - //qDebug() << chan << _rgChannelSettingsPreValidate[chan].rcMin << _rgChannelSettingsPreValidate[chan].rcMax; - _mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin); - _mockUAS->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax); + _mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin); + _mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax); } _channelHomePosition(); @@ -361,7 +345,7 @@ void PX4RCCalibrationTest::_flapsDetectStep(void) { int channel = _rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionFlaps]; - //qDebug() << "_flapsDetectStep channel" << channel; + qCDebug(PX4RCCalibrationTestLog) << "_flapsDetectStep channel" << channel; // Test code can't handle reversed flaps channel Q_ASSERT(!_rgChannelSettings[channel].reversed); @@ -387,7 +371,7 @@ void PX4RCCalibrationTest::_flapsDetectStep(void) void PX4RCCalibrationTest::_switchSelectAutoStep(const char* functionStr, PX4RCCalibration::rcCalFunctions function) { Q_UNUSED(functionStr); - //qDebug() << "_switchSelectAutoStep" << functionStr << "function:" << function; + ////qCDebug(PX4RCCalibrationTestLog)() << "_switchSelectAutoStep" << functionStr << "function:" << function; int buttonMask = cancelButtonMask; if (function != PX4RCCalibration::rcCalFunctionModeSwitch) { @@ -400,14 +384,55 @@ void PX4RCCalibrationTest::_switchSelectAutoStep(const char* functionStr, PX4RCC // Wiggle stick for channel int channel = _rgFunctionChannelMap[function]; - _mockUAS->emitRemoteControlChannelRawChanged(channel, _testMinValue); - _mockUAS->emitRemoteControlChannelRawChanged(channel, _testMaxValue); + _mockLink->emitRemoteControlChannelRawChanged(channel, _testMinValue); + _mockLink->emitRemoteControlChannelRawChanged(channel, _testMaxValue); QCOMPARE(_calWidget->_currentStep, saveStep + 1); } void PX4RCCalibrationTest::_fullCalibration_test(void) { + // IMPORTANT NOTE: We used channels 1-5 for attitude mapping in the test below. + // MockLink.params file cannot have flight mode switches mapped to those channels. + // If it does it will cause errors since the stick will not be detetected where + + /// _rgFunctionChannelMap maps from function index to channel index. For channels which are not part of + /// rc cal set the mapping the the previous mapping. + + for (int function=0; functiongetParameterFact(switchParam)->value().toInt() != channel + 1); + } + + _rgFunctionChannelMap[function] = channel; + found = true; + + break; + } + } + + // If we aren't mapping this function during calibration, set it to the previous setting + if (!found) { + _rgFunctionChannelMap[function] = _autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[function].parameterName)->value().toInt(); + qCDebug(PX4RCCalibrationTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function]; + if (_rgFunctionChannelMap[function] == 0) { + _rgFunctionChannelMap[function] = -1; // -1 signals no mapping + } else { + _rgFunctionChannelMap[function]--; // parameter is 1-based, _rgFunctionChannelMap is not + } + } + } _channelHomePosition(); QTest::mouseClick(_nextButton, Qt::LeftButton); @@ -437,19 +462,16 @@ void PX4RCCalibrationTest::_channelHomePosition(void) { // Initialize available channels to center point. for (int i=0; i<_availableChannels; i++) { - _mockUAS->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint); + _mockLink->emitRemoteControlChannelRawChanged(i, (float)PX4RCCalibration::_rcCalPWMCenterPoint); } // Throttle to min - 1 (throttle is not reversed). We do this so that the trim value is below the min value. This should end up // being validated and raised to min value. If not, something is wrong with RC Cal code. - _mockUAS->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue - 1); + _mockLink->emitRemoteControlChannelRawChanged(_rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionThrottle], _testMinValue - 1); } void PX4RCCalibrationTest::_validateParameters(void) { - MockQGCUASParamManager* paramMgr = _mockUAS->getMockQGCUASParamManager(); - MockQGCUASParamManager::ParamMap_t mapParamsSet = paramMgr->getMockSetParameters(); - QString minTpl("RC%1_MIN"); QString maxTpl("RC%1_MAX"); QString trimTpl("RC%1_TRIM"); @@ -466,8 +488,8 @@ void PX4RCCalibrationTest::_validateParameters(void) expectedParameterValue = chanIndex + 1; // 1-based parameter value } - QCOMPARE(mapParamsSet.contains(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName), true); - QCOMPARE(mapParamsSet[PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName].toInt(), expectedParameterValue); + qCDebug(PX4RCCalibrationTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(); + QCOMPARE(_autopilot->getParameterFact(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedParameterValue); } // Validate the channel settings. Note the channels are 1-based in parameter names. @@ -481,23 +503,18 @@ void PX4RCCalibrationTest::_validateParameters(void) int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim; bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed; - QCOMPARE(mapParamsSet.contains(minTpl.arg(oneBasedChannel)), true); - QCOMPARE(mapParamsSet.contains(maxTpl.arg(oneBasedChannel)), true); - QCOMPARE(mapParamsSet.contains(trimTpl.arg(oneBasedChannel)), true); - QCOMPARE(mapParamsSet.contains(revTpl.arg(oneBasedChannel)), true); - - int rcMinActual = mapParamsSet[minTpl.arg(oneBasedChannel)].toInt(&convertOk); + int rcMinActual = _autopilot->getParameterFact(minTpl.arg(oneBasedChannel))->value().toInt(&convertOk); QCOMPARE(convertOk, true); - int rcMaxActual = mapParamsSet[maxTpl.arg(oneBasedChannel)].toInt(&convertOk); + int rcMaxActual = _autopilot->getParameterFact(maxTpl.arg(oneBasedChannel))->value().toInt(&convertOk); QCOMPARE(convertOk, true); - int rcTrimActual = mapParamsSet[trimTpl.arg(oneBasedChannel)].toInt(&convertOk); + int rcTrimActual = _autopilot->getParameterFact(trimTpl.arg(oneBasedChannel))->value().toInt(&convertOk); QCOMPARE(convertOk, true); - float rcReversedFloat = mapParamsSet[revTpl.arg(oneBasedChannel)].toFloat(&convertOk); + float rcReversedFloat = _autopilot->getParameterFact(revTpl.arg(oneBasedChannel))->value().toFloat(&convertOk); QCOMPARE(convertOk, true); bool rcReversedActual = (rcReversedFloat == -1.0f); - //qDebug() << "_validateParemeters expected channel:min:max:trim:rev" << chan << rcMinExpected << rcMaxExpected << rcTrimExpected << rcReversedExpected; - //qDebug() << "_validateParemeters actual channel:min:max:trim:rev" << chan << rcMinActual << rcMaxActual << rcTrimActual << rcReversedActual; + qCDebug(PX4RCCalibrationTestLog) << "_validateParemeters expected channel:min:max:trim:rev" << chan << rcMinExpected << rcMaxExpected << rcTrimExpected << rcReversedExpected; + qCDebug(PX4RCCalibrationTestLog) << "_validateParemeters actual channel:min:max:trim:rev" << chan << rcMinActual << rcMaxActual << rcTrimActual << rcReversedActual; QCOMPARE(rcMinExpected, rcMinActual); QCOMPARE(rcMaxExpected, rcMaxActual); @@ -507,15 +524,13 @@ void PX4RCCalibrationTest::_validateParameters(void) // Check mapping for all fuctions for (int chanFunction=0; chanFunctiongetParameterFact(PX4RCCalibration::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedValue); } } diff --git a/src/qgcunittest/PX4RCCalibrationTest.h b/src/qgcunittest/PX4RCCalibrationTest.h index 5937933bc877ca912006cdee3eb0e28347f94e21..78a879572288d11075824442cdf7e5cefaecfc35 100644 --- a/src/qgcunittest/PX4RCCalibrationTest.h +++ b/src/qgcunittest/PX4RCCalibrationTest.h @@ -25,16 +25,19 @@ #define PX4RCCALIBRATIONTEST_H #include "UnitTest.h" -#include "MockUASManager.h" -#include "MockUAS.h" +#include "MockLink.h" #include "MultiSignalSpy.h" #include "px4_configuration/PX4RCCalibration.h" +#include "QGCLoggingCategory.h" +#include "AutoPilotPlugin.h" /// @file /// @brief PX4RCCalibration Widget unit test /// /// @author Don Gagne +Q_DECLARE_LOGGING_CATEGORY(PX4RCCalibrationTestLog) + /// @brief PX4RCCalibration Widget unit test class PX4RCCalibrationTest : public UnitTest { @@ -44,7 +47,6 @@ public: PX4RCCalibrationTest(void); private slots: - void initTestCase(void); void init(void); void cleanup(void); @@ -92,8 +94,8 @@ private: void _validateParameters(void); - MockUASManager* _mockUASManager; - MockUAS* _mockUAS; + MockLink* _mockLink; + AutoPilotPlugin* _autopilot; PX4RCCalibration* _calWidget; @@ -125,7 +127,7 @@ private: static const struct ChannelSettings _rgChannelSettings[_availableChannels]; static const struct ChannelSettings _rgChannelSettingsValidate[PX4RCCalibration::_chanMax]; - static const int _rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]; + int _rgFunctionChannelMap[PX4RCCalibration::rcCalFunctionMax]; }; #endif diff --git a/src/qgcunittest/UASUnitTest.cc b/src/qgcunittest/UASUnitTest.cc index 8502343d708c93d75e49705f05a8a20d9bbac42d..d5cf5cd273582e71c7fda36dc903fb75403f963c 100644 --- a/src/qgcunittest/UASUnitTest.cc +++ b/src/qgcunittest/UASUnitTest.cc @@ -71,12 +71,6 @@ void UASUnitTest::getUpTime_test() delete uas2; } -void UASUnitTest::getCommunicationStatus_test() -{ - // Verify that upon construction the Comm status is disconnected - QCOMPARE(_uas->getCommunicationStatus(), static_cast(UASInterface::COMM_DISCONNECTED)); -} - void UASUnitTest::filterVoltage_test() { float verificar=_uas->filterVoltage(0.4f); diff --git a/src/qgcunittest/UASUnitTest.h b/src/qgcunittest/UASUnitTest.h index 2a66658871b1d2e1749ed9fa70eb1c78eed9e54b..ab6b8d008f74cbdc5ed8cad6c839aa1c5c1a5374 100644 --- a/src/qgcunittest/UASUnitTest.h +++ b/src/qgcunittest/UASUnitTest.h @@ -27,7 +27,6 @@ private slots: void getUASID_test(void); void getUASName_test(void); void getUpTime_test(void); - void getCommunicationStatus_test(void); void filterVoltage_test(void); void getAutopilotType_test(void); void setAutopilotType_test(void); diff --git a/src/qgcunittest/UnitTest.h b/src/qgcunittest/UnitTest.h index bbc78acb191500f23203e74edba0fb0f7569e2a1..5e46eff7fdbe777bef4809c97e7332506e6fa582 100644 --- a/src/qgcunittest/UnitTest.h +++ b/src/qgcunittest/UnitTest.h @@ -28,6 +28,7 @@ #ifndef UNITTEST_H #define UNITTEST_H +#ifndef __android__ #include #include @@ -186,4 +187,5 @@ private: QSharedPointer _unitTest; }; +#endif // Android #endif diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc index 1957ea3c650a98646234a2f4e94832bbc9c4e5fd..34c1a697f744e20029785c509edbb7bb871e4475 100644 --- a/src/uas/QGCMAVLinkUASFactory.cc +++ b/src/uas/QGCMAVLinkUASFactory.cc @@ -1,6 +1,5 @@ #include "QGCMAVLinkUASFactory.h" #include "UASManager.h" -#include "QGXPX4UAS.h" QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) : QObject(parent) @@ -20,62 +19,28 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte p = mavlink; } - UASInterface* uas; + UASInterface* uasInterface; - switch (heartbeat->autopilot) - { - case MAV_AUTOPILOT_GENERIC: - { - UAS* mav = new UAS(mavlink, sysid); - // Set the system type - 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))); - uas = mav; - } - break; - case MAV_AUTOPILOT_PX4: - { - QGXPX4UAS* px4 = new QGXPX4UAS(mavlink, sysid); - // Set the system type - px4->setSystemType((int)heartbeat->type); - - // Connect this robot to the UAS object - // it is IMPORTANT here to use the right object type, - // else the slot of the parent object is called (and thus the special - // packets never reach their goal) - connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), px4, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); - uas = px4; - } - break; - default: - { - UAS* mav = new UAS(mavlink, sysid); - mav->setSystemType((int)heartbeat->type); + UAS* uasObject = new UAS(mavlink, sysid); + Q_CHECK_PTR(uasObject); + uasInterface = uasObject; + + uasObject->setSystemType((int)heartbeat->type); - // Connect this robot to the UAS object - // it is IMPORTANT here to use the right object type, - // else the slot of the parent object is called (and thus the special - // packets never reach their goal) - connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); - uas = mav; - } - break; - } + // Connect this robot to the UAS object + // It is IMPORTANT here to use the right object type, + // else the slot of the parent object is called (and thus the special + // packets never reach their goal) + connect(mavlink, &MAVLinkProtocol::messageReceived, uasObject, &UAS::receiveMessage); // Set the autopilot type - uas->setAutopilotType((int)heartbeat->autopilot); + uasInterface->setAutopilotType((int)heartbeat->autopilot); // Make UAS aware that this link can be used to communicate with the actual robot - uas->addLink(link); + uasInterface->addLink(link); - // First thing we do with a new UAS is get the parameters - uas->getParamManager()->requestParameterList(); - // Now add UAS to "official" list, which makes the whole application aware of it - UASManager::instance()->addUAS(uas); + UASManager::instance()->addUAS(uasInterface); - return uas; + return uasInterface; } diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc deleted file mode 100644 index 36e9fb481e56b24acfe571b00225d6b0cda6fa04..0000000000000000000000000000000000000000 --- a/src/uas/QGCUASParamManager.cc +++ /dev/null @@ -1,224 +0,0 @@ -#include "QGCUASParamManager.h" - -#include -#include -#include - -#include "UASInterface.h" -#include "QGCMessageBox.h" - -QGCUASParamManager::QGCUASParamManager(QObject *parent) : - QGCUASParamManagerInterface(parent), - mav(NULL), - paramDataModel(this), - _parametersReady(false) -{ - - -} - -QGCUASParamManager* QGCUASParamManager::initWithUAS(UASInterface* uas) -{ - mav = uas; - - // Load default values and tooltips for data model - loadParamMetaInfoCSV(); - - paramDataModel.setUASID(mav->getUASID()); - paramCommsMgr.initWithUAS(uas); - - connectToModelAndComms(); - - return this; -} - -void QGCUASParamManager::connectToModelAndComms() -{ - // Pass along comms mgr status msgs - connect(¶mCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)), - this, SIGNAL(parameterStatusMsgUpdated(QString,int))); - - connect(¶mCommsMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate())); - - // Pass along data model updates - connect(¶mDataModel, SIGNAL(parameterUpdated(int, QString , QVariant )), - this, SIGNAL(parameterUpdated(int, QString , QVariant ))); - - connect(¶mDataModel, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )), - this, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool ))); - - -} - - -void QGCUASParamManager::clearAllPendingParams() -{ - paramDataModel.clearAllPendingParams(); - emit parameterStatusMsgUpdated(tr("Cleared all pending params"), UASParameterCommsMgr::ParamCommsStatusLevel_OK); - -} - - -int QGCUASParamManager::getDefaultComponentId() -{ - return paramDataModel.getDefaultComponentId(); -} - -QList QGCUASParamManager::getComponentForParam(const QString& parameter) const -{ - return paramDataModel.getComponentForOnboardParam(parameter); -} - - -bool QGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const -{ - return paramDataModel.getOnboardParamValue(component,parameter,value); -} - - -void QGCUASParamManager::requestParameterUpdate(int component, const QString& parameter) -{ - if (mav) { - paramCommsMgr.requestParameterUpdate(component,parameter); - } -} - - - -/** - * Send a request to deliver the list of onboard parameters - * to the MAV. - */ -void QGCUASParamManager::requestParameterList() -{ - if (mav) { - emit parameterStatusMsgUpdated(tr("Requested param list.. waiting"), UASParameterCommsMgr::ParamCommsStatusLevel_OK); - paramCommsMgr.requestParameterList(); - } -} - -void QGCUASParamManager::requestParameterListIfEmpty() -{ - if (mav) { - int totalOnboard = paramDataModel.countOnboardParams(); - if (totalOnboard < 2) { //TODO arbitrary constant, maybe 0 is OK? - requestParameterList(); - } - } -} - - -void QGCUASParamManager::setParamDescriptions(const QMap& paramInfo) { - paramDataModel.setParamDescriptions(paramInfo); -} - - -void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant value) -{ - if ((0 == compId) || (-1 == compId)) { - //attempt to get an actual component ID - compId = paramDataModel.getDefaultComponentId(); - } - paramDataModel.updatePendingParamWithValue(compId,paramName,value); -} - -void QGCUASParamManager::sendPendingParameters(bool persistAfterSend, bool forceSend) -{ - paramCommsMgr.sendPendingParameters(persistAfterSend, forceSend); -} - - - - -void QGCUASParamManager::setPendingParam(int compId, const QString& paramName, const QVariant& value, bool forceSend) -{ - if ((0 == compId) || (-1 == compId)) { - //attempt to get an actual component ID - compId = paramDataModel.getDefaultComponentId(); - } - paramDataModel.updatePendingParamWithValue(compId,paramName,value, forceSend); -} - - - -void QGCUASParamManager::loadParamMetaInfoCSV() -{ - // Load default values and tooltips - QString autopilot(mav->getAutopilotTypeName()); - - QDir appDir = QApplication::applicationDirPath(); - appDir.cd("files"); - QString fileName = QString("%1/%2/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower()); - QFile paramMetaFile(fileName); - - qDebug() << "loadParamMetaInfoCSV for autopilot: " << autopilot << " from file: " << fileName; - - if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text)) { - qDebug() << "loadParamMetaInfoCSV couldn't open:" << fileName; - return; - } - - QTextStream in(¶mMetaFile); - paramDataModel.loadParamMetaInfoFromStream(in); - paramMetaFile.close(); - -} - - -UASInterface* QGCUASParamManager::getUAS() -{ - return mav; -} - -UASParameterDataModel* QGCUASParamManager::dataModel() -{ - return ¶mDataModel; -} - - - -void QGCUASParamManager::writeOnboardParamsToStream(QTextStream &stream, const QString& uasName) -{ - paramDataModel.writeOnboardParamsToStream(stream,uasName); -} - -void QGCUASParamManager::readPendingParamsFromStream(QTextStream &stream) -{ - paramDataModel.readUpdateParamsFromStream(stream); -} - - - -void QGCUASParamManager::copyVolatileParamsToPersistent() -{ - int changedParamCount = paramDataModel.countPendingParams(); - - if (changedParamCount > 0) { - QGCMessageBox::warning(tr("Warning"), - tr("There are locally changed parameters. Please transmit them first () or update them with the onboard values () before storing onboard from RAM to ROM.")); - } - else { - paramCommsMgr.writeParamsToPersistentStorage(); - } -} - - -void QGCUASParamManager::copyPersistentParamsToVolatile() -{ - if (mav) { - mav->readParametersFromStorage(); //TODO use comms mgr instead? - } -} - - -void QGCUASParamManager::requestRcCalibrationParamsUpdate() { - paramCommsMgr.requestRcCalibrationParamsUpdate(); -} - -void QGCUASParamManager::_parameterListUpToDate(void) -{ - //qDebug() << "Emitting parameters ready, count:" << paramDataModel.countOnboardParams(); - - _parametersReady = true; - emit parameterListUpToDate(); -} diff --git a/src/uas/QGCUASParamManager.h b/src/uas/QGCUASParamManager.h deleted file mode 100644 index d10d2d79eb7181cc1eac4cc110f2cdd409a846bb..0000000000000000000000000000000000000000 --- a/src/uas/QGCUASParamManager.h +++ /dev/null @@ -1,140 +0,0 @@ -#ifndef QGCUASPARAMMANAGER_H -#define QGCUASPARAMMANAGER_H - -#include -#include -#include -#include - -#include "UASParameterDataModel.h" -#include "QGCUASParamManagerInterface.h" -#include "UASParameterCommsMgr.h" - -//forward declarations -class QTextStream; -class UASInterface; - -class QGCUASParamManager : public QGCUASParamManagerInterface -{ - Q_OBJECT -public: - QGCUASParamManager(QObject* parent = 0); - QGCUASParamManager* initWithUAS(UASInterface* uas); - - /** @brief Get the known, confirmed value of a parameter */ - virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const; - - /** @brief determine which component is the root component for the UAS and return its ID or 0 if unknown */ - virtual int getDefaultComponentId(); - - /** - * @brief Get a list of all component IDs using this parameter name - * @param parameter The string encoding the parameter name - * @return A list with all components using this parameter name. Can be empty. - */ - virtual QList getComponentForParam(const QString& parameter) const; - - /** @brief Provide tooltips / user-visible descriptions for parameters */ - virtual void setParamDescriptions(const QMap& paramDescs); - - /** - * @brief Count the pending parameters in the current transmission - * @return The number of pending parameters - */ - virtual int countPendingParams() { - return paramDataModel.countPendingParams(); - } - - /** - * @brief Count the number of onboard parameters - * @return The number of onboard parameters - */ - virtual int countOnboardParams() { - return paramDataModel.countOnboardParams(); - } - - /** @brief Get the UAS of this widget - * @return The MAV of this mgr. Unless the MAV object has been destroyed, this is never null. - */ - UASInterface* getUAS(); - - /** @return The data model managed by this class */ - virtual UASParameterDataModel* dataModel(); - - /// @return true: first full set of parameters received - virtual bool parametersReady(void) { return _parametersReady; } - -protected: - - /** @brief Load parameter meta information from appropriate CSV file */ - virtual void loadParamMetaInfoCSV(); - - void connectToModelAndComms(); - - -signals: - - /** @brief We updated the parameter status message */ - void parameterStatusMsgUpdated(QString msg, int level); - /** @brief We have received a complete list of all parameters onboard the MAV */ - void parameterListUpToDate(); - - /** @brief We've received an update of a parameter's value */ - void parameterUpdated(int compId, QString paramName, QVariant value); - - /** @brief Notifies listeners that a param was added to or removed from the pending list */ - void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending); - - - -public slots: - /** @brief Send one parameter to the MAV: changes value in transient memory of MAV */ - virtual void setParameter(int component, QString parameterName, QVariant value); - - /** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory - * @param persistAfterSend If true, all parameters will be written to persistent storage as well - */ - virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false); - - - /** @brief Request list of parameters from MAV */ - virtual void requestParameterList(); - - /** @brief Request a list of params onboard the MAV if the onboard param list we have is empty */ - virtual void requestParameterListIfEmpty(); - - /** @brief queue a pending parameter for sending to the MAV */ - virtual void setPendingParam(int componentId, const QString& key, const QVariant& value, bool forceSend = false); - - /** @brief remove all params from the pending list */ - virtual void clearAllPendingParams(); - - /** @brief Request a single parameter by name from the MAV */ - virtual void requestParameterUpdate(int component, const QString& parameter); - - - virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName); - virtual void readPendingParamsFromStream(QTextStream &stream); - - virtual void requestRcCalibrationParamsUpdate(); - - /** @brief Copy the current parameters in volatile RAM to persistent storage (EEPROM/HDD) */ - virtual void copyVolatileParamsToPersistent(); - /** @brief Copy the parameters from persistent storage to volatile RAM */ - virtual void copyPersistentParamsToVolatile(); - -private slots: - void _parameterListUpToDate(void); - -protected: - - // Parameter data model - UASInterface* mav; ///< The MAV this manager is controlling - UASParameterDataModel paramDataModel;///< Shared data model of parameters - UASParameterCommsMgr paramCommsMgr; ///< Shared comms mgr for parameters - - bool _parametersReady; - -}; - -#endif // QGCUASPARAMMANAGER_H diff --git a/src/uas/QGCUASParamManagerInterface.h b/src/uas/QGCUASParamManagerInterface.h deleted file mode 100644 index 2b1c41b74c857433817285103f57e80d214846ab..0000000000000000000000000000000000000000 --- a/src/uas/QGCUASParamManagerInterface.h +++ /dev/null @@ -1,59 +0,0 @@ -#ifndef QGCUASPARAMMANAGERINTERFACE_H -#define QGCUASPARAMMANAGERINTERFACE_H - -#include -#include -#include -#include -#include - -#include "UASParameterDataModel.h" - -/** - * @brief This is the abstract base class for QGCUASParamManager. Although there is - * normally only a single QGCUASParamManager we still use an abstract base interface - * since this allows us to create mock versions. - * - * See QGCUASParamManager.h for method documentation - **/ - -//forward declarations -class QTextStream; -class UASInterface; -class UASParameterCommsMgr; - -class QGCUASParamManagerInterface : public QObject -{ -public: - QGCUASParamManagerInterface(QObject* parent = NULL) : QObject(parent) { } - virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const = 0; - virtual int getDefaultComponentId() = 0; - virtual QList getComponentForParam(const QString& parameter) const = 0; - virtual void setParamDescriptions(const QMap& paramDescs) = 0; - virtual int countPendingParams() = 0; - virtual int countOnboardParams() = 0; - virtual UASParameterDataModel* dataModel() = 0; - virtual bool parametersReady(void) = 0; - -public slots: - virtual void setParameter(int component, QString parameterName, QVariant value) = 0; - virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false) = 0; - virtual void requestParameterList() = 0; - virtual void requestParameterListIfEmpty() = 0; - virtual void setPendingParam(int componentId, const QString& key, const QVariant& value, bool forceSend = false) = 0; - virtual void clearAllPendingParams() = 0; - virtual void requestParameterUpdate(int component, const QString& parameter) = 0; - virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName) = 0; - virtual void readPendingParamsFromStream(QTextStream &stream) = 0; - virtual void requestRcCalibrationParamsUpdate() = 0; - virtual void copyVolatileParamsToPersistent() = 0; - virtual void copyPersistentParamsToVolatile() = 0; - -signals: - void parameterStatusMsgUpdated(QString msg, int level); - void parameterListUpToDate(); - void parameterUpdated(int compId, QString paramName, QVariant value); - void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending); -}; - -#endif // QGCUASPARAMMANAGER_H diff --git a/src/uas/QGXPX4UAS.cc b/src/uas/QGXPX4UAS.cc deleted file mode 100644 index b96ca4b2e5196ba4b061e3de21dd524e55ada20a..0000000000000000000000000000000000000000 --- a/src/uas/QGXPX4UAS.cc +++ /dev/null @@ -1,40 +0,0 @@ -#include "QGXPX4UAS.h" - -QGXPX4UAS::QGXPX4UAS(MAVLinkProtocol* mavlink, int id) : - UAS(mavlink, id) -{ -} - -/** - * This function is called by MAVLink once a complete, uncorrupted (CRC check valid) - * mavlink packet is received. - * - * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port). - * messages can be sent back to the system via this link - * @param message MAVLink message, as received from the MAVLink protocol stack - */ -void QGXPX4UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) -{ - UAS::receiveMessage(link, message); -} - -void QGXPX4UAS::processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue) -{ - Q_UNUSED(rawValue); - Q_UNUSED(paramValue); - - int compId = msg.compid; - if (paramName == "SYS_AUTOSTART") { - - bool ok; - - int val = parameters.value(compId)->value(paramName).toInt(&ok); - - if (ok && val == 0) { - emit misconfigurationDetected(this); - qDebug() << "HINTING MISCONFIGURATION"; - } - - qDebug() << "SYS_AUTOSTART FOUND WITH VAL: " << val; - } -} diff --git a/src/uas/QGXPX4UAS.h b/src/uas/QGXPX4UAS.h deleted file mode 100644 index 5aaf8ab1adba7c98e39310faffbaf5c044d4f3ea..0000000000000000000000000000000000000000 --- a/src/uas/QGXPX4UAS.h +++ /dev/null @@ -1,21 +0,0 @@ -#ifndef QGXPX4UAS_H -#define QGXPX4UAS_H - -#include "UAS.h" - -class QGXPX4UAS : public UAS -{ - Q_OBJECT - Q_INTERFACES(UASInterface) -public: - QGXPX4UAS(MAVLinkProtocol* mavlink, int id); - -public slots: - /** @brief Receive a MAVLink message from this MAV */ - void receiveMessage(LinkInterface* link, mavlink_message_t message); - - virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue); - -}; - -#endif // QGXPX4UAS_H diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index a155b0f8a1e8603a89660eefe5ac7d86cd6f797d..d5f380b2bab4a4c47d37a1d0dd35a81bbc550806 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -27,12 +27,12 @@ #include "QGCMAVLink.h" #include "LinkManager.h" #include "SerialLink.h" -#include "UASParameterCommsMgr.h" #include #include "AutoPilotPluginManager.h" #include "QGCMessageBox.h" +#include "QGCLoggingCategory.h" -Q_LOGGING_CATEGORY(UASLog, "UASLog") +QGC_LOGGING_CATEGORY(UASLog, "UASLog") #define UAS_DEFAULT_BATTERY_WARNLEVEL 20 @@ -49,7 +49,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), uasId(id), unknownPackets(), mavlink(protocol), - commStatus(COMM_DISCONNECTED), receiveDropRate(0), sendDropRate(0), @@ -143,8 +142,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), receivedMode(false), - paramsOnceRequested(false), - paramMgr(this), simulation(0), // The protected members. @@ -230,8 +227,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings())); statusTimeout.start(500); readSettings(); - //need to init paramMgr after readSettings have been loaded, to properly set autopilot and so forth - paramMgr.initWithUAS(this); + // Initial signals emit disarmed(); emit armingChanged(false); @@ -347,13 +343,6 @@ void UAS::updateState() { positionLock = false; } - else - { - if (((base_mode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) || (base_mode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED)) && positionLock) - { - GAudioOutput::instance()->notifyNegative(); - } - } } /** @@ -379,8 +368,7 @@ bool UAS::getSelected() const void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) { - if (!links.contains(link)) - { + if (!_containsLink(link)) { addLink(link); // qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName(); } @@ -561,12 +549,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY)) { - GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY); + GAudioOutput::instance()->say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY); QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency())); } else if (modechanged || statechanged) { - GAudioOutput::instance()->stopEmergency(); GAudioOutput::instance()->say(audiostring.toLower()); } } @@ -617,7 +604,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) /* warn only every 12 seconds */ && (QGC::groundTimeUsecs() - lastVoltageWarning) > 12000000) { - GAudioOutput::instance()->say(QString("voltage warning: %1 volts").arg(lpVoltage, 0, 'f', 1, QChar(' '))); + GAudioOutput::instance()->say(QString("Voltage warning for system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' '))); lastVoltageWarning = QGC::groundTimeUsecs(); lastTickVoltageValue = tickLowpassVoltage; } @@ -817,11 +804,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) emit localPositionChanged(this, localX, localY, localZ, time); emit velocityChanged_NED(this, speedX, speedY, speedZ, time); - // Set internal state - if (!positionLock) { - // If position was not locked before, notify positive - GAudioOutput::instance()->notifyPositive(); - } positionLock = true; isLocalPositionKnown = true; } @@ -864,16 +846,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) setGroundSpeed(qSqrt(speedX*speedX+speedY*speedY)); emit speedChanged(this, groundSpeed, airSpeed, time); - // Set internal state - if (!positionLock) - { - // If position was not locked before, notify positive - GAudioOutput::instance()->notifyPositive(); - } positionLock = true; isGlobalPositionKnown = true; - //TODO fix this hack for forwarding of global position for patch antenna tracking - //forwardMessage(message); } break; case MAVLINK_MSG_ID_GPS_RAW_INT: @@ -945,10 +919,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) mavlink_rc_channels_t channels; mavlink_msg_rc_channels_decode(&message, &channels); - // UINT8_MAX indicates this value is unknown - if (channels.rssi != UINT8_MAX) { - emit remoteControlRSSIChanged(channels.rssi/100.0f); - } + emit remoteControlRSSIChanged(channels.rssi); if (channels.chan1_raw != UINT16_MAX && channels.chancount > 0) emit remoteControlChannelRawChanged(0, channels.chan1_raw); @@ -989,6 +960,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) } break; + + // TODO: (gg 20150420) PX4 Firmware does not seem to send this message. Don't know what to do about it. case MAVLINK_MSG_ID_RC_CHANNELS_SCALED: { mavlink_rc_channels_scaled_t channels; @@ -996,7 +969,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) const unsigned int portWidth = 8; // XXX magic number - emit remoteControlRSSIChanged(channels.rssi/255.0f); + emit remoteControlRSSIChanged(channels.rssi); if (static_cast(channels.chan1_scaled) != UINT16_MAX) emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f); if (static_cast(channels.chan2_scaled) != UINT16_MAX) @@ -1028,8 +1001,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) paramVal.type = rawValue.param_type; processParamValueMsg(message, parameterName,rawValue,paramVal); - processParamValueMsgHook(message, parameterName,rawValue,paramVal); - } break; case MAVLINK_MSG_ID_COMMAND_ACK: @@ -1209,7 +1180,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) mavlink_mission_item_reached_t wpr; mavlink_msg_mission_item_reached_decode(&message, &wpr); waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr); - QString text = QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq); + QString text = QString("System %1 reached waypoint %2").arg(getUASID()).arg(wpr.seq); GAudioOutput::instance()->say(text); emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, text); } @@ -1247,14 +1218,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) QByteArray b; b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1); mavlink_msg_statustext_get_text(&message, b.data()); + // Ensure NUL-termination b[b.length()-1] = '\0'; QString text = QString(b); int severity = mavlink_msg_statustext_get_severity(&message); - if (text.startsWith("#") || severity <= MAV_SEVERITY_WARNING) + // If the message is NOTIFY or higher severity, or starts with a '#', + // then read it aloud. + if (text.startsWith("#") || severity <= MAV_SEVERITY_NOTICE) { - text.remove("#audio:"); + text.remove("#"); emit textMessageReceived(uasId, message.compid, severity, text); GAudioOutput::instance()->say(text.toLower(), severity); } @@ -1342,6 +1316,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) setDistToWaypoint(p.wp_dist); setBearingToWaypoint(p.nav_bearing); emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error); + emit NavigationControllerDataChanged(this, p.nav_roll, p.nav_pitch, p.nav_bearing, p.target_bearing, p.wp_dist); } break; // Messages to ignore @@ -1460,19 +1435,67 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw) Q_UNUSED(yaw); } -void UAS::startRadioControlCalibration(int param) +void UAS::startCalibration(UASInterface::StartCalibrationType calType) { + int gyroCal = 0; + int magCal = 0; + int airspeedCal = 0; + int radioCal = 0; + int accelCal = 0; + + switch (calType) { + case StartCalibrationGyro: + gyroCal = 1; + break; + case StartCalibrationMag: + magCal = 1; + break; + case StartCalibrationAirspeed: + airspeedCal = 1; + break; + case StartCalibrationRadio: + radioCal = 1; + break; + case StartCalibrationAccel: + accelCal = 1; + break; + } + mavlink_message_t msg; - // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, param, 0, 0, 0); + mavlink_msg_command_long_pack(mavlink->getSystemId(), + mavlink->getComponentId(), + &msg, + uasId, + 0, // target component + MAV_CMD_PREFLIGHT_CALIBRATION, // command id + 0, // 0=first transmission of command + gyroCal, // gyro cal + magCal, // mag cal + 0, // ground pressure + radioCal, // radio cal + accelCal, // accel cal + airspeedCal, // airspeed cal + 0); // unused sendMessage(msg); } -void UAS::endRadioControlCalibration() +void UAS::stopCalibration(void) { mavlink_message_t msg; - // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 0, 0, 0, 0); + mavlink_msg_command_long_pack(mavlink->getSystemId(), + mavlink->getComponentId(), + &msg, + uasId, + 0, // target component + MAV_CMD_PREFLIGHT_CALIBRATION, // command id + 0, // 0=first transmission of command + 0, // gyro cal + 0, // mag cal + 0, // ground pressure + 0, // radio cal + 0, // accel cal + 0, // airspeed cal + 0); // unused sendMessage(msg); } @@ -1490,30 +1513,6 @@ void UAS::stopDataRecording() sendMessage(msg); } -void UAS::startMagnetometerCalibration() -{ - mavlink_message_t msg; - // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 1, 0, 0, 0, 0, 0); - sendMessage(msg); -} - -void UAS::startGyroscopeCalibration() -{ - mavlink_message_t msg; - // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1, 0, 0, 0, 0, 0, 0); - sendMessage(msg); -} - -void UAS::startPressureCalibration() -{ - mavlink_message_t msg; - // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 1, 0, 0, 0, 0); - sendMessage(msg); -} - /** * Check if time is smaller than 40 years, assuming no system without Unix * timestamp runs longer than 40 years continuously without reboot. In worst case @@ -1642,26 +1641,6 @@ quint64 UAS::getUnixTime(quint64 time) return ret; } -/** -* @param component that will be searched for in the map of parameters. -*/ -QList UAS::getParameterNames(int component) -{ - if (parameters.contains(component)) - { - return parameters.value(component)->keys(); - } - else - { - return QList(); - } -} - -QList UAS::getComponentIds() -{ - return parameters.keys(); -} - /** * @param newBaseMode that UAS is to be set to. * @param newCustomMode that UAS is to be set to. @@ -1722,49 +1701,21 @@ void UAS::sendMessage(mavlink_message_t message) return; } - if (links.count() < 1) { + if (_links.count() < 1) { qDebug() << "NO LINK AVAILABLE TO SEND!"; } // Emit message on all links that are currently connected - foreach (LinkInterface* link, links) { + foreach (SharedLinkInterface sharedLink, _links) { + LinkInterface* link = sharedLink.data(); + Q_ASSERT(link); + if (link->isConnected()) { sendMessage(link, message); } } } -/** -* Forward a message to all links that are currently connected. -* @param message that is to be forwarded -*/ -void UAS::forwardMessage(mavlink_message_t message) -{ - // Emit message on all links that are currently connected - QListlink_list = LinkManager::instance()->getLinks(); - - foreach(LinkInterface* link, link_list) - { - if (link) - { - SerialLink* serial = dynamic_cast(link); - if(serial != 0) - { - for(int i=0; iisConnected()) { - qDebug()<<"Antenna tracking: Forwarding Over link: "<getName()<<" "<getSystemId(), mavlink->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]); + mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]); // If link is connected if (link->isConnected()) @@ -1939,26 +1890,6 @@ quint64 UAS::getUptime() const } } -int UAS::getCommunicationStatus() const -{ - return commStatus; -} - -void UAS::writeParametersToStorage() -{ - mavlink_message_t msg; - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0); - qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE; - sendMessage(msg); -} - -void UAS::readParametersFromStorage() -{ - mavlink_message_t msg; - mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1, 0, 0, 0); - sendMessage(msg); -} - bool UAS::isRotaryWing() { switch (type) { @@ -2235,116 +2166,11 @@ void UAS::enableExtra3Transmission(int rate) sendMessage(msg); } -/** - * Set a parameter value onboard - * - * @param component The component to set the parameter - * @param id Name of the parameter - */ -void UAS::setParameter(const int compId, const QString& paramId, const QVariant& value) -{ - if (!paramId.isNull()) - { - mavlink_message_t msg; - mavlink_param_set_t p; - mavlink_param_union_t union_value; - - // Assign correct value based on QVariant - // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling. - if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) - { - switch ((int)value.type()) - { - case QVariant::Char: - union_value.param_float = (unsigned char)value.toChar().toLatin1(); - p.param_type = MAV_PARAM_TYPE_INT8; - break; - case QVariant::Int: - union_value.param_float = value.toInt(); - p.param_type = MAV_PARAM_TYPE_INT32; - break; - case QVariant::UInt: - union_value.param_float = value.toUInt(); - p.param_type = MAV_PARAM_TYPE_UINT32; - break; - case QMetaType::Float: - union_value.param_float = value.toFloat(); - p.param_type = MAV_PARAM_TYPE_REAL32; - break; - default: - qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; - return; - } - } - else - { - switch ((int)value.type()) - { - case QVariant::Char: - union_value.param_int8 = (unsigned char)value.toChar().toLatin1(); - p.param_type = MAV_PARAM_TYPE_INT8; - break; - case QVariant::Int: - union_value.param_int32 = value.toInt(); - p.param_type = MAV_PARAM_TYPE_INT32; - break; - case QVariant::UInt: - union_value.param_uint32 = value.toUInt(); - p.param_type = MAV_PARAM_TYPE_UINT32; - break; - case QMetaType::Float: - union_value.param_float = value.toFloat(); - p.param_type = MAV_PARAM_TYPE_REAL32; - break; - default: - qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE"; - return; - } - } - - p.param_value = union_value.param_float; - p.target_system = (uint8_t)uasId; - p.target_component = (uint8_t)compId; - - //qDebug() << "SENT PARAM:" << value; - - // Copy string into buffer, ensuring not to exceed the buffer size - for (unsigned int i = 0; i < sizeof(p.param_id); i++) - { - // String characters - if ((int)i < paramId.length()) - { - p.param_id[i] = paramId.toLatin1()[i]; - } - else - { - // Fill rest with zeros - p.param_id[i] = 0; - } - } - mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p); - sendMessage(msg); - } -} - - - - //TODO update this to use the parameter manager / param data model instead void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramUnion) { int compId = msg.compid; - // Insert component if necessary - if (!parameters.contains(compId)) { - parameters.insert(compId, new QMap()); - } - - // Insert parameter into registry - if (parameters.value(compId)->contains(paramName)) { - parameters.value(compId)->remove(paramName); - } - QVariant paramValue; // Insert with correct type @@ -2404,50 +2230,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type; - parameters.value(compId)->insert(paramName, paramValue); - emit parameterChanged(uasId, compId, paramName, paramValue); - emit parameterUpdate(uasId, compId, paramName, rawValue.param_type, paramValue); - emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, paramValue); -} - -/** -* Request parameter, use parameter name to request it. -*/ -void UAS::requestParameter(int component, int id) -{ - // Request parameter, use parameter name to request it - mavlink_message_t msg; - mavlink_param_request_read_t read; - read.param_index = id; - read.param_id[0] = '\0'; // Enforce null termination - read.target_system = uasId; - read.target_component = component; - mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read); - sendMessage(msg); - //qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id; -} - -/** -* Request a parameter, use parameter name to request it. -*/ -void UAS::requestParameter(int component, const QString& parameter) -{ - // Request parameter, use parameter name to request it - mavlink_message_t msg; - mavlink_param_request_read_t read; - read.param_index = -1; - // Copy full param name or maximum max field size - if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN) - { - emit textMessageReceived(uasId, 0, MAV_SEVERITY_WARNING, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1)); - } - strncpy(read.param_id, parameter.toStdString().c_str(), sizeof(read.param_id)); - read.param_id[sizeof(read.param_id) - 1] = '\0'; // Enforce null termination - read.target_system = uasId; - read.target_component = component; - mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read); - sendMessage(msg); - //qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter; + emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue); } /** @@ -2707,6 +2490,21 @@ int UAS::getSystemType() return this->type; } +/** @brief Is it an airplane (or like one)?,..)*/ +bool UAS::isAirplane() +{ + switch(this->type) { + case MAV_TYPE_GENERIC: + case MAV_TYPE_FIXED_WING: + case MAV_TYPE_AIRSHIP: + case MAV_TYPE_FLAPPING_WING: + return true; + default: + break; + } + return false; +} + /** * Halt the uas. */ @@ -3271,27 +3069,30 @@ const QString& UAS::getShortMode() const */ void UAS::addLink(LinkInterface* link) { - if (!links.contains(link)) + if (!_containsLink(link)) { - links.append(link); + _links.append(LinkManager::instance()->sharedPointerForLink(link)); qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16); - connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*))); + connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &UAS::_linkDisconnected); } } -void UAS::removeLink(QObject* object) +void UAS::_linkDisconnected(LinkInterface* link) { - qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16); - qCDebug(UASLog) << "link count:" << links.count(); + qCDebug(UASLog) << "_linkDisconnected:" << link->getName(); + qCDebug(UASLog) << "link count:" << _links.count(); - // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already - // been destroyed. - - LinkInterface* link = (LinkInterface*)object; - - int index = links.indexOf(link); - Q_ASSERT(index != -1); - links.removeAt(index); + for (int i=0; i<_links.count(); i++) { + if (_links[i].data() == link) { + _links.removeAt(i); + break; + } + } + + if (_links.count() == 0) { + // Remove the UAS when all links to it close + UASManager::instance()->removeUAS(this); + } } /** @@ -3299,7 +3100,13 @@ void UAS::removeLink(QObject* object) */ QList UAS::getLinks() { - return links; + QList list; + + foreach (SharedLinkInterface sharedLink, _links) { + list << sharedLink.data(); + } + + return list; } /** @@ -3360,8 +3167,7 @@ void UAS::startLowBattAlarm() { if (!lowBattAlarm) { - GAudioOutput::instance()->alert(tr("system %1 has low battery").arg(getUASName())); - QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency())); + GAudioOutput::instance()->alert(tr("System %1 has low battery").arg(getUASID())); lowBattAlarm = true; } } @@ -3370,7 +3176,6 @@ void UAS::stopLowBattAlarm() { if (lowBattAlarm) { - GAudioOutput::instance()->stopEmergency(); lowBattAlarm = false; } } @@ -3426,3 +3231,14 @@ void UAS::unsetRCToParameterMap() sendMessage(message); } } + +bool UAS::_containsLink(LinkInterface* link) +{ + foreach (SharedLinkInterface sharedLink, _links) { + if (sharedLink.data() == link) { + return true; + } + } + + return false; +} diff --git a/src/uas/UAS.h b/src/uas/UAS.h index 519f1264e89955d97359adb3b063a97b1f535ba3..9d115fc602e6994e1968abf36d50006b645ddbd3 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -40,7 +40,6 @@ This file is part of the QGROUNDCONTROL project #include "QGCFlightGearLink.h" #include "QGCJSBSimLink.h" #include "QGCXPlaneLink.h" -#include "QGCUASParamManager.h" #include "QGCUASFileManager.h" Q_DECLARE_LOGGING_CATEGORY(UASLog) @@ -87,8 +86,6 @@ public: /** @brief The time interval the robot is switched on */ quint64 getUptime() const; - /** @brief Get the status flag for the communication */ - int getCommunicationStatus() const; /** @brief Add one measurement and get low-passed voltage */ float filterVoltage(float value) const; /** @brief Get the links associated with this robot */ @@ -341,10 +338,13 @@ protected: //COMMENTS FOR TEST UNIT /// LINK ID AND STATUS int uasId; ///< Unique system ID QMap components;///< IDs and names of all detected onboard components - QList links; ///< List of links this UAS can be reached by + + /// List of all links associated with this UAS. We keep SharedLinkInterface objects which are QSharedPointer's in order to + /// maintain reference counts across threads. This way Link deletion works correctly. + QList _links; + QList unknownPackets; ///< Packet IDs which are unknown and have been received MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance - CommStatus commStatus; ///< Communication status float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs) float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS quint64 lastHeartbeat; ///< Time of the last heartbeat message @@ -461,11 +461,6 @@ protected: //COMMENTS FOR TEST UNIT bool blockHomePositionChanges; ///< Block changes to the home position bool receivedMode; ///< True if mode was retrieved from current conenction to UAS - /// PARAMETERS - QMap* > parameters; ///< All parameters - bool paramsOnceRequested; ///< If the parameter list has been read at least once - QGCUASParamManager paramMgr; ///< Parameter manager for this UAS - /// SIMULATION QGCHilLink* simulation; ///< Hardware in the loop simulation link @@ -492,11 +487,6 @@ public: return &waypointManager; } - /** @brief Get reference to the param manager **/ - virtual QGCUASParamManagerInterface* getParamManager() { - return ¶mMgr; - } - virtual QGCUASFileManager* getFileManager() { return &fileManager; } @@ -507,7 +497,8 @@ public: } - int getSystemType(); + int getSystemType(); + bool isAirplane(); /** * @brief Returns true for systems that can reverse. If the system has no control over position, it returns false as @@ -796,8 +787,6 @@ public slots: /** @brief Add a link associated with this robot */ void addLink(LinkInterface* link); - /** @brief Remove a link associated with this robot */ - void removeLink(QObject* object); /** @brief Receive a message from one of the communication links. */ virtual void receiveMessage(LinkInterface* link, mavlink_message_t message); @@ -812,9 +801,6 @@ public slots: /** @brief Send a message over all links this UAS can be reached with (!= all links) */ void sendMessage(mavlink_message_t message); - /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */ - void forwardMessage(mavlink_message_t message); - /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */ void setSelected(); @@ -824,25 +810,6 @@ public slots: /** @brief Set current mode of operation, e.g. auto or manual, does not check the arming status, for anything else than arming/disarming operations use setMode instead */ void setModeArm(uint8_t newBaseMode, uint32_t newCustomMode); - /** @brief Request a single parameter by name */ - void requestParameter(int component, const QString& parameter); - /** @brief Request a single parameter by index */ - void requestParameter(int component, int id); - - /** @brief Set a system parameter */ - void setParameter(const int compId, const QString& paramId, const QVariant& value); - - /** @brief Write parameters to permanent storage */ - void writeParametersToStorage(); - /** @brief Read parameters from permanent storage */ - void readParametersFromStorage(); - - /** @brief Get the names of all parameters */ - QList getParameterNames(int component); - - /** @brief Get the ids of all components */ - QList getComponentIds(); - void enableAllDataTransmission(int rate); void enableRawSensorDataTransmission(int rate); void enableExtendedSystemStatusTransmission(int rate); @@ -866,11 +833,8 @@ public slots: /** @brief Add an offset in body frame to the setpoint */ void setLocalPositionOffset(float x, float y, float z, float yaw); - void startRadioControlCalibration(int param=1); - void endRadioControlCalibration(); - void startMagnetometerCalibration(); - void startGyroscopeCalibration(); - void startPressureCalibration(); + void startCalibration(StartCalibrationType calType); + void stopCalibration(void); void startDataRecording(); void stopDataRecording(); @@ -930,7 +894,6 @@ protected: quint64 getUnixReferenceTime(quint64 time); virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue); - virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue) { Q_UNUSED(msg); Q_UNUSED(paramName); Q_UNUSED(rawValue); Q_UNUSED(paramValue); }; int componentID[256]; bool componentMulti[256]; @@ -952,6 +915,12 @@ protected slots: void writeSettings(); /** @brief Read settings from disk */ void readSettings(); + +private slots: + void _linkDisconnected(LinkInterface* link); + +private: + bool _containsLink(LinkInterface* link); }; diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h index c61c81e1e6f7df2f95124fef23b5ad83690d3156..51dae58984a3b6f3bcc2cf9112196d7b24838964 100644 --- a/src/uas/UASInterface.h +++ b/src/uas/UASInterface.h @@ -40,9 +40,7 @@ This file is part of the QGROUNDCONTROL project #include "LinkInterface.h" #include "ProtocolInterface.h" -#include "UASParameterDataModel.h" #include "UASWaypointManager.h" -#include "QGCUASParamManagerInterface.h" class QGCUASFileManager; @@ -108,8 +106,6 @@ public: virtual int getUASID() const = 0; ///< Get the ID of the connected UAS /** @brief The time interval the robot is switched on **/ virtual quint64 getUptime() const = 0; - /** @brief Get the status flag for the communication **/ - virtual int getCommunicationStatus() const = 0; virtual double getLocalX() const = 0; virtual double getLocalY() const = 0; @@ -136,9 +132,6 @@ public: /** @brief Get reference to the waypoint manager **/ virtual UASWaypointManager* getWaypointManager(void) = 0; - /** @brief Get reference to the param manager **/ - virtual QGCUASParamManagerInterface* getParamManager() = 0; - virtual QGCUASFileManager* getFileManager() = 0; /** @brief Send a message over this link (to this or to all UAS on this link) */ @@ -146,21 +139,6 @@ public: /** @brief Send a message over all links this UAS can be reached with (!= all links) */ virtual void sendMessage(mavlink_message_t message) = 0; - /* COMMUNICATION FLAGS */ - - enum CommStatus { - /** Unit is disconnected, no failure state reached so far **/ - COMM_DISCONNECTED = 0, - /** The communication is established **/ - COMM_CONNECTING = 1, - /** The communication link is up **/ - COMM_CONNECTED = 2, - /** The connection is closed **/ - COMM_DISCONNECTING = 3, - COMM_FAIL = 4, - COMM_TIMEDOUT = 5///< Communication link failed - }; - enum Airframe { QGC_AIRFRAME_GENERIC = 0, QGC_AIRFRAME_EASYSTAR, @@ -230,6 +208,8 @@ public: /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/ virtual int getSystemType() = 0; + /** @brief Is it an airplane (or like one)?,..)*/ + virtual bool isAirplane() = 0; /** @brief Indicates whether this system is capable of controlling a reverse velocity. * Used for, among other things, altering joystick input to either -1:1 or 0:1 range. */ @@ -257,6 +237,20 @@ public: static const unsigned int WAYPOINT_RADIUS_DEFAULT_FIXED_WING = 25; static const unsigned int WAYPOINT_RADIUS_DEFAULT_ROTARY_WING = 5; + + enum StartCalibrationType { + StartCalibrationRadio, + StartCalibrationGyro, + StartCalibrationMag, + StartCalibrationAirspeed, + StartCalibrationAccel + }; + + /// Starts the specified calibration + virtual void startCalibration(StartCalibrationType calType) = 0; + + /// Ends any current calibration + virtual void stopCalibration(void) = 0; public slots: @@ -315,19 +309,6 @@ public slots: virtual void setLocalOriginAtCurrentGPSPosition() = 0; /** @brief Set world frame origin / home position at this GPS position */ virtual void setHomePosition(double lat, double lon, double alt) = 0; - /** @brief Request one specific onboard parameter */ - virtual void requestParameter(int component, const QString& parameter) = 0; - /** @brief Write parameter to permanent storage */ - virtual void writeParametersToStorage() = 0; - /** @brief Read parameter from permanent storage */ - virtual void readParametersFromStorage() = 0; - /** @brief Set a system parameter - * @param component ID of the system component to write the parameter to - * @param id String identifying the parameter - * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it - * @param value Value of the parameter, IEEE 754 single precision floating point - */ - virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0; /** * @brief Add a link to the list of current links @@ -359,12 +340,6 @@ public slots: virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0; virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0; - virtual void startRadioControlCalibration(int param=1) = 0; - virtual void endRadioControlCalibration() = 0; - virtual void startMagnetometerCalibration() = 0; - virtual void startGyroscopeCalibration() = 0; - virtual void startPressureCalibration() = 0; - /** @brief Return if this a rotary wing */ virtual bool isRotaryWing() = 0; /** @brief Return if this is a fixed wing */ @@ -471,8 +446,6 @@ signals: void armingChanged(int sysId, QString armingState); /** @brief A command has been issued **/ void commandSent(int command); - /** @brief The connection status has changed **/ - void connectionChanged(CommStatus connectionFlag); /** @brief The robot is connecting **/ void connecting(); /** @brief The robot is connected **/ @@ -505,11 +478,7 @@ signals: void waypointSelected(int uasId, int id); void waypointReached(UASInterface* uas, int id); void autoModeChanged(bool autoMode); - void parameterChanged(int uas, int component, QString parameterName, QVariant value); - void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value); - void parameterUpdate(int uas, int component, QString parameterName, int type, QVariant value); - void patternDetected(int uasId, QString patternPath, float confidence, bool detected); - void letterDetected(int uasId, QString letter, float confidence, bool detected); + void parameterUpdate(int uas, int component, QString parameterName, int parameterCount, int parameterId, int type, QVariant value); /** * @brief The battery status has been updated * @@ -544,6 +513,7 @@ signals: void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec); void navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError); + void NavigationControllerDataChanged(UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDist); void imageStarted(int imgid, int width, int height, int depth, int channels); void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex); @@ -586,8 +556,8 @@ signals: void remoteControlChannelRawChanged(int channelId, float raw); /** @brief Value of a remote control channel (scaled)*/ void remoteControlChannelScaledChanged(int channelId, float normalized); - /** @brief Remote control RSSI changed */ - void remoteControlRSSIChanged(float rssi); + /** @brief Remote control RSSI changed (0% - 100%)*/ + void remoteControlRSSIChanged(uint8_t rssi); /** * @brief Localization quality changed diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc deleted file mode 100644 index 83ee8950f81ad4a8923c637de06991c25f836e6e..0000000000000000000000000000000000000000 --- a/src/uas/UASParameterCommsMgr.cc +++ /dev/null @@ -1,579 +0,0 @@ -#include "UASParameterCommsMgr.h" - -#include -#include - -#include "QGCUASParamManagerInterface.h" -#include "UASInterface.h" -#include "MAVLinkProtocol.h" -#include "MainWindow.h" - -#define RC_CAL_CHAN_MAX 8 - -Q_LOGGING_CATEGORY(UASParameterCommsMgrLog, "UASParameterCommsMgrLog") - -UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent) : - QObject(parent), - lastReceiveTime(0), - mav(NULL), - maxSilenceTimeout(30000), - paramDataModel(NULL), - retransmitBurstLimit(5), - silenceTimeout(1000), - transmissionListMode(false) -{ - // We signal to ourselves to start/stop timer on our own thread - connect(this, SIGNAL(_startSilenceTimer(void)), this, SLOT(_startSilenceTimerOnThisThread(void))); - connect(this, SIGNAL(_stopSilenceTimer(void)), this, SLOT(_stopSilenceTimerOnThisThread(void))); -} - -UASParameterCommsMgr* UASParameterCommsMgr::initWithUAS(UASInterface* uas) -{ - mav = uas; - paramDataModel = mav->getParamManager()->dataModel(); - loadParamCommsSettings(); - - //Requesting parameters one-by-one from mav - connect(this, SIGNAL(parameterUpdateRequestedById(int,int)), - mav, SLOT(requestParameter(int,int))); - - // Sending params to the UAS - connect(this, SIGNAL(commitPendingParameter(int,QString,QVariant)), - mav, SLOT(setParameter(int,QString,QVariant))); - - // Received parameter updates from UAS - connect(mav, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), - this, SLOT(receivedParameterUpdate(int,int,int,int,QString,QVariant))); - - connect(&silenceTimer, SIGNAL(timeout()), - this,SLOT(silenceTimerExpired())); - - return this; -} - - - - -void UASParameterCommsMgr::loadParamCommsSettings() -{ - QSettings settings; - //TODO these are duplicates of MAVLinkProtocol settings...seems wrong to use them in two places - settings.beginGroup("QGC_MAVLINK_PROTOCOL"); - bool ok; - int val = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", 1000).toInt(&ok); - if (ok) { - silenceTimeout = val; - qDebug() << "silenceTimeout" << silenceTimeout; - } - - settings.endGroup(); -} - -void UASParameterCommsMgr::_sendParamRequestListMsg(void) -{ - MAVLinkProtocol* mavlink = MAVLinkProtocol::instance(); - Q_ASSERT(mavlink); - - mavlink_message_t msg; - mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, mav->getUASID(), MAV_COMP_ID_ALL); - mav->sendMessage(msg); -} - -/** - * Send a request to deliver the list of onboard parameters - * from the MAV. - */ -void UASParameterCommsMgr::requestParameterList() -{ - if (!mav) { - return; - } - - - if (!transmissionListMode) { - qCDebug(UASParameterCommsMgrLog) << "Requesting full parameter list"; - transmissionListMode = true;//TODO eliminate? - //we use (compId 0, paramId 0) as indicating all params for the system - markReadParamWaiting(0,0); - - _sendParamRequestListMsg(); - - updateSilenceTimer(); - } - else { - qCDebug(UASParameterCommsMgrLog) << "Ignoring requestParameterList because we're receiving params list"; - } - -} - - -void UASParameterCommsMgr::markReadParamWaiting(int compId, int paramId) -{ - if (!readsWaiting.contains(compId)) { - readsWaiting.insert(compId, new QSet()); - } - - readsWaiting.value(compId)->insert(paramId); -} - -void UASParameterCommsMgr::markWriteParamWaiting(int compId, QString paramName, QVariant value) -{ - //ensure we have a map for this compId - if (!writesWaiting.contains(compId)) { - writesWaiting.insert(compId, new QMap()); - } - - // Insert it in missing write ACK list - writesWaiting.value(compId)->insert(paramName, value); -} - -/* - Empty read retransmission list - Empty write retransmission list -*/ -void UASParameterCommsMgr::clearRetransmissionLists(int& missingReadCount, int& missingWriteCount ) -{ - qCDebug(UASParameterCommsMgrLog) << "Clearing re-transmission lists"; - - missingReadCount = 0; - QList compIds = readsWaiting.keys(); - foreach (int compId, compIds) { - missingReadCount += readsWaiting.value(compId)->count(); - readsWaiting.value(compId)->clear(); - } - - missingWriteCount = 0; - compIds = writesWaiting.keys(); - foreach (int compId, compIds) { - missingWriteCount += writesWaiting.value(compId)->count(); - writesWaiting.value(compId)->clear(); - } - -} - - -void UASParameterCommsMgr::emitPendingParameterCommit(int compId, const QString& key, QVariant& value) -{ - int paramType = (int)value.type(); - switch (paramType) - { - case QVariant::Char: - { - QVariant fixedValue(QChar((unsigned char)value.toInt())); - emit commitPendingParameter(compId, key, fixedValue); - } - break; - case QVariant::Int: - { - QVariant fixedValue(value.toInt()); - emit commitPendingParameter(compId, key, fixedValue); - } - break; - case QVariant::UInt: - { - QVariant fixedValue(value.toUInt()); - emit commitPendingParameter(compId, key, fixedValue); - } - break; - case QMetaType::Float: - { - QVariant fixedValue(value.toFloat()); - emit commitPendingParameter(compId, key, fixedValue); - } - break; - default: - qCritical() << "ABORTED PARAM SEND, INVALID QVARIANT TYPE" << paramType; - return; - } - - setParameterStatusMsg(tr("Writing %1: %2 for comp. %3").arg(key).arg(value.toDouble()).arg(compId)); - -} - - -void UASParameterCommsMgr::resendReadWriteRequests() -{ - int compId; - QList compIds; - - // Re-request at maximum retransmitBurstLimit parameters at once - // to prevent link flooding' - int requestedReadCount = 0; - compIds = readsWaiting.keys(); - foreach (compId, compIds) { - // Request n parameters from this component (at maximum) - QSet* missingReadParams = readsWaiting.value(compId, NULL); - qDebug() << "compId " << compId << "readsWaiting:" << missingReadParams->count(); - foreach (int paramId, *missingReadParams) { - if (0 == paramId && 0 == compId) { - _sendParamRequestListMsg(); - //don't request any other params individually for this component - break; - } - if (requestedReadCount < retransmitBurstLimit) { - //qDebug() << __FILE__ << __LINE__ << "RETRANSMISSION GUARD REQUESTS RETRANSMISSION OF PARAM #" << paramId << "FROM COMPONENT #" << compId; - emit parameterUpdateRequestedById(compId, paramId); - setParameterStatusMsg(tr("Requested retransmission of #%1").arg(paramId+1)); - requestedReadCount++; - } - else { - qCDebug(UASParameterCommsMgrLog) << "Throttling read retransmit requests at" << requestedReadCount; - break; - } - } - } - - // Re-request at maximum retransmitBurstLimit parameters at once - // to prevent write-request link flooding - int requestedWriteCount = 0; - compIds = writesWaiting.keys(); - foreach (compId, compIds) { - QMap * missingWriteParams = writesWaiting.value(compId); - foreach (QString key, missingWriteParams->keys()) { - if (requestedWriteCount < retransmitBurstLimit) { - // Re-request write operation - QVariant value = missingWriteParams->value(key); - emitPendingParameterCommit(compId, key, value); - requestedWriteCount++; - } - else { - qCDebug(UASParameterCommsMgrLog) << "Throttling write retransmit requests at" << requestedWriteCount; - break; - } - } - } - - updateSilenceTimer(); - -} - -void UASParameterCommsMgr::resetAfterListReceive() -{ - transmissionListMode = false; - knownParamListSize.clear(); -} - -void UASParameterCommsMgr::silenceTimerExpired() -{ - quint64 curTime = QGC::groundTimeMilliseconds(); - int elapsed = (int)(curTime - lastSilenceTimerReset); - qCDebug(UASParameterCommsMgrLog) << "silenceTimerExpired elapsed:" << elapsed; - - if (elapsed < silenceTimeout) { - //reset the guard timer: it fired prematurely - updateSilenceTimer(); - return; - } - - int totalElapsed = (int)(curTime - lastReceiveTime); - if (totalElapsed > maxSilenceTimeout) { - qCDebug(UASParameterCommsMgrLog) << "maxSilenceTimeout exceeded: " << totalElapsed; - int missingReads, missingWrites; - clearRetransmissionLists(missingReads,missingWrites); - emit _stopSilenceTimer(); // Stop timer on our thread; - lastReceiveTime = 0; - lastSilenceTimerReset = curTime; - setParameterStatusMsg(tr("TIMEOUT: Abandoning %1 reads %2 writes after %3 seconds").arg(missingReads).arg(missingWrites).arg(totalElapsed/1000)); - } - else { - resendReadWriteRequests(); - } -} - - -void UASParameterCommsMgr::requestParameterUpdate(int compId, const QString& paramName) -{ - if (mav) { - mav->requestParameter(compId, paramName); - qCDebug(UASParameterCommsMgrLog) << "Requested update for" << compId << paramName; - //TODO track these read requests with a paramName but no param ID : use index in getOnboardParamsForComponent? - //ensure we keep track of every single read request - } -} - -void UASParameterCommsMgr::requestRcCalibrationParamsUpdate() -{ - if (!transmissionListMode) { - QString minTpl("RC%1_MIN"); - QString maxTpl("RC%1_MAX"); - QString trimTpl("RC%1_TRIM"); - QString revTpl("RC%1_REV"); - - // Do not request the RC type, as these values depend on this - // active onboard parameter - - - int defCompId = paramDataModel->getDefaultComponentId(); - for (unsigned int i = 1; i < (RC_CAL_CHAN_MAX+1); ++i) { - qDebug() << "Request RC " << i; - requestParameterUpdate(defCompId, minTpl.arg(i)); - requestParameterUpdate(defCompId, trimTpl.arg(i)); - requestParameterUpdate(defCompId, maxTpl.arg(i)); - requestParameterUpdate(defCompId, revTpl.arg(i)); - QGC::SLEEP::usleep(5000); - } - } - else { - qCDebug(UASParameterCommsMgrLog) << "Ignoring requestRcCalibrationParamsUpdate because we're receiving params list"; - } -} - - -/** - * @param component the subsystem which has the parameter - * @param parameterName name of the parameter, as delivered by the system - * @param value value of the parameter - */ -void UASParameterCommsMgr::setParameter(int compId, QString paramName, QVariant value, bool forceSend) -{ - if (paramName.isEmpty()) { - return; - } - - double dblValue = value.toDouble(); - - if (paramDataModel->isValueLessThanParamMin(paramName,dblValue)) { - setParameterStatusMsg(tr("REJ. %1, %2 < min").arg(paramName).arg(dblValue), - ParamCommsStatusLevel_Error - ); - return; - } - if (paramDataModel->isValueGreaterThanParamMax(paramName,dblValue)) { - setParameterStatusMsg(tr("REJ. %1, %2 > max").arg(paramName).arg(dblValue), - ParamCommsStatusLevel_Error - ); - return; - } - - if (!forceSend) { - QVariant onboardVal; - paramDataModel->getOnboardParamValue(compId,paramName,onboardVal); - if (onboardVal == value) { - setParameterStatusMsg(tr("REJ. %1 already %2").arg(paramName).arg(dblValue), - ParamCommsStatusLevel_Warning - ); - return; - } - } - - emitPendingParameterCommit(compId, paramName, value); - - //Add this request to list of writes not yet ack'd - - markWriteParamWaiting( compId, paramName, value); - updateSilenceTimer(); - - -} - -void UASParameterCommsMgr::updateSilenceTimer() -{ - //if there are pending reads or writes, ensure we timeout in a little while - //if we hear nothing but silence from our partner - - int missReadCount = 0; - foreach (int key, readsWaiting.keys()) { - missReadCount += readsWaiting.value(key)->count(); - } - - int missWriteCount = 0; - foreach (int key, writesWaiting.keys()) { - missWriteCount += writesWaiting.value(key)->count(); - } - - - if (missReadCount > 0 || missWriteCount > 0) { - lastSilenceTimerReset = QGC::groundTimeMilliseconds(); - if (0 == lastReceiveTime) { - lastReceiveTime = lastSilenceTimerReset; - } - // We signal this to ourselves so timer is started on the right thread - emit _startSilenceTimer(); - } - else { - //all parameters have been received, broadcast to UI - qCDebug(UASParameterCommsMgrLog) << "emitting parameterListUpToDate"; - emit parameterListUpToDate(); - resetAfterListReceive(); - emit _stopSilenceTimer(); // Stop timer on our thread; - lastReceiveTime = 0; - } - - - -} - - -void UASParameterCommsMgr::setParameterStatusMsg(const QString& msg, ParamCommsStatusLevel_t level) -{ - //qDebug() << "parameterStatusMsg: " << msg; - emit parameterStatusMsgUpdated(msg,level); -} - -void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value) -{ - qCDebug(UASParameterCommsMgrLog) << "Received parameter update for:" << paramName << "count" << paramCount << "index" << paramId << "value" << value; - - Q_UNUSED(uas); //this object is assigned to one UAS only - lastReceiveTime = QGC::groundTimeMilliseconds(); - // qDebug() << "compId" << compId << "receivedParameterUpdate:" << paramName; - - //notify the data model that we have an updated param - paramDataModel->handleParamUpdate(compId,paramName,value); - - - // Ensure we have missing read/write lists for this compId - if (!readsWaiting.contains(compId)) { - readsWaiting.insert(compId, new QSet()); - } - if (!writesWaiting.contains(compId) ) { - writesWaiting.insert(compId,new QMap()); - } - - QSet* compMissingReads = readsWaiting.value(compId); - // List mode is different from single parameter transfers - if (transmissionListMode) { - // Only accept the list size once on the first packet from each component - if (!knownParamListSize.contains(compId)) { - // Mark list size as known - knownParamListSize.insert(compId,paramCount); - - //remove our placeholder read request for all params - readsWaiting.value(0)->remove(0); - - qCDebug(UASParameterCommsMgrLog) << "receivedParameterUpdate: Mark all parameters as missing: " << paramCount; - for (int i = 1; i < paramCount; ++i) { //param Id 0 is "all parameters" and not valid - compMissingReads->insert(i); - } - } - } - - - // Mark this parameter as received in read list - compMissingReads->remove(paramId); - - - bool justWritten = false; - bool writeMismatch = false; - - // Mark this parameter as received in write ACK list - QMap* compMissingWrites = writesWaiting.value(compId); - if (!compMissingWrites) { - //we sometimes send a write request on compId 0 and get a response on a nonzero compId eg 50 - compMissingWrites = writesWaiting.value(0); - } - if (compMissingWrites && compMissingWrites->contains(paramName)) { - justWritten = true; - if (compMissingWrites->value(paramName) != value) { - writeMismatch = true; - } - compMissingWrites->remove(paramName); - } - - - if (justWritten) { - int waitingWritesCount = compMissingWrites->count(); - if (!writeMismatch) { - setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1): %3").arg(paramId+1).arg(paramName).arg(value.toDouble())); - } - - if (!writeMismatch) { - if (0 == waitingWritesCount) { - setParameterStatusMsg(tr("SUCCESS: Wrote all params for component %1").arg(compId)); - if (persistParamsAfterSend) { - writeParamsToPersistentStorage(); - persistParamsAfterSend = false; - } - } - } - else { - // Mismatch, tell user - setParameterStatusMsg(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(paramName).arg(compMissingWrites->value(paramName).toDouble()).arg(value.toDouble()), - ParamCommsStatusLevel_Warning); - } - } - else { - int waitingReadsCount = compMissingReads->count(); - - if (0 == waitingReadsCount) { - // Transmission done - QTime time = QTime::currentTime(); - QString timeString = time.toString(); - setParameterStatusMsg(tr("All received. (updated at %1)").arg(timeString)); - } - else { - // Waiting to receive more - QString val = QString("%1").arg(value.toFloat(), 5, 'f', 1, QChar(' ')); - setParameterStatusMsg(tr("OK: %1 %2 (%3/%4)").arg(paramName).arg(val).arg(paramCount-waitingReadsCount).arg(paramCount), - ParamCommsStatusLevel_OK); - } - } - - updateSilenceTimer(); - - -} - - -void UASParameterCommsMgr::writeParamsToPersistentStorage() -{ - if (mav) { - mav->writeParametersToStorage(); //TODO track timeout, retransmit etc? - persistParamsAfterSend = false; //done - } -} - - -void UASParameterCommsMgr::sendPendingParameters(bool copyToPersistent, bool forceSend) -{ - persistParamsAfterSend |= copyToPersistent; - - // Iterate through all components, through all pending parameters and send them to UAS - int parametersSent = 0; - QMap*>* changedValues = paramDataModel->getAllPendingParams(); - QMap*>::iterator i; - for (i = changedValues->begin(); i != changedValues->end(); ++i) { - // Iterate through the parameters of the component - int compId = i.key(); - QMap* paramList = i.value(); - QMap::iterator j; - setParameterStatusMsg(tr("%1 pending params for component %2").arg(paramList->count()).arg(compId)); - - for (j = paramList->begin(); j != paramList->end(); ++j) { - setParameter(compId, j.key(), j.value(), forceSend); - parametersSent++; - } - } - - // Change transmission status if necessary - if (0 == parametersSent) { - setParameterStatusMsg(tr("No transmission: No changed values."),ParamCommsStatusLevel_Warning); - } - else { - setParameterStatusMsg(tr("Transmitting %1 parameters.").arg(parametersSent)); - qCDebug(UASParameterCommsMgrLog) << "Pending parameters now:" << paramDataModel->countPendingParams(); - } - - - updateSilenceTimer(); -} - -UASParameterCommsMgr::~UASParameterCommsMgr() -{ - silenceTimer.stop(); - - QString ptrStr; - ptrStr.sprintf("%8p", this); - qCDebug(UASParameterCommsMgrLog) << "UASParameterCommsMgr destructor: " << ptrStr ; - -} - -void UASParameterCommsMgr::_startSilenceTimerOnThisThread(void) -{ - silenceTimer.start(silenceTimeout); -} - -void UASParameterCommsMgr::_stopSilenceTimerOnThisThread(void) -{ - silenceTimer.stop(); -} diff --git a/src/uas/UASParameterCommsMgr.h b/src/uas/UASParameterCommsMgr.h deleted file mode 100644 index bb68ebebd4bf6e049d5d260657967c873585a344..0000000000000000000000000000000000000000 --- a/src/uas/UASParameterCommsMgr.h +++ /dev/null @@ -1,132 +0,0 @@ -#ifndef UASPARAMETERCOMMSMGR_H -#define UASPARAMETERCOMMSMGR_H - -#include -#include -#include -#include -#include -#include - -class UASInterface; -class UASParameterDataModel; - -Q_DECLARE_LOGGING_CATEGORY(UASParameterCommsMgrLog) - -class UASParameterCommsMgr : public QObject -{ - Q_OBJECT - - -public: - explicit UASParameterCommsMgr(QObject *parent = 0); - UASParameterCommsMgr* initWithUAS(UASInterface* model);///< Two-stage constructor - - ~UASParameterCommsMgr(); - - typedef enum ParamCommsStatusLevel { - ParamCommsStatusLevel_OK = 0, - ParamCommsStatusLevel_Warning = 2, - ParamCommsStatusLevel_Error = 4, - ParamCommsStatusLevel_Count - } ParamCommsStatusLevel_t; - - -protected: - - /** @brief activate the silence timer if there are unack'd reads or writes */ - virtual void updateSilenceTimer(); - - virtual void setParameterStatusMsg(const QString& msg, ParamCommsStatusLevel_t level=ParamCommsStatusLevel_OK); - - /** @brief Load settings that control eg retransmission timeouts */ - void loadParamCommsSettings(); - - /** @brief clear transmissionMissingPackets and transmissionMissingWriteAckPackets */ - void clearRetransmissionLists(int& missingReadCount, int& missingWriteCount ); - - /** @brief we are waiting for a response to this read param request */ - virtual void markReadParamWaiting(int compId, int paramId); - - /** @brief we are waiting for a response to this write param request */ - void markWriteParamWaiting(int compId, QString paramName, QVariant value); - - void resendReadWriteRequests(); - void resetAfterListReceive(); - - void emitPendingParameterCommit(int compId, const QString& key, QVariant& value); - -signals: - void commitPendingParameter(int component, QString parameter, QVariant value); - void parameterChanged(int component, int parameterIndex, QVariant value); - void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value); - - /** @brief We have received a complete list of all parameters onboard the MAV */ - void parameterListUpToDate(); - - void parameterUpdateRequested(int component, const QString& parameter); - void parameterUpdateRequestedById(int componentId, int paramId); - - /** @brief We updated the parameter status message */ - void parameterStatusMsgUpdated(QString msg, int level); - - - /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread. - void _startSilenceTimer(void); - void _stopSilenceTimer(void); - -public slots: - /** @brief Iterate through all components, through all pending parameters and send them to UAS */ - virtual void sendPendingParameters(bool copyToPersistent = false, bool forceSend = false); - - /** @brief Write the current onboard parameters from transient RAM into persistent storage, e.g. EEPROM or harddisk */ - virtual void writeParamsToPersistentStorage(); - - /** @brief Write one parameter to the MAV */ - virtual void setParameter(int component, QString parameterName, QVariant value, bool forceSend = false); - - /** @brief Request list of parameters from MAV */ - virtual void requestParameterList(); - - /** @brief The max silence time expired */ - virtual void silenceTimerExpired(); - - /** @brief Request a single parameter update by name */ - virtual void requestParameterUpdate(int component, const QString& parameter); - - /** @brief Request an update of RC parameters */ - virtual void requestRcCalibrationParamsUpdate(); - - virtual void receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value); - -protected: - - - QMap knownParamListSize;///< The known param list size for each component, by component ID - quint64 lastReceiveTime; ///< The last time we received anything from our partner - quint64 lastSilenceTimerReset; - UASInterface* mav; ///< The MAV we're talking to - - int maxSilenceTimeout; ///< If nothing received within this period of time, abandon resends - - UASParameterDataModel* paramDataModel; - - bool persistParamsAfterSend; ///< Copy all parameters to persistent storage after sending - QMap*> readsWaiting; ///< All reads that have not yet been received, by component ID - int retransmitBurstLimit; ///< Number of packets requested for retransmission per burst - int silenceTimeout; ///< If nothing received within this period of time, start resends - QTimer silenceTimer; ///< Timer handling parameter retransmission - bool transmissionListMode; ///< Currently requesting list - QMap* > writesWaiting; ///< All writes that have not yet been ack'd, by component ID - -private slots: - /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread. - void _startSilenceTimerOnThisThread(void); - void _stopSilenceTimerOnThisThread(void); - -private: - void _sendParamRequestListMsg(void); -}; - - -#endif // UASPARAMETERCOMMSMGR_H diff --git a/src/uas/UASParameterDataModel.cc b/src/uas/UASParameterDataModel.cc deleted file mode 100644 index 760e6303c8379050ca0c84766132600c1bcd22cc..0000000000000000000000000000000000000000 --- a/src/uas/UASParameterDataModel.cc +++ /dev/null @@ -1,515 +0,0 @@ -#include "UASParameterDataModel.h" - -#include - -#include -#include -#include - -#include "QGCMAVLink.h" - -UASParameterDataModel::UASParameterDataModel(QObject *parent) : - QObject(parent), - defaultComponentId(-1) -{ - onboardParameters.clear(); - pendingParameters.clear(); - -} - - - -int UASParameterDataModel::countPendingParams() -{ - int total = 0; - QMap*>::iterator i; - for (i = pendingParameters.begin(); i != pendingParameters.end(); ++i) { - // Iterate through the parameters of the component - QMap* paramList = i.value(); - total += paramList->count(); - } - - return total; -} - -int UASParameterDataModel::countOnboardParams() -{ - int total = 0; - QMap*>::iterator i; - for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) { - // Iterate through the parameters of the component - QMap* paramList = i.value(); - total += paramList->count(); - } - - return total; -} - - -bool UASParameterDataModel::updatePendingParamWithValue(int compId, const QString& key, const QVariant& value, bool forceSend) -{ - bool pending = true; - //ensure we have this component in our onboard and pending lists already - addComponent(compId); - - if (!forceSend) { - QMap* existParams = getOnboardParamsForComponent(compId); - if (existParams->contains(key)) { - QVariant existValue = existParams->value(key); - if (existValue == value) { - pending = false; - } - } - } - - if (pending) { - setPendingParam(compId,key,value); - } - else { - removePendingParam(compId,key); - } - - return pending; -} - - -bool UASParameterDataModel::isParamChangePending(int compId, const QString& key) -{ - QMap* pendingParms = getPendingParamsForComponent(compId); - return ((NULL != pendingParms) && pendingParms->contains(key)); -} - -void UASParameterDataModel::setPendingParam(int compId, const QString& key, const QVariant &value) -{ - //ensure we have a placeholder map for this component - addComponent(compId); - setParamWithTypeInMap(compId,key,value,pendingParameters); - emit pendingParamUpdate(compId, key, value, true); -} - -void UASParameterDataModel::removePendingParam(int compId, const QString& key) -{ - qDebug() << "removePendingParam:" << key; - - QMap *pendParams = getPendingParamsForComponent(compId); - if (pendParams) { - pendParams->remove(key); - //broadcast the existing value - QVariant existVal; - getOnboardParamValue(compId,key,existVal); - emit pendingParamUpdate(compId, key,existVal, false); - } -} - -void UASParameterDataModel::setOnboardParam(int compId, const QString &key, const QVariant& value) -{ - //ensure we have a placeholder map for this component - addComponent(compId); - //TODO use setParamWithTypeInMap instead and verify - QMap *params = getOnboardParamsForComponent(compId); - params->insert(key,value); -} - -void UASParameterDataModel::setParamWithTypeInMap(int compId, const QString& key, const QVariant &value, QMap* >& map) -{ - - switch ((int)value.type()) - { - case QVariant::Int: - { - QVariant fixedValue(value.toInt()); - map.value(compId)->insert(key, fixedValue); - } - break; - case QVariant::UInt: - { - QVariant fixedValue(value.toUInt()); - map.value(compId)->insert(key, fixedValue); - } - break; - case QMetaType::Float: - { - QVariant fixedValue(value.toFloat()); - map.value(compId)->insert(key, fixedValue); - } - break; - case QMetaType::QChar: - { - QVariant fixedValue(QChar((unsigned char)value.toUInt())); - map.value(compId)->insert(key, fixedValue); - } - break; - case QMetaType::QString: - { - QString strVal = value.toString(); - float floatVal = strVal.toFloat(); - QVariant fixedValue( floatVal ); - //TODO track down WHY we're getting unexpected QString values here...this is a workaround - qDebug() << "Unexpected string QVariant:" << key << " val:" << value << "fixedVal:" << fixedValue; - map.value(compId)->insert(key, fixedValue); - } - break; - default: - qCritical() << "ABORTED PARAM UPDATE, NO VALID QVARIANT TYPE"; - return; - } -} - -void UASParameterDataModel::addComponent(int compId) -{ - if (!onboardParameters.contains(compId)) { - onboardParameters.insert(compId, new QMap()); - } - if (!pendingParameters.contains(compId)) { - pendingParameters.insert(compId, new QMap()); - } -} - - -void UASParameterDataModel::handleParamUpdate(int compId, const QString ¶mName, const QVariant &value) -{ - //verify that the value requested by the user matches the set value - //if it doesn't match, leave the pending parameter in the pending list! - if (pendingParameters.contains(compId)) { - QMap *pendingParams = pendingParameters.value(compId); - if ((NULL != pendingParams) && pendingParams->contains(paramName)) { - QVariant reqVal = pendingParams->value(paramName); - if (reqVal == value) { - //notify everyone that this item is being removed from the pending parameters list since it's now confirmed - removePendingParam(compId,paramName); - } - else { - qDebug() << "Pending commit for " << paramName << " want: " << reqVal << " got: " << value; - } - } - } - - setOnboardParam(compId,paramName,value); - emit parameterUpdated(compId,paramName,value); -} - -bool UASParameterDataModel::getOnboardParamValue(int componentId, const QString& key, QVariant& value) const -{ - - if (onboardParameters.contains(componentId)) { - if (onboardParameters.value(componentId)->contains(key)) { - value = onboardParameters.value(componentId)->value(key); - return true; - } - } - - return false; -} - -int UASParameterDataModel::getDefaultComponentId() -{ - int result = 0; - - if (-1 != defaultComponentId) - return defaultComponentId; - - QList components = getComponentForOnboardParam("SYS_AUTOSTART");//TODO is this the best way to find the right component? - - // Guard against multiple components responding - this will never show in practice - if (1 == components.count()) { - result = components.first(); - defaultComponentId = result; - } - - qDebug() << "Default compId: " << result; - - return result; -} - -QList UASParameterDataModel::getComponentForOnboardParam(const QString& parameter) const -{ - QList components; - // Iterate through all components - foreach (int comp, onboardParameters.keys()) - { - if (onboardParameters.value(comp)->contains(parameter)) - components.append(comp); - } - - return components; -} - -void UASParameterDataModel::forgetAllOnboardParams() -{ - onboardParameters.clear(); -} - -void UASParameterDataModel::clearAllPendingParams() -{ - QList compIds = pendingParameters.keys(); - foreach (int compId , compIds) { - QMap* compParams = pendingParameters.value(compId); - QList paramNames = compParams->keys(); - foreach (QString paramName, paramNames) { - //remove this item from pending status and broadcast update - removePendingParam(compId,paramName); - } - } - -} - -void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream) -{ - bool userWarned = false; - - while (!stream.atEnd()) { - QString line = stream.readLine(); - if (!line.startsWith("#")) { - QStringList wpParams = line.split("\t"); - int lineMavId = wpParams.at(0).toInt(); - if (wpParams.size() == 5) { - // Only load parameters for right mav - if (!userWarned && (uasId != lineMavId)) { - //TODO warn the user somehow ?? Appears these are saved currently with mav ID 0 but mav ID is often nonzero? - QString msg = tr("The parameters in the stream have been saved from system %1, but the currently selected system has the ID %2.").arg(lineMavId).arg(uasId); - qDebug() << msg ; - //MainWindow::instance()->showCriticalMessage( - // tr("Parameter loading warning"), - // tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID())); - userWarned = true; - } - - bool changed = false; - int componentId = wpParams.at(1).toInt(); - QString key = wpParams.at(2); - QString valStr = wpParams.at(3); - double dblVal = wpParams.at(3).toDouble(); - uint paramType = wpParams.at(4).toUInt(); - - - if (!onboardParameters.contains(componentId)) { - addComponent(componentId); - changed = true; - } - else { - QMap* compParams = onboardParameters.value(componentId); - if (!compParams->contains(key) || - (fabs((static_cast(compParams->value(key).toDouble())) - (dblVal)) > 2.0f * FLT_EPSILON)) { - changed = true; - qDebug() << "Changed" << key << "VAL" << dblVal; - } - } - - - if (changed) { - switch (paramType) - { - case MAV_PARAM_TYPE_REAL32: - updatePendingParamWithValue(componentId,key,QVariant(valStr.toFloat())); - break; - case MAV_PARAM_TYPE_UINT32: - updatePendingParamWithValue(componentId,key, QVariant(valStr.toUInt())); - break; - case MAV_PARAM_TYPE_INT32: - updatePendingParamWithValue(componentId,key,QVariant(valStr.toInt())); - break; - case MAV_PARAM_TYPE_INT8: - updatePendingParamWithValue(componentId,key,QVariant((unsigned char) valStr.toUInt())); - break; - default: - qDebug() << "FAILED LOADING PARAM" << key << "UNKNOWN DATA TYPE"; - } - } - - - } - } - } - -} - -void UASParameterDataModel::writeOnboardParamsToStream( QTextStream &stream, const QString& name) -{ - stream << "# Onboard parameters for system " << name << "\n"; - stream << "#\n"; - stream << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n"; - - // Iterate through all components, through all parameters and emit them - QMap*>::iterator i; - for (i = onboardParameters.begin(); i != onboardParameters.end(); ++i) { - // Iterate through the parameters of the component - int compid = i.key(); - QMap* comp = i.value(); - { - QMap::iterator j; - for (j = comp->begin(); j != comp->end(); ++j) - { - QString paramValue("%1"); - QString paramType("%1"); - switch ((int)j.value().type()) - { - case QVariant::Int: - paramValue = paramValue.arg(j.value().toInt()); - paramType = paramType.arg(MAV_PARAM_TYPE_INT32); - break; - case QVariant::UInt: - paramValue = paramValue.arg(j.value().toUInt()); - paramType = paramType.arg(MAV_PARAM_TYPE_UINT32); - break; - case QMetaType::Float: - // We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion - // (see IEEE 754, 32 bit single-precision) - paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6); - paramType = paramType.arg(MAV_PARAM_TYPE_REAL32); - break; - case QMetaType::QChar: - case QMetaType::Char: - // see UAS::setParameter() - paramValue = paramValue.arg((unsigned char)j.value().toUInt()); - paramType = paramType.arg(MAV_PARAM_TYPE_INT8); - break; - default: - qCritical() << "ABORTED PARAM WRITE TO FILE, PARAM '" << j.key() << "' NO VALID QVARIANT TYPE" << j.value(); - return; - } - stream << this->uasId << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\t" << paramType << "\n"; - stream.flush(); - } - } - } -} - - -void UASParameterDataModel::loadParamMetaInfoFromStream(QTextStream& stream) -{ - - // First line is header - // there might be more lines, but the first - // line is assumed to be at least header - QString header = stream.readLine(); - - // Ignore top-level comment lines - while (header.startsWith('#') || header.startsWith('/') - || header.startsWith('=') || header.startsWith('^')) - { - header = stream.readLine(); - } - - bool charRead = false; - QString separator = ""; - QList sepCandidates; - sepCandidates << '\t'; - sepCandidates << ','; - sepCandidates << ';'; - //sepCandidates << ' '; - sepCandidates << '~'; - sepCandidates << '|'; - - // Iterate until separator is found - // or full header is parsed - for (int i = 0; i < header.length(); i++) - { - if (sepCandidates.contains(header.at(i))) - { - // Separator found - if (charRead) - { - separator += header[i]; - } - } - else - { - // Char found - charRead = true; - // If the separator is not empty, this char - // has been read after a separator, so detection - // is now complete - if (separator != "") break; - } - } - - bool stripFirstSeparator = false; - bool stripLastSeparator = false; - - // Figure out if the lines start with the separator (e.g. wiki syntax) - if (header.startsWith(separator)) stripFirstSeparator = true; - - // Figure out if the lines end with the separator (e.g. wiki syntax) - if (header.endsWith(separator)) stripLastSeparator = true; - - QString out = separator; - out.replace("\t", ""); - //qDebug() << " Separator: \"" << out << "\""; - //qDebug() << "READING CSV:" << header; - - - // Read data - while (!stream.atEnd()) - { - QString line = stream.readLine(); - - //qDebug() << "LINE PRE-STRIP" << line; - - // Strip separtors if necessary - if (stripFirstSeparator) line.remove(0, separator.length()); - if (stripLastSeparator) line.remove(line.length()-separator.length(), line.length()-1); - - //qDebug() << "LINE POST-STRIP" << line; - - // Keep empty parts here - we still have to act on them - QStringList parts = line.split(separator, QString::KeepEmptyParts); - - // Each line is: - // variable name, Min, Max, Default, Multiplier, Enabled (0 = no, 1 = yes), Comment - - - // Fill in min, max and default values - if (parts.count() > 1) - { - // min - paramMin.insert(parts.at(0).trimmed(), parts.at(1).toDouble()); - } - if (parts.count() > 2) - { - // max - paramMax.insert(parts.at(0).trimmed(), parts.at(2).toDouble()); - } - if (parts.count() > 3) - { - // default - paramDefault.insert(parts.at(0).trimmed(), parts.at(3).toDouble()); - } - // IGNORING 4 and 5 for now - if (parts.count() > 6) - { - // tooltip - paramDescriptions.insert(parts.at(0).trimmed(), parts.at(6).trimmed()); - //qDebug() << "PARAM META:" << parts.at(0).trimmed(); - } - } -} - - void UASParameterDataModel::setParamDescriptions(const QMap& paramInfo) -{ - if (paramInfo.isEmpty()) { - qDebug() << __FILE__ << ":" << __LINE__ << "setParamDescriptions with empty"; - } - - paramDescriptions = paramInfo; -} - -bool UASParameterDataModel::isValueGreaterThanParamMax(const QString& paramName, double dblVal) -{ - if (paramMax.contains(paramName)) { - if (dblVal > paramMax.value(paramName)) - return true; - } - - return false; -} - -bool UASParameterDataModel::isValueLessThanParamMin(const QString& paramName, double dblVal) -{ - if (paramMin.contains(paramName)) { - if (dblVal < paramMin.value(paramName)) - return true; - } - - return false; - } - diff --git a/src/uas/UASParameterDataModel.h b/src/uas/UASParameterDataModel.h deleted file mode 100644 index c0b5b76379ce2185252310ae74b761c834dac60e..0000000000000000000000000000000000000000 --- a/src/uas/UASParameterDataModel.h +++ /dev/null @@ -1,136 +0,0 @@ -#ifndef UASPARAMETERDATAMODEL_H -#define UASPARAMETERDATAMODEL_H - -#include -#include -#include - -class QTextStream; - -class UASParameterDataModel : public QObject -{ - Q_OBJECT -public: - explicit UASParameterDataModel(QObject *parent = 0); - - - //Parameter meta info - bool isParamMinKnown(const QString& param) { return paramMin.contains(param); } - virtual bool isValueLessThanParamMin(const QString& param, double dblVal); - - bool isParamMaxKnown(const QString& param) { return paramMax.contains(param); } - virtual bool isValueGreaterThanParamMax(const QString& param, double dblVal); - - bool isParamDefaultKnown(const QString& param) { return paramDefault.contains(param); } - double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); } - double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); } - double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); } - virtual QString getParamDescription(const QString& param) { return paramDescriptions.value(param, ""); } - virtual void setParamDescriptions(const QMap& paramInfo); - - /** @brief Get the default component ID for the UAS */ - virtual int getDefaultComponentId(); - - //TODO make this method protected? - /** @brief Ensure that the data model is aware of this component - * @param compId Id of the component - */ - virtual void addComponent(int compId); - - /** - * @brief Return a list of all components for this parameter name - * @param parameter The parameter string to search for - * @return A list with all components, can be potentially empty - */ - virtual QList getComponentForOnboardParam(const QString& parameter) const; - - - /** @brief clears every parameter for every loaded component */ - virtual void forgetAllOnboardParams(); - - - - /** @brief add this parameter to pending list iff it has changed from onboard value - * @return true if the parameter is now pending - */ - virtual bool updatePendingParamWithValue(int componentId, const QString &key, const QVariant &value, bool forceSend = false); - virtual void handleParamUpdate(int componentId, const QString& key, const QVariant& value); - virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const; - - virtual bool isParamChangePending(int componentId,const QString& key); - - QMap* getPendingParamsForComponent(int componentId) { - return pendingParameters.value(componentId); - } - - QMap* getOnboardParamsForComponent(int componentId) { - return onboardParameters.value(componentId); - } - - QMap* >* getAllPendingParams() { - return &pendingParameters; - } - - QMap* >* getAllOnboardParams() { - return &onboardParameters; - } - - /** @brief return a count of all pending parameters */ - virtual int countPendingParams(); - - /** @brief return a count of all onboard parameters we've received */ - virtual int countOnboardParams(); - - virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName); - virtual void readUpdateParamsFromStream(QTextStream &stream); - - virtual void loadParamMetaInfoFromStream(QTextStream& stream); - - void setUASID(int anId) { this->uasId = anId; } - -protected: - /** @brief set the confirmed value of a parameter in the onboard params list */ - virtual void setOnboardParam(int componentId, const QString& key, const QVariant& value); - - /** @brief Save the parameter with a the type specified in the QVariant as fixed */ - void setParamWithTypeInMap(int compId, const QString& key, const QVariant &value, QMap* >& map); - - /** @brief Write a new pending parameter value that may be eventually sent to the UAS */ - virtual void setPendingParam(int componentId, const QString &key, const QVariant& value); - /** @brief remove a parameter from the pending list */ - virtual void removePendingParam(int compId, const QString &key); - - -signals: - - /** @brief We've received an update of a parameter's value */ - void parameterUpdated(int compId, QString paramName, QVariant value); - - /** @brief Notifies listeners that a param was added to or removed from the pending list */ - void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending); - - void allPendingParamsCommitted(); ///< All pending params have been committed to the MAV - -public slots: - - virtual void clearAllPendingParams(); - -protected: - int defaultComponentId; ///< Cached default component ID - - int uasId; ///< The UAS / MAV to which this data model pertains - QMap* > pendingParameters; ///< Changed values that have not yet been transmitted to the UAS, by component ID - QMap* > onboardParameters; ///< All parameters confirmed to be stored onboard the UAS, by component ID - - // Tooltip data structures - QMap paramDescriptions; ///< Tooltip values - - // Min / Default / Max data structures - QMap paramMin; ///< Minimum param values - QMap paramDefault; ///< Default param values - QMap paramMax; ///< Minimum param values - - -}; - -#endif // UASPARAMETERDATAMODEL_H diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc index f3699489fadc15a7f8baadca3d406312c38fdd27..5a05ec7031295e3195d71d1b72b5abb16bdd6653 100644 --- a/src/uas/UASWaypointManager.cc +++ b/src/uas/UASWaypointManager.cc @@ -585,8 +585,11 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile) Waypoint *t = new Waypoint(); if(t->load(in)) { - t->setId(waypointsEditable.count()); - waypointsEditable.insert(waypointsEditable.count(), t); + //Use the existing function to add waypoints to the map instead of doing it manually + //Indeed, we should connect our waypoints to the map in order to synchronize them + //t->setId(waypointsEditable.count()); + // waypointsEditable.insert(waypointsEditable.count(), t); + addWaypointEditable(t, false); } else { diff --git a/src/ui/AudioOutputWidget.cc b/src/ui/AudioOutputWidget.cc deleted file mode 100644 index bf157eb96d4272b89a4b2e49a0f958749756b11b..0000000000000000000000000000000000000000 --- a/src/ui/AudioOutputWidget.cc +++ /dev/null @@ -1,56 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Implementation of AudioOutputWidget - * @author Lorenz Meier - * - */ - -#include "AudioOutputWidget.h" -#include "ui_AudioOutputWidget.h" - -AudioOutputWidget::AudioOutputWidget(QWidget *parent) : - QWidget(parent), - m_ui(new Ui::AudioOutputWidget) -{ - m_ui->setupUi(this); -} - -AudioOutputWidget::~AudioOutputWidget() -{ - delete m_ui; -} - -void AudioOutputWidget::changeEvent(QEvent *e) -{ - QWidget::changeEvent(e); - switch (e->type()) { - case QEvent::LanguageChange: - m_ui->retranslateUi(this); - break; - default: - break; - } -} diff --git a/src/ui/AudioOutputWidget.ui b/src/ui/AudioOutputWidget.ui deleted file mode 100644 index a6b221191e41c503ceaf606a7c99b0b12f05620d..0000000000000000000000000000000000000000 --- a/src/ui/AudioOutputWidget.ui +++ /dev/null @@ -1,69 +0,0 @@ - - - AudioOutputWidget - - - - 0 - 0 - 195 - 95 - - - - Form - - - - 6 - - - - - Qt::Horizontal - - - - 53 - 20 - - - - - - - - Qt::Vertical - - - - 180 - 43 - - - - - - - - Mute - - - - :/files/images/status/audio-volume-muted.svg:/files/images/status/audio-volume-muted.svg - - - - 16 - 16 - - - - - - - - - - - diff --git a/src/ui/DebugConsole.cc b/src/ui/DebugConsole.cc index ad8b37b509b129f91848ffd1b40db84a5da1764c..dfc2997475cba6b60ac3a5f664bd987727531d7d 100644 --- a/src/ui/DebugConsole.cc +++ b/src/ui/DebugConsole.cc @@ -91,8 +91,7 @@ DebugConsole::DebugConsole(QWidget *parent) : // Connect to UAS manager to get notified about new UAS connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(uasCreated(UASInterface*))); - // Get a list of all existing links - links = QList(); + // Add all existing links foreach (LinkInterface* link, LinkManager::instance()->getLinks()) { addLink(link); } @@ -171,37 +170,52 @@ void DebugConsole::uasCreated(UASInterface* uas) */ void DebugConsole::addLink(LinkInterface* link) { - // Add link to link list - links.insert(link->getId(), link); + // Add link to list + + foreach (SharedLinkInterface sharedLink, _links) { + Q_ASSERT(sharedLink.data() != link); + } + _links.append(LinkManager::instance()->sharedPointerForLink(link)); - m_ui->linkComboBox->insertItem(link->getId(), link->getName()); + m_ui->linkComboBox->insertItem(link->getMavlinkChannel(), link->getName()); // Set new item as current - m_ui->linkComboBox->setCurrentIndex(qMax(0, links.size() - 1)); + m_ui->linkComboBox->setCurrentIndex(qMax(0, _links.size() - 1)); linkSelected(m_ui->linkComboBox->currentIndex()); // Register for name changes connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)), Qt::UniqueConnection); - connect(LinkManager::instance(), &LinkManager::linkDeleted, this, &DebugConsole::removeLink, Qt::UniqueConnection); + connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &DebugConsole::removeLink, Qt::UniqueConnection); } -void DebugConsole::removeLink(LinkInterface* const linkInterface) +void DebugConsole::removeLink(LinkInterface* const link) { - // Add link to link list - if (links.contains(linkInterface)) { - int linkIndex = links.indexOf(linkInterface); - - links.removeAt(linkIndex); - - m_ui->linkComboBox->removeItem(linkIndex); - } // Now if this was the current link, clean up some stuff. - if (linkInterface == currLink) + if (link == currLink) { + disconnect(currLink, &LinkInterface::bytesReceived, this, &DebugConsole::receiveBytes); + disconnect(currLink, &LinkInterface::connected, this, &DebugConsole::_linkConnected); + disconnect(currLink, &LinkInterface::communicationUpdate, this, &DebugConsole::linkStatusUpdate); + // Like disable the update time for the UI. snapShotTimer.stop(); - + currLink = NULL; } + + bool found = false; + int linkIndex; + for (linkIndex=0; linkIndex<_links.count(); linkIndex++) { + if (_links[linkIndex].data() == link) { + found = true; + _links.removeAt(linkIndex); + break; + } + } + Q_UNUSED(found); + Q_ASSERT(found); + + m_ui->linkComboBox->removeItem(linkIndex); + } void DebugConsole::linkStatusUpdate(const QString& name,const QString& text) { @@ -211,23 +225,14 @@ void DebugConsole::linkStatusUpdate(const QString& name,const QString& text) m_ui->receiveText->ensureCursorVisible(); } -void DebugConsole::linkSelected(int linkId) +void DebugConsole::linkSelected(int linkIndex) { - // Disconnect - if (currLink) - { - disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray))); - disconnect(currLink, &LinkInterface::connected, this, &DebugConsole::_linkConnected); - disconnect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString))); - snapShotTimer.stop(); - } - // Clear data m_ui->receiveText->clear(); // Connect new link - if (linkId != -1) { - currLink = links[linkId]; + if (linkIndex != -1) { + currLink = _links[linkIndex].data(); connect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray))); disconnect(currLink, &LinkInterface::connected, this, &DebugConsole::_linkConnected); connect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString))); @@ -241,13 +246,21 @@ void DebugConsole::linkSelected(int linkId) */ void DebugConsole::updateLinkName(QString name) { - // Set name if signal came from a link LinkInterface* link = qobject_cast(sender()); - if((link != NULL) && (links.contains(link))) - { - const qint16 &linkIndex(links.indexOf(link)); - m_ui->linkComboBox->setItemText(linkIndex,name); - } + if (link != NULL) { + bool found = false; + int linkIndex; + for (linkIndex=0; linkIndex<_links.count(); linkIndex++) { + if (_links[linkIndex].data() == link) { + found = true; + break; + } + } + + if (found) { + m_ui->linkComboBox->setItemText(linkIndex, name); + } + } } void DebugConsole::setAutoHold(bool hold) diff --git a/src/ui/DebugConsole.h b/src/ui/DebugConsole.h index 6fcadf94e51795d8558e89c6aefbec96a331e332..6a4849157abf3cd4ba72667bbd99e309ede65e65 100644 --- a/src/ui/DebugConsole.h +++ b/src/ui/DebugConsole.h @@ -116,7 +116,6 @@ protected: /** @brief Cycle through the command history */ void cycleCommandHistory(bool up); - QList links; LinkInterface* currLink; bool holdOn; ///< Hold current view, ignore new data @@ -150,6 +149,11 @@ private slots: private: /** @brief Set connection state of the current link */ void _setConnectionState(bool); + + /// List of all links we are keeping track of. We keep SharedLinkInterface objects + /// which are QSharedPointer's in order to maintain reference counts. Otherwise signals + /// can get out of order and the link may be deleted before we clean up our side. + QList _links; Ui::DebugConsole *m_ui; }; diff --git a/src/ui/DebugConsole.ui b/src/ui/DebugConsole.ui index 391778a1159ab6ba02aa843c7b53575b55ced98d..68bf2ee63dec762fc5b5bda41a3baf56b03876bb 100644 --- a/src/ui/DebugConsole.ui +++ b/src/ui/DebugConsole.ui @@ -71,7 +71,7 @@ - :/files/images/actions/go-down.svg + :/res/DownArrow true @@ -97,7 +97,7 @@ - :/files/images/actions/go-up.svg + :/res/UpArrow true @@ -270,7 +270,7 @@ - :/files/images/actions/list-add.svg:/files/images/actions/list-add.svg + :/res/PlusSign:/res/PlusSign @@ -292,10 +292,6 @@ Send - - - :/files/images/devices/network-wireless.svg:/files/images/devices/network-wireless.svg - diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc index e32d116bd36248b974541f5b355ac17e88db0c35..6a513b62bafb29c13345090c03252b8619d7ec52 100644 --- a/src/ui/HDDisplay.cc +++ b/src/ui/HDDisplay.cc @@ -117,7 +117,7 @@ HDDisplay::HDDisplay(const QStringList &plotList, QString title, QWidget *parent //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintGL())); fontDatabase = QFontDatabase(); - const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app + const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app const QString fontFamilyName = "Bitstream Vera Sans"; if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!"; @@ -473,16 +473,17 @@ void HDDisplay::renderOverlay() */ void HDDisplay::setActiveUAS(UASInterface* uas) { - if (!uas) - return; // Disconnect any previously connected active UAS if (this->uas != NULL) { removeSource(this->uas); + this->uas = NULL; } - // Now connect the new UAS - addSource(uas); - this->uas = uas; + if (uas) { + // Now connect the new UAS + addSource(uas); + this->uas = uas; + } } /** diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc index d865dcb0d72809788078fe6e9515ed2b56c6992f..8b233963ee0707741b23dacaf48c35548a077b09 100644 --- a/src/ui/HSIDisplay.cc +++ b/src/ui/HSIDisplay.cc @@ -94,6 +94,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) : uiZSetCoordinate(0.0f), uiYawSet(0.0f), metricWidth(4.0), + crosstrackError(std::numeric_limits::quiet_NaN()), xCenterPos(0), yCenterPos(0), positionLock(false), @@ -412,9 +413,13 @@ void HSIDisplay::renderOverlay() paintText(tr("%1 m/s").arg(speed, 5, 'f', 2, '0'), valueColor, 2.2f, 12, topMargin+2, &painter); // Draw crosstrack error to top right - float crossTrackError = 0; paintText(tr("XTRACK"), labelColor, 2.2f, 54, topMargin+2, &painter); - paintText(tr("%1 m").arg(crossTrackError, 5, 'f', 2, '0'), valueColor, 2.2f, 67, topMargin+2, &painter); + if (!isnan(crosstrackError)) { + paintText(tr("%1 m").arg(crosstrackError, 5, 'f', 2, '0'), valueColor, 2.2f, 67, topMargin+2, &painter); + } else { + paintText(tr("-- m"), valueColor, 2.2f, 67, topMargin+2, &painter); + } + // Draw position to bottom left if (localAvailable > 0) @@ -945,6 +950,8 @@ void HSIDisplay::setActiveUAS(UASInterface* uas) disconnect(this->uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool))); disconnect(this->uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool))); disconnect(this->uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool))); + disconnect(this->uas, &UASInterface::navigationControllerErrorsChanged, + this, &HSIDisplay::UpdateNavErrors); } if (uas) @@ -1003,6 +1010,8 @@ void HSIDisplay::setActiveUAS(UASInterface* uas) this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool))); connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool))); + connect(uas, &UASInterface::navigationControllerErrorsChanged, + this, &HSIDisplay::UpdateNavErrors); statusClearTimer.start(3000); } else @@ -1159,6 +1168,15 @@ void HSIDisplay::updateLocalPosition(UASInterface*, double x, double y, double z localAvailable = usec; } +void HSIDisplay::UpdateNavErrors(UASInterface *uas, double altitudeError, double airspeedError, double crosstrackError) +{ + Q_UNUSED(altitudeError); + Q_UNUSED(airspeedError); + if (this->uas == uas) { + this->crosstrackError = crosstrackError; + } +} + void HSIDisplay::updateGlobalPosition(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec) { Q_UNUSED(altAMSL); diff --git a/src/ui/HSIDisplay.h b/src/ui/HSIDisplay.h index 4185db79e67e2a7e09180a5fd645354d6d953af4..a99eab7850a00ded1817d0c5e6a7d5f99824410a 100644 --- a/src/ui/HSIDisplay.h +++ b/src/ui/HSIDisplay.h @@ -62,6 +62,7 @@ public slots: void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec); void updateGlobalPosition(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec); void updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time); + void UpdateNavErrors(UASInterface *uas, double altitudeError, double airspeedError, double crosstrackError); void updatePositionLock(UASInterface* uas, bool lock); void updateAttitudeControllerEnabled(bool enabled); void updatePositionXYControllerEnabled(bool enabled); @@ -341,6 +342,9 @@ protected: float uiYawSet; ///< Yaw Setpoint wanted by the UI double metricWidth; ///< Width the instrument represents in meters (the width of the ground shown by the widget) + // Navigation parameters + double crosstrackError; ///< The crosstrack error (m) reported by the UAS + // float xCenterPos; ///< X center of instrument in virtual coordinates float yCenterPos; ///< Y center of instrument in virtual coordinates diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc index 24dc75de233161f602cd730e9c4b5c4e51f7d04a..58c457e7f7a7fd29328ee083ba52c8cc2e0a72a4 100644 --- a/src/ui/HUD.cc +++ b/src/ui/HUD.cc @@ -141,7 +141,7 @@ HUD::HUD(int width, int height, QWidget* parent) QWidget::resize(this->width(), this->height()); fontDatabase = QFontDatabase(); - const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app + const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app const QString fontFamilyName = "Bitstream Vera Sans"; if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!"; diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 5576a1de4246cf9e2bbc0fd514a49ac1b458047e..d035870866635cf8d09b80793f5cefe14bd122b7 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -40,17 +40,18 @@ This file is part of the QGROUNDCONTROL project #include #include "QGC.h" -#include "MAVLinkSimulationLink.h" #include "SerialLink.h" #include "MAVLinkProtocol.h" #include "QGCWaypointListMulti.h" #include "MainWindow.h" +#ifndef __android__ #include "JoystickWidget.h" +#endif #include "GAudioOutput.h" -#include "QGCToolWidget.h" #include "QGCMAVLinkLogPlayer.h" #include "SettingsDialog.h" #include "QGCMapTool.h" +#include "QGCMapDisplay.h" #include "MAVLinkDecoder.h" #include "QGCMAVLinkMessageSender.h" #include "QGCRGBDView.h" @@ -59,7 +60,7 @@ This file is part of the QGROUNDCONTROL project #include "Linecharts.h" #include "QGCTabbedInfoView.h" #include "UASRawStatusView.h" -#include "PrimaryFlightDisplay.h" +#include "QGCFlightDisplay.h" #include "SetupView.h" #include "SerialSettingsDialog.h" #include "terminalconsole.h" @@ -79,6 +80,26 @@ This file is part of the QGROUNDCONTROL project #include "LogCompressor.h" +// Pixel size, instead of a physical thing is actually a philosophical question when +// it comes to Qt. Fonts are that and some heavy Kabalistic Voodoo added to the mix. +// The values below came from actually measuring the elements on the screen on these +// devices. I have yet to find a constant from Qt so these things can be properly +// computed at runtime. + +#if defined(Q_OS_OSX) +double MainWindow::_pixelFactor = 1.0; +double MainWindow::_fontFactor = 1.0; +#elif defined(Q_OS_WIN) +double MainWindow::_pixelFactor = 0.86; +double MainWindow::_fontFactor = 0.63; +#elif defined(__android__) +double MainWindow::_pixelFactor = 2.0; +double MainWindow::_fontFactor = 1.23; +#elif defined(Q_OS_LINUX) +double MainWindow::_pixelFactor = 1.0; +double MainWindow::_fontFactor = 0.85; +#endif + /// The key under which the Main Window settings are saved const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW"; @@ -125,8 +146,8 @@ void MainWindow::deleteInstance(void) MainWindow::MainWindow(QSplashScreen* splashScreen) : _autoReconnect(false) , _lowPowerMode(false) + , _showStatusBar(false) , _centerStackActionGroup(new QActionGroup(this)) - , _simulationLink(NULL) , _centralLayout(NULL) , _currentViewWidget(NULL) , _splashScreen(splashScreen) @@ -144,11 +165,12 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); _ui.setupUi(this); // Make sure tool bar elements all fit before changing minimum width - setMinimumWidth(926); + setMinimumWidth(1008); configureWindowName(); // Setup central widget with a layout to hold the views _centralLayout = new QVBoxLayout(); + _centralLayout->setContentsMargins(0,0,0,0); centralWidget()->setLayout(_centralLayout); // Set dock options setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); @@ -157,10 +179,16 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) // Qt 4 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar. // TODO: Check that this is still necessary on Qt5 on Ubuntu + #ifdef Q_OS_LINUX menuBar()->setNativeMenuBar(false); #endif - + + // On Mobile devices, we don't want any main menus at all. +#ifdef __mobile__ + menuBar()->setNativeMenuBar(false); +#endif + #ifdef UNITTEST_BUILD QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL); connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget); @@ -190,8 +218,9 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) connectCommonActions(); // Connect user interface devices emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); +#ifndef __android__ joystick = new JoystickInput(); - +#endif #ifdef QGC_MOUSE_ENABLED_WIN emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); mouseInput = new Mouse3DInput(this); @@ -205,6 +234,10 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*))); #endif //QGC_MOUSE_ENABLED_LINUX + // These also cause the screen to redraw so we need to update any OpenGL canvases in QML controls + connect(LinkManager::instance(), &LinkManager::linkConnected, this, &MainWindow::_linkStateChange); + connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &MainWindow::_linkStateChange); + // Connect link if (_autoReconnect) { @@ -216,6 +249,8 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Restore the window setup _loadCurrentViewState(); +#ifndef __android__ + // Restore the window position and size emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); if (settings.contains(_getWindowGeometryKey())) @@ -225,15 +260,18 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) else { // Adjust the size - const int screenWidth = QApplication::desktop()->width(); - const int screenHeight = QApplication::desktop()->height(); - if (screenWidth < 1500) + QScreen* scr = QApplication::primaryScreen(); + QSize scrSize = scr->availableSize(); + if (scrSize.width() <= 1280) { - resize(screenWidth, screenHeight - 80); + resize(scrSize.width(), scrSize.height()); } else { - resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f))); + int w = scrSize.width() > 1600 ? 1600 : scrSize.width(); + int h = scrSize.height() > 800 ? 800 : scrSize.height(); + resize(w, h); + move((scrSize.width() - w) / 2, (scrSize.height() - h) / 2); } } @@ -250,29 +288,28 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) } // And that they will stay checked properly after user input - QObject::connect(_ui.actionFullscreen, SIGNAL(triggered()), this, SLOT(fullScreenActionItemCallback())); - QObject::connect(_ui.actionNormal, SIGNAL(triggered()), this, SLOT(normalActionItemCallback())); + connect(_ui.actionFullscreen, &QAction::triggered, this, &MainWindow::fullScreenActionItemCallback); + connect(_ui.actionNormal, &QAction::triggered, this, &MainWindow::normalActionItemCallback); +#endif + + connect(_ui.actionStatusBar, &QAction::triggered, this, &MainWindow::showStatusBarCallback); // Set OS dependent keyboard shortcuts for the main window, non OS dependent shortcuts are set in MainWindow.ui #ifdef Q_OS_MACX _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Meta+1", 0)); - _ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0)); - _ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0)); - _ui.actionEngineersView->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0)); - _ui.actionGoogleEarthView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0)); - _ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0)); - _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+7", 0)); - _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+8", 0)); + _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0)); + _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0)); + _ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0)); + _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0)); + _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0)); _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0)); #else _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0)); - _ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0)); - _ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0)); - _ui.actionEngineersView->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0)); - _ui.actionGoogleEarthView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0)); - _ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0)); - _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+7", 0)); - _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+8", 0)); + _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0)); + _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0)); + _ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0)); + _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0)); + _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0)); _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0)); #endif @@ -281,6 +318,11 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); if (!qgcApp()->runningUnitTests()) { + _ui.actionStatusBar->setChecked(_showStatusBar); + showStatusBarCallback(_showStatusBar); +#ifdef __android__ + menuBar()->hide(); +#endif show(); #ifdef Q_OS_MAC // TODO HACK @@ -302,11 +344,7 @@ MainWindow::MainWindow(QSplashScreen* splashScreen) MainWindow::~MainWindow() { - if (_simulationLink) - { - delete _simulationLink; - _simulationLink = NULL; - } +#ifndef __android__ if (joystick) { joystick->shutdown(); @@ -314,6 +352,7 @@ MainWindow::~MainWindow() delete joystick; joystick = NULL; } +#endif // Delete all UAS objects for (int i=0;i<_commsWidgetList.size();i++) { @@ -329,12 +368,7 @@ void MainWindow::resizeEvent(QResizeEvent * event) QString MainWindow::_getWindowStateKey() { - if (UASManager::instance()->getActiveUAS()) - { - return QString::number(_currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName(); - } - else - return QString::number(_currentView)+"_windowstate_"; + return QString::number(_currentView)+"_windowstate_"; } QString MainWindow::_getWindowGeometryKey() @@ -342,43 +376,29 @@ QString MainWindow::_getWindowGeometryKey() return "_geometry"; } -void MainWindow::_buildCustomWidgets(void) -{ - Q_ASSERT(_customWidgets.count() == 0); - // Create custom widgets - _customWidgets = QGCToolWidget::createWidgetsFromSettings(this); - if (_customWidgets.size() > 0) - { - _ui.menuTools->addSeparator(); - } - foreach(QGCToolWidget* tool, _customWidgets) { - // Check if this widget already has a parent, do not create it in this case - QDockWidget* dock = dynamic_cast(tool->parentWidget()); - if (!dock) { - _createDockWidget(tool->getTitle(), tool->objectName(), Qt::BottomDockWidgetArea, tool); - } - } -} - void MainWindow::_createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget) { Q_ASSERT(!_mapName2DockWidget.contains(name)); - QGCDockWidget* dockWidget = new QGCDockWidget(title, this); - Q_CHECK_PTR(dockWidget); - dockWidget->setObjectName(name); - dockWidget->setVisible (false); - if (innerWidget) { - // Put inner widget inside QDockWidget - innerWidget->setParent(dockWidget); - dockWidget->setWidget(innerWidget); - innerWidget->setVisible(true); - } + // Add to menu QAction* action = new QAction(title, NULL); action->setCheckable(true); action->setData(name); connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction); _ui.menuTools->addAction(action); + + // Create widget + QGCDockWidget* dockWidget = new QGCDockWidget(title, action, this); + Q_CHECK_PTR(dockWidget); + dockWidget->setObjectName(name); + dockWidget->setVisible (false); + if (innerWidget) { + // Put inner widget inside QDockWidget + innerWidget->setParent(dockWidget); + dockWidget->setWidget(innerWidget); + innerWidget->setVisible(true); + } + _mapName2DockWidget[name] = dockWidget; _mapDockWidget2Action[dockWidget] = action; addDockWidget(area, dockWidget); @@ -412,7 +432,7 @@ void MainWindow::_buildCommonWidgets(void) { _uasListDockWidgetName, "Unmanned Systems", Qt::RightDockWidgetArea }, { _waypointsDockWidgetName, "Mission Plan", Qt::BottomDockWidgetArea }, { _mavlinkDockWidgetName, "MAVLink Inspector", Qt::RightDockWidgetArea }, - { _parametersDockWidgetName, "Onboard Parameters", Qt::RightDockWidgetArea }, + { _parametersDockWidgetName, "Parameter Editor", Qt::RightDockWidgetArea }, { _filesDockWidgetName, "Onboard Files", Qt::RightDockWidgetArea }, { _uasStatusDetailsDockWidgetName, "Status Details", Qt::RightDockWidgetArea }, { _mapViewDockWidgetName, "Map view", Qt::RightDockWidgetArea }, @@ -422,7 +442,7 @@ void MainWindow::_buildCommonWidgets(void) { _pfdDockWidgetName, "Primary Flight Display", Qt::RightDockWidgetArea }, { _hudDockWidgetName, "Video Downlink", Qt::RightDockWidgetArea }, { _uasInfoViewDockWidgetName, "Info View", Qt::LeftDockWidgetArea }, - { _debugConsoleDockWidgetName, "Communications Console", Qt::LeftDockWidgetArea } + { _debugConsoleDockWidgetName, "Communications Console", Qt::LeftDockWidgetArea }, }; static const size_t cDockWidgetInfo = sizeof(rgDockWidgetInfo) / sizeof(rgDockWidgetInfo[0]); @@ -430,23 +450,29 @@ void MainWindow::_buildCommonWidgets(void) const struct DockWidgetInfo* pDockInfo = &rgDockWidgetInfo[i]; _createDockWidget(pDockInfo->title, pDockInfo->name, pDockInfo->area, NULL /* no inner widget yet */); } +} - _buildCustomWidgets(); +void MainWindow::_buildPlanView(void) +{ + if (!_planView) { + _planView = new QGCMapTool(this); + _planView->setVisible(false); + } } -void MainWindow::_buildPlannerView(void) +void MainWindow::_buildExperimentalPlanView(void) { - if (!_plannerView) { - _plannerView = new QGCMapTool(this); - _plannerView->setVisible(false); + if (!_experimentalPlanView) { + _experimentalPlanView = new QGCMapDisplay(this); + _experimentalPlanView->setVisible(false); } } -void MainWindow::_buildPilotView(void) +void MainWindow::_buildFlightView(void) { - if (!_pilotView) { - _pilotView = new PrimaryFlightDisplay(this); - _pilotView->setVisible(false); + if (!_flightView) { + _flightView = new QGCFlightDisplay(this); + _flightView->setVisible(false); } } @@ -458,11 +484,11 @@ void MainWindow::_buildSetupView(void) } } -void MainWindow::_buildEngineeringView(void) +void MainWindow::_buildAnalyzeView(void) { - if (!_engineeringView) { - _engineeringView = new QGCDataPlot2D(this); - _engineeringView->setVisible(false); + if (!_analyzeView) { + _analyzeView = new QGCDataPlot2D(this); + _analyzeView->setVisible(false); } } @@ -482,26 +508,6 @@ void MainWindow::_buildTerminalView(void) } } -void MainWindow::_buildGoogleEarthView(void) -{ -#ifdef QGC_GOOGLE_EARTH_ENABLED - if (!_googleEarthView) { - _googleEarthView = new QGCGoogleEarthView(this); - _googleEarthView->setVisible(false); - } -#endif -} - -void MainWindow::_buildLocal3DView(void) -{ -#ifdef QGC_OSG_ENABLED - if (!_local3DView) { - _local3DView = Q3DWidgetFactory::get("PIXHAWK", this); - _local3DView->setVisible(false); - } -#endif -} - /// Shows or hides the specified dock widget, creating if necessary void MainWindow::_showDockWidget(const QString& name, bool show) { @@ -542,7 +548,7 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName) } else if (widgetName == _mavlinkDockWidgetName) { widget = new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this); } else if (widgetName == _parametersDockWidgetName) { - widget = new ParameterInterface(this); + widget = new ParameterEditorWidget(this); } else if (widgetName == _filesDockWidgetName) { widget = new QGCUASFileViewMulti(this); } else if (widgetName == _uasStatusDetailsDockWidgetName) { @@ -568,11 +574,13 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName) widget = hddisplay; } else if (widgetName == _pfdDockWidgetName) { - widget = new PrimaryFlightDisplay(this); + widget = new QGCFlightDisplay(this); } else if (widgetName == _hudDockWidgetName) { widget = new HUD(320,240,this); } else if (widgetName == _uasInfoViewDockWidgetName) { - widget = new QGCTabbedInfoView(this); + QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(this); + pInfoView->addSource(mavlinkDecoder); + widget = pInfoView; } else if (widgetName == _debugConsoleDockWidgetName) { widget = new DebugConsole(this); } else { @@ -603,7 +611,7 @@ void MainWindow::_showHILConfigurationWidgets(void) if (!_mapUasId2HilDockWidget.contains(uasId)) { // Create QDockWidget - QGCDockWidget* dockWidget = new QGCDockWidget(tr("HIL Config %1").arg(uasId), this); + QGCDockWidget* dockWidget = new QGCDockWidget(tr("HIL Config %1").arg(uasId), NULL, this); Q_CHECK_PTR(dockWidget); dockWidget->setObjectName(tr("HIL_CONFIG_%1").arg(uasId)); dockWidget->setVisible (false); @@ -627,28 +635,27 @@ void MainWindow::_showHILConfigurationWidgets(void) } } -void MainWindow::fullScreenActionItemCallback() +void MainWindow::fullScreenActionItemCallback(bool) { _ui.actionNormal->setChecked(false); } -void MainWindow::normalActionItemCallback() +void MainWindow::normalActionItemCallback(bool) { _ui.actionFullscreen->setChecked(false); } +void MainWindow::showStatusBarCallback(bool checked) +{ + _showStatusBar = checked; + checked ? statusBar()->show() : statusBar()->hide(); + _ui.actionStatusBar->setText(checked ? "Hide Status Bar" : "Show Status Bar"); +} + void MainWindow::closeEvent(QCloseEvent *event) { // Disallow window close if there are active connections - bool foundConnections = false; - foreach(LinkInterface* link, LinkManager::instance()->getLinks()) { - if (link->isConnected()) { - foundConnections = true; - break; - } - } - - if (foundConnections) { + if (LinkManager::instance()->anyConnectedLinks()) { QGCMessageBox::StandardButton button = QGCMessageBox::warning( tr("QGroundControl close"), @@ -656,9 +663,7 @@ void MainWindow::closeEvent(QCloseEvent *event) QMessageBox::Yes | QMessageBox::Cancel, QMessageBox::Cancel); if (button == QMessageBox::Yes) { - foreach(LinkInterface* link, LinkManager::instance()->getLinks()) { - LinkManager::instance()->disconnectLink(link); - } + LinkManager::instance()->disconnectAll(); } else { event->ignore(); return; @@ -667,79 +672,37 @@ void MainWindow::closeEvent(QCloseEvent *event) // This will process any remaining flight log save dialogs qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); + // Should not be any active connections - foreach(LinkInterface* link, LinkManager::instance()->getLinks()) { - Q_UNUSED(link); - Q_ASSERT(!link->isConnected()); - } + Q_ASSERT(!LinkManager::instance()->anyConnectedLinks()); + _storeCurrentViewState(); storeSettings(); UASManager::instance()->storeSettings(); event->accept(); } -void MainWindow::_createNewCustomWidget(void) -{ - if (QGCToolWidget::instances()->isEmpty()) - { - // This is the first widget - _ui.menuTools->addSeparator(); - } - QString objectName; - int customToolIndex = 0; - //Find the next unique object name that we can use - do { - ++customToolIndex; - objectName = QString("CUSTOM_TOOL_%1").arg(customToolIndex) + "DOCK"; - } while(QGCToolWidget::instances()->contains(objectName)); - QString title = tr("Custom Tool %1").arg(customToolIndex ); - QGCToolWidget* tool = new QGCToolWidget(objectName, title); - tool->resize(100, 100); - _createDockWidget(title, objectName, Qt::BottomDockWidgetArea, tool); - _mapName2DockWidget[objectName]->setVisible(true); -} - -void MainWindow::_loadCustomWidgetFromFile(void) -{ - QString fileName = QGCFileDialog::getOpenFileName( - this, tr("Load Widget File"), - QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), - tr("QGroundControl Widgets (*.qgw);;All Files (*)")); - if (!fileName.isEmpty()) { - QGCToolWidget* tool = new QGCToolWidget("", "", this); - if (tool->loadSettings(fileName, true)) { - QString objectName = tool->objectName() + "DOCK"; - - _createDockWidget(tool->getTitle(), objectName, Qt::LeftDockWidgetArea, tool); - _mapName2DockWidget[objectName]->widget()->setVisible(true); - } - } - // TODO Add error dialog if widget could not be loaded -} - void MainWindow::loadSettings() { // Why the screaming? QSettings settings; settings.beginGroup(MAIN_SETTINGS_GROUP); - _autoReconnect = settings.value("AUTO_RECONNECT", _autoReconnect).toBool(); - _lowPowerMode = settings.value("LOW_POWER_MODE", _lowPowerMode).toBool(); + _autoReconnect = settings.value("AUTO_RECONNECT", _autoReconnect).toBool(); + _lowPowerMode = settings.value("LOW_POWER_MODE", _lowPowerMode).toBool(); + _showStatusBar = settings.value("SHOW_STATUSBAR", _showStatusBar).toBool(); + _fontFactor = settings.value("FONT_SIZE_FACTOR", _fontFactor).toDouble(); + _pixelFactor = settings.value("PIXEL_SIZE_FACTOR", _pixelFactor).toDouble(); settings.endGroup(); // Select the proper view. Default to the flight view or load the last one used if it's supported. VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", _currentView).toInt(); switch (currentViewCandidate) { - case VIEW_ENGINEER: - case VIEW_MISSION: + case VIEW_ANALYZE: + case VIEW_PLAN: + case VIEW_EXPERIMENTAL_PLAN: case VIEW_FLIGHT: case VIEW_SIMULATION: case VIEW_SETUP: case VIEW_TERMINAL: -#ifdef QGC_OSG_ENABLED - case VIEW_LOCAL3D: -#endif -#ifdef QGC_GOOGLE_EARTH_ENABLED - case VIEW_GOOGLEEARTH: -#endif _currentView = currentViewCandidate; break; default: @@ -754,18 +717,17 @@ void MainWindow::storeSettings() { QSettings settings; settings.beginGroup(MAIN_SETTINGS_GROUP); - settings.setValue("AUTO_RECONNECT", _autoReconnect); - settings.setValue("LOW_POWER_MODE", _lowPowerMode); + settings.setValue("AUTO_RECONNECT", _autoReconnect); + settings.setValue("LOW_POWER_MODE", _lowPowerMode); + settings.setValue("SHOW_STATUSBAR", _showStatusBar); + settings.setValue("FONT_SIZE_FACTOR", _fontFactor); + settings.setValue("PIXEL_SIZE_FACTOR", _pixelFactor); settings.endGroup(); settings.setValue(_getWindowGeometryKey(), saveGeometry()); + // Save the last current view in any case settings.setValue("CURRENT_VIEW", _currentView); - // Save the current window state, but only if a system is connected (else no real number of widgets would be present)) - if (UASManager::instance()->getUASList().length() > 0) settings.setValue(_getWindowStateKey(), saveState()); - // Save the current UAS view if a UAS is connected - if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", _currentView); - // And save any custom weidgets - QGCToolWidget::storeWidgetsToSettings(settings); + settings.setValue(_getWindowStateKey(), saveState()); } void MainWindow::configureWindowName() @@ -788,41 +750,6 @@ void MainWindow::configureWindowName() setWindowTitle(windowname); } -// TODO: This is not used -void MainWindow::startVideoCapture() -{ - // TODO: What is this? What kind of "Video" is saved to bmp? - QString format("bmp"); - QString initialPath = QDir::currentPath() + tr("/untitled.") + format; - _screenFileName = QGCFileDialog::getSaveFileName( - this, tr("Save Video Capture"), - initialPath, - tr("%1 Files (*.%2);;All Files (*)") - .arg(format.toUpper()) - .arg(format), - format); - delete videoTimer; - videoTimer = new QTimer(this); -} - -// TODO: This is not used -void MainWindow::stopVideoCapture() -{ - videoTimer->stop(); - // TODO Convert raw images to PNG -} - -// TODO: This is not used -void MainWindow::saveScreen() -{ - QPixmap window = QPixmap::grabWindow(this->winId()); - QString format = "bmp"; - if (!_screenFileName.isEmpty()) - { - window.save(_screenFileName, format.toLatin1()); - } -} - void MainWindow::enableAutoReconnect(bool enabled) { _autoReconnect = enabled; @@ -836,44 +763,40 @@ void MainWindow::connectCommonActions() { // Bind together the perspective actions QActionGroup* perspectives = new QActionGroup(_ui.menuPerspectives); - perspectives->addAction(_ui.actionEngineersView); - perspectives->addAction(_ui.actionFlightView); + perspectives->addAction(_ui.actionAnalyze); + perspectives->addAction(_ui.actionFlight); perspectives->addAction(_ui.actionSimulationView); - perspectives->addAction(_ui.actionMissionView); + perspectives->addAction(_ui.actionPlan); perspectives->addAction(_ui.actionSetup); perspectives->addAction(_ui.actionTerminalView); - perspectives->addAction(_ui.actionGoogleEarthView); - perspectives->addAction(_ui.actionLocal3DView); + perspectives->addAction(_ui.actionExperimentalPlanView); perspectives->setExclusive(true); - /* Hide the actions that are not relevant */ -#ifndef QGC_GOOGLE_EARTH_ENABLED - _ui.actionGoogleEarthView->setVisible(false); -#endif -#ifndef QGC_OSG_ENABLED - _ui.actionLocal3DView->setVisible(false); -#endif - // Mark the right one as selected - if (_currentView == VIEW_ENGINEER) + if (_currentView == VIEW_ANALYZE) { - _ui.actionEngineersView->setChecked(true); - _ui.actionEngineersView->activate(QAction::Trigger); + _ui.actionAnalyze->setChecked(true); + _ui.actionAnalyze->activate(QAction::Trigger); } if (_currentView == VIEW_FLIGHT) { - _ui.actionFlightView->setChecked(true); - _ui.actionFlightView->activate(QAction::Trigger); + _ui.actionFlight->setChecked(true); + _ui.actionFlight->activate(QAction::Trigger); } if (_currentView == VIEW_SIMULATION) { _ui.actionSimulationView->setChecked(true); _ui.actionSimulationView->activate(QAction::Trigger); } - if (_currentView == VIEW_MISSION) + if (_currentView == VIEW_PLAN) + { + _ui.actionPlan->setChecked(true); + _ui.actionPlan->activate(QAction::Trigger); + } + if (_currentView == VIEW_EXPERIMENTAL_PLAN) { - _ui.actionMissionView->setChecked(true); - _ui.actionMissionView->activate(QAction::Trigger); + _ui.actionExperimentalPlanView->setChecked(true); + _ui.actionExperimentalPlanView->activate(QAction::Trigger); } if (_currentView == VIEW_SETUP) { @@ -885,16 +808,6 @@ void MainWindow::connectCommonActions() _ui.actionTerminalView->setChecked(true); _ui.actionTerminalView->activate(QAction::Trigger); } - if (_currentView == VIEW_GOOGLEEARTH) - { - _ui.actionGoogleEarthView->setChecked(true); - _ui.actionGoogleEarthView->activate(QAction::Trigger); - } - if (_currentView == VIEW_LOCAL3D) - { - _ui.actionLocal3DView->setChecked(true); - _ui.actionLocal3DView->activate(QAction::Trigger); - } // The UAS actions are not enabled without connection to system _ui.actionLiftoff->setEnabled(false); @@ -908,7 +821,6 @@ void MainWindow::connectCommonActions() // Connect internal actions connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*))); - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); // Unmanned System controls connect(_ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS())); @@ -918,13 +830,11 @@ void MainWindow::connectCommonActions() connect(_ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS())); // Views actions - connect(_ui.actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView())); + connect(_ui.actionFlight, SIGNAL(triggered()), this, SLOT(loadFlightView())); connect(_ui.actionSimulationView, SIGNAL(triggered()), this, SLOT(loadSimulationView())); - connect(_ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView())); - connect(_ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView())); - connect(_ui.actionSetup,SIGNAL(triggered()),this,SLOT(loadSetupView())); - connect(_ui.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView())); - connect(_ui.actionLocal3DView, SIGNAL(triggered()), this, SLOT(loadLocal3DView())); + connect(_ui.actionAnalyze, SIGNAL(triggered()), this, SLOT(loadAnalyzeView())); + connect(_ui.actionPlan, SIGNAL(triggered()), this, SLOT(loadPlanView())); + connect(_ui.actionExperimentalPlanView, SIGNAL(triggered()), this, SLOT(loadOldPlanView())); connect(_ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView())); // Help Actions @@ -932,10 +842,6 @@ void MainWindow::connectCommonActions() connect(_ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits())); connect(_ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap())); - // Custom widget actions - connect(_ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(_createNewCustomWidget())); - connect(_ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(_loadCustomWidgetFromFile())); - // Audio output _ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted()); connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), _ui.actionMuteAudioOutput, SLOT(setChecked(bool))); @@ -944,10 +850,8 @@ void MainWindow::connectCommonActions() // Application Settings connect(_ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings())); - connect(_ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool))); - // Update Tool Bar - _mainToolBar->setCurrentView((MainToolBar::ViewType_t)_currentView); + _mainToolBar->setCurrentView(_currentView); } void MainWindow::_openUrl(const QString& url, const QString& errorMessage) @@ -983,23 +887,14 @@ void MainWindow::showRoadMap() void MainWindow::showSettings() { +#ifndef __android__ SettingsDialog settings(joystick, this); +#else + SettingsDialog settings(this); +#endif settings.exec(); } -void MainWindow::simulateLink(bool simulate) { - if (simulate) { - if (!_simulationLink) { - _simulationLink = new MAVLinkSimulationLink(":/demo-log.txt"); - Q_CHECK_PTR(_simulationLink); - } - LinkManager::instance()->connectLink(_simulationLink); - } else { - Q_ASSERT(_simulationLink); - LinkManager::instance()->disconnectLink(_simulationLink); - } -} - void MainWindow::commsWidgetDestroyed(QObject *obj) { // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already @@ -1010,21 +905,6 @@ void MainWindow::commsWidgetDestroyed(QObject *obj) } } -void MainWindow::setActiveUAS(UASInterface* uas) -{ - Q_UNUSED(uas); - if (settings.contains(_getWindowStateKey())) - { - restoreState(settings.value(_getWindowStateKey()).toByteArray()); - } -} - -void MainWindow::UASSpecsChanged(int uas) -{ - Q_UNUSED(uas); - // TODO: Update UAS properties if its specs change -} - void MainWindow::UASCreated(UASInterface* uas) { // The UAS actions are not enabled without connection to system @@ -1034,7 +914,6 @@ void MainWindow::UASCreated(UASInterface* uas) _ui.actionEmergency_Land->setEnabled(true); _ui.actionShutdownMAV->setEnabled(true); - connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int))); connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64))); connect(uas, SIGNAL(misconfigurationDetected(UASInterface*)), this, SLOT(handleMisconfiguration(UASInterface*))); @@ -1048,19 +927,10 @@ void MainWindow::UASCreated(UASInterface* uas) } linechartWidget->addSource(mavlinkDecoder); - if (_engineeringView != linechartWidget) + if (_analyzeView != linechartWidget) { - _engineeringView = linechartWidget; + _analyzeView = linechartWidget; } - - // Reload view state in case new widgets were added - _loadCurrentViewState(); -} - -void MainWindow::UASDeleted(UASInterface* uas) -{ - Q_UNUSED(uas); - // TODO: Update the UI when a UAS is deleted } /// Stores the state of the toolbar, status bar and widgets associated with the current view @@ -1097,24 +967,30 @@ void MainWindow::_loadCurrentViewState(void) centerView = _setupView; break; - case VIEW_ENGINEER: - _buildEngineeringView(); - centerView = _engineeringView; + case VIEW_ANALYZE: + _buildAnalyzeView(); + centerView = _analyzeView; defaultWidgets = "MAVLINK_INSPECTOR_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,FILE_VIEW_DOCKWIDGET,HEAD_UP_DISPLAY_DOCKWIDGET"; break; case VIEW_FLIGHT: - _buildPilotView(); - centerView = _pilotView; + _buildFlightView(); + centerView = _flightView; defaultWidgets = "COMMUNICATION_CONSOLE_DOCKWIDGET,UAS_INFO_INFOVIEW_DOCKWIDGET"; break; - case VIEW_MISSION: - _buildPlannerView(); - centerView = _plannerView; + case VIEW_PLAN: + _buildPlanView(); + centerView = _planView; defaultWidgets = "UNMANNED_SYSTEM_LIST_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET"; break; + case VIEW_EXPERIMENTAL_PLAN: + _buildExperimentalPlanView(); + centerView = _experimentalPlanView; + defaultWidgets.clear(); + break; + case VIEW_SIMULATION: _buildSimView(); centerView = _simView; @@ -1125,15 +1001,9 @@ void MainWindow::_loadCurrentViewState(void) _buildTerminalView(); centerView = _terminalView; break; - - case VIEW_GOOGLEEARTH: - _buildGoogleEarthView(); - centerView = _googleEarthView; - break; - - case VIEW_LOCAL3D: - _buildLocal3DView(); - centerView = _local3DView; + + default: + Q_ASSERT(false); break; } @@ -1151,6 +1021,7 @@ void MainWindow::_loadCurrentViewState(void) Q_ASSERT(_centralLayout->count() == 0); _currentViewWidget = centerView; _centralLayout->addWidget(_currentViewWidget); + _centralLayout->setContentsMargins(0, 0, 0, 0); _currentViewWidget->setVisible(true); // Hide all widgets from previous view @@ -1158,6 +1029,7 @@ void MainWindow::_loadCurrentViewState(void) // Restore the widgets for the new view QString widgetNames = settings.value(_getWindowStateKey() + "WIDGETS", defaultWidgets).toString(); + qDebug() << widgetNames; if (!widgetNames.isEmpty()) { QStringList split = widgetNames.split(","); foreach (QString widgetName, split) { @@ -1173,6 +1045,10 @@ void MainWindow::_loadCurrentViewState(void) // HIL dock widget are dynamic and don't take part in the saved window state, so this // need to happen after we restore state _showHILConfigurationWidgets(); + + // There is a bug in Qt where a Canvas element inside a QQuickWidget does not + // receive update requests. Here we emit a signal for them to get repainted. + emit repaintCanvas(); } void MainWindow::_hideAllHilDockWidgets(void) @@ -1225,78 +1101,68 @@ void MainWindow::handleMisconfiguration(UASInterface* uas) } } -void MainWindow::loadEngineerView() +void MainWindow::loadAnalyzeView() { - if (_currentView != VIEW_ENGINEER) + if (_currentView != VIEW_ANALYZE) { _storeCurrentViewState(); - _currentView = VIEW_ENGINEER; - _ui.actionEngineersView->setChecked(true); + _currentView = VIEW_ANALYZE; + _ui.actionAnalyze->setChecked(true); _loadCurrentViewState(); } } -void MainWindow::loadOperatorView() +void MainWindow::loadPlanView() { - if (_currentView != VIEW_MISSION) + if (_currentView != VIEW_PLAN) { _storeCurrentViewState(); - _currentView = VIEW_MISSION; - _ui.actionMissionView->setChecked(true); - _loadCurrentViewState(); - } -} -void MainWindow::loadSetupView() -{ - if (_currentView != VIEW_SETUP) - { - _storeCurrentViewState(); - _currentView = VIEW_SETUP; - _ui.actionSetup->setChecked(true); + _currentView = VIEW_PLAN; + _ui.actionPlan->setChecked(true); _loadCurrentViewState(); } } -void MainWindow::loadTerminalView() +void MainWindow::loadOldPlanView() { - if (_currentView != VIEW_TERMINAL) + if (_currentView != VIEW_EXPERIMENTAL_PLAN) { _storeCurrentViewState(); - _currentView = VIEW_TERMINAL; - _ui.actionTerminalView->setChecked(true); + _currentView = VIEW_EXPERIMENTAL_PLAN; + _ui.actionExperimentalPlanView->setChecked(true); _loadCurrentViewState(); } } -void MainWindow::loadGoogleEarthView() +void MainWindow::loadSetupView() { - if (_currentView != VIEW_GOOGLEEARTH) + if (_currentView != VIEW_SETUP) { _storeCurrentViewState(); - _currentView = VIEW_GOOGLEEARTH; - _ui.actionGoogleEarthView->setChecked(true); + _currentView = VIEW_SETUP; + _ui.actionSetup->setChecked(true); _loadCurrentViewState(); } } -void MainWindow::loadLocal3DView() +void MainWindow::loadTerminalView() { - if (_currentView != VIEW_LOCAL3D) + if (_currentView != VIEW_TERMINAL) { _storeCurrentViewState(); - _currentView = VIEW_LOCAL3D; - _ui.actionLocal3DView->setChecked(true); + _currentView = VIEW_TERMINAL; + _ui.actionTerminalView->setChecked(true); _loadCurrentViewState(); } } -void MainWindow::loadPilotView() +void MainWindow::loadFlightView() { if (_currentView != VIEW_FLIGHT) { _storeCurrentViewState(); _currentView = VIEW_FLIGHT; - _ui.actionFlightView->setChecked(true); + _ui.actionFlight->setChecked(true); _loadCurrentViewState(); } } @@ -1323,7 +1189,11 @@ void MainWindow::hideSplashScreen(void) void MainWindow::manageLinks() { +#ifndef __android__ SettingsDialog settings(joystick, this, SettingsDialog::ShowCommLinks); +#else + SettingsDialog settings(this, SettingsDialog::ShowCommLinks); +#endif settings.exec(); } @@ -1346,16 +1216,32 @@ void MainWindow::restoreLastUsedConnection() QSettings settings; QString key(MAIN_SETTINGS_GROUP); key += "/LAST_CONNECTION"; - QString connection; if(settings.contains(key)) { - connection = settings.value(connection).toString(); + QString connection = settings.value(key).toString(); // Create a link for it - LinkInterface* link = LinkManager::instance()->createLink(connection); - if(link) { - // Connect it - LinkManager::instance()->connectLink(link); - } + LinkManager::instance()->createConnectedLink(connection); + } +} + +void MainWindow::_linkStateChange(LinkInterface*) +{ + emit repaintCanvas(); +} + +void MainWindow::setPixelSizeFactor(double size) { + if(size < 0.1) { + size = 0.1; } + _pixelFactor = size; + emit pixelSizeChanged(); +} + +void MainWindow::setFontSizeFactor(double size) { + if(size < 0.1) { + size = 0.1; + } + _fontFactor = size; + emit fontSizeChanged(); } #ifdef QGC_MOUSE_ENABLED_LINUX @@ -1372,22 +1258,3 @@ void MainWindow::_showQmlTestWidget(void) new QmlTestWidget(); } #endif - -// There is a bug in Qt where a Canvas element inside a QQuickWidget does not -// receive update requests. We hook into this event and notify the tool bar -// to update its canvas elements. If other QQuickWidgets start using Canvas -// and this bug is not fixed, this should be turned into a signal emited by -// MainWindow and the various QQuickWidgets that need it should connect to it. -bool MainWindow::event(QEvent* e) -{ - bool result = true; - switch (e->type()) { - case QEvent::Paint: - result = QMainWindow::event(e); - _mainToolBar->updateCanvas(); - return result; - default: - break; - } - return QMainWindow::event(e); -} diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h index 7ba54971c71a0a3e267b98a1ea84e965ccea5eeb..54c7023f8f587f7c3d0cab8523e9b15c698396be 100644 --- a/src/ui/MainWindow.h +++ b/src/ui/MainWindow.h @@ -47,29 +47,26 @@ This file is part of the QGROUNDCONTROL project #include "WaypointList.h" #include "CameraView.h" #include "UASListWidget.h" -#include "MAVLinkSimulationLink.h" +#ifndef __android__ #include "input/JoystickInput.h" +#endif #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX) #include "Mouse6dofInput.h" #endif // QGC_MOUSE_ENABLED_WIN #include "DebugConsole.h" -#include "ParameterInterface.h" +#include "ParameterEditorWidget.h" #include "HDDisplay.h" #include "HSIDisplay.h" #include "opmapcontrol.h" -#ifdef QGC_GOOGLE_EARTH_ENABLED -#include "QGCGoogleEarthView.h" -#endif #include "MainToolBar.h" -#include "QGCToolBar.h" #include "LogCompressor.h" +#include "QGCFlightDisplay.h" #include "QGCMAVLinkInspector.h" #include "QGCMAVLinkLogPlayer.h" #include "MAVLinkDecoder.h" #include "QGCUASFileViewMulti.h" #include "QGCFlightGearLink.h" -#include "QGCToolWidget.h" class QGCMapTool; class QGCMAVLinkMessageSender; @@ -79,6 +76,7 @@ class QGCStatusBar; class Linecharts; class QGCDataPlot2D; class QGCUASFileViewMulti; +class QGCFlightDisplay; /** * @brief Main Application Window @@ -129,41 +127,42 @@ public: /// @brief Gets a pointer to the Main Tool Bar MainToolBar* getMainToolBar(void) { return _mainToolBar; } + /// @brief Gets a pointer to the Main Flight Display + QGCFlightDisplay* getFlightDisplay() { return dynamic_cast(_flightView.data()); } + + QWidget* getCurrentViewWidget(void) { return _currentViewWidget; } + + //! Returns the font point size factor + static double fontPointFactor() { return _fontFactor; } + //! Returns the pixel size factor + static double pixelSizeFactor() { return _pixelFactor; } + //! Sets pixel size factor + void setPixelSizeFactor(double size); + //! Sets font size factor + void setFontSizeFactor(double size); + public slots: /** @brief Show the application settings */ void showSettings(); - /** @brief Simulate a link */ - void simulateLink(bool simulate); - /** @brief Set the currently controlled UAS */ - void setActiveUAS(UASInterface* uas); /** @brief Add a new UAS */ void UASCreated(UASInterface* uas); - /** Delete an UAS */ - void UASDeleted(UASInterface* uas); - /** @brief Update system specs of a UAS */ - void UASSpecsChanged(int uas); - void startVideoCapture(); - void stopVideoCapture(); - void saveScreen(); void handleMisconfiguration(UASInterface* uas); /** @brief Load configuration views */ void loadSetupView(); /** @brief Load view for pilot */ - void loadPilotView(); + void loadFlightView(); /** @brief Load view for simulation */ void loadSimulationView(); /** @brief Load view for engineer */ - void loadEngineerView(); - /** @brief Load view for operator */ - void loadOperatorView(); + void loadAnalyzeView(); + /** @brief Load New (QtQuick) Map View (Mission) */ + void loadPlanView(); + /** @brief Load Old (Qt Widget) Map View (Mission) */ + void loadOldPlanView(); /** @brief Load Terminal Console views */ void loadTerminalView(); - /** @brief Load Google Earth View */ - void loadGoogleEarthView(); - /** @brief Load local 3D view */ - void loadLocal3DView(); /** @brief Manage Links */ void manageLinks(); @@ -193,18 +192,28 @@ protected slots: * Used as a triggered() callback by the fullScreenAction to make sure only one of it or the * normalAction are checked at a time, as they're mutually exclusive. */ - void fullScreenActionItemCallback(); + void fullScreenActionItemCallback(bool); /** * @brief Unchecks the fullScreenActionItem. * Used as a triggered() callback by the normalAction to make sure only one of it or the * fullScreenAction are checked at a time, as they're mutually exclusive. */ - void normalActionItemCallback(); + void normalActionItemCallback(bool); + /** + * @brief Enable/Disable Status Bar + */ + void showStatusBarCallback(bool checked); signals: void initStatusChanged(const QString& message, int alignment, const QColor &color); /** Emitted when any value changes from any source */ void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec); + /** Emitted when any the Canvas elements within QML wudgets need updating */ + void repaintCanvas(); + /** Emitted when pixel size factor changes */ + void pixelSizeChanged(); + /** Emitted when pixel size factor changes */ + void fontSizeChanged(); #ifdef QGC_MOUSE_ENABLED_LINUX /** @brief Forward X11Event to catch 3DMouse inputs */ @@ -219,18 +228,16 @@ public: protected: - bool event(QEvent *); - typedef enum _VIEW_SECTIONS { - VIEW_ENGINEER, // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters - VIEW_MISSION, // Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands. - VIEW_FLIGHT, // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle. - VIEW_SIMULATION, // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations. - VIEW_SETUP, // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation. - VIEW_TERMINAL, // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode. - VIEW_LOCAL3D, // A local 3D view. Provides a local 3D view that makes visualizing 3D attitude/orientation/pose easy while in operation. - VIEW_GOOGLEEARTH // 3D Google Earth view. A 3D terrain view, though the vehicle is still 2D. + VIEW_ANALYZE, // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters + VIEW_PLAN, // New (QtQuick) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands. + VIEW_FLIGHT, // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle. + VIEW_SIMULATION, // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations. + VIEW_SETUP, // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation. + VIEW_TERMINAL, // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode. + VIEW_LOCAL3D, // Unused + VIEW_EXPERIMENTAL_PLAN, // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands. } VIEW_SECTIONS; /** @brief Catch window resize events */ @@ -248,15 +255,10 @@ protected: QPointer linechartWidget; #ifdef QGC_OSG_ENABLED QPointer q3DWidget; -#endif -#ifdef QGC_GOOGLE_EARTH_ENABLED - QPointer earthWidget; #endif QPointer firmwareUpdateWidget; QPointer _mainToolBar; - QPointer toolBar; - QPointer mavlinkInspectorWidget; QPointer mavlinkDecoder; QPointer mavlinkSenderWidget; @@ -264,7 +266,9 @@ protected: QPointer fileWidget; +#ifndef __android__ JoystickInput* joystick; ///< The joystick manager for QGC +#endif #ifdef QGC_MOUSE_ENABLED_WIN /** @brief 3d Mouse support (WIN only) */ @@ -285,7 +289,6 @@ protected: QAction* returnUASAct; QAction* stopUASAct; QAction* killUASAct; - QAction* simulateUASAct; LogCompressor* comp; @@ -295,8 +298,7 @@ protected: private slots: void _showDockWidgetAction(bool show); - void _loadCustomWidgetFromFile(void); - void _createNewCustomWidget(void); + void _linkStateChange(LinkInterface*); #ifdef UNITTEST_BUILD void _showQmlTestWidget(void); #endif @@ -308,14 +310,13 @@ private: void _openUrl(const QString& url, const QString& errorMessage); // Center widgets - QPointer _plannerView; - QPointer _pilotView; + QPointer _planView; + QPointer _experimentalPlanView; + QPointer _flightView; QPointer _setupView; - QPointer _engineeringView; + QPointer _analyzeView; QPointer _simView; QPointer _terminalView; - QPointer _googleEarthView; - QPointer _local3DView; // Dock widget names static const char* _uasControlDockWidgetName; @@ -338,21 +339,19 @@ private: QMap _mapUasId2HilDockWidget; QMap _mapDockWidget2Action; - void _buildPlannerView(void); - void _buildPilotView(void); + void _buildPlanView(void); + void _buildExperimentalPlanView(void); + void _buildFlightView(void); void _buildSetupView(void); - void _buildEngineeringView(void); + void _buildAnalyzeView(void); void _buildSimView(void); void _buildTerminalView(void); - void _buildGoogleEarthView(void); - void _buildLocal3DView(void); void _storeCurrentViewState(void); void _loadCurrentViewState(void); void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget); void _createInnerDockWidget(const QString& widgetName); - void _buildCustomWidgets(void); void _buildCommonWidgets(void); void _hideAllHilDockWidgets(void); void _hideAllDockWidgets(void); @@ -361,9 +360,8 @@ private: bool _autoReconnect; bool _lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets + bool _showStatusBar; QActionGroup* _centerStackActionGroup; - MAVLinkSimulationLink* _simulationLink; - QList _customWidgets; QVBoxLayout* _centralLayout; QList _commsWidgetList; QWidget* _currentViewWidget; ///< Currently displayed view widget @@ -375,6 +373,9 @@ private: QString _getWindowStateKey(); QString _getWindowGeometryKey(); + // UI Dimension Factors + static double _pixelFactor; + static double _fontFactor; }; diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui index 4bf75eb8046706634841b4f520aeb127f8571289..1d5edab7b69157eb6469a40ac9a9ff0ae579acf8 100644 --- a/src/ui/MainWindow.ui +++ b/src/ui/MainWindow.ui @@ -75,15 +75,17 @@ - Perspectives + View - - - + + + + + @@ -93,16 +95,12 @@ Tool Widgets - - - - + - @@ -126,8 +124,8 @@ - :/files/images/control/launch.svg - :/files/images/control/launch.svg:/files/images/control/launch.svg + :/res/Launch + :/res/Launch:/res/Launch Liftoff @@ -136,7 +134,7 @@ - :/files/images/control/land.svg:/files/images/control/land.svg + :/res/Land:/res/Land Land @@ -145,7 +143,7 @@ - :/files/images/actions/process-stop.svg:/files/images/actions/process-stop.svg + :/res/Kill:/res/Kill Emergency Land @@ -157,7 +155,7 @@ - :/files/images/actions/process-stop.svg:/files/images/actions/process-stop.svg + :/res/Kill:/res/Kill Kill UAS @@ -171,17 +169,6 @@ Manage Communication Links - - - true - - - Simulate - - - Simulate one vehicle to test and evaluate this application - - Online Documentation @@ -197,7 +184,7 @@ Developer Credits - + true @@ -205,7 +192,7 @@ Plan - + true @@ -213,7 +200,7 @@ Analyze - + true @@ -221,11 +208,6 @@ Fly - - - New Custom Widget - - true @@ -237,7 +219,7 @@ - :/files/images/actions/system-log-out.svg:/files/images/actions/system-log-out.svg + :/res/Shutdown:/res/Shutdown Shutdown MAV @@ -285,11 +267,6 @@ Esc - - - Load Custom Widget File - - true @@ -328,20 +305,17 @@ Terminal - + true - Google Earth + Status Bar - - - true - + - Local 3D View + Experimental Plan View diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc index c5fceed5edd8b60612e1934732e8fcd0ec16dc40..df97f886bfab93ca2c6c18c2828ca0e225c390d3 100644 --- a/src/ui/MapWidget.cc +++ b/src/ui/MapWidget.cc @@ -123,11 +123,11 @@ void MapWidget::init() // Add controls to select map provider ///////////////////////////////////////////////// QActionGroup* mapproviderGroup = new QActionGroup(this); - osmAction = new QAction(QIcon(":/files/images/mapproviders/openstreetmap.png"), tr("OpenStreetMap"), mapproviderGroup); - yahooActionMap = new QAction(QIcon(":/files/images/mapproviders/yahoo.png"), tr("Yahoo: Map"), mapproviderGroup); - yahooActionSatellite = new QAction(QIcon(":/files/images/mapproviders/yahoo.png"), tr("Yahoo: Satellite"), mapproviderGroup); - googleActionMap = new QAction(QIcon(":/files/images/mapproviders/google.png"), tr("Google: Map"), mapproviderGroup); - googleSatAction = new QAction(QIcon(":/files/images/mapproviders/google.png"), tr("Google: Sat"), mapproviderGroup); + osmAction = new QAction(QIcon(":/res/openstreetmap.png"), tr("OpenStreetMap"), mapproviderGroup); + yahooActionMap = new QAction(QIcon(":/res/yahoo.png"), tr("Yahoo: Map"), mapproviderGroup); + yahooActionSatellite = new QAction(QIcon(":/res/yahoo.png"), tr("Yahoo: Satellite"), mapproviderGroup); + googleActionMap = new QAction(QIcon(":/res/google.png"), tr("Google: Map"), mapproviderGroup); + googleSatAction = new QAction(QIcon(":/res/google.png"), tr("Google: Sat"), mapproviderGroup); osmAction->setCheckable(true); yahooActionMap->setCheckable(true); yahooActionSatellite->setCheckable(true); @@ -163,17 +163,17 @@ void MapWidget::init() mapButton->setStyleSheet(buttonStyle); // create buttons to control the map (zoom, GPS tracking and WP capture) - QPushButton* zoomin = new QPushButton(QIcon(":/files/images/actions/list-add.svg"), "", this); + QPushButton* zoomin = new QPushButton(QIcon(":/res/PlusSign"), "", this); zoomin->setStyleSheet(buttonStyle); - QPushButton* zoomout = new QPushButton(QIcon(":/files/images/actions/list-remove.svg"), "", this); + QPushButton* zoomout = new QPushButton(QIcon(":/res/MinusSign"), "", this); zoomout->setStyleSheet(buttonStyle); - createPath = new QPushButton(QIcon(":/files/images/actions/go-bottom.svg"), "", this); + createPath = new QPushButton(QIcon(":/res/BottomArrow"), "", this); createPath->setStyleSheet(buttonStyle); createPath->setToolTip(tr("Start / end waypoint add mode")); createPath->setStatusTip(tr("Start / end waypoint add mode")); // clearTracking = new QPushButton(QIcon(""), "", this); // clearTracking->setStyleSheet(buttonStyle); - followgps = new QPushButton(QIcon(":/files/images/actions/system-lock-screen.svg"), "", this); + followgps = new QPushButton(QIcon(":/res/SystemLockScreen"), "", this); followgps->setStyleSheet(buttonStyle); followgps->setToolTip(tr("Follow the position of the current MAV with the map center")); followgps->setStatusTip(tr("Follow the position of the current MAV with the map center")); diff --git a/src/ui/OgreWidget.cc b/src/ui/OgreWidget.cc deleted file mode 100644 index 73998af834675ccc11cbc0aed179b41845ad22c0..0000000000000000000000000000000000000000 --- a/src/ui/OgreWidget.cc +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef __OGREWIDGET_H__ -#define __OGREWIDGET_H__ - -#include -#include -#include - -class OgreWidget : public QGLWidget -{ - //Q_OBJECT; - -public: - OgreWidget( QWidget *parent=0 ): - QGLWidget( parent ), - mOgreWindow(NULL) { - init( "../bin/plugins.cfg", "../bin/ogre.cfg", "../bin/ogre.log" ); - } - - virtual ~OgreWidget() { - mOgreRoot->shutdown(); - delete mOgreRoot; - destroy(); - } - -protected: - virtual void initializeGL(); - virtual void resizeGL( int, int ); - virtual void paintGL(); - - void init( std::string, std::string, std::string ); - - virtual Ogre::RenderSystem* chooseRenderer( Ogre::RenderSystemList* ); - - Ogre::Root *mOgreRoot; - Ogre::RenderWindow *mOgreWindow; - Ogre::Camera *mCamera; - Ogre::Viewport *mViewport; - Ogre::SceneManager *mSceneMgr; -}; - -#endif diff --git a/src/ui/OgreWidget.h b/src/ui/OgreWidget.h deleted file mode 100644 index cd4c67f7fd34f9cba0c7019886b87ff467b4d687..0000000000000000000000000000000000000000 --- a/src/ui/OgreWidget.h +++ /dev/null @@ -1,119 +0,0 @@ -#include "ogrewidget.h" - -#define THIS OgreWidget - -/** - * @brief init the object - * @author kito berg-taylor - */ -void THIS::init( std::string plugins_file, - std::string ogre_cfg_file, - std::string ogre_log ) -{ - - // create the main ogre object - mOgreRoot = new Ogre::Root( plugins_file, ogre_cfg_file, ogre_log ); - - // setup a renderer - Ogre::RenderSystemList *renderers = mOgreRoot->getAvailableRenderers(); - assert( !renderers->empty() ); // we need at least one renderer to do anything useful - - Ogre::RenderSystem *renderSystem; - renderSystem = chooseRenderer( renderers ); - - assert( renderSystem ); // user might pass back a null renderer, which would be bad! - - mOgreRoot->setRenderSystem( renderSystem ); - QString dimensions = QString( "%1x%2" ) - .arg(this->width()) - .arg(this->height()); - - renderSystem->setConfigOption( "Video Mode", dimensions.toStdString() ); - - // initialize without creating window - mOgreRoot->getRenderSystem()->setConfigOption( "Full Screen", "No" ); - mOgreRoot->saveConfig(); - mOgreRoot->initialise(false); // don't create a window -} - -/** - * @brief setup the rendering context - * @author Kito Berg-Taylor - */ -void THIS::initializeGL() -{ - //== Creating and Acquiring Ogre Window ==// - - // Get the parameters of the window QT created - QX11Info info = x11Info(); - Ogre::String winHandle; - winHandle = Ogre::StringConverter::toString((unsigned long)(info.display())); - winHandle += ":"; - winHandle += Ogre::StringConverter::toString((unsigned int)(info.screen())); - winHandle += ":"; - winHandle += Ogre::StringConverter::toString((unsigned long)(this->parentWidget()->winId())); - - Ogre::NameValuePairList params; - params["parentWindowHandle"] = winHandle; - - mOgreWindow = mOgreRoot->createRenderWindow( "QOgreWidget_RenderWindow", - this->width(), - this->height(), - false, - ¶ms ); - - mOgreWindow->setActive(true); - WId ogreWinId = 0x0; - mOgreWindow->getCustomAttribute( "WINDOW", &ogreWinId ); - - assert( ogreWinId ); - - this->create( ogreWinId ); - setAttribute( Qt::WA_PaintOnScreen, true ); - setAttribute( Qt::WA_NoBackground ); - - //== Ogre Initialization ==// - Ogre::SceneType scene_manager_type = Ogre::ST_EXTERIOR_CLOSE; - - mSceneMgr = mOgreRoot->createSceneManager( scene_manager_type ); - mSceneMgr->setAmbientLight( Ogre::ColourValue(1,1,1) ); - - mCamera = mSceneMgr->createCamera( "QOgreWidget_Cam" ); - mCamera->setPosition( Ogre::Vector3(0,1,0) ); - mCamera->lookAt( Ogre::Vector3(0,0,0) ); - mCamera->setNearClipDistance( 1.0 ); - - Ogre::Viewport *mViewport = mOgreWindow->addViewport( mCamera ); - mViewport->setBackgroundColour( Ogre::ColourValue( 0.8,0.8,1 ) ); -} - -/** - * @brief render a frame - * @author Kito Berg-Taylor - */ -void THIS::paintGL() -{ - assert( mOgreWindow ); - mOgreRoot->renderOneFrame(); -} - -/** - * @brief resize the GL window - * @author Kito Berg-Taylor - */ -void THIS::resizeGL( int width, int height ) -{ - assert( mOgreWindow ); - mOgreWindow->windowMovedOrResized(); -} - -/** - * @brief choose the right renderer - * @author Kito Berg-Taylor - */ -Ogre::RenderSystem* THIS::chooseRenderer( Ogre::RenderSystemList *renderers ) -{ - // It would probably be wise to do something more friendly - // that just use the first available renderer - return *renderers->begin(); -} diff --git a/src/ui/ParameterInterface.cc b/src/ui/ParameterInterface.cc deleted file mode 100644 index eedefd6c1b53eccb3aafae720309e0d069dbfe9a..0000000000000000000000000000000000000000 --- a/src/ui/ParameterInterface.cc +++ /dev/null @@ -1,125 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of class ParameterInterface - * @author Lorenz Meier - * - */ - -#include - -#include "ParameterInterface.h" -#include "UASManager.h" -#include "ui_ParameterInterface.h" -#include "QGCSensorSettingsWidget.h" - -#include -#include - -ParameterInterface::ParameterInterface(QWidget *parent) : - QWidget(parent), - paramWidgets(new QMap()), - curr(-1), - m_ui(new Ui::parameterWidget) -{ - m_ui->setupUi(this); - - QSettings settings; - - // Get current MAV list - QList systems = UASManager::instance()->getUASList(); - - // Add each of them - foreach (UASInterface* sys, systems) { - addUAS(sys); - } - - // Setup MAV connections - connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); - connect(UASManager::instance(), SIGNAL(activeUASSetListIndex(int)), this, SLOT(selectUAS(int))); - this->setVisible(false); -} - -ParameterInterface::~ParameterInterface() -{ - delete paramWidgets; - delete m_ui; -} - -void ParameterInterface::selectUAS(int index) -{ - m_ui->stackedWidget->setCurrentIndex(index); - m_ui->sensorSettings->setCurrentIndex(index); - curr = index; -} - -/** - * - * @param uas System to add to list - */ -void ParameterInterface::addUAS(UASInterface* uas) -{ - int uasId = uas->getUASID(); - qDebug() << "ParameterInterface::addUAS : " << uasId ; - - if (paramWidgets->contains(uasId) ) { - return; - } - - QGCParamWidget* paramWidget = new QGCParamWidget(this); - paramWidget = (QGCParamWidget*)paramWidget->initWithUAS(uas); - - QString ptrStr; - ptrStr.sprintf("QGCParamWidget %8p (parent %8p)", paramWidget,this); - qDebug() << "Created " << ptrStr << " for UAS id: " << uasId << " count: " << paramWidgets->count(); - - paramWidgets->insert(uasId, paramWidget); - m_ui->stackedWidget->addWidget(paramWidget); - - QGCSensorSettingsWidget* sensor = NULL; - - sensor = new QGCSensorSettingsWidget(uas, this); - m_ui->sensorSettings->addWidget(sensor); - - // Set widgets as default - if (curr == -1) { - // Clear - if (m_ui->sensorSettings && sensor) - m_ui->sensorSettings->setCurrentWidget(sensor); - m_ui->stackedWidget->setCurrentWidget(paramWidget); - curr = 0; - } -} - -void ParameterInterface::changeEvent(QEvent *e) -{ - switch (e->type()) { - case QEvent::LanguageChange: - m_ui->retranslateUi(this); - break; - default: - break; - } -} diff --git a/src/ui/ParameterInterface.h b/src/ui/ParameterInterface.h deleted file mode 100644 index ff74e00ced168ce103dcbd19e56c66fcbf7a0440..0000000000000000000000000000000000000000 --- a/src/ui/ParameterInterface.h +++ /dev/null @@ -1,71 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of class ParameterInterface - * - * @author Lorenz Meier - * - */ - -#ifndef PARAMETERINTERFACE_H -#define PARAMETERINTERFACE_H - -#include - -#include "ui_ParameterInterface.h" -#include "UASInterface.h" -#include "QGCParamWidget.h" - -namespace Ui -{ -class ParameterInterface; -} - -/** - * @brief Container class for onboard parameter widgets - * - * @see QGCParamWidget - */ -class ParameterInterface : public QWidget -{ - Q_OBJECT -public: - explicit ParameterInterface(QWidget *parent = 0); - virtual ~ParameterInterface(); - -public slots: - void addUAS(UASInterface* uas); - void selectUAS(int index); - -protected: - virtual void changeEvent(QEvent *e); - QMap* paramWidgets; - int curr; - -private: - Ui::parameterWidget *m_ui; -}; - -#endif // PARAMETERINTERFACE_H diff --git a/src/ui/ParameterInterface.ui b/src/ui/ParameterInterface.ui deleted file mode 100644 index d911a49d8bb063152318a433d6bf7de9adc4e95e..0000000000000000000000000000000000000000 --- a/src/ui/ParameterInterface.ui +++ /dev/null @@ -1,38 +0,0 @@ - - - parameterWidget - - - - 0 - 0 - 707 - 572 - - - - Form - - - - 0 - - - - - -1 - - - - - - - -1 - - - - - - - - diff --git a/src/ui/ParameterView.ui b/src/ui/ParameterView.ui deleted file mode 100644 index 5008f1dbb3df6da07d6330ec2e0b03e6fc1bfbbb..0000000000000000000000000000000000000000 --- a/src/ui/ParameterView.ui +++ /dev/null @@ -1,506 +0,0 @@ - - - UASView - - - - 0 - 0 - 428 - 419 - - - - - 0 - 0 - - - - - 200 - 100 - - - - Form - - - QWidget#colorIcon {} - -QWidget { -background-color: #252528; -color: #DDDDDF; -border-color: #EEEEEE; -background-clip: margin; -} - -QGroupBox { - border: 1px solid #EEEEEE; - border-radius: 5px; - padding: 0px 0px 0px 0px; - margin: 0px; -} - - QGroupBox::title { - subcontrol-origin: margin; - subcontrol-position: top center; /* position at the top center */ - margin: 0 3px 0px 3px; - padding: 0 3px 0px 0px; - font: bold 8px; - } - -QGroupBox#heartbeatIcon { - background-color: red; -} - -QPushButton { - font-weight: bold; - font-size: 12px; - border: 1px solid #999999; - border-radius: 10px; - max-width: 40px; - padding: 2px; - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777777, stop: 1 #555555); -} - -QPushButton:pressed { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #444444, stop: 1 #555555); -} - -QPushButton#landButton { - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #ffee01, stop:1 #ae8f00) url("ICONDIR/control/emergency-button.png"); -} - -QPushButton:pressed#landButton { - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #bbaa00, stop:1 #a05b00) url("ICONDIR/control/emergency-button.png"); -} - -QPushButton#killButton { - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #ffb917, stop:1 #b37300) url("ICONDIR/control/emergency-button.png"); -} - -QPushButton:pressed#killButton { - color: #000000; - background: qlineargradient(x1:0, y1:0, x2:0, y2:1, - stop:0 #bb8500, stop:1 #903000) url("ICONDIR/control/emergency-button.png"); -} - -QProgressBar { - border: 1px solid white; - border-radius: 4px; - text-align: center; - padding: 2px; - color: white; - background-color: #111111; -} - -QProgressBar:horizontal { - height: 12px; -} - -QProgressBar QLabel { - font-size: 8px; -} - -QProgressBar:vertical { - width: 12px; -} - -QProgressBar::chunk { - background-color: #656565; -} - -QProgressBar::chunk#batteryBar { - background-color: green; -} - -QProgressBar::chunk#speedBar { - background-color: yellow; -} - -QProgressBar::chunk#thrustBar { - background-color: orange; -} - - - - 0 - - - - - Qt::Vertical - - - - 391 - 3 - - - - - - - - - - - - 5 - - - 2 - - - 5 - - - - - - 16777215 - 16 - - - - - 13 - 75 - true - - - - UAS001 - - - - - - - - 0 - 12 - - - - - 16777215 - 12 - - - - - 9 - - - - 00.0 00.0 00.0 m - - - - - - - - 0 - 12 - - - - - 16777215 - 12 - - - - - 9 - - - - 00 00 00 N 00 00 00 E - - - - - - - - 8 - - - - 00:00:00 - - - - - - - - 8 - - - - 00:00:00 - - - - - - - - 8 - - - - 24 - - - - - - - - 8 - - - - 24 - - - - - - - Qt::Horizontal - - - - 10 - 20 - - - - - - - - 10 - - - QLayout::SetDefaultConstraint - - - - - - 35 - 0 - - - - - - - - - - - - 35 - 0 - - - - - - - - - - - - 35 - 0 - - - - - - - - - - - - 35 - 0 - - - - - - - - - - - - 35 - 0 - - - - - - - - - - - - 35 - 0 - - - - - - - - - - - - - Qt::Horizontal - - - - 2 - 20 - - - - - - - - - 8 - 75 - true - - - - UNINIT - - - - - - - - 16777215 - 12 - - - - - 10 - - - - Unknown status - - - - - - - - 8 - - - - 00.00 m - - - - - - - - 8 - - - - 00.00 m - - - - - - - - 20 - 40 - - - - - 6 - - - - 24 - - - Qt::Vertical - - - - - - - - 20 - 40 - - - - - - - - - - - - - - Qt::Horizontal - - - - 74 - 20 - - - - - - groupBox - horizontalSpacer_3 - - - - diff --git a/src/ui/PrimaryFlightDisplay.cc b/src/ui/PrimaryFlightDisplay.cc deleted file mode 100644 index fc7fea5700faf0711ab5953ff748797b9789cada..0000000000000000000000000000000000000000 --- a/src/ui/PrimaryFlightDisplay.cc +++ /dev/null @@ -1,1307 +0,0 @@ -#include "PrimaryFlightDisplay.h" -#include "UASManager.h" - -#include -#include -#include -#include -#include -#include -#include -#include - -static const float LINEWIDTH = 0.0036f; -static const float SMALL_TEXT_SIZE = 0.028f; -static const float MEDIUM_TEXT_SIZE = SMALL_TEXT_SIZE*1.2f; -static const float LARGE_TEXT_SIZE = MEDIUM_TEXT_SIZE*1.2f; - -static const bool SHOW_ZERO_ON_SCALES = true; - -// all in units of display height -static const float ROLL_SCALE_RADIUS = 0.42f; -static const float ROLL_SCALE_TICKMARKLENGTH = 0.04f; -static const float ROLL_SCALE_MARKERWIDTH = 0.06f; -static const float ROLL_SCALE_MARKERHEIGHT = 0.04f; -// scale max. degrees -static const int ROLL_SCALE_RANGE = 60; - -// fraction of height to translate for each degree of pitch. -static const float PITCHTRANSLATION = 65; -// 5 degrees for each line -static const int PITCH_SCALE_RESOLUTION = 5; -static const float PITCH_SCALE_MAJORWIDTH = 0.1f; -static const float PITCH_SCALE_MINORWIDTH = 0.066f; - -// Beginning from PITCH_SCALE_WIDTHREDUCTION_FROM degrees of +/- pitch, the -// width of the lines is reduced, down to PITCH_SCALE_WIDTHREDUCTION times -// the normal width. This helps keep orientation in extreme attitudes. -static const int PITCH_SCALE_WIDTHREDUCTION_FROM = 30; -static const float PITCH_SCALE_WIDTHREDUCTION = 0.3f; - -static const int PITCH_SCALE_HALFRANGE = 15; - -// The number of degrees to either side of the heading to draw the compass disk. -// 180 is valid, this will draw a complete disk. If the disk is partly clipped -// away, less will do. - -static const int COMPASS_DISK_MAJORTICK = 10; -static const int COMPASS_DISK_ARROWTICK = 45; -static const int COMPASS_DISK_RESOLUTION = 10; -static const float COMPASS_DISK_MARKERWIDTH = 0.2f; -static const float COMPASS_DISK_MARKERHEIGHT = 0.133f; - -static const int CROSSTRACK_MAX = 1000; -static const float CROSSTRACK_RADIUS = 0.6f; - -static const float TAPE_GAUGES_TICKWIDTH_MAJOR = 0.25f; -static const float TAPE_GAUGES_TICKWIDTH_MINOR = 0.15f; - -// The altitude difference between top and bottom of scale -static const int ALTIMETER_LINEAR_SPAN = 50; -// every 5 meters there is a tick mark -static const int ALTIMETER_LINEAR_RESOLUTION = 5; -// every 10 meters there is a number -static const int ALTIMETER_LINEAR_MAJOR_RESOLUTION = 10; - -// min. and max. vertical velocity -static const int ALTIMETER_VVI_SPAN = 5; -static const float ALTIMETER_VVI_WIDTH = 0.2f; - -// Now the same thing for airspeed! -static const int AIRSPEED_LINEAR_SPAN = 15; -static const int AIRSPEED_LINEAR_RESOLUTION = 1; -static const int AIRSPEED_LINEAR_MAJOR_RESOLUTION = 5; - -/* - *@TODO: - * global fixed pens (and painters too?) - * repaint on demand multiple canvases - * multi implementation with shared model class - */ -double PrimaryFlightDisplay_round(double value, int digits=0) -{ - return floor(value * pow(10.0, digits) + 0.5) / pow(10.0, digits); -} - -qreal PrimaryFlightDisplay_constrain(qreal value, qreal min, qreal max) { - if (valuemax) value=max; - return value; -} - -const int PrimaryFlightDisplay::tickValues[] = {10, 20, 30, 45, 60}; -const QString PrimaryFlightDisplay::compassWindNames[] = { - QString("N"), - QString("NE"), - QString("E"), - QString("SE"), - QString("S"), - QString("SW"), - QString("W"), - QString("NW") -}; - -PrimaryFlightDisplay::PrimaryFlightDisplay(QWidget *parent) : - QWidget(parent), - - _valuesChanged(false), - _valuesLastPainted(QGC::groundTimeMilliseconds()), - - uas(NULL), - - roll(0), - pitch(0), - heading(0), - - altitudeAMSL(std::numeric_limits::quiet_NaN()), - altitudeWGS84(std::numeric_limits::quiet_NaN()), - altitudeRelative(std::numeric_limits::quiet_NaN()), - - groundSpeed(std::numeric_limits::quiet_NaN()), - airSpeed(std::numeric_limits::quiet_NaN()), - climbRate(std::numeric_limits::quiet_NaN()), - - navigationCrosstrackError(0), - navigationTargetBearing(std::numeric_limits::quiet_NaN()), - - layout(COMPASS_INTEGRATED), - style(OVERLAY_HSI), - - redColor(QColor::fromHsvF(0, 0.75, 0.9)), - amberColor(QColor::fromHsvF(0.12, 0.6, 1.0)), - greenColor(QColor::fromHsvF(0.25, 0.8, 0.8)), - - lineWidth(2), - fineLineWidth(1), - - instrumentEdgePen(QColor::fromHsvF(0, 0, 0.65, 0.5)), - instrumentBackground(QColor::fromHsvF(0, 0, 0.3, 0.3)), - instrumentOpagueBackground(QColor::fromHsvF(0, 0, 0.3, 1.0)), - - font("Bitstream Vera Sans"), - refreshTimer(new QTimer(this)) -{ - setMinimumSize(120, 80); - setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - - setActiveUAS(UASManager::instance()->getActiveUAS()); - - // Connect with UAS signal - connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(forgetUAS(UASInterface*))); - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); - - // Refresh timer - refreshTimer->setInterval(updateInterval); - connect(refreshTimer, SIGNAL(timeout()), this, SLOT(checkUpdate())); -} - -PrimaryFlightDisplay::~PrimaryFlightDisplay() -{ - refreshTimer->stop(); -} - -QSize PrimaryFlightDisplay::sizeHint() const -{ - return QSize(width(), (int)(width() * 3.0f / 4.0f)); -} - - -void PrimaryFlightDisplay::showEvent(QShowEvent* event) -{ - // React only to internal (pre-display) events - QWidget::showEvent(event); - refreshTimer->start(updateInterval); - emit visibilityChanged(true); -} - -void PrimaryFlightDisplay::hideEvent(QHideEvent* event) -{ - // React only to internal (pre-display) events - refreshTimer->stop(); - QWidget::hideEvent(event); - emit visibilityChanged(false); -} - -void PrimaryFlightDisplay::resizeEvent(QResizeEvent *e) { - QWidget::resizeEvent(e); - - qreal size = e->size().width(); - - lineWidth = PrimaryFlightDisplay_constrain(size*LINEWIDTH, 1, 6); - fineLineWidth = PrimaryFlightDisplay_constrain(size*LINEWIDTH*2/3, 1, 2); - - instrumentEdgePen.setWidthF(fineLineWidth); - - smallTextSize = size * SMALL_TEXT_SIZE; - mediumTextSize = size * MEDIUM_TEXT_SIZE; - largeTextSize = size * LARGE_TEXT_SIZE; -} - -void PrimaryFlightDisplay::paintEvent(QPaintEvent *event) -{ - Q_UNUSED(event); - doPaint(); -} - -void PrimaryFlightDisplay::checkUpdate() -{ - if (uas && (_valuesChanged || (QGC::groundTimeMilliseconds() - _valuesLastPainted) > 260)) { - update(); - _valuesChanged = false; - _valuesLastPainted = QGC::groundTimeMilliseconds(); - } -} - -void PrimaryFlightDisplay::forgetUAS(UASInterface* uas) -{ - if (this->uas != NULL && this->uas == uas) { - // Disconnect any previously connected active MAV - disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64))); - disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64))); - disconnect(this->uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64))); - disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, quint64))); - disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double))); - } -} - -/** - * - * @param uas the UAS/MAV to monitor/display with the HUD - */ -void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas) -{ - if (uas == this->uas) - return; //no need to rewire - - // Disconnect the previous one (if any) - forgetUAS(this->uas); - - if (uas) { - // Now connect the new UAS - // Setup communication - connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64))); - connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64))); - connect(uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64))); - connect(uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, double, quint64))); - connect(uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double))); - - // Set new UAS - this->uas = uas; - } -} - -void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp) -{ - Q_UNUSED(uas); - Q_UNUSED(timestamp); - - if (isinf(roll)) { - this->roll = std::numeric_limits::quiet_NaN(); - } else { - - float rolldeg = roll * (180.0 / M_PI); - - if (fabsf(roll - rolldeg) > 2.5f) { - _valuesChanged = true; - } - - this->roll = rolldeg; - } - - if (isinf(pitch)) { - this->pitch = std::numeric_limits::quiet_NaN(); - } else { - - float pitchdeg = pitch * (180.0 / M_PI); - - if (fabsf(pitch - pitchdeg) > 2.5f) { - _valuesChanged = true; - } - - this->pitch = pitchdeg; - } - - if (isinf(yaw)) { - this->heading = std::numeric_limits::quiet_NaN(); - } else { - - yaw = yaw * (180.0 / M_PI); - if (yaw<0) yaw+=360; - - if (fabsf(heading - yaw) > 10.0f) { - _valuesChanged = true; - } - - this->heading = yaw; - } - -} - -void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp) -{ - Q_UNUSED(component); - this->updateAttitude(uas, roll, pitch, yaw, timestamp); -} - -void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp) -{ - Q_UNUSED(uas); - Q_UNUSED(timestamp); - - if (fabsf(groundSpeed - _groundSpeed) > 0.5f) { - _valuesChanged = true; - } - - if (fabsf(airSpeed - _airSpeed) > 1.0f) { - _valuesChanged = true; - } - - groundSpeed = _groundSpeed; - airSpeed = _airSpeed; -} - -void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp) { - Q_UNUSED(uas); - Q_UNUSED(timestamp); - - if (fabsf(altitudeAMSL - _altitudeAMSL) > 0.5f) { - _valuesChanged = true; - } - - if (fabsf(altitudeWGS84 - _altitudeWGS84) > 0.5f) { - _valuesChanged = true; - } - - if (fabsf(altitudeRelative - _altitudeRelative) > 0.5f) { - _valuesChanged = true; - } - - if (fabsf(climbRate - _climbRate) > 0.5f) { - _valuesChanged = true; - } - - altitudeAMSL = _altitudeAMSL; - altitudeWGS84 = _altitudeWGS84; - altitudeRelative = _altitudeRelative; - climbRate = _climbRate; -} - -void PrimaryFlightDisplay::updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError) { - Q_UNUSED(uas); - this->navigationAltitudeError = altitudeError; - this->navigationSpeedError = speedError; - this->navigationCrosstrackError = xtrackError; -} - - -/* - * Private and such - */ - -// TODO: Move to UAS. Real working implementation. -bool PrimaryFlightDisplay::isAirplane() { - if (!this->uas) - return false; - switch(this->uas->getSystemType()) { - case MAV_TYPE_GENERIC: - case MAV_TYPE_FIXED_WING: - case MAV_TYPE_AIRSHIP: - case MAV_TYPE_FLAPPING_WING: - return true; - default: - return false; - } -} - -// TODO: Implement. Should return true when navigating. -// That would be (APM) in AUTO and RTL modes. -// This could forward to a virtual on UAS bool isNavigatingAutonomusly() or whatever. -bool PrimaryFlightDisplay::shouldDisplayNavigationData() { - return true; -} - -void PrimaryFlightDisplay::drawTextCenter ( - QPainter& painter, - QString text, - float pixelSize, - float x, - float y) -{ - font.setPixelSize(pixelSize); - painter.setFont(font); - - QFontMetrics metrics = QFontMetrics(font); - QRect bounds = metrics.boundingRect(text); - int flags = Qt::AlignCenter | Qt::TextDontClip; // For some reason the bounds rect is too small! - painter.drawText(x - bounds.width()/2, y - bounds.height()/2, bounds.width(), bounds.height(), flags, text); -} - -void PrimaryFlightDisplay::drawTextLeftCenter ( - QPainter& painter, - QString text, - float pixelSize, - float x, - float y) -{ - font.setPixelSize(pixelSize); - painter.setFont(font); - - QFontMetrics metrics = QFontMetrics(font); - QRect bounds = metrics.boundingRect(text); - int flags = Qt::AlignLeft | Qt::TextDontClip; // For some reason the bounds rect is too small! - painter.drawText(x, y - bounds.height()/2, bounds.width(), bounds.height(), flags, text); -} - -void PrimaryFlightDisplay::drawTextRightCenter ( - QPainter& painter, - QString text, - float pixelSize, - float x, - float y) -{ - font.setPixelSize(pixelSize); - painter.setFont(font); - - QFontMetrics metrics = QFontMetrics(font); - QRect bounds = metrics.boundingRect(text); - int flags = Qt::AlignRight | Qt::TextDontClip; // For some reason the bounds rect is too small! - painter.drawText(x - bounds.width(), y - bounds.height()/2, bounds.width(), bounds.height(), flags, text); -} - -void PrimaryFlightDisplay::drawTextCenterTop ( - QPainter& painter, - QString text, - float pixelSize, - float x, - float y) -{ - font.setPixelSize(pixelSize); - painter.setFont(font); - - QFontMetrics metrics = QFontMetrics(font); - QRect bounds = metrics.boundingRect(text); - int flags = Qt::AlignCenter | Qt::TextDontClip; // For some reason the bounds rect is too small! - painter.drawText(x - bounds.width()/2, y+bounds.height(), bounds.width(), bounds.height(), flags, text); -} - -void PrimaryFlightDisplay::drawTextCenterBottom ( - QPainter& painter, - QString text, - float pixelSize, - float x, - float y) -{ - font.setPixelSize(pixelSize); - painter.setFont(font); - - QFontMetrics metrics(font); - QRect bounds = metrics.boundingRect(text); - int flags = Qt::AlignCenter; - painter.drawText(x - bounds.width()/2, y, bounds.width(), bounds.height(), flags, text); -} - -void PrimaryFlightDisplay::drawInstrumentBackground(QPainter& painter, QRectF edge) { - painter.setPen(instrumentEdgePen); - painter.drawRect(edge); -} - -void PrimaryFlightDisplay::fillInstrumentBackground(QPainter& painter, QRectF edge) { - painter.setPen(instrumentEdgePen); - painter.setBrush(instrumentBackground); - painter.drawRect(edge); - painter.setBrush(Qt::NoBrush); -} - -void PrimaryFlightDisplay::fillInstrumentOpagueBackground(QPainter& painter, QRectF edge) { - painter.setPen(instrumentEdgePen); - painter.setBrush(instrumentOpagueBackground); - painter.drawRect(edge); - painter.setBrush(Qt::NoBrush); -} - -qreal pitchAngleToTranslation(qreal viewHeight, float pitch) { - if (isnan(pitch)) - return 0; - return pitch * viewHeight / PITCHTRANSLATION; -} - -void PrimaryFlightDisplay::drawAIAirframeFixedFeatures(QPainter& painter, QRectF area) { - // red line from -7/10 to -5/10 half-width - // red line from 7/10 to 5/10 half-width - // red slanted line from -2/10 half-width to 0 - // red slanted line from 2/10 half-width to 0 - // red arrow thing under roll scale - // prepareTransform(painter, width, height); - painter.resetTransform(); - painter.translate(area.center()); - - qreal w = area.width(); - qreal h = area.height(); - - QPen pen; - pen.setWidthF(lineWidth * 1.5f); - pen.setColor(redColor); - painter.setPen(pen); - - float length = 0.15f; - float side = 0.5f; - // The 2 lines at sides. - painter.drawLine(QPointF(-side*w, 0), QPointF(-(side-length)*w, 0)); - painter.drawLine(QPointF(side*w, 0), QPointF((side-length)*w, 0)); - - float rel = length/qSqrt(2.0f); - // The gull - painter.drawLine(QPointF(rel*w, rel*w/2), QPoint(0, 0)); - painter.drawLine(QPointF(-rel*w, rel*w/2), QPoint(0, 0)); - - // The roll scale marker. - QPainterPath markerPath(QPointF(0, -w*ROLL_SCALE_RADIUS+1)); - markerPath.lineTo(-h*ROLL_SCALE_MARKERWIDTH/2, -w*(ROLL_SCALE_RADIUS-ROLL_SCALE_MARKERHEIGHT)+1); - markerPath.lineTo(h*ROLL_SCALE_MARKERWIDTH/2, -w*(ROLL_SCALE_RADIUS-ROLL_SCALE_MARKERHEIGHT)+1); - markerPath.closeSubpath(); - painter.drawPath(markerPath); -} - -inline qreal min4(qreal a, qreal b, qreal c, qreal d) { - if(ba) a=b; - if(c>a) a=c; - if(d>a) a=d; - return a; -} - -void PrimaryFlightDisplay::drawAIGlobalFeatures( - QPainter& painter, - QRectF mainArea, - QRectF paintArea) { - - float displayRoll = this->roll; - if (isnan(displayRoll)) - displayRoll = 0; - - painter.resetTransform(); - painter.translate(mainArea.center()); - - qreal pitchPixels = pitchAngleToTranslation(mainArea.height(), pitch); - qreal gradientEnd = pitchAngleToTranslation(mainArea.height(), 60); - - painter.rotate(-displayRoll); - painter.translate(0, pitchPixels); - - // Calculate the radius of area we need to paint to cover all. - QTransform rtx = painter.transform().inverted(); - - QPointF topLeft = rtx.map(paintArea.topLeft()); - QPointF topRight = rtx.map(paintArea.topRight()); - QPointF bottomLeft = rtx.map(paintArea.bottomLeft()); - QPointF bottomRight = rtx.map(paintArea.bottomRight()); - - // Just KISS... make a rectangluar basis. - qreal minx = min4(topLeft.x(), topRight.x(), bottomLeft.x(), bottomRight.x()); - qreal maxx = max4(topLeft.x(), topRight.x(), bottomLeft.x(), bottomRight.x()); - qreal miny = min4(topLeft.y(), topRight.y(), bottomLeft.y(), bottomRight.y()); - qreal maxy = max4(topLeft.y(), topRight.y(), bottomLeft.y(), bottomRight.y()); - - QPointF hzonLeft = QPoint(minx, 0); - QPointF hzonRight = QPoint(maxx, 0); - - QPainterPath skyPath(hzonLeft); - skyPath.lineTo(QPointF(minx, miny)); - skyPath.lineTo(QPointF(maxx, miny)); - skyPath.lineTo(hzonRight); - skyPath.closeSubpath(); - - QLinearGradient skyGradient(0, -gradientEnd, 0, 0); - skyGradient.setColorAt(0, QColor::fromHsvF(0.6, 1.0, 0.7)); - skyGradient.setColorAt(1, QColor::fromHsvF(0.6, 0.25, 0.9)); - QBrush skyBrush(skyGradient); - painter.fillPath(skyPath, skyBrush); - - QPainterPath groundPath(hzonRight); - groundPath.lineTo(maxx, maxy); - groundPath.lineTo(minx, maxy); - groundPath.lineTo(hzonLeft); - groundPath.closeSubpath(); - - QLinearGradient groundGradient(0, gradientEnd, 0, 0); - groundGradient.setColorAt(0, QColor::fromHsvF(0.25, 1, 0.5)); - groundGradient.setColorAt(1, QColor::fromHsvF(0.25, 0.25, 0.5)); - QBrush groundBrush(groundGradient); - painter.fillPath(groundPath, groundBrush); - - QPen pen; - pen.setWidthF(lineWidth); - pen.setColor(greenColor); - painter.setPen(pen); - - QPointF start(-mainArea.width(), 0); - QPoint end(mainArea.width(), 0); - painter.drawLine(start, end); -} - -void PrimaryFlightDisplay::drawPitchScale( - QPainter& painter, - QRectF area, - float intrusion, - bool drawNumbersLeft, - bool drawNumbersRight - ) { - - Q_UNUSED(intrusion); - - float displayPitch = this->pitch; - if (isnan(displayPitch)) - displayPitch = 0; - - // The area should be quadratic but if not width is the major size. - qreal w = area.width(); - if (w PITCH_SCALE_WIDTHREDUCTION_FROM) { - // we want: 1 at PITCH_SCALE_WIDTHREDUCTION_FROM and PITCH_SCALE_WIDTHREDUCTION at 90. - // That is PITCH_SCALE_WIDTHREDUCTION + (1-PITCH_SCALE_WIDTHREDUCTION) * f(pitch) - // where f(90)=0 and f(PITCH_SCALE_WIDTHREDUCTION_FROM)=1 - // f(p) = (90-p) * 1/(90-PITCH_SCALE_WIDTHREDUCTION_FROM) - // or PITCH_SCALE_WIDTHREDUCTION + f(pitch) - f(pitch) * PITCH_SCALE_WIDTHREDUCTION - // or PITCH_SCALE_WIDTHREDUCTION (1-f(pitch)) + f(pitch) - int fromVertical = abs(pitch>=0 ? 90-pitch : -90-pitch); - float temp = fromVertical * 1/(90.0f-PITCH_SCALE_WIDTHREDUCTION_FROM); - linewidth *= (PITCH_SCALE_WIDTHREDUCTION * (1-temp) + temp); - } - - float shift = pitchAngleToTranslation(w, displayPitch-degrees); - - // TODO: Intrusion detection and evasion. That is, don't draw - // where the compass has intruded. - - painter.translate(0, shift); - QPointF start(-linewidth*w, 0); - QPointF end(linewidth*w, 0); - painter.drawLine(start, end); - - if (isMajor && (drawNumbersLeft||drawNumbersRight)) { - int displayDegrees = degrees; - if(displayDegrees>90) displayDegrees = 180-displayDegrees; - else if (displayDegrees<-90) displayDegrees = -180 - displayDegrees; - if (SHOW_ZERO_ON_SCALES || degrees) { - QString s_number; - if (isnan(this->pitch)) - s_number.sprintf("-"); - else - s_number.sprintf("%d", displayDegrees); - if (drawNumbersLeft) drawTextRightCenter(painter, s_number, mediumTextSize, -PITCH_SCALE_MAJORWIDTH * w-10, 0); - if (drawNumbersRight) drawTextLeftCenter(painter, s_number, mediumTextSize, PITCH_SCALE_MAJORWIDTH * w+10, 0); - } - } - - painter.setTransform(savedTransform); - } -} - -void PrimaryFlightDisplay::drawRollScale( - QPainter& painter, - QRectF area, - bool drawTicks, - bool drawNumbers) { - - qreal w = area.width(); - if (wlength) ?-tickValues[i-length-1] : tickValues[i]; - painter.rotate(degrees - previousRotation); - previousRotation = degrees; - - QPointF start(0, -_size/2); - QPointF end(0, -(1.0+ROLL_SCALE_TICKMARKLENGTH)*_size/2); - - painter.drawLine(start, end); - - QString s_number; - if (SHOW_ZERO_ON_SCALES || degrees) - s_number.sprintf("%d", abs(degrees)); - - if (drawNumbers) { - drawTextCenterBottom(painter, s_number, mediumTextSize, 0, -(ROLL_SCALE_RADIUS+ROLL_SCALE_TICKMARKLENGTH*1.7)*w); - } - } - } -} - -void PrimaryFlightDisplay::drawAIAttitudeScales( - QPainter& painter, - QRectF area, - float intrusion - ) { - float displayRoll = this->roll; - if (isnan(displayRoll)) - displayRoll = 0; - // To save computations, we do these transformations once for both scales: - painter.resetTransform(); - painter.translate(area.center()); - painter.rotate(-displayRoll); - QTransform saved = painter.transform(); - - drawRollScale(painter, area, true, true); - painter.setTransform(saved); - drawPitchScale(painter, area, intrusion, true, true); -} - -void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, float halfspan) { - float displayHeading = this->heading; - if (isnan(displayHeading)) - displayHeading = 0; - - float start = displayHeading - halfspan; - float end = displayHeading + halfspan; - - int firstTick = ceil(start / COMPASS_DISK_RESOLUTION) * COMPASS_DISK_RESOLUTION; - int lastTick = floor(end / COMPASS_DISK_RESOLUTION) * COMPASS_DISK_RESOLUTION; - - float radius = area.width()/2; - float innerRadius = radius * 0.96; - painter.resetTransform(); - painter.setBrush(instrumentBackground); - painter.setPen(instrumentEdgePen); - painter.drawEllipse(area); - painter.setBrush(Qt::NoBrush); - - QPen scalePen(Qt::black); - scalePen.setWidthF(fineLineWidth); - - for (int tickYaw = firstTick; tickYaw <= lastTick; tickYaw += COMPASS_DISK_RESOLUTION) { - int displayTick = tickYaw; - if (displayTick < 0) displayTick+=360; - else if (displayTick>=360) displayTick-=360; - - // yaw is in center. - float off = tickYaw - displayHeading; - // wrap that to [-180..180] - if (off<=-180) off+= 360; else if (off>180) off -= 360; - - painter.translate(area.center()); - painter.rotate(off); - bool drewArrow = false; - bool isMajor = displayTick % COMPASS_DISK_MAJORTICK == 0; - - // If heading unknown, still draw marks but no numbers. - if (!isnan(this->heading) && - (displayTick==30 || displayTick==60 || - displayTick==120 || displayTick==150 || - displayTick==210 || displayTick==240 || - displayTick==300 || displayTick==330) - ) { - // draw a number - QString s_number; - s_number.sprintf("%d", displayTick/10); - painter.setPen(scalePen); - drawTextCenter(painter, s_number, smallTextSize, 0, -innerRadius*0.75); - } else { - if (displayTick % COMPASS_DISK_ARROWTICK == 0) { - if (displayTick!=0) { - QPainterPath markerPath(QPointF(0, -innerRadius*(1-COMPASS_DISK_MARKERHEIGHT/2))); - markerPath.lineTo(innerRadius*COMPASS_DISK_MARKERWIDTH/4, -innerRadius); - markerPath.lineTo(-innerRadius*COMPASS_DISK_MARKERWIDTH/4, -innerRadius); - markerPath.closeSubpath(); - painter.setPen(scalePen); - painter.setBrush(Qt::SolidPattern); - painter.drawPath(markerPath); - painter.setBrush(Qt::NoBrush); - drewArrow = true; - } - // If heading unknown, still draw marks but no N S E W. - if (!isnan(this->heading) && displayTick%90 == 0) { - // Also draw a label - QString name = compassWindNames[displayTick / 45]; - painter.setPen(scalePen); - drawTextCenter(painter, name, mediumTextSize, 0, -innerRadius*0.75); - } - } - } - // draw the scale lines. If an arrow was drawn, stay off from it. - - QPointF p_start = drewArrow ? QPoint(0, -innerRadius*0.94) : QPoint(0, -innerRadius); - QPoint p_end = isMajor ? QPoint(0, -innerRadius*0.86) : QPoint(0, -innerRadius*0.90); - - painter.setPen(scalePen); - painter.drawLine(p_start, p_end); - painter.resetTransform(); - } - - painter.setPen(scalePen); - painter.translate(area.center()); - QPainterPath markerPath(QPointF(0, -radius-2)); - markerPath.lineTo(radius*COMPASS_DISK_MARKERWIDTH/2, -radius-radius*COMPASS_DISK_MARKERHEIGHT-2); - markerPath.lineTo(-radius*COMPASS_DISK_MARKERWIDTH/2, -radius-radius*COMPASS_DISK_MARKERHEIGHT-2); - markerPath.closeSubpath(); - painter.drawPath(markerPath); - - qreal digitalCompassYCenter = -radius*0.52; - qreal digitalCompassHeight = radius*0.28; - - QPointF digitalCompassBottom(0, digitalCompassYCenter+digitalCompassHeight); - QPointF digitalCompassAbsoluteBottom = painter.transform().map(digitalCompassBottom); - - qreal digitalCompassUpshift = digitalCompassAbsoluteBottom.y()>height() ? digitalCompassAbsoluteBottom.y()-height() : 0; - - QRectF digitalCompassRect(-radius/3, -radius*0.52-digitalCompassUpshift, radius*2/3, radius*0.28); - painter.setPen(instrumentEdgePen); - painter.drawRoundedRect(digitalCompassRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3); - - QString s_digitalCompass; - - if (isnan(this->heading)) - s_digitalCompass.sprintf("---"); - else { - /* final safeguard for really stupid systems */ - int digitalCompassValue = static_cast(qRound((double)heading)) % 360; - s_digitalCompass.sprintf("%03d", digitalCompassValue); - } - - QPen pen; - pen.setWidthF(lineWidth); - pen.setColor(Qt::white); - painter.setPen(pen); - - drawTextCenter(painter, s_digitalCompass, largeTextSize, 0, -radius*0.38-digitalCompassUpshift); - - // The CDI - if (shouldDisplayNavigationData() && !isnan(navigationTargetBearing) && !isinf(navigationCrosstrackError)) { - painter.resetTransform(); - painter.translate(area.center()); - // TODO : Sign might be wrong? - // TODO : The case where error exceeds max. Truncate to max. and make that visible somehow. - bool errorBeyondRadius = false; - if (abs(navigationCrosstrackError) > CROSSTRACK_MAX) { - errorBeyondRadius = true; - navigationCrosstrackError = navigationCrosstrackError>0 ? CROSSTRACK_MAX : -CROSSTRACK_MAX; - } - - float r = radius * CROSSTRACK_RADIUS; - float x = navigationCrosstrackError / CROSSTRACK_MAX * r; - float y = qSqrt(r*r - x*x); // the positive y, there is also a negative. - - float sillyHeading = 0; - float angle = sillyHeading - navigationTargetBearing; // TODO: sign. - painter.rotate(-angle); - - QPen pen; - pen.setWidthF(lineWidth); - pen.setColor(Qt::black); - if(errorBeyondRadius) { - pen.setStyle(Qt::DotLine); - } - painter.setPen(pen); - - painter.drawLine(QPointF(x, y), QPointF(x, -y)); - } -} - -void PrimaryFlightDisplay::drawAltimeter( - QPainter& painter, - QRectF area - ) { - - float primaryAltitude = altitudeWGS84; - float secondaryAltitude = std::numeric_limits::quiet_NaN(); - - painter.resetTransform(); - fillInstrumentBackground(painter, area); - - QPen pen; - pen.setWidthF(lineWidth); - - pen.setColor(Qt::white); - painter.setPen(pen); - - float h = area.height(); - float w = area.width(); - float secondaryAltitudeBoxHeight = mediumTextSize * 2; - // The height where we being with new tickmarks. - float effectiveHalfHeight = h*0.45; - - // not yet implemented: Display of secondary altitude. - if (!isnan(secondaryAltitude)) { - effectiveHalfHeight -= secondaryAltitudeBoxHeight; - } - - float markerHalfHeight = mediumTextSize*0.8; - float leftEdge = instrumentEdgePen.widthF()*2; - float rightEdge = w-leftEdge; - float tickmarkLeft = leftEdge; - float tickmarkRightMajor = tickmarkLeft+TAPE_GAUGES_TICKWIDTH_MAJOR*w; - float tickmarkRightMinor = tickmarkLeft+TAPE_GAUGES_TICKWIDTH_MINOR*w; - float numbersLeft = 0.42*w; - float markerTip = (tickmarkLeft*2+tickmarkRightMajor)/3; - float scaleCenterAltitude = isnan(primaryAltitude) ? 0 : primaryAltitude; - - // altitude scale - float start = scaleCenterAltitude - ALTIMETER_LINEAR_SPAN/2; - float end = scaleCenterAltitude + ALTIMETER_LINEAR_SPAN/2; - int firstTick = ceil(start / ALTIMETER_LINEAR_RESOLUTION) * ALTIMETER_LINEAR_RESOLUTION; - int lastTick = floor(end / ALTIMETER_LINEAR_RESOLUTION) * ALTIMETER_LINEAR_RESOLUTION; - for (int tickAlt = firstTick; tickAlt <= lastTick; tickAlt += ALTIMETER_LINEAR_RESOLUTION) { - float y = (tickAlt-scaleCenterAltitude)*effectiveHalfHeight/(ALTIMETER_LINEAR_SPAN/2); - bool isMajor = tickAlt % ALTIMETER_LINEAR_MAJOR_RESOLUTION == 0; - - painter.resetTransform(); - painter.translate(area.left(), area.center().y() - y); - pen.setColor(tickAlt<0 ? redColor : Qt::white); - painter.setPen(pen); - if (isMajor) { - painter.drawLine(tickmarkLeft, 0, tickmarkRightMajor, 0); - QString s_alt; - s_alt.sprintf("%d", abs(tickAlt)); - drawTextLeftCenter(painter, s_alt, mediumTextSize, numbersLeft, 0); - } else { - painter.drawLine(tickmarkLeft, 0, tickmarkRightMinor, 0); - } - } - - QPainterPath markerPath(QPoint(markerTip, 0)); - markerPath.lineTo(markerTip+markerHalfHeight, markerHalfHeight); - markerPath.lineTo(rightEdge, markerHalfHeight); - markerPath.lineTo(rightEdge, -markerHalfHeight); - markerPath.lineTo(markerTip+markerHalfHeight, -markerHalfHeight); - markerPath.closeSubpath(); - - painter.resetTransform(); - painter.translate(area.left(), area.center().y()); - - pen.setWidthF(lineWidth); - pen.setColor(Qt::white); - painter.setPen(pen); - - painter.setBrush(Qt::SolidPattern); - painter.drawPath(markerPath); - painter.setBrush(Qt::NoBrush); - - pen.setColor(Qt::white); - painter.setPen(pen); - - QString s_alt; - if (isnan(primaryAltitude)) - s_alt.sprintf("---"); - else - s_alt.sprintf("%3.0f", primaryAltitude); - - float xCenter = (markerTip+rightEdge)/2; - drawTextCenter(painter, s_alt, mediumTextSize, xCenter, 0); - - // draw simple in-tape VVI. - if (!isnan(climbRate)) { - float vvPixHeight = -climbRate/ALTIMETER_VVI_SPAN * effectiveHalfHeight; - if (abs (vvPixHeight) < markerHalfHeight) - return; // hidden behind marker. - - float vvSign = vvPixHeight>0 ? 1 : -1; // reverse y sign - - QPointF vvArrowBegin(rightEdge - w*ALTIMETER_VVI_WIDTH/2, markerHalfHeight*vvSign); - QPointF vvArrowEnd(rightEdge - w*ALTIMETER_VVI_WIDTH/2, vvPixHeight); - painter.drawLine(vvArrowBegin, vvArrowEnd); - - // Yeah this is a repetition of above code but we are going to trash it all anyway, so no fix. - float vvArowHeadSize = abs(vvPixHeight - markerHalfHeight*vvSign); - if (vvArowHeadSize > w*ALTIMETER_VVI_WIDTH/3) vvArowHeadSize = w*ALTIMETER_VVI_WIDTH/3; - - float xcenter = rightEdge-w*ALTIMETER_VVI_WIDTH/2; - - QPointF vvArrowHead(xcenter+vvArowHeadSize, vvPixHeight - vvSign *vvArowHeadSize); - painter.drawLine(vvArrowHead, vvArrowEnd); - - vvArrowHead = QPointF(xcenter-vvArowHeadSize, vvPixHeight - vvSign * vvArowHeadSize); - painter.drawLine(vvArrowHead, vvArrowEnd); - } - - // print secondary altitude - if (!isnan(secondaryAltitude)) { - QRectF saBox(area.x(), area.y()-secondaryAltitudeBoxHeight, w, secondaryAltitudeBoxHeight); - painter.resetTransform(); - painter.translate(saBox.center()); - QString s_salt; - s_salt.sprintf("%3.0f", secondaryAltitude); - drawTextCenter(painter, s_salt, mediumTextSize, 0, 0); - } -} - -void PrimaryFlightDisplay::drawVelocityMeter( - QPainter& painter, - QRectF area - ) { - - painter.resetTransform(); - fillInstrumentBackground(painter, area); - - QPen pen; - pen.setWidthF(lineWidth); - - float h = area.height(); - float w = area.width(); - float effectiveHalfHeight = h*0.45; - float markerHalfHeight = mediumTextSize; - float leftEdge = instrumentEdgePen.widthF()*2; - float tickmarkRight = w-leftEdge; - float tickmarkLeftMajor = tickmarkRight-w*TAPE_GAUGES_TICKWIDTH_MAJOR; - float tickmarkLeftMinor = tickmarkRight-w*TAPE_GAUGES_TICKWIDTH_MINOR; - float numbersRight = 0.42*w; - float markerTip = (tickmarkLeftMajor+tickmarkRight*2)/3; - - // Select between air and ground speed: - float speed = (isAirplane() && !isnan(airSpeed)) ? airSpeed : groundSpeed; - float centerScaleSpeed = isnan(speed) ? 0 : speed; - - float start = centerScaleSpeed - AIRSPEED_LINEAR_SPAN/2; - float end = centerScaleSpeed + AIRSPEED_LINEAR_SPAN/2; - - int firstTick = ceil(start / AIRSPEED_LINEAR_RESOLUTION) * AIRSPEED_LINEAR_RESOLUTION; - int lastTick = floor(end / AIRSPEED_LINEAR_RESOLUTION) * AIRSPEED_LINEAR_RESOLUTION; - for (int tickSpeed = firstTick; tickSpeed <= lastTick; tickSpeed += AIRSPEED_LINEAR_RESOLUTION) { - pen.setColor(tickSpeed<0 ? redColor : Qt::white); - painter.setPen(pen); - - float y = (tickSpeed-centerScaleSpeed)*effectiveHalfHeight/(AIRSPEED_LINEAR_SPAN/2); - bool hasText = tickSpeed % AIRSPEED_LINEAR_MAJOR_RESOLUTION == 0; - painter.resetTransform(); - - painter.translate(area.left(), area.center().y() - y); - - if (hasText) { - painter.drawLine(tickmarkLeftMajor, 0, tickmarkRight, 0); - QString s_speed; - s_speed.sprintf("%d", abs(tickSpeed)); - drawTextRightCenter(painter, s_speed, mediumTextSize, numbersRight, 0); - } else { - painter.drawLine(tickmarkLeftMinor, 0, tickmarkRight, 0); - } - } - - QPainterPath markerPath(QPoint(markerTip, 0)); - markerPath.lineTo(markerTip-markerHalfHeight, markerHalfHeight); - markerPath.lineTo(leftEdge, markerHalfHeight); - markerPath.lineTo(leftEdge, -markerHalfHeight); - markerPath.lineTo(markerTip-markerHalfHeight, -markerHalfHeight); - markerPath.closeSubpath(); - - painter.resetTransform(); - painter.translate(area.left(), area.center().y()); - - pen.setWidthF(lineWidth); - pen.setColor(Qt::white); - painter.setPen(pen); - - painter.setBrush(Qt::SolidPattern); - painter.drawPath(markerPath); - painter.setBrush(Qt::NoBrush); - - pen.setColor(Qt::white); - painter.setPen(pen); - QString s_alt; - if (isnan(speed)) - s_alt.sprintf("---"); - else - s_alt.sprintf("%3.1f", speed); - float xCenter = (markerTip+leftEdge)/2; - drawTextCenter(painter, s_alt, mediumTextSize, xCenter, 0); -} - -static const int TOP = (1<<0); -static const int BOTTOM = (1<<1); -static const int LEFT = (1<<2); -static const int RIGHT = (1<<3); - -static const int TOP_HALF = (1<<4); -static const int BOTTOM_HALF = (1<<5); -static const int LEFT_HALF = (1<<6); -static const int RIGHT_HALF = (1<<7); - -void applyMargin(QRectF& area, float margin, int where) { - if (margin < 0.01) return; - - QRectF save(area); - qreal consumed; - - if (where & LEFT) { - area.setX(save.x() + (consumed = margin)); - } else if (where & LEFT_HALF) { - area.setX(save.x() + (consumed = margin/2)); - } else { - consumed = 0; - } - - if (where & RIGHT) { - area.setWidth(save.width()-consumed-margin); - } else if (where & RIGHT_HALF) { - area.setWidth(save.width()-consumed-margin/2); - } else { - area.setWidth(save.width()-consumed); - } - - if (where & TOP) { - area.setY(save.y() + (consumed = margin)); - } else if (where & TOP_HALF) { - area.setY(save.y() + (consumed = margin/2)); - } else { - consumed = 0; - } - - if (where & BOTTOM) { - area.setHeight(save.height()-consumed-margin); - } else if (where & BOTTOM_HALF) { - area.setHeight(save.height()-consumed-margin/2); - } else { - area.setHeight(save.height()-consumed); - } -} - -void setMarginsForInlineLayout(qreal margin, QRectF& panel1, QRectF& panel2, QRectF& panel3, QRectF& panel4) { - applyMargin(panel1, margin, BOTTOM|LEFT|RIGHT_HALF); - applyMargin(panel2, margin, BOTTOM|LEFT_HALF|RIGHT_HALF); - applyMargin(panel3, margin, BOTTOM|LEFT_HALF|RIGHT_HALF); - applyMargin(panel4, margin, BOTTOM|LEFT_HALF|RIGHT); -} - -void setMarginsForCornerLayout(qreal margin, QRectF& panel1, QRectF& panel2, QRectF& panel3, QRectF& panel4) { - applyMargin(panel1, margin, BOTTOM|LEFT|RIGHT_HALF); - applyMargin(panel2, margin, BOTTOM|LEFT_HALF|RIGHT_HALF); - applyMargin(panel3, margin, BOTTOM|LEFT_HALF|RIGHT_HALF); - applyMargin(panel4, margin, BOTTOM|LEFT_HALF|RIGHT); -} - -inline qreal tapesGaugeWidthFor(qreal containerWidth, qreal preferredAIWidth) { - qreal result = (containerWidth - preferredAIWidth) / 2.0f; - qreal minimum = containerWidth / 5.5f; - if (result < minimum) result = minimum; - return result; -} - -void PrimaryFlightDisplay::doPaint() { - QPainter painter; - painter.begin(this); - painter.setRenderHint(QPainter::Antialiasing, true); - painter.setRenderHint(QPainter::HighQualityAntialiasing, true); - - qreal margin = height()/100.0f; - - // The AI centers on this area. - QRectF AIMainArea; - // The AI paints on this area. It should contain the AIMainArea. - QRectF AIPaintArea; - - QRectF compassArea; - QRectF altimeterArea; - QRectF velocityMeterArea; - QRectF sensorsStatsArea; - QRectF linkStatsArea; - QRectF sysStatsArea; - QRectF missionStatsArea; - - painter.fillRect(rect(), Qt::black); - qreal tapeGaugeWidth; - - qreal compassHalfSpan = 180; - float compassAIIntrusion = 0; - - switch(layout) { - case COMPASS_INTEGRATED: { - tapeGaugeWidth = tapesGaugeWidthFor(width(), width()); - qreal aiheight = height(); - qreal aiwidth = width()-tapeGaugeWidth*2; - if (aiheight > aiwidth) aiheight = aiwidth; - - AIMainArea = QRectF( - tapeGaugeWidth, - 0, - aiwidth, - aiheight); - - AIPaintArea = QRectF( - 0, - 0, - width(), - height()); - - // Tape gauges get so much width that the AI area not covered by them is perfectly square. - velocityMeterArea = QRectF (0, 0, tapeGaugeWidth, aiheight); - altimeterArea = QRectF(AIMainArea.right(), 0, tapeGaugeWidth, aiheight); - - if (style == NO_OVERLAYS) { - applyMargin(AIMainArea, margin, TOP|BOTTOM); - applyMargin(altimeterArea, margin, TOP|BOTTOM|RIGHT); - applyMargin(velocityMeterArea, margin, TOP|BOTTOM|LEFT); - setMarginsForInlineLayout(margin, sensorsStatsArea, linkStatsArea, sysStatsArea, missionStatsArea); - } - - qreal compassRelativeWidth = 0.75; - qreal compassBottomMargin = 0.78; - - qreal compassSize = compassRelativeWidth * AIMainArea.width(); // Diameter is this times the width. - - qreal compassCenterY; - compassCenterY = AIMainArea.bottom() + compassSize / 4; - - if (height() - compassCenterY > AIMainArea.width()/2*compassBottomMargin) - compassCenterY = height()-AIMainArea.width()/2*compassBottomMargin; - - // TODO: This is bad style... - compassCenterY = (compassCenterY * 2 + AIMainArea.bottom() + compassSize / 4) / 3; - - compassArea = QRectF(AIMainArea.x()+(1-compassRelativeWidth)/2*AIMainArea.width(), - compassCenterY-compassSize/2, - compassSize, - compassSize); - - if (height()-compassCenterY < compassSize/2) { - compassHalfSpan = acos((compassCenterY-height())*2/compassSize) * 180/M_PI + COMPASS_DISK_RESOLUTION; - if (compassHalfSpan > 180) compassHalfSpan = 180; - } - - compassAIIntrusion = compassSize/2 + AIMainArea.bottom() - compassCenterY; - if (compassAIIntrusion<0) compassAIIntrusion = 0; - - break; - } - case COMPASS_SEPARATED: { - // A layout for containers higher than their width. - tapeGaugeWidth = tapesGaugeWidthFor(width(), width()); - - qreal aiheight = width() - tapeGaugeWidth*2; - qreal panelsHeight = 0; - - AIMainArea = QRectF( - tapeGaugeWidth, - 0, - width()-tapeGaugeWidth*2, - aiheight); - - AIPaintArea = style == OVERLAY_HSI ? - QRectF( - 0, - 0, - width(), - height() - panelsHeight) : AIMainArea; - - velocityMeterArea = QRectF (0, 0, tapeGaugeWidth, aiheight); - altimeterArea = QRectF(AIMainArea.right(), 0, tapeGaugeWidth, aiheight); - - QPoint compassCenter = QPoint(width()/2, AIMainArea.bottom()+width()/2); - qreal compassDiam = width() * 0.8; - compassArea = QRectF(compassCenter.x()-compassDiam/2, compassCenter.y()-compassDiam/2, compassDiam, compassDiam); - break; - } - } - - bool hadClip = painter.hasClipping(); - - painter.setClipping(true); - painter.setClipRect(AIPaintArea); - - drawAIGlobalFeatures(painter, AIMainArea, AIPaintArea); - drawAIAttitudeScales(painter, AIMainArea, compassAIIntrusion); - drawAIAirframeFixedFeatures(painter, AIMainArea); - - drawAICompassDisk(painter, compassArea, compassHalfSpan); - - painter.setClipping(hadClip); - - drawAltimeter(painter, altimeterArea); - - drawVelocityMeter(painter, velocityMeterArea); - - painter.end(); -} diff --git a/src/ui/PrimaryFlightDisplay.h b/src/ui/PrimaryFlightDisplay.h deleted file mode 100644 index 1961bd1305dd545b5f7a7e92d6dd402ebf731aef..0000000000000000000000000000000000000000 --- a/src/ui/PrimaryFlightDisplay.h +++ /dev/null @@ -1,154 +0,0 @@ -#ifndef PRIMARYFLIGHTDISPLAY_H -#define PRIMARYFLIGHTDISPLAY_H - -#include -#include -#include "UASInterface.h" - -class PrimaryFlightDisplay : public QWidget -{ - Q_OBJECT -public: - PrimaryFlightDisplay(QWidget* parent = NULL); - ~PrimaryFlightDisplay(); - -public slots: - /** @brief Attitude from main autopilot / system state */ - void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp); - /** @brief Attitude from one specific component / redundant autopilot */ - void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp); - - void updateSpeed(UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp); - void updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp); - void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError); - - /** @brief Set the currently monitored UAS */ - void forgetUAS(UASInterface* uas); - void setActiveUAS(UASInterface* uas); - - void checkUpdate(); - -protected: - - bool _valuesChanged; - quint64 _valuesLastPainted; - - enum Layout { - COMPASS_INTEGRATED, - COMPASS_SEPARATED // For a very high container. Feature panels are at bottom. - }; - - enum Style { - NO_OVERLAYS, // Hzon not visible through tapes nor through feature panels. Frames with margins between. - OVERLAY_HORIZONTAL, // Hzon visible through tapes and (frameless) feature panels. - OVERLAY_HSI // Hzon visible through everything except bottom feature panels. - }; - - void paintEvent(QPaintEvent *event); - void resizeEvent(QResizeEvent *e); - - // from HUD.h: - - /** @brief Preferred Size */ - QSize sizeHint() const; - /** @brief Start updating widget */ - void showEvent(QShowEvent* event); - /** @brief Stop updating widget */ - void hideEvent(QHideEvent* event); - -signals: - void visibilityChanged(bool visible); - -private: - /* - * There are at least these differences between airplane and copter PDF view: - * - Airplane show absolute altutude in altimeter, copter shows relative to home - */ - bool isAirplane(); - bool shouldDisplayNavigationData(); - - void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y); - void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y); - void drawTextRightCenter(QPainter& painter, QString text, float fontSize, float x, float y); - void drawTextCenterBottom(QPainter& painter, QString text, float fontSize, float x, float y); - void drawTextCenterTop(QPainter& painter, QString text, float fontSize, float x, float y); - void drawAIGlobalFeatures(QPainter& painter, QRectF mainArea, QRectF paintArea); - void drawAIAirframeFixedFeatures(QPainter& painter, QRectF area); - void drawPitchScale(QPainter& painter, QRectF area, float intrusion, bool drawNumbersLeft, bool drawNumbersRight); - void drawRollScale(QPainter& painter, QRectF area, bool drawTicks, bool drawNumbers); - void drawAIAttitudeScales(QPainter& painter, QRectF area, float intrusion); - void drawAICompassDisk(QPainter& painter, QRectF area, float halfspan); - void drawSeparateCompassDisk(QPainter& painter, QRectF area); - - void drawAltimeter(QPainter& painter, QRectF area); - void drawVelocityMeter(QPainter& painter, QRectF area); - void fillInstrumentBackground(QPainter& painter, QRectF edge); - void fillInstrumentOpagueBackground(QPainter& painter, QRectF edge); - void drawInstrumentBackground(QPainter& painter, QRectF edge); - - /* This information is not currently included. These headers left in as a memo for restoration later. - void drawLinkStatsPanel(QPainter& painter, QRectF area); - void drawSysStatsPanel(QPainter& painter, QRectF area); - void drawMissionStatsPanel(QPainter& painter, QRectF area); - void drawSensorsStatsPanel(QPainter& painter, QRectF area); - */ - - void doPaint(); - - UASInterface* uas; ///< The uas currently monitored - - bool didReceiveSpeed; - - float roll; - float pitch; - float heading; - - float altitudeAMSL; - float altitudeWGS84; - float altitudeRelative; - - // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message. - // Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already. - // If the MP "set home altitude" button is migrated to here, it must set the UAS home altitude, not a GS-local one. - float aboveHomeAltitude; - - float groundSpeed; - float airSpeed; - float climbRate; - - float navigationAltitudeError; - float navigationSpeedError; - float navigationCrosstrackError; - float navigationTargetBearing; - - Layout layout; // The display layout. - Style style; // The AI style (tapes translucent or opague) - - // TODO: Use stylesheet colors? - QColor redColor; - QColor amberColor; - QColor greenColor; - - qreal lineWidth; - qreal fineLineWidth; - - qreal smallTextSize; - qreal mediumTextSize; - qreal largeTextSize; - - // Globally used stuff only. - QPen instrumentEdgePen; - QBrush instrumentBackground; - QBrush instrumentOpagueBackground; - - QFont font; - - QTimer* refreshTimer; ///< The main timer, controls the update rate - - static const int tickValues[]; - static const QString compassWindNames[]; - - static const int updateInterval = 50; -}; - -#endif // PRIMARYFLIGHTDISPLAY_H diff --git a/src/ui/QGCBaseParamWidget.cc b/src/ui/QGCBaseParamWidget.cc deleted file mode 100644 index c3a20dcb6814a23ecdc749b1be44308d21b27f99..0000000000000000000000000000000000000000 --- a/src/ui/QGCBaseParamWidget.cc +++ /dev/null @@ -1,138 +0,0 @@ -#include "QGCBaseParamWidget.h" - -#include -#include -#include - -#include "QGCUASParamManagerInterface.h" -#include "UASInterface.h" -#include "QGCApplication.h" -#include "QGCFileDialog.h" - -QGCBaseParamWidget::QGCBaseParamWidget(QWidget *parent) : - QWidget(parent), - paramMgr(NULL), - mav(NULL), - updatingParamNameLock("") -{ -} - -QGCBaseParamWidget* QGCBaseParamWidget::initWithUAS(UASInterface *uas) -{ - setUAS(uas); - return this; -} - -void QGCBaseParamWidget::setUAS(UASInterface* uas) -{ - if (uas != mav) { - if (mav) { - //TODO disconnect any connections as needed - disconnectViewSignalsAndSlots(); - disconnectFromParamManager(); - clearOnboardParamDisplay(); - clearPendingParamDisplay(); - } - - mav = uas; - - if (mav) { - connectToParamManager(); - connectViewSignalsAndSlots(); - layoutWidget(); - } - } - -} - - -void QGCBaseParamWidget::connectToParamManager() -{ - paramMgr = mav->getParamManager(); - //TODO route via paramManager instead? - // Listen to updated param signals from the data model - connect(paramMgr, SIGNAL(parameterUpdated(int, QString , QVariant )), - this, SLOT(handleOnboardParamUpdate(int,QString,QVariant))); - - connect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )), - this, SLOT(handlePendingParamUpdate(int , const QString& , QVariant, bool ))); - - // Listen for param list reload finished - connect(paramMgr, SIGNAL(parameterListUpToDate()), - this, SLOT(handleOnboardParameterListUpToDate())); - if (paramMgr->parametersReady()) { - handleOnboardParameterListUpToDate(); - } - - // Listen to communications status messages so we can display them - connect(paramMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)), - this, SLOT(handleParamStatusMsgUpdate(QString , int ))); -} - - -void QGCBaseParamWidget::disconnectFromParamManager() -{ - disconnect(paramMgr, SIGNAL(parameterUpdated(int, QString , QVariant )), - this, SLOT(handleOnboardParamUpdate(int,QString,QVariant))); - - disconnect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )), - this, SLOT(handlePendingParamUpdate(int , const QString& , QVariant, bool ))); - - disconnect(paramMgr, SIGNAL(parameterListUpToDate()), - this, SLOT(handleOnboardParameterListUpToDate())); - - // Listen to communications status messages so we can display them - disconnect(paramMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)), - this, SLOT(handleParamStatusMsgUpdate(QString , int ))); - - paramMgr = NULL; -} - - - -void QGCBaseParamWidget::requestOnboardParamsUpdate() -{ - paramMgr->requestParameterList(); -} - -void QGCBaseParamWidget::requestOnboardParamUpdate(QString parameterName) -{ - paramMgr->requestParameterUpdate(paramMgr->getDefaultComponentId(), parameterName); -} - - -void QGCBaseParamWidget::saveParametersToFile() -{ - if (!mav) - return; - QString fileName = QGCFileDialog::getSaveFileName( - this, tr("Save Parameters"), qgcApp()->savedParameterFilesLocation(), tr("Parameter Files (*.params)"), "params", true); - if (!fileName.isEmpty()) { - QFile file(fileName); - // TODO Display error message to the user if the file can't be created - if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) { - return; - } - QTextStream outstream(&file); - paramMgr->writeOnboardParamsToStream(outstream,mav->getUASName()); - file.close(); - } -} - - -void QGCBaseParamWidget::loadParametersFromFile() -{ - if (!mav) - return; - QString fileName = QGCFileDialog::getOpenFileName( - this, tr("Load Parameters"), qgcApp()->savedParameterFilesLocation(), - tr("Parameter Files (*.params);;All Files (*)")); - QFile file(fileName); - // TODO Display error message to the user if the file can't be opened - if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { - return; - } - QTextStream in(&file); - paramMgr->readPendingParamsFromStream(in); - file.close(); -} diff --git a/src/ui/QGCBaseParamWidget.h b/src/ui/QGCBaseParamWidget.h deleted file mode 100644 index 8ec34711dc9b93688dd081301ceff3fe39b0235e..0000000000000000000000000000000000000000 --- a/src/ui/QGCBaseParamWidget.h +++ /dev/null @@ -1,62 +0,0 @@ -#ifndef QGCBASEPARAMWIDGET_H -#define QGCBASEPARAMWIDGET_H - -#include -#include - - - - -//forward declarations -class QGCUASParamManagerInterface; -class UASInterface; - - -class QGCBaseParamWidget : public QWidget -{ - Q_OBJECT -public: - explicit QGCBaseParamWidget(QWidget *parent = 0); - virtual QGCBaseParamWidget* initWithUAS(UASInterface* uas);///< Two-stage construction: initialize this object - virtual void setUAS(UASInterface* uas);///< Allows swapping the underlying UAS - -protected: - virtual void setParameterStatusMsg(const QString& msg) = 0; - virtual void layoutWidget() = 0;///< Layout the appearance of this widget - virtual void connectViewSignalsAndSlots() = 0;///< Connect view signals/slots as needed - virtual void disconnectViewSignalsAndSlots() = 0;///< Disconnect view signals/slots as needed - virtual void connectToParamManager(); ///>Connect to any required param manager signals - virtual void disconnectFromParamManager(); ///< Disconnect from any connected param manager signals - -signals: - -public slots: - virtual void handleOnboardParamUpdate(int component,const QString& parameterName, QVariant value) = 0; - virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending) = 0; - virtual void handleOnboardParameterListUpToDate() = 0; - virtual void handleParamStatusMsgUpdate(QString msg, int level) = 0; - /** @brief Clear the rendering of onboard parameters */ - virtual void clearOnboardParamDisplay() = 0; - /** @brief Clear the rendering of pending parameters */ - virtual void clearPendingParamDisplay() = 0; - - /** @brief Request list of parameters from MAV */ - virtual void requestOnboardParamsUpdate(); - - /** @brief Request single parameter from MAV */ - virtual void requestOnboardParamUpdate(QString parameterName); - - - /** @brief Store parameters to a file */ - virtual void saveParametersToFile(); - /** @brief Load parameters from a file */ - virtual void loadParametersFromFile(); - -protected: - QGCUASParamManagerInterface* paramMgr; - UASInterface* mav; - QString updatingParamNameLock; ///< Name of param currently being updated-- used for reducing echo on param change - -}; - -#endif // QGCBASEPARAMWIDGET_H diff --git a/src/ui/QGCCommConfiguration.cc b/src/ui/QGCCommConfiguration.cc index b6339a83cf34a48c19bdb99b1584ef592b5c6fe4..39e118c227c264b2d917b1807a656e8b876a7f27 100644 --- a/src/ui/QGCCommConfiguration.cc +++ b/src/ui/QGCCommConfiguration.cc @@ -48,7 +48,7 @@ QGCCommConfiguration::QGCCommConfiguration(QWidget *parent, LinkConfiguration *c _ui->typeCombo->addItem(tr("Serial"), LinkConfiguration::TypeSerial); _ui->typeCombo->addItem(tr("UDP"), LinkConfiguration::TypeUdp); _ui->typeCombo->addItem(tr("TCP"), LinkConfiguration::TypeTcp); -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG _ui->typeCombo->addItem(tr("Mock"), LinkConfiguration::TypeMock); #endif @@ -134,7 +134,7 @@ void QGCCommConfiguration::_loadTypeConfigWidget(int type) _ui->typeCombo->setCurrentIndex(_ui->typeCombo->findData(LinkConfiguration::TypeTcp)); } break; -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG case LinkConfiguration::TypeMock: { _ui->linkScrollArea->setWidget(NULL); _ui->linkGroupBox->setTitle(tr("Mock Link")); diff --git a/src/ui/QGCCommConfiguration.h b/src/ui/QGCCommConfiguration.h index 380d9b8d35d46b2549e61cde305ba7103e2300e9..5e9cf1944b46a03b0c46b7db732641f103efd1f4 100644 --- a/src/ui/QGCCommConfiguration.h +++ b/src/ui/QGCCommConfiguration.h @@ -54,7 +54,7 @@ public: QGC_LINK_TCP, QGC_LINK_SIMULATION, QGC_LINK_FORWARDING, -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG QGC_LINK_MOCK, #endif #ifdef QGC_XBEE_ENABLED diff --git a/src/ui/QGCConfigView.cc b/src/ui/QGCConfigView.cc deleted file mode 100644 index 1c1a35429202c9b4aef26cd8b298718d866b0a9a..0000000000000000000000000000000000000000 --- a/src/ui/QGCConfigView.cc +++ /dev/null @@ -1,76 +0,0 @@ -#include "QGCConfigView.h" -#include "ui_QGCConfigView.h" -#include "UASManager.h" -#include "QGCPX4VehicleConfig.h" -#include "MainWindow.h" - -QGCConfigView::QGCConfigView(QWidget *parent) : - QWidget(parent), - ui(new Ui::QGCConfigView), - config(NULL), - mav(NULL) -{ - ui->setupUi(this); - - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASChanged(UASInterface*))); - - ui->gridLayout->removeWidget(ui->waitingLabel); - ui->waitingLabel->setVisible(false); - delete ui->waitingLabel; - ui->waitingLabel = NULL; - - config = new QGCPX4VehicleConfig(); - ui->gridLayout->addWidget(config); -} - -QGCConfigView::~QGCConfigView() -{ - delete ui; -} - -void QGCConfigView::activeUASChanged(UASInterface* uas) -{ - if (mav == uas) - return; - - int type = -1; - if (mav) - type = mav->getAutopilotType(); - - mav = uas; - if (uas && type != uas->getAutopilotType()) { - - if (ui->waitingLabel) { - ui->gridLayout->removeWidget(ui->waitingLabel); - ui->waitingLabel->setVisible(false); - } - - //remove all child widgets since they could contain stale data - //for example, when we switch from one PX4 UAS to another UAS - foreach (QObject* obj, ui->gridLayout->children()) { - QWidget* w = dynamic_cast(obj); - if (w) { - if (obj != ui->waitingLabel) { - ui->gridLayout->removeWidget(w); - delete obj; - } - } - } - - QGCPX4VehicleConfig* px4config = qobject_cast(config); - if (!px4config) { - if (config) - delete config; - config = new QGCPX4VehicleConfig(); - ui->gridLayout->addWidget(config); - } - } - else { - if (ui->waitingLabel) { - //restore waiting label if we no longer have a connection - ui->gridLayout->addWidget(ui->waitingLabel); - ui->waitingLabel->setVisible(true); - } - } - -} diff --git a/src/ui/QGCConfigView.h b/src/ui/QGCConfigView.h deleted file mode 100644 index a1bd34075e0e126a5c5989fef8c95afd5d10d7ee..0000000000000000000000000000000000000000 --- a/src/ui/QGCConfigView.h +++ /dev/null @@ -1,29 +0,0 @@ -#ifndef QGCCONFIGVIEW_H -#define QGCCONFIGVIEW_H - -#include -#include - -namespace Ui { -class QGCConfigView; -} - -class QGCConfigView : public QWidget -{ - Q_OBJECT - -public: - explicit QGCConfigView(QWidget *parent = 0); - ~QGCConfigView(); - -public slots: - void activeUASChanged(UASInterface* uas); - -private: - Ui::QGCConfigView *ui; - QWidget *config; - UASInterface* mav; - -}; - -#endif // QGCCONFIGVIEW_H diff --git a/src/ui/QGCConfigView.ui b/src/ui/QGCConfigView.ui deleted file mode 100644 index 38ce1ce7774ec6d80a70474fdb36eace4d5cdb90..0000000000000000000000000000000000000000 --- a/src/ui/QGCConfigView.ui +++ /dev/null @@ -1,31 +0,0 @@ - - - QGCConfigView - - - - 0 - 0 - 400 - 300 - - - - Form - - - - 0 - - - - - Waiting for connection... - - - - - - - - diff --git a/src/ui/QGCLinkConfiguration.cc b/src/ui/QGCLinkConfiguration.cc index 27c359319a3bff58c65b43228e72d42418a2c5e2..47459da18b415ccf988adae00d14935af8aa70d2 100644 --- a/src/ui/QGCLinkConfiguration.cc +++ b/src/ui/QGCLinkConfiguration.cc @@ -104,10 +104,8 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked() LinkManager::instance()->disconnectLink(link); } } else { - LinkInterface* link = LinkManager::instance()->createLink(config); + LinkInterface* link = LinkManager::instance()->createConnectedLink(config); if(link) { - // Connect it - LinkManager::instance()->connectLink(link); // Now go hunting for the parent so we can shut this down QWidget* pQw = parentWidget(); while(pQw) { @@ -137,10 +135,17 @@ void QGCLinkConfiguration::_fixUnnamed(LinkConfiguration* config) //-- Check for "Unnamed" if (config->name() == tr("Unnamed")) { switch(config->type()) { - case LinkConfiguration::TypeSerial: - config->setName( - QString("Serial Device on %1").arg(dynamic_cast(config)->portName())); + case LinkConfiguration::TypeSerial: { + QString tname = dynamic_cast(config)->portName(); +#ifdef Q_OS_WIN32 + tname.replace("\\\\.\\", ""); +#else + tname.replace("/dev/cu.", ""); + tname.replace("/dev/", ""); +#endif + config->setName(QString("Serial Device on %1").arg(tname)); break; + } case LinkConfiguration::TypeUdp: config->setName( QString("UDP Link on Port %1").arg(dynamic_cast(config)->localPort())); @@ -153,7 +158,7 @@ void QGCLinkConfiguration::_fixUnnamed(LinkConfiguration* config) } } break; -#ifdef UNITTEST_BUILD +#ifdef QT_DEBUG case LinkConfiguration::TypeMock: config->setName( QString("Mock Link")); diff --git a/src/ui/QGCMAVLinkLogPlayer.cc b/src/ui/QGCMAVLinkLogPlayer.cc index f4d12d8b8aef30d2d909c72109024fcd586a6586..45bc0479d4b28474ea22225d55fe314e22b7de92 100644 --- a/src/ui/QGCMAVLinkLogPlayer.cc +++ b/src/ui/QGCMAVLinkLogPlayer.cc @@ -113,7 +113,7 @@ void QGCMAVLinkLogPlayer::play() } isPlaying = true; ui->playButton->setChecked(true); - ui->playButton->setIcon(QIcon(":files/images/actions/media-playback-pause.svg")); + ui->playButton->setIcon(QIcon(":/res/Pause")); } void QGCMAVLinkLogPlayer::pause() @@ -123,7 +123,7 @@ void QGCMAVLinkLogPlayer::pause() loopTimer.stop(); isPlaying = false; - ui->playButton->setIcon(QIcon(":files/images/actions/media-playback-start.svg")); + ui->playButton->setIcon(QIcon(":/res/Play")); ui->playButton->setChecked(false); ui->selectFileButton->setEnabled(true); } @@ -246,18 +246,7 @@ void QGCMAVLinkLogPlayer::updatePositionSliderUi(float percent) void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void) { // Disallow replay when any links are connected - - bool foundConnection = false; - LinkManager* linkMgr = LinkManager::instance(); - QList links = linkMgr->getLinks(); - foreach(LinkInterface* link, links) { - if (link->isConnected()) { - foundConnection = true; - break; - } - } - - if (foundConnection) { + if (LinkManager::instance()->anyConnectedLinks()) { QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log.")); return; } @@ -326,9 +315,10 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file) // If there's an existing MAVLinkSimulationLink() being used for an old file, // we replace it. if (logLink) { - LinkManager::instance()->deleteLink(logLink); + LinkManager::instance()->_deleteLink(logLink); } - logLink = new MAVLinkSimulationLink(""); + logLink = new MockLink(); + LinkManager::instance()->_addLink(logLink); // Select if binary or MAVLink log format is used mavlinkLogFormat = file.endsWith(".mavlink"); @@ -587,7 +577,7 @@ quint64 QGCMAVLinkLogPlayer::findNextMavlinkMessage(mavlink_message_t *msg) char nextByte; mavlink_status_t comm; while (logFile.getChar(&nextByte)) { // Loop over every byte - bool messageFound = mavlink_parse_char(logLink->getId(), nextByte, msg, &comm); + bool messageFound = mavlink_parse_char(logLink->getMavlinkChannel(), nextByte, msg, &comm); // If we've found a message, jump back to the start of the message, grab the timestamp, // and go back to the end of this file. diff --git a/src/ui/QGCMAVLinkLogPlayer.h b/src/ui/QGCMAVLinkLogPlayer.h index eb4ab1ed63ae8b9830cf8b6577bf93adc29a29c6..8e49b14d8b12e637d7c662f8f4d0324e9d592efc 100644 --- a/src/ui/QGCMAVLinkLogPlayer.h +++ b/src/ui/QGCMAVLinkLogPlayer.h @@ -6,7 +6,7 @@ #include "MAVLinkProtocol.h" #include "LinkInterface.h" -#include "MAVLinkSimulationLink.h" +#include "MockLink.h" namespace Ui { @@ -67,7 +67,7 @@ protected: quint64 logEndTime; ///< The last timestamp in the current log file. In units of microseconds since epoch UTC. float accelerationFactor; MAVLinkProtocol* mavlink; - MAVLinkSimulationLink* logLink; + MockLink* logLink; QFile logFile; QTimer loopTimer; int loopCounter; diff --git a/src/ui/QGCMAVLinkLogPlayer.ui b/src/ui/QGCMAVLinkLogPlayer.ui index a173fd8936f3c4b6ffcad71f7c141c0824b07ffe..df91cde638c953cae1b954cf6ba1fb9a46eb61a9 100644 --- a/src/ui/QGCMAVLinkLogPlayer.ui +++ b/src/ui/QGCMAVLinkLogPlayer.ui @@ -49,7 +49,7 @@ - :/files/images/actions/media-playback-start.svg:/files/images/actions/media-playback-start.svg + :/res/Play:/res.Play true diff --git a/src/ui/QGCMapRCToParamDialog.cpp b/src/ui/QGCMapRCToParamDialog.cpp index 8ac5bacb90368c3acc99cadee0179a5bff01ba86..e061058e5cf04bd0547937043ed796a9ddb1275d 100644 --- a/src/ui/QGCMapRCToParamDialog.cpp +++ b/src/ui/QGCMapRCToParamDialog.cpp @@ -26,6 +26,7 @@ #include "QGCMapRCToParamDialog.h" #include "ui_QGCMapRCToParamDialog.h" +#include "AutoPilotPluginManager.h" #include #include @@ -41,6 +42,8 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, ui(new Ui::QGCMapRCToParamDialog) { ui->setupUi(this); + + // only enable ok button when param was refreshed QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok); @@ -92,44 +95,27 @@ void QGCMapRCToParamDialog::paramLoaded(bool success, float value, QString messa } } +ParamLoader::ParamLoader(QString paramName, UASInterface* uas, QObject* parent) : + QObject(parent), + _uas(uas), + _paramName(paramName), + _paramReceived(false) +{ + _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas); + Q_ASSERT(_autopilot); +} + void ParamLoader::load() { - // refresh the parameter from onboard to make sure the current value is used - paramMgr->requestParameterUpdate(paramMgr->getDefaultComponentId(), param_id); - - // wait until parameter update is received - QEventLoop loop; - QTimer timer; - connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit); - timer.start(10 * 1e3); - // overloaded signal: - connect(mav, static_cast(&UASInterface::parameterChanged), - this, &ParamLoader::handleParameterChanged); - connect(this, &ParamLoader::correctParameterChanged, - &loop, &QEventLoop::quit); - loop.exec(); - - if (!param_received == true) { - // timeout - emit paramLoaded(false, 0.0f, "Timeout"); - return; - } - - QVariant current_param_value; - bool got_param = paramMgr->getParameterValue(paramMgr->getDefaultComponentId(), - param_id, current_param_value); - - QString message = got_param ? "" : "param manager Error"; - emit paramLoaded(got_param, current_param_value.toFloat(), message); + connect(_autopilot->getParameterFact(_paramName), &Fact::valueChanged, this, &ParamLoader::_parameterUpdated); + + // refresh the parameter from onboard to make sure the current value is used + _autopilot->refreshParameter(FactSystem::defaultComponentId, _paramName); } -void ParamLoader::handleParameterChanged(int uas, int component, QString parameterName, QVariant value) +void ParamLoader::_parameterUpdated(QVariant value) { - Q_UNUSED(component); Q_UNUSED(value); - if (uas == mav->getUASID() && parameterName == param_id) { - param_received = true; - emit correctParameterChanged(); - } + + emit paramLoaded(true, _autopilot->getParameterFact(_paramName)->value().toFloat(), ""); } diff --git a/src/ui/QGCMapRCToParamDialog.h b/src/ui/QGCMapRCToParamDialog.h index 82f0d90307e43aa44fce0ec635c55ebd6527d302..0bd3d8615ff671a3ad706e5e661b12ee4fadb3cb 100644 --- a/src/ui/QGCMapRCToParamDialog.h +++ b/src/ui/QGCMapRCToParamDialog.h @@ -30,7 +30,9 @@ #include #include + #include "UASInterface.h" +#include "AutoPilotPlugin.h" namespace Ui { class QGCMapRCToParamDialog; @@ -42,27 +44,23 @@ class ParamLoader : public QObject Q_OBJECT public: - ParamLoader(QString param_id, UASInterface *mav, QObject * parent = 0): - QObject(parent), - mav(mav), - paramMgr(mav->getParamManager()), - param_id(param_id), - param_received(false) -{} + ParamLoader(QString paramName, UASInterface* uas, QObject* parent = NULL); public slots: void load(); - void handleParameterChanged(int uas, int component, QString parameterName, QVariant value); signals: void paramLoaded(bool success, float value, QString message = ""); void correctParameterChanged(); + +private slots: + void _parameterUpdated(QVariant value); -protected: - UASInterface *mav; - QGCUASParamManagerInterface* paramMgr; - QString param_id; - bool param_received; +private: + UASInterface* _uas; + AutoPilotPlugin* _autopilot; + QString _paramName; + bool _paramReceived; }; class QGCMapRCToParamDialog : public QDialog diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc deleted file mode 100644 index c90d9c28a3cd4f4bfa93f863b33fc39fcfcd9e5b..0000000000000000000000000000000000000000 --- a/src/ui/QGCPX4VehicleConfig.cc +++ /dev/null @@ -1,331 +0,0 @@ -// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h -// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done -// in qgroundcontrol.pri). -#ifdef WIN32 -#include -#else -#include -#endif - -#include -#include -#include -#include - -#include "QGCPX4VehicleConfig.h" - -#include "QGC.h" -#include "QGCToolWidget.h" -#include "UASManager.h" -#include "LinkManager.h" -#include "UASParameterCommsMgr.h" -#include "ui_QGCPX4VehicleConfig.h" -#include "px4_configuration/QGCPX4AirframeConfig.h" -#include "px4_configuration/QGCPX4SensorCalibration.h" -#include "px4_configuration/PX4RCCalibration.h" - -#include "PX4FirmwareUpgrade.h" - -#define WIDGET_INDEX_FIRMWARE 0 -#define WIDGET_INDEX_RC 1 -#define WIDGET_INDEX_SENSOR_CAL 2 -#define WIDGET_INDEX_AIRFRAME_CONFIG 3 -#define WIDGET_INDEX_GENERAL_CONFIG 4 -#define WIDGET_INDEX_ADV_CONFIG 5 - -#define MIN_PWM_VAL 800 -#define MAX_PWM_VAL 2200 - -QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) : - QWidget(parent), - mav(NULL), - px4AirframeConfig(NULL), - planeBack(":/files/images/px4/rc/cessna_back.png"), - planeSide(":/files/images/px4/rc/cessna_side.png"), - px4SensorCalibration(NULL), - ui(new Ui::QGCPX4VehicleConfig) -{ - doneLoadingConfig = false; - - setObjectName("QGC_VEHICLECONFIG"); - ui->setupUi(this); - - ui->advancedMenuButton->setEnabled(false); - ui->airframeMenuButton->setEnabled(false); - ui->sensorMenuButton->setEnabled(false); - ui->rcMenuButton->setEnabled(false); - - px4AirframeConfig = new QGCPX4AirframeConfig(this); - ui->airframeLayout->addWidget(px4AirframeConfig); - - px4SensorCalibration = new QGCPX4SensorCalibration(this); - ui->sensorLayout->addWidget(px4SensorCalibration); - - px4RCCalibration = new PX4RCCalibration(this); - ui->rcLayout->addWidget(px4RCCalibration); - - PX4FirmwareUpgrade* firmwareUpgrade = new PX4FirmwareUpgrade(this); - ui->firmwareLayout->addWidget(firmwareUpgrade); - - connect(ui->rcMenuButton,SIGNAL(clicked()), - this,SLOT(rcMenuButtonClicked())); - connect(ui->sensorMenuButton,SIGNAL(clicked()), - this,SLOT(sensorMenuButtonClicked())); - connect(ui->flightModeMenuButton, SIGNAL(clicked()), - this, SLOT(flightModeMenuButtonClicked())); - connect(ui->safetyConfigButton, SIGNAL(clicked()), - this, SLOT(safetyConfigMenuButtonClicked())); - connect(ui->tuningMenuButton,SIGNAL(clicked()), - this,SLOT(tuningMenuButtonClicked())); - connect(ui->advancedMenuButton,SIGNAL(clicked()), - this,SLOT(advancedMenuButtonClicked())); - connect(ui->airframeMenuButton, SIGNAL(clicked()), - this, SLOT(airframeMenuButtonClicked())); - connect(ui->firmwareMenuButton, SIGNAL(clicked()), - this, SLOT(firmwareMenuButtonClicked())); - - //TODO connect buttons here to save/clear actions? - UASInterface* tmpMav = UASManager::instance()->getActiveUAS(); - if (tmpMav) { - ui->pendingCommitsWidget->initWithUAS(tmpMav); - ui->pendingCommitsWidget->update(); - setActiveUAS(tmpMav); - } - - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), - this, SLOT(setActiveUAS(UASInterface*))); - - firmwareMenuButtonClicked(); -} - -QGCPX4VehicleConfig::~QGCPX4VehicleConfig() -{ - delete ui; -} - -void QGCPX4VehicleConfig::rcMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->rcTab); - ui->tabTitleLabel->setText(tr("Radio Calibration")); -} - -void QGCPX4VehicleConfig::sensorMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->sensorTab); - ui->tabTitleLabel->setText(tr("Sensor Calibration")); -} - -void QGCPX4VehicleConfig::tuningMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->tuningTab); - ui->tabTitleLabel->setText(tr("Controller Tuning")); -} - -void QGCPX4VehicleConfig::flightModeMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->flightModeTab); - ui->tabTitleLabel->setText(tr("Flight Mode Configuration")); -} - -void QGCPX4VehicleConfig::safetyConfigMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->safetyConfigTab); - ui->tabTitleLabel->setText(tr("Safety Feature Configuration")); -} - -void QGCPX4VehicleConfig::advancedMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->advancedTab); - ui->tabTitleLabel->setText(tr("Advanced Configuration Options")); -} - -void QGCPX4VehicleConfig::airframeMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->airframeTab); - ui->tabTitleLabel->setText(tr("Airframe Configuration")); -} - -void QGCPX4VehicleConfig::firmwareMenuButtonClicked() -{ - ui->stackedWidget->setCurrentWidget(ui->firmwareTab); - ui->tabTitleLabel->setText(tr("Firmware Upgrade")); -} - -void QGCPX4VehicleConfig::menuButtonClicked() -{ - QPushButton *button = qobject_cast(sender()); - if (!button) - { - return; - } - if (buttonToWidgetMap.contains(button)) - { - ui->stackedWidget->setCurrentWidget(buttonToWidgetMap[button]); - } - -} - -void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active) -{ - // Hide items if NULL and abort - if (!active) { - return; - } - - - // Do nothing if UAS is already visible - if (mav == active) - return; - - if (mav) - { - - //TODO use paramCommsMgr instead - disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, - SLOT(parameterChanged(int,int,QString,QVariant))); - - foreach(QWidget* child, ui->airframeLayout->findChildren()) - { - child->deleteLater(); - } - - // And then delete any custom tabs - foreach(QWidget* child, additionalTabs) { - child->deleteLater(); - } - additionalTabs.clear(); - - toolWidgets.clear(); - paramToWidgetMap.clear(); - libParamToWidgetMap.clear(); - systemTypeToParamMap.clear(); - toolToBoxMap.clear(); - paramTooltips.clear(); - } - - // Connect new system - mav = active; - - paramMgr = mav->getParamManager(); - - ui->pendingCommitsWidget->setUAS(mav); - ui->paramTreeWidget->setUAS(mav); - - //TODO eliminate the separate RC_TYPE call - mav->requestParameter(0, "RC_TYPE"); - - // Connect new system - connect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, - SLOT(parameterChanged(int,int,QString,QVariant))); - - - if (systemTypeToParamMap.contains(mav->getSystemTypeName())) { - paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()]; - } - else { - //Indication that we have no meta data for this system type. - qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName(); - paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()]; - } - - if (!paramTooltips.isEmpty()) { - mav->getParamManager()->setParamDescriptions(paramTooltips); - } - - qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName(); - - updateStatus(QString("Reading from system %1").arg(mav->getUASName())); - - // Since a system is now connected, enable the VehicleConfig UI. - // Enable buttons - - bool px4Firmware = mav->getAutopilotType() == MAV_AUTOPILOT_PX4; - ui->airframeMenuButton->setEnabled(px4Firmware); - ui->sensorMenuButton->setEnabled(px4Firmware); - ui->rcMenuButton->setEnabled(px4Firmware); - ui->advancedMenuButton->setEnabled(true); -} - -void QGCPX4VehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) -{ - if (!doneLoadingConfig) { - //We do not want to attempt to generate any UI elements until loading of the config file is complete. - //We should re-request params later if needed, that is not implemented yet. - return; - } - - if (paramToWidgetMap.contains(parameterName)) { - //Main group of parameters of the selected airframe - paramToWidgetMap.value(parameterName)->setParameterValue(uas,component,parameterName,value); - if (toolToBoxMap.contains(paramToWidgetMap.value(parameterName))) { - toolToBoxMap[paramToWidgetMap.value(parameterName)]->show(); - } - else { - qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName; - } - } - else if (libParamToWidgetMap.contains(parameterName)) { - //All the library parameters - libParamToWidgetMap.value(parameterName)->setParameterValue(uas,component,parameterName,value); - if (toolToBoxMap.contains(libParamToWidgetMap.value(parameterName))) { - toolToBoxMap[libParamToWidgetMap.value(parameterName)]->show(); - } - else { - qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName; - } - } - else { - //Param recieved that we have no metadata for. Search to see if it belongs in a - //group with some other params - //bool found = false; - for (int i=0;iobjectName())) { - //It should be grouped with this one, add it. - toolWidgets[i]->addParam(uas,component,parameterName,value); - libParamToWidgetMap.insert(parameterName,toolWidgets[i]); - //found = true; - break; - } - } -// if (!found) { -// //New param type, create a QGroupBox for it. -// QWidget* parent = ui->advanceColumnContents; - -// // Create the tool, attaching it to the QGroupBox -// QGCToolWidget *tool = new QGCToolWidget("", parent); -// QString tooltitle = parameterName; -// if (parameterName.split("_").size() > 1) { -// tooltitle = parameterName.split("_")[0] + "_"; -// } -// tool->setTitle(tooltitle); -// tool->setObjectName(tooltitle); -// //tool->setSettings(set); -// libParamToWidgetMap.insert(parameterName,tool); -// toolWidgets.append(tool); -// tool->addParam(uas, component, parameterName, value); -// QGroupBox *box = new QGroupBox(parent); -// box->setTitle(tool->objectName()); -// box->setLayout(new QVBoxLayout(box)); -// box->layout()->addWidget(tool); - -// libParamToWidgetMap.insert(parameterName,tool); -// toolWidgets.append(tool); -// ui->advancedColumnLayout->addWidget(box); - -// toolToBoxMap[tool] = box; -// } - } - -} - -void QGCPX4VehicleConfig::updateStatus(const QString& str) -{ - ui->advancedStatusLabel->setText(str); - ui->advancedStatusLabel->setStyleSheet(""); -} - -void QGCPX4VehicleConfig::updateError(const QString& str) -{ - ui->advancedStatusLabel->setText(str); - ui->advancedStatusLabel->setStyleSheet(QString("QLabel { margin: 0px 2px; font: 14px; color: %1; background-color: %2; }").arg(QGC::colorDarkWhite.name()).arg(QGC::colorMagenta.name())); -} diff --git a/src/ui/QGCPX4VehicleConfig.h b/src/ui/QGCPX4VehicleConfig.h deleted file mode 100644 index 1009cab0742ece3998e8d992dd009b5b5b67efa8..0000000000000000000000000000000000000000 --- a/src/ui/QGCPX4VehicleConfig.h +++ /dev/null @@ -1,90 +0,0 @@ -#ifndef QGCPX4VehicleConfig_H -#define QGCPX4VehicleConfig_H - -#include -#include -#include -#include -#include -#include -#include - -#include "QGCToolWidget.h" -#include "UASInterface.h" -#include "px4_configuration/QGCPX4AirframeConfig.h" - -class UASParameterCommsMgr; -class QGCPX4SensorCalibration; -class PX4RCCalibration; - -namespace Ui { -class QGCPX4VehicleConfig; -} - -class QGCPX4VehicleConfig : public QWidget -{ - Q_OBJECT - -public: - explicit QGCPX4VehicleConfig(QWidget *parent = 0); - ~QGCPX4VehicleConfig(); - - enum RC_MODE { - RC_MODE_1 = 1, - RC_MODE_2 = 2, - RC_MODE_3 = 3, - RC_MODE_4 = 4, - RC_MODE_NONE = 5 - }; - -public slots: - void rcMenuButtonClicked(); - void sensorMenuButtonClicked(); - void tuningMenuButtonClicked(); - void flightModeMenuButtonClicked(); - void safetyConfigMenuButtonClicked(); - void advancedMenuButtonClicked(); - void airframeMenuButtonClicked(); - void firmwareMenuButtonClicked(); - - /** Set the MAV currently being calibrated */ - void setActiveUAS(UASInterface* active); - -protected slots: - void menuButtonClicked(); - /** Parameter changed onboard */ - void parameterChanged(int uas, int component, QString parameterName, QVariant value); - void updateStatus(const QString& str); - void updateError(const QString& str); - -protected: - - bool doneLoadingConfig; - UASInterface* mav; ///< The current MAV - QGCUASParamManagerInterface* paramMgr; ///< params mgr for the mav - QList toolWidgets; ///< Configurable widgets - QMap toolWidgetsByName; ///< - - QMap paramToWidgetMap; ///< Holds the current active MAV's parameter widgets. - QList additionalTabs; ///< Stores additional tabs loaded for this vehicle/autopilot configuration. Used for cleaning up. - QMap libParamToWidgetMap; ///< Holds the library parameter widgets - QMap > systemTypeToParamMap; ///< Holds all loaded MAV specific parameter widgets, for every MAV. - QMap toolToBoxMap; ///< Easy method of figuring out which QGroupBox is tied to which ToolWidget. - QMap paramTooltips; ///< Tooltips for the ? button next to a parameter. - - QGCPX4AirframeConfig* px4AirframeConfig; - QPixmap planeBack; - QPixmap planeSide; - QGCPX4SensorCalibration* px4SensorCalibration; - PX4RCCalibration* px4RCCalibration; - QGraphicsScene scene; - QPushButton* skipActionButton; - -private: - Ui::QGCPX4VehicleConfig *ui; - QMap buttonToWidgetMap; -signals: - void visibilityChanged(bool visible); -}; - -#endif // QGCPX4VehicleConfig_H diff --git a/src/ui/QGCPX4VehicleConfig.ui b/src/ui/QGCPX4VehicleConfig.ui deleted file mode 100644 index e49b37c0d4a76a80f97c7d33c15b67f78533d3d1..0000000000000000000000000000000000000000 --- a/src/ui/QGCPX4VehicleConfig.ui +++ /dev/null @@ -1,563 +0,0 @@ - - - QGCPX4VehicleConfig - - - - 0 - 0 - 1293 - 1132 - - - - - 0 - 0 - - - - Form - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - - 16 - 75 - true - - - - - - - - - - - - - 1 - - - - - - - - 16 - 75 - true - - - - - - - - 16 - 75 - true - - - - - - - - - - - 16 - 75 - true - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'.Helvetica Neue DeskInterface'; font-size:16pt; font-weight:600; font-style:normal;"> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI';"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;"><br /></p> -<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;">Coming Soon</span></p> -<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'.Lucida Grande UI'; font-size:24pt; font-weight:400;">(Use Advanced Config instead)</span></p></body></html> - - - - - - - - - - - - - - 3 - 1 - - - - Onboard Configuration - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - true - - - - - 0 - 0 - 16 - 16 - - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - - - true - - - - - - - - - - - - - - - - Qt::Horizontal - - - - 10 - 20 - - - - - - - - - 2 - 0 - - - - - 329 - 0 - - - - Changes Pending - - - - - - -1 - - - - - - 0 - 0 - - - - true - - - - - - - - - - - - Qt::Horizontal - - - - 10 - 20 - - - - - - - - - - Status - - - - - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'.Helvetica Neue DeskInterface'; font-size:13pt; font-weight:400; font-style:normal;"> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI';"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'.Lucida Grande UI'; font-size:24pt;">Coming Soon</span></p> -<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'.Lucida Grande UI'; font-size:24pt;">(Use Radio Calibration instead)</span></p></body></html> - - - - - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'.Helvetica Neue DeskInterface'; font-size:13pt; font-weight:400; font-style:normal;"> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI';"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'.Lucida Grande UI'; font-size:24pt;"><br /></p> -<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'.Lucida Grande UI'; font-size:24pt;">Coming Soon</span></p> -<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'.Lucida Grande UI'; font-size:24pt;">(Use Advanced Config instead)</span></p></body></html> - - - - - - - - - - - - - - 0 - - - 0 - - - 0 - - - 0 - - - - - QLayout::SetMinAndMaxSize - - - 12 - - - 12 - - - 24 - - - 12 - - - - - Firmware -Upgrade - - - - :/files/images/px4/menu/firmware_upgrade.png:/files/images/px4/menu/firmware_upgrade.png - - - - 60 - 60 - - - - - - - - Airframe -Config - - - - :/files/images/px4/menu/plane.png:/files/images/px4/menu/plane.png - - - - 60 - 60 - - - - - - - - - 100 - 75 - - - - Sensor -Calibration - - - - :/files/images/px4/menu/sensors.png:/files/images/px4/menu/sensors.png - - - - 60 - 60 - - - - - - - - - 100 - 75 - - - - - 16777215 - 16777215 - - - - Radio -Calibration - - - - :/files/images/px4/menu/remote.png:/files/images/px4/menu/remote.png - - - - 60 - 60 - - - - - - - - - 100 - 75 - - - - Flight Mode -Config - - - - :/files/images/px4/menu/toggle_switch.png:/files/images/px4/menu/toggle_switch.png - - - - 60 - 60 - - - - - - - - - 100 - 75 - - - - Safety -Config - - - - :/files/images/px4/menu/cogwheels.png:/files/images/px4/menu/cogwheels.png - - - - 60 - 60 - - - - - - - - - 100 - 75 - - - - Controller -Tuning - - - - :/files/images/px4/menu/cogwheels.png:/files/images/px4/menu/cogwheels.png - - - - 60 - 60 - - - - - - - - - 100 - 75 - - - - Advanced -Config - - - - :/files/images/px4/menu/cogwheels.png:/files/images/px4/menu/cogwheels.png - - - - 60 - 60 - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - - - - - - QGCPendingParamWidget - QWidget -
ui/QGCPendingParamWidget.h
- 1 - - - QGCParamWidget - QWidget -
ui/QGCParamWidget.h
- 1 - - - - - - - diff --git a/src/ui/QGCParamTreeWidget.cpp b/src/ui/QGCParamTreeWidget.cpp deleted file mode 100644 index 7934d2977c570d88a00c12aebf6f6ccd4aa2f9f1..0000000000000000000000000000000000000000 --- a/src/ui/QGCParamTreeWidget.cpp +++ /dev/null @@ -1,96 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @author Thomas Gubler - -#include "QGCParamTreeWidget.h" -#include -#include -#include - -QGCParamTreeWidget::QGCParamTreeWidget(QWidget *parent) : - QTreeWidget(parent) -{ - setContextMenuPolicy(Qt::CustomContextMenu); - - QObject::connect(this, &QGCParamTreeWidget::customContextMenuRequested, - this, &QGCParamTreeWidget::showContextMenu); - qDebug() << "create QGCParamTreeWidget"; - -} - -QGCParamTreeWidget::~QGCParamTreeWidget() -{ - -} - -void QGCParamTreeWidget::showContextMenu(const QPoint &pos) -{ - QMenu menu; - QTreeWidgetItem* item = itemAt(pos); - - // Only show context menu for parameter items and not for group items - // (show for TEST_P but not for TEST) - // If a context menu is needed later for the groups then move this 'if' - // to below where the actions are created and filter out certain actions - // for the outer nodes - if (indexOfTopLevelItem(item) > -1 || - indexOfTopLevelItem(item->parent()) > -1) { - return; - } - - QString param_id = item->data(0, Qt::DisplayRole).toString(); - - // Refresh single parameter - QAction* act = new QAction(tr("Refresh this param"), this); - act->setProperty("action", "refresh"); - act->setProperty("param_id", param_id); - connect(act, &QAction::triggered, this, - &QGCParamTreeWidget::contextMenuAction); - menu.addAction(act); - - // RC to parameter mapping - act = new QAction(tr("Map Parameter to RC"), this); - act->setProperty("action", "maprc"); - act->setProperty("param_id", param_id); - connect(act, &QAction::triggered, this, - &QGCParamTreeWidget::contextMenuAction); - menu.addAction(act); - menu.exec(mapToGlobal(pos)); -} - -void QGCParamTreeWidget::contextMenuAction() { - QString action = qobject_cast( - sender())->property("action").toString(); - QString param_id = qobject_cast( - sender())->property("param_id").toString(); - - if (action == "refresh") { - emit refreshParamRequest(param_id); - } else if (action == "maprc") { - emit mapRCToParamRequest(param_id); - } else { - qDebug() << "Undefined context menu action"; - } -} diff --git a/src/ui/QGCParamTreeWidget.h b/src/ui/QGCParamTreeWidget.h deleted file mode 100644 index 9c63456db98672555a5f874f2a54be5f2b40bcc9..0000000000000000000000000000000000000000 --- a/src/ui/QGCParamTreeWidget.h +++ /dev/null @@ -1,51 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @brief A treeview with context menus for parameters -/// @author Thomas Gubler - -#ifndef QGCPARAMTREEWIDGET_H -#define QGCPARAMTREEWIDGET_H - -#include - -/// Implements individual context menus for the QTreeWidgetItems -class QGCParamTreeWidget : public QTreeWidget -{ - Q_OBJECT -public: - QGCParamTreeWidget(QWidget *parent = 0); - ~QGCParamTreeWidget(); - -signals: - void mapRCToParamRequest(QString param_id); - void refreshParamRequest(QString param_id); - -public slots: - void showContextMenu(const QPoint &pos); - void contextMenuAction(); - -}; - -#endif // QGCPARAMTREEWIDGET_H diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc deleted file mode 100644 index 7084ba0e6c846f0f7c43279f2e797115b23b8a13..0000000000000000000000000000000000000000 --- a/src/ui/QGCParamWidget.cc +++ /dev/null @@ -1,567 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ -/** - * @file - * @brief Implementation of class QGCParamWidget - * @author Lorenz Meier - */ -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "MainWindow.h" -#include "QGC.h" -#include "QGCParamWidget.h" -#include "UASInterface.h" -#include "UASParameterCommsMgr.h" -#include "QGCMapRCToParamDialog.h" - -/** - * @param uas MAV to set the parameters on - * @param parent Parent widget - */ -QGCParamWidget::QGCParamWidget(QWidget *parent) : - QGCBaseParamWidget(parent), - componentItems(new QMap()), - statusLabel(new QLabel(this)), - tree(new QGCParamTreeWidget(this)), - _fullParamListLoaded(false) -{ - - -} - - - -void QGCParamWidget::disconnectViewSignalsAndSlots() -{ - disconnect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), - this, SLOT(parameterItemChanged(QTreeWidgetItem*,int))); - disconnect(tree, &QGCParamTreeWidget::mapRCToParamRequest, this, - &QGCParamWidget::configureRCToParam); -} - - -void QGCParamWidget::connectViewSignalsAndSlots() -{ - // Listen for edits to the tree UI - connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), - this, SLOT(parameterItemChanged(QTreeWidgetItem*,int))); - connect(tree, &QGCParamTreeWidget::mapRCToParamRequest, this, - &QGCParamWidget::configureRCToParam); - connect(tree, &QGCParamTreeWidget::refreshParamRequest, this, - &QGCParamWidget::requestOnboardParamUpdate); -} - - -void QGCParamWidget::addActionButtonsToLayout(QGridLayout* layout) -{ - QPushButton* refreshButton = new QPushButton(tr("Get")); - refreshButton->setToolTip(tr("Fetch parameters currently in volatile memory of aircraft.")); - refreshButton->setWhatsThis(tr("Fetch parameters currently in volatile memory of aircraft.")); - connect(refreshButton, SIGNAL(clicked()), - this, SLOT(requestOnboardParamsUpdate())); - layout->addWidget(refreshButton, 2, 0); - - QPushButton* setButton = new QPushButton(tr("Set")); - setButton->setToolTip(tr("Send pending parameters to volatile onboard memory")); - setButton->setWhatsThis(tr("Send pending parameters to volatile onboard memory")); - connect(setButton, SIGNAL(clicked()), - paramMgr, SLOT(sendPendingParameters())); - layout->addWidget(setButton, 2, 1); - - QPushButton* writeButton = new QPushButton(tr("Write (ROM)")); - writeButton->setToolTip(tr("Copy parameters in volatile memory of the aircraft to persistent memory. Transmit your parameters first to write these.")); - writeButton->setWhatsThis(tr("Copy parameters in volatile memory of the aircraft to persistent memory. Transmit your parameters first to write these.")); - connect(writeButton, SIGNAL(clicked()), - paramMgr, SLOT(copyVolatileParamsToPersistent())); - layout->addWidget(writeButton, 2, 2); - - QPushButton* loadFileButton = new QPushButton(tr("Load File")); - loadFileButton->setToolTip(tr("Load parameters from a file into qgroundcontrol. To write these to the aircraft, use transmit after loading them.")); - loadFileButton->setWhatsThis(tr("Load parameters from a file into qgroundcontrol. To write these to the aircraft, use transmit after loading them.")); - connect(loadFileButton, SIGNAL(clicked()), - this, SLOT(loadParametersFromFile())); - layout->addWidget(loadFileButton, 3, 0); - - QPushButton* saveFileButton = new QPushButton(tr("Save File")); - saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer.")); - saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer.")); - connect(saveFileButton, SIGNAL(clicked()), - this, SLOT(saveParametersToFile())); - layout->addWidget(saveFileButton, 3, 1); - - QPushButton* readButton = new QPushButton(tr("Read (ROM)")); - readButton->setToolTip(tr("Copy parameters from persistent onboard memory to volatile onboard memory of aircraft. DOES NOT update the parameters in this view: click refresh after copying them to get them.")); - readButton->setWhatsThis(tr("Copy parameters from persistent onboard memory to volatile onboard memory of aircraft. DOES NOT update the parameters in this view: click refresh after copying them to get them.")); - connect(readButton, SIGNAL(clicked()), - paramMgr, SLOT(copyPersistentParamsToVolatile())); - layout->addWidget(readButton, 3, 2); - - QPushButton* unsetRCToParamMapButton = new QPushButton(tr("Clear Rc to Param")); - unsetRCToParamMapButton->setToolTip(tr("Remove any bindings between RC channels and parameters.")); - unsetRCToParamMapButton->setWhatsThis(tr("Remove any bindings between RC channels and parameters.")); - connect(unsetRCToParamMapButton, &QPushButton::clicked, - mav, &UASInterface::unsetRCToParameterMap); - layout->addWidget(unsetRCToParamMapButton, 4, 1); - -} - -void QGCParamWidget::layoutWidget() -{ - - statusLabel->setAutoFillBackground(true); - - QGridLayout* layout = new QGridLayout(this); - layout->setHorizontalSpacing(6); - layout->setVerticalSpacing(6); - layout->setMargin(0); - layout->setSizeConstraint(QLayout::SetMinimumSize); - - // Parameter tree - layout->addWidget(tree, 0, 0, 1, 3); - - // Status line - statusLabel->setText(tr("Click refresh to download parameters")); - layout->addWidget(statusLabel, 1, 0, 1, 3); - - // BUTTONS - addActionButtonsToLayout(layout); - - // Set correct vertical scaling - layout->setRowStretch(0, 100); - layout->setRowStretch(1, 10); - layout->setRowStretch(2, 10); - layout->setRowStretch(3, 10); - - // Set layout - this->setLayout(layout); - - // Set header - QStringList headerItems; - headerItems.append("Parameter"); - headerItems.append("Value"); - tree->setHeaderLabels(headerItems); - tree->setColumnCount(2); - tree->setColumnWidth(0,200); - tree->setColumnWidth(1,120); - tree->setExpandsOnDoubleClick(true); - - tree->setVisible(true); -} - - -void QGCParamWidget::addComponentItem(int compId, QString compName) -{ - - QString compLine = QString("%1 (#%2)").arg(compName).arg(compId); - - //QString ptrStr = QString().sprintf("%8p", this); - //qDebug() << "QGCParamWidget" << ptrStr << "addComponentItem:" << compLine; - - if (componentItems->contains(compId)) { - // Update existing component item - componentItems->value(compId)->setData(0, Qt::DisplayRole, compLine); - //components->value(component)->setData(1, Qt::DisplayRole, QString::number(component)); - componentItems->value(compId)->setFirstColumnSpanned(true); - } else { - // Add new component item - QStringList list(compLine); - QTreeWidgetItem* compItem = new QTreeWidgetItem(list); - compItem->setFirstColumnSpanned(true); - componentItems->insert(compId, compItem); - // Create parameter grouping for this component and update maps - paramGroups.insert(compId, new QMap()); - tree->addTopLevelItem(compItem); - tree->update(); - } - -} - -void QGCParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending) -{ - //qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock; - - if (updatingParamNameLock == paramName) { - //qDebug() << "ignoring bounce from " << paramName; - return; - } - else { - updatingParamNameLock = paramName; - } - - QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value); - if (paramItem) { - if (isPending) { - paramItem->setBackground(0, QBrush(QColor(QGC::colorOrange))); - paramItem->setBackground(1, QBrush(QColor(QGC::colorOrange))); - //ensure that the adjusted item is visible - tree->expandItem(paramItem->parent()); - } - else { - paramItem->setBackground(0, Qt::NoBrush); - paramItem->setBackground(1, Qt::NoBrush); - } - } - - updatingParamNameLock.clear(); - -} - -void QGCParamWidget::handleOnboardParamUpdate(int compId, const QString& paramName, QVariant value) -{ - //qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock; - if (paramName == updatingParamNameLock) { - //qDebug() << "handlePendingParamUpdate ignoring bounce from " << paramName; - return; - } - updatingParamNameLock = paramName; - updateParameterDisplay(compId, paramName, value); - updatingParamNameLock.clear(); -} - - -void QGCParamWidget::handleOnboardParameterListUpToDate() -{ - // Don't load full param list more than once - if (_fullParamListLoaded) { - return; - } - - _fullParamListLoaded = true; - - //turn off updates while we refresh the entire list - tree->setUpdatesEnabled(false); - - //rewrite the component item tree after receiving the full list - QMap*>::iterator i; - QMap*>* onboardParams = paramMgr->dataModel()->getAllOnboardParams(); - - for (i = onboardParams->begin(); i != onboardParams->end(); ++i) { - int compId = i.key(); - QMap* paramPairs = onboardParams->value(compId); - QMap::iterator j; - for (j = paramPairs->begin(); j != paramPairs->end(); j++) { - updatingParamNameLock = j.key(); - updateParameterDisplay(compId, j.key(),j.value()); - updatingParamNameLock.clear(); - } - } - - // Expand visual tree - tree->expandItem(tree->topLevelItem(0)); - tree->setUpdatesEnabled(true); - tree->update(); - -} - -QTreeWidgetItem* QGCParamWidget::findChildWidgetItemForParam(QTreeWidgetItem* parentItem, const QString& paramName) -{ - QTreeWidgetItem* childItem = NULL; - - for (int i = 0; i < parentItem->childCount(); i++) { - QTreeWidgetItem* child = parentItem->child(i); - QString key = child->data(0, Qt::DisplayRole).toString(); - if (key == paramName) { - childItem = child; - break; - } - } - - return childItem; -} - -QTreeWidgetItem* QGCParamWidget::getParentWidgetItemForParam(int compId, const QString& paramName) -{ - QTreeWidgetItem* parentItem = componentItems->value(compId); - - QString splitToken = "_"; - // Check if auto-grouping can work - if (paramName.contains(splitToken)) { - QString parentStr = paramName.section(splitToken, 0, 0, QString::SectionSkipEmpty); - QMap* compParamGroups = paramGroups.value(compId); - if (!compParamGroups->contains(parentStr)) { - // Insert group item - QStringList glist; - glist.append(parentStr); - QTreeWidgetItem* groupItem = new QTreeWidgetItem(glist); - - compParamGroups->insert(parentStr, groupItem); - - // insert new group alphabetized - QList groupKeys = compParamGroups->uniqueKeys(); - int insertIdx = groupKeys.indexOf(parentStr); - componentItems->value(compId)->insertChild(insertIdx,groupItem); - } - - //parent item for this parameter item will be a group widget item - parentItem = compParamGroups->value(parentStr); - } - else { - //parent item for this parameter will be the top level (component) widget item - parentItem = componentItems->value(compId); - } - - return parentItem; -} - -void QGCParamWidget::insertParamAlphabetical(int indexLowerBound, int indexUpperBound, QTreeWidgetItem* parentItem, QTreeWidgetItem* paramItem) -{ - if (indexLowerBound >= indexUpperBound) - { - if (paramItem->text(0).compare(parentItem->child(indexLowerBound)->text(0)) < 0) { - parentItem->insertChild(indexLowerBound, paramItem); - } - else - { - if (indexLowerBound < parentItem->childCount() - 1) { - parentItem->insertChild(indexLowerBound + 1, paramItem); - } - else - { - parentItem->addChild(paramItem); - } - } - } - else - { - int midpoint = indexLowerBound + ((indexUpperBound - indexLowerBound) / 2); - - if (paramItem->text(0).compare(parentItem->child(midpoint)->text(0)) < 0) - { - insertParamAlphabetical(indexLowerBound, midpoint - 1, parentItem, paramItem); - } else - { - insertParamAlphabetical(midpoint + 1, indexUpperBound, parentItem, paramItem); - } - - } -} - -QTreeWidgetItem* QGCParamWidget::updateParameterDisplay(int compId, QString parameterName, QVariant value) -{ - //qDebug() << "QGCParamWidget::updateParameterDisplay" << parameterName; - - // Filter the parameters according to the filter list - if (_filterList.count() != 0) { - bool filterFound = false; - foreach(QString paramFilter, _filterList) { - if (paramFilter.endsWith("*") && parameterName.startsWith(paramFilter.left(paramFilter.size() - 1))) { - filterFound = true; - break; - } - if (paramFilter == parameterName) { - filterFound = true; - break; - } - } - if (!filterFound) { - return NULL; - } - } - - // Reference to item in tree - QTreeWidgetItem* paramItem = NULL; - - // Add component item if necessary - if (!componentItems->contains(compId)) { - QString componentName = tr("Component #%1").arg(compId); - addComponentItem(compId, componentName); - } - - //default parent item for this parameter widget item will be the top level component item - QTreeWidgetItem* parentItem = getParentWidgetItemForParam(compId,parameterName); - if (parentItem) { - paramItem = findChildWidgetItemForParam(parentItem,parameterName); - if (!paramItem) { - // Insert parameter into map - QStringList plist; - plist.append(parameterName); - // CREATE PARAMETER ITEM - paramItem = new QTreeWidgetItem(plist); - // CONFIGURE PARAMETER ITEM - if (value.type() == QVariant::Char) { - paramItem->setData(1, Qt::DisplayRole, value.toUInt()); - } - else { - paramItem->setData(1, Qt::DisplayRole, value); - } - paramItem->setFlags(paramItem->flags() | Qt::ItemIsEditable); - - //Insert alphabetically - if (parentItem->childCount() > 0) { - insertParamAlphabetical(0, parentItem->childCount() - 1, parentItem, paramItem); - } else - { - parentItem->addChild(paramItem); - } - - //only add the tooltip when the parameter item is first added - QString paramDesc = paramMgr->dataModel()->getParamDescription(parameterName); - if (!paramDesc.isEmpty()) { - QString tooltipFormat; - if (paramMgr->dataModel()->isParamDefaultKnown(parameterName)) { - tooltipFormat = tr("Default: %1, %2"); - double paramDefValue = paramMgr->dataModel()->getParamDefault(parameterName); - tooltipFormat = tooltipFormat.arg(paramDefValue).arg(paramDesc); - } - else { - tooltipFormat = paramDesc; - } - paramItem->setToolTip(0, tooltipFormat); - paramItem->setToolTip(1, tooltipFormat); - } - } - - //update the parameterItem's data - if (value.type() == QVariant::Char) { - paramItem->setData(1, Qt::DisplayRole, value.toUInt()); - } - else { - paramItem->setData(1, Qt::DisplayRole, value); - } - - } - - if (paramItem) { - // Reset background color - paramItem->setBackground(0, Qt::NoBrush); - paramItem->setBackground(1, Qt::NoBrush); - - paramItem->setTextColor(0, QGC::colorDarkWhite); - paramItem->setTextColor(1, QGC::colorDarkWhite); - - if (paramItem == tree->currentItem()) { - //need to unset current item to clear highlighting (green by default) - tree->setCurrentItem(NULL); //clear the selected line - } - - } - - return paramItem; -} - - - -void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* paramItem, int column) -{ - if (paramItem && column > 0) { - - QString key = paramItem->data(0, Qt::DisplayRole).toString(); - //qDebug() << "parameterItemChanged:" << key << "with updatingParamNameLock:" << updatingParamNameLock; - - if (key == updatingParamNameLock) { - //qDebug() << "parameterItemChanged ignoring bounce from " << key; - return; - } - else { - updatingParamNameLock = key; - } - - QTreeWidgetItem* parent = paramItem->parent(); - while (parent->parent() != NULL) { - parent = parent->parent(); - } - // Parent is now top-level component - int componentId = componentItems->key(parent); - QVariant value = paramItem->data(1, Qt::DisplayRole); - - - bool pending = paramMgr->dataModel()->updatePendingParamWithValue(componentId,key,value); - - // If the value will result in an update - if (pending) { - // Set parameter on changed list to be transmitted to MAV - statusLabel->setText(tr("Pending: %1:%2: %3").arg(componentId).arg(key).arg(value.toFloat(), 5, 'f', 1, QChar(' '))); - - paramItem->setBackground(0, QBrush(QColor(QGC::colorOrange))); - paramItem->setBackground(1, QBrush(QColor(QGC::colorOrange))); - } - else { - QMap* pendingParams = paramMgr->dataModel()->getPendingParamsForComponent(componentId); - int pendingCount = pendingParams->count(); - statusLabel->setText(tr("Pending items: %1").arg(pendingCount)); - paramItem->setBackground(0, Qt::NoBrush); - paramItem->setBackground(1, Qt::NoBrush); - } - - - if (paramItem == tree->currentItem()) { - //need to unset current item to clear highlighting (green by default) - tree->setCurrentItem(NULL); //clear the selected line - } - - updatingParamNameLock.clear(); - } -} - -void QGCParamWidget::setParameterStatusMsg(const QString& msg) -{ - statusLabel->setText(msg); -} - - -void QGCParamWidget::clearOnboardParamDisplay() -{ - tree->clear(); - componentItems->clear(); -} - -void QGCParamWidget::clearPendingParamDisplay() -{ - tree->clear(); - componentItems->clear(); -} - - -void QGCParamWidget::handleParamStatusMsgUpdate(QString msg, int level) -{ - QColor bgColor = QGC::colorGreen; - if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Warning == level) { - bgColor = QGC::colorOrange; - } - else if ((int)UASParameterCommsMgr::ParamCommsStatusLevel_Error == level) { - bgColor = QGC::colorRed; - } - - QPalette pal = statusLabel->palette(); - pal.setColor(backgroundRole(), bgColor); - statusLabel->setPalette(pal); - statusLabel->setText(msg); -} - -void QGCParamWidget::configureRCToParam(QString param_id) { - QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(param_id, - mav, this); - d->exec(); -} diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h deleted file mode 100644 index 61314bc8907bfde38ff2b61e5a5cf0d113af41b3..0000000000000000000000000000000000000000 --- a/src/ui/QGCParamWidget.h +++ /dev/null @@ -1,112 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Declaration of class QGCParamWidget - * @author Lorenz Meier - */ - -#ifndef QGCPARAMWIDGET_H -#define QGCPARAMWIDGET_H - -#include -#include -#include -#include -#include -#include "QGCParamTreeWidget.h" - -#include "QGCBaseParamWidget.h" - - -//forward declarations -class QGridLayout; -class UASInterface; - -/** - * @brief Widget to read/set onboard parameters - */ -class QGCParamWidget : public QGCBaseParamWidget -{ - Q_OBJECT -public: - QGCParamWidget(QWidget *parent = 0); - - /// @brief Sets the list of parameters which should be shown by this editor. Parameter names can be - /// wildcarded at the end such as this: "RC*". Which will filter to all parameters which begin - /// with "RC". The wildcard (*) can only be at the end of the string. - void setFilterList(const QStringList& filterList) { _filterList = filterList; } - -protected: - virtual void setParameterStatusMsg(const QString& msg); - virtual void layoutWidget();///< Layout the appearance of this widget - virtual void connectViewSignalsAndSlots();///< Connect view signals/slots as needed - virtual void disconnectViewSignalsAndSlots();///< Connect view signals/slots as needed - - virtual QTreeWidgetItem* getParentWidgetItemForParam(int compId, const QString& paramName); - virtual QTreeWidgetItem* findChildWidgetItemForParam(QTreeWidgetItem* parentItem, const QString& paramName); - - /** @brief Add a component item as a child of this widget - * @param compId Component id of the component - * @param compName Human friendly name of the component - */ - void addComponentItem(int compId, QString compName); - - virtual void addActionButtonsToLayout(QGridLayout* layout); - -public slots: - virtual void handleOnboardParamUpdate(int component,const QString& parameterName, QVariant value); - virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending); - virtual void handleOnboardParameterListUpToDate(); - virtual void handleParamStatusMsgUpdate(QString msg, int level); - - virtual void clearOnboardParamDisplay(); - virtual void clearPendingParamDisplay(); - - /** @brief Adds parameter at the correct location by a alphapetical comparison of the parameter names */ - void insertParamAlphabetical(int indexLowerBound, int indexUpperBound, QTreeWidgetItem* parentItem, QTreeWidgetItem* paramItem); - - /** @brief Ensure that view of parameter matches data in the model */ - QTreeWidgetItem* updateParameterDisplay(int component, QString parameterName, QVariant value); - - /** @brief Update when user changes parameters */ - void parameterItemChanged(QTreeWidgetItem* prev, int column); - - /** Promt configuration for param map config from user */ - void configureRCToParam(QString param_id); - - - -protected: - QMap* componentItems; ///< The tree of component items, stored by component ID - QMap* > paramGroups; ///< Parameter groups to organize component items - QLabel* statusLabel; ///< User-facing parameter status label - QGCParamTreeWidget* tree; ///< The parameter tree - QStringList _filterList; - -private: - bool _fullParamListLoaded; -}; - -#endif // QGCPARAMWIDGET_H diff --git a/src/ui/QGCPendingParamWidget.cc b/src/ui/QGCPendingParamWidget.cc deleted file mode 100644 index aaafc42192cc32157000a9a12b6112a711c14eaa..0000000000000000000000000000000000000000 --- a/src/ui/QGCPendingParamWidget.cc +++ /dev/null @@ -1,130 +0,0 @@ -#include "QGCPendingParamWidget.h" - -#include -#include - -#include "UASManager.h" -#include "UASParameterCommsMgr.h" - - -QGCPendingParamWidget::QGCPendingParamWidget(QObject *parent) : - QGCParamWidget((QWidget*)parent) -{ - //this subclass doesn't display status updates - statusLabel->hide(); -} - - -void QGCPendingParamWidget::connectToParamManager() -{ - paramMgr = mav->getParamManager(); - - // Listen to updated param signals from the data model - connect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )), - this, SLOT(handlePendingParamUpdate(int , const QString& , QVariant, bool ))); -} - - -void QGCPendingParamWidget::disconnectFromParamManager() -{ - // Listen to updated param signals from the data model - disconnect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )), - this, SLOT(handlePendingParamUpdate(int , const QString& , QVariant, bool ))); - - paramMgr = NULL; -} - - -void QGCPendingParamWidget::disconnectViewSignalsAndSlots() -{ - //we ignore edits from the tree view -} - - -void QGCPendingParamWidget::connectViewSignalsAndSlots() -{ - //we ignore edits from the tree view -} - -void QGCPendingParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending) -{ - // qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock; - - if (updatingParamNameLock == paramName) { - //qDebug() << "ignoring bounce from " << paramName; - return; - } - else { - updatingParamNameLock = paramName; - } - - QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value); - - if (isPending) { - QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value); - paramItem->setFlags(paramItem->flags() & ~Qt::ItemIsEditable); //disallow editing - paramItem->setBackground(0, QBrush(QColor(QGC::colorOrange))); - paramItem->setBackground(1, QBrush(QColor(QGC::colorOrange))); - tree->expandAll(); - } - else { - //we don't display non-pending items - QTreeWidgetItem* groupItem = paramItem->parent(); - if (NULL != groupItem) { - tree->setUpdatesEnabled(false); - QTreeWidgetItem* componentItem = NULL; - if (1 == groupItem->childCount()) { - componentItem = groupItem->parent(); - } - - //always remove the actual paramItem from its parent - groupItem->removeChild(paramItem); - - //now we may need to remove the groupItem if it has no more children - if (NULL != componentItem) { - //remove the group from our internal data structures - QMap* compParamGroups = paramGroups.value(compId); - QString groupStr = paramName.section("_", 0, 0, QString::SectionSkipEmpty); - compParamGroups->remove(groupStr); - //remove the group item from componentItems - componentItems->value(compId)->removeChild(groupItem); - // remove the group item from the tree widget itself - componentItem->removeChild(groupItem); - - if (0 == componentItem->childCount()) { - //the component itself no longer has any pending changes: remove it - paramGroups.remove(compId); - componentItems->remove(compId); - QTreeWidgetItem* compTop = tree->takeTopLevelItem(tree->indexOfTopLevelItem(componentItem)); - delete compTop; //we own it after take - } - } - tree->setUpdatesEnabled(true); - tree->update(); - - } - } - - updatingParamNameLock.clear(); - -} - -void QGCPendingParamWidget::addActionButtonsToLayout(QGridLayout* layout) -{ - - QPushButton* setButton = new QPushButton(tr("Set")); - setButton->setToolTip(tr("Send pending parameters to volatile onboard memory")); - setButton->setWhatsThis(tr("Send pending parameters to volatile onboard memory")); - connect(setButton, SIGNAL(clicked()), - paramMgr, SLOT(sendPendingParameters())); - layout->addWidget(setButton, 2, 0); - - QPushButton* clearButton = new QPushButton(tr("Clear")); - clearButton->setToolTip(tr("Clear pending parameters without sending")); - clearButton->setWhatsThis(tr("Clear pending parameters without sending")); - connect(clearButton, SIGNAL(clicked()), - paramMgr, SLOT(clearAllPendingParams())); - layout->addWidget(clearButton, 2, 1); - - -} diff --git a/src/ui/QGCPendingParamWidget.h b/src/ui/QGCPendingParamWidget.h deleted file mode 100644 index 31b0d758d88c2b0e74a4bb8eb06c0d75f8c1b245..0000000000000000000000000000000000000000 --- a/src/ui/QGCPendingParamWidget.h +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef QGCPENDINGPARAMWIDGET_H -#define QGCPENDINGPARAMWIDGET_H - - -#include "QGCParamWidget.h" - -class QGridLayout; - -class QGCPendingParamWidget : public QGCParamWidget -{ - Q_OBJECT - -public: - explicit QGCPendingParamWidget(QObject* parent); - -protected: - virtual void connectToParamManager(); - virtual void disconnectFromParamManager(); - - virtual void connectViewSignalsAndSlots(); - virtual void disconnectViewSignalsAndSlots(); - - virtual void addActionButtonsToLayout(QGridLayout* layout); - - -signals: - -public slots: - virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending); - -}; - -#endif // QGCPENDINGPARAMWIDGET_H diff --git a/src/ui/QGCSensorSettingsWidget.cc b/src/ui/QGCSensorSettingsWidget.cc deleted file mode 100644 index 92307dab2431d9141ae841bced1e08d9cfd5e773..0000000000000000000000000000000000000000 --- a/src/ui/QGCSensorSettingsWidget.cc +++ /dev/null @@ -1,190 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Implementation of QGCSensorSettingsWidget - * @author Lorenz Meier - * - */ - -#include "QGCSensorSettingsWidget.h" -#include "ui_QGCSensorSettingsWidget.h" - -QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *parent) : - QWidget(parent), - mav(uas), - ui(new Ui::QGCSensorSettingsWidget) -{ - ui->setupUi(this); - // Set up delay timers - delayedSendRawSensorTimer.setInterval(800); - delayedSendControllerTimer.setInterval(800); - delayedSendExtendedTimer.setInterval(800); - delayedSendRCTimer.setInterval(800); - delayedSendPositionTimer.setInterval(800); - delayedSendExtra1Timer.setInterval(800); - delayedSendExtra2Timer.setInterval(800); - delayedSendExtra3Timer.setInterval(800); - - connect(&delayedSendRawSensorTimer, SIGNAL(timeout()), this, SLOT(sendRawSensor())); - connect(&delayedSendControllerTimer, SIGNAL(timeout()), this, SLOT(sendController())); - connect(&delayedSendExtendedTimer, SIGNAL(timeout()), this, SLOT(sendExtended())); - connect(&delayedSendRCTimer, SIGNAL(timeout()), this, SLOT(sendRC())); - connect(&delayedSendPositionTimer, SIGNAL(timeout()), this, SLOT(sendPosition())); - connect(&delayedSendExtra1Timer, SIGNAL(timeout()), this, SLOT(sendExtra1())); - connect(&delayedSendExtra2Timer, SIGNAL(timeout()), this, SLOT(sendExtra2())); - connect(&delayedSendExtra3Timer, SIGNAL(timeout()), this, SLOT(sendExtra3())); - - // Connect UI - connect(ui->spinBox_rawSensor, SIGNAL(valueChanged(int)), this, SLOT(delayedSendRawSensor(int)));//mav, SLOT(enableRawSensorDataTransmission(int))); - connect(ui->spinBox_controller, SIGNAL(valueChanged(int)), this, SLOT(delayedSendController(int))); - connect(ui->spinBox_extended, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtended(int))); - connect(ui->spinBox_rc, SIGNAL(valueChanged(int)), this, SLOT(delayedSendRC(int))); - connect(ui->spinBox_position, SIGNAL(valueChanged(int)), this, SLOT(delayedSendPosition(int))); - connect(ui->spinBox_extra1, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtra1(int))); - connect(ui->spinBox_extra2, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtra2(int))); - connect(ui->spinBox_extra3, SIGNAL(valueChanged(int)), this, SLOT(delayedSendExtra3(int))); - - // Calibration - connect(ui->rcCalButton, SIGNAL(clicked()), mav, SLOT(startRadioControlCalibration())); - connect(ui->magCalButton, SIGNAL(clicked()), mav, SLOT(startMagnetometerCalibration())); - connect(ui->pressureCalButton, SIGNAL(clicked()), mav, SLOT(startPressureCalibration())); - connect(ui->gyroCalButton, SIGNAL(clicked()), mav, SLOT(startGyroscopeCalibration())); - - // Hide the calibration stuff - done in custom widgets anyway - ui->groupBox_3->hide(); -} - -void QGCSensorSettingsWidget::delayedSendRawSensor(int rate) -{ - Q_UNUSED(rate); - delayedSendRawSensorTimer.start(); -} - -void QGCSensorSettingsWidget::delayedSendController(int rate) -{ - Q_UNUSED(rate); - delayedSendControllerTimer.start(); -} - -void QGCSensorSettingsWidget::delayedSendExtended(int rate) -{ - Q_UNUSED(rate); - delayedSendExtendedTimer.start(); -} - -void QGCSensorSettingsWidget::delayedSendRC(int rate) -{ - Q_UNUSED(rate); - delayedSendRCTimer.start(); -} - -void QGCSensorSettingsWidget::delayedSendPosition(int rate) -{ - Q_UNUSED(rate); - delayedSendPositionTimer.start(); -} - -void QGCSensorSettingsWidget::delayedSendExtra1(int rate) -{ - Q_UNUSED(rate); - delayedSendExtra1Timer.start(); -} - -void QGCSensorSettingsWidget::delayedSendExtra2(int rate) -{ - Q_UNUSED(rate); - delayedSendExtra2Timer.start(); -} - -void QGCSensorSettingsWidget::delayedSendExtra3(int rate) -{ - Q_UNUSED(rate); - delayedSendExtra3Timer.start(); -} - -void QGCSensorSettingsWidget::sendRawSensor() -{ - delayedSendRawSensorTimer.stop(); - mav->enableRawSensorDataTransmission(ui->spinBox_rawSensor->value()); -} - -void QGCSensorSettingsWidget::sendController() -{ - delayedSendControllerTimer.stop(); - mav->enableRawControllerDataTransmission(ui->spinBox_controller->value()); -} - -void QGCSensorSettingsWidget::sendExtended() -{ - delayedSendExtendedTimer.stop(); - mav->enableExtendedSystemStatusTransmission(ui->spinBox_extended->value()); -} - -void QGCSensorSettingsWidget::sendRC() -{ - delayedSendRCTimer.stop(); - mav->enableRCChannelDataTransmission(ui->spinBox_rc->value()); -} - -void QGCSensorSettingsWidget::sendPosition() -{ - delayedSendPositionTimer.stop(); - mav->enablePositionTransmission(ui->spinBox_position->value()); -} - -void QGCSensorSettingsWidget::sendExtra1() -{ - delayedSendExtra1Timer.stop(); - mav->enableExtra1Transmission(ui->spinBox_extra1->value()); -} - -void QGCSensorSettingsWidget::sendExtra2() -{ - delayedSendExtra2Timer.stop(); - mav->enableExtra2Transmission(ui->spinBox_extra2->value()); -} - -void QGCSensorSettingsWidget::sendExtra3() -{ - delayedSendExtra3Timer.stop(); - mav->enableExtra3Transmission(ui->spinBox_extra3->value()); -} - -QGCSensorSettingsWidget::~QGCSensorSettingsWidget() -{ - delete ui; -} - -void QGCSensorSettingsWidget::changeEvent(QEvent *e) -{ - QWidget::changeEvent(e); - switch (e->type()) { - case QEvent::LanguageChange: - ui->retranslateUi(this); - break; - default: - break; - } -} diff --git a/src/ui/QGCSensorSettingsWidget.h b/src/ui/QGCSensorSettingsWidget.h deleted file mode 100644 index 1f78fa7954b604279e2549fd4d39a24b10152a1a..0000000000000000000000000000000000000000 --- a/src/ui/QGCSensorSettingsWidget.h +++ /dev/null @@ -1,85 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Declaration of class QGCSensorSettingsWidget - * @author Lorenz Meier - */ - -#ifndef QGCSENSORSETTINGSWIDGET_H -#define QGCSENSORSETTINGSWIDGET_H - -#include - -#include "UASInterface.h" - -namespace Ui -{ -class QGCSensorSettingsWidget; -} - -class QGCSensorSettingsWidget : public QWidget -{ - Q_OBJECT -public: - QGCSensorSettingsWidget(UASInterface* uas, QWidget *parent = 0); - ~QGCSensorSettingsWidget(); - -public slots: - void delayedSendRawSensor(int rate); - void delayedSendController(int rate); - void delayedSendExtended(int rate); - void delayedSendRC(int rate); - void delayedSendPosition(int rate); - void delayedSendExtra1(int rate); - void delayedSendExtra2(int rate); - void delayedSendExtra3(int rate); - -protected: - UASInterface* mav; - QTimer delayedSendRawSensorTimer; - QTimer delayedSendControllerTimer; - QTimer delayedSendExtendedTimer; - QTimer delayedSendRCTimer; - QTimer delayedSendPositionTimer; - QTimer delayedSendExtra1Timer; - QTimer delayedSendExtra2Timer; - QTimer delayedSendExtra3Timer; - void changeEvent(QEvent *e); - -protected slots: - void sendRawSensor(); - void sendController(); - void sendExtended(); - void sendRC(); - void sendPosition(); - void sendExtra1(); - void sendExtra2(); - void sendExtra3(); - -private: - Ui::QGCSensorSettingsWidget *ui; -}; - -#endif // QGCSENSORSETTINGSWIDGET_H diff --git a/src/ui/QGCSensorSettingsWidget.ui b/src/ui/QGCSensorSettingsWidget.ui deleted file mode 100644 index 9c8267b99ae0e1035b197aa91f2de04fe1a79505..0000000000000000000000000000000000000000 --- a/src/ui/QGCSensorSettingsWidget.ui +++ /dev/null @@ -1,218 +0,0 @@ - - - QGCSensorSettingsWidget - - - - 0 - 0 - 307 - 221 - - - - Form - - - - 0 - - - - - Calibration Wizards - - - - 6 - - - 2 - - - 6 - - - 2 - - - 12 - - - 6 - - - - - RC Cal. - - - - - - - Mag. Cal. - - - - - - - Gyro Cal. - - - - - - - Pressure Cal. - - - - - - - - - - Data Stream Rates (Hz) - - - - 6 - - - 2 - - - 6 - - - 2 - - - 5 - - - 2 - - - - - 10000 - - - - - - - Raw Sensor - - - - - - - 10000 - - - - - - - 10000 - - - - - - - 10000 - - - - - - - Ext. Status - - - - - - - Position - - - - - - - Raw Contr. - - - - - - - 10000 - - - - - - - 10000 - - - - - - - 10000 - - - - - - - 10000 - - - - - - - RC Chan. - - - - - - - Extra 1 - - - - - - - Extra 2 - - - - - - - Extra 3 - - - - - - - - - - - diff --git a/src/ui/QGCToolBar.cc b/src/ui/QGCToolBar.cc deleted file mode 100644 index 3d460488200d0589f47e944b2d677dc67135de81..0000000000000000000000000000000000000000 --- a/src/ui/QGCToolBar.cc +++ /dev/null @@ -1,766 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009 - 2011 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -#include -#include -#include -#include - -#include "SettingsDialog.h" -#include "QGCToolBar.h" -#include "UASManager.h" -#include "MainWindow.h" -#include "QGCApplication.h" -#include "UASMessageView.h" -#include "UASMessageHandler.h" - -// Label class that sends mouse hover events -class QCGHoverLabel : public QLabel -{ -public: - QCGHoverLabel(QGCToolBar* toolBar) : QLabel(toolBar) - { - _toolBar = toolBar; - } -protected: - void enterEvent(QEvent* event) - { - Q_UNUSED(event); - _toolBar->enterMessageLabel(); - } -private: - QGCToolBar* _toolBar; -}; - -QGCToolBar::QGCToolBar(QWidget *parent) : - QToolBar(parent), - mav(NULL), - changed(true), - batteryPercent(0), - batteryVoltage(0), - wpId(0), - wpDistance(0), - altitudeRel(0), - systemArmed(false), - currentLink(NULL), - firstAction(NULL), - _linkMgr(LinkManager::instance()), - _linkCombo(NULL), - _linkComboAction(NULL), - _rollDownMessages(NULL), - _linksConnected(false), - _linkSelected(false) -{ - setObjectName("QGCToolBar"); - setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding); - connect(LinkManager::instance(), &LinkManager::linkConnected, this, &QGCToolBar::_linkConnected); - connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &QGCToolBar::_linkDisconnected); - connect(LinkManager::instance(), &LinkManager::linkConfigurationChanged, this, &QGCToolBar::_updateConfigurations); -} - -void QGCToolBar::heartbeatTimeout(bool timeout, unsigned int ms) -{ - // set timeout label visible - if (timeout) - { - // Alternate colors to increase visibility - if ((ms / 1000) % 2 == 0) - { - toolBarTimeoutLabel->setStyleSheet(QString("QLabel {color: #000; background-color: #FF0037;}")); - } - else - { - toolBarTimeoutLabel->setStyleSheet(QString("QLabel {color: #FFF; background-color: #6B0017;}")); - } - toolBarTimeoutLabel->setText(tr("CONNECTION LOST: %1 s").arg((ms / 1000.0f), 2, 'f', 1, ' ')); - toolBarTimeoutAction->setVisible(true); - toolBarMessageAction->setVisible(false); - toolBarBatteryBarAction->setVisible(false); - } - else - { - // Check if loss text is present, reset once - if (toolBarTimeoutAction->isVisible()) - { - toolBarTimeoutAction->setVisible(false); - toolBarMessageAction->setVisible(true); - toolBarBatteryBarAction->setVisible(true); - } - } -} - -void QGCToolBar::createUI() -{ - // CREATE TOOLBAR ITEMS - // Add internal actions - // Add MAV widget - symbolLabel = new QLabel(this); - addWidget(symbolLabel); - - toolBarNameLabel = new QLabel(this); - toolBarNameLabel->setToolTip(tr("Currently controlled vehicle")); - toolBarNameLabel->setAlignment(Qt::AlignCenter); - toolBarNameLabel->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum); - addWidget(toolBarNameLabel); - - toolBarTimeoutLabel = new QLabel(this); - toolBarTimeoutLabel->setToolTip(tr("System timed out, interval since last message")); - toolBarTimeoutLabel->setAlignment(Qt::AlignCenter); - toolBarTimeoutLabel->setObjectName("toolBarTimeoutLabel"); - toolBarTimeoutLabel->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum); - toolBarTimeoutAction = addWidget(toolBarTimeoutLabel); - - toolBarSafetyLabel = new QLabel(this); - toolBarSafetyLabel->setToolTip(tr("Vehicle safety state")); - toolBarSafetyLabel->setAlignment(Qt::AlignCenter); - addWidget(toolBarSafetyLabel); - - toolBarModeLabel = new QLabel(this); - toolBarModeLabel->setToolTip(tr("Vehicle mode")); - toolBarModeLabel->setObjectName("toolBarModeLabel"); - toolBarModeLabel->setAlignment(Qt::AlignCenter); - addWidget(toolBarModeLabel); - -// toolBarStateLabel = new QLabel(this); -// toolBarStateLabel->setToolTip(tr("Vehicle state")); -// toolBarStateLabel->setObjectName("toolBarStateLabel"); -// toolBarStateLabel->setAlignment(Qt::AlignCenter); -// addWidget(toolBarStateLabel); - - toolBarBatteryBar = new QProgressBar(this); - toolBarBatteryBar->setMinimum(0); - toolBarBatteryBar->setMaximum(100); - toolBarBatteryBar->setMinimumWidth(20); - toolBarBatteryBar->setMaximumWidth(100); - toolBarBatteryBar->setToolTip(tr("Battery charge level")); - toolBarBatteryBar->setObjectName("toolBarBatteryBar"); - toolBarBatteryBar->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::MinimumExpanding); - toolBarBatteryBarAction = addWidget(toolBarBatteryBar); - - toolBarBatteryVoltageLabel = new QLabel(this); - toolBarBatteryVoltageLabel->setToolTip(tr("Battery voltage")); - toolBarBatteryVoltageLabel->setObjectName("toolBarBatteryVoltageLabel"); - toolBarBatteryVoltageLabel->setAlignment(Qt::AlignCenter); - toolBarBatteryVoltageAction = addWidget(toolBarBatteryVoltageLabel); - - toolBarWpLabel = new QLabel(this); - toolBarWpLabel->setToolTip(tr("Current waypoint")); - toolBarWpLabel->setObjectName("toolBarWpLabel"); - toolBarWpLabel->setAlignment(Qt::AlignCenter); - toolBarWpAction = addWidget(toolBarWpLabel); - - toolBarMessageLabel = new QCGHoverLabel(this); - toolBarMessageLabel->setToolTip(tr("Most recent system message")); - toolBarMessageLabel->setObjectName("toolBarMessageLabel"); - toolBarMessageAction = addWidget(toolBarMessageLabel); - - QWidget* spacer = new QWidget(); - spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - addWidget(spacer); - - // Links to connect to - _linkCombo = new QComboBox(this); - connect(_linkCombo, SIGNAL(activated(int)), SLOT(_linkComboActivated(int))); - _linkCombo->setToolTip(tr("Choose the link to use")); - _linkCombo->setEnabled(true); - _linkCombo->setMinimumWidth(160); - _linkComboAction = addWidget(_linkCombo); - _updateConfigurations(); - - _connectButton = new QPushButton(tr("Connect"), this); - _connectButton->setObjectName("connectButton"); - addWidget(_connectButton); - connect(_connectButton, &QPushButton::clicked, this, &QGCToolBar::_connectButtonClicked); - - resetToolbarUI(); - - // DONE INITIALIZING BUTTONS - - // Set the toolbar to be updated every 2s - connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView())); - - // Configure the toolbar for the current default UAS - setActiveUAS(UASManager::instance()->getActiveUAS()); - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); - - toolBarMessageAction->setVisible(false); - toolBarBatteryBarAction->setVisible(false); - - changed = false; -} - -/** - * Reset all the labels and stuff for the toolbar to a pristine state. Done at startup after - * all UI has been created and also when the last UAS has been deleted. - **/ -void QGCToolBar::resetToolbarUI() -{ - toolBarNameLabel->setText("------"); - toolBarNameLabel->setStyleSheet(""); - toolBarTimeoutLabel->setText(tr("UNCONNECTED")); - //toolBarTimeoutLabel->show(); - toolBarSafetyLabel->setText("----"); - toolBarModeLabel->setText("------"); -// toolBarStateLabel->setText("------"); - toolBarBatteryBar->setValue(0); - toolBarBatteryBar->setDisabled(true); - toolBarBatteryVoltageLabel->setText("xx.x V"); - toolBarWpLabel->setText("WP--"); - toolBarMessageLabel->clear(); - lastSystemMessage = ""; - lastSystemMessageTimeMs = 0; - symbolLabel->setStyleSheet(""); - symbolLabel->clear(); - toolBarMessageAction->setVisible(false); - toolBarBatteryBarAction->setVisible(false); -} - -void QGCToolBar::setPerspectiveChangeActions(const QList &actions) -{ - if (actions.count() > 1) - { - group = new QButtonGroup(this); - group->setExclusive(true); - - // Add the first button. - QToolButton *first = new QToolButton(this); - //first->setIcon(actions.first()->icon()); - first->setText(actions.first()->text()); - first->setToolTip(actions.first()->toolTip()); - first->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - first->setCheckable(true); - - connect(first, SIGNAL(clicked(bool)), actions.first(), SIGNAL(triggered(bool))); - connect(actions.first(),SIGNAL(triggered(bool)),first,SLOT(setChecked(bool))); - - first->setObjectName("firstAction"); - - //first->setStyleSheet("QToolButton { min-height: 24px; max-height: 24px; min-width: 60px; color: #222222; background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A2A3A4, stop: 1 #B6B7B8); margin-left: 8px; margin-right: 0px; padding-left: 4px; padding-right: 8px; border-radius: 0px; border : 0px solid blue; border-bottom-left-radius: 6px; border-top-left-radius: 6px; border-left: 1px solid #484848; border-top: 1px solid #484848; border-bottom: 1px solid #484848; } QToolButton:checked { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #555555, stop: 1 #787878); color: #DDDDDD; }"); - addWidget(first); - group->addButton(first); - - // Add all the middle buttons. - for (int i = 1; i < actions.count(); i++) - { - QToolButton *btn = new QToolButton(this); - //btn->setIcon(actions.at(i)->icon()); - btn->setText(actions.at(i)->text()); - btn->setToolTip(actions.at(i)->toolTip()); - btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - btn->setCheckable(true); - connect(btn, SIGNAL(clicked(bool)), actions.at(i), SIGNAL(triggered(bool))); - connect(actions.at(i),SIGNAL(triggered(bool)),btn,SLOT(setChecked(bool))); - addWidget(btn); - group->addButton(btn); - } - - // Add last button - advancedButton = new QToolButton(this); - advancedButton->setIcon(QIcon(":/files/images/apps/utilities-system-monitor.svg")); - advancedButton->setText(tr("More")); - advancedButton->setToolTip(tr("Options for advanced users")); - advancedButton->setCheckable(true); - advancedButton->setObjectName("advancedButton"); - advancedButton->setPopupMode(QToolButton::InstantPopup); - advancedButton->setToolButtonStyle(Qt::ToolButtonTextOnly); - addWidget(advancedButton); - group->addButton(advancedButton); - } else { - qDebug() << __FILE__ << __LINE__ << "Not enough perspective change actions provided"; - } - - // Add the "rest" - createUI(); -} - -void QGCToolBar::setPerspectiveChangeAdvancedActions(const QList &actions) -{ - if (actions.count() > 1) - { - QMenu *menu = new QMenu(advancedButton); - - for (int i = 0; i < actions.count(); i++) - { - - menu->addAction(actions.at(i)); - } - - advancedButton->setMenu(menu); - connect(menu, SIGNAL(triggered(QAction*)), this, SLOT(advancedActivityTriggered(QAction*))); - - } else { - qDebug() << __FILE__ << __LINE__ << "Not enough perspective change actions provided"; - } -} - -void QGCToolBar::advancedActivityTriggered(QAction* action) -{ - if (action->isChecked()) - advancedButton->setChecked(true); -} - -void QGCToolBar::setActiveUAS(UASInterface* active) -{ - // Do nothing if system is the same - if (mav == active || active == NULL) - return; - - // If switching UASes, disconnect the only one. - if (mav) - { - disconnect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString))); - disconnect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString))); - disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString))); - disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint))); - disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString))); - disconnect(mav, SIGNAL(batteryChanged(UASInterface*, double, double, double,int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int))); - disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool))); - disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int))); - if (mav->getWaypointManager()) - { - disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16))); - disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double))); - } - } - else - { - // Only update the UI once a UAS has been selected. - updateViewTimer.start(2000); - } - - // Connect new system - mav = active; - if (mav) - { - connect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString))); - connect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString))); - connect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString))); - connect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint))); - connect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString))); - connect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,double,int))); - connect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool))); - connect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int))); - if (mav->getWaypointManager()) - { - connect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16))); - connect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double))); - } - - // Update all values once - systemName = mav->getUASName(); - systemArmed = mav->isArmed(); - toolBarNameLabel->setText(mav->getUASName().replace("MAV", "")); - toolBarNameLabel->setStyleSheet(QString("QLabel {color: %1;}").arg(mav->getColor().name())); - symbolLabel->setStyleSheet(QString("QWidget {background-color: %1;}").arg(mav->getColor().name())); - QString shortMode = mav->getShortMode(); - shortMode = shortMode.replace("D|", ""); - shortMode = shortMode.replace("A|", ""); - toolBarModeLabel->setText(shortMode); -// toolBarStateLabel->setText(mav->getShortState()); - toolBarTimeoutAction->setVisible(false); - toolBarMessageLabel->clear(); - lastSystemMessageTimeMs = 0; - toolBarBatteryBar->setEnabled(true); - setSystemType(mav, mav->getSystemType()); - } - else - { - updateViewTimer.stop(); - resetToolbarUI(); - } -} - -void QGCToolBar::updateArmingState(bool armed) -{ - systemArmed = armed; - changed = true; - /* important, immediately update */ - updateView(); -} - -void QGCToolBar::updateView() -{ - if (!changed) return; - if (toolBarWpAction->isVisible()) - toolBarWpLabel->setText(tr("WP%1").arg(wpId)); - - if (toolBarBatteryBarAction->isVisible()) { - toolBarBatteryBar->setValue(batteryPercent); - - if (batteryPercent < 30 && toolBarBatteryBar->value() >= 30) { - toolBarBatteryBar->setStyleSheet(qgcApp()->styleIsDark() ? - "QProgressBar {color: #000} QProgressBar QProgressBar::chunk { background-color: #0F0}" : - "QProgressBar {color: #FFF} QProgressBar::chunk { background-color: #008000}"); - } else if (batteryPercent >= 30 && toolBarBatteryBar->value() < 30){ - toolBarBatteryBar->setStyleSheet(qgcApp()->styleIsDark() ? - "QProgressBar {color: #000} QProgressBar QProgressBar::chunk { background-color: #FF0}" : - "QProgressBar {color: #FFF} QProgressBar::chunk { background-color: #808000}"); - } - - } - if (toolBarBatteryVoltageLabel->isVisible()) { - toolBarBatteryVoltageLabel->setText(tr("%1 V").arg(batteryVoltage, 4, 'f', 1, ' ')); - } - - -// toolBarStateLabel->setText(QString("%1").arg(state)); - if (mode.size() > 0) { - toolBarModeLabel->setText(QString("%1").arg(mode)); - } - toolBarNameLabel->setText(systemName); - // expire after 15 seconds - - if (toolBarMessageAction->isVisible()) { - if (QGC::groundTimeMilliseconds() - lastSystemMessageTimeMs < 15000) { - toolBarMessageLabel->setText(QString("%1").arg(lastSystemMessage)); - } else { - if(UASMessageHandler::instance()->messages().count()) { - toolBarMessageLabel->setText(tr("Messages")); - } else { - toolBarMessageLabel->setText(tr("No Messages")); - } - } - } - - // Display the system armed state with a red-on-yellow background if armed or green text if safe. - if (systemArmed) - { - toolBarSafetyLabel->setStyleSheet(QString("QLabel {color: %1; background-color: %2; font-size: 15pt;}").arg(QGC::colorRed.name()).arg(QGC::colorYellow.name())); - toolBarSafetyLabel->setText(tr("ARMED")); - } - else - { - toolBarSafetyLabel->setStyleSheet(qgcApp()->styleIsDark() ? - "QLabel {color: #14C814; font-size: 15pt;}" : - "QLabel {color: #0D820D; font-size: 15pt;}"); - toolBarSafetyLabel->setText(tr("DISARMED")); - } - - changed = false; -} - -void QGCToolBar::updateWaypointDistance(double distance) -{ - if (wpDistance != distance) changed = true; - wpDistance = distance; -} - -void QGCToolBar::updateCurrentWaypoint(quint16 id) -{ - if (wpId != id) changed = true; - wpId = id; -} - -void QGCToolBar::updateBatteryRemaining(UASInterface* uas, double voltage, double current, double percent, int seconds) -{ - Q_UNUSED(uas); - Q_UNUSED(seconds); - Q_UNUSED(current); - - if (batteryPercent != percent || batteryVoltage != voltage) changed = true; - batteryPercent = percent; - batteryVoltage = voltage; -} - -void QGCToolBar::updateState(UASInterface* system, QString name, QString description) -{ - Q_UNUSED(system); - Q_UNUSED(description); - if (state != name) changed = true; - state = name; - /* important, immediately update */ - updateView(); -} - -void QGCToolBar::updateMode(int system, QString name, QString description) -{ - Q_UNUSED(system); - Q_UNUSED(description); - if (name.size() == 0) { - qDebug() << "EMPTY MODE, RETURN"; - } - - QString shortMode = name; - shortMode = shortMode.replace("D|", ""); - shortMode = shortMode.replace("A|", ""); - - if (mode != shortMode) changed = true; - mode = shortMode; - /* important, immediately update */ - updateView(); -} - -void QGCToolBar::updateName(const QString& name) -{ - if (systemName != name) - { - changed = true; - } - systemName = name; -} - -/** - * The current system type is represented through the system icon. - * - * @param uas Source system, has to be the same as this->uas - * @param systemType type ID, following the MAVLink system type conventions - * @see http://pixhawk.ethz.ch/software/mavlink - */ -void QGCToolBar::setSystemType(UASInterface* uas, unsigned int systemType) -{ - Q_UNUSED(uas); - QPixmap newPixmap; - switch (systemType) { - case MAV_TYPE_GENERIC: - newPixmap = QPixmap(":/files/images/mavs/generic.svg"); - break; - case MAV_TYPE_FIXED_WING: - newPixmap = QPixmap(":/files/images/mavs/fixed-wing.svg"); - break; - case MAV_TYPE_QUADROTOR: - newPixmap = QPixmap(":/files/images/mavs/quadrotor.svg"); - break; - case MAV_TYPE_COAXIAL: - newPixmap = QPixmap(":/files/images/mavs/coaxial.svg"); - break; - case MAV_TYPE_HELICOPTER: - newPixmap = QPixmap(":/files/images/mavs/helicopter.svg"); - break; - case MAV_TYPE_ANTENNA_TRACKER: - newPixmap = QPixmap(":/files/images/mavs/antenna-tracker.svg"); - break; - case MAV_TYPE_GCS: - newPixmap = QPixmap(":files/images/mavs/groundstation.svg"); - break; - case MAV_TYPE_AIRSHIP: - newPixmap = QPixmap(":files/images/mavs/airship.svg"); - break; - case MAV_TYPE_FREE_BALLOON: - newPixmap = QPixmap(":files/images/mavs/free-balloon.svg"); - break; - case MAV_TYPE_ROCKET: - newPixmap = QPixmap(":files/images/mavs/rocket.svg"); - break; - case MAV_TYPE_GROUND_ROVER: - newPixmap = QPixmap(":files/images/mavs/ground-rover.svg"); - break; - case MAV_TYPE_SURFACE_BOAT: - newPixmap = QPixmap(":files/images/mavs/surface-boat.svg"); - break; - case MAV_TYPE_SUBMARINE: - newPixmap = QPixmap(":files/images/mavs/submarine.svg"); - break; - case MAV_TYPE_HEXAROTOR: - newPixmap = QPixmap(":files/images/mavs/hexarotor.svg"); - break; - case MAV_TYPE_OCTOROTOR: - newPixmap = QPixmap(":files/images/mavs/octorotor.svg"); - break; - case MAV_TYPE_TRICOPTER: - newPixmap = QPixmap(":files/images/mavs/tricopter.svg"); - break; - case MAV_TYPE_FLAPPING_WING: - newPixmap = QPixmap(":files/images/mavs/flapping-wing.svg"); - break; - case MAV_TYPE_KITE: - newPixmap = QPixmap(":files/images/mavs/kite.svg"); - break; - default: - newPixmap = QPixmap(":/files/images/mavs/unknown.svg"); - break; - } - symbolLabel->setPixmap(newPixmap.scaledToHeight(24)); -} - -void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QString text) -{ - Q_UNUSED(uasid); - Q_UNUSED(componentid); - Q_UNUSED(severity); - if (lastSystemMessage != text) changed = true; - lastSystemMessage = text; - lastSystemMessageTimeMs = QGC::groundTimeMilliseconds(); -} - -void QGCToolBar::_linkConnected(LinkInterface* link) -{ - Q_UNUSED(link); - _updateConnectButton(); -} - -void QGCToolBar::_linkDisconnected(LinkInterface* link) -{ - _updateConnectButton(link); -} - -void QGCToolBar::_updateConnectButton(LinkInterface *disconnectedLink) -{ - QMenu* menu = new QMenu(this); - // If there are multiple connected links add/update the connect button menu - int connectedCount = 0; - QList links = _linkMgr->getLinks(); - foreach(LinkInterface* link, links) { - if (disconnectedLink != link && link->isConnected()) { - connectedCount++; - QAction* action = menu->addAction(link->getName()); - action->setData(QVariant::fromValue((void*)link)); - connect(action, &QAction::triggered, this, &QGCToolBar::_disconnectFromMenu); - } - } - // Remove old menu - QMenu* oldMenu = _connectButton->menu(); - _connectButton->setMenu(NULL); - if (oldMenu) { - oldMenu->deleteLater(); - } - // Add new menu if needed - if (connectedCount > 1) { - _connectButton->setMenu(menu); - } else { - delete menu; - } - _linksConnected = connectedCount != 0; - _connectButton->setText(_linksConnected ? tr("Disconnect") : tr("Connect")); - _linkComboAction->setVisible(!_linksConnected); - toolBarMessageAction->setVisible(_linksConnected); - toolBarWpAction->setVisible(_linksConnected); -} - -void QGCToolBar::_connectButtonClicked(bool checked) -{ - Q_UNUSED(checked); - if (_linksConnected) { - // Disconnect - // Should be just one connected link, disconnect it - int connectedCount = 0; - LinkInterface* connectedLink = NULL; - QList links = _linkMgr->getLinks(); - foreach(LinkInterface* link, links) { - if (link->isConnected()) { - connectedCount++; - connectedLink = link; - } - } - Q_ASSERT(connectedCount == 1); - Q_ASSERT(connectedLink); - // TODO The link is "disconnected" but not deleted. On subsequent connections, - // new links are created. Why's that? - _linkMgr->disconnectLink(connectedLink); - } else { - // We don't want the combo box updating under our feet - _linkMgr->suspendConfigurationUpdates(true); - // Connect - int valid = _linkCombo->currentData().toInt(); - // Is this a valid option? - if(valid == 1) { - // Get the configuration name - QString confName = _linkCombo->currentText(); - // Create a link for it - LinkInterface* link = _linkMgr->createLink(confName); - if(link) { - // Connect it - _linkMgr->connectLink(link); - // Save last used connection - MainWindow::instance()->saveLastUsedConnection(confName); - } - _linkMgr->suspendConfigurationUpdates(false); - // Else, it must be Manage Links - } else if(valid == 0) { - _linkMgr->suspendConfigurationUpdates(false); - MainWindow::instance()->manageLinks(); - } - } -} - -void QGCToolBar::_disconnectFromMenu(bool checked) -{ - Q_UNUSED(checked); - QAction* action = qobject_cast(sender()); - Q_ASSERT(action); - LinkInterface* link = (LinkInterface*)(action->data().value()); - Q_ASSERT(link); - _linkMgr->disconnectLink(link); -} - -void QGCToolBar::_linkComboActivated(int index) -{ - int type = _linkCombo->itemData(index).toInt(); - // Check if we should "Manage Connections" - if(type == 0) { - MainWindow::instance()->manageLinks(); - } else { - _linkSelected = true; - } -} - -void QGCToolBar::_updateConfigurations() -{ - bool resetSelected = false; - QString selected = _linkCombo->currentText(); - _linkCombo->clear(); - _linkCombo->addItem("Manage Links", 0); - QList configs = LinkManager::instance()->getLinkConfigurationList(); - foreach(LinkConfiguration* conf, configs) { - if(conf) { - _linkCombo->addItem(conf->name(), 1); - if(!_linkSelected && conf->isPreferred()) { - selected = conf->name(); - resetSelected = true; - } - } - } - int index = _linkCombo->findText(selected); - if(index >= 0) { - _linkCombo->setCurrentIndex(index); - } - if(resetSelected) { - _linkSelected = false; - } -} - -/** - * @brief Mouse entered Message label area - */ -void QGCToolBar::enterMessageLabel() -{ - /* - // If not already there and messages are actually present - if(!_rollDownMessages && UASMessageHandler::instance()->messages().count()) - { - QPoint p = toolBarMessageLabel->mapToGlobal(QPoint(0,0)); - _rollDownMessages = new UASMessageViewRollDown(MainWindow::instance(),this); - _rollDownMessages->setAttribute(Qt::WA_DeleteOnClose); - _rollDownMessages->move(mapFromGlobal(p)); - _rollDownMessages->setMinimumSize(360,200); - _rollDownMessages->show(); - } - */ -} - -/** - * @brief Mouse left message drop down list area (and closed it) - */ -void QGCToolBar::leaveMessageView() -{ - _rollDownMessages = NULL; -} diff --git a/src/ui/QGCToolBar.h b/src/ui/QGCToolBar.h deleted file mode 100644 index b51d346e6eaab2e2762bed289cd8937324639308..0000000000000000000000000000000000000000 --- a/src/ui/QGCToolBar.h +++ /dev/null @@ -1,148 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009 - 2011 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -#ifndef QGCTOOLBAR_H -#define QGCTOOLBAR_H - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "UASInterface.h" -#include "SerialLink.h" -#include "LinkManager.h" - -class UASMessageViewRollDown; - -class QGCToolBar : public QToolBar -{ - Q_OBJECT - -public: - explicit QGCToolBar(QWidget* parent = 0); - void setPerspectiveChangeActions(const QList &action); - void setPerspectiveChangeAdvancedActions(const QList &action); - /** - * @brief Mouse entered Message label area - */ - void enterMessageLabel(); - /** - * @brief Mouse left message drop down list area (and closed it) - */ - void leaveMessageView(); - -public slots: - /** @brief Set the system that is currently displayed by this widget */ - void setActiveUAS(UASInterface* active); - /** @brief Set the system state */ - void updateState(UASInterface* system, QString name, QString description); - /** @brief Set the system mode */ - void updateMode(int system, QString name, QString description); - /** @brief Update the system name */ - void updateName(const QString& name); - /** @brief Set the MAV system type */ - void setSystemType(UASInterface* uas, unsigned int systemType); - /** @brief Received system text message */ - void receiveTextMessage(int uasid, int componentid, int severity, QString text); - /** @brief Update battery charge state */ - void updateBatteryRemaining(UASInterface* uas, double voltage, double current, double percent, int seconds); - /** @brief Update current waypoint */ - void updateCurrentWaypoint(quint16 id); - /** @brief Update distance to current waypoint */ - void updateWaypointDistance(double distance); - /** @brief Update arming state */ - void updateArmingState(bool armed); - /** @brief Repaint widgets */ - void updateView(); - /** @brief Update connection timeout time */ - void heartbeatTimeout(bool timeout, unsigned int ms); - /** @brief Set an activity action as checked in menu */ - void advancedActivityTriggered(QAction* action); - -protected: - void createUI(); - void resetToolbarUI(); - UASInterface* mav; - QLabel* symbolLabel; - QLabel* toolBarNameLabel; - QLabel* toolBarTimeoutLabel; - QAction* toolBarTimeoutAction; ///< Needed to set label (in)visible. - QAction* toolBarMessageAction; - QAction* toolBarWpAction; - QAction* toolBarBatteryBarAction; - QAction* toolBarBatteryVoltageAction; - QLabel* toolBarSafetyLabel; - QLabel* toolBarModeLabel; - QLabel* toolBarStateLabel; - QLabel* toolBarWpLabel; - QLabel* toolBarMessageLabel; - QProgressBar* toolBarBatteryBar; - QLabel* toolBarBatteryVoltageLabel; - - bool changed; - float batteryPercent; - float batteryVoltage; - int wpId; - double wpDistance; - float altitudeRel; - QString state; - QString mode; - QString systemName; - QString lastSystemMessage; - quint64 lastSystemMessageTimeMs; - QTimer updateViewTimer; - bool systemArmed; - LinkInterface* currentLink; - QAction* firstAction; - QToolButton *advancedButton; - QButtonGroup *group; - -private slots: - void _linkConnected(LinkInterface* link); - void _linkDisconnected(LinkInterface* link); - void _disconnectFromMenu(bool checked); - void _connectButtonClicked(bool checked); - void _linkComboActivated(int index); - void _updateConfigurations(); - -private: - void _updateConnectButton(LinkInterface* disconnectedLink = NULL); - - LinkManager* _linkMgr; - - QComboBox* _linkCombo; - QAction* _linkComboAction; - - UASMessageViewRollDown* _rollDownMessages; - - QPushButton* _connectButton; - bool _linksConnected; - bool _linkSelected; // User selected a link. Stop autoselecting it. -}; - -#endif // QGCTOOLBAR_H diff --git a/src/ui/SerialConfigurationWindow.cc b/src/ui/SerialConfigurationWindow.cc index f5b2a2420a24d2ff6d0b721bf906d286a194c5a9..7f9e21cd7f7e44d24e8f6ad16f402180b93fa269 100644 --- a/src/ui/SerialConfigurationWindow.cc +++ b/src/ui/SerialConfigurationWindow.cc @@ -33,6 +33,12 @@ This file is part of the QGROUNDCONTROL project #include #include +#ifdef __android__ +#include "qserialportinfo.h" +#else +#include +#endif + #include #include @@ -42,7 +48,6 @@ This file is part of the QGROUNDCONTROL project SerialConfigurationWindow::SerialConfigurationWindow(SerialConfiguration *config, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags) - , _userConfigured(false) { _ui.setupUi(this); Q_ASSERT(config != NULL); @@ -112,16 +117,15 @@ SerialConfigurationWindow::SerialConfigurationWindow(SerialConfiguration *config } // Connect the individual user interface inputs - connect(_ui.portName, SIGNAL(editTextChanged(QString)), this, SLOT(setPortName(QString))); - connect(_ui.portName, SIGNAL(currentIndexChanged(QString)), this, SLOT(setPortName(QString))); - connect(_ui.baudRate, SIGNAL(activated(int)), this, SLOT(setBaudRate(int))); - connect(_ui.flowControlCheckBox,SIGNAL(toggled(bool)), this, SLOT(enableFlowControl(bool))); - connect(_ui.parNone, SIGNAL(toggled(bool)), this, SLOT(setParityNone(bool))); - connect(_ui.parOdd, SIGNAL(toggled(bool)), this, SLOT(setParityOdd(bool))); - connect(_ui.parEven, SIGNAL(toggled(bool)), this, SLOT(setParityEven(bool))); - connect(_ui.dataBitsSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setDataBits(int))); - connect(_ui.stopBitsSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setStopBits(int))); - connect(_ui.advCheckBox, SIGNAL(clicked(bool)), _ui.advGroupBox, SLOT(setVisible(bool))); + connect(_ui.portName, SIGNAL(currentIndexChanged(int)), this, SLOT(setPortName(int))); + connect(_ui.baudRate, SIGNAL(activated(int)), this, SLOT(setBaudRate(int))); + connect(_ui.flowControlCheckBox,SIGNAL(toggled(bool)), this, SLOT(enableFlowControl(bool))); + connect(_ui.parNone, SIGNAL(toggled(bool)), this, SLOT(setParityNone(bool))); + connect(_ui.parOdd, SIGNAL(toggled(bool)), this, SLOT(setParityOdd(bool))); + connect(_ui.parEven, SIGNAL(toggled(bool)), this, SLOT(setParityEven(bool))); + connect(_ui.dataBitsSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setDataBits(int))); + connect(_ui.stopBitsSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setStopBits(int))); + connect(_ui.advCheckBox, SIGNAL(clicked(bool)), _ui.advGroupBox, SLOT(setVisible(bool))); _ui.advCheckBox->setCheckable(true); _ui.advCheckBox->setChecked(false); @@ -179,72 +183,103 @@ void SerialConfigurationWindow::hideEvent(QHideEvent* event) bool SerialConfigurationWindow::setupPortList() { - // Get the ports available on this system - QList ports = SerialConfiguration::getCurrentPorts(); - QString storedName = _config->portName(); - bool storedFound = false; - // Add the ports in reverse order, because we prepend them to the list - for (int i = ports.count() - 1; i >= 0; --i) + bool changed = false; + // Iterate found ports + QList portList = QSerialPortInfo::availablePorts(); + foreach (const QSerialPortInfo &info, portList) { - // Prepend newly found port to the list - if (_ui.portName->findText(ports[i]) < 0) + QString name = info.portName(); + // Append newly found port to the list + if (_ui.portName->findText(name) < 0) { - _ui.portName->insertItem(0, ports[i]); - if (!_userConfigured) _ui.portName->setEditText(ports[i]); + // We show the user the "short name" but store the full port name + _ui.portName->addItem(name, QVariant(info.systemLocation())); + changed = true; + } + } + // See if configured port (if any) is present + if(changed) { + int idx = _ui.portName->count() - 1; + if(!_config->portName().isEmpty()) { + idx = _ui.portName->findData(QVariant(_config->portName())); + if(idx < 0) { + idx = 0; + } + } + _ui.portName->setCurrentIndex(idx); + if(_ui.portName->count() > 0) { + _ui.portName->setEditText(_ui.portName->itemText(idx)); + } + if(_config->portName().isEmpty()) { + setPortName(idx); } - // Check if the stored link name is still present - if (ports[i].contains(storedName) || storedName.contains(ports[i])) - storedFound = true; } - if (storedFound) - _ui.portName->setEditText(storedName); - return (ports.count() > 0); + return (_ui.portName->count() > 0); } void SerialConfigurationWindow::enableFlowControl(bool flow) { _config->setFlowControl(flow ? QSerialPort::HardwareControl : QSerialPort::NoFlowControl); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); } void SerialConfigurationWindow::setParityNone(bool accept) { - if (accept) _config->setParity(QSerialPort::NoParity); + if (accept) { + _config->setParity(QSerialPort::NoParity); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); + } } void SerialConfigurationWindow::setParityOdd(bool accept) { - if (accept) _config->setParity(QSerialPort::OddParity); + if (accept) { + _config->setParity(QSerialPort::OddParity); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); + } } void SerialConfigurationWindow::setParityEven(bool accept) { - if (accept) _config->setParity(QSerialPort::EvenParity); + if (accept) { + _config->setParity(QSerialPort::EvenParity); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); + } } -void SerialConfigurationWindow::setPortName(QString port) +void SerialConfigurationWindow::setPortName(int index) { -#ifdef Q_OS_WIN - port = port.split("-").first(); -#endif - port = port.trimmed(); - if (_config->portName() != port) { - _config->setPortName(port); + // Get the full port name and store it in the config + QString pname = _ui.portName->itemData(index).toString(); + if (_config->portName() != pname) { + _config->setPortName(pname); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); } - userConfigured = true; } void SerialConfigurationWindow::setBaudRate(int index) { int baud = _ui.baudRate->itemData(index).toInt(); _config->setBaud(baud); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); } void SerialConfigurationWindow::setDataBits(int bits) { _config->setDataBits(bits); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); } void SerialConfigurationWindow::setStopBits(int bits) { _config->setStopBits(bits); + //-- If this was dynamic, it's now edited and persistent + _config->setDynamic(false); } diff --git a/src/ui/SerialConfigurationWindow.h b/src/ui/SerialConfigurationWindow.h index 60f066f22c40af7ab6a055bf2b5e81583c3b7568..ba21793c85ad15f28587efa6793469afaf8caf2e 100644 --- a/src/ui/SerialConfigurationWindow.h +++ b/src/ui/SerialConfigurationWindow.h @@ -53,7 +53,7 @@ public slots: void setParityNone(bool accept); void setParityOdd(bool accept); void setParityEven(bool accept); - void setPortName(QString port); + void setPortName(int index); void setBaudRate(int index); void setDataBits(int bits); void setStopBits(int bits); @@ -72,8 +72,6 @@ protected: bool userConfigured; ///< Switch to detect if current values are user-selected and shouldn't be overriden private: - - bool _userConfigured; Ui::serialSettings _ui; SerialConfiguration* _config; QTimer* _portCheckTimer; diff --git a/src/ui/SerialSettings.ui b/src/ui/SerialSettings.ui index 415e372e70efe5ea66e3c5eb42f817be24a6c995..4025803fa507841a68b43af39908f3ae1db95df7 100644 --- a/src/ui/SerialSettings.ui +++ b/src/ui/SerialSettings.ui @@ -32,16 +32,19 @@ - The serial port to which the system is connected. All ports listed here should work. + The serial port to which the system is connected. - The serial port to which the system is connected. All ports listed here should work. + The serial port to which the system is connected. - The serial port to which the system is connected. All ports listed here should work. + The serial port to which the system is connected. - true + false + + + 100 QComboBox::AdjustToContents diff --git a/src/ui/SettingsDialog.cc b/src/ui/SettingsDialog.cc index d8561886557ed08f743df99cb6e4a4e66ab56039..bbe196c8f28c6f9e859d28e1032a5e8c30b5213d 100644 --- a/src/ui/SettingsDialog.cc +++ b/src/ui/SettingsDialog.cc @@ -28,7 +28,9 @@ #include "MainWindow.h" #include "ui_SettingsDialog.h" +#ifndef __android__ #include "JoystickWidget.h" +#endif #include "LinkManager.h" #include "MAVLinkProtocol.h" #include "MAVLinkSettingsWidget.h" @@ -39,7 +41,11 @@ #include "QGCMessageBox.h" #include "MainToolBar.h" +#ifndef __android__ SettingsDialog::SettingsDialog(JoystickInput *joystick, QWidget *parent, int showTab, Qt::WindowFlags flags) : +#else +SettingsDialog::SettingsDialog(QWidget *parent, int showTab, Qt::WindowFlags flags) : +#endif QDialog(parent, flags), _mainWindow(MainWindow::instance()), _ui(new Ui::SettingsDialog) @@ -52,13 +58,17 @@ _ui(new Ui::SettingsDialog) move(position.topLeft()); QGCLinkConfiguration* pLinkConf = new QGCLinkConfiguration(this); +#ifndef __android__ JoystickWidget* pJoystickConf = new JoystickWidget(joystick, this); +#endif MAVLinkSettingsWidget* pMavsettings = new MAVLinkSettingsWidget(MAVLinkProtocol::instance(), this); // Add the link settings pane _ui->tabWidget->addTab(pLinkConf, "Comm Links"); +#ifndef __android__ // Add the joystick settings pane _ui->tabWidget->addTab(pJoystickConf, "Controllers"); +#endif // Add the MAVLink settings pane _ui->tabWidget->addTab(pMavsettings, "MAVLink"); @@ -71,6 +81,7 @@ _ui(new Ui::SettingsDialog) _ui->showGPS->setChecked(settings.value( TOOL_BAR_SHOW_GPS, true).toBool()); _ui->showMav->setChecked(settings.value( TOOL_BAR_SHOW_MAV, true).toBool()); _ui->showMessages->setChecked(settings.value(TOOL_BAR_SHOW_MESSAGES, true).toBool()); + _ui->showRSSI->setChecked(settings.value( TOOL_BAR_SHOW_RSSI, true).toBool()); settings.endGroup(); // Audio preferences _ui->audioMuteCheckBox->setChecked(GAudioOutput::instance()->isMuted()); @@ -102,9 +113,11 @@ _ui(new Ui::SettingsDialog) case ShowCommLinks: _ui->tabWidget->setCurrentWidget(pLinkConf); break; +#ifndef __android__ case ShowControllers: _ui->tabWidget->setCurrentWidget(pJoystickConf); break; +#endif case ShowMavlink: _ui->tabWidget->setCurrentWidget(pMavsettings); break; @@ -194,3 +207,8 @@ void SettingsDialog::on_showMav_clicked(bool checked) { _mainWindow->getMainToolBar()->viewStateChanged(TOOL_BAR_SHOW_MAV, checked); } + +void SettingsDialog::on_showRSSI_clicked(bool checked) +{ + _mainWindow->getMainToolBar()->viewStateChanged(TOOL_BAR_SHOW_RSSI, checked); +} diff --git a/src/ui/SettingsDialog.h b/src/ui/SettingsDialog.h index b8a3f8bedd287e7f0486b5f58b79844b41d5e868..cd85684306c05b02bab945071f1c79258d34b02b 100644 --- a/src/ui/SettingsDialog.h +++ b/src/ui/SettingsDialog.h @@ -45,7 +45,11 @@ public: ShowMavlink }; +#ifdef __android__ + SettingsDialog(QWidget *parent = 0, int showTab = ShowDefault, Qt::WindowFlags flags = Qt::Sheet); +#else SettingsDialog(JoystickInput *joystick, QWidget *parent = 0, int showTab = ShowDefault, Qt::WindowFlags flags = Qt::Sheet); +#endif ~SettingsDialog(); public slots: @@ -61,6 +65,8 @@ private slots: void on_showMessages_clicked(bool checked); void on_showMav_clicked(bool checked); + void on_showRSSI_clicked(bool checked); + private: MainWindow* _mainWindow; Ui::SettingsDialog* _ui; diff --git a/src/ui/SettingsDialog.ui b/src/ui/SettingsDialog.ui index 16bcdbec7fcf824741fd1b24f3b800a872a538dd..036595c8181c5e781afccf83a1b511923c1bf39a 100644 --- a/src/ui/SettingsDialog.ui +++ b/src/ui/SettingsDialog.ui @@ -7,7 +7,7 @@ 0 0 500 - 604 + 596 @@ -37,338 +37,326 @@ - - - 10 + + + + 0 + 0 + - - - - - 0 - 0 - - - - Mute all audio output - - - - 0 - 0 - - - - - - - - - 0 - 0 - - - - Automatically reconnect last link on application startup - - - - 0 - 0 - - - - - - - - - 0 - 0 - - - - Lowers all update rates to save battery power - - - Enable low power mode - - - - 0 - 0 - - - - - - - - - 0 - 0 - - - - Prompt to save Flight Data Log after each flight - - - - 0 - 0 - - - - - - - - - 0 - 0 - - - - Style - - - false - - - false - - + + Mute all audio output + + + + 0 + 0 + + + + + + + + + 0 + 0 + + + + Automatically reconnect last link on application startup + + + + 0 + 0 + + + + + + + + + 0 + 0 + + + + Lowers all update rates to save battery power + + + Enable low power mode + + + + 0 + 0 + + + + + + + + + 0 + 0 + + + + Prompt to save Flight Data Log after each flight + + + + 0 + 0 + + + + + + + + + 0 + 0 + + + + Style + + + false + + + false + + + + 8 + + + 8 + + + + + 0 + + + QLayout::SetDefaultConstraint + + + 0 + + + 80 + - - - QLayout::SetMinimumSize - - - 0 + + + + 0 + 0 + - - 80 + + + 200 + 0 + - - - - 0 - 0 - - - - - 200 - 0 - - - - - Dark (for indoor use) - - - - - Light (for outdoor use) - - - + + Dark (for indoor use) + - + + + Light (for outdoor use) + + + - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - File Locations - - + + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + File Locations + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + Specify the location you would like to save files: + + + true + + + + + - - - - 0 - 0 - - + - 0 - 0 + 200 + 21 - - Specify the location you would like to save files: + + 1024 - - true + + + + + + Browse + + + + + + + + + + 0 + 0 + + + + Tool Bar + + + + - + - + - 200 - 21 + 160 + 0 - - 1024 + + Show GPS - + - Browse + Show Messages - - - - - - - - 0 - 0 - - - - Tool Bar - - - + - - - - - - 160 - 0 - - - - Show GPS - - - - - - - Show Messages - - - - + + + + 160 + 0 + + + + Show Battery + + - - - - - - 160 - 0 - - - - Show Battery - - - - - - - Show Mav Icon - - - - + + + Show Mav Icon + + - - - - - - - Reset All Settings to Default - - - + - Delete all saved settings on next boot - - - - - - - - 11 - - - - Note: You can also use --clear-settings as a command line option to accomplish this. - - - true + Show RSSI - - - - - - Qt::Vertical - - - - 20 - 10 - - - - - + + + + + + + + Reset All Settings to Default + + + + + + Delete all saved settings on next boot + + + + + + + + 11 + + + + Note: You can also use --clear-settings as a command line option to accomplish this. + + + true + + + + + - audioMuteCheckBox - reconnectCheckBox - lowPowerCheckBox - promptFlightDataSave - groupBox - fileLocationsLayout - groupBox_2 - groupBox_3 diff --git a/src/ui/UASControl.ui b/src/ui/UASControl.ui index 70ad156a373273d0cf740c7df1e877e24c283821..446e3313a41a2bbcd85a2c84efdf39c3f44e5206 100644 --- a/src/ui/UASControl.ui +++ b/src/ui/UASControl.ui @@ -111,10 +111,6 @@ Start - - - :/files/images/control/launch.svg:/files/images/control/launch.svg - @@ -134,10 +130,6 @@ Land - - - :/files/images/control/land.svg:/files/images/control/land.svg - @@ -157,10 +149,6 @@ Halt - - - :/files/images/actions/system-log-out.svg:/files/images/actions/system-log-out.svg - @@ -198,10 +186,6 @@ Set - - - :/files/images/devices/network-wireless.svg:/files/images/devices/network-wireless.svg - @@ -273,8 +257,6 @@ - - - + diff --git a/src/ui/UASView.ui b/src/ui/UASView.ui index d7f60ca109daf2c7cf0abb94adbfcacd200df90d..c7a35466decaa58cf9659d24c2ede21ab24cebdd 100644 --- a/src/ui/UASView.ui +++ b/src/ui/UASView.ui @@ -63,7 +63,7 @@ - :/files/images/mavs/unknown.svg + :/res/mavs/Unknown @@ -176,7 +176,7 @@ - :/files/images/control/launch.svg:/files/images/control/launch.svg + :/res/Launch:/res/Launch @@ -211,7 +211,7 @@ - :/files/images/actions/media-playback-stop.svg:/files/images/actions/media-playback-stop.svg + :/res/Stop:/res/Stop @@ -240,7 +240,7 @@ - :/files/images/actions/media-playback-pause.svg:/files/images/actions/media-playback-pause.svg + :/res/Pause:/res/Pause @@ -269,7 +269,7 @@ - :/files/images/actions/media-playback-start.svg:/files/images/actions/media-playback-start.svg + :/res/Play:/res/Play @@ -298,7 +298,7 @@ - :/files/images/control/land.svg:/files/images/control/land.svg + :/res/Land:/res/Land @@ -327,7 +327,7 @@ - :/files/images/actions/process-stop.svg:/files/images/actions/process-stop.svg + :/res/Kill:/res/Kill @@ -350,7 +350,7 @@ - :/files/images/actions/system-log-out.svg:/files/images/actions/system-log-out.svg + :/res/Shutdown:/res/Shutdown diff --git a/src/ui/WaypointEditableView.cc b/src/ui/WaypointEditableView.cc index 45955cd16ca2cbfb8931bf0fde4af6f2d40f29e7..d7bf35e9df8e18637183e634ec0b87e0c714dad4 100644 --- a/src/ui/WaypointEditableView.cc +++ b/src/ui/WaypointEditableView.cc @@ -84,6 +84,7 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) : m_ui->comboBox_frame->addItem("Global/Abs. Alt",MAV_FRAME_GLOBAL); m_ui->comboBox_frame->addItem("Global/Rel. Alt", MAV_FRAME_GLOBAL_RELATIVE_ALT); m_ui->comboBox_frame->addItem("Local(NED)",MAV_FRAME_LOCAL_NED); + m_ui->comboBox_frame->addItem("Local Offset(NED)",MAV_FRAME_LOCAL_OFFSET_NED); m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION); // We do not want users to mess with the current waypoint in missions - diff --git a/src/ui/WaypointEditableView.ui b/src/ui/WaypointEditableView.ui index 618842ee3983491550d5eb29554c650449cb7b25..7156a0ce107bb17ef2b39c933337675fd9e1f437 100644 --- a/src/ui/WaypointEditableView.ui +++ b/src/ui/WaypointEditableView.ui @@ -216,7 +216,7 @@ - :/files/images/actions/go-up.svg:/files/images/actions/go-up.svg + :/res/UpArrow:/res/UpArrow @@ -248,7 +248,7 @@ - :/files/images/actions/go-down.svg:/files/images/actions/go-down.svg + :/res/DownArrow:/res/DownArrow @@ -277,7 +277,7 @@ - :/files/images/actions/list-remove.svg:/files/images/actions/list-remove.svg + :/res/MinusSign:/res/MinusSign diff --git a/src/ui/WaypointList.ui b/src/ui/WaypointList.ui index b635240c563478e54f09a5e4e71108642625759c..218f5ed4ef1a06f8092dfd8ddff32bb58699ea4a 100644 --- a/src/ui/WaypointList.ui +++ b/src/ui/WaypointList.ui @@ -79,7 +79,7 @@ - :/files/images/actions/list-add.svg:/files/images/actions/list-add.svg + :/res/PlusSign:/res/PlusSign @@ -193,10 +193,6 @@ Get - - - :/files/images/status/software-update-available.svg:/files/images/status/software-update-available.svg - @@ -216,10 +212,6 @@ Set - - - :/files/images/devices/network-wireless.svg:/files/images/devices/network-wireless.svg - @@ -238,7 +230,7 @@ - :/files/images/actions/process-stop.svg:/files/images/actions/process-stop.svg + :/res/Kill:/res/Kill @@ -261,7 +253,7 @@ - :/files/images/actions/go-bottom.svg:/files/images/actions/go-bottom.svg + :/res/BottomArrow:/res/BottomArrow @@ -358,7 +350,7 @@ - :/files/images/actions/go-jump.svg:/files/images/actions/go-jump.svg + :/res/JumpArrow:/res/JumpArrow @@ -368,10 +360,6 @@ - - - :/files/images/actions/list-add.svg:/files/images/actions/list-add.svg - Add Waypoint @@ -380,10 +368,6 @@ - - - :/files/images/devices/network-wireless.svg:/files/images/devices/network-wireless.svg - Transmit @@ -392,10 +376,6 @@ - - - :/files/images/status/software-update-available.svg:/files/images/status/software-update-available.svg - Read diff --git a/src/ui/XbeeConfigurationWindow.cpp b/src/ui/XbeeConfigurationWindow.cpp index 72104bffd966b65cd69d67a0a754bf826bf202bf..847ab8e93dd22c73cfcd2962f7f775015b022e5a 100644 --- a/src/ui/XbeeConfigurationWindow.cpp +++ b/src/ui/XbeeConfigurationWindow.cpp @@ -204,8 +204,6 @@ XbeeConfigurationWindow::XbeeConfigurationWindow(LinkInterface* link, QWidget *p { this->link = xbeeLink; - action = new QAction(QIcon(":/files/images/devices/network-wireless.svg"), "", link); - baudLabel = new QLabel; baudLabel->setText(tr("Baut Rate")); baudBox = new QComboBox; @@ -402,11 +400,6 @@ void XbeeConfigurationWindow::hideEvent(QHideEvent* event) portCheckTimer->stop(); } -QAction* XbeeConfigurationWindow::getAction() -{ - return action; -} - void XbeeConfigurationWindow::configureCommunication() { this->setupPortList(); diff --git a/src/ui/XbeeConfigurationWindow.h b/src/ui/XbeeConfigurationWindow.h index afcdf4779ad9c822539cb003d36bed156f41c85f..1a6f233fd03c3fd292590f0cb413360e672a15d8 100644 --- a/src/ui/XbeeConfigurationWindow.h +++ b/src/ui/XbeeConfigurationWindow.h @@ -23,8 +23,6 @@ public: XbeeConfigurationWindow(LinkInterface* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet); ~XbeeConfigurationWindow(); - QAction* getAction(); - public slots: void configureCommunication(); void setPortName(QString port); @@ -49,7 +47,6 @@ private: QHBoxLayout *xbeeLayout; QVBoxLayout *tmpLayout; XbeeLinkInterface* link; - QAction* action; QTimer* portCheckTimer; HexSpinBox* highAddr; HexSpinBox* lowAddr; diff --git a/src/ui/configuration/SerialSettingsDialog.cc b/src/ui/configuration/SerialSettingsDialog.cc index 83418c9d992ccd9d535a94941590dbf3a6489646..2b5c6b4792174cc2365cd21a3e1dcdcb45bd7d72 100644 --- a/src/ui/configuration/SerialSettingsDialog.cc +++ b/src/ui/configuration/SerialSettingsDialog.cc @@ -37,8 +37,13 @@ This file is part of the APM_PLANNER project #include "terminalconsole.h" #include "ui_SerialSettingsDialog.h" +#ifdef __android__ +#include "qserialport.h" +#include "qserialportinfo.h" +#else #include #include +#endif #include #include diff --git a/src/ui/configuration/SerialSettingsDialog.h b/src/ui/configuration/SerialSettingsDialog.h index 79eff0e72c70f247c033a1a84c18da83a7b4648b..3aec3deca971943a2b4a51347863e2eb2e793544 100644 --- a/src/ui/configuration/SerialSettingsDialog.h +++ b/src/ui/configuration/SerialSettingsDialog.h @@ -37,7 +37,11 @@ This file is part of the APM_PLANNER project #define SERIALSETTINGSDIALOG_H #include +#ifdef __android__ +#include "qserialport.h" +#else #include +#endif namespace Ui { class SerialSettingsDialog; diff --git a/src/ui/configuration/terminalconsole.cpp b/src/ui/configuration/terminalconsole.cpp index 54a090f51620cbd48c1a89577dcd48a510a5e66a..fe1a0d7fc89740446abd2a70f3a92dd682d1f579 100644 --- a/src/ui/configuration/terminalconsole.cpp +++ b/src/ui/configuration/terminalconsole.cpp @@ -45,8 +45,13 @@ This file is part of the APM_PLANNER project #include #include #include +#ifdef __android__ +#include "qserialport.h" +#include "qserialportinfo.h" +#else #include #include +#endif TerminalConsole::TerminalConsole(QWidget *parent) : QWidget(parent), diff --git a/src/ui/configuration/terminalconsole.h b/src/ui/configuration/terminalconsole.h index f100a6ef24e83fdeed46bc8100af3f5daf65f6eb..909416edd95a613842fcc7318617347125b2aa20 100644 --- a/src/ui/configuration/terminalconsole.h +++ b/src/ui/configuration/terminalconsole.h @@ -39,7 +39,11 @@ This file is part of the APM_PLANNER project #include "SerialSettingsDialog.h" #include +#ifdef __android__ +#include "qserialport.h" +#else #include +#endif namespace Ui { class TerminalConsole; diff --git a/src/ui/designer/QGCActionButton.ui b/src/ui/designer/QGCActionButton.ui deleted file mode 100644 index 93144ae18888f48ff76c8b0408acfece6c01b178..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCActionButton.ui +++ /dev/null @@ -1,110 +0,0 @@ - - - QGCActionButton - - - - 0 - 0 - 400 - 111 - - - - Form - - - - 6 - - - 3 - - - 6 - - - 3 - - - - - - 50 - 0 - - - - Description - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - - - Refresh Actions - - - - - - - Done - - - - - - - Button name - - - - - - - Description - - - - - - - - 30 - 0 - - - - Button name - - - - - - - - - editNameLabel - textChanged(QString) - nameLabel - setText(QString) - - - 114 - 22 - - - 114 - 55 - - - - - diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc deleted file mode 100644 index 70b892615ae37c7c56606833fd326a9490cb4080..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCCommandButton.cc +++ /dev/null @@ -1,348 +0,0 @@ -#include -#include - -#include "QGCCommandButton.h" -#include "ui_QGCCommandButton.h" - -#include "MAVLinkProtocol.h" -#include "UASManager.h" - -QGCCommandButton::QGCCommandButton(QWidget *parent) : - QGCToolWidgetItem("Command Button", parent), - ui(new Ui::QGCCommandButton), - uas(NULL) -{ - ui->setupUi(this); - - responsecount = 0; - responsenum = 0; - - connect(ui->commandButton, SIGNAL(clicked()), this, SLOT(sendCommand())); - connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode())); - connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setCommandButtonName(QString))); - connect(ui->editCommandComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString))); - - // Hide all edit items - ui->editCommandComboBox->hide(); - ui->editFinishButton->hide(); - ui->editNameLabel->hide(); - ui->editButtonName->hide(); - ui->editConfirmationCheckBox->hide(); - ui->editComponentSpinBox->hide(); - ui->editParamsVisibleCheckBox->hide(); - ui->editParam1SpinBox->hide(); - ui->editParam2SpinBox->hide(); - ui->editParam3SpinBox->hide(); - ui->editParam4SpinBox->hide(); - ui->editLine1->hide(); - ui->editLine2->hide(); - - // Add commands to combo box - ui->editCommandComboBox->addItem("CUSTOM 0", 0); - ui->editCommandComboBox->addItem("CUSTOM 1", 1); - ui->editCommandComboBox->addItem("CUSTOM 2", 2); - ui->editCommandComboBox->addItem("CUSTOM 3", 3); - ui->editCommandComboBox->addItem("CUSTOM 4", 4); - ui->editCommandComboBox->addItem("CUSTOM 5", 5); - ui->editCommandComboBox->addItem("CUSTOM 6", 6); - ui->editCommandComboBox->addItem("CUSTOM 7", 7); - ui->editCommandComboBox->addItem("CUSTOM 8", 8); - ui->editCommandComboBox->addItem("CUSTOM 9", 9); - ui->editCommandComboBox->addItem("CUSTOM 10", 10); - ui->editCommandComboBox->addItem("CUSTOM 11", 11); - ui->editCommandComboBox->addItem("CUSTOM 12", 12); - ui->editCommandComboBox->addItem("CUSTOM 13", 13); - ui->editCommandComboBox->addItem("CUSTOM 14", 14); - ui->editCommandComboBox->addItem("CUSTOM 15", 15); - ui->editCommandComboBox->addItem("NAV_WAYPOINT", MAV_CMD_NAV_WAYPOINT); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", MAV_CMD_NAV_LOITER_UNLIM); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", MAV_CMD_NAV_LOITER_TURNS); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", MAV_CMD_NAV_LOITER_TIME); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", MAV_CMD_NAV_RETURN_TO_LAUNCH); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", MAV_CMD_NAV_LAND); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", MAV_CMD_NAV_TAKEOFF); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", MAV_CMD_NAV_ROI); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", MAV_CMD_NAV_PATHPLANNING); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_SPLINE_WAYPOINT", MAV_CMD_NAV_SPLINE_WAYPOINT); - ui->editCommandComboBox->addItem("MAV_CMD_NAV_GUIDED_ENABLE", MAV_CMD_NAV_GUIDED_ENABLE); - ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DELAY", MAV_CMD_CONDITION_DELAY); - ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_CHANGE_ALT", MAV_CMD_CONDITION_CHANGE_ALT); - ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DISTANCE", MAV_CMD_CONDITION_DISTANCE); - ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_YAW", MAV_CMD_CONDITION_YAW); - ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_LAST", MAV_CMD_CONDITION_LAST); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", MAV_CMD_DO_SET_MODE); - ui->editCommandComboBox->addItem("MAV_CMD_DO_JUMP", MAV_CMD_DO_JUMP); - ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", MAV_CMD_DO_CHANGE_SPEED); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", MAV_CMD_DO_SET_HOME); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_PARAMETER", MAV_CMD_DO_SET_PARAMETER); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", MAV_CMD_DO_SET_RELAY); - ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", MAV_CMD_DO_REPEAT_RELAY); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", MAV_CMD_DO_SET_SERVO); - ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_SERVO", MAV_CMD_DO_REPEAT_SERVO); - ui->editCommandComboBox->addItem("MAV_CMD_DO_FLIGHTTERMINATION", MAV_CMD_DO_FLIGHTTERMINATION); - ui->editCommandComboBox->addItem("MAV_CMD_DO_LAND_START", MAV_CMD_DO_LAND_START); - ui->editCommandComboBox->addItem("MAV_CMD_DO_RALLY_LAND", MAV_CMD_DO_RALLY_LAND); - ui->editCommandComboBox->addItem("MAV_CMD_DO_GO_AROUND", MAV_CMD_DO_GO_AROUND); - ui->editCommandComboBox->addItem("MAV_CMD_DO_CONTROL_VIDEO", MAV_CMD_DO_CONTROL_VIDEO); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_ROI", MAV_CMD_DO_SET_ROI); - ui->editCommandComboBox->addItem("MAV_CMD_DO_DIGICAM_CONFIGURE", MAV_CMD_DO_DIGICAM_CONFIGURE); - ui->editCommandComboBox->addItem("MAV_CMD_DO_DIGICAM_CONTROL", MAV_CMD_DO_DIGICAM_CONTROL); - ui->editCommandComboBox->addItem("MAV_CMD_DO_MOUNT_CONFIGURE", MAV_CMD_DO_MOUNT_CONFIGURE); - ui->editCommandComboBox->addItem("MAV_CMD_DO_MOUNT_CONTROL", MAV_CMD_DO_MOUNT_CONTROL); - ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_CAM_TRIGG_DIST", MAV_CMD_DO_SET_CAM_TRIGG_DIST); - ui->editCommandComboBox->addItem("MAV_CMD_DO_FENCE_ENABLE", MAV_CMD_DO_FENCE_ENABLE); - ui->editCommandComboBox->addItem("MAV_CMD_DO_PARACHUTE", MAV_CMD_DO_PARACHUTE); - ui->editCommandComboBox->addItem("MAV_CMD_DO_INVERTED_FLIGHT", MAV_CMD_DO_INVERTED_FLIGHT); - ui->editCommandComboBox->addItem("MAV_CMD_DO_MOUNT_CONTROL_QUAT", MAV_CMD_DO_MOUNT_CONTROL_QUAT); - ui->editCommandComboBox->addItem("MAV_CMD_DO_GUIDED_MASTER", MAV_CMD_DO_GUIDED_MASTER); - ui->editCommandComboBox->addItem("MAV_CMD_DO_GUIDED_LIMITS", MAV_CMD_DO_GUIDED_LIMITS); - ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_CALIBRATION", MAV_CMD_PREFLIGHT_CALIBRATION); - ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS); - ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_STORAGE", MAV_CMD_PREFLIGHT_STORAGE); - ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN); - ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO); - ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START); - ui->editCommandComboBox->addItem("MAV_CMD_COMPONENT_ARM_DISARM", MAV_CMD_COMPONENT_ARM_DISARM); - ui->editCommandComboBox->addItem("MAV_CMD_START_RX_PAIR", MAV_CMD_START_RX_PAIR); - ui->editCommandComboBox->addItem("MAV_CMD_IMAGE_START_CAPTURE", MAV_CMD_IMAGE_START_CAPTURE); - ui->editCommandComboBox->addItem("MAV_CMD_IMAGE_STOP_CAPTURE", MAV_CMD_IMAGE_STOP_CAPTURE); - ui->editCommandComboBox->addItem("MAV_CMD_VIDEO_START_CAPTURE", MAV_CMD_VIDEO_START_CAPTURE); - ui->editCommandComboBox->addItem("MAV_CMD_VIDEO_STOP_CAPTURE", MAV_CMD_VIDEO_STOP_CAPTURE); - ui->editCommandComboBox->addItem("MAV_CMD_PANORAMA_CREATE", MAV_CMD_PANORAMA_CREATE); - ui->editCommandComboBox->addItem("MAV_CMD_PAYLOAD_PREPARE_DEPLOY", MAV_CMD_PAYLOAD_PREPARE_DEPLOY); - ui->editCommandComboBox->addItem("MAV_CMD_PAYLOAD_CONTROL_DEPLOY", MAV_CMD_PAYLOAD_CONTROL_DEPLOY); - ui->editCommandComboBox->setEditable(true); - - init(); -} - -QGCCommandButton::~QGCCommandButton() -{ - delete ui; -} - -void QGCCommandButton::sendCommand() -{ - if (QGCToolWidgetItem::uas) - { - if (responsenum != 0) - { - if (responsecount == 0) - { - //We're finished. Reset. - qDebug() << "Finished sequence"; - QGCToolWidgetItem::uas->executeCommandAck(responsenum-responsecount,true); - responsecount = responsenum; - return; - } - if (responsecount < responsenum) - { - qDebug() << responsecount << responsenum; - QGCToolWidgetItem::uas->executeCommandAck(responsenum-responsecount,true); - responsecount--; - return; - } - else - { - qDebug() << "No sequence yet, sending command"; - responsecount--; - } - } - // Check if command text is a number - bool ok; - int index = 0; - index = ui->editCommandComboBox->currentText().toInt(&ok); - if (!ok) - { - // Command was not a number, assume it was one of the text items - index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(&ok); - if (ok) - { - // Text item found, proceed - MAV_CMD command = static_cast(index); - int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0; - float param1 = ui->editParam1SpinBox->value(); - float param2 = ui->editParam2SpinBox->value(); - float param3 = ui->editParam3SpinBox->value(); - float param4 = ui->editParam4SpinBox->value(); - float param5 = ui->editParam5SpinBox->value(); - float param6 = ui->editParam6SpinBox->value(); - float param7 = ui->editParam7SpinBox->value(); - int component = ui->editComponentSpinBox->value(); - if (showlabelname != "") - { - emit showLabel(showlabelname,index); - } - QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component); - //qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index; - } - } - } - else - { - qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; - } -} - -void QGCCommandButton::setCommandButtonName(QString text) -{ - ui->commandButton->setText(text); -} - -void QGCCommandButton::setEditMode(bool editMode) -{ - // Hide elements - ui->commandButton->setVisible(!editMode); - ui->nameLabel->setVisible(!editMode); - - ui->editCommandComboBox->blockSignals(!editMode); - ui->editCommandComboBox->setVisible(editMode); - ui->editFinishButton->setVisible(editMode); - ui->editNameLabel->setVisible(editMode); - ui->editButtonName->setVisible(editMode); - ui->editConfirmationCheckBox->setVisible(editMode); - ui->editComponentSpinBox->setVisible(editMode); - ui->editParamsVisibleCheckBox->setVisible(editMode); - bool showParams = editMode || ui->editParamsVisibleCheckBox->isChecked(); - ui->editParam1SpinBox->setVisible(showParams); - ui->editParam2SpinBox->setVisible(showParams); - ui->editParam3SpinBox->setVisible(showParams); - ui->editParam4SpinBox->setVisible(showParams); - ui->editParam5SpinBox->setVisible(showParams); - ui->editParam6SpinBox->setVisible(showParams); - ui->editParam7SpinBox->setVisible(showParams); - - ui->editLine1->setVisible(editMode); - ui->editLine2->setVisible(editMode); - - QGCToolWidgetItem::setEditMode(editMode); -} - -void QGCCommandButton::writeSettings(QSettings& settings) -{ - //qDebug() << "COMMAND BUTTON WRITING SETTINGS"; - settings.setValue("TYPE", "COMMANDBUTTON"); - settings.setValue("QGC_COMMAND_BUTTON_DESCRIPTION", ui->nameLabel->text()); - settings.setValue("QGC_COMMAND_BUTTON_BUTTONTEXT", ui->commandButton->text()); - settings.setValue("QGC_COMMAND_BUTTON_COMMANDID", ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt()); - settings.setValue("QGC_COMMAND_BUTTON_PARAMS_VISIBLE", ui->editParamsVisibleCheckBox->isChecked()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM1", ui->editParam1SpinBox->value()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM2", ui->editParam2SpinBox->value()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM3", ui->editParam3SpinBox->value()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM4", ui->editParam4SpinBox->value()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM5", ui->editParam5SpinBox->value()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM6", ui->editParam6SpinBox->value()); - settings.setValue("QGC_COMMAND_BUTTON_PARAM7", ui->editParam7SpinBox->value()); - settings.sync(); -} -void QGCCommandButton::readSettings(const QString& pre,const QVariantMap& settings) -{ - ui->editButtonName->setText(settings.value(pre + "QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - ui->editCommandComboBox->setCurrentIndex(settings.value(pre + "QGC_COMMAND_BUTTON_COMMANDID", 0).toInt()); - ui->commandButton->setText(settings.value(pre + "QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - - int commandId = settings.value(pre + "QGC_COMMAND_BUTTON_COMMANDID", 0).toInt(); - - ui->editParam1SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM1", 0.0).toDouble()); - ui->editParam2SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM2", 0.0).toDouble()); - ui->editParam3SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM3", 0.0).toDouble()); - ui->editParam4SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM4", 0.0).toDouble()); - ui->editParam5SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM5", 0.0).toDouble()); - ui->editParam6SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM6", 0.0).toDouble()); - ui->editParam7SpinBox->setValue(settings.value(pre + "QGC_COMMAND_BUTTON_PARAM7", 0.0).toDouble()); - - ui->editCommandComboBox->setCurrentIndex(0); - - // Find combobox entry for this data - for (int i = 0; i < ui->editCommandComboBox->count(); ++i) - { - if (commandId == ui->editCommandComboBox->itemData(i).toInt()) - { - ui->editCommandComboBox->setCurrentIndex(i); - } - } - - ui->editParamsVisibleCheckBox->setChecked(settings.value(pre + "QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool()); - if (ui->editParamsVisibleCheckBox->isChecked()) - { - ui->editParam1SpinBox->show(); - ui->editParam2SpinBox->show(); - ui->editParam3SpinBox->show(); - ui->editParam4SpinBox->show(); - ui->editParam5SpinBox->show(); - ui->editParam6SpinBox->show(); - ui->editParam7SpinBox->show(); - } - else - { - ui->editParam1SpinBox->hide(); - ui->editParam2SpinBox->hide(); - ui->editParam3SpinBox->hide(); - ui->editParam4SpinBox->hide(); - ui->editParam5SpinBox->hide(); - ui->editParam6SpinBox->hide(); - ui->editParam7SpinBox->hide(); - } - - ui->editNameLabel->setText(settings.value(pre + "QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); - ui->nameLabel->setText(settings.value(pre + "QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); - - responsenum = settings.value(pre + "QGC_COMMAND_BUTTON_RESPONSE",0).toInt(); - responsecount = responsenum; -} -void QGCCommandButton::readSettings(const QSettings& settings) -{ - ui->editButtonName->setText(settings.value("QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_COMMAND_BUTTON_COMMANDID", 0).toInt()); - ui->commandButton->setText(settings.value("QGC_COMMAND_BUTTON_BUTTONTEXT", "UNKNOWN").toString()); - - int commandId = settings.value("QGC_COMMAND_BUTTON_COMMANDID", 0).toInt(); - - ui->editParam1SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM1", 0.0).toDouble()); - ui->editParam2SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM2", 0.0).toDouble()); - ui->editParam3SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM3", 0.0).toDouble()); - ui->editParam4SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM4", 0.0).toDouble()); - ui->editParam5SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM5", 0.0).toDouble()); - ui->editParam6SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM6", 0.0).toDouble()); - ui->editParam7SpinBox->setValue(settings.value("QGC_COMMAND_BUTTON_PARAM7", 0.0).toDouble()); - - showlabelname = settings.value("QGC_COMMAND_BUTTON_LABEL","").toString(); - - ui->editCommandComboBox->setCurrentIndex(0); - - // Find combobox entry for this data - for (int i = 0; i < ui->editCommandComboBox->count(); ++i) - { - if (commandId == ui->editCommandComboBox->itemData(i).toInt()) - { - ui->editCommandComboBox->setCurrentIndex(i); - } - } - - ui->editParamsVisibleCheckBox->setChecked(settings.value("QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool()); - if (ui->editParamsVisibleCheckBox->isChecked()) - { - ui->editParam1SpinBox->show(); - ui->editParam2SpinBox->show(); - ui->editParam3SpinBox->show(); - ui->editParam4SpinBox->show(); - ui->editParam5SpinBox->show(); - ui->editParam6SpinBox->show(); - ui->editParam7SpinBox->show(); - } - else - { - ui->editParam1SpinBox->hide(); - ui->editParam2SpinBox->hide(); - ui->editParam3SpinBox->hide(); - ui->editParam4SpinBox->hide(); - ui->editParam5SpinBox->hide(); - ui->editParam6SpinBox->hide(); - ui->editParam7SpinBox->hide(); - } - - ui->editNameLabel->setText(settings.value("QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); - ui->nameLabel->setText(settings.value("QGC_COMMAND_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString()); - responsenum = settings.value("QGC_COMMAND_BUTTON_RESPONSE",0).toInt(); - responsecount = responsenum; -} diff --git a/src/ui/designer/QGCCommandButton.h b/src/ui/designer/QGCCommandButton.h deleted file mode 100644 index da47e6082c72155f145192614b2980d116d7e035..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCCommandButton.h +++ /dev/null @@ -1,39 +0,0 @@ -#ifndef QGCCOMMANDBUTTON_H -#define QGCCOMMANDBUTTON_H - -#include "QGCToolWidgetItem.h" - -namespace Ui -{ -class QGCCommandButton; -} - -class UASInterface; - -class QGCCommandButton : public QGCToolWidgetItem -{ - Q_OBJECT - -public: - explicit QGCCommandButton(QWidget *parent = 0); - ~QGCCommandButton(); - - virtual void setEditMode(bool editMode); - -public slots: - void sendCommand(); - void setCommandButtonName(QString text); - void writeSettings(QSettings& settings); - void readSettings(const QSettings& settings); - void readSettings(const QString& pre,const QVariantMap& settings); -signals: - void showLabel(QString name, int num); -private: - int responsenum; - int responsecount; - QString showlabelname; - Ui::QGCCommandButton *ui; - UASInterface* uas; -}; - -#endif // QGCCOMMANDBUTTON_H diff --git a/src/ui/designer/QGCCommandButton.ui b/src/ui/designer/QGCCommandButton.ui deleted file mode 100644 index 9b17c39e563b87e44c86797548717336862dc485..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCCommandButton.ui +++ /dev/null @@ -1,288 +0,0 @@ - - - QGCCommandButton - - - - 0 - 0 - 1235 - 430 - - - - Form - - - - 6 - - - 3 - - - 6 - - - 3 - - - - - true - - - - - - - Done - - - - - - - <Button Label> - - - - - - - Button Description - - - - - - - - 60 - 0 - - - - Unnamed - - - - - - - Component ID: - - - 0 - - - 255 - - - - - - - Set the confirm flag for this button. Some commands require that first one command is sent without confirm flag and then a second, equal command with confirm flag. This ensures safety. - - - Set CONFIRM flag - - - - - - - - - PARAM1 Value as defined in MAV_CMD list - - - PARAM1 Value as defined in MAV_CMD list - - - P1 - - - -2147483647.000000000000000 - - - 2147483647.000000000000000 - - - - - - - PARAM2 Value as defined in MAV_CMD list - - - PARAM2 Value as defined in MAV_CMD list - - - P2: - - - -2147483647.000000000000000 - - - 0.000000000000000 - - - - - - - PARAM3 Value as defined in MAV_CMD list - - - PARAM3 Value as defined in MAV_CMD list - - - P3: - - - -2147483647.000000000000000 - - - 2147483647.000000000000000 - - - - - - - PARAM4 Value as defined in MAV_CMD list - - - PARAM4 Value as defined in MAV_CMD list - - - P4: - - - -2147483647.000000000000000 - - - 2147483647.000000000000000 - - - - - - - P5: - - - 7 - - - -2147483647.000000000000000 - - - 2147483647.000000000000000 - - - - - - - P6: - - - 7 - - - -2147483647.000000000000000 - - - 2147483647.000000000000000 - - - - - - - P7: - - - -2147483647.000000000000000 - - - 2147483647.000000000000000 - - - - - - - - - - 50 - 0 - - - - Description - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - Keep parameters visible - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - - - editNameLabel - textChanged(QString) - nameLabel - setText(QString) - - - 114 - 22 - - - 114 - 55 - - - - - diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc deleted file mode 100644 index ba19fe473dd4b2dbc77586dc8d2e489ae5d82feb..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCParamSlider.cc +++ /dev/null @@ -1,539 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "QGCParamSlider.h" -#include "ui_QGCParamSlider.h" -#include "UASInterface.h" -#include "UASManager.h" - - -QGCParamSlider::QGCParamSlider(QWidget *parent) : - QGCToolWidgetItem("Slider", parent), - parameterName(""), - parameterValue(0.0f), - parameterScalingFactor(0.0), - parameterMin(0.0f), - parameterMax(0.0f), - componentId(0), - ui(new Ui::QGCParamSlider) -{ - valueModLock = false; - visibleEnabled = true; - valueModLockParam = false; - ui->setupUi(this); - ui->intValueSpinBox->hide(); - ui->valueSlider->setEnabled(false); - ui->doubleValueSpinBox->setEnabled(false); - uas = NULL; - - scaledInt = ui->valueSlider->maximum() - ui->valueSlider->minimum(); - - ui->editInfoCheckBox->hide(); - ui->editDoneButton->hide(); - ui->editNameLabel->hide(); - ui->editRefreshParamsButton->hide(); - ui->editSelectParamComboBox->hide(); - ui->editSelectComponentComboBox->hide(); - ui->editStatusLabel->hide(); - ui->editMinSpinBox->hide(); - ui->editMaxSpinBox->hide(); - ui->editLine1->hide(); - ui->editLine2->hide(); - ui->infoLabel->hide(); - - connect(ui->editDoneButton, SIGNAL(clicked()), this, SLOT(endEditMode())); - - // Sending actions - connect(ui->writeButton, SIGNAL(clicked()), - this, SLOT(setParamPending())); - connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), - this, SLOT(selectComponent(int))); - connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), - this, SLOT(selectParameter(int))); - connect(ui->valueSlider, SIGNAL(valueChanged(int)), - this, SLOT(setSliderValue(int))); - connect(ui->doubleValueSpinBox, SIGNAL(valueChanged(double)), - this, SLOT(setParamValue(double))); - connect(ui->intValueSpinBox, SIGNAL(valueChanged(int)), - this, SLOT(setParamValue(int))); - connect(ui->editNameLabel, SIGNAL(textChanged(QString)), - ui->nameLabel, SLOT(setText(QString))); - connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter())); - connect(ui->editRefreshParamsButton, SIGNAL(clicked()), - this, SLOT(refreshParamList())); - connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)), - this, SLOT(showInfo(bool))); - // connect to self - connect(ui->infoLabel, SIGNAL(released()), - this, SLOT(showTooltip())); - - init(); - requestParameter(); -} - -QGCParamSlider::~QGCParamSlider() -{ - delete ui; -} - -void QGCParamSlider::showTooltip() -{ - QWidget* sender = dynamic_cast(QObject::sender()); - - if (sender) - { - QPoint point = mapToGlobal(ui->infoLabel->pos()); - QToolTip::showText(point, sender->toolTip()); - } -} - -void QGCParamSlider::refreshParamList() -{ - ui->editSelectParamComboBox->setEnabled(true); - ui->editSelectComponentComboBox->setEnabled(true); - if (uas) { - uas->getParamManager()->requestParameterList(); - ui->editStatusLabel->setText(tr("Parameter list updating..")); - } -} - -void QGCParamSlider::setActiveUAS(UASInterface* activeUas) -{ - - if (uas != activeUas) { - if (uas) { - disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), - this, SLOT(setParameterValue(int,int,int,int,QString,QVariant))); - } - if (activeUas) { - connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), - this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)), Qt::UniqueConnection); - } - uas = activeUas; - } - - if (uas && !parameterName.isEmpty()) { - QString text = uas->getParamManager()->dataModel()->getParamDescription(parameterName); - if (!text.isEmpty()) { - ui->infoLabel->setToolTip(text); - ui->infoLabel->show(); - } - // Force-uncheck and hide label if no description is available - if (ui->editInfoCheckBox->isChecked()) { - showInfo((text.length() > 0)); - } - } - - -} - -void QGCParamSlider::requestParameter() -{ - if (uas && !parameterName.isEmpty()) { - uas->getParamManager()->requestParameterUpdate(componentId, parameterName); - } -} - -void QGCParamSlider::showInfo(bool enable) -{ - ui->editInfoCheckBox->setChecked(enable); - ui->infoLabel->setVisible(enable); -} - -void QGCParamSlider::setParamValue(double value) -{ - parameterValue = (float)value; - //disconnect(ui->valueSlider,SIGNAL(valueChanged(int))); - if (!valueModLock && !valueModLockParam) - { - valueModLock = true; - ui->valueSlider->setValue(floatToScaledInt(value)); - } - else - { - valueModLock = false; - } - //connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int))); -} - -void QGCParamSlider::setParamValue(int value) -{ - parameterValue = value; - // disconnect(ui->valueSlider,SIGNAL(valueChanged(int))); - if (!valueModLock && !valueModLockParam) - { - valueModLock = true; - ui->valueSlider->setValue(floatToScaledInt(value)); - } - else - { - valueModLock = false; - } - //connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int))); -} - -void QGCParamSlider::selectComponent(int componentIndex) -{ - this->componentId = ui->editSelectComponentComboBox->itemData(componentIndex).toInt(); -} - -void QGCParamSlider::selectParameter(int paramIndex) -{ - // Set name - parameterName = ui->editSelectParamComboBox->itemText(paramIndex); - if (parameterName.isEmpty()) { - return; - } - - // Update min and max values if available - if (uas) { - UASParameterDataModel* dataModel = uas->getParamManager()->dataModel(); - if (dataModel) { - // Minimum - if (dataModel->isParamMinKnown(parameterName)) { - parameterMin = dataModel->getParamMin(parameterName); - ui->editMinSpinBox->setValue(parameterMin); - } - - // Maximum - if (dataModel->isParamMaxKnown(parameterName)) { - parameterMax = dataModel->getParamMax(parameterName); - ui->editMaxSpinBox->setValue(parameterMax); - } - } - } -} - -void QGCParamSlider::setEditMode(bool editMode) -{ - if(!editMode) { - // Store component id - selectComponent(ui->editSelectComponentComboBox->currentIndex()); - - // Store parameter name and id - selectParameter(ui->editSelectParamComboBox->currentIndex()); - - // Min/max - parameterMin = ui->editMinSpinBox->value(); - parameterMax = ui->editMaxSpinBox->value(); - - requestParameter(); - - switch ((int)parameterValue.type()) - { - case QVariant::Char: - case QVariant::Int: - case QVariant::UInt: - ui->intValueSpinBox->show(); - break; - case QMetaType::Float: - ui->doubleValueSpinBox->show(); - break; - default: - qCritical() << "ERROR: NO VALID PARAM TYPE"; - return; - } - } else { - ui->doubleValueSpinBox->hide(); - ui->intValueSpinBox->hide(); - } - ui->valueSlider->setVisible(!editMode); - ui->nameLabel->setVisible(!editMode); - ui->writeButton->setVisible(!editMode); - ui->readButton->setVisible(!editMode); - - ui->editInfoCheckBox->setVisible(editMode); - ui->editDoneButton->setVisible(editMode); - ui->editNameLabel->setVisible(editMode); - ui->editRefreshParamsButton->setVisible(editMode); - ui->editSelectParamComboBox->setVisible(editMode); - ui->editSelectComponentComboBox->setVisible(editMode); - ui->editStatusLabel->setVisible(editMode); - ui->editMinSpinBox->setVisible(editMode); - ui->editMaxSpinBox->setVisible(editMode); - ui->writeButton->setVisible(!editMode); - ui->readButton->setVisible(!editMode); - ui->editLine1->setVisible(editMode); - ui->editLine2->setVisible(editMode); - - QGCToolWidgetItem::setEditMode(editMode); -} - -void QGCParamSlider::setParamPending() -{ - if (uas) { - uas->getParamManager()->setPendingParam(componentId, parameterName, parameterValue); - uas->getParamManager()->sendPendingParameters(true, true); - } - else { - qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; - } -} - -void QGCParamSlider::setSliderValue(int sliderValue) -{ - if (!valueModLock && !valueModLockParam) - { - valueModLock = true; - switch ((int)parameterValue.type()) - { - case QVariant::Char: - parameterValue = QVariant(QChar((unsigned char)scaledIntToFloat(sliderValue))); - ui->intValueSpinBox->setValue(parameterValue.toInt()); - break; - case QVariant::Int: - parameterValue = (int)scaledIntToFloat(sliderValue); - ui->intValueSpinBox->setValue(parameterValue.toInt()); - break; - case QVariant::UInt: - parameterValue = (unsigned int)scaledIntToFloat(sliderValue); - ui->intValueSpinBox->setValue(parameterValue.toUInt()); - break; - case QMetaType::Float: - parameterValue = scaledIntToFloat(sliderValue); - ui->doubleValueSpinBox->setValue(parameterValue.toFloat()); - break; - default: - qCritical() << "ERROR: NO VALID PARAM TYPE"; - valueModLock = false; - return; - } - } - else - { - valueModLock = false; - } -} - -/** - * @brief uas Unmanned system sending the parameter - * @brief component UAS component sending the parameter - * @brief parameterName Key/name of the parameter - * @brief value Value of the parameter - */ -void QGCParamSlider::setParameterValue(int uasId, int compId, int paramCount, int paramIndex, QString paramName, QVariant value) -{ - Q_UNUSED(paramCount); - if (uasId != this->uas->getUASID()) { - return; - } - - if (ui->nameLabel->text() == "Name") { - ui->nameLabel->setText(paramName); - } - // Check if this component and parameter are part of the list - bool found = false; - for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i) { - if (compId == ui->editSelectComponentComboBox->itemData(i).toInt()) { - found = true; - } - } - - if (!found) { - ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(compId), compId); - } - - // Parameter checking - found = false; - for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i) { - if (paramName == ui->editSelectParamComboBox->itemText(i)) { - found = true; - } - } - - if (!found) { - ui->editSelectParamComboBox->addItem(paramName, paramIndex); - } - - if (visibleParam != "") { - if (paramName == visibleParam) { - if (visibleVal == value.toInt()) { - uas->getParamManager()->requestParameterUpdate(compId,paramName); - visibleEnabled = true; - this->show(); - } - else { - //Disable the component here. - ui->valueSlider->setEnabled(false); - ui->intValueSpinBox->setEnabled(false); - ui->doubleValueSpinBox->setEnabled(false); - visibleEnabled = false; - this->hide(); - } - } - } - Q_UNUSED(uas); - if (compId == this->componentId && paramName == this->parameterName) { - if (!visibleEnabled) { - return; - } - parameterValue = value; - ui->valueSlider->setEnabled(true); - valueModLockParam = true; - switch ((int)value.type()) - { - case QVariant::Char: - ui->intValueSpinBox->show(); - ui->intValueSpinBox->setEnabled(true); - ui->doubleValueSpinBox->hide(); - ui->intValueSpinBox->setValue(value.toUInt()); - ui->intValueSpinBox->setRange(0, UINT8_MAX); - if (parameterMax == 0 && parameterMin == 0) - { - ui->editMaxSpinBox->setValue(UINT8_MAX); - ui->editMinSpinBox->setValue(0); - } - ui->valueSlider->setValue(floatToScaledInt(value.toUInt())); - break; - case QVariant::Int: - ui->intValueSpinBox->show(); - ui->intValueSpinBox->setEnabled(true); - ui->doubleValueSpinBox->hide(); - ui->intValueSpinBox->setValue(value.toInt()); - ui->intValueSpinBox->setRange(INT32_MIN, INT32_MAX); - if (parameterMax == 0 && parameterMin == 0) - { - ui->editMaxSpinBox->setValue(INT32_MAX); - ui->editMinSpinBox->setValue(INT32_MIN); - } - ui->valueSlider->setValue(floatToScaledInt(value.toInt())); - break; - case QVariant::UInt: - ui->intValueSpinBox->show(); - ui->intValueSpinBox->setEnabled(true); - ui->doubleValueSpinBox->hide(); - ui->intValueSpinBox->setValue(value.toUInt()); - ui->intValueSpinBox->setRange(0, UINT32_MAX); - if (parameterMax == 0 && parameterMin == 0) - { - ui->editMaxSpinBox->setValue(UINT32_MAX); - ui->editMinSpinBox->setValue(0); - } - ui->valueSlider->setValue(floatToScaledInt(value.toUInt())); - break; - case QMetaType::Float: - ui->doubleValueSpinBox->setValue(value.toFloat()); - ui->doubleValueSpinBox->show(); - ui->doubleValueSpinBox->setEnabled(true); - ui->intValueSpinBox->hide(); - if (parameterMax == 0 && parameterMin == 0) - { - ui->editMaxSpinBox->setValue(10000); - ui->editMinSpinBox->setValue(0); - } - ui->valueSlider->setValue(floatToScaledInt(value.toFloat())); - break; - default: - qCritical() << "ERROR: NO VALID PARAM TYPE"; - valueModLockParam = false; - return; - } - valueModLockParam = false; - parameterMax = ui->editMaxSpinBox->value(); - parameterMin = ui->editMinSpinBox->value(); - } - - if (paramIndex == paramCount - 1) { - ui->editStatusLabel->setText(tr("Complete parameter list received.")); - } -} - -void QGCParamSlider::changeEvent(QEvent *e) -{ - QWidget::changeEvent(e); - switch (e->type()) { - case QEvent::LanguageChange: - ui->retranslateUi(this); - break; - default: - break; - } -} - -float QGCParamSlider::scaledIntToFloat(int sliderValue) -{ - float result = (((double)sliderValue)/(double)scaledInt)*(ui->editMaxSpinBox->value() - ui->editMinSpinBox->value()); - //qDebug() << "INT TO FLOAT: CONVERTED" << sliderValue << "TO" << result; - return result; -} - -int QGCParamSlider::floatToScaledInt(float value) -{ - int result = ((value - ui->editMinSpinBox->value())/(ui->editMaxSpinBox->value() - ui->editMinSpinBox->value()))*scaledInt; - //qDebug() << "FLOAT TO INT: CONVERTED" << value << "TO" << result << "SCALEDINT" << scaledInt; - return result; -} - -void QGCParamSlider::writeSettings(QSettings& settings) -{ - settings.setValue("TYPE", "SLIDER"); - settings.setValue("QGC_PARAM_SLIDER_DESCRIPTION", ui->nameLabel->text()); - //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text()); - settings.setValue("QGC_PARAM_SLIDER_PARAMID", parameterName); - settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", componentId); - settings.setValue("QGC_PARAM_SLIDER_MIN", ui->editMinSpinBox->value()); - settings.setValue("QGC_PARAM_SLIDER_MAX", ui->editMaxSpinBox->value()); - settings.setValue("QGC_PARAM_SLIDER_DISPLAY_INFO", ui->editInfoCheckBox->isChecked()); - settings.sync(); -} -void QGCParamSlider::readSettings(const QString& pre,const QVariantMap& settings) -{ - parameterName = settings.value(pre + "QGC_PARAM_SLIDER_PARAMID").toString(); - componentId = settings.value(pre + "QGC_PARAM_SLIDER_COMPONENTID").toInt(); - ui->nameLabel->setText(settings.value(pre + "QGC_PARAM_SLIDER_DESCRIPTION").toString()); - ui->editNameLabel->setText(settings.value(pre + "QGC_PARAM_SLIDER_DESCRIPTION").toString()); - //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text()); - ui->editSelectParamComboBox->addItem(settings.value(pre + "QGC_PARAM_SLIDER_PARAMID").toString()); - ui->editSelectParamComboBox->setCurrentIndex(ui->editSelectParamComboBox->count()-1); - ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value(pre + "QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value(pre + "QGC_PARAM_SLIDER_COMPONENTID").toInt()); - ui->editMinSpinBox->setValue(settings.value(pre + "QGC_PARAM_SLIDER_MIN").toFloat()); - ui->editMaxSpinBox->setValue(settings.value(pre + "QGC_PARAM_SLIDER_MAX").toFloat()); - visibleParam = settings.value(pre+"QGC_PARAM_SLIDER_VISIBLE_PARAM","").toString(); - visibleVal = settings.value(pre+"QGC_PARAM_SLIDER_VISIBLE_VAL",0).toInt(); - parameterMax = ui->editMaxSpinBox->value(); - parameterMin = ui->editMinSpinBox->value(); - //ui->valueSlider->setMaximum(parameterMax); - //ui->valueSlider->setMinimum(parameterMin); - showInfo(settings.value(pre + "QGC_PARAM_SLIDER_DISPLAY_INFO", true).toBool()); - ui->editSelectParamComboBox->setEnabled(true); - ui->editSelectComponentComboBox->setEnabled(true); - - setActiveUAS(UASManager::instance()->getActiveUAS()); -} - -void QGCParamSlider::readSettings(const QSettings& settings) -{ - QVariantMap map; - foreach (QString key,settings.allKeys()) - { - map[key] = settings.value(key); - } - - readSettings("",map); - return; - parameterName = settings.value("QGC_PARAM_SLIDER_PARAMID").toString(); - componentId = settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt(); - ui->nameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString()); - ui->editNameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString()); - //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text()); - ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_SLIDER_PARAMID").toString()); - ui->editSelectParamComboBox->setCurrentIndex(ui->editSelectParamComboBox->count()-1); - ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()); - ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat()); - ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat()); - visibleParam = settings.value("QGC_PARAM_SLIDER_VISIBLE_PARAM","").toString(); - //QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_VISIBLE_PARAM=RC5_FUNCTION - visibleVal = settings.value("QGC_PARAM_SLIDER_VISIBLE_VAL",0).toInt(); - parameterMax = ui->editMaxSpinBox->value(); - parameterMin = ui->editMinSpinBox->value(); - showInfo(settings.value("QGC_PARAM_SLIDER_DISPLAY_INFO", true).toBool()); - ui->editSelectParamComboBox->setEnabled(true); - ui->editSelectComponentComboBox->setEnabled(true); - - setActiveUAS(UASManager::instance()->getActiveUAS()); - -} diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h deleted file mode 100644 index 9ca92423bfa616b9821f00f041704e31b5499d1d..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCParamSlider.h +++ /dev/null @@ -1,78 +0,0 @@ -#ifndef QGCPARAMSLIDER_H -#define QGCPARAMSLIDER_H - -#include -#include -#include - -#include "QGCToolWidgetItem.h" - -namespace Ui -{ -class QGCParamSlider; -} - -class QGCParamSlider : public QGCToolWidgetItem -{ - Q_OBJECT - -public: - explicit QGCParamSlider(QWidget *parent = 0); - ~QGCParamSlider(); - - virtual void setEditMode(bool editMode); - -public slots: - /** @brief Queue parameter for sending to the MAV (add to pending list)*/ - void setParamPending(); - /** @brief Set the slider value as parameter value */ - void setSliderValue(int sliderValue); - /** @brief Update the UI with the new parameter value */ - void setParameterValue(int uas, int componentId, int paramCount, int paramIndex, QString parameterName, const QVariant value); - void writeSettings(QSettings& settings); - void readSettings(const QSettings& settings); - void readSettings(const QString& pre,const QVariantMap& settings); - void refreshParamList(); - void setActiveUAS(UASInterface *uas); - void selectComponent(int componentIndex); - void selectParameter(int paramIndex); - /** @brief Set a double parameter value */ - void setParamValue(double value); - /** @brief Set an integer parameter value */ - void setParamValue(int value); - /** @brief Show descriptive text next to slider */ - void showInfo(bool enable); - /** @brief Show tool tip of calling element */ - void showTooltip(); - -protected slots: - /** @brief Request the parameter of this widget from the MAV */ - void requestParameter(); - -protected: - bool visibleEnabled; - QString visibleParam; - int visibleVal; - //The below variables, and usage in QGCParamSlider.cc are a bit of a hack, since disconnect() does not seem to take effect - //immediatly (perhaps it is put into the event loop?) - MLC - bool valueModLock; ///< Used to keep the slider/spinboxes from updating each other during user input - bool valueModLockParam; ///< Used to keep the slider/spinboxes from udpating each other when a new parametervalue comes in - QString parameterName; ///< Key/Name of the parameter - QVariant parameterValue; ///< Value of the parameter - double parameterScalingFactor; ///< Factor to scale the parameter between slider and true value - float parameterMin; - float parameterMax; - int componentId; ///< ID of the MAV component to address - double scaledInt; - void changeEvent(QEvent *e); - - /** @brief Convert scaled int to float */ - - float scaledIntToFloat(int sliderValue); - int floatToScaledInt(float value); - -private: - Ui::QGCParamSlider *ui; -}; - -#endif // QGCPARAMSLIDER_H diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui deleted file mode 100644 index 7a4c3806f6dd211f522360ff9eaffcdfeae59261..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCParamSlider.ui +++ /dev/null @@ -1,293 +0,0 @@ - - - QGCParamSlider - - - - 0 - 0 - 789 - 244 - - - - Form - - - - 6 - - - 3 - - - 6 - - - 3 - - - 6 - - - 12 - - - - - -999999999 - - - 999999999 - - - - - - - false - - - Select parameter - - - Select parameter - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - - 60 - 0 - - - - - 250 - 16777215 - - - - 1000000 - - - Qt::Horizontal - - - - - - - Done - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - Show Info - - - true - - - - - - - Qt::Horizontal - - - - 0 - 20 - - - - - - - - true - - - Refresh - - - - - - - - 0 - 0 - - - - Read the current parameter value on the system - - - Read the current parameter value on the system - - - Get - - - - - - - false - - - Select component - - - Select component - - - - - - - Parameter Name / Label - - - - - - - Please click first on refresh to update selection menus.. - - - - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Transmit the current slider value to the system - - - Transmit the current slider value to the system - - - Set - - - - - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - MIN: - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - MAX: - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - - 60 - 0 - - - - Name - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - ? - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - diff --git a/src/ui/designer/QGCParamSliderPlugin.cc b/src/ui/designer/QGCParamSliderPlugin.cc deleted file mode 100644 index 75e0e754f02d4a62308d68c33047c83fedfebda7..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCParamSliderPlugin.cc +++ /dev/null @@ -1,81 +0,0 @@ -#include "QGCParamSliderPlugin.h" -#include "QGCParamSlider.h" - -#include - -QGCParamSliderPlugin::QGCParamSliderPlugin(QObject *parent) : - QObject(parent) -{ - initialized = false; -} - -void QGCParamSliderPlugin::initialize(QDesignerFormEditorInterface * /* core */) -{ - if (initialized) - return; - - initialized = true; -} - -bool QGCParamSliderPlugin::isInitialized() const -{ - return initialized; -} - -QWidget *QGCParamSliderPlugin::createWidget(QWidget *parent) -{ - return new QGCParamSlider(parent); -} - -QString QGCParamSliderPlugin::name() const -{ - return "QGCParamSlider"; -} - -QString QGCParamSliderPlugin::group() const -{ - return "QGroundControl"; -} - -QIcon QGCParamSliderPlugin::icon() const -{ - return QIcon(); -} - -QString QGCParamSliderPlugin::toolTip() const -{ - return ""; -} - -QString QGCParamSliderPlugin::whatsThis() const -{ - return ""; -} - -bool QGCParamSliderPlugin::isContainer() const -{ - return false; -} - -QString QGCParamSliderPlugin::domXml() const -{ - return "\n" - " \n" - " \n" - " \n" - " 0\n" - " 0\n" - " 150\n" - " 16\n" - " \n" - " \n" - " \n" - ""; -} - -QString QGCParamSliderPlugin::includeFile() const -{ - return "QGCParamSlider.h"; -} - -Q_EXPORT_PLUGIN2(qgcparamsliderplugin, QGCParamSliderPlugin) diff --git a/src/ui/designer/QGCRadioChannelDisplay.cpp b/src/ui/designer/QGCRadioChannelDisplay.cpp deleted file mode 100644 index 0f3f91b281d0fdbbedad85491bd28f5cd5cd1402..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCRadioChannelDisplay.cpp +++ /dev/null @@ -1,224 +0,0 @@ -#include "QGCRadioChannelDisplay.h" -#include - -#define DIMMEST_COLOR QColor::fromRgb(0,100,0) -#define MIDBRIGHT_COLOR QColor::fromRgb(0,180,0) -#define BRIGHTEST_COLOR QColor::fromRgb(64,255,0) - -QGCRadioChannelDisplay::QGCRadioChannelDisplay(QWidget *parent) : QWidget(parent) -{ - m_showMinMax = false; - m_min = 0; - m_max = 1; - m_value = 1500; - m_orientation = Qt::Vertical; - m_name = "Yaw"; - - m_fillBrush = QBrush(Qt::green, Qt::SolidPattern); - - - - -} -void QGCRadioChannelDisplay::setName(QString name) -{ - m_name = name; - update(); -} - -void QGCRadioChannelDisplay::setOrientation(Qt::Orientation orient) -{ - m_orientation = orient; - update(); -} - -void QGCRadioChannelDisplay::paintEvent(QPaintEvent *event) -{ - Q_UNUSED(event); - - //Values range from 0-3000. - //1500 is the middle, static servo value. - QPainter painter(this); - - - - - int fontHeight = painter.fontMetrics().height(); - int twiceFontHeight = fontHeight * 2; - - painter.setBrush(Qt::Dense4Pattern); - painter.setPen(QColor::fromRgb(128,128,64)); - - int curVal = m_value; - if (curVal > m_max) { - curVal = m_max; - } - if (curVal < m_min) { - curVal = m_min; - } - - if (m_orientation == Qt::Vertical) - { - QLinearGradient gradientBrush(0, 0, this->width(), this->height()); - gradientBrush.setColorAt(1.0,DIMMEST_COLOR); - gradientBrush.setColorAt(0.5,MIDBRIGHT_COLOR); - gradientBrush.setColorAt(0.0, BRIGHTEST_COLOR); - - //draw border - painter.drawRect(0,0,width()-1,(height()-1) - twiceFontHeight); - painter.setPen(QColor::fromRgb(50,255,50)); - painter.setBrush(Qt::SolidPattern); - - //draw the text value of the widget, and its label - painter.setPen(QColor::fromRgb(255,255,255)); - painter.drawText((width()/2.0) - (painter.fontMetrics().width(m_name)/2.0),((height()-3) - (fontHeight*1)),m_name); - - if (isEnabled()) { - QString valStr = QString::number(m_value); - painter.drawText((width()/2.0) - (painter.fontMetrics().width(valStr)/2.0),((height()-3) - (fontHeight * 0)),valStr); - - painter.setPen(QColor::fromRgb(128,128,64)); - painter.setBrush(gradientBrush); - - if (!m_showMinMax) { - //draw just the value - int newval = (height()-2-twiceFontHeight) * ((float)(curVal - m_min) / ((m_max-m_min)+1)); - int yVal = (height()-2-twiceFontHeight) - newval; - painter.drawRect(1,yVal,width()-3,((height()-2) - yVal - twiceFontHeight)); - } - else { - //draw the value - int newval = (height()-2-twiceFontHeight) * ((float)(curVal / 3001.0)); - int yVal = (height()-2-twiceFontHeight) - newval; - painter.drawRect(1,yVal,width()-3,((height()-2) - yVal - twiceFontHeight)); - - //draw min max indicator bars - painter.setPen(QColor::fromRgb(255,0,0)); - painter.setBrush(Qt::NoBrush); - - int yMax = (height()-3 - twiceFontHeight) - (((height()-3-twiceFontHeight) * ((float)m_max / 3000.0))); - int yMin = (height()-3 - twiceFontHeight) - (((height()-3-twiceFontHeight) * ((float)m_min / 3000.0))); - painter.drawRect(2,yMax,width()-3,yMin - yMax); - - //draw min and max labels - QString minstr = QString::number(m_min); - painter.drawText((width() / 2.0) - (painter.fontMetrics().width("min")/2.0),yMin,"min"); - painter.drawText((width() / 2.0) - (painter.fontMetrics().width(minstr)/2.0),yMin + fontHeight,minstr); - - QString maxstr = QString::number(m_max); - painter.drawText((width() / 2.0) - (painter.fontMetrics().width("max")/2.0),yMax,"max"); - painter.drawText((width() / 2.0) - (painter.fontMetrics().width(maxstr)/2.0),yMax + fontHeight,maxstr); - - } - } - } - else //horizontal orientation - { - QLinearGradient hGradientBrush(0, 0, this->width(), this->height()); - hGradientBrush.setColorAt(0.0,DIMMEST_COLOR); - hGradientBrush.setColorAt(0.5,MIDBRIGHT_COLOR); - hGradientBrush.setColorAt(1.0, BRIGHTEST_COLOR); - - //draw the value - painter.drawRect(0,0,width()-1,(height()-1) - twiceFontHeight); - painter.setPen(QColor::fromRgb(50,255,50)); - painter.setBrush(hGradientBrush); - - //draw the value string - painter.setPen(QColor::fromRgb(255,255,255)); - painter.drawText((width()/2.0) - (painter.fontMetrics().width(m_name)/2.0),((height()-3) - (fontHeight*1)),m_name); - - if (isEnabled()) { - QString valstr = QString::number(m_value); - painter.drawText((width()/2.0) - (painter.fontMetrics().width(valstr)/2.0),((height()-3) - (fontHeight * 0)),valstr); - - painter.setPen(QColor::fromRgb(0,128,0)); - painter.setBrush(hGradientBrush); - - if (!m_showMinMax) { - //draw just the value - painter.drawRect(1,1,(width()-3) * ((float)(curVal-m_min) / (m_max-m_min)),(height()-3) - twiceFontHeight); - } - else { - //draw the value - painter.drawRect(1,1,(width()-3) * ((float)curVal / 3000.0),(height()-3) - twiceFontHeight); - - //draw the min and max bars - painter.setBrush(Qt::NoBrush); - painter.setPen(QColor::fromRgb(255,0,0)); - painter.drawRect(width() * ((float)m_min / 3000.0),2,((width()-1) * ((float)m_max / 3000.0)) - (width() * ((float)m_min / 3000.0)),(height()-5) - twiceFontHeight); - - //draw the min and max strings - QString minstr = QString::number(m_min); - painter.drawText((width() * ((float)m_min / 3000.0)) - (painter.fontMetrics().width("min")/2.0),((height()-3) - (painter.fontMetrics().height()*1)),"min"); - painter.drawText((width() * ((float)m_min / 3000.0)) - (painter.fontMetrics().width(minstr)/2.0),((height()-3) - (painter.fontMetrics().height() * 0)),minstr); - - QString maxstr = QString::number(m_max); - painter.drawText((width() * ((float)m_max / 3000.0)) - (painter.fontMetrics().width("max")/2.0),((height()-3) - (painter.fontMetrics().height()*1)),"max"); - painter.drawText((width() * ((float)m_max / 3000.0)) - (painter.fontMetrics().width(maxstr)/2.0),((height()-3) - (painter.fontMetrics().height() * 0)),maxstr); - } - } - } -} - -void QGCRadioChannelDisplay::setValue(int value) -{ - if (value < 0) - { - m_value = 0; - } - else if (value > 3000) - { - m_value = 3000; - } - else - { - m_value = value; - } - update(); -} - -void QGCRadioChannelDisplay::showMinMax(bool show) -{ - m_showMinMax = show; - update(); -} - -void QGCRadioChannelDisplay::hideMinMax() -{ - m_showMinMax = false; - update(); -} - - -void QGCRadioChannelDisplay::setValueAndRange(int val, int min, int max) -{ - setValue(val); - setMinMax(min,max); -} - -void QGCRadioChannelDisplay::setMinMax(int min, int max) -{ - setMin(min); - setMax(max); -} - -void QGCRadioChannelDisplay::setMin(int value) -{ - m_min = value; - if (m_min == m_max) - { - m_min--; - } - update(); -} - -void QGCRadioChannelDisplay::setMax(int value) -{ - m_max = value; - if (m_min == m_max) - { - m_max++; - } - update(); -} diff --git a/src/ui/designer/QGCRadioChannelDisplay.h b/src/ui/designer/QGCRadioChannelDisplay.h deleted file mode 100644 index 9b970c55a9f06e78483002d17d02e93cd6211415..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCRadioChannelDisplay.h +++ /dev/null @@ -1,42 +0,0 @@ -#ifndef QGCRADIOCHANNELDISPLAY_H -#define QGCRADIOCHANNELDISPLAY_H - -#include - -class QGCRadioChannelDisplay : public QWidget -{ - Q_OBJECT -public: - explicit QGCRadioChannelDisplay(QWidget *parent = 0); - void setOrientation(Qt::Orientation orient); - void setValue(int value); - void showMinMax(bool show = true); - void hideMinMax(); - bool isMinMaxShown() { return m_showMinMax; } - void setValueAndRange(int val, int min, int max); - void setMinMax(int min, int max); - void setMin(int value); - void setMax(int value); - void setName(QString name); - int value() { return m_value; } - int min() { return m_min; } - int max() { return m_max; } - -protected: - void paintEvent(QPaintEvent *event); -private: - Qt::Orientation m_orientation; - int m_value; - int m_min; - int m_max; - bool m_showMinMax; - QString m_name; - QBrush m_fillBrush; - -signals: - -public slots: - -}; - -#endif // QGCRADIOCHANNELDISPLAY_H diff --git a/src/ui/designer/QGCTextLabel.cc b/src/ui/designer/QGCTextLabel.cc deleted file mode 100644 index 8654b33d0cc633b5cc28853f574d3e99f72cba55..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCTextLabel.cc +++ /dev/null @@ -1,124 +0,0 @@ -#include - -#include "QGCTextLabel.h" -#include "ui_QGCTextLabel.h" - -#include "MAVLinkProtocol.h" -#include "UASManager.h" - -QGCTextLabel::QGCTextLabel(QWidget *parent) : - QGCToolWidgetItem("Text Label", parent), - ui(new Ui::QGCTextLabel) -{ - uas = 0; - enabledNum = -1; - ui->setupUi(this); - - connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode())); - connect(ui->isMavCommand, SIGNAL(toggled(bool)), this, SLOT(update_isMavCommand())); - - // Hide all edit items - ui->editFinishButton->hide(); - ui->editNameLabel->hide(); - ui->editLine1->hide(); - ui->editLine2->hide(); - ui->isMavCommand->hide(); - ui->textLabel->setText(QString()); - - init(); -} - -QGCTextLabel::~QGCTextLabel() -{ - delete ui; -} - -void QGCTextLabel::setEditMode(bool editMode) -{ - if(!editMode) - update_isMavCommand(); - ui->editFinishButton->setVisible(editMode); - ui->editNameLabel->setVisible(editMode); - ui->editLine1->setVisible(editMode); - ui->editLine2->setVisible(editMode); - ui->isMavCommand->setVisible(editMode); - - QGCToolWidgetItem::setEditMode(editMode); -} - -void QGCTextLabel::writeSettings(QSettings& settings) -{ - settings.setValue("TYPE", "TEXT"); - settings.setValue("QGC_TEXT_TEXT", ui->editNameLabel->text()); - settings.setValue("QGC_TEXT_SOURCE", ui->isMavCommand->isChecked()?"MAV":"NONE"); - - settings.sync(); -} -void QGCTextLabel::readSettings(const QString& pre,const QVariantMap& settings) -{ - ui->editNameLabel->setText(settings.value(pre + "QGC_TEXT_TEXT","").toString()); - ui->isMavCommand->setChecked(settings.value(pre + "QGC_TEXT_SOURCE", "NONE").toString() == "MAV"); - update_isMavCommand(); -} -void QGCTextLabel::textMessageReceived(int uasid, int component, int severity, QString message) -{ - Q_UNUSED(uasid); - Q_UNUSED(component); - Q_UNUSED(severity); - if (enabledNum != -1) - { - //SUCCESS: Executed CMD: 241 - if (message.contains("SUCCESS")) - { - if (message.trimmed().endsWith(QString::number(enabledNum))) - { - enabledNum = -1; - ui->textLabel->setText(ui->textLabel->text() + " Complete"); - } - } - else - { - ui->textLabel->setText(message); - } - } -} - -void QGCTextLabel::readSettings(const QSettings& settings) -{ - ui->editNameLabel->setText(settings.value("QGC_TEXT_TEXT","").toString()); //Place this before setting isMavCommand - ui->isMavCommand->setChecked(settings.value("QGC_TEXT_SOURCE", "NONE").toString() == "MAV"); - update_isMavCommand(); -} - -void QGCTextLabel::enableText(int num) -{ - enabledNum = num; -} - -void QGCTextLabel::setActiveUAS(UASInterface *uas) -{ - if(this->uas) - this->uas->disconnect(this); - this->uas = uas; - update_isMavCommand(); //Might need to update the signal connections -} - -void QGCTextLabel::update_isMavCommand() -{ - ui->textLabel->setText(""); - if (!ui->isMavCommand->isChecked()) - { - ui->nameLabel->setText(ui->editNameLabel->text()); - if(this->uas) - disconnect(uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(textMessageReceived(int,int,int,QString))); - if(ui->nameLabel->text().isEmpty()) - ui->nameLabel->setText(tr("Text Label")); //Show something, so that we don't end up with just an empty label - } - else - { - //MAV command text - ui->nameLabel->setText(ui->editNameLabel->text()); - if(this->uas) - connect(uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(textMessageReceived(int,int,int,QString))); - } -} diff --git a/src/ui/designer/QGCTextLabel.h b/src/ui/designer/QGCTextLabel.h deleted file mode 100644 index 8e8cd509eab313404654f370b1f171bb92b4a93e..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCTextLabel.h +++ /dev/null @@ -1,37 +0,0 @@ -#ifndef QGCTEXTLABEL_H -#define QGCTEXTLABEL_H - -#include "QGCToolWidgetItem.h" - -namespace Ui -{ -class QGCTextLabel; -} - -class UASInterface; - -class QGCTextLabel : public QGCToolWidgetItem -{ - Q_OBJECT - -public: - explicit QGCTextLabel(QWidget *parent = 0); - ~QGCTextLabel(); - void setActiveUAS(UASInterface *uas); - void enableText(int num); - virtual void setEditMode(bool editMode); -public slots: - void writeSettings(QSettings& settings); - void readSettings(const QSettings& settings); - void readSettings(const QString& pre,const QVariantMap& settings); - void textMessageReceived(int uasid, int componentId, int severity, QString message); - -private slots: - void update_isMavCommand(); - -private: - int enabledNum; - Ui::QGCTextLabel *ui; -}; - -#endif // QGCTEXTLABEL_H diff --git a/src/ui/designer/QGCTextLabel.ui b/src/ui/designer/QGCTextLabel.ui deleted file mode 100644 index f5f909d1fb5d60b271a5ccaf5b8f8bc1bdf79efb..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCTextLabel.ui +++ /dev/null @@ -1,155 +0,0 @@ - - - QGCTextLabel - - - - 0 - 0 - 554 - 107 - - - - Form - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - - - - - - Label Description - - - - - - - This is only for advanced use, and allows a label to display the results of a Command Button. - - - Mav Command - - - - - - - - - - - - 50 - 0 - - - - Text Label - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - mav result - - - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Done - - - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - - - editNameLabel - textChanged(QString) - nameLabel - setText(QString) - - - 280 - 32 - - - 114 - 55 - - - - - editNameLabel - returnPressed() - editFinishButton - animateClick() - - - 136 - 20 - - - 498 - 86 - - - - - diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc deleted file mode 100644 index ae6353dd6f380ace45294f0453f8c735a8e28314..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidget.cc +++ /dev/null @@ -1,658 +0,0 @@ -#include "QGCToolWidget.h" -#include "ui_QGCToolWidget.h" - -#include -#include -#include -#include -#include -#include -#include - -#include "QGCParamSlider.h" -#include "QGCToolWidgetComboBox.h" -#include "QGCTextLabel.h" -#include "QGCXYPlot.h" -#include "QGCCommandButton.h" -#include "UASManager.h" -#include "QGCFileDialog.h" - -QGCToolWidget::QGCToolWidget(const QString& objectName, const QString& title, QWidget *parent, QSettings* settings) : - QWidget(parent), - mav(NULL), - mainMenuAction(NULL), - widgetTitle(title), - ui(new Ui::QGCToolWidget) -{ - isFromMetaData = false; - ui->setupUi(this); - if (settings) loadSettings(*settings); - - createActions(); - toolLayout = ui->toolLayout; - toolLayout->setAlignment(Qt::AlignTop); - toolLayout->setSpacing(8); - - this->setTitle(widgetTitle); - QList systems = UASManager::instance()->getUASList(); - foreach (UASInterface* uas, systems) - { - UAS* newMav = dynamic_cast(uas); - if (newMav) - { - addUAS(uas); - } - } - connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); - - if(!objectName.isEmpty()) { - instances()->insert(objectName, this); - setObjectName(objectName); - } //Otherwise we must call loadSettings() immediately to set the object name -} - -QGCToolWidget::~QGCToolWidget() -{ - if (mainMenuAction) mainMenuAction->deleteLater(); - if (QGCToolWidget::instances()) QGCToolWidget::instances()->remove(objectName()); - delete ui; -} - -void QGCToolWidget::setParent(QWidget *parent) -{ - QWidget::setParent(parent); - setTitle(getTitle()); //Update titles -} - -/** - * @param parent Object later holding these widgets, usually the main window - * @return List of all widgets - */ -QList QGCToolWidget::createWidgetsFromSettings(QWidget* parent, QString settingsFile) -{ - // Load widgets from application settings - QSettings* settings; - - // Or load them from a settings file - if (!settingsFile.isEmpty()) - { - settings = new QSettings(settingsFile, QSettings::IniFormat); - //qDebug() << "LOADING SETTINGS FROM" << settingsFile; - } - else - { - settings = new QSettings(); - //qDebug() << "LOADING SETTINGS FROM DEFAULT" << settings->fileName(); - } - - QList newWidgets; - settings->beginGroup("Custom_Tool_Widgets"); - int size = settings->beginReadArray("QGC_TOOL_WIDGET_NAMES"); - for (int i = 0; i < size; i++) - { - settings->setArrayIndex(i); - QString name = settings->value("TITLE", "").toString(); - QString objname = settings->value("OBJECT_NAME", "").toString(); - - if (!instances()->contains(objname) && !objname.isEmpty()) - { - //qDebug() << "CREATED WIDGET:" << name; - QGCToolWidget* tool = new QGCToolWidget(objname, name, parent, settings); - newWidgets.append(tool); - } - else if (name.length() == 0) - { - // Silently catch empty widget name - sanity check - // to survive broken settings (e.g. from user manipulation) - } - else - { - //qDebug() << "WIDGET" << name << "DID ALREADY EXIST, REJECTING"; - } - } - settings->endArray(); - - //qDebug() << "NEW WIDGETS: " << newWidgets.size(); - - // Load individual widget items - for (int i = 0; i < newWidgets.size(); i++) - { - newWidgets.at(i)->loadSettings(*settings); - } - settings->endGroup(); - settings->sync(); - delete settings; - - return instances()->values(); -} -void QGCToolWidget::showLabel(QString name,int num) -{ - for (int i=0;iobjectName() == name) - { - QGCTextLabel *label = qobject_cast(toolItemList[i]); - if (label) - { - label->enableText(num); - } - } - } -} - -/** - * @param singleinstance If this is set to true, the widget settings will only be loaded if not another widget with the same title exists - */ -bool QGCToolWidget::loadSettings(const QString& settings, bool singleinstance) -{ - QSettings set(settings, QSettings::IniFormat); - QStringList groups = set.childGroups(); - if (groups.length() > 0) - { - QString objectName = groups.first(); - setObjectName(objectName); - if (singleinstance && QGCToolWidget::instances()->contains(objectName)) return false; - instances()->insert(objectName, this); - // Do not use setTitle() here, - // interferes with loading settings - widgetTitle = objectName; - //qDebug() << "WIDGET TITLE LOADED: " << widgetName; - loadSettings(set); - return true; - } - else - { - return false; - } -} -void QGCToolWidget::setSettings(QVariantMap& settings) -{ - isFromMetaData = true; - settingsMap = settings; - QString widgetName = getTitle(); - int size = settingsMap["count"].toInt(); - for (int j = 0; j < size; j++) - { - QString type = settings.value(widgetName + "\\" + QString::number(j) + "\\" + "TYPE", "UNKNOWN").toString(); - if (type == "SLIDER") - { - QString checkparam = settingsMap.value(widgetName + "\\" + QString::number(j) + "\\" + "QGC_PARAM_SLIDER_PARAMID").toString(); - paramList.append(checkparam); - } - else if (type == "COMBO") - { - QString checkparam = settingsMap.value(widgetName + "\\" + QString::number(j) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID").toString(); - paramList.append(checkparam); - } - } -} -QList QGCToolWidget::getParamList() -{ - return paramList; -} -void QGCToolWidget::setParameterValue(int uas, int component, QString parameterName, const QVariant value) -{ - Q_UNUSED(uas); - Q_UNUSED(component); - Q_UNUSED(value); - - QString widgetName = getTitle(); - int size = settingsMap["count"].toInt(); - if (paramToItemMap.contains(parameterName)) - { - //If we already have an item for this parameter, updates are handled internally. - return; - } - - for (int j = 0; j < size; j++) - { - QString type = settingsMap.value(widgetName + "\\" + QString::number(j) + "\\" + "TYPE", "UNKNOWN").toString(); - QGCToolWidgetItem* item = NULL; - if (type == "COMMANDBUTTON") - { - //This shouldn't happen, but I'm not sure... so lets test for it. - continue; - } - else if (type == "SLIDER") - { - QString checkparam = settingsMap.value(widgetName + "\\" + QString::number(j) + "\\" + "QGC_PARAM_SLIDER_PARAMID").toString(); - if (checkparam == parameterName) - { - item = new QGCParamSlider(this); - paramToItemMap[parameterName] = item; - addToolWidget(item); - item->readSettings(widgetName + "\\" + QString::number(j) + "\\",settingsMap); - return; - } - } - else if (type == "COMBO") - { - QString checkparam = settingsMap.value(widgetName + "\\" + QString::number(j) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID").toString(); - if (checkparam == parameterName) - { - item = new QGCToolWidgetComboBox(this); - addToolWidget(item); - item->readSettings(widgetName + "\\" + QString::number(j) + "\\",settingsMap); - paramToItemMap[parameterName] = item; - return; - } - } - } -} - -void QGCToolWidget::loadSettings(QVariantMap& settings) -{ - - QString widgetName = getTitle(); - //settings.beginGroup(widgetName); - qDebug() << "LOADING FOR" << widgetName; - //int size = settings.beginReadArray("QGC_TOOL_WIDGET_ITEMS"); - int size = settings["count"].toInt(); - qDebug() << "CHILDREN SIZE:" << size; - for (int j = 0; j < size; j++) - { - QApplication::processEvents(); - //settings.setArrayIndex(j); - QString type = settings.value(widgetName + "\\" + QString::number(j) + "\\" + "TYPE", "UNKNOWN").toString(); - if (type != "UNKNOWN") - { - QGCToolWidgetItem* item = NULL; - if (type == "COMMANDBUTTON") - { - item = new QGCCommandButton(this); - //qDebug() << "CREATED COMMANDBUTTON"; - } - else if (type == "TEXT") - { - item = new QGCTextLabel(this); - item->setActiveUAS(mav); - } - else if (type == "SLIDER") - { - item = new QGCParamSlider(this); - //qDebug() << "CREATED PARAM SLIDER"; - } - else if (type == "COMBO") - { - item = new QGCToolWidgetComboBox(this); - //qDebug() << "CREATED COMBOBOX"; - } - else if (type == "XYPLOT") - { - item = new QGCXYPlot(this); - //qDebug() << "CREATED XYPlot"; - } - if (item) - { - // Configure and add to layout - addToolWidget(item); - item->readSettings(widgetName + "\\" + QString::number(j) + "\\",settings); - - //qDebug() << "Created tool widget"; - } - } - else - { - qDebug() << "UNKNOWN TOOL WIDGET TYPE" << type; - } - } - //settings.endArray(); - //settings.endGroup(); -} - -void QGCToolWidget::loadSettings(QSettings& settings) -{ - QString widgetName = getTitle(); - settings.beginGroup(widgetName); - //qDebug() << "LOADING FOR" << widgetName; - int size = settings.beginReadArray("QGC_TOOL_WIDGET_ITEMS"); - //qDebug() << "CHILDREN SIZE:" << size; - for (int j = 0; j < size; j++) - { - settings.setArrayIndex(j); - QString type = settings.value("TYPE", "UNKNOWN").toString(); - if (type != "UNKNOWN") - { - QGCToolWidgetItem* item = NULL; - if (type == "COMMANDBUTTON") - { - QGCCommandButton *button = new QGCCommandButton(this); - connect(button,SIGNAL(showLabel(QString,int)),this,SLOT(showLabel(QString,int))); - item = button; - item->setActiveUAS(mav); - //qDebug() << "CREATED COMMANDBUTTON"; - } - else if (type == "SLIDER") - { - item = new QGCParamSlider(this); - item->setActiveUAS(mav); - //qDebug() << "CREATED PARAM SLIDER"; - } - else if (type == "COMBO") - { - item = new QGCToolWidgetComboBox(this); - item->setActiveUAS(mav); - qDebug() << "CREATED PARAM COMBOBOX"; - } - else if (type == "TEXT") - { - item = new QGCTextLabel(this); - item->setObjectName(settings.value("QGC_TEXT_ID").toString()); - item->setActiveUAS(mav); - } - else if (type == "XYPLOT") - { - item = new QGCXYPlot(this); - item->setActiveUAS(mav); - } - - if (item) - { - // Configure and add to layout - addToolWidget(item); - item->readSettings(settings); - - //qDebug() << "Created tool widget"; - } - } - else - { - //qDebug() << "UNKNOWN TOOL WIDGET TYPE"; - } - } - settings.endArray(); - settings.endGroup(); -} - -void QGCToolWidget::storeWidgetsToSettings(QSettings &settings) //static -{ - settings.beginGroup("Custom_Tool_Widgets"); - int preArraySize = settings.beginReadArray("QGC_TOOL_WIDGET_NAMES"); - settings.endArray(); - - settings.beginWriteArray("QGC_TOOL_WIDGET_NAMES"); - int num = 0; - for (int i = 0; i < qMax(preArraySize, instances()->size()); ++i) - { - if (i < instances()->size()) - { - // Updating value - if (!instances()->values().at(i)->fromMetaData()) - { - settings.setArrayIndex(num++); - settings.setValue("TITLE", instances()->values().at(i)->getTitle()); - settings.setValue("OBJECT_NAME", instances()->values().at(i)->objectName()); - qDebug() << "WRITING TITLE" << instances()->values().at(i)->getTitle() << "object:" << instances()->values().at(i)->objectName(); - } - } - else - { - // Deleting old value - settings.remove("TITLE"); - } - } - settings.endArray(); - - // Store individual widget items - for (int i = 0; i < instances()->size(); ++i) - { - instances()->values().at(i)->storeSettings(settings); - } - settings.endGroup(); - settings.sync(); -} - -void QGCToolWidget::storeSettings(QSettings& settings) -{ - /* This function should be called from storeWidgetsToSettings() which sets up the group etc */ - Q_ASSERT(settings.group() == "Custom_Tool_Widgets"); - - if (isFromMetaData) - { - //Refuse to store if this is loaded from metadata or dynamically generated. - return; - } - //qDebug() << "WRITING WIDGET" << widgetTitle << "TO SETTINGS"; - settings.beginGroup(widgetTitle); - settings.beginWriteArray("QGC_TOOL_WIDGET_ITEMS"); - int k = 0; // QGCToolItem counter - foreach(QGCToolWidgetItem *item, toolItemList) { - // Only count actual tool widget item children - settings.setArrayIndex(k++); - // Store the ToolWidgetItem - item->writeSettings(settings); - } - //qDebug() << "WROTE" << k << "SUB-WIDGETS TO SETTINGS"; - settings.endArray(); - settings.endGroup(); -} - -void QGCToolWidget::addUAS(UASInterface* uas) -{ - UAS* newMav = dynamic_cast(uas); - if (newMav) - { - // FIXME Convert to list - if (mav == NULL) mav = newMav; - } -} - -void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event) -{ - QMenu menu(this); - menu.addAction(addParamAction); - menu.addAction(addCommandAction); - menu.addAction(addLabelAction); - menu.addAction(addPlotAction); - menu.addSeparator(); - menu.addAction(setTitleAction); - menu.addAction(exportAction); - menu.addAction(importAction); - menu.addAction(deleteAction); - menu.exec(event->globalPos()); -} - -void QGCToolWidget::hideEvent(QHideEvent* event) -{ - // Store settings - QWidget::hideEvent(event); -} - -/** - * The widgets current view and the applied dock widget area. - * Both values are only stored internally and allow an external - * widget to configure it accordingly - */ -void QGCToolWidget::setViewVisibilityAndDockWidgetArea(int view, bool visible, Qt::DockWidgetArea area) -{ - viewVisible.insert(view, visible); - dockWidgetArea.insert(view, area); -} - -void QGCToolWidget::createActions() -{ - addParamAction = new QAction(tr("New &Parameter Slider"), this); - addParamAction->setStatusTip(tr("Add a parameter setting slider widget to the tool")); - connect(addParamAction, SIGNAL(triggered()), this, SLOT(addParam())); - - addCommandAction = new QAction(tr("New MAV &Command Button"), this); - addCommandAction->setStatusTip(tr("Add a new action button to the tool")); - connect(addCommandAction, SIGNAL(triggered()), this, SLOT(addCommand())); - - addLabelAction = new QAction(tr("New &Text Label"), this); - addLabelAction->setStatusTip(tr("Add a new label to the tool")); - connect(addLabelAction, SIGNAL(triggered()), this, SLOT(addLabel())); - - addPlotAction = new QAction(tr("New &XY Plot"), this); - addPlotAction->setStatusTip(tr("Add a XY Plot to the tool")); - connect(addPlotAction, SIGNAL(triggered()), this, SLOT(addPlot())); - - setTitleAction = new QAction(tr("Set Widget Title"), this); - setTitleAction->setStatusTip(tr("Set the title caption of this tool widget")); - connect(setTitleAction, SIGNAL(triggered()), this, SLOT(setTitle())); - - deleteAction = new QAction(tr("Delete this widget"), this); - deleteAction->setStatusTip(tr("Delete this widget permanently")); - connect(deleteAction, SIGNAL(triggered()), this, SLOT(deleteWidget())); - - exportAction = new QAction(tr("Export this widget"), this); - exportAction->setStatusTip(tr("Export this widget to be reused by others")); - connect(exportAction, SIGNAL(triggered()), this, SLOT(exportWidget())); - - importAction = new QAction(tr("Import widget"), this); - importAction->setStatusTip(tr("Import this widget from a file (current content will be removed)")); - connect(importAction, SIGNAL(triggered()), this, SLOT(importWidget())); -} - -QMap* QGCToolWidget::instances() -{ - static QMap* instances; - if (!instances) instances = new QMap(); - return instances; -} - -void QGCToolWidget::addParam(int uas,int component,QString paramname,QVariant value) -{ - isFromMetaData = true; - QGCParamSlider* slider = new QGCParamSlider(this); - addToolWidget(slider); - slider->setActiveUAS(mav); - slider->setParameterValue(uas,component,0,-1,paramname,value); -} - -void QGCToolWidget::addParam() -{ - addToolWidgetAndEdit(new QGCParamSlider(this)); -} - -void QGCToolWidget::addCommand() -{ - addToolWidgetAndEdit(new QGCCommandButton(this)); -} - -void QGCToolWidget::addLabel() -{ - addToolWidgetAndEdit(new QGCTextLabel(this)); -} - -void QGCToolWidget::addPlot() -{ - addToolWidgetAndEdit(new QGCXYPlot(this)); -} - -void QGCToolWidget::addToolWidgetAndEdit(QGCToolWidgetItem* widget) -{ - addToolWidget(widget); - widget->startEditMode(); -} - -void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget) -{ - if (ui->hintLabel) - { - ui->hintLabel->deleteLater(); - ui->hintLabel = NULL; - } - connect(widget, SIGNAL(editingFinished()), this, SLOT(storeWidgetsToSettings())); - connect(widget, SIGNAL(destroyed()), this, SLOT(widgetRemoved())); - toolLayout->addWidget(widget); - toolItemList.append(widget); -} - -void QGCToolWidget::widgetRemoved() -{ - // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already - // been destroyed. - - QGCToolWidgetItem *widget = static_cast(QObject::sender()); - toolItemList.removeAll(widget); - storeWidgetsToSettings(); -} - -void QGCToolWidget::exportWidget() -{ - //-- Get file to save - QString fileName = QGCFileDialog::getSaveFileName( - this, tr("Save Widget File"), - QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), - tr("QGroundControl Widget Files (*.qgw)"), - "qgw", - true); - //-- Save it if we have it - if (!fileName.isEmpty()) { - QSettings settings(fileName, QSettings::IniFormat); - storeSettings(settings); - } -} - -void QGCToolWidget::importWidget() -{ - QString fileName = QGCFileDialog::getOpenFileName( - this, tr("Load Widget File"), QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), - tr("QGroundControl Widgets (*.qgw);;All Files (*)")); - if (!fileName.isEmpty()) { - // TODO There is no error checking. If the load fails, there is nothing telling the user what happened. - loadSettings(fileName); - } -} - -QString QGCToolWidget::getTitle() const -{ - return widgetTitle; -} - -void QGCToolWidget::setTitle() -{ - QDockWidget* parent = dynamic_cast(this->parentWidget()); - if (parent) - { - bool ok; - QString text = QInputDialog::getText(this, tr("Enter Widget Title"), - tr("Widget title:"), QLineEdit::Normal, - parent->windowTitle(), &ok); - if (ok && !text.isEmpty()) - { - setTitle(text); - } - } -} - -void QGCToolWidget::setTitle(const QString& title) -{ - // Sets title and calls setWindowTitle on QWidget - widgetTitle = title; - QWidget::setWindowTitle(title); - QDockWidget* dock = dynamic_cast(this->parentWidget()); - if (dock) - dock->setWindowTitle(widgetTitle); - emit titleChanged(title); - if (mainMenuAction) mainMenuAction->setText(title); - - //Do not save the settings here, because this function might be - //called while loading, and thus saving here could end up clobbering - //all of the other widgets -} - -void QGCToolWidget::setMainMenuAction(QAction* action) -{ - this->mainMenuAction = action; -} - -void QGCToolWidget::deleteWidget() -{ - // Remove from settings - - // Hide - this->hide(); - instances()->remove(objectName()); - - QSettings settings; - settings.beginGroup("QGC_MAINWINDOW"); - settings.remove(QString("TOOL_PARENT_") + objectName()); - settings.endGroup(); - - storeWidgetsToSettings(); - - // Delete - this->deleteLater(); -} diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h deleted file mode 100644 index 847138da51f3970b8bcb5effb0a0d51bed0a43d2..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidget.h +++ /dev/null @@ -1,122 +0,0 @@ -#ifndef QGCTOOLWIDGET_H -#define QGCTOOLWIDGET_H - -#include -#include -#include -#include -#include "QGCToolWidgetItem.h" - -#include "UAS.h" - -namespace Ui -{ -class QGCToolWidget; -} - -class QGCToolWidget : public QWidget -{ - Q_OBJECT - -public: - explicit QGCToolWidget(const QString& objectName, const QString& title, QWidget *parent = 0, QSettings* settings = 0); - ~QGCToolWidget(); - - /** @brief Factory method to instantiate all tool widgets */ - static QList createWidgetsFromSettings(QWidget* parent, QString settingsFile=QString()); - /** @Give the tool widget a reference to its action in the main menu */ - void setMainMenuAction(QAction* action); - /** @brief All instances of this class */ - static QMap* instances(); - /** @brief Get title of widget */ - QString getTitle() const; - - int isVisible(int view) const { return viewVisible.value(view, false); } - Qt::DockWidgetArea getDockWidgetArea(int view) { return dockWidgetArea.value(view, Qt::BottomDockWidgetArea); } - void setParent(QWidget *parent); - - /** @brief Store all widgets of this type to QSettings */ - static void storeWidgetsToSettings(QSettings &settingsFile); - -public slots: - void addUAS(UASInterface* uas); - /** @brief Delete this widget */ - void deleteWidget(); - /** @brief Export this widget to a file */ - void exportWidget(); - /** @brief Import settings for this widget from a file */ - void importWidget(); - /** @brief Store all widgets of this type to QSettings */ - void storeWidgetsToSettings() { QSettings settings; QGCToolWidget::storeWidgetsToSettings(settings); } - void showLabel(QString name,int num); - -public: - void loadSettings(QVariantMap& settings); - /** @brief Load this widget from a QSettings object */ - void loadSettings(QSettings& settings); - /** @brief Load this widget from a settings file */ - bool loadSettings(const QString& settings, bool singleinstance=false); - /** @brief Store the view id and dock widget area */ - void setViewVisibilityAndDockWidgetArea(int view, bool visible, Qt::DockWidgetArea area); - void setSettings(QVariantMap& settings); - QList getParamList(); - void setParameterValue(int uas, int component, QString parameterName, const QVariant value); - bool fromMetaData() const { return isFromMetaData; } - -signals: - void titleChanged(const QString &title); - -protected: - bool isFromMetaData; - QMap paramToItemMap; - QList toolItemList; - QList paramList; - QVariantMap settingsMap; - QAction* addParamAction; - QAction* addCommandAction; - QAction* addPlotAction; - QAction* addLabelAction; - QAction* setTitleAction; - QAction* deleteAction; - QAction* exportAction; - QAction* importAction; - QVBoxLayout* toolLayout; - UAS* mav; - QAction* mainMenuAction; ///< Main menu action - QMap dockWidgetArea; ///< Dock widget area desired by this widget - QMap viewVisible; ///< Visibility in one view - QString widgetTitle; - - void contextMenuEvent(QContextMenuEvent* event); - void createActions(); - /** @brief Add an existing tool widget */ - void addToolWidget(QGCToolWidgetItem* widget); - /** @brief Add an existing tool widget and set it to edit mode */ - void addToolWidgetAndEdit(QGCToolWidgetItem* widget); - - void hideEvent(QHideEvent* event); -public slots: - void setTitle(const QString &title); - void addParam(int uas,int component,QString paramname,QVariant value); -protected slots: - void addParam(); - void addCommand(); - void addPlot(); - void addLabel(); - void setTitle(); - void widgetRemoved(); - -private: - /** Do not use this from outside the class to set the object name, - * because we cannot track changes to the object name, and the - * QObject::setObjectName() function is not virtual. Instead only - * pass in the object name to the constructor, or use the , then - * never change it again. */ - void setObjectName(const QString &name) { QWidget::setObjectName(name); } - /** Helper for storeWidgetsToSettings() */ - void storeSettings(QSettings& settings); - - Ui::QGCToolWidget *ui; -}; - -#endif // QGCTOOLWIDGET_H diff --git a/src/ui/designer/QGCToolWidget.ui b/src/ui/designer/QGCToolWidget.ui deleted file mode 100644 index ffff27a5b266d90453711fc9f4eee6d1e7a2f038..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidget.ui +++ /dev/null @@ -1,43 +0,0 @@ - - - QGCToolWidget - - - - 0 - 0 - 400 - 300 - - - - Form - - - - 0 - - - 6 - - - 0 - - - 6 - - - 0 - - - - - Right-click into the widget to customize - - - - - - - - diff --git a/src/ui/designer/QGCToolWidgetComboBox.cc b/src/ui/designer/QGCToolWidgetComboBox.cc deleted file mode 100644 index f4923842e96158949f8207ce3484cfab35505bd8..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidgetComboBox.cc +++ /dev/null @@ -1,450 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "QGCToolWidgetComboBox.h" -#include "ui_QGCToolWidgetComboBox.h" -#include "UASInterface.h" -#include "UASManager.h" - - -QGCToolWidgetComboBox::QGCToolWidgetComboBox(QWidget *parent) : - QGCToolWidgetItem("Combo", parent), - parameterName(""), - parameterValue(0.0f), - parameterScalingFactor(0.0), - parameterMin(0.0f), - parameterMax(0.0f), - componentId(0), - ui(new Ui::QGCToolWidgetComboBox) -{ - ui->setupUi(this); - uas = NULL; - - ui->editInfoCheckBox->hide(); - ui->editDoneButton->hide(); - ui->editNameLabel->hide(); - ui->editRefreshParamsButton->hide(); - ui->editSelectParamComboBox->hide(); - ui->editSelectComponentComboBox->hide(); - ui->editStatusLabel->hide(); - ui->editLine1->hide(); - ui->editLine2->hide(); - ui->editAddItemButton->hide(); - ui->editRemoveItemButton->hide(); - ui->editItemValueSpinBox->hide(); - ui->editItemNameLabel->hide(); - ui->itemValueLabel->hide(); - ui->itemNameLabel->hide(); - ui->infoLabel->hide(); - ui->editOptionComboBox->setEnabled(false); - isDisabled = true; - connect(ui->editDoneButton, SIGNAL(clicked()), this, SLOT(endEditMode())); - connect(ui->editOptionComboBox,SIGNAL(currentIndexChanged(QString)),this,SLOT(comboBoxIndexChanged(QString))); - connect(ui->editAddItemButton,SIGNAL(clicked()),this,SLOT(addButtonClicked())); - connect(ui->editRemoveItemButton,SIGNAL(clicked()),this,SLOT(delButtonClicked())); - - // Sending actions - connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(setParamPending())); - connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int))); - connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int))); - //connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int))); - //connect(ui->doubleValueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double))); - //connect(ui->intValueSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setParamValue(int))); - connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString))); - connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter())); - connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParameter())); - connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)), this, SLOT(showInfo(bool))); - // connect to self - connect(ui->infoLabel, SIGNAL(released()), this, SLOT(showTooltip())); - - init(); -} - -QGCToolWidgetComboBox::~QGCToolWidgetComboBox() -{ - delete ui; -} - -void QGCToolWidgetComboBox::showTooltip() -{ - QWidget* sender = dynamic_cast(QObject::sender()); - - if (sender) - { - QPoint point = mapToGlobal(ui->infoLabel->pos()); - QToolTip::showText(point, sender->toolTip()); - } -} - -void QGCToolWidgetComboBox::refreshParameter() -{ - ui->editSelectParamComboBox->setEnabled(true); - ui->editSelectComponentComboBox->setEnabled(true); - if (uas && !parameterName.isEmpty()) { - uas->getParamManager()->requestParameterUpdate(componentId,parameterName); - ui->editStatusLabel->setText(tr("Requesting refresh...")); - } -} - -void QGCToolWidgetComboBox::setActiveUAS(UASInterface* activeUas) -{ - if (activeUas) - { - if (uas) - { - disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant))); - } - - // Connect buttons and signals - connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)), Qt::UniqueConnection); - uas = activeUas; - paramMgr = uas->getParamManager(); - // Update current param value - //requestParameter(); - // Set param info - - QString text = paramMgr->dataModel()->getParamDescription(parameterName); - if (!text.isEmpty()) { - ui->infoLabel->setToolTip(text); - ui->infoLabel->show(); - } - // Force-uncheck and hide label if no description is available - if (ui->editInfoCheckBox->isChecked()) { - showInfo((text.length() > 0)); - } - } -} - -void QGCToolWidgetComboBox::requestParameter() -{ - if (!parameterName.isEmpty() && uas) - { - paramMgr->requestParameterUpdate(this->componentId, this->parameterName); - } -} - -void QGCToolWidgetComboBox::showInfo(bool enable) -{ - ui->editInfoCheckBox->setChecked(enable); - ui->infoLabel->setVisible(enable); -} - -void QGCToolWidgetComboBox::selectComponent(int componentIndex) -{ - this->componentId = ui->editSelectComponentComboBox->itemData(componentIndex).toInt(); -} - -void QGCToolWidgetComboBox::selectParameter(int paramIndex) -{ - // Set name - parameterName = ui->editSelectParamComboBox->itemText(paramIndex); - - // Update min and max values if available - if (uas) { - UASParameterDataModel* dataModel = paramMgr->dataModel(); - if (dataModel) { - // Minimum - if (dataModel->isParamMinKnown(parameterName)) { - parameterMin = dataModel->getParamMin(parameterName); - } - - // Maximum - if (dataModel->isParamMaxKnown(parameterName)) { - parameterMax = dataModel->getParamMax(parameterName); - } - - // Description - QString text = dataModel->getParamDescription(parameterName); - //ui->infoLabel->setText(text); - showInfo(!(text.length() > 0)); - } - } -} - -void QGCToolWidgetComboBox::setEditMode(bool editMode) -{ - if(!editMode) { - // Store component id - selectComponent(ui->editSelectComponentComboBox->currentIndex()); - // Store parameter name and id - selectParameter(ui->editSelectParamComboBox->currentIndex()); - } - - ui->nameLabel->setVisible(!editMode); - ui->writeButton->setVisible(!editMode); - ui->readButton->setVisible(!editMode); - - ui->editInfoCheckBox->setVisible(editMode); - ui->editDoneButton->setVisible(editMode); - ui->editNameLabel->setVisible(editMode); - ui->editRefreshParamsButton->setVisible(editMode); - ui->editSelectParamComboBox->setVisible(editMode); - ui->editSelectComponentComboBox->setVisible(editMode); - ui->editStatusLabel->setVisible(editMode); - ui->writeButton->setVisible(!editMode); - ui->readButton->setVisible(!editMode); - ui->editLine1->setVisible(editMode); - ui->editLine2->setVisible(editMode); - ui->editAddItemButton->setVisible(editMode); - ui->editRemoveItemButton->setVisible(editMode); - ui->editItemValueSpinBox->setVisible(editMode); - ui->editItemNameLabel->setVisible(editMode); - ui->itemValueLabel->setVisible(editMode); - ui->itemNameLabel->setVisible(editMode); - if (isDisabled) - { - ui->editOptionComboBox->setEnabled(editMode); - } - - QGCToolWidgetItem::setEditMode(editMode); -} - -void QGCToolWidgetComboBox::setParamPending() -{ - if (uas) { - uas->getParamManager()->setPendingParam(componentId, parameterName, parameterValue); - } - else { - qWarning() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; - } -} - - -/** - * @brief uas Unmanned system sending the parameter - * @brief component UAS component sending the parameter - * @brief parameterName Key/name of the parameter - * @brief value Value of the parameter - */ -void QGCToolWidgetComboBox::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, QVariant value) -{ - Q_UNUSED(paramCount); - // Check if this component and parameter are part of the list - bool found = false; - for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i) - { - if (component == ui->editSelectComponentComboBox->itemData(i).toInt()) - { - found = true; - } - } - - if (!found) - { - ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(component), component); - } - - // Parameter checking - found = false; - for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i) - { - if (parameterName == ui->editSelectParamComboBox->itemText(i)) - { - found = true; - } - } - - if (!found) - { - ui->editSelectParamComboBox->addItem(parameterName, paramIndex); - } - - Q_UNUSED(uas); - - //comboBoxTextToValMap[ui->editItemNameLabel->text()] = ui->editItemValueSpinBox->value(); - if (visibleParam != "") - { - if (parameterName == visibleParam) - { - if (visibleVal == value.toInt()) - { - this->uas->requestParameter(this->componentId,this->parameterName); - visibleEnabled = true; - this->show(); - } - else - { - //Disable the component here. - //ui->valueSlider->setEnabled(false); - //ui->intValueSpinBox->setEnabled(false); - //ui->doubleValueSpinBox->setEnabled(false); - visibleEnabled = false; - this->hide(); - } - } - } - if (component == this->componentId && parameterName == this->parameterName) - { - if (!visibleEnabled) - { - return; - } - ui->editOptionComboBox->setEnabled(true); - isDisabled = false; - for (int i=0;ieditOptionComboBox->count();i++) - { - if (comboBoxTextToValMap[ui->editOptionComboBox->itemText(i)] == value.toInt()) - { - ui->editOptionComboBox->setCurrentIndex(i); - break; - } - } - } - - if (paramIndex == paramCount - 1) - { - ui->editStatusLabel->setText(tr("Complete parameter list received.")); - } -} - -void QGCToolWidgetComboBox::changeEvent(QEvent *e) -{ - QWidget::changeEvent(e); - switch (e->type()) { - case QEvent::LanguageChange: - ui->retranslateUi(this); - break; - default: - break; - } -} - - -void QGCToolWidgetComboBox::writeSettings(QSettings& settings) -{ - settings.setValue("TYPE", "COMBOBOX"); - settings.setValue("QGC_PARAM_COMBOBOX_DESCRIPTION", ui->nameLabel->text()); - //settings.setValue("QGC_PARAM_COMBOBOX_BUTTONTEXT", ui->actionButton->text()); - settings.setValue("QGC_PARAM_COMBOBOX_PARAMID", parameterName); - settings.setValue("QGC_PARAM_COMBOBOX_COMPONENTID", componentId); - settings.setValue("QGC_PARAM_COMBOBOX_DISPLAY_INFO", ui->editInfoCheckBox->isChecked()); - - settings.setValue("QGC_PARAM_COMBOBOX_COUNT", ui->editOptionComboBox->count()); - for (int i=0;ieditOptionComboBox->count();i++) - { - settings.setValue("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT",ui->editOptionComboBox->itemText(i)); - settings.setValue("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_VAL",comboBoxTextToValMap[ui->editOptionComboBox->itemText(i)]); - } - settings.sync(); -} -void QGCToolWidgetComboBox::readSettings(const QString& pre,const QVariantMap& settings) -{ - parameterName = settings.value(pre + "QGC_PARAM_COMBOBOX_PARAMID").toString(); - componentId = settings.value(pre + "QGC_PARAM_COMBOBOX_COMPONENTID").toInt(); - ui->nameLabel->setText(settings.value(pre + "QGC_PARAM_COMBOBOX_DESCRIPTION").toString()); - ui->editNameLabel->setText(settings.value(pre + "QGC_PARAM_COMBOBOX_DESCRIPTION").toString()); - //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text()); - ui->editSelectParamComboBox->addItem(settings.value(pre + "QGC_PARAM_COMBOBOX_PARAMID").toString()); - ui->editSelectParamComboBox->setCurrentIndex(ui->editSelectParamComboBox->count()-1); - ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value(pre + "QGC_PARAM_COMBOBOX_COMPONENTID").toInt()), settings.value(pre + "QGC_PARAM_COMBOBOX_COMPONENTID").toInt()); - showInfo(settings.value(pre + "QGC_PARAM_COMBOBOX_DISPLAY_INFO", true).toBool()); - ui->editSelectParamComboBox->setEnabled(true); - ui->editSelectComponentComboBox->setEnabled(true); - visibleParam = settings.value(pre+"QGC_PARAM_COMBOBOX_VISIBLE_PARAM","").toString(); - visibleVal = settings.value(pre+"QGC_PARAM_COMBOBOX_VISIBLE_VAL",0).toInt(); - QString type = settings.value(pre + "QGC_PARAM_COMBOBOX_TYPE","PARAM").toString(); - int num = settings.value(pre + "QGC_PARAM_COMBOBOX_COUNT").toInt(); - for (int i=0;ieditOptionComboBox->addItem(settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT").toString()); - //qDebug() << "Adding val:" << settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT").toString() << settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_VAL").toInt(); - comboBoxTextToValMap[settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT").toString()] = settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_VAL").toInt(); - if (type == "INDIVIDUAL") - { - comboBoxTextToParamMap[settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT").toString()] = settings.value(pre + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_PARAM").toString(); - ui->editOptionComboBox->setEnabled(true); - } - } - - setActiveUAS(UASManager::instance()->getActiveUAS()); - - // Get param value after settings have been loaded - // requestParameter(); -} -void QGCToolWidgetComboBox::readSettings(const QSettings& settings) -{ - QVariantMap map; - foreach (QString key,settings.allKeys()) - { - map[key] = settings.value(key); - } - - readSettings("",map); - - //parameterName = settings.value("QGC_PARAM_COMBOBOX_PARAMID").toString(); - //component = settings.value("QGC_PARAM_COMBOBOX_COMPONENTID").toInt(); - //ui->nameLabel->setText(settings.value("QGC_PARAM_COMBOBOX_DESCRIPTION").toString()); - //ui->editNameLabel->setText(settings.value("QGC_PARAM_COMBOBOX_DESCRIPTION").toString()); - //ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_COMBOBOX_PARAMID").toString()); - //ui->editSelectParamComboBox->setCurrentIndex(ui->editSelectParamComboBox->count()-1); - //ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_COMBOBOX_COMPONENTID").toInt()), settings.value("QGC_PARAM_COMBOBOX_COMPONENTID").toInt()); - //showInfo(settings.value("QGC_PARAM_COMBOBOX_DISPLAY_INFO", true).toBool()); - //ui->editSelectParamComboBox->setEnabled(true); - //ui->editSelectComponentComboBox->setEnabled(true); - - - /*int num = settings.value("QGC_PARAM_COMBOBOX_COUNT").toInt(); - for (int i=0;ieditOptionComboBox->addItem(settings.value("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT").toString()); - qDebug() << "Adding val:" << settings.value("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i)).toString() << settings.value("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_VAL").toInt(); - comboBoxTextToValMap[settings.value("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_TEXT").toString()] = settings.value("QGC_PARAM_COMBOBOX_ITEM_" + QString::number(i) + "_VAL").toInt(); - }*/ - - //setActiveUAS(UASManager::instance()->getActiveUAS());*/ - - // Get param value after settings have been loaded - //requestParameter(); -} -void QGCToolWidgetComboBox::addButtonClicked() -{ - ui->editOptionComboBox->addItem(ui->editItemNameLabel->text()); - comboBoxTextToValMap[ui->editItemNameLabel->text()] = ui->editItemValueSpinBox->value(); -} - -void QGCToolWidgetComboBox::delButtonClicked() -{ - int index = ui->editOptionComboBox->currentIndex(); - comboBoxTextToValMap.remove(ui->editOptionComboBox->currentText()); - ui->editOptionComboBox->removeItem(index); -} -void QGCToolWidgetComboBox::comboBoxIndexChanged(QString val) -{ - ui->imageLabel->setPixmap(comboBoxIndexToPixmap[ui->editOptionComboBox->currentIndex()]); - if (comboBoxTextToParamMap.contains(ui->editOptionComboBox->currentText())) - { - parameterName = comboBoxTextToParamMap.value(ui->editOptionComboBox->currentText()); - } - switch (static_cast(parameterValue.type())) - { - case QVariant::Char: - parameterValue = QVariant(QChar((unsigned char)comboBoxTextToValMap[val])); - break; - case QVariant::Int: - parameterValue = (int)comboBoxTextToValMap[val]; - break; - case QVariant::UInt: - parameterValue = (unsigned int)comboBoxTextToValMap[val]; - break; - case QMetaType::Float: - parameterValue =(float)comboBoxTextToValMap[val]; - break; - default: - qCritical() << "ERROR: NO VALID PARAM TYPE"; - return; - } -} diff --git a/src/ui/designer/QGCToolWidgetComboBox.h b/src/ui/designer/QGCToolWidgetComboBox.h deleted file mode 100644 index 785d606a4ec7a860097a1a51c154d8ee026d2e5a..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidgetComboBox.h +++ /dev/null @@ -1,76 +0,0 @@ -#ifndef QGCToolWidgetComboBox_H -#define QGCToolWidgetComboBox_H - -#include -#include -#include - -#include "QGCToolWidgetItem.h" - -class QGCUASParamManagerInterface; - -namespace Ui -{ -class QGCToolWidgetComboBox; -} - -class QGCToolWidgetComboBox : public QGCToolWidgetItem -{ - Q_OBJECT - -public: - explicit QGCToolWidgetComboBox(QWidget *parent = 0); - ~QGCToolWidgetComboBox(); - - virtual void setEditMode(bool editMode); - -public slots: - /** @brief Queue parameter for sending to the MAV (add to pending list)*/ - void setParamPending(); - /** @brief Update the UI with the new parameter value */ - void setParameterValue(int uas, int componentId, int paramCount, int paramIndex, QString parameterName, const QVariant value); - void writeSettings(QSettings& settings); - void readSettings(const QString& pre,const QVariantMap& settings); - void readSettings(const QSettings& settings); - /** @brief request that the parameter for this widget be refreshed */ - void refreshParameter(); - void setActiveUAS(UASInterface *uas); - void selectComponent(int componentIndex); - void selectParameter(int paramIndex); - /** @brief Show descriptive text next to slider */ - void showInfo(bool enable); - /** @brief Show tool tip of calling element */ - void showTooltip(); - -protected slots: - /** @brief Request the parameter of this widget from the MAV */ - void requestParameter(); - /** @brief Button click to add a new item to the combobox */ - void addButtonClicked(); - /** @brief Button click to remove the currently selected item from the combobox */ - void delButtonClicked(); - /** @brief Updates current parameter based on new combobox value */ - void comboBoxIndexChanged(QString val); -protected: - QGCUASParamManagerInterface *paramMgr; ///< Access to parameter manager - bool visibleEnabled; - QString visibleParam; - int visibleVal; - QMap comboBoxTextToParamMap; - QMap comboBoxIndexToPixmap; - QMap comboBoxTextToValMap; ///< Comboboxtext/parameter value map - QString parameterName; ///< Key/Name of the parameter - QVariant parameterValue; ///< Value of the parameter - double parameterScalingFactor; ///< Factor to scale the parameter between slider and true value - float parameterMin; - bool isDisabled; - float parameterMax; - int componentId; ///< ID of the MAV component to address - //double scaledInt; - void changeEvent(QEvent *e); - -private: - Ui::QGCToolWidgetComboBox *ui; -}; - -#endif // QGCToolWidgetComboBox_H diff --git a/src/ui/designer/QGCToolWidgetComboBox.ui b/src/ui/designer/QGCToolWidgetComboBox.ui deleted file mode 100644 index 59d1fb03586fe32f5ee6a1b87bef0fea3d8c3c1e..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidgetComboBox.ui +++ /dev/null @@ -1,302 +0,0 @@ - - - QGCToolWidgetComboBox - - - - 0 - 0 - 789 - 244 - - - - Form - - - Qt::LeftToRight - - - - 6 - - - 3 - - - 6 - - - 3 - - - 6 - - - 12 - - - - - - 60 - 0 - - - - Name - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - Qt::LeftToRight - - - ? - - - QToolButton::DelayedPopup - - - Qt::ToolButtonIconOnly - - - false - - - Qt::NoArrow - - - - - - - Parameter Name - - - - - - - - - - - - - - - - Name - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - false - - - Select component - - - Select component - - - - - - - Add Item - - - - - - - Delete Item - - - - - - - Value - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - false - - - Select parameter - - - Select parameter - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - - 0 - 0 - - - - Read the current parameter value on the system - - - Read the current parameter value on the system - - - Get - - - - - - - Done - - - - - - - - 0 - 0 - - - - - 16777215 - 16777215 - - - - Transmit the current slider value to the system - - - Transmit the current slider value to the system - - - Set - - - - - - - Show Info - - - true - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Qt::Horizontal - - - - 0 - 20 - - - - - - - - Please click first on refresh to update selection menus.. - - - - - - - true - - - Refresh - - - - - - - - 16777215 - 150 - - - - - - - true - - - - - - - - diff --git a/src/ui/designer/QGCToolWidgetItem.cc b/src/ui/designer/QGCToolWidgetItem.cc deleted file mode 100644 index c9f162ec45b936ee03bca50cefc1990d48043409..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidgetItem.cc +++ /dev/null @@ -1,79 +0,0 @@ -#include "QGCToolWidgetItem.h" - -#include -#include - -#include "QGCToolWidget.h" -#include "UASManager.h" -#include - -QGCToolWidgetItem::QGCToolWidgetItem(const QString& name, QWidget *parent) : - QWidget(parent), - uas(NULL), - isInEditMode(false), - qgcToolWidgetItemName(name), - _component(-1) -{ - startEditAction = new QAction(tr("Edit %1").arg(qgcToolWidgetItemName), this); - stopEditAction = new QAction(tr("Finish Editing %1").arg(qgcToolWidgetItemName), this); - deleteAction = new QAction(tr("Delete %1").arg(qgcToolWidgetItemName), this); -} - -void QGCToolWidgetItem::init() -{ - connect(startEditAction, SIGNAL(triggered()), this, SLOT(startEditMode())); - connect(stopEditAction, SIGNAL(triggered()), this, SLOT(endEditMode())); - connect(deleteAction, SIGNAL(triggered()), this, SLOT(deleteLater())); - - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), - this, SLOT(setActiveUAS(UASInterface*))); - - // Set first UAS if it exists - setActiveUAS(UASManager::instance()->getActiveUAS()); -} - -QGCToolWidgetItem::~QGCToolWidgetItem() -{ - delete startEditAction; - delete stopEditAction; - delete deleteAction; -} - -void QGCToolWidgetItem::contextMenuEvent (QContextMenuEvent* event) -{ - QMenu menu(this); - if (!isInEditMode) { - menu.addAction(startEditAction); - menu.addAction(deleteAction); - } else { - menu.addAction(stopEditAction); - } - menu.exec(event->globalPos()); -} - -void QGCToolWidgetItem::setActiveUAS(UASInterface *uas) -{ - this->uas = uas; -} - -void QGCToolWidgetItem::setEditMode(bool editMode) -{ - isInEditMode = editMode; - - // Attempt to undock the dock widget - QWidget* p = this; - QDockWidget* dock; - - do { - p = p->parentWidget(); - dock = dynamic_cast(p); - - if (dock) - { - dock->setFloating(editMode); - break; - } - } while (p && !dock); - - emit editingFinished(); -} diff --git a/src/ui/designer/QGCToolWidgetItem.h b/src/ui/designer/QGCToolWidgetItem.h deleted file mode 100644 index 69a133add6beea2b82581f142640fe860053058d..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCToolWidgetItem.h +++ /dev/null @@ -1,55 +0,0 @@ -#ifndef QGCTOOLWIDGETITEM_H -#define QGCTOOLWIDGETITEM_H - -#include -#include -#include - -#include "UASInterface.h" - -class QGCToolWidgetItem : public QWidget -{ - Q_OBJECT -public: - QGCToolWidgetItem(const QString& name, QWidget *parent = 0); - ~QGCToolWidgetItem(); - - int componentId() { - return _component; - } - - virtual void setEditMode(bool editMode); - bool isEditMode() const { return isInEditMode; } -public slots: - void startEditMode() { setEditMode(true); } - void endEditMode() { setEditMode(false); } - - virtual void setComponent(int comp) { - _component = comp; - } - virtual void writeSettings(QSettings& settings) = 0; - virtual void readSettings(const QSettings& settings) = 0; - virtual void readSettings(const QString& pre,const QVariantMap& settings) = 0; - virtual void setActiveUAS(UASInterface *uas); - -signals: - void editingFinished(); - -protected: - void contextMenuEvent (QContextMenuEvent* event); - void init(); - UASInterface* uas; - -private: - QAction* startEditAction; - QAction* stopEditAction; - QAction* deleteAction; - bool isInEditMode; - QString qgcToolWidgetItemName; - int _component; ///< The MAV component (the process or device ID) - - - -}; - -#endif // QGCTOOLWIDGETITEM_H diff --git a/src/ui/designer/QGCXYPlot.cc b/src/ui/designer/QGCXYPlot.cc deleted file mode 100644 index 1f9f2f5bb82523be8a5411b5eb8808268bd4cb2d..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCXYPlot.cc +++ /dev/null @@ -1,451 +0,0 @@ -#include - -#include "QGCXYPlot.h" -#include "ui_QGCXYPlot.h" - -#include "MAVLinkProtocol.h" -#include "UASManager.h" -#include "IncrementalPlot.h" -#include "QGCApplication.h" - -#include -#include -#include -#include - -class XYPlotCurve : public QwtPlotItem -{ -public: - XYPlotCurve() { - m_maxStorePoints = 10000; - m_maxShowPoints = 15; - setItemAttribute(QwtPlotItem::AutoScale); - minMaxSet = false; - m_color = Qt::white; - m_smoothPoints = 1; - m_startIndex = -1; //Disable - } - - void setMaxDataStorePoints(int max) { m_maxStorePoints = max; itemChanged(); } - void setMaxDataShowPoints(int max) { m_maxShowPoints = max; itemChanged(); } - void setSmoothPoints(int smoothPoints) { m_smoothPoints = smoothPoints; itemChanged(); } - int maxDataStorePoints() const { return m_maxStorePoints; } - int maxDataShowPoints() const { return m_maxShowPoints; } - int smoothPoints() const { return m_smoothPoints; } - - /** Append data, returning the number of removed items */ - int appendData(const QPointF &data) { - m_data.append(data); - int removed = 0; - while (m_data.size() > m_maxShowPoints) { - ++removed; - m_data.removeFirst(); - } - if (!minMaxSet) { - xmin = xmax = data.x(); - ymin = ymax = data.y(); - minMaxSet = true; - previousTime =xmin; - } else if (m_autoScale) { - if (m_autoScaleTime) { - xmin += removed * (data.x() - previousTime); - previousTime = data.x(); - } else { - xmin = qMin(qreal(xmin), data.x()); - } - xmax = qMax(qreal(xmax), data.x()); - ymin = qMin(qreal(ymin), data.y()); - ymax = qMax(qreal(ymax), data.y()); - } - itemChanged(); - return removed; - } - void clear() { - minMaxSet = false; - m_data.clear(); - itemChanged(); - } - void setColor(const QColor &color) { - m_color = color; - } - void setTimeSerie(bool state) { - clear(); - m_autoScaleTime = state; - } - void unsetMinMax() { - if(m_autoScale) - return; - m_autoScale = true; - //Recalculate the automatic scale - if(m_data.isEmpty()) - minMaxSet = false; - else { - minMaxSet = true; - previousTime = xmax = xmin = m_data.at(0).x(); - ymax = ymin = m_data.at(0).y(); - for(int i = 1; i < m_data.size(); i++) { - xmin = qMin(qreal(xmin), m_data.at(i).x()); - xmax = qMax(qreal(xmax), m_data.at(i).x()); - ymin = qMin(qreal(ymin), m_data.at(i).y()); - ymax = qMax(qreal(ymax), m_data.at(i).y()); - } - } - } - void setMinMax(double xmin, double xmax, double ymin, double ymax ) - { - this->xmin = xmin; - this->xmax = xmax; - this->ymin = ymin; - this->ymax = ymax; - m_autoScale = false; - minMaxSet = true; - itemChanged(); - } - void setStartIndex(int time) { /** Set to -1 to just use latest */ - m_startIndex = time; - itemChanged(); - } - int dataSize() const { return m_data.size(); } - - double xMin() const { return xmin; } - double xMax() const { return xmax; } - double yMin() const { return ymin; } - double yMax() const { return ymax; } - - virtual QRectF boundingRect() const { - if(!minMaxSet) - return QRectF(1,1,-2,-2); - return QRectF(xmin,ymin,xmax-xmin,ymax-ymin); - } - - /* From QwtPlotItem. Draw the complete series */ - virtual void draw (QPainter *p, const QwtScaleMap &xMap, const QwtScaleMap &yMap, const QRectF &canvasRect) const - { - Q_UNUSED(canvasRect); - QPointF lastPoint; - if(m_data.isEmpty()) - return; - QPointF smoothTotal(0,0); - int smoothCount = 0; - int start; - int count; - if(m_startIndex >= 0) { - int end = qMin(m_startIndex, m_data.size()-1); - start = qBound(0, end - m_maxShowPoints, m_data.size()-1); - count = end - start; - } else { - start = qMax(0,m_data.size() - m_maxShowPoints); - count = qMin(m_data.size()-start, m_maxShowPoints); - } - for(int i = qMax(0,start - m_smoothPoints); i < start; ++i) { - smoothTotal += m_data.at(i); - ++smoothCount; - } - for(int i = 0; i < count; ++i) { - QPointF point = m_data.at(i+start); - if(m_smoothPoints > 1) { - smoothTotal += point; - if(smoothCount >= m_smoothPoints) { - Q_ASSERT(i + start - m_smoothPoints >= 0); - smoothTotal -= m_data.at(i + start - m_smoothPoints); - } else - ++smoothCount; - point = smoothTotal/smoothCount; - } - QPointF paintCoord = QPointF(xMap.transform(point.x()), yMap.transform(point.y())); - m_color.setAlpha((m_maxShowPoints - count + i)*255/m_maxShowPoints); - p->setPen(m_color); - if(i != 0) - p->drawLine(lastPoint, paintCoord); - if(i == count-1) { - //Draw marker for first point - const int marker_radius = 2; - QRectF marker = QRectF(paintCoord.x()-marker_radius, paintCoord.y()-marker_radius, marker_radius*2+1,marker_radius*2+1); - p->fillRect(marker,QBrush(m_color)); - } - lastPoint = paintCoord; - } - } - -private: - QList< QPointF > m_data; - int m_maxStorePoints; - int m_maxShowPoints; - int m_smoothPoints; /** Number of points to average across */ - mutable QColor m_color; - - double previousTime; - double xmin; - double xmax; - double ymin; - double ymax; - bool minMaxSet; - bool m_autoScale; - bool m_autoScaleTime; - int m_startIndex; -}; - -QGCXYPlot::QGCXYPlot(QWidget *parent) : - QGCToolWidgetItem("XY Plot", parent), - ui(new Ui::QGCXYPlot), - plot(0), - xycurve(0), - x(0), - x_timestamp_us(0), - x_valid(false), - y(0), - y_timestamp_us(0), - y_valid(false), - max_timestamp_diff_us(10000) /* Default to 10ms tolerance between x and y values */ - - -{ - uas = 0; - ui->setupUi(this); - plot = new QwtPlot(); - - ui->xyPlotLayout->addWidget(plot); - - connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode())); - - connect(MainWindow::instance(), SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), - this, SLOT(appendData(int,QString,QString,QVariant,quint64))); - - connect(ui->editXParam, SIGNAL(editTextChanged(QString)), this, SLOT(clearPlot())); - connect(ui->editYParam, SIGNAL(editTextChanged(QString)), this, SLOT(clearPlot())); - - plot->plotLayout()->setAlignCanvasToScales(true); - - QwtLinearScaleEngine* yScaleEngine = new QwtLinearScaleEngine(); - plot->setAxisScaleEngine(QwtPlot::yLeft, yScaleEngine); - - plot->setAxisAutoScale(QwtPlot::xBottom); - plot->setAxisAutoScale(QwtPlot::yLeft); - plot->setAutoReplot(); - xycurve = new XYPlotCurve(); - xycurve->attach(plot); - styleChanged(qgcApp()->styleIsDark()); - connect(qgcApp(), &QGCApplication::styleChanged, this, &QGCXYPlot::styleChanged); - connect(ui->minX, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings())); - connect(ui->maxX, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings())); - connect(ui->minY, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings())); - connect(ui->maxY, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings())); - connect(ui->automaticAxisRange, SIGNAL(toggled(bool)),this, SLOT(updateMinMaxSettings())); - connect(ui->timeAxisRange, SIGNAL(toggled(bool)),this, SLOT(setTimeAxis())); - connect(ui->maxDataShowSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings())); - connect(ui->maxDataStoreSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings())); - connect(ui->smoothSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings())); - setEditMode(false); -} - -QGCXYPlot::~QGCXYPlot() -{ - delete ui; -} - -void QGCXYPlot::clearPlot() -{ - xycurve->clear(); - plot->detachItems(); - ui->timeScrollBar->setMaximum(xycurve->dataSize()); - ui->timeScrollBar->setValue(ui->timeScrollBar->maximum()); -} - -void QGCXYPlot::setEditMode(bool editMode) -{ - ui->lblXParam->setVisible(editMode); - ui->lblYParam->setVisible(editMode); - ui->editXParam->setVisible(editMode); - ui->editYParam->setVisible(editMode); - ui->editFinishButton->setVisible(editMode); - ui->editLine1->setVisible(editMode); - ui->editLine2->setVisible(editMode); - ui->lblMaxDataStore->setVisible(editMode); - ui->lblMaxDataShow->setVisible(editMode); - ui->lblMaxX->setVisible(editMode); - ui->lblMaxY->setVisible(editMode); - ui->lblMinX->setVisible(editMode); - ui->lblMinY->setVisible(editMode); - ui->maxX->setVisible(editMode); - ui->maxY->setVisible(editMode); - ui->minX->setVisible(editMode); - ui->minY->setVisible(editMode); - ui->maxDataShowSpinBox->setVisible(editMode); - ui->maxDataStoreSpinBox->setVisible(editMode); - ui->automaticAxisRange->setVisible(editMode); - ui->timeAxisRange->setVisible(editMode); - ui->lblSmooth->setVisible(editMode); - ui->smoothSpinBox->setVisible(editMode); - - if(!editMode) { - plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText()); - plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText()); - } - - QGCToolWidgetItem::setEditMode(editMode); - updateMinMaxSettings(); //Do this after calling the parent -} - -void QGCXYPlot::writeSettings(QSettings& settings) -{ - settings.setValue("TYPE", "XYPLOT"); - settings.setValue("QGC_XYPLOT_X", ui->editXParam->currentText()); - settings.setValue("QGC_XYPLOT_Y", ui->editYParam->currentText()); - settings.setValue("QGC_XYPLOT_MINX", ui->minX->value()); - settings.setValue("QGC_XYPLOT_MAXX", ui->maxX->value()); - settings.setValue("QGC_XYPLOT_MINY", ui->minY->value()); - settings.setValue("QGC_XYPLOT_MAXY", ui->maxY->value()); - settings.setValue("QGC_XYPLOT_MAXDATA_STORE", ui->maxDataStoreSpinBox->value()); - settings.setValue("QGC_XYPLOT_MAXDATA_SHOW", ui->maxDataShowSpinBox->value()); - settings.setValue("QGC_XYPLOT_AUTO", ui->automaticAxisRange->isChecked()); - settings.setValue("QGC_XYPLOT_SMOOTH", ui->smoothSpinBox->value()); - settings.setValue("QGC_XYPLOT_TIME", ui->timeAxisRange->isChecked()); - settings.sync(); -} -void QGCXYPlot::readSettings(const QString& pre,const QVariantMap& settings) -{ - ui->editXParam->setEditText(settings.value(pre + "QGC_XYPLOT_X", "").toString()); - ui->editYParam->setEditText(settings.value(pre + "QGC_XYPLOT_Y", "").toString()); - ui->automaticAxisRange->setChecked(settings.value(pre + "QGC_XYPLOT_AUTO", true).toBool()); - ui->minX->setValue(settings.value(pre + "QGC_XYPLOT_MINX", 0).toDouble()); - ui->maxX->setValue(settings.value(pre + "QGC_XYPLOT_MAXX", 0).toDouble()); - ui->minY->setValue(settings.value(pre + "QGC_XYPLOT_MINY", 0).toDouble()); - ui->maxY->setValue(settings.value(pre + "QGC_XYPLOT_MAXY", 0).toDouble()); - ui->maxDataStoreSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_MAXDATA_STORE", 10000).toInt()); - ui->maxDataShowSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_MAXDATA_SHOW", 15).toInt()); - ui->smoothSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_SMOOTH", 1).toInt()); - ui->timeAxisRange->setChecked(settings.value(pre + "QGC_XYPLOT_TIME", true).toBool()); - plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText()); - plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText()); - updateMinMaxSettings(); -} - -void QGCXYPlot::readSettings(const QSettings& settings) -{ - ui->editXParam->setEditText(settings.value("QGC_XYPLOT_X", "").toString()); - ui->editYParam->setEditText(settings.value("QGC_XYPLOT_Y", "").toString()); - ui->automaticAxisRange->setChecked(settings.value("QGC_XYPLOT_AUTO", true).toBool()); - ui->minX->setValue(settings.value("QGC_XYPLOT_MINX", 0).toDouble()); - ui->maxX->setValue(settings.value("QGC_XYPLOT_MAXX", 0).toDouble()); - ui->minY->setValue(settings.value("QGC_XYPLOT_MINY", 0).toDouble()); - ui->maxY->setValue(settings.value("QGC_XYPLOT_MAXY", 0).toDouble()); - ui->maxDataStoreSpinBox->setValue(settings.value("QGC_XYPLOT_MAXDATA_STORE", 10000).toInt()); - ui->maxDataShowSpinBox->setValue(settings.value("QGC_XYPLOT_MAXDATA_SHOW", 15).toInt()); - ui->smoothSpinBox->setValue(settings.value("QGC_XYPLOT_SMOOTH", 1).toInt()); - ui->timeAxisRange->setChecked(settings.value("QGC_XYPLOT_TIME", true).toBool()); - plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText()); - plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText()); - updateMinMaxSettings(); -} - -void QGCXYPlot::appendData(int uasId, const QString& curve, const QString& unit, const QVariant& variant, quint64 usec) -{ - Q_UNUSED(uasId); - Q_UNUSED(unit); - if(isEditMode()) { - //When in edit mode, add all the items to the combo box - if(ui->editXParam->findText(curve) == -1) { - ui->editXParam->blockSignals(true); - ui->editYParam->blockSignals(true); - QString oldX = ui->editXParam->currentText(); - QString oldY = ui->editYParam->currentText(); - ui->editXParam->addItem(curve); //Annoyingly this can wipe out the current text - ui->editYParam->addItem(curve); - ui->editXParam->setEditText(oldX); - ui->editYParam->setEditText(oldY); - ui->editXParam->blockSignals(false); - ui->editYParam->blockSignals(false); - } - } - - if(ui->stopStartButton->isChecked()) - return; - - bool ok; - if(curve == ui->editXParam->currentText()) { - x = variant.toDouble(&ok); - if(!ok) - return; - x_timestamp_us = usec; - x_valid = true; - } else if(curve == ui->editYParam->currentText()) { - y = variant.toDouble(&ok); - if(!ok) - return; - y_timestamp_us = usec; - y_valid = true; - } else - return; - - if(x_valid && y_valid) { - quint64 difference; - if (y_timestamp_us < x_timestamp_us) { - difference = x_timestamp_us - y_timestamp_us; - } else { - difference = y_timestamp_us - x_timestamp_us; - } - if (difference <= max_timestamp_diff_us) { - int removed = xycurve->appendData( QPointF(x,y) ); - x_valid = false; - y_valid = false; - bool atMaximum = (ui->timeScrollBar->value() == ui->timeScrollBar->maximum()); - if(ui->timeScrollBar->maximum() != xycurve->dataSize()) { - ui->timeScrollBar->setMaximum(xycurve->dataSize()); - if(atMaximum) - ui->timeScrollBar->setValue(ui->timeScrollBar->maximum()); - } else if(!atMaximum) { //Move the scrollbar to keep current value selected - int value = qMax(ui->timeScrollBar->minimum(), ui->timeScrollBar->value() - removed); - ui->timeScrollBar->setValue(value); - xycurve->setStartIndex(value); - } - } - } -} - -void QGCXYPlot::styleChanged(bool styleIsDark) -{ - xycurve->setColor(styleIsDark ? Qt::white : Qt::black); -} - -void QGCXYPlot::updateMinMaxSettings() -{ - bool automatic = ui->automaticAxisRange->isChecked(); - ui->minX->setEnabled(!automatic); - ui->maxX->setEnabled(!automatic); - ui->minY->setEnabled(!automatic); - ui->maxY->setEnabled(!automatic); - if(automatic) { - xycurve->unsetMinMax(); - } else { - xycurve->setMinMax(ui->minX->value(), ui->maxX->value(), ui->minY->value(), ui->maxY->value()); - } - xycurve->setMaxDataStorePoints(ui->maxDataStoreSpinBox->value()); - xycurve->setMaxDataShowPoints(ui->maxDataShowSpinBox->value()); - xycurve->setSmoothPoints(ui->smoothSpinBox->value()); -} - -void QGCXYPlot::setTimeAxis() -{ - xycurve->setTimeSerie(ui->timeAxisRange->isChecked()); -} - -void QGCXYPlot::on_maxDataShowSpinBox_valueChanged(int value) -{ - ui->maxDataStoreSpinBox->setMinimum(value); - if(ui->maxDataStoreSpinBox->value() < value) - ui->maxDataStoreSpinBox->setValue(value); -} - -void QGCXYPlot::on_stopStartButton_toggled(bool checked) -{ - if(!checked) - clearPlot(); -} - -void QGCXYPlot::on_timeScrollBar_valueChanged(int value) -{ - if(value == ui->timeScrollBar->maximum()) - xycurve->setStartIndex(-1); - else - xycurve->setStartIndex(value); -} diff --git a/src/ui/designer/QGCXYPlot.h b/src/ui/designer/QGCXYPlot.h deleted file mode 100644 index d6a0bc27ba00226c5610f5f99e732124ef66fb66..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCXYPlot.h +++ /dev/null @@ -1,55 +0,0 @@ -#ifndef QGCXYPLOT_H -#define QGCXYPLOT_H - -#include "QGCToolWidgetItem.h" - -namespace Ui -{ -class QGCXYPlot; -} - -class UASInterface; -class QwtPlot; -class XYPlotCurve; - -class QGCXYPlot : public QGCToolWidgetItem -{ - Q_OBJECT - -public: - explicit QGCXYPlot(QWidget *parent = 0); - ~QGCXYPlot(); - virtual void setEditMode(bool editMode); - -public slots: - void writeSettings(QSettings& settings); - void readSettings(const QSettings& settings); - void readSettings(const QString& pre,const QVariantMap& settings); - void appendData(int uasId, const QString& curve, const QString& unit, const QVariant& variant, quint64 usec); - void clearPlot(); - void styleChanged(bool styleIsDark); - void updateMinMaxSettings(); - - -private slots: - void on_maxDataShowSpinBox_valueChanged(int value); - void on_stopStartButton_toggled(bool checked); - void setTimeAxis(); - void on_timeScrollBar_valueChanged(int value); - -private: - Ui::QGCXYPlot *ui; - QwtPlot *plot; - XYPlotCurve* xycurve; - - bool autoScaleTime; - double x; /**< Last unused value for the x-coordinate */ - quint64 x_timestamp_us; /**< Timestamp that we last recieved a value for x */ - bool x_valid; /**< Whether we have recieved an x value but so far no corresponding y value */ - double y; /**< Last unused value for the x-coordinate */ - quint64 y_timestamp_us; /**< Timestamp that we last recieved a value for x */ - bool y_valid; /**< Whether we have recieved an x value but so far no corresponding y value */ - quint64 max_timestamp_diff_us; /**< Only combine x and y to a data point if the timestamp for both doesn't differ by more than this */ -}; - -#endif // QGCXYPLOT_H diff --git a/src/ui/designer/QGCXYPlot.ui b/src/ui/designer/QGCXYPlot.ui deleted file mode 100644 index 6179f7c9675c5d1b5d8f294d6f920c5bd31f4c5d..0000000000000000000000000000000000000000 --- a/src/ui/designer/QGCXYPlot.ui +++ /dev/null @@ -1,480 +0,0 @@ - - - QGCXYPlot - - - - 0 - 0 - 771 - 365 - - - - Form - - - - 0 - - - 0 - - - 0 - - - 0 - - - 0 - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - 0 - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - 0 - - - - - - - - 50 - 0 - - - - X Parameter: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - editXParam - - - - - - - - 0 - 0 - - - - true - - - QComboBox::InsertAlphabetically - - - QComboBox::AdjustToContents - - - 10 - - - - - - - - 50 - 0 - - - - Y Parameter: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - editYParam - - - - - - - - 0 - 0 - - - - true - - - QComboBox::InsertAlphabetically - - - QComboBox::AdjustToContents - - - 10 - - - - - - - - - - - Number of data points to &show: - - - maxDataShowSpinBox - - - - - - - 2 - - - 999 - - - 15 - - - - - - - To s&tore: - - - maxDataStoreSpinBox - - - - - - - 10 - - - 999999999 - - - 15 - - - - - - - Number of points to average, to provide a smoothing effect of the plotted values - - - S&mooth: - - - smoothSpinBox - - - - - - - Number of points to average, to provide a smoothing effect of the plotted values - - - 1 - - - 99999 - - - - - - - Automatic Axis Range - - - true - - - - - - - Time Series - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - - &Min X: - - - minX - - - - - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - &Max X: - - - maxX - - - - - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - Min &Y: - - - minY - - - - - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - Ma&x Y: - - - maxY - - - - - - - -999999999.000000000000000 - - - 999999999.000000000000000 - - - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - 0 - - - - - - - 6 - - - - - - 0 - 0 - - - - 2 - - - true - - - Qt::Horizontal - - - - - - - - :/files/images/actions/media-playback-stop.svg - :/files/images/actions/media-playback-start.svg:/files/images/actions/media-playback-stop.svg - - - - 16 - 16 - - - - true - - - false - - - false - - - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Done - - - false - - - true - - - - - - - - - - 0 - 0 - - - - Qt::Horizontal - - - - - - - editXParam - editYParam - maxDataShowSpinBox - maxDataStoreSpinBox - smoothSpinBox - automaticAxisRange - minX - maxX - minY - maxY - editFinishButton - - - - - - diff --git a/src/ui/designer/RCChannelWidget.cc b/src/ui/designer/RCChannelWidget.cc deleted file mode 100644 index eb6493ab04f55a4576b76eb6736f6b2fd21b3e0b..0000000000000000000000000000000000000000 --- a/src/ui/designer/RCChannelWidget.cc +++ /dev/null @@ -1,256 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009, 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @author Don Gagne - -#include "RCChannelWidget.h" -#include - -#define DIMMEST_COLOR QColor::fromRgb(0,100,0) -#define MIDBRIGHT_COLOR QColor::fromRgb(0,180,0) -#define BRIGHTEST_COLOR QColor::fromRgb(64,255,0) - -RCChannelWidget::RCChannelWidget(QWidget *parent) : - QGroupBox(parent), - _value(_centerValue), - _min(_centerValue), - _max(_centerValue), - _trim(_centerValue), - _minValid(false), - _maxValid(false), - _showMinMax(false), - _showTrim(false) -{ - -} - -/// @brief Draws the control -void RCChannelWidget::paintEvent(QPaintEvent *event) -{ - // Let the group box draw the outer border - QGroupBox::paintEvent(event); - - // Now we draw the innner contents - - QPainter painter(this); - - int fontHeight = painter.fontMetrics().height(); - int rowHeigth = fontHeight + 2; - - painter.setBrush(Qt::Dense4Pattern); - painter.setPen(QColor::fromRgb(128,128,64)); - - int curVal = _value; - if (curVal > _maxRange) { - curVal = _maxRange; - } - if (curVal < _minRange) { - curVal = _minRange; - } - - if (isEnabled()) { - QLinearGradient hGradientBrush(0, 0, this->width(), this->height()); - hGradientBrush.setColorAt(0.0,DIMMEST_COLOR); - hGradientBrush.setColorAt(0.5,MIDBRIGHT_COLOR); - hGradientBrush.setColorAt(1.0, BRIGHTEST_COLOR); - - // Calculate how much horizontal space we need to show a min/max value. We must be able to display four numeric - // digits for the rc value, plus we add another digit for spacing. - int minMaxDisplayWidth = painter.fontMetrics().width("00000"); - - // Draw the value axis line with center and end point tick marks. We need to leave enough space on the left and the right - // for the Min/Max value displays. - QRect rcValueAxis(minMaxDisplayWidth, rowHeigth * 2, width() - (minMaxDisplayWidth * 2), rowHeigth); - int yLine = rcValueAxis.y() + rcValueAxis.height() / 2; - painter.drawLine(rcValueAxis.left(), yLine, rcValueAxis.right(), yLine); - painter.drawLine(rcValueAxis.left(), rcValueAxis.top(), rcValueAxis.left(), rcValueAxis.bottom()); - painter.drawLine(rcValueAxis.right(), rcValueAxis.top(), rcValueAxis.right(), rcValueAxis.bottom()); - painter.drawLine(rcValueAxis.left() + rcValueAxis.width() / 2, rcValueAxis.top(), rcValueAxis.left() + rcValueAxis.width() / 2, rcValueAxis.bottom()); - - painter.setPen(QColor::fromRgb(50,255,50)); - painter.setBrush(hGradientBrush); - - if (_showMinMax) { - QString text; - - // Draw the Min numeric value display to the left - painter.drawText(0, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Min"); - if (_minValid) { - text = QString::number(_min); - } else { - text = "----"; - } - painter.drawText(0, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text); - - // Draw the Max numeric value display to the right - painter.drawText(width() - minMaxDisplayWidth, rowHeigth, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, "Max"); - if (_maxValid) { - text = QString::number(_max); - } else { - text = QString::number(_max); - } - painter.drawText(width() - minMaxDisplayWidth, rowHeigth * 2, minMaxDisplayWidth, fontHeight, Qt::AlignHCenter | Qt::AlignBottom, text); - - // Draw the Min/Max tick marks on the axis - int xTick; - if (_minValid) { - int xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_min-_minRange) / (_maxRange-_minRange))); - painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom()); - } - if (_maxValid) { - xTick = rcValueAxis.left() + (rcValueAxis.width() * ((float)(_max-_minRange) / (_maxRange-_minRange))); - painter.drawLine(xTick, rcValueAxis.top(), xTick, rcValueAxis.bottom()); - } - } - - if (_showTrim) { - // Draw the Trim value pointer - _drawValuePointer(&painter, - rcValueAxis.left() + (rcValueAxis.width() * ((float)(_trim-_minRange) / (_maxRange-_minRange))), // x position for tip of triangle - (rowHeigth * 2) + (rowHeigth / 2) - 1, // y position for tip of triangle - rowHeigth / 2, // heigth of triangle - false); // draw upside down - - // Draw the Trim value label - QString trimStr = tr("Trim %1").arg(QString::number(_trim)); - - int trimTextWidth = painter.fontMetrics().width(trimStr); - - painter.drawText(rcValueAxis.left() + (rcValueAxis.width() * ((float)(_trim-_minRange) / (_maxRange-_minRange))) - (trimTextWidth / 2), - rowHeigth, - trimTextWidth, - fontHeight, - Qt::AlignLeft | Qt::AlignBottom, - trimStr); - } - - // Draw the RC value pointer - _drawValuePointer(&painter, - rcValueAxis.left() + (rcValueAxis.width() * ((float)(curVal-_minRange) / (_maxRange-_minRange))), // x position for tip of triangle - (rowHeigth * 2) + (rowHeigth / 2) + 1, // y position for tip of triangle - rowHeigth / 2, // heigth of triangle - true); // draw right side up - - // Draw the control value - QString valueStr = QString::number(_value); - - int valueTextWidth = painter.fontMetrics().width(valueStr); - - painter.drawText(rcValueAxis.left() + (rcValueAxis.width() * ((float)(_value-_minRange) / (_maxRange-_minRange))) - (valueTextWidth / 2), - rowHeigth * 3, - valueTextWidth, - fontHeight, - Qt::AlignLeft | Qt::AlignBottom, - valueStr); - - painter.setPen(QColor::fromRgb(0,128,0)); - painter.setBrush(hGradientBrush); - } else { - painter.setPen(QColor(Qt::gray)); - painter.drawText(0, 0, width(), height(), Qt::AlignHCenter | Qt::AlignVCenter, tr("not available")); - } -} - -void RCChannelWidget::setValue(int value) -{ - _value = value; - update(); -} - -void RCChannelWidget::showMinMax(bool show) -{ - _showMinMax = show; - update(); -} - -void RCChannelWidget::showTrim(bool show) -{ - _showTrim = show; - update(); -} - -void RCChannelWidget::setValueAndMinMax(int val, int min, int max) -{ - setValue(val); - setMinMax(min,max); -} - -void RCChannelWidget::setMinMax(int min, int max) -{ - _min = min; - _max = max; - update(); -} - -void RCChannelWidget::setTrim(int value) -{ - _trim = value; - update(); -} - -/// @brief Draw rc value pointer triangle. -/// @param painter Draw using this painter -/// @param x X position for tip of triangle -/// @param y Y position for tip of triangle -/// @param heigth Height of triangle -/// @param rightSideUp true: draw triangle right side up, false: draw triangle upside down -void RCChannelWidget::_drawValuePointer(QPainter* painter, int xTip, int yTip, int height, bool rightSideUp) -{ - QPointF trianglePoints[3]; - - // Topmost tip of triangle points to value - trianglePoints[0].setX(xTip); - trianglePoints[0].setY(yTip); - - int yBottom; - if (rightSideUp) { - yBottom = yTip + height; - } else { - yBottom = yTip - height; - } - - // Right bottom tip of triangle - trianglePoints[1].setX(xTip + (height * 0.75)); - trianglePoints[1].setY(yBottom); - - // Left bottom tip of triangle - trianglePoints[2].setX(xTip - (height * 0.75)); - trianglePoints[2].setY(yBottom); - - painter->drawPolygon (trianglePoints, 3); -} - -/// @brief Set whether the Min range value is valid or not. -void RCChannelWidget::setMinValid(bool valid) -{ - _minValid = valid; - update(); -} - -/// @brief Set whether the Max range value is valid or not. -void RCChannelWidget::setMaxValid(bool valid) -{ - _maxValid = valid; - update(); -} diff --git a/src/ui/designer/RCChannelWidget.h b/src/ui/designer/RCChannelWidget.h deleted file mode 100644 index 254cb3e46779ef1c3b30f133134adf8249e664b5..0000000000000000000000000000000000000000 --- a/src/ui/designer/RCChannelWidget.h +++ /dev/null @@ -1,94 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009, 2014 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/// @file -/// @author Don Gagne - -#ifndef RCChannelWidget_H -#define RCChannelWidget_H - -#include - -/// @brief RC Channel Widget - UI Widget based on QGroupBox which displays the current calibration settings -/// for an RC channel. -class RCChannelWidget : public QGroupBox -{ - Q_OBJECT - -public: - explicit RCChannelWidget(QWidget *parent = 0); - - /// @brief Set the current RC value to display - void setValue(int value); - - /// @brief Set the current RC Value, Minimum RC Value and Maximum RC Value - void setValueAndMinMax(int val, int min, int max); - - void setMinMax(int min, int max); - - /// @brief Set whether the Min range value is valid or not. - void setMinValid(bool valid); - - /// @brief Set whether the Max range value is valid or not. - void setMaxValid(bool valid); - - /// @brief Sets the Trim value for the channel - void setTrim(int value); - - int value(void) { return _value; } ///< Returns the current RC Value set in the control - int min(void) { return _min; } ///< Returns the min value set in the control - int max(void) { return _max; } ///< Returns the max values set in the control - int trim(void) { return _trim; } ///< Returns the trim value set in the control - - void showMinMax(bool show); - bool isMinMaxShown() { return _showMinMax; } - bool isMinValid(void) { return _minValid; } - bool isMaxValid(void) { return _maxValid; } - - void showTrim(bool show); - bool isTrimShown() { return _showTrim; } - -protected: - virtual void paintEvent(QPaintEvent *event); - -private: - void _drawValuePointer(QPainter* painter, int xTip, int yTip, int height, bool rightSideUp); - - int _value; ///< Current RC value - int _min; ///< Min RC value - int _max; ///< Max RC value - int _trim; ///< RC Value for Trim position - - bool _minValid; ///< true: minimum value is valid - bool _maxValid; ///< true: maximum value is valid - - bool _showMinMax; ///< true: show min max values on display - bool _showTrim; ///< true: show trim value on display - - static const int _centerValue = 1500; ///< RC Value which is at center - static const int _maxDeltaRange = 700; ///< Delta around center value which is the max range for widget - static const int _minRange = _centerValue - _maxDeltaRange; ///< Smallest value widget can display - static const int _maxRange = _centerValue + _maxDeltaRange; ///< Largest value widget can display -}; - -#endif diff --git a/src/ui/flightdisplay/FlightDisplay.qml b/src/ui/flightdisplay/FlightDisplay.qml new file mode 100644 index 0000000000000000000000000000000000000000..d697af98dc200c03de92ea5be23672dee4c1ec42 --- /dev/null +++ b/src/ui/flightdisplay/FlightDisplay.qml @@ -0,0 +1,629 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Main Flight Display + * @author Gus Grubba + */ + +import QtQuick 2.3 +import QtQuick.Controls 1.3 +import QtQuick.Controls.Styles 1.2 +import QtQuick.Dialogs 1.2 + +import QGroundControl.FlightControls 1.0 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.Palette 1.0 + +Item { + id: root + + property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } + + property real roll: isNaN(flightDisplay.roll) ? 0 : flightDisplay.roll + property real pitch: isNaN(flightDisplay.pitch) ? 0 : flightDisplay.pitch + + property bool showPitchIndicator: true + property bool showAttitudeIndicator: true + property bool showCompass: true + + function getBool(value) { + return value === '0' ? false : true; + } + + function setBool(value) { + return value ? "1" : "0"; + } + + Connections { + target: flightDisplay + onShowOptionsMenuChanged: { + contextMenu.popup(); + } + } + + Component.onCompleted: + { + mapBackground.visible = getBool(flightDisplay.loadSetting("showMapBackground", "0")); + mapBackground.alwaysNorth = getBool(flightDisplay.loadSetting("mapAlwaysPointsNorth", "0")); + showAttitudeIndicator = getBool(flightDisplay.loadSetting("showAttitudeIndicator", "1")); + showPitchIndicator = getBool(flightDisplay.loadSetting("showPitchIndicator", "1")); + showCompass = getBool(flightDisplay.loadSetting("showCompass", "1")); + altitudeWidget.visible = getBool(flightDisplay.loadSetting("showAltitudeWidget", "1")); + speedWidget.visible = getBool(flightDisplay.loadSetting("showSpeedWidget", "1")); + currentSpeed.showAirSpeed = getBool(flightDisplay.loadSetting("showCurrentAirSpeed", "1")); + currentSpeed.showGroundSpeed = getBool(flightDisplay.loadSetting("showCurrentGroundSpeed", "1")); + currentAltitude.showClimbRate = getBool(flightDisplay.loadSetting("showCurrentClimbRate", "1")); + currentAltitude.showAltitude = getBool(flightDisplay.loadSetting("showCurrentAltitude", "1")); + mapTypeMenu.update(); + } + + // TODO: This is to replace the context menu but it is not working. Not only the buttons don't show, + // the default placement is random and mostly off screen on mobile devices. + Dialog { + id: optionsDialog + modality: Qt.WindowModal + title: "Flight Display Options" + standardButtons: StandardButton.Close | StandardButton.RestoreDefaults + onReset: { + showPitchIndicator = true; + flightDisplay.saveSetting("showPitchIndicator", setBool(showPitchIndicator)); + showAttitudeIndicator = true; + flightDisplay.saveSetting("showAttitudeIndicator", setBool(showAttitudeIndicator)); + showCompass = true; + flightDisplay.saveSetting("showCompass", setBool(showCompass)); + altitudeWidget.visible = true; + flightDisplay.saveSetting("showAltitudeWidget", setBool(altitudeWidget.visible)); + currentAltitude.showAltitude = true; + flightDisplay.saveSetting("showCurrentAltitude", setBool(currentAltitude.showAltitude)); + currentAltitude.showClimbRate = true; + flightDisplay.saveSetting("showCurrentClimbRate", setBool(currentAltitude.showClimbRate)); + speedWidget.visible = true; + flightDisplay.saveSetting("showSpeedWidget", setBool(speedWidget.visible)); + currentSpeed.showAirSpeed = true; + flightDisplay.saveSetting("showCurrentAirSpeed", setBool(currentSpeed.showAirSpeed)); + currentSpeed.showGroundSpeed = true; + flightDisplay.saveSetting("showCurrentGroundSpeed", setBool(currentSpeed.showGroundSpeed)); + mapBackground.visible = false; + flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible)); + mapBackground.alwaysNorth = false; + flightDisplay.saveSetting("mapAlwaysPointsNorth", setBool(mapBackground.alwaysNorth)); + } + contentItem: Rectangle { + color: __qgcPal.window + implicitWidth: ScreenTools.pixelSizeFactor * (360) + implicitHeight: ScreenTools.pixelSizeFactor * (300) + Column { + id: dialogColumn + anchors.centerIn: parent + spacing: ScreenTools.adjustPixelSize(10) + width: parent.width + Grid { + columns: 2 + spacing: ScreenTools.pixelSizeFactor * (8) + rowSpacing: ScreenTools.pixelSizeFactor * (10) + anchors.horizontalCenter: parent.horizontalCenter + QGCCheckBox { + text: "Map Background" + checked: mapBackground.visible + onClicked: + { + mapBackground.visible = !mapBackground.visible; + flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible)); + } + } + QGCCheckBox { + text: "Pitch Indicator" + checked: showPitchIndicator + onClicked: + { + showPitchIndicator = !showPitchIndicator; + flightDisplay.saveSetting("showPitchIndicator", setBool(showPitchIndicator)); + } + } + QGCCheckBox { + text: "Attitude Indicator" + checked: showAttitudeIndicator + onClicked: + { + showAttitudeIndicator = !showAttitudeIndicator; + flightDisplay.saveSetting("showAttitudeIndicator", setBool(showAttitudeIndicator)); + } + } + QGCCheckBox { + text: "Compass" + checked: showCompass + onClicked: + { + showCompass = !showCompass; + flightDisplay.saveSetting("showCompass", setBool(showCompass)); + } + } + QGCCheckBox { + text: "Altitude Indicator" + checked: altitudeWidget.visible + onClicked: + { + altitudeWidget.visible = !altitudeWidget.visible; + flightDisplay.saveSetting("showAltitudeWidget", setBool(altitudeWidget.visible)); + } + } + QGCCheckBox { + text: "Current Altitude" + checked: currentAltitude.showAltitude + onClicked: + { + currentAltitude.showAltitude = !currentAltitude.showAltitude; + flightDisplay.saveSetting("showCurrentAltitude", setBool(currentAltitude.showAltitude)); + } + } + QGCCheckBox { + text: "Current Climb Rate" + checked: currentAltitude.showClimbRate + onClicked: + { + currentAltitude.showClimbRate = !currentAltitude.showClimbRate; + flightDisplay.saveSetting("showCurrentClimbRate", setBool(currentAltitude.showClimbRate)); + } + } + QGCCheckBox { + text: "Speed Indicator" + checked: speedWidget.visible + onClicked: + { + speedWidget.visible = !speedWidget.visible; + flightDisplay.saveSetting("showSpeedWidget", setBool(speedWidget.visible)); + } + } + QGCCheckBox { + text: "Current Air Speed" + checked: currentSpeed.showAirSpeed + onClicked: + { + currentSpeed.showAirSpeed = !currentSpeed.showAirSpeed; + flightDisplay.saveSetting("showCurrentAirSpeed", setBool(currentSpeed.showAirSpeed)); + } + } + QGCCheckBox { + text: "Current Ground Speed" + checked: currentSpeed.showGroundSpeed + onClicked: + { + currentSpeed.showGroundSpeed = !currentSpeed.showGroundSpeed; + flightDisplay.saveSetting("showCurrentGroundSpeed", setBool(currentSpeed.showGroundSpeed)); + } + } + } + //-- Hack tool to find optimal scale factor + Column { + id: fudgeColumn + anchors.horizontalCenter: parent.horizontalCenter + spacing: ScreenTools.adjustPixelSize(4) + width: parent.width + QGCLabel { + text: "Adjust Pixel Size Factor" + anchors.horizontalCenter: parent.horizontalCenter + } + Row { + spacing: ScreenTools.adjustPixelSize(4) + anchors.horizontalCenter: parent.horizontalCenter + Button { + text: 'Inc' + onClicked: { + ScreenTools.increasePixelSize() + } + } + Label { + text: ScreenTools.pixelSizeFactor.toFixed(2) + color: __qgcPal.text + anchors.verticalCenter: parent.verticalCenter + } + Button { + text: 'Dec' + onClicked: { + ScreenTools.decreasePixelSize() + } + } + } + QGCLabel { + text: "Adjust Font Size Factor" + anchors.horizontalCenter: parent.horizontalCenter + } + Row { + spacing: ScreenTools.adjustPixelSize(4) + anchors.horizontalCenter: parent.horizontalCenter + Button { + text: 'Inc' + onClicked: { + ScreenTools.increaseFontSize() + } + } + Label { + text: ScreenTools.fontPointFactor.toFixed(2) + color: __qgcPal.text + anchors.verticalCenter: parent.verticalCenter + } + Button { + text: 'Dec' + onClicked: { + ScreenTools.decreaseFontSize() + } + } + } + } + } + } + } + + Menu { + id: contextMenu + + MenuItem { + text: "Map Background" + checkable: true + checked: mapBackground.visible + onTriggered: + { + mapBackground.visible = !mapBackground.visible; + flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible)); + } + } + + /* + MenuItem { + text: "Options Dialog" + onTriggered: + { + optionsDialog.open() + } + } + */ + + /* + MenuItem { + text: "Map Always Points North" + checkable: true + checked: mapBackground.alwaysNorth + onTriggered: + { + mapBackground.alwaysNorth = !mapBackground.alwaysNorth; + flightDisplay.saveSetting("mapAlwaysPointsNorth", setBool(mapBackground.alwaysNorth)); + } + } + */ + + Menu { + id: mapTypeMenu + title: "Map Type..." + ExclusiveGroup { id: currMapType } + function setCurrentMap(map) { + for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) { + if (map === mapBackground.mapItem.supportedMapTypes[i].name) { + mapBackground.mapItem.activeMapType = mapBackground.mapItem.supportedMapTypes[i] + flightDisplay.saveSetting("currentMapType", map); + return; + } + } + } + function addMap(map, checked) { + var mItem = mapTypeMenu.addItem(map); + mItem.checkable = true + mItem.checked = checked + mItem.exclusiveGroup = currMapType + var menuSlot = function() {setCurrentMap(map);}; + mItem.triggered.connect(menuSlot); + } + function update() { + clear() + var map = '' + if (mapBackground.mapItem.supportedMapTypes.length > 0) + map = mapBackground.mapItem.activeMapType.name; + map = flightDisplay.loadSetting("currentMapType", map); + for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) { + var name = mapBackground.mapItem.supportedMapTypes[i].name; + addMap(name, map === name); + } + if(map != '') + setCurrentMap(map); + } + } + + MenuSeparator {} + + MenuItem { + text: "Pitch Indicator" + checkable: true + checked: showPitchIndicator + onTriggered: + { + showPitchIndicator = !showPitchIndicator; + flightDisplay.saveSetting("showPitchIndicator", setBool(showPitchIndicator)); + } + } + + MenuItem { + text: "Attitude Indicator" + checkable: true + checked: showAttitudeIndicator + onTriggered: + { + showAttitudeIndicator = !showAttitudeIndicator; + flightDisplay.saveSetting("showAttitudeIndicator", setBool(showAttitudeIndicator)); + } + } + + MenuItem { + text: "Compass" + checkable: true + checked: showCompass + onTriggered: + { + showCompass = !showCompass; + flightDisplay.saveSetting("showCompass", setBool(showCompass)); + } + } + + MenuItem { + text: "Altitude Indicator" + checkable: true + checked: altitudeWidget.visible + onTriggered: + { + altitudeWidget.visible = !altitudeWidget.visible; + flightDisplay.saveSetting("showAltitudeWidget", setBool(altitudeWidget.visible)); + } + } + + MenuItem { + text: "Current Altitude" + checkable: true + checked: currentAltitude.showAltitude + onTriggered: + { + currentAltitude.showAltitude = !currentAltitude.showAltitude; + flightDisplay.saveSetting("showCurrentAltitude", setBool(currentAltitude.showAltitude)); + } + } + + MenuItem { + text: "Current Climb Rate" + checkable: true + checked: currentAltitude.showClimbRate + onTriggered: + { + currentAltitude.showClimbRate = !currentAltitude.showClimbRate; + flightDisplay.saveSetting("showCurrentClimbRate", setBool(currentAltitude.showClimbRate)); + } + } + + MenuItem { + text: "Speed Indicator" + checkable: true + checked: speedWidget.visible + onTriggered: + { + speedWidget.visible = !speedWidget.visible; + flightDisplay.saveSetting("showSpeedWidget", setBool(speedWidget.visible)); + } + } + + MenuItem { + text: "Current Air Speed" + checkable: true + checked: currentSpeed.showAirSpeed + onTriggered: + { + currentSpeed.showAirSpeed = !currentSpeed.showAirSpeed; + flightDisplay.saveSetting("showCurrentAirSpeed", setBool(currentSpeed.showAirSpeed)); + } + } + + MenuItem { + text: "Current Ground Speed" + checkable: true + checked: currentSpeed.showGroundSpeed + onTriggered: + { + currentSpeed.showGroundSpeed = !currentSpeed.showGroundSpeed; + flightDisplay.saveSetting("showCurrentGroundSpeed", setBool(currentSpeed.showGroundSpeed)); + } + } + + MenuSeparator {} + + MenuItem { + text: "Restore Defaults" + onTriggered: + { + showPitchIndicator = true; + flightDisplay.saveSetting("showPitchIndicator", setBool(showPitchIndicator)); + showAttitudeIndicator = true; + flightDisplay.saveSetting("showAttitudeIndicator", setBool(showAttitudeIndicator)); + showCompass = true; + flightDisplay.saveSetting("showCompass", setBool(showCompass)); + altitudeWidget.visible = true; + flightDisplay.saveSetting("showAltitudeWidget", setBool(altitudeWidget.visible)); + currentAltitude.showAltitude = true; + flightDisplay.saveSetting("showCurrentAltitude", setBool(currentAltitude.showAltitude)); + currentAltitude.showClimbRate = true; + flightDisplay.saveSetting("showCurrentClimbRate", setBool(currentAltitude.showClimbRate)); + speedWidget.visible = true; + flightDisplay.saveSetting("showSpeedWidget", setBool(speedWidget.visible)); + currentSpeed.showAirSpeed = true; + flightDisplay.saveSetting("showCurrentAirSpeed", setBool(currentSpeed.showAirSpeed)); + currentSpeed.showGroundSpeed = true; + flightDisplay.saveSetting("showCurrentGroundSpeed", setBool(currentSpeed.showGroundSpeed)); + mapBackground.visible = false; + flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible)); + mapBackground.alwaysNorth = false; + flightDisplay.saveSetting("mapAlwaysPointsNorth", setBool(mapBackground.alwaysNorth)); + } + } + + } + + QGCMapBackground { + id: mapBackground + anchors.fill: parent + heading: 0 // isNaN(flightDisplay.heading) ? 0 : flightDisplay.heading + latitude: mapBackground.visible ? ((flightDisplay.latitude === 0) ? 37.803784 : flightDisplay.latitude) : 37.803784 + longitude: mapBackground.visible ? ((flightDisplay.longitude === 0) ? -122.462276 : flightDisplay.longitude) : -122.462276 + interactive: !flightDisplay.mavPresent + z: 10 + } + + QGCCompassInstrument { + id: compassInstrument + y: ScreenTools.pixelSizeFactor * (5) + x: ScreenTools.pixelSizeFactor * (85) + size: ScreenTools.pixelSizeFactor * (160) + heading: isNaN(flightDisplay.heading) ? 0 : flightDisplay.heading + visible: mapBackground.visible && showCompass + z: mapBackground.z + 1 + onResetRequested: { + y = ScreenTools.pixelSizeFactor * (5) + x = ScreenTools.pixelSizeFactor * (85) + size = ScreenTools.pixelSizeFactor * (160) + tForm.xScale = 1 + tForm.yScale = 1 + } + } + + QGCAttitudeInstrument { + id: attitudeInstrument + y: ScreenTools.pixelSizeFactor * (5) + size: ScreenTools.pixelSizeFactor * (160) + rollAngle: roll + pitchAngle: pitch + showPitch: showPitchIndicator + visible: mapBackground.visible && showAttitudeIndicator + anchors.right: root.right + anchors.rightMargin: ScreenTools.pixelSizeFactor * (85) + z: mapBackground.z + 1 + onResetRequested: { + y = ScreenTools.pixelSizeFactor * (5) + anchors.right = root.right + anchors.rightMargin = ScreenTools.pixelSizeFactor * (85) + size = ScreenTools.pixelSizeFactor * (160) + tForm.xScale = 1 + tForm.yScale = 1 + } + } + + QGCArtificialHorizon { + id: artificialHoriz + anchors.fill: parent + rollAngle: roll + pitchAngle: pitch + visible: !mapBackground.visible + z: 10 + } + + QGCAttitudeWidget { + id: attitudeWidget + rollAngle: roll + pitchAngle: pitch + visible: !mapBackground.visible && showAttitudeIndicator + width: ScreenTools.pixelSizeFactor * (260) + height: ScreenTools.pixelSizeFactor * (260) + z: 20 + } + + QGCPitchWidget { + id: pitchWidget + visible: showPitchIndicator && !mapBackground.visible + anchors.verticalCenter: parent.verticalCenter + pitchAngle: pitch + rollAngle: roll + color: Qt.rgba(0,0,0,0) + size: ScreenTools.pixelSizeFactor * (120) + z: 30 + } + + QGCAltitudeWidget { + id: altitudeWidget + anchors.right: parent.right + width: ScreenTools.pixelSizeFactor * (60) + height: parent.height * 0.65 > ScreenTools.pixelSizeFactor * (280) ? ScreenTools.pixelSizeFactor * (280) : parent.height * 0.65 + altitude: flightDisplay.altitudeWGS84 + z: 30 + } + + QGCSpeedWidget { + id: speedWidget + anchors.left: parent.left + width: ScreenTools.pixelSizeFactor * (60) + height: parent.height * 0.65 > ScreenTools.pixelSizeFactor * (280) ? ScreenTools.pixelSizeFactor * (280) : parent.height * 0.65 + speed: flightDisplay.groundSpeed + z: 40 + } + + QGCCurrentSpeed { + id: currentSpeed + anchors.left: parent.left + width: ScreenTools.pixelSizeFactor * (75) + airspeed: flightDisplay.airSpeed + groundspeed: flightDisplay.groundSpeed + showAirSpeed: true + showGroundSpeed: true + visible: (currentSpeed.showGroundSpeed || currentSpeed.showAirSpeed) + z: 50 + } + + QGCCurrentAltitude { + id: currentAltitude + anchors.right: parent.right + width: ScreenTools.pixelSizeFactor * (75) + altitude: flightDisplay.altitudeWGS84 + vertZ: flightDisplay.climbRate + showAltitude: true + showClimbRate: true + visible: (currentAltitude.showAltitude || currentAltitude.showClimbRate) + z: 60 + } + + QGCCompass { + id: compassIndicator + y: root.height * 0.7 + x: root.width * 0.5 - ScreenTools.pixelSizeFactor * (60) + width: ScreenTools.pixelSizeFactor * (120) + height: ScreenTools.pixelSizeFactor * (120) + heading: isNaN(flightDisplay.heading) ? 0 : flightDisplay.heading + visible: !mapBackground.visible && showCompass + z: 70 + } + + //- Context Menu + MouseArea { + anchors.fill: parent + acceptedButtons: Qt.RightButton + onClicked: { + if (mouse.button == Qt.RightButton) + { + contextMenu.popup(); + } + } + } +} diff --git a/src/ui/flightdisplay/QGCFlightDisplay.cc b/src/ui/flightdisplay/QGCFlightDisplay.cc new file mode 100644 index 0000000000000000000000000000000000000000..bdd40b9b1dbbd0c28670d36684494bdf961c7dc1 --- /dev/null +++ b/src/ui/flightdisplay/QGCFlightDisplay.cc @@ -0,0 +1,380 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Main Flight Display + * @author Gus Grubba + */ + +#include +#include +#include + +#include "MainWindow.h" +#include "QGCFlightDisplay.h" +#include "UASManager.h" + +#define UPDATE_TIMER 500 + +const char* kMainFlightDisplayGroup = "MainFlightDisplay"; + +QGCFlightDisplay::QGCFlightDisplay(QWidget *parent) + : QGCQmlWidgetHolder(parent) + , _mav(NULL) + , _roll(0.0f) + , _pitch(0.0f) + , _heading(0.0f) + , _altitudeAMSL(0.0f) + , _altitudeWGS84(0.0f) + , _altitudeRelative(0.0f) + , _groundSpeed(0.0f) + , _airSpeed(0.0f) + , _climbRate(0.0f) + , _navigationAltitudeError(0.0f) + , _navigationSpeedError(0.0f) + , _navigationCrosstrackError(0.0f) + , _navigationTargetBearing(0.0f) + , _latitude(37.803784f) + , _longitude(-122.462276f) + , _refreshTimer(new QTimer(this)) +{ + setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding); + setObjectName("MainFlightDisplay"); + // Get rid of layout default margins + QLayout* pl = layout(); + if(pl) { + pl->setContentsMargins(0,0,0,0); + } +#ifndef __android__ + setMinimumWidth( 380 * MainWindow::pixelSizeFactor()); + setMinimumHeight(400 * MainWindow::pixelSizeFactor()); +#endif + setContextPropertyObject("flightDisplay", this); + setSource(QUrl::fromUserInput("qrc:/qml/FlightDisplay.qml")); + setVisible(true); + // Connect with UAS signal + _setActiveUAS(UASManager::instance()->getActiveUAS()); + connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(_forgetUAS(UASInterface*))); + connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*))); + // Refresh timer + _refreshTimer->setInterval(UPDATE_TIMER); + connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate())); +} + +QGCFlightDisplay::~QGCFlightDisplay() +{ + _refreshTimer->stop(); +} + +void QGCFlightDisplay::saveSetting(const QString &name, const QString& value) +{ + QSettings settings; + QString key(kMainFlightDisplayGroup); + key += "/" + name; + settings.setValue(key, value); +} + +QString QGCFlightDisplay::loadSetting(const QString &name, const QString& defaultValue) +{ + QSettings settings; + QString key(kMainFlightDisplayGroup); + key += "/" + name; + return settings.value(key, defaultValue).toString(); +} + +void QGCFlightDisplay::_forgetUAS(UASInterface* uas) +{ + if (_mav != NULL && _mav == uas) { + // Disconnect any previously connected active MAV + disconnect(_mav, SIGNAL(attitudeChanged (UASInterface*, double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64))); + disconnect(_mav, SIGNAL(attitudeChanged (UASInterface*, int,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64))); + disconnect(_mav, SIGNAL(speedChanged (UASInterface*, double, double, quint64)), this, SLOT(_updateSpeed(UASInterface*, double, double, quint64))); + disconnect(_mav, SIGNAL(altitudeChanged (UASInterface*, double, double, double, double, quint64)), this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64))); + disconnect(_mav, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double))); + disconnect(_mav, &UASInterface::NavigationControllerDataChanged, this, &QGCFlightDisplay::_updateNavigationControllerData); + } + _mav = NULL; + emit mavPresentChanged(); +} + +void QGCFlightDisplay::_setActiveUAS(UASInterface* uas) +{ + if (uas == _mav) + return; + // Disconnect the previous one (if any) + if(_mav) { + _forgetUAS(_mav); + } + if (uas) { + // Now connect the new UAS + // Setup communication + connect(uas, SIGNAL(attitudeChanged (UASInterface*,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64))); + connect(uas, SIGNAL(attitudeChanged (UASInterface*,int,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64))); + connect(uas, SIGNAL(speedChanged (UASInterface*, double, double, quint64)), this, SLOT(_updateSpeed(UASInterface*, double, double, quint64))); + connect(uas, SIGNAL(altitudeChanged (UASInterface*, double, double, double, double, quint64)), this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64))); + connect(uas, SIGNAL(navigationControllerErrorsChanged (UASInterface*, double, double, double)), this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double))); + connect(uas, &UASInterface::NavigationControllerDataChanged, this, &QGCFlightDisplay::_updateNavigationControllerData); + // Set new UAS + _mav = uas; + } + emit mavPresentChanged(); +} + +void QGCFlightDisplay::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64) +{ + if (isinf(roll)) { + _roll = std::numeric_limits::quiet_NaN(); + } else { + float rolldeg = _oneDecimal(roll * (180.0 / M_PI)); + if (fabs(roll - rolldeg) > 1.0) { + _roll = rolldeg; + if(_refreshTimer->isActive()) { + emit rollChanged(); + } + } + if(_roll != rolldeg) { + _roll = rolldeg; + _addChange(ROLL_CHANGED); + } + } + if (isinf(pitch)) { + _pitch = std::numeric_limits::quiet_NaN(); + } else { + float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI)); + if (fabs(pitch - pitchdeg) > 1.0) { + _pitch = pitchdeg; + if(_refreshTimer->isActive()) { + emit pitchChanged(); + } + } + if(_pitch != pitchdeg) { + _pitch = pitchdeg; + _addChange(PITCH_CHANGED); + } + } + if (isinf(yaw)) { + _heading = std::numeric_limits::quiet_NaN(); + } else { + yaw = _oneDecimal(yaw * (180.0 / M_PI)); + if (yaw < 0) yaw += 360; + if (fabs(_heading - yaw) > 1.0) { + _heading = yaw; + if(_refreshTimer->isActive()) { + emit headingChanged(); + } + } + if(_heading != yaw) { + _heading = yaw; + _addChange(HEADING_CHANGED); + } + } +} + +void QGCFlightDisplay::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp) +{ + _updateAttitude(uas, roll, pitch, yaw, timestamp); +} + +void QGCFlightDisplay::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64) +{ + groundSpeed = _oneDecimal(groundSpeed); + if (fabs(_groundSpeed - groundSpeed) > 0.5) { + _groundSpeed = groundSpeed; + if(_refreshTimer->isActive()) { + emit groundSpeedChanged(); + } + } + airSpeed = _oneDecimal(airSpeed); + if (fabs(_airSpeed - airSpeed) > 1.0) { + _airSpeed = airSpeed; + if(_refreshTimer->isActive()) { + emit airSpeedChanged(); + } + } + if(_groundSpeed != groundSpeed) { + _groundSpeed = groundSpeed; + _addChange(GROUNDSPEED_CHANGED); + } + if(_airSpeed != airSpeed) { + _airSpeed = airSpeed; + _addChange(AIRSPEED_CHANGED); + } +} + +void QGCFlightDisplay::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) { + altitudeAMSL = _oneDecimal(altitudeAMSL); + if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) { + _altitudeAMSL = altitudeAMSL; + if(_refreshTimer->isActive()) { + emit altitudeAMSLChanged(); + } + } + altitudeWGS84 = _oneDecimal(altitudeWGS84); + if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) { + _altitudeWGS84 = altitudeWGS84; + if(_refreshTimer->isActive()) { + emit altitudeWGS84Changed(); + } + } + altitudeRelative = _oneDecimal(altitudeRelative); + if (fabs(_altitudeRelative - altitudeRelative) > 0.5) { + _altitudeRelative = altitudeRelative; + if(_refreshTimer->isActive()) { + emit altitudeRelativeChanged(); + } + } + climbRate = _oneDecimal(climbRate); + if (fabs(_climbRate - climbRate) > 0.5) { + _climbRate = climbRate; + if(_refreshTimer->isActive()) { + emit climbRateChanged(); + } + } + if(_altitudeAMSL != altitudeAMSL) { + _altitudeAMSL = altitudeAMSL; + _addChange(ALTITUDEAMSL_CHANGED); + } + if(_altitudeWGS84 != altitudeWGS84) { + _altitudeWGS84 = altitudeWGS84; + _addChange(ALTITUDEWGS84_CHANGED); + } + if(_altitudeRelative != altitudeRelative) { + _altitudeRelative = altitudeRelative; + _addChange(ALTITUDERELATIVE_CHANGED); + } + if(_climbRate != climbRate) { + _climbRate = climbRate; + _addChange(CLIMBRATE_CHANGED); + } +} + +void QGCFlightDisplay::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) { + _navigationAltitudeError = altitudeError; + _navigationSpeedError = speedError; + _navigationCrosstrackError = xtrackError; +} + +void QGCFlightDisplay::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) { + if (_mav == uas) { + _navigationTargetBearing = targetBearing; + } +} + +/* + * Internal + */ + +bool QGCFlightDisplay::_isAirplane() { + if (_mav) + return _mav->isAirplane(); + return false; +} + +// TODO: Implement. Should return true when navigating. +// That would be (PX4) in AUTO and RTL modes. +// This could forward to a virtual on UAS bool isNavigatingAutonomusly() or whatever. +bool QGCFlightDisplay::_shouldDisplayNavigationData() { + return true; +} + +void QGCFlightDisplay::showEvent(QShowEvent* event) +{ + // Enable updates + QWidget::showEvent(event); + _refreshTimer->start(UPDATE_TIMER); +} + +void QGCFlightDisplay::hideEvent(QHideEvent* event) +{ + // Disable updates + _refreshTimer->stop(); + QWidget::hideEvent(event); +} + +void QGCFlightDisplay::_addChange(int id) +{ + if(!_changes.contains(id)) { + _changes.append(id); + } +} + +float QGCFlightDisplay::_oneDecimal(float value) +{ + int i = (value * 10); + return (float)i / 10.0; +} + +void QGCFlightDisplay::_checkUpdate() +{ + // Update current location + if(_mav) { + if(_latitude != _mav->getLatitude()) { + _latitude = _mav->getLatitude(); + emit latitudeChanged(); + } + if(_longitude != _mav->getLongitude()) { + _longitude = _mav->getLongitude(); + emit longitudeChanged(); + } + } + // Check for changes + // Significant changes, that is, whole number changes, are updated immediatelly. + // For every message however, we set a flag for what changed and this timer updates + // them to bring everything up-to-date. This prevents an avalanche of UI updates. + foreach(int i, _changes) { + switch (i) { + case ROLL_CHANGED: + emit rollChanged(); + break; + case PITCH_CHANGED: + emit pitchChanged(); + break; + case HEADING_CHANGED: + emit headingChanged(); + break; + case GROUNDSPEED_CHANGED: + emit groundSpeedChanged(); + break; + case AIRSPEED_CHANGED: + emit airSpeedChanged(); + break; + case CLIMBRATE_CHANGED: + emit climbRateChanged(); + break; + case ALTITUDERELATIVE_CHANGED: + emit altitudeRelativeChanged(); + break; + case ALTITUDEWGS84_CHANGED: + emit altitudeWGS84Changed(); + break; + case ALTITUDEAMSL_CHANGED: + emit altitudeAMSLChanged(); + break; + default: + break; + } + } + _changes.clear(); +} + diff --git a/src/ui/flightdisplay/QGCFlightDisplay.h b/src/ui/flightdisplay/QGCFlightDisplay.h new file mode 100644 index 0000000000000000000000000000000000000000..41103c6fe316e458077bb8fc4aad2dfa0233b811 --- /dev/null +++ b/src/ui/flightdisplay/QGCFlightDisplay.h @@ -0,0 +1,160 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Main Flight Display + * @author Gus Grubba + */ + +#ifndef QGCFLIGHTDISPLAY_H +#define QGCFLIGHTDISPLAY_H + +#include "QGCQmlWidgetHolder.h" + +class UASInterface; + +class QGCFlightDisplay : public QGCQmlWidgetHolder +{ + Q_OBJECT +public: + QGCFlightDisplay(QWidget* parent = NULL); + ~QGCFlightDisplay(); + + enum { + ROLL_CHANGED, + PITCH_CHANGED, + HEADING_CHANGED, + GROUNDSPEED_CHANGED, + AIRSPEED_CHANGED, + CLIMBRATE_CHANGED, + ALTITUDERELATIVE_CHANGED, + ALTITUDEWGS84_CHANGED, + ALTITUDEAMSL_CHANGED + }; + + /// @brief Invokes the Flight Display Options menu + void showOptionsMenu() { emit showOptionsMenuChanged(); } + + Q_PROPERTY(float roll READ roll NOTIFY rollChanged) + Q_PROPERTY(float pitch READ pitch NOTIFY pitchChanged) + Q_PROPERTY(float heading READ heading NOTIFY headingChanged) + Q_PROPERTY(float groundSpeed READ groundSpeed NOTIFY groundSpeedChanged) + Q_PROPERTY(float airSpeed READ airSpeed NOTIFY airSpeedChanged) + Q_PROPERTY(float climbRate READ climbRate NOTIFY climbRateChanged) + Q_PROPERTY(float altitudeRelative READ altitudeRelative NOTIFY altitudeRelativeChanged) + Q_PROPERTY(float altitudeWGS84 READ altitudeWGS84 NOTIFY altitudeWGS84Changed) + Q_PROPERTY(float altitudeAMSL READ altitudeAMSL NOTIFY altitudeAMSLChanged) + Q_PROPERTY(bool repaintRequested READ repaintRequested NOTIFY repaintRequestedChanged) + Q_PROPERTY(float latitude READ latitude NOTIFY latitudeChanged) + Q_PROPERTY(float longitude READ longitude NOTIFY longitudeChanged) + Q_PROPERTY(bool mavPresent READ mavPresent NOTIFY mavPresentChanged) + + Q_INVOKABLE void saveSetting (const QString &key, const QString& value); + Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue); + + float roll () { return _roll; } + float pitch () { return _pitch; } + float heading () { return _heading; } + float groundSpeed () { return _groundSpeed; } + float airSpeed () { return _airSpeed; } + float climbRate () { return _climbRate; } + float altitudeRelative () { return _altitudeRelative; } + float altitudeWGS84 () { return _altitudeWGS84; } + float altitudeAMSL () { return _altitudeAMSL; } + float latitude () { return _latitude; } + float longitude () { return _longitude; } + bool repaintRequested () { return true; } + bool mavPresent () { return _mav != NULL; } + + /** @brief Start updating widget */ + void showEvent(QShowEvent* event); + /** @brief Stop updating widget */ + void hideEvent(QHideEvent* event); + +signals: + void rollChanged (); + void pitchChanged (); + void headingChanged (); + void groundSpeedChanged (); + void airSpeedChanged (); + void climbRateChanged (); + void altitudeRelativeChanged(); + void altitudeWGS84Changed (); + void altitudeAMSLChanged (); + void repaintRequestedChanged(); + void latitudeChanged (); + void longitudeChanged (); + void mavPresentChanged (); + void showOptionsMenuChanged (); + +private slots: + /** @brief Attitude from main autopilot / system state */ + void _updateAttitude (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp); + /** @brief Attitude from one specific component / redundant autopilot */ + void _updateAttitude (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp); + /** @brief Speed */ + void _updateSpeed (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp); + /** @brief Altitude */ + void _updateAltitude (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp); + void _updateNavigationControllerErrors (UASInterface* uas, double altitudeError, double speedError, double xtrackError); + void _updateNavigationControllerData (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance); + void _forgetUAS (UASInterface* uas); + void _setActiveUAS (UASInterface* uas); + void _checkUpdate (); + +private: + bool _isAirplane (); + bool _shouldDisplayNavigationData (); + void _addChange (int id); + float _oneDecimal (float value); + +private: + UASInterface* _mav; + + float _roll; + float _pitch; + float _heading; + + float _altitudeAMSL; + float _altitudeWGS84; + float _altitudeRelative; + + float _groundSpeed; + float _airSpeed; + float _climbRate; + + float _navigationAltitudeError; + float _navigationSpeedError; + float _navigationCrosstrackError; + float _navigationTargetBearing; + + float _latitude; + float _longitude; + + QTimer* _refreshTimer; + QList _changes; +}; + + +#endif // QGCFLIGHTDISPLAY_H diff --git a/src/ui/linechart/LinechartWidget.cc b/src/ui/linechart/LinechartWidget.cc index 6992f1cc2031aab31804804607649b03cb28f59b..ab6291f3b884917717c05e6e3d9443398835752e 100644 --- a/src/ui/linechart/LinechartWidget.cc +++ b/src/ui/linechart/LinechartWidget.cc @@ -351,11 +351,15 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString& { lastTimestamp = usec; } else if (usec != 0) { - // Difference larger than 5 secs, enforce ground time - if (((qint64)usec - (qint64)lastTimestamp) > 5000) + // Difference larger than 3 secs, enforce ground time + if (((qint64)usec - (qint64)lastTimestamp) > 3000) { autoGroundTimeSet = true; - if (activePlot) activePlot->groundTime(); + // Tick ground time checkbox, but avoid state switching + timeButton->blockSignals(true); + timeButton->setChecked(true); + timeButton->blockSignals(false); + if (activePlot) activePlot->enforceGroundTime(true); } } diff --git a/src/ui/map/Waypoint2DIcon.cc b/src/ui/map/Waypoint2DIcon.cc index 9a776439ce5001cb72ccb62efddfd772350bb7f7..50204777b10f5dfa498145e2b721262eb1840845 100644 --- a/src/ui/map/Waypoint2DIcon.cc +++ b/src/ui/map/Waypoint2DIcon.cc @@ -307,7 +307,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op penDash.setWidth(1); //penDash.setStyle(Qt::DotLine); // A negative radius indicates counter-clockwise rotation, but we still want to draw it positive - const int loiter = map->metersToPixels(fabsf(waypoint->getLoiterOrbit()), Coord()); + const int loiter = map->metersToPixels(fabs(waypoint->getLoiterOrbit()), Coord()); if (loiter > picture.width()/2) { painter->setPen(penBlack); diff --git a/src/ui/map3D/CameraParams.cc b/src/ui/map3D/CameraParams.cc deleted file mode 100644 index 8a569df3549e01e1e1cdb1d42d2ae958c06b55a4..0000000000000000000000000000000000000000 --- a/src/ui/map3D/CameraParams.cc +++ /dev/null @@ -1,58 +0,0 @@ -#include "CameraParams.h" - -CameraParams::CameraParams() - : mMinZoomRange(2.0f) - , mFov(30.0f) - , mMinClipRange(1.0f) - , mMaxClipRange(10000.0f) -{ - -} - -float& -CameraParams::minZoomRange(void) -{ - return mMinZoomRange; -} - -float -CameraParams::minZoomRange(void) const -{ - return mMinZoomRange; -} - -float& -CameraParams::fov(void) -{ - return mFov; -} - -float -CameraParams::fov(void) const -{ - return mFov; -} - -float& -CameraParams::minClipRange(void) -{ - return mMinClipRange; -} - -float -CameraParams::minClipRange(void) const -{ - return mMinClipRange; -} - -float& -CameraParams::maxClipRange(void) -{ - return mMaxClipRange; -} - -float -CameraParams::maxClipRange(void) const -{ - return mMaxClipRange; -} diff --git a/src/ui/map3D/CameraParams.h b/src/ui/map3D/CameraParams.h deleted file mode 100644 index 51b749da91ece820996b66d33d47f83a65ad7608..0000000000000000000000000000000000000000 --- a/src/ui/map3D/CameraParams.h +++ /dev/null @@ -1,28 +0,0 @@ -#ifndef CAMERAPARAMS_H -#define CAMERAPARAMS_H - -class CameraParams -{ -public: - CameraParams(); - - float& minZoomRange(void); - float minZoomRange(void) const; - - float& fov(void); - float fov(void) const; - - float& minClipRange(void); - float minClipRange(void) const; - - float& maxClipRange(void); - float maxClipRange(void) const; - -private: - float mMinZoomRange; - float mFov; - float mMinClipRange; - float mMaxClipRange; -}; - -#endif // CAMERAPARAMS_H diff --git a/src/ui/map3D/GCManipulator.cc b/src/ui/map3D/GCManipulator.cc deleted file mode 100644 index a224bfe6c48ae3927dfaba60e41d9f02dc549588..0000000000000000000000000000000000000000 --- a/src/ui/map3D/GCManipulator.cc +++ /dev/null @@ -1,276 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class GCManipulator. - * - * @author Lionel Heng - * - */ - -#include "GCManipulator.h" -#include - -GCManipulator::GCManipulator() -{ - _moveSensitivity = 0.05; - _zoomSensitivity = 1.0; - _minZoomRange = 2.0; -} - -void -GCManipulator::setMinZoomRange(double minZoomRange) -{ - _minZoomRange = minZoomRange; -} - -void -GCManipulator::move(double dx, double dy, double dz) -{ - _center += osg::Vec3d(dx, dy, dz); -} - -bool -GCManipulator::handle(const osgGA::GUIEventAdapter& ea, - osgGA::GUIActionAdapter& us) -{ - using namespace osgGA; - - switch (ea.getEventType()) { - case GUIEventAdapter::PUSH: { - flushMouseEventStack(); - addMouseEvent(ea); - if (calcMovement()) { - us.requestRedraw(); - } - us.requestContinuousUpdate(false); - _thrown = false; - return true; - } - - case GUIEventAdapter::RELEASE: { - if (ea.getButtonMask() == 0) { - if (isMouseMoving()) { - if (calcMovement()) { - us.requestRedraw(); - us.requestContinuousUpdate(false); - _thrown = false; - } - } else { - flushMouseEventStack(); - addMouseEvent(ea); - if (calcMovement()) { - us.requestRedraw(); - } - us.requestContinuousUpdate(false); - _thrown = false; - } - - } else { - flushMouseEventStack(); - addMouseEvent(ea); - if (calcMovement()) { - us.requestRedraw(); - } - us.requestContinuousUpdate(false); - _thrown = false; - } - return true; - } - - case GUIEventAdapter::DRAG: { - addMouseEvent(ea); - if (calcMovement()) { - us.requestRedraw(); - } - us.requestContinuousUpdate(false); - _thrown = false; - return true; - } - - case GUIEventAdapter::SCROLL: { - // zoom model - double scale = 1.0; - - if (ea.getScrollingMotion() == GUIEventAdapter::SCROLL_UP) { - scale -= _zoomSensitivity * 0.1; - } else { - scale += _zoomSensitivity * 0.1; - } - if (_distance * scale > _minZoomRange) { - - _distance *= scale; - - } - - return true; - } - - case GUIEventAdapter::KEYDOWN: - // pan model - switch (ea.getKey()) { - case GUIEventAdapter::KEY_Space: { - flushMouseEventStack(); - _thrown = false; - home(ea,us); - us.requestRedraw(); - us.requestContinuousUpdate(false); - return true; - } - case GUIEventAdapter::KEY_Left: { - double scale = -_moveSensitivity * _distance; - - osg::Matrix rotation_matrix; - rotation_matrix.makeRotate(_rotation); - - osg::Vec3d dv(scale, 0.0, 0.0); - - _center += dv * rotation_matrix; - - return true; - } - case GUIEventAdapter::KEY_Right: { - double scale = _moveSensitivity * _distance; - - osg::Matrix rotation_matrix; - rotation_matrix.makeRotate(_rotation); - - osg::Vec3d dv(scale, 0.0, 0.0); - - _center += dv * rotation_matrix; - - return true; - } - case GUIEventAdapter::KEY_Up: { - double scale = _moveSensitivity * _distance; - - osg::Matrix rotation_matrix; - rotation_matrix.makeRotate(_rotation); - - osg::Vec3d dv(0.0, scale, 0.0); - - _center += dv * rotation_matrix; - - return true; - } - case GUIEventAdapter::KEY_Down: { - double scale = -_moveSensitivity * _distance; - - osg::Matrix rotation_matrix; - rotation_matrix.makeRotate(_rotation); - - osg::Vec3d dv(0.0, scale, 0.0); - - _center += dv * rotation_matrix; - - return true; - } - return false; - } - - case GUIEventAdapter::FRAME: - if (_thrown) { - if (calcMovement()) { - us.requestRedraw(); - } - } - return false; - - default: - return false; - } -} - - -bool -GCManipulator::calcMovement(void) -{ - using namespace osgGA; - - // return if less then two events have been added. - if (_ga_t0.get() == NULL || _ga_t1.get() == NULL) { - return false; - } - - double dx = _ga_t0->getXnormalized() - _ga_t1->getXnormalized(); - double dy = _ga_t0->getYnormalized() - _ga_t1->getYnormalized(); - - // return if there is no movement. - if (dx == 0.0 && dy == 0.0) { - return false; - } - - unsigned int buttonMask = _ga_t1->getButtonMask(); - if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON) { - // rotate camera -#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2) - osg::Vec3d axis; -#else - osg::Vec3 axis; -#endif - float angle; - - float px0 = _ga_t0->getXnormalized(); - float py0 = _ga_t0->getYnormalized(); - - float px1 = _ga_t1->getXnormalized(); - float py1 = _ga_t1->getYnormalized(); - - trackball(axis, angle, px1, py1, px0, py0); - - osg::Quat new_rotate; - new_rotate.makeRotate(angle, axis); - - _rotation = _rotation * new_rotate; - - return true; - - } else if (buttonMask == GUIEventAdapter::MIDDLE_MOUSE_BUTTON || - buttonMask == (GUIEventAdapter::LEFT_MOUSE_BUTTON | - GUIEventAdapter::RIGHT_MOUSE_BUTTON)) { - // pan model - double scale = -_moveSensitivity * _distance; - - osg::Matrix rotation_matrix; - rotation_matrix.makeRotate(_rotation); - - osg::Vec3d dv(dx * scale, dy * scale, 0.0); - - _center += dv * rotation_matrix; - - return true; - - } else if (buttonMask == GUIEventAdapter::RIGHT_MOUSE_BUTTON) { - // zoom model - double scale = 1.0 + dy * _zoomSensitivity; - if (_distance * scale > _minZoomRange) { - - _distance *= scale; - - } - return true; - } - - return false; -} diff --git a/src/ui/map3D/GCManipulator.h b/src/ui/map3D/GCManipulator.h deleted file mode 100644 index e8291abfd85cfdb34c647170cc3843d0876872f9..0000000000000000000000000000000000000000 --- a/src/ui/map3D/GCManipulator.h +++ /dev/null @@ -1,61 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class GCManipulator. - * - * @author Lionel Heng - * - */ - -#ifndef GCMANIPULATOR_H -#define GCMANIPULATOR_H - -#include - -class GCManipulator : public osgGA::TrackballManipulator -{ -public: - GCManipulator(); - - void setMinZoomRange(double minZoomRange); - - virtual void move(double dx, double dy, double dz); - - /** - * @brief Handle events. - * @return True if event is handled; false otherwise. - */ - virtual bool handle(const osgGA::GUIEventAdapter& ea, - osgGA::GUIActionAdapter& us); - -protected: - bool calcMovement(void); - - double _moveSensitivity; - double _zoomSensitivity; - double _minZoomRange; -}; - -#endif // GCMANIPULATOR_H diff --git a/src/ui/map3D/GLOverlayGeode.cc b/src/ui/map3D/GLOverlayGeode.cc deleted file mode 100644 index c2be6e2f651a72078a339d99b7494f88274bc275..0000000000000000000000000000000000000000 --- a/src/ui/map3D/GLOverlayGeode.cc +++ /dev/null @@ -1,435 +0,0 @@ -#include "GLOverlayGeode.h" - -GLOverlayGeode::GLOverlayGeode() - : mDrawable(new GLOverlayDrawable) - , mMessageTimestamp(0.0) -{ - setCullingActive(false); - - addDrawable(mDrawable); -} - -void -GLOverlayGeode::setOverlay(px::GLOverlay &overlay) -{ - mDrawable->setOverlay(overlay); - mCoordinateFrameType = overlay.coordinateframetype(); - - dirtyBound(); -} - -px::GLOverlay::CoordinateFrameType -GLOverlayGeode::coordinateFrameType(void) const -{ - return mCoordinateFrameType; -} - -void -GLOverlayGeode::setMessageTimestamp(qreal timestamp) -{ - mMessageTimestamp = timestamp; -} - -qreal -GLOverlayGeode::messageTimestamp(void) const -{ - return mMessageTimestamp; -} - -GLOverlayGeode::GLOverlayDrawable::GLOverlayDrawable() -{ - setUseDisplayList(false); - setUseVertexBufferObjects(true); -} - -GLOverlayGeode::GLOverlayDrawable::GLOverlayDrawable(const GLOverlayDrawable& drawable, - const osg::CopyOp& copyop) - : osg::Drawable(drawable,copyop) -{ - setUseDisplayList(false); - setUseVertexBufferObjects(true); -} - -void -GLOverlayGeode::GLOverlayDrawable::setOverlay(px::GLOverlay &overlay) -{ - if (!overlay.IsInitialized()) - { - return; - } - - mOverlay = overlay; - - mBBox.init(); - - const std::string& data = mOverlay.data(); - - for (size_t i = 0; i < data.size(); ++i) - { - switch (data.at(i)) { - case px::GLOverlay::POINTS: - break; - case px::GLOverlay::LINES: - break; - case px::GLOverlay::LINE_STRIP: - break; - case px::GLOverlay::LINE_LOOP: - break; - case px::GLOverlay::TRIANGLES: - break; - case px::GLOverlay::TRIANGLE_STRIP: - break; - case px::GLOverlay::TRIANGLE_FAN: - break; - case px::GLOverlay::QUADS: - break; - case px::GLOverlay::QUAD_STRIP: - break; - case px::GLOverlay::POLYGON: - break; - case px::GLOverlay::WIRE_CIRCLE: - i += sizeof(float) * 4; - break; - case px::GLOverlay::SOLID_CIRCLE: - i += sizeof(float) * 4; - break; - case px::GLOverlay::SOLID_CUBE: - i += sizeof(float) * 5; - break; - case px::GLOverlay::WIRE_CUBE: - i += sizeof(float) * 5; - break; - case px::GLOverlay::END: - break; - case px::GLOverlay::VERTEX2F: - i += sizeof(float) * 2; - break; - case px::GLOverlay::VERTEX3F: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - - mBBox.expandBy(x, y, z); - } - break; - case px::GLOverlay::ROTATEF: - i += sizeof(float) * 4; - break; - case px::GLOverlay::TRANSLATEF: - i += sizeof(float) * 3; - break; - case px::GLOverlay::SCALEF: - i += sizeof(float) * 3; - break; - case px::GLOverlay::PUSH_MATRIX: - break; - case px::GLOverlay::POP_MATRIX: - break; - case px::GLOverlay::COLOR3F: - i += sizeof(float) * 3; - break; - case px::GLOverlay::COLOR4F: - i += sizeof(float) * 4; - break; - case px::GLOverlay::POINTSIZE: - i += sizeof(float); - break; - case px::GLOverlay::LINEWIDTH: - i += sizeof(float); - break; - } - } -} - -void -GLOverlayGeode::GLOverlayDrawable::drawImplementation(osg::RenderInfo&) const -{ - if (!mOverlay.IsInitialized()) - { - return; - } - - glMatrixMode(GL_MODELVIEW); - glDisable(GL_LIGHTING); - glEnable(GL_BLEND); - glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); - glPushMatrix(); - - glScalef(-1.0f, 1.0f, -1.0f); - glRotatef(90.0f, 0.0f, 0.0f, 1.0f); - - const std::string& data = mOverlay.data(); - - for (size_t i = 0; i < data.size(); ++i) - { - switch (data.at(i)) { - case px::GLOverlay::POINTS: - glBegin(GL_POINTS); - break; - case px::GLOverlay::LINES: - glBegin(GL_LINES); - break; - case px::GLOverlay::LINE_STRIP: - glBegin(GL_LINE_STRIP); - break; - case px::GLOverlay::LINE_LOOP: - glBegin(GL_LINE_LOOP); - break; - case px::GLOverlay::TRIANGLES: - glBegin(GL_TRIANGLES); - break; - case px::GLOverlay::TRIANGLE_STRIP: - glBegin(GL_TRIANGLE_STRIP); - break; - case px::GLOverlay::TRIANGLE_FAN: - glBegin(GL_TRIANGLE_FAN); - break; - case px::GLOverlay::QUADS: - glBegin(GL_QUADS); - break; - case px::GLOverlay::QUAD_STRIP: - glBegin(GL_QUAD_STRIP); - break; - case px::GLOverlay::POLYGON: - glBegin(GL_POLYGON); - break; - case px::GLOverlay::WIRE_CIRCLE: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - float r = getFloatValue(data, i); - - glBegin(GL_LINE_LOOP); - for (int i = 0; i < 20; i++) - { - float angle = i / 20.0f * M_PI * 2.0f; - glVertex3f(x + r * cosf(angle), y + r * sinf(angle), z); - } - glEnd(); - } - break; - case px::GLOverlay::SOLID_CIRCLE: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - float r = getFloatValue(data, i); - - glBegin(GL_POLYGON); - for (int i = 0; i < 20; i++) - { - float angle = i / 20.0f * M_PI * 2.0f; - glVertex3f(x + r * cosf(angle), y + r * sinf(angle), z); - } - glEnd(); - } - break; - case px::GLOverlay::SOLID_CUBE: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - float w = getFloatValue(data, i); - float h = getFloatValue(data, i); - - float w_2 = w / 2.0f; - float h_2 = h / 2.0f; - glBegin(GL_QUADS); - // face 1 - glNormal3f(1.0f, 0.0f, 0.0f); - glVertex3f(x + w_2, y - w_2, z + h_2); - glVertex3f(x + w_2, y - w_2, z - h_2); - glVertex3f(x + w_2, y + w_2, z - h_2); - glVertex3f(x + w_2, y + w_2, z + h_2); - // face 2 - glNormal3f(0.0f, 1.0f, 0.0f); - glVertex3f(x + w_2, y + w_2, z + h_2); - glVertex3f(x + w_2, y + w_2, z - h_2); - glVertex3f(x - w_2, y + w_2, z - h_2); - glVertex3f(x - w_2, y + w_2, z + h_2); - // face 3 - glNormal3f(0.0f, 0.0f, 1.0f); - glVertex3f(x + w_2, y + w_2, z + h_2); - glVertex3f(x - w_2, y + w_2, z + h_2); - glVertex3f(x - w_2, y - w_2, z + h_2); - glVertex3f(x + w_2, y - w_2, z + h_2); - // face 4 - glNormal3f(-1.0f, 0.0f, 0.0f); - glVertex3f(x - w_2, y - w_2, z + h_2); - glVertex3f(x - w_2, y + w_2, z + h_2); - glVertex3f(x - w_2, y + w_2, z - h_2); - glVertex3f(x - w_2, y - w_2, z - h_2); - // face 5 - glNormal3f(0.0f, -1.0f, 0.0f); - glVertex3f(x - w_2, y - w_2, z + h_2); - glVertex3f(x - w_2, y - w_2, z - h_2); - glVertex3f(x + w_2, y - w_2, z - h_2); - glVertex3f(x + w_2, y - w_2, z + h_2); - // face 6 - glNormal3f(0.0f, 0.0f, -1.0f); - glVertex3f(x - w_2, y - w_2, z - h_2); - glVertex3f(x - w_2, y + w_2, z - h_2); - glVertex3f(x + w_2, y + w_2, z - h_2); - glVertex3f(x + w_2, y - w_2, z - h_2); - - glEnd(); - } - break; - case px::GLOverlay::WIRE_CUBE: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - float w = getFloatValue(data, i); - float h = getFloatValue(data, i); - - float w_2 = w / 2.0f; - float h_2 = h / 2.0f; - // face 1 - glBegin(GL_LINE_LOOP); - glVertex3f(x + w_2, y - w_2, z + h_2); - glVertex3f(x + w_2, y - w_2, z - h_2); - glVertex3f(x + w_2, y + w_2, z - h_2); - glVertex3f(x + w_2, y + w_2, z + h_2); - glEnd(); - // face 2 - glBegin(GL_LINE_LOOP); - glVertex3f(x + w_2, y + w_2, z + h_2); - glVertex3f(x + w_2, y + w_2, z - h_2); - glVertex3f(x - w_2, y + w_2, z - h_2); - glVertex3f(x - w_2, y + w_2, z + h_2); - glEnd(); - // face 3 - glBegin(GL_LINE_LOOP); - glVertex3f(x + w_2, y + w_2, z + h_2); - glVertex3f(x - w_2, y + w_2, z + h_2); - glVertex3f(x - w_2, y - w_2, z + h_2); - glVertex3f(x + w_2, y - w_2, z + h_2); - glEnd(); - // face 4 - glBegin(GL_LINE_LOOP); - glVertex3f(x - w_2, y - w_2, z + h_2); - glVertex3f(x - w_2, y + w_2, z + h_2); - glVertex3f(x - w_2, y + w_2, z - h_2); - glVertex3f(x - w_2, y - w_2, z - h_2); - glEnd(); - // face 5 - glBegin(GL_LINE_LOOP); - glVertex3f(x - w_2, y - w_2, z + h_2); - glVertex3f(x - w_2, y - w_2, z - h_2); - glVertex3f(x + w_2, y - w_2, z - h_2); - glVertex3f(x + w_2, y - w_2, z + h_2); - glEnd(); - // face 6 - glBegin(GL_LINE_LOOP); - glVertex3f(x - w_2, y - w_2, z - h_2); - glVertex3f(x - w_2, y + w_2, z - h_2); - glVertex3f(x + w_2, y + w_2, z - h_2); - glVertex3f(x + w_2, y - w_2, z - h_2); - glEnd(); - } - break; - case px::GLOverlay::END: - glEnd(); - break; - case px::GLOverlay::VERTEX2F: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - glVertex2f(x, y); - } - break; - case px::GLOverlay::VERTEX3F: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - glVertex3f(x, y, z); - } - break; - case px::GLOverlay::ROTATEF: - { - float angle = getFloatValue(data, i); - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - glRotatef(angle, x, y, z); - } - break; - case px::GLOverlay::TRANSLATEF: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - glTranslatef(x, y, z); - } - break; - case px::GLOverlay::SCALEF: - { - float x = getFloatValue(data, i); - float y = getFloatValue(data, i); - float z = getFloatValue(data, i); - glScalef(x, y, z); - } - break; - case px::GLOverlay::PUSH_MATRIX: - glPushMatrix(); - break; - case px::GLOverlay::POP_MATRIX: - glPopMatrix(); - break; - case px::GLOverlay::COLOR3F: - { - float red = getFloatValue(data, i); - float green = getFloatValue(data, i); - float blue = getFloatValue(data, i); - glColor3f(red, green, blue); - } - break; - case px::GLOverlay::COLOR4F: - { - float red = getFloatValue(data, i); - float green = getFloatValue(data, i); - float blue = getFloatValue(data, i); - float alpha = getFloatValue(data, i); - glColor4f(red, green, blue, alpha); - } - break; - case px::GLOverlay::POINTSIZE: - glPointSize(getFloatValue(data, i)); - break; - case px::GLOverlay::LINEWIDTH: - glLineWidth(getFloatValue(data, i)); - break; - } - } - - glPopMatrix(); - glEnable(GL_LIGHTING); - glDisable(GL_BLEND); -} - -osg::BoundingBox -GLOverlayGeode::GLOverlayDrawable::computeBound() const -{ - return mBBox; -} - -float -GLOverlayGeode::GLOverlayDrawable::getFloatValue(const std::string& data, - size_t& mark) const -{ - char temp[4]; - for (int i = 0; i < 4; ++i) - { - ++mark; - temp[i] = data.at(mark); - } - - char *cp = &(temp[0]); - float *fp = reinterpret_cast(cp); - - return *fp; -} diff --git a/src/ui/map3D/GLOverlayGeode.h b/src/ui/map3D/GLOverlayGeode.h deleted file mode 100644 index d70227c8d9dbf9d0001d2116b60c5cdbbe741450..0000000000000000000000000000000000000000 --- a/src/ui/map3D/GLOverlayGeode.h +++ /dev/null @@ -1,49 +0,0 @@ -#ifndef GLOVERLAYGEODE_H -#define GLOVERLAYGEODE_H - -#include -#include -#include - -class GLOverlayGeode : public osg::Geode -{ -public: - GLOverlayGeode(); - - void setOverlay(px::GLOverlay& overlay); - - px::GLOverlay::CoordinateFrameType coordinateFrameType(void) const; - - void setMessageTimestamp(qreal timestamp); - qreal messageTimestamp(void) const; - -private: - class GLOverlayDrawable : public osg::Drawable - { - public: - GLOverlayDrawable(); - - GLOverlayDrawable(const GLOverlayDrawable& drawable, - const osg::CopyOp& copyop = osg::CopyOp::SHALLOW_COPY); - - void setOverlay(px::GLOverlay& overlay); - - META_Object(GLOverlayDrawableApp, GLOverlayDrawable) - - virtual void drawImplementation(osg::RenderInfo&) const; - - virtual osg::BoundingBox computeBound() const; - - private: - float getFloatValue(const std::string& data, size_t& mark) const; - - px::GLOverlay mOverlay; - osg::BoundingBox mBBox; - }; - - osg::ref_ptr mDrawable; - px::GLOverlay::CoordinateFrameType mCoordinateFrameType; - qreal mMessageTimestamp; -}; - -#endif // GLOVERLAYGEODE_H diff --git a/src/ui/map3D/GlobalViewParams.cc b/src/ui/map3D/GlobalViewParams.cc deleted file mode 100644 index 12b1ea5130eafe1efc6d9e1307e0657a97c652e3..0000000000000000000000000000000000000000 --- a/src/ui/map3D/GlobalViewParams.cc +++ /dev/null @@ -1,189 +0,0 @@ -#include "GlobalViewParams.h" - -#include - -GlobalViewParams::GlobalViewParams() - : mDisplayTerrain(true) - , mDisplayWorldGrid(true) - , mImageryType(Imagery::BLANK_MAP) - , mFollowCameraId(-1) - , mFrame(MAV_FRAME_LOCAL_NED) -{ - -} - -bool& -GlobalViewParams::displayTerrain(void) -{ - return mDisplayTerrain; -} - -bool -GlobalViewParams::displayTerrain(void) const -{ - return mDisplayTerrain; -} - -bool& -GlobalViewParams::displayWorldGrid(void) -{ - return mDisplayWorldGrid; -} - -bool -GlobalViewParams::displayWorldGrid(void) const -{ - return mDisplayWorldGrid; -} - -QVector3D& -GlobalViewParams::imageryOffset(void) -{ - return mImageryOffset; -} - -QVector3D -GlobalViewParams::imageryOffset(void) const -{ - return mImageryOffset; -} - -QString& -GlobalViewParams::imageryPath(void) -{ - return mImageryPath; -} - -QString -GlobalViewParams::imageryPath(void) const -{ - return mImageryPath; -} - -Imagery::Type& -GlobalViewParams::imageryType(void) -{ - return mImageryType; -} - -Imagery::Type -GlobalViewParams::imageryType(void) const -{ - return mImageryType; -} - -int& -GlobalViewParams::followCameraId(void) -{ - return mFollowCameraId; -} - -int -GlobalViewParams::followCameraId(void) const -{ - return mFollowCameraId; -} - -MAV_FRAME& -GlobalViewParams::frame(void) -{ - return mFrame; -} - -MAV_FRAME -GlobalViewParams::frame(void) const -{ - return mFrame; -} - -void -GlobalViewParams::signalImageryParamsChanged(void) -{ - emit imageryParamsChanged(); -} - -QVector3D& -GlobalViewParams::terrainPositionOffset(void) -{ - return mTerrainPositionOffset; -} - -QVector3D -GlobalViewParams::terrainPositionOffset(void) const -{ - return mTerrainPositionOffset; -} - -QVector3D& -GlobalViewParams::terrainAttitudeOffset(void) -{ - return mTerrainAttitudeOffset; -} - -QVector3D -GlobalViewParams::terrainAttitudeOffset(void) const -{ - return mTerrainAttitudeOffset; -} - -void -GlobalViewParams::followCameraChanged(const QString& text) -{ - int followCameraId = -1; - - if (text.compare("None") == 0) - { - followCameraId = -1; - } - else - { - QStringList list = text.split(" ", QString::SkipEmptyParts); - - followCameraId = list.back().toInt(); - } - - if (followCameraId != mFollowCameraId) - { - mFollowCameraId = followCameraId; - emit followCameraChanged(mFollowCameraId); - } -} - -void -GlobalViewParams::frameChanged(const QString& text) -{ - if (text.compare("Global") == 0) - { - mFrame = MAV_FRAME_GLOBAL; - } - else if (text.compare("Local") == 0) - { - mFrame = MAV_FRAME_LOCAL_NED; - } -} - -void -GlobalViewParams::toggleWorldGrid(int state) -{ - if (state == Qt::Checked) - { - mDisplayWorldGrid = true; - } - else - { - mDisplayWorldGrid = false; - } -} - -void -GlobalViewParams::toggleTerrain(int state) -{ - if (state == Qt::Checked) - { - mDisplayTerrain = true; - } - else - { - mDisplayTerrain = false; - } -} diff --git a/src/ui/map3D/GlobalViewParams.h b/src/ui/map3D/GlobalViewParams.h deleted file mode 100644 index 62b8651cd40062d4ec7d61c9ee12337062602e43..0000000000000000000000000000000000000000 --- a/src/ui/map3D/GlobalViewParams.h +++ /dev/null @@ -1,71 +0,0 @@ -#ifndef GLOBALVIEWPARAMS_H -#define GLOBALVIEWPARAMS_H - -#include -#include -#include - -#include "QGCMAVLink.h" -#include "Imagery.h" - -class GlobalViewParams : public QObject -{ - Q_OBJECT - -public: - GlobalViewParams(); - - bool& displayTerrain(void); - bool displayTerrain(void) const; - - bool& displayWorldGrid(void); - bool displayWorldGrid(void) const; - - QVector3D& imageryOffset(void); - QVector3D imageryOffset(void) const; - - QString& imageryPath(void); - QString imageryPath(void) const; - - Imagery::Type& imageryType(void); - Imagery::Type imageryType(void) const; - - int& followCameraId(void); - int followCameraId(void) const; - - MAV_FRAME& frame(void); - MAV_FRAME frame(void) const; - - void signalImageryParamsChanged(void); - - QVector3D& terrainPositionOffset(void); - QVector3D terrainPositionOffset(void) const; - - QVector3D& terrainAttitudeOffset(void); - QVector3D terrainAttitudeOffset(void) const; - -public slots: - void followCameraChanged(const QString& text); - void frameChanged(const QString &text); - void toggleTerrain(int state); - void toggleWorldGrid(int state); - -signals: - void followCameraChanged(int systemId); - void imageryParamsChanged(void); - -private: - bool mDisplayTerrain; - bool mDisplayWorldGrid; - QVector3D mImageryOffset; - QString mImageryPath; - Imagery::Type mImageryType; - int mFollowCameraId; - MAV_FRAME mFrame; - QVector3D mTerrainPositionOffset; - QVector3D mTerrainAttitudeOffset; -}; - -typedef QSharedPointer GlobalViewParamsPtr; - -#endif // GLOBALVIEWPARAMS_H diff --git a/src/ui/map3D/HUDScaleGeode.cc b/src/ui/map3D/HUDScaleGeode.cc deleted file mode 100644 index 6ece68bc83fb02d584f7d3490f1a04f38f3f8864..0000000000000000000000000000000000000000 --- a/src/ui/map3D/HUDScaleGeode.cc +++ /dev/null @@ -1,122 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class HUDScaleGeode. - * - * @author Lionel Heng - * - */ - -#include "HUDScaleGeode.h" - -#include -#include - -HUDScaleGeode::HUDScaleGeode() -{ - -} - -void -HUDScaleGeode::init(osg::ref_ptr& font) -{ - osg::ref_ptr outlineVertices(new osg::Vec2Array); - outlineVertices->push_back(osg::Vec2(20.0f, 50.0f)); - outlineVertices->push_back(osg::Vec2(20.0f, 70.0f)); - outlineVertices->push_back(osg::Vec2(20.0f, 60.0f)); - outlineVertices->push_back(osg::Vec2(100.0f, 60.0f)); - outlineVertices->push_back(osg::Vec2(100.0f, 50.0f)); - outlineVertices->push_back(osg::Vec2(100.0f, 70.0f)); - - osg::ref_ptr outlineGeometry(new osg::Geometry); - outlineGeometry->setVertexArray(outlineVertices); - - osg::ref_ptr outlineColor(new osg::Vec4Array); - outlineColor->push_back(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); - outlineGeometry->setColorArray(outlineColor); - outlineGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - outlineGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, - 0, 6)); - - osg::ref_ptr outlineWidth(new osg::LineWidth()); - outlineWidth->setWidth(4.0f); - outlineGeometry->getOrCreateStateSet()-> - setAttributeAndModes(outlineWidth, osg::StateAttribute::ON); - - addDrawable(outlineGeometry); - - osg::ref_ptr markerVertices(new osg::Vec2Array); - markerVertices->push_back(osg::Vec2(20.0f, 50.0f)); - markerVertices->push_back(osg::Vec2(20.0f, 70.0f)); - markerVertices->push_back(osg::Vec2(20.0f, 60.0f)); - markerVertices->push_back(osg::Vec2(100.0f, 60.0f)); - markerVertices->push_back(osg::Vec2(100.0f, 50.0f)); - markerVertices->push_back(osg::Vec2(100.0f, 70.0f)); - - osg::ref_ptr markerGeometry(new osg::Geometry); - markerGeometry->setVertexArray(markerVertices); - - osg::ref_ptr markerColor(new osg::Vec4Array); - markerColor->push_back(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f)); - markerGeometry->setColorArray(markerColor); - markerGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - markerGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, - 0, 6)); - - osg::ref_ptr markerWidth(new osg::LineWidth()); - markerWidth->setWidth(1.5f); - markerGeometry->getOrCreateStateSet()-> - setAttributeAndModes(markerWidth, osg::StateAttribute::ON); - - addDrawable(markerGeometry); - - text = new osgText::Text; - text->setCharacterSize(11); - text->setFont(font); - text->setAxisAlignment(osgText::Text::SCREEN); - text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); - text->setPosition(osg::Vec3(40.0f, 45.0f, -1.5f)); - - addDrawable(text); -} - -void -HUDScaleGeode::update(int windowHeight, float cameraFov, float cameraDistance, - bool darkBackground) -{ - float f = static_cast(windowHeight) / 2.0f - / tanf(cameraFov / 180.0f * M_PI / 2.0f); - float dist = cameraDistance / f * 80.0f; - - if (darkBackground) { - text->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); - } else { - text->setColor(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f)); - } - - text->setText(QString("%1 m").arg(dist, 0, 'f', 2).toStdString()); -} diff --git a/src/ui/map3D/HUDScaleGeode.h b/src/ui/map3D/HUDScaleGeode.h deleted file mode 100644 index 0db2809113b37ebec9474143454e0dc0cb9f96b0..0000000000000000000000000000000000000000 --- a/src/ui/map3D/HUDScaleGeode.h +++ /dev/null @@ -1,52 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class HUDScaleGeode. - * - * @author Lionel Heng - * - */ - -#ifndef HUDSCALEGEODE_H -#define HUDSCALEGEODE_H - -#include -#include -#include - -class HUDScaleGeode : public osg::Geode -{ -public: - HUDScaleGeode(); - - void init(osg::ref_ptr& font); - void update(int windowHeight, float cameraFov, float cameraDistance, - bool darkBackground); - -private: - osg::ref_ptr text; -}; - -#endif // HUDSCALEGEODE_H diff --git a/src/ui/map3D/ImageWindowGeode.cc b/src/ui/map3D/ImageWindowGeode.cc deleted file mode 100644 index 66e60d375b1e2ed8879deca551b3f5b77b8f2246..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ImageWindowGeode.cc +++ /dev/null @@ -1,127 +0,0 @@ -///*===================================================================== -// -//QGroundControl Open Source Ground Control Station -// -//(c) 2009, 2010 QGROUNDCONTROL PROJECT -// -//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 . -// -//======================================================================*/ - -/** - * @file - * @brief Definition of the class ImageWindowGeode. - * - * @author Lionel Heng - * - */ - -#include "ImageWindowGeode.h" - -ImageWindowGeode::ImageWindowGeode() - : mBorder(5) - , mImage(new osg::Image) -{ - -} - -void -ImageWindowGeode::init(const QString& caption, const osg::Vec4& backgroundColor, - osg::ref_ptr& font) -{ - // image - osg::ref_ptr imageGeometry = new osg::Geometry; - mImageVertices = new osg::Vec3Array(4); - - osg::ref_ptr textureCoords = new osg::Vec2Array; - textureCoords->push_back(osg::Vec2(0.0f, 1.0f)); - textureCoords->push_back(osg::Vec2(1.0f, 1.0f)); - textureCoords->push_back(osg::Vec2(1.0f, 0.0f)); - textureCoords->push_back(osg::Vec2(0.0f, 0.0f)); - - osg::ref_ptr imageColors(new osg::Vec4Array); - imageColors->push_back(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); - imageGeometry->setColorArray(imageColors); - imageGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - imageGeometry->setVertexArray(mImageVertices); - imageGeometry->setTexCoordArray(0, textureCoords); - - imageGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, - 0, mImageVertices->size())); - - osg::ref_ptr texture = new osg::Texture2D; - texture->setDataVariance(osg::Object::DYNAMIC); - texture->setImage(mImage); - texture->setResizeNonPowerOfTwoHint(false); - - imageGeometry->getOrCreateStateSet()-> - setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON); - imageGeometry->setUseDisplayList(false); - - // background - osg::ref_ptr backgroundGeometry = new osg::Geometry; - mBackgroundVertices = new osg::Vec3Array(4); - backgroundGeometry->setVertexArray(mBackgroundVertices); - backgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, - 0, mBackgroundVertices->size())); - osg::ref_ptr backgroundColors(new osg::Vec4Array); - backgroundColors->push_back(backgroundColor); - backgroundGeometry->setColorArray(backgroundColors); - backgroundGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - backgroundGeometry->setUseDisplayList(false); - - // caption - mText = new osgText::Text; - mText->setText(caption.toStdString().c_str()); - mText->setCharacterSize(11); - mText->setFont(font); - mText->setAxisAlignment(osgText::Text::SCREEN); - mText->setColor(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); - - addDrawable(imageGeometry); - addDrawable(backgroundGeometry); - addDrawable(mText); - - setAttributes(0, 0, 0, 0); -} - -void -ImageWindowGeode::setAttributes(int x, int y, int width, int height) -{ - int imageWidth = width - mBorder * 2; - int imageHeight = height - mBorder * 2 - 15; - int imageXPosition = x + mBorder; - int imageYPosition = y + mBorder; - - mImageVertices->at(0) = osg::Vec3(imageXPosition, imageYPosition, 0); - mImageVertices->at(1) = osg::Vec3(imageXPosition + imageWidth, imageYPosition, 0); - mImageVertices->at(2) = osg::Vec3(imageXPosition + imageWidth, imageYPosition + imageHeight, 0); - mImageVertices->at(3) = osg::Vec3(imageXPosition, imageYPosition + imageHeight, 0); - - mText->setPosition(osg::Vec3(imageXPosition, imageYPosition + imageHeight + 5, 0)); - - mBackgroundVertices->at(0) = osg::Vec3(x, y, -1); - mBackgroundVertices->at(1) = osg::Vec3(x + width, y, -1); - mBackgroundVertices->at(2) = osg::Vec3(x + width, y + height, -1); - mBackgroundVertices->at(3) = osg::Vec3(x, y + height, -1); -} - -osg::ref_ptr& -ImageWindowGeode::image(void) -{ - return mImage; -} diff --git a/src/ui/map3D/ImageWindowGeode.h b/src/ui/map3D/ImageWindowGeode.h deleted file mode 100644 index 1d48525d73abc0ddbcc39489a0568515a0f1bc5e..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ImageWindowGeode.h +++ /dev/null @@ -1,59 +0,0 @@ -///*===================================================================== -// -//QGroundControl Open Source Ground Control Station -// -//(c) 2009, 2010 QGROUNDCONTROL PROJECT -// -//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 . -// -//======================================================================*/ - -/** - * @file - * @brief Definition of the class ImageWindowGeode. - * - * @author Lionel Heng - * - */ - -#ifndef IMAGEWINDOWGEODE_H -#define IMAGEWINDOWGEODE_H - -#include -#include -#include -#include - -class ImageWindowGeode : public osg::Geode -{ -public: - ImageWindowGeode(); - void init(const QString& caption, const osg::Vec4& backgroundColor, - osg::ref_ptr& font); - - void setAttributes(int x, int y, int width, int height); - osg::ref_ptr& image(void); - -private: - int mBorder; - - osg::ref_ptr mImage; - osg::ref_ptr mImageVertices; - osg::ref_ptr mBackgroundVertices; - osg::ref_ptr mText; -}; - -#endif // IMAGEWINDOWGEODE_H diff --git a/src/ui/map3D/Imagery.cc b/src/ui/map3D/Imagery.cc deleted file mode 100644 index 872977af10f684896e82ca63b01cb4c80865a4e1..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Imagery.cc +++ /dev/null @@ -1,630 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Imagery. - * - * @author Lionel Heng - * - */ - -#include "Imagery.h" - -#include -#include -#include -#include - -const double WGS84_A = 6378137.0; -const double WGS84_ECCSQ = 0.00669437999013; - -const int MAX_ZOOM_LEVEL = 20; - -Imagery::Imagery() - : mTextureCache(new TextureCache(1000)) - , mImageryType(Imagery::BLANK_MAP) - , mXOffset(0.0) - , mYOffset(0.0) - , mZOffset(0.0) -{ - setCullingActive(false); -} - -Imagery::Type -Imagery::getImageryType(void) const -{ - return mImageryType; -} - -void -Imagery::setImageryType(Imagery::Type type) -{ - mImageryType = type; -} - -void -Imagery::setOffset(double xOffset, double yOffset, double zOffset) -{ - mXOffset = xOffset; - mYOffset = yOffset; - mZOffset = zOffset; -} - -void -Imagery::setPath(const QString &path) -{ - mImageryPath = path.toStdString(); -} - -void -Imagery::prefetch2D(double windowWidth, double windowHeight, - double zoom, double xOrigin, double yOrigin, - const QString& utmZone) -{ - if (mImageryType == BLANK_MAP) - { - return; - } - - double tileResolution = 1.0; - if (mImageryType == GOOGLE_SATELLITE || - mImageryType == GOOGLE_MAP) - { - tileResolution = 1.0; - while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) - { - tileResolution *= 2.0; - } - if (tileResolution > 512.0) - { - tileResolution = 512.0; - } - } - else if (mImageryType == OFFLINE_SATELLITE) - { - tileResolution = 0.25; - } - - int minTileX, minTileY, maxTileX, maxTileY; - int zoomLevel; - - tileBounds(tileResolution, - xOrigin - windowWidth / 2.0 / zoom * 1.5, - yOrigin - windowHeight / 2.0 / zoom * 1.5, - xOrigin + windowWidth / 2.0 / zoom * 1.5, - yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone, - minTileX, minTileY, maxTileX, maxTileY, zoomLevel); - - for (int r = minTileY; r <= maxTileY; ++r) - { - for (int c = minTileX; c <= maxTileX; ++c) - { - QString url = getTileLocation(c, r, zoomLevel, tileResolution); - - TexturePtr t = mTextureCache->get(url); - } - } -} - -void -Imagery::draw2D(double windowWidth, double windowHeight, - double zoom, double xOrigin, double yOrigin, - const QString& utmZone) -{ - if (getNumDrawables() > 0) - { - removeDrawables(0, getNumDrawables()); - } - - if (mImageryType == BLANK_MAP) - { - return; - } - - double tileResolution = 1.0; - if (mImageryType == GOOGLE_SATELLITE || - mImageryType == GOOGLE_MAP) - { - tileResolution = 1.0; - while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) - { - tileResolution *= 2.0; - } - if (tileResolution > 512.0) - { - tileResolution = 512.0; - } - } - else if (mImageryType == OFFLINE_SATELLITE) - { - tileResolution = 0.25; - } - - int minTileX, minTileY, maxTileX, maxTileY; - int zoomLevel; - - tileBounds(tileResolution, - xOrigin - windowWidth / 2.0 / zoom * 1.5, - yOrigin - windowHeight / 2.0 / zoom * 1.5, - xOrigin + windowWidth / 2.0 / zoom * 1.5, - yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone, - minTileX, minTileY, maxTileX, maxTileY, zoomLevel); - - for (int r = minTileY; r <= maxTileY; ++r) - { - for (int c = minTileX; c <= maxTileX; ++c) - { - QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution); - - double x1, y1, x2, y2, x3, y3, x4, y4; - imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4); - - TexturePtr t = mTextureCache->get(tileURL); - if (!t.isNull()) - { - addDrawable(t->draw(y1, x1, - y2, x2, - y3, x3, - y4, x4, - - mZOffset, - true)); - } - } - } -} - -void -Imagery::prefetch3D(double radius, double tileResolution, - double xOrigin, double yOrigin, - const QString& utmZone) -{ - if (mImageryType == BLANK_MAP) - { - return; - } - - int minTileX, minTileY, maxTileX, maxTileY; - int zoomLevel; - - tileBounds(tileResolution, - xOrigin + mXOffset - radius, yOrigin + mYOffset - radius, - xOrigin + mXOffset + radius, yOrigin + mYOffset + radius, utmZone, - minTileX, minTileY, maxTileX, maxTileY, zoomLevel); - - for (int r = minTileY; r <= maxTileY; ++r) - { - for (int c = minTileX; c <= maxTileX; ++c) - { - QString url = getTileLocation(c, r, zoomLevel, tileResolution); - - TexturePtr t = mTextureCache->get(url); - } - } -} - -void -Imagery::draw3D(double radius, double tileResolution, - double xOrigin, double yOrigin, - double xOffset, double yOffset, - const QString& utmZone) -{ - if (getNumDrawables() > 0) - { - removeDrawables(0, getNumDrawables()); - } - - if (mImageryType == BLANK_MAP) - { - return; - } - - int minTileX, minTileY, maxTileX, maxTileY; - int zoomLevel; - - tileBounds(tileResolution, - xOrigin + mXOffset - radius, yOrigin + mYOffset - radius, - xOrigin + mXOffset + radius, yOrigin + mYOffset + radius, utmZone, - minTileX, minTileY, maxTileX, maxTileY, zoomLevel); - - for (int r = minTileY; r <= maxTileY; ++r) - { - for (int c = minTileX; c <= maxTileX; ++c) - { - QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution); - - double x1, y1, x2, y2, x3, y3, x4, y4; - imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4); - - TexturePtr t = mTextureCache->get(tileURL); - - if (!t.isNull()) - { - addDrawable(t->draw(y1 - mYOffset + yOffset, x1 - mXOffset + xOffset, - y2 - mYOffset + yOffset, x2 - mXOffset + xOffset, - y3 - mYOffset + yOffset, x3 - mXOffset + xOffset, - y4 - mYOffset + yOffset, x4 - mXOffset + xOffset, - - mZOffset, - true)); - } - } - } -} - -bool -Imagery::update(void) -{ - mTextureCache->sync(); - - return true; -} - -void -Imagery::imageBounds(int tileX, int tileY, double tileResolution, - double& x1, double& y1, double& x2, double& y2, - double& x3, double& y3, double& x4, double& y4) const -{ - if (mImageryType == GOOGLE_MAP || - mImageryType == GOOGLE_SATELLITE) - { - int zoomLevel = MAX_ZOOM_LEVEL - static_cast(rint(log2(tileResolution))); - int numTiles = static_cast(exp2(static_cast(zoomLevel))); - - double lon1 = tileXToLongitude(tileX, numTiles); - double lon2 = tileXToLongitude(tileX + 1, numTiles); - - double lat1 = tileYToLatitude(tileY, numTiles); - double lat2 = tileYToLatitude(tileY + 1, numTiles); - - QString utmZone; - LLtoUTM(lat1, lon1, x1, y1, utmZone); - LLtoUTM(lat1, lon2, x2, y2, utmZone); - LLtoUTM(lat2, lon2, x3, y3, utmZone); - LLtoUTM(lat2, lon1, x4, y4, utmZone); - } - else if (mImageryType == OFFLINE_SATELLITE) - { - double utmMultiplier = tileResolution * 200.0; - double minX = tileX * utmMultiplier; - double maxX = minX + utmMultiplier; - double minY = tileY * utmMultiplier; - double maxY = minY + utmMultiplier; - - x1 = maxX; - y1 = minY; - x2 = maxX; - y2 = maxY; - x3 = minX; - y3 = maxY; - x4 = minX; - y4 = minY; - } -} - -void -Imagery::tileBounds(double tileResolution, - double minUtmX, double minUtmY, - double maxUtmX, double maxUtmY, const QString& utmZone, - int& minTileX, int& minTileY, - int& maxTileX, int& maxTileY, - int& zoomLevel) const -{ - double centerUtmX = (maxUtmX - minUtmX) / 2.0 + minUtmX; - double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY; - int centerTileX, centerTileY; - - if (mImageryType == GOOGLE_MAP || - mImageryType == GOOGLE_SATELLITE) - { - UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution, - minTileX, maxTileY, zoomLevel); - UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution, - centerTileX, centerTileY, zoomLevel); - UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution, - maxTileX, minTileY, zoomLevel); - } - else if (mImageryType == OFFLINE_SATELLITE) - { - double utmMultiplier = tileResolution * 200; - - minTileX = static_cast(rint(minUtmX / utmMultiplier)); - minTileY = static_cast(rint(minUtmY / utmMultiplier)); - centerTileX = static_cast(rint(centerUtmX / utmMultiplier)); - centerTileY = static_cast(rint(centerUtmY / utmMultiplier)); - maxTileX = static_cast(rint(maxUtmX / utmMultiplier)); - maxTileY = static_cast(rint(maxUtmY / utmMultiplier)); - } - - if (maxTileX - minTileX + 1 > 14) - { - minTileX = centerTileX - 7; - maxTileX = centerTileX + 6; - } - if (maxTileY - minTileY + 1 > 14) - { - minTileY = centerTileY - 7; - maxTileY = centerTileY + 6; - } -} - -double -Imagery::tileXToLongitude(int tileX, int numTiles) const -{ - return 360.0 * (static_cast(tileX) - / static_cast(numTiles)) - 180.0; -} - -double -Imagery::tileYToLatitude(int tileY, int numTiles) const -{ - double unnormalizedRad = - (static_cast(tileY) / static_cast(numTiles)) - * 2.0 * M_PI - M_PI; - double rad = 2.0 * atan(exp(unnormalizedRad)) - M_PI / 2.0; - return -rad * 180.0 / M_PI; -} - -int -Imagery::longitudeToTileX(double longitude, int numTiles) const -{ - return static_cast((longitude / 180.0 + 1.0) / 2.0 * numTiles); -} - -int -Imagery::latitudeToTileY(double latitude, int numTiles) const -{ - double rad = latitude * M_PI / 180.0; - double normalizedRad = -log(tan(rad) + 1.0 / cos(rad)); - return static_cast((normalizedRad + M_PI) - / (2.0 * M_PI) * numTiles); -} - -void -Imagery::UTMtoTile(double northing, double easting, const QString& utmZone, - double tileResolution, int& tileX, int& tileY, - int& zoomLevel) const -{ - double latitude, longitude; - - UTMtoLL(northing, easting, utmZone, latitude, longitude); - - zoomLevel = MAX_ZOOM_LEVEL - static_cast(rint(log2(tileResolution))); - int numTiles = static_cast(exp2(static_cast(zoomLevel))); - - tileX = longitudeToTileX(longitude, numTiles); - tileY = latitudeToTileY(latitude, numTiles); -} - -QChar -Imagery::UTMLetterDesignator(double latitude) -{ - // This routine determines the correct UTM letter designator for the given latitude - // returns 'Z' if latitude is outside the UTM limits of 84N to 80S - // Written by Chuck Gantz- chuck.gantz@globalstar.com - char letterDesignator; - - if ((84.0 >= latitude) && (latitude >= 72.0)) letterDesignator = 'X'; - else if ((72.0 > latitude) && (latitude >= 64.0)) letterDesignator = 'W'; - else if ((64.0 > latitude) && (latitude >= 56.0)) letterDesignator = 'V'; - else if ((56.0 > latitude) && (latitude >= 48.0)) letterDesignator = 'U'; - else if ((48.0 > latitude) && (latitude >= 40.0)) letterDesignator = 'T'; - else if ((40.0 > latitude) && (latitude >= 32.0)) letterDesignator = 'S'; - else if ((32.0 > latitude) && (latitude >= 24.0)) letterDesignator = 'R'; - else if ((24.0 > latitude) && (latitude >= 16.0)) letterDesignator = 'Q'; - else if ((16.0 > latitude) && (latitude >= 8.0)) letterDesignator = 'P'; - else if (( 8.0 > latitude) && (latitude >= 0.0)) letterDesignator = 'N'; - else if (( 0.0 > latitude) && (latitude >= -8.0)) letterDesignator = 'M'; - else if ((-8.0 > latitude) && (latitude >= -16.0)) letterDesignator = 'L'; - else if ((-16.0 > latitude) && (latitude >= -24.0)) letterDesignator = 'K'; - else if ((-24.0 > latitude) && (latitude >= -32.0)) letterDesignator = 'J'; - else if ((-32.0 > latitude) && (latitude >= -40.0)) letterDesignator = 'H'; - else if ((-40.0 > latitude) && (latitude >= -48.0)) letterDesignator = 'G'; - else if ((-48.0 > latitude) && (latitude >= -56.0)) letterDesignator = 'F'; - else if ((-56.0 > latitude) && (latitude >= -64.0)) letterDesignator = 'E'; - else if ((-64.0 > latitude) && (latitude >= -72.0)) letterDesignator = 'D'; - else if ((-72.0 > latitude) && (latitude >= -80.0)) letterDesignator = 'C'; - else letterDesignator = 'Z'; //This is here as an error flag to show that the Latitude is outside the UTM limits - - return letterDesignator; -} - -void -Imagery::LLtoUTM(double latitude, double longitude, - double& utmNorthing, double& utmEasting, - QString& utmZone) -{ - // converts lat/long to UTM coords. Equations from USGS Bulletin 1532 - // East Longitudes are positive, West longitudes are negative. - // North latitudes are positive, South latitudes are negative - // Lat and Long are in decimal degrees - // Written by Chuck Gantz- chuck.gantz@globalstar.com - - double k0 = 0.9996; - - double LongOrigin; - double eccPrimeSquared; - double N, T, C, A, M; - - double LatRad = latitude * M_PI / 180.0; - double LongRad = longitude * M_PI / 180.0; - double LongOriginRad; - - int ZoneNumber = static_cast((longitude + 180.0) / 6.0) + 1; - - if (latitude >= 56.0 && latitude < 64.0 && - longitude >= 3.0 && longitude < 12.0) { - ZoneNumber = 32; - } - - // Special zones for Svalbard - if (latitude >= 72.0 && latitude < 84.0) { - if ( longitude >= 0.0 && longitude < 9.0) ZoneNumber = 31; - else if (longitude >= 9.0 && longitude < 21.0) ZoneNumber = 33; - else if (longitude >= 21.0 && longitude < 33.0) ZoneNumber = 35; - else if (longitude >= 33.0 && longitude < 42.0) ZoneNumber = 37; - } - LongOrigin = static_cast((ZoneNumber - 1) * 6 - 180 + 3); //+3 puts origin in middle of zone - LongOriginRad = LongOrigin * M_PI / 180.0; - - // compute the UTM Zone from the latitude and longitude - utmZone = QString("%1%2").arg(ZoneNumber).arg(UTMLetterDesignator(latitude)); - - eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ); - - N = WGS84_A / sqrt(1.0f - WGS84_ECCSQ * sin(LatRad) * sin(LatRad)); - T = tan(LatRad) * tan(LatRad); - C = eccPrimeSquared * cos(LatRad) * cos(LatRad); - A = cos(LatRad) * (LongRad - LongOriginRad); - - M = WGS84_A * ((1.0 - WGS84_ECCSQ / 4.0 - - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 - - 5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0) - * LatRad - - (3.0 * WGS84_ECCSQ / 8.0 - + 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 32.0 - + 45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) - * sin(2.0 * LatRad) - + (15.0 * WGS84_ECCSQ * WGS84_ECCSQ / 256.0 - + 45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) - * sin(4.0 * LatRad) - - (35.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 3072.0) - * sin(6.0 * LatRad)); - - utmEasting = k0 * N * (A + (1.0 - T + C) * A * A * A / 6.0 - + (5.0 - 18.0 * T + T * T + 72.0 * C - - 58.0 * eccPrimeSquared) - * A * A * A * A * A / 120.0) - + 500000.0; - - utmNorthing = k0 * (M + N * tan(LatRad) * - (A * A / 2.0 + - (5.0 - T + 9.0 * C + 4.0 * C * C) * A * A * A * A / 24.0 - + (61.0 - 58.0 * T + T * T + 600.0 * C - - 330.0 * eccPrimeSquared) - * A * A * A * A * A * A / 720.0)); - if (latitude < 0.0) { - utmNorthing += 10000000.0; //10000000 meter offset for southern hemisphere - } -} - -void -Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone, - double& latitude, double& longitude) -{ - // converts UTM coords to lat/long. Equations from USGS Bulletin 1532 - // East Longitudes are positive, West longitudes are negative. - // North latitudes are positive, South latitudes are negative - // Lat and Long are in decimal degrees. - // Written by Chuck Gantz- chuck.gantz@globalstar.com - - double k0 = 0.9996; - double eccPrimeSquared; - double e1 = (1.0 - sqrt(1.0 - WGS84_ECCSQ)) / (1.0 + sqrt(1.0 - WGS84_ECCSQ)); - double N1, T1, C1, R1, D, M; - double LongOrigin; - double mu, phi1Rad; - double x, y; - int ZoneNumber; - char ZoneLetter; - - x = utmEasting - 500000.0; //remove 500,000 meter offset for longitude - y = utmNorthing; - - std::istringstream iss(utmZone.toStdString()); - iss >> ZoneNumber >> ZoneLetter; - if ((ZoneLetter - 'N') < 0) { - y -= 10000000.0;//remove 10,000,000 meter offset used for southern hemisphere - } - - LongOrigin = (ZoneNumber - 1.0) * 6.0 - 180.0 + 3.0; //+3 puts origin in middle of zone - - eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ); - - M = y / k0; - mu = M / (WGS84_A * (1.0 - WGS84_ECCSQ / 4.0 - - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 - - 5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0)); - - phi1Rad = mu + (3.0 * e1 / 2.0 - 27.0 * e1 * e1 * e1 / 32.0) * sin(2.0 * mu) - + (21.0 * e1 * e1 / 16.0 - 55.0 * e1 * e1 * e1 * e1 / 32.0) - * sin(4.0 * mu) - + (151.0 * e1 * e1 * e1 / 96.0) * sin(6.0 * mu); - - N1 = WGS84_A / sqrt(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad)); - T1 = tan(phi1Rad) * tan(phi1Rad); - C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad); - R1 = WGS84_A * (1.0 - WGS84_ECCSQ) / - pow(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad), 1.5); - D = x / (N1 * k0); - - latitude = phi1Rad - (N1 * tan(phi1Rad) / R1) - * (D * D / 2.0 - (5.0 + 3.0 * T1 + 10.0 * C1 - 4.0 * C1 * C1 - - 9.0 * eccPrimeSquared) * D * D * D * D / 24.0 - + (61.0 + 90.0 * T1 + 298.0 * C1 + 45.0 * T1 * T1 - - 252.0 * eccPrimeSquared - 3.0 * C1 * C1) - * D * D * D * D * D * D / 720.0); - latitude *= 180.0 / M_PI; - - longitude = (D - (1.0 + 2.0 * T1 + C1) * D * D * D / 6.0 - + (5.0 - 2.0 * C1 + 28.0 * T1 - 3.0 * C1 * C1 - + 8.0 * eccPrimeSquared + 24.0 * T1 * T1) - * D * D * D * D * D / 120.0) / cos(phi1Rad); - longitude = LongOrigin + longitude / M_PI * 180.0; -} - -QString -Imagery::getTileLocation(int tileX, int tileY, int zoomLevel, - double tileResolution) const -{ - std::ostringstream oss; - - switch (mImageryType) - { - case GOOGLE_MAP: - oss << "http://mt0.google.com/vt/lyrs=m@120&x=" << tileX - << "&y=" << tileY << "&z=" << zoomLevel; - break; - case GOOGLE_SATELLITE: - oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX - << "&y=" << tileY << "&z=" << zoomLevel; - break; - case OFFLINE_SATELLITE: - oss << mImageryPath.c_str() << "/200/color/" << tileY - << "/tile-"; - if (tileResolution < 1.0) - { - oss << std::fixed << std::setprecision(2) << tileResolution; - } - else - { - oss << static_cast(rint(tileResolution)); - } - oss << "-" << tileY << "-" << tileX << ".jpg"; - default: - {}; - } - - QString url(oss.str().c_str()); - - return url; -} diff --git a/src/ui/map3D/Imagery.h b/src/ui/map3D/Imagery.h deleted file mode 100644 index ab938356db90825a8156e8cdad83414b0d0314b8..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Imagery.h +++ /dev/null @@ -1,116 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Imagery. - * - * @author Lionel Heng - * - */ - -#ifndef IMAGERY_H -#define IMAGERY_H - -#include -#include -#include - -#include "TextureCache.h" - -class Imagery : public osg::Geode -{ -public: - enum Type - { - BLANK_MAP = 0, - GOOGLE_MAP = 1, - GOOGLE_SATELLITE = 2, - OFFLINE_SATELLITE = 3 - }; - - Imagery(); - - Type getImageryType(void) const; - void setImageryType(Type type); - void setOffset(double xOffset, double yOffset, double zOffset = 0.0); - void setPath(const QString& path); - - void prefetch2D(double windowWidth, double windowHeight, - double zoom, double xOrigin, double yOrigin, - const QString& utmZone); - void draw2D(double windowWidth, double windowHeight, - double zoom, double xOrigin, double yOrigin, - const QString& utmZone); - - void prefetch3D(double radius, double tileResolution, - double xOrigin, double yOrigin, - const QString& utmZone); - void draw3D(double radius, double tileResolution, - double xOrigin, double yOrigin, - double xOffset, double yOffset, - const QString& utmZone); - - bool update(void); - - static void LLtoUTM(double latitude, double longitude, - double& utmNorthing, double& utmEasting, - QString& utmZone); - static void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone, - double& latitude, double& longitude); - -private: - void imageBounds(int tileX, int tileY, double tileResolution, - double& x1, double& y1, double& x2, double& y2, - double& x3, double& y3, double& x4, double& y4) const; - void tileBounds(double tileResolution, - double minUtmX, double minUtmY, - double maxUtmX, double maxUtmY, const QString& utmZone, - int& minTileX, int& minTileY, - int& maxTileX, int& maxTileY, - int& zoomLevel) const; - - double tileXToLongitude(int tileX, int numTiles) const; - double tileYToLatitude(int tileY, int numTiles) const; - int longitudeToTileX(double longitude, int numTiles) const; - int latitudeToTileY(double latitude, int numTiles) const; - - void UTMtoTile(double northing, double easting, const QString& utmZone, - double tileResolution, int& tileX, int& tileY, - int& zoomLevel) const; - static QChar UTMLetterDesignator(double latitude); - - QString getTileLocation(int tileX, int tileY, int zoomLevel, - double tileResolution) const; - - QScopedPointer mTextureCache; - - Type mImageryType; - std::string mImageryPath; - - double mXOffset; - double mYOffset; - double mZOffset; -}; - -#endif // IMAGERY_H diff --git a/src/ui/map3D/ImageryParamDialog.cc b/src/ui/map3D/ImageryParamDialog.cc deleted file mode 100644 index 5208247727bca313633ae8cd35e587d6ba7fba5d..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ImageryParamDialog.cc +++ /dev/null @@ -1,175 +0,0 @@ -#include "ImageryParamDialog.h" - -#include -#include -#include -#include - -#include "QGCFileDialog.h" - -ImageryParamDialog::ImageryParamDialog(QWidget* parent) - : QDialog(parent) -{ - QVBoxLayout* layout = new QVBoxLayout; - setLayout(layout); - - setWindowTitle(tr("Imagery Parameters")); - setModal(true); - - buildLayout(layout); -} - -void -ImageryParamDialog::getImageryParams(GlobalViewParamsPtr &globalViewParams) -{ - ImageryParamDialog dialog; - - switch (globalViewParams->imageryType()) - { - case Imagery::BLANK_MAP: - dialog.mImageryTypeComboBox->setCurrentIndex(0); - break; - case Imagery::GOOGLE_MAP: - dialog.mImageryTypeComboBox->setCurrentIndex(1); - break; - case Imagery::GOOGLE_SATELLITE: - dialog.mImageryTypeComboBox->setCurrentIndex(2); - break; - case Imagery::OFFLINE_SATELLITE: - dialog.mImageryTypeComboBox->setCurrentIndex(3); - break; - } - - dialog.mPathLineEdit->setText(globalViewParams->imageryPath()); - - QVector3D& imageryOffset = globalViewParams->imageryOffset(); - - dialog.mXOffsetSpinBox->setValue(imageryOffset.x()); - dialog.mYOffsetSpinBox->setValue(imageryOffset.y()); - dialog.mZOffsetSpinBox->setValue(imageryOffset.z()); - - if (dialog.exec() == QDialog::Accepted) - { - switch (dialog.mImageryTypeComboBox->currentIndex()) - { - case 0: - globalViewParams->imageryType() = Imagery::BLANK_MAP; - break; - case 1: - globalViewParams->imageryType() = Imagery::GOOGLE_MAP; - break; - case 2: - globalViewParams->imageryType() = Imagery::GOOGLE_SATELLITE; - break; - case 3: - globalViewParams->imageryType() = Imagery::OFFLINE_SATELLITE; - break; - } - - globalViewParams->imageryPath() = dialog.mPathLineEdit->text(); - - imageryOffset.setX(dialog.mXOffsetSpinBox->value()); - imageryOffset.setY(dialog.mYOffsetSpinBox->value()); - imageryOffset.setZ(dialog.mZOffsetSpinBox->value()); - - globalViewParams->signalImageryParamsChanged(); - } -} - -void -ImageryParamDialog::selectPath(void) -{ - QString filename = QGCFileDialog::getExistingDirectory(this, "Imagery path", - QStandardPaths::writableLocation(QStandardPaths::DesktopLocation)); - if (filename.isNull()) - { - return; - } - else - { - mPathLineEdit->setText(filename); - } -} - -void -ImageryParamDialog::closeWithSaving(void) -{ - done(QDialog::Accepted); -} - -void -ImageryParamDialog::closeWithoutSaving(void) -{ - done(QDialog::Rejected); -} - -void -ImageryParamDialog::buildLayout(QVBoxLayout* layout) -{ - QFormLayout* formLayout = new QFormLayout; - - mImageryTypeComboBox = new QComboBox(this); - mImageryTypeComboBox->addItem("None"); - mImageryTypeComboBox->addItem("Map (Google)"); - mImageryTypeComboBox->addItem("Satellite (Google)"); - mImageryTypeComboBox->addItem("Satellite (Offline)"); - - mPathLineEdit = new QLineEdit(this); - mPathLineEdit->setReadOnly(true); - - QPushButton* pathButton = new QPushButton(this); - pathButton->setText(tr("..")); - - QHBoxLayout* pathLayout = new QHBoxLayout; - pathLayout->addWidget(mPathLineEdit); - pathLayout->addWidget(pathButton); - - formLayout->addRow(tr("Imagery Type"), mImageryTypeComboBox); - formLayout->addRow(tr("Path"), pathLayout); - - layout->addLayout(formLayout); - - QGroupBox* offsetGroupBox = new QGroupBox(tr("Offset"), this); - - mXOffsetSpinBox = new QDoubleSpinBox(this); - mXOffsetSpinBox->setDecimals(1); - mXOffsetSpinBox->setRange(-1000.0, 1000.0); - mXOffsetSpinBox->setValue(0.0); - - mYOffsetSpinBox = new QDoubleSpinBox(this); - mYOffsetSpinBox->setDecimals(1); - mYOffsetSpinBox->setRange(-1000.0, 1000.0); - mYOffsetSpinBox->setValue(0.0); - - mZOffsetSpinBox = new QDoubleSpinBox(this); - mZOffsetSpinBox->setDecimals(1); - mZOffsetSpinBox->setRange(-1000.0, 1000.0); - mZOffsetSpinBox->setValue(0.0); - - formLayout = new QFormLayout; - formLayout->addRow(tr("x (m)"), mXOffsetSpinBox); - formLayout->addRow(tr("y (m)"), mYOffsetSpinBox); - formLayout->addRow(tr("z (m)"), mZOffsetSpinBox); - - offsetGroupBox->setLayout(formLayout); - - layout->addWidget(offsetGroupBox); - layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding)); - - QPushButton* cancelButton = new QPushButton(this); - cancelButton->setText("Cancel"); - - QPushButton* saveButton = new QPushButton(this); - saveButton->setText("Save"); - - QHBoxLayout* buttonLayout = new QHBoxLayout; - buttonLayout->addWidget(cancelButton); - buttonLayout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding)); - buttonLayout->addWidget(saveButton); - - layout->addLayout(buttonLayout); - - connect(pathButton, SIGNAL(clicked()), this, SLOT(selectPath())); - connect(cancelButton, SIGNAL(clicked()), this, SLOT(closeWithoutSaving())); - connect(saveButton, SIGNAL(clicked()), this, SLOT(closeWithSaving())); -} diff --git a/src/ui/map3D/ImageryParamDialog.h b/src/ui/map3D/ImageryParamDialog.h deleted file mode 100644 index 0dcbfeb8a967c3d554cc259ae2fe8250ff47915d..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ImageryParamDialog.h +++ /dev/null @@ -1,36 +0,0 @@ -#ifndef IMAGERYPARAMDIALOG_H -#define IMAGERYPARAMDIALOG_H - -#include -#include -#include -#include -#include - -#include "GlobalViewParams.h" - -class ImageryParamDialog : public QDialog -{ - Q_OBJECT - -public: - ImageryParamDialog(QWidget* parent = 0); - - static void getImageryParams(GlobalViewParamsPtr& globalViewParams); - -private slots: - void selectPath(void); - void closeWithSaving(void); - void closeWithoutSaving(void); - -private: - void buildLayout(QVBoxLayout* layout); - - QComboBox* mImageryTypeComboBox; - QLineEdit* mPathLineEdit; - QDoubleSpinBox* mXOffsetSpinBox; - QDoubleSpinBox* mYOffsetSpinBox; - QDoubleSpinBox* mZOffsetSpinBox; -}; - -#endif // IMAGERYPARAMDIALOG_H diff --git a/src/ui/map3D/ObstacleGroupNode.cc b/src/ui/map3D/ObstacleGroupNode.cc deleted file mode 100644 index aae78bfc4e48c647acc6d2a804833c3aa52d8ace..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ObstacleGroupNode.cc +++ /dev/null @@ -1,111 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class ObstacleGroupNode. - * - * @author Lionel Heng - * - */ - -#include "ObstacleGroupNode.h" - -#include -#include -#include - -#include "gpl.h" -#include "Imagery.h" - -ObstacleGroupNode::ObstacleGroupNode() -{ - -} - -void -ObstacleGroupNode::init(void) -{ - -} - -void -ObstacleGroupNode::clear(void) -{ - if (getNumChildren() > 0) - { - removeChild(0, getNumChildren()); - } -} - -void -ObstacleGroupNode::update(double robotX, double robotY, double robotZ, - const px::ObstacleList& obstacleList) -{ - clear(); - - osg::ref_ptr geode = new osg::Geode; - - // find minimum and maximum height - float zMin = std::numeric_limits::max(); - float zMax = std::numeric_limits::min(); - for (int i = 0; i < obstacleList.obstacles_size(); ++i) - { - const px::Obstacle& obs = obstacleList.obstacles(i); - - float z = robotZ - obs.z(); - - if (zMin > z) - { - zMin = z; - } - if (zMax < z) - { - zMax = z; - } - } - - for (int i = 0; i < obstacleList.obstacles_size(); ++i) - { - const px::Obstacle& obs = obstacleList.obstacles(i); - - osg::Vec3d obsPos(obs.y() - robotY, obs.x() - robotX, robotZ - obs.z()); - - osg::ref_ptr box = - new osg::Box(obsPos, obs.width(), obs.width(), obs.height()); - osg::ref_ptr sd = new osg::ShapeDrawable(box); - - int idx = (obsPos.z() - zMin) / (zMax - zMin) * 127.0f; - float r, g, b; - qgc::colormap("jet", idx, r, g, b); - - sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - sd->setColor(osg::Vec4(r, g, b, 1.0f)); - sd->setUseDisplayList(false); - - geode->addDrawable(sd); - } - - addChild(geode); -} - diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc deleted file mode 100644 index dea11c6ffeda3ff26c6e368244a526e09f601ef8..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Pixhawk3DWidget.cc +++ /dev/null @@ -1,2408 +0,0 @@ -///*===================================================================== -// -//QGroundControl Open Source Ground Control Station -// -//(c) 2009, 2010 QGROUNDCONTROL PROJECT -// -//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 . -// -//======================================================================*/ - -/** - * @file - * @brief Definition of the class Pixhawk3DWidget. - * - * @author Lionel Heng - * - */ - -#include "Pixhawk3DWidget.h" - -#include - -#include -#include -#include -#include -#include -#include - -#include "MainWindow.h" -#include "PixhawkCheetahNode.h" -#include "TerrainParamDialog.h" -#include "UASManager.h" -#include "QGCFileDialog.h" -#include "QGCMessageBox.h" - -#include "QGC.h" -#include "gpl.h" - -Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent) - : kMessageTimeout(4.0) - , mMode(DEFAULT_MODE) - , mSelectedWpIndex(-1) - , mActiveSystemId(-1) - , mActiveUAS(NULL) - , mGlobalViewParams(new GlobalViewParams) - , mFollowCameraId(-1) - , mInitCameraPos(false) - , m3DWidget(new Q3DWidget(this)) - , mViewParamWidget(new ViewParamWidget(mGlobalViewParams, mSystemViewParamMap, this, parent)) -{ - connect(m3DWidget, SIGNAL(sizeChanged(int,int)), this, SLOT(sizeChanged(int,int))); - connect(m3DWidget, SIGNAL(updateWidget()), this, SLOT(updateWidget())); - - m3DWidget->setCameraParams(2.0f, 30.0f, 0.01f, 10000.0f); - m3DWidget->init(15.0f); - m3DWidget->handleDeviceEvents() = false; - - mWorldGridNode = createWorldGrid(); - m3DWidget->worldMap()->addChild(mWorldGridNode, false); - - mTerrainPAT = new osg::PositionAttitudeTransform; - m3DWidget->worldMap()->addChild(mTerrainPAT); - - // generate map model - mImageryNode = createImagery(); - mImageryNode->setName("imagery"); - m3DWidget->worldMap()->addChild(mImageryNode, false); - - setupHUD(); - - buildLayout(); - - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), - this, SLOT(activeSystemChanged(UASInterface*))); - connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), - this, SLOT(systemCreated(UASInterface*))); - connect(mGlobalViewParams.data(), SIGNAL(followCameraChanged(int)), - this, SLOT(followCameraChanged(int))); - connect(mGlobalViewParams.data(), SIGNAL(imageryParamsChanged(void)), - this, SLOT(imageryParamsChanged(void))); - - MainWindow* parentWindow = qobject_cast(parent); - parentWindow->addDockWidget(Qt::LeftDockWidgetArea, mViewParamWidget); - - mViewParamWidget->hide(); - - setFocusPolicy(Qt::StrongFocus); - setMouseTracking(true); -} - -Pixhawk3DWidget::~Pixhawk3DWidget() -{ - -} - -void -Pixhawk3DWidget::activeSystemChanged(UASInterface* uas) -{ - if (uas) - { - mActiveSystemId = uas->getUASID(); - } - - mActiveUAS = uas; - - mMode = DEFAULT_MODE; -} - -void -Pixhawk3DWidget::systemCreated(UASInterface *uas) -{ - int systemId = uas->getUASID(); - - if (mSystemContainerMap.contains(systemId)) - { - return; - } - - mSystemViewParamMap.insert(systemId, SystemViewParamsPtr(new SystemViewParams(systemId))); - mSystemContainerMap.insert(systemId, SystemContainer()); - - connect(uas, SIGNAL(localPositionChanged(UASInterface*,int,double,double,double,quint64)), - this, SLOT(localPositionChanged(UASInterface*,int,double,double,double,quint64))); - connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), - this, SLOT(localPositionChanged(UASInterface*,double,double,double,quint64))); - connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), - this, SLOT(attitudeChanged(UASInterface*,int,double,double,double,quint64))); - connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), - this, SLOT(attitudeChanged(UASInterface*,double,double,double,quint64))); - connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), - this, SLOT(setpointChanged(int,float,float,float,float))); - connect(uas, SIGNAL(homePositionChanged(int,double,double,double)), - this, SLOT(homePositionChanged(int,double,double,double))); - -// mSystemContainerMap[systemId].gpsLocalOrigin() = QVector3D(47.397786, 8.544476, 428); - initializeSystem(systemId, uas->getColor()); - - emit systemCreatedSignal(uas); -} - -void -Pixhawk3DWidget::localPositionChanged(UASInterface* uas, int component, - double x, double y, double z, - quint64 time) -{ - Q_UNUSED(time); - - int systemId = uas->getUASID(); - - if (!mSystemContainerMap.contains(systemId)) - { - return; - } - - SystemContainer& systemData = mSystemContainerMap[systemId]; - - // update trail data - if (!systemData.trailMap().contains(component)) - { - systemData.trailMap().insert(component, QVector()); - systemData.trailMap()[component].reserve(10000); - systemData.trailIndexMap().insert(component, - systemData.trailMap().size() - 1); - - // generate nice bright random color - float golden_ratio_conjugate = 0.618033988749895f; - - float h = (float)qrand() / RAND_MAX + golden_ratio_conjugate; - if (h > 1.0f) - { - h -= 1.0f; - } - - QColor colorHSV; - colorHSV.setHsvF(h, 0.99, 0.99, 0.5); - - QColor colorRGB = colorHSV.toRgb(); - - osg::Vec4f color(colorRGB.redF(), colorRGB.greenF(), colorRGB.blueF(), colorRGB.alphaF()); - - systemData.trailNode()->addDrawable(createTrail(color)); - systemData.trailNode()->addDrawable(createLink(uas->getColor())); - - double radius = 0.5; - - osg::ref_ptr group = new osg::Group; - - // cone indicates orientation - osg::ref_ptr sd = new osg::ShapeDrawable; - double coneRadius = radius / 2.0; - osg::ref_ptr cone = - new osg::Cone(osg::Vec3d(0.0, 0.0, 0.0), - coneRadius, radius * 2.0); - - sd->setShape(cone); - sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - sd->setColor(color); - - osg::ref_ptr geode = new osg::Geode; - geode->addDrawable(sd); - - osg::ref_ptr pat = - new osg::PositionAttitudeTransform; - pat->addChild(geode); - pat->setAttitude(osg::Quat(- M_PI_2, osg::Vec3d(1.0f, 0.0f, 0.0f), - M_PI_2, osg::Vec3d(0.0f, 1.0f, 0.0f), - 0.0, osg::Vec3d(0.0f, 0.0f, 1.0f))); - group->addChild(pat); - - // cylinder indicates position - sd = new osg::ShapeDrawable; - osg::ref_ptr cylinder = - new osg::Cylinder(osg::Vec3d(0.0, 0.0, 0.0), - radius, 0); - - sd->setShape(cylinder); - sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - sd->setColor(color); - - geode = new osg::Geode; - geode->addDrawable(sd); - group->addChild(geode); - - // text indicates component id - colorRGB = colorRGB.lighter(); - color = osg::Vec4(colorRGB.redF(), colorRGB.greenF(), colorRGB.blueF(), 1.0f); - - osg::ref_ptr text = new osgText::Text; - text->setFont(m3DWidget->font()); - text->setText(QString::number(component).toStdString().c_str()); - text->setColor(color); - text->setCharacterSize(0.3f); - text->setAxisAlignment(osgText::Text::XY_PLANE); - text->setAlignment(osgText::Text::CENTER_CENTER); - text->setPosition(osg::Vec3(0.0, -0.8, 0.0)); - - sd = new osg::ShapeDrawable; - osg::ref_ptr textBox = - new osg::Box(osg::Vec3(0.0, -0.8, -0.01), 0.7, 0.4, 0.01); - - sd->setShape(textBox); - sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - sd->setColor(osg::Vec4(0.0, 0.0, 0.0, 1.0)); - - geode = new osg::Geode; - geode->addDrawable(text); - geode->addDrawable(sd); - group->addChild(geode); - - pat = new osg::PositionAttitudeTransform; - pat->addChild(group); - systemData.orientationNode()->addChild(pat); - } - - QVector& trail = systemData.trailMap()[component]; - - bool addToTrail = false; - if (trail.size() > 0) - { - if (fabs(x - trail[trail.size() - 1].x()) > 0.01f || - fabs(y - trail[trail.size() - 1].y()) > 0.01f || - fabs(z - trail[trail.size() - 1].z()) > 0.01f) - { - addToTrail = true; - } - } - else - { - addToTrail = true; - } - - if (addToTrail) - { - osg::Vec3d p(x, y, z); - if (trail.size() == trail.capacity()) - { - memcpy(trail.data(), trail.data() + 1, - (trail.size() - 1) * sizeof(osg::Vec3d)); - trail[trail.size() - 1] = p; - } - else - { - trail.append(p); - } - } -} - -void -Pixhawk3DWidget::localPositionChanged(UASInterface* uas, - double x, double y, double z, - quint64 time) -{ - Q_UNUSED(time); - - int systemId = uas->getUASID(); - - if (!mSystemContainerMap.contains(systemId)) - { - return; - } - -// // Add offset -// UAS* mav = qobject_cast(uas); - -// float offX = mav->getNedPosGlobalOffset().x(); -// float offY = mav->getNedPosGlobalOffset().y(); -// float offZ = mav->getNedPosGlobalOffset().z(); -// float offYaw = mav->getNedAttGlobalOffset().z(); - - // update system position - m3DWidget->systemGroup(systemId)->position()->setPosition(osg::Vec3d(y, x, -z)); -} - -void -Pixhawk3DWidget::attitudeChanged(UASInterface* uas, int component, - double roll, double pitch, double yaw, - quint64 time) -{ - Q_UNUSED(roll); - Q_UNUSED(pitch); - Q_UNUSED(time); - - int systemId = uas->getUASID(); - - if (!mSystemContainerMap.contains(systemId)) - { - return; - } - - SystemContainer& systemData = mSystemContainerMap[systemId]; - - // update trail data - if (!systemData.trailMap().contains(component)) - { - return; - } - - int idx = systemData.trailIndexMap().value(component); - - osg::PositionAttitudeTransform* pat = - dynamic_cast(systemData.orientationNode()->getChild(idx)); - - pat->setAttitude(osg::Quat(-yaw, osg::Vec3d(0.0f, 0.0f, 1.0f), - 0.0, osg::Vec3d(1.0f, 0.0f, 0.0f), - 0.0, osg::Vec3d(0.0f, 1.0f, 0.0f))); -} - -void -Pixhawk3DWidget::attitudeChanged(UASInterface* uas, - double roll, double pitch, double yaw, - quint64 time) -{ - Q_UNUSED(time); - - int systemId = uas->getUASID(); - - if (!mSystemContainerMap.contains(systemId)) - { - return; - } - - // update system attitude - osg::Quat q(roll, osg::Vec3d(0.0f, 1.0f, 0.0f), - pitch, osg::Vec3d(1.0f, 0.0f, 0.0f), - -yaw, osg::Vec3d(0.0f, 0.0f, 1.0f) - ); - m3DWidget->systemGroup(systemId)->attitude()->setAttitude(q); -} - -void -Pixhawk3DWidget::homePositionChanged(int uasId, double lat, double lon, - double alt) -{ - if (!mSystemContainerMap.contains(uasId)) - { - return; - } - - SystemContainer& systemData = mSystemContainerMap[uasId]; - - systemData.gpsLocalOrigin() = QVector3D(lat, lon, alt); -} - -void -Pixhawk3DWidget::setpointChanged(int uasId, float x, float y, float z, - float yaw) -{ - if (!mSystemContainerMap.contains(uasId)) - { - return; - } - - UASInterface* uas = UASManager::instance()->getUASForId(uasId); - if (!uas) - { - return; - } - - QColor color = uas->getColor(); - const SystemViewParamsPtr& systemViewParams = mSystemViewParamMap.value(uasId); - - osg::ref_ptr pat = - new osg::PositionAttitudeTransform; - - pat->setPosition(osg::Vec3d(y, x, -z)); - pat->setAttitude(osg::Quat(osg::DegreesToRadians(yaw) - M_PI_2, osg::Vec3d(1.0f, 0.0f, 0.0f), - M_PI_2, osg::Vec3d(0.0f, 1.0f, 0.0f), - 0.0, osg::Vec3d(0.0f, 0.0f, 1.0f))); - - osg::ref_ptr cone = new osg::Cone(osg::Vec3f(0.0f, 0.0f, 0.0f), 0.1f, 0.3f); - osg::ref_ptr coneDrawable = new osg::ShapeDrawable(cone); - coneDrawable->setColor(osg::Vec4f(color.redF(), color.greenF(), color.blueF(), 1.0f)); - coneDrawable->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - osg::ref_ptr coneGeode = new osg::Geode; - coneGeode->addDrawable(coneDrawable); - - pat->addChild(coneGeode); - - osg::ref_ptr& setpointGroupNode = mSystemContainerMap[uasId].setpointGroupNode(); - - setpointGroupNode->addChild(pat); - if (setpointGroupNode->getNumChildren() > static_cast(systemViewParams->setpointHistoryLength())) - { - setpointGroupNode->removeChildren(0, setpointGroupNode->getNumChildren() - systemViewParams->setpointHistoryLength()); - } - - osg::Vec4f setpointColor(color.redF(), color.greenF(), color.blueF(), 1.0f); - int setpointCount = setpointGroupNode->getNumChildren(); - - // update colors - for (int i = 0; i < setpointCount; ++i) - { - osg::PositionAttitudeTransform* pat = - dynamic_cast(setpointGroupNode->getChild(i)); - - osg::Geode* geode = dynamic_cast(pat->getChild(0)); - osg::ShapeDrawable* sd = dynamic_cast(geode->getDrawable(0)); - - setpointColor.a() = static_cast(i + 1) / setpointCount; - sd->setColor(setpointColor); - } -} - -void -Pixhawk3DWidget::clearData(void) -{ - QMutableMapIterator it(mSystemContainerMap); - while (it.hasNext()) - { - it.next(); - - SystemContainer& systemData = it.value(); - - // clear setpoint data - systemData.setpointGroupNode()->removeChildren(0, systemData.setpointGroupNode()->getNumChildren()); - - // clear trail data - systemData.orientationNode()->removeChildren(0, systemData.orientationNode()->getNumChildren()); - systemData.trailIndexMap().clear(); - systemData.trailMap().clear(); - systemData.trailNode()->removeDrawables(0, systemData.trailNode()->getNumDrawables()); - } -} - -void -Pixhawk3DWidget::showTerrainParamWindow(void) -{ - TerrainParamDialog::getTerrainParams(mGlobalViewParams); - - const QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset(); - const QVector3D& attitudeOffset = mGlobalViewParams->terrainAttitudeOffset(); - - mTerrainPAT->setPosition(osg::Vec3d(positionOffset.y(), positionOffset.x(), -positionOffset.z())); - mTerrainPAT->setAttitude(osg::Quat(- attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f), - attitudeOffset.y(), osg::Vec3d(1.0f, 0.0f, 0.0f), - attitudeOffset.x(), osg::Vec3d(0.0f, 1.0f, 0.0f))); -} - -void -Pixhawk3DWidget::showViewParamWindow(void) -{ - if (mViewParamWidget->isVisible()) - { - mViewParamWidget->hide(); - } - else - { - mViewParamWidget->show(); - } -} - -void -Pixhawk3DWidget::followCameraChanged(int systemId) -{ - if (systemId == -1) - { - mFollowCameraId = -1; - } - - UASInterface* uas = UASManager::instance()->getUASForId(systemId); - if (!uas) - { - return; - } - - if (mFollowCameraId != systemId) - { - double x = 0.0, y = 0.0, z = 0.0; - getPosition(uas, mGlobalViewParams->frame(), x, y, z); - - mCameraPos = QVector3D(x, y, z); - - m3DWidget->recenterCamera(y, x, -z); - - mFollowCameraId = systemId; - } -} - -void -Pixhawk3DWidget::imageryParamsChanged(void) -{ - mImageryNode->setImageryType(mGlobalViewParams->imageryType()); - mImageryNode->setPath(mGlobalViewParams->imageryPath()); - - const QVector3D& offset = mGlobalViewParams->imageryOffset(); - mImageryNode->setOffset(offset.x(), offset.y(), offset.z()); -} - -void -Pixhawk3DWidget::recenterActiveCamera(void) -{ - if (mFollowCameraId != -1) - { - UASInterface* uas = UASManager::instance()->getUASForId(mFollowCameraId); - if (!uas) - { - return; - } - - double x = 0.0, y = 0.0, z = 0.0; - getPosition(uas, mGlobalViewParams->frame(), x, y, z); - - mCameraPos = QVector3D(x, y, z); - - m3DWidget->recenterCamera(y, x, -z); - } -} - -void -Pixhawk3DWidget::modelChanged(int systemId, int index) -{ - if (!mSystemContainerMap.contains(systemId)) - { - return; - } - - SystemContainer& systemData = mSystemContainerMap[systemId]; - osg::ref_ptr& systemGroupNode = m3DWidget->systemGroup(systemId); - - systemGroupNode->egocentricMap()->removeChild(systemData.modelNode()); - systemData.modelNode() = systemData.models().at(index); - systemGroupNode->egocentricMap()->addChild(systemData.modelNode()); -} - -void -Pixhawk3DWidget::setBirdEyeView(void) -{ - mViewParamWidget->setFollowCameraId(-1); - - m3DWidget->rotateCamera(0.0, 0.0, 0.0); - m3DWidget->setCameraDistance(100.0); -} - -void -Pixhawk3DWidget::loadTerrainModel(void) -{ - QString filename = QGCFileDialog::getOpenFileName( - this, "Load Terrain Model", - QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), - tr("Collada Files (*.dae)")); - - if (filename.isEmpty()) - { - return; - } - - osg::ref_ptr node = - osgDB::readNodeFile(filename.toStdString().c_str()); - - if (node) - { - if (mTerrainNode.get()) - { - mTerrainPAT->removeChild(mTerrainNode); - } - mTerrainNode = node; - mTerrainNode->setName("terrain"); - mTerrainPAT->addChild(mTerrainNode); - - mGlobalViewParams->terrainPositionOffset() = QVector3D(); - mGlobalViewParams->terrainAttitudeOffset() = QVector3D(); - - mTerrainPAT->setPosition(osg::Vec3d(0.0, 0.0, 0.0)); - mTerrainPAT->setAttitude(osg::Quat(0.0, osg::Vec3d(0.0f, 0.0f, 1.0f), - 0.0, osg::Vec3d(1.0f, 0.0f, 0.0f), - 0.0, osg::Vec3d(0.0f, 1.0f, 0.0f))); - } - else - { - QGCMessageBox::warning(tr("Error loading model"), - tr("Error: Unable to load terrain model (%1).").arg(filename)); - } -} - -void -Pixhawk3DWidget::selectTargetHeading(void) -{ - if (!mActiveUAS) - { - return; - } - - osg::Vec2d p; - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - double altitude = mActiveUAS->getAltitudeAMSL(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), altitude); - - p.set(cursorWorldCoords.x(), cursorWorldCoords.y()); - } - else if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - p.set(cursorWorldCoords.x(), cursorWorldCoords.y()); - } - - SystemContainer& systemData = mSystemContainerMap[mActiveUAS->getUASID()]; - QVector4D& target = systemData.target(); - - target.setW(atan2(p.y() - target.y(), p.x() - target.x())); -} - -void -Pixhawk3DWidget::selectTarget(void) -{ - if (!mActiveUAS) - { - return; - } - if (!mActiveUAS->getParamManager()) - { - return; - } - - SystemContainer& systemData = mSystemContainerMap[mActiveUAS->getUASID()]; - QVector4D& target = systemData.target(); - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - double altitude = mActiveUAS->getAltitudeAMSL(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(mCachedMousePos, altitude); - - QVariant zTarget; - if (!mActiveUAS->getParamManager()->getParameterValue(MAV_COMP_ID_PATHPLANNER, "TARGET-ALT", zTarget)) - { - zTarget = -altitude; - } - - target = QVector4D(cursorWorldCoords.x(), cursorWorldCoords.y(), - zTarget.toReal(), 0.0); - } - else if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(mCachedMousePos, -z); - - QVariant zTarget; - if (!mActiveUAS->getParamManager()->getParameterValue(MAV_COMP_ID_PATHPLANNER, "TARGET-ALT", zTarget)) - { - zTarget = z; - } - - target = QVector4D(cursorWorldCoords.x(), cursorWorldCoords.y(), - zTarget.toReal(), 0.0); - } - - int systemId = mActiveUAS->getUASID(); - - QMap::iterator it = mSystemViewParamMap.find(systemId); - if (it != mSystemViewParamMap.end()) - { - it.value()->displayTarget() = true; - } - - mMode = SELECT_TARGET_HEADING_MODE; -} - -void -Pixhawk3DWidget::setTarget(void) -{ - selectTargetHeading(); - - SystemContainer& systemData = mSystemContainerMap[mActiveUAS->getUASID()]; - QVector4D& target = systemData.target(); - - mActiveUAS->setTargetPosition(target.x(), target.y(), target.z(), - osg::RadiansToDegrees(target.w())); -} - -void -Pixhawk3DWidget::insertWaypoint(void) -{ - if (!mActiveUAS) - { - return; - } - - Waypoint* wp = NULL; - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - double latitude = mActiveUAS->getLatitude(); - double longitude = mActiveUAS->getLongitude(); - double altitude = mActiveUAS->getAltitudeAMSL(); - double x, y; - QString utmZone; - Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(mCachedMousePos, altitude); - - Imagery::UTMtoLL(cursorWorldCoords.x(), cursorWorldCoords.y(), utmZone, - latitude, longitude); - - wp = new Waypoint(0, longitude, latitude, altitude, 0.0, 0.25); - } - else if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(mCachedMousePos, -z); - - wp = new Waypoint(0, cursorWorldCoords.x(), - cursorWorldCoords.y(), z, 0.0, 0.25); - } - - if (wp) - { - wp->setFrame(mGlobalViewParams->frame()); - mActiveUAS->getWaypointManager()->addWaypointEditable(wp); - } - - mSelectedWpIndex = wp->getId(); - mMode = MOVE_WAYPOINT_HEADING_MODE; -} - -void -Pixhawk3DWidget::moveWaypointPosition(void) -{ - if (mMode != MOVE_WAYPOINT_POSITION_MODE) - { - mMode = MOVE_WAYPOINT_POSITION_MODE; - return; - } - - if (!mActiveUAS) - { - return; - } - - const QList waypoints = - mActiveUAS->getWaypointManager()->getWaypointEditableList(); - Waypoint* waypoint = waypoints.at(mSelectedWpIndex); - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - double latitude = mActiveUAS->getLatitude(); - double longitude = mActiveUAS->getLongitude(); - double altitude = mActiveUAS->getAltitudeAMSL(); - double x, y; - QString utmZone; - Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), altitude); - - Imagery::UTMtoLL(cursorWorldCoords.x(), cursorWorldCoords.y(), - utmZone, latitude, longitude); - - waypoint->setX(longitude); - waypoint->setY(latitude); - } - else if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - waypoint->setX(cursorWorldCoords.x()); - waypoint->setY(cursorWorldCoords.y()); - } -} - -void -Pixhawk3DWidget::moveWaypointHeading(void) -{ - if (mMode != MOVE_WAYPOINT_HEADING_MODE) - { - mMode = MOVE_WAYPOINT_HEADING_MODE; - return; - } - - if (!mActiveUAS) - { - return; - } - - const QList waypoints = - mActiveUAS->getWaypointManager()->getWaypointEditableList(); - Waypoint* waypoint = waypoints.at(mSelectedWpIndex); - - double x = 0.0, y = 0.0, z = 0.0; - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - double latitude = waypoint->getY(); - double longitude = waypoint->getX(); - z = -waypoint->getZ(); - QString utmZone; - Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); - } - else if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - z = mActiveUAS->getLocalZ(); - } - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - double yaw = atan2(cursorWorldCoords.y() - waypoint->getY(), - cursorWorldCoords.x() - waypoint->getX()); - yaw = osg::RadiansToDegrees(yaw); - - waypoint->setYaw(yaw); -} - -void -Pixhawk3DWidget::deleteWaypoint(void) -{ - if (mActiveUAS) - { - mActiveUAS->getWaypointManager()->removeWaypoint(mSelectedWpIndex); - } -} - -void -Pixhawk3DWidget::setWaypointAltitude(void) -{ - if (!mActiveUAS) - { - return; - } - - bool ok; - const QList waypoints = - mActiveUAS->getWaypointManager()->getWaypointEditableList(); - Waypoint* waypoint = waypoints.at(mSelectedWpIndex); - - double altitude = waypoint->getZ(); - if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - altitude = -altitude; - } - - double newAltitude = - QInputDialog::getDouble(this, tr("Set altitude of waypoint %1").arg(mSelectedWpIndex), - tr("Altitude (m):"), waypoint->getZ(), -1000.0, 1000.0, 1, &ok); - if (ok) - { - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - waypoint->setZ(newAltitude); - } - else if (mGlobalViewParams->frame() == MAV_FRAME_LOCAL_NED) - { - waypoint->setZ(-newAltitude); - } - } -} - -void -Pixhawk3DWidget::clearAllWaypoints(void) -{ - if (mActiveUAS) - { - const QList waypoints = - mActiveUAS->getWaypointManager()->getWaypointEditableList(); - for (int i = waypoints.size() - 1; i >= 0; --i) - { - mActiveUAS->getWaypointManager()->removeWaypoint(i); - } - } -} - -void -Pixhawk3DWidget::moveImagery(void) -{ - if (mMode != MOVE_IMAGERY_MODE) - { - mMode = MOVE_IMAGERY_MODE; - return; - } - - if (!mActiveUAS) - { - return; - } - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - return; - } - - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - QVector3D& offset = mGlobalViewParams->imageryOffset(); - offset.setX(cursorWorldCoords.x()); - offset.setY(cursorWorldCoords.y()); - - mImageryNode->setOffset(offset.x(), offset.y(), offset.z()); -} - -void -Pixhawk3DWidget::moveTerrain(void) -{ - if (mMode != MOVE_TERRAIN_MODE) - { - mMode = MOVE_TERRAIN_MODE; - return; - } - - if (!mActiveUAS) - { - return; - } - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - return; - } - - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset(); - positionOffset.setX(cursorWorldCoords.x()); - positionOffset.setY(cursorWorldCoords.y()); - - mTerrainPAT->setPosition(osg::Vec3d(positionOffset.y(), positionOffset.x(), -positionOffset.z())); -} - -void -Pixhawk3DWidget::rotateTerrain(void) -{ - if (mMode != ROTATE_TERRAIN_MODE) - { - mMode = ROTATE_TERRAIN_MODE; - return; - } - - if (!mActiveUAS) - { - return; - } - - if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL) - { - return; - } - - double z = mActiveUAS->getLocalZ(); - - QPointF cursorWorldCoords = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - const QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset(); - QVector3D& attitudeOffset = mGlobalViewParams->terrainAttitudeOffset(); - - double yaw = atan2(cursorWorldCoords.y() - positionOffset.y(), - cursorWorldCoords.x() - positionOffset.x()); - - attitudeOffset.setZ(yaw); - - mTerrainPAT->setAttitude(osg::Quat(- attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f), - attitudeOffset.y(), osg::Vec3d(1.0f, 0.0f, 0.0f), - attitudeOffset.x(), osg::Vec3d(0.0f, 1.0f, 0.0f))); -} - -void -Pixhawk3DWidget::sizeChanged(int width, int height) -{ - resizeHUD(width, height); -} - -void -Pixhawk3DWidget::updateWidget(void) -{ - MAV_FRAME frame = mGlobalViewParams->frame(); - - // set node visibility - m3DWidget->worldMap()->setChildValue(mTerrainPAT, - mGlobalViewParams->displayTerrain()); - m3DWidget->worldMap()->setChildValue(mWorldGridNode, - mGlobalViewParams->displayWorldGrid()); - if (mGlobalViewParams->imageryType() == Imagery::BLANK_MAP) - { - m3DWidget->worldMap()->setChildValue(mImageryNode, false); - } - else - { - m3DWidget->worldMap()->setChildValue(mImageryNode, true); - } - - // set system-specific node visibility - QMutableMapIterator it(mSystemViewParamMap); - while (it.hasNext()) - { - it.next(); - - osg::ref_ptr& systemNode = m3DWidget->systemGroup(it.key()); - SystemContainer& systemData = mSystemContainerMap[it.key()]; - const SystemViewParamsPtr& systemViewParams = it.value(); - - osg::ref_ptr& allocentricMap = systemNode->allocentricMap(); - allocentricMap->setChildValue(systemData.setpointGroupNode(), - systemViewParams->displaySetpoints()); - - osg::ref_ptr& rollingMap = systemNode->rollingMap(); - rollingMap->setChildValue(systemData.localGridNode(), - systemViewParams->displayLocalGrid()); - rollingMap->setChildValue(systemData.orientationNode(), - systemViewParams->displayTrails()); - rollingMap->setChildValue(systemData.pointCloudNode(), - systemViewParams->displayPointCloud()); - rollingMap->setChildValue(systemData.targetNode(), - systemViewParams->displayTarget()); - rollingMap->setChildValue(systemData.trailNode(), - systemViewParams->displayTrails()); - rollingMap->setChildValue(systemData.waypointGroupNode(), - systemViewParams->displayWaypoints()); - } - - if (mFollowCameraId != -1) - { - UASInterface* uas = UASManager::instance()->getUASForId(mFollowCameraId); - if (uas) - { - double x = 0.0, y = 0.0, z = 0.0; - getPosition(uas, mGlobalViewParams->frame(), x, y, z); - - double dx = y - mCameraPos.y(); - double dy = x - mCameraPos.x(); - double dz = mCameraPos.z() - z; - - m3DWidget->moveCamera(dx, dy, dz); - - mCameraPos = QVector3D(x, y, z); - } - } - else - { - if (!mInitCameraPos && mActiveUAS) - { - double x = 0.0, y = 0.0, z = 0.0; - getPosition(mActiveUAS, frame, x, y, z); - m3DWidget->recenterCamera(y, x, -z); - - mCameraPos = QVector3D(x, y, z); - - setBirdEyeView(); - mInitCameraPos = true; - } - } - - // update system-specific data - it.toFront(); - while (it.hasNext()) - { - it.next(); - - int systemId = it.key(); - - UASInterface* uas = UASManager::instance()->getUASForId(systemId); - - SystemContainer& systemData = mSystemContainerMap[systemId]; - SystemViewParamsPtr& systemViewParams = it.value(); - - double x = 0.0; - double y = 0.0; - double z = 0.0; - double roll = 0.0; - double pitch = 0.0; - double yaw = 0.0; - - getPose(uas, frame, x, y, z, roll, pitch, yaw); - - if (systemViewParams->displaySetpoints()) - { - - } - else - { - systemData.setpointGroupNode()->removeChildren(0, systemData.setpointGroupNode()->getNumChildren()); - } - if (systemViewParams->displayTarget()) - { - if (systemData.target().isNull()) - { - systemViewParams->displayTarget() = false; - } - else - { - updateTarget(uas, frame, x, y, z, systemData.target(), - systemData.targetNode()); - } - } - if (systemViewParams->displayTrails()) - { - updateTrails(x, y, z, systemData.trailNode(), systemData.orientationNode(), - systemData.trailMap(), systemData.trailIndexMap()); - } - else - { - systemData.trailMap().clear(); - } - if (systemViewParams->displayWaypoints()) - { - updateWaypoints(uas, frame, systemData.waypointGroupNode()); - } - } - - if (frame == MAV_FRAME_GLOBAL && - mGlobalViewParams->imageryType() != Imagery::BLANK_MAP) - { -// updateImagery(x, y, z, utmZone); - } - - if (mActiveUAS) - { - updateHUD(mActiveUAS, frame); - } - - layout()->update(); -} - -void -Pixhawk3DWidget::addModels(QVector< osg::ref_ptr >& models, - const QColor& systemColor) -{ - QDir directory("models"); - QStringList files = directory.entryList(QStringList("*.osg"), QDir::Files); - - // add Pixhawk Bravo model - models.push_back(PixhawkCheetahNode::create(systemColor)); - - // add sphere of 0.05m radius - osg::ref_ptr sphere = new osg::Sphere(osg::Vec3f(0.0f, 0.0f, 0.0f), 0.05f); - osg::ref_ptr sphereDrawable = new osg::ShapeDrawable(sphere); - sphereDrawable->setColor(osg::Vec4f(systemColor.redF(), systemColor.greenF(), systemColor.blueF(), 1.0f)); - osg::ref_ptr sphereGeode = new osg::Geode; - sphereGeode->addDrawable(sphereDrawable); - sphereGeode->setName("Sphere (0.1m)"); - models.push_back(sphereGeode); - - // add all other models in folder - for (int i = 0; i < files.size(); ++i) - { - osg::ref_ptr node = - osgDB::readNodeFile(directory.absoluteFilePath(files[i]).toStdString().c_str()); - - if (node) - { - models.push_back(node); - } - else - { - printf("%s\n", QString("ERROR: Could not load file " + directory.absoluteFilePath(files[i]) + "\n").toStdString().c_str()); - } - } -} - -void -Pixhawk3DWidget::buildLayout(void) -{ - QPushButton* clearDataButton = new QPushButton(this); - clearDataButton->setText("Clear Data"); - - QPushButton* viewParamWindowButton = new QPushButton(this); - viewParamWindowButton->setCheckable(true); - viewParamWindowButton->setText("View Parameters"); - - QHBoxLayout* layoutTop = new QHBoxLayout; - layoutTop->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding)); - layoutTop->addWidget(clearDataButton); - layoutTop->addWidget(viewParamWindowButton); - - QPushButton* recenterButton = new QPushButton(this); - recenterButton->setText("Recenter Camera"); - - QPushButton* birdEyeViewButton = new QPushButton(this); - birdEyeViewButton->setText("Bird's Eye View"); - - QPushButton* loadTerrainModelButton = new QPushButton(this); - loadTerrainModelButton->setText("Load Terrain Model"); - - QHBoxLayout* layoutBottom = new QHBoxLayout; - layoutBottom->addWidget(recenterButton); - layoutBottom->addWidget(birdEyeViewButton); - layoutBottom->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding)); - layoutBottom->addWidget(loadTerrainModelButton); - - QGridLayout* layout = new QGridLayout(this); - layout->setMargin(0); - layout->setSpacing(2); - layout->addLayout(layoutTop, 0, 0); - layout->addWidget(m3DWidget, 1, 0); - layout->addLayout(layoutBottom, 2, 0); - layout->setRowStretch(0, 1); - layout->setRowStretch(1, 100); - layout->setRowStretch(2, 1); - - connect(clearDataButton, SIGNAL(clicked()), - this, SLOT(clearData())); - connect(viewParamWindowButton, SIGNAL(clicked()), - this, SLOT(showViewParamWindow())); - connect(recenterButton, SIGNAL(clicked()), - this, SLOT(recenterActiveCamera())); - connect(birdEyeViewButton, SIGNAL(clicked()), - this, SLOT(setBirdEyeView())); - connect(loadTerrainModelButton, SIGNAL(clicked()), - this, SLOT(loadTerrainModel())); -} - -void -Pixhawk3DWidget::keyPressEvent(QKeyEvent* event) -{ - QWidget::keyPressEvent(event); - if (event->isAccepted()) - { - return; - } - - m3DWidget->handleKeyPressEvent(event); -} - -void -Pixhawk3DWidget::keyReleaseEvent(QKeyEvent* event) -{ - QWidget::keyReleaseEvent(event); - if (event->isAccepted()) - { - return; - } - - m3DWidget->handleKeyReleaseEvent(event); -} - -void -Pixhawk3DWidget::mousePressEvent(QMouseEvent* event) -{ - QWidget::mousePressEvent(event); - if (event->isAccepted()) - { - return; - } - - if (event->button() == Qt::LeftButton) - { - if (mMode == SELECT_TARGET_HEADING_MODE) - { - setTarget(); - event->accept(); - } - - if (mMode != DEFAULT_MODE) - { - mMode = DEFAULT_MODE; - event->accept(); - } - } - else if (event->button() == Qt::RightButton) - { - if (m3DWidget->getSceneData() && mActiveUAS) - { - mSelectedWpIndex = -1; - bool mouseOverImagery = false; - bool mouseOverTerrain = false; - - SystemContainer& systemData = mSystemContainerMap[mActiveUAS->getUASID()]; - osg::ref_ptr& waypointGroupNode = systemData.waypointGroupNode(); - - osgUtil::LineSegmentIntersector::Intersections intersections; - - QPoint widgetMousePos = m3DWidget->mapFromParent(event->pos()); - - if (m3DWidget->computeIntersections(widgetMousePos.x(), - m3DWidget->height() - widgetMousePos.y(), - intersections)) - { - for (osgUtil::LineSegmentIntersector::Intersections::iterator - it = intersections.begin(); it != intersections.end(); it++) - { - for (uint i = 0 ; i < it->nodePath.size(); ++i) - { - osg::Node* node = it->nodePath[i]; - std::string nodeName = node->getName(); - - if (nodeName.substr(0, 2).compare("wp") == 0) - { - if (node->getParent(0)->getParent(0) == waypointGroupNode.get()) - { - mSelectedWpIndex = atoi(nodeName.substr(2).c_str()); - } - } - else if (nodeName.compare("imagery") == 0) - { - mouseOverImagery = true; - } - else if (nodeName.compare("terrain") == 0) - { - mouseOverTerrain = true; - } - } - } - } - - QMenu menu; - if (mSelectedWpIndex == -1) - { - mCachedMousePos = event->pos(); - - menu.addAction("Insert new waypoint", this, SLOT(insertWaypoint())); - } - else - { - QString text; - text = QString("Move waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(moveWaypointPosition())); - - text = QString("Change heading of waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(moveWaypointHeading())); - - text = QString("Change altitude of waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(setWaypointAltitude())); - - text = QString("Delete waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(deleteWaypoint())); - } - - menu.addAction("Clear all waypoints", this, SLOT(clearAllWaypoints())); - menu.addSeparator(); - menu.addAction("Select target", this, SLOT(selectTarget())); - - if (mouseOverImagery) - { - menu.addSeparator(); - menu.addAction("Move imagery", this, SLOT(moveImagery())); - } - if (mouseOverTerrain) - { - menu.addSeparator(); - menu.addAction("Move terrain", this, SLOT(moveTerrain())); - menu.addAction("Rotate terrain", this, SLOT(rotateTerrain())); - menu.addAction("Edit terrain parameters", this, SLOT(showTerrainParamWindow())); - } - - menu.exec(event->globalPos()); - - event->accept(); - } - } - - - m3DWidget->handleMousePressEvent(event); -} - -void -Pixhawk3DWidget::mouseReleaseEvent(QMouseEvent* event) -{ - QWidget::mouseReleaseEvent(event); - if (event->isAccepted()) - { - return; - } - - m3DWidget->handleMouseReleaseEvent(event); -} - -void -Pixhawk3DWidget::mouseMoveEvent(QMouseEvent* event) -{ - QWidget::mouseMoveEvent(event); - if (event->isAccepted()) - { - return; - } - - switch (mMode) - { - case SELECT_TARGET_HEADING_MODE: - selectTargetHeading(); - event->accept(); - break; - case MOVE_WAYPOINT_POSITION_MODE: - moveWaypointPosition(); - event->accept(); - break; - case MOVE_WAYPOINT_HEADING_MODE: - moveWaypointHeading(); - event->accept(); - break; - case MOVE_IMAGERY_MODE: - moveImagery(); - event->accept(); - break; - case MOVE_TERRAIN_MODE: - moveTerrain(); - event->accept(); - break; - case ROTATE_TERRAIN_MODE: - rotateTerrain(); - event->accept(); - break; - default: - {} - } - - m3DWidget->handleMouseMoveEvent(event); -} - -void -Pixhawk3DWidget::wheelEvent(QWheelEvent* event) -{ - QWidget::wheelEvent(event); - if (event->isAccepted()) - { - return; - } - - m3DWidget->handleWheelEvent(event); -} - -void -Pixhawk3DWidget::showEvent(QShowEvent* event) -{ - Q_UNUSED(event); - - emit visibilityChanged(true); -} - -void -Pixhawk3DWidget::hideEvent(QHideEvent* event) -{ - Q_UNUSED(event); - - emit visibilityChanged(false); -} - -void -Pixhawk3DWidget::initializeSystem(int systemId, const QColor& systemColor) -{ - SystemViewParamsPtr& systemViewParams = mSystemViewParamMap[systemId]; - SystemContainer& systemData = mSystemContainerMap[systemId]; - osg::ref_ptr& systemNode = m3DWidget->systemGroup(systemId); - - // generate grid model - systemData.localGridNode() = createLocalGrid(); - systemNode->rollingMap()->addChild(systemData.localGridNode(), false); - - // generate orientation model - systemData.orientationNode() = new osg::Group; - systemNode->rollingMap()->addChild(systemData.orientationNode(), false); - - // generate point cloud model - systemData.pointCloudNode() = createPointCloud(); - systemNode->rollingMap()->addChild(systemData.pointCloudNode(), false); - - // generate setpoint model - systemData.setpointGroupNode() = new osg::Group; - systemNode->allocentricMap()->addChild(systemData.setpointGroupNode(), false); - - // generate target model - systemData.targetNode() = createTarget(systemColor); - systemNode->rollingMap()->addChild(systemData.targetNode(), false); - - // generate empty trail model - systemData.trailNode() = new osg::Geode; - systemNode->rollingMap()->addChild(systemData.trailNode(), false); - - // generate waypoint model - systemData.waypointGroupNode() = new WaypointGroupNode(systemColor); - systemData.waypointGroupNode()->init(); - systemNode->rollingMap()->addChild(systemData.waypointGroupNode(), false); - - systemData.rgbImageNode() = new ImageWindowGeode; - systemData.rgbImageNode()->init("RGB Image", osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f), - m3DWidget->font()); - m3DWidget->hudGroup()->addChild(systemData.rgbImageNode(), false); - - systemData.depthImageNode() = new ImageWindowGeode; - systemData.depthImageNode()->init("Depth Image", osg::Vec4(0.0f, 0.0f, 0.1f, 1.0f), - m3DWidget->font()); - m3DWidget->hudGroup()->addChild(systemData.depthImageNode(), false); - - // find available models - addModels(systemData.models(), systemColor); - systemViewParams->modelNames(); - for (int i = 0; i < systemData.models().size(); ++i) - { - systemViewParams->modelNames().push_back(systemData.models()[i]->getName().c_str()); - } - - systemData.modelNode() = systemData.models().front(); - systemNode->egocentricMap()->addChild(systemData.modelNode()); - - connect(systemViewParams.data(), SIGNAL(modelChangedSignal(int,int)), - this, SLOT(modelChanged(int,int))); -} - -void -Pixhawk3DWidget::getPose(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z, - double& roll, double& pitch, double& yaw, - QString& utmZone) const -{ - if (!uas) - { - return; - } - - if (frame == MAV_FRAME_GLOBAL) - { - double latitude = uas->getLatitude(); - double longitude = uas->getLongitude(); - double altitude = uas->getAltitudeAMSL(); - - Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); - z = -altitude; - } - else if (frame == MAV_FRAME_LOCAL_NED) - { - x = uas->getLocalX(); - y = uas->getLocalY(); - z = uas->getLocalZ(); - } - - roll = uas->getRoll(); - pitch = uas->getPitch(); - yaw = uas->getYaw(); -} - -void -Pixhawk3DWidget::getPose(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z, - double& roll, double& pitch, double& yaw) const -{ - QString utmZone; - getPose(uas, frame, x, y, z, roll, pitch, yaw, utmZone); -} - -void -Pixhawk3DWidget::getPosition(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z, - QString& utmZone) const -{ - if (!uas) - { - return; - } - - if (frame == MAV_FRAME_GLOBAL) - { - double latitude = uas->getLatitude(); - double longitude = uas->getLongitude(); - double altitude = uas->getAltitudeAMSL(); - - Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); - z = -altitude; - } - else if (frame == MAV_FRAME_LOCAL_NED) - { - x = uas->getLocalX(); - y = uas->getLocalY(); - z = uas->getLocalZ(); - } -} - -void -Pixhawk3DWidget::getPosition(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z) const -{ - QString utmZone; - getPosition(uas, frame, x, y, z, utmZone); -} - -osg::ref_ptr -Pixhawk3DWidget::createLocalGrid(void) -{ - osg::ref_ptr geode(new osg::Geode()); - osg::ref_ptr fineGeometry(new osg::Geometry()); - osg::ref_ptr coarseGeometry(new osg::Geometry()); - geode->addDrawable(fineGeometry); - geode->addDrawable(coarseGeometry); - - float radius = 5.0f; - float resolution = 0.25f; - - osg::ref_ptr fineCoords(new osg::Vec3Array); - osg::ref_ptr coarseCoords(new osg::Vec3Array); - - // draw a 10m x 10m grid with 0.25m resolution - for (float i = -radius; i <= radius; i += resolution) - { - if (fabs(i / 1.0f - floor(i / 1.0f)) < 0.01f) - { - coarseCoords->push_back(osg::Vec3(i, -radius, 0.0f)); - coarseCoords->push_back(osg::Vec3(i, radius, 0.0f)); - coarseCoords->push_back(osg::Vec3(-radius, i, 0.0f)); - coarseCoords->push_back(osg::Vec3(radius, i, 0.0f)); - } - else - { - fineCoords->push_back(osg::Vec3(i, -radius, 0.0f)); - fineCoords->push_back(osg::Vec3(i, radius, 0.0f)); - fineCoords->push_back(osg::Vec3(-radius, i, 0.0f)); - fineCoords->push_back(osg::Vec3(radius, i, 0.0f)); - } - } - - fineGeometry->setVertexArray(fineCoords); - coarseGeometry->setVertexArray(coarseCoords); - - osg::ref_ptr color(new osg::Vec4Array); - color->push_back(osg::Vec4(0.5f, 0.5f, 0.5f, 1.0f)); - fineGeometry->setColorArray(color); - coarseGeometry->setColorArray(color); - fineGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - coarseGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - fineGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, - 0, fineCoords->size())); - coarseGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, - coarseCoords->size())); - - osg::ref_ptr fineStateset(new osg::StateSet); - osg::ref_ptr fineLinewidth(new osg::LineWidth()); - fineLinewidth->setWidth(0.25f); - fineStateset->setAttributeAndModes(fineLinewidth, osg::StateAttribute::ON); - fineStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - fineStateset->setMode(GL_LINE_SMOOTH, osg::StateAttribute::ON); - fineStateset->setMode(GL_BLEND, osg::StateAttribute::ON); - fineGeometry->setStateSet(fineStateset); - - osg::ref_ptr coarseStateset(new osg::StateSet); - osg::ref_ptr coarseLinewidth(new osg::LineWidth()); - coarseLinewidth->setWidth(1.0f); - coarseStateset->setAttributeAndModes(coarseLinewidth, osg::StateAttribute::ON); - coarseStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - coarseStateset->setMode(GL_LINE_SMOOTH, osg::StateAttribute::ON); - coarseStateset->setMode(GL_BLEND, osg::StateAttribute::ON); - coarseGeometry->setStateSet(coarseStateset); - - return geode; -} - -osg::ref_ptr -Pixhawk3DWidget::createWorldGrid(void) -{ - osg::ref_ptr geode(new osg::Geode()); - osg::ref_ptr fineGeometry(new osg::Geometry()); - osg::ref_ptr coarseGeometry(new osg::Geometry()); - osg::ref_ptr axisGeometry(new osg::Geometry()); - geode->addDrawable(fineGeometry); - geode->addDrawable(coarseGeometry); - geode->addDrawable(axisGeometry.get()); - - float radius = 20.0f; - float resolution = 1.0f; - - osg::ref_ptr fineCoords(new osg::Vec3Array); - osg::ref_ptr coarseCoords(new osg::Vec3Array); - - // draw a 40m x 40m grid with 1.0m resolution - for (float i = -radius; i <= radius; i += resolution) - { - if (fabs(i / 5.0f - floor(i / 5.0f)) < 0.01f) - { - coarseCoords->push_back(osg::Vec3(i, -radius, 0.0f)); - coarseCoords->push_back(osg::Vec3(i, radius, 0.0f)); - coarseCoords->push_back(osg::Vec3(-radius, i, 0.0f)); - coarseCoords->push_back(osg::Vec3(radius, i, 0.0f)); - } - else - { - fineCoords->push_back(osg::Vec3(i, -radius, 0.0f)); - fineCoords->push_back(osg::Vec3(i, radius, 0.0f)); - fineCoords->push_back(osg::Vec3(-radius, i, 0.0f)); - fineCoords->push_back(osg::Vec3(radius, i, 0.0f)); - } - } - - fineGeometry->setVertexArray(fineCoords); - coarseGeometry->setVertexArray(coarseCoords); - - osg::ref_ptr color(new osg::Vec4Array); - color->push_back(osg::Vec4(0.5f, 0.5f, 0.5f, 1.0f)); - fineGeometry->setColorArray(color); - coarseGeometry->setColorArray(color); - fineGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - coarseGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - fineGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, - 0, fineCoords->size())); - coarseGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, - coarseCoords->size())); - - osg::ref_ptr fineStateset(new osg::StateSet); - osg::ref_ptr fineLinewidth(new osg::LineWidth()); - fineLinewidth->setWidth(0.1f); - fineStateset->setAttributeAndModes(fineLinewidth, osg::StateAttribute::ON); - fineStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - fineStateset->setMode(GL_LINE_SMOOTH, osg::StateAttribute::ON); - fineStateset->setMode(GL_BLEND, osg::StateAttribute::ON); - fineGeometry->setStateSet(fineStateset); - - osg::ref_ptr coarseStateset(new osg::StateSet); - osg::ref_ptr coarseLinewidth(new osg::LineWidth()); - coarseLinewidth->setWidth(2.0f); - coarseStateset->setAttributeAndModes(coarseLinewidth, osg::StateAttribute::ON); - coarseStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - coarseStateset->setMode(GL_LINE_SMOOTH, osg::StateAttribute::ON); - coarseStateset->setMode(GL_BLEND, osg::StateAttribute::ON); - coarseGeometry->setStateSet(coarseStateset); - - // add axes - osg::ref_ptr coords(new osg::Vec3Array(6)); - (*coords)[0] = (*coords)[2] = (*coords)[4] = - osg::Vec3(0.0f, 0.0f, 0.0f); - (*coords)[1] = osg::Vec3(0.0f, 1.0f, 0.0f); - (*coords)[3] = osg::Vec3(1.0f, 0.0f, 0.0f); - (*coords)[5] = osg::Vec3(0.0f, 0.0f, -1.0f); - - axisGeometry->setVertexArray(coords); - - osg::Vec4 redColor(1.0f, 0.0f, 0.0f, 0.0f); - osg::Vec4 greenColor(0.0f, 1.0f, 0.0f, 0.0f); - osg::Vec4 blueColor(0.0f, 0.0f, 1.0f, 0.0f); - - osg::ref_ptr axisColors(new osg::Vec4Array(6)); - (*axisColors)[0] = redColor; - (*axisColors)[1] = redColor; - (*axisColors)[2] = greenColor; - (*axisColors)[3] = greenColor; - (*axisColors)[4] = blueColor; - (*axisColors)[5] = blueColor; - - axisGeometry->setColorArray(axisColors); - axisGeometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); - - axisGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, 6)); - - osg::ref_ptr axisStateset(new osg::StateSet); - osg::ref_ptr axisLinewidth(new osg::LineWidth()); - axisLinewidth->setWidth(4.0f); - axisStateset->setAttributeAndModes(axisLinewidth, osg::StateAttribute::ON); - axisStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - axisGeometry->setStateSet(axisStateset); - - return geode; -} - -osg::ref_ptr -Pixhawk3DWidget::createTrail(const osg::Vec4& color) -{ - osg::ref_ptr geometry(new osg::Geometry()); - geometry->setUseDisplayList(false); - - osg::ref_ptr vertices(new osg::Vec3dArray()); - geometry->setVertexArray(vertices); - - osg::ref_ptr drawArrays(new osg::DrawArrays(osg::PrimitiveSet::LINE_STRIP)); - geometry->addPrimitiveSet(drawArrays); - - osg::ref_ptr colorArray(new osg::Vec4Array); - colorArray->push_back(color); - geometry->setColorArray(colorArray); - geometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - osg::ref_ptr stateset(new osg::StateSet); - osg::ref_ptr linewidth(new osg::LineWidth()); - linewidth->setWidth(1.0f); - stateset->setAttributeAndModes(linewidth, osg::StateAttribute::ON); - stateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - geometry->setStateSet(stateset); - - return geometry; -} - -osg::ref_ptr -Pixhawk3DWidget::createLink(const QColor& color) -{ - osg::ref_ptr geometry(new osg::Geometry()); - geometry->setUseDisplayList(false); - - osg::ref_ptr vertices(new osg::Vec3dArray()); - geometry->setVertexArray(vertices); - - osg::ref_ptr drawArrays(new osg::DrawArrays(osg::PrimitiveSet::LINES)); - geometry->addPrimitiveSet(drawArrays); - - osg::ref_ptr colorArray(new osg::Vec4Array); - colorArray->push_back(osg::Vec4(color.redF(), color.greenF(), color.blueF(), 1.0f)); - geometry->setColorArray(colorArray); - geometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - osg::ref_ptr stateset(new osg::StateSet); - osg::ref_ptr linewidth(new osg::LineWidth()); - linewidth->setWidth(3.0f); - stateset->setAttributeAndModes(linewidth, osg::StateAttribute::ON); - stateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - stateset->setMode(GL_LINE_SMOOTH, osg::StateAttribute::ON); - stateset->setMode(GL_BLEND, osg::StateAttribute::ON); - geometry->setStateSet(stateset); - - return geometry; -} - -osg::ref_ptr -Pixhawk3DWidget::createImagery(void) -{ - return osg::ref_ptr(new Imagery()); -} - -osg::ref_ptr -Pixhawk3DWidget::createPointCloud(void) -{ - int frameSize = 752 * 480; - - osg::ref_ptr geode(new osg::Geode); - osg::ref_ptr geometry(new osg::Geometry); - - osg::ref_ptr vertices(new osg::Vec3Array(frameSize)); - geometry->setVertexArray(vertices); - - osg::ref_ptr colors(new osg::Vec4Array(frameSize)); - geometry->setColorArray(colors); - geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); - geometry->setUseDisplayList(false); - - geode->addDrawable(geometry); - - return geode; -} - -osg::ref_ptr -Pixhawk3DWidget::createTarget(const QColor& color) -{ - osg::ref_ptr pat = - new osg::PositionAttitudeTransform; - - pat->setPosition(osg::Vec3d(0.0, 0.0, 0.0)); - - osg::ref_ptr cone = new osg::Cone(osg::Vec3f(0.0f, 0.0f, 0.0f), 0.2f, 0.6f); - osg::ref_ptr coneDrawable = new osg::ShapeDrawable(cone); - coneDrawable->setColor(osg::Vec4f(color.redF(), color.greenF(), color.blueF(), 1.0f)); - coneDrawable->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - osg::ref_ptr coneGeode = new osg::Geode; - coneGeode->addDrawable(coneDrawable); - coneGeode->setName("Target"); - - pat->addChild(coneGeode); - - return pat; -} - -void -Pixhawk3DWidget::setupHUD(void) -{ - osg::ref_ptr hudColors(new osg::Vec4Array); - hudColors->push_back(osg::Vec4(0.0f, 0.0f, 0.0f, 0.5f)); - hudColors->push_back(osg::Vec4(0.0f, 0.0f, 0.0f, 1.0f)); - - mHudBackgroundGeometry = new osg::Geometry; - mHudBackgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, - 0, 4)); - mHudBackgroundGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POLYGON, - 4, 4)); - mHudBackgroundGeometry->setColorArray(hudColors); - mHudBackgroundGeometry->setColorBinding(osg::Geometry::BIND_PER_PRIMITIVE_SET); - mHudBackgroundGeometry->setUseDisplayList(false); - - mStatusText = new osgText::Text; - mStatusText->setCharacterSize(11); - mStatusText->setFont(m3DWidget->font()); - mStatusText->setAxisAlignment(osgText::Text::SCREEN); - mStatusText->setColor(osg::Vec4(255, 255, 255, 1)); - - osg::ref_ptr statusGeode = new osg::Geode; - statusGeode->addDrawable(mHudBackgroundGeometry); - statusGeode->addDrawable(mStatusText); - m3DWidget->hudGroup()->addChild(statusGeode); - - mScaleGeode = new HUDScaleGeode; - mScaleGeode->init(m3DWidget->font()); - m3DWidget->hudGroup()->addChild(mScaleGeode); -} - -void -Pixhawk3DWidget::resizeHUD(int width, int height) -{ - int topHUDHeight = 25; - int bottomHUDHeight = 25; - - osg::Vec3Array* vertices = static_cast(mHudBackgroundGeometry->getVertexArray()); - if (vertices == NULL || vertices->size() != 8) - { - osg::ref_ptr newVertices = new osg::Vec3Array(8); - mHudBackgroundGeometry->setVertexArray(newVertices); - - vertices = static_cast(mHudBackgroundGeometry->getVertexArray()); - } - - (*vertices)[0] = osg::Vec3(0, height, -1); - (*vertices)[1] = osg::Vec3(width, height, -1); - (*vertices)[2] = osg::Vec3(width, height - topHUDHeight, -1); - (*vertices)[3] = osg::Vec3(0, height - topHUDHeight, -1); - (*vertices)[4] = osg::Vec3(0, 0, -1); - (*vertices)[5] = osg::Vec3(width, 0, -1); - (*vertices)[6] = osg::Vec3(width, bottomHUDHeight, -1); - (*vertices)[7] = osg::Vec3(0, bottomHUDHeight, -1); - - mStatusText->setPosition(osg::Vec3(10, height - 15, -1.5)); - - QMutableMapIterator it(mSystemContainerMap); - while (it.hasNext()) - { - it.next(); - - SystemContainer& systemData = it.value(); - - if (systemData.rgbImageNode().valid() && - systemData.depthImageNode().valid()) - { - int windowWidth = (width - 20) / 2; - int windowHeight = 3 * windowWidth / 4; - systemData.rgbImageNode()->setAttributes(10, - (height - windowHeight) / 2, - windowWidth, - windowHeight); - systemData.depthImageNode()->setAttributes(width / 2, - (height - windowHeight) / 2, - windowWidth, - windowHeight); - } - } -} - -void -Pixhawk3DWidget::updateHUD(UASInterface* uas, MAV_FRAME frame) -{ - if (!uas) return; - // display pose of current system - double x = 0.0; - double y = 0.0; - double z = 0.0; - double roll = 0.0; - double pitch = 0.0; - double yaw = 0.0; - QString utmZone; - - getPose(uas, frame, x, y, z, roll, pitch, yaw, utmZone); - - QPointF cursorPosition = - m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), -z); - - std::ostringstream oss; - oss.setf(std::ios::fixed, std::ios::floatfield); - oss.precision(2); - oss << "MAV " << uas->getUASID() << ": "; - - if (frame == MAV_FRAME_GLOBAL) - { - double latitude, longitude; - Imagery::UTMtoLL(x, y, utmZone, latitude, longitude); - - double cursorLatitude, cursorLongitude; - Imagery::UTMtoLL(cursorPosition.x(), cursorPosition.y(), - utmZone, cursorLatitude, cursorLongitude); - - oss.precision(6); - oss << " Lat = " << latitude << - " Lon = " << longitude; - - oss.precision(2); - oss << " Altitude = " << -z << - " r = " << roll << - " p = " << pitch << - " y = " << yaw; - - oss.precision(6); - oss << " Cursor [" << cursorLatitude << - " " << cursorLongitude << "]"; - } - else if (frame == MAV_FRAME_LOCAL_NED) - { - oss << " x = " << x << - " y = " << y << - " z = " << z << - " r = " << roll << - " p = " << pitch << - " y = " << yaw << - " Cursor [" << cursorPosition.x() << - " " << cursorPosition.y() << "]"; - } - - mStatusText->setText(oss.str()); - - bool darkBackground = true; - if (frame == MAV_FRAME_GLOBAL && - mImageryNode->getImageryType() == Imagery::GOOGLE_MAP) - { - darkBackground = false; - } - - mScaleGeode->update(height(), m3DWidget->cameraParams().fov(), - m3DWidget->cameraManipulator()->getDistance(), - darkBackground); -} - -void -Pixhawk3DWidget::updateTrails(double robotX, double robotY, double robotZ, - osg::ref_ptr& trailNode, - osg::ref_ptr& orientationNode, - QMap >& trailMap, - QMap& trailIndexMap) -{ - QMapIterator it(trailIndexMap); - - while (it.hasNext()) - { - it.next(); - - // update trail - osg::Geometry* geometry = trailNode->getDrawable(it.value() * 2)->asGeometry(); - osg::DrawArrays* drawArrays = reinterpret_cast(geometry->getPrimitiveSet(0)); - - osg::ref_ptr vertices(new osg::Vec3Array); - - const QVector& trail = trailMap.value(it.key()); - - vertices->reserve(trail.size()); - for (int i = 0; i < trail.size(); ++i) - { - vertices->push_back(osg::Vec3d(trail[i].y() - robotY, - trail[i].x() - robotX, - -(trail[i].z() - robotZ))); - } - - geometry->setVertexArray(vertices); - drawArrays->setFirst(0); - drawArrays->setCount(vertices->size()); - geometry->dirtyBound(); - - // update link - geometry = trailNode->getDrawable(it.value() * 2 + 1)->asGeometry(); - drawArrays = reinterpret_cast(geometry->getPrimitiveSet(0)); - - vertices = new osg::Vec3Array; - - if (!trail.empty()) - { - QVector3D p(trail.back().x() - robotX, - trail.back().y() - robotY, - trail.back().z() - robotZ); - - double length = p.length(); - p.normalize(); - - for (double i = 0.1; i < length - 0.1; i += 0.3) - { - QVector3D v = p * i; - - vertices->push_back(osg::Vec3d(v.y(), v.x(), -v.z())); - } - } - if (vertices->size() % 2 == 1) - { - vertices->pop_back(); - } - - geometry->setVertexArray(vertices); - drawArrays->setFirst(0); - drawArrays->setCount(vertices->size()); - geometry->dirtyBound(); - - if (!trail.empty()) - { - osg::PositionAttitudeTransform* pat = - dynamic_cast(orientationNode->getChild(it.value())); - pat->setPosition(osg::Vec3(trail.back().y() - robotY, - trail.back().x() - robotX, - -(trail.back().z() - robotZ))); - } - } -} - -void -Pixhawk3DWidget::updateImagery(double originX, double originY, - const QString& zone, MAV_FRAME frame) -{ - if (mImageryNode->getImageryType() == Imagery::BLANK_MAP) - { - return; - } - - double viewingRadius = m3DWidget->cameraManipulator()->getDistance() * 10.0; - if (viewingRadius < 200.0) - { - viewingRadius = 200.0; - } - - double minResolution = 0.25; - double centerResolution = m3DWidget->cameraManipulator()->getDistance() / 50.0; - double maxResolution = 1048576.0; - - Imagery::Type imageryType = mImageryNode->getImageryType(); - switch (imageryType) - { - case Imagery::GOOGLE_MAP: - minResolution = 0.25; - break; - case Imagery::GOOGLE_SATELLITE: - minResolution = 0.5; - break; - case Imagery::OFFLINE_SATELLITE: - minResolution = 0.5; - maxResolution = 0.5; - break; - default: - {} - } - - double resolution = minResolution; - while (resolution * 2.0 < centerResolution) - { - resolution *= 2.0; - } - - if (resolution > maxResolution) - { - resolution = maxResolution; - } - - double x = m3DWidget->cameraManipulator()->getCenter().y(); - double y = m3DWidget->cameraManipulator()->getCenter().x(); - - double xOffset = 0.0; - double yOffset = 0.0; - - if (frame == MAV_FRAME_LOCAL_NED) - { - xOffset = originX; - yOffset = originY; - } - - mImageryNode->draw3D(viewingRadius, - resolution, - x + xOffset, - y + yOffset, - -xOffset, - -yOffset, - zone); - - // prefetch map tiles - if (resolution / 2.0 >= minResolution) - { - mImageryNode->prefetch3D(viewingRadius / 2.0, - resolution / 2.0, - x + xOffset, - y + yOffset, - zone); - } - if (resolution * 2.0 <= maxResolution) - { - mImageryNode->prefetch3D(viewingRadius * 2.0, - resolution * 2.0, - x + xOffset, - y + yOffset, - zone); - } - - mImageryNode->update(); -} - -void -Pixhawk3DWidget::updateTarget(UASInterface* uas, MAV_FRAME frame, - double robotX, double robotY, double robotZ, - QVector4D& target, - osg::ref_ptr& targetNode) -{ - Q_UNUSED(uas); - Q_UNUSED(frame); - - osg::PositionAttitudeTransform* pat = - dynamic_cast(targetNode.get()); - - pat->setPosition(osg::Vec3d(target.y() - robotY, - target.x() - robotX, - -(target.z() - robotZ))); - pat->setAttitude(osg::Quat(target.w() - M_PI_2, osg::Vec3d(1.0f, 0.0f, 0.0f), - M_PI_2, osg::Vec3d(0.0f, 1.0f, 0.0f), - 0.0, osg::Vec3d(0.0f, 0.0f, 1.0f))); -} - -void -Pixhawk3DWidget::updateWaypoints(UASInterface* uas, MAV_FRAME frame, - osg::ref_ptr& waypointGroupNode) -{ - waypointGroupNode->update(uas, frame); -} - -int -Pixhawk3DWidget::findWaypoint(const QPoint& mousePos) -{ - if (!m3DWidget->getSceneData() || !mActiveUAS) - { - return -1; - } - - SystemContainer& systemData = mSystemContainerMap[mActiveUAS->getUASID()]; - osg::ref_ptr& waypointGroupNode = systemData.waypointGroupNode(); - - osgUtil::LineSegmentIntersector::Intersections intersections; - - QPoint widgetMousePos = m3DWidget->mapFromParent(mousePos); - - if (m3DWidget->computeIntersections(widgetMousePos.x(), - m3DWidget->height() - widgetMousePos.y(), - intersections)) - { - for (osgUtil::LineSegmentIntersector::Intersections::iterator - it = intersections.begin(); it != intersections.end(); it++) - { - for (uint i = 0 ; i < it->nodePath.size(); ++i) - { - osg::Node* node = it->nodePath[i]; - std::string nodeName = node->getName(); - if (nodeName.substr(0, 2).compare("wp") == 0) - { - if (node->getParent(0)->getParent(0) == waypointGroupNode.get()) - { - return atoi(nodeName.substr(2).c_str()); - } - } - } - } - } - - return -1; -} - - -bool -Pixhawk3DWidget::findTarget(int mouseX, int mouseY) -{ - if (m3DWidget->getSceneData()) - { - osgUtil::LineSegmentIntersector::Intersections intersections; - - if (m3DWidget->computeIntersections(mouseX, height() - mouseY, intersections)) - { - for (osgUtil::LineSegmentIntersector::Intersections::iterator - it = intersections.begin(); it != intersections.end(); it++) - { - for (uint i = 0 ; i < it->nodePath.size(); ++i) - { - std::string nodeName = it->nodePath[i]->getName(); - if (nodeName.compare("Target") == 0) - { - return true; - } - } - } - } - } - - return false; -} - -bool -Pixhawk3DWidget::findTerrain(const QPoint& mousePos) -{ - if (!m3DWidget->getSceneData() || !mActiveUAS) - { - return -1; - } - - osgUtil::LineSegmentIntersector::Intersections intersections; - - QPoint widgetMousePos = m3DWidget->mapFromParent(mousePos); - - if (m3DWidget->computeIntersections(widgetMousePos.x(), - m3DWidget->height() - widgetMousePos.y(), - intersections)) - { - for (osgUtil::LineSegmentIntersector::Intersections::iterator - it = intersections.begin(); it != intersections.end(); it++) - { - for (uint i = 0 ; i < it->nodePath.size(); ++i) - { - osg::Node* node = it->nodePath[i]; - std::string nodeName = node->getName(); - - if (nodeName.compare("terrain") == 0) - { - return true; - } - } - } - } - - return false; -} - -void -Pixhawk3DWidget::showInsertWaypointMenu(const QPoint &cursorPos) -{ - QMenu menu; - menu.addAction("Insert new waypoint", this, SLOT(insertWaypoint())); - menu.addAction("Clear all waypoints", this, SLOT(clearAllWaypoints())); - menu.addAction("Select target", this, SLOT(selectTarget())); - menu.exec(cursorPos); -} - -void -Pixhawk3DWidget::showEditWaypointMenu(const QPoint &cursorPos) -{ - QMenu menu; - - QString text; - text = QString("Move waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(moveWaypointPosition())); - - text = QString("Change heading of waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(moveWaypointHeading())); - - text = QString("Change altitude of waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(setWaypointAltitude())); - - text = QString("Delete waypoint %1").arg(QString::number(mSelectedWpIndex)); - menu.addAction(text, this, SLOT(deleteWaypoint())); - - menu.addAction("Clear all waypoints", this, SLOT(clearAllWaypoints())); - menu.exec(cursorPos); -} - -void -Pixhawk3DWidget::showTerrainMenu(const QPoint &cursorPos) -{ - QMenu menu; - menu.addAction("Edit terrain parameters", this, SLOT(showTerrainParamWindow())); - menu.exec(cursorPos); -} diff --git a/src/ui/map3D/Pixhawk3DWidget.h b/src/ui/map3D/Pixhawk3DWidget.h deleted file mode 100644 index 6087e6328d08acf2c455d0282e9b9ae4e4dfb081..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Pixhawk3DWidget.h +++ /dev/null @@ -1,211 +0,0 @@ -///*===================================================================== -// -//QGroundControl Open Source Ground Control Station -// -//(c) 2009, 2010 QGROUNDCONTROL PROJECT -// -//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 . -// -//======================================================================*/ - -/** - * @file - * @brief Definition of the class Pixhawk3DWidget. - * - * @author Lionel Heng - * - */ - -#ifndef PIXHAWK3DWIDGET_H -#define PIXHAWK3DWIDGET_H - -#include - -#include "HUDScaleGeode.h" -#include "Imagery.h" -#include "Q3DWidget.h" -#include "SystemContainer.h" -#include "ViewParamWidget.h" - -class UASInterface; - -/** - * @brief A 3D View widget which displays vehicle-centric information. - **/ -class Pixhawk3DWidget : public QWidget -{ - Q_OBJECT - -public: - explicit Pixhawk3DWidget(QWidget* parent = 0); - ~Pixhawk3DWidget(); - -public slots: - void activeSystemChanged(UASInterface* uas); - void systemCreated(UASInterface* uas); - void localPositionChanged(UASInterface* uas, int component, double x, double y, double z, quint64 time); - void localPositionChanged(UASInterface* uas, double x, double y, double z, quint64 time); - void attitudeChanged(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 time); - void attitudeChanged(UASInterface* uas, double roll, double pitch, double yaw, quint64 time); - void homePositionChanged(int uasId, double lat, double lon, double alt); - void setpointChanged(int uasId, float x, float y, float z, float yaw); - -signals: - void systemCreatedSignal(UASInterface* uas); - void overlayCreatedSignal(int systemId, const QString& name); - -private slots: - void clearData(void); - void showTerrainParamWindow(void); - void showViewParamWindow(void); - void followCameraChanged(int systemId); - void imageryParamsChanged(void); - void recenterActiveCamera(void); - void modelChanged(int systemId, int index); - void setBirdEyeView(void); - void loadTerrainModel(void); - - void selectTargetHeading(void); - void selectTarget(void); - void setTarget(void); - void insertWaypoint(void); - void moveWaypointPosition(void); - void moveWaypointHeading(void); - void deleteWaypoint(void); - void setWaypointAltitude(void); - void clearAllWaypoints(void); - - void moveImagery(void); - void moveTerrain(void); - void rotateTerrain(void); - - void sizeChanged(int width, int height); - void updateWidget(void); - -protected: - void addModels(QVector< osg::ref_ptr >& models, - const QColor& systemColor); - void buildLayout(void); - - void keyPressEvent(QKeyEvent* event); - void keyReleaseEvent(QKeyEvent* event); - void mousePressEvent(QMouseEvent* event); - void mouseReleaseEvent(QMouseEvent* event); - void mouseMoveEvent(QMouseEvent* event); - void wheelEvent(QWheelEvent* event); - - void showEvent(QShowEvent* event); - void hideEvent(QHideEvent* event); - -signals: - void visibilityChanged(bool visible); - -private: - void initializeSystem(int systemId, const QColor& systemColor); - - void getPose(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z, - double& roll, double& pitch, double& yaw, - QString& utmZone) const; - void getPose(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z, - double& roll, double& pitch, double& yaw) const; - void getPosition(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z, - QString& utmZone) const; - void getPosition(UASInterface* uas, - MAV_FRAME frame, - double& x, double& y, double& z) const; - - osg::ref_ptr createLocalGrid(void); - osg::ref_ptr createWorldGrid(void); - osg::ref_ptr createTrail(const osg::Vec4& color); - osg::ref_ptr createLink(const QColor& color); - osg::ref_ptr createImagery(void); - osg::ref_ptr createPointCloud(void); - osg::ref_ptr createTarget(const QColor& color); - - void setupHUD(void); - void resizeHUD(int width, int height); - - void updateHUD(UASInterface* uas, MAV_FRAME frame); - void updateImagery(double originX, double originY, - const QString& zone, MAV_FRAME frame); - void updateTarget(UASInterface* uas, MAV_FRAME frame, - double robotX, double robotY, double robotZ, - QVector4D& target, - osg::ref_ptr& targetNode); - void updateTrails(double robotX, double robotY, double robotZ, - osg::ref_ptr& trailNode, - osg::ref_ptr& orientationNode, - QMap >& trailMap, - QMap& trailIndexMap); - void updateWaypoints(UASInterface* uas, MAV_FRAME frame, - osg::ref_ptr& waypointGroupNode); - - int findWaypoint(const QPoint& mousePos); - bool findTarget(int mouseX, int mouseY); - bool findTerrain(const QPoint& mousePos); - void showInsertWaypointMenu(const QPoint& cursorPos); - void showEditWaypointMenu(const QPoint& cursorPos); - void showTerrainMenu(const QPoint& cursorPos); - - const qreal kMessageTimeout; // message timeout in seconds - - enum Mode { - DEFAULT_MODE, - MOVE_WAYPOINT_POSITION_MODE, - MOVE_WAYPOINT_HEADING_MODE, - SELECT_TARGET_HEADING_MODE, - MOVE_TERRAIN_MODE, - ROTATE_TERRAIN_MODE, - MOVE_IMAGERY_MODE - }; - Mode mMode; - int mSelectedWpIndex; - - int mActiveSystemId; - UASInterface* mActiveUAS; - - GlobalViewParamsPtr mGlobalViewParams; - - // maps system id to system-specific view parameters - QMap mSystemViewParamMap; - - // maps system id to system-specific data - QMap mSystemContainerMap; - - osg::ref_ptr mHudBackgroundGeometry; - osg::ref_ptr mImageryNode; - osg::ref_ptr mScaleGeode; - osg::ref_ptr mStatusText; - osg::ref_ptr mTerrainNode; - osg::ref_ptr mTerrainPAT; - osg::ref_ptr mWorldGridNode; - - QPoint mCachedMousePos; - int mFollowCameraId; - QVector3D mCameraPos; - bool mInitCameraPos; - - Q3DWidget* m3DWidget; - ViewParamWidget* mViewParamWidget; -}; - -#endif // PIXHAWK3DWIDGET_H diff --git a/src/ui/map3D/PixhawkCheetahNode.cc b/src/ui/map3D/PixhawkCheetahNode.cc deleted file mode 100644 index 58be1fdaeb2a6d0101f1912f3e26a68de2733bf1..0000000000000000000000000000000000000000 --- a/src/ui/map3D/PixhawkCheetahNode.cc +++ /dev/null @@ -1,59416 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Generates a OpenSceneGraph node which renders a - * Pixhawk Cheetah MAV. - * - * @author Lionel Heng - * - */ - -#include -#include - -#include "PixhawkCheetahNode.h" - -struct sample_MATERIAL { - GLfloat ambient[3]; - GLfloat diffuse[3]; - GLfloat specular[3]; - GLfloat emission[3]; - GLfloat alpha; - GLfloat phExp; - int texture; -}; - -static sample_MATERIAL materials [1] = { - {{0.117647f,0.117647f,0.117647f}, {0.596078f,0.666667f,0.686275f}, {0.301176f,0.301176f,0.301176f}, {0.0f,0.0f,0.0f}, 1.0f,8.0f,-1} //Material #1 -}; - -// 38747 Vertices -// 0 Texture Coordinates -// 22155 Normals -// 77848 Triangles - -static unsigned short face_indicies[77848][9] = { -// Battery3.prt - {0,1,2 ,0,1,0 ,0,0,0}, {3,4,5 ,2,2,3 ,0,0,0}, {3,2,4 ,2,0,2 ,0,0,0}, - {5,4,6 ,3,2,3 ,0,0,0}, {2,3,0 ,0,2,0 ,0,0,0}, {7,1,0 ,1,1,0 ,0,0,0}, - {8,7,9 ,4,1,4 ,0,0,0}, {7,8,1 ,1,4,1 ,0,0,0}, {10,11,12 ,5,6,5 ,0,0,0}, - {13,14,15 ,7,7,8 ,0,0,0}, {13,12,14 ,7,5,7 ,0,0,0}, {15,14,16 ,8,7,8 ,0,0,0}, - {12,13,10 ,5,7,5 ,0,0,0}, {17,11,10 ,9,6,5 ,0,0,0}, {18,17,19 ,10,9,11 ,0,0,0}, - {17,18,11 ,9,10,6 ,0,0,0}, {20,21,22 ,12,13,12 ,0,0,0}, {23,24,25 ,14,14,15 ,0,0,0}, - {23,22,24 ,14,12,14 ,0,0,0}, {25,24,26 ,15,14,15 ,0,0,0}, {22,23,20 ,12,14,12 ,0,0,0}, - {27,21,20 ,13,13,12 ,0,0,0}, {28,27,29 ,16,13,16 ,0,0,0}, {27,28,21 ,13,16,13 ,0,0,0}, - {30,31,32 ,17,18,17 ,0,0,0}, {33,34,35 ,19,19,20 ,0,0,0}, {33,32,34 ,19,17,19 ,0,0,0}, - {35,34,36 ,20,19,20 ,0,0,0}, {32,33,30 ,17,19,17 ,0,0,0}, {37,31,30 ,18,18,17 ,0,0,0}, - {38,37,39 ,21,18,21 ,0,0,0}, {37,38,31 ,18,21,18 ,0,0,0}, {40,41,42 ,22,23,24 ,0,0,0}, - {43,44,45 ,25,26,27 ,0,0,0}, {46,40,42 ,28,22,24 ,0,0,0}, {45,44,46 ,27,26,28 ,0,0,0}, - {44,43,47 ,26,25,29 ,0,0,0}, {42,45,46 ,24,27,28 ,0,0,0}, {48,49,50 ,30,31,32 ,0,0,0}, - {49,51,50 ,31,33,32 ,0,0,0}, {47,52,48 ,29,34,30 ,0,0,0}, {49,48,52 ,31,30,34 ,0,0,0}, - {53,54,55 ,35,36,37 ,0,0,0}, {56,57,51 ,38,39,33 ,0,0,0}, {54,57,56 ,36,39,38 ,0,0,0}, - {54,56,55 ,36,38,37 ,0,0,0}, {55,58,53 ,37,40,35 ,0,0,0}, {50,51,57 ,32,33,39 ,0,0,0}, - {47,43,52 ,29,25,34 ,0,0,0}, {40,59,41 ,22,41,23 ,0,0,0}, {60,59,61 ,42,41,43 ,0,0,0}, - {59,60,41 ,41,42,23 ,0,0,0}, {62,63,61 ,44,45,43 ,0,0,0}, {60,61,63 ,42,43,45 ,0,0,0}, - {62,64,65 ,44,46,47 ,0,0,0}, {65,63,62 ,47,45,44 ,0,0,0}, {66,64,67 ,48,46,49 ,0,0,0}, - {64,66,65 ,46,48,47 ,0,0,0}, {68,69,67 ,50,51,49 ,0,0,0}, {66,67,69 ,48,49,51 ,0,0,0}, - {68,70,71 ,50,52,53 ,0,0,0}, {71,69,68 ,53,51,50 ,0,0,0}, {72,70,73 ,54,52,54 ,0,0,0}, - {70,72,71 ,52,54,53 ,0,0,0}, {74,75,76 ,22,55,24 ,0,0,0}, {77,78,79 ,56,57,58 ,0,0,0}, - {80,74,76 ,59,22,24 ,0,0,0}, {79,78,80 ,58,57,59 ,0,0,0}, {78,77,81 ,57,56,60 ,0,0,0}, - {76,79,80 ,24,58,59 ,0,0,0}, {82,83,84 ,61,62,63 ,0,0,0}, {83,85,84 ,62,64,63 ,0,0,0}, - {81,86,82 ,60,65,61 ,0,0,0}, {83,82,86 ,62,61,65 ,0,0,0}, {87,88,89 ,66,67,68 ,0,0,0}, - {90,91,85 ,69,70,64 ,0,0,0}, {88,91,90 ,67,70,69 ,0,0,0}, {88,90,89 ,67,69,68 ,0,0,0}, - {89,92,87 ,68,66,66 ,0,0,0}, {84,85,91 ,63,64,70 ,0,0,0}, {81,77,86 ,60,56,65 ,0,0,0}, - {74,93,75 ,22,71,55 ,0,0,0}, {94,93,95 ,72,71,43 ,0,0,0}, {93,94,75 ,71,72,55 ,0,0,0}, - {96,97,95 ,73,74,43 ,0,0,0}, {94,95,97 ,72,43,74 ,0,0,0}, {96,98,99 ,73,46,75 ,0,0,0}, - {99,97,96 ,75,74,73 ,0,0,0}, {100,98,101 ,76,46,77 ,0,0,0}, {98,100,99 ,46,76,75 ,0,0,0}, - {102,103,101 ,50,78,77 ,0,0,0}, {100,101,103 ,76,77,78 ,0,0,0}, - {102,104,105 ,50,79,80 ,0,0,0}, {105,103,102 ,80,78,50 ,0,0,0}, - {106,104,107 ,81,79,82 ,0,0,0}, {104,106,105 ,79,81,80 ,0,0,0}, - {108,109,110 ,83,84,85 ,0,0,0}, {111,112,113 ,86,87,88 ,0,0,0}, - {114,108,110 ,89,83,85 ,0,0,0}, {113,112,114 ,88,87,89 ,0,0,0}, - {112,111,115 ,87,86,90 ,0,0,0}, {110,113,114 ,85,88,89 ,0,0,0}, - {116,117,118 ,91,92,93 ,0,0,0}, {117,119,118 ,92,94,93 ,0,0,0}, - {115,120,116 ,90,95,91 ,0,0,0}, {117,116,120 ,92,91,95 ,0,0,0}, - {121,122,123 ,96,97,98 ,0,0,0}, {124,125,119 ,99,100,94 ,0,0,0}, - {122,125,124 ,97,100,99 ,0,0,0}, {122,124,123 ,97,99,98 ,0,0,0}, - {123,126,121 ,98,101,96 ,0,0,0}, {118,119,125 ,93,94,100 ,0,0,0}, - {115,111,120 ,90,86,95 ,0,0,0}, {108,127,109 ,83,102,84 ,0,0,0}, - {128,127,129 ,103,102,104 ,0,0,0}, {127,128,109 ,102,103,84 ,0,0,0}, - {130,131,129 ,105,106,104 ,0,0,0}, {128,129,131 ,103,104,106 ,0,0,0}, - {130,132,133 ,105,107,108 ,0,0,0}, {133,131,130 ,108,106,105 ,0,0,0}, - {134,132,135 ,109,107,110 ,0,0,0}, {132,134,133 ,107,109,108 ,0,0,0}, - {136,137,135 ,111,112,110 ,0,0,0}, {134,135,137 ,109,110,112 ,0,0,0}, - {136,138,139 ,111,113,114 ,0,0,0}, {139,137,136 ,114,112,111 ,0,0,0}, - {140,138,141 ,54,113,54 ,0,0,0}, {138,140,139 ,113,54,114 ,0,0,0}, - {142,143,144 ,83,115,85 ,0,0,0}, {145,146,147 ,116,117,118 ,0,0,0}, - {148,142,144 ,119,83,85 ,0,0,0}, {147,146,148 ,118,117,119 ,0,0,0}, - {146,145,149 ,117,116,120 ,0,0,0}, {144,147,148 ,85,118,119 ,0,0,0}, - {150,151,152 ,121,122,123 ,0,0,0}, {151,153,152 ,122,124,123 ,0,0,0}, - {149,154,150 ,120,125,121 ,0,0,0}, {151,150,154 ,122,121,125 ,0,0,0}, - {155,156,157 ,126,127,128 ,0,0,0}, {158,159,153 ,129,130,124 ,0,0,0}, - {156,159,158 ,127,130,129 ,0,0,0}, {156,158,157 ,127,129,128 ,0,0,0}, - {157,160,155 ,128,35,126 ,0,0,0}, {152,153,159 ,123,124,130 ,0,0,0}, - {149,145,154 ,120,116,125 ,0,0,0}, {142,161,143 ,83,131,115 ,0,0,0}, - {162,161,163 ,132,131,133 ,0,0,0}, {161,162,143 ,131,132,115 ,0,0,0}, - {164,165,163 ,134,74,133 ,0,0,0}, {162,163,165 ,132,133,74 ,0,0,0}, - {164,166,167 ,134,135,108 ,0,0,0}, {167,165,164 ,108,74,134 ,0,0,0}, - {168,166,169 ,136,135,137 ,0,0,0}, {166,168,167 ,135,136,108 ,0,0,0}, - {170,171,169 ,138,139,137 ,0,0,0}, {168,169,171 ,136,137,139 ,0,0,0}, - {170,172,173 ,138,79,80 ,0,0,0}, {173,171,170 ,80,139,138 ,0,0,0}, - {174,172,175 ,140,79,140 ,0,0,0}, {172,174,173 ,79,140,80 ,0,0,0}, - {176,177,178 ,141,142,143 ,0,0,0}, {179,180,181 ,144,145,146 ,0,0,0}, - {182,176,178 ,147,141,143 ,0,0,0}, {181,180,182 ,146,145,147 ,0,0,0}, - {180,179,183 ,145,144,148 ,0,0,0}, {178,181,182 ,143,146,147 ,0,0,0}, - {184,185,186 ,149,150,151 ,0,0,0}, {185,187,186 ,150,152,151 ,0,0,0}, - {183,188,184 ,148,153,149 ,0,0,0}, {185,184,188 ,150,149,153 ,0,0,0}, - {189,190,191 ,126,154,155 ,0,0,0}, {192,193,187 ,156,157,152 ,0,0,0}, - 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{217,222,218 ,178,183,179 ,0,0,0}, {219,218,222 ,180,179,183 ,0,0,0}, - {223,224,225 ,35,184,185 ,0,0,0}, {226,227,221 ,186,187,182 ,0,0,0}, - {224,227,226 ,184,187,186 ,0,0,0}, {224,226,225 ,184,186,185 ,0,0,0}, - {225,228,223 ,185,40,35 ,0,0,0}, {220,221,227 ,181,182,187 ,0,0,0}, - {217,213,222 ,178,174,183 ,0,0,0}, {210,229,211 ,171,188,172 ,0,0,0}, - {230,229,231 ,189,188,104 ,0,0,0}, {229,230,211 ,188,189,172 ,0,0,0}, - {232,233,231 ,190,45,104 ,0,0,0}, {230,231,233 ,189,104,45 ,0,0,0}, - {232,234,235 ,190,191,192 ,0,0,0}, {235,233,232 ,192,45,190 ,0,0,0}, - {236,234,237 ,193,191,194 ,0,0,0}, {234,236,235 ,191,193,192 ,0,0,0}, - {238,239,237 ,111,195,194 ,0,0,0}, {236,237,239 ,193,194,195 ,0,0,0}, - {238,240,241 ,111,52,53 ,0,0,0}, {241,239,238 ,53,195,111 ,0,0,0}, - {242,240,243 ,54,52,54 ,0,0,0}, {240,242,241 ,52,54,53 ,0,0,0}, - {244,245,246 ,196,197,197 ,0,0,0}, {247,248,249 ,198,196,198 ,0,0,0}, - {248,244,246 ,196,196,197 ,0,0,0}, {247,249,250 ,198,198,199 ,0,0,0}, - {251,252,253 ,200,82,200 ,0,0,0}, {250,249,254 ,199,198,199 ,0,0,0}, - 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{1293,1291,1294 ,1077,1075,1078 ,0,0,0}, {1291,1293,1292 ,1075,1077,1076 ,0,0,0}, - {1295,1296,1297 ,126,1079,126 ,0,0,0}, {1298,1299,1300 ,1080,1081,1082 ,0,0,0}, - {1301,1295,1297 ,1083,126,126 ,0,0,0}, {1300,1299,1301 ,1082,1081,1083 ,0,0,0}, - {1299,1298,1302 ,1081,1080,1084 ,0,0,0}, {1297,1300,1301 ,126,1082,1083 ,0,0,0}, - {1303,1304,1305 ,1085,1086,1087 ,0,0,0}, {1304,1306,1305 ,1086,1088,1087 ,0,0,0}, - {1302,1307,1303 ,1084,1089,1085 ,0,0,0}, {1304,1303,1307 ,1086,1085,1089 ,0,0,0}, - {1308,1309,1310 ,1090,1091,1092 ,0,0,0}, {1311,1312,1306 ,1093,1094,1088 ,0,0,0}, - {1309,1312,1311 ,1091,1094,1093 ,0,0,0}, {1309,1311,1310 ,1091,1093,1092 ,0,0,0}, - {1310,1313,1308 ,1092,1095,1090 ,0,0,0}, {1305,1306,1312 ,1087,1088,1094 ,0,0,0}, - {1302,1298,1307 ,1084,1080,1089 ,0,0,0}, {1295,1314,1296 ,126,1096,1079 ,0,0,0}, - {1315,1314,1316 ,1097,1096,1098 ,0,0,0}, {1314,1315,1296 ,1096,1097,1079 ,0,0,0}, - {1317,1318,1316 ,1099,1100,1098 ,0,0,0}, {1315,1316,1318 ,1097,1098,1100 ,0,0,0}, - {1317,1319,1320 ,1099,1101,1102 ,0,0,0}, {1320,1318,1317 ,1102,1100,1099 ,0,0,0}, - {1321,1319,1322 ,1103,1101,1072 ,0,0,0}, {1319,1321,1320 ,1101,1103,1102 ,0,0,0}, - {1323,1324,1322 ,1104,1074,1072 ,0,0,0}, {1321,1322,1324 ,1103,1072,1074 ,0,0,0}, - {1323,1325,1326 ,1104,1105,1106 ,0,0,0}, {1326,1324,1323 ,1106,1074,1104 ,0,0,0}, - {1327,1325,1328 ,1107,1105,324 ,0,0,0}, {1325,1327,1326 ,1105,1107,1106 ,0,0,0}, - {1329,1330,1331 ,1108,1109,1108 ,0,0,0}, {1332,1333,1334 ,1110,1111,1112 ,0,0,0}, - {1332,1331,1333 ,1110,1108,1111 ,0,0,0}, {1334,1333,1335 ,1112,1111,1112 ,0,0,0}, - {1331,1332,1329 ,1108,1110,1108 ,0,0,0}, {1336,1330,1329 ,1109,1109,1108 ,0,0,0}, - {1337,1336,1338 ,1113,1109,1113 ,0,0,0}, {1336,1337,1330 ,1109,1113,1109 ,0,0,0}, - {1339,1340,1341 ,1114,1115,1114 ,0,0,0}, {1342,1340,1343 ,1115,1115,1116 ,0,0,0}, - {1340,1342,1341 ,1115,1115,1114 ,0,0,0}, {1344,1345,1343 ,1117,1116,1116 ,0,0,0}, - {1342,1343,1345 ,1115,1116,1116 ,0,0,0}, {1344,1346,1347 ,1117,1118,1117 ,0,0,0}, - {1347,1345,1344 ,1117,1116,1117 ,0,0,0}, {1346,1348,1347 ,1118,1119,1117 ,0,0,0}, - {1349,1339,1341 ,1120,1114,1114 ,0,0,0}, {1350,1351,1349 ,1121,1120,1120 ,0,0,0}, - {1339,1349,1351 ,1114,1120,1120 ,0,0,0}, {1350,1352,1353 ,1121,1122,1121 ,0,0,0}, - {1353,1351,1350 ,1121,1120,1121 ,0,0,0}, {1354,1352,1355 ,1122,1122,1123 ,0,0,0}, - {1352,1354,1353 ,1122,1122,1121 ,0,0,0}, {1354,1355,1356 ,1122,1123,1124 ,0,0,0}, - {1357,1358,1359 ,1125,1126,1127 ,0,0,0}, {1360,1361,1357 ,1128,1129,1125 ,0,0,0}, - {1357,1359,1360 ,1125,1127,1128 ,0,0,0}, {1361,1362,1363 ,1129,1130,1131 ,0,0,0}, - {1362,1361,1360 ,1130,1129,1128 ,0,0,0}, {1364,1363,1365 ,1132,1131,1133 ,0,0,0}, - {1362,1365,1363 ,1130,1133,1131 ,0,0,0}, {1366,1367,1364 ,1134,1135,1132 ,0,0,0}, - {1364,1365,1366 ,1132,1133,1134 ,0,0,0}, {1367,1368,1369 ,1135,1136,1137 ,0,0,0}, - {1368,1367,1366 ,1136,1135,1134 ,0,0,0}, {1370,1369,1371 ,1138,1137,1139 ,0,0,0}, - {1368,1371,1369 ,1136,1139,1137 ,0,0,0}, {1372,1373,1370 ,1140,1141,1138 ,0,0,0}, - {1370,1371,1372 ,1138,1139,1140 ,0,0,0}, {1373,1374,1375 ,1141,1142,1143 ,0,0,0}, - {1374,1373,1372 ,1142,1141,1140 ,0,0,0}, {1376,1375,1377 ,1144,1143,1145 ,0,0,0}, - {1374,1377,1375 ,1142,1145,1143 ,0,0,0}, {1378,1379,1376 ,1146,1147,1144 ,0,0,0}, - {1376,1377,1378 ,1144,1145,1146 ,0,0,0}, {1379,1380,1381 ,1147,1148,1149 ,0,0,0}, - {1380,1379,1378 ,1148,1147,1146 ,0,0,0}, {1382,1381,1383 ,1150,1149,1151 ,0,0,0}, - {1380,1383,1381 ,1148,1151,1149 ,0,0,0}, {1384,1385,1382 ,1152,1153,1150 ,0,0,0}, - {1382,1383,1384 ,1150,1151,1152 ,0,0,0}, {1385,1386,1387 ,1153,1154,1155 ,0,0,0}, - {1386,1385,1384 ,1154,1153,1152 ,0,0,0}, {1388,1387,1389 ,1156,1155,1157 ,0,0,0}, - {1386,1389,1387 ,1154,1157,1155 ,0,0,0}, {1390,1391,1388 ,1158,1159,1156 ,0,0,0}, - {1388,1389,1390 ,1156,1157,1158 ,0,0,0}, {1391,1392,1393 ,1159,1160,1161 ,0,0,0}, - {1392,1391,1390 ,1160,1159,1158 ,0,0,0}, {1394,1393,1395 ,1162,1161,1163 ,0,0,0}, - {1392,1395,1393 ,1160,1163,1161 ,0,0,0}, {1396,1397,1394 ,1164,1164,1162 ,0,0,0}, - {1394,1395,1396 ,1162,1163,1164 ,0,0,0}, {1359,1358,1398 ,1127,1126,1165 ,0,0,0}, - {1399,1398,1400 ,1166,1165,1167 ,0,0,0}, {1358,1400,1398 ,1126,1167,1165 ,0,0,0}, - {1401,1402,1399 ,1168,1169,1166 ,0,0,0}, {1399,1400,1401 ,1166,1167,1168 ,0,0,0}, - {1402,1403,1404 ,1169,1170,1171 ,0,0,0}, {1403,1402,1401 ,1170,1169,1168 ,0,0,0}, - {1405,1404,1406 ,1172,1171,1173 ,0,0,0}, {1403,1406,1404 ,1170,1173,1171 ,0,0,0}, - {1407,1408,1405 ,1174,1175,1172 ,0,0,0}, {1405,1406,1407 ,1172,1173,1174 ,0,0,0}, - {1408,1409,1410 ,1175,1176,1177 ,0,0,0}, {1409,1408,1407 ,1176,1175,1174 ,0,0,0}, - {1411,1410,1412 ,1178,1177,1179 ,0,0,0}, {1409,1412,1410 ,1176,1179,1177 ,0,0,0}, - {1413,1414,1411 ,1180,1181,1178 ,0,0,0}, {1411,1412,1413 ,1178,1179,1180 ,0,0,0}, - {1414,1415,1416 ,1181,1182,1183 ,0,0,0}, {1415,1414,1413 ,1182,1181,1180 ,0,0,0}, - {1417,1416,1418 ,1184,1183,1185 ,0,0,0}, {1415,1418,1416 ,1182,1185,1183 ,0,0,0}, - {1419,1420,1417 ,1186,1187,1184 ,0,0,0}, {1417,1418,1419 ,1184,1185,1186 ,0,0,0}, - {1420,1421,1422 ,1187,1188,1189 ,0,0,0}, {1421,1420,1419 ,1188,1187,1186 ,0,0,0}, - {1423,1422,1424 ,1190,1189,1191 ,0,0,0}, {1421,1424,1422 ,1188,1191,1189 ,0,0,0}, - {1425,1426,1423 ,1192,1193,1190 ,0,0,0}, {1423,1424,1425 ,1190,1191,1192 ,0,0,0}, - {1426,1427,1428 ,1193,1194,1195 ,0,0,0}, {1427,1426,1425 ,1194,1193,1192 ,0,0,0}, - {1429,1428,1430 ,1196,1195,1197 ,0,0,0}, {1427,1430,1428 ,1194,1197,1195 ,0,0,0}, - {1431,1432,1429 ,1198,1199,1196 ,0,0,0}, {1429,1430,1431 ,1196,1197,1198 ,0,0,0}, - {1432,1433,1434 ,1199,1200,1201 ,0,0,0}, {1433,1432,1431 ,1200,1199,1198 ,0,0,0}, - {1433,1435,1434 ,1200,1202,1201 ,0,0,0}, {1434,1435,1436 ,1201,1202,1203 ,0,0,0}, - {1437,1438,1435 ,1204,1204,1205 ,0,0,0}, {1437,1439,1438 ,1204,1206,1204 ,0,0,0}, - {1439,1437,1440 ,1206,1204,1206 ,0,0,0}, {1436,1435,1438 ,324,1205,1204 ,0,0,0}, - {1441,1442,1443 ,1207,1208,1207 ,0,0,0}, {1444,1445,1442 ,1209,1210,1208 ,0,0,0}, - {1442,1445,1443 ,1208,1210,1207 ,0,0,0}, {1446,1447,1444 ,1211,1212,1209 ,0,0,0}, - {1444,1442,1446 ,1209,1208,1211 ,0,0,0}, {1447,1448,1449 ,1212,1213,1214 ,0,0,0}, - {1448,1447,1446 ,1213,1212,1211 ,0,0,0}, {1450,1449,1451 ,1215,1214,1216 ,0,0,0}, - {1448,1451,1449 ,1213,1216,1214 ,0,0,0}, {1452,1450,1453 ,1217,1215,1218 ,0,0,0}, - {1450,1451,1453 ,1215,1216,1218 ,0,0,0}, {1454,1450,1452 ,1217,1215,1217 ,0,0,0}, - {1455,1441,1443 ,1219,1207,1207 ,0,0,0}, {1456,1455,1457 ,1220,1219,1221 ,0,0,0}, - {1456,1441,1455 ,1220,1207,1219 ,0,0,0}, {1458,1457,1459 ,1222,1221,1223 ,0,0,0}, - {1455,1459,1457 ,1219,1223,1221 ,0,0,0}, {1460,1461,1458 ,1224,1225,1222 ,0,0,0}, - {1458,1459,1460 ,1222,1223,1224 ,0,0,0}, {1461,1462,1463 ,1225,1226,1227 ,0,0,0}, - {1462,1461,1460 ,1226,1225,1224 ,0,0,0}, {1463,1464,1337 ,1227,1228,1113 ,0,0,0}, - {1462,1464,1463 ,1226,1228,1227 ,0,0,0}, {1463,1337,1338 ,1227,1113,1113 ,0,0,0}, - {1465,1466,1467 ,1229,1230,1231 ,0,0,0}, {1465,1468,1469 ,1229,1232,1233 ,0,0,0}, - {1467,1466,1470 ,1231,1230,1234 ,0,0,0}, {1470,1466,1471 ,1234,1230,1235 ,0,0,0}, - {1470,1471,1472 ,1234,1235,1236 ,0,0,0}, {1473,1472,1471 ,1237,1236,1235 ,0,0,0}, - {1472,1473,1474 ,1236,1237,1238 ,0,0,0}, {1475,1474,1473 ,1239,1238,1237 ,0,0,0}, - {1475,1476,1477 ,1239,1240,1241 ,0,0,0}, {1474,1475,1477 ,1238,1239,1241 ,0,0,0}, - {1467,1468,1465 ,1231,1232,1229 ,0,0,0}, {1477,1476,1478 ,1241,1240,1242 ,0,0,0}, - {1479,1478,1480 ,1243,1242,1244 ,0,0,0}, {1480,1478,1476 ,1244,1242,1240 ,0,0,0}, - {1479,1480,1481 ,1243,1244,1243 ,0,0,0}, {1482,1469,1483 ,1245,1233,1246 ,0,0,0}, - {1468,1483,1469 ,1232,1246,1233 ,0,0,0}, {1484,1485,1482 ,1247,1248,1245 ,0,0,0}, - {1482,1483,1484 ,1245,1246,1247 ,0,0,0}, {1485,1486,1487 ,1248,1249,1250 ,0,0,0}, - {1486,1485,1484 ,1249,1248,1247 ,0,0,0}, {1488,1487,1489 ,1251,1250,1252 ,0,0,0}, - {1486,1489,1487 ,1249,1252,1250 ,0,0,0}, {1490,1491,1488 ,1253,1254,1251 ,0,0,0}, - {1488,1489,1490 ,1251,1252,1253 ,0,0,0}, {1491,1492,1493 ,1254,1255,1256 ,0,0,0}, - {1492,1491,1490 ,1255,1254,1253 ,0,0,0}, {1494,1493,1495 ,1257,1256,1258 ,0,0,0}, - {1492,1495,1493 ,1255,1258,1256 ,0,0,0}, {1494,1495,1496 ,1257,1258,1257 ,0,0,0}, - {1497,1498,1499 ,1259,1260,1259 ,0,0,0}, {1499,1500,1497 ,1259,1261,1259 ,0,0,0}, - {1501,1502,1498 ,1260,1262,1260 ,0,0,0}, {1503,1500,1499 ,1261,1261,1259 ,0,0,0}, - {1497,1501,1498 ,1259,1260,1260 ,0,0,0}, {1501,1504,1502 ,1260,1262,1262 ,0,0,0}, - {1505,1504,1506 ,1263,1262,1263 ,0,0,0}, {1506,1494,1496 ,1263,1257,1257 ,0,0,0}, - {1505,1502,1504 ,1263,1262,1262 ,0,0,0}, {1506,1496,1505 ,1263,1257,1263 ,0,0,0}, - {1507,1503,1508 ,1264,1261,1264 ,0,0,0}, {1503,1507,1500 ,1261,1264,1261 ,0,0,0}, - {1509,1510,1508 ,1265,1265,1264 ,0,0,0}, {1507,1508,1510 ,1264,1264,1265 ,0,0,0}, - {1509,1511,1512 ,1265,1266,1266 ,0,0,0}, {1512,1510,1509 ,1266,1265,1265 ,0,0,0}, - {1513,1511,1514 ,1267,1266,1267 ,0,0,0}, {1511,1513,1512 ,1266,1267,1266 ,0,0,0}, - {1513,1514,1355 ,1267,1267,1268 ,0,0,0}, {1355,1514,1356 ,1268,1267,1269 ,0,0,0}, - {1515,1348,1346 ,1270,1271,1272 ,0,0,0}, {1516,1517,1518 ,1273,1274,1274 ,0,0,0}, - 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{1782,1783,1785 ,1522,1523,1525 ,0,0,0}, {1784,1786,1787 ,1524,1526,1527 ,0,0,0}, - {1787,1785,1784 ,1527,1525,1524 ,0,0,0}, {1788,1786,1789 ,1528,1526,1529 ,0,0,0}, - {1786,1788,1787 ,1526,1528,1527 ,0,0,0}, {1790,1791,1789 ,1530,1531,1529 ,0,0,0}, - {1788,1789,1791 ,1528,1529,1531 ,0,0,0}, {1790,1792,1793 ,1530,1532,1533 ,0,0,0}, - {1793,1791,1790 ,1533,1531,1530 ,0,0,0}, {1794,1792,1795 ,1534,1532,1535 ,0,0,0}, - {1792,1794,1793 ,1532,1534,1533 ,0,0,0}, {1796,1797,1795 ,1536,1537,1535 ,0,0,0}, - {1794,1795,1797 ,1534,1535,1537 ,0,0,0}, {1796,1798,1799 ,1536,1538,1539 ,0,0,0}, - {1799,1797,1796 ,1539,1537,1536 ,0,0,0}, {1800,1798,1801 ,1540,1538,1541 ,0,0,0}, - {1798,1800,1799 ,1538,1540,1539 ,0,0,0}, {1802,1803,1801 ,1542,1543,1541 ,0,0,0}, - {1800,1801,1803 ,1540,1541,1543 ,0,0,0}, {1802,1804,1805 ,1542,1544,1545 ,0,0,0}, - {1805,1803,1802 ,1545,1543,1542 ,0,0,0}, {1806,1804,1807 ,1546,1544,1547 ,0,0,0}, - {1804,1806,1805 ,1544,1546,1545 ,0,0,0}, {1808,1809,1807 ,1548,1549,1547 ,0,0,0}, - {1806,1807,1809 ,1546,1547,1549 ,0,0,0}, {1808,1810,1811 ,1548,1550,1551 ,0,0,0}, - {1811,1809,1808 ,1551,1549,1548 ,0,0,0}, {1812,1810,1813 ,1552,1550,1553 ,0,0,0}, - {1810,1812,1811 ,1550,1552,1551 ,0,0,0}, {1814,1815,1813 ,1554,1555,1553 ,0,0,0}, - {1812,1813,1815 ,1552,1553,1555 ,0,0,0}, {1814,1816,1817 ,1554,1556,1557 ,0,0,0}, - {1817,1815,1814 ,1557,1555,1554 ,0,0,0}, {1818,1816,1819 ,1558,1556,1559 ,0,0,0}, - {1816,1818,1817 ,1556,1558,1557 ,0,0,0}, {1820,1821,1819 ,1560,1561,1559 ,0,0,0}, - {1818,1819,1821 ,1558,1559,1561 ,0,0,0}, {1820,1822,1823 ,1560,1562,1563 ,0,0,0}, - {1823,1821,1820 ,1563,1561,1560 ,0,0,0}, {1824,1822,1825 ,1564,1562,1565 ,0,0,0}, - {1822,1824,1823 ,1562,1564,1563 ,0,0,0}, {1826,1827,1825 ,1566,1567,1565 ,0,0,0}, - {1824,1825,1827 ,1564,1565,1567 ,0,0,0}, {1826,1828,1829 ,1566,1568,1569 ,0,0,0}, - {1829,1827,1826 ,1569,1567,1566 ,0,0,0}, {1830,1828,1831 ,1570,1568,1571 ,0,0,0}, - {1828,1830,1829 ,1568,1570,1569 ,0,0,0}, {1772,1832,1831 ,1572,1573,1571 ,0,0,0}, - {1830,1831,1832 ,1570,1571,1573 ,0,0,0}, {1774,1832,1772 ,1574,1573,1572 ,0,0,0}, - {1833,1776,1775 ,1575,1516,1515 ,0,0,0}, {1834,1833,1835 ,1576,1575,1577 ,0,0,0}, - {1833,1834,1776 ,1575,1576,1516 ,0,0,0}, {1836,1837,1835 ,1578,1579,1577 ,0,0,0}, - {1834,1835,1837 ,1576,1577,1579 ,0,0,0}, {1836,1838,1839 ,1578,1580,1581 ,0,0,0}, - {1839,1837,1836 ,1581,1579,1578 ,0,0,0}, {1840,1838,1841 ,1582,1580,1583 ,0,0,0}, - {1838,1840,1839 ,1580,1582,1581 ,0,0,0}, {1842,1843,1841 ,1584,1585,1583 ,0,0,0}, - {1840,1841,1843 ,1582,1583,1585 ,0,0,0}, {1842,1844,1845 ,1584,1586,1587 ,0,0,0}, - {1845,1843,1842 ,1587,1585,1584 ,0,0,0}, {1846,1844,1847 ,1588,1586,1589 ,0,0,0}, - {1844,1846,1845 ,1586,1588,1587 ,0,0,0}, {1848,1849,1847 ,1590,1591,1589 ,0,0,0}, - {1846,1847,1849 ,1588,1589,1591 ,0,0,0}, {1848,1850,1851 ,1590,1592,1593 ,0,0,0}, - {1851,1849,1848 ,1593,1591,1590 ,0,0,0}, {1852,1850,1853 ,1594,1592,1595 ,0,0,0}, - {1850,1852,1851 ,1592,1594,1593 ,0,0,0}, {1854,1855,1853 ,1596,1597,1595 ,0,0,0}, - {1852,1853,1855 ,1594,1595,1597 ,0,0,0}, {1854,1856,1857 ,1596,1598,1599 ,0,0,0}, - {1857,1855,1854 ,1599,1597,1596 ,0,0,0}, {1858,1856,1859 ,1600,1598,1601 ,0,0,0}, - {1856,1858,1857 ,1598,1600,1599 ,0,0,0}, {1860,1861,1859 ,1602,1603,1601 ,0,0,0}, - {1858,1859,1861 ,1600,1601,1603 ,0,0,0}, {1860,1862,1863 ,1602,1604,1605 ,0,0,0}, - {1863,1861,1860 ,1605,1603,1602 ,0,0,0}, {1864,1862,1865 ,1606,1604,1607 ,0,0,0}, - {1862,1864,1863 ,1604,1606,1605 ,0,0,0}, {1866,1867,1865 ,1608,1609,1607 ,0,0,0}, - {1864,1865,1867 ,1606,1607,1609 ,0,0,0}, {1866,1868,1869 ,1608,1610,1611 ,0,0,0}, - {1869,1867,1866 ,1611,1609,1608 ,0,0,0}, {1870,1868,1871 ,1612,1610,1613 ,0,0,0}, - {1868,1870,1869 ,1610,1612,1611 ,0,0,0}, {1872,1873,1871 ,1614,1615,1613 ,0,0,0}, - {1870,1871,1873 ,1612,1613,1615 ,0,0,0}, {1872,1874,1875 ,1614,1616,1617 ,0,0,0}, - {1875,1873,1872 ,1617,1615,1614 ,0,0,0}, {1876,1874,1877 ,1618,1616,1619 ,0,0,0}, - {1874,1876,1875 ,1616,1618,1617 ,0,0,0}, {1878,1879,1877 ,1620,1621,1619 ,0,0,0}, - {1876,1877,1879 ,1618,1619,1621 ,0,0,0}, {1878,1880,1881 ,1620,1622,1623 ,0,0,0}, - {1881,1879,1878 ,1623,1621,1620 ,0,0,0}, {1882,1880,1883 ,1624,1622,1625 ,0,0,0}, - {1880,1882,1881 ,1622,1624,1623 ,0,0,0}, {1884,1885,1883 ,1626,1627,1625 ,0,0,0}, - {1882,1883,1885 ,1624,1625,1627 ,0,0,0}, {1884,1886,1887 ,1626,1628,1629 ,0,0,0}, - {1887,1885,1884 ,1629,1627,1626 ,0,0,0}, {1888,1886,1889 ,1630,1628,21 ,0,0,0}, - {1886,1888,1887 ,1628,1630,1629 ,0,0,0}, {1888,1889,1890 ,1630,21,1631 ,0,0,0}, - {1891,1892,1893 ,1632,1633,1634 ,0,0,0}, {1894,1895,1896 ,1635,1636,1637 ,0,0,0}, - {1892,1897,1893 ,1633,1638,1634 ,0,0,0}, {1891,1893,1898 ,1632,1634,1639 ,0,0,0}, - {1894,1891,1898 ,1635,1632,1639 ,0,0,0}, {1899,1900,1897 ,1640,1641,1638 ,0,0,0}, - {1899,1897,1892 ,1640,1638,1633 ,0,0,0}, {1901,1902,1903 ,1642,1643,1644 ,0,0,0}, - {1900,1899,1901 ,1641,1640,1642 ,0,0,0}, {1901,1903,1900 ,1642,1644,1641 ,0,0,0}, - {1902,1904,1903 ,1643,1645,1644 ,0,0,0}, {1895,1894,1898 ,1636,1635,1639 ,0,0,0}, - {1902,1905,1904 ,1643,1646,1645 ,0,0,0}, {1906,1907,1908 ,1647,1648,1649 ,0,0,0}, - {1906,1908,1905 ,1647,1649,1646 ,0,0,0}, {1907,1906,1909 ,1648,1647,1650 ,0,0,0}, - {1910,1911,1909 ,1651,1652,1650 ,0,0,0}, {1911,1907,1909 ,1652,1648,1650 ,0,0,0}, - {1912,1913,1914 ,1653,1654,1655 ,0,0,0}, {1911,1910,1915 ,1652,1651,1656 ,0,0,0}, - {1916,1917,1915 ,1657,1658,1656 ,0,0,0}, {1913,1912,1917 ,1654,1653,1658 ,0,0,0}, - {1913,1917,1916 ,1654,1658,1657 ,0,0,0}, {1912,1914,1918 ,1653,1655,1659 ,0,0,0}, - {1910,1916,1915 ,1651,1657,1656 ,0,0,0}, {1919,1918,1920 ,1660,1659,1661 ,0,0,0}, - {1919,1920,1921 ,1660,1661,1662 ,0,0,0}, {1920,1918,1914 ,1661,1659,1655 ,0,0,0}, - {1922,1923,1924 ,1663,1664,1665 ,0,0,0}, {1908,1904,1905 ,1649,1645,1646 ,0,0,0}, - {1922,1925,1921 ,1663,1666,1662 ,0,0,0}, {1925,1922,1924 ,1666,1663,1665 ,0,0,0}, - {1923,1926,1927 ,1664,1667,1668 ,0,0,0}, {1927,1924,1923 ,1668,1665,1664 ,0,0,0}, - {1928,1929,1926 ,1669,1670,1667 ,0,0,0}, {1927,1926,1929 ,1668,1667,1670 ,0,0,0}, - {1928,1890,1889 ,1669,1671,1672 ,0,0,0}, {1928,1889,1929 ,1669,1672,1670 ,0,0,0}, - {1921,1925,1919 ,1662,1666,1660 ,0,0,0}, {1930,1896,1931 ,1673,1637,1674 ,0,0,0}, - {1895,1931,1896 ,1636,1674,1637 ,0,0,0}, {1932,1933,1930 ,1675,1676,1673 ,0,0,0}, - {1930,1931,1932 ,1673,1674,1675 ,0,0,0}, {1933,1934,1935 ,1676,1677,1678 ,0,0,0}, - {1934,1933,1932 ,1677,1676,1675 ,0,0,0}, {1936,1935,1937 ,1679,1678,1680 ,0,0,0}, - {1934,1937,1935 ,1677,1680,1678 ,0,0,0}, {1938,1939,1936 ,1681,1682,1679 ,0,0,0}, - {1936,1937,1938 ,1679,1680,1681 ,0,0,0}, {1939,1940,1941 ,1682,1683,1684 ,0,0,0}, - {1940,1939,1938 ,1683,1682,1681 ,0,0,0}, {1942,1941,1943 ,1685,1684,1686 ,0,0,0}, - {1940,1943,1941 ,1683,1686,1684 ,0,0,0}, {1944,1945,1942 ,1687,1688,1685 ,0,0,0}, - {1942,1943,1944 ,1685,1686,1687 ,0,0,0}, {1945,1946,1947 ,1688,1689,1690 ,0,0,0}, - {1946,1945,1944 ,1689,1688,1687 ,0,0,0}, {1948,1947,1949 ,1691,1690,1692 ,0,0,0}, - {1946,1949,1947 ,1689,1692,1690 ,0,0,0}, {1950,1951,1948 ,1693,1694,1691 ,0,0,0}, - {1948,1949,1950 ,1691,1692,1693 ,0,0,0}, {1951,1952,1953 ,1694,1695,1696 ,0,0,0}, - {1952,1951,1950 ,1695,1694,1693 ,0,0,0}, {1954,1953,1955 ,1697,1696,1698 ,0,0,0}, - {1952,1955,1953 ,1695,1698,1696 ,0,0,0}, {1956,1957,1954 ,1699,1700,1697 ,0,0,0}, - {1954,1955,1956 ,1697,1698,1699 ,0,0,0}, {1957,1958,1959 ,1700,1701,1702 ,0,0,0}, - {1958,1957,1956 ,1701,1700,1699 ,0,0,0}, {1960,1959,1961 ,1703,1702,1704 ,0,0,0}, - {1958,1961,1959 ,1701,1704,1702 ,0,0,0}, {1962,1963,1960 ,1705,1706,1703 ,0,0,0}, - {1960,1961,1962 ,1703,1704,1705 ,0,0,0}, {1963,1964,1965 ,1706,1707,1708 ,0,0,0}, - {1964,1963,1962 ,1707,1706,1705 ,0,0,0}, {1966,1965,1967 ,1709,1708,1710 ,0,0,0}, - {1964,1967,1965 ,1707,1710,1708 ,0,0,0}, {1966,1967,1968 ,1709,1710,1709 ,0,0,0}, - {1969,1966,1968 ,1711,1711,1711 ,0,0,0}, {1966,1969,1970 ,1711,1711,1711 ,0,0,0}, - {1971,1972,1973 ,1712,1713,1714 ,0,0,0}, {1974,1975,1971 ,1715,1716,1712 ,0,0,0}, - {1971,1973,1974 ,1712,1714,1715 ,0,0,0}, {1975,1976,1977 ,1716,1717,1718 ,0,0,0}, - {1976,1975,1974 ,1717,1716,1715 ,0,0,0}, {1978,1977,1979 ,1719,1718,1720 ,0,0,0}, - {1976,1979,1977 ,1717,1720,1718 ,0,0,0}, {1980,1981,1978 ,1721,1722,1719 ,0,0,0}, - {1978,1979,1980 ,1719,1720,1721 ,0,0,0}, {1981,1982,1983 ,1722,1723,1724 ,0,0,0}, - {1982,1981,1980 ,1723,1722,1721 ,0,0,0}, {1984,1983,1985 ,1725,1724,1726 ,0,0,0}, - {1982,1985,1983 ,1723,1726,1724 ,0,0,0}, {1986,1987,1984 ,1727,1728,1725 ,0,0,0}, - {1984,1985,1986 ,1725,1726,1727 ,0,0,0}, {1987,1988,1989 ,1728,1729,1730 ,0,0,0}, - {1988,1987,1986 ,1729,1728,1727 ,0,0,0}, {1990,1989,1991 ,1731,1730,1732 ,0,0,0}, - {1988,1991,1989 ,1729,1732,1730 ,0,0,0}, {1992,1993,1990 ,1733,1734,1731 ,0,0,0}, - {1990,1991,1992 ,1731,1732,1733 ,0,0,0}, {1993,1994,1995 ,1734,1735,1736 ,0,0,0}, - {1994,1993,1992 ,1735,1734,1733 ,0,0,0}, {1996,1995,1997 ,1737,1736,1738 ,0,0,0}, - {1994,1997,1995 ,1735,1738,1736 ,0,0,0}, {1998,1999,1996 ,1739,1740,1737 ,0,0,0}, - {1996,1997,1998 ,1737,1738,1739 ,0,0,0}, {1999,2000,2001 ,1740,1741,1742 ,0,0,0}, - {2000,1999,1998 ,1741,1740,1739 ,0,0,0}, {2002,2001,2003 ,1743,1742,1744 ,0,0,0}, - {2000,2003,2001 ,1741,1744,1742 ,0,0,0}, {2004,2005,2002 ,1745,1746,1743 ,0,0,0}, - {2002,2003,2004 ,1743,1744,1745 ,0,0,0}, {2005,2006,2007 ,1746,1747,1748 ,0,0,0}, - {2006,2005,2004 ,1747,1746,1745 ,0,0,0}, {2008,2007,2009 ,1749,1748,1750 ,0,0,0}, - {2006,2009,2007 ,1747,1750,1748 ,0,0,0}, {1970,1969,2008 ,1751,1751,1749 ,0,0,0}, - {2008,2009,1970 ,1749,1750,1751 ,0,0,0}, {1973,1972,2010 ,1714,1713,1752 ,0,0,0}, - {2011,2010,2012 ,1753,1752,1754 ,0,0,0}, {1972,2012,2010 ,1713,1754,1752 ,0,0,0}, - {2013,2014,2011 ,1755,1756,1753 ,0,0,0}, {2011,2012,2013 ,1753,1754,1755 ,0,0,0}, - {2014,2015,2016 ,1756,1757,1758 ,0,0,0}, {2015,2014,2013 ,1757,1756,1755 ,0,0,0}, - {2017,2016,2018 ,1759,1758,1760 ,0,0,0}, {2015,2018,2016 ,1757,1760,1758 ,0,0,0}, - {2019,2020,2017 ,1761,1762,1759 ,0,0,0}, {2017,2018,2019 ,1759,1760,1761 ,0,0,0}, - {2020,2021,2022 ,1762,1763,1764 ,0,0,0}, {2021,2020,2019 ,1763,1762,1761 ,0,0,0}, - {2023,2022,2024 ,1765,1764,1766 ,0,0,0}, {2021,2024,2022 ,1763,1766,1764 ,0,0,0}, - {2025,2026,2023 ,1767,1768,1765 ,0,0,0}, {2023,2024,2025 ,1765,1766,1767 ,0,0,0}, - {2026,2027,2028 ,1768,1769,1770 ,0,0,0}, {2027,2026,2025 ,1769,1768,1767 ,0,0,0}, - {2029,2028,2030 ,1771,1770,1772 ,0,0,0}, {2027,2030,2028 ,1769,1772,1770 ,0,0,0}, - {2031,2032,2029 ,1773,1774,1771 ,0,0,0}, {2029,2030,2031 ,1771,1772,1773 ,0,0,0}, - {2032,2033,2034 ,1774,1775,1776 ,0,0,0}, {2033,2032,2031 ,1775,1774,1773 ,0,0,0}, - {2035,2034,2036 ,1777,1776,1778 ,0,0,0}, {2033,2036,2034 ,1775,1778,1776 ,0,0,0}, - {2037,2038,2035 ,1779,1780,1777 ,0,0,0}, {2035,2036,2037 ,1777,1778,1779 ,0,0,0}, - {2038,2039,2040 ,1780,1781,1782 ,0,0,0}, {2039,2038,2037 ,1781,1780,1779 ,0,0,0}, - {2041,2040,2042 ,1783,1782,1784 ,0,0,0}, {2039,2042,2040 ,1781,1784,1782 ,0,0,0}, - {2043,2044,2041 ,1785,1786,1783 ,0,0,0}, {2041,2042,2043 ,1783,1784,1785 ,0,0,0}, - {2044,2045,2046 ,1786,1787,1788 ,0,0,0}, {2045,2044,2043 ,1787,1786,1785 ,0,0,0}, - 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{8483,8441,8487 ,726,726,7664 ,0,0,0}, {8481,8440,8483 ,7664,726,726 ,0,0,0}, - {8487,8444,8489 ,7664,7664,7664 ,0,0,0}, {8447,8489,8444 ,726,7664,7664 ,0,0,0}, - {12106,12107,8431 ,726,726,726 ,0,0,0}, {8450,8452,8460 ,726,726,726 ,0,0,0}, - {8429,8450,8465 ,726,726,726 ,0,0,0}, {8431,8430,12106 ,726,726,726 ,0,0,0}, - {8456,8457,8460 ,726,726,726 ,0,0,0}, {8451,8454,8452 ,726,726,726 ,0,0,0}, - {8456,8460,8454 ,726,726,726 ,0,0,0}, {8452,8454,8460 ,726,726,726 ,0,0,0}, - {8460,8462,8450 ,726,726,726 ,0,0,0}, {12106,8429,8465 ,726,726,726 ,0,0,0}, - {8465,8450,8462 ,726,726,726 ,0,0,0}, {8431,12107,12108 ,726,726,726 ,0,0,0}, - {12106,8430,8429 ,726,726,726 ,0,0,0}, {8436,12108,12109 ,726,726,726 ,0,0,0}, - {12108,8436,8431 ,726,726,726 ,0,0,0}, {12109,8439,8437 ,726,726,7658 ,0,0,0}, - {8436,12109,8437 ,726,726,7658 ,0,0,0}, {12110,8439,12109 ,726,726,726 ,0,0,0}, - {8439,12111,8442 ,726,726,7661 ,0,0,0}, {12111,8439,12110 ,726,726,726 ,0,0,0}, - {12111,12112,8442 ,726,726,7661 ,0,0,0}, {8443,12112,8445 ,726,726,7661 ,0,0,0}, - {8443,8442,12112 ,726,7661,726 ,0,0,0}, {8445,12113,12114 ,7661,726,726 ,0,0,0}, - {12112,12113,8445 ,726,726,7661 ,0,0,0}, {12115,8446,12114 ,726,7658,726 ,0,0,0}, - {8445,12114,8446 ,7661,726,7658 ,0,0,0}, {12116,12117,12118 ,726,726,7660 ,0,0,0}, - {12118,12119,12116 ,7660,726,726 ,0,0,0}, {12117,12120,12121 ,726,726,7658 ,0,0,0}, - {12117,12115,12118 ,726,726,7660 ,0,0,0}, {12117,12122,12115 ,726,7661,726 ,0,0,0}, - {12117,12116,12120 ,726,726,726 ,0,0,0}, {12115,12122,8446 ,726,7661,7658 ,0,0,0}, - {12122,8447,8446 ,8319,81,8320 ,0,0,0}, {12120,12105,12121 ,8321,8322,8323 ,0,0,0}, - {12117,12104,12103 ,8324,8325,8326 ,0,0,0}, {12118,12115,12098 ,8327,8328,8329 ,0,0,0}, - {12116,12119,12100 ,8330,8331,8332 ,0,0,0}, {12112,12096,12113 ,8333,8334,8335 ,0,0,0}, - {12097,12114,12113 ,8336,8337,8335 ,0,0,0}, {12110,12094,12111 ,7530,8338,8339 ,0,0,0}, - {12089,12112,12111 ,8340,8333,8339 ,0,0,0}, {12109,12091,12092 ,8341,8342,8343 ,0,0,0}, - {12092,12110,12109 ,8343,7530,8341 ,0,0,0}, {12091,12108,12093 ,8342,8344,8345 ,0,0,0}, - {12108,12091,12109 ,8344,8342,8341 ,0,0,0}, {12090,12093,12107 ,8346,8345,8347 ,0,0,0}, - {12108,12107,12093 ,8344,8347,8345 ,0,0,0}, {8465,12090,12106 ,96,8346,8348 ,0,0,0}, - {12090,12107,12106 ,8346,8347,8348 ,0,0,0}, {8464,12090,8465 ,96,8346,96 ,0,0,0}, - {12089,12111,12094 ,8340,8339,8338 ,0,0,0}, {12092,12094,12110 ,8343,8338,7530 ,0,0,0}, - {12095,12096,12112 ,8349,8334,8333 ,0,0,0}, {12089,12095,12112 ,8340,8349,8333 ,0,0,0}, - {12099,12114,12097 ,8350,8337,8336 ,0,0,0}, {12096,12097,12113 ,8334,8336,8335 ,0,0,0}, - {12098,12115,12099 ,8329,8328,8350 ,0,0,0}, {12114,12099,12115 ,8337,8350,8328 ,0,0,0}, - {12100,12119,12098 ,8332,8331,8329 ,0,0,0}, {12119,12118,12098 ,8331,8327,8329 ,0,0,0}, - {12102,12120,12116 ,7516,8321,8330 ,0,0,0}, {12102,12116,12100 ,7516,8330,8332 ,0,0,0}, - {12105,12104,12121 ,8322,8325,8323 ,0,0,0}, {12102,12105,12120 ,7516,8322,8321 ,0,0,0}, - {12117,12103,12122 ,8324,8326,8319 ,0,0,0}, {12121,12104,12117 ,8323,8325,8324 ,0,0,0}, - {8447,12122,12101 ,81,8319,8351 ,0,0,0}, {12122,12103,12101 ,8319,8326,8351 ,0,0,0} -// MotorHacker.prt - 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{12146,12144,12148 ,4077,4075,4079 ,0,0,0}, {12149,12150,12151 ,4080,4081,4082 ,0,0,0}, - {12150,12149,12148 ,4081,4080,4079 ,0,0,0}, {12152,12151,12153 ,4083,4082,4084 ,0,0,0}, - {12150,12153,12151 ,4081,4084,4082 ,0,0,0}, {12154,12155,12152 ,4085,4086,4083 ,0,0,0}, - {12152,12153,12154 ,4083,4084,4085 ,0,0,0}, {12155,12156,12157 ,4086,4087,4088 ,0,0,0}, - {12156,12155,12154 ,4087,4086,4085 ,0,0,0}, {12157,12158,12159 ,4088,4089,4090 ,0,0,0}, - {12156,12158,12157 ,4087,4089,4088 ,0,0,0}, {12157,12159,12160 ,4088,4090,4091 ,0,0,0}, - {12161,12162,12163 ,2394,2394,4092 ,0,0,0}, {12164,12165,12163 ,4093,4094,4092 ,0,0,0}, - {12161,12163,12165 ,2394,4092,4094 ,0,0,0}, {12164,12166,12167 ,4093,4095,4096 ,0,0,0}, - {12167,12165,12164 ,4096,4094,4093 ,0,0,0}, {12168,12166,12169 ,4097,4095,4098 ,0,0,0}, - {12166,12168,12167 ,4095,4097,4096 ,0,0,0}, {12170,12171,12169 ,4099,4100,4098 ,0,0,0}, - {12168,12169,12171 ,4097,4098,4100 ,0,0,0}, {12170,12172,12173 ,4099,4101,4102 ,0,0,0}, - {12173,12171,12170 ,4102,4100,4099 ,0,0,0}, {12174,12172,12175 ,4103,4101,4104 ,0,0,0}, - {12172,12174,12173 ,4101,4103,4102 ,0,0,0}, {12176,12177,12175 ,4105,4106,4104 ,0,0,0}, - {12174,12175,12177 ,4103,4104,4106 ,0,0,0}, {12176,12178,12179 ,4105,4107,4108 ,0,0,0}, - {12179,12177,12176 ,4108,4106,4105 ,0,0,0}, {12180,12181,12178 ,4109,4110,4107 ,0,0,0}, - {12178,12181,12179 ,4107,4110,4108 ,0,0,0}, {12182,12183,12180 ,4111,4112,4109 ,0,0,0}, - {12180,12178,12182 ,4109,4107,4111 ,0,0,0}, {12183,12184,12185 ,4112,4113,4114 ,0,0,0}, - {12184,12183,12182 ,4113,4112,4111 ,0,0,0}, {12184,12186,12185 ,4113,4114,4114 ,0,0,0}, - {12187,12162,12161 ,4115,2394,2394 ,0,0,0}, {12187,12188,12189 ,4115,4116,4117 ,0,0,0}, - {12189,12162,12187 ,4117,2394,4115 ,0,0,0}, {12190,12188,12191 ,4118,4116,4119 ,0,0,0}, - {12188,12190,12189 ,4116,4118,4117 ,0,0,0}, {12192,12193,12191 ,4120,4121,4119 ,0,0,0}, - {12190,12191,12193 ,4118,4119,4121 ,0,0,0}, {12192,12194,12195 ,4120,4122,4123 ,0,0,0}, - {12195,12193,12192 ,4123,4121,4120 ,0,0,0}, {12196,12194,12197 ,4124,4122,4125 ,0,0,0}, - {12194,12196,12195 ,4122,4124,4123 ,0,0,0}, {12198,12199,12197 ,4126,4127,4125 ,0,0,0}, - {12196,12197,12199 ,4124,4125,4127 ,0,0,0}, {12198,12200,12201 ,4126,4128,4129 ,0,0,0}, - {12201,12199,12198 ,4129,4127,4126 ,0,0,0}, {12202,12200,12203 ,4130,4128,4131 ,0,0,0}, - {12200,12202,12201 ,4128,4130,4129 ,0,0,0}, {12203,12204,12205 ,4131,4132,4133 ,0,0,0}, - {12202,12203,12205 ,4130,4131,4133 ,0,0,0}, {12204,12206,12207 ,4132,4134,4135 ,0,0,0}, - {12206,12204,12203 ,4134,4132,4131 ,0,0,0}, {12208,12207,12209 ,126,4135,4136 ,0,0,0}, - {12206,12209,12207 ,4134,4136,4135 ,0,0,0}, {12208,12209,12210 ,126,4136,126 ,0,0,0}, - {12211,12212,12213 ,4137,4138,4139 ,0,0,0}, {12211,12214,12215 ,4137,4140,4141 ,0,0,0}, - {12214,12216,12215 ,4140,4142,4141 ,0,0,0}, {12213,12214,12211 ,4139,4140,4137 ,0,0,0}, - {12217,12218,12219 ,4143,4144,4145 ,0,0,0}, {12216,12217,12219 ,4142,4143,4145 ,0,0,0}, - {12218,12220,12221 ,4144,4146,4147 ,0,0,0}, {12220,12218,12217 ,4146,4144,4143 ,0,0,0}, - {12221,12220,12222 ,4147,4146,4148 ,0,0,0}, {12223,12221,12222 ,4149,4147,4148 ,0,0,0}, - {12223,12224,12225 ,4149,4150,4151 ,0,0,0}, {12223,12222,12224 ,4149,4148,4150 ,0,0,0}, - {12219,12215,12216 ,4145,4141,4142 ,0,0,0}, {12226,12227,12228 ,4152,1711,1711 ,0,0,0}, - {12226,12228,12225 ,4152,1711,4151 ,0,0,0}, {12224,12226,12225 ,4150,4152,4151 ,0,0,0}, - {12213,12212,12229 ,4139,4138,4153 ,0,0,0}, {12230,12229,12231 ,4154,4153,4155 ,0,0,0}, - {12212,12231,12229 ,4138,4155,4153 ,0,0,0}, {12232,12233,12230 ,4156,4157,4154 ,0,0,0}, - {12230,12231,12232 ,4154,4155,4156 ,0,0,0}, {12233,12234,12235 ,4157,4158,4159 ,0,0,0}, - {12234,12233,12232 ,4158,4157,4156 ,0,0,0}, {12236,12235,12237 ,4160,4159,4161 ,0,0,0}, - {12234,12237,12235 ,4158,4161,4159 ,0,0,0}, {12238,12239,12236 ,4162,4163,4160 ,0,0,0}, - {12236,12237,12238 ,4160,4161,4162 ,0,0,0}, {12239,12240,12241 ,4163,4164,1790 ,0,0,0}, - {12240,12239,12238 ,4164,4163,4162 ,0,0,0}, {12240,12242,12241 ,4164,1790,1790 ,0,0,0}, - {12243,12244,12245 ,4165,4166,4167 ,0,0,0}, {12246,12247,12248 ,4168,4169,4170 ,0,0,0}, - {12247,12243,12245 ,4169,4165,4167 ,0,0,0}, {12249,12246,12248 ,4171,4168,4170 ,0,0,0}, - {12247,12246,12243 ,4169,4168,4165 ,0,0,0}, {12249,12248,12250 ,4171,4170,4172 ,0,0,0}, - 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{16060,16059,16076 ,4275,4274,4290 ,0,0,0}, {16077,16076,16078 ,4291,4290,4292 ,0,0,0}, - {16059,16078,16076 ,4274,4292,4290 ,0,0,0}, {16079,16080,16077 ,4293,4294,4291 ,0,0,0}, - {16077,16078,16079 ,4291,4292,4293 ,0,0,0}, {16080,16081,16082 ,4294,4295,4296 ,0,0,0}, - {16081,16080,16079 ,4295,4294,4293 ,0,0,0}, {16083,16082,16084 ,4297,4296,4298 ,0,0,0}, - {16081,16084,16082 ,4295,4298,4296 ,0,0,0}, {16085,16086,16083 ,4299,4300,4297 ,0,0,0}, - {16083,16084,16085 ,4297,4298,4299 ,0,0,0}, {16086,16087,16088 ,4300,4301,4302 ,0,0,0}, - {16087,16086,16085 ,4301,4300,4299 ,0,0,0}, {16087,16089,16088 ,4301,4303,4302 ,0,0,0}, - {16090,16091,16092 ,4304,4305,4306 ,0,0,0}, {16093,16094,16095 ,4307,4308,4309 ,0,0,0}, - {16094,16090,16092 ,4308,4304,4306 ,0,0,0}, {16096,16093,16095 ,4310,4307,4309 ,0,0,0}, - {16094,16093,16090 ,4308,4307,4304 ,0,0,0}, {16096,16095,16097 ,4310,4309,4311 ,0,0,0}, - {16097,16098,16099 ,4311,4312,4313 ,0,0,0}, {16100,16099,16098 ,4314,4313,4312 ,0,0,0}, - {16101,16102,16103 ,4315,4316,4317 ,0,0,0}, {16098,16104,16100 ,4312,4318,4314 ,0,0,0}, - {16103,16105,16106 ,4317,4319,4320 ,0,0,0}, {16105,16104,16106 ,4319,4318,4320 ,0,0,0}, - {16100,16104,16105 ,4314,4318,4319 ,0,0,0}, {16103,16106,16101 ,4317,4320,4315 ,0,0,0}, - {16102,16101,16107 ,4316,4315,4321 ,0,0,0}, {16102,16107,16108 ,4316,4321,4322 ,0,0,0}, - {16109,16108,16107 ,4323,4322,4321 ,0,0,0}, {16110,16111,16112 ,4324,126,4325 ,0,0,0}, - {16112,16108,16109 ,4325,4322,4323 ,0,0,0}, {16110,16112,16109 ,4324,4325,4323 ,0,0,0}, - {16110,16113,16111 ,4324,4326,126 ,0,0,0}, {16096,16097,16099 ,4310,4311,4313 ,0,0,0}, - {16092,16091,16114 ,4306,4305,4327 ,0,0,0}, {16115,16114,16116 ,4328,4327,4329 ,0,0,0}, - {16091,16116,16114 ,4305,4329,4327 ,0,0,0}, {16117,16118,16115 ,4330,4331,4328 ,0,0,0}, - {16115,16116,16117 ,4328,4329,4330 ,0,0,0}, {16118,16119,16120 ,4331,4332,4333 ,0,0,0}, - {16119,16118,16117 ,4332,4331,4330 ,0,0,0}, {16121,16120,16122 ,4334,4333,4335 ,0,0,0}, - {16119,16122,16120 ,4332,4335,4333 ,0,0,0}, {16123,16124,16121 ,4336,4337,4334 ,0,0,0}, - {16121,16122,16123 ,4334,4335,4336 ,0,0,0}, {16124,16125,16126 ,4337,4338,4339 ,0,0,0}, - 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{16136,16135,16152 ,4349,4348,4363 ,0,0,0}, {16153,16152,16154 ,4364,4363,4365 ,0,0,0}, - {16135,16154,16152 ,4348,4365,4363 ,0,0,0}, {16155,16156,16153 ,4366,4367,4364 ,0,0,0}, - {16153,16154,16155 ,4364,4365,4366 ,0,0,0}, {16156,16157,16158 ,4367,4368,4369 ,0,0,0}, - {16157,16156,16155 ,4368,4367,4366 ,0,0,0}, {16159,16158,16160 ,4370,4369,4371 ,0,0,0}, - {16157,16160,16158 ,4368,4371,4369 ,0,0,0}, {16161,16162,16159 ,4372,4373,4370 ,0,0,0}, - {16159,16160,16161 ,4370,4371,4372 ,0,0,0}, {16162,16163,16164 ,4373,4374,1711 ,0,0,0}, - {16163,16162,16161 ,4374,4373,4372 ,0,0,0}, {16163,16165,16164 ,4374,1711,1711 ,0,0,0}, - {16166,16167,16168 ,4375,4376,4377 ,0,0,0}, {16169,16170,16171 ,4378,4379,4380 ,0,0,0}, - {16170,16166,16168 ,4379,4375,4377 ,0,0,0}, {16172,16169,16171 ,4381,4378,4380 ,0,0,0}, - {16170,16169,16166 ,4379,4378,4375 ,0,0,0}, {16172,16171,16173 ,4381,4380,4382 ,0,0,0}, - {16173,16174,16175 ,4382,4383,4384 ,0,0,0}, {16176,16175,16174 ,4385,4384,4383 ,0,0,0}, - {16177,16178,16179 ,4386,4387,4388 ,0,0,0}, {16174,16180,16176 ,4383,4389,4385 ,0,0,0}, - {16179,16181,16182 ,4388,4390,4391 ,0,0,0}, {16181,16180,16182 ,4390,4389,4391 ,0,0,0}, - {16176,16180,16181 ,4385,4389,4390 ,0,0,0}, {16179,16182,16177 ,4388,4391,4386 ,0,0,0}, - {16178,16177,16183 ,4387,4386,4392 ,0,0,0}, {16178,16183,16184 ,4387,4392,4393 ,0,0,0}, - {16185,16184,16183 ,4394,4393,4392 ,0,0,0}, {16186,16187,16188 ,4395,1790,4396 ,0,0,0}, - {16188,16184,16185 ,4396,4393,4394 ,0,0,0}, {16186,16188,16185 ,4395,4396,4394 ,0,0,0}, - {16186,16189,16187 ,4395,1790,1790 ,0,0,0}, {16172,16173,16175 ,4381,4382,4384 ,0,0,0}, - {16168,16167,16190 ,4377,4376,4397 ,0,0,0}, {16191,16190,16192 ,4398,4397,4399 ,0,0,0}, - {16167,16192,16190 ,4376,4399,4397 ,0,0,0}, {16193,16194,16191 ,4400,4401,4398 ,0,0,0}, - {16191,16192,16193 ,4398,4399,4400 ,0,0,0}, {16194,16195,16196 ,4401,4402,4403 ,0,0,0}, - {16195,16194,16193 ,4402,4401,4400 ,0,0,0}, {16197,16196,16198 ,4404,4403,4405 ,0,0,0}, - {16195,16198,16196 ,4402,4405,4403 ,0,0,0}, {16199,16200,16197 ,4406,4407,4404 ,0,0,0}, - {16197,16198,16199 ,4404,4405,4406 ,0,0,0}, {16200,16201,16202 ,4407,4408,4409 ,0,0,0}, - {16201,16200,16199 ,4408,4407,4406 ,0,0,0}, {16203,16202,16204 ,4410,4409,4411 ,0,0,0}, - {16201,16204,16202 ,4408,4411,4409 ,0,0,0}, {16205,16206,16203 ,4412,4413,4410 ,0,0,0}, - {16203,16204,16205 ,4410,4411,4412 ,0,0,0}, {16206,16207,16208 ,4413,4414,1711 ,0,0,0}, - {16207,16206,16205 ,4414,4413,4412 ,0,0,0}, {16207,16209,16208 ,4414,1711,1711 ,0,0,0}, - {16210,16211,16212 ,4415,4416,4417 ,0,0,0}, {16210,16213,16214 ,4415,4418,4419 ,0,0,0}, - {16213,16215,16214 ,4418,4420,4419 ,0,0,0}, {16212,16213,16210 ,4417,4418,4415 ,0,0,0}, - {16216,16217,16218 ,4421,4422,4423 ,0,0,0}, {16215,16216,16218 ,4420,4421,4423 ,0,0,0}, - {16217,16219,16220 ,4422,4424,4425 ,0,0,0}, {16219,16217,16216 ,4424,4422,4421 ,0,0,0}, - {16220,16219,16221 ,4425,4424,4426 ,0,0,0}, {16222,16220,16221 ,4427,4425,4426 ,0,0,0}, - {16222,16223,16224 ,4427,4428,4429 ,0,0,0}, {16222,16221,16223 ,4427,4426,4428 ,0,0,0}, - {16218,16214,16215 ,4423,4419,4420 ,0,0,0}, {16225,16226,16227 ,4430,1435,1435 ,0,0,0}, - {16225,16227,16224 ,4430,1435,4429 ,0,0,0}, {16223,16225,16224 ,4428,4430,4429 ,0,0,0}, - {16212,16211,16228 ,4417,4416,4431 ,0,0,0}, {16229,16228,16230 ,4432,4431,4433 ,0,0,0}, - {16211,16230,16228 ,4416,4433,4431 ,0,0,0}, {16231,16232,16229 ,4434,4435,4432 ,0,0,0}, - {16229,16230,16231 ,4432,4433,4434 ,0,0,0}, {16232,16233,16234 ,4435,4436,4437 ,0,0,0}, - {16233,16232,16231 ,4436,4435,4434 ,0,0,0}, {16235,16234,16236 ,4438,4437,4439 ,0,0,0}, - {16233,16236,16234 ,4436,4439,4437 ,0,0,0}, {16237,16238,16235 ,4440,4441,4438 ,0,0,0}, - {16235,16236,16237 ,4438,4439,4440 ,0,0,0}, {16238,16239,16240 ,4441,4442,1359 ,0,0,0}, - {16239,16238,16237 ,4442,4441,4440 ,0,0,0}, {16239,16241,16240 ,4442,1359,1359 ,0,0,0}, - {16242,16243,16244 ,4443,4444,4445 ,0,0,0}, {16245,16246,16247 ,4446,4447,4448 ,0,0,0}, - {16246,16242,16244 ,4447,4443,4445 ,0,0,0}, {16248,16245,16247 ,4449,4446,4448 ,0,0,0}, - {16246,16245,16242 ,4447,4446,4443 ,0,0,0}, {16248,16247,16249 ,4449,4448,4450 ,0,0,0}, - {16249,16250,16251 ,4450,4451,4452 ,0,0,0}, {16252,16251,16250 ,4453,4452,4451 ,0,0,0}, - {16253,16254,16255 ,4454,4455,4456 ,0,0,0}, {16250,16256,16252 ,4451,4457,4453 ,0,0,0}, - {16255,16257,16258 ,4456,4458,4459 ,0,0,0}, {16257,16256,16258 ,4458,4457,4459 ,0,0,0}, - {16252,16256,16257 ,4453,4457,4458 ,0,0,0}, {16255,16258,16253 ,4456,4459,4454 ,0,0,0}, - {16254,16253,16259 ,4455,4454,4460 ,0,0,0}, {16254,16259,16260 ,4455,4460,4461 ,0,0,0}, - {16261,16260,16259 ,4462,4461,4460 ,0,0,0}, {16262,16263,16264 ,4463,1435,4464 ,0,0,0}, - {16264,16260,16261 ,4464,4461,4462 ,0,0,0}, {16262,16264,16261 ,4463,4464,4462 ,0,0,0}, - {16262,16265,16263 ,4463,1435,1435 ,0,0,0}, {16248,16249,16251 ,4449,4450,4452 ,0,0,0}, - {16244,16243,16266 ,4445,4444,4465 ,0,0,0}, {16267,16266,16268 ,4466,4465,4467 ,0,0,0}, - {16243,16268,16266 ,4444,4467,4465 ,0,0,0}, {16269,16270,16267 ,4468,4469,4466 ,0,0,0}, - {16267,16268,16269 ,4466,4467,4468 ,0,0,0}, {16270,16271,16272 ,4469,4470,4471 ,0,0,0}, - {16271,16270,16269 ,4470,4469,4468 ,0,0,0}, {16273,16272,16274 ,4472,4471,4473 ,0,0,0}, - {16271,16274,16272 ,4470,4473,4471 ,0,0,0}, {16275,16276,16273 ,4474,4475,4472 ,0,0,0}, - {16273,16274,16275 ,4472,4473,4474 ,0,0,0}, {16276,16277,16278 ,4475,4476,4477 ,0,0,0}, - {16277,16276,16275 ,4476,4475,4474 ,0,0,0}, {16279,16278,16280 ,4478,4477,4479 ,0,0,0}, - {16277,16280,16278 ,4476,4479,4477 ,0,0,0}, {16281,16282,16279 ,4480,4481,4478 ,0,0,0}, - {16279,16280,16281 ,4478,4479,4480 ,0,0,0}, {16282,16283,16284 ,4481,4482,1359 ,0,0,0}, - {16283,16282,16281 ,4482,4481,4480 ,0,0,0}, {16283,16285,16284 ,4482,1359,1359 ,0,0,0}, - {16286,16287,16288 ,4483,4484,4485 ,0,0,0}, {16286,16289,16290 ,4483,4486,4487 ,0,0,0}, - {16289,16291,16290 ,4486,4488,4487 ,0,0,0}, {16288,16289,16286 ,4485,4486,4483 ,0,0,0}, - {16292,16293,16294 ,4489,4490,4491 ,0,0,0}, {16291,16292,16294 ,4488,4489,4491 ,0,0,0}, - {16293,16295,16296 ,4490,4492,4493 ,0,0,0}, {16295,16293,16292 ,4492,4490,4489 ,0,0,0}, - {16296,16295,16297 ,4493,4492,4494 ,0,0,0}, {16298,16296,16297 ,4495,4493,4494 ,0,0,0}, - {16298,16299,16300 ,4495,4496,4497 ,0,0,0}, {16298,16297,16299 ,4495,4494,4496 ,0,0,0}, - {16294,16290,16291 ,4491,4487,4488 ,0,0,0}, {16301,16302,16303 ,4498,4499,82 ,0,0,0}, - {16301,16303,16300 ,4498,82,4497 ,0,0,0}, {16299,16301,16300 ,4496,4498,4497 ,0,0,0}, - 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{23244,22475,22474 ,11493,11514,11513 ,0,0,0}, {23243,22474,22488 ,11492,11513,11518 ,0,0,0}, - {23245,23251,22527 ,11496,11509,11515 ,0,0,0}, {23244,23245,22475 ,11493,11496,11514 ,0,0,0}, - {22328,22528,23251 ,11511,11510,11509 ,0,0,0}, {22527,23251,22528 ,11515,11509,11510 ,0,0,0}, - {22333,23243,22335 ,730,730,730 ,0,0,0}, {22330,23245,22332 ,730,730,730 ,0,0,0}, - {22338,23247,23246 ,730,730,730 ,0,0,0}, {23250,23246,23249 ,730,730,730 ,0,0,0}, - {23248,23250,23249 ,730,730,730 ,0,0,0}, {22335,23247,22338 ,730,730,730 ,0,0,0}, - {22338,23246,23250 ,730,730,730 ,0,0,0}, {22335,23243,23247 ,730,730,730 ,0,0,0}, - {22333,23244,23243 ,730,730,730 ,0,0,0}, {22333,22332,23245 ,730,730,730 ,0,0,0}, - {23245,23244,22333 ,730,730,730 ,0,0,0}, {23251,23245,22330 ,730,730,730 ,0,0,0}, - {23251,22318,22328 ,730,730,730 ,0,0,0}, {22318,23251,22330 ,730,730,730 ,0,0,0}, - {22328,22318,22321 ,730,730,730 ,0,0,0}, {22324,22322,22325 ,730,730,730 ,0,0,0}, - {22321,22322,22324 ,730,730,730 ,0,0,0}, {22324,22328,22321 ,730,730,730 ,0,0,0} -// Landegestell.prt - , {23252,23253,23254 ,11524,11525,11526 ,0,0,0}, {23255,23256,23257 ,11527,11528,11529 ,0,0,0}, - {23258,23259,23260 ,11530,11531,11532 ,0,0,0}, {23261,23253,23262 ,11533,11525,11534 ,0,0,0}, - {23263,23260,23264 ,11535,11532,11536 ,0,0,0}, {23265,23266,23267 ,11537,11538,11539 ,0,0,0}, - {23268,23269,23270 ,11540,11541,11542 ,0,0,0}, {23271,23264,23259 ,11543,11536,11531 ,0,0,0}, - {23272,23273,23274 ,11544,11545,11546 ,0,0,0}, {23268,23275,23274 ,11540,11547,11546 ,0,0,0}, - {23276,23277,23278 ,11548,11549,11550 ,0,0,0}, {23278,23277,23273 ,11550,11549,11545 ,0,0,0}, - {23279,23278,23280 ,11551,11550,11552 ,0,0,0}, {23262,23253,23252 ,11534,11525,11524 ,0,0,0}, - {23280,23281,23279 ,11552,11553,11551 ,0,0,0}, {23282,23283,23284 ,11554,11555,11556 ,0,0,0}, - {23254,23285,23252 ,11526,11557,11524 ,0,0,0}, {23286,23287,23284 ,11558,11559,11556 ,0,0,0}, - {23288,23289,23286 ,11560,11561,11558 ,0,0,0}, {23289,23290,23286 ,11561,11562,11558 ,0,0,0}, - {23284,23287,23282 ,11556,11559,11554 ,0,0,0}, {23291,23292,23256 ,11563,11564,11528 ,0,0,0}, - {23293,23294,23295 ,11565,11566,11567 ,0,0,0}, {23291,23296,23292 ,11563,11568,11564 ,0,0,0}, - {23297,23298,23299 ,11569,11570,11571 ,0,0,0}, {23294,23300,23295 ,11566,11572,11567 ,0,0,0}, - {23301,23302,23303 ,11573,11574,11575 ,0,0,0}, {23297,23299,23304 ,11569,11571,11576 ,0,0,0}, - {23305,23306,23307 ,11577,11578,11579 ,0,0,0}, {23306,23305,23308 ,11578,11577,11580 ,0,0,0}, - {23309,23310,23311 ,11581,11582,11583 ,0,0,0}, {23312,23313,23310 ,11584,11585,11582 ,0,0,0}, - {23314,23315,23316 ,11586,11587,11588 ,0,0,0}, {23309,23311,23317 ,11581,11583,11589 ,0,0,0}, - {23318,23319,23320 ,11590,11591,11592 ,0,0,0}, {23314,23316,23321 ,11586,11588,11593 ,0,0,0}, - {23322,23323,23324 ,11594,11595,11596 ,0,0,0}, {23325,23319,23318 ,11597,11591,11590 ,0,0,0}, - {23326,23327,23328 ,11598,11599,11600 ,0,0,0}, {23328,23324,23326 ,11600,11596,11598 ,0,0,0}, - {23329,23330,23331 ,11601,11602,11603 ,0,0,0}, {23332,23327,23333 ,11604,11599,11605 ,0,0,0}, - {23334,23335,23336 ,11606,11607,11608 ,0,0,0}, {23337,23334,23338 ,11609,11606,11610 ,0,0,0}, - {23339,23340,23341 ,11611,11612,11613 ,0,0,0}, {23342,23339,23336 ,11614,11611,11608 ,0,0,0}, - {23343,23344,23345 ,11615,11616,11617 ,0,0,0}, {23346,23341,23347 ,11618,11613,11619 ,0,0,0}, - {23348,23349,23350 ,11620,11621,11622 ,0,0,0}, {23345,23351,23343 ,11617,11623,11615 ,0,0,0}, - {23352,23348,23353 ,11624,11620,11625 ,0,0,0}, {23343,23351,23354 ,11615,11623,11626 ,0,0,0}, - {23355,23352,23346 ,11627,11624,11618 ,0,0,0}, {23348,23352,23355 ,11620,11624,11627 ,0,0,0}, - {23356,23357,23358 ,11628,11629,11630 ,0,0,0}, {23359,23342,23360 ,11631,11614,11632 ,0,0,0}, - {23361,23362,23363 ,11633,11634,11635 ,0,0,0}, {23359,23360,23364 ,11631,11632,11636 ,0,0,0}, - {23365,23366,23367 ,11637,11638,11639 ,0,0,0}, {23363,23368,23369 ,11635,11640,11641 ,0,0,0}, - {23370,23371,23367 ,11642,11643,11639 ,0,0,0}, {23372,23373,23374 ,11644,11645,11646 ,0,0,0}, - {23375,23376,23377 ,11647,11648,11649 ,0,0,0}, {23377,23374,23375 ,11649,11646,11647 ,0,0,0}, - {23376,23375,23378 ,11648,11647,11650 ,0,0,0}, {23347,23341,23340 ,11619,11613,11612 ,0,0,0}, - {23348,23354,23353 ,11620,11626,11625 ,0,0,0}, {23342,23336,23335 ,11614,11608,11607 ,0,0,0}, - {23342,23340,23339 ,11614,11612,11611 ,0,0,0}, {23337,23338,23329 ,11609,11610,11601 ,0,0,0}, - {23334,23337,23335 ,11606,11609,11607 ,0,0,0}, {23331,23330,23332 ,11603,11602,11604 ,0,0,0}, - {23338,23330,23329 ,11610,11602,11601 ,0,0,0}, {23331,23332,23333 ,11603,11604,11605 ,0,0,0}, - {23379,23337,23329 ,11651,11609,11601 ,0,0,0}, {23328,23322,23324 ,11600,11594,11596 ,0,0,0}, - {23327,23326,23333 ,11599,11598,11605 ,0,0,0}, {23318,23320,23380 ,11590,11592,11652 ,0,0,0}, - {23381,23325,23382 ,11653,11597,11654 ,0,0,0}, {23324,23323,23382 ,11596,11595,11654 ,0,0,0}, - {23319,23325,23381 ,11591,11597,11653 ,0,0,0}, {23323,23381,23382 ,11595,11653,11654 ,0,0,0}, - {23380,23320,23321 ,11652,11592,11593 ,0,0,0}, {23383,23318,23380 ,11655,11590,11652 ,0,0,0}, - {23321,23316,23380 ,11593,11588,11652 ,0,0,0}, {23317,23315,23384 ,11589,11587,11656 ,0,0,0}, - {23314,23384,23315 ,11586,11656,11587 ,0,0,0}, {23385,23317,23384 ,11657,11589,11656 ,0,0,0}, - {23313,23311,23310 ,11585,11583,11582 ,0,0,0}, {23309,23317,23385 ,11581,11589,11657 ,0,0,0}, - {23312,23386,23313 ,11584,11658,11585 ,0,0,0}, {23307,23306,23386 ,11579,11578,11658 ,0,0,0}, - {23386,23312,23307 ,11658,11584,11579 ,0,0,0}, {23308,23387,23303 ,11580,11659,11575 ,0,0,0}, - {23388,23389,23390 ,11660,11661,11662 ,0,0,0}, {23303,23387,23391 ,11575,11659,11663 ,0,0,0}, - {23387,23308,23305 ,11659,11580,11577 ,0,0,0}, {23392,23304,23302 ,11664,11576,11574 ,0,0,0}, - {23301,23303,23391 ,11573,11575,11663 ,0,0,0}, {23304,23392,23297 ,11576,11664,11569 ,0,0,0}, - {23392,23302,23301 ,11664,11574,11573 ,0,0,0}, {23296,23393,23394 ,11568,11665,11666 ,0,0,0}, - {23298,23300,23395 ,11570,11572,11667 ,0,0,0}, {23299,23298,23395 ,11571,11570,11667 ,0,0,0}, - {23395,23300,23294 ,11667,11572,11566 ,0,0,0}, {23396,23397,23398 ,11668,11669,11670 ,0,0,0}, - {23393,23293,23295 ,11665,11565,11567 ,0,0,0}, {23285,23254,23283 ,11557,11526,11555 ,0,0,0}, - {23296,23293,23393 ,11568,11565,11665 ,0,0,0}, {23296,23394,23292 ,11568,11666,11564 ,0,0,0}, - {23256,23255,23291 ,11528,11527,11563 ,0,0,0}, {23290,23289,23257 ,11562,11561,11529 ,0,0,0}, - {23257,23289,23255 ,11529,11561,11527 ,0,0,0}, {23282,23285,23283 ,11554,11557,11555 ,0,0,0}, - {23290,23287,23286 ,11562,11559,11558 ,0,0,0}, {23267,23399,23400 ,11539,11671,11672 ,0,0,0}, - {23261,23262,23399 ,11533,11534,11671 ,0,0,0}, {23400,23265,23267 ,11672,11537,11539 ,0,0,0}, - {23261,23399,23267 ,11533,11671,11539 ,0,0,0}, {23400,23401,23265 ,11672,11673,11537 ,0,0,0}, - {23402,23403,23269 ,11674,11675,11541 ,0,0,0}, {23265,23401,23404 ,11537,11673,11676 ,0,0,0}, - {23404,23401,23405 ,11676,11673,11677 ,0,0,0}, {23406,23404,23407 ,11678,11676,11679 ,0,0,0}, - {23405,23407,23404 ,11677,11679,11676 ,0,0,0}, {23270,23408,23268 ,11542,11680,11540 ,0,0,0}, - {23409,23406,23407 ,11681,11678,11679 ,0,0,0}, {23410,23409,23407 ,11682,11681,11679 ,0,0,0}, - {23406,23409,23411 ,11678,11681,11683 ,0,0,0}, {23412,23413,23411 ,11684,11685,11683 ,0,0,0}, - {23403,23402,23414 ,11675,11674,11686 ,0,0,0}, {23411,23413,23406 ,11683,11685,11678 ,0,0,0}, - {23412,23402,23413 ,11684,11674,11685 ,0,0,0}, {23406,23415,23404 ,11678,11687,11676 ,0,0,0}, - {23416,23261,23267 ,11688,11533,11539 ,0,0,0}, {23404,23258,23265 ,11676,11530,11537 ,0,0,0}, - {23417,23253,23261 ,11689,11525,11533 ,0,0,0}, {23266,23265,23258 ,11538,11537,11530 ,0,0,0}, - {23418,23254,23253 ,11690,11526,11525 ,0,0,0}, {23416,23267,23266 ,11688,11539,11538 ,0,0,0}, - {23419,23283,23254 ,11691,11555,11526 ,0,0,0}, {23417,23261,23416 ,11689,11533,11688 ,0,0,0}, - {23420,23284,23283 ,11692,11556,11555 ,0,0,0}, {23418,23253,23417 ,11690,11525,11689 ,0,0,0}, - {23421,23286,23284 ,11693,11558,11556 ,0,0,0}, {23254,23418,23419 ,11526,11690,11691 ,0,0,0}, - {23422,23423,23424 ,11694,11695,11696 ,0,0,0}, {23283,23419,23420 ,11555,11691,11692 ,0,0,0}, - {23424,23255,23289 ,11696,11527,11561 ,0,0,0}, {23284,23420,23421 ,11556,11692,11693 ,0,0,0}, - {23425,23291,23255 ,11697,11563,11527 ,0,0,0}, {23286,23421,23288 ,11558,11693,11560 ,0,0,0}, - {23426,23296,23291 ,11698,11568,11563 ,0,0,0}, {23289,23288,23424 ,11561,11560,11696 ,0,0,0}, - {23427,23293,23296 ,11699,11565,11568 ,0,0,0}, {23255,23424,23425 ,11527,11696,11697 ,0,0,0}, - {23428,23294,23293 ,11700,11566,11565 ,0,0,0}, {23426,23291,23425 ,11698,11563,11697 ,0,0,0}, - {23429,23395,23294 ,11701,11667,11566 ,0,0,0}, {23427,23296,23426 ,11699,11568,11698 ,0,0,0}, - {23430,23299,23395 ,11702,11571,11667 ,0,0,0}, {23293,23427,23428 ,11565,11699,11700 ,0,0,0}, - {23397,23304,23299 ,11669,11576,11571 ,0,0,0}, {23294,23428,23429 ,11566,11700,11701 ,0,0,0}, - {23431,23302,23304 ,11703,11574,11576 ,0,0,0}, {23395,23429,23430 ,11667,11701,11702 ,0,0,0}, - {23432,23303,23302 ,11704,11575,11574 ,0,0,0}, {23299,23430,23397 ,11571,11702,11669 ,0,0,0}, - {23433,23308,23303 ,11705,11580,11575 ,0,0,0}, {23431,23304,23397 ,11703,11576,11669 ,0,0,0}, - {23434,23306,23308 ,11706,11578,11580 ,0,0,0}, {23432,23302,23431 ,11704,11574,11703 ,0,0,0}, - {23435,23386,23306 ,11707,11658,11578 ,0,0,0}, {23303,23432,23433 ,11575,11704,11705 ,0,0,0}, - {23313,23386,23388 ,11585,11658,11660 ,0,0,0}, {23308,23433,23434 ,11580,11705,11706 ,0,0,0}, - {23436,23311,23313 ,11708,11583,11585 ,0,0,0}, {23306,23434,23435 ,11578,11706,11707 ,0,0,0}, - {23437,23317,23311 ,11709,11589,11583 ,0,0,0}, {23386,23435,23388 ,11658,11707,11660 ,0,0,0}, - {23438,23315,23317 ,11710,11587,11589 ,0,0,0}, {23436,23313,23388 ,11708,11585,11660 ,0,0,0}, - {23439,23316,23315 ,11711,11588,11587 ,0,0,0}, {23437,23311,23436 ,11709,11583,11708 ,0,0,0}, - {23440,23380,23316 ,11712,11652,11588 ,0,0,0}, {23317,23437,23438 ,11589,11709,11710 ,0,0,0}, - {23441,23442,23443 ,11713,11714,11715 ,0,0,0}, {23315,23438,23439 ,11587,11710,11711 ,0,0,0}, - {23444,23325,23318 ,11716,11597,11590 ,0,0,0}, {23316,23439,23440 ,11588,11711,11712 ,0,0,0}, - {23445,23382,23325 ,11717,11654,11597 ,0,0,0}, {23380,23440,23383 ,11652,11712,11655 ,0,0,0}, - {23446,23324,23382 ,11718,11596,11654 ,0,0,0}, {23318,23383,23444 ,11590,11655,11716 ,0,0,0}, - {23447,23326,23324 ,11719,11598,11596 ,0,0,0}, {23445,23325,23444 ,11717,11597,11716 ,0,0,0}, - {23448,23333,23326 ,11720,11605,11598 ,0,0,0}, {23446,23382,23445 ,11718,11654,11717 ,0,0,0}, - 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{24404,24403,24446 ,12744,12743,12786 ,0,0,0}, {24441,24442,24402 ,12781,12782,12742 ,0,0,0}, - {24405,24404,24445 ,12745,12744,12785 ,0,0,0}, {24442,24446,24403 ,12782,12786,12743 ,0,0,0}, - {24406,24405,24444 ,12746,12745,12784 ,0,0,0}, {24446,24445,24404 ,12786,12785,12744 ,0,0,0}, - {24407,24406,24447 ,12747,12746,12787 ,0,0,0}, {24445,24444,24405 ,12785,12784,12745 ,0,0,0}, - {24408,24407,24448 ,12748,12747,12788 ,0,0,0}, {24444,24447,24406 ,12784,12787,12746 ,0,0,0}, - {24266,24408,24449 ,12560,12748,12789 ,0,0,0}, {24447,24448,24407 ,12787,12788,12747 ,0,0,0}, - {24264,24266,24450 ,12558,12560,12790 ,0,0,0}, {24448,24449,24408 ,12788,12789,12748 ,0,0,0}, - {24410,24264,24451 ,12750,12558,12791 ,0,0,0}, {24450,24266,24449 ,12790,12560,12789 ,0,0,0}, - {24452,24453,24454 ,12792,12793,12794 ,0,0,0}, {24451,24264,24450 ,12791,12558,12790 ,0,0,0}, - {24412,24409,24455 ,12752,12749,12795 ,0,0,0}, {24451,24411,24410 ,12791,12751,12750 ,0,0,0}, - {24413,24412,24454 ,12753,12752,12794 ,0,0,0}, {24411,24455,24409 ,12751,12795,12749 ,0,0,0}, - {24414,24413,24453 ,12754,12753,12793 ,0,0,0}, {24455,24454,24412 ,12795,12794,12752 ,0,0,0}, - {24415,24414,24456 ,12755,12754,12796 ,0,0,0}, {24454,24453,24413 ,12794,12793,12753 ,0,0,0}, - {24256,24415,24457 ,12543,12755,12797 ,0,0,0}, {24456,24414,24453 ,12796,12754,12793 ,0,0,0}, - {24458,24459,24460 ,12798,12799,12800 ,0,0,0}, {24457,24415,24456 ,12797,12755,12796 ,0,0,0}, - {24416,24255,24461 ,12756,12542,12801 ,0,0,0}, {24457,24254,24256 ,12797,12541,12543 ,0,0,0}, - {24417,24416,24460 ,12757,12756,12800 ,0,0,0}, {24254,24461,24255 ,12541,12801,12542 ,0,0,0}, - {24418,24417,24459 ,12758,12757,12799 ,0,0,0}, {24461,24460,24416 ,12801,12800,12756 ,0,0,0}, - {24309,24418,24462 ,12622,12758,12802 ,0,0,0}, {24460,24459,24417 ,12800,12799,12757 ,0,0,0}, - {24310,24309,24463 ,12623,12622,12803 ,0,0,0}, {24459,24462,24418 ,12799,12802,12758 ,0,0,0}, - {24422,24310,24464 ,12762,12623,12804 ,0,0,0}, {24463,24309,24462 ,12803,12622,12802 ,0,0,0}, - {24423,24422,24465 ,12763,12762,12805 ,0,0,0}, {24464,24310,24463 ,12804,12623,12803 ,0,0,0}, - {24424,24423,24419 ,12764,12763,12759 ,0,0,0}, {24464,24465,24422 ,12804,12805,12762 ,0,0,0}, - {24425,24424,24421 ,12765,12764,12761 ,0,0,0}, {24465,24419,24423 ,12805,12759,12763 ,0,0,0}, - {24426,24425,24466 ,12766,12765,12806 ,0,0,0}, {24419,24421,24424 ,12759,12761,12764 ,0,0,0}, - {24427,24426,24467 ,12767,12766,12807 ,0,0,0}, {24421,24466,24425 ,12761,12806,12765 ,0,0,0}, - {24318,24427,24468 ,12639,12767,12808 ,0,0,0}, {24467,24426,24466 ,12807,12766,12806 ,0,0,0}, - {24469,24470,24471 ,12809,12810,12811 ,0,0,0}, {24468,24427,24467 ,12808,12767,12807 ,0,0,0}, - {24428,24320,24472 ,12768,12641,12812 ,0,0,0}, {24468,24319,24318 ,12808,12640,12639 ,0,0,0}, - {24429,24428,24471 ,12769,12768,12811 ,0,0,0}, {24319,24472,24320 ,12640,12812,12641 ,0,0,0}, - {24430,24429,24470 ,12770,12769,12810 ,0,0,0}, {24472,24471,24428 ,12812,12811,12768 ,0,0,0}, - {24431,24430,24473 ,12771,12770,12813 ,0,0,0}, {24471,24470,24429 ,12811,12810,12769 ,0,0,0}, - {24432,24431,24474 ,12772,12771,12814 ,0,0,0}, {24470,24473,24430 ,12810,12813,12770 ,0,0,0}, - {24433,24432,24475 ,12773,12772,12815 ,0,0,0}, {24473,24474,24431 ,12813,12814,12771 ,0,0,0}, - {24398,24433,24476 ,12737,12773,12816 ,0,0,0}, {24474,24475,24432 ,12814,12815,12772 ,0,0,0}, - {24341,24398,24339 ,12674,12737,12672 ,0,0,0}, {24475,24476,24433 ,12815,12816,12773 ,0,0,0}, - {24353,24341,24340 ,12686,12674,12673 ,0,0,0}, {24476,24339,24398 ,12816,12672,12737 ,0,0,0}, - {24477,24347,24436 ,12817,12680,12776 ,0,0,0}, {24478,24337,24336 ,12818,12670,12669 ,0,0,0}, - {24335,24353,24356 ,12667,12686,12689 ,0,0,0}, {24340,24354,24353 ,12673,12687,12686 ,0,0,0}, - {24479,24437,24435 ,12819,12777,12775 ,0,0,0}, {24479,24480,24437 ,12819,12820,12777 ,0,0,0}, - {24355,24349,24348 ,12688,12682,12681 ,0,0,0}, {24348,24338,24437 ,12681,12671,12777 ,0,0,0}, - {24438,24437,24480 ,12778,12777,12820 ,0,0,0}, {24292,24295,24401 ,12597,12600,12741 ,0,0,0}, - {24362,24300,24439 ,12701,12606,12779 ,0,0,0}, {24289,24481,24287 ,12593,12821,12591 ,0,0,0}, - {24401,24440,24285 ,12741,12780,12589 ,0,0,0}, {24300,24482,24440 ,12606,12822,12780 ,0,0,0}, - {24441,24287,24483 ,12781,12591,12823 ,0,0,0}, {24482,24481,24289 ,12822,12821,12593 ,0,0,0}, - {24442,24441,24484 ,12782,12781,12824 ,0,0,0}, {24287,24481,24483 ,12591,12821,12823 ,0,0,0}, - {24446,24442,24485 ,12786,12782,12825 ,0,0,0}, {24441,24483,24484 ,12781,12823,12824 ,0,0,0}, - {24445,24446,24486 ,12785,12786,12826 ,0,0,0}, {24484,24485,24442 ,12824,12825,12782 ,0,0,0}, - {24487,24447,24444 ,12827,12787,12784 ,0,0,0}, {24485,24486,24446 ,12825,12826,12786 ,0,0,0}, - {24488,24489,24490 ,12828,12829,12830 ,0,0,0}, {24486,24443,24445 ,12826,12783,12785 ,0,0,0}, - {24447,24491,24448 ,12787,12831,12788 ,0,0,0}, {24443,24487,24444 ,12783,12827,12784 ,0,0,0}, - {24448,24489,24449 ,12788,12829,12789 ,0,0,0}, {24487,24491,24447 ,12827,12831,12787 ,0,0,0}, - {24449,24488,24450 ,12789,12828,12790 ,0,0,0}, {24491,24489,24448 ,12831,12829,12788 ,0,0,0}, - {24450,24492,24451 ,12790,12832,12791 ,0,0,0}, {24489,24488,24449 ,12829,12828,12789 ,0,0,0}, - {24451,24493,24411 ,12791,12833,12751 ,0,0,0}, {24488,24492,24450 ,12828,12832,12790 ,0,0,0}, - {24455,24411,24494 ,12795,12751,12834 ,0,0,0}, {24492,24493,24451 ,12832,12833,12791 ,0,0,0}, - {24454,24455,24495 ,12794,12795,12835 ,0,0,0}, {24493,24494,24411 ,12833,12834,12751 ,0,0,0}, - {24496,24497,24498 ,12836,12837,12838 ,0,0,0}, {24494,24495,24455 ,12834,12835,12795 ,0,0,0}, - {24453,24499,24456 ,12793,12839,12796 ,0,0,0}, {24495,24452,24454 ,12835,12792,12794 ,0,0,0}, - {24456,24500,24457 ,12796,12840,12797 ,0,0,0}, {24452,24499,24453 ,12792,12839,12793 ,0,0,0}, - {24457,24501,24254 ,12797,12841,12541 ,0,0,0}, {24499,24500,24456 ,12839,12840,12796 ,0,0,0}, - {24461,24254,24502 ,12801,12541,12842 ,0,0,0}, {24500,24501,24457 ,12840,12841,12797 ,0,0,0}, - {24460,24461,24503 ,12800,12801,12843 ,0,0,0}, {24501,24502,24254 ,12841,12842,12541 ,0,0,0}, - {24504,24505,24506 ,12844,12845,12846 ,0,0,0}, {24502,24503,24461 ,12842,12843,12801 ,0,0,0}, - {24459,24507,24462 ,12799,12847,12802 ,0,0,0}, {24503,24458,24460 ,12843,12798,12800 ,0,0,0}, - {24462,24508,24463 ,12802,12848,12803 ,0,0,0}, {24458,24507,24459 ,12798,12847,12799 ,0,0,0}, - {24463,24509,24464 ,12803,12849,12804 ,0,0,0}, {24507,24508,24462 ,12847,12848,12802 ,0,0,0}, - {24464,24510,24465 ,12804,12850,12805 ,0,0,0}, {24508,24509,24463 ,12848,12849,12803 ,0,0,0}, - {24419,24465,24511 ,12759,12805,12851 ,0,0,0}, {24509,24510,24464 ,12849,12850,12804 ,0,0,0}, - {24512,24513,24514 ,12852,12853,12854 ,0,0,0}, {24510,24511,24465 ,12850,12851,12805 ,0,0,0}, - {24421,24515,24466 ,12761,12855,12806 ,0,0,0}, {24511,24420,24419 ,12851,12760,12759 ,0,0,0}, - {24466,24513,24467 ,12806,12853,12807 ,0,0,0}, {24420,24515,24421 ,12760,12855,12761 ,0,0,0}, - {24467,24512,24468 ,12807,12852,12808 ,0,0,0}, {24515,24513,24466 ,12855,12853,12806 ,0,0,0}, - {24468,24516,24319 ,12808,12856,12640 ,0,0,0}, {24513,24512,24467 ,12853,12852,12807 ,0,0,0}, - {24472,24319,24517 ,12812,12640,12857 ,0,0,0}, {24512,24516,24468 ,12852,12856,12808 ,0,0,0}, - {24471,24472,24518 ,12811,12812,12858 ,0,0,0}, {24516,24517,24319 ,12856,12857,12640 ,0,0,0}, - {24519,24473,24470 ,12859,12813,12810 ,0,0,0}, {24517,24518,24472 ,12857,12858,12812 ,0,0,0}, - {24520,24521,24522 ,12860,12861,12862 ,0,0,0}, {24518,24469,24471 ,12858,12809,12811 ,0,0,0}, - {24473,24523,24474 ,12813,12863,12814 ,0,0,0}, {24469,24519,24470 ,12809,12859,12810 ,0,0,0}, - {24474,24521,24475 ,12814,12861,12815 ,0,0,0}, {24519,24523,24473 ,12859,12863,12813 ,0,0,0}, - {24475,24520,24476 ,12815,12860,12816 ,0,0,0}, {24523,24521,24474 ,12863,12861,12814 ,0,0,0}, - {24476,24524,24339 ,12816,12864,12672 ,0,0,0}, {24521,24520,24475 ,12861,12860,12815 ,0,0,0}, - {24339,24525,24340 ,12672,12865,12673 ,0,0,0}, {24520,24524,24476 ,12860,12864,12816 ,0,0,0}, - {24340,24526,24354 ,12673,12866,12687 ,0,0,0}, {24524,24525,24339 ,12864,12865,12672 ,0,0,0}, - {24354,24478,24336 ,12687,12818,12669 ,0,0,0}, {24526,24340,24525 ,12866,12673,12865 ,0,0,0}, - {24343,24337,24527 ,12676,12670,12867 ,0,0,0}, {24354,24526,24478 ,12687,12866,12818 ,0,0,0}, - {24435,24528,24436 ,12775,12868,12776 ,0,0,0}, {24437,24338,24435 ,12777,12671,12775 ,0,0,0}, - {24348,24336,24338 ,12681,12669,12671 ,0,0,0}, {24338,24528,24435 ,12671,12868,12775 ,0,0,0}, - {24479,24435,24434 ,12819,12775,12774 ,0,0,0}, {24295,24300,24440 ,12600,12606,12780 ,0,0,0}, - {24280,24279,24301 ,12583,12582,12607 ,0,0,0}, {24481,24529,24483 ,12821,12869,12823 ,0,0,0}, - {24440,24482,24289 ,12780,12822,12593 ,0,0,0}, {24279,24530,24482 ,12582,12870,12822 ,0,0,0}, - {24484,24483,24531 ,12824,12823,12871 ,0,0,0}, {24481,24530,24529 ,12821,12870,12869 ,0,0,0}, - {24485,24484,24532 ,12825,12824,12872 ,0,0,0}, {24483,24529,24531 ,12823,12869,12871 ,0,0,0}, - {24486,24485,24533 ,12826,12825,12873 ,0,0,0}, {24484,24531,24532 ,12824,12871,12872 ,0,0,0}, - {24443,24486,24534 ,12783,12826,12874 ,0,0,0}, {24485,24532,24533 ,12825,12872,12873 ,0,0,0}, - {24487,24443,24535 ,12827,12783,12875 ,0,0,0}, {24486,24533,24534 ,12826,12873,12874 ,0,0,0}, - {24491,24487,24536 ,12831,12827,12876 ,0,0,0}, {24443,24534,24535 ,12783,12874,12875 ,0,0,0}, - {24489,24491,24537 ,12829,12831,12877 ,0,0,0}, {24535,24536,24487 ,12875,12876,12827 ,0,0,0}, - {24538,24539,24540 ,12878,12879,12880 ,0,0,0}, {24536,24537,24491 ,12876,12877,12831 ,0,0,0}, - {24488,24541,24492 ,12828,12881,12832 ,0,0,0}, {24537,24490,24489 ,12877,12830,12829 ,0,0,0}, - {24492,24540,24493 ,12832,12880,12833 ,0,0,0}, {24490,24541,24488 ,12830,12881,12828 ,0,0,0}, - {24493,24542,24494 ,12833,12882,12834 ,0,0,0}, {24541,24540,24492 ,12881,12880,12832 ,0,0,0}, - {24495,24494,24543 ,12835,12834,12883 ,0,0,0}, {24540,24542,24493 ,12880,12882,12833 ,0,0,0}, - {24452,24495,24544 ,12792,12835,12884 ,0,0,0}, {24494,24542,24543 ,12834,12882,12883 ,0,0,0}, - {24499,24452,24545 ,12839,12792,12885 ,0,0,0}, {24495,24543,24544 ,12835,12883,12884 ,0,0,0}, - {24500,24499,24546 ,12840,12839,12886 ,0,0,0}, {24544,24545,24452 ,12884,12885,12792 ,0,0,0}, - {24500,24547,24501 ,12840,12887,12841 ,0,0,0}, {24545,24546,24499 ,12885,12886,12839 ,0,0,0}, - {24501,24497,24502 ,12841,12837,12842 ,0,0,0}, {24546,24547,24500 ,12886,12887,12840 ,0,0,0}, - {24503,24502,24548 ,12843,12842,12888 ,0,0,0}, {24547,24497,24501 ,12887,12837,12841 ,0,0,0}, - {24458,24503,24549 ,12798,12843,12889 ,0,0,0}, {24502,24497,24548 ,12842,12837,12888 ,0,0,0}, - 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{23328,23327,25028 ,13529,13530,13487 ,0,0,0}, {25028,23327,25029 ,13487,13530,13488 ,0,0,0}, - {23327,23332,25029 ,13530,13531,13488 ,0,0,0}, {25029,23332,25030 ,13488,13531,13489 ,0,0,0}, - {23332,23330,25030 ,13531,13532,13489 ,0,0,0}, {23330,23338,25031 ,13532,13533,13490 ,0,0,0}, - {23330,25031,25030 ,13532,13490,13489 ,0,0,0}, {23338,23334,25032 ,13533,13534,13491 ,0,0,0}, - {23338,25032,25031 ,13533,13491,13490 ,0,0,0}, {23334,23336,25033 ,13534,13535,13492 ,0,0,0}, - {23334,25033,25032 ,13534,13492,13491 ,0,0,0}, {23336,23339,25034 ,13535,13536,13493 ,0,0,0}, - {23336,25034,25033 ,13535,13493,13492 ,0,0,0}, {23339,23341,25035 ,13536,13537,13494 ,0,0,0}, - {23339,25035,25034 ,13536,13494,13493 ,0,0,0}, {23341,23346,25036 ,13537,13538,13495 ,0,0,0}, - {23341,25036,25035 ,13537,13495,13494 ,0,0,0}, {23346,23352,25037 ,13538,13539,13496 ,0,0,0}, - {23346,25037,25036 ,13538,13496,13495 ,0,0,0}, {23352,23353,25004 ,13539,13540,13461 ,0,0,0}, - {23352,25004,25037 ,13539,13461,13496 ,0,0,0}, {23353,23351,25003 ,13540,13541,13460 ,0,0,0}, - {23353,25003,25004 ,13540,13460,13461 ,0,0,0}, {23351,23345,24741 ,13541,13542,13187 ,0,0,0}, - {23351,24741,25003 ,13541,13187,13460 ,0,0,0}, {24741,23345,23344 ,13187,13542,11616 ,0,0,0}, - {24574,24280,24301 ,13543,13543,13543 ,0,0,0}, {23910,24297,23906 ,13543,13543,13543 ,0,0,0}, - {24296,24301,24362 ,13543,13543,13543 ,0,0,0}, {24574,24301,24281 ,13543,13543,13543 ,0,0,0}, - {24296,24362,24439 ,13543,13543,13543 ,0,0,0}, {24281,24296,23911 ,13543,13543,13543 ,0,0,0}, - {24301,24296,24281 ,13543,13543,13543 ,0,0,0}, {23771,23906,24297 ,13543,13543,13543 ,0,0,0}, - {23910,24294,24291 ,13543,13543,13543 ,0,0,0}, {23777,23786,24121 ,13543,13543,13543 ,0,0,0}, - {23912,23771,24297 ,13543,13543,13543 ,0,0,0}, {23913,23912,23777 ,13543,13543,13543 ,0,0,0}, - {23912,23913,23902 ,13543,13543,13543 ,0,0,0}, {23784,23777,24121 ,13543,13543,13543 ,0,0,0}, - {23785,23786,23912 ,13543,13543,13543 ,0,0,0}, {23786,23777,23912 ,13543,13543,13543 ,0,0,0}, - {24299,23912,24297 ,13543,13543,13543 ,0,0,0}, {24299,23785,23912 ,13543,13543,13543 ,0,0,0}, - {24297,23910,24291 ,13543,13543,13543 ,0,0,0}, {24294,23910,24296 ,13543,13543,13543 ,0,0,0}, - {23911,24296,23909 ,13543,13543,13543 ,0,0,0}, {23910,23909,24296 ,13543,13543,13543 ,0,0,0}, - {24961,24736,24742 ,13544,13544,13544 ,0,0,0}, {24790,24827,23540 ,13544,13544,13544 ,0,0,0}, - {24746,24962,24742 ,13544,13544,13544 ,0,0,0}, {24866,24916,23456 ,13544,13544,13544 ,0,0,0}, - {24915,24962,24916 ,13544,13544,13544 ,0,0,0}, {24962,24746,23344 ,13544,13544,13544 ,0,0,0}, - {24961,24742,24962 ,13544,13544,13544 ,0,0,0}, {23456,24916,24962 ,13544,13544,13544 ,0,0,0}, - {24962,23344,23456 ,13544,13544,13544 ,0,0,0}, {23455,24866,23456 ,13544,13544,13544 ,0,0,0}, - {23455,23498,24866 ,13544,13544,13544 ,0,0,0}, {24827,24866,23540 ,13544,13544,13544 ,0,0,0}, - {23498,23540,24866 ,13544,13544,13544 ,0,0,0}, {24791,24790,23540 ,13544,13544,13544 ,0,0,0}, - {23584,23626,23585 ,13544,13544,13544 ,0,0,0}, {23585,24791,23540 ,13544,13544,13544 ,0,0,0}, - {24791,23585,23626 ,13544,13544,13544 ,0,0,0}, {23377,23625,23372 ,13544,13544,13544 ,0,0,0}, - {24791,23626,23378 ,13544,13544,13544 ,0,0,0}, {23626,23377,23376 ,13544,13544,13544 ,0,0,0}, - {23377,23626,23625 ,13544,13544,13544 ,0,0,0}, {23626,23376,23378 ,13544,13544,13544 ,0,0,0} -// Landegestell.prt - , {25038,25039,25040 ,13545,13546,13547 ,0,0,0}, {25041,25042,25043 ,13548,13549,13550 ,0,0,0}, - {25044,25045,25046 ,13551,13552,13553 ,0,0,0}, {25047,25039,25048 ,13554,13546,13555 ,0,0,0}, - {25049,25046,25050 ,13556,13553,13557 ,0,0,0}, {25051,25052,25053 ,13558,13559,13560 ,0,0,0}, - {25054,25055,25056 ,13561,13562,13563 ,0,0,0}, {25057,25050,25045 ,13564,13557,13552 ,0,0,0}, - {25058,25059,25060 ,13565,13566,13567 ,0,0,0}, {25054,25061,25060 ,13561,13568,13567 ,0,0,0}, - {25062,25063,25064 ,13569,13570,13571 ,0,0,0}, {25064,25063,25059 ,13571,13570,13566 ,0,0,0}, - {25065,25064,25066 ,13572,13571,13573 ,0,0,0}, {25048,25039,25038 ,13555,13546,13545 ,0,0,0}, - {25066,25067,25065 ,13573,13574,13572 ,0,0,0}, {25068,25069,25070 ,13575,13576,13577 ,0,0,0}, - {25040,25071,25038 ,13547,13578,13545 ,0,0,0}, {25072,25073,25070 ,13579,13580,13577 ,0,0,0}, - {25074,25075,25072 ,13581,13582,13579 ,0,0,0}, {25075,25076,25072 ,13582,13583,13579 ,0,0,0}, - {25070,25073,25068 ,13577,13580,13575 ,0,0,0}, {25077,25078,25042 ,13584,13585,13549 ,0,0,0}, - {25079,25080,25081 ,13586,13587,13588 ,0,0,0}, {25077,25082,25078 ,13584,13589,13585 ,0,0,0}, - {25083,25084,25085 ,13590,13591,13592 ,0,0,0}, {25080,25086,25081 ,13587,13593,13588 ,0,0,0}, - {25087,25088,25089 ,13594,13595,13596 ,0,0,0}, {25083,25085,25090 ,13590,13592,13597 ,0,0,0}, - {25091,25092,25093 ,13598,13599,13600 ,0,0,0}, {25092,25091,25094 ,13599,13598,13601 ,0,0,0}, - {25095,25096,25097 ,13602,13603,13604 ,0,0,0}, {25098,25099,25096 ,13605,13606,13603 ,0,0,0}, - {25100,25101,25102 ,13607,13608,13609 ,0,0,0}, {25095,25097,25103 ,13602,13604,13610 ,0,0,0}, - {25104,25105,25106 ,13611,13612,13613 ,0,0,0}, {25100,25102,25107 ,13607,13609,13614 ,0,0,0}, - {25108,25109,25110 ,13615,13616,13617 ,0,0,0}, {25111,25105,25104 ,13618,13612,13611 ,0,0,0}, - {25112,25113,25114 ,13619,13620,13621 ,0,0,0}, {25114,25110,25112 ,13621,13617,13619 ,0,0,0}, - {25115,25116,25117 ,13622,13623,13624 ,0,0,0}, {25118,25113,25119 ,13625,13620,13626 ,0,0,0}, - {25120,25121,25122 ,13627,13628,13629 ,0,0,0}, {25123,25120,25124 ,13630,13627,13631 ,0,0,0}, - {25125,25126,25127 ,13632,13633,13634 ,0,0,0}, {25128,25125,25122 ,13635,13632,13629 ,0,0,0}, - {25129,25130,25131 ,13636,13637,13638 ,0,0,0}, {25132,25127,25133 ,13639,13634,13640 ,0,0,0}, - {25134,25135,25136 ,13641,13642,13643 ,0,0,0}, {25131,25137,25129 ,13638,13644,13636 ,0,0,0}, - {25138,25134,25139 ,13645,13641,13646 ,0,0,0}, {25129,25137,25140 ,13636,13644,13647 ,0,0,0}, - {25141,25138,25132 ,13648,13645,13639 ,0,0,0}, {25134,25138,25141 ,13641,13645,13648 ,0,0,0}, - {25142,25143,25144 ,13649,13650,13651 ,0,0,0}, {25145,25128,25146 ,13652,13635,13653 ,0,0,0}, - {25147,25148,25149 ,13654,13655,13656 ,0,0,0}, {25145,25146,25150 ,13652,13653,13657 ,0,0,0}, - {25151,25152,25153 ,13658,13659,13660 ,0,0,0}, {25149,25154,25155 ,13656,13661,13662 ,0,0,0}, - {25156,25157,25153 ,13663,13664,13660 ,0,0,0}, {25158,25159,25160 ,13665,13666,13667 ,0,0,0}, - {25161,25162,25163 ,13668,13669,13670 ,0,0,0}, {25163,25160,25161 ,13670,13667,13668 ,0,0,0}, - {25162,25161,25164 ,13669,13668,13671 ,0,0,0}, {25133,25127,25126 ,13640,13634,13633 ,0,0,0}, - {25134,25140,25139 ,13641,13647,13646 ,0,0,0}, {25128,25122,25121 ,13635,13629,13628 ,0,0,0}, - {25128,25126,25125 ,13635,13633,13632 ,0,0,0}, {25123,25124,25115 ,13630,13631,13622 ,0,0,0}, - {25120,25123,25121 ,13627,13630,13628 ,0,0,0}, {25117,25116,25118 ,13624,13623,13625 ,0,0,0}, - {25124,25116,25115 ,13631,13623,13622 ,0,0,0}, {25117,25118,25119 ,13624,13625,13626 ,0,0,0}, - {25165,25123,25115 ,13672,13630,13622 ,0,0,0}, {25114,25108,25110 ,13621,13615,13617 ,0,0,0}, - {25113,25112,25119 ,13620,13619,13626 ,0,0,0}, {25104,25106,25166 ,13611,13613,13673 ,0,0,0}, - {25167,25111,25168 ,13674,13618,13675 ,0,0,0}, {25110,25109,25168 ,13617,13616,13675 ,0,0,0}, - {25105,25111,25167 ,13612,13618,13674 ,0,0,0}, {25109,25167,25168 ,13616,13674,13675 ,0,0,0}, - {25166,25106,25107 ,13673,13613,13614 ,0,0,0}, {25169,25104,25166 ,13676,13611,13673 ,0,0,0}, - {25107,25102,25166 ,13614,13609,13673 ,0,0,0}, {25103,25101,25170 ,13610,13608,13677 ,0,0,0}, - {25100,25170,25101 ,13607,13677,13608 ,0,0,0}, {25171,25103,25170 ,13678,13610,13677 ,0,0,0}, - {25099,25097,25096 ,13606,13604,13603 ,0,0,0}, {25095,25103,25171 ,13602,13610,13678 ,0,0,0}, - {25098,25172,25099 ,13605,13679,13606 ,0,0,0}, {25093,25092,25172 ,13600,13599,13679 ,0,0,0}, - {25172,25098,25093 ,13679,13605,13600 ,0,0,0}, {25094,25173,25089 ,13601,13680,13596 ,0,0,0}, - {25174,25175,25176 ,13681,13682,13683 ,0,0,0}, {25089,25173,25177 ,13596,13680,13684 ,0,0,0}, - {25173,25094,25091 ,13680,13601,13598 ,0,0,0}, {25178,25090,25088 ,13685,13597,13595 ,0,0,0}, - {25087,25089,25177 ,13594,13596,13684 ,0,0,0}, {25090,25178,25083 ,13597,13685,13590 ,0,0,0}, - {25178,25088,25087 ,13685,13595,13594 ,0,0,0}, {25082,25179,25180 ,13589,13686,13687 ,0,0,0}, - {25084,25086,25181 ,13591,13593,13688 ,0,0,0}, {25085,25084,25181 ,13592,13591,13688 ,0,0,0}, - {25181,25086,25080 ,13688,13593,13587 ,0,0,0}, {25182,25183,25184 ,13689,13690,13691 ,0,0,0}, - 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{25192,25195,25197 ,13699,13702,13704 ,0,0,0}, {25198,25199,25197 ,13705,13706,13704 ,0,0,0}, - {25189,25188,25200 ,13696,13695,13707 ,0,0,0}, {25197,25199,25192 ,13704,13706,13699 ,0,0,0}, - {25198,25188,25199 ,13705,13695,13706 ,0,0,0}, {25192,25201,25190 ,13699,13708,13697 ,0,0,0}, - {25202,25047,25053 ,13709,13554,13560 ,0,0,0}, {25190,25044,25051 ,13697,13551,13558 ,0,0,0}, - {25203,25039,25047 ,13710,13546,13554 ,0,0,0}, {25052,25051,25044 ,13559,13558,13551 ,0,0,0}, - {25204,25040,25039 ,13711,13547,13546 ,0,0,0}, {25202,25053,25052 ,13709,13560,13559 ,0,0,0}, - {25205,25069,25040 ,13712,13576,13547 ,0,0,0}, {25203,25047,25202 ,13710,13554,13709 ,0,0,0}, - {25206,25070,25069 ,13713,13577,13576 ,0,0,0}, {25204,25039,25203 ,13711,13546,13710 ,0,0,0}, - {25207,25072,25070 ,13714,13579,13577 ,0,0,0}, {25040,25204,25205 ,13547,13711,13712 ,0,0,0}, - {25208,25209,25210 ,13715,13716,13717 ,0,0,0}, {25069,25205,25206 ,13576,13712,13713 ,0,0,0}, - {25210,25041,25075 ,13717,13548,13582 ,0,0,0}, {25070,25206,25207 ,13577,13713,13714 ,0,0,0}, - 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{25221,25172,25092 ,13728,13679,13599 ,0,0,0}, {25089,25218,25219 ,13596,13725,13726 ,0,0,0}, - {25099,25172,25174 ,13606,13679,13681 ,0,0,0}, {25094,25219,25220 ,13601,13726,13727 ,0,0,0}, - {25222,25097,25099 ,13729,13604,13606 ,0,0,0}, {25092,25220,25221 ,13599,13727,13728 ,0,0,0}, - {25223,25103,25097 ,13730,13610,13604 ,0,0,0}, {25172,25221,25174 ,13679,13728,13681 ,0,0,0}, - {25224,25101,25103 ,13731,13608,13610 ,0,0,0}, {25222,25099,25174 ,13729,13606,13681 ,0,0,0}, - {25225,25102,25101 ,13732,13609,13608 ,0,0,0}, {25223,25097,25222 ,13730,13604,13729 ,0,0,0}, - {25226,25166,25102 ,13733,13673,13609 ,0,0,0}, {25103,25223,25224 ,13610,13730,13731 ,0,0,0}, - {25227,25228,25229 ,13734,13735,13736 ,0,0,0}, {25101,25224,25225 ,13608,13731,13732 ,0,0,0}, - {25230,25111,25104 ,13737,13618,13611 ,0,0,0}, {25102,25225,25226 ,13609,13732,13733 ,0,0,0}, - {25231,25168,25111 ,13738,13675,13618 ,0,0,0}, {25166,25226,25169 ,13673,13733,13676 ,0,0,0}, - {25232,25110,25168 ,13739,13617,13675 ,0,0,0}, {25104,25169,25230 ,13611,13676,13737 ,0,0,0}, - {25233,25112,25110 ,13740,13619,13617 ,0,0,0}, {25231,25111,25230 ,13738,13618,13737 ,0,0,0}, - {25234,25119,25112 ,13741,13626,13619 ,0,0,0}, {25232,25168,25231 ,13739,13675,13738 ,0,0,0}, - {25235,25117,25119 ,13742,13624,13626 ,0,0,0}, {25233,25110,25232 ,13740,13617,13739 ,0,0,0}, - {25236,25115,25117 ,13743,13622,13624 ,0,0,0}, {25112,25233,25234 ,13619,13740,13741 ,0,0,0}, - {25123,25237,25121 ,13630,13744,13628 ,0,0,0}, {25119,25234,25235 ,13626,13741,13742 ,0,0,0}, - {25146,25238,25150 ,13653,13745,13657 ,0,0,0}, {25117,25235,25236 ,13624,13742,13743 ,0,0,0}, - {25146,25128,25121 ,13653,13635,13628 ,0,0,0}, {25115,25236,25165 ,13622,13743,13672 ,0,0,0}, - {25145,25126,25128 ,13652,13633,13635 ,0,0,0}, {25123,25165,25237 ,13630,13672,13744 ,0,0,0}, - {25133,25126,25239 ,13640,13633,13746 ,0,0,0}, {25237,25146,25121 ,13744,13653,13628 ,0,0,0}, - {25148,25135,25141 ,13655,13642,13648 ,0,0,0}, {25135,25148,25147 ,13642,13655,13654 ,0,0,0}, - {25133,25141,25132 ,13640,13648,13639 ,0,0,0}, {25126,25145,25239 ,13633,13652,13746 ,0,0,0}, - {25129,25140,25240 ,13636,13647,13747 ,0,0,0}, {25133,25148,25141 ,13640,13655,13648 ,0,0,0}, - {25134,25141,25135 ,13641,13648,13642 ,0,0,0}, {25241,25242,25129 ,13748,13749,13636 ,0,0,0}, - {25139,25140,25137 ,13646,13647,13644 ,0,0,0}, {25136,25240,25140 ,13643,13747,13647 ,0,0,0}, - {25130,25129,25242 ,13637,13636,13749 ,0,0,0}, {25199,25201,25192 ,13706,13708,13699 ,0,0,0}, - {25200,25188,25198 ,13707,13695,13705 ,0,0,0}, {25061,25243,25060 ,13568,13750,13567 ,0,0,0}, - {25201,25044,25190 ,13708,13551,13697 ,0,0,0}, {25199,25244,25201 ,13706,13751,13708 ,0,0,0}, - {25052,25046,25245 ,13559,13553,13752 ,0,0,0}, {25045,25044,25201 ,13552,13551,13708 ,0,0,0}, - {25202,25245,25246 ,13709,13752,13753 ,0,0,0}, {25046,25052,25044 ,13553,13559,13551 ,0,0,0}, - {25203,25246,25247 ,13710,13753,13754 ,0,0,0}, {25245,25202,25052 ,13752,13709,13559 ,0,0,0}, - {25204,25247,25248 ,13711,13754,13755 ,0,0,0}, {25246,25203,25202 ,13753,13710,13709 ,0,0,0}, - {25205,25248,25249 ,13712,13755,13756 ,0,0,0}, {25247,25204,25203 ,13754,13711,13710 ,0,0,0}, - {25206,25249,25250 ,13713,13756,13757 ,0,0,0}, {25248,25205,25204 ,13755,13712,13711 ,0,0,0}, - {25207,25250,25251 ,13714,13757,13758 ,0,0,0}, {25249,25206,25205 ,13756,13713,13712 ,0,0,0}, - {25074,25251,25208 ,13581,13758,13715 ,0,0,0}, {25207,25206,25250 ,13714,13713,13757 ,0,0,0}, - {25252,25253,25254 ,13759,13760,13761 ,0,0,0}, {25074,25207,25251 ,13581,13714,13758 ,0,0,0}, - {25211,25209,25252 ,13718,13716,13759 ,0,0,0}, {25210,25074,25208 ,13717,13581,13715 ,0,0,0}, - {25212,25252,25255 ,13719,13759,13762 ,0,0,0}, {25211,25210,25209 ,13718,13717,13716 ,0,0,0}, - {25213,25255,25256 ,13720,13762,13763 ,0,0,0}, {25252,25212,25211 ,13759,13719,13718 ,0,0,0}, - {25214,25256,25257 ,13721,13763,13764 ,0,0,0}, {25255,25213,25212 ,13762,13720,13719 ,0,0,0}, - {25215,25257,25258 ,13722,13764,13765 ,0,0,0}, {25256,25214,25213 ,13763,13721,13720 ,0,0,0}, - {25216,25258,25184 ,13723,13765,13691 ,0,0,0}, {25215,25214,25257 ,13722,13721,13764 ,0,0,0}, - {25259,25260,25261 ,13766,13767,13768 ,0,0,0}, {25216,25215,25258 ,13723,13722,13765 ,0,0,0}, - {25217,25182,25262 ,13724,13689,13769 ,0,0,0}, {25183,25216,25184 ,13690,13723,13691 ,0,0,0}, - {25218,25262,25263 ,13725,13769,13770 ,0,0,0}, {25182,25217,25183 ,13689,13724,13690 ,0,0,0}, - {25219,25263,25264 ,13726,13770,13771 ,0,0,0}, {25262,25218,25217 ,13769,13725,13724 ,0,0,0}, - {25220,25264,25265 ,13727,13771,13772 ,0,0,0}, {25263,25219,25218 ,13770,13726,13725 ,0,0,0}, - {25221,25265,25175 ,13728,13772,13682 ,0,0,0}, {25220,25219,25264 ,13727,13726,13771 ,0,0,0}, - {25266,25267,25268 ,13773,13774,13775 ,0,0,0}, {25221,25220,25265 ,13728,13727,13772 ,0,0,0}, - {25222,25176,25269 ,13729,13683,13776 ,0,0,0}, {25174,25221,25175 ,13681,13728,13682 ,0,0,0}, - {25223,25269,25270 ,13730,13776,13777 ,0,0,0}, {25222,25174,25176 ,13729,13681,13683 ,0,0,0}, - {25224,25270,25271 ,13731,13777,13778 ,0,0,0}, {25269,25223,25222 ,13776,13730,13729 ,0,0,0}, - {25225,25271,25272 ,13732,13778,13779 ,0,0,0}, {25270,25224,25223 ,13777,13731,13730 ,0,0,0}, - {25226,25272,25273 ,13733,13779,13780 ,0,0,0}, {25271,25225,25224 ,13778,13732,13731 ,0,0,0}, - {25169,25273,25274 ,13676,13780,13781 ,0,0,0}, {25226,25225,25272 ,13733,13732,13779 ,0,0,0}, - {25230,25274,25228 ,13737,13781,13735 ,0,0,0}, {25169,25226,25273 ,13676,13733,13780 ,0,0,0}, - {25231,25228,25275 ,13738,13735,13782 ,0,0,0}, {25230,25169,25274 ,13737,13676,13781 ,0,0,0}, - {25232,25275,25276 ,13739,13782,13783 ,0,0,0}, {25228,25231,25230 ,13735,13738,13737 ,0,0,0}, - {25233,25276,25277 ,13740,13783,13784 ,0,0,0}, {25275,25232,25231 ,13782,13739,13738 ,0,0,0}, - {25234,25277,25278 ,13741,13784,13785 ,0,0,0}, {25276,25233,25232 ,13783,13740,13739 ,0,0,0}, - {25235,25278,25279 ,13742,13785,13786 ,0,0,0}, {25277,25234,25233 ,13784,13741,13740 ,0,0,0}, - {25236,25279,25280 ,13743,13786,13787 ,0,0,0}, {25278,25235,25234 ,13785,13742,13741 ,0,0,0}, - {25165,25280,25281 ,13672,13787,13788 ,0,0,0}, {25279,25236,25235 ,13786,13743,13742 ,0,0,0}, - {25237,25281,25238 ,13744,13788,13745 ,0,0,0}, {25165,25236,25280 ,13672,13743,13787 ,0,0,0}, - {25282,25145,25150 ,13789,13652,13657 ,0,0,0}, {25237,25165,25281 ,13744,13672,13788 ,0,0,0}, - {25155,25151,25283 ,13662,13658,13790 ,0,0,0}, {25146,25237,25238 ,13653,13744,13745 ,0,0,0}, - {25282,25149,25239 ,13789,13656,13746 ,0,0,0}, {25142,25135,25147 ,13649,13642,13654 ,0,0,0}, - {25239,25148,25133 ,13746,13655,13640 ,0,0,0}, {25282,25239,25145 ,13789,13746,13652 ,0,0,0}, - {25155,25147,25149 ,13662,13654,13656 ,0,0,0}, {25239,25149,25148 ,13746,13656,13655 ,0,0,0}, - {25284,25240,25144 ,13791,13747,13651 ,0,0,0}, {25240,25241,25129 ,13747,13748,13636 ,0,0,0}, - {25134,25136,25140 ,13641,13643,13647 ,0,0,0}, {25136,25142,25144 ,13643,13649,13651 ,0,0,0}, - {25284,25241,25240 ,13791,13748,13747 ,0,0,0}, {25188,25244,25199 ,13695,13751,13706 ,0,0,0}, - {25056,25055,25189 ,13563,13562,13696 ,0,0,0}, {25059,25063,25285 ,13566,13570,13792 ,0,0,0}, - {25244,25045,25201 ,13751,13552,13708 ,0,0,0}, {25188,25286,25244 ,13695,13793,13751 ,0,0,0}, - {25287,25288,25289 ,13794,13795,13796 ,0,0,0}, {25057,25045,25244 ,13564,13552,13751 ,0,0,0}, - {25049,25287,25245 ,13556,13794,13752 ,0,0,0}, {25050,25046,25045 ,13557,13553,13552 ,0,0,0}, - {25287,25290,25246 ,13794,13797,13753 ,0,0,0}, {25049,25245,25046 ,13556,13752,13553 ,0,0,0}, - {25290,25291,25247 ,13797,13798,13754 ,0,0,0}, {25287,25246,25245 ,13794,13753,13752 ,0,0,0}, - {25291,25292,25248 ,13798,13799,13755 ,0,0,0}, {25290,25247,25246 ,13797,13754,13753 ,0,0,0}, - {25292,25293,25249 ,13799,13800,13756 ,0,0,0}, {25291,25248,25247 ,13798,13755,13754 ,0,0,0}, - {25293,25294,25250 ,13800,13801,13757 ,0,0,0}, {25292,25249,25248 ,13799,13756,13755 ,0,0,0}, - {25294,25295,25251 ,13801,13802,13758 ,0,0,0}, {25293,25250,25249 ,13800,13757,13756 ,0,0,0}, - {25295,25296,25208 ,13802,13803,13715 ,0,0,0}, {25294,25251,25250 ,13801,13758,13757 ,0,0,0}, - {25296,25253,25209 ,13803,13760,13716 ,0,0,0}, {25208,25251,25295 ,13715,13758,13802 ,0,0,0}, - {25297,25298,25299 ,13804,13805,13806 ,0,0,0}, {25209,25208,25296 ,13716,13715,13803 ,0,0,0}, - {25254,25297,25255 ,13761,13804,13762 ,0,0,0}, {25253,25252,25209 ,13760,13759,13716 ,0,0,0}, - {25297,25300,25256 ,13804,13807,13763 ,0,0,0}, {25254,25255,25252 ,13761,13762,13759 ,0,0,0}, - {25300,25301,25257 ,13807,13808,13764 ,0,0,0}, {25297,25256,25255 ,13804,13763,13762 ,0,0,0}, - {25301,25302,25258 ,13808,13809,13765 ,0,0,0}, {25300,25257,25256 ,13807,13764,13763 ,0,0,0}, - {25302,25303,25184 ,13809,13810,13691 ,0,0,0}, {25301,25258,25257 ,13808,13765,13764 ,0,0,0}, - {25182,25303,25304 ,13689,13810,13811 ,0,0,0}, {25184,25258,25302 ,13691,13765,13809 ,0,0,0}, - {25304,25259,25262 ,13811,13766,13769 ,0,0,0}, {25303,25182,25184 ,13810,13689,13691 ,0,0,0}, - {25259,25305,25263 ,13766,13812,13770 ,0,0,0}, {25304,25262,25182 ,13811,13769,13689 ,0,0,0}, - {25305,25306,25264 ,13812,13813,13771 ,0,0,0}, {25259,25263,25262 ,13766,13770,13769 ,0,0,0}, - {25306,25307,25265 ,13813,13814,13772 ,0,0,0}, {25305,25264,25263 ,13812,13771,13770 ,0,0,0}, - {25307,25308,25175 ,13814,13815,13682 ,0,0,0}, {25306,25265,25264 ,13813,13772,13771 ,0,0,0}, - {25308,25309,25176 ,13815,13816,13683 ,0,0,0}, {25175,25265,25307 ,13682,13772,13814 ,0,0,0}, - {25309,25266,25269 ,13816,13773,13776 ,0,0,0}, {25176,25175,25308 ,13683,13682,13815 ,0,0,0}, - {25266,25310,25270 ,13773,13817,13777 ,0,0,0}, {25309,25269,25176 ,13816,13776,13683 ,0,0,0}, - {25310,25311,25271 ,13817,13818,13778 ,0,0,0}, {25266,25270,25269 ,13773,13777,13776 ,0,0,0}, - {25311,25312,25272 ,13818,13819,13779 ,0,0,0}, {25310,25271,25270 ,13817,13778,13777 ,0,0,0}, - {25312,25313,25273 ,13819,13820,13780 ,0,0,0}, {25311,25272,25271 ,13818,13779,13778 ,0,0,0}, - {25313,25229,25274 ,13820,13736,13781 ,0,0,0}, {25273,25272,25312 ,13780,13779,13819 ,0,0,0}, - {25314,25315,25316 ,13821,13822,13823 ,0,0,0}, {25274,25273,25313 ,13781,13780,13820 ,0,0,0}, - {25227,25314,25275 ,13734,13821,13782 ,0,0,0}, {25229,25228,25274 ,13736,13735,13781 ,0,0,0}, - {25314,25317,25276 ,13821,13824,13783 ,0,0,0}, {25227,25275,25228 ,13734,13782,13735 ,0,0,0}, - {25317,25318,25277 ,13824,13825,13784 ,0,0,0}, {25314,25276,25275 ,13821,13783,13782 ,0,0,0}, - {25318,25319,25278 ,13825,13826,13785 ,0,0,0}, {25317,25277,25276 ,13824,13784,13783 ,0,0,0}, - {25319,25320,25279 ,13826,13827,13786 ,0,0,0}, {25318,25278,25277 ,13825,13785,13784 ,0,0,0}, - {25320,25321,25280 ,13827,13828,13787 ,0,0,0}, {25319,25279,25278 ,13826,13786,13785 ,0,0,0}, - {25321,25322,25281 ,13828,13829,13788 ,0,0,0}, {25320,25280,25279 ,13827,13787,13786 ,0,0,0}, - {25322,25323,25238 ,13829,13830,13745 ,0,0,0}, {25321,25281,25280 ,13828,13788,13787 ,0,0,0}, - {25323,25324,25150 ,13830,13831,13657 ,0,0,0}, {25322,25238,25281 ,13829,13745,13788 ,0,0,0}, - {25324,25154,25282 ,13831,13661,13789 ,0,0,0}, {25150,25238,25323 ,13657,13745,13830 ,0,0,0}, - {25325,25147,25155 ,13832,13654,13662 ,0,0,0}, {25150,25324,25282 ,13657,13831,13789 ,0,0,0}, - {25154,25151,25155 ,13661,13658,13662 ,0,0,0}, {25282,25154,25149 ,13789,13661,13656 ,0,0,0}, - {25326,25144,25143 ,13833,13651,13650 ,0,0,0}, {25136,25144,25240 ,13643,13651,13747 ,0,0,0}, - {25135,25142,25136 ,13642,13649,13643 ,0,0,0}, {25325,25143,25142 ,13832,13650,13649 ,0,0,0}, - {25284,25144,25326 ,13791,13651,13833 ,0,0,0}, {25286,25188,25055 ,13793,13695,13562 ,0,0,0}, - {25061,25054,25194 ,13568,13561,13701 ,0,0,0}, {25057,25327,25328 ,13564,13834,13835 ,0,0,0}, - {25286,25057,25244 ,13793,13564,13751 ,0,0,0}, {25329,25286,25055 ,13836,13793,13562 ,0,0,0}, - {25050,25328,25330 ,13557,13835,13837 ,0,0,0}, {25286,25327,25057 ,13793,13834,13564 ,0,0,0}, - {25049,25330,25288 ,13556,13837,13795 ,0,0,0}, {25328,25050,25057 ,13835,13557,13564 ,0,0,0}, - {25331,25290,25289 ,13838,13797,13796 ,0,0,0}, {25330,25049,25050 ,13837,13556,13557 ,0,0,0}, - {25332,25291,25331 ,13839,13798,13838 ,0,0,0}, {25288,25287,25049 ,13795,13794,13556 ,0,0,0}, - {25333,25334,25335 ,13840,13841,13842 ,0,0,0}, {25289,25290,25287 ,13796,13797,13794 ,0,0,0}, - {25332,25333,25292 ,13839,13840,13799 ,0,0,0}, {25331,25291,25290 ,13838,13798,13797 ,0,0,0}, - {25333,25336,25293 ,13840,13843,13800 ,0,0,0}, {25332,25292,25291 ,13839,13799,13798 ,0,0,0}, - {25336,25337,25294 ,13843,13844,13801 ,0,0,0}, {25333,25293,25292 ,13840,13800,13799 ,0,0,0}, - {25337,25338,25295 ,13844,13845,13802 ,0,0,0}, {25336,25294,25293 ,13843,13801,13800 ,0,0,0}, - {25338,25339,25296 ,13845,13846,13803 ,0,0,0}, {25337,25295,25294 ,13844,13802,13801 ,0,0,0}, - {25253,25339,25340 ,13760,13846,13847 ,0,0,0}, {25338,25296,25295 ,13845,13803,13802 ,0,0,0}, - {25254,25340,25298 ,13761,13847,13805 ,0,0,0}, {25339,25253,25296 ,13846,13760,13803 ,0,0,0}, - {25341,25342,25343 ,13848,13849,13850 ,0,0,0}, {25340,25254,25253 ,13847,13761,13760 ,0,0,0}, - {25299,25341,25300 ,13806,13848,13807 ,0,0,0}, {25298,25297,25254 ,13805,13804,13761 ,0,0,0}, - {25341,25344,25301 ,13848,13851,13808 ,0,0,0}, {25299,25300,25297 ,13806,13807,13804 ,0,0,0}, - {25344,25345,25302 ,13851,13852,13809 ,0,0,0}, {25341,25301,25300 ,13848,13808,13807 ,0,0,0}, - {25303,25345,25346 ,13810,13852,13853 ,0,0,0}, {25344,25302,25301 ,13851,13809,13808 ,0,0,0}, - {25304,25346,25260 ,13811,13853,13767 ,0,0,0}, {25303,25302,25345 ,13810,13809,13852 ,0,0,0}, - {25347,25348,25349 ,13854,13855,13856 ,0,0,0}, {25346,25304,25303 ,13853,13811,13810 ,0,0,0}, - {25261,25347,25305 ,13768,13854,13812 ,0,0,0}, {25260,25259,25304 ,13767,13766,13811 ,0,0,0}, - {25347,25350,25306 ,13854,13857,13813 ,0,0,0}, {25261,25305,25259 ,13768,13812,13766 ,0,0,0}, - {25350,25351,25307 ,13857,13858,13814 ,0,0,0}, {25347,25306,25305 ,13854,13813,13812 ,0,0,0}, - {25351,25352,25308 ,13858,13859,13815 ,0,0,0}, {25350,25307,25306 ,13857,13814,13813 ,0,0,0}, - {25309,25352,25267 ,13816,13859,13774 ,0,0,0}, {25308,25307,25351 ,13815,13814,13858 ,0,0,0}, - {25353,25354,25355 ,13860,13861,13862 ,0,0,0}, {25352,25309,25308 ,13859,13816,13815 ,0,0,0}, - {25268,25353,25310 ,13775,13860,13817 ,0,0,0}, {25267,25266,25309 ,13774,13773,13816 ,0,0,0}, - {25353,25356,25311 ,13860,13863,13818 ,0,0,0}, {25268,25310,25266 ,13775,13817,13773 ,0,0,0}, - {25356,25357,25312 ,13863,13864,13819 ,0,0,0}, {25353,25311,25310 ,13860,13818,13817 ,0,0,0}, - {25357,25358,25313 ,13864,13865,13820 ,0,0,0}, {25356,25312,25311 ,13863,13819,13818 ,0,0,0}, - {25229,25358,25359 ,13736,13865,13866 ,0,0,0}, {25357,25313,25312 ,13864,13820,13819 ,0,0,0}, - {25227,25359,25315 ,13734,13866,13822 ,0,0,0}, {25358,25229,25313 ,13865,13736,13820 ,0,0,0}, - {25360,25317,25316 ,13867,13824,13823 ,0,0,0}, {25359,25227,25229 ,13866,13734,13736 ,0,0,0}, - {25361,25362,25363 ,13868,13869,13870 ,0,0,0}, {25315,25314,25227 ,13822,13821,13734 ,0,0,0}, - {25360,25361,25318 ,13867,13868,13825 ,0,0,0}, {25316,25317,25314 ,13823,13824,13821 ,0,0,0}, - {25361,25364,25319 ,13868,13871,13826 ,0,0,0}, {25360,25318,25317 ,13867,13825,13824 ,0,0,0}, - {25364,25365,25320 ,13871,13872,13827 ,0,0,0}, {25361,25319,25318 ,13868,13826,13825 ,0,0,0}, - {25365,25366,25321 ,13872,13873,13828 ,0,0,0}, {25364,25320,25319 ,13871,13827,13826 ,0,0,0}, - {25366,25367,25322 ,13873,13874,13829 ,0,0,0}, {25365,25321,25320 ,13872,13828,13827 ,0,0,0}, - {25367,25368,25323 ,13874,13875,13830 ,0,0,0}, {25366,25322,25321 ,13873,13829,13828 ,0,0,0}, - {25368,25152,25324 ,13875,13659,13831 ,0,0,0}, {25367,25323,25322 ,13874,13830,13829 ,0,0,0}, - {25154,25152,25151 ,13661,13659,13658 ,0,0,0}, {25323,25368,25324 ,13830,13875,13831 ,0,0,0}, - {25369,25143,25325 ,13876,13650,13832 ,0,0,0}, {25154,25324,25152 ,13661,13831,13659 ,0,0,0}, - {25370,25143,25369 ,13877,13650,13876 ,0,0,0}, {25371,25326,25143 ,13878,13833,13650 ,0,0,0}, - {25147,25325,25142 ,13654,13832,13649 ,0,0,0}, {25283,25369,25325 ,13790,13876,13832 ,0,0,0}, - {25370,25371,25143 ,13877,13878,13650 ,0,0,0}, {25329,25055,25054 ,13836,13562,13561 ,0,0,0}, - {25058,25060,25243 ,13565,13567,13750 ,0,0,0}, {25327,25372,25373 ,13834,13879,13880 ,0,0,0}, - {25329,25327,25286 ,13836,13834,13793 ,0,0,0}, {25054,25374,25329 ,13561,13881,13836 ,0,0,0}, - {25328,25373,25375 ,13835,13880,13882 ,0,0,0}, {25329,25372,25327 ,13836,13879,13834 ,0,0,0}, - {25330,25375,25376 ,13837,13882,13883 ,0,0,0}, {25327,25373,25328 ,13834,13880,13835 ,0,0,0}, - {25288,25376,25377 ,13795,13883,13884 ,0,0,0}, {25328,25375,25330 ,13835,13882,13837 ,0,0,0}, - {25289,25377,25378 ,13796,13884,13885 ,0,0,0}, {25330,25376,25288 ,13837,13883,13795 ,0,0,0}, - {25331,25378,25379 ,13838,13885,13886 ,0,0,0}, {25288,25377,25289 ,13795,13884,13796 ,0,0,0}, - {25332,25379,25334 ,13839,13886,13841 ,0,0,0}, {25378,25331,25289 ,13885,13838,13796 ,0,0,0}, - {25380,25336,25335 ,13887,13843,13842 ,0,0,0}, {25379,25332,25331 ,13886,13839,13838 ,0,0,0}, - {25381,25382,25380 ,13888,13889,13887 ,0,0,0}, {25334,25333,25332 ,13841,13840,13839 ,0,0,0}, - {25380,25382,25337 ,13887,13889,13844 ,0,0,0}, {25335,25336,25333 ,13842,13843,13840 ,0,0,0}, - {25382,25383,25338 ,13889,13890,13845 ,0,0,0}, {25380,25337,25336 ,13887,13844,13843 ,0,0,0}, - {25339,25383,25384 ,13846,13890,13891 ,0,0,0}, {25382,25338,25337 ,13889,13845,13844 ,0,0,0}, - {25340,25384,25385 ,13847,13891,13892 ,0,0,0}, {25338,25383,25339 ,13845,13890,13846 ,0,0,0}, - {25298,25385,25386 ,13805,13892,13893 ,0,0,0}, {25339,25384,25340 ,13846,13891,13847 ,0,0,0}, - {25299,25386,25342 ,13806,13893,13849 ,0,0,0}, {25385,25298,25340 ,13892,13805,13847 ,0,0,0}, - {25387,25388,25343 ,13894,13895,13850 ,0,0,0}, {25386,25299,25298 ,13893,13806,13805 ,0,0,0}, - {25343,25388,25344 ,13850,13895,13851 ,0,0,0}, {25342,25341,25299 ,13849,13848,13806 ,0,0,0}, - {25388,25389,25345 ,13895,13896,13852 ,0,0,0}, {25343,25344,25341 ,13850,13851,13848 ,0,0,0}, - {25346,25389,25390 ,13853,13896,13897 ,0,0,0}, {25388,25345,25344 ,13895,13852,13851 ,0,0,0}, - {25260,25390,25391 ,13767,13897,13898 ,0,0,0}, {25345,25389,25346 ,13852,13896,13853 ,0,0,0}, - {25261,25391,25348 ,13768,13898,13855 ,0,0,0}, {25390,25260,25346 ,13897,13767,13853 ,0,0,0}, - {25392,25393,25349 ,13899,13900,13856 ,0,0,0}, {25391,25261,25260 ,13898,13768,13767 ,0,0,0}, - {25349,25393,25350 ,13856,13900,13857 ,0,0,0}, {25348,25347,25261 ,13855,13854,13768 ,0,0,0}, - {25393,25394,25351 ,13900,13901,13858 ,0,0,0}, {25349,25350,25347 ,13856,13857,13854 ,0,0,0}, - {25352,25394,25395 ,13859,13901,13902 ,0,0,0}, {25393,25351,25350 ,13900,13858,13857 ,0,0,0}, - {25267,25395,25396 ,13774,13902,13903 ,0,0,0}, {25351,25394,25352 ,13858,13901,13859 ,0,0,0}, - {25268,25396,25354 ,13775,13903,13861 ,0,0,0}, {25395,25267,25352 ,13902,13774,13859 ,0,0,0}, - {25397,25398,25355 ,13904,13905,13862 ,0,0,0}, {25396,25268,25267 ,13903,13775,13774 ,0,0,0}, - {25355,25398,25356 ,13862,13905,13863 ,0,0,0}, {25354,25353,25268 ,13861,13860,13775 ,0,0,0}, - {25398,25399,25357 ,13905,13906,13864 ,0,0,0}, {25355,25356,25353 ,13862,13863,13860 ,0,0,0}, - {25358,25399,25400 ,13865,13906,13907 ,0,0,0}, {25398,25357,25356 ,13905,13864,13863 ,0,0,0}, - {25359,25400,25401 ,13866,13907,13908 ,0,0,0}, {25357,25399,25358 ,13864,13906,13865 ,0,0,0}, - {25315,25401,25402 ,13822,13908,13909 ,0,0,0}, {25358,25400,25359 ,13865,13907,13866 ,0,0,0}, - {25316,25402,25403 ,13823,13909,13910 ,0,0,0}, {25359,25401,25315 ,13866,13908,13822 ,0,0,0}, - {25360,25403,25362 ,13867,13910,13869 ,0,0,0}, {25402,25316,25315 ,13909,13823,13822 ,0,0,0}, - {25404,25364,25363 ,13911,13871,13870 ,0,0,0}, {25403,25360,25316 ,13910,13867,13823 ,0,0,0}, - {25405,25406,25404 ,13912,13913,13911 ,0,0,0}, {25362,25361,25360 ,13869,13868,13867 ,0,0,0}, - {25404,25406,25365 ,13911,13913,13872 ,0,0,0}, {25363,25364,25361 ,13870,13871,13868 ,0,0,0}, - {25406,25407,25366 ,13913,13914,13873 ,0,0,0}, {25404,25365,25364 ,13911,13872,13871 ,0,0,0}, - {25407,25408,25367 ,13914,13915,13874 ,0,0,0}, {25406,25366,25365 ,13913,13873,13872 ,0,0,0}, - {25408,25409,25368 ,13915,13916,13875 ,0,0,0}, {25407,25367,25366 ,13914,13874,13873 ,0,0,0}, - {25152,25409,25153 ,13659,13916,13660 ,0,0,0}, {25408,25368,25367 ,13915,13875,13874 ,0,0,0}, - {25153,25410,25151 ,13660,13917,13658 ,0,0,0}, {25152,25368,25409 ,13659,13875,13916 ,0,0,0}, - {25411,25369,25159 ,13918,13876,13666 ,0,0,0}, {25411,25412,25369 ,13918,13919,13876 ,0,0,0}, - {25155,25283,25325 ,13662,13790,13832 ,0,0,0}, {25410,25159,25283 ,13917,13666,13790 ,0,0,0}, - {25370,25369,25412 ,13877,13876,13919 ,0,0,0}, {25060,25374,25054 ,13567,13881,13561 ,0,0,0}, - {25413,25059,25058 ,13920,13566,13565 ,0,0,0}, {25414,25372,25374 ,13921,13879,13881 ,0,0,0}, - {25374,25372,25329 ,13881,13879,13836 ,0,0,0}, {25374,25285,25414 ,13881,13792,13921 ,0,0,0}, - {25415,25373,25372 ,13922,13880,13879 ,0,0,0}, {25372,25414,25415 ,13879,13921,13922 ,0,0,0}, - {25416,25375,25373 ,13923,13882,13880 ,0,0,0}, {25373,25415,25416 ,13880,13922,13923 ,0,0,0}, - {25417,25376,25375 ,13924,13883,13882 ,0,0,0}, {25375,25416,25417 ,13882,13923,13924 ,0,0,0}, - {25418,25377,25376 ,13925,13884,13883 ,0,0,0}, {25376,25417,25418 ,13883,13924,13925 ,0,0,0}, - {25419,25378,25377 ,13926,13885,13884 ,0,0,0}, {25377,25418,25419 ,13884,13925,13926 ,0,0,0}, - {25420,25379,25378 ,13927,13886,13885 ,0,0,0}, {25378,25419,25420 ,13885,13926,13927 ,0,0,0}, - {25421,25334,25379 ,13928,13841,13886 ,0,0,0}, {25379,25420,25421 ,13886,13927,13928 ,0,0,0}, - {25422,25335,25334 ,13929,13842,13841 ,0,0,0}, {25334,25421,25422 ,13841,13928,13929 ,0,0,0}, - {25423,25380,25335 ,13930,13887,13842 ,0,0,0}, {25422,25423,25335 ,13929,13930,13842 ,0,0,0}, - {25424,25425,25426 ,13931,13932,13933 ,0,0,0}, {25423,25381,25380 ,13930,13888,13887 ,0,0,0}, - {25427,25383,25382 ,13934,13890,13889 ,0,0,0}, {25381,25427,25382 ,13888,13934,13889 ,0,0,0}, - {25428,25384,25383 ,13935,13891,13890 ,0,0,0}, {25383,25427,25428 ,13890,13934,13935 ,0,0,0}, - {25429,25385,25384 ,13936,13892,13891 ,0,0,0}, {25384,25428,25429 ,13891,13935,13936 ,0,0,0}, - {25430,25386,25385 ,13937,13893,13892 ,0,0,0}, {25385,25429,25430 ,13892,13936,13937 ,0,0,0}, - {25431,25342,25386 ,13938,13849,13893 ,0,0,0}, {25386,25430,25431 ,13893,13937,13938 ,0,0,0}, - 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{25445,25354,25396 ,13952,13861,13903 ,0,0,0}, {25396,25444,25445 ,13903,13951,13952 ,0,0,0}, - {25446,25355,25354 ,13953,13862,13861 ,0,0,0}, {25445,25446,25354 ,13952,13953,13861 ,0,0,0}, - {25398,25447,25399 ,13905,13954,13906 ,0,0,0}, {25446,25397,25355 ,13953,13904,13862 ,0,0,0}, - {25448,25449,25447 ,13955,13956,13954 ,0,0,0}, {25397,25447,25398 ,13904,13954,13905 ,0,0,0}, - {25449,25400,25399 ,13956,13907,13906 ,0,0,0}, {25399,25447,25449 ,13906,13954,13956 ,0,0,0}, - {25450,25401,25400 ,13957,13908,13907 ,0,0,0}, {25400,25449,25450 ,13907,13956,13957 ,0,0,0}, - {25451,25402,25401 ,13958,13909,13908 ,0,0,0}, {25401,25450,25451 ,13908,13957,13958 ,0,0,0}, - {25452,25403,25402 ,13959,13910,13909 ,0,0,0}, {25402,25451,25452 ,13909,13958,13959 ,0,0,0}, - {25453,25362,25403 ,13960,13869,13910 ,0,0,0}, {25403,25452,25453 ,13910,13959,13960 ,0,0,0}, - {25454,25363,25362 ,13961,13870,13869 ,0,0,0}, {25362,25453,25454 ,13869,13960,13961 ,0,0,0}, - {25455,25404,25363 ,13962,13911,13870 ,0,0,0}, {25454,25455,25363 ,13961,13962,13870 ,0,0,0}, - {25406,25456,25407 ,13913,13963,13914 ,0,0,0}, {25455,25405,25404 ,13962,13912,13911 ,0,0,0}, - {25407,25457,25408 ,13914,13964,13915 ,0,0,0}, {25405,25456,25406 ,13912,13963,13913 ,0,0,0}, - {25408,25458,25409 ,13915,13965,13916 ,0,0,0}, {25456,25457,25407 ,13963,13964,13914 ,0,0,0}, - {25409,25156,25153 ,13916,13663,13660 ,0,0,0}, {25457,25458,25408 ,13964,13965,13915 ,0,0,0}, - {25161,25160,25157 ,13668,13667,13664 ,0,0,0}, {25458,25156,25409 ,13965,13663,13916 ,0,0,0}, - {25157,25410,25153 ,13664,13917,13660 ,0,0,0}, {25283,25159,25369 ,13790,13666,13876 ,0,0,0}, - {25151,25410,25283 ,13658,13917,13790 ,0,0,0}, {25410,25157,25160 ,13917,13664,13667 ,0,0,0}, - {25411,25159,25158 ,13918,13666,13665 ,0,0,0}, {25059,25285,25060 ,13566,13792,13567 ,0,0,0}, - {25413,25066,25064 ,13920,13573,13571 ,0,0,0}, {25414,25285,25459 ,13921,13792,13966 ,0,0,0}, - {25060,25285,25374 ,13567,13792,13881 ,0,0,0}, {25285,25063,25459 ,13792,13570,13966 ,0,0,0}, - {25415,25414,25460 ,13922,13921,13967 ,0,0,0}, {25414,25459,25460 ,13921,13966,13967 ,0,0,0}, - 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{25429,25428,25470 ,13936,13935,13977 ,0,0,0}, {25428,25426,25470 ,13935,13933,13977 ,0,0,0}, - {25430,25429,25471 ,13937,13936,13978 ,0,0,0}, {25429,25470,25471 ,13936,13977,13978 ,0,0,0}, - {25431,25430,25472 ,13938,13937,13979 ,0,0,0}, {25430,25471,25472 ,13937,13978,13979 ,0,0,0}, - {25432,25431,25473 ,13939,13938,13980 ,0,0,0}, {25431,25472,25473 ,13938,13979,13980 ,0,0,0}, - {25387,25432,25474 ,13894,13939,13981 ,0,0,0}, {25432,25473,25474 ,13939,13980,13981 ,0,0,0}, - {25474,25475,25434 ,13981,13982,13941 ,0,0,0}, {25474,25434,25387 ,13981,13941,13894 ,0,0,0}, - {25435,25433,25476 ,13942,13940,13983 ,0,0,0}, {25433,25434,25476 ,13940,13941,13983 ,0,0,0}, - {25436,25435,25477 ,13943,13942,13984 ,0,0,0}, {25435,25476,25477 ,13942,13983,13984 ,0,0,0}, - {25437,25436,25478 ,13944,13943,13985 ,0,0,0}, {25436,25477,25478 ,13943,13984,13985 ,0,0,0}, - {25438,25437,25479 ,13945,13944,13986 ,0,0,0}, {25437,25478,25479 ,13944,13985,13986 ,0,0,0}, - {25392,25438,25480 ,13899,13945,13987 ,0,0,0}, {25438,25479,25480 ,13945,13986,13987 ,0,0,0}, - {25442,25392,25439 ,13949,13899,13946 ,0,0,0}, {25480,25439,25392 ,13987,13946,13899 ,0,0,0}, - {25443,25442,25441 ,13950,13949,13948 ,0,0,0}, {25442,25439,25441 ,13949,13946,13948 ,0,0,0}, - {25444,25443,25481 ,13951,13950,13988 ,0,0,0}, {25443,25441,25481 ,13950,13948,13988 ,0,0,0}, - {25445,25444,25482 ,13952,13951,13989 ,0,0,0}, {25444,25481,25482 ,13951,13988,13989 ,0,0,0}, - {25446,25445,25483 ,13953,13952,13990 ,0,0,0}, {25445,25482,25483 ,13952,13989,13990 ,0,0,0}, - {25397,25446,25484 ,13904,13953,13991 ,0,0,0}, {25446,25483,25484 ,13953,13990,13991 ,0,0,0}, - {25447,25397,25485 ,13954,13904,13992 ,0,0,0}, {25397,25484,25485 ,13904,13991,13992 ,0,0,0}, - {25448,25485,25486 ,13955,13992,13993 ,0,0,0}, {25485,25448,25447 ,13992,13955,13954 ,0,0,0}, - {25450,25449,25487 ,13957,13956,13994 ,0,0,0}, {25449,25448,25487 ,13956,13955,13994 ,0,0,0}, - {25451,25450,25488 ,13958,13957,13995 ,0,0,0}, {25450,25487,25488 ,13957,13994,13995 ,0,0,0}, - {25452,25451,25489 ,13959,13958,13996 ,0,0,0}, {25451,25488,25489 ,13958,13995,13996 ,0,0,0}, - {25453,25452,25490 ,13960,13959,13997 ,0,0,0}, {25452,25489,25490 ,13959,13996,13997 ,0,0,0}, - {25454,25453,25491 ,13961,13960,13998 ,0,0,0}, {25453,25490,25491 ,13960,13997,13998 ,0,0,0}, - {25455,25454,25492 ,13962,13961,13999 ,0,0,0}, {25454,25491,25492 ,13961,13998,13999 ,0,0,0}, - {25405,25455,25493 ,13912,13962,14000 ,0,0,0}, {25455,25492,25493 ,13962,13999,14000 ,0,0,0}, - {25456,25405,25494 ,13963,13912,14001 ,0,0,0}, {25405,25493,25494 ,13912,14000,14001 ,0,0,0}, - {25457,25456,25495 ,13964,13963,14002 ,0,0,0}, {25456,25494,25495 ,13963,14001,14002 ,0,0,0}, - {25458,25457,25496 ,13965,13964,14003 ,0,0,0}, {25457,25495,25496 ,13964,14002,14003 ,0,0,0}, - {25156,25458,25497 ,13663,13965,14004 ,0,0,0}, {25458,25496,25497 ,13965,14003,14004 ,0,0,0}, - {25498,25157,25156 ,14005,13664,13663 ,0,0,0}, {25498,25156,25497 ,14005,13663,14004 ,0,0,0}, - {25410,25160,25159 ,13917,13667,13666 ,0,0,0}, {25498,25161,25157 ,14005,13668,13664 ,0,0,0}, - {25158,25160,25163 ,13665,13667,13670 ,0,0,0}, {25064,25059,25413 ,13571,13566,13920 ,0,0,0}, - 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{25509,25510,25469 ,14016,14017,13976 ,0,0,0}, {25509,25469,25468 ,14016,13976,13975 ,0,0,0}, - {25510,25511,25424 ,14017,14018,13931 ,0,0,0}, {25510,25424,25469 ,14017,13931,13976 ,0,0,0}, - {25425,25424,25511 ,13932,13931,14018 ,0,0,0}, {25425,25512,25426 ,13932,14019,13933 ,0,0,0}, - {25426,25512,25470 ,13933,14019,13977 ,0,0,0}, {25512,25513,25470 ,14019,14020,13977 ,0,0,0}, - {25470,25513,25471 ,13977,14020,13978 ,0,0,0}, {25513,25514,25471 ,14020,14021,13978 ,0,0,0}, - {25514,25515,25472 ,14021,14022,13979 ,0,0,0}, {25514,25472,25471 ,14021,13979,13978 ,0,0,0}, - {25515,25516,25473 ,14022,14023,13980 ,0,0,0}, {25515,25473,25472 ,14022,13980,13979 ,0,0,0}, - {25516,25475,25474 ,14023,13982,13981 ,0,0,0}, {25516,25474,25473 ,14023,13981,13980 ,0,0,0}, - {25475,25517,25434 ,13982,14024,13941 ,0,0,0}, {25517,25518,25434 ,14024,14025,13941 ,0,0,0}, - {25434,25518,25476 ,13941,14025,13983 ,0,0,0}, {25518,25519,25476 ,14025,14026,13983 ,0,0,0}, - {25476,25519,25477 ,13983,14026,13984 ,0,0,0}, {25519,25520,25477 ,14026,14027,13984 ,0,0,0}, - 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{25542,25543,25498 ,14049,14050,14005 ,0,0,0}, {25542,25498,25497 ,14049,14005,14004 ,0,0,0}, - {25544,25498,25543 ,14051,14005,14050 ,0,0,0}, {25498,25544,25161 ,14005,14051,13668 ,0,0,0}, - {25161,25544,25164 ,13668,14051,13671 ,0,0,0}, {25545,25546,25547 ,14052,14053,14054 ,0,0,0}, - {25548,25549,25550 ,14055,14056,14057 ,0,0,0}, {25551,25552,25553 ,14058,14059,14060 ,0,0,0}, - {25554,25555,25551 ,14061,14062,14058 ,0,0,0}, {25556,25557,25558 ,14063,14064,14065 ,0,0,0}, - {25559,25560,25561 ,14066,14067,14068 ,0,0,0}, {25562,25563,25564 ,14069,14070,14071 ,0,0,0}, - {25565,25566,25559 ,14072,14073,14066 ,0,0,0}, {25567,25568,25569 ,14074,14075,14076 ,0,0,0}, - {25569,25564,25570 ,14076,14071,14077 ,0,0,0}, {25571,25567,25572 ,14078,14074,14079 ,0,0,0}, - {25568,25567,25573 ,14075,14074,14080 ,0,0,0}, {25554,25574,25575 ,14061,14081,14082 ,0,0,0}, - {25571,25576,25567 ,14078,14083,14074 ,0,0,0}, {25577,25578,25579 ,14084,14085,14086 ,0,0,0}, - {25578,25580,25547 ,14085,14087,14054 ,0,0,0}, {25581,25582,25579 ,14088,14089,14086 ,0,0,0}, - {25580,25578,25577 ,14087,14085,14084 ,0,0,0}, {25583,25584,25581 ,14090,14091,14088 ,0,0,0}, - {25579,25582,25577 ,14086,14089,14084 ,0,0,0}, {25585,25586,25549 ,14092,14093,14056 ,0,0,0}, - {25587,25588,25589 ,14094,14095,14096 ,0,0,0}, {25585,25590,25586 ,14092,14097,14093 ,0,0,0}, - {25591,25592,25593 ,14098,14099,14100 ,0,0,0}, {25588,25594,25589 ,14095,14101,14096 ,0,0,0}, - {25595,25596,25597 ,14102,14103,14104 ,0,0,0}, {25591,25593,25598 ,14098,14100,14105 ,0,0,0}, - {25599,25600,25601 ,14106,14107,14108 ,0,0,0}, {25600,25599,25602 ,14107,14106,14109 ,0,0,0}, - {25603,25604,25605 ,14110,14111,14112 ,0,0,0}, {25606,25607,25604 ,14113,14114,14111 ,0,0,0}, - {25608,25609,25610 ,14115,14116,14117 ,0,0,0}, {25603,25605,25611 ,14110,14112,14118 ,0,0,0}, - {25612,25613,25614 ,14119,14120,14121 ,0,0,0}, {25608,25610,25615 ,14115,14117,14122 ,0,0,0}, - {25616,25617,25618 ,14123,14124,14125 ,0,0,0}, {25619,25613,25612 ,14126,14120,14119 ,0,0,0}, - {25620,25621,25622 ,14127,14128,14129 ,0,0,0}, {25622,25618,25620 ,14129,14125,14127 ,0,0,0}, - {25623,25624,25625 ,14130,14131,14132 ,0,0,0}, {25626,25621,25627 ,14133,14128,14134 ,0,0,0}, - {25628,25629,25630 ,14135,14136,14137 ,0,0,0}, {25629,25628,25631 ,14136,14135,14138 ,0,0,0}, - {25632,25633,25634 ,14139,14140,14141 ,0,0,0}, {25630,25633,25635 ,14137,14140,14142 ,0,0,0}, - {25636,25637,25638 ,14143,14144,14145 ,0,0,0}, {25639,25640,25641 ,14146,14147,14148 ,0,0,0}, - {25642,25643,25644 ,14149,14150,14151 ,0,0,0}, {25643,25642,25645 ,14150,14149,14152 ,0,0,0}, - {25646,25647,25648 ,14153,14154,14155 ,0,0,0}, {25649,25650,25646 ,14156,14157,14153 ,0,0,0}, - {25647,25646,25650 ,14154,14153,14157 ,0,0,0}, {25647,25650,25636 ,14154,14157,14143 ,0,0,0}, - {25651,25652,25653 ,14158,14159,14160 ,0,0,0}, {25634,25638,25637 ,14141,14145,14144 ,0,0,0}, - {25654,25639,25641 ,14161,14146,14148 ,0,0,0}, {25640,25655,25641 ,14147,14162,14148 ,0,0,0}, - {25656,25657,25639 ,14163,14164,14146 ,0,0,0}, {25639,25658,25640 ,14146,14165,14147 ,0,0,0}, - {25659,25660,25661 ,14166,14167,14168 ,0,0,0}, {25058,25662,25663 ,14169,14170,14171 ,0,0,0}, - {25663,25664,25413 ,14171,14172,14173 ,0,0,0}, {25664,25066,25413 ,14172,14174,14173 ,0,0,0}, - {25067,25066,25665 ,730,14174,14175 ,0,0,0}, {25653,25633,25651 ,14160,14140,14158 ,0,0,0}, - {25644,25649,25646 ,14151,14156,14153 ,0,0,0}, {25634,25637,25632 ,14141,14144,14139 ,0,0,0}, - {25196,25645,25195 ,14176,14152,14177 ,0,0,0}, {25628,25630,25635 ,14135,14137,14142 ,0,0,0}, - {25633,25632,25635 ,14140,14139,14142 ,0,0,0}, {25623,25631,25624 ,14130,14138,14131 ,0,0,0}, - {25629,25631,25623 ,14136,14138,14130 ,0,0,0}, {25623,25666,25629 ,14130,14178,14136 ,0,0,0}, - {25624,25626,25625 ,14131,14133,14132 ,0,0,0}, {25627,25621,25620 ,14134,14128,14127 ,0,0,0}, - {25626,25627,25625 ,14133,14134,14132 ,0,0,0}, {25616,25618,25622 ,14123,14125,14129 ,0,0,0}, - {25612,25614,25667 ,14119,14121,14179 ,0,0,0}, {25668,25619,25669 ,14180,14126,14181 ,0,0,0}, - {25618,25617,25669 ,14125,14124,14181 ,0,0,0}, {25613,25619,25668 ,14120,14126,14180 ,0,0,0}, - {25617,25668,25669 ,14124,14180,14181 ,0,0,0}, {25667,25614,25615 ,14179,14121,14122 ,0,0,0}, - {25670,25612,25667 ,14182,14119,14179 ,0,0,0}, {25615,25610,25667 ,14122,14117,14179 ,0,0,0}, - {25611,25609,25671 ,14118,14116,14183 ,0,0,0}, {25608,25671,25609 ,14115,14183,14116 ,0,0,0}, - {25672,25611,25671 ,14184,14118,14183 ,0,0,0}, {25607,25605,25604 ,14114,14112,14111 ,0,0,0}, - {25603,25611,25672 ,14110,14118,14184 ,0,0,0}, {25606,25673,25607 ,14113,14185,14114 ,0,0,0}, - {25601,25600,25673 ,14108,14107,14185 ,0,0,0}, {25673,25606,25601 ,14185,14113,14108 ,0,0,0}, - {25602,25674,25597 ,14109,14186,14104 ,0,0,0}, {25675,25676,25677 ,14187,14188,14189 ,0,0,0}, - {25597,25674,25678 ,14104,14186,14190 ,0,0,0}, {25674,25602,25599 ,14186,14109,14106 ,0,0,0}, - {25679,25598,25596 ,14191,14105,14103 ,0,0,0}, {25595,25597,25678 ,14102,14104,14190 ,0,0,0}, - {25598,25679,25591 ,14105,14191,14098 ,0,0,0}, {25679,25596,25595 ,14191,14103,14102 ,0,0,0}, - {25590,25680,25681 ,14097,14192,14193 ,0,0,0}, {25592,25594,25682 ,14099,14101,14194 ,0,0,0}, - {25593,25592,25682 ,14100,14099,14194 ,0,0,0}, {25682,25594,25588 ,14194,14101,14095 ,0,0,0}, - {25683,25684,25685 ,14195,14196,14197 ,0,0,0}, {25680,25587,25589 ,14192,14094,14096 ,0,0,0}, - {25547,25580,25545 ,14054,14087,14052 ,0,0,0}, {25590,25587,25680 ,14097,14094,14192 ,0,0,0}, - {25590,25681,25586 ,14097,14193,14093 ,0,0,0}, {25549,25548,25585 ,14056,14055,14092 ,0,0,0}, - {25584,25583,25550 ,14091,14090,14057 ,0,0,0}, {25550,25583,25548 ,14057,14090,14055 ,0,0,0}, - {25686,25583,25581 ,14198,14090,14088 ,0,0,0}, {25584,25582,25581 ,14091,14089,14088 ,0,0,0}, - {25546,25575,25574 ,14053,14082,14081 ,0,0,0}, {25545,25575,25546 ,14052,14082,14053 ,0,0,0}, - {25555,25552,25551 ,14062,14059,14058 ,0,0,0}, {25554,25551,25574 ,14061,14058,14081 ,0,0,0}, - {25555,25687,25552 ,14062,14199,14059 ,0,0,0}, {25558,25688,25562 ,14065,14200,14069 ,0,0,0}, - {25689,25690,25687 ,14201,14202,14199 ,0,0,0}, {25556,25691,25692 ,14063,14203,14204 ,0,0,0}, - {25690,25693,25694 ,14202,14205,14206 ,0,0,0}, {25689,25693,25690 ,14201,14205,14202 ,0,0,0}, - {25690,25552,25687 ,14202,14059,14199 ,0,0,0}, {25694,25695,25696 ,14206,14207,14208 ,0,0,0}, - {25695,25694,25697 ,14207,14206,14209 ,0,0,0}, {25693,25697,25694 ,14205,14209,14206 ,0,0,0}, - {25692,25691,25696 ,14204,14203,14208 ,0,0,0}, {25698,25558,25557 ,14210,14065,14064 ,0,0,0}, - {25694,25696,25691 ,14206,14208,14203 ,0,0,0}, {25563,25562,25699 ,14070,14069,14211 ,0,0,0}, - {25694,25700,25690 ,14206,14212,14202 ,0,0,0}, {25701,25574,25551 ,14213,14081,14058 ,0,0,0}, - {25690,25561,25552 ,14202,14068,14059 ,0,0,0}, {25702,25546,25574 ,14214,14053,14081 ,0,0,0}, - {25553,25552,25561 ,14060,14059,14068 ,0,0,0}, {25703,25547,25546 ,14215,14054,14053 ,0,0,0}, - {25701,25551,25553 ,14213,14058,14060 ,0,0,0}, {25704,25578,25547 ,14216,14085,14054 ,0,0,0}, - {25702,25574,25701 ,14214,14081,14213 ,0,0,0}, {25705,25579,25578 ,14217,14086,14085 ,0,0,0}, - {25703,25546,25702 ,14215,14053,14214 ,0,0,0}, {25706,25581,25579 ,14218,14088,14086 ,0,0,0}, - {25547,25703,25704 ,14054,14215,14216 ,0,0,0}, {25707,25708,25709 ,14219,14220,14221 ,0,0,0}, - {25578,25704,25705 ,14085,14216,14217 ,0,0,0}, {25709,25548,25583 ,14221,14055,14090 ,0,0,0}, - {25579,25705,25706 ,14086,14217,14218 ,0,0,0}, {25710,25585,25548 ,14222,14092,14055 ,0,0,0}, - {25581,25706,25686 ,14088,14218,14198 ,0,0,0}, {25711,25590,25585 ,14223,14097,14092 ,0,0,0}, - {25583,25686,25709 ,14090,14198,14221 ,0,0,0}, {25712,25587,25590 ,14224,14094,14097 ,0,0,0}, - {25548,25709,25710 ,14055,14221,14222 ,0,0,0}, {25713,25588,25587 ,14225,14095,14094 ,0,0,0}, - {25711,25585,25710 ,14223,14092,14222 ,0,0,0}, {25714,25682,25588 ,14226,14194,14095 ,0,0,0}, - {25712,25590,25711 ,14224,14097,14223 ,0,0,0}, {25715,25593,25682 ,14227,14100,14194 ,0,0,0}, - {25587,25712,25713 ,14094,14224,14225 ,0,0,0}, {25684,25598,25593 ,14196,14105,14100 ,0,0,0}, - {25588,25713,25714 ,14095,14225,14226 ,0,0,0}, {25716,25596,25598 ,14228,14103,14105 ,0,0,0}, - {25682,25714,25715 ,14194,14226,14227 ,0,0,0}, {25717,25597,25596 ,14229,14104,14103 ,0,0,0}, - {25593,25715,25684 ,14100,14227,14196 ,0,0,0}, {25718,25602,25597 ,14230,14109,14104 ,0,0,0}, - {25716,25598,25684 ,14228,14105,14196 ,0,0,0}, {25719,25600,25602 ,14231,14107,14109 ,0,0,0}, - {25717,25596,25716 ,14229,14103,14228 ,0,0,0}, {25720,25673,25600 ,14232,14185,14107 ,0,0,0}, - {25597,25717,25718 ,14104,14229,14230 ,0,0,0}, {25607,25673,25675 ,14114,14185,14187 ,0,0,0}, - {25602,25718,25719 ,14109,14230,14231 ,0,0,0}, {25721,25605,25607 ,14233,14112,14114 ,0,0,0}, - {25600,25719,25720 ,14107,14231,14232 ,0,0,0}, {25722,25611,25605 ,14234,14118,14112 ,0,0,0}, - {25673,25720,25675 ,14185,14232,14187 ,0,0,0}, {25723,25609,25611 ,14235,14116,14118 ,0,0,0}, - {25721,25607,25675 ,14233,14114,14187 ,0,0,0}, {25724,25610,25609 ,14236,14117,14116 ,0,0,0}, - {25722,25605,25721 ,14234,14112,14233 ,0,0,0}, {25725,25667,25610 ,14237,14179,14117 ,0,0,0}, - {25611,25722,25723 ,14118,14234,14235 ,0,0,0}, {25726,25727,25728 ,14238,14239,14240 ,0,0,0}, - {25609,25723,25724 ,14116,14235,14236 ,0,0,0}, {25729,25619,25612 ,14241,14126,14119 ,0,0,0}, - {25610,25724,25725 ,14117,14236,14237 ,0,0,0}, {25730,25669,25619 ,14242,14181,14126 ,0,0,0}, - {25667,25725,25670 ,14179,14237,14182 ,0,0,0}, {25731,25618,25669 ,14243,14125,14181 ,0,0,0}, - {25612,25670,25729 ,14119,14182,14241 ,0,0,0}, {25732,25620,25618 ,14244,14127,14125 ,0,0,0}, - {25730,25619,25729 ,14242,14126,14241 ,0,0,0}, {25733,25627,25620 ,14245,14134,14127 ,0,0,0}, - {25731,25669,25730 ,14243,14181,14242 ,0,0,0}, {25734,25625,25627 ,14246,14132,14134 ,0,0,0}, - {25732,25618,25731 ,14244,14125,14243 ,0,0,0}, {25735,25623,25625 ,14247,14130,14132 ,0,0,0}, - {25620,25732,25733 ,14127,14244,14245 ,0,0,0}, {25629,25736,25630 ,14136,14248,14137 ,0,0,0}, - {25627,25733,25734 ,14134,14245,14246 ,0,0,0}, {25651,25737,25652 ,14158,14249,14159 ,0,0,0}, - {25625,25734,25735 ,14132,14246,14247 ,0,0,0}, {25651,25633,25630 ,14158,14140,14137 ,0,0,0}, - {25623,25735,25666 ,14130,14247,14178 ,0,0,0}, {25653,25634,25633 ,14160,14141,14140 ,0,0,0}, - {25629,25666,25736 ,14136,14178,14248 ,0,0,0}, {25638,25634,25738 ,14145,14141,14250 ,0,0,0}, - {25651,25630,25736 ,14158,14137,14248 ,0,0,0}, {25655,25648,25647 ,14162,14155,14154 ,0,0,0}, - {25739,25646,25648 ,14251,14153,14155 ,0,0,0}, {25638,25647,25636 ,14145,14154,14143 ,0,0,0}, - {25738,25634,25653 ,14250,14141,14160 ,0,0,0}, {25655,25640,25648 ,14162,14147,14155 ,0,0,0}, - {25647,25638,25655 ,14154,14145,14162 ,0,0,0}, {25644,25740,25642 ,14151,14252,14149 ,0,0,0}, - {25642,25195,25645 ,14149,14177,14152 ,0,0,0}, {25649,25644,25643 ,14156,14151,14150 ,0,0,0}, - {25644,25739,25740 ,14151,14251,14252 ,0,0,0}, {25197,25195,25642 ,14253,14177,14149 ,0,0,0}, - {25691,25700,25694 ,14203,14212,14206 ,0,0,0}, {25557,25556,25692 ,14064,14063,14204 ,0,0,0}, - {25741,25569,25568 ,14254,14076,14075 ,0,0,0}, {25700,25561,25690 ,14212,14068,14202 ,0,0,0}, - {25700,25691,25742 ,14212,14203,14255 ,0,0,0}, {25553,25560,25743 ,14060,14067,14256 ,0,0,0}, - {25559,25561,25700 ,14066,14068,14212 ,0,0,0}, {25701,25743,25744 ,14213,14256,14257 ,0,0,0}, - {25560,25553,25561 ,14067,14060,14068 ,0,0,0}, {25702,25744,25745 ,14214,14257,14258 ,0,0,0}, - {25743,25701,25553 ,14256,14213,14060 ,0,0,0}, {25703,25745,25746 ,14215,14258,14259 ,0,0,0}, - {25744,25702,25701 ,14257,14214,14213 ,0,0,0}, {25704,25746,25747 ,14216,14259,14260 ,0,0,0}, - 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{26448,26449,26450 ,15081,15082,15083 ,0,0,0}, {26451,26447,25507 ,15084,15080,15085 ,0,0,0}, - {25508,25507,26447 ,15079,15085,15080 ,0,0,0}, {26452,26451,25506 ,15086,15084,15087 ,0,0,0}, - {26452,25505,26453 ,15086,15088,15089 ,0,0,0}, {25506,25505,26452 ,15087,15088,15086 ,0,0,0}, - {26453,25505,25504 ,15089,15088,15090 ,0,0,0}, {25507,25506,26451 ,15085,15087,15084 ,0,0,0}, - {26445,25509,26446 ,15076,15075,15078 ,0,0,0}, {25503,25502,26454 ,15091,15092,15093 ,0,0,0}, - {25503,26455,25504 ,15091,15094,15090 ,0,0,0}, {25501,26456,25502 ,15095,15096,15092 ,0,0,0}, - {25503,26454,26455 ,15091,15093,15094 ,0,0,0}, {25501,25500,26457 ,15095,15097,15098 ,0,0,0}, - {26457,26456,25501 ,15098,15096,15095 ,0,0,0}, {26138,25196,25193 ,15099,13703,15100 ,0,0,0}, - {25502,26456,26454 ,15092,15096,15093 ,0,0,0}, {26457,25500,26458 ,15098,15097,15101 ,0,0,0}, - {26459,26138,25193 ,15102,15099,15100 ,0,0,0}, {26460,26461,26457 ,15103,15104,15098 ,0,0,0}, - {26462,26463,26464 ,15105,15106,15107 ,0,0,0}, {26465,26466,26467 ,15108,15109,15110 ,0,0,0}, - {26468,26469,26358 ,15111,15112,15113 ,0,0,0}, {26468,26132,26470 ,15111,15114,15115 ,0,0,0}, - {26458,25500,25499 ,15101,15097,15116 ,0,0,0}, {26459,25193,26464 ,15102,15100,15107 ,0,0,0}, - {26461,26471,26467 ,15104,15117,15110 ,0,0,0}, {26359,26469,26472 ,15118,15112,15119 ,0,0,0}, - {26473,26186,26474 ,15120,15121,15122 ,0,0,0}, {25062,26475,25499 ,15123,15124,15116 ,0,0,0}, - {26476,26265,26472 ,15125,15126,15119 ,0,0,0}, {26266,26265,26476 ,15127,15126,15125 ,0,0,0}, - {26359,26472,26220 ,15118,15119,15128 ,0,0,0}, {25067,26147,25065 ,13574,15129,15130 ,0,0,0}, - {25062,26473,26475 ,15123,15120,15124 ,0,0,0}, {26186,26473,26147 ,15121,15120,15129 ,0,0,0}, - {26473,25065,26147 ,15120,15130,15129 ,0,0,0}, {26471,26477,26467 ,15117,15131,15110 ,0,0,0}, - {26455,26453,25504 ,15094,15089,15090 ,0,0,0}, {26478,25515,26441 ,15132,15077,15067 ,0,0,0}, - {25516,26478,26479 ,15133,15132,15134 ,0,0,0}, {26478,25516,25515 ,15132,15133,15077 ,0,0,0}, - {26480,25475,26479 ,15135,15136,15134 ,0,0,0}, {25516,26479,25475 ,15133,15134,15136 ,0,0,0}, - 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{27357,27362,27353 ,16008,16013,16004 ,0,0,0}, {27363,27364,27365 ,16014,16015,16016 ,0,0,0}, - {27364,27366,27333 ,16015,16017,15986 ,0,0,0}, {27367,27368,27365 ,16018,16019,16016 ,0,0,0}, - {27366,27364,27363 ,16017,16015,16014 ,0,0,0}, {27369,27370,27367 ,16020,16021,16018 ,0,0,0}, - {27365,27368,27363 ,16016,16019,16014 ,0,0,0}, {27371,27372,27335 ,15508,16022,15551 ,0,0,0}, - {27373,27374,27375 ,16023,16024,15548 ,0,0,0}, {27371,27376,27372 ,15508,16025,16022 ,0,0,0}, - {27377,27378,27379 ,15545,15546,16026 ,0,0,0}, {27374,27380,27375 ,16024,16027,15548 ,0,0,0}, - {27381,27382,27383 ,16028,15465,16029 ,0,0,0}, {27377,27379,27384 ,15545,16026,16030 ,0,0,0}, - {27385,27386,27387 ,15541,16031,16032 ,0,0,0}, {27386,27385,27388 ,16031,15541,16033 ,0,0,0}, - {27389,27390,27391 ,15537,16034,16035 ,0,0,0}, {27392,27393,27390 ,16036,16037,16034 ,0,0,0}, - {27394,27395,27396 ,15535,15459,16038 ,0,0,0}, {27389,27391,27397 ,15537,16035,15457 ,0,0,0}, - {27398,27399,27400 ,16039,15532,15533 ,0,0,0}, {27394,27396,27401 ,15535,16038,15534 ,0,0,0}, - {27402,27403,27404 ,16040,16041,16042 ,0,0,0}, {27405,27399,27398 ,16043,15532,16039 ,0,0,0}, - {27406,27407,27408 ,16044,16045,16046 ,0,0,0}, {27408,27404,27406 ,16046,16042,16044 ,0,0,0}, - {27409,27410,27411 ,16047,16048,16049 ,0,0,0}, {27412,27407,27413 ,15527,16045,15491 ,0,0,0}, - {27414,27415,27416 ,16050,16051,16052 ,0,0,0}, {27415,27414,27417 ,16051,16050,16053 ,0,0,0}, - {27418,27419,27420 ,16054,16055,16056 ,0,0,0}, {27416,27419,27421 ,16052,16055,16057 ,0,0,0}, - {27422,27423,27424 ,15520,15521,16058 ,0,0,0}, {27425,27426,27427 ,16059,15392,16060 ,0,0,0}, - {27428,27429,27430 ,16061,16062,16063 ,0,0,0}, {27429,27428,27431 ,16062,16061,16064 ,0,0,0}, - {27432,27433,27434 ,16065,16066,16067 ,0,0,0}, {27435,27436,27432 ,16068,16069,16065 ,0,0,0}, - {27433,27432,27436 ,16066,16065,16069 ,0,0,0}, {27433,27436,27422 ,16066,16069,15520 ,0,0,0}, - {27437,27438,27439 ,16070,16071,16072 ,0,0,0}, {27420,27424,27423 ,16056,16058,15521 ,0,0,0}, - {27440,27425,27427 ,16073,16059,16060 ,0,0,0}, {27426,27441,27427 ,15392,16074,16060 ,0,0,0}, - {27442,27443,27425 ,16075,16076,16059 ,0,0,0}, {27425,27444,27426 ,16059,16077,15392 ,0,0,0}, - {27445,27446,27447 ,16078,16079,16080 ,0,0,0}, {26844,27448,27449 ,16081,16082,16083 ,0,0,0}, - {27449,27450,27199 ,16083,16084,16085 ,0,0,0}, {27450,26852,27199 ,16084,16086,16085 ,0,0,0}, - {26853,26852,27451 ,16087,16086,16088 ,0,0,0}, {27439,27419,27437 ,16072,16055,16070 ,0,0,0}, - {27430,27435,27432 ,16063,16068,16065 ,0,0,0}, {27420,27423,27418 ,16056,15521,16054 ,0,0,0}, - {26982,27431,26981 ,16089,16064,16090 ,0,0,0}, {27414,27416,27421 ,16050,16052,16057 ,0,0,0}, - {27419,27418,27421 ,16055,16054,16057 ,0,0,0}, {27409,27417,27410 ,16047,16053,16048 ,0,0,0}, - {27415,27417,27409 ,16051,16053,16047 ,0,0,0}, {27409,27452,27415 ,16047,16091,16051 ,0,0,0}, - {27410,27412,27411 ,16048,15527,16049 ,0,0,0}, {27413,27407,27406 ,15491,16045,16044 ,0,0,0}, - {27412,27413,27411 ,15527,15491,16049 ,0,0,0}, {27402,27404,27408 ,16040,16042,16046 ,0,0,0}, - {27398,27400,27453 ,16039,15533,16092 ,0,0,0}, {27454,27405,27455 ,15531,16043,16093 ,0,0,0}, - 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{30780,30781,30930 ,17728,17728,17856 ,0,0,0}, {30763,30897,30920 ,17629,17858,17859 ,0,0,0}, - {30922,30921,30892 ,17860,17861,17862 ,0,0,0}, {30919,30918,30894 ,17863,17864,17865 ,0,0,0}, - {30924,30890,30925 ,17866,17867,17868 ,0,0,0}, {30893,30889,30923 ,17869,17870,17871 ,0,0,0}, - {30891,30899,30926 ,17872,17873,17874 ,0,0,0}, {30891,30927,30896 ,17872,17875,17876 ,0,0,0}, - {30904,30888,30928 ,17877,17878,17879 ,0,0,0}, {30928,30929,30904 ,17879,17880,17877 ,0,0,0}, - {30931,30888,30898 ,17881,17878,17882 ,0,0,0}, {30888,30931,30928 ,17878,17881,17879 ,0,0,0}, - {30886,30930,30898 ,17883,17884,17882 ,0,0,0}, {30931,30898,30930 ,17881,17882,17884 ,0,0,0}, - {30886,30779,30780 ,17883,17644,17644 ,0,0,0}, {30780,30930,30886 ,17644,17884,17883 ,0,0,0}, - {30890,30924,30889 ,17867,17866,17870 ,0,0,0}, {30899,30929,30926 ,17873,17880,17874 ,0,0,0}, - {30904,30929,30899 ,17877,17880,17873 ,0,0,0}, {30892,30921,30895 ,17862,17861,17885 ,0,0,0}, - {30896,30927,30925 ,17876,17875,17868 ,0,0,0}, {30891,30926,30927 ,17872,17874,17875 ,0,0,0}, - 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{31397,31418,31493 ,17322,17330,18191 ,0,0,0}, {31494,31417,31390 ,18192,17328,17333 ,0,0,0}, - {31495,31427,31401 ,18193,18194,17304 ,0,0,0}, {31496,31497,31400 ,18195,18196,17325 ,0,0,0}, - {31498,31406,31499 ,18197,17314,18198 ,0,0,0}, {31408,31404,31500 ,17316,17318,18199 ,0,0,0}, - {31411,31498,31501 ,17311,18197,18200 ,0,0,0}, {31420,31412,31416 ,18201,17305,17302 ,0,0,0}, - {31416,31501,31420 ,17302,18200,18201 ,0,0,0}, {31412,31502,31413 ,17305,18202,17307 ,0,0,0}, - {31502,31412,31420 ,18202,17305,18201 ,0,0,0}, {31502,31503,31413 ,18202,18203,17307 ,0,0,0}, - {31307,31414,31503 ,18204,17309,18203 ,0,0,0}, {31413,31503,31414 ,17307,18203,17309 ,0,0,0}, - {31306,31414,31307 ,18205,17309,18204 ,0,0,0}, {31411,31407,31498 ,17311,17312,18197 ,0,0,0}, - {31416,31411,31501 ,17302,17311,18200 ,0,0,0}, {31406,31408,31499 ,17314,17316,18198 ,0,0,0}, - {31407,31406,31498 ,17312,17314,18197 ,0,0,0}, {31500,31404,31427 ,18199,17318,18194 ,0,0,0}, - {31499,31408,31500 ,18198,17316,18199 ,0,0,0}, {31401,31427,31405 ,17304,18194,10001 ,0,0,0}, - {31427,31404,31405 ,18194,17318,10001 ,0,0,0}, {31497,31495,31399 ,18196,18193,17321 ,0,0,0}, - {31495,31401,31399 ,18193,17304,17321 ,0,0,0}, {31398,31496,31400 ,17324,18195,17325 ,0,0,0}, - {31400,31497,31399 ,17325,18196,17321 ,0,0,0}, {31496,31397,31493 ,18195,17322,18191 ,0,0,0}, - {31397,31496,31398 ,17322,18195,17324 ,0,0,0}, {31418,31417,31425 ,17330,17328,18206 ,0,0,0}, - {31418,31425,31493 ,17330,18206,18191 ,0,0,0}, {31494,31390,31492 ,18192,17333,18190 ,0,0,0}, - {31425,31417,31494 ,18206,17328,18192 ,0,0,0}, {31281,31389,31282 ,18026,17331,126 ,0,0,0}, - {31492,31390,31389 ,18190,17333,17331 ,0,0,0}, {31424,31496,31493 ,730,17561,730 ,0,0,0}, - {31495,31424,31427 ,730,730,730 ,0,0,0}, {31496,31424,31497 ,17561,730,17561 ,0,0,0}, - {31424,31495,31497 ,730,730,17561 ,0,0,0}, {31493,31425,31424 ,730,7433,730 ,0,0,0}, - {31298,31419,31299 ,7376,17561,7376 ,0,0,0}, {31419,31503,31502 ,17561,17561,7433 ,0,0,0}, - {31419,31298,31304 ,17561,7376,730 ,0,0,0}, {31503,31419,31307 ,17561,17561,18207 ,0,0,0}, - {31419,31304,31307 ,17561,730,18207 ,0,0,0}, {31502,31420,31419 ,7433,7376,17561 ,0,0,0}, - {31285,31382,31270 ,7015,730,730 ,0,0,0}, {31382,31271,31270 ,730,11465,730 ,0,0,0}, - {31289,31382,31287 ,7532,730,7016 ,0,0,0}, {31382,31285,31287 ,730,7015,7016 ,0,0,0}, - {31273,31382,31289 ,18208,730,7532 ,0,0,0}, {31499,31421,31498 ,730,7433,17561 ,0,0,0}, - {31501,31498,31421 ,17561,17561,7433 ,0,0,0}, {31420,31501,31421 ,18207,17561,7433 ,0,0,0}, - {31500,31427,31421 ,18209,730,7433 ,0,0,0}, {31500,31421,31499 ,18209,7433,730 ,0,0,0}, - {31292,31291,31429 ,18207,730,9877 ,0,0,0}, {31273,31292,31429 ,18210,18207,9877 ,0,0,0}, - {31295,31301,31429 ,730,730,9877 ,0,0,0}, {31295,31429,31291 ,730,9877,730 ,0,0,0}, - {31299,31429,31301 ,730,9877,730 ,0,0,0}, {31425,31494,31380 ,730,730,730 ,0,0,0}, - {31380,31492,31281 ,730,730,730 ,0,0,0}, {31380,31494,31492 ,730,730,730 ,0,0,0}, - {31281,31279,31380 ,730,730,730 ,0,0,0}, {31380,31277,31271 ,730,730,730 ,0,0,0}, - {31279,31277,31380 ,730,730,730 ,0,0,0}, {31504,31505,31269 ,18211,18212,18213 ,0,0,0}, - {31269,31506,31504 ,18213,18214,18211 ,0,0,0}, {31269,31253,31506 ,18213,18215,18214 ,0,0,0}, - {31269,31507,31508 ,18213,18216,18217 ,0,0,0}, {31505,31507,31269 ,18212,18216,18213 ,0,0,0}, - {31269,31509,31510 ,18213,18218,18219 ,0,0,0}, {31508,31509,31269 ,18217,18218,18213 ,0,0,0}, - {31510,31511,31269 ,18219,18220,18213 ,0,0,0}, {31512,31269,31513 ,18221,18213,18222 ,0,0,0}, - {31269,31511,31513 ,18213,18220,18222 ,0,0,0}, {31514,31269,31515 ,18223,18213,18224 ,0,0,0}, - {31269,31512,31515 ,18213,18221,18224 ,0,0,0}, {31516,31269,31517 ,18225,18213,18226 ,0,0,0}, - {31269,31514,31517 ,18213,18223,18226 ,0,0,0}, {31268,31269,31516 ,18227,18213,18225 ,0,0,0}, - {160,31415,31506 ,3345,18228,18229 ,0,0,0}, {31508,31507,31402 ,18230,18231,18232 ,0,0,0}, - {31505,31504,31409 ,18233,18234,18235 ,0,0,0}, {31510,31386,31511 ,18236,18237,18238 ,0,0,0}, - {31387,31388,31509 ,18239,18240,18241 ,0,0,0}, {31396,31395,31512 ,18242,18243,18244 ,0,0,0}, - {31396,31513,31385 ,18242,18245,18246 ,0,0,0}, {31394,31393,31514 ,18247,18248,18249 ,0,0,0}, - {31514,31515,31394 ,18249,18250,18247 ,0,0,0}, {31517,31393,31391 ,18251,18248,18252 ,0,0,0}, - {31393,31517,31514 ,18248,18251,18249 ,0,0,0}, {31392,31516,31391 ,18253,18254,18252 ,0,0,0}, - {31517,31391,31516 ,18251,18252,18254 ,0,0,0}, {31392,174,31268 ,18253,18255,18256 ,0,0,0}, - {31268,31516,31392 ,18256,18254,18253 ,0,0,0}, {31386,31510,31388 ,18237,18236,18240 ,0,0,0}, - {31395,31515,31512 ,18243,18250,18244 ,0,0,0}, {31394,31515,31395 ,18247,18250,18243 ,0,0,0}, - {31402,31507,31410 ,18232,18231,18257 ,0,0,0}, {31385,31513,31511 ,18246,18245,18238 ,0,0,0}, - {31396,31512,31513 ,18242,18244,18245 ,0,0,0}, {31386,31385,31511 ,18237,18246,18238 ,0,0,0}, - {31509,31388,31510 ,18241,18240,18236 ,0,0,0}, {31508,31402,31387 ,18230,18232,18239 ,0,0,0}, - {31387,31509,31508 ,18239,18241,18230 ,0,0,0}, {31504,31415,31409 ,18234,18228,18235 ,0,0,0}, - {31410,31505,31409 ,18257,18233,18235 ,0,0,0}, {31507,31505,31410 ,18231,18233,18257 ,0,0,0}, - {160,31506,31253 ,3345,18229,126 ,0,0,0}, {31415,31504,31506 ,18228,18234,18229 ,0,0,0} -// Battery3.prt - , {31518,31519,31520 ,0,1,0 ,0,0,0}, {31521,31522,31523 ,2,2,3 ,0,0,0}, - {31521,31520,31522 ,2,0,2 ,0,0,0}, {31523,31522,31524 ,3,2,3 ,0,0,0}, - {31520,31521,31518 ,0,2,0 ,0,0,0}, {31525,31519,31518 ,1,1,0 ,0,0,0}, - {31526,31525,31527 ,4,1,4 ,0,0,0}, {31525,31526,31519 ,1,4,1 ,0,0,0}, - {31528,31529,31530 ,5,6,5 ,0,0,0}, {31531,31532,31533 ,7,7,8 ,0,0,0}, - {31531,31530,31532 ,7,5,7 ,0,0,0}, {31533,31532,31534 ,8,7,8 ,0,0,0}, - {31530,31531,31528 ,5,7,5 ,0,0,0}, {31535,31529,31528 ,9,6,5 ,0,0,0}, - {31536,31535,31537 ,10,9,11 ,0,0,0}, {31535,31536,31529 ,9,10,6 ,0,0,0}, - {31538,31539,31540 ,12,13,12 ,0,0,0}, {31541,31542,31543 ,14,14,15 ,0,0,0}, - {31541,31540,31542 ,14,12,14 ,0,0,0}, {31543,31542,31544 ,15,14,15 ,0,0,0}, - {31540,31541,31538 ,12,14,12 ,0,0,0}, {31545,31539,31538 ,13,13,12 ,0,0,0}, - {31546,31545,31547 ,16,13,16 ,0,0,0}, {31545,31546,31539 ,13,16,13 ,0,0,0}, - {31548,31549,31550 ,17,18,17 ,0,0,0}, {31551,31552,31553 ,19,19,20 ,0,0,0}, - {31551,31550,31552 ,19,17,19 ,0,0,0}, {31553,31552,31554 ,20,19,20 ,0,0,0}, - {31550,31551,31548 ,17,19,17 ,0,0,0}, {31555,31549,31548 ,18,18,17 ,0,0,0}, - {31556,31555,31557 ,21,18,21 ,0,0,0}, {31555,31556,31549 ,18,21,18 ,0,0,0}, - {31558,31559,31560 ,22,23,24 ,0,0,0}, {31561,31562,31563 ,25,26,27 ,0,0,0}, - {31564,31558,31560 ,28,22,24 ,0,0,0}, {31563,31562,31564 ,27,26,28 ,0,0,0}, - {31562,31561,31565 ,26,25,29 ,0,0,0}, {31560,31563,31564 ,24,27,28 ,0,0,0}, - {31566,31567,31568 ,30,31,32 ,0,0,0}, {31567,31569,31568 ,31,33,32 ,0,0,0}, - {31565,31570,31566 ,29,34,30 ,0,0,0}, {31567,31566,31570 ,31,30,34 ,0,0,0}, - {31571,31572,31573 ,35,36,37 ,0,0,0}, {31574,31575,31569 ,38,39,33 ,0,0,0}, - {31572,31575,31574 ,36,39,38 ,0,0,0}, {31572,31574,31573 ,36,38,37 ,0,0,0}, - {31573,31576,31571 ,37,40,35 ,0,0,0}, {31568,31569,31575 ,32,33,39 ,0,0,0}, - {31565,31561,31570 ,29,25,34 ,0,0,0}, {31558,31577,31559 ,22,41,23 ,0,0,0}, - {31578,31577,31579 ,42,41,43 ,0,0,0}, {31577,31578,31559 ,41,42,23 ,0,0,0}, - {31580,31581,31579 ,44,45,43 ,0,0,0}, {31578,31579,31581 ,42,43,45 ,0,0,0}, - {31580,31582,31583 ,44,46,47 ,0,0,0}, {31583,31581,31580 ,47,45,44 ,0,0,0}, - {31584,31582,31585 ,48,46,49 ,0,0,0}, {31582,31584,31583 ,46,48,47 ,0,0,0}, - {31586,31587,31585 ,50,51,49 ,0,0,0}, {31584,31585,31587 ,48,49,51 ,0,0,0}, - {31586,31588,31589 ,50,52,53 ,0,0,0}, {31589,31587,31586 ,53,51,50 ,0,0,0}, - {31590,31588,31591 ,54,52,54 ,0,0,0}, {31588,31590,31589 ,52,54,53 ,0,0,0}, - {31592,31593,31594 ,22,55,24 ,0,0,0}, {31595,31596,31597 ,56,57,58 ,0,0,0}, - {31598,31592,31594 ,59,22,24 ,0,0,0}, {31597,31596,31598 ,58,57,59 ,0,0,0}, - {31596,31595,31599 ,57,56,60 ,0,0,0}, {31594,31597,31598 ,24,58,59 ,0,0,0}, - {31600,31601,31602 ,61,62,63 ,0,0,0}, {31601,31603,31602 ,62,64,63 ,0,0,0}, - {31599,31604,31600 ,60,65,61 ,0,0,0}, {31601,31600,31604 ,62,61,65 ,0,0,0}, - {31605,31606,31607 ,66,67,68 ,0,0,0}, {31608,31609,31603 ,69,70,64 ,0,0,0}, - {31606,31609,31608 ,67,70,69 ,0,0,0}, {31606,31608,31607 ,67,69,68 ,0,0,0}, - {31607,31610,31605 ,68,66,66 ,0,0,0}, {31602,31603,31609 ,63,64,70 ,0,0,0}, - {31599,31595,31604 ,60,56,65 ,0,0,0}, {31592,31611,31593 ,22,71,55 ,0,0,0}, - {31612,31611,31613 ,72,71,43 ,0,0,0}, {31611,31612,31593 ,71,72,55 ,0,0,0}, - {31614,31615,31613 ,73,74,43 ,0,0,0}, {31612,31613,31615 ,72,43,74 ,0,0,0}, - {31614,31616,31617 ,73,46,75 ,0,0,0}, {31617,31615,31614 ,75,74,73 ,0,0,0}, - {31618,31616,31619 ,76,46,77 ,0,0,0}, {31616,31618,31617 ,46,76,75 ,0,0,0}, - {31620,31621,31619 ,50,78,77 ,0,0,0}, {31618,31619,31621 ,76,77,78 ,0,0,0}, - {31620,31622,31623 ,50,79,80 ,0,0,0}, {31623,31621,31620 ,80,78,50 ,0,0,0}, - {31624,31622,31625 ,81,79,82 ,0,0,0}, {31622,31624,31623 ,79,81,80 ,0,0,0}, - {31626,31627,31628 ,83,84,85 ,0,0,0}, {31629,31630,31631 ,86,87,88 ,0,0,0}, - {31632,31626,31628 ,89,83,85 ,0,0,0}, {31631,31630,31632 ,88,87,89 ,0,0,0}, - {31630,31629,31633 ,87,86,90 ,0,0,0}, {31628,31631,31632 ,85,88,89 ,0,0,0}, - {31634,31635,31636 ,91,92,93 ,0,0,0}, {31635,31637,31636 ,92,94,93 ,0,0,0}, - {31633,31638,31634 ,90,95,91 ,0,0,0}, {31635,31634,31638 ,92,91,95 ,0,0,0}, - {30497,31639,31640 ,96,97,98 ,0,0,0}, {31641,31642,31637 ,99,100,94 ,0,0,0}, - {31639,31642,31641 ,97,100,99 ,0,0,0}, {31639,31641,31640 ,97,99,98 ,0,0,0}, - {31640,31643,30497 ,98,101,96 ,0,0,0}, {31636,31637,31642 ,93,94,100 ,0,0,0}, - {31633,31629,31638 ,90,86,95 ,0,0,0}, {31626,31644,31627 ,83,102,84 ,0,0,0}, - {31645,31644,31646 ,103,102,104 ,0,0,0}, {31644,31645,31627 ,102,103,84 ,0,0,0}, - {31647,31648,31646 ,105,106,104 ,0,0,0}, {31645,31646,31648 ,103,104,106 ,0,0,0}, - {31647,31649,31650 ,105,107,108 ,0,0,0}, {31650,31648,31647 ,108,106,105 ,0,0,0}, - {31651,31649,31652 ,109,107,110 ,0,0,0}, {31649,31651,31650 ,107,109,108 ,0,0,0}, - {31653,31654,31652 ,111,112,110 ,0,0,0}, {31651,31652,31654 ,109,110,112 ,0,0,0}, - {31653,31655,31656 ,111,113,114 ,0,0,0}, {31656,31654,31653 ,114,112,111 ,0,0,0}, - {31657,31655,30481 ,54,113,54 ,0,0,0}, {31655,31657,31656 ,113,54,114 ,0,0,0}, - {31658,31659,31660 ,83,115,85 ,0,0,0}, {31661,31662,31663 ,116,117,118 ,0,0,0}, - {31664,31658,31660 ,119,83,85 ,0,0,0}, {31663,31662,31664 ,118,117,119 ,0,0,0}, - {31662,31661,31665 ,117,116,120 ,0,0,0}, {31660,31663,31664 ,85,118,119 ,0,0,0}, - {31666,31667,31668 ,121,122,123 ,0,0,0}, {31667,31669,31668 ,122,124,123 ,0,0,0}, - {31665,31670,31666 ,120,125,121 ,0,0,0}, {31667,31666,31670 ,122,121,125 ,0,0,0}, - {31323,31671,31672 ,126,127,128 ,0,0,0}, {31673,31674,31669 ,129,130,124 ,0,0,0}, - {31671,31674,31673 ,127,130,129 ,0,0,0}, {31671,31673,31672 ,127,129,128 ,0,0,0}, - {31672,31675,31323 ,128,35,126 ,0,0,0}, {31668,31669,31674 ,123,124,130 ,0,0,0}, - {31665,31661,31670 ,120,116,125 ,0,0,0}, {31658,31676,31659 ,83,131,115 ,0,0,0}, - {31677,31676,31678 ,132,131,133 ,0,0,0}, {31676,31677,31659 ,131,132,115 ,0,0,0}, - {31679,31680,31678 ,134,74,133 ,0,0,0}, {31677,31678,31680 ,132,133,74 ,0,0,0}, - {31679,31681,31682 ,134,135,108 ,0,0,0}, {31682,31680,31679 ,108,74,134 ,0,0,0}, - {31683,31681,31684 ,136,135,137 ,0,0,0}, {31681,31683,31682 ,135,136,108 ,0,0,0}, - {31685,31686,31684 ,138,139,137 ,0,0,0}, {31683,31684,31686 ,136,137,139 ,0,0,0}, - {31685,31687,31688 ,138,79,80 ,0,0,0}, {31688,31686,31685 ,80,139,138 ,0,0,0}, - {31689,31687,31339 ,140,79,140 ,0,0,0}, {31687,31689,31688 ,79,140,80 ,0,0,0}, - {31690,31691,31692 ,141,142,143 ,0,0,0}, {31693,31694,31695 ,144,145,146 ,0,0,0}, - {31696,31690,31692 ,147,141,143 ,0,0,0}, {31695,31694,31696 ,146,145,147 ,0,0,0}, - {31694,31693,31697 ,145,144,148 ,0,0,0}, {31692,31695,31696 ,143,146,147 ,0,0,0}, - {31698,31699,31700 ,149,150,151 ,0,0,0}, {31699,31701,31700 ,150,152,151 ,0,0,0}, - {31697,31702,31698 ,148,153,149 ,0,0,0}, {31699,31698,31702 ,150,149,153 ,0,0,0}, - {31703,31704,31705 ,126,154,155 ,0,0,0}, {31706,31707,31701 ,156,157,152 ,0,0,0}, - {31704,31707,31706 ,154,157,156 ,0,0,0}, {31704,31706,31705 ,154,156,155 ,0,0,0}, - {31705,31708,31703 ,155,35,126 ,0,0,0}, {31700,31701,31707 ,151,152,157 ,0,0,0}, - {31697,31693,31702 ,148,144,153 ,0,0,0}, {31690,31709,31691 ,141,158,142 ,0,0,0}, - {31710,31709,31711 ,159,158,160 ,0,0,0}, {31709,31710,31691 ,158,159,142 ,0,0,0}, - 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{34496,34498,34499 ,18771,18772,18773 ,0,0,0}, {34498,34496,34495 ,18772,18771,18770 ,0,0,0}, - {34499,34498,34500 ,18773,18772,18774 ,0,0,0}, {34501,34499,34500 ,18775,18773,18774 ,0,0,0}, - {34501,34502,34503 ,18775,18776,18777 ,0,0,0}, {34501,34500,34502 ,18775,18774,18776 ,0,0,0}, - {34497,34493,34494 ,18239,18768,18769 ,0,0,0}, {34504,34505,1297 ,18778,18751,126 ,0,0,0}, - {34504,1297,34503 ,18778,126,18777 ,0,0,0}, {34502,34504,34503 ,18776,18778,18777 ,0,0,0}, - {34491,34490,34506 ,18766,18765,18779 ,0,0,0}, {34507,34506,34508 ,18780,18779,18781 ,0,0,0}, - {34490,34508,34506 ,18765,18781,18779 ,0,0,0}, {34509,34510,34507 ,18782,18756,18780 ,0,0,0}, - {34507,34508,34509 ,18780,18781,18782 ,0,0,0}, {34510,34511,34512 ,18756,18783,18758 ,0,0,0}, - {34511,34510,34509 ,18783,18756,18782 ,0,0,0}, {34513,34512,34514 ,18784,18758,18785 ,0,0,0}, - {34511,34514,34512 ,18783,18785,18758 ,0,0,0}, {34515,34516,34513 ,18761,18786,18784 ,0,0,0}, - {34513,34514,34515 ,18784,18785,18761 ,0,0,0}, {34516,34517,34518 ,18786,18787,18763 ,0,0,0}, - 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{34538,34539,34540 ,18806,18781,18807 ,0,0,0}, {34541,34542,34543 ,18808,18809,18758 ,0,0,0}, - {34542,34541,34540 ,18809,18808,18807 ,0,0,0}, {34544,34543,34545 ,18810,18758,18811 ,0,0,0}, - {34542,34545,34543 ,18809,18811,18758 ,0,0,0}, {34546,34547,34544 ,18812,18813,18810 ,0,0,0}, - {34544,34545,34546 ,18810,18811,18812 ,0,0,0}, {34547,34548,34549 ,18813,18814,18763 ,0,0,0}, - {34548,34547,34546 ,18814,18813,18812 ,0,0,0}, {34548,34550,34549 ,18814,82,18763 ,0,0,0}, - {34551,34552,34553 ,18815,18816,18817 ,0,0,0}, {34551,34554,34555 ,18815,18818,18819 ,0,0,0}, - {34554,34556,34555 ,18818,18820,18819 ,0,0,0}, {34553,34554,34551 ,18817,18818,18815 ,0,0,0}, - {34557,34558,34559 ,18821,18822,18823 ,0,0,0}, {34556,34557,34559 ,18820,18821,18823 ,0,0,0}, - {34558,34560,34561 ,18822,18824,18825 ,0,0,0}, {34560,34558,34557 ,18824,18822,18821 ,0,0,0}, - {34561,34560,34562 ,18825,18824,18826 ,0,0,0}, {34563,34561,34562 ,18827,18825,18826 ,0,0,0}, - {34563,34564,34565 ,18827,18828,18829 ,0,0,0}, {34563,34562,34564 ,18827,18826,18828 ,0,0,0}, - {34559,34555,34556 ,18823,18819,18820 ,0,0,0}, {34566,34567,1263 ,18830,18804,126 ,0,0,0}, - {34566,1263,34565 ,18830,126,18829 ,0,0,0}, {34564,34566,34565 ,18828,18830,18829 ,0,0,0}, - {34553,34552,34568 ,18817,18816,18831 ,0,0,0}, {34569,34568,34570 ,18832,18831,18754 ,0,0,0}, - {34552,34570,34568 ,18816,18754,18831 ,0,0,0}, {34571,34572,34569 ,18833,18808,18832 ,0,0,0}, - {34569,34570,34571 ,18832,18754,18833 ,0,0,0}, {34572,34573,34574 ,18808,18834,18758 ,0,0,0}, - {34573,34572,34571 ,18834,18808,18833 ,0,0,0}, {34575,34574,34576 ,18835,18758,18836 ,0,0,0}, - {34573,34576,34574 ,18834,18836,18758 ,0,0,0}, {34577,34578,34575 ,18812,18837,18835 ,0,0,0}, - {34575,34576,34577 ,18835,18836,18812 ,0,0,0}, {34578,34579,34580 ,18837,18838,18763 ,0,0,0}, - {34579,34578,34577 ,18838,18837,18812 ,0,0,0}, {34579,2082,34580 ,18838,82,18763 ,0,0,0}, - {34581,34582,34583 ,18839,18840,18841 ,0,0,0}, {34581,34584,34585 ,18839,18842,18843 ,0,0,0}, - {34584,34586,34585 ,18842,18844,18843 ,0,0,0}, {34583,34584,34581 ,18841,18842,18839 ,0,0,0}, - 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d[0] = f[0]; - d[1] = f[1]; - d[2] = f[2]; - d[3] = alpha; - glMaterialfv(GL_FRONT_AND_BACK, mode, d); -} - -/* - * SelectMaterial uses OpenGL commands to define facet colors. - * - * Returns: - * Nothing - */ - -void SelectMaterial(int i) -{ -// -// Define the reflective properties of the 3D Object faces. -// - glEnd(); - GLfloat alpha = materials[i].alpha; - MyMaterial(GL_AMBIENT, materials[i].ambient, alpha); - MyMaterial(GL_DIFFUSE, materials[i].diffuse, alpha); - MyMaterial(GL_SPECULAR, materials[i].specular, alpha); - MyMaterial(GL_EMISSION, materials[i].emission, alpha); - glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, materials[i].phExp); - glBegin(GL_TRIANGLES); - -}; - -osg::ref_ptr PixhawkCheetahNode::mInstance; - -PixhawkCheetahNode::PixhawkCheetahNode() -{ - -} - -osg::ref_ptr -PixhawkCheetahNode::instance(void) -{ - if (!mInstance.valid()) - { - QColor color(255, 255, 255); - mInstance = create(color); - } - - return mInstance; -} - -osg::ref_ptr -PixhawkCheetahNode::create(const QColor& color) -{ - osg::ref_ptr pat(new osg::PositionAttitudeTransform); - pat->setScale(osg::Vec3(0.5f, 0.5f, 0.5f)); - - osg::ref_ptr geode(new osg::Geode()); - geode->setName("Pixhawk Bravo"); - osg::ref_ptr geometry(new osg::Geometry()); - geode->addDrawable(geometry); - - pat->addChild(geode); - - osg::ref_ptr osgVertices(new osg::Vec3Array); - osg::ref_ptr osgNormals(new osg::Vec3Array); - osg::ref_ptr osgTextures(new osg::Vec2Array); - - unsigned int numFaces = sizeof(face_indicies)/sizeof(face_indicies[0]); - for (unsigned int i = 0; i < numFaces; ++i) - { - osg::ref_ptr face( - new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES, 0)); - - for (int j = 0; j < 3; ++j) - { - int vi = face_indicies[i][j]; // Vertice index - int ni = face_indicies[i][j + 3]; // Normal index - int ti = face_indicies[i][j + 6]; // Texture index - - osgVertices->push_back(osg::Vec3(vertices[vi][0], - vertices[vi][1], - vertices[vi][2])); - - osgNormals->push_back(osg::Vec3(normals[ni][0], - normals[ni][1], - normals[ni][2])); - - osgTextures->push_back(osg::Vec2(textures[ti][0], - textures[ti][1])); - - face->push_back(i * 3 + j); - } - - geometry->addPrimitiveSet(face); - } - - geometry->setVertexArray(osgVertices); - geometry->setNormalArray(osgNormals); - geometry->setTexCoordArray(0, osgTextures); - - osg::ref_ptr colors(new osg::Vec4Array); - colors->push_back(osg::Vec4(color.redF(), color.greenF(), color.blueF(), 1.0f)); - - geometry->setColorArray(colors); - geometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - return pat; -}; diff --git a/src/ui/map3D/PixhawkCheetahNode.h b/src/ui/map3D/PixhawkCheetahNode.h deleted file mode 100644 index be01fdda7f5164caf1fb7849d72fb682cfaff3d2..0000000000000000000000000000000000000000 --- a/src/ui/map3D/PixhawkCheetahNode.h +++ /dev/null @@ -1,70 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class PixhawkCheetahNode. - * - * @author Lionel Heng - * - */ - -#ifndef PIXHAWKCHEETAHNODE_H_ -#define PIXHAWKCHEETAHNODE_H_ - -#include -#include - -/** - * @brief The PixhawkCheetahNode class. - * Generates an OpenSceneGraph node which renders a Pixhawk Cheetah MAV. - **/ - -class PixhawkCheetahNode -{ -public: - /** - * Constructor. - */ - PixhawkCheetahNode(); - - /** - * Get a single instance of the node. - */ - static osg::ref_ptr instance(void); - - /** - * @brief Creates an OpenSceneGraph node which renders a Pixhawk Cheetah MAV. - * @param red Red intensity of the MAV model. - * @param green Green intensity of the MAV model. - * @param blue Blue intensity of the MAV model. - * - * @return A smart pointer to the node. - **/ - static osg::ref_ptr create(const QColor& color); - -private: - static osg::ref_ptr mInstance; -}; - -#endif diff --git a/src/ui/map3D/Q3DWidget.cc b/src/ui/map3D/Q3DWidget.cc deleted file mode 100644 index 2d2c9e173bb21f6183186a428884af1e92816aae..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Q3DWidget.cc +++ /dev/null @@ -1,742 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Q3DWidget. - * - * @author Lionel Heng - * - */ - -#include "Q3DWidget.h" -#include "QGC.h" - -#include -#include -#include -#ifdef Q_OS_MACX -#include -#endif - -Q3DWidget::Q3DWidget(QWidget* parent) - : QGLWidget(parent) - , mHandleDeviceEvents(true) - , mRoot(new osg::Group()) - , mHudGroup(new osg::Switch()) - , mHudProjectionMatrix(new osg::Projection) - , mFps(30.0f) -{ - mFont = NULL; - - mOsgGW = new osgViewer::GraphicsWindowEmbedded(0, 0, width(), height()); - - setThreadingModel(osgViewer::Viewer::CullDrawThreadPerContext); - - setMouseTracking(true); -} - -Q3DWidget::~Q3DWidget() -{ - -} - -void -Q3DWidget::init(float fps) -{ - mFps = fps; - - getCamera()->setGraphicsContext(mOsgGW); - - // manually specify near and far clip planes - getCamera()->setComputeNearFarMode(osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR); - - setLightingMode(osg::View::SKY_LIGHT); - - setSceneData(mRoot); - - mWorldMap = new osg::Switch; - mRoot->addChild(mWorldMap); - - // set up HUD - mRoot->addChild(createHUD()); - - // set up camera control - mCameraManipulator = new GCManipulator(); - setCameraManipulator(mCameraManipulator); - mCameraManipulator->setMinZoomRange(mCameraParams.minZoomRange()); - mCameraManipulator->setDistance(mCameraParams.minZoomRange() * 2.0); - - connect(&mTimer, SIGNAL(timeout()), this, SLOT(redraw())); - // DO NOT START TIMER IN INITIALIZATION! IT IS STARTED IN THE SHOW EVENT -} - -void -Q3DWidget::setCameraParams(float minZoomRange, float cameraFov, - float minClipRange, float maxClipRange) -{ - mCameraParams.minZoomRange() = minZoomRange; - mCameraParams.fov() = cameraFov; - mCameraParams.minClipRange() = minClipRange; - mCameraParams.maxClipRange() = maxClipRange; -} - -void -Q3DWidget::moveCamera(double dx, double dy, double dz) -{ - mCameraManipulator->move(dx, dy, dz); -} - -void -Q3DWidget::recenterCamera(double x, double y, double z) -{ - mCameraManipulator->setCenter(osg::Vec3d(x, y, z)); -} - -void -Q3DWidget::rotateCamera(double roll, double pitch, double yaw) -{ - osg::Quat q(-yaw, osg::Vec3d(0.0f, 0.0f, 1.0f), - pitch, osg::Vec3d(1.0f, 0.0f, 0.0f), - roll, osg::Vec3d(0.0f, 1.0f, 0.0f)); - - mCameraManipulator->setRotation(q); -} - -void -Q3DWidget::setCameraDistance(double distance) -{ - mCameraManipulator->setDistance(distance); -} - -void -Q3DWidget::setDisplayMode3D(void) -{ - double aspect = static_cast(width()) - / static_cast(height()); - - getCamera()->setViewport(new osg::Viewport(0, 0, width(), height())); - getCamera()->setProjectionMatrixAsPerspective(mCameraParams.fov(), - aspect, - mCameraParams.minClipRange(), - mCameraParams.maxClipRange()); -} - -osg::ref_ptr& -Q3DWidget::hudGroup(void) -{ - return mHudGroup; -} - -QPoint -Q3DWidget::mouseCursorCoords(void) -{ - return mapFromGlobal(cursor().pos()); -} - -QPointF -Q3DWidget::worldCursorPosition(const QPoint& cursorPos, double worldZ) const -{ - osgUtil::LineSegmentIntersector::Intersections intersections; - - // normalize cursor position to value between -1 and 1 - double x = -1.0f + static_cast(2 * cursorPos.x()) - / static_cast(width()); - double y = -1.0f + static_cast(2 * (height() - cursorPos.y())) - / static_cast(height()); - - // compute matrix which transforms screen coordinates to world coordinates - osg::Matrixd m = getCamera()->getViewMatrix() - * getCamera()->getProjectionMatrix(); - osg::Matrixd invM = osg::Matrixd::inverse(m); - - osg::Vec3d nearPoint = osg::Vec3d(x, y, -1.0) * invM; - osg::Vec3d farPoint = osg::Vec3d(x, y, 1.0) * invM; - - osg::ref_ptr line = - new osg::LineSegment(nearPoint, farPoint); - - osg::Plane p(osg::Vec3d(0.0, 0.0, 1.0), osg::Vec3d(0.0, 0.0, worldZ)); - - osg::Vec3d projectedPoint; - planeLineIntersection(p.asVec4(), *line, projectedPoint); - - return QPointF(projectedPoint.y(), projectedPoint.x()); -} - -CameraParams& -Q3DWidget::cameraParams(void) -{ - return mCameraParams; -} - -osg::ref_ptr& -Q3DWidget::cameraManipulator(void) -{ - return mCameraManipulator; -} - -osg::ref_ptr& -Q3DWidget::font(void) -{ - return mFont; -} - -osg::ref_ptr& -Q3DWidget::worldMap(void) -{ - return mWorldMap; -} - -osg::ref_ptr& -Q3DWidget::systemGroup(int systemId) -{ - if (!mSystemGroups.contains(systemId)) - { - osg::ref_ptr newSystem = new SystemGroupNode; - mRoot->addChild(newSystem); - - mSystemGroups.insert(systemId, newSystem); - } - - return mSystemGroups[systemId]; -} - -bool& -Q3DWidget::handleDeviceEvents(void) -{ - return mHandleDeviceEvents; -} - -void -Q3DWidget::handleKeyPressEvent(QKeyEvent* event) -{ - if (event->isAccepted()) - { - return; - } - - if (event->text().isEmpty()) - { - mOsgGW->getEventQueue()->keyPress(convertKey(event->key())); - } - else - { - mOsgGW->getEventQueue()->keyPress( - static_cast( - *(event->text().toLatin1().data()))); - } -} - -void -Q3DWidget::handleKeyReleaseEvent(QKeyEvent* event) -{ - if (event->isAccepted()) - { - return; - } - - if (event->text().isEmpty()) - { - mOsgGW->getEventQueue()->keyRelease(convertKey(event->key())); - } - else - { - mOsgGW->getEventQueue()->keyRelease( - static_cast( - *(event->text().toLatin1().data()))); - } -} - -void -Q3DWidget::handleMousePressEvent(QMouseEvent* event) -{ - if (event->isAccepted()) - { - return; - } - - int button = 0; - switch (event->button()) - { - case Qt::LeftButton: - button = 1; - break; - case Qt::MidButton: - button = 2; - break; - case Qt::RightButton: - button = 3; - break; - case Qt::NoButton: - button = 0; - break; - default: - {} - } - mOsgGW->getEventQueue()->mouseButtonPress(event->x(), event->y(), button); -} - -void -Q3DWidget::handleMouseReleaseEvent(QMouseEvent* event) -{ - if (event->isAccepted()) - { - return; - } - - int button = 0; - switch (event->button()) - { - case Qt::LeftButton: - button = 1; - break; - case Qt::MidButton: - button = 2; - break; - case Qt::RightButton: - button = 3; - break; - case Qt::NoButton: - button = 0; - break; - default: - {} - } - mOsgGW->getEventQueue()->mouseButtonRelease(event->x(), event->y(), button); -} - -void -Q3DWidget::handleMouseMoveEvent(QMouseEvent* event) -{ - if (event->isAccepted()) - { - return; - } - - mOsgGW->getEventQueue()->mouseMotion(event->x(), event->y()); -} - -void -Q3DWidget::handleWheelEvent(QWheelEvent* event) -{ - if (event->isAccepted()) - { - return; - } - - mOsgGW->getEventQueue()->mouseScroll((event->delta() > 0) ? - osgGA::GUIEventAdapter::SCROLL_UP : - osgGA::GUIEventAdapter::SCROLL_DOWN); -} - -void -Q3DWidget::redraw(void) -{ - emit update(); - emit updateWidget(); -#if (QGC_EVENTLOOP_DEBUG) - qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; -#endif - updateGL(); -} - -void -Q3DWidget::resizeGL(int width, int height) -{ - mHudProjectionMatrix->setMatrix(osg::Matrix::ortho(0.0, width, - 0.0, height, - -10.0, 10.0)); - - mOsgGW->getEventQueue()->windowResize(0, 0, width, height); - mOsgGW->resized(0 , 0, width, height); - - emit sizeChanged(width, height); -} - -void -Q3DWidget::keyPressEvent(QKeyEvent* event) -{ - QWidget::keyPressEvent(event); - - if (mHandleDeviceEvents) - { - handleKeyPressEvent(event); - } - else - { - event->ignore(); - } -} - -void -Q3DWidget::keyReleaseEvent(QKeyEvent* event) -{ - QWidget::keyReleaseEvent(event); - - if (mHandleDeviceEvents) - { - handleKeyReleaseEvent(event); - } - else - { - event->ignore(); - } -} - -void -Q3DWidget::mousePressEvent(QMouseEvent* event) -{ - QWidget::mousePressEvent(event); - - if (mHandleDeviceEvents) - { - handleMousePressEvent(event); - } - else - { - event->ignore(); - } -} - -void -Q3DWidget::mouseReleaseEvent(QMouseEvent* event) -{ - QWidget::mouseReleaseEvent(event); - - if (mHandleDeviceEvents) - { - handleMouseReleaseEvent(event); - } - else - { - event->ignore(); - } -} - -void -Q3DWidget::mouseMoveEvent(QMouseEvent* event) -{ - QWidget::mouseMoveEvent(event); - - if (mHandleDeviceEvents) - { - handleMouseMoveEvent(event); - } - else - { - event->ignore(); - } -} - -void -Q3DWidget::wheelEvent(QWheelEvent* event) -{ - QWidget::wheelEvent(event); - - if (mHandleDeviceEvents) - { - handleWheelEvent(event); - } - else - { - event->ignore(); - } -} - -void -Q3DWidget::showEvent(QShowEvent* event) -{ - // React only to internal (pre/post-display) - // events - Q_UNUSED(event) - mTimer.start(static_cast(floorf(1000.0f / mFps))); -} - -void -Q3DWidget::hideEvent(QHideEvent* event) -{ - // React only to internal (pre/post-display) - // events - Q_UNUSED(event) - mTimer.stop(); -} - -osg::ref_ptr -Q3DWidget::createHUD(void) -{ - mHudProjectionMatrix->setMatrix(osg::Matrix::ortho(0.0, width(), - 0.0, height(), - -10.0, 10.0)); - - osg::ref_ptr hudModelViewMatrix( - new osg::MatrixTransform); - hudModelViewMatrix->setMatrix(osg::Matrix::identity()); - hudModelViewMatrix->setReferenceFrame(osg::Transform::ABSOLUTE_RF); - - mHudProjectionMatrix->addChild(hudModelViewMatrix); - hudModelViewMatrix->addChild(mHudGroup); - - osg::ref_ptr hudStateSet(new osg::StateSet); - mHudGroup->setStateSet(hudStateSet); - hudStateSet->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF); - hudStateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - hudStateSet->setMode(GL_BLEND, osg::StateAttribute::ON); - hudStateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN); - hudStateSet->setRenderBinDetails(11, "RenderBin"); - - return mHudProjectionMatrix; -} - -void -Q3DWidget::paintGL(void) -{ - setDisplayMode3D(); - - getCamera()->setClearColor(osg::Vec4f(0.0f, 0.0f, 0.0f, 0.0f)); - getCamera()->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - frame(); -} - -osgGA::GUIEventAdapter::KeySymbol -Q3DWidget::convertKey(int key) const -{ - switch (key) - { - case Qt::Key_Space : - return osgGA::GUIEventAdapter::KEY_Space; - case Qt::Key_Backspace : - return osgGA::GUIEventAdapter::KEY_BackSpace; - case Qt::Key_Tab : - return osgGA::GUIEventAdapter::KEY_Tab; - case Qt::Key_Clear : - return osgGA::GUIEventAdapter::KEY_Clear; - case Qt::Key_Return : - return osgGA::GUIEventAdapter::KEY_Return; - case Qt::Key_Enter : - return osgGA::GUIEventAdapter::KEY_KP_Enter; - case Qt::Key_Pause : - return osgGA::GUIEventAdapter::KEY_Pause; - case Qt::Key_ScrollLock : - return osgGA::GUIEventAdapter::KEY_Scroll_Lock; - case Qt::Key_SysReq : - return osgGA::GUIEventAdapter::KEY_Sys_Req; - case Qt::Key_Escape : - return osgGA::GUIEventAdapter::KEY_Escape; - case Qt::Key_Delete : - return osgGA::GUIEventAdapter::KEY_Delete; - case Qt::Key_Home : - return osgGA::GUIEventAdapter::KEY_Home; - case Qt::Key_Left : - return osgGA::GUIEventAdapter::KEY_Left; - case Qt::Key_Up : - return osgGA::GUIEventAdapter::KEY_Up; - case Qt::Key_Right : - return osgGA::GUIEventAdapter::KEY_Right; - case Qt::Key_Down : - return osgGA::GUIEventAdapter::KEY_Down; - case Qt::Key_PageUp : - return osgGA::GUIEventAdapter::KEY_Page_Up; - case Qt::Key_PageDown : - return osgGA::GUIEventAdapter::KEY_Page_Down; - case Qt::Key_End : - return osgGA::GUIEventAdapter::KEY_End; - case Qt::Key_Select : - return osgGA::GUIEventAdapter::KEY_Select; - case Qt::Key_Print : - return osgGA::GUIEventAdapter::KEY_Print; - case Qt::Key_Execute : - return osgGA::GUIEventAdapter::KEY_Execute; - case Qt::Key_Insert : - return osgGA::GUIEventAdapter::KEY_Insert; - case Qt::Key_Menu : - return osgGA::GUIEventAdapter::KEY_Menu; - case Qt::Key_Cancel : - return osgGA::GUIEventAdapter::KEY_Cancel; - case Qt::Key_Help : - return osgGA::GUIEventAdapter::KEY_Help; - case Qt::Key_Mode_switch : - return osgGA::GUIEventAdapter::KEY_Mode_switch; - case Qt::Key_NumLock : - return osgGA::GUIEventAdapter::KEY_Num_Lock; - case Qt::Key_Equal : - return osgGA::GUIEventAdapter::KEY_KP_Equal; - case Qt::Key_Asterisk : - return osgGA::GUIEventAdapter::KEY_KP_Multiply; - case Qt::Key_Plus : - return osgGA::GUIEventAdapter::KEY_KP_Add; - case Qt::Key_Minus : - return osgGA::GUIEventAdapter::KEY_KP_Subtract; - case Qt::Key_Comma : - return osgGA::GUIEventAdapter::KEY_KP_Decimal; - case Qt::Key_Slash : - return osgGA::GUIEventAdapter::KEY_KP_Divide; - case Qt::Key_0 : - return osgGA::GUIEventAdapter::KEY_KP_0; - case Qt::Key_1 : - return osgGA::GUIEventAdapter::KEY_KP_1; - case Qt::Key_2 : - return osgGA::GUIEventAdapter::KEY_KP_2; - case Qt::Key_3 : - return osgGA::GUIEventAdapter::KEY_KP_3; - case Qt::Key_4 : - return osgGA::GUIEventAdapter::KEY_KP_4; - case Qt::Key_5 : - return osgGA::GUIEventAdapter::KEY_KP_5; - case Qt::Key_6 : - return osgGA::GUIEventAdapter::KEY_KP_6; - case Qt::Key_7 : - return osgGA::GUIEventAdapter::KEY_KP_7; - case Qt::Key_8 : - return osgGA::GUIEventAdapter::KEY_KP_8; - case Qt::Key_9 : - return osgGA::GUIEventAdapter::KEY_KP_9; - case Qt::Key_F1 : - return osgGA::GUIEventAdapter::KEY_F1; - case Qt::Key_F2 : - return osgGA::GUIEventAdapter::KEY_F2; - case Qt::Key_F3 : - return osgGA::GUIEventAdapter::KEY_F3; - case Qt::Key_F4 : - return osgGA::GUIEventAdapter::KEY_F4; - case Qt::Key_F5 : - return osgGA::GUIEventAdapter::KEY_F5; - case Qt::Key_F6 : - return osgGA::GUIEventAdapter::KEY_F6; - case Qt::Key_F7 : - return osgGA::GUIEventAdapter::KEY_F7; - case Qt::Key_F8 : - return osgGA::GUIEventAdapter::KEY_F8; - case Qt::Key_F9 : - return osgGA::GUIEventAdapter::KEY_F9; - case Qt::Key_F10 : - return osgGA::GUIEventAdapter::KEY_F10; - case Qt::Key_F11 : - return osgGA::GUIEventAdapter::KEY_F11; - case Qt::Key_F12 : - return osgGA::GUIEventAdapter::KEY_F12; - case Qt::Key_F13 : - return osgGA::GUIEventAdapter::KEY_F13; - case Qt::Key_F14 : - return osgGA::GUIEventAdapter::KEY_F14; - case Qt::Key_F15 : - return osgGA::GUIEventAdapter::KEY_F15; - case Qt::Key_F16 : - return osgGA::GUIEventAdapter::KEY_F16; - case Qt::Key_F17 : - return osgGA::GUIEventAdapter::KEY_F17; - case Qt::Key_F18 : - return osgGA::GUIEventAdapter::KEY_F18; - case Qt::Key_F19 : - return osgGA::GUIEventAdapter::KEY_F19; - case Qt::Key_F20 : - return osgGA::GUIEventAdapter::KEY_F20; - case Qt::Key_F21 : - return osgGA::GUIEventAdapter::KEY_F21; - case Qt::Key_F22 : - return osgGA::GUIEventAdapter::KEY_F22; - case Qt::Key_F23 : - return osgGA::GUIEventAdapter::KEY_F23; - case Qt::Key_F24 : - return osgGA::GUIEventAdapter::KEY_F24; - case Qt::Key_F25 : - return osgGA::GUIEventAdapter::KEY_F25; - case Qt::Key_F26 : - return osgGA::GUIEventAdapter::KEY_F26; - case Qt::Key_F27 : - return osgGA::GUIEventAdapter::KEY_F27; - case Qt::Key_F28 : - return osgGA::GUIEventAdapter::KEY_F28; - case Qt::Key_F29 : - return osgGA::GUIEventAdapter::KEY_F29; - case Qt::Key_F30 : - return osgGA::GUIEventAdapter::KEY_F30; - case Qt::Key_F31 : - return osgGA::GUIEventAdapter::KEY_F31; - case Qt::Key_F32 : - return osgGA::GUIEventAdapter::KEY_F32; - case Qt::Key_F33 : - return osgGA::GUIEventAdapter::KEY_F33; - case Qt::Key_F34 : - return osgGA::GUIEventAdapter::KEY_F34; - case Qt::Key_F35 : - return osgGA::GUIEventAdapter::KEY_F35; - case Qt::Key_Shift : - return osgGA::GUIEventAdapter::KEY_Shift_L; -// case Qt::Key_Shift_R : return osgGA::GUIEventAdapter::KEY_Shift_R; - case Qt::Key_Control : - return osgGA::GUIEventAdapter::KEY_Control_L; -// case Qt::Key_Control_R : return osgGA::GUIEventAdapter::KEY_Control_R; - case Qt::Key_CapsLock : - return osgGA::GUIEventAdapter::KEY_Caps_Lock; - case Qt::Key_Meta : - return osgGA::GUIEventAdapter::KEY_Meta_L; -// case Qt::Key_Meta_R: return osgGA::GUIEventAdapter::KEY_Meta_R; - case Qt::Key_Alt : - return osgGA::GUIEventAdapter::KEY_Alt_L; -// case Qt::Key_Alt_R : return osgGA::GUIEventAdapter::KEY_Alt_R; - case Qt::Key_Super_L : - return osgGA::GUIEventAdapter::KEY_Super_L; - case Qt::Key_Super_R : - return osgGA::GUIEventAdapter::KEY_Super_R; - case Qt::Key_Hyper_L : - return osgGA::GUIEventAdapter::KEY_Hyper_L; - case Qt::Key_Hyper_R : - return osgGA::GUIEventAdapter::KEY_Hyper_R; - default: - return static_cast(key); - } -} - -bool -Q3DWidget::planeLineIntersection(const osg::Vec4d& plane, - const osg::LineSegment& line, - osg::Vec3d& isect) const -{ - osg::Vec3d lineStart = line.start(); - osg::Vec3d lineEnd = line.end(); - - const double deltaX = lineEnd.x() - lineStart.x(); - const double deltaY = lineEnd.y() - lineStart.y(); - const double deltaZ = lineEnd.z() - lineStart.z(); - - const double denominator = plane[0] * deltaX - + plane[1] * deltaY - + plane[2] * deltaZ; - if (!denominator) - { - return false; - } - - const double C = (plane[0] * lineStart.x() - + plane[1] * lineStart.y() - + plane[2] * lineStart.z() - + plane[3]) / denominator; - - isect.x() = lineStart.x() - deltaX * C; - isect.y() = lineStart.y() - deltaY * C; - isect.z() = lineStart.z() - deltaZ * C; - - return true; -} diff --git a/src/ui/map3D/Q3DWidget.h b/src/ui/map3D/Q3DWidget.h deleted file mode 100644 index 245559e11bf880628572fb6ff729a72933cc4b8d..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Q3DWidget.h +++ /dev/null @@ -1,279 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Q3DWidget. - * - * @author Lionel Heng - * - */ - -#ifndef Q3DWIDGET_H -#define Q3DWIDGET_H - -#include -#include - -#include -#include -#include -#include - -// OpenSceneGraph has overloaded virtuals defined, since third party code we silence the warnings when the -// headers are used. -#ifndef Q_OS_WIN -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Woverloaded-virtual" -#endif - -#include - -#ifndef Q_OS_WIN -#pragma GCC diagnostic pop -#endif - -#include "CameraParams.h" -#include "GCManipulator.h" -#include "SystemGroupNode.h" - -/** - * @brief Definition of the class Q3DWidget. - * The Q3DWidget widget uses the OpenSceneGraph framework to render - * user-defined objects in 3D. The world coordinate system in OSG is defined: - * - x-axis points to the east - * - y-axis points to the north - * - z-axis points upwards - */ -class Q3DWidget : public QGLWidget, public osgViewer::Viewer -{ - Q_OBJECT - -public: - /** - * Constructor. - * @param parent Parent widget. - */ - Q3DWidget(QWidget* parent = 0); - - /** - * Destructor. - */ - virtual ~Q3DWidget(); - - /** - * @brief Initializes the widget. - * @param fps Frames per second. - */ - void init(float fps); - - /** - * @brief Sets the camera parameters. - * @param minZoomRange Minimum distance from the viewer to the camera. - * @param cameraFov Camera field of view. - * @param minClipRange Distance from the viewer to the near clipping range. - * @param maxClipRange Distance from the viewer to the far clipping range. - */ - void setCameraParams(float minZoomRange, float cameraFov, - float minClipRange, float maxClipRange); - - /** - * @brief Moves the camera by [dx,dy,dz]. - * @param dx Translation along the x-axis in meters. - * @param dy Translation along the y-axis in meters. - * @param dz Translation along the z-axis in meters. - */ - void moveCamera(double dx, double dy, double dz); - - /** - * @brief Recenters the camera at (x,y,z). - */ - void recenterCamera(double x, double y, double z); - - /** - * @brief Rotates the camera. - */ - void rotateCamera(double roll, double pitch, double yaw); - - /** - * @brief Sets the camera distance. - */ - void setCameraDistance(double distance); - - /** - * @brief Sets up 3D display mode. - */ - void setDisplayMode3D(void); - - osg::ref_ptr& hudGroup(void); - - /** - * @brief Get screen coordinates of mouse cursor. - * @return screen coordinates of mouse cursor. - */ - QPoint mouseCursorCoords(void); - - /** - * @brief Gets the world 3D coordinates of the cursor. - * The function projects the 2D cursor position to a line in world space - * and returns the intersection of that line and the horizontal plane - * which contains the point (0, 0, z); - * @param cursorX x-coordinate of the cursor. - * @param cursorY y-coordinate of the cursor. - * @param worldZ z-coordinate of the point in the plane. - * @return World (x,y) cursor coordinates. - */ - QPointF worldCursorPosition(const QPoint& cursorPos, double worldZ) const; - - CameraParams& cameraParams(void); - - osg::ref_ptr& cameraManipulator(void); - - osg::ref_ptr& font(void); - - osg::ref_ptr& worldMap(void); - osg::ref_ptr& systemGroup(int systemId); - - bool& handleDeviceEvents(void); - - void handleKeyPressEvent(QKeyEvent* event); - - void handleKeyReleaseEvent(QKeyEvent* event); - - void handleMousePressEvent(QMouseEvent* event); - - void handleMouseReleaseEvent(QMouseEvent* event); - - void handleMouseMoveEvent(QMouseEvent* event); - - void handleWheelEvent(QWheelEvent* event); - -protected slots: - /** - * @brief Updates the widget. - */ - void redraw(void); - -signals: - void sizeChanged(int width, int height); - void updateWidget(void); - -protected: - /** - * @brief Handle widget resize event. - * @param width New width of widget. - * @param height New height of widget. - */ - virtual void resizeGL(int width, int height); - - /** - * @brief Processes key press events. - * @param event Key press event. - */ - virtual void keyPressEvent(QKeyEvent* event); - - /** - * @brief Processes key release events. - * @param event Key release event. - */ - virtual void keyReleaseEvent(QKeyEvent* event); - - /** - * @brief Processes mouse press events. - * @param event Mouse press event. - */ - virtual void mousePressEvent(QMouseEvent* event); - - /** - * @brief Processes mouse release events. - * @param event Mouse release event. - */ - virtual void mouseReleaseEvent(QMouseEvent* event); - - /** - * @brief Processes mouse move events. - * @param event Mouse move event. - */ - virtual void mouseMoveEvent(QMouseEvent* event); - - /** - * @brief Processes mouse wheel events. - * @param event Mouse wheel event. - */ - virtual void wheelEvent(QWheelEvent* event); - - /** @brief Start widget updating */ - void showEvent(QShowEvent* event); - /** @brief Stop widget updating */ - void hideEvent(QHideEvent* event); - - /** - * @brief Get base HUD geode. - * @return Smart pointer to the geode. - */ - osg::ref_ptr createHUD(void); - - /** - * @brief Handle widget paint event. - */ - virtual void paintGL(void); - - /** - * @brief Converts Qt-defined key to OSG-defined key. - * @param key Qt-defined key. - * @return OSG-defined key. - */ - osgGA::GUIEventAdapter::KeySymbol convertKey(int key) const; - - /** - * @brief Computes intersection of line and plane. - * @param plane Vector which represents the plane. - * @param line Line representation. - * @return 3D point which lies at the intersection of the line and plane. - */ - bool planeLineIntersection(const osg::Vec4d& plane, - const osg::LineSegment& line, - osg::Vec3d& isect) const; - - bool mHandleDeviceEvents; - - osg::ref_ptr mRoot; /**< Root node of scene graph. */ - osg::ref_ptr mWorldMap; - QMap > mSystemGroups; - - osg::ref_ptr mHudGroup; /**< A group which contains renderable HUD objects. */ - osg::ref_ptr mHudProjectionMatrix; /**< An orthographic projection matrix for HUD display. */ - - osg::ref_ptr mOsgGW; /**< A class which manages OSG graphics windows and events. */ - - osg::ref_ptr mCameraManipulator; /**< Camera manipulator. */ - - QTimer mTimer; /**< Timer which draws graphics based on specified fps. */ - - CameraParams mCameraParams; /**< Struct representing camera parameters. */ - float mFps; - - osg::ref_ptr mFont; -}; - -#endif // Q3DWIDGET_H diff --git a/src/ui/map3D/Q3DWidgetFactory.cc b/src/ui/map3D/Q3DWidgetFactory.cc deleted file mode 100644 index 234e5adccaa35bcc0ad86026f558275c2dcd56e6..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Q3DWidgetFactory.cc +++ /dev/null @@ -1,48 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Q3DWidgetFactory. - * - * @author Lionel Heng - * - */ - -#include "Q3DWidgetFactory.h" - -#include "Pixhawk3DWidget.h" -#ifdef QGC_OSGEARTH_ENABLED -#include "QMap3D.h" -#endif - -QPointer -Q3DWidgetFactory::get(const std::string& type, QWidget* parent) -{ - if (type == "PIXHAWK") { - return QPointer(new Pixhawk3DWidget(parent)); - } - else { - return QPointer(new Q3DWidget(parent)); - } -} diff --git a/src/ui/map3D/Q3DWidgetFactory.h b/src/ui/map3D/Q3DWidgetFactory.h deleted file mode 100644 index 83647795526baa4915cc60d48e3869a42c06e36a..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Q3DWidgetFactory.h +++ /dev/null @@ -1,56 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Q3DWidgetFactory. - * - * @author Lionel Heng - * - */ - -#ifndef Q3DWIDGETFACTORY_H -#define Q3DWIDGETFACTORY_H - -#include - -#include "Q3DWidget.h" - -/** - * @brief A factory which creates project-specific 3D widgets without - * specifying the exact widget class. - */ - -class Q3DWidgetFactory -{ -public: - /** - * @brief Returns a Q3DWidget instance of the appropriate type. - * @param type String specifying the required type name. - * @return A smart pointer to the Q3DWidget instance. - */ - - static QPointer get(const std::string& type, QWidget* parent); -}; - -#endif // Q3DWIDGETFACTORY_H diff --git a/src/ui/map3D/QGCGlut.h b/src/ui/map3D/QGCGlut.h deleted file mode 100644 index 8785c67bf1001a838a6fac06656d89aa56995607..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QGCGlut.h +++ /dev/null @@ -1,637 +0,0 @@ -#ifndef QGCGLUT_H -#define QGCGLUT_H - - -/* Copyright (c) Mark J. Kilgard, 1994, 1997. */ - -/** -(c) Copyright 1993, Silicon Graphics, Inc. - -ALL RIGHTS RESERVED - -Permission to use, copy, modify, and distribute this software -for any purpose and without fee is hereby granted, provided -that the above copyright notice appear in all copies and that -both the copyright notice and this permission notice appear in -supporting documentation, and that the name of Silicon -Graphics, Inc. not be used in advertising or publicity -pertaining to distribution of the software without specific, -written prior permission. - -THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU -"AS-IS" AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR -OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF -MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. IN NO -EVENT SHALL SILICON GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE -ELSE FOR ANY DIRECT, SPECIAL, INCIDENTAL, INDIRECT OR -CONSEQUENTIAL DAMAGES OF ANY KIND, OR ANY DAMAGES WHATSOEVER, -INCLUDING WITHOUT LIMITATION, LOSS OF PROFIT, LOSS OF USE, -SAVINGS OR REVENUE, OR THE CLAIMS OF THIRD PARTIES, WHETHER OR -NOT SILICON GRAPHICS, INC. HAS BEEN ADVISED OF THE POSSIBILITY -OF SUCH LOSS, HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -ARISING OUT OF OR IN CONNECTION WITH THE POSSESSION, USE OR -PERFORMANCE OF THIS SOFTWARE. - -US Government Users Restricted Rights - -Use, duplication, or disclosure by the Government is subject to -restrictions set forth in FAR 52.227.19(c)(2) or subparagraph -(c)(1)(ii) of the Rights in Technical Data and Computer -Software clause at DFARS 252.227-7013 and/or in similar or -successor clauses in the FAR or the DOD or NASA FAR -Supplement. Unpublished-- rights reserved under the copyright -laws of the United States. Contractor/manufacturer is Silicon -Graphics, Inc., 2011 N. Shoreline Blvd., Mountain View, CA -94039-7311. - -OpenGL(TM) is a trademark of Silicon Graphics, Inc. -*/ - -#include -#include "OpenGL/glu.h" - -namespace sgi -{ - -/* Some files do not define M_PI... */ -#ifndef M_PI -#define M_PI 3.14159265358979323846 -#endif - -static GLUquadricObj *quadObj; - -#define QUAD_OBJ_INIT() { if(!quadObj) initQuadObj(); } - -static void -initQuadObj(void) -{ - quadObj = gluNewQuadric(); - if (!quadObj) - printf("out of memory."); -} - -/* CENTRY */ -void -glutWireSphere(GLdouble radius, GLint slices, GLint stacks) -{ - QUAD_OBJ_INIT(); - gluQuadricDrawStyle(quadObj, GLU_LINE); - gluQuadricNormals(quadObj, GLU_SMOOTH); - /* If we ever changed/used the texture or orientation state - of quadObj, we'd need to change it to the defaults here - with gluQuadricTexture and/or gluQuadricOrientation. */ - gluSphere(quadObj, radius, slices, stacks); -} - -void -glutSolidSphere(GLdouble radius, GLint slices, GLint stacks) -{ - QUAD_OBJ_INIT(); - gluQuadricDrawStyle(quadObj, GLU_FILL); - gluQuadricNormals(quadObj, GLU_SMOOTH); - /* If we ever changed/used the texture or orientation state - of quadObj, we'd need to change it to the defaults here - with gluQuadricTexture and/or gluQuadricOrientation. */ - gluSphere(quadObj, radius, slices, stacks); -} - -void -glutWireCone(GLdouble base, GLdouble height, - GLint slices, GLint stacks) -{ - QUAD_OBJ_INIT(); - gluQuadricDrawStyle(quadObj, GLU_LINE); - gluQuadricNormals(quadObj, GLU_SMOOTH); - /* If we ever changed/used the texture or orientation state - of quadObj, we'd need to change it to the defaults here - with gluQuadricTexture and/or gluQuadricOrientation. */ - gluCylinder(quadObj, base, 0.0, height, slices, stacks); -} - -void -glutSolidCone(GLdouble base, GLdouble height, - GLint slices, GLint stacks) -{ - QUAD_OBJ_INIT(); - gluQuadricDrawStyle(quadObj, GLU_FILL); - gluQuadricNormals(quadObj, GLU_SMOOTH); - /* If we ever changed/used the texture or orientation state - of quadObj, we'd need to change it to the defaults here - with gluQuadricTexture and/or gluQuadricOrientation. */ - gluCylinder(quadObj, base, 0.0, height, slices, stacks); -} - -/* ENDCENTRY */ - -static void -drawBox(GLfloat size, GLenum type) -{ - static GLfloat n[6][3] = { - {-1.0, 0.0, 0.0}, - {0.0, 1.0, 0.0}, - {1.0, 0.0, 0.0}, - {0.0, -1.0, 0.0}, - {0.0, 0.0, 1.0}, - {0.0, 0.0, -1.0} - }; - static GLint faces[6][4] = { - {0, 1, 2, 3}, - {3, 2, 6, 7}, - {7, 6, 5, 4}, - {4, 5, 1, 0}, - {5, 6, 2, 1}, - {7, 4, 0, 3} - }; - GLfloat v[8][3]; - GLint i; - - v[0][0] = v[1][0] = v[2][0] = v[3][0] = -size / 2; - v[4][0] = v[5][0] = v[6][0] = v[7][0] = size / 2; - v[0][1] = v[1][1] = v[4][1] = v[5][1] = -size / 2; - v[2][1] = v[3][1] = v[6][1] = v[7][1] = size / 2; - v[0][2] = v[3][2] = v[4][2] = v[7][2] = -size / 2; - v[1][2] = v[2][2] = v[5][2] = v[6][2] = size / 2; - - for (i = 5; i >= 0; i--) { - glBegin(type); - glNormal3fv(&n[i][0]); - glVertex3fv(&v[faces[i][0]][0]); - glVertex3fv(&v[faces[i][1]][0]); - glVertex3fv(&v[faces[i][2]][0]); - glVertex3fv(&v[faces[i][3]][0]); - glEnd(); - } -} - -/* CENTRY */ -void -glutWireCube(GLdouble size) -{ - drawBox(size, GL_LINE_LOOP); -} - -void -glutSolidCube(GLdouble size) -{ - drawBox(size, GL_QUADS); -} - -/* ENDCENTRY */ - -static void -doughnut(GLfloat r, GLfloat R, GLint nsides, GLint rings) -{ - int i, j; - GLfloat theta, phi, theta1; - GLfloat cosTheta, sinTheta; - GLfloat cosTheta1, sinTheta1; - GLfloat ringDelta, sideDelta; - - ringDelta = 2.0 * M_PI / rings; - sideDelta = 2.0 * M_PI / nsides; - - theta = 0.0; - cosTheta = 1.0; - sinTheta = 0.0; - for (i = rings - 1; i >= 0; i--) { - theta1 = theta + ringDelta; - cosTheta1 = cos(theta1); - sinTheta1 = sin(theta1); - glBegin(GL_QUAD_STRIP); - phi = 0.0; - for (j = nsides; j >= 0; j--) { - GLfloat cosPhi, sinPhi, dist; - - phi += sideDelta; - cosPhi = cos(phi); - sinPhi = sin(phi); - dist = R + r * cosPhi; - - glNormal3f(cosTheta1 * cosPhi, -sinTheta1 * cosPhi, sinPhi); - glVertex3f(cosTheta1 * dist, -sinTheta1 * dist, r * sinPhi); - glNormal3f(cosTheta * cosPhi, -sinTheta * cosPhi, sinPhi); - glVertex3f(cosTheta * dist, -sinTheta * dist, r * sinPhi); - } - glEnd(); - theta = theta1; - cosTheta = cosTheta1; - sinTheta = sinTheta1; - } -} - -/* CENTRY */ -void -glutWireTorus(GLdouble innerRadius, GLdouble outerRadius, - GLint nsides, GLint rings) -{ - glPushAttrib(GL_POLYGON_BIT); - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - doughnut(innerRadius, outerRadius, nsides, rings); - glPopAttrib(); -} - -void -glutSolidTorus(GLdouble innerRadius, GLdouble outerRadius, - GLint nsides, GLint rings) -{ - doughnut(innerRadius, outerRadius, nsides, rings); -} - -/* ENDCENTRY */ - -static GLfloat dodec[20][3]; - -static void -initDodecahedron(void) -{ - GLfloat alpha, beta; - - alpha = sqrt(2.0 / (3.0 + sqrt(5.0))); - beta = 1.0 + sqrt(6.0 / (3.0 + sqrt(5.0)) - - 2.0 + 2.0 * sqrt(2.0 / (3.0 + sqrt(5.0)))); - /* *INDENT-OFF* */ - dodec[0][0] = -alpha; - dodec[0][1] = 0; - dodec[0][2] = beta; - dodec[1][0] = alpha; - dodec[1][1] = 0; - dodec[1][2] = beta; - dodec[2][0] = -1; - dodec[2][1] = -1; - dodec[2][2] = -1; - dodec[3][0] = -1; - dodec[3][1] = -1; - dodec[3][2] = 1; - dodec[4][0] = -1; - dodec[4][1] = 1; - dodec[4][2] = -1; - dodec[5][0] = -1; - dodec[5][1] = 1; - dodec[5][2] = 1; - dodec[6][0] = 1; - dodec[6][1] = -1; - dodec[6][2] = -1; - dodec[7][0] = 1; - dodec[7][1] = -1; - dodec[7][2] = 1; - dodec[8][0] = 1; - dodec[8][1] = 1; - dodec[8][2] = -1; - dodec[9][0] = 1; - dodec[9][1] = 1; - dodec[9][2] = 1; - dodec[10][0] = beta; - dodec[10][1] = alpha; - dodec[10][2] = 0; - dodec[11][0] = beta; - dodec[11][1] = -alpha; - dodec[11][2] = 0; - dodec[12][0] = -beta; - dodec[12][1] = alpha; - dodec[12][2] = 0; - dodec[13][0] = -beta; - dodec[13][1] = -alpha; - dodec[13][2] = 0; - dodec[14][0] = -alpha; - dodec[14][1] = 0; - dodec[14][2] = -beta; - dodec[15][0] = alpha; - dodec[15][1] = 0; - dodec[15][2] = -beta; - dodec[16][0] = 0; - dodec[16][1] = beta; - dodec[16][2] = alpha; - dodec[17][0] = 0; - dodec[17][1] = beta; - dodec[17][2] = -alpha; - dodec[18][0] = 0; - dodec[18][1] = -beta; - dodec[18][2] = alpha; - dodec[19][0] = 0; - dodec[19][1] = -beta; - dodec[19][2] = -alpha; - /* *INDENT-ON* */ - -} - -#define DIFF3(_a,_b,_c) { \ - (_c)[0] = (_a)[0] - (_b)[0]; \ - (_c)[1] = (_a)[1] - (_b)[1]; \ - (_c)[2] = (_a)[2] - (_b)[2]; \ -} - -static void -crossprod(GLfloat v1[3], GLfloat v2[3], GLfloat prod[3]) -{ - GLfloat p[3]; /* in case prod == v1 or v2 */ - - p[0] = v1[1] * v2[2] - v2[1] * v1[2]; - p[1] = v1[2] * v2[0] - v2[2] * v1[0]; - p[2] = v1[0] * v2[1] - v2[0] * v1[1]; - prod[0] = p[0]; - prod[1] = p[1]; - prod[2] = p[2]; -} - -static void -normalize(GLfloat v[3]) -{ - GLfloat d; - - d = sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); - if (d == 0.0) { - printf("normalize: zero length vector"); - v[0] = d = 1.0; - } - d = 1 / d; - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -static void -pentagon(int a, int b, int c, int d, int e, GLenum shadeType) -{ - GLfloat n0[3], d1[3], d2[3]; - - DIFF3(dodec[a], dodec[b], d1); - DIFF3(dodec[b], dodec[c], d2); - crossprod(d1, d2, n0); - normalize(n0); - - glBegin(shadeType); - glNormal3fv(n0); - glVertex3fv(&dodec[a][0]); - glVertex3fv(&dodec[b][0]); - glVertex3fv(&dodec[c][0]); - glVertex3fv(&dodec[d][0]); - glVertex3fv(&dodec[e][0]); - glEnd(); -} - -static void -dodecahedron(GLenum type) -{ - static int inited = 0; - - if (inited == 0) { - inited = 1; - initDodecahedron(); - } - pentagon(0, 1, 9, 16, 5, type); - pentagon(1, 0, 3, 18, 7, type); - pentagon(1, 7, 11, 10, 9, type); - pentagon(11, 7, 18, 19, 6, type); - pentagon(8, 17, 16, 9, 10, type); - pentagon(2, 14, 15, 6, 19, type); - pentagon(2, 13, 12, 4, 14, type); - pentagon(2, 19, 18, 3, 13, type); - pentagon(3, 0, 5, 12, 13, type); - pentagon(6, 15, 8, 10, 11, type); - pentagon(4, 17, 8, 15, 14, type); - pentagon(4, 12, 5, 16, 17, type); -} - -/* CENTRY */ -void -glutWireDodecahedron(void) -{ - dodecahedron(GL_LINE_LOOP); -} - -void -glutSolidDodecahedron(void) -{ - dodecahedron(GL_TRIANGLE_FAN); -} - -/* ENDCENTRY */ - -static void -recorditem(GLfloat * n1, GLfloat * n2, GLfloat * n3, - GLenum shadeType) -{ - GLfloat q0[3], q1[3]; - - DIFF3(n1, n2, q0); - DIFF3(n2, n3, q1); - crossprod(q0, q1, q1); - normalize(q1); - - glBegin(shadeType); - glNormal3fv(q1); - glVertex3fv(n1); - glVertex3fv(n2); - glVertex3fv(n3); - glEnd(); -} - -static void -subdivide(GLfloat * v0, GLfloat * v1, GLfloat * v2, - GLenum shadeType) -{ - int depth; - GLfloat w0[3], w1[3], w2[3]; - GLfloat l; - int i, j, k, n; - - depth = 1; - for (i = 0; i < depth; i++) { - for (j = 0; i + j < depth; j++) { - k = depth - i - j; - for (n = 0; n < 3; n++) { - w0[n] = (i * v0[n] + j * v1[n] + k * v2[n]) / depth; - w1[n] = ((i + 1) * v0[n] + j * v1[n] + (k - 1) * v2[n]) - / depth; - w2[n] = (i * v0[n] + (j + 1) * v1[n] + (k - 1) * v2[n]) - / depth; - } - l = sqrt(w0[0] * w0[0] + w0[1] * w0[1] + w0[2] * w0[2]); - w0[0] /= l; - w0[1] /= l; - w0[2] /= l; - l = sqrt(w1[0] * w1[0] + w1[1] * w1[1] + w1[2] * w1[2]); - w1[0] /= l; - w1[1] /= l; - w1[2] /= l; - l = sqrt(w2[0] * w2[0] + w2[1] * w2[1] + w2[2] * w2[2]); - w2[0] /= l; - w2[1] /= l; - w2[2] /= l; - recorditem(w1, w0, w2, shadeType); - } - } -} - -static void -drawtriangle(int i, GLfloat data[][3], int ndx[][3], - GLenum shadeType) -{ - GLfloat *x0, *x1, *x2; - - x0 = data[ndx[i][0]]; - x1 = data[ndx[i][1]]; - x2 = data[ndx[i][2]]; - subdivide(x0, x1, x2, shadeType); -} - -/* octahedron data: The octahedron produced is centered at the - origin and has radius 1.0 */ -static GLfloat odata[6][3] = { - {1.0, 0.0, 0.0}, - {-1.0, 0.0, 0.0}, - {0.0, 1.0, 0.0}, - {0.0, -1.0, 0.0}, - {0.0, 0.0, 1.0}, - {0.0, 0.0, -1.0} -}; - -static int ondex[8][3] = { - {0, 4, 2}, - {1, 2, 4}, - {0, 3, 4}, - {1, 4, 3}, - {0, 2, 5}, - {1, 5, 2}, - {0, 5, 3}, - {1, 3, 5} -}; - -static void -octahedron(GLenum shadeType) -{ - int i; - - for (i = 7; i >= 0; i--) { - drawtriangle(i, odata, ondex, shadeType); - } -} - -/* CENTRY */ -void -glutWireOctahedron(void) -{ - octahedron(GL_LINE_LOOP); -} - -void -glutSolidOctahedron(void) -{ - octahedron(GL_TRIANGLES); -} - -/* ENDCENTRY */ - -/* icosahedron data: These numbers are rigged to make an - icosahedron of radius 1.0 */ - -#define X .525731112119133606 -#define Z .850650808352039932 - -static GLfloat idata[12][3] = { - {-X, 0, Z}, - {X, 0, Z}, - {-X, 0, -Z}, - {X, 0, -Z}, - {0, Z, X}, - {0, Z, -X}, - {0, -Z, X}, - {0, -Z, -X}, - {Z, X, 0}, - {-Z, X, 0}, - {Z, -X, 0}, - {-Z, -X, 0} -}; - -static int indextetra[20][3] = { - {0, 4, 1}, - {0, 9, 4}, - {9, 5, 4}, - {4, 5, 8}, - {4, 8, 1}, - {8, 10, 1}, - {8, 3, 10}, - {5, 3, 8}, - {5, 2, 3}, - {2, 7, 3}, - {7, 10, 3}, - {7, 6, 10}, - {7, 11, 6}, - {11, 0, 6}, - {0, 1, 6}, - {6, 1, 10}, - {9, 0, 11}, - {9, 11, 2}, - {9, 2, 5}, - {7, 2, 11}, -}; - -static void -icosahedron(GLenum shadeType) -{ - int i; - - for (i = 19; i >= 0; i--) { - drawtriangle(i, idata, indextetra, shadeType); - } -} - -/* CENTRY */ -void -glutWireIcosahedron(void) -{ - icosahedron(GL_LINE_LOOP); -} - -void -glutSolidIcosahedron(void) -{ - icosahedron(GL_TRIANGLES); -} - -/* ENDCENTRY */ - -/* tetrahedron data: */ - -#define T 1.73205080756887729 - -static GLfloat tdata[4][3] = { - {T, T, T}, - {T, -T, -T}, - {-T, T, -T}, - {-T, -T, T} -}; - -static int tndex[4][3] = { - {0, 1, 3}, - {2, 1, 0}, - {3, 2, 0}, - {1, 2, 3} -}; - -static void -tetrahedron(GLenum shadeType) -{ - int i; - - for (i = 3; i >= 0; i--) - drawtriangle(i, tdata, tndex, shadeType); -} - -/* CENTRY */ -void -glutWireTetrahedron(void) -{ - tetrahedron(GL_LINE_LOOP); -} - -void -glutSolidTetrahedron(void) -{ - tetrahedron(GL_TRIANGLES); -} - -/* ENDCENTRY */ -} - -#endif // QGCGLUT_H diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc deleted file mode 100644 index 059844e5c76737143510989103048238304cd964..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QGCGoogleEarthView.cc +++ /dev/null @@ -1,753 +0,0 @@ -#include -#include -#include -#include -#include - -#include -#include -#include -#include "UASManager.h" - -#ifdef Q_OS_MAC -#include -#include -#include -#include "QGCWebPage.h" -#endif - -#ifdef _MSC_VER -#include -#include -#include -#include -#include -#endif - -#include "QGC.h" -#include "ui_QGCGoogleEarthView.h" -#include "QGCGoogleEarthView.h" -#include "UASWaypointManager.h" - -#define QGCGOOGLEEARTHVIEWSETTINGS QString("GoogleEarthViewSettings_") - -QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) : - QWidget(parent), - updateTimer(new QTimer(this)), - refreshRateMs(100), - mav(NULL), - followCamera(true), - trailEnabled(true), - webViewInitialized(false), - jScriptInitialized(false), - gEarthInitialized(false), - currentViewMode(QGCGoogleEarthView::VIEW_MODE_SIDE), -#if (defined Q_OS_MAC) - webViewMac(new QWebView(this)), -#endif -#ifdef _MSC_VER - webViewWin(new QGCWebAxWidget(this)), - documentWin(NULL), -#endif - ui(new Ui::QGCGoogleEarthView) -{ -#ifdef _MSC_VER - // Create layout and attach webViewWin - -// QFile file("doc.html"); -// if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) -// qDebug() << __FILE__ << __LINE__ << "Could not open log file"; - -// QTextStream out(&file); -// out << webViewWin->generateDocumentation(); -// out.flush(); -// file.flush(); -// file.close(); - - -#else -#endif - - // Load settings - QSettings settings; - followCamera = settings.value(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera).toBool(); - trailEnabled = settings.value(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled).toBool(); - - ui->setupUi(this); -#if (defined Q_OS_MAC) - ui->webViewLayout->addWidget(webViewMac); - //connect(webViewMac, SIGNAL(loadFinished(bool)), this, SLOT(initializeGoogleEarth(bool))); -#endif - -#ifdef _MSC_VER - ui->webViewLayout->addWidget(webViewWin); -#endif - - connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState())); - connect(ui->resetButton, SIGNAL(clicked()), this, SLOT(reloadHTML())); - connect(ui->changeViewButton, SIGNAL(clicked()), this, SLOT(toggleViewMode())); - connect(ui->clearTrailsButton, SIGNAL(clicked()), this, SLOT(clearTrails())); - connect(ui->atmosphereCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableAtmosphere(bool))); - connect(ui->daylightCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableDaylight(bool))); - - connect(UASManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(setHome(double,double,double))); -} - -QGCGoogleEarthView::~QGCGoogleEarthView() -{ - QSettings settings; - settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera); - settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled); - settings.sync(); -#if (defined Q_OS_MAC) - delete webViewMac; -#endif -#ifdef _MSC_VER - delete webViewWin; -#endif - delete ui; -} - -/** - * @param range in centimeters - */ -void QGCGoogleEarthView::setViewRangeScaledInt(int range) -{ - setViewRange(range/100.0f); -} - -void QGCGoogleEarthView::reloadHTML() -{ - hide(); - webViewInitialized = false; - jScriptInitialized = false; - gEarthInitialized = false; - show(); -} - -void QGCGoogleEarthView::enableEditMode(bool mode) -{ - javaScript(QString("setDraggingAllowed(%1);").arg(mode)); -} - -void QGCGoogleEarthView::enableDaylight(bool enable) -{ - javaScript(QString("enableDaylight(%1);").arg(enable)); -} - -void QGCGoogleEarthView::enableAtmosphere(bool enable) -{ - javaScript(QString("enableAtmosphere(%1);").arg(enable)); -} - -/** - * @param range in meters (SI-units) - */ -void QGCGoogleEarthView::setViewRange(float range) -{ - javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5)); -} - -void QGCGoogleEarthView::setDistanceMode(int mode) -{ - javaScript(QString("setDistanceMode(%1);").arg(mode)); -} - -void QGCGoogleEarthView::toggleViewMode() -{ - switch (currentViewMode) { - case VIEW_MODE_MAP: - setViewMode(VIEW_MODE_SIDE); - break; - case VIEW_MODE_SIDE: - setViewMode(VIEW_MODE_MAP); - break; - case VIEW_MODE_CHASE_LOCKED: - setViewMode(VIEW_MODE_CHASE_FREE); - break; - case VIEW_MODE_CHASE_FREE: - setViewMode(VIEW_MODE_CHASE_LOCKED); - break; - } -} - -void QGCGoogleEarthView::setViewMode(QGCGoogleEarthView::VIEW_MODE mode) -{ - switch (mode) { - case VIEW_MODE_MAP: - ui->changeViewButton->setText("Free View"); - break; - case VIEW_MODE_SIDE: - ui->changeViewButton->setText("Map View"); - break; - case VIEW_MODE_CHASE_LOCKED: - ui->changeViewButton->setText("Free Chase"); - break; - case VIEW_MODE_CHASE_FREE: - ui->changeViewButton->setText("Fixed Chase"); - break; - } - currentViewMode = mode; - javaScript(QString("setViewMode(%1);").arg(mode)); -} - -void QGCGoogleEarthView::addUAS(UASInterface* uas) -{ - // uasid, type, color (in #rrbbgg format) - QString uasColor = uas->getColor().name().remove(0, 1); - // Convert to bbggrr format - QString rChannel = uasColor.mid(0, 2); - uasColor.remove(0, 2); - uasColor.prepend(rChannel); - // Set alpha value to 0x66, append JavaScript quotes ('') - uasColor.prepend("'66").append("'"); - javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uasColor)); - - if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID())); - - // Automatically receive further position updates - connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,double,quint64))); - // Receive waypoint updates - // Connect the waypoint manager / data storage to the UI - connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int))); - connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*))); - //connect(this, SIGNAL(waypointCreated(Waypoint*)), uas->getWaypointManager(), SLOT(addWaypointEditable(Waypoint*))); - // TODO Update waypoint list on UI changes here -} - -void QGCGoogleEarthView::setActiveUAS(UASInterface* uas) -{ - if (uas) - { - mav = uas; - javaScript(QString("setCurrAircraft(%1);").arg(uas->getUASID())); - updateWaypointList(uas->getUASID()); - } -} - -/** - * This function is called if a a single waypoint is updated and - * also if the whole list changes. - */ -void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp) -{ - // Only accept waypoints in global coordinate frame - if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType()) - { - // We're good, this is a global waypoint - - // Get the index of this waypoint - // note the call to getGlobalFrameAndNavTypeIndexOf() - // as we're only handling global waypoints - int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp); - // If not found, return (this should never happen, but helps safety) - if (wpindex == -1) - { - return; - } - else - { - javaScript(QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 22).arg(wp->getLongitude(), 0, 'f', 22).arg(wp->getAltitude(), 0, 'f', 22).arg(wp->getAction())); - //qDebug() << QString("updateWaypoint(%1,%2,%3,%4,%5,%6);").arg(uas).arg(wpindex).arg(wp->getLatitude(), 0, 'f', 18).arg(wp->getLongitude(), 0, 'f', 18).arg(wp->getAltitude(), 0, 'f', 18).arg(wp->getAction()); - } - } -} - -/** - * Update the whole list of waypoints. This is e.g. necessary if the list order changed. - * The UAS manager will emit the appropriate signal whenever updating the list - * is necessary. - */ -void QGCGoogleEarthView::updateWaypointList(int uas) -{ - // Get already existing waypoints - UASInterface* uasInstance = UASManager::instance()->getUASForId(uas); - if (uasInstance) - { - // Get all waypoints, including non-global waypoints - QList wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList(); - - // Trim internal list to number of global waypoints in the waypoint manager list - javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count())); - - qDebug() << QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()); - - // Load all existing waypoints into map view - foreach (Waypoint* wp, wpList) - { - updateWaypoint(uas, wp); - } - } -} - -void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec) -{ - Q_UNUSED(usec); - javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 22).arg(lon, 0, 'f', 22).arg(alt, 0, 'f', 22)); -} - -void QGCGoogleEarthView::clearTrails() -{ - QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) - { - javaScript(QString("clearTrail(%1);").arg(currMav->getUASID())); - } -} - -void QGCGoogleEarthView::showTrail(bool state) -{ - // Check if the current trail has to be hidden - if (trailEnabled && !state) - { - QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) - { - javaScript(QString("hideTrail(%1);").arg(currMav->getUASID())); - } - } - - // Check if the current trail has to be shown - if (!trailEnabled && state) - { - QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) - { - javaScript(QString("showTrail(%1);").arg(currMav->getUASID())); - } - } - trailEnabled = state; - ui->trailCheckbox->setChecked(state); -} - -void QGCGoogleEarthView::showWaypoints(bool state) -{ - waypointsEnabled = state; -} - -void QGCGoogleEarthView::follow(bool follow) -{ - ui->followAirplaneCheckbox->setChecked(follow); - if (follow != followCamera) - { - if (follow) - { - setViewMode(VIEW_MODE_CHASE_LOCKED); - } - else - { - setViewMode(VIEW_MODE_SIDE); - } - } - followCamera = follow; - javaScript(QString("setFollowEnabled(%1)").arg(follow)); -} - -void QGCGoogleEarthView::goHome() -{ - // Disable follow and update - follow(false); - updateState(); - // Go to home location - javaScript("goHome();"); -} - -void QGCGoogleEarthView::setHome(double lat, double lon, double alt) -{ - qDebug() << "SETTING GCS HOME IN GOOGLE MAPS" << lat << lon << alt; - javaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15)); -} - -void QGCGoogleEarthView::setHome() -{ - javaScript(QString("enableSetHomeMode();")); -} - -void QGCGoogleEarthView::moveToPosition() -{ - bool ok; - javaScript("sampleCurrentPosition();"); - double latitude = documentElement("currentCameraLatitude").toDouble(); - double longitude = documentElement("currentCameraLongitude").toDouble(); - QString text = QInputDialog::getText(this, tr("Please enter coordinates"), - tr("Coordinates (Lat,Lon):"), QLineEdit::Normal, - QString("%1,%2").arg(latitude).arg(longitude), &ok); - if (ok && !text.isEmpty()) { - QStringList split = text.split(","); - if (split.length() == 2) { - bool convert; - double latitude = split.first().toDouble(&convert); - ok &= convert; - double longitude = split.last().toDouble(&convert); - ok &= convert; - - if (ok) { - javaScript(QString("setLookAtLatLon(%1,%2);").arg(latitude, 0, 'f', 15).arg(longitude, 0, 'f', 15)); - } - } - } -} - -void QGCGoogleEarthView::hideEvent(QHideEvent* event) -{ - updateTimer->stop(); - QWidget::hideEvent(event); - emit visibilityChanged(false); -} - -void QGCGoogleEarthView::showEvent(QShowEvent* event) -{ - // React only to internal (pre-display) - // events - QWidget::showEvent(event); - // Enable widget, initialize on first run - - if (!webViewInitialized) - { -#if (defined Q_OS_MAC) - webViewMac->setPage(new QGCWebPage(webViewMac)); - webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true); - webViewMac->load(QUrl(QCoreApplication::applicationDirPath()+"/files/images/earth.html")); -#endif - -#ifdef _MSC_VER - //webViewWin->dynamicCall("GoHome()"); - webViewWin->dynamicCall("Navigate(const QString&)", QApplication::applicationDirPath() + "/files/images/earth.html"); -#endif - - webViewInitialized = true; - // Reloading the webpage, this resets Google Earth - gEarthInitialized = false; - - QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth())); - } - else - { - updateTimer->start(refreshRateMs); - } - emit visibilityChanged(true); -} - -void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3) -{ - qDebug() << no << str1 << str2 << str3; -} - -QVariant QGCGoogleEarthView::javaScript(QString javaScript) -{ -#ifdef Q_OS_MAC - if (!jScriptInitialized) { - return QVariant(false); - } else { - return webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript); - } -#endif -#ifdef _MSC_VER - if(!jScriptInitialized) { - qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING"; - return QVariant(false); - } else { - QVariantList params; - params.append(javaScript); - params.append("JScript"); - QVariant result = jScriptWin->dynamicCall("execScript(QString, QString)", params); - return result; - } -#endif -} - -QVariant QGCGoogleEarthView::documentElement(QString name) -{ -#ifdef Q_OS_MAC - QString javaScript("getGlobal(%1)"); - QVariant result = webViewMac->page()->currentFrame()->evaluateJavaScript(javaScript.arg(name)); - return result; -#endif -#ifdef _MSC_VER - if(!jScriptInitialized) { - qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING"; - } else { - if (documentWin) { - QString resultString; - - // Get HTMLElement object - QVariantList params; - IHTMLDocument3* doc; - documentWin->queryInterface( IID_IHTMLDocument3, (void**)&doc); - params.append(name); - IHTMLElement* element = NULL; - // Append alias - name.prepend("JScript_"); - HRESULT res = doc->getElementById(QStringToBSTR(name), &element); - //BSTR elemString; - if (SUCCEEDED(res) && element) { - //element->get_innerHTML(&elemString); - VARIANT var; - var.vt = VT_BSTR; - HRESULT res = element->getAttribute(L"value", 0, &var); - if (SUCCEEDED(res) && (var.vt != VT_NULL)) { - QByteArray typeName; - QVariant qtValue = VARIANTToQVariant(var,typeName); - return qtValue; - } else { - qDebug() << __FILE__ << __LINE__ << "JAVASCRIPT ATTRIBUTE" << name << "NOT FOUND"; - } - } else { - qDebug() << __FILE__ << __LINE__ << "DID NOT GET HTML ELEMENT" << name; - } - } - } - return QVariant(0); -#endif -} - -void QGCGoogleEarthView::initializeGoogleEarth() -{ - if (!jScriptInitialized) { -#ifdef Q_OS_MAC - jScriptInitialized = true; -#endif -#ifdef _MSC_VER - QAxObject* doc = webViewWin->querySubObject("Document()"); - //IDispatch* Disp; - IDispatch* winDoc = NULL; - IHTMLDocument2* document = NULL; - - //332C4425-26CB-11D0-B483-00C04FD90119 IHTMLDocument2 - //25336920-03F9-11CF-8FD0-00AA00686F13 HTMLDocument - doc->queryInterface(QUuid("{332C4425-26CB-11D0-B483-00C04FD90119}"), (void**)(&winDoc)); - if (winDoc) { - document = NULL; - winDoc->QueryInterface( IID_IHTMLDocument2, (void**)&document ); - IHTMLWindow2 *window = NULL; - document->get_parentWindow( &window ); - documentWin = new QAxObject(document, webViewWin); - jScriptWin = new QAxObject(window, webViewWin); - connect(jScriptWin, SIGNAL(exception(int,QString,QString,QString)), this, SLOT(printWinException(int,QString,QString,QString))); - jScriptInitialized = true; - } else { - qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting"; - } -#endif - QTimer::singleShot(1500, this, SLOT(initializeGoogleEarth())); - return; - } - - if (!gEarthInitialized) { - if (!documentElement("initialized").toBool()) { - QTimer::singleShot(300, this, SLOT(initializeGoogleEarth())); - qDebug() << "NOT INITIALIZED, WAITING"; - } else { - gEarthInitialized = true; - - // Set home location - setHome(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude()); - - // Add all MAVs - QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) { - addUAS(currMav); - } - - // Set current UAS - setActiveUAS(UASManager::instance()->getActiveUAS()); - - // Add any further MAV automatically - connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)), Qt::UniqueConnection); - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)), Qt::UniqueConnection); - - // Connect UI signals/slots - - // Follow checkbox - ui->followAirplaneCheckbox->setChecked(followCamera); - connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)), Qt::UniqueConnection); - - // Trail checkbox - ui->trailCheckbox->setChecked(trailEnabled); - connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)), Qt::UniqueConnection); - - // Go home - connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome())); - // Set home - connect(ui->setHomeButton, SIGNAL(clicked()), this, SLOT(setHome())); - - // Visibility of set home button - connect(ui->editButton, SIGNAL(clicked(bool)), ui->setHomeButton, SLOT(setVisible(bool))); - ui->setHomeButton->setVisible(ui->editButton->isChecked()); - - // To Lat/Lon button - connect(ui->toLatLonButton, SIGNAL(clicked()), this, SLOT(moveToPosition())); - - // Cam distance slider - connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)), Qt::UniqueConnection); - setViewRangeScaledInt(ui->camDistanceSlider->value()); - - // Distance combo box - connect(ui->camDistanceComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setDistanceMode(int)), Qt::UniqueConnection); - // Edit mode button - connect(ui->editButton, SIGNAL(clicked(bool)), this, SLOT(enableEditMode(bool)), Qt::UniqueConnection); - - // Update waypoint list - if (mav) updateWaypointList(mav->getUASID()); - - // Start update timer - updateTimer->start(refreshRateMs); - - // Set current view mode - setViewMode(currentViewMode); - setDistanceMode(ui->camDistanceComboBox->currentIndex()); - enableEditMode(ui->editButton->isChecked()); - enableAtmosphere(ui->atmosphereCheckBox->isChecked()); - enableDaylight(ui->daylightCheckBox->isChecked()); - follow(this->followCamera); - - // Move to home location - goHome(); - } - } -} - -void QGCGoogleEarthView::updateState() -{ -#if (QGC_EVENTLOOP_DEBUG) - qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; -#endif - if (gEarthInitialized) - { - int uasId = 0; - double lat = 47.3769; - double lon = 8.549444; - double alt = 470.0; - - float roll = 0.0f; - float pitch = 0.0f; - float yaw = 0.0f; - - // Update all MAVs - QList mavs = UASManager::instance()->getUASList(); - foreach (UASInterface* currMav, mavs) - { - // Only update if known - if (!currMav->globalPositionKnown()) continue; - uasId = currMav->getUASID(); - lat = currMav->getLatitude(); - lon = currMav->getLongitude(); - alt = currMav->getAltitudeAMSL(); - roll = currMav->getRoll(); - pitch = currMav->getPitch(); - yaw = currMav->getYaw(); - - //qDebug() << "SETTING POSITION FOR" << uasId << lat << lon << alt << roll << pitch << yaw; - - javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);") - .arg(uasId) - .arg(lat, 0, 'f', 22) - .arg(lon, 0, 'f', 22) - .arg(alt, 0, 'f', 22) - .arg(roll, 0, 'f', 9) - .arg(pitch, 0, 'f', 9) - .arg(yaw, 0, 'f', 9)); - } - - - // Read out new waypoint positions and waypoint create events - // this is polling (bad) but forced because of the crappy - // Microsoft API available in Qt - improvements wanted - - // First check if a new WP should be created - bool newWaypointPending = documentElement("newWaypointPending").toBool(); - if (newWaypointPending) - { - bool coordsOk = true; - bool ok; - double latitude = documentElement("newWaypointLatitude").toDouble(&ok); - coordsOk &= ok; - double longitude = documentElement("newWaypointLongitude").toDouble(&ok); - coordsOk &= ok; - double altitude = documentElement("newWaypointAltitude").toDouble(&ok); - coordsOk &= ok; - if (coordsOk) - { - // Add new waypoint - if (mav) - { - Waypoint* wp = mav->getWaypointManager()->createWaypoint(); - wp->setFrame(MAV_FRAME_GLOBAL); - wp->setAction(MAV_CMD_NAV_WAYPOINT); - wp->setLatitude(latitude); - wp->setLongitude(longitude); - wp->setAltitude(altitude); - wp->setAcceptanceRadius(10.0); // 10 m - } - } - javaScript("setNewWaypointPending(false);"); - } - - // Check if a waypoint should be moved - bool dragWaypointPending = documentElement("dragWaypointPending").toBool(); - - if (dragWaypointPending) - { - bool coordsOk = true; - bool ok; - double latitude = documentElement("dragWaypointLatitude").toDouble(&ok); - coordsOk &= ok; - double longitude = documentElement("dragWaypointLongitude").toDouble(&ok); - coordsOk &= ok; - double altitude = documentElement("dragWaypointAltitude").toDouble(&ok); - coordsOk &= ok; - - // UPDATE WAYPOINTS, HOME LOCATION AND OTHER LOCATIONS - if (coordsOk) - { - QString idText = documentElement("dragWaypointIndex").toString(); - if (idText == "HOME") - { - qDebug() << "HOME UPDATED!"; - UASManager::instance()->setHomePosition(latitude, longitude, altitude); - ui->setHomeButton->setChecked(false); - } - else - { - // Update waypoint or symbol - if (mav) - { - QList wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList(); - - bool ok; - int index = idText.toInt(&ok); - - if (ok && index >= 0 && index < wps.count()) - { - Waypoint* wp = wps.at(index); - wp->setLatitude(latitude); - wp->setLongitude(longitude); - wp->setAltitude(altitude); - mav->getWaypointManager()->notifyOfChangeEditable(wp); - } - } - } - } - else - { - // If coords were not ok, move the view in google earth back - // to last acceptable location - updateWaypointList(mav->getUASID()); - } - javaScript("setDragWaypointPending(false);"); - } - } -} - - -void QGCGoogleEarthView::changeEvent(QEvent *e) -{ - QWidget::changeEvent(e); - switch (e->type()) { - case QEvent::LanguageChange: - ui->retranslateUi(this); - break; - default: - break; - } -} diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h deleted file mode 100644 index 117239aa4f9bf92880635e6fac7717409f8fa324..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QGCGoogleEarthView.h +++ /dev/null @@ -1,177 +0,0 @@ -#ifndef QGCGOOGLEEARTHVIEW_H -#define QGCGOOGLEEARTHVIEW_H - -#include -#include -#include - -#if (defined Q_OS_MAC) -#include -#endif - -#ifdef _MSC_VER -#include -#include -#include "windows.h" - -class QGCWebAxWidget : public QAxWidget -{ -public: - //Q_OBJECT - QGCWebAxWidget(QWidget* parent = 0, Qt::WindowFlags f = 0) - : QAxWidget(parent, f)/*, - _document(NULL)*/ - { - // Set web browser control - setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}"); - // WARNING: Makes it impossible to actually debug javascript. But useful in production mode - setProperty("ScriptErrorsSuppressed", true); - // see: http://www.codeproject.com/KB/cpp/ExtendedWebBrowser.aspx?fid=285594&df=90&mpp=25&noise=3&sort=Position&view=Quick&fr=151#GoalScriptError - - //this->dynamicCall("setProperty(const QString&, - //QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&))); - - - } - /* - QAxObject* document() - { - return _document; - }*/ - -protected: - /* - void setDocument(IDispatch* dispatch, QVariant& variant) - { - _document = this->querySubObject("Document()"); - } - QAxObject* _document;*/ - virtual bool translateKeyEvent(int message, int keycode) const { - if (message >= WM_KEYFIRST && message <= WM_KEYLAST) - return true; - else - return QAxWidget::translateKeyEvent(message, keycode); - } - -}; -#endif - -namespace Ui -{ -class QGCGoogleEarthView; -} - -class Waypoint; - -class QGCGoogleEarthView : public QWidget -{ - Q_OBJECT - -public: - explicit QGCGoogleEarthView(QWidget *parent = 0); - ~QGCGoogleEarthView(); - - enum VIEW_MODE { - VIEW_MODE_SIDE = 0, ///< View from above, orientation is free - VIEW_MODE_MAP, ///< View from above, orientation is north (map view) - VIEW_MODE_CHASE_LOCKED, ///< Locked chase camera - VIEW_MODE_CHASE_FREE, ///< Position is chasing object, but view can rotate around object - }; - -public slots: - /** @brief Update the internal state. Does not trigger a redraw */ - void updateState(); - /** @brief Add a new MAV/UAS to the visualization */ - void addUAS(UASInterface* uas); - /** @brief Set the currently selected UAS */ - void setActiveUAS(UASInterface* uas); - /** @brief Update the global position */ - void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec); - /** @brief Update a single waypoint */ - void updateWaypoint(int uas, Waypoint* wp); - /** @brief Update the waypoint list */ - void updateWaypointList(int uas); - /** @brief Show the vehicle trail */ - void showTrail(bool state); - /** @brief Clear the current vehicle trails and start with new ones */ - void clearTrails(); - /** @brief Show the waypoints */ - void showWaypoints(bool state); - /** @brief Follow the aircraft during flight */ - void follow(bool follow); - /** @brief Go to the home location */ - void goHome(); - /** @brief Set the home location */ - void setHome(double lat, double lon, double alt); - /** @brief Set the home location interactively in the UI */ - void setHome(); - /** @brief Move the view to a latitude / longitude position */ - void moveToPosition(); - /** @brief Allow waypoint editing */ - void enableEditMode(bool mode); - /** @brief Enable daylight/night */ - void enableDaylight(bool enable); - /** @brief Enable atmosphere */ - void enableAtmosphere(bool enable); - /** @brief Set camera view range to aircraft in meters */ - void setViewRange(float range); - /** @brief Set the distance mode - either to ground or to MAV */ - void setDistanceMode(int mode); - /** @brief Set the view mode */ - void setViewMode(VIEW_MODE mode); - /** @brief Toggle through the different view modes */ - void toggleViewMode(); - /** @brief Set camera view range to aircraft in centimeters */ - void setViewRangeScaledInt(int range); - /** @brief Reset Google Earth View */ - void reloadHTML(); - - /** @brief Initialize Google Earth */ - void initializeGoogleEarth(); - /** @brief Print a Windows exception */ - void printWinException(int no, QString str1, QString str2, QString str3); - -public: - /** @brief Execute java script inside the Google Earth window */ - QVariant javaScript(QString javascript); - /** @brief Get a document element */ - QVariant documentElement(QString name); - -signals: - void visibilityChanged(bool visible); - -protected: - void changeEvent(QEvent *e); - QTimer* updateTimer; - int refreshRateMs; - UASInterface* mav; - bool followCamera; - bool trailEnabled; - bool waypointsEnabled; - bool webViewInitialized; - bool jScriptInitialized; - bool gEarthInitialized; - VIEW_MODE currentViewMode; -#ifdef _MSC_VER - QGCWebAxWidget* webViewWin; - QAxObject* jScriptWin; - QAxObject* documentWin; -#endif -#if (defined Q_OS_MAC) - QWebView* webViewMac; -#endif - - /** @brief Start widget updating */ - void showEvent(QShowEvent* event); - /** @brief Stop widget updating */ - void hideEvent(QHideEvent* event); - -private: -#ifdef _MSC_VER - Ui::QGCGoogleEarthView* ui; -#else - Ui::QGCGoogleEarthView* ui; -#endif -}; - -#endif // QGCGOOGLEEARTHVIEW_H diff --git a/src/ui/map3D/QGCGoogleEarthView.ui b/src/ui/map3D/QGCGoogleEarthView.ui deleted file mode 100644 index 050eab56f9b10e1dde5bb17275ae5f4557fdb491..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QGCGoogleEarthView.ui +++ /dev/null @@ -1,248 +0,0 @@ - - - QGCGoogleEarthView - - - - 0 - 0 - 1409 - 302 - - - - Form - - - - 4 - - - 2 - - - 2 - - - - - - - - Go to home location - - - Go to home location - - - Go to home location - - - Home - - - - - - - Set Home - - - true - - - - - - - Enable waypoint and home location edit mode - - - Enable waypoint and home location edit mode - - - Edit - - - true - - - - - - - Show MAV trajectories - - - Show MAV trajectories - - - Show MAV trajectories - - - Trails - - - - - - - Qt::Vertical - - - - - - - Select the MAV to chase - - - Select the MAV to chase - - - Select the MAV to chase - - - - MAV Distance - - - - - Ground Distance - - - - - - - - Distance of the chase camera to the MAV - - - Distance of the chase camera to the MAV - - - Distance of the chase camera to the MAV - - - 100 - - - 20000 - - - 3000 - - - Qt::Horizontal - - - - - - - Chase the MAV - - - Chase the MAV - - - Chase the MAV - - - Follow - - - - - - - Overhead - - - - - - - Qt::Vertical - - - - - - - Delete all waypoints - - - Delete all waypoints - - - Delete all waypoints - - - Clear Trails - - - - - - - Reset - - - - - - - Qt::Horizontal - - - QSizePolicy::MinimumExpanding - - - - 10 - 20 - - - - - - - - Enable the atmosphere visualization. Not recommended for mission execution, only for visualization - - - Enable the atmosphere visualization. Not recommended for mission execution, only for visualization - - - Sky - - - - - - - Enable day/night light. Not recommended for mission execution, only for visualization. - - - Enable day/night light. Not recommended for mission execution, only for visualization. - - - Day/Night - - - - - - - Lat/Lon - - - - - - - - diff --git a/src/ui/map3D/QGCWebPage.cc b/src/ui/map3D/QGCWebPage.cc deleted file mode 100644 index 0181837a2fad98d888091c1a3f91d6378879be8c..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QGCWebPage.cc +++ /dev/null @@ -1,20 +0,0 @@ -#include "QGCWebPage.h" -#include - -QGCWebPage::QGCWebPage(QObject *parent) : - QWebPage(parent) -{ -} - -void QGCWebPage::javaScriptConsoleMessage ( const QString & message, int lineNumber, const QString & sourceID ) -{ - qDebug() << "JAVASCRIPT: " << lineNumber << sourceID << message; -} - -#ifdef Q_OS_MAC64 -QString QGCWebPage::userAgentForUrl ( const QUrl & url ) const -{ - Q_UNUSED(url); - return "Mozilla/5.0 (Macintosh; Intel Mac OS X 10_6_0) AppleWebKit/534.57.2 (KHTML, like Gecko) Version/5.1.7 Safari"; -} -#endif diff --git a/src/ui/map3D/QGCWebPage.h b/src/ui/map3D/QGCWebPage.h deleted file mode 100644 index 21f312bf5e1d758b82bb5814e07255d9ba0d9605..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QGCWebPage.h +++ /dev/null @@ -1,24 +0,0 @@ -#ifndef QGCWEBPAGE_H -#define QGCWEBPAGE_H - -#include - -class QGCWebPage : public QWebPage -{ - Q_OBJECT -public: - explicit QGCWebPage(QObject *parent = 0); - -signals: - -public slots: - -protected: - void javaScriptConsoleMessage ( const QString & message, int lineNumber, const QString & sourceID ); -#ifdef Q_OS_MAC - QString userAgentForUrl ( const QUrl & url ) const; -#endif - -}; - -#endif // QGCWEBPAGE_H diff --git a/src/ui/map3D/QMap3D.h b/src/ui/map3D/QMap3D.h deleted file mode 100644 index dcd58e8ec0088c9c7adbfaa0ef5155e650936f9c..0000000000000000000000000000000000000000 --- a/src/ui/map3D/QMap3D.h +++ /dev/null @@ -1,58 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class QMap3D.h - * - * @author James Goppert - * - */ - -#ifdef QGC_OSGEARTH_ENABLED - -#ifndef QMAP3D_H -#define QMAP3D_H - -#include "QOSGWidget.h" -#include "ui_QMap3D.h" - -namespace Ui -{ -class QMap3D; -} - -class QMap3D : public QWidget, private Ui::QMap3D -{ - Q_OBJECT -public: - QMap3D(QWidget * parent = 0, const char * name = 0, WindowFlags f = 0); - ~QMap3D(); -public slots: - void on_pushButton_map_clicked(); - void on_pushButton_vehicle_clicked(); -}; - -#endif // QMAP3D_H - -#endif diff --git a/src/ui/map3D/SystemContainer.cc b/src/ui/map3D/SystemContainer.cc deleted file mode 100644 index 474fd927338a3a255014efa12db4cacb3cf77bf0..0000000000000000000000000000000000000000 --- a/src/ui/map3D/SystemContainer.cc +++ /dev/null @@ -1,98 +0,0 @@ -#include "SystemContainer.h" - -#include - -SystemContainer::SystemContainer() -{ - -} - -QVector3D& -SystemContainer::gpsLocalOrigin(void) -{ - return mGPSLocalOrigin; -} - -QVector4D& -SystemContainer::target(void) -{ - return mTarget; -} - -QVector< osg::ref_ptr >& -SystemContainer::models(void) -{ - return mModels; -} - -QMap >& -SystemContainer::trailMap(void) -{ - return mTrailMap; -} - -QMap& -SystemContainer::trailIndexMap(void) -{ - return mTrailIndexMap; -} - -osg::ref_ptr& -SystemContainer::depthImageNode(void) -{ - return mDepthImageNode; -} - -osg::ref_ptr& -SystemContainer::localGridNode(void) -{ - return mLocalGridNode; -} - -osg::ref_ptr& -SystemContainer::modelNode(void) -{ - return mModelNode; -} - -osg::ref_ptr& -SystemContainer::orientationNode(void) -{ - return mOrientationNode; -} - -osg::ref_ptr& -SystemContainer::pointCloudNode(void) -{ - return mPointCloudNode; -} - -osg::ref_ptr& -SystemContainer::rgbImageNode(void) -{ - return mRGBImageNode; -} - -osg::ref_ptr& -SystemContainer::setpointGroupNode(void) -{ - return mSetpointGroupNode; -} - -osg::ref_ptr& -SystemContainer::targetNode(void) -{ - return mTargetNode; -} - -osg::ref_ptr& -SystemContainer::trailNode(void) -{ - return mTrailNode; -} - -osg::ref_ptr& -SystemContainer::waypointGroupNode(void) -{ - return mWaypointGroupNode; -} diff --git a/src/ui/map3D/SystemContainer.h b/src/ui/map3D/SystemContainer.h deleted file mode 100644 index 45f72378232bbb10be77a64409498d751ab91fcc..0000000000000000000000000000000000000000 --- a/src/ui/map3D/SystemContainer.h +++ /dev/null @@ -1,61 +0,0 @@ -#ifndef SYSTEMCONTAINER_H -#define SYSTEMCONTAINER_H - -#include -#include -#include -#include -#include - -#include "ImageWindowGeode.h" -#include "WaypointGroupNode.h" - -class SystemContainer -{ -public: - SystemContainer(); - - QVector3D& gpsLocalOrigin(void); - - QVector4D& target(void); - - QVector< osg::ref_ptr >& models(void); - - QMap >& trailMap(void); - QMap& trailIndexMap(void); - - osg::ref_ptr& depthImageNode(void); - osg::ref_ptr& localGridNode(void); - osg::ref_ptr& modelNode(void); - osg::ref_ptr& orientationNode(void); - osg::ref_ptr& pointCloudNode(void); - osg::ref_ptr& rgbImageNode(void); - osg::ref_ptr& setpointGroupNode(void); - osg::ref_ptr& targetNode(void); - osg::ref_ptr& trailNode(void); - osg::ref_ptr& waypointGroupNode(void); - -private: - QVector3D mGPSLocalOrigin; - QVector4D mTarget; - - QVector< osg::ref_ptr > mModels; - - // map component id to component-specific trail - QMap > mTrailMap; - QMap mTrailIndexMap; - - // osg structures - osg::ref_ptr mDepthImageNode; - osg::ref_ptr mLocalGridNode; - osg::ref_ptr mModelNode; - osg::ref_ptr mOrientationNode; - osg::ref_ptr mPointCloudNode; - osg::ref_ptr mRGBImageNode; - osg::ref_ptr mSetpointGroupNode; - osg::ref_ptr mTargetNode; - osg::ref_ptr mTrailNode; - osg::ref_ptr mWaypointGroupNode; -}; - -#endif // SYSTEMCONTAINER_H diff --git a/src/ui/map3D/SystemGroupNode.cc b/src/ui/map3D/SystemGroupNode.cc deleted file mode 100644 index 5d64b4cae9870969d2a9786e092fbcd5c913136d..0000000000000000000000000000000000000000 --- a/src/ui/map3D/SystemGroupNode.cc +++ /dev/null @@ -1,101 +0,0 @@ -#include "SystemGroupNode.h" - -#include -#include -#include - -SystemGroupNode::SystemGroupNode() - : mAllocentricMap(new osg::Switch()) - , mRollingMap(new osg::Switch()) - , mEgocentricMap(new osg::Switch()) - , mPosition(new osg::PositionAttitudeTransform()) - , mAttitude(new osg::PositionAttitudeTransform()) -{ - addChild(mAllocentricMap); - - // set up various maps - // allocentric - world map - // rolling - map aligned to the world axes and centered on the robot - // egocentric - vehicle-centric map - mAllocentricMap->addChild(mPosition); - mPosition->addChild(mRollingMap); - mRollingMap->addChild(mAttitude); - mAttitude->addChild(mEgocentricMap); - - // set up robot - mEgocentricMap->addChild(createAxisGeode()); -} - -osg::ref_ptr& -SystemGroupNode::allocentricMap(void) -{ - return mAllocentricMap; -} - -osg::ref_ptr& -SystemGroupNode::rollingMap(void) -{ - return mRollingMap; -} - -osg::ref_ptr& -SystemGroupNode::egocentricMap(void) -{ - return mEgocentricMap; -} - -osg::ref_ptr& -SystemGroupNode::position(void) -{ - return mPosition; -} - -osg::ref_ptr& -SystemGroupNode::attitude(void) -{ - return mAttitude; -} - -osg::ref_ptr -SystemGroupNode::createAxisGeode(void) -{ - // draw x,y,z-axes - osg::ref_ptr geode(new osg::Geode()); - osg::ref_ptr geometry(new osg::Geometry()); - geode->addDrawable(geometry.get()); - - osg::ref_ptr coords(new osg::Vec3Array(6)); - (*coords)[0] = (*coords)[2] = (*coords)[4] = - osg::Vec3(0.0f, 0.0f, 0.0f); - (*coords)[1] = osg::Vec3(0.0f, 0.3f, 0.0f); - (*coords)[3] = osg::Vec3(0.15f, 0.0f, 0.0f); - (*coords)[5] = osg::Vec3(0.0f, 0.0f, -0.15f); - - geometry->setVertexArray(coords); - - osg::Vec4 redColor(1.0f, 0.0f, 0.0f, 0.0f); - osg::Vec4 greenColor(0.0f, 1.0f, 0.0f, 0.0f); - osg::Vec4 blueColor(0.0f, 0.0f, 1.0f, 0.0f); - - osg::ref_ptr color(new osg::Vec4Array(6)); - (*color)[0] = redColor; - (*color)[1] = redColor; - (*color)[2] = greenColor; - (*color)[3] = greenColor; - (*color)[4] = blueColor; - (*color)[5] = blueColor; - - geometry->setColorArray(color); - geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); - - geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, 6)); - - osg::ref_ptr stateset(new osg::StateSet); - osg::ref_ptr linewidth(new osg::LineWidth()); - linewidth->setWidth(3.0f); - stateset->setAttributeAndModes(linewidth, osg::StateAttribute::ON); - stateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - geometry->setStateSet(stateset); - - return geode; -} diff --git a/src/ui/map3D/SystemGroupNode.h b/src/ui/map3D/SystemGroupNode.h deleted file mode 100644 index abc430e469a13f11aa89444b0362734a18378bc4..0000000000000000000000000000000000000000 --- a/src/ui/map3D/SystemGroupNode.h +++ /dev/null @@ -1,28 +0,0 @@ -#ifndef SYSTEMGROUPNODE_H -#define SYSTEMGROUPNODE_H - -#include -#include - -class SystemGroupNode : public osg::Group -{ -public: - SystemGroupNode(); - - osg::ref_ptr& allocentricMap(void); - osg::ref_ptr& rollingMap(void); - osg::ref_ptr& egocentricMap(void); - osg::ref_ptr& position(void); - osg::ref_ptr& attitude(void); - -private: - osg::ref_ptr createAxisGeode(void); - - osg::ref_ptr mAllocentricMap; - osg::ref_ptr mRollingMap; - osg::ref_ptr mEgocentricMap; - osg::ref_ptr mPosition; - osg::ref_ptr mAttitude; -}; - -#endif // SYSTEMGROUPNODE_H diff --git a/src/ui/map3D/SystemViewParams.cc b/src/ui/map3D/SystemViewParams.cc deleted file mode 100644 index a8ed5a5c43d3c3588dba9bbeace1a81dcd4f7424..0000000000000000000000000000000000000000 --- a/src/ui/map3D/SystemViewParams.cc +++ /dev/null @@ -1,348 +0,0 @@ -#include "SystemViewParams.h" - -#include - -SystemViewParams::SystemViewParams(int systemId) - : mSystemId(systemId) - , mColorPointCloudByDistance(false) - , mDisplayLocalGrid(false) - , mDisplayObstacleList(true) - , mDisplayPlannedPath(true) - , mDisplayPointCloud(true) - , mDisplayRGBD(false) - , mDisplaySetpoints(true) - , mDisplayTarget(true) - , mDisplayTrails(true) - , mDisplayWaypoints(true) - , mModelIndex(-1) - , mSetpointHistoryLength(100) -{ - - setObjectName("RGBD VIEW PARAMS"); -} - -bool& -SystemViewParams::colorPointCloudByDistance(void) -{ - return mColorPointCloudByDistance; -} - -bool -SystemViewParams::colorPointCloudByDistance(void) const -{ - return mColorPointCloudByDistance; -} - -bool& -SystemViewParams::displayLocalGrid(void) -{ - return mDisplayLocalGrid; -} - -bool -SystemViewParams::displayLocalGrid(void) const -{ - return mDisplayLocalGrid; -} - -bool& -SystemViewParams::displayObstacleList(void) -{ - return mDisplayObstacleList; -} - -bool -SystemViewParams::displayObstacleList(void) const -{ - return mDisplayObstacleList; -} - -QMap& -SystemViewParams::displayOverlay(void) -{ - return mDisplayOverlay; -} - -QMap -SystemViewParams::displayOverlay(void) const -{ - return mDisplayOverlay; -} - -bool& -SystemViewParams::displayPlannedPath(void) -{ - return mDisplayPlannedPath; -} - -bool -SystemViewParams::displayPlannedPath(void) const -{ - return mDisplayPlannedPath; -} - -bool& -SystemViewParams::displayPointCloud(void) -{ - return mDisplayPointCloud; -} - -bool -SystemViewParams::displayPointCloud(void) const -{ - return mDisplayPointCloud; -} - -bool& -SystemViewParams::displayRGBD(void) -{ - return mDisplayRGBD; -} - -bool -SystemViewParams::displayRGBD(void) const -{ - return mDisplayRGBD; -} - -bool& -SystemViewParams::displaySetpoints(void) -{ - return mDisplaySetpoints; -} - -bool -SystemViewParams::displaySetpoints(void) const -{ - return mDisplaySetpoints; -} - -bool& -SystemViewParams::displayTarget(void) -{ - return mDisplayTarget; -} - -bool -SystemViewParams::displayTarget(void) const -{ - return mDisplayTarget; -} - -bool& -SystemViewParams::displayTrails(void) -{ - return mDisplayTrails; -} - -bool -SystemViewParams::displayTrails(void) const -{ - return mDisplayTrails; -} - -bool& -SystemViewParams::displayWaypoints(void) -{ - return mDisplayWaypoints; -} - -bool -SystemViewParams::displayWaypoints(void) const -{ - return mDisplayWaypoints; -} - -int& -SystemViewParams::modelIndex(void) -{ - return mModelIndex; -} - -int -SystemViewParams::modelIndex(void) const -{ - return mModelIndex; -} - -QVector& -SystemViewParams::modelNames(void) -{ - return mModelNames; -} - -const QVector& -SystemViewParams::modelNames(void) const -{ - return mModelNames; -} - -int& -SystemViewParams::setpointHistoryLength(void) -{ - return mSetpointHistoryLength; -} - -int -SystemViewParams::setpointHistoryLength(void) const -{ - return mSetpointHistoryLength; -} - -void -SystemViewParams::modelChanged(int index) -{ - mModelIndex = index; - - emit modelChangedSignal(mSystemId, index); -} - -void -SystemViewParams::setSetpointHistoryLength(int length) -{ - mSetpointHistoryLength = length; -} - -void -SystemViewParams::toggleColorPointCloud(int state) -{ - if (state == Qt::Checked) - { - mColorPointCloudByDistance = true; - } - else - { - mColorPointCloudByDistance = false; - } -} - -void -SystemViewParams::toggleLocalGrid(int state) -{ - if (state == Qt::Checked) - { - mDisplayLocalGrid = true; - } - else - { - mDisplayLocalGrid = false; - } -} - -void -SystemViewParams::toggleObstacleList(int state) -{ - if (state == Qt::Checked) - { - mDisplayObstacleList = true; - } - else - { - mDisplayObstacleList = false; - } -} - -void -SystemViewParams::toggleOverlay(QWidget* widget) -{ - const QCheckBox* checkbox = dynamic_cast(widget); - QString name = checkbox->accessibleName(); - - if (!mDisplayOverlay.contains(name)) - { - return; - } - - mDisplayOverlay[name] = (checkbox->checkState() == Qt::Checked); -} - -void -SystemViewParams::togglePlannedPath(int state) -{ - if (state == Qt::Checked) - { - mDisplayPlannedPath = true; - } - else - { - mDisplayPlannedPath = false; - } -} - -void -SystemViewParams::togglePointCloud(int state) -{ - if (state == Qt::Checked) - { - mDisplayPointCloud = true; - } - else - { - mDisplayPointCloud = false; - } -} - -void -SystemViewParams::toggleRGBD(int state) -{ - if (state == Qt::Checked) - { - mDisplayRGBD = true; - } - else - { - mDisplayRGBD = false; - } -} - -void -SystemViewParams::toggleSetpoints(int state) -{ - if (state == Qt::Checked) - { - mDisplaySetpoints = true; - } - else - { - mDisplaySetpoints = false; - } -} - -void -SystemViewParams::toggleTarget(int state) -{ - if (state == Qt::Checked) - { - mDisplayTarget = true; - } - else - { - mDisplayTarget = false; - } -} - -void -SystemViewParams::toggleTrails(int state) -{ - if (state == Qt::Checked) - { - mDisplayTrails = true; - } - else - { - mDisplayTrails = false; - } -} - -void -SystemViewParams::toggleWaypoints(int state) -{ - if (state == Qt::Checked) - { - mDisplayWaypoints = true; - } - else - { - mDisplayWaypoints = false; - } -} diff --git a/src/ui/map3D/SystemViewParams.h b/src/ui/map3D/SystemViewParams.h deleted file mode 100644 index 0497f6a4faf5ad26d9fdf6dff33bd1d75b9e70a9..0000000000000000000000000000000000000000 --- a/src/ui/map3D/SystemViewParams.h +++ /dev/null @@ -1,98 +0,0 @@ -#ifndef SYSTEMVIEWPARAMS_H -#define SYSTEMVIEWPARAMS_H - -#include -#include -#include -#include -#include - -class SystemViewParams : public QObject -{ - Q_OBJECT - -public: - SystemViewParams(int systemId); - - bool& colorPointCloudByDistance(void); - bool colorPointCloudByDistance(void) const; - - bool& displayLocalGrid(void); - bool displayLocalGrid(void) const; - - bool& displayObstacleList(void); - bool displayObstacleList(void) const; - - QMap& displayOverlay(void); - QMap displayOverlay(void) const; - - bool& displayPlannedPath(void); - bool displayPlannedPath(void) const; - - bool& displayPointCloud(void); - bool displayPointCloud(void) const; - - bool& displayRGBD(void); - bool displayRGBD(void) const; - - bool& displaySetpoints(void); - bool displaySetpoints(void) const; - - bool& displayTarget(void); - bool displayTarget(void) const; - - bool& displayTrails(void); - bool displayTrails(void) const; - - bool& displayWaypoints(void); - bool displayWaypoints(void) const; - - int& modelIndex(void); - int modelIndex(void) const; - - QVector& modelNames(void); - const QVector& modelNames(void) const; - - int& setpointHistoryLength(void); - int setpointHistoryLength(void) const; - -public slots: - void modelChanged(int index); - void setSetpointHistoryLength(int length); - void toggleColorPointCloud(int state); - void toggleLocalGrid(int state); - void toggleObstacleList(int state); - void toggleOverlay(QWidget* widget); - void togglePlannedPath(int state); - void togglePointCloud(int state); - void toggleRGBD(int state); - void toggleSetpoints(int state); - void toggleTarget(int state); - void toggleTrails(int state); - void toggleWaypoints(int state); - -signals: - void modelChangedSignal(int systemId, int index); - -private: - int mSystemId; - - bool mColorPointCloudByDistance; - bool mDisplayLocalGrid; - bool mDisplayObstacleList; - QMap mDisplayOverlay; - bool mDisplayPlannedPath; - bool mDisplayPointCloud; - bool mDisplayRGBD; - bool mDisplaySetpoints; - bool mDisplayTarget; - bool mDisplayTrails; - bool mDisplayWaypoints; - int mModelIndex; - QVector mModelNames; - int mSetpointHistoryLength; -}; - -typedef QSharedPointer SystemViewParamsPtr; - -#endif // SYSTEMVIEWPARAMS diff --git a/src/ui/map3D/TerrainParamDialog.cc b/src/ui/map3D/TerrainParamDialog.cc deleted file mode 100644 index 1fd78267b2cddb286a8a75b1fc4d30e29826d6ee..0000000000000000000000000000000000000000 --- a/src/ui/map3D/TerrainParamDialog.cc +++ /dev/null @@ -1,119 +0,0 @@ -#include "TerrainParamDialog.h" - -#include -#include -#include - -TerrainParamDialog::TerrainParamDialog(QWidget* parent) - : QDialog(parent) -{ - QVBoxLayout* layout = new QVBoxLayout; - setLayout(layout); - - setWindowTitle(tr("Terrain Parameters")); - setModal(true); - - buildLayout(layout); -} - -void -TerrainParamDialog::getTerrainParams(GlobalViewParamsPtr &globalViewParams) -{ - QVector3D& positionOffset = globalViewParams->terrainPositionOffset(); - QVector3D& attitudeOffset = globalViewParams->terrainAttitudeOffset(); - - TerrainParamDialog dialog; - dialog.mXOffsetSpinBox->setValue(positionOffset.x()); - dialog.mYOffsetSpinBox->setValue(positionOffset.y()); - dialog.mZOffsetSpinBox->setValue(positionOffset.z()); - dialog.mRollOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.x())); - dialog.mPitchOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.y())); - dialog.mYawOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.z())); - - if (dialog.exec() == QDialog::Accepted) - { - positionOffset.setX(dialog.mXOffsetSpinBox->value()); - positionOffset.setY(dialog.mYOffsetSpinBox->value()); - positionOffset.setZ(dialog.mZOffsetSpinBox->value()); - attitudeOffset.setX(osg::DegreesToRadians(dialog.mRollOffsetSpinBox->value())); - attitudeOffset.setY(osg::DegreesToRadians(dialog.mPitchOffsetSpinBox->value())); - attitudeOffset.setZ(osg::DegreesToRadians(dialog.mYawOffsetSpinBox->value())); - } -} - -void -TerrainParamDialog::closeWithSaving(void) -{ - done(QDialog::Accepted); -} - -void -TerrainParamDialog::closeWithoutSaving(void) -{ - done(QDialog::Rejected); -} - -void -TerrainParamDialog::buildLayout(QVBoxLayout* layout) -{ - QGroupBox* offsetGroupBox = new QGroupBox(tr("Offset"), this); - - mXOffsetSpinBox = new QDoubleSpinBox(this); - mXOffsetSpinBox->setDecimals(1); - mXOffsetSpinBox->setRange(-100.0, 100.0); - mXOffsetSpinBox->setValue(0.0); - - mYOffsetSpinBox = new QDoubleSpinBox(this); - mYOffsetSpinBox->setDecimals(1); - mYOffsetSpinBox->setRange(-100.0, 100.0); - mYOffsetSpinBox->setValue(0.0); - - mZOffsetSpinBox = new QDoubleSpinBox(this); - mZOffsetSpinBox->setDecimals(1); - mZOffsetSpinBox->setRange(-100.0, 100.0); - mZOffsetSpinBox->setValue(0.0); - - mRollOffsetSpinBox = new QDoubleSpinBox(this); - mRollOffsetSpinBox->setDecimals(0); - mRollOffsetSpinBox->setRange(-180.0, 180.0); - mRollOffsetSpinBox->setValue(0.0); - - mPitchOffsetSpinBox = new QDoubleSpinBox(this); - mPitchOffsetSpinBox->setDecimals(0); - mPitchOffsetSpinBox->setRange(-180.0, 180.0); - mPitchOffsetSpinBox->setValue(0.0); - - mYawOffsetSpinBox = new QDoubleSpinBox(this); - mYawOffsetSpinBox->setDecimals(0); - mYawOffsetSpinBox->setRange(-180.0, 180.0); - mYawOffsetSpinBox->setValue(0.0); - - QFormLayout* formLayout = new QFormLayout; - formLayout->addRow(tr("x (m)"), mXOffsetSpinBox); - formLayout->addRow(tr("y (m)"), mYOffsetSpinBox); - formLayout->addRow(tr("z (m)"), mZOffsetSpinBox); - formLayout->addRow(tr("Roll (deg)"), mRollOffsetSpinBox); - formLayout->addRow(tr("Pitch (deg)"), mPitchOffsetSpinBox); - formLayout->addRow(tr("Yaw (deg)"), mYawOffsetSpinBox); - - offsetGroupBox->setLayout(formLayout); - - layout->addWidget(offsetGroupBox); - layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding)); - - QPushButton* cancelButton = new QPushButton(this); - cancelButton->setText("Cancel"); - - QPushButton* saveButton = new QPushButton(this); - saveButton->setText("Save"); - - QHBoxLayout* buttonLayout = new QHBoxLayout; - buttonLayout->addWidget(cancelButton); - buttonLayout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding)); - buttonLayout->addWidget(saveButton); - - layout->addLayout(buttonLayout); - - connect(cancelButton, SIGNAL(clicked()), this, SLOT(closeWithoutSaving())); - connect(saveButton, SIGNAL(clicked()), this, SLOT(closeWithSaving())); -} diff --git a/src/ui/map3D/TerrainParamDialog.h b/src/ui/map3D/TerrainParamDialog.h deleted file mode 100644 index 2a0f0f20044bf100e988d271bcc45333bbe94c08..0000000000000000000000000000000000000000 --- a/src/ui/map3D/TerrainParamDialog.h +++ /dev/null @@ -1,34 +0,0 @@ -#ifndef TERRAINPARAMDIALOG_H -#define TERRAINPARAMDIALOG_H - -#include -#include -#include - -#include "GlobalViewParams.h" - -class TerrainParamDialog : public QDialog -{ - Q_OBJECT - -public: - TerrainParamDialog(QWidget* parent = 0); - - static void getTerrainParams(GlobalViewParamsPtr& globalViewParams); - -private slots: - void closeWithSaving(void); - void closeWithoutSaving(void); - -private: - void buildLayout(QVBoxLayout* layout); - - QDoubleSpinBox* mXOffsetSpinBox; - QDoubleSpinBox* mYOffsetSpinBox; - QDoubleSpinBox* mZOffsetSpinBox; - QDoubleSpinBox* mRollOffsetSpinBox; - QDoubleSpinBox* mPitchOffsetSpinBox; - QDoubleSpinBox* mYawOffsetSpinBox; -}; - -#endif // TERRAINPARAMDIALOG_H diff --git a/src/ui/map3D/Texture.cc b/src/ui/map3D/Texture.cc deleted file mode 100644 index e7dc3c741b5ea7fe967a303a63897ac42a803f50..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Texture.cc +++ /dev/null @@ -1,175 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Texture. - * - * @author Lionel Heng - * - */ - -#include - -#include "Texture.h" - -Texture::Texture(quint64 id) - : mId(id) - , mTexture2D(new osg::Texture2D) - , mGeometry(new osg::Geometry) -{ - mTexture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST); - mTexture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST); - - mTexture2D->setDataVariance(osg::Object::DYNAMIC); - mTexture2D->setResizeNonPowerOfTwoHint(false); - - osg::ref_ptr image = new osg::Image; - mTexture2D->setImage(image); - - osg::ref_ptr vertices(new osg::Vec3dArray(4)); - mGeometry->setVertexArray(vertices); - - osg::ref_ptr textureCoords = new osg::Vec2Array; - textureCoords->push_back(osg::Vec2(0.0f, 1.0f)); - textureCoords->push_back(osg::Vec2(1.0f, 1.0f)); - textureCoords->push_back(osg::Vec2(1.0f, 0.0f)); - textureCoords->push_back(osg::Vec2(0.0f, 0.0f)); - mGeometry->setTexCoordArray(0, textureCoords); - - mGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, - 0, 4)); - - osg::ref_ptr colors(new osg::Vec4Array); - colors->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f)); - mGeometry->setColorArray(colors); - mGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - mGeometry->setUseDisplayList(false); - - osg::ref_ptr linewidth(new osg::LineWidth); - linewidth->setWidth(2.0f); - mGeometry->getOrCreateStateSet()-> - setAttributeAndModes(linewidth, osg::StateAttribute::ON); - mGeometry->getOrCreateStateSet()-> - setMode(GL_LIGHTING, osg::StateAttribute::OFF); -} - -const QString& -Texture::getSourceURL(void) const -{ - return mSourceURL; -} - -void -Texture::setId(quint64 id) -{ - mId = id; -} - -void -Texture::sync(const WebImagePtr& image) -{ - mState = static_cast(image->getState()); - - if (image->getState() != WebImage::UNINITIALIZED && - mSourceURL != image->getSourceURL()) - { - mSourceURL = image->getSourceURL(); - } - - if (image->getState() == WebImage::READY && image->getSyncFlag()) - { - image->setSyncFlag(false); - - if (mTexture2D->getImage() != NULL) - { - mTexture2D->getImage()->setImage(image->getWidth(), - image->getHeight(), - 1, - GL_RGBA, - GL_RGBA, - GL_UNSIGNED_BYTE, - image->getImageData(), - osg::Image::NO_DELETE); - mTexture2D->getImage()->dirty(); - } - } -} - -osg::ref_ptr -Texture::draw(double x1, double y1, double x2, double y2, - double z, - bool smoothInterpolation) const -{ - return draw(x1, y1, x2, y1, x2, y2, x1, y2, z, smoothInterpolation); -} - -osg::ref_ptr -Texture::draw(double x1, double y1, double x2, double y2, - double x3, double y3, double x4, double y4, - double z, - bool smoothInterpolation) const -{ - osg::Vec3dArray* vertices = - static_cast(mGeometry->getVertexArray()); - (*vertices)[0].set(x1, y1, z); - (*vertices)[1].set(x2, y2, z); - (*vertices)[2].set(x3, y3, z); - (*vertices)[3].set(x4, y4, z); - - osg::DrawArrays* drawarrays = - static_cast(mGeometry->getPrimitiveSet(0)); - osg::Vec4Array* colors = - static_cast(mGeometry->getColorArray()); - - if (mState == REQUESTED) - { - drawarrays->set(osg::PrimitiveSet::LINE_LOOP, 0, 4); - (*colors)[0].set(0.0f, 0.0f, 1.0f, 1.0f); - - mGeometry->getOrCreateStateSet()-> - setTextureAttributeAndModes(0, mTexture2D, osg::StateAttribute::OFF); - - return mGeometry; - } - - if (smoothInterpolation) - { - mTexture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR); - mTexture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR); - } - else - { - mTexture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST); - mTexture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST); - } - - drawarrays->set(osg::PrimitiveSet::POLYGON, 0, 4); - (*colors)[0].set(1.0f, 1.0f, 1.0f, 1.0f); - - mGeometry->getOrCreateStateSet()-> - setTextureAttributeAndModes(0, mTexture2D, osg::StateAttribute::ON); - - return mGeometry; -} diff --git a/src/ui/map3D/Texture.h b/src/ui/map3D/Texture.h deleted file mode 100644 index b1250aa5a6267675064739eac235dd4205c29a2b..0000000000000000000000000000000000000000 --- a/src/ui/map3D/Texture.h +++ /dev/null @@ -1,79 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class Texture. - * - * @author Lionel Heng - * - */ - -#ifndef TEXTURE_H -#define TEXTURE_H - -#include -#include -#include -#include -#include - -#include "WebImage.h" - -class Texture -{ -public: - explicit Texture(quint64 id); - - const QString& getSourceURL(void) const; - - void setId(quint64 id); - - void sync(const WebImagePtr& image); - - osg::ref_ptr draw(double x1, double y1, double x2, double y2, - double z, - bool smoothInterpolation) const; - osg::ref_ptr draw(double x1, double y1, double x2, double y2, - double x3, double y3, double x4, double y4, - double z, - bool smoothInterpolation) const; - -private: - enum State - { - UNINITIALIZED = 0, - REQUESTED = 1, - READY = 2 - }; - - State mState; - QString mSourceURL; - quint64 mId; - osg::ref_ptr mTexture2D; - osg::ref_ptr mGeometry; -}; - -typedef QSharedPointer TexturePtr; - -#endif // TEXTURE_H diff --git a/src/ui/map3D/TextureCache.cc b/src/ui/map3D/TextureCache.cc deleted file mode 100644 index 6b9ebc9e9e3a5ccaa6eb7117397b51d106900e89..0000000000000000000000000000000000000000 --- a/src/ui/map3D/TextureCache.cc +++ /dev/null @@ -1,104 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class TextureCache. - * - * @author Lionel Heng - * - */ - -#include "TextureCache.h" - -TextureCache::TextureCache(int cacheSize) - : mCacheSize(cacheSize) - , mImageCache(new WebImageCache(0, cacheSize)) -{ - for (int i = 0; i < mCacheSize; ++i) - { - TexturePtr t(new Texture(i)); - - mTextures.push_back(t); - } -} - -TexturePtr -TextureCache::get(const QString& tileURL) -{ - QPair p1 = lookup(tileURL); - if (!p1.first.isNull()) - { - return p1.first; - } - - QPair p2 = mImageCache->lookup(tileURL); - if (!p2.first.isNull()) - { - mTextures[p2.second]->sync(p2.first); - p1 = lookup(tileURL); - - return p1.first; - } - - return TexturePtr(); -} - -void -TextureCache::sync(void) -{ - if (requireSync()) - { - for (int i = 0; i < mTextures.size(); ++i) - { - mTextures[i]->sync(mImageCache->at(i)); - } - } -} - -QPair -TextureCache::lookup(const QString& tileURL) -{ - for (int i = 0; i < mTextures.size(); ++i) - { - if (mTextures[i]->getSourceURL() == tileURL) - { - return qMakePair(mTextures[i], i); - } - } - - return qMakePair(TexturePtr(), -1); -} - -bool -TextureCache::requireSync(void) const -{ - for (int i = 0; i < mCacheSize; ++i) - { - if (mImageCache->at(i)->getSyncFlag()) - { - return true; - } - } - return false; -} diff --git a/src/ui/map3D/TextureCache.h b/src/ui/map3D/TextureCache.h deleted file mode 100644 index 14597b23415085707d5a511788639a12a27473f1..0000000000000000000000000000000000000000 --- a/src/ui/map3D/TextureCache.h +++ /dev/null @@ -1,60 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class TextureCache. - * - * @author Lionel Heng - * - */ - -#ifndef TEXTURECACHE_H -#define TEXTURECACHE_H - -#include - -#include "Texture.h" -#include "WebImageCache.h" - -class TextureCache -{ -public: - explicit TextureCache(int cacheSize); - - TexturePtr get(const QString& tileURL); - - void sync(void); - -private: - QPair lookup(const QString& tileURL); - - bool requireSync(void) const; - - int mCacheSize; - QVector mTextures; - - QScopedPointer mImageCache; -}; - -#endif // TEXTURECACHE_H diff --git a/src/ui/map3D/ViewParamWidget.cc b/src/ui/map3D/ViewParamWidget.cc deleted file mode 100644 index adf352c399e229a62904d8d2cb3ca06b1c3a79f9..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ViewParamWidget.cc +++ /dev/null @@ -1,266 +0,0 @@ -#include "ViewParamWidget.h" - -#include -#include -#include -#include -#include - -#include "ImageryParamDialog.h" -#include "UASInterface.h" - -ViewParamWidget::ViewParamWidget(GlobalViewParamsPtr& globalViewParams, - QMap& systemViewParamMap, - QWidget* parent, QWidget* mainWindow) - : QDockWidget(tr("View Parameters"), mainWindow) - , mGlobalViewParams(globalViewParams) - , mSystemViewParamMap(systemViewParamMap) - , mParent(parent) - , mFollowCameraComboBox(new QComboBox(this)) - , mTabWidget(new QTabWidget(this)) -{ - setObjectName("RGBD VIEW PARAMS WIDGET"); - QVBoxLayout* layout = new QVBoxLayout; - QWidget* widget = new QWidget; - widget->setLayout(layout); - - setWidget(widget); - - buildLayout(layout); - - mTabWidget->setFocusPolicy(Qt::NoFocus); - - mOverlaySignalMapper = new QSignalMapper(this); - - connect(parent, SIGNAL(systemCreatedSignal(UASInterface*)), - this, SLOT(systemCreated(UASInterface*))); - - connect(parent, SIGNAL(overlayCreatedSignal(int,QString)), - this, SLOT(overlayCreated(int,QString))); -} - -void -ViewParamWidget::setFollowCameraId(int id) -{ - for (int i = 0; i < mFollowCameraComboBox->count(); ++i) - { - if (mFollowCameraComboBox->itemText(i).endsWith(QString::number(id))) - { - mFollowCameraComboBox->setCurrentIndex(i); - return; - } - } - - mFollowCameraComboBox->setCurrentIndex(0); -} - -void -ViewParamWidget::overlayCreated(int systemId, const QString& name) -{ - if (!mOverlayLayout.contains(systemId)) - { - return; - } - - SystemViewParamsPtr systemViewParams = mSystemViewParamMap[systemId]; - systemViewParams->displayOverlay().insert(name, true); - - QCheckBox* checkbox = new QCheckBox(this); - checkbox->setAccessibleName(name); - checkbox->setChecked(systemViewParams->displayOverlay().value(name)); - mOverlayLayout[systemId]->addRow(name, checkbox); - - mOverlaySignalMapper->setMapping(checkbox, checkbox); - - connect(checkbox, SIGNAL(clicked()), - mOverlaySignalMapper, SLOT(map())); - connect(mOverlaySignalMapper, SIGNAL(mapped(QWidget*)), - systemViewParams.data(), SLOT(toggleOverlay(QWidget*))); -} - -void -ViewParamWidget::systemCreated(UASInterface *uas) -{ - addTab(uas->getUASID()); - - QString text("MAV "); - text += QString::number(uas->getUASID()); - mFollowCameraComboBox->addItem(text); -} - -void -ViewParamWidget::setpointsCheckBoxToggled(int state) -{ - if (state == Qt::Checked) - { - mSetpointHistoryLengthSpinBox->setEnabled(true); - } - else - { - mSetpointHistoryLengthSpinBox->setEnabled(false); - } -} - -void -ViewParamWidget::showImageryParamDialog(void) -{ - ImageryParamDialog::getImageryParams(mGlobalViewParams); -} - -void -ViewParamWidget::buildLayout(QVBoxLayout* layout) -{ - mFollowCameraComboBox->addItem("None"); - - QComboBox* frameComboBox = new QComboBox(this); - frameComboBox->addItem("Local"); - frameComboBox->addItem("Global"); - - QCheckBox* terrainModelCheckBox = new QCheckBox(this); - terrainModelCheckBox->setChecked(mGlobalViewParams->displayTerrain()); - - QCheckBox* worldGridCheckBox = new QCheckBox(this); - worldGridCheckBox->setChecked(mGlobalViewParams->displayWorldGrid()); - - QPushButton* imageryButton = new QPushButton(this); - imageryButton->setText("View"); - - QMapIterator it(mSystemViewParamMap); - while (it.hasNext()) - { - QString text("MAV "); - text += QString::number(it.key()); - mFollowCameraComboBox->addItem(text); - - addTab(it.key()); - } - - QFormLayout* formLayout = new QFormLayout; - formLayout->addRow(tr("Follow Camera"), mFollowCameraComboBox); - formLayout->addRow(tr("Frame"), frameComboBox); - formLayout->addRow(tr("Terrain"), terrainModelCheckBox); - formLayout->addRow(tr("World Grid"), worldGridCheckBox); - formLayout->addRow(tr("Imagery Options"), imageryButton); - - layout->addLayout(formLayout); - layout->addWidget(mTabWidget); - - // connect signals/slots - connect(mFollowCameraComboBox, SIGNAL(currentIndexChanged(const QString&)), - mGlobalViewParams.data(), SLOT(followCameraChanged(const QString&))); - connect(frameComboBox, SIGNAL(currentIndexChanged(const QString&)), - mGlobalViewParams.data(), SLOT(frameChanged(const QString&))); - connect(terrainModelCheckBox, SIGNAL(stateChanged(int)), - mGlobalViewParams.data(), SLOT(toggleTerrain(int))); - connect(worldGridCheckBox, SIGNAL(stateChanged(int)), - mGlobalViewParams.data(), SLOT(toggleWorldGrid(int))); - connect(imageryButton, SIGNAL(clicked()), - this, SLOT(showImageryParamDialog())); -// connect(imageryComboBox, SIGNAL(currentIndexChanged(int)), -// mGlobalViewParams.data(), SLOT(imageryTypeChanged(int))); -} - -void -ViewParamWidget::addTab(int systemId) -{ - // add widgets that configure system-specific parameters - SystemViewParamsPtr systemViewParams = mSystemViewParamMap[systemId]; - - QWidget* page = new QWidget; - - QCheckBox* colorPointCloudCheckBox = new QCheckBox(this); - colorPointCloudCheckBox->setChecked(systemViewParams->colorPointCloudByDistance()); - - QCheckBox* localGridCheckBox = new QCheckBox(this); - localGridCheckBox->setChecked(systemViewParams->displayLocalGrid()); - - QComboBox* modelComboBox = new QComboBox(this); - for (int i = 0; i < systemViewParams->modelNames().size(); ++i) - { - modelComboBox->addItem(systemViewParams->modelNames().at(i)); - } - - QCheckBox* obstacleListCheckBox = new QCheckBox(this); - obstacleListCheckBox->setChecked(systemViewParams->displayObstacleList()); - - QCheckBox* plannedPathCheckBox = new QCheckBox(this); - plannedPathCheckBox->setChecked(systemViewParams->displayPlannedPath()); - - QCheckBox* pointCloudCheckBox = new QCheckBox(this); - pointCloudCheckBox->setChecked(systemViewParams->displayPointCloud()); - - QCheckBox* rgbdCheckBox = new QCheckBox(this); - rgbdCheckBox->setChecked(systemViewParams->displayRGBD()); - - QCheckBox* setpointsCheckBox = new QCheckBox(this); - setpointsCheckBox->setChecked(systemViewParams->displaySetpoints()); - - mSetpointHistoryLengthSpinBox = new QSpinBox(this); - mSetpointHistoryLengthSpinBox->setRange(1, 10000); - mSetpointHistoryLengthSpinBox->setSingleStep(10); - mSetpointHistoryLengthSpinBox->setValue(systemViewParams->setpointHistoryLength()); - mSetpointHistoryLengthSpinBox->setEnabled(systemViewParams->displaySetpoints()); - - QCheckBox* targetCheckBox = new QCheckBox(this); - targetCheckBox->setChecked(systemViewParams->displayTarget()); - - QCheckBox* trailsCheckBox = new QCheckBox(this); - trailsCheckBox->setChecked(systemViewParams->displayTrails()); - - QCheckBox* waypointsCheckBox = new QCheckBox(this); - waypointsCheckBox->setChecked(systemViewParams->displayWaypoints()); - - QGroupBox* overlayGroupBox = new QGroupBox(tr("Overlays"), this); - mOverlayLayout[systemId] = new QFormLayout; - overlayGroupBox->setLayout(mOverlayLayout[systemId]); - - QFormLayout* formLayout = new QFormLayout; - page->setLayout(formLayout); - - formLayout->addRow(tr("Color Point Cloud"), colorPointCloudCheckBox); - formLayout->addRow(tr("Local Grid"), localGridCheckBox); - formLayout->addRow(tr("Model"), modelComboBox); - formLayout->addRow(tr("Obstacles"), obstacleListCheckBox); - formLayout->addRow(tr("Planned Path"), plannedPathCheckBox); - formLayout->addRow(tr("Point Cloud"), pointCloudCheckBox); - formLayout->addRow(tr("RGBD"), rgbdCheckBox); - formLayout->addRow(tr("Setpoints"), setpointsCheckBox); - formLayout->addRow(tr("Setpoint History Length"), mSetpointHistoryLengthSpinBox); - formLayout->addRow(tr("Target"), targetCheckBox); - formLayout->addRow(tr("Trails"), trailsCheckBox); - formLayout->addRow(tr("Waypoints"), waypointsCheckBox); - formLayout->addRow(overlayGroupBox); - - QString label("MAV "); - label += QString::number(systemId); - - mTabWidget->addTab(page, label); - - // connect signals / slots - connect(colorPointCloudCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleColorPointCloud(int))); - connect(localGridCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleLocalGrid(int))); - connect(modelComboBox, SIGNAL(currentIndexChanged(int)), - systemViewParams.data(), SLOT(modelChanged(int))); - connect(obstacleListCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleObstacleList(int))); - connect(plannedPathCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(togglePlannedPath(int))); - connect(pointCloudCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(togglePointCloud(int))); - connect(rgbdCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleRGBD(int))); - connect(setpointsCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleSetpoints(int))); - connect(setpointsCheckBox, SIGNAL(stateChanged(int)), - this, SLOT(setpointsCheckBoxToggled(int))); - connect(mSetpointHistoryLengthSpinBox, SIGNAL(valueChanged(int)), - systemViewParams.data(), SLOT(setSetpointHistoryLength(int))); - connect(targetCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleTarget(int))); - connect(trailsCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleTrails(int))); - connect(waypointsCheckBox, SIGNAL(stateChanged(int)), - systemViewParams.data(), SLOT(toggleWaypoints(int))); -} diff --git a/src/ui/map3D/ViewParamWidget.h b/src/ui/map3D/ViewParamWidget.h deleted file mode 100644 index d10af19d20c2bd58a750b0785cc0eafae9f4d1a9..0000000000000000000000000000000000000000 --- a/src/ui/map3D/ViewParamWidget.h +++ /dev/null @@ -1,56 +0,0 @@ -#ifndef VIEWPARAMWIDGET_H -#define VIEWPARAMWIDGET_H - -#include -#include -#include -#include -#include -#include -#include - -#include "GlobalViewParams.h" -#include "SystemViewParams.h" - -class UASInterface; - -class ViewParamWidget : public QDockWidget -{ - Q_OBJECT - -public: - ViewParamWidget(GlobalViewParamsPtr& globalViewParams, - QMap& systemViewParamMap, - QWidget* parent = 0, QWidget* mainWindow = 0); - - void setFollowCameraId(int id); - -signals: - -private slots: - void overlayCreated(int systemId, const QString& name); - void systemCreated(UASInterface* uas); - void setpointsCheckBoxToggled(int state); - void showImageryParamDialog(void); - -private: - void buildLayout(QVBoxLayout* layout); - void addTab(int systemId); - - // view parameters - GlobalViewParamsPtr mGlobalViewParams; - QMap& mSystemViewParamMap; - - // parent widget - QWidget* mParent; - - // child widgets - QComboBox* mFollowCameraComboBox; - QSpinBox* mSetpointHistoryLengthSpinBox; - QMap mOverlayLayout; - QTabWidget* mTabWidget; - - QSignalMapper* mOverlaySignalMapper; -}; - -#endif // VIEWPARAMWIDGET_H diff --git a/src/ui/map3D/WaypointGroupNode.cc b/src/ui/map3D/WaypointGroupNode.cc deleted file mode 100644 index 1357b59862184181138be3bd44330963a6293da2..0000000000000000000000000000000000000000 --- a/src/ui/map3D/WaypointGroupNode.cc +++ /dev/null @@ -1,218 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class WaypointGroupNode. - * - * @author Lionel Heng - * - */ - -#include "WaypointGroupNode.h" - -#include -#include -#include - -#include "Imagery.h" -#include "UASManager.h" - -WaypointGroupNode::WaypointGroupNode(const QColor& color) - : mColor(color) -{ - -} - -void -WaypointGroupNode::init(void) -{ - -} - -void -WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame) -{ - if (!uas) - { - return; - } - - double robotX = 0.0; - double robotY = 0.0; - double robotZ = 0.0; - if (frame == MAV_FRAME_GLOBAL) - { - double latitude = uas->getLatitude(); - double longitude = uas->getLongitude(); - double altitude = uas->getAltitudeAMSL(); - - QString utmZone; - Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone); - robotZ = -altitude; - } - else if (frame == MAV_FRAME_GLOBAL_RELATIVE_ALT) - { - double latitude = uas->getLatitude(); - double longitude = uas->getLongitude(); - double altitude = uas->getAltitudeRelative(); - - QString utmZone; - Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone); - robotZ = -altitude; - } - else if (frame == MAV_FRAME_LOCAL_NED) - { - robotX = uas->getLocalX(); - robotY = uas->getLocalY(); - robotZ = uas->getLocalZ(); - } - - if (getNumChildren() > 0) - { - removeChild(0, getNumChildren()); - } - - const QList& list = uas->getWaypointManager()->getWaypointEditableList(); - - for (int i = 0; i < list.size(); i++) - { - Waypoint* wp = list.at(i); - - double wpX, wpY, wpZ; - getPosition(wp, wpX, wpY, wpZ); - double wpYaw = osg::DegreesToRadians(wp->getYaw()); - - osg::ref_ptr group = new osg::Group; - - // cone indicates waypoint orientation - osg::ref_ptr sd = new osg::ShapeDrawable; - double coneRadius = wp->getAcceptanceRadius() / 2.0; - osg::ref_ptr cone = - new osg::Cone(osg::Vec3d(wpZ, 0.0, 0.0), - coneRadius, wp->getAcceptanceRadius() * 2.0); - - sd->setShape(cone); - sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - - if (wp->getCurrent()) - { - sd->setColor(osg::Vec4(1.0f, 0.8f, 0.0f, 1.0f)); - } - else - { - sd->setColor(osg::Vec4(mColor.redF(), mColor.greenF(), - mColor.blueF(), 0.5f)); - } - - osg::ref_ptr geode = new osg::Geode; - geode->addDrawable(sd); - - osg::ref_ptr pat = - new osg::PositionAttitudeTransform; - pat->addChild(geode); - pat->setAttitude(osg::Quat(wpYaw - M_PI_2, osg::Vec3d(1.0f, 0.0f, 0.0f), - M_PI_2, osg::Vec3d(0.0f, 1.0f, 0.0f), - 0.0, osg::Vec3d(0.0f, 0.0f, 1.0f))); - group->addChild(pat); - - // cylinder indicates waypoint position - sd = new osg::ShapeDrawable; - osg::ref_ptr cylinder = - new osg::Cylinder(osg::Vec3d(0.0, 0.0, -wpZ / 2.0), - wp->getAcceptanceRadius(), - fabs(wpZ)); - - sd->setShape(cylinder); - sd->getOrCreateStateSet()->setMode(GL_BLEND, osg::StateAttribute::ON); - - sd->setColor(osg::Vec4(mColor.redF(), mColor.greenF(), - mColor.blueF(), 0.5f)); - - geode = new osg::Geode; - geode->addDrawable(sd); - group->addChild(geode); - - char wpLabel[10]; - sprintf(wpLabel, "wp%d", i); - group->setName(wpLabel); - - if (i < list.size() - 1) - { - double nextWpX, nextWpY, nextWpZ; - getPosition(list.at(i + 1), nextWpX, nextWpY, nextWpZ); - - osg::ref_ptr geometry = new osg::Geometry; - osg::ref_ptr vertices = new osg::Vec3dArray; - vertices->push_back(osg::Vec3d(0.0, 0.0, -wpZ)); - vertices->push_back(osg::Vec3d(nextWpY - wpY, - nextWpX - wpX, - -nextWpZ)); - geometry->setVertexArray(vertices); - - osg::ref_ptr colors = new osg::Vec4Array; - colors->push_back(osg::Vec4(mColor.redF(), mColor.greenF(), - mColor.blueF(), 0.5f)); - geometry->setColorArray(colors); - geometry->setColorBinding(osg::Geometry::BIND_OVERALL); - - geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, 2)); - - osg::ref_ptr linewidth(new osg::LineWidth()); - linewidth->setWidth(2.0f); - geometry->getOrCreateStateSet()->setAttributeAndModes(linewidth, osg::StateAttribute::ON); - geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF); - - geode->addDrawable(geometry); - } - - pat = new osg::PositionAttitudeTransform; - pat->setPosition(osg::Vec3d(wpY - robotY, - wpX - robotX, - robotZ)); - - addChild(pat); - pat->addChild(group); - } -} - -void -WaypointGroupNode::getPosition(Waypoint* wp, double &x, double &y, double &z) -{ - if (wp->getFrame() == MAV_FRAME_GLOBAL) - { - double latitude = wp->getY(); - double longitude = wp->getX(); - double altitude = wp->getZ(); - - QString utmZone; - Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); - z = -altitude; - } - else if (wp->getFrame() == MAV_FRAME_LOCAL_NED) - { - x = wp->getX(); - y = wp->getY(); - z = wp->getZ(); - } -} diff --git a/src/ui/map3D/WaypointGroupNode.h b/src/ui/map3D/WaypointGroupNode.h deleted file mode 100644 index 606accbac23bcfd744dc31b204e8138616afa6ef..0000000000000000000000000000000000000000 --- a/src/ui/map3D/WaypointGroupNode.h +++ /dev/null @@ -1,53 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class WaypointGroupNode. - * - * @author Lionel Heng - * - */ - -#ifndef WAYPOINTGROUPNODE_H -#define WAYPOINTGROUPNODE_H - -#include - -#include "UASInterface.h" - -class WaypointGroupNode : public osg::Group -{ -public: - WaypointGroupNode(const QColor& color); - - void init(void); - void update(UASInterface* uas, MAV_FRAME frame); - -private: - void getPosition(Waypoint* wp, double& x, double& y, double& z); - - QColor mColor; -}; - -#endif // WAYPOINTGROUPNODE_H diff --git a/src/ui/map3D/WebImage.cc b/src/ui/map3D/WebImage.cc deleted file mode 100644 index c638b811fa9b32f71a7e1b420dd6f53e8b84a911..0000000000000000000000000000000000000000 --- a/src/ui/map3D/WebImage.cc +++ /dev/null @@ -1,166 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class WebImage. - * - * @author Lionel Heng - * - */ - -#include "WebImage.h" - -#include -#include - -WebImage::WebImage() - : mState(WebImage::UNINITIALIZED) - , mSourceURL("") - , mImage(0) - , mLastReference(0) - , mSyncFlag(false) -{ - -} - -void -WebImage::clear(void) -{ - mImage.reset(); - mSourceURL.clear(); - mState = WebImage::UNINITIALIZED; - mLastReference = 0; -} - -WebImage::State -WebImage::getState(void) const -{ - return mState; -} - -void -WebImage::setState(State state) -{ - mState = state; -} - -const QString& -WebImage::getSourceURL(void) const -{ - return mSourceURL; -} - -void -WebImage::setSourceURL(const QString& url) -{ - mSourceURL = url; -} - -uchar* -WebImage::getImageData(void) const -{ - return mImage->scanLine(0); -} - -bool -WebImage::setData(const QByteArray& data) -{ - QImage tempImage; - if (tempImage.loadFromData(data)) - { - if (mImage.isNull()) - { - mImage.reset(new QImage); - } - *mImage = QGLWidget::convertToGLFormat(tempImage); - - return true; - } - else - { - return false; - } -} - -bool -WebImage::setData(const QString& filename) -{ - QImage tempImage; - if (tempImage.load(filename)) - { - if (mImage.isNull()) - { - mImage.reset(new QImage); - } - *mImage = QGLWidget::convertToGLFormat(tempImage); - - return true; - } - else - { - return false; - } -} - -int -WebImage::getWidth(void) const -{ - return mImage->width(); -} - -int -WebImage::getHeight(void) const -{ - return mImage->height(); -} - -int -WebImage::getByteCount(void) const -{ - return mImage->byteCount(); -} - -quint64 -WebImage::getLastReference(void) const -{ - return mLastReference; -} - -void -WebImage::setLastReference(quint64 value) -{ - mLastReference = value; -} - -bool -WebImage::getSyncFlag(void) const -{ - return mSyncFlag; -} - -void -WebImage::setSyncFlag(bool onoff) -{ - mSyncFlag = onoff; -} diff --git a/src/ui/map3D/WebImage.h b/src/ui/map3D/WebImage.h deleted file mode 100644 index 6b317dce1d2cb39fde402c05af3a5f9657386a36..0000000000000000000000000000000000000000 --- a/src/ui/map3D/WebImage.h +++ /dev/null @@ -1,83 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class WebImage. - * - * @author Lionel Heng - * - */ - -#ifndef WEBIMAGE_H -#define WEBIMAGE_H - -#include -#include -#include -#include - -class WebImage -{ -public: - WebImage(); - - void clear(void); - - enum State { - UNINITIALIZED = 0, - REQUESTED = 1, - READY = 2 - }; - - State getState(void) const; - void setState(State state); - - const QString& getSourceURL(void) const; - void setSourceURL(const QString& url); - - uchar* getImageData(void) const; - bool setData(const QByteArray& data); - bool setData(const QString& filename); - - int getWidth(void) const; - int getHeight(void) const; - int getByteCount(void) const; - - quint64 getLastReference(void) const; - void setLastReference(quint64 value); - - bool getSyncFlag(void) const; - void setSyncFlag(bool onoff); - -private: - State mState; - QString mSourceURL; - QScopedPointer mImage; - quint64 mLastReference; - bool mSyncFlag; -}; - -typedef QSharedPointer WebImagePtr; - -#endif // WEBIMAGE_H diff --git a/src/ui/map3D/WebImageCache.cc b/src/ui/map3D/WebImageCache.cc deleted file mode 100644 index 42efc5bc59e375f10e5d8a3cd6f6f44575083779..0000000000000000000000000000000000000000 --- a/src/ui/map3D/WebImageCache.cc +++ /dev/null @@ -1,180 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Definition of the class WebImageCache. - * - * @author Lionel Heng - * - */ - -#include "WebImageCache.h" - -#include -#include -#include - -WebImageCache::WebImageCache(QObject* parent, int cacheSize) - : QObject(parent) - , mCacheSize(cacheSize) - , mCurrentReference(0) - , mNetworkManager(new QNetworkAccessManager) -{ - for (int i = 0; i < mCacheSize; ++i) - { - WebImagePtr image(new WebImage); - - mWebImages.push_back(image); - } - - connect(mNetworkManager.data(), SIGNAL(finished(QNetworkReply*)), - this, SLOT(downloadFinished(QNetworkReply*))); -} - -QPair -WebImageCache::lookup(const QString& url) -{ - QPair cacheEntry; - - for (int i = 0; i < mWebImages.size(); ++i) - { - WebImagePtr& image = mWebImages[i]; - - if (image->getState() != WebImage::UNINITIALIZED && - image->getSourceURL() == url) - { - cacheEntry.first = image; - cacheEntry.second = i; - break; - } - } - - if (cacheEntry.first.isNull()) - { - for (int i = 0; i < mWebImages.size(); ++i) - { - WebImagePtr& image = mWebImages[i]; - - // get uninitialized image - if (image->getState() == WebImage::UNINITIALIZED) - { - cacheEntry.first = image; - cacheEntry.second = i; - break; - } - // get oldest image - else if (image->getState() == WebImage::READY && - (cacheEntry.first.isNull() || - image->getLastReference() < - cacheEntry.first->getLastReference())) - { - cacheEntry.first = image; - cacheEntry.second = i; - } - } - - if (cacheEntry.first.isNull()) - { - return qMakePair(WebImagePtr(), -1); - } - else - { - if (cacheEntry.first->getState() == WebImage::READY) - { - cacheEntry.first->clear(); - } - cacheEntry.first->setSourceURL(url); - cacheEntry.first->setLastReference(mCurrentReference); - ++mCurrentReference; - cacheEntry.first->setState(WebImage::REQUESTED); - - if (url.left(4).compare("http") == 0) - { - mNetworkManager->get(QNetworkRequest(QUrl(url))); - } - else - { - if (cacheEntry.first->setData(url)) - { - cacheEntry.first->setSyncFlag(true); - cacheEntry.first->setState(WebImage::READY); - } - else - { - cacheEntry.first->setState(WebImage::UNINITIALIZED); - } - } - - return cacheEntry; - } - } - else - { - if (cacheEntry.first->getState() == WebImage::READY) - { - cacheEntry.first->setLastReference(mCurrentReference); - ++mCurrentReference; - return cacheEntry; - } - else - { - return qMakePair(WebImagePtr(), -1); - } - } -} - -WebImagePtr -WebImageCache::at(int index) const -{ - return mWebImages[index]; -} - -void -WebImageCache::downloadFinished(QNetworkReply* reply) -{ - reply->deleteLater(); - - if (reply->error() != QNetworkReply::NoError) - { - return; - } - QVariant attribute = reply->attribute(QNetworkRequest::RedirectionTargetAttribute); - if (attribute.isValid()) - { - return; - } - - WebImagePtr image; - foreach(image, mWebImages) - { - if (reply->url().toString() == image->getSourceURL()) - { - image->setData(reply->readAll()); - image->setSyncFlag(true); - image->setState(WebImage::READY); - - return; - } - } -} diff --git a/src/ui/map3D/gpl.cc b/src/ui/map3D/gpl.cc deleted file mode 100644 index ae0240c64bac8d2743bea775d9a01caa4ee42da8..0000000000000000000000000000000000000000 --- a/src/ui/map3D/gpl.cc +++ /dev/null @@ -1,333 +0,0 @@ -#include "gpl.h" - -namespace qgc -{ - -double hypot3(double x, double y, double z) -{ - return sqrt(square(x) + square(y) + square(z)); -} - -float hypot3f(float x, float y, float z) -{ - return sqrtf(square(x) + square(y) + square(z)); -} - -double d2r(double deg) -{ - return deg / 180.0 * M_PI; -} - -float d2r(float deg) -{ - return deg / 180.0f * M_PI; -} - -double r2d(double rad) -{ - return rad / M_PI * 180.0; -} - -float r2d(float rad) -{ - return rad / M_PI * 180.0f; -} - -float colormapAutumn[128][3] = -{ - {1.0f,0.f,0.f}, - {1.0f,0.007874f,0.f}, - {1.0f,0.015748f,0.f}, - {1.0f,0.023622f,0.f}, - {1.0f,0.031496f,0.f}, - {1.0f,0.03937f,0.f}, - {1.0f,0.047244f,0.f}, - {1.0f,0.055118f,0.f}, - {1.0f,0.062992f,0.f}, - {1.0f,0.070866f,0.f}, - {1.0f,0.07874f,0.f}, - {1.0f,0.086614f,0.f}, - {1.0f,0.094488f,0.f}, - {1.0f,0.10236f,0.f}, - {1.0f,0.11024f,0.f}, - {1.0f,0.11811f,0.f}, - {1.0f,0.12598f,0.f}, - {1.0f,0.13386f,0.f}, - {1.0f,0.14173f,0.f}, - {1.0f,0.14961f,0.f}, - {1.0f,0.15748f,0.f}, - {1.0f,0.16535f,0.f}, - {1.0f,0.17323f,0.f}, - {1.0f,0.1811f,0.f}, - {1.0f,0.18898f,0.f}, - {1.0f,0.19685f,0.f}, - {1.0f,0.20472f,0.f}, - {1.0f,0.2126f,0.f}, - {1.0f,0.22047f,0.f}, - {1.0f,0.22835f,0.f}, - {1.0f,0.23622f,0.f}, - {1.0f,0.24409f,0.f}, - {1.0f,0.25197f,0.f}, - {1.0f,0.25984f,0.f}, - {1.0f,0.26772f,0.f}, - {1.0f,0.27559f,0.f}, - {1.0f,0.28346f,0.f}, - {1.0f,0.29134f,0.f}, - {1.0f,0.29921f,0.f}, - {1.0f,0.30709f,0.f}, - {1.0f,0.31496f,0.f}, - {1.0f,0.32283f,0.f}, - {1.0f,0.33071f,0.f}, - {1.0f,0.33858f,0.f}, - {1.0f,0.34646f,0.f}, - {1.0f,0.35433f,0.f}, - {1.0f,0.3622f,0.f}, - {1.0f,0.37008f,0.f}, - {1.0f,0.37795f,0.f}, - {1.0f,0.38583f,0.f}, - {1.0f,0.3937f,0.f}, - {1.0f,0.40157f,0.f}, - {1.0f,0.40945f,0.f}, - {1.0f,0.41732f,0.f}, - {1.0f,0.4252f,0.f}, - {1.0f,0.43307f,0.f}, - {1.0f,0.44094f,0.f}, - {1.0f,0.44882f,0.f}, - {1.0f,0.45669f,0.f}, - {1.0f,0.46457f,0.f}, - {1.0f,0.47244f,0.f}, - {1.0f,0.48031f,0.f}, - {1.0f,0.48819f,0.f}, - {1.0f,0.49606f,0.f}, - {1.0f,0.50394f,0.f}, - {1.0f,0.51181f,0.f}, - {1.0f,0.51969f,0.f}, - {1.0f,0.52756f,0.f}, - {1.0f,0.53543f,0.f}, - {1.0f,0.54331f,0.f}, - {1.0f,0.55118f,0.f}, - {1.0f,0.55906f,0.f}, - {1.0f,0.56693f,0.f}, - {1.0f,0.5748f,0.f}, - {1.0f,0.58268f,0.f}, - {1.0f,0.59055f,0.f}, - {1.0f,0.59843f,0.f}, - {1.0f,0.6063f,0.f}, - {1.0f,0.61417f,0.f}, - {1.0f,0.62205f,0.f}, - {1.0f,0.62992f,0.f}, - {1.0f,0.6378f,0.f}, - {1.0f,0.64567f,0.f}, - {1.0f,0.65354f,0.f}, - {1.0f,0.66142f,0.f}, - {1.0f,0.66929f,0.f}, - {1.0f,0.67717f,0.f}, - {1.0f,0.68504f,0.f}, - {1.0f,0.69291f,0.f}, - {1.0f,0.70079f,0.f}, - {1.0f,0.70866f,0.f}, - {1.0f,0.71654f,0.f}, - {1.0f,0.72441f,0.f}, - {1.0f,0.73228f,0.f}, - {1.0f,0.74016f,0.f}, - {1.0f,0.74803f,0.f}, - {1.0f,0.75591f,0.f}, - {1.0f,0.76378f,0.f}, - {1.0f,0.77165f,0.f}, - {1.0f,0.77953f,0.f}, - {1.0f,0.7874f,0.f}, - {1.0f,0.79528f,0.f}, - {1.0f,0.80315f,0.f}, - {1.0f,0.81102f,0.f}, - {1.0f,0.8189f,0.f}, - {1.0f,0.82677f,0.f}, - {1.0f,0.83465f,0.f}, - {1.0f,0.84252f,0.f}, - {1.0f,0.85039f,0.f}, - {1.0f,0.85827f,0.f}, - {1.0f,0.86614f,0.f}, - {1.0f,0.87402f,0.f}, - {1.0f,0.88189f,0.f}, - {1.0f,0.88976f,0.f}, - {1.0f,0.89764f,0.f}, - {1.0f,0.90551f,0.f}, - {1.0f,0.91339f,0.f}, - {1.0f,0.92126f,0.f}, - {1.0f,0.92913f,0.f}, - {1.0f,0.93701f,0.f}, - {1.0f,0.94488f,0.f}, - {1.0f,0.95276f,0.f}, - {1.0f,0.96063f,0.f}, - {1.0f,0.9685f,0.f}, - {1.0f,0.97638f,0.f}, - {1.0f,0.98425f,0.f}, - {1.0f,0.99213f,0.f}, - {1.0f,1.0f,0.0f} -}; - - -float colormapJet[128][3] = -{ - {0.0f,0.0f,0.53125f}, - {0.0f,0.0f,0.5625f}, - {0.0f,0.0f,0.59375f}, - {0.0f,0.0f,0.625f}, - {0.0f,0.0f,0.65625f}, - {0.0f,0.0f,0.6875f}, - {0.0f,0.0f,0.71875f}, - {0.0f,0.0f,0.75f}, - {0.0f,0.0f,0.78125f}, - {0.0f,0.0f,0.8125f}, - {0.0f,0.0f,0.84375f}, - {0.0f,0.0f,0.875f}, - {0.0f,0.0f,0.90625f}, - {0.0f,0.0f,0.9375f}, - {0.0f,0.0f,0.96875f}, - {0.0f,0.0f,1.0f}, - {0.0f,0.03125f,1.0f}, - {0.0f,0.0625f,1.0f}, - {0.0f,0.09375f,1.0f}, - {0.0f,0.125f,1.0f}, - {0.0f,0.15625f,1.0f}, - {0.0f,0.1875f,1.0f}, - {0.0f,0.21875f,1.0f}, - {0.0f,0.25f,1.0f}, - {0.0f,0.28125f,1.0f}, - {0.0f,0.3125f,1.0f}, - {0.0f,0.34375f,1.0f}, - {0.0f,0.375f,1.0f}, - {0.0f,0.40625f,1.0f}, - {0.0f,0.4375f,1.0f}, - {0.0f,0.46875f,1.0f}, - {0.0f,0.5f,1.0f}, - {0.0f,0.53125f,1.0f}, - {0.0f,0.5625f,1.0f}, - {0.0f,0.59375f,1.0f}, - {0.0f,0.625f,1.0f}, - {0.0f,0.65625f,1.0f}, - {0.0f,0.6875f,1.0f}, - {0.0f,0.71875f,1.0f}, - {0.0f,0.75f,1.0f}, - {0.0f,0.78125f,1.0f}, - {0.0f,0.8125f,1.0f}, - {0.0f,0.84375f,1.0f}, - {0.0f,0.875f,1.0f}, - {0.0f,0.90625f,1.0f}, - {0.0f,0.9375f,1.0f}, - {0.0f,0.96875f,1.0f}, - {0.0f,1.0f,1.0f}, - {0.03125f,1.0f,0.96875f}, - {0.0625f,1.0f,0.9375f}, - {0.09375f,1.0f,0.90625f}, - {0.125f,1.0f,0.875f}, - {0.15625f,1.0f,0.84375f}, - {0.1875f,1.0f,0.8125f}, - {0.21875f,1.0f,0.78125f}, - {0.25f,1.0f,0.75f}, - {0.28125f,1.0f,0.71875f}, - {0.3125f,1.0f,0.6875f}, - {0.34375f,1.0f,0.65625f}, - {0.375f,1.0f,0.625f}, - {0.40625f,1.0f,0.59375f}, - {0.4375f,1.0f,0.5625f}, - {0.46875f,1.0f,0.53125f}, - {0.5f,1.0f,0.5f}, - {0.53125f,1.0f,0.46875f}, - {0.5625f,1.0f,0.4375f}, - {0.59375f,1.0f,0.40625f}, - {0.625f,1.0f,0.375f}, - {0.65625f,1.0f,0.34375f}, - {0.6875f,1.0f,0.3125f}, - {0.71875f,1.0f,0.28125f}, - {0.75f,1.0f,0.25f}, - {0.78125f,1.0f,0.21875f}, - {0.8125f,1.0f,0.1875f}, - {0.84375f,1.0f,0.15625f}, - {0.875f,1.0f,0.125f}, - {0.90625f,1.0f,0.09375f}, - {0.9375f,1.0f,0.0625f}, - {0.96875f,1.0f,0.03125f}, - {1.0f,1.0f,0.0f}, - {1.0f,0.96875f,0.0f}, - {1.0f,0.9375f,0.0f}, - {1.0f,0.90625f,0.0f}, - {1.0f,0.875f,0.0f}, - {1.0f,0.84375f,0.0f}, - {1.0f,0.8125f,0.0f}, - {1.0f,0.78125f,0.0f}, - {1.0f,0.75f,0.0f}, - {1.0f,0.71875f,0.0f}, - {1.0f,0.6875f,0.0f}, - {1.0f,0.65625f,0.0f}, - {1.0f,0.625f,0.0f}, - {1.0f,0.59375f,0.0f}, - {1.0f,0.5625f,0.0f}, - {1.0f,0.53125f,0.0f}, - {1.0f,0.5f,0.0f}, - {1.0f,0.46875f,0.0f}, - {1.0f,0.4375f,0.0f}, - {1.0f,0.40625f,0.0f}, - {1.0f,0.375f,0.0f}, - {1.0f,0.34375f,0.0f}, - {1.0f,0.3125f,0.0f}, - {1.0f,0.28125f,0.0f}, - {1.0f,0.25f,0.0f}, - {1.0f,0.21875f,0.0f}, - {1.0f,0.1875f,0.0f}, - {1.0f,0.15625f,0.0f}, - {1.0f,0.125f,0.0f}, - {1.0f,0.09375f,0.0f}, - {1.0f,0.0625f,0.0f}, - {1.0f,0.03125f,0.0f}, - {1.0f,0.0f,0.0f}, - {0.96875f,0.0f,0.0f}, - {0.9375f,0.0f,0.0f}, - {0.90625f,0.0f,0.0f}, - {0.875f,0.0f,0.0f}, - {0.84375f,0.0f,0.0f}, - {0.8125f,0.0f,0.0f}, - {0.78125f,0.0f,0.0f}, - {0.75f,0.0f,0.0f}, - {0.71875f,0.0f,0.0f}, - {0.6875f,0.0f,0.0f}, - {0.65625f,0.0f,0.0f}, - {0.625f,0.0f,0.0f}, - {0.59375f,0.0f,0.0f}, - {0.5625f,0.0f,0.0f}, - {0.53125f,0.0f,0.0f}, - {0.5f,0.0f,0.0f} -}; - -bool colormap(const QString& name, unsigned char idx, - float& r, float& g, float& b) -{ - if (idx > 127) - { - return false; - } - - if (name.compare("jet") == 0) - { - float* color = colormapJet[idx]; - - r = color[0]; - g = color[1]; - b = color[2]; - - return true; - } - else if (name.compare("autumn") == 0) - { - float* color = colormapAutumn[idx]; - - r = color[0]; - g = color[1]; - b = color[2]; - - return true; - } - - return false; -} - -} diff --git a/src/ui/map3D/gpl.h b/src/ui/map3D/gpl.h deleted file mode 100644 index d5e9ce61aa89f4bcef81e1a7bf4352b5dc079fd2..0000000000000000000000000000000000000000 --- a/src/ui/map3D/gpl.h +++ /dev/null @@ -1,52 +0,0 @@ -#ifndef GPL_H -#define GPL_H - -#include -#include - -namespace qgc -{ - -template -const T clamp(const T& v, const T& a, const T& b) -{ - return qMin(b, qMax(a, v)); -} - -double hypot3(double x, double y, double z); -float hypot3f(float x, float y, float z); - -template -const T normalizeTheta(const T& theta) -{ - T normTheta = theta; - - while (normTheta < - M_PI) - { - normTheta += 2.0 * M_PI; - } - while (normTheta > M_PI) - { - normTheta -= 2.0 * M_PI; - } - - return normTheta; -} - -double d2r(double deg); -float d2r(float deg); -double r2d(double rad); -float r2d(float rad); - -template -const T square(const T& x) -{ - return x * x; -} - -bool colormap(const QString& name, unsigned char idx, - float& r, float& g, float& b); - -} - -#endif diff --git a/src/ui/mapdisplay/MapDisplay.qml b/src/ui/mapdisplay/MapDisplay.qml new file mode 100644 index 0000000000000000000000000000000000000000..bbf608ea7056e7f104c7641a5f54c156c161ca7a --- /dev/null +++ b/src/ui/mapdisplay/MapDisplay.qml @@ -0,0 +1,217 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Main Map Display + * @author Gus Grubba + */ + +import QtQuick 2.3 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 +import QtQuick.Layouts 1.1 + +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.FlightControls 1.0 + +Rectangle { + QGCPalette { id: __palette; colorGroupEnabled: true } + id: root + color: Qt.rgba(0,0,0,0); + + property real roll: isNaN(mapEngine.roll) ? 0 : mapEngine.roll + property real pitch: isNaN(mapEngine.pitch) ? 0 : mapEngine.pitch + property bool showWaypointEditor: true + + function getBool(value) { + return value === '0' ? false : true; + } + + function setBool(value) { + return value ? "1" : "0"; + } + + Component.onCompleted: + { + mapTypeMenu.update(); + } + + Menu { + id: mapTypeMenu + title: "Map Type..." + ExclusiveGroup { id: currentMapType } + function setCurrentMap(map) { + for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) { + if (map === mapBackground.mapItem.supportedMapTypes[i].name) { + mapBackground.mapItem.activeMapType = mapBackground.mapItem.supportedMapTypes[i] + mapEngine.saveSetting("currentMapType", map); + return; + } + } + } + function addMap(map, checked) { + var mItem = mapTypeMenu.addItem(map); + mItem.checkable = true + mItem.checked = checked + mItem.exclusiveGroup = currentMapType + var menuSlot = function() {setCurrentMap(map);}; + mItem.triggered.connect(menuSlot); + } + function update() { + clear() + var map = '' + if (mapBackground.mapItem.supportedMapTypes.length > 0) + map = mapBackground.mapItem.activeMapType.name; + map = mapEngine.loadSetting("currentMapType", map); + for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) { + var name = mapBackground.mapItem.supportedMapTypes[i].name; + addMap(name, map === name); + } + if(map != '') + setCurrentMap(map); + } + + } + + SplitView { + id: splitView + anchors.fill: parent + orientation: Qt.Horizontal + z: 10 + + // This sets the color of the splitter line + handleDelegate: Rectangle { + width: 1 + height: 1 + color: __palette.window + } + + //---------------------------------------------------------------------------------------- + // Map View + QGCMapBackground { + id: mapBackground + Layout.fillWidth: true + Layout.minimumWidth: 300 + heading: isNaN(mapEngine.heading) ? 0 : mapEngine.heading + latitude: 37.803784 // mapEngine.latitude + longitude: -122.462276 // mapEngine.longitude + // Chevron button at upper right corner of Map Display + Item { + id: openWaypoints + anchors.top: mapBackground.top + anchors.right: mapBackground.right + width: 30 + height: 30 + opacity: 0.85 + z: splitView.z + 10 + Image { + id: buttomImg + anchors.fill: parent + source: showWaypointEditor ? "/qml/buttonRight.svg" : "/qml/buttonLeft.svg" + mipmap: true + smooth: true + antialiasing: true + fillMode: Image.PreserveAspectFit + } + MouseArea { + anchors.fill: parent + acceptedButtons: Qt.LeftButton + onClicked: { + if (mouse.button == Qt.LeftButton) + { + showWaypointEditor = !showWaypointEditor + } + } + } + } + } + //---------------------------------------------------------------------------------------- + // Waypoint Editor + QGCWaypointEditor { + id: waypointEditor + Layout.minimumWidth: 200 + visible: showWaypointEditor + } + } + + //-------------------------------------------------------------------------------------------- + // Right click anywhere on the map for a context menu + MouseArea { + anchors.fill: parent + acceptedButtons: Qt.RightButton + onClicked: { + if (mouse.button == Qt.RightButton) + { + mapTypeMenu.popup() + } + } + z: splitView.z + 5 + } + + //-------------------------------------------------------------------------------------------- + // Tool Bar + Rectangle { + id: toolBar + color: Qt.rgba(0,0,0,0) + height: buttonColumn.height + visible: showWaypointEditor + anchors.top: parent.top + anchors.left: parent.left + anchors.topMargin: 40 + anchors.leftMargin: 4 + z: splitView.z + 10 + + ExclusiveGroup { id: mainActionGroup } + + Column { + id: buttonColumn + spacing: 4 + QGCMapToolButton { + width: 50 + height: 50 + imageSource: "/qml/buttonHome.svg" + exclusiveGroup: mainActionGroup + } + QGCMapToolButton { + width: 50 + height: 50 + imageSource: "/qml/buttonHome.svg" + exclusiveGroup: mainActionGroup + } + QGCMapToolButton { + width: 50 + height: 50 + imageSource: "/qml/buttonHome.svg" + exclusiveGroup: mainActionGroup + } + QGCMapToolButton { + width: 50 + height: 50 + imageSource: "/qml/buttonHome.svg" + exclusiveGroup: mainActionGroup + } + } + } +} diff --git a/src/ui/mapdisplay/QGCMapDisplay.cc b/src/ui/mapdisplay/QGCMapDisplay.cc new file mode 100644 index 0000000000000000000000000000000000000000..a76ff737a6f8d107f1be4117f3e06266ebb879e6 --- /dev/null +++ b/src/ui/mapdisplay/QGCMapDisplay.cc @@ -0,0 +1,94 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Main Map Display + * @author Gus Grubba + */ + +#include +#include +#include + +#include "MainWindow.h" +#include "QGCMapDisplay.h" +#include "UASManager.h" + +const char* kMainMapDisplayGroup = "MainMapDisplay"; + +QGCMapDisplay::QGCMapDisplay(QWidget *parent) + : QGCQmlWidgetHolder(parent) +{ + setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding); + setObjectName("MainMapDisplay"); + // Get rid of layout default margins + QLayout* pl = layout(); + if(pl) { + pl->setContentsMargins(0,0,0,0); + } +#ifndef __android__ + setMinimumWidth( 380 * MainWindow::pixelSizeFactor()); + setMinimumHeight(400 * MainWindow::pixelSizeFactor()); +#endif + setContextPropertyObject("mapEngine", this); + setSource(QUrl::fromUserInput("qrc:/qml/MapDisplay.qml")); + setVisible(true); +} + +QGCMapDisplay::~QGCMapDisplay() +{ + +} + +void QGCMapDisplay::saveSetting(const QString &name, const QString& value) +{ + QSettings settings; + QString key(kMainMapDisplayGroup); + key += "/" + name; + settings.setValue(key, value); +} + +QString QGCMapDisplay::loadSetting(const QString &name, const QString& defaultValue) +{ + QSettings settings; + QString key(kMainMapDisplayGroup); + key += "/" + name; + return settings.value(key, defaultValue).toString(); +} + +/* + * Internal + */ + +void QGCMapDisplay::showEvent(QShowEvent* event) +{ + // React only to internal (pre-display) events + QWidget::showEvent(event); +} + +void QGCMapDisplay::hideEvent(QHideEvent* event) +{ + // React only to internal (pre-display) events + QWidget::hideEvent(event); +} diff --git a/src/ui/map3D/WebImageCache.h b/src/ui/mapdisplay/QGCMapDisplay.h similarity index 55% rename from src/ui/map3D/WebImageCache.h rename to src/ui/mapdisplay/QGCMapDisplay.h index 136800a5545dcb653b69beea6f2841e3c0e32aaf..86aca81b78f961bf83d68e8c7d752ebb3681be4c 100644 --- a/src/ui/map3D/WebImageCache.h +++ b/src/ui/mapdisplay/QGCMapDisplay.h @@ -2,7 +2,7 @@ QGroundControl Open Source Ground Control Station -(c) 2009, 2010 QGROUNDCONTROL PROJECT +(c) 2009, 2015 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project @@ -23,42 +23,43 @@ This file is part of the QGROUNDCONTROL project /** * @file - * @brief Definition of the class WebImageCache. - * - * @author Lionel Heng - * + * @brief QGC Main Map Display + * @author Gus Grubba */ -#ifndef WEBIMAGECACHE_H -#define WEBIMAGECACHE_H +#ifndef QGCMAPDISPLAY_H +#define QGCMAPDISPLAY_H -#include -#include -#include +#include "QGCQmlWidgetHolder.h" -#include "WebImage.h" +class UASInterface; +class UASWaypointManager; -class WebImageCache : public QObject +class QGCMapDisplay : public QGCQmlWidgetHolder { Q_OBJECT - public: - WebImageCache(QObject* parent, int cacheSize); + QGCMapDisplay(QWidget* parent = NULL); + ~QGCMapDisplay(); + + Q_INVOKABLE void saveSetting (const QString &key, const QString& value); + Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue); - QPair lookup(const QString& url); + /** @brief Start updating widget */ + void showEvent(QShowEvent* event); + /** @brief Stop updating widget */ + void hideEvent(QHideEvent* event); - WebImagePtr at(int index) const; +signals: -private Q_SLOTS: - void downloadFinished(QNetworkReply* reply); +private slots: private: - int mCacheSize; - QVector mWebImages; - quint64 mCurrentReference; +private: + UASWaypointManager* WPM; - QScopedPointer mNetworkManager; }; -#endif // WEBIMAGECACHE_H + +#endif // QGCFLIGHTDISPLAY_H diff --git a/src/ui/mission/QGCMissionNavWaypoint.cc b/src/ui/mission/QGCMissionNavWaypoint.cc index 3d67208114e5731019cc833a422c3374acb74053..79e3a9bfd538b2ba6c70fc2e031e0334795356f3 100644 --- a/src/ui/mission/QGCMissionNavWaypoint.cc +++ b/src/ui/mission/QGCMissionNavWaypoint.cc @@ -41,6 +41,7 @@ void QGCMissionNavWaypoint::updateFrame(MAV_FRAME frame) { case MAV_FRAME_LOCAL_ENU: case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_OFFSET_NED: this->ui->posNSpinBox->show(); this->ui->posESpinBox->show(); this->ui->posDSpinBox->show(); diff --git a/src/ui/px4_configuration/PX4RCCalibration.cc b/src/ui/px4_configuration/PX4RCCalibration.cc index e4df03db45c8b2c0d15c256e20d00c05e47f28a4..7959c76f5b15593616010f4a43a157da72a1eeaa 100644 --- a/src/ui/px4_configuration/PX4RCCalibration.cc +++ b/src/ui/px4_configuration/PX4RCCalibration.cc @@ -30,6 +30,9 @@ #include "PX4RCCalibration.h" #include "UASManager.h" #include "QGCMessageBox.h" +#include "AutoPilotPluginManager.h" + +QGC_LOGGING_CATEGORY(PX4RCCalibrationLog, "PX4RCCalibrationLog") const int PX4RCCalibration::_updateInterval = 150; ///< Interval for timer which updates radio channel widgets const int PX4RCCalibration::_rcCalPWMCenterPoint = ((PX4RCCalibration::_rcCalPWMValidMaxValue - PX4RCCalibration::_rcCalPWMValidMinValue) / 2.0f) + PX4RCCalibration::_rcCalPWMValidMinValue; @@ -45,7 +48,7 @@ const int PX4RCCalibration::_rcCalMinDelta = 100; ///< Amount of del const int PX4RCCalibration::_stickDetectSettleMSecs = 500; -const char* PX4RCCalibration::_imageFilePrefix = ":files/images/px4/calibration/"; +const char* PX4RCCalibration::_imageFilePrefix = ":/res/calibration/"; const char* PX4RCCalibration::_imageFileMode1Dir = "mode1/"; const char* PX4RCCalibration::_imageFileMode2Dir = "mode2/"; const char* PX4RCCalibration::_imageCenter = "radioCenter.png"; @@ -84,8 +87,7 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) : _transmitterMode(2), _chanCount(0), _rcCalState(rcCalStateChannelWait), - _mav(NULL), - _paramMgr(NULL), + _uas(NULL), _ui(new Ui::PX4RCCalibration), _unitTestMode(false) { @@ -120,19 +122,19 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) : _rgAttitudeControl[4].valueWidget = _ui->flapsValue; // This code assume we already have an active UAS with ready parameters - _mav = UASManager::instance()->getActiveUAS(); - Q_ASSERT(_mav); + _uas = UASManager::instance()->getActiveUAS(); + Q_ASSERT(_uas); // Connect new signals bool fSucceeded; Q_UNUSED(fSucceeded); - fSucceeded = connect(_mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float))); + fSucceeded = connect(_uas, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(_remoteControlChannelRawChanged(int,float))); Q_ASSERT(fSucceeded); - _paramMgr = _mav->getParamManager(); - Q_ASSERT(_paramMgr); - Q_ASSERT(_paramMgr->parametersReady()); + _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas); + Q_ASSERT(_autopilot); + Q_ASSERT(_autopilot->pluginReady()); connect(_ui->spektrumBind, &QPushButton::clicked, this, &PX4RCCalibration::_spektrumBind); @@ -262,7 +264,7 @@ void PX4RCCalibration::_remoteControlChannelRawChanged(int chan, float fval) // We always update raw values _rcRawValue[chan] = fval; - //qDebug() << "Raw value" << chan << fval; + qCDebug(PX4RCCalibrationLog) << "Raw value" << chan << fval; if (_currentStep == -1) { // Track the receiver channel count by keeping track of how many channels we see @@ -330,7 +332,7 @@ void PX4RCCalibration::_saveAllTrims(void) // trims reset to correct values. for (int i=0; i<_chanCount; i++) { - //qDebug() << "_saveAllTrims trim" << _rcRawValue[i]; + qCDebug(PX4RCCalibrationLog) << "_saveAllTrims trim" << _rcRawValue[i]; _rgChannelInfo[i].rcTrim = _rcRawValue[i]; } _nextStep(); @@ -355,7 +357,7 @@ bool PX4RCCalibration::_stickSettleComplete(int value) if (abs(_stickDetectValue - value) > _rcCalSettleDelta) { // Stick is moving too much to consider stopped - //qDebug() << "_stickSettleComplete still moving, _stickDetectValue:value" << _stickDetectValue << value; + qCDebug(PX4RCCalibrationLog) << "_stickSettleComplete still moving, _stickDetectValue:value" << _stickDetectValue << value; _stickDetectValue = value; _stickDetectSettleStarted = false; @@ -372,7 +374,7 @@ bool PX4RCCalibration::_stickSettleComplete(int value) } else { // Start waiting for the stick to stay settled for _stickDetectSettleWaitMSecs msecs - //qDebug() << "_stickSettleComplete starting settle timer, _stickDetectValue:value" << _stickDetectValue << value; + qCDebug(PX4RCCalibrationLog) << "_stickSettleComplete starting settle timer, _stickDetectValue:value" << _stickDetectValue << value; _stickDetectSettleStarted = true; _stickDetectSettleElapsed.start(); @@ -384,7 +386,7 @@ bool PX4RCCalibration::_stickSettleComplete(int value) void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int channel, int value) { - //qDebug() << "_inputStickDetect function:channel:value" << function << channel << value; + qCDebug(PX4RCCalibrationLog) << "_inputStickDetect function:channel:value" << _rgFunctionInfo[function].parameterName << channel << value; // If this channel is already used in a mapping we can't use it again if (_rgChannelInfo[channel].function != rcCalFunctionMax) { @@ -397,7 +399,7 @@ void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int chann if (abs(_rcValueSave[channel] - value) > _rcCalMoveDelta) { // Stick has moved far enough to consider it as being selected for the function - //qDebug() << "_inputStickDetect starting settle wait, function:channel:value" << function << channel << value; + qCDebug(PX4RCCalibrationLog) << "_inputStickDetect starting settle wait, function:channel:value" << function << channel << value; // Setup up to detect stick being pegged to min or max value _stickDetectChannel = channel; @@ -408,7 +410,7 @@ void PX4RCCalibration::_inputStickDetect(enum rcCalFunctions function, int chann if (_stickSettleComplete(value)) { ChannelInfo* info = &_rgChannelInfo[channel]; - //qDebug() << "_inputStickDetect settle complete, function:channel:value" << function << channel << value; + qCDebug(PX4RCCalibrationLog) << "_inputStickDetect settle complete, function:channel:value" << function << channel << value; // Stick detection is complete. Stick should be at max position. // Map the channel to the function @@ -515,7 +517,7 @@ void PX4RCCalibration::_inputSwitchMinMax(enum rcCalFunctions function, int chan if (value < _rcCalPWMCenterPoint) { int minValue = qMin(_rgChannelInfo[channel].rcMin, value); - //qDebug() << "_inputSwitchMinMax setting min channel:min" << channel << minValue; + qCDebug(PX4RCCalibrationLog) << "_inputSwitchMinMax setting min channel:min" << channel << minValue; _rgChannelInfo[channel].rcMin = minValue; _rgRCValueMonitorWidget[channel]->setMin(minValue); @@ -523,7 +525,7 @@ void PX4RCCalibration::_inputSwitchMinMax(enum rcCalFunctions function, int chan } else { int maxValue = qMax(_rgChannelInfo[channel].rcMax, value); - //qDebug() << "_inputSwitchMinMax setting max channel:max" << channel << maxValue; + qCDebug(PX4RCCalibrationLog) << "_inputSwitchMinMax setting max channel:max" << channel << maxValue; _rgChannelInfo[channel].rcMax = maxValue; _rgRCValueMonitorWidget[channel]->setMax(maxValue); @@ -651,7 +653,7 @@ void PX4RCCalibration::_switchDetect(enum rcCalFunctions function, int channel, _rgFunctionChannelMapping[function] = channel; info->function = function; - //qDebug() << "Function:" << function << "mapped to:" << channel; + qCDebug(PX4RCCalibrationLog) << "Function:" << function << "mapped to:" << channel; if (moveToNextStep) { _nextStep(); @@ -682,7 +684,7 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void) info->rcTrim = PX4RCCalibration::_rcCalPWMCenterPoint; } - // Initialize function mapping to function channel not set + // Initialize attitude function mapping to function channel not set for (size_t i=0; igetDefaultComponentId(); for (size_t i=0; i < crgFlightModeFunctions; i++) { QVariant value; enum rcCalFunctions curFunction = rgFlightModeFunctions[i]; - bool paramFound = _paramMgr->getParameterValue(componentId, _rgFunctionInfo[curFunction].parameterName, value); - Q_ASSERT(paramFound); - Q_UNUSED(paramFound); - bool ok; - int channel = value.toInt(&ok); + int switchChannel = _autopilot->getParameterFact(_rgFunctionInfo[curFunction].parameterName)->value().toInt(&ok); Q_ASSERT(ok); - Q_UNUSED(ok); // Parameter: 1-based channel, 0=not mapped // _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped - _rgFunctionChannelMapping[curFunction] = (channel == 0) ? _chanMax : channel; - if (channel != 0) { - _rgChannelInfo[channel - 1].function = curFunction; + if (switchChannel != 0) { + qCDebug(PX4RCCalibrationLog) << "Reserving 0-based switch channel" << switchChannel - 1; + _rgFunctionChannelMapping[curFunction] = switchChannel - 1; + _rgChannelInfo[switchChannel - 1].function = curFunction; } } } @@ -726,8 +723,6 @@ void PX4RCCalibration::_resetInternalCalibrationValues(void) /// @brief Sets internal calibration values from the stored parameters void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void) { - Q_ASSERT(_paramMgr); - // Initialize all function mappings to not set for (size_t i=0; i<_chanMax; i++) { @@ -747,58 +742,36 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void) QString maxTpl("RC%1_MAX"); QString trimTpl("RC%1_TRIM"); QString revTpl("RC%1_REV"); - QVariant value; - bool paramFound; + bool convertOk; - int componentId = _paramMgr->getDefaultComponentId(); for (int i = 0; i < _chanMax; ++i) { struct ChannelInfo* info = &_rgChannelInfo[i]; - paramFound = _paramMgr->getParameterValue(componentId, trimTpl.arg(i+1), value); - Q_ASSERT(paramFound); - if (paramFound) { - info->rcTrim = value.toInt(&convertOk); - Q_ASSERT(convertOk); - } + info->rcTrim = _autopilot->getParameterFact(trimTpl.arg(i+1))->value().toInt(&convertOk); + Q_ASSERT(convertOk); - paramFound = _paramMgr->getParameterValue(componentId, minTpl.arg(i+1), value); - Q_ASSERT(paramFound); - if (paramFound) { - info->rcMin = value.toInt(&convertOk); - Q_ASSERT(convertOk); - } + info->rcMin = _autopilot->getParameterFact(minTpl.arg(i+1))->value().toInt(&convertOk); + Q_ASSERT(convertOk); - paramFound = _paramMgr->getParameterValue(componentId, maxTpl.arg(i+1), value); - Q_ASSERT(paramFound); - if (paramFound) { - info->rcMax = value.toInt(&convertOk); - Q_ASSERT(convertOk); - } + info->rcMax = _autopilot->getParameterFact(maxTpl.arg(i+1))->value().toInt(&convertOk); + Q_ASSERT(convertOk); - paramFound = _paramMgr->getParameterValue(componentId, revTpl.arg(i+1), value); - Q_ASSERT(paramFound); - if (paramFound) { - float floatReversed = value.toFloat(&convertOk); - Q_ASSERT(convertOk); - Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f); - info->reversed = floatReversed == -1.0f; - } + float floatReversed = _autopilot->getParameterFact(revTpl.arg(i+1))->value().toFloat(&convertOk); + Q_ASSERT(convertOk); + Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f); + info->reversed = floatReversed == -1.0f; } for (int i=0; igetParameterValue(componentId, _rgFunctionInfo[i].parameterName, value); - Q_ASSERT(paramFound); - if (paramFound) { - paramChannel = value.toInt(&convertOk); - Q_ASSERT(convertOk); - - if (paramChannel != 0) { - _rgFunctionChannelMapping[i] = paramChannel - 1; - _rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i; - } + paramChannel = _autopilot->getParameterFact(_rgFunctionInfo[i].parameterName)->value().toInt(&convertOk); + Q_ASSERT(convertOk); + + if (paramChannel != 0) { + _rgFunctionChannelMapping[i] = paramChannel - 1; + _rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i; } } @@ -810,7 +783,7 @@ void PX4RCCalibration::_setInternalCalibrationValuesFromParameters(void) void PX4RCCalibration::_spektrumBind(void) { - Q_ASSERT(_mav); + Q_ASSERT(_uas); QMessageBox bindTypeMsg(this); @@ -834,7 +807,7 @@ void PX4RCCalibration::_spektrumBind(void) } else { Q_ASSERT(false); } - _mav->pairRX(0, bindType); + _uas->pairRX(0, bindType); } } @@ -848,7 +821,7 @@ void PX4RCCalibration::_validateCalibration(void) // Validate Min/Max values. Although the channel appears as available we still may // not have good min/max/trim values for it. Set to defaults if needed. if (info->rcMin > _rcCalPWMValidMinValue || info->rcMax < _rcCalPWMValidMaxValue) { - //qDebug() << "_validateCalibration resetting channel" << chan; + qCDebug(PX4RCCalibrationLog) << "_validateCalibration resetting channel" << chan; info->rcMin = _rcCalPWMDefaultMinValue; info->rcMax = _rcCalPWMDefaultMaxValue; info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2); @@ -874,7 +847,7 @@ void PX4RCCalibration::_validateCalibration(void) } } else { // Unavailable channels are set to defaults - //qDebug() << "_validateCalibration resetting unavailable channel" << chan; + qCDebug(PX4RCCalibrationLog) << "_validateCalibration resetting unavailable channel" << chan; info->rcMin = _rcCalPWMDefaultMinValue; info->rcMax = _rcCalPWMDefaultMaxValue; info->rcTrim = info->rcMin + ((info->rcMax - info->rcMin) / 2); @@ -887,15 +860,12 @@ void PX4RCCalibration::_validateCalibration(void) /// @brief Saves the rc calibration values to the board parameters. void PX4RCCalibration::_writeCalibration(void) { - if (!_mav) return; + if (!_uas) return; - _mav->endRadioControlCalibration(); + _uas->stopCalibration(); _validateCalibration(); - QGCUASParamManagerInterface* paramMgr = _mav->getParamManager(); - Q_ASSERT(paramMgr); - QString minTpl("RC%1_MIN"); QString maxTpl("RC%1_MAX"); QString trimTpl("RC%1_TRIM"); @@ -904,11 +874,12 @@ void PX4RCCalibration::_writeCalibration(void) // Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant for (int chan = 0; chan<_chanMax; chan++) { struct ChannelInfo* info = &_rgChannelInfo[chan]; - int oneBasedChannel = chan + 1; - paramMgr->setPendingParam(0, trimTpl.arg(oneBasedChannel), (float)info->rcTrim); - paramMgr->setPendingParam(0, minTpl.arg(oneBasedChannel), (float)info->rcMin); - paramMgr->setPendingParam(0, maxTpl.arg(oneBasedChannel), (float)info->rcMax); - paramMgr->setPendingParam(0, revTpl.arg(oneBasedChannel), info->reversed ? -1.0f : 1.0f); + int oneBasedChannel = chan + 1; + + _autopilot->getParameterFact(trimTpl.arg(oneBasedChannel))->setValue((float)info->rcTrim); + _autopilot->getParameterFact(minTpl.arg(oneBasedChannel))->setValue((float)info->rcMin); + _autopilot->getParameterFact(maxTpl.arg(oneBasedChannel))->setValue((float)info->rcMax); + _autopilot->getParameterFact(revTpl.arg(oneBasedChannel))->setValue(info->reversed ? -1.0f : 1.0f); } // Write function mapping parameters @@ -921,18 +892,16 @@ void PX4RCCalibration::_writeCalibration(void) // Note that the channel value is 1-based paramChannel = _rgFunctionChannelMapping[i] + 1; } - paramMgr->setPendingParam(0, _rgFunctionInfo[i].parameterName, paramChannel); + _autopilot->getParameterFact(_rgFunctionInfo[i].parameterName)->setValue(paramChannel); } // If the RC_CHAN_COUNT parameter is available write the channel count - if (paramMgr->getComponentForParam("RC_CHAN_CNT").count() != 0) { - paramMgr->setPendingParam(0, "RC_CHAN_CNT", _chanCount); + if (_autopilot->parameterExists("RC_CHAN_CNT")) { + _autopilot->getParameterFact("RC_CHAN_CNT")->setValue(_chanCount); } - - //let the param mgr manage sending all the pending RC_foo updates and persisting after - paramMgr->sendPendingParameters(true, true); _stopCalibration(); + _setInternalCalibrationValuesFromParameters(); } void PX4RCCalibration::_updateView() @@ -943,7 +912,7 @@ void PX4RCCalibration::_updateView() valueWidget->setVisible(true); _rgRCValueMonitorLabel[chan]->setVisible(true); - //qDebug() << "Visible" << valueWidget->objectName() << chan; + //qCDebug(PX4RCCalibrationLog) << "Visible" << valueWidget->objectName() << chan; struct ChannelInfo* info = &_rgChannelInfo[chan]; valueWidget->setValueAndMinMax(_rcRawValue[chan], info->rcMin, info->rcMax); @@ -970,7 +939,7 @@ void PX4RCCalibration::_updateView() for (int chan=_chanCount; chan<_chanMax; chan++) { _rgRCValueMonitorWidget[chan]->setVisible(false); _rgRCValueMonitorLabel[chan]->setVisible(false); - //qDebug() << "Off" << _rgRCValueMonitorWidget[chan]->objectName() << chan; + qCDebug(PX4RCCalibrationLog) << "Hiding channel" << _rgRCValueMonitorWidget[chan]->objectName() << chan; } } @@ -982,7 +951,7 @@ void PX4RCCalibration::_startCalibration(void) _resetInternalCalibrationValues(); // Let the mav known we are starting calibration. This should turn off motors and so forth. - _mav->startRadioControlCalibration(); + _uas->startCalibration(UASInterface::StartCalibrationRadio); _ui->rcCalNext->setText(tr("Next")); _ui->rcCalCancel->setEnabled(true); @@ -996,8 +965,8 @@ void PX4RCCalibration::_stopCalibration(void) { _currentStep = -1; - if (_mav) { - _mav->endRadioControlCalibration(); + if (_uas) { + _uas->stopCalibration(); _setInternalCalibrationValuesFromParameters(); } else { _resetInternalCalibrationValues(); @@ -1016,7 +985,7 @@ void PX4RCCalibration::_stopCalibration(void) /// @brief Saves the current channel values, so that we can detect when the use moves an input. void PX4RCCalibration::_rcCalSaveCurrentValues(void) { - //qDebug() << "_rcCalSaveCurrentValues"; + qCDebug(PX4RCCalibrationLog) << "_rcCalSaveCurrentValues"; for (unsigned i = 0; i < _chanMax; i++) { _rcValueSave[i] = _rcRawValue[i]; } @@ -1136,7 +1105,7 @@ void PX4RCCalibration::_setHelpImage(const char* imageFile) } file += imageFile; - //qDebug() << "_setHelpImage" << file; + qCDebug(PX4RCCalibrationLog) << "_setHelpImage" << file; _ui->radioIcon->setPixmap(QPixmap(file)); } diff --git a/src/ui/px4_configuration/PX4RCCalibration.h b/src/ui/px4_configuration/PX4RCCalibration.h index 868c345cbdcc3b6e1ae26fc92b5b6689786c50c4..25ae3e4865d97b66200a734bd473a3ab3a98fdd7 100644 --- a/src/ui/px4_configuration/PX4RCCalibration.h +++ b/src/ui/px4_configuration/PX4RCCalibration.h @@ -34,9 +34,13 @@ #include "UASInterface.h" #include "RCValueWidget.h" +#include "QGCLoggingCategory.h" +#include "AutoPilotPlugin.h" #include "ui_PX4RCCalibration.h" +Q_DECLARE_LOGGING_CATEGORY(PX4RCCalibrationLog) + class PX4RCCalibrationTest; namespace Ui { @@ -251,8 +255,8 @@ private: RCValueWidget* _rgRCValueMonitorWidget[_chanMax]; ///< Array of radio channel value widgets QLabel* _rgRCValueMonitorLabel[_chanMax]; ///< Array of radio channel value labels - UASInterface* _mav; ///< The current MAV - QGCUASParamManagerInterface* _paramMgr; + UASInterface* _uas; + AutoPilotPlugin* _autopilot; Ui::PX4RCCalibration* _ui; diff --git a/src/ui/px4_configuration/PX4RCCalibration.ui b/src/ui/px4_configuration/PX4RCCalibration.ui index b80d09fe73919017384bdd4566f505f1573970cb..bf5abd0ce90a832e3a0b32ce2f36e28e2ecf02e5 100644 --- a/src/ui/px4_configuration/PX4RCCalibration.ui +++ b/src/ui/px4_configuration/PX4RCCalibration.ui @@ -618,7 +618,7 @@ background-color: rgb(80, 80, 80);s - :/files/images/px4/calibration/radioCenter.png + :/res/calibration/radioCenter.png Qt::AlignCenter diff --git a/src/ui/px4_configuration/QGCPX4AirframeConfig.cc b/src/ui/px4_configuration/QGCPX4AirframeConfig.cc deleted file mode 100644 index 5aec881fdb01d7d5601384fb6b1dd2c2129630d5..0000000000000000000000000000000000000000 --- a/src/ui/px4_configuration/QGCPX4AirframeConfig.cc +++ /dev/null @@ -1,542 +0,0 @@ -#include -#include -#include - -#include "QGCPX4AirframeConfig.h" -#include "ui_QGCPX4AirframeConfig.h" - -#include "UASManager.h" -#include "LinkManager.h" -#include "UAS.h" -#include "QGC.h" -#include "QGCMessageBox.h" - -QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) : - QWidget(parent), - mav(NULL), - progress(NULL), - pendingParams(0), - configState(CONFIG_STATE_ABORT), - selectedId(-1), - ui(new Ui::QGCPX4AirframeConfig) -{ - ui->setupUi(this); - - // Fill the lists here manually in accordance with the list from: - // https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d/rcS - - ui->simComboBox->addItem(tr("Plane (HilStar, X-Plane)"), 1000); - ui->simComboBox->addItem(tr("Plane (Rascal, FlightGear)"), 1004); - ui->simComboBox->addItem(tr("Quad X HIL"), 1001); - ui->simComboBox->addItem(tr("Quad + HIL"), 1003); - - connect(ui->simPushButton, SIGNAL(clicked()), this, SLOT(simSelected())); - connect(ui->simComboBox, SIGNAL(activated(int)), this, SLOT(simSelected(int))); - ui->simPushButton->setEnabled(ui->simComboBox->count() > 0); - - ui->planeComboBox->addItem(tr("Multiplex Easystar 1/2"), 2100); - ui->planeComboBox->addItem(tr("Hobbyking Bixler 1/2"), 2101); - ui->planeComboBox->addItem(tr("3DR Skywalker"), 2102); - ui->planeComboBox->addItem(tr("Skyhunter (1800 mm)"), 2103); - - connect(ui->planePushButton, SIGNAL(clicked()), this, SLOT(planeSelected())); - connect(ui->planeComboBox, SIGNAL(activated(int)), this, SLOT(planeSelected(int))); - ui->planePushButton->setEnabled(ui->planeComboBox->count() > 0); - - ui->flyingWingComboBox->addItem(tr("Z-84 Wing Wing (845 mm)"), 3033); - ui->flyingWingComboBox->addItem(tr("TBS Caipirinha (850 mm)"), 3100); - ui->flyingWingComboBox->addItem(tr("Bormatec Camflyer Q (800 mm)"), 3030); - ui->flyingWingComboBox->addItem(tr("FX-61 Phantom FPV (1550 mm)"), 3031); - ui->flyingWingComboBox->addItem(tr("FX-79 Buffalo (2000 mm)"), 3034); - ui->flyingWingComboBox->addItem(tr("Skywalker X5 (1180 mm)"), 3032); - ui->flyingWingComboBox->addItem(tr("Viper v2 (3000 mm)"), 3035); - - connect(ui->flyingWingPushButton, SIGNAL(clicked()), this, SLOT(flyingWingSelected())); - connect(ui->flyingWingComboBox, SIGNAL(activated(int)), this, SLOT(flyingWingSelected(int))); - - ui->quadXComboBox->addItem(tr("DJI F330 8\" Quad"), 4010); - ui->quadXComboBox->addItem(tr("DJI F450 10\" Quad"), 4011); - ui->quadXComboBox->addItem(tr("X frame Quad UAVCAN"), 4012); - ui->quadXComboBox->addItem(tr("AR.Drone Frame Quad"), 4008); -// ui->quadXComboBox->addItem(tr("DJI F330 with MK BLCTRL"), 4017); -// ui->quadXComboBox->addItem(tr("Mikrokopter X frame"), 4019); - - connect(ui->quadXPushButton, SIGNAL(clicked()), this, SLOT(quadXSelected())); - connect(ui->quadXComboBox, SIGNAL(activated(int)), this, SLOT(quadXSelected(int))); - ui->quadXPushButton->setEnabled(ui->quadXComboBox->count() > 0); - - ui->quadPlusComboBox->addItem(tr("Generic 10\" Quad +"), 5001); -// ui->quadXComboBox->addItem(tr("Mikrokopter + frame"), 5020); - - connect(ui->quadPlusPushButton, SIGNAL(clicked()), this, SLOT(quadPlusSelected())); - connect(ui->quadPlusComboBox, SIGNAL(activated(int)), this, SLOT(quadPlusSelected(int))); - ui->quadPlusPushButton->setEnabled(ui->quadPlusComboBox->count() > 0); - - ui->hexaXComboBox->addItem(tr("Standard 10\" Hexa X"), 6001); - ui->hexaXComboBox->addItem(tr("Coaxial 10\" Hexa X"), 11001); - - connect(ui->hexaXPushButton, SIGNAL(clicked()), this, SLOT(hexaXSelected())); - connect(ui->hexaXComboBox, SIGNAL(activated(int)), this, SLOT(hexaXSelected(int))); - ui->hexaXPushButton->setEnabled(ui->hexaXComboBox->count() > 0); - - ui->hexaPlusComboBox->addItem(tr("Standard 10\" Hexa"), 7001); - - connect(ui->hexaPlusPushButton, SIGNAL(clicked()), this, SLOT(hexaPlusSelected())); - connect(ui->hexaPlusComboBox, SIGNAL(activated(int)), this, SLOT(hexaPlusSelected(int))); - ui->hexaPlusPushButton->setEnabled(ui->hexaPlusComboBox->count() > 0); - - ui->octoXComboBox->addItem(tr("Standard 10\" Octo"), 8001); - ui->octoXComboBox->addItem(tr("Coaxial 10\" Octo"), 12001); - - connect(ui->octoXPushButton, SIGNAL(clicked()), this, SLOT(octoXSelected())); - connect(ui->octoXComboBox, SIGNAL(activated(int)), this, SLOT(octoXSelected(int))); - ui->octoXPushButton->setEnabled(ui->octoXComboBox->count() > 0); - - ui->octoPlusComboBox->addItem(tr("Standard 10\" Octo"), 9001); - - connect(ui->octoPlusPushButton, SIGNAL(clicked()), this, SLOT(octoPlusSelected())); - connect(ui->octoPlusComboBox, SIGNAL(activated(int)), this, SLOT(octoPlusSelected(int))); - ui->octoPlusPushButton->setEnabled(ui->octoPlusComboBox->count() > 0); - - ui->hComboBox->addItem(tr("3DR Iris"), 10016); - ui->hComboBox->addItem(tr("TBS Discovery"), 10015); - ui->hComboBox->addItem(tr("SteadiDrone QU4D"), 10017); - - connect(ui->hPushButton, SIGNAL(clicked()), this, SLOT(hSelected())); - connect(ui->hComboBox, SIGNAL(activated(int)), this, SLOT(hSelected(int))); - ui->hPushButton->setEnabled(ui->hComboBox->count() > 0); - - connect(ui->applyButton, SIGNAL(clicked()), this, SLOT(applyAndReboot())); - - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); - - uncheckAll(); - - setActiveUAS(UASManager::instance()->getActiveUAS()); -} - -void QGCPX4AirframeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value) -{ - Q_UNUSED(uas); - Q_UNUSED(component); - - if (parameterName.contains("SYS_AUTOSTART")) - { - int index = value.toInt(); - if (index > 0) { - setAirframeID(index); - ui->statusLabel->setText(tr("Onboard start script ID: #%1").arg(index)); - } else { - uncheckAll(); - ui->statusLabel->setText(tr("System not configured for autostart.")); - } - } -} - -void QGCPX4AirframeConfig::setActiveUAS(UASInterface* uas) -{ - if (mav) - { - disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant))); - mav = NULL; - } - - if (!uas) - return; - - mav = uas; - paramMgr = mav->getParamManager(); - - connect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant))); - - // If the parameters are ready, we aren't going to get paramterChanged signals. So fake them in order to make the UI work. - if (uas->getParamManager()->parametersReady()) { - QVariant value; - static const char* param = "SYS_AUTOSTART"; - - QGCUASParamManagerInterface* paramMgr = uas->getParamManager(); - - QList compIds = paramMgr->getComponentForParam(param); - Q_ASSERT(compIds.count() == 1); - paramMgr->getParameterValue(compIds[0], param, value); - parameterChanged(uas->getUASID(), compIds[0], param, value); - } -} - -void QGCPX4AirframeConfig::uncheckAll() -{ - ui->planePushButton->setChecked(false); - ui->flyingWingPushButton->setChecked(false); - ui->quadXPushButton->setChecked(false); - ui->quadPlusPushButton->setChecked(false); - ui->hexaXPushButton->setChecked(false); - ui->hexaPlusPushButton->setChecked(false); - ui->octoXPushButton->setChecked(false); - ui->octoPlusPushButton->setChecked(false); - ui->hPushButton->setChecked(false); -} - -void QGCPX4AirframeConfig::setAirframeID(int id) -{ - - qDebug() << "setAirframeID" << id; - ui->statusLabel->setText(tr("Start script ID: #%1").arg(id)); - - selectedId = id; - - // XXX too much boilerplate code here - this widget is really just - // a quick hack to get started - uncheckAll(); - - if (id >= 1000 && id < 2000) - { - ui->simPushButton->setChecked(true); - ui->simComboBox->setCurrentIndex(ui->simComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected simulation (ID: #%1)").arg(selectedId)); - } - else if (id >= 2000 && id < 3000) - { - ui->planePushButton->setChecked(true); - ui->planeComboBox->setCurrentIndex(ui->planeComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected plane (ID: #%1)").arg(selectedId)); - } - else if (id >= 3000 && id < 4000) - { - ui->flyingWingPushButton->setChecked(true); - ui->flyingWingComboBox->setCurrentIndex(ui->flyingWingComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected flying wing (ID: #%1)").arg(selectedId)); - } - else if (id >= 4000 && id < 5000) { - ui->quadXPushButton->setChecked(true); - ui->quadXComboBox->setCurrentIndex(ui->quadXComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected quadrotor in X config (ID: #%1)").arg(selectedId)); - } - else if (id >= 5000 && id < 6000) { - ui->quadPlusPushButton->setChecked(true); - ui->quadPlusComboBox->setCurrentIndex(ui->quadPlusComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected quadrotor in + config (ID: #%1)").arg(selectedId)); - } - else if (id >= 6000 && id < 7000) { - ui->hexaXPushButton->setChecked(true); - ui->hexaXComboBox->setCurrentIndex(ui->hexaXComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected hexarotor in X config (ID: #%1)").arg(selectedId)); - } - else if (id >= 7000 && id < 8000) { - ui->hexaPlusPushButton->setChecked(true); - ui->hexaPlusComboBox->setCurrentIndex(ui->hexaPlusComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected hexarotor in + config (ID: #%1)").arg(selectedId)); - } - else if (id >= 8000 && id < 9000) { - ui->octoXPushButton->setChecked(true); - ui->octoXComboBox->setCurrentIndex(ui->octoXComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected octorotor in X config (ID: #%1)").arg(selectedId)); - } - else if (id >= 9000 && id < 10000) { - ui->octoPlusPushButton->setChecked(true); - ui->octoPlusComboBox->setCurrentIndex(ui->octoPlusComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected octorotor in + config (ID: #%1)").arg(selectedId)); - } - else if (id >= 10000 && id < 11000) - { - ui->hPushButton->setChecked(true); - ui->hComboBox->setCurrentIndex(ui->hComboBox->findData(id)); - ui->statusLabel->setText(tr("Selected H frame multirotor (ID: #%1)").arg(selectedId)); - } - - -} - -void QGCPX4AirframeConfig::applyAndReboot() -{ - // Guard against the case of an edit where we didn't receive all params yet - if (selectedId <= 0) - { - QGCMessageBox::warning(tr("No airframe selected"), - tr("Please select an airframe first.")); - return; - } - - if (!mav) - return; - - if (paramMgr->countOnboardParams() == 0 && - paramMgr->countPendingParams() == 0) - { - paramMgr->requestParameterList(); - QGC::SLEEP::msleep(300); - } - - QList components = paramMgr->getComponentForParam("SYS_AUTOSTART"); - - // Guard against the case of an edit where we didn't receive all params yet - if (paramMgr->countPendingParams() > 0 || components.count() == 0) - { - QGCMessageBox::information(tr("Parameter sync with UAS not yet complete"), - tr("Please wait a few moments and retry")); - return; - } - - // Guard against multiple components responding - this will never show in practice - if (components.count() != 1) { - QGCMessageBox::warning(tr("Invalid system setup detected"), - tr("None or more than one component advertised to provide the main system configuration option. This is an invalid system setup - please check your autopilot.")); - return; - } - - // This is really evil: 'fake' a thread by - // periodic work queue calls and clock - // through a small state machine - // ugh.. if we just had time to do this properly. - - // To the reader who can't program and wants to whine: - // this is not beautiful, but technically completely - // sound. If you want to fix it, you'd be welcome - // to rebase the link, param manager and UI classes - // on a proper threading framework - which I'd love to do - // if I just had more time.. - - configState = CONFIG_STATE_SEND; - QTimer::singleShot(200, this, SLOT(checkConfigState())); - setEnabled(false); -} - -void QGCPX4AirframeConfig::checkConfigState() -{ - - if (configState == CONFIG_STATE_SEND) - { - QList components = paramMgr->getComponentForParam("SYS_AUTOSTART"); - qDebug() << "Setting comp" << components.first() << "SYS_AUTOSTART" << (qint32)selectedId; - - paramMgr->setPendingParam(components.first(),"SYS_AUTOSTART", (qint32)selectedId); - - //need to set autoconfig in order for PX4 to pick up the selected airframe params - if (ui->defaultGainsCheckBox->checkState() == Qt::Checked) - setAutoConfig(true); - - // Send pending params and then write them to persistent storage when done - paramMgr->sendPendingParameters(true); - - configState = CONFIG_STATE_WAIT_PENDING; - pendingParams = 0; - QTimer::singleShot(2000, this, SLOT(checkConfigState())); - return; - } - - if (configState == CONFIG_STATE_WAIT_PENDING) { - // Guard against the case of an edit where we didn't receive all params yet - if (paramMgr->countPendingParams() > 0) - { - if (pendingParams == 0) { - - pendingParams = paramMgr->countPendingParams(); - - if (progress) - delete progress; - - progress = new QProgressDialog("Writing parameters", "Abort Send", 0, pendingParams, this); - progress->setWindowModality(Qt::WindowModal); - progress->setMinimumDuration(2000); - } - - qDebug() << "PENDING" << paramMgr->countPendingParams() << "PROGRESS" << pendingParams - paramMgr->countPendingParams(); - progress->setValue(pendingParams - paramMgr->countPendingParams()); - - if (progress->wasCanceled()) { - configState = CONFIG_STATE_ABORT; - setEnabled(true); - pendingParams = 0; - return; - } - } else { - pendingParams = 0; - configState = CONFIG_STATE_REBOOT; - } - - qDebug() << "PENDING PARAMS WAIT PENDING: " << paramMgr->countPendingParams(); - QTimer::singleShot(1000, this, SLOT(checkConfigState())); - return; - } - - if (configState == CONFIG_STATE_REBOOT) { - - // Reboot - //TODO right now this relies upon the above send & persist finishing before the reboot command is received... - - unsigned pendingMax = 17; - - qDebug() << "PENDING PARAMS REBOOT BEFORE" << pendingParams; - - if (pendingParams == 0) { - pendingParams = 1; - - if (progress) - delete progress; - - progress = new QProgressDialog("Waiting for autopilot reboot", "Abort", 0, pendingMax, this); - progress->setWindowModality(Qt::WindowModal); - qDebug() << "Waiting for reboot, pending" << pendingParams; - } else { - if (progress->wasCanceled()) { - configState = CONFIG_STATE_ABORT; - setEnabled(true); - pendingParams = 0; - return; - } - } - - if (pendingParams == 3) { - qDebug() << "REQUESTING REBOOT"; - mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); - mav->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); - } - - if (pendingParams == 4) { - qDebug() << "DISCONNECT AIRFRAME"; - LinkManager::instance()->disconnectAll(); - } - - if (pendingParams == 14) { - qDebug() << "CONNECT AIRFRAME"; - LinkManager::instance()->connectAll(); - } - - if (pendingParams < pendingMax) { - progress->setValue(pendingParams); - QTimer::singleShot(1000, this, SLOT(checkConfigState())); - } else { - paramMgr->requestParameterList(); - progress->setValue(pendingMax); - configState = CONFIG_STATE_ABORT; - pendingParams = 0; - setEnabled(true); - return; - } - qDebug() << "PENDING PARAMS REBOOT AFTER:" << pendingParams; - pendingParams++; - return; - } -} - -void QGCPX4AirframeConfig::setAutoConfig(bool enabled) -{ - if (!mav) - return; - paramMgr->setPendingParam(0, "SYS_AUTOCONFIG", (qint32) ((enabled) ? 1 : 0)); -} - -void QGCPX4AirframeConfig::simSelected() -{ - simSelected(ui->simComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::simSelected(int index) -{ - int system_index = ui->simComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::flyingWingSelected() -{ - flyingWingSelected(ui->flyingWingComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::flyingWingSelected(int index) -{ - int system_index = ui->flyingWingComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::planeSelected() -{ - planeSelected(ui->planeComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::planeSelected(int index) -{ - int system_index = ui->planeComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::quadXSelected() -{ - quadXSelected(ui->quadXComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::quadXSelected(int index) -{ - int system_index = ui->quadXComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::quadPlusSelected() -{ - quadPlusSelected(ui->quadPlusComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::quadPlusSelected(int index) -{ - int system_index = ui->quadPlusComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::hexaXSelected() -{ - hexaXSelected(ui->hexaXComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::hexaXSelected(int index) -{ - int system_index = ui->hexaXComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::hexaPlusSelected() -{ - hexaPlusSelected(ui->hexaPlusComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::hexaPlusSelected(int index) -{ - int system_index = ui->hexaPlusComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::octoXSelected() -{ - octoXSelected(ui->octoXComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::octoXSelected(int index) -{ - int system_index = ui->octoXComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::octoPlusSelected() -{ - octoPlusSelected(ui->octoPlusComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::octoPlusSelected(int index) -{ - int system_index = ui->octoPlusComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - -void QGCPX4AirframeConfig::hSelected() -{ - hSelected(ui->hComboBox->currentIndex()); -} - -void QGCPX4AirframeConfig::hSelected(int index) -{ - int system_index = ui->hComboBox->itemData(index).toInt(); - setAirframeID(system_index); -} - - -QGCPX4AirframeConfig::~QGCPX4AirframeConfig() -{ - delete ui; -} diff --git a/src/ui/px4_configuration/QGCPX4AirframeConfig.h b/src/ui/px4_configuration/QGCPX4AirframeConfig.h deleted file mode 100644 index 4ebe33890c12337800e86ef3ccd2713407957b00..0000000000000000000000000000000000000000 --- a/src/ui/px4_configuration/QGCPX4AirframeConfig.h +++ /dev/null @@ -1,109 +0,0 @@ -#ifndef QGCPX4AIRFRAMECONFIG_H -#define QGCPX4AIRFRAMECONFIG_H - -#include -#include - -class QProgressDialog; - -namespace Ui { -class QGCPX4AirframeConfig; -} - -class QGCPX4AirframeConfig : public QWidget -{ - Q_OBJECT - -public: - explicit QGCPX4AirframeConfig(QWidget *parent = 0); - ~QGCPX4AirframeConfig(); - -public slots: - - /** - * @brief Set the system currently operated on by this widget - * @param uas The currently active / configured system - */ - void setActiveUAS(UASInterface* uas); - - /** - * @brief Handle parameter changes - * @param uas - * @param component - * @param parameterName - * @param value - */ - void parameterChanged(int uas, int component, QString parameterName, QVariant value); - - /** - * @brief Quadrotor in X configuration has been selected - */ - void quadXSelected(); - - /** - * @brief Quadrotor in X configuration has been selected with sub-type - * @param index The autostart index which maps to a particular sub-type - */ - void quadXSelected(int index); - - void simSelected(); - void simSelected(int index); - void planeSelected(); - void planeSelected(int index); - void flyingWingSelected(); - void flyingWingSelected(int index); - void quadPlusSelected(); - void quadPlusSelected(int index); - void hexaXSelected(); - void hexaXSelected(int index); - void hexaPlusSelected(); - void hexaPlusSelected(int index); - void octoXSelected(); - void octoXSelected(int index); - void octoPlusSelected(); - void octoPlusSelected(int index); - void hSelected(); - void hSelected(int index); - - /** - * @brief Apply changes and reboot system - */ - void applyAndReboot(); - -protected slots: - void checkConfigState(); - -protected: - - /** - * @brief Set the ID of the current airframe - * @param id the ID as defined by the PX4 SYS_AUTOSTART enum - */ - void setAirframeID(int id); - - /** - * @brief Enable automatic configuration - * @param enabled If true, the system sets the default gains for this platform on the next boot - */ - void setAutoConfig(bool enabled); - - void uncheckAll(); - - enum CONFIG_STATE { - CONFIG_STATE_ABORT = 0, - CONFIG_STATE_SEND, - CONFIG_STATE_WAIT_PENDING, - CONFIG_STATE_REBOOT - }; - -private: - UASInterface* mav; - QGCUASParamManagerInterface *paramMgr; - QProgressDialog* progress; - unsigned pendingParams; - enum CONFIG_STATE configState; - int selectedId; - Ui::QGCPX4AirframeConfig *ui; -}; - -#endif // QGCPX4AIRFRAMECONFIG_H diff --git a/src/ui/px4_configuration/QGCPX4AirframeConfig.ui b/src/ui/px4_configuration/QGCPX4AirframeConfig.ui deleted file mode 100644 index 2c9f5d8195013c61c84a394db32f300f4b1bb524..0000000000000000000000000000000000000000 --- a/src/ui/px4_configuration/QGCPX4AirframeConfig.ui +++ /dev/null @@ -1,427 +0,0 @@ - - - QGCPX4AirframeConfig - - - - 0 - 0 - 802 - 471 - - - - - 0 - 0 - - - - - 802 - 471 - - - - Form - - - - - - Set default airframe settings - - - true - - - - - - - - 0 - 0 - - - - true - - - - - 0 - 0 - 761 - 611 - - - - - - - - - - - - - :/files/images/px4/airframes/plane_aert.png:/files/images/px4/airframes/plane_aert.png - - - - 120 - 120 - - - - true - - - - - - - - - - Standard Plane - - - - - - - - - - - - - - - :/files/images/px4/airframes/flying_wing.png:/files/images/px4/airframes/flying_wing.png - - - - 120 - 120 - - - - true - - - - - - - - - - Flying Wing - - - - - - - - - - - - - - - :/files/images/px4/airframes/quad_x.png:/files/images/px4/airframes/quad_x.png - - - - 120 - 120 - - - - true - - - - - - - - - - Quadrotor X - - - - - - - - - - - - - - - :/files/images/px4/airframes/quad_+.png:/files/images/px4/airframes/quad_+.png - - - - 120 - 120 - - - - true - - - - - - - - - - Quadrotor + - - - - - - - - - - - - - - - :/files/images/px4/airframes/hexa_x.png:/files/images/px4/airframes/hexa_x.png - - - - 120 - 120 - - - - true - - - - - - - - - - Hexarotor X - - - - - - - - - - - - - - - :/files/images/px4/airframes/hexa_+.png:/files/images/px4/airframes/hexa_+.png - - - - 120 - 120 - - - - true - - - - - - - - - - Hexarotor + - - - - - - - - - - - - - - - :/files/images/px4/airframes/octo_x.png:/files/images/px4/airframes/octo_x.png - - - - 120 - 120 - - - - true - - - - - - - - - - Octorotor X - - - - - - - - - - - - - - - :/files/images/px4/airframes/octo_+.png:/files/images/px4/airframes/octo_+.png - - - - 120 - 120 - - - - true - - - - - - - - - - Octorotor + - - - - - - - - - - - - - - - :/files/images/px4/airframes/quad_h.png:/files/images/px4/airframes/quad_h.png - - - - 120 - 120 - - - - true - - - - - - - - - - H Frame - - - - - - - - - - - Simulation Setup - - - true - - - - - - - - - - Simulation / Experimental - - - - - - - - - - - - - Apply and Restart - - - - - - - No changes values - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc b/src/ui/px4_configuration/QGCPX4SensorCalibration.cc deleted file mode 100644 index dc7c0bddaf0498d08302ee518ba12ddde307b14f..0000000000000000000000000000000000000000 --- a/src/ui/px4_configuration/QGCPX4SensorCalibration.cc +++ /dev/null @@ -1,507 +0,0 @@ -#include "QGCPX4SensorCalibration.h" -#include "ui_QGCPX4SensorCalibration.h" -#include -#include -#include -#include - -QGCPX4SensorCalibration::QGCPX4SensorCalibration(QWidget *parent) : - QWidget(parent), - activeUAS(NULL), - clearAction(new QAction(tr("Clear Text"), this)), - ui(new Ui::QGCPX4SensorCalibration) -{ - ui->setupUi(this); - connect(clearAction, SIGNAL(triggered()), ui->textView, SLOT(clear())); - - connect(ui->gyroButton, SIGNAL(clicked()), this, SLOT(gyroButtonClicked())); - connect(ui->magButton, SIGNAL(clicked()), this, SLOT(magButtonClicked())); - connect(ui->accelButton, SIGNAL(clicked()), this, SLOT(accelButtonClicked())); - connect(ui->diffPressureButton, SIGNAL(clicked()), this, SLOT(diffPressureButtonClicked())); - - connect(ui->logCheckBox, SIGNAL(clicked(bool)), ui->textView, SLOT(setVisible(bool))); - ui->logCheckBox->setChecked(false); - ui->textView->setVisible(false); - - ui->gyroButton->setEnabled(false); - ui->magButton->setEnabled(false); - ui->accelButton->setEnabled(false); - - ui->autopilotComboBox->setEnabled(false); - ui->magComboBox->setEnabled(false); - - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - setAutopilotImage(":/files/images/px4/calibration/accel_down.png"); - setGpsImage(":/files/images/px4/calibration/accel_down.png"); - - // Fill combo boxes - ui->autopilotComboBox->addItem(tr("Default Orientation"), 0); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_45"), 1); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_90"), 2); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_135"), 3); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_180"), 4); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_225"), 5); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_270"), 6); - ui->autopilotComboBox->addItem(tr("ROTATION_YAW_315"), 7); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180"), 8); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_45"), 9); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_90"), 10); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_135"), 11); - ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_180"), 12); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_225"), 13); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_270"), 14); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_YAW_315"), 15); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90"), 16); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_45"), 17); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_90"), 18); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_135"), 19); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270"), 20); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_45"), 21); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_90"), 22); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_YAW_135"), 23); - ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_90"), 24); - ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_270"), 25); - ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_180_YAW_90"), 26); - ui->autopilotComboBox->addItem(tr("ROTATION_PITCH_180_YAW_270"), 27); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_PITCH_90"), 28); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_PITCH_90"), 29); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_PITCH_90"), 30); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_PITCH_180"), 31); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_PITCH_180"), 32); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_PITCH_270"), 33); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_180_PITCH_270"), 34); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_270_PITCH_270"), 35); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_PITCH_180_YAW_90"), 36); - ui->autopilotComboBox->addItem(tr("ROTATION_ROLL_90_YAW_270"), 37); - - ui->magComboBox->addItem(tr("Default Orientation"), 0); - ui->magComboBox->addItem(tr("ROTATION_YAW_45"), 1); - ui->magComboBox->addItem(tr("ROTATION_YAW_90"), 2); - ui->magComboBox->addItem(tr("ROTATION_YAW_135"), 3); - ui->magComboBox->addItem(tr("ROTATION_YAW_180"), 4); - ui->magComboBox->addItem(tr("ROTATION_YAW_225"), 5); - ui->magComboBox->addItem(tr("ROTATION_YAW_270"), 6); - ui->magComboBox->addItem(tr("ROTATION_YAW_315"), 7); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180"), 8); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_45"), 9); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_90"), 10); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_135"), 11); - ui->magComboBox->addItem(tr("ROTATION_PITCH_180"), 12); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_225"), 13); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_270"), 14); - ui->magComboBox->addItem(tr("ROTATION_ROLL_180_YAW_315"), 15); - ui->magComboBox->addItem(tr("ROTATION_ROLL_90"), 16); - ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_45"), 17); - ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_90"), 18); - ui->magComboBox->addItem(tr("ROTATION_ROLL_90_YAW_135"), 19); - ui->magComboBox->addItem(tr("ROTATION_ROLL_270"), 20); - ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_45"), 21); - ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_90"), 22); - ui->magComboBox->addItem(tr("ROTATION_ROLL_270_YAW_135"), 23); - ui->magComboBox->addItem(tr("ROTATION_PITCH_90"), 24); - ui->magComboBox->addItem(tr("ROTATION_PITCH_270"), 25); - - setObjectName("PX4_SENSOR_CALIBRATION"); - - setStyleSheet("QScrollArea { border: 0px; } QPlainTextEdit { border: 0px }"); - - setActiveUAS(UASManager::instance()->getActiveUAS()); - connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); - ui->progressBar->setValue(0); - - connect(ui->autopilotComboBox, SIGNAL(activated(int)), this, SLOT(setAutopilotOrientation(int))); - connect(ui->magComboBox, SIGNAL(activated(int)), this, SLOT(setGpsOrientation(int))); - - updateIcons(); -} - -QGCPX4SensorCalibration::~QGCPX4SensorCalibration() -{ - delete ui; -} - -void QGCPX4SensorCalibration::parameterChanged(int uas, int component, QString parameterName, QVariant value) -{ - Q_UNUSED(uas); - Q_UNUSED(component); - - int index = (int)value.toFloat(); - - if (parameterName.contains("SENS_BOARD_ROT")) - { - ui->autopilotComboBox->setCurrentIndex(index); - setAutopilotImage(index); - ui->autopilotComboBox->setEnabled(true); - } - - if (parameterName.contains("SENS_EXT_MAG_ROT")) - { - ui->magComboBox->setCurrentIndex(index); - setGpsImage(index); - ui->magComboBox->setEnabled(true); - } - - // Check mag calibration naively - if (parameterName.contains("SENS_MAG_XOFF") || parameterName.contains("CAL_MAG0_ID")) { - float offset = value.toFloat(); - if (offset < 0.000001f && offset > -0.000001f) { - // Must be zero, not good - setMagCalibrated(false); - } else { - setMagCalibrated(true); - } - } - - // Check gyro calibration naively - if (parameterName.contains("SENS_GYRO_XOFF") || parameterName.contains("CAL_GYRO0_ID")) { - float offset = value.toFloat(); - if (offset < 0.000001f && offset > -0.000001f) { - // Must be zero, not good - setGyroCalibrated(false); - } else { - setGyroCalibrated(true); - } - } - - // Check accel calibration naively - if (parameterName.contains("SENS_ACC_XOFF") || parameterName.contains("CAL_ACC0_ID")) { - float offset = value.toFloat(); - if (offset < 0.000001f && offset > -0.000001f) { - // Must be zero, not good - setAccelCalibrated(false); - } else { - setAccelCalibrated(true); - } - } - - // Check differential pressure calibration naively - if (parameterName.contains("SENS_DPRES_OFF")) { - float offset = value.toFloat(); - if (offset < 0.000001f && offset > -0.000001f) { - // Must be zero, not good - setDiffPressureCalibrated(false); - } else { - setDiffPressureCalibrated(true); - } - } -} - -void QGCPX4SensorCalibration::setMagCalibrated(bool calibrated) -{ - if (calibrated) { - ui->magLabel->setText(tr("MAG CALIBRATED")); - ui->magLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #20AA20;" - "}"); - } else { - ui->magLabel->setText(tr("MAG UNCALIBRATED")); - ui->magLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #FF0037;" - "}"); - } -} - -void QGCPX4SensorCalibration::setGyroCalibrated(bool calibrated) -{ - if (calibrated) { - ui->gyroLabel->setText(tr("GYRO CALIBRATED")); - ui->gyroLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #20AA20;" - "}"); - } else { - ui->gyroLabel->setText(tr("GYRO UNCALIBRATED")); - ui->gyroLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #FF0037;" - "}"); - } -} - -void QGCPX4SensorCalibration::setAccelCalibrated(bool calibrated) -{ - if (calibrated) { - ui->accelLabel->setText(tr("ACCEL CALIBRATED")); - ui->accelLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #20AA20;" - "}"); - } else { - ui->accelLabel->setText(tr("ACCEL UNCALIBRATED")); - ui->accelLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #FF0037;" - "}"); - } -} - -void QGCPX4SensorCalibration::setDiffPressureCalibrated(bool calibrated) -{ - if (calibrated) { - ui->diffPressureLabel->setText(tr("DIFF. PRESSURE CALIBRATED")); - ui->diffPressureLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #20AA20;" - "}"); - } else { - ui->diffPressureLabel->setText(tr("DIFF. PRESSURE UNCALIBRATED")); - ui->diffPressureLabel->setStyleSheet("QLabel { color: #FFFFFF;" - "background-color: #FF0037;" - "}"); - } -} - -void QGCPX4SensorCalibration::setInstructionImage(const QString &path) -{ - instructionIcon.load(path); - - int w = ui->iconLabel->width(); - int h = ui->iconLabel->height(); - - ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation)); -} - -void QGCPX4SensorCalibration::setAutopilotImage(int index) -{ - Q_UNUSED(index); - // FIXME: This was referencing a non-existent png. Need to figure out what this was trying to do. - //setAutopilotImage(QString(":/files/images/px4/calibration/pixhawk_%1.png").arg(index, 2, 10, QChar('0'))); -} - -void QGCPX4SensorCalibration::setGpsImage(int index) -{ - setGpsImage(QString(":/files/images/px4/calibration/3dr_gps/gps_%1.png").arg(index, 2, 10, QChar('0'))); -} - -void QGCPX4SensorCalibration::setAutopilotOrientation(int index) -{ - if (activeUAS) { - activeUAS->getParamManager()->setPendingParam(0, "SENS_BOARD_ROT", (int)index); - activeUAS->getParamManager()->sendPendingParameters(true); - } -} - -void QGCPX4SensorCalibration::setGpsOrientation(int index) -{ - if (activeUAS) { - activeUAS->getParamManager()->setPendingParam(0, "SENS_EXT_MAG_ROT", (int)index); - activeUAS->getParamManager()->sendPendingParameters(true); - } -} - -void QGCPX4SensorCalibration::setAutopilotImage(const QString &path) -{ - if (autopilotIcon.load(path)) { - int w = ui->autopilotLabel->width(); - int h = ui->autopilotLabel->height(); - - ui->autopilotLabel->setPixmap(autopilotIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation)); - } else { - qDebug() << "AutoPilot Icon image did not load" << path; - } -} - -void QGCPX4SensorCalibration::setGpsImage(const QString &path) -{ - if (gpsIcon.load(path)) { - int w = ui->gpsLabel->width(); - int h = ui->gpsLabel->height(); - - ui->gpsLabel->setPixmap(gpsIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation)); - } else { - qDebug() << "GPS Icon image did not load" << path; - } -} - -void QGCPX4SensorCalibration::updateIcons() -{ - int w = ui->iconLabel->width(); - int h = ui->iconLabel->height(); - ui->iconLabel->setPixmap(instructionIcon.scaled(w, h, Qt::KeepAspectRatio, Qt::SmoothTransformation)); - - int wa = ui->autopilotLabel->width(); - int ha = ui->autopilotLabel->height(); - ui->autopilotLabel->setPixmap(autopilotIcon.scaled(wa, ha, Qt::KeepAspectRatio, Qt::SmoothTransformation)); - - int wg = ui->gpsLabel->width(); - int hg = ui->gpsLabel->height(); - ui->gpsLabel->setPixmap(gpsIcon.scaled(wg, hg, Qt::KeepAspectRatio, Qt::SmoothTransformation)); -} - -void QGCPX4SensorCalibration::resizeEvent(QResizeEvent* event) -{ - updateIcons(); - QWidget::resizeEvent(event); -} - -void QGCPX4SensorCalibration::setActiveUAS(UASInterface* uas) -{ - if (!uas) - return; - - if (activeUAS) { - disconnect(activeUAS, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString))); - disconnect(activeUAS, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant))); - ui->textView->clear(); - } - - ui->gyroButton->setEnabled(true); - ui->magButton->setEnabled(true); - ui->accelButton->setEnabled(true); - - connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString))); - connect(uas, SIGNAL(parameterChanged(int,int,QString,QVariant)), this, SLOT(parameterChanged(int,int,QString,QVariant))); - connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int))); - activeUAS = uas; - - updateSystemSpecs(uas->getUASID()); - - // If the parameters are ready, we aren't going to get paramterChanged signals. So re-request them in order to make the UI work. - if (uas->getParamManager()->parametersReady()) { - _requestAllSensorParameters(); - } -} - -void QGCPX4SensorCalibration::updateSystemSpecs(int id) -{ - Q_UNUSED(id); - - if (activeUAS->isRotaryWing()) { - // Users are confused by the config button - ui->diffPressureButton->hide(); - ui->diffPressureLabel->hide(); - } else { - ui->diffPressureButton->show(); - ui->diffPressureLabel->show(); - } -} - -void QGCPX4SensorCalibration::handleTextMessage(int uasid, int compId, int severity, QString text) -{ - Q_UNUSED(uasid); - Q_UNUSED(compId); - Q_UNUSED(severity); - - if (text.startsWith("[cmd]") || - text.startsWith("[mavlink pm]")) - return; - - if (text.contains("progress <")) { - QString percent = text.split("<").last().split(">").first(); - bool ok; - int p = percent.toInt(&ok); - if (ok) - ui->progressBar->setValue(p); - return; - } - - ui->instructionLabel->setText(QString("%1").arg(text)); - - if (text.startsWith("Hold still, starting to measure ")) { - QString axis = text.section(" ", -2, -2); - setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis)); - } - - if (text.startsWith("pending: ")) { - QString axis = text.section(" ", 1, 1); - setInstructionImage(QString(":/files/images/px4/calibration/accel_%1.png").arg(axis)); - } - - if (text == "rotate in a figure 8 around all axis" /* support for old typo */ - || text == "rotate in a figure 8 around all axes" /* current version */) { - setInstructionImage(":/files/images/px4/calibration/mag_calibration_figure8.png"); - } - - if (text.endsWith(" calibration: done") || text.endsWith(" calibration: failed")) { - // XXX use a confirmation image or something - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - if (text.endsWith(" calibration: done")) { - ui->progressBar->setValue(100); - } else { - ui->progressBar->setValue(0); - } - - if (activeUAS) { - _requestAllSensorParameters(); - } - } - - if (text.endsWith(" calibration: started")) { - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - } - - // XXX color messages according to severity - - QPlainTextEdit *msgWidget = ui->textView; - - //turn off updates while we're appending content to avoid breaking the autoscroll behavior - msgWidget->setUpdatesEnabled(false); - QScrollBar *scroller = msgWidget->verticalScrollBar(); - - msgWidget->appendHtml(QString("%4").arg(text)); - - // Ensure text area scrolls correctly - scroller->setValue(scroller->maximum()); - msgWidget->setUpdatesEnabled(true); -} - -void QGCPX4SensorCalibration::gyroButtonClicked() -{ - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); - ui->progressBar->setValue(0); -} - -void QGCPX4SensorCalibration::magButtonClicked() -{ - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0); - ui->progressBar->setValue(0); -} - -void QGCPX4SensorCalibration::accelButtonClicked() -{ - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0); - ui->progressBar->setValue(0); -} - -void QGCPX4SensorCalibration::diffPressureButtonClicked() -{ - setInstructionImage(":/files/images/px4/calibration/accel_down.png"); - activeUAS->executeCommand(MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0); - ui->progressBar->setValue(0); -} - -void QGCPX4SensorCalibration::contextMenuEvent(QContextMenuEvent* event) -{ - QMenu menu(this); - menu.addAction(clearAction); - menu.exec(event->globalPos()); -} - -void QGCPX4SensorCalibration::_requestAllSensorParameters(void) -{ - static const char* rgSensorsCalParamsV1[] = { - "SENS_ACC_XOFF", "SENS_ACC_YOFF", "SENS_ACC_ZOFF", "SENS_ACC_XSCALE", "SENS_ACC_YSCALE", "SENS_ACC_ZSCALE", - "SENS_GYRO_XOFF", "SENS_GYRO_YOFF", "SENS_GYRO_ZOFF", "SENS_GYRO_XSCALE", "SENS_GYRO_YSCALE", "SENS_GYRO_ZSCALE", - "SENS_MAG_XOFF", "SENS_MAG_YOFF", "SENS_MAG_ZOFF", "SENS_MAG_XSCALE", "SENS_MAG_YSCALE", "SENS_MAG_ZSCALE", "SENS_EXT_MAG_ROT", - "SENS_DPRES_OFF", "SENS_DPRES_ANA", - "SENS_BOARD_ROT", - NULL }; - - static const char* rgSensorsCalParamsV2[] = { - "CAL_ACC0_ID", "CAL_ACC0_XOFF", "CAL_ACC0_YOFF", "CAL_ACC0_ZOFF", "CAL_ACC0_XSCALE", "CAL_ACC0_YSCALE", "CAL_ACC0_ZSCALE", - "CAL_GYRO0_ID", "CAL_GYRO0_XOFF", "CAL_GYRO0_YOFF", "CAL_GYRO0_ZOFF", "CAL_GYRO0_XSCALE", "CAL_GYRO0_YSCALE", "CAL_GYRO0_ZSCALE", - "CAL_MAG0_ID", "CAL_MAG0_XOFF", "CAL_MAG0_YOFF", "CAL_MAG0_ZOFF", "CAL_MAG0_XSCALE", "CAL_MAG0_YSCALE", "CAL_MAG0_ZSCALE", "SENS_EXT_MAG_ROT", - "SENS_DPRES_OFF", "SENS_DPRES_ANA", - "SENS_BOARD_ROT", - NULL }; - - Q_ASSERT(activeUAS); - QGCUASParamManagerInterface* paramMgr = activeUAS->getParamManager(); - - // Temp hack for parameter mapping - bool paramsV1 = paramMgr->getComponentForParam("SENS_MAG_XOFF").count(); - static const char** prgParamList = paramsV1 ? rgSensorsCalParamsV1 : rgSensorsCalParamsV2; - - for (size_t i=0; prgParamList[i] != NULL; i++) { - qDebug() << "Requesting" << prgParamList[i]; - activeUAS->requestParameter(0, prgParamList[i]); - } -} \ No newline at end of file diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.h b/src/ui/px4_configuration/QGCPX4SensorCalibration.h deleted file mode 100644 index 8c84e62e0f66cad231211f1adf9692ddc3380973..0000000000000000000000000000000000000000 --- a/src/ui/px4_configuration/QGCPX4SensorCalibration.h +++ /dev/null @@ -1,92 +0,0 @@ -#ifndef QGCPX4SENSORCALIBRATION_H -#define QGCPX4SENSORCALIBRATION_H - -#include -#include -#include - -namespace Ui { -class QGCPX4SensorCalibration; -} - -class QGCPX4SensorCalibration : public QWidget -{ - Q_OBJECT - -public: - explicit QGCPX4SensorCalibration(QWidget *parent = 0); - ~QGCPX4SensorCalibration(); - -public slots: - /** - * @brief Set currently active UAS - * @param uas the current active UAS - */ - void setActiveUAS(UASInterface* uas); - - /** - * @brief Handle text message from current active UAS - * @param uasid - * @param componentid - * @param severity - * @param text - */ - void handleTextMessage(int uasid, int componentid, int severity, QString text); - - /** - * @brief Update system specs / properties - * @param id the UID of the aircraft - */ - void updateSystemSpecs(int id); - - void gyroButtonClicked(); - void magButtonClicked(); - void accelButtonClicked(); - void diffPressureButtonClicked(); - - /** - * @brief Hand context menu event - * @param event - */ - virtual void contextMenuEvent(QContextMenuEvent* event); - - void setAutopilotOrientation(int index); - void setGpsOrientation(int index); - void parameterChanged(int uas, int component, QString parameterName, QVariant value); - -protected slots: - - void setInstructionImage(const QString &path); - - void setAutopilotImage(const QString &path); - - void setGpsImage(const int index); - - void setAutopilotImage(const int index); - - void setGpsImage(const QString &path); - -protected: - UASInterface* activeUAS; - QAction* clearAction; - QPixmap instructionIcon; - QPixmap autopilotIcon; - QPixmap gpsIcon; - - virtual void resizeEvent(QResizeEvent* event); - - void setMagCalibrated(bool calibrated); - void setGyroCalibrated(bool calibrated); - void setAccelCalibrated(bool calibrated); - void setDiffPressureCalibrated(bool calibrated); - - void updateIcons(); - -private: - void _requestAllSensorParameters(void); - - Ui::QGCPX4SensorCalibration *ui; - -}; - -#endif // QGCPX4SENSORCALIBRATION_H diff --git a/src/ui/px4_configuration/QGCPX4SensorCalibration.ui b/src/ui/px4_configuration/QGCPX4SensorCalibration.ui deleted file mode 100644 index a99e1dbaeb8e39d74edff2af36c10943a3db1273..0000000000000000000000000000000000000000 --- a/src/ui/px4_configuration/QGCPX4SensorCalibration.ui +++ /dev/null @@ -1,275 +0,0 @@ - - - QGCPX4SensorCalibration - - - - 0 - 0 - 659 - 636 - - - - Form - - - QPushButton#magButton { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154); - border-radius: 8px; - min-height: 25px; - max-height: 30px; - min-width: 60px; - max-width: 140px; - margin: 5px; - border: 2px solid #465158; -} - -QPushButton#gyroButton, QPushButton#accelButton, QPushButton#diffPressureButton { - background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #D3795D, stop: 1 #A81154); - border-radius: 8px; - min-height: 25px; - max-height: 30px; - min-width: 60px; - max-width: 140px; - margin: 5px; - border: 2px solid #465158; -} - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - Autopilot Orientation - - - - - - - 0 - 250 - - - - - - - - - - - - - - - - - Magnetometer Orientation - - - - - - - 150 - 120 - - - - - - - - - - - - - - - - - - - Qt::Vertical - - - - 498 - 5 - - - - - - - - - - - - - - - 24 - - - - - - - false - - - - - - - - - - - - Qt::AlignCenter - - - - - - - - - - Qt::AlignCenter - - - - - - - Gyroscope - - - - :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png - - - - - - - Magnetometer - - - - :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png - - - - - - - Accelerometer - - - - :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png - - - - - - - Diff. pressure - - - - :/files/images/px4/calibration/arrows.png:/files/images/px4/calibration/arrows.png - - - - - - - - - - Qt::AlignCenter - - - - - - - - - - Qt::AlignCenter - - - - - - - - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Log - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - diff --git a/src/ui/qmlcommon/QGCAltitudeWidget.qml b/src/ui/qmlcommon/QGCAltitudeWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..b46d87bc0271300fa95d818274bf2616baec7f1b --- /dev/null +++ b/src/ui/qmlcommon/QGCAltitudeWidget.qml @@ -0,0 +1,112 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Altitude Indicator + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +Rectangle { + id: root + property real altitude: 50 + property real _reticleSpacing: ScreenTools.pixelSizeFactor * (16) + property real _reticleHeight: ScreenTools.pixelSizeFactor * (2) + property real _reticleSlot: _reticleSpacing + _reticleHeight + property var _speedArray: [] + property int _currentCenter: 0 + property int _currentStart: -100 + + function updateArray() { + var tmpArray = []; + _currentCenter = Math.floor(altitude / 5) * 5; + _currentStart = _currentCenter + 100; + for(var i = 0; i < 40; i++) { + tmpArray[i] = _currentStart - (i * 5); + } + _speedArray = tmpArray; + } + + Component.onCompleted: + { + updateArray() ; + } + + onAltitudeChanged: { + if(Math.abs(_currentCenter - altitude) > 50) { + updateArray() ; + } + } + + anchors.verticalCenter: parent.verticalCenter + smooth: true + radius: ScreenTools.pixelSizeFactor * (5) + border.color: Qt.rgba(1,1,1,0.25) + gradient: Gradient { + GradientStop { position: 0.0; color: Qt.rgba(0,0,0,0.65) } + GradientStop { position: 0.5; color: Qt.rgba(0,0,0,0.25) } + GradientStop { position: 1.0; color: Qt.rgba(0,0,0,0.65) } + } + Rectangle { + id: clipRect + height: parent.height - ScreenTools.pixelSizeFactor * (5) + width: parent.width + clip: true + color: Qt.rgba(0,0,0,0); + anchors.verticalCenter: parent.verticalCenter + Column{ + id: col + width: parent.width + anchors.verticalCenter: parent.verticalCenter + spacing: _reticleSpacing + Repeater { + model: _speedArray + anchors.left: parent.left + Rectangle { + property int _alt: modelData + width: (_alt % 10 === 0) ? ScreenTools.pixelSizeFactor * (10) : ScreenTools.pixelSizeFactor * (15) + height: _reticleHeight + color: Qt.rgba(1,1,1,0.35) + QGCLabel { + visible: (_alt % 10 === 0) + x: ScreenTools.pixelSizeFactor * (20) + anchors.verticalCenter: parent.verticalCenter + antialiasing: true + font.weight: Font.DemiBold + text: _alt + color: _alt < 0 ? "#f8983a" : "white" + style: Text.Outline + styleColor: Qt.rgba(0,0,0,0.25) + } + } + } + transform: Translate { + y: ((altitude - _currentCenter) * _reticleSlot / 5) - (_reticleSlot / 2) + } + } + } +} diff --git a/src/ui/qmlcommon/QGCArtificialHorizon.qml b/src/ui/qmlcommon/QGCArtificialHorizon.qml new file mode 100644 index 0000000000000000000000000000000000000000..921254348f75cd4ae9a00608382a7399d235a19f --- /dev/null +++ b/src/ui/qmlcommon/QGCArtificialHorizon.qml @@ -0,0 +1,78 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Artificial Horizon + * @author Gus Grubba + */ + +import QtQuick 2.4 + +Item { + id: root + property real rollAngle : 0 + property real pitchAngle: 0 + clip: true + anchors.fill: parent + Item { + id: artificialHorizon + width: root.width * 4 + height: root.height * 4 + anchors.centerIn: parent + Rectangle { + id: sky + anchors.fill: parent + smooth: true + antialiasing: true + gradient: Gradient { + GradientStop { position: 0.25; color: Qt.hsla(0.6, 1.0, 0.25) } + GradientStop { position: 0.5; color: Qt.hsla(0.6, 0.5, 0.55) } + } + } + Rectangle { + id: ground + height: sky.height / 2 + anchors { + left: sky.left; + right: sky.right; + bottom: sky.bottom + } + smooth: true + antialiasing: true + gradient: Gradient { + GradientStop { position: 0.0; color: Qt.hsla(0.25, 0.5, 0.45) } + GradientStop { position: 0.25; color: Qt.hsla(0.25, 0.75, 0.25) } + } + } + transform: [ + Translate { + y: root.visible ? pitchAngle * 4 : 0 + }, + Rotation { + origin.x: artificialHorizon.width / 2 + origin.y: artificialHorizon.height / 2 + angle: root.visible ? -rollAngle : 0 + }] + } +} diff --git a/src/ui/qmlcommon/QGCAttitudeInstrument.qml b/src/ui/qmlcommon/QGCAttitudeInstrument.qml new file mode 100644 index 0000000000000000000000000000000000000000..d27e6764971eeb10da3bf782b716b987e70abeca --- /dev/null +++ b/src/ui/qmlcommon/QGCAttitudeInstrument.qml @@ -0,0 +1,103 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Attitude Instrument + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QGroundControl.Controls 1.0 + +QGCMovableItem { + id: root + property real rollAngle: 0 + property real pitchAngle: 0 + property bool showPitch: true + property real size + + width: size + height: size + + //---------------------------------------------------- + //-- Artificial Horizon + QGCArtificialHorizon { + rollAngle: root.rollAngle + pitchAngle: root.pitchAngle + anchors.fill: parent + } + //---------------------------------------------------- + //-- Pointer + Image { + id: pointer + source: "/qml/attitudePointer.svg" + mipmap: true + fillMode: Image.PreserveAspectFit + anchors.fill: parent + } + //---------------------------------------------------- + //-- Instrument Dial + Image { + id: instrumentDial + source: "/qml/attitudeDial.svg" + mipmap: true + fillMode: Image.PreserveAspectFit + anchors.fill: parent + transform: Rotation { + origin.x: root.width / 2 + origin.y: root.height / 2 + angle: -rollAngle + } + } + //---------------------------------------------------- + //-- Pitch + QGCPitchWidget { + id: pitchWidget + visible: root.showPitch + size: root.size * 0.65 + anchors.verticalCenter: parent.verticalCenter + pitchAngle: root.pitchAngle + rollAngle: root.rollAngle + color: Qt.rgba(0,0,0,0) + } + //---------------------------------------------------- + //-- Cross Hair + Image { + id: crossHair + anchors.centerIn: parent + source: "/qml/crossHair.svg" + mipmap: true + width: size * 0.75 + fillMode: Image.PreserveAspectFit + } + //---------------------------------------------------- + //-- Instrument Pannel + Image { + id: pannel + source: "/qml/attitudeInstrument.svg" + mipmap: true + fillMode: Image.PreserveAspectFit + anchors.fill: parent + } +} diff --git a/src/ui/qmlcommon/QGCAttitudeWidget.qml b/src/ui/qmlcommon/QGCAttitudeWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..2c9817dc471b96c7ad48839f1305a92d566ded40 --- /dev/null +++ b/src/ui/qmlcommon/QGCAttitudeWidget.qml @@ -0,0 +1,70 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Attitude Widget + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QGroundControl.ScreenTools 1.0 + +Item { + id: root + anchors.centerIn: parent + property real rollAngle : 0 + property real pitchAngle: 0 + + Image { + id: rollDial + anchors { bottom: root.verticalCenter; horizontalCenter: parent.horizontalCenter} + source: "/qml/rollDialWhite.svg" + mipmap: true + width: parent.width + fillMode: Image.PreserveAspectFit + transform: Rotation { + origin.x: rollDial.width / 2 + origin.y: rollDial.height + angle: -rollAngle + } + } + + Image { + id: pointer + anchors { bottom: root.verticalCenter; horizontalCenter: parent.horizontalCenter} + source: "/qml/rollPointerWhite.svg" + mipmap: true + width: rollDial.width + fillMode: Image.PreserveAspectFit + } + + Image { + id: crossHair + anchors.centerIn: parent + source: "/qml/crossHair.svg" + mipmap: true + width: parent.width + fillMode: Image.PreserveAspectFit + } +} diff --git a/src/ui/qmlcommon/QGCCompass.qml b/src/ui/qmlcommon/QGCCompass.qml new file mode 100644 index 0000000000000000000000000000000000000000..5ce4d1932f95cfedb288ab380869a5a682dd9607 --- /dev/null +++ b/src/ui/qmlcommon/QGCCompass.qml @@ -0,0 +1,74 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Compass + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +Item { + id: root + property real heading : 0 + Image { + id: compass + anchors.centerIn: parent + source: "/qml/compass.svg" + mipmap: true + width: root.width + fillMode: Image.PreserveAspectFit + transform: Rotation { + origin.x: compass.width / 2 + origin.y: compass.height / 2 + angle: -heading + } + } + Image { + id: pointer + anchors.bottom: compass.top + anchors.horizontalCenter: root.horizontalCenter + source: "/qml/compassNeedle.svg" + smooth: true + width: compass.width * 0.1 + fillMode: Image.PreserveAspectFit + } + Rectangle { + anchors.centerIn: compass + width: ScreenTools.pixelSizeFactor * (40) + height: ScreenTools.pixelSizeFactor * (25) + border.color: Qt.rgba(1,1,1,0.15) + color: Qt.rgba(0,0,0,0.25) + QGCLabel { + text: heading.toFixed(0) + font.weight: Font.DemiBold + color: "white" + anchors.centerIn: parent + } + } +} + + diff --git a/src/ui/qmlcommon/QGCCompassInstrument.qml b/src/ui/qmlcommon/QGCCompassInstrument.qml new file mode 100644 index 0000000000000000000000000000000000000000..73abbf98ee5f0c82470c28c2dca3d097682d5e16 --- /dev/null +++ b/src/ui/qmlcommon/QGCCompassInstrument.qml @@ -0,0 +1,82 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Compass + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +QGCMovableItem { + id: root + property real heading: 0 + property real size: ScreenTools.pixelSizeFactor * (120) + property real _fontSize: ScreenTools.fontPointFactor * (12) + width: size + height: size + Rectangle { + id: compassBack + anchors.fill: parent + color: "#212121" + } + Image { + id: pointer + source: "/qml/compassInstrumentAirplane.svg" + mipmap: true + width: size * 0.75 + fillMode: Image.PreserveAspectFit + anchors.centerIn: parent + transform: Rotation { + origin.x: pointer.width / 2 + origin.y: pointer.height / 2 + angle: heading + } + } + Image { + id: compassDial + source: "/qml/compassInstrumentDial.svg" + mipmap: true + fillMode: Image.PreserveAspectFit + anchors.fill: parent + } + Rectangle { + anchors.centerIn: root + width: size * 0.35 + height: size * 0.2 + border.color: Qt.rgba(1,1,1,0.15) + color: Qt.rgba(0,0,0,0.65) + QGCLabel { + text: heading.toFixed(0) + font.weight: Font.DemiBold + font.pointSize: _fontSize < 1 ? 1 : _fontSize; + color: "white" + anchors.centerIn: parent + } + } +} + + diff --git a/src/ui/qmlcommon/QGCCurrentAltitude.qml b/src/ui/qmlcommon/QGCCurrentAltitude.qml new file mode 100644 index 0000000000000000000000000000000000000000..c38ac307685b5fcdf56042d0755eac9112f3ace3 --- /dev/null +++ b/src/ui/qmlcommon/QGCCurrentAltitude.qml @@ -0,0 +1,64 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Current Altitude Indicator + * @author Gus Grubba + */ + +import QtQuick 2.1 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +Rectangle { + id: root + property real altitude: 0 + property real vertZ: 0 + property bool showAltitude: true + property bool showClimbRate: true + anchors.verticalCenter: parent.verticalCenter + width: parent.width + height: (showAltitude && showClimbRate) ? ScreenTools.pixelSizeFactor * (50) : ScreenTools.pixelSizeFactor * (25) + color: "black" + border.color: Qt.rgba(1,1,1,0.25) + opacity: 1.0 + Column{ + anchors.centerIn: parent + spacing: ScreenTools.pixelSizeFactor * (4) + QGCLabel { + text: 'h: ' + altitude.toFixed(0) + font.weight: Font.DemiBold + color: "white" + anchors.right: parent.right + visible: showAltitude + } + QGCLabel { + text: 'vZ: ' + vertZ.toFixed(0) + color: "white" + font.weight: showAltitude ? Font.Normal : Font.DemiBold + anchors.right: parent.right + visible: showClimbRate + } + } +} diff --git a/src/ui/qmlcommon/QGCCurrentSpeed.qml b/src/ui/qmlcommon/QGCCurrentSpeed.qml new file mode 100644 index 0000000000000000000000000000000000000000..22e6e7fbb69688dee697139e5f861032601c2ef3 --- /dev/null +++ b/src/ui/qmlcommon/QGCCurrentSpeed.qml @@ -0,0 +1,64 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Current Speed Indicator + * @author Gus Grubba + */ + +import QtQuick 2.1 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +Rectangle { + id: root + property real airspeed: 0 + property real groundspeed: 0 + property bool showAirSpeed: true + property bool showGroundSpeed: true + anchors.verticalCenter: parent.verticalCenter + width: parent.width + height: (showAirSpeed && showGroundSpeed) ? ScreenTools.pixelSizeFactor * (50) : ScreenTools.pixelSizeFactor * (25) + color: "black" + border.color: Qt.rgba(1,1,1,0.25) + opacity: 1.0 + Column{ + anchors.centerIn: parent + spacing: ScreenTools.pixelSizeFactor * (4) + QGCLabel { + text: 'GS: ' + groundspeed.toFixed(0) + font.weight: Font.DemiBold + color: "white" + anchors.right: parent.right + visible: showGroundSpeed + } + QGCLabel { + text: 'AS: ' + airspeed.toFixed(0) + color: "white" + anchors.right: parent.right + font.weight: showAirSpeed ? Font.Normal : Font.DemiBold + visible: showAirSpeed + } + } +} diff --git a/src/ui/qmlcommon/QGCMapBackground.qml b/src/ui/qmlcommon/QGCMapBackground.qml new file mode 100644 index 0000000000000000000000000000000000000000..30e906df78554f5280344618b18606c6d8475ced --- /dev/null +++ b/src/ui/qmlcommon/QGCMapBackground.qml @@ -0,0 +1,252 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Map Background + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QtPositioning 5.3 +import QtLocation 5.3 + +import QGroundControl.Controls 1.0 +import QGroundControl.FlightControls 1.0 +import QGroundControl.ScreenTools 1.0 + +Rectangle { + id: root + property real latitude: 37.803784 + property real longitude : -122.462276 + property real zoomLevel: 18 + property real heading: 0 + property bool alwaysNorth: true + property bool interactive: true + property alias mapItem: map + + color: Qt.rgba(0,0,0,0) + clip: true + + function adjustSize() { + if(root.visible) { + if(true /*alwaysNorth*/) { + map.width = root.width; + map.height = root.height; + } else { + var diag = Math.ceil(Math.sqrt((root.width * root.width) + (root.height * root.height))); + map.width = diag; + map.height = diag; + } + } else { + map.width = 1; + map.height = 1; + } + } + + function formatDistance(meters) + { + var dist = Math.round(meters) + if (dist > 1000 ){ + if (dist > 100000){ + dist = Math.round(dist / 1000) + } + else{ + dist = Math.round(dist / 100) + dist = dist / 10 + } + dist = dist + " km" + } + else{ + dist = dist + " m" + } + return dist + } + + Plugin { + id: mapPlugin + name: "QGroundControl" + } + + Map { + id: map + property real lon: (longitude >= -180 && longitude <= 180) ? longitude : 0 + property real lat: (latitude >= -90 && latitude <= 90) ? latitude : 0 + property variant scaleLengths: [5, 10, 25, 50, 100, 150, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000, 200000, 500000, 1000000, 2000000] + plugin: mapPlugin + width: 1 + height: 1 + zoomLevel: root.zoomLevel + anchors.centerIn: parent + center: QtPositioning.coordinate(lat, lon) + /* + // There is a bug currently in Qt where it fails to render a map taller than 6 tiles high. Until + // that's fixed, we can't rotate the map as it would require a larger map, which can easely grow + // larger than 6 tiles high. + transform: Rotation { + origin.x: map.width / 2 + origin.y: map.height / 2 + angle: map.visible ? (alwaysNorth ? 0 : -heading) : 0 + } + */ + gesture.flickDeceleration: 3000 + gesture.enabled: root.interactive + + onWidthChanged: { + scaleTimer.restart() + } + + onHeightChanged: { + scaleTimer.restart() + } + + onZoomLevelChanged:{ + scaleTimer.restart() + } + + Component.onCompleted: { + map.zoomLevel = 18 + } + + function calculateScale() { + var coord1, coord2, dist, text, f + f = 0 + coord1 = map.toCoordinate(Qt.point(0,scale.y)) + coord2 = map.toCoordinate(Qt.point(0+scaleImage.sourceSize.width,scale.y)) + dist = Math.round(coord1.distanceTo(coord2)) + if (dist === 0) { + // not visible + } else { + for (var i = 0; i < scaleLengths.length-1; i++) { + if (dist < (scaleLengths[i] + scaleLengths[i+1]) / 2 ) { + f = scaleLengths[i] / dist + dist = scaleLengths[i] + break; + } + } + if (f === 0) { + f = dist / scaleLengths[i] + dist = scaleLengths[i] + } + } + text = formatDistance(dist) + scaleImage.width = (scaleImage.sourceSize.width * f) - 2 * scaleImageLeft.sourceSize.width + scaleText.text = text + } + } + + QGCSlider { + id: zoomSlider; + minimum: map.minimumZoomLevel; + maximum: map.maximumZoomLevel; + opacity: 1 + visible: parent.visible + z: map.z + 20 + anchors { + bottom: parent.bottom; + bottomMargin: ScreenTools.pixelSizeFactor * (15) + rightMargin: ScreenTools.pixelSizeFactor * (20) + leftMargin: ScreenTools.pixelSizeFactor * (20) + left: parent.left + } + width: parent.width - anchors.rightMargin - anchors.leftMargin + value: map.zoomLevel + Binding { + target: zoomSlider; property: "value"; value: map.zoomLevel + } + onValueChanged: { + map.zoomLevel = value + } + } + + Item { + id: scale + parent: zoomSlider.parent + visible: scaleText.text !== "0 m" + z: map.z + 20 + opacity: 1 + anchors { + bottom: zoomSlider.top; + bottomMargin: ScreenTools.pixelSizeFactor * (8); + left: zoomSlider.left + leftMargin: ScreenTools.pixelSizeFactor * (4) + } + Image { + id: scaleImageLeft + source: "/qml/scale_end.png" + anchors.bottom: parent.bottom + anchors.left: parent.left + } + Image { + id: scaleImage + source: "/qml/scale.png" + anchors.bottom: parent.bottom + anchors.left: scaleImageLeft.right + } + Image { + id: scaleImageRight + source: "/qml/scale_end.png" + anchors.bottom: parent.bottom + anchors.left: scaleImage.right + } + QGCLabel { + id: scaleText + color: "white" + font.weight: Font.DemiBold + horizontalAlignment: Text.AlignHCenter + anchors.bottom: parent.bottom + anchors.left: parent.left + anchors.bottomMargin: ScreenTools.pixelSizeFactor * (10) + text: "0 m" + } + Component.onCompleted: { + map.calculateScale(); + } + } + + Timer { + id: scaleTimer + interval: 100 + running: false + repeat: false + onTriggered: { + map.calculateScale() + } + } + + onVisibleChanged: { + adjustSize(); + } + + onAlwaysNorthChanged: { + adjustSize(); + } + + onWidthChanged: { + adjustSize(); + } + + onHeightChanged: { + adjustSize(); + } +} diff --git a/src/ui/qmlcommon/QGCMapToolButton.qml b/src/ui/qmlcommon/QGCMapToolButton.qml new file mode 100644 index 0000000000000000000000000000000000000000..49948fe4fa60f50635d9b36ee619a0c62d16485a --- /dev/null +++ b/src/ui/qmlcommon/QGCMapToolButton.qml @@ -0,0 +1,70 @@ +import QtQuick 2.2 +import QtQuick.Controls 1.2 +import QtQuick.Controls.Styles 1.2 +import QtQuick.Controls.Private 1.0 + +import QGroundControl.Controls 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.ScreenTools 1.0 + +Button { + property var imageSource: undefined + property var __qgcPal: QGCPalette { colorGroupEnabled: enabled } + property bool __showHighlight: (pressed | hovered | checked) && !__forceHoverOff + + // This fixes the issue with button hover where if a Button is near the edge oa QQuickWidget you can + // move the mouse fast enough such that the MouseArea does not trigger an onExited. This is turn + // cause the hover property to not be cleared correctly. + + property bool __forceHoverOff: false + property int __lastGlobalMouseX: 0 + property int __lastGlobalMouseY: 0 + + Connections { + target: __behavior + onMouseXChanged: { + __lastGlobalMouseX = ScreenTools.mouseX + __lastGlobalMouseY = ScreenTools.mouseY + } + onMouseYChanged: { + __lastGlobalMouseX = ScreenTools.mouseX + __lastGlobalMouseY = ScreenTools.mouseY + } + onEntered: { __forceHoverOff; false; hoverTimer.start() } + onExited: { __forceHoverOff; false; hoverTimer.stop() } + } + + Timer { + id: hoverTimer + interval: 250 + repeat: true + onTriggered: { + if (__lastGlobalMouseX != ScreenTools.mouseX || __lastGlobalMouseY != ScreenTools.mouseY) { + __forceHoverOff = true + } else { + __forceHoverOff = false + } + } + } + + style: ButtonStyle { + /*! This defines the background of the button. */ + background: Item { + property bool __checked: (control.checkable && control.checked) + + Rectangle { + id: backgroundRectangle + anchors.fill: parent + color: __showHighlight ? __qgcPal.buttonHighlight : (__checked ? __qgcPal.buttonHighlight : __qgcPal.window); + } + + QGCColoredImage { + id: image + anchors.fill: parent + opacity: control.enabled ? 0.6 : 0.5 + source: imageSource + color: __showHighlight ? __qgcPal.buttonHighlightText : (__checked ? __qgcPal.primaryButtonText : __qgcPal.buttonText) + } + } + } +} diff --git a/src/ui/qmlcommon/QGCPitchWidget.qml b/src/ui/qmlcommon/QGCPitchWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..610d48ebb06abb53d322ee1220eba8c0cbdd0ced --- /dev/null +++ b/src/ui/qmlcommon/QGCPitchWidget.qml @@ -0,0 +1,103 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Pitch Indicator + * @author Gus Grubba + */ + +import QtQuick 2.1 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Controls 1.0 + +Rectangle { + property real pitchAngle: 0 + property real rollAngle: 0 + property real size: 120 + property real _reticleHeight: 1 + property real _reticleSpacing: size * 0.15 + property real _reticleSlot: _reticleSpacing + _reticleHeight + property real _longDash: size * 0.40 + property real _shortDash: size * 0.25 + property real _fontSize: ScreenTools.fontPointFactor * (11); + height: size * 0.9 + width: size + radius: ScreenTools.pixelSizeFactor * (8) + anchors.horizontalCenter: parent.horizontalCenter + anchors.verticalCenter: parent.verticalCenter + clip: true + Item { + height: parent.height + width: parent.width + Column{ + anchors.horizontalCenter: parent.horizontalCenter + anchors.verticalCenter: parent.verticalCenter + spacing: _reticleSpacing + Repeater { + model: 36 + Rectangle { + property int _pitch: -(modelData * 5 - 90) + anchors.horizontalCenter: parent.horizontalCenter + width: (_pitch % 10) === 0 ? _longDash : _shortDash + height: _reticleHeight + color: "white" + antialiasing: true + smooth: true + QGCLabel { + anchors.horizontalCenter: parent.horizontalCenter + anchors.horizontalCenterOffset: -(_longDash * 0.8) + anchors.verticalCenter: parent.verticalCenter + smooth: true + font.weight: Font.DemiBold + font.pointSize: _fontSize < 1 ? 1 : _fontSize; + text: _pitch + color: "white" + visible: (_pitch != 0) && ((_pitch % 10) === 0) + } + QGCLabel { + anchors.horizontalCenter: parent.horizontalCenter + anchors.horizontalCenterOffset: (_longDash * 0.8) + anchors.verticalCenter: parent.verticalCenter + smooth: true + font.weight: Font.DemiBold + font.pointSize: _fontSize < 1 ? 1 : _fontSize; + text: _pitch + color: "white" + visible: (_pitch != 0) && ((_pitch % 10) === 0) + } + } + } + } + transform: [ Translate { + y: (pitchAngle * _reticleSlot / 5) - (_reticleSlot / 2) + }] + } + transform: [ + Rotation { + origin.x: width / 2 + origin.y: height / 2 + angle: -rollAngle + } + ] +} diff --git a/src/ui/qmlcommon/QGCSlider.qml b/src/ui/qmlcommon/QGCSlider.qml new file mode 100644 index 0000000000000000000000000000000000000000..3a0668a37b99f913128d4bfeea7f104e2d66c3c5 --- /dev/null +++ b/src/ui/qmlcommon/QGCSlider.qml @@ -0,0 +1,122 @@ +/**************************************************************************** +** +** Copyright (C) 2013 Digia Plc and/or its subsidiary(-ies). +** Contact: http://www.qt-project.org/legal +** +** This file is part of the examples of the Qt Toolkit. +** +** $QT_BEGIN_LICENSE:BSD$ +** You may use this file under the terms of the BSD license as follows: +** +** "Redistribution and use in source and binary forms, with or without +** modification, are permitted provided that the following conditions are +** met: +** * Redistributions of source code must retain the above copyright +** notice, this list of conditions and the following disclaimer. +** * Redistributions in binary form must reproduce the above copyright +** notice, this list of conditions and the following disclaimer in +** the documentation and/or other materials provided with the +** distribution. +** * Neither the name of Digia Plc and its Subsidiary(-ies) nor the names +** of its contributors may be used to endorse or promote products derived +** from this software without specific prior written permission. +** +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE." +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +import QtQuick 2.1 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +Item { + id: slider; + height: 12 + property real value // value is read/write. + property real minimum: 0 + property real maximum: 1 + property int length: width - handle.width + + Rectangle { + anchors.fill: parent + radius: ScreenTools.pixelSizeFactor * (6) + color: Qt.rgba(0,0,0,0.65); + } + + Rectangle { + anchors.left: parent.left + anchors.leftMargin: ScreenTools.pixelSizeFactor * (4) + radius: ScreenTools.pixelSizeFactor * (4) + height: ScreenTools.pixelSizeFactor * (4) + width: handle.x - x + color: "#69bb17" + anchors.verticalCenter: parent.verticalCenter + } + + Rectangle { + id: labelRect + width: label.width + height: label.height + ScreenTools.pixelSizeFactor * (4) + radius: ScreenTools.pixelSizeFactor * (4) + smooth: true + color: Qt.rgba(1,1,1,0.75); + border.width: ScreenTools.pixelSizeFactor * (1) + border.color: Qt.rgba(0,0,0,0.45); + anchors.bottom: handle.top + anchors.bottomMargin: ScreenTools.pixelSizeFactor * (4) + visible: mouseRegion.pressed + x: Math.max(Math.min(handle.x + (handle.width - width ) / 2, slider.width - width), 0) + QGCLabel{ + id: label + color: "black" + text: slider.value.toFixed(2) + width: font.pointSize * 3.5 + anchors.horizontalCenter: labelRect.horizontalCenter + horizontalAlignment: Text.AlignHCenter + anchors.verticalCenter: labelRect.verticalCenter + } + } + + Rectangle { + id: handle; + smooth: true + width: ScreenTools.pixelSizeFactor * (26); + y: (slider.height - height) / 2; + x: (slider.value - slider.minimum) * slider.length / (slider.maximum - slider.minimum) + + height: width + radius: width / 2 + gradient: normalGradient + border.width: 2 + border.color: "white" + + Gradient { + id: normalGradient + GradientStop { position: 0.0; color: "#b0b0b0" } + GradientStop { position: 0.66; color: "#909090" } + GradientStop { position: 1.0; color: "#545454" } + } + + MouseArea { + id: mouseRegion + hoverEnabled: false + anchors.fill: parent; drag.target: parent + drag.axis: Drag.XAxis; drag.minimumX: 0; drag.maximumX: slider.length + preventStealing: true + onPositionChanged: { slider.value = (slider.maximum - slider.minimum) * handle.x / slider.length + slider.minimum; } + } + } +} diff --git a/src/ui/qmlcommon/QGCSpeedWidget.qml b/src/ui/qmlcommon/QGCSpeedWidget.qml new file mode 100644 index 0000000000000000000000000000000000000000..08666a06908a5975d3c8259d909fdc78b52bf25a --- /dev/null +++ b/src/ui/qmlcommon/QGCSpeedWidget.qml @@ -0,0 +1,89 @@ +/*===================================================================== + +QGroundControl Open Source Ground Control Station + +(c) 2009, 2015 QGROUNDCONTROL PROJECT + +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 . + +======================================================================*/ + +/** + * @file + * @brief QGC Speed Indicator + * @author Gus Grubba + */ + +import QtQuick 2.4 +import QGroundControl.ScreenTools 1.0 +import QGroundControl.Controls 1.0 + +Rectangle { + id: root + property real speed: 0 + property real _reticleSpacing: ScreenTools.pixelSizeFactor * (10) + property real _reticleHeight: ScreenTools.pixelSizeFactor * (2) + property real _reticleSlot: _reticleSpacing + _reticleHeight + anchors.verticalCenter: parent.verticalCenter + z:10 + smooth: true + radius: ScreenTools.pixelSizeFactor * (5) + border.color: Qt.rgba(1,1,1,0.25) + gradient: Gradient { + GradientStop { position: 0.0; color: Qt.rgba(0,0,0,0.65) } + GradientStop { position: 0.5; color: Qt.rgba(0,0,0,0.25) } + GradientStop { position: 1.0; color: Qt.rgba(0,0,0,0.65) } + } + Rectangle { + id: clipRect + height: parent.height - ScreenTools.pixelSizeFactor * (5) + width: parent.width + clip: true + color: Qt.rgba(0,0,0,0); + anchors.verticalCenter: parent.verticalCenter + Column{ + id: col + width: parent.width + anchors.verticalCenter: parent.verticalCenter + spacing: _reticleSpacing + Repeater { + model: 40 + Rectangle { + property int _speed: -(index - 20) + width: (_speed % 5 === 0) ? ScreenTools.pixelSizeFactor * (10) : ScreenTools.pixelSizeFactor * (15) + anchors.right: parent.right + height: _reticleHeight + color: Qt.rgba(1,1,1,0.35) + QGCLabel { + visible: (_speed % 5 === 0) + anchors.horizontalCenter: parent.horizontalCenter + anchors.horizontalCenterOffset: ScreenTools.pixelSizeFactor * (-30) + anchors.verticalCenter: parent.verticalCenter + antialiasing: true + font.weight: Font.DemiBold + text: _speed + color: _speed < 0 ? "#f8983a" : "white" + style: Text.Outline + styleColor: Qt.rgba(0,0,0,0.25) + } + } + } + transform: Translate { + y: (speed * _reticleSlot) - (_reticleSlot / 2) + } + } + } +} diff --git a/src/comm/QGCParamID.cc b/src/ui/qmlcommon/QGCWaypointEditor.qml similarity index 64% rename from src/comm/QGCParamID.cc rename to src/ui/qmlcommon/QGCWaypointEditor.qml index 804835a6540fce7ac406b42d96d11a5acb56cd3e..317a5bb0960a7eeb4ee6348939598bbe0d7e6165 100644 --- a/src/comm/QGCParamID.cc +++ b/src/ui/qmlcommon/QGCWaypointEditor.qml @@ -2,7 +2,7 @@ QGroundControl Open Source Ground Control Station -(c) 2009, 2010 QGROUNDCONTROL PROJECT +(c) 2009, 2015 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project @@ -23,29 +23,17 @@ This file is part of the QGROUNDCONTROL project /** * @file - * @brief Implementation of class OpalRT::QGCParamID - * @author Bryan Godbolt + * @brief QGC Waypoint Editor + * @author Gus Grubba */ -#include "QGCParamID.h" -using namespace OpalRT; +import QtQuick 2.4 -QGCParamID::QGCParamID(const char paramid[]):data(paramid) -{ -} +import QGroundControl.Palette 1.0 -QGCParamID::QGCParamID(const QString s):data(s) -{ +Rectangle { + QGCPalette { id: palette; colorGroupEnabled: true } + id: root + color: palette.window } - -QGCParamID::QGCParamID(const QGCParamID &other):data(other.data) -{ - -} - -// -//QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid) -//{ -// return stream << paramid.data; -//} diff --git a/src/ui/qmlcommon/attitudeDial.svg b/src/ui/qmlcommon/attitudeDial.svg new file mode 100644 index 0000000000000000000000000000000000000000..1e74c332107021d7d1e2319c22e44d2a03132dc9 --- /dev/null +++ b/src/ui/qmlcommon/attitudeDial.svg @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/src/ui/qmlcommon/attitudeInstrument.svg b/src/ui/qmlcommon/attitudeInstrument.svg new file mode 100644 index 0000000000000000000000000000000000000000..b5a4940d902c2887ff71d6ac61cc9193ba427d41 --- /dev/null +++ b/src/ui/qmlcommon/attitudeInstrument.svg @@ -0,0 +1,7 @@ + + + + + diff --git a/src/ui/qmlcommon/attitudePointer.svg b/src/ui/qmlcommon/attitudePointer.svg new file mode 100644 index 0000000000000000000000000000000000000000..50bdbdedf83a97154e814997cbda8743b9c2bf3c --- /dev/null +++ b/src/ui/qmlcommon/attitudePointer.svg @@ -0,0 +1,7 @@ + + + + + + diff --git a/src/ui/qmlcommon/buttonHome.svg b/src/ui/qmlcommon/buttonHome.svg new file mode 100644 index 0000000000000000000000000000000000000000..22012e566112b73bc1895eb2985218aba83fa233 --- /dev/null +++ b/src/ui/qmlcommon/buttonHome.svg @@ -0,0 +1,11 @@ + + + + + + + diff --git a/src/ui/qmlcommon/buttonLeft.svg b/src/ui/qmlcommon/buttonLeft.svg new file mode 100644 index 0000000000000000000000000000000000000000..8219d4ffef5357be9acf51322d578dff980d6100 --- /dev/null +++ b/src/ui/qmlcommon/buttonLeft.svg @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + diff --git a/src/ui/qmlcommon/buttonMore.svg b/src/ui/qmlcommon/buttonMore.svg new file 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DLGaYoR0pB0xxkyEYEzmXDhW5kQlw3PmyJp/ESWjsERicn9w1XOCdiuwM5uVI9ji7jUGSUeAPJNC +nffCzo6T6F4Kk72DH4HGR0vcUt2m6Yr0krIAlVYKEX/0uvzpr/iKyixRx3a/OPiOAryJRKRYo5GX +U2w/CTH8qAMcAmNG1HhEKNHoumWowPY4AKQWABJ3mIiifLoqHtHUDYhp57t1/YL44DFOVARZgCgJ +I4MeM6rHUcb4emXXcGUZ0ZwP2IohbT1/iqoQJ7i+pqj9QL/273et0NyLypsgwRmQ06EDFYBAFRnd +c6ZB9HiB+jXUtO2r35dMtY+ItJfqGYXyyq4fDjPRMGc1R5hxhO5r5rbUf4ioVXQzRsR7oJgPW1i0 +aF8gCFF0EC7GDGi37ChVBulfPsdY13XiOgL1RLjDT+BiT9zYI8sDGqLPRLCyTj04fudtdsWXDO3+ +SBCpNrOjrivHSX0lu/icCZrKjlgCkGRyPzqO7YIuMkYgePhOtL1+TcMygcLNHu78qy9EojPDDrxU +20JHCcxZ6Qd8dwEKyTRM30d2Ucb1AylM2aFNr8KvPZV+6+NUr0RLJuCsDqJ1Kk6irs31nByc3jBT +08Xgsv4YQVLT1SqGU3geiO9RK2w95SuvkvaRGKdLOFNT/VJMz06xiqDr2d6JC6CV+hnx5zMQUYbm +QstcZd+P4xwsJnIDaHd3EZH3+YDUFP2wFtBjiPYYxL2qY59RvBLOGGbR8mqe6RQ3H087MY3yrtfe +C+ktziMsjK20AsYrGQ9C3OWFIhCkB9gSHmfUTc6O3uZoya3ONG1XjaQ8OqKqnrzYO43IXV04ss3I +KKq9Nxfd7K8zAWB6VBzgpYYDPoyae0/Kmez27YiumQERMw+aWDiclMpdD30cDe+dvoxXzdEtx1tO 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RPv7Uxp8ys/O7vybewY22admoTzjiKQdPbEhYsBWfLJTEJ+cFOyOldTuU8Cyl7qrb/tlbYVRA7ba +OgJ6ElazINsaFvzAgG+OzZ0H+KZ510htCwMa1TMHT4taWfTgAg21BDCSdwKa4JmBZ2yoMSXRJRLE +t0BtWhqDv1rs73i8NsGqDan6O2NzMzanCbmeIUwygEm/D7Zm/ChBZJ93DLe/AZ73AohrzwB/q/ZO +Ecvc4/jMNQWx1KejgzzzzIY1Ba1md4lF/GDjCvcWCeCAFpEDaIZWn4rZHNZTmvcsNIRnDpe3qiJX +bqqp1XuWWL8fdMEmwBoBFaUB0AO1mzJK6eYcqcQ7jkk3jSBfz3KbryvZdbeDMlSuRVRza46QeV5L +K/5rSQR96R4l5Lqk9MLFEU6+cYST55og5hyYKOiPTgZ9Q4HOXZHBMzbnsCUBJbUpqGWhAgYuFnj/ +Yttgy7PAZMurj8v4NtdQ7U1Hb81Vr6T1hYyQf0HakfWLgVl9xTdPrpOLEG8EoKzf1LyKt6EFVJlt +sOmWra/lgXuk/dWKGJvhGMakBzWk+oiJ3LI6Bc8IKlA1H91MbqzmfEcPy1uZqL3nBvx/TQZ+sy4n +FFvGWcVyHuTpJKHydkiJqvaIKv/09JRdNjEyfzYwc34zC6sf23vqnm7Ooss8CgG8F17wp6gl+TKQ +o8oPAbtbnQQ/D6vRxQE1ptQ705GxC3DMjp3LNo9Dctryn5yqSrhzIaLFY/5ng9XzHw8e859leBWQ +c5PtPUVXl3sq7phH0QXFL+9+U590/9z2IkH4eYMzemQnYgPzTcn27qwLalTCqX0LFRle4lLds9Sq +xUFknF9Na4zF5sA8sQTY++cxPSUnl13WsKrv+Gfw5cvT5IoRXNkFFafu4Z6BCo31utuchSQG51E5 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ky2XG5MtFptQHpudpNCjMVbqwSA5fLo4/O1iJTt4vadAOFvLCRkRx78EPP6kjuj1qJ3h96SbG/Zx +phjhPvGT6CRM8niUk+By/3Rcwtf0EgGXpzistcFs56oTv6x2o33VIwyUeoSP3ezhJW508aH6Otjr +EyCAF7ZVtyR/32xO/CYvCjSU5vo82+kgRRwMZnEVVSxv4AG/L9bRI/cGBECv+cj1TrL/ei/Rb72f +FLAzzkaqZ3Ir10YKStb60jCr7fSwhTqUw0ojznunj5msfwfyaivWZakB8V1Vh/XYHxQxJ/NSzWR5 +CcbKomTLlVpSjHYkjbUzyEXKazDeg5nhr9c7mFHaicxM3aQkfaMT77/chLCZKYOaD+WEvJ8ui7bf +H2bAjsHfNrvpcRPF0PeHE1m5y0BT5yowtiPp0S/WauE/NltxkbuDfMreWBptp4+bBPCesNfLSV6u +SbYcEvnd6+b6POgW+BpJC8JMt7vhfvp3vOnrfqWVHqHuzeVt9QG8djBDlWVws3aK561Bkc+D+Zp4 +k/VWso9+L766k5ey3sAMWqllhQFv7jPfCHOaLI22lJZFmi924XwW2qmJs3XYBN1oRpF2JqdsQ4+R +wXTOah8Tuifls44V4iztlEiobCH5ClOcn7blJUbsz0p+rgI+WaoFXN+G9l/tRPqudRGit3opCUcz +Qv7OKBMprUj4tNFH8F9rJQXuDuSmbXZnM1ZahHGyn3hbYBVf9tBRRqN8sskon2LWQcOYVCHin1Qk +x99rx8GeKrPYHqtVnEB5KdpmvgnjoKhDfFvrpINxzhZu9WZQVW3iFGU9O2C2kuKgKKF9XyjneChL +uO5jmZSv4ljXq3WYqIfjYor5WlVa5FoVL3gqn+7Qx0Ybz4pJ5pq2HMpSmzh1oAD7beon2VU9kJe/ 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index 0000000000000000000000000000000000000000..f265280b1905c2387d805fbf0ed70ed2a6efe3b5 --- /dev/null +++ b/src/ui/qmlcommon/compassInstrumentDial.svg @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/ui/qmlcommon/compassNeedle.svg b/src/ui/qmlcommon/compassNeedle.svg new file mode 100644 index 0000000000000000000000000000000000000000..9da7ae17debb20862a80bae9976849cd2c49496a --- /dev/null +++ b/src/ui/qmlcommon/compassNeedle.svg @@ -0,0 +1,6 @@ + + + + + diff --git a/src/ui/qmlcommon/crossHair.svg b/src/ui/qmlcommon/crossHair.svg new file mode 100644 index 0000000000000000000000000000000000000000..f0216c82a8d506503e103df9c3a21aa05bbbb6e6 --- /dev/null +++ b/src/ui/qmlcommon/crossHair.svg @@ -0,0 +1,10 @@ + + + + + + + + diff --git a/src/ui/qmlcommon/qmldir b/src/ui/qmlcommon/qmldir new file mode 100644 index 0000000000000000000000000000000000000000..6bd91f6d99d9a4061f043766c4580c8743325b02 --- /dev/null +++ b/src/ui/qmlcommon/qmldir @@ -0,0 +1,16 @@ +Module QGroundControl.FlightControls + +QGCAltitudeWidget 1.0 QGCAltitudeWidget.qml +QGCAttitudeWidget 1.0 QGCAttitudeWidget.qml +QGCCompass 1.0 QGCCompass.qml +QGCCurrentAltitude 1.0 QGCCurrentAltitude.qml +QGCCurrentSpeed 1.0 QGCCurrentSpeed.qml +QGCMapBackground 1.0 QGCMapBackground.qml +QGCPitchWidget 1.0 QGCPitchWidget.qml +QGCSpeedWidget 1.0 QGCSpeedWidget.qml +QGCSlider 1.0 QGCSlider.qml +QGCWaypointEditor 1.0 QGCWaypointEditor.qml +QGCMapToolButton 1.0 QGCMapToolButton.qml +QGCAttitudeInstrument 1.0 QGCAttitudeInstrument.qml +QGCCompassInstrument 1.0 QGCCompassInstrument.qml +QGCArtificialHorizon 1.0 QGCArtificialHorizon.qml diff --git a/src/ui/qmlcommon/rollDialWhite.svg b/src/ui/qmlcommon/rollDialWhite.svg new file mode 100644 index 0000000000000000000000000000000000000000..b40ddadf1b3b7da33d61b012c9b185dce049263b --- /dev/null +++ b/src/ui/qmlcommon/rollDialWhite.svg @@ -0,0 +1,151 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/ui/qmlcommon/rollPointerWhite.svg b/src/ui/qmlcommon/rollPointerWhite.svg new file mode 100644 index 0000000000000000000000000000000000000000..52b29adc6d3918fe8d82e76f4fabff9e4aac3fc3 --- /dev/null +++ b/src/ui/qmlcommon/rollPointerWhite.svg @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/files/images/firmware/heli_off.png b/src/ui/qmlcommon/scale.png similarity index 56% rename from files/images/firmware/heli_off.png rename to src/ui/qmlcommon/scale.png index f958a9e5e9d2ec727dfa96adede6f4ec903ca0e7..703d3a201d429a32b14fc5357b4c5d6167329b07 100644 Binary files a/files/images/firmware/heli_off.png and b/src/ui/qmlcommon/scale.png differ diff --git a/files/images/firmware/plane_off.png b/src/ui/qmlcommon/scale_end.png similarity index 56% rename from files/images/firmware/plane_off.png rename to src/ui/qmlcommon/scale_end.png index 59b54674ab1d905d76a6e2b8fa4d8c4f853e7a4b..1a7ed9af826c0cecf2c17f2b9a77b6decac6a1fe 100644 Binary files a/files/images/firmware/plane_off.png and b/src/ui/qmlcommon/scale_end.png differ diff --git a/src/ui/toolbar/MainToolBar.cc b/src/ui/toolbar/MainToolBar.cc index 1a708e4e4e7e31e5143ae211586c4168cd74d37d..e41ea702a3e11daa3a894c06dfe7ccf696d81808 100644 --- a/src/ui/toolbar/MainToolBar.cc +++ b/src/ui/toolbar/MainToolBar.cc @@ -30,10 +30,11 @@ This file is part of the QGROUNDCONTROL project #include #include -#include "MainWindow.h" #include "MainToolBar.h" +#include "MainWindow.h" #include "UASMessageHandler.h" #include "UASMessageView.h" +#include "QGCFlightDisplay.h" MainToolBar::MainToolBar(QWidget* parent) : QGCQmlWidgetHolder(parent) @@ -42,7 +43,6 @@ MainToolBar::MainToolBar(QWidget* parent) , _currentView(ViewNone) , _batteryVoltage(0.0) , _batteryPercent(0.0) - , _linkSelected(false) , _connectionCount(0) , _systemArmed(false) , _currentHeartbeatTimeout(0) @@ -55,32 +55,27 @@ MainToolBar::MainToolBar(QWidget* parent) , _currentNormalCount(0) , _currentMessageType(MessageNone) , _satelliteCount(-1) - , _dotsPerInch(96.0) // Default to Windows as it's more likely not to report below , _satelliteLock(0) , _showGPS(true) , _showMav(true) , _showMessages(true) + , _showRSSI(true) , _showBattery(true) + , _progressBarValue(0.0f) + , _remoteRSSI(0) + , _telemetryRRSSI(0) + , _telemetryLRSSI(0) , _rollDownMessages(0) { setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding); setObjectName("MainToolBar"); - setMinimumHeight(40); - setMaximumHeight(40); + _updatePixelSize(); setMinimumWidth(MainWindow::instance()->minimumWidth()); // Get rid of layout default margins QLayout* pl = layout(); if(pl) { pl->setContentsMargins(0,0,0,0); } - // Get screen DPI to manage font sizes on different platforms - QScreen *srn = QGuiApplication::screens().at(0); // TODO: Find current monitor as opposed to picking first one - if(srn && srn->logicalDotsPerInch() > 50.0) { - _dotsPerInch = (qreal)srn->logicalDotsPerInch(); // Font point sizes are based on Mac 72dpi - } else { - qWarning() << "System not reporting logical DPI, which is used to compute the appropriate font size. The default being used is 96dpi. If the text within buttons and UI elements are too big or too small, that's the reason."; - } - // Tool Bar Preferences QSettings settings; settings.beginGroup(TOOL_BAR_SETTINGS_GROUP); @@ -99,10 +94,15 @@ MainToolBar::MainToolBar(QWidget* parent) emit heartbeatTimeoutChanged(_currentHeartbeatTimeout); emit connectionCountChanged(_connectionCount); // Link signals - connect(UASManager::instance(), &UASManager::activeUASSet, this, &MainToolBar::_setActiveUAS); - connect(LinkManager::instance(), &LinkManager::linkConfigurationChanged, this, &MainToolBar::_updateConfigurations); - connect(LinkManager::instance(), &LinkManager::linkConnected, this, &MainToolBar::_linkConnected); - connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &MainToolBar::_linkDisconnected); + connect(UASManager::instance(), &UASManager::activeUASSet, this, &MainToolBar::_setActiveUAS); + connect(LinkManager::instance(), &LinkManager::linkConfigurationChanged, this, &MainToolBar::_updateConfigurations); + connect(LinkManager::instance(), &LinkManager::linkConnected, this, &MainToolBar::_linkConnected); + connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &MainToolBar::_linkDisconnected); + connect(MainWindow::instance(), &MainWindow::pixelSizeChanged, this, &MainToolBar::_updatePixelSize); + // RSSI (didn't like standard connection) + connect(MAVLinkProtocol::instance(), + SIGNAL(radioStatusChanged(LinkInterface*, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned)), this, + SLOT(_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned))); } MainToolBar::~MainToolBar() @@ -128,6 +128,9 @@ void MainToolBar::_setToolBarState(const QString& key, bool value) } else if(key == TOOL_BAR_SHOW_MESSAGES) { _showMessages = value; emit showMessagesChanged(value); + } else if(key == TOOL_BAR_SHOW_RSSI) { + _showRSSI = value; + emit showRSSIChanged(value); } } @@ -138,84 +141,81 @@ void MainToolBar::viewStateChanged(const QString &key, bool value) void MainToolBar::onSetupView() { - setCurrentView(ViewSetup); + setCurrentView(MainWindow::VIEW_SETUP); MainWindow::instance()->loadSetupView(); } void MainToolBar::onPlanView() { - setCurrentView(ViewPlan); - MainWindow::instance()->loadOperatorView(); + setCurrentView(MainWindow::VIEW_PLAN); + MainWindow::instance()->loadPlanView(); } void MainToolBar::onFlyView() { - setCurrentView(ViewFly); - MainWindow::instance()->loadPilotView(); + setCurrentView(MainWindow::VIEW_FLIGHT); + MainWindow::instance()->loadFlightView(); +} + +void MainToolBar::onFlyViewMenu() +{ + QGCFlightDisplay* fdsp = MainWindow::instance()->getFlightDisplay(); + if(fdsp) { + fdsp->showOptionsMenu(); + } } void MainToolBar::onAnalyzeView() { - setCurrentView(ViewAnalyze); - MainWindow::instance()->loadEngineerView(); + setCurrentView(MainWindow::VIEW_ANALYZE); + MainWindow::instance()->loadAnalyzeView(); } -void MainToolBar::onConnect(QString conf) +void MainToolBar::onDisconnect(QString conf) { - // If no connection, the role is "Connect" - if(_connectionCount == 0) { - // Connect Link - if(_currentConfig.isEmpty()) { - MainWindow::instance()->manageLinks(); - } else { - // We don't want the combo box updating under our feet - LinkManager::instance()->suspendConfigurationUpdates(true); - // Create a link - LinkInterface* link = LinkManager::instance()->createLink(_currentConfig); - if(link) { - // Connect it - LinkManager::instance()->connectLink(link); - // Save last used connection - MainWindow::instance()->saveLastUsedConnection(_currentConfig); + if(conf.isEmpty()) { + // Disconnect Only Connected Link + int connectedCount = 0; + LinkInterface* connectedLink = NULL; + QList links = LinkManager::instance()->getLinks(); + foreach(LinkInterface* link, links) { + if (link->isConnected()) { + connectedCount++; + connectedLink = link; } - LinkManager::instance()->suspendConfigurationUpdates(false); } + Q_ASSERT(connectedCount == 1); + Q_ASSERT(_connectionCount == 1); + Q_ASSERT(connectedLink); + LinkManager::instance()->disconnectLink(connectedLink); } else { - if(conf.isEmpty()) { - // Disconnect Only Connected Link - int connectedCount = 0; - LinkInterface* connectedLink = NULL; - QList links = LinkManager::instance()->getLinks(); - foreach(LinkInterface* link, links) { - if (link->isConnected()) { - connectedCount++; - connectedLink = link; - } - } - Q_ASSERT(connectedCount == 1); - Q_ASSERT(_connectionCount == 1); - Q_ASSERT(connectedLink); - LinkManager::instance()->disconnectLink(connectedLink); - } else { - // Disconnect Named Connected Link - QList links = LinkManager::instance()->getLinks(); - foreach(LinkInterface* link, links) { - if (link->isConnected()) { - if(link->getLinkConfiguration() && link->getLinkConfiguration()->name() == conf) { - LinkManager::instance()->disconnectLink(link); - } + // Disconnect Named Connected Link + QList links = LinkManager::instance()->getLinks(); + foreach(LinkInterface* link, links) { + if (link->isConnected()) { + if(link->getLinkConfiguration() && link->getLinkConfiguration()->name() == conf) { + LinkManager::instance()->disconnectLink(link); } } } } } -void MainToolBar::onLinkConfigurationChanged(const QString& config) +void MainToolBar::onConnect(QString conf) { - // User selected a link configuration from the combobox - if(_currentConfig != config) { - _currentConfig = config; - _linkSelected = true; + // Connect Link + if(conf.isEmpty()) { + MainWindow::instance()->manageLinks(); + } else { + // We don't want the list updating under our feet + LinkManager::instance()->suspendConfigurationUpdates(true); + // Create a link + LinkInterface* link = LinkManager::instance()->createConnectedLink(conf); + if(link) { + // Save last used connection + MainWindow::instance()->saveLastUsedConnection(conf); + } + LinkManager::instance()->suspendConfigurationUpdates(false); } } @@ -273,10 +273,10 @@ void MainToolBar::setCurrentView(int currentView) { ViewType_t view = ViewNone; switch((MainWindow::VIEW_SECTIONS)currentView) { - case MainWindow::VIEW_ENGINEER: + case MainWindow::VIEW_ANALYZE: view = ViewAnalyze; break; - case MainWindow::VIEW_MISSION: + case MainWindow::VIEW_PLAN: view = ViewPlan; break; case MainWindow::VIEW_FLIGHT: @@ -311,17 +311,21 @@ void MainToolBar::_setActiveUAS(UASInterface* active) disconnect(_mav, &UASInterface::nameChanged, this, &MainToolBar::_updateName); disconnect(_mav, &UASInterface::systemTypeSet, this, &MainToolBar::_setSystemType); disconnect(_mav, &UASInterface::localizationChanged, this, &MainToolBar::_setSatLoc); + disconnect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBar::_remoteControlRSSIChanged); disconnect(_mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(_updateState(UASInterface*,QString,QString))); disconnect(_mav, SIGNAL(armingChanged(bool)), this, SLOT(_updateArmingState(bool))); - if (_mav->getWaypointManager()) - { + + if (_mav->getWaypointManager()) { disconnect(_mav->getWaypointManager(), &UASWaypointManager::currentWaypointChanged, this, &MainToolBar::_updateCurrentWaypoint); disconnect(_mav->getWaypointManager(), &UASWaypointManager::waypointDistanceChanged, this, &MainToolBar::_updateWaypointDistance); } + UAS* pUas = dynamic_cast(_mav); if(pUas) { disconnect(pUas, &UAS::satelliteCountChanged, this, &MainToolBar::_setSatelliteCount); } + + disconnect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue); } // Connect new system _mav = active; @@ -336,23 +340,59 @@ void MainToolBar::_setActiveUAS(UASInterface* active) connect(_mav, &UASInterface::nameChanged, this, &MainToolBar::_updateName); connect(_mav, &UASInterface::systemTypeSet, this, &MainToolBar::_setSystemType); connect(_mav, &UASInterface::localizationChanged, this, &MainToolBar::_setSatLoc); + connect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBar::_remoteControlRSSIChanged); connect(_mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(_updateState(UASInterface*, QString,QString))); connect(_mav, SIGNAL(armingChanged(bool)), this, SLOT(_updateArmingState(bool))); - if (_mav->getWaypointManager()) - { + + if (_mav->getWaypointManager()) { connect(_mav->getWaypointManager(), &UASWaypointManager::currentWaypointChanged, this, &MainToolBar::_updateCurrentWaypoint); connect(_mav->getWaypointManager(), &UASWaypointManager::waypointDistanceChanged, this, &MainToolBar::_updateWaypointDistance); } + UAS* pUas = dynamic_cast(_mav); if(pUas) { _setSatelliteCount(pUas->getSatelliteCount(), QString("")); connect(pUas, &UAS::satelliteCountChanged, this, &MainToolBar::_setSatelliteCount); } + + connect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue); + + // Reset connection lost (if any) + _currentHeartbeatTimeout = 0; + emit heartbeatTimeoutChanged(_currentHeartbeatTimeout); } // Let toolbar know about it emit mavPresentChanged(_mav != NULL); } +void MainToolBar::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned rssi, unsigned remrssi, unsigned, unsigned, unsigned) +{ + // We only care if we haveone single connection + if(_connectionCount == 1) { + if((unsigned)_telemetryLRSSI != rssi) { + // According to the Silabs data sheet, the RSSI value is 0.5db per bit + _telemetryLRSSI = rssi >> 1; + emit telemetryLRSSIChanged(_telemetryLRSSI); + } + if((unsigned)_telemetryRRSSI != remrssi) { + // According to the Silabs data sheet, the RSSI value is 0.5db per bit + _telemetryRRSSI = remrssi >> 1; + emit telemetryRRSSIChanged(_telemetryRRSSI); + } + } +} + +void MainToolBar::_remoteControlRSSIChanged(uint8_t rssi) +{ + // We only care if we haveone single connection + if(_connectionCount == 1) { + if(_remoteRSSI != rssi) { + _remoteRSSI = rssi; + emit remoteRSSIChanged(_remoteRSSI); + } + } +} + void MainToolBar::_updateArmingState(bool armed) { if(_systemArmed != armed) { @@ -382,16 +422,14 @@ void MainToolBar::_updateBatteryRemaining(UASInterface*, double voltage, double, void MainToolBar::_updateConfigurations() { - bool resetSelected = false; - QString selected = _currentConfig; QStringList tmpList; QList configs = LinkManager::instance()->getLinkConfigurationList(); foreach(LinkConfiguration* conf, configs) { if(conf) { - tmpList << conf->name(); - if((!_linkSelected && conf->isPreferred()) || selected.isEmpty()) { - selected = conf->name(); - resetSelected = true; + if(conf->isPreferred()) { + tmpList.insert(0,conf->name()); + } else { + tmpList << conf->name(); } } } @@ -400,15 +438,6 @@ void MainToolBar::_updateConfigurations() _linkConfigurations = tmpList; emit configListChanged(); } - // Selection change? - if((selected != _currentConfig && _linkConfigurations.contains(selected)) || - (selected.isEmpty())) { - _currentConfig = selected; - emit currentConfigChanged(_currentConfig); - } - if(resetSelected) { - _linkSelected = false; - } } void MainToolBar::_linkConnected(LinkInterface*) @@ -443,6 +472,19 @@ void MainToolBar::_updateConnection(LinkInterface *disconnectedLink) _connectedList = connList; emit connectedListChanged(_connectedList); } + // Update telemetry RSSI display + if(_connectionCount != 1 && _telemetryRRSSI > 0) { + _telemetryRRSSI = 0; + emit telemetryRRSSIChanged(_telemetryRRSSI); + } + if(_connectionCount != 1 && _telemetryLRSSI > 0) { + _telemetryLRSSI = 0; + emit telemetryLRSSIChanged(_telemetryLRSSI); + } + if(_connectionCount != 1 && _remoteRSSI > 0) { + _remoteRSSI = 0; + emit remoteRSSIChanged(_remoteRSSI); + } } void MainToolBar::_updateState(UASInterface*, QString name, QString) @@ -483,64 +525,64 @@ void MainToolBar::_updateName(const QString& name) */ void MainToolBar::_setSystemType(UASInterface*, unsigned int systemType) { - _systemPixmap = "qrc:/files/images/mavs/"; + _systemPixmap = "qrc:/res/mavs/"; switch (systemType) { case MAV_TYPE_GENERIC: - _systemPixmap += "generic.svg"; + _systemPixmap += "Generic"; break; case MAV_TYPE_FIXED_WING: - _systemPixmap += "fixed-wing.svg"; + _systemPixmap += "FixedWing"; break; case MAV_TYPE_QUADROTOR: - _systemPixmap += "quadrotor.svg"; + _systemPixmap += "QuadRotor"; break; case MAV_TYPE_COAXIAL: - _systemPixmap += "coaxial.svg"; + _systemPixmap += "Coaxial"; break; case MAV_TYPE_HELICOPTER: - _systemPixmap += "helicopter.svg"; + _systemPixmap += "Helicopter"; break; case MAV_TYPE_ANTENNA_TRACKER: - _systemPixmap += "antenna-tracker.svg"; + _systemPixmap += "AntennaTracker"; break; case MAV_TYPE_GCS: - _systemPixmap += "groundstation.svg"; + _systemPixmap += "Groundstation"; break; case MAV_TYPE_AIRSHIP: - _systemPixmap += "airship.svg"; + _systemPixmap += "Airship"; break; case MAV_TYPE_FREE_BALLOON: - _systemPixmap += "free-balloon.svg"; + _systemPixmap += "FreeBalloon"; break; case MAV_TYPE_ROCKET: - _systemPixmap += "rocket.svg"; + _systemPixmap += "Rocket"; break; case MAV_TYPE_GROUND_ROVER: - _systemPixmap += "ground-rover.svg"; + _systemPixmap += "GroundRover"; break; case MAV_TYPE_SURFACE_BOAT: - _systemPixmap += "surface-boat.svg"; + _systemPixmap += "SurfaceBoat"; break; case MAV_TYPE_SUBMARINE: - _systemPixmap += "submarine.svg"; + _systemPixmap += "Submarine"; break; case MAV_TYPE_HEXAROTOR: - _systemPixmap += "hexarotor.svg"; + _systemPixmap += "HexaRotor"; break; case MAV_TYPE_OCTOROTOR: - _systemPixmap += "octorotor.svg"; + _systemPixmap += "OctoRotor"; break; case MAV_TYPE_TRICOPTER: - _systemPixmap += "tricopter.svg"; + _systemPixmap += "TriCopter"; break; case MAV_TYPE_FLAPPING_WING: - _systemPixmap += "flapping-wing.svg"; + _systemPixmap += "FlappingWing"; break; case MAV_TYPE_KITE: - _systemPixmap += "kite.svg"; + _systemPixmap += "Kite"; break; default: - _systemPixmap += "unknown.svg"; + _systemPixmap += "Unknown"; break; } emit systemPixmapChanged(_systemPixmap); @@ -656,7 +698,14 @@ void MainToolBar::_setSatLoc(UASInterface*, int fix) } } -void MainToolBar::updateCanvas() +void MainToolBar::_setProgressBarValue(float value) +{ + _progressBarValue = value; + emit progressBarValueChanged(value); +} + +void MainToolBar::_updatePixelSize() { - emit repaintRequestedChanged(); + setMinimumHeight(40 * MainWindow::pixelSizeFactor()); + setMaximumHeight(40 * MainWindow::pixelSizeFactor()); } diff --git a/src/ui/toolbar/MainToolBar.h b/src/ui/toolbar/MainToolBar.h index f903127e8bb15bf93f053619a5c5f73af6703896..0a45a6cdd695607983a5418ad25db3b8c00f3c60 100644 --- a/src/ui/toolbar/MainToolBar.h +++ b/src/ui/toolbar/MainToolBar.h @@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project #define TOOL_BAR_SHOW_GPS "ShowGPS" #define TOOL_BAR_SHOW_MAV "ShowMav" #define TOOL_BAR_SHOW_MESSAGES "ShowMessages" +#define TOOL_BAR_SHOW_RSSI "ShowRSSI" class UASInterface; class UASMessage; @@ -69,65 +70,61 @@ public: Q_INVOKABLE void onSetupView(); Q_INVOKABLE void onPlanView(); Q_INVOKABLE void onFlyView(); + Q_INVOKABLE void onFlyViewMenu(); Q_INVOKABLE void onAnalyzeView(); Q_INVOKABLE void onConnect(QString conf); - Q_INVOKABLE void onLinkConfigurationChanged(const QString& config); + Q_INVOKABLE void onDisconnect(QString conf); Q_INVOKABLE void onEnterMessageArea(int x, int y); Q_INVOKABLE QString getMavIconColor(); - Q_PROPERTY(int connectionCount READ connectionCount NOTIFY connectionCountChanged) - Q_PROPERTY(double batteryVoltage READ batteryVoltage NOTIFY batteryVoltageChanged) - Q_PROPERTY(double batteryPercent READ batteryPercent NOTIFY batteryPercentChanged) - Q_PROPERTY(ViewType_t currentView READ currentView NOTIFY currentViewChanged) - Q_PROPERTY(QStringList configList READ configList NOTIFY configListChanged) - Q_PROPERTY(bool systemArmed READ systemArmed NOTIFY systemArmedChanged) - Q_PROPERTY(unsigned int heartbeatTimeout READ heartbeatTimeout NOTIFY heartbeatTimeoutChanged) - Q_PROPERTY(QString currentMode READ currentMode NOTIFY currentModeChanged) - Q_PROPERTY(MessageType_t messageType READ messageType NOTIFY messageTypeChanged) - Q_PROPERTY(int newMessageCount READ newMessageCount NOTIFY newMessageCountChanged) - Q_PROPERTY(int messageCount READ messageCount NOTIFY messageCountChanged) - Q_PROPERTY(QString currentConfig READ currentConfig NOTIFY currentConfigChanged) - Q_PROPERTY(QString systemPixmap READ systemPixmap NOTIFY systemPixmapChanged) - Q_PROPERTY(int satelliteCount READ satelliteCount NOTIFY satelliteCountChanged) - Q_PROPERTY(QStringList connectedList READ connectedList NOTIFY connectedListChanged) - Q_PROPERTY(bool mavPresent READ mavPresent NOTIFY mavPresentChanged) - Q_PROPERTY(QString currentState READ currentState NOTIFY currentStateChanged) - Q_PROPERTY(double dotsPerInch READ dotsPerInch NOTIFY dotsPerInchChanged) - Q_PROPERTY(int satelliteLock READ satelliteLock NOTIFY satelliteLockChanged) - Q_PROPERTY(bool showGPS READ showGPS NOTIFY showGPSChanged) - Q_PROPERTY(bool showMav READ showMav NOTIFY showMavChanged) - Q_PROPERTY(bool showMessages READ showMessages NOTIFY showMessagesChanged) - Q_PROPERTY(bool showBattery READ showBattery NOTIFY showBatteryChanged) - Q_PROPERTY(bool repaintRequested READ repaintRequested NOTIFY repaintRequestedChanged) - - int connectionCount () { return _connectionCount; } - double batteryVoltage () { return _batteryVoltage; } - double batteryPercent () { return _batteryPercent; } - ViewType_t currentView () { return _currentView; } - QStringList configList () { return _linkConfigurations; } - bool systemArmed () { return _systemArmed; } - unsigned int heartbeatTimeout () { return _currentHeartbeatTimeout; } - QString currentMode () { return _currentMode; } - MessageType_t messageType () { return _currentMessageType; } - int newMessageCount () { return _currentMessageCount; } - int messageCount () { return _messageCount; } - QString currentConfig () { return _currentConfig; } - QString systemPixmap () { return _systemPixmap; } - int satelliteCount () { return _satelliteCount; } - QStringList connectedList () { return _connectedList; } - bool mavPresent () { return _mav != NULL; } - QString currentState () { return _currentState; } - double dotsPerInch () { return _dotsPerInch; } - int satelliteLock () { return _satelliteLock; } - bool showGPS () { return _showGPS; } - bool showMav () { return _showMav; } - bool showMessages () { return _showMessages; } - bool showBattery () { return _showBattery; } - bool repaintRequested () { return true; } - - void setCurrentView (int currentView); - void viewStateChanged (const QString& key, bool value); - void updateCanvas (); + Q_PROPERTY(int connectionCount MEMBER _connectionCount NOTIFY connectionCountChanged) + Q_PROPERTY(double batteryVoltage MEMBER _batteryVoltage NOTIFY batteryVoltageChanged) + Q_PROPERTY(double batteryPercent MEMBER _batteryPercent NOTIFY batteryPercentChanged) + Q_PROPERTY(ViewType_t currentView MEMBER _currentView NOTIFY currentViewChanged) + Q_PROPERTY(QStringList configList MEMBER _linkConfigurations NOTIFY configListChanged) + Q_PROPERTY(bool systemArmed MEMBER _systemArmed NOTIFY systemArmedChanged) + Q_PROPERTY(unsigned int heartbeatTimeout MEMBER _currentHeartbeatTimeout NOTIFY heartbeatTimeoutChanged) + Q_PROPERTY(QString currentMode MEMBER _currentMode NOTIFY currentModeChanged) + Q_PROPERTY(MessageType_t messageType MEMBER _currentMessageType NOTIFY messageTypeChanged) + Q_PROPERTY(int newMessageCount MEMBER _currentMessageCount NOTIFY newMessageCountChanged) + Q_PROPERTY(int messageCount MEMBER _messageCount NOTIFY messageCountChanged) + Q_PROPERTY(QString systemPixmap MEMBER _systemPixmap NOTIFY systemPixmapChanged) + Q_PROPERTY(int satelliteCount READ satelliteCount NOTIFY satelliteCountChanged) + Q_PROPERTY(QStringList connectedList MEMBER _connectedList NOTIFY connectedListChanged) + Q_PROPERTY(bool mavPresent READ mavPresent NOTIFY mavPresentChanged) + Q_PROPERTY(QString currentState MEMBER _currentState NOTIFY currentStateChanged) + Q_PROPERTY(int satelliteLock MEMBER _satelliteLock NOTIFY satelliteLockChanged) + Q_PROPERTY(bool showGPS MEMBER _showGPS NOTIFY showGPSChanged) + Q_PROPERTY(bool showMav MEMBER _showMav NOTIFY showMavChanged) + Q_PROPERTY(bool showMessages MEMBER _showMessages NOTIFY showMessagesChanged) + Q_PROPERTY(bool showBattery MEMBER _showBattery NOTIFY showBatteryChanged) + Q_PROPERTY(bool showRSSI MEMBER _showRSSI NOTIFY showRSSIChanged) + Q_PROPERTY(float progressBarValue MEMBER _progressBarValue NOTIFY progressBarValueChanged) + Q_PROPERTY(int remoteRSSI READ remoteRSSI NOTIFY remoteRSSIChanged) + Q_PROPERTY(int telemetryRRSSI READ telemetryRRSSI NOTIFY telemetryRRSSIChanged) + Q_PROPERTY(int telemetryLRSSI READ telemetryLRSSI NOTIFY telemetryLRSSIChanged) + Q_PROPERTY(bool isAndroid READ isAndroid CONSTANT) + Q_PROPERTY(bool isiOS READ isiOS CONSTANT) + Q_PROPERTY(bool isMobile READ isMobile CONSTANT) + + bool mavPresent () { return _mav != NULL; } + int satelliteCount () { return _satelliteCount; } + int remoteRSSI () { return _remoteRSSI; } + int telemetryRRSSI () { return _telemetryRRSSI; } + int telemetryLRSSI () { return _telemetryLRSSI; } + +#if defined (__android__) + bool isAndroid () { return true; } + bool isiOS () { return false; } + bool isMobile () { return true; } +#else + bool isAndroid () { return false; } + bool isiOS () { return false; } + bool isMobile () { return false; } +#endif + + void setCurrentView (int currentView); + void viewStateChanged (const QString& key, bool value); signals: void connectionCountChanged (int count); @@ -147,13 +144,16 @@ signals: void connectedListChanged (QStringList connectedList); void mavPresentChanged (bool present); void currentStateChanged (QString state); - void dotsPerInchChanged (); void satelliteLockChanged (int lock); void showGPSChanged (bool value); void showMavChanged (bool value); void showMessagesChanged (bool value); void showBatteryChanged (bool value); - void repaintRequestedChanged (); + void showRSSIChanged (bool value); + void progressBarValueChanged (float value); + void remoteRSSIChanged (int value); + void telemetryRRSSIChanged (int value); + void telemetryLRSSIChanged (int value); private slots: void _setActiveUAS (UASInterface* active); @@ -173,7 +173,10 @@ private slots: void _setSatelliteCount (double val, QString name); void _leaveMessageView (); void _setSatLoc (UASInterface* uas, int fix); - + void _setProgressBarValue (float value); + void _remoteControlRSSIChanged (uint8_t rssi); + void _telemetryChanged (LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi, unsigned txbuf, unsigned noise, unsigned remnoise); + void _updatePixelSize (); private: void _updateConnection (LinkInterface *disconnectedLink = NULL); @@ -186,8 +189,6 @@ private: double _batteryVoltage; double _batteryPercent; QStringList _linkConfigurations; - QString _currentConfig; - bool _linkSelected; int _connectionCount; bool _systemArmed; QString _currentState; @@ -205,12 +206,16 @@ private: MessageType_t _currentMessageType; int _satelliteCount; QStringList _connectedList; - qreal _dotsPerInch; int _satelliteLock; bool _showGPS; bool _showMav; bool _showMessages; + bool _showRSSI; bool _showBattery; + float _progressBarValue; + int _remoteRSSI; + int _telemetryRRSSI; + int _telemetryLRSSI; UASMessageViewRollDown* _rollDownMessages; }; diff --git a/src/ui/toolbar/MainToolBar.qml b/src/ui/toolbar/MainToolBar.qml index c044fbc170996e72cc9d1f76bf9ec09a99a5755b..c785c54fa1c3e2ab39baf6edd7b1525c1a3f14d3 100644 --- a/src/ui/toolbar/MainToolBar.qml +++ b/src/ui/toolbar/MainToolBar.qml @@ -35,18 +35,19 @@ import QGroundControl.Controls 1.0 import QGroundControl.FactControls 1.0 import QGroundControl.Palette 1.0 import QGroundControl.MainToolBar 1.0 +import QGroundControl.ScreenTools 1.0 Rectangle { + id: toolBarHolder property var qgcPal: QGCPalette { id: palette; colorGroupEnabled: true } - property int cellSpacerSize: 4 - property int cellHeight: 30 - property int cellRadius: 3 - property double dpiFactor: (72.0 / mainToolBar.dotsPerInch); + + property int cellSpacerSize: mainToolBar.isMobile ? getProportionalDimmension(6) : getProportionalDimmension(4) + property int cellHeight: getProportionalDimmension(30) property var colorBlue: "#1a6eaa" - property var colorGreen: "#079527" - property var colorRed: "#a81a1b" + property var colorGreen: "#329147" + property var colorRed: "#942324" property var colorOrange: "#a76f26" property var colorWhite: "#f0f0f0" @@ -55,8 +56,11 @@ Rectangle { property var colorGreenText: (qgcPal.globalTheme === QGCPalette.Light) ? "#046b1b" : "#00d930" property var colorWhiteText: (qgcPal.globalTheme === QGCPalette.Light) ? "#343333" : "#f0f0f0" - id: toolBarHolder - color: qgcPal.windowShade + color: qgcPal.windowShade + + function getProportionalDimmension(val) { + return toolBarHolder.height * val / 40 + } function getMessageColor() { if(mainToolBar.messageType === MainToolBar.MessageNone) @@ -73,24 +77,24 @@ Rectangle { function getMessageIcon() { if(mainToolBar.messageType === MainToolBar.MessageNormal || mainToolBar.messageType === MainToolBar.MessageNone) - return "qrc:/files/images/status/message_megaphone.png"; + return "qrc:/res/Megaphone"; else - return "qrc:/files/images/status/message_triangle.png"; + return "qrc:/res/Yield"; } function getBatteryIcon() { if(mainToolBar.batteryPercent < 20.0) - return "qrc:/files/images/status/battery_0.svg"; + return "qrc:/res/Battery_0"; else if(mainToolBar.batteryPercent < 40.0) - return "qrc:/files/images/status/battery_20.svg"; + return "qrc:/res/Battery_20"; else if(mainToolBar.batteryPercent < 60.0) - return "qrc:/files/images/status/battery_40.svg"; + return "qrc:/res/Battery_40"; else if(mainToolBar.batteryPercent < 80.0) - return "qrc:/files/images/status/battery_60.svg"; + return "qrc:/res/Battery_60"; else if(mainToolBar.batteryPercent < 90.0) - return "qrc:/files/images/status/battery_80.svg"; + return "qrc:/res/Battery_80"; else - return "qrc:/files/images/status/battery_100.svg"; + return "qrc:/res/Battery_100"; } function getBatteryColor() { @@ -116,30 +120,86 @@ Rectangle { return colorGreen; } + function getRSSIColor(value) { + if(value < 10) + return colorRed; + if(value < 50) + return colorOrange; + return colorGreen; + } + function showMavStatus() { return (mainToolBar.mavPresent && mainToolBar.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0); } + //------------------------------------------------------------------------- + //-- Main menu for Mobile Devices + Menu { + id: maintMenu + ExclusiveGroup { id: mainMenuGroup } + MenuItem { + text: "Vehicle Setup" + checkable: true + exclusiveGroup: mainMenuGroup + checked: (mainToolBar.currentView === MainToolBar.ViewSetup) + onTriggered: + { + mainToolBar.onSetupView(); + } + } + MenuItem { + text: "Plan View" + checkable: true + checked: (mainToolBar.currentView === MainToolBar.ViewPlan) + exclusiveGroup: mainMenuGroup + onTriggered: + { + mainToolBar.onPlanView(); + } + } + MenuItem { + text: "Flight View" + checkable: true + checked: (mainToolBar.currentView === MainToolBar.ViewFly) + exclusiveGroup: mainMenuGroup + onTriggered: + { + mainToolBar.onFlyView(); + } + } + //-- Flight View Context Menu + MenuItem { + text: "Flight View Options..." + visible: (mainToolBar.currentView === MainToolBar.ViewFly) + onTriggered: + { + mainToolBar.onFlyViewMenu(); + } + } + } + Row { id: row1 height: cellHeight anchors.left: parent.left - spacing: 4 + spacing: getProportionalDimmension(4) anchors.verticalCenter: parent.verticalCenter - anchors.leftMargin: 10 + anchors.leftMargin: getProportionalDimmension(10) + //--------------------------------------------------------------------- + //-- Main menu for Non Mobile Devices (Chevron Buttons) Row { id: row11 height: cellHeight - spacing: -12 + spacing: -getProportionalDimmension(12) anchors.verticalCenter: parent.verticalCenter - + visible: !mainToolBar.isMobile Connections { - target: mainToolBar + target: ScreenTools onRepaintRequestedChanged: { - setupButton.repaintChevron = true; - planButton.repaintChevron = true; - flyButton.repaintChevron = true; + setupButton.repaintChevron = true; + planButton.repaintChevron = true; + flyButton.repaintChevron = true; analyzeButton.repaintChevron = true; } } @@ -148,7 +208,7 @@ Rectangle { QGCToolBarButton { id: setupButton - width: 90 + width: getProportionalDimmension(90) height: cellHeight exclusiveGroup: mainActionGroup text: qsTr("Setup") @@ -162,7 +222,7 @@ Rectangle { QGCToolBarButton { id: planButton - width: 90 + width: getProportionalDimmension(90) height: cellHeight exclusiveGroup: mainActionGroup text: qsTr("Plan") @@ -176,7 +236,7 @@ Rectangle { QGCToolBarButton { id: flyButton - width: 90 + width: getProportionalDimmension(90) height: cellHeight exclusiveGroup: mainActionGroup text: qsTr("Fly") @@ -190,7 +250,7 @@ Rectangle { QGCToolBarButton { id: analyzeButton - width: 90 + width: getProportionalDimmension(90) height: cellHeight exclusiveGroup: mainActionGroup text: qsTr("Analyze") @@ -204,20 +264,57 @@ Rectangle { } + //--------------------------------------------------------------------- + //-- Indicators Row { id: row12 height: cellHeight spacing: cellSpacerSize anchors.verticalCenter: parent.verticalCenter + //-- "Hamburger" menu for Mobile Devices + Item { + id: actionButton + visible: mainToolBar.isMobile + height: cellHeight + width: cellHeight + Image { + id: buttomImg + anchors.fill: parent + source: "/qml/buttonMore.svg" + mipmap: true + smooth: true + antialiasing: true + fillMode: Image.PreserveAspectFit + } + MouseArea { + anchors.fill: parent + acceptedButtons: Qt.LeftButton + onClicked: { + if (mouse.button == Qt.LeftButton) + { + maintMenu.popup(); + } + } + } + } + + //-- Separator if Hamburger menu is visible + Rectangle { + visible: actionButton.visible + height: cellHeight + width: cellHeight + color: "#00000000" + anchors.verticalCenter: parent.verticalCenter + } + Rectangle { id: messages - width: (mainToolBar.messageCount > 99) ? 70 : 60 + width: (mainToolBar.messageCount > 99) ? getProportionalDimmension(65) : getProportionalDimmension(60) height: cellHeight visible: (mainToolBar.connectionCount > 0) && (mainToolBar.showMessages) anchors.verticalCenter: parent.verticalCenter color: getMessageColor() - radius: cellRadius border.color: "#00000000" border.width: 0 property bool showTriangle: false @@ -225,22 +322,22 @@ Rectangle { Image { id: messageIcon source: getMessageIcon(); - height: 16 + height: getProportionalDimmension(16) fillMode: Image.PreserveAspectFit anchors.verticalCenter: parent.verticalCenter anchors.left: parent.left - anchors.leftMargin: 10 + anchors.leftMargin: getProportionalDimmension(8) } - Rectangle { + Item { id: messageTextRect anchors.verticalCenter: parent.verticalCenter anchors.right: parent.right width: messages.width - messageIcon.width - Text { + QGCLabel { id: messageText text: (mainToolBar.messageCount > 0) ? mainToolBar.messageCount : '' - font.pointSize: 14 * dpiFactor + font.pointSize: ScreenTools.fontPointFactor * (14); font.weight: Font.DemiBold anchors.verticalCenter: parent.verticalCenter anchors.horizontalCenter: parent.horizontalCenter @@ -255,8 +352,8 @@ Rectangle { visible: (messages.showTriangle) && (mainToolBar.messageCount > 0) anchors.bottom: parent.bottom anchors.right: parent.right - anchors.bottomMargin: 3 - anchors.rightMargin: 3 + anchors.bottomMargin: getProportionalDimmension(3) + anchors.rightMargin: getProportionalDimmension(3) } Timer { @@ -291,7 +388,6 @@ Rectangle { visible: showMavStatus() && (mainToolBar.showMav) anchors.verticalCenter: parent.verticalCenter color: colorBlue - radius: cellRadius border.color: "#00000000" border.width: 0 Image { @@ -305,69 +401,158 @@ Rectangle { Rectangle { id: satelitte - width: 60 + width: getProportionalDimmension(55) height: cellHeight visible: showMavStatus() && (mainToolBar.showGPS) anchors.verticalCenter: parent.verticalCenter color: getSatelliteColor(); - radius: cellRadius border.color: "#00000000" border.width: 0 Image { - source: "qrc:/files/images/status/gps.svg"; - height: 24 + source: "qrc:/res/Gps"; + height: getProportionalDimmension(24) fillMode: Image.PreserveAspectFit anchors.verticalCenter: parent.verticalCenter anchors.left: parent.left - anchors.leftMargin: 10 + anchors.leftMargin: getProportionalDimmension(6) mipmap: true smooth: true } - Text { + QGCLabel { id: satelitteText - text: (mainToolBar.satelliteCount > 0) ? mainToolBar.satelliteCount : '' - font.pointSize: 14 * dpiFactor + text: mainToolBar.satelliteCount >= 0 ? mainToolBar.satelliteCount : 'NA' + font.pointSize: mainToolBar.satelliteCount >= 0 ? ScreenTools.fontPointFactor * (14) : ScreenTools.fontPointFactor * (10) font.weight: Font.DemiBold anchors.verticalCenter: parent.verticalCenter anchors.right: parent.right - anchors.rightMargin: 10 + anchors.rightMargin: getProportionalDimmension(6) + horizontalAlignment: Text.AlignRight + color: colorWhite + } + } + + Rectangle { + id: rssiRC + width: getProportionalDimmension(55) + height: cellHeight + visible: showMavStatus() && mainToolBar.showRSSI && mainToolBar.remoteRSSI <= 100 + anchors.verticalCenter: parent.verticalCenter + color: getRSSIColor(mainToolBar.remoteRSSI); + border.color: "#00000000" + border.width: 0 + Image { + source: "qrc:/res/AntennaRC"; + width: cellHeight * 0.7 + fillMode: Image.PreserveAspectFit + anchors.verticalCenter: parent.verticalCenter + anchors.left: parent.left + anchors.leftMargin: getProportionalDimmension(6) + mipmap: true + smooth: true + } + QGCLabel { + text: mainToolBar.remoteRSSI + anchors.right: parent.right + anchors.rightMargin: getProportionalDimmension(6) + anchors.verticalCenter: parent.verticalCenter horizontalAlignment: Text.AlignRight + font.pointSize: ScreenTools.fontPointFactor * (12); + font.weight: Font.DemiBold color: colorWhite } } + Rectangle { + id: rssiTelemetry + width: getProportionalDimmension(80) + height: cellHeight + visible: showMavStatus() && (mainToolBar.showRSSI) && ((mainToolBar.telemetryRRSSI > 0) && (mainToolBar.telemetryLRSSI > 0)) + anchors.verticalCenter: parent.verticalCenter + color: getRSSIColor(Math.min(mainToolBar.telemetryRRSSI,mainToolBar.telemetryLRSSI)); + border.color: "#00000000" + border.width: 0 + Image { + source: "qrc:/res/AntennaT"; + width: cellHeight * 0.7 + fillMode: Image.PreserveAspectFit + anchors.verticalCenter: parent.verticalCenter + anchors.left: parent.left + anchors.leftMargin: getProportionalDimmension(6) + mipmap: true + smooth: true + } + Column { + anchors.verticalCenter: parent.verticalCenter + anchors.right: parent.right + anchors.rightMargin: getProportionalDimmension(6) + Row { + anchors.right: parent.right + QGCLabel { + text: 'R ' + font.pointSize: ScreenTools.fontPointFactor * (11); + font.weight: Font.DemiBold + color: colorWhite + } + QGCLabel { + text: mainToolBar.telemetryRRSSI + 'dB' + width: getProportionalDimmension(30) + horizontalAlignment: Text.AlignRight + font.pointSize: ScreenTools.fontPointFactor * (11); + font.weight: Font.DemiBold + color: colorWhite + } + } + Row { + anchors.right: parent.right + QGCLabel { + text: 'L ' + font.pointSize: ScreenTools.fontPointFactor * (11); + font.weight: Font.DemiBold + color: colorWhite + } + QGCLabel { + text: mainToolBar.telemetryLRSSI + 'dB' + width: getProportionalDimmension(30) + horizontalAlignment: Text.AlignRight + font.pointSize: ScreenTools.fontPointFactor * (11); + font.weight: Font.DemiBold + color: colorWhite + } + } + } + } + Rectangle { id: battery - width: 80 + width: getProportionalDimmension(60) height: cellHeight visible: showMavStatus() && (mainToolBar.showBattery) anchors.verticalCenter: parent.verticalCenter - color: (mainToolBar.batteryPercent > 40.0 || mainToolBar.batteryPercent < 0.01) ? colorBlue : colorRed - radius: cellRadius + color: getBatteryColor(); border.color: "#00000000" border.width: 0 Image { source: getBatteryIcon(); - height: 20 + height: getProportionalDimmension(20) fillMode: Image.PreserveAspectFit anchors.verticalCenter: parent.verticalCenter anchors.left: parent.left - anchors.leftMargin: 6 + anchors.leftMargin: getProportionalDimmension(6) mipmap: true smooth: true } - Text { + QGCLabel { id: batteryText - text: mainToolBar.batteryVoltage.toFixed(1) + ' V'; - font.pointSize: 14 * dpiFactor + text: mainToolBar.batteryVoltage.toFixed(1) + 'V'; + font.pointSize: ScreenTools.fontPointFactor * (11); font.weight: Font.DemiBold anchors.verticalCenter: parent.verticalCenter anchors.right: parent.right - anchors.rightMargin: 8 + anchors.rightMargin: getProportionalDimmension(6) horizontalAlignment: Text.AlignRight color: colorWhite } @@ -376,7 +561,7 @@ Rectangle { Column { visible: showMavStatus() height: cellHeight * 0.85 - width: 80 + width: getProportionalDimmension(80) anchors.verticalCenter: parent.verticalCenter Rectangle { @@ -388,10 +573,10 @@ Rectangle { border.color: "#00000000" border.width: 0 - Text { + QGCLabel { id: armedStatusText text: (mainToolBar.systemArmed) ? qsTr("ARMED") : qsTr("DISARMED") - font.pointSize: 12 * dpiFactor + font.pointSize: ScreenTools.fontPointFactor * (12); font.weight: Font.DemiBold anchors.centerIn: parent color: (mainToolBar.systemArmed) ? colorOrangeText : colorGreenText @@ -407,10 +592,10 @@ Rectangle { border.color: "#00000000" border.width: 0 - Text { + QGCLabel { id: stateStatusText text: mainToolBar.currentState - font.pointSize: 12 * dpiFactor + font.pointSize: ScreenTools.fontPointFactor * (12); font.weight: Font.DemiBold anchors.centerIn: parent color: (mainToolBar.currentState === "STANDBY") ? colorGreenText : colorRedText @@ -421,17 +606,17 @@ Rectangle { Rectangle { id: modeStatus - width: 90 + width: getProportionalDimmension(90) height: cellHeight visible: showMavStatus() color: "#00000000" border.color: "#00000000" border.width: 0 - Text { + QGCLabel { id: modeStatusText text: mainToolBar.currentMode - font.pointSize: 12 * dpiFactor + font.pointSize: ScreenTools.fontPointFactor * (12); font.weight: Font.DemiBold anchors.horizontalCenter: parent.horizontalCenter anchors.verticalCenter: parent.verticalCenter @@ -441,7 +626,7 @@ Rectangle { Rectangle { id: connectionStatus - width: 160 + width: getProportionalDimmension(160) height: cellHeight visible: (mainToolBar.connectionCount > 0 && mainToolBar.mavPresent && mainToolBar.heartbeatTimeout != 0) anchors.verticalCenter: parent.verticalCenter @@ -449,10 +634,10 @@ Rectangle { border.color: "#00000000" border.width: 0 - Text { + QGCLabel { id: connectionStatusText text: qsTr("CONNECTION LOST") - font.pointSize: 14 * dpiFactor + font.pointSize: ScreenTools.fontPointFactor * (14); font.weight: Font.DemiBold anchors.verticalCenter: parent.verticalCenter anchors.horizontalCenter: parent.horizontalCenter @@ -468,35 +653,53 @@ Rectangle { spacing: cellSpacerSize anchors.right: parent.right anchors.verticalCenter: parent.verticalCenter - anchors.leftMargin: 10 - anchors.rightMargin: 10 + anchors.leftMargin: getProportionalDimmension(10) + anchors.rightMargin: getProportionalDimmension(10) - QGCComboBox { - id: configList - width: 200 - visible: (mainToolBar.connectionCount === 0 && mainToolBar.configList.length > 0) - anchors.verticalCenter: parent.verticalCenter - model: mainToolBar.configList - onCurrentIndexChanged: { - mainToolBar.onLinkConfigurationChanged(mainToolBar.configList[currentIndex]); - } + Menu { + id: connectMenu Component.onCompleted: { - mainToolBar.currentConfigChanged.connect(configList.onCurrentConfigChanged) + mainToolBar.configListChanged.connect(connectMenu.updateConnectionList); + connectMenu.updateConnectionList(); } - function onCurrentConfigChanged(config) { - var index = configList.find(config); - configList.currentIndex = index; + function addMenuEntry(name) { + var label = "Add Connection" + if(name !== "") + label = name; + var mItem = connectMenu.addItem(label); + var menuSlot = function() {mainToolBar.onConnect(name)}; + mItem.triggered.connect(menuSlot); } + function updateConnectionList() { + connectMenu.clear(); + for(var i = 0; i < mainToolBar.configList.length; i++) { + connectMenu.addMenuEntry(mainToolBar.configList[i]); + } + if(mainToolBar.configList.length > 0) { + connectMenu.addSeparator(); + } + // Add "Add Connection" to the list + connectMenu.addMenuEntry(""); + } + } + + QGCButton { + id: connectButton + width: getProportionalDimmension(100) + visible: mainToolBar.connectionCount === 0 + text: qsTr("Connect") + menu: connectMenu + anchors.verticalCenter: parent.verticalCenter } QGCButton { - id: connectButton - width: 100 - visible: (mainToolBar.connectionCount === 0 || mainToolBar.connectionCount === 1) - text: (mainToolBar.configList.length > 0) ? (mainToolBar.connectionCount === 0) ? qsTr("Connect") : qsTr("Disconnect") : qsTr("Add Link") + id: disconnectButton + width: getProportionalDimmension(100) + visible: mainToolBar.connectionCount === 1 + text: qsTr("Disconnect") anchors.verticalCenter: parent.verticalCenter onClicked: { - mainToolBar.onConnect(""); + mainToolBar.onDisconnect(""); } } @@ -505,25 +708,37 @@ Rectangle { Component.onCompleted: { mainToolBar.connectedListChanged.connect(disconnectMenu.onConnectedListChanged) } + function addMenuEntry(name) { + var mItem = disconnectMenu.addItem(name); + var menuSlot = function() {mainToolBar.onDisconnect(name)}; + mItem.triggered.connect(menuSlot); + } function onConnectedListChanged(conList) { disconnectMenu.clear(); for(var i = 0; i < conList.length; i++) { - var mItem = disconnectMenu.addItem(conList[i]); - var menuSlot = function() {mainToolBar.onConnect(mItem.text)}; - mItem.triggered.connect(menuSlot); + disconnectMenu.addMenuEntry(conList[i]); } } } QGCButton { - id: multidisconnectButton - width: 100 - text: qsTr("Disconnect") - visible: (mainToolBar.connectionCount > 1) + id: multidisconnectButton + width: getProportionalDimmension(100) + text: "Disconnect" + visible: mainToolBar.connectionCount > 1 + menu: disconnectMenu anchors.verticalCenter: parent.verticalCenter - menu: disconnectMenu } } + + // Progress bar + Rectangle { + readonly property int progressBarHeight: getProportionalDimmension(3) + y: parent.height - progressBarHeight + height: progressBarHeight + width: parent.width * mainToolBar.progressBarValue + color: qgcPal.text + } } diff --git a/src/ui/uas/QGCUnconnectedInfoWidget.cc b/src/ui/uas/QGCUnconnectedInfoWidget.cc index ff4180cf21102ac435928941e86e75f2455752d8..0309c3125d79c31d22aa0497c09b35e900ab4ce0 100644 --- a/src/ui/uas/QGCUnconnectedInfoWidget.cc +++ b/src/ui/uas/QGCUnconnectedInfoWidget.cc @@ -1,7 +1,6 @@ #include "QGCUnconnectedInfoWidget.h" #include "LinkInterface.h" #include "LinkManager.h" -#include "MAVLinkSimulationLink.h" #include "MainWindow.h" #include "ui_QGCUnconnectedInfoWidget.h" @@ -24,15 +23,6 @@ QGCUnconnectedInfoWidget::~QGCUnconnectedInfoWidget() */ void QGCUnconnectedInfoWidget::simulate() { - // TODO What is this? - // Try to get reference to MAVLinkSimulationlink - QList links = LinkManager::instance()->getLinks(); - foreach(LinkInterface* link, links) { - MAVLinkSimulationLink* sim = dynamic_cast(link); - if (sim) { - LinkManager::instance()->connectLink(sim); - } - } } /** diff --git a/src/ui/uas/QGCUnconnectedInfoWidget.ui b/src/ui/uas/QGCUnconnectedInfoWidget.ui index 9ac07542b08e42e7de1f2df467c9dbc1d9eeaa43..f13b5a773b8a8230a5903e431ce501cced4d5b31 100644 --- a/src/ui/uas/QGCUnconnectedInfoWidget.ui +++ b/src/ui/uas/QGCUnconnectedInfoWidget.ui @@ -60,7 +60,7 @@ - :/files/images/actions/qgroundcontrol-connect.svg:/files/images/actions/qgroundcontrol-connect.svg + :/res/QGroundControlConnect:/res/QGroundControlConnect diff --git a/src/ui/uas/UASListWidget.cc b/src/ui/uas/UASListWidget.cc index fa5194bb181ebc5d54e4743ba929e4f45be61914..3733a88ce06f47067e3c592dbc977a4362422263 100644 --- a/src/ui/uas/UASListWidget.cc +++ b/src/ui/uas/UASListWidget.cc @@ -41,7 +41,6 @@ This file is part of the PIXHAWK project #include "UASView.h" #include "QGCUnconnectedInfoWidget.h" #include "MainWindow.h" -#include "MAVLinkSimulationLink.h" #include "LinkManager.h" UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent), @@ -118,7 +117,7 @@ void UASListWidget::updateStatus() LinkInterface* link = i.key(); // Paranoid sanity check - if (!LinkManager::instance()->getLinks().contains(link)) + if (!LinkManager::instance()->containsLink(link)) continue; if (!link) diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc index ee4efe09b35e17231b46476d9b903f84b3cf0e82..408ce4fd4ac45bec416f613fb362622f3ba7fb09 100644 --- a/src/ui/uas/UASView.cc +++ b/src/ui/uas/UASView.cc @@ -266,22 +266,22 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType) switch (systemType) { case MAV_TYPE_GENERIC: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/generic.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Generic")); break; case MAV_TYPE_FIXED_WING: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/fixed-wing.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/FixedWing")); break; case MAV_TYPE_QUADROTOR: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/quadrotor.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/QuadRotor")); break; case MAV_TYPE_COAXIAL: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/coaxial.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Coaxial")); break; case MAV_TYPE_HELICOPTER: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/helicopter.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Helicopter")); break; case MAV_TYPE_ANTENNA_TRACKER: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/unknown.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Unknown")); break; case MAV_TYPE_GCS: { // A groundstation is a special system type, update widget @@ -299,44 +299,44 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType) m_ui->landButton->hide(); m_ui->shutdownButton->hide(); m_ui->abortButton->hide(); - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/groundstation.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Groundstation")); } break; case MAV_TYPE_AIRSHIP: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/airship.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Airship")); break; case MAV_TYPE_FREE_BALLOON: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/free-balloon.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/FreeBalloon")); break; case MAV_TYPE_ROCKET: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/rocket.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Rocket")); break; case MAV_TYPE_GROUND_ROVER: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/ground-rover.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/GroundRover")); break; case MAV_TYPE_SURFACE_BOAT: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/surface-boat.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/SurfaceBoat")); break; case MAV_TYPE_SUBMARINE: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/submarine.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Submarine")); break; case MAV_TYPE_HEXAROTOR: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/hexarotor.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/HexaRotor")); break; case MAV_TYPE_OCTOROTOR: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/octorotor.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/OctoRotor")); break; case MAV_TYPE_TRICOPTER: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/tricopter.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/TriCopter")); break; case MAV_TYPE_FLAPPING_WING: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/flapping-wing.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/FlappingWing")); break; case MAV_TYPE_KITE: - m_ui->typeLabel->setPixmap(QPixmap(":files/images/mavs/kite.svg")); + m_ui->typeLabel->setPixmap(QPixmap(":/res/mavs/Kite")); break; default: - m_ui->typeLabel->setPixmap(QPixmap(":/files/images/mavs/unknown.svg")); + m_ui->typeLabel->setPixmap(QPixmap("://res/mavs/Unknown")); break; } }