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qgroundcontrol
Commit 0eb7a24f authored by hengli's avatar hengli
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Merge remote-tracking branch 'upstream/v10release' into v10release

parents 3b1864cc efb95d00
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Showing with 1440 additions and 127 deletions
qgroundcontrol.pro
View file @ 0eb7a24f
......@@ -235,7 +235,11 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCMAVLinkInspector.ui \
src/ui/WaypointViewOnlyView.ui \
src/ui/WaypointEditableView.ui \
src/ui/UnconnectedUASInfoWidget.ui
src/ui/UnconnectedUASInfoWidget.ui \
src/ui/mavlink/QGCMAVLinkMessageSender.ui \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
src/ui/QGCPluginHost.ui \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
......@@ -353,7 +357,11 @@ HEADERS += src/MG.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointEditableView.h \
src/ui/UnconnectedUASInfoWidget.h \
src/ui/QGCRGBDView.h
src/ui/QGCRGBDView.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
......@@ -481,7 +489,11 @@ SOURCES += src/main.cc \
src/ui/WaypointViewOnlyView.cc \
src/ui/WaypointEditableView.cc \
src/ui/UnconnectedUASInfoWidget.cc \
src/ui/QGCRGBDView.cc
src/ui/QGCRGBDView.cc \
src/ui/mavlink/QGCMAVLinkMessageSender.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
src/comm/MAVLinkProtocol.cc
View file @ 0eb7a24f
......@@ -63,8 +63,10 @@ MAVLinkProtocol::MAVLinkProtocol() :
totalLossCounter = 0;
currReceiveCounter = 0;
currLossCounter = 0;
for (int i = 0; i < 256; i++) {
for (int j = 0; j < 256; j++) {
for (int i = 0; i < 256; i++)
{
for (int j = 0; j < 256; j++)
{
lastIndex[i][j] = -1;
}
}
......@@ -83,9 +85,12 @@ void MAVLinkProtocol::loadSettings()
enableMultiplexing(settings.value("MULTIPLEXING_ENABLED", m_multiplexingEnabled).toBool());
// Only set logfile if there is a name present in settings
if (settings.contains("LOGFILE_NAME") && m_logfile == NULL) {
if (settings.contains("LOGFILE_NAME") && m_logfile == NULL)
{
m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
} else if (m_logfile == NULL) {
}
else if (m_logfile == NULL)
{
m_logfile = new QFile(QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink");
}
// Enable logging
......@@ -93,7 +98,8 @@ void MAVLinkProtocol::loadSettings()
// Only set system id if it was valid
int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
if (temp > 0 && temp < 256) {
if (temp > 0 && temp < 256)
{
systemId = temp;
}
......@@ -123,7 +129,8 @@ void MAVLinkProtocol::storeSettings()
settings.setValue("GCS_SYSTEM_ID", systemId);
settings.setValue("GCS_AUTH_KEY", m_authKey);
settings.setValue("GCS_AUTH_ENABLED", m_authEnabled);
if (m_logfile) {
if (m_logfile)
{
// Logfile exists, store the name
settings.setValue("LOGFILE_NAME", m_logfile->fileName());
}
......@@ -139,20 +146,26 @@ void MAVLinkProtocol::storeSettings()
MAVLinkProtocol::~MAVLinkProtocol()
{
storeSettings();
if (m_logfile) {
if (m_logfile->isOpen()) {
if (m_logfile)
{
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
delete m_logfile;
m_logfile = NULL;
}
}
QString MAVLinkProtocol::getLogfileName()
{
if (m_logfile) {
if (m_logfile)
{
return m_logfile->fileName();
} else {
}
else
{
return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink";
}
}
......@@ -174,7 +187,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
for (int position = 0; position < b.size(); position++) {
unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
if (decodeState == 1) {
if (decodeState == 1)
{
//#ifdef MAVLINK_MESSAGE_LENGTHS
// const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
// if (message.msgid >= sizeof(message_lengths) ||
......@@ -216,7 +230,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
#endif
// Log data
if (m_loggingEnabled && m_logfile) {
if (m_loggingEnabled && m_logfile)
{
const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
uint8_t buf[len];
quint64 time = QGC::groundTimeUsecs();
......@@ -224,7 +239,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Write message to buffer
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
QByteArray b((const char*)buf, len);
if(m_logfile->write(b) < static_cast<qint64>(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))) {
if(m_logfile->write(b) < static_cast<qint64>(MAVLINK_MAX_PACKET_LEN+sizeof(quint64)))
{
emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, disabling logging.").arg(m_logfile->fileName()));
// Stop logging
enableLogging(false);
......@@ -238,7 +254,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
UASInterface* uas = UASManager::instance()->getUASForId(message.sysid);
// Check and (if necessary) create UAS object
if (uas == NULL && message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
if (uas == NULL && message.msgid == MAVLINK_MSG_ID_HEARTBEAT)
{
// ORDER MATTERS HERE!
// The UAS object has first to be created and connected,
// only then the rest of the application can be made aware
......@@ -246,7 +263,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// it's first messages.
// Check if the UAS has the same id like this system
if (message.sysid == getSystemId()) {
if (message.sysid == getSystemId())
{
emit protocolStatusMessage(tr("SYSTEM ID CONFLICT!"), tr("Warning: A second system is using the same system id (%1)").arg(getSystemId()));
}
......@@ -262,9 +280,11 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
mavlink_msg_heartbeat_decode(&message, &heartbeat);
// Check if the UAS has a different protocol version
if (m_enable_version_check && (heartbeat.mavlink_version != MAVLINK_VERSION)) {
if (m_enable_version_check && (heartbeat.mavlink_version != MAVLINK_VERSION))
{
// Bring up dialog to inform user
if (!versionMismatchIgnore) {
if (!versionMismatchIgnore)
{
emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
versionMismatchIgnore = true;
......@@ -279,28 +299,39 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
}
// Only count message if UAS exists for this message
if (uas != NULL) {
if (uas != NULL)
{
// Increase receive counter
totalReceiveCounter++;
currReceiveCounter++;
qint64 lastLoss = totalLossCounter;
// Update last packet index
if (lastIndex[message.sysid][message.compid] == -1) {
if (lastIndex[message.sysid][message.compid] == -1)
{
lastIndex[message.sysid][message.compid] = message.seq;
} else {
}
else
{
// TODO: This if-else block can (should) be greatly simplified
if (lastIndex[message.sysid][message.compid] == 255) {
if (lastIndex[message.sysid][message.compid] == 255)
{
lastIndex[message.sysid][message.compid] = 0;
} else {
}
else
{
lastIndex[message.sysid][message.compid]++;
}
int safeguard = 0;
//qDebug() << "SYSID" << message.sysid << "COMPID" << message.compid << "MSGID" << message.msgid << "LASTINDEX" << lastIndex[message.sysid][message.compid] << "SEQ" << message.seq;
while(lastIndex[message.sysid][message.compid] != message.seq && safeguard < 255) {
if (lastIndex[message.sysid][message.compid] == 255) {
while(lastIndex[message.sysid][message.compid] != message.seq && safeguard < 255)
{
if (lastIndex[message.sysid][message.compid] == 255)
{
lastIndex[message.sysid][message.compid] = 0;
} else {
}
else
{
lastIndex[message.sysid][message.compid]++;
}
totalLossCounter++;
......@@ -317,7 +348,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
//if ()
// If a new loss was detected or we just hit one 128th packet step
if (lastLoss != totalLossCounter || (totalReceiveCounter % 64 == 0)) {
if (lastLoss != totalLossCounter || (totalReceiveCounter % 64 == 0))
{
// Calculate new loss ratio
// Receive loss
float receiveLoss = (double)currLossCounter/(double)(currReceiveCounter+currLossCounter);
......@@ -335,12 +367,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
emit messageReceived(link, message);
// Multiplex message if enabled
if (m_multiplexingEnabled) {
if (m_multiplexingEnabled)
{
// Get all links connected to this unit
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
// Emit message on all links that are currently connected
foreach (LinkInterface* currLink, links) {
foreach (LinkInterface* currLink, links)
{
// Only forward this message to the other links,
// not the link the message was received on
if (currLink != link) sendMessage(currLink, message);
......@@ -387,7 +421,8 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
// Emit message on all links that are currently connected
QList<LinkInterface*>::iterator i;
for (i = links.begin(); i != links.end(); ++i) {
for (i = links.begin(); i != links.end(); ++i)
{
sendMessage(*i, message);
//qDebug() << __FILE__ << __LINE__ << "SENT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
}
......@@ -407,7 +442,8 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
// Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer(buffer, &message);
// If link is connected
if (link->isConnected()) {
if (link->isConnected())
{
// Send the portion of the buffer now occupied by the message
link->writeBytes((const char*)buffer, len);
}
......@@ -506,25 +542,36 @@ void MAVLinkProtocol::enableLogging(bool enabled)
bool changed = false;
if (enabled != m_loggingEnabled) changed = true;
if (enabled) {
if (m_logfile && m_logfile->isOpen()) {
if (enabled)
{
if (m_logfile && m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
if (m_logfile) {
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append)) {
if (m_logfile)
{
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file. Stopping logging.").arg(m_logfile->fileName()));
m_loggingEnabled = false;
}
}
} else if (!enabled) {
if (m_logfile) {
if (m_logfile->isOpen()) {
else
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot start logging, no logfile selected."));
}
}
else if (!enabled)
{
if (m_logfile)
{
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
delete m_logfile;
m_logfile = NULL;
}
}
m_loggingEnabled = enabled;
......@@ -533,9 +580,12 @@ void MAVLinkProtocol::enableLogging(bool enabled)
void MAVLinkProtocol::setLogfileName(const QString& filename)
{
if (!m_logfile) {
if (!m_logfile)
{
m_logfile = new QFile(filename);
} else {
}
else
{
m_logfile->flush();
m_logfile->close();
}
......
src/ui/MAVLinkSettingsWidget.cc
View file @ 0eb7a24f
......@@ -161,12 +161,14 @@ void MAVLinkSettingsWidget::chooseLogfileName()
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink Logfile (*.mavlink);;"));
if (!fileName.endsWith(".mavlink")) {
if (!fileName.endsWith(".mavlink"))
{
fileName.append(".mavlink");
}
QFileInfo file(fileName);
if (file.exists() && !file.isWritable()) {
if (file.exists() && !file.isWritable())
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(tr("The selected logfile is not writable"));
......@@ -174,7 +176,9 @@ void MAVLinkSettingsWidget::chooseLogfileName()
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
} else {
}
else
{
updateLogfileName(fileName);
protocol->setLogfileName(fileName);
}
......@@ -189,12 +193,15 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
// Delete from all lists first
UDPLink* firstUdp = NULL;
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol);
foreach (LinkInterface* link, links) {
foreach (LinkInterface* link, links)
{
UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (udp) {
if (udp)
{
if (!firstUdp) firstUdp = udp;
// Remove current hosts
for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i) {
for (int i = 0; i < m_ui->droneOSComboBox->count(); ++i)
{
QString oldHostString = m_ui->droneOSComboBox->itemText(i);
oldHostString = hostString.split(":").first();
udp->removeHost(oldHostString);
......@@ -203,8 +210,10 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
}
// Re-add if enabled
if (enable) {
if (firstUdp) {
if (enable)
{
if (firstUdp)
{
firstUdp->addHost(hostString);
}
// Set key
......
src/ui/MainWindow.cc
View file @ 0eb7a24f
......@@ -51,7 +51,9 @@ This file is part of the QGROUNDCONTROL project
#include "QGCSettingsWidget.h"
#include "QGCMapTool.h"
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "QGCFirmwareUpdate.h"
#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
......@@ -237,7 +239,7 @@ MainWindow::~MainWindow()
// Get and delete all dockwidgets and contained
// widgets
QObjectList childList( this->children() );
QObjectList childList(this->children());
QObjectList::iterator i;
QDockWidget* dockWidget;
......@@ -251,12 +253,11 @@ MainWindow::~MainWindow()
// delete dockWidget->widget();
delete dockWidget;
}
else
else if (dynamic_cast<QObject*>(*i))
{
delete dynamic_cast<QObject*>(*i);
}
}
// Delete all UAS objects
}
......@@ -402,31 +403,42 @@ void MainWindow::buildCommonWidgets()
addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea);
}
if (!mavlinkSenderWidget)
{
mavlinkSenderWidget = new QDockWidget(tr("MAVLink Message Sender"), this);
mavlinkSenderWidget->setWidget( new QGCMAVLinkMessageSender(mavlink, this) );
mavlinkSenderWidget->setObjectName("MAVLINK_SENDER_DOCKWIDGET");
addTool(mavlinkSenderWidget, tr("MAVLink Sender"), Qt::RightDockWidgetArea);
}
//FIXME: memory of acceptList will never be freed again
QStringList* acceptList = new QStringList();
acceptList->append("-105,roll deg,deg,+105,s");
acceptList->append("-105,pitch deg,deg,+105,s");
acceptList->append("-105,heading deg,deg,+105,s");
acceptList->append("-3.3,ATTITUDE.roll,rad,+3.3,s");
acceptList->append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
acceptList->append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
//FIXME: memory of acceptList2 will never be freed again
QStringList* acceptList2 = new QStringList();
acceptList2->append("0,abs pressure,hPa,65500");
acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500");
if (!parametersDockWidget) {
if (!parametersDockWidget)
{
parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea);
}
if (!hsiDockWidget) {
if (!hsiDockWidget)
{
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea);
}
if (!headDown1DockWidget) {
if (!headDown1DockWidget)
{
headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this);
hdDisplay->addSource(mavlinkDecoder);
......@@ -435,7 +447,8 @@ void MainWindow::buildCommonWidgets()
addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea);
}
if (!headDown2DockWidget) {
if (!headDown2DockWidget)
{
headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this);
HDDisplay* hdDisplay = new HDDisplay(acceptList2, "Actuator Status", this);
hdDisplay->addSource(mavlinkDecoder);
......@@ -444,21 +457,24 @@ void MainWindow::buildCommonWidgets()
addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea);
}
if (!rcViewDockWidget) {
if (!rcViewDockWidget)
{
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea);
}
if (!headUpDockWidget) {
if (!headUpDockWidget)
{
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea);
}
if (!video1DockWidget) {
if (!video1DockWidget)
{
video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
QGCRGBDView* video1 = new QGCRGBDView(160, 120, this);
video1->enableHUDInstruments(false);
......@@ -469,7 +485,8 @@ void MainWindow::buildCommonWidgets()
addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea);
}
if (!video2DockWidget) {
if (!video2DockWidget)
{
video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
QGCRGBDView* video2 = new QGCRGBDView(160, 120, this);
video2->enableHUDInstruments(false);
......@@ -518,6 +535,12 @@ void MainWindow::buildCommonWidgets()
addCentralWidget(protocolWidget, "Mavlink Generator");
}
if (!firmwareUpdateWidget)
{
firmwareUpdateWidget = new QGCFirmwareUpdate(this);
addCentralWidget(firmwareUpdateWidget, "Firmware Update");
}
if (!hudWidget) {
hudWidget = new HUD(320, 240, this);
addCentralWidget(hudWidget, tr("Head Up Display"));
......@@ -608,7 +631,8 @@ void MainWindow::closeEvent(QCloseEvent *event)
*/
void MainWindow::connectCommonWidgets()
{
if (infoDockWidget && infoDockWidget->widget()) {
if (infoDockWidget && infoDockWidget->widget())
{
connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
}
......@@ -846,7 +870,8 @@ void MainWindow::selectStylesheet()
// Let user select style sheet
styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;"));
if (!styleFileName.endsWith(".css")) {
if (!styleFileName.endsWith(".css"))
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Information);
msgBox.setText(tr("QGroundControl did lot load a new style"));
......@@ -865,14 +890,18 @@ void MainWindow::reloadStylesheet()
{
// Load style sheet
QFile* styleSheet = new QFile(styleFileName);
if (!styleSheet->exists()) {
if (!styleSheet->exists())
{
styleSheet = new QFile(":/images/style-mission.css");
}
if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text)) {
if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
{
QString style = QString(styleSheet->readAll());
style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
qApp->setStyleSheet(style);
} else {
}
else
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Information);
msgBox.setText(tr("QGroundControl did lot load a new style"));
......@@ -940,6 +969,7 @@ void MainWindow::connectCommonActions()
perspectives->addAction(ui.actionMavlinkView);
perspectives->addAction(ui.actionPilotsView);
perspectives->addAction(ui.actionOperatorsView);
perspectives->addAction(ui.actionFirmwareUpdateView);
perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true);
......@@ -948,6 +978,7 @@ void MainWindow::connectCommonActions()
if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
if (currentView == VIEW_FIRMWAREUPDATE) ui.actionFirmwareUpdateView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The UAS actions are not enabled without connection to system
......@@ -978,7 +1009,9 @@ void MainWindow::connectCommonActions()
connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
connect(ui.actionFirmwareUpdateView, SIGNAL(triggered()), this, SLOT(loadFirmwareUpdateView()));
connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionReloadStylesheet, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
connect(ui.actionSelectStylesheet, SIGNAL(triggered()), this, SLOT(selectStylesheet()));
......@@ -1012,7 +1045,8 @@ void MainWindow::connectCommonActions()
void MainWindow::showHelp()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start")))
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open help in browser");
......@@ -1025,7 +1059,8 @@ void MainWindow::showHelp()
void MainWindow::showCredits()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits")))
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open credits in browser");
......@@ -1038,7 +1073,8 @@ void MainWindow::showCredits()
void MainWindow::showRoadMap()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap"))) {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap")))
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open roadmap in browser");
......@@ -1051,8 +1087,10 @@ void MainWindow::showRoadMap()
void MainWindow::configure()
{
if (!joystickWidget) {
if (!joystick->isRunning()) {
if (!joystickWidget)
{
if (!joystick->isRunning())
{
joystick->start();
}
joystickWidget = new JoystickWidget(joystick);
......@@ -1080,8 +1118,10 @@ void MainWindow::addLink()
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions) {
if (act->data().toInt() == linkID) { // LinkManager::instance()->getLinks().indexOf(link)
foreach (QAction* act, actions)
{
if (act->data().toInt() == linkID)
{ // LinkManager::instance()->getLinks().indexOf(link)
act->trigger();
break;
}
......@@ -1105,15 +1145,18 @@ void MainWindow::addLink(LinkInterface *link)
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions) {
if (act->data().toInt() == linkID) { // LinkManager::instance()->getLinks().indexOf(link)
foreach (QAction* act, actions)
{
if (act->data().toInt() == linkID)
{ // LinkManager::instance()->getLinks().indexOf(link)
found = true;
}
}
//UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (!found) { // || udp
if (!found)
{ // || udp
CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
QAction* action = commWidget->getAction();
ui.menuNetwork->addAction(action);
......@@ -1274,13 +1317,17 @@ void MainWindow::UASCreated(UASInterface* uas)
if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
{
int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
switch (view) {
switch (view)
{
case VIEW_ENGINEER:
loadEngineerView();
break;
case VIEW_MAVLINK:
loadMAVLinkView();
break;
case VIEW_FIRMWAREUPDATE:
loadFirmwareUpdateView();
break;
case VIEW_PILOT:
loadPilotView();
break;
......@@ -1358,6 +1405,7 @@ void MainWindow::loadViewState()
debugConsoleDockWidget->show();
logPlayerDockWidget->show();
mavlinkInspectorWidget->show();
mavlinkSenderWidget->show();
parametersDockWidget->show();
hsiDockWidget->hide();
headDown1DockWidget->hide();
......@@ -1393,7 +1441,27 @@ void MainWindow::loadViewState()
infoDockWidget->hide();
debugConsoleDockWidget->hide();
logPlayerDockWidget->hide();
mavlinkInspectorWidget->show();
mavlinkSenderWidget->show();
parametersDockWidget->hide();
hsiDockWidget->hide();
headDown1DockWidget->hide();
headDown2DockWidget->hide();
rcViewDockWidget->hide();
headUpDockWidget->hide();
video1DockWidget->hide();
video2DockWidget->hide();
break;
case VIEW_FIRMWAREUPDATE:
centerStack->setCurrentWidget(firmwareUpdateWidget);
controlDockWidget->hide();
listDockWidget->hide();
waypointsDockWidget->hide();
infoDockWidget->hide();
debugConsoleDockWidget->hide();
logPlayerDockWidget->hide();
mavlinkInspectorWidget->hide();
mavlinkSenderWidget->hide();
parametersDockWidget->hide();
hsiDockWidget->hide();
headDown1DockWidget->hide();
......@@ -1506,6 +1574,17 @@ void MainWindow::loadMAVLinkView()
}
}
void MainWindow::loadFirmwareUpdateView()
{
if (currentView != VIEW_FIRMWAREUPDATE)
{
storeViewState();
currentView = VIEW_FIRMWAREUPDATE;
ui.actionFirmwareUpdateView->setChecked(true);
loadViewState();
}
}
void MainWindow::loadDataView(QString fileName)
{
// Plot is now selected, now load data from file
......
src/ui/MainWindow.h
View file @ 0eb7a24f
......@@ -55,7 +55,6 @@ This file is part of the QGROUNDCONTROL project
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "DebugConsole.h"
//#include "MapWidget.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
......@@ -80,6 +79,8 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkDecoder.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen;
/**
......@@ -154,6 +155,8 @@ public slots:
void loadOperatorView();
/** @brief Load MAVLink XML generator view */
void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Show the online help for users */
void showHelp();
......@@ -241,13 +244,11 @@ protected:
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_FIRMWAREUPDATE,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
// QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
// QHash<int, QWidget*> dockWidgets; // Holds ptr to the Actual Dock widget
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
*
......@@ -314,12 +315,10 @@ protected:
#ifdef QGC_OSG_ENABLED
QPointer<QWidget> _3DWidget;
#endif
#ifdef QGC_OSGEARTH_ENABLED
QPointer<QWidget> _3DMapWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
......@@ -353,6 +352,7 @@ protected:
QPointer<QDockWidget> mavlinkInspectorWidget;
QPointer<MAVLinkDecoder> mavlinkDecoder;
QPointer<QDockWidget> mavlinkSenderWidget;
QGCMAVLinkLogPlayer* logPlayer;
// Popup widgets
......
src/ui/MainWindow.ui
View file @ 0eb7a24f
......@@ -51,7 +51,7 @@
<x>0</x>
<y>0</y>
<width>800</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......@@ -108,7 +108,7 @@
</widget>
<widget class="QMenu" name="menuTools">
<property name="title">
<string>Widgets</string>
<string>Tool Widgets</string>
</property>
<addaction name="actionNewCustomWidget"/>
<addaction name="actionLoadCustomWidgetFile"/>
......@@ -129,6 +129,7 @@
<addaction name="actionEngineersView"/>
<addaction name="actionPilotsView"/>
<addaction name="separator"/>
<addaction name="actionFirmwareUpdateView"/>
<addaction name="actionMavlinkView"/>
<addaction name="actionUnconnectedView"/>
<addaction name="separator"/>
......@@ -137,16 +138,22 @@
</widget>
<widget class="QMenu" name="menuMain">
<property name="title">
<string>Main</string>
<string>Main Widget</string>
</property>
</widget>
<widget class="QMenu" name="menuPlugins">
<property name="title">
<string>Plugins</string>
</property>
</widget>
<addaction name="menuMGround"/>
<addaction name="menuNetwork"/>
<addaction name="menuConnected_Systems"/>
<addaction name="menuUnmanned_System"/>
<addaction name="menuPerspectives"/>
<addaction name="menuMain"/>
<addaction name="menuTools"/>
<addaction name="menuPerspectives"/>
<addaction name="menuPlugins"/>
<addaction name="menuHelp"/>
</widget>
<widget class="QStatusBar" name="statusBar"/>
......@@ -466,6 +473,18 @@
<string>Load Custom Widget File</string>
</property>
</action>
<action name="actionFirmwareUpdateView">
<property name="icon">
<iconset resource="../../qgroundcontrol.qrc">
<normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
</property>
<property name="text">
<string>Firmware Update</string>
</property>
<property name="toolTip">
<string>Update the firmware of one of the connected autopilots</string>
</property>
</action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources>
......
src/ui/QGCFirmwareUpdate.ui
View file @ 0eb7a24f
......@@ -6,13 +6,21 @@
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
<width>596</width>
<height>343</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QComboBox" name="autopilotComboBox"/>
</item>
<item row="1" column="0">
<widget class="QWidget" name="widget" native="true"/>
</item>
</layout>
</widget>
<resources/>
<connections/>
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ 0eb7a24f
......@@ -21,6 +21,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
mavlinkLogFormat(true),
binaryBaudRate(57600),
isPlaying(false),
currPacketCount(0),
ui(new Ui::QGCMAVLinkLogPlayer)
{
ui->setupUi(this);
......@@ -102,6 +103,7 @@ void QGCMAVLinkLogPlayer::play()
loopTimer.start(interval*accelerationFactor);
}
isPlaying = true;
ui->logStatsLabel->setText(tr("Started playing.."));
ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg"));
}
else
......@@ -272,7 +274,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
minutes -= 60*hours;
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))).arg(timelabel));
currPacketCount = logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64));
ui->logStatsLabel->setText(tr("%2 MB, %3 packets, %4").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(currPacketCount).arg(timelabel));
}
else
{
......@@ -302,6 +305,10 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2);
ui->logStatsLabel->setText(tr("%2 MB, %4 at %5 KB/s").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(timelabel).arg(binaryBaudRate/10.0f/1024.0f, 0, 'f', 2));
}
// Reset current state
reset(0);
return true;
}
}
......@@ -458,7 +465,7 @@ void QGCMAVLinkLogPlayer::logLoop()
// Update status label
// Update progress bar
if (loopCounter % 40 == 0)
if (loopCounter % 40 == 0 || currPacketCount < 500)
{
QFileInfo logFileInfo(logFile);
int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size()));
......
src/ui/QGCMAVLinkLogPlayer.h
View file @ 0eb7a24f
......@@ -78,6 +78,7 @@ protected:
bool mavlinkLogFormat;
int binaryBaudRate;
bool isPlaying;
unsigned int currPacketCount;
static const int packetLen = MAVLINK_MAX_PACKET_LEN;
static const int timeLen = sizeof(quint64);
void changeEvent(QEvent *e);
......
src/ui/QGCPluginHost.cc 0 → 100644
View file @ 0eb7a24f
#include "QGCPluginHost.h"
#include "ui_QGCPluginHost.h"
QGCPluginHost::QGCPluginHost(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCPluginHost)
{
ui->setupUi(this);
}
QGCPluginHost::~QGCPluginHost()
{
delete ui;
}
src/ui/QGCPluginHost.h 0 → 100644
View file @ 0eb7a24f
#ifndef QGCPLUGINHOST_H
#define QGCPLUGINHOST_H
#include <QWidget>
namespace Ui {
class QGCPluginHost;
}
class QGCPluginHost : public QWidget
{
Q_OBJECT
public:
explicit QGCPluginHost(QWidget *parent = 0);
~QGCPluginHost();
private:
Ui::QGCPluginHost *ui;
};
#endif // QGCPLUGINHOST_H
src/ui/QGCPluginHost.ui 0 → 100644
View file @ 0eb7a24f
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCPluginHost</class>
<widget class="QWidget" name="QGCPluginHost">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>633</width>
<height>329</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QListWidget" name="pluginListWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>256</width>
<height>271</height>
</rect>
</property>
</widget>
<widget class="QTextEdit" name="pluginLog">
<property name="geometry">
<rect>
<x>280</x>
<y>30</y>
<width>341</width>
<height>271</height>
</rect>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>121</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Loaded Plugins</string>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>280</x>
<y>10</y>
<width>91</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Plugin Log</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>
src/ui/QGCToolBar.cc
View file @ 0eb7a24f
......@@ -45,7 +45,7 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
toggleLoggingAction = new QAction(QIcon(":"), "Logging", this);
toggleLoggingAction->setCheckable(true);
logReplayAction = new QAction(QIcon(":"), "Replay", this);
logReplayAction->setCheckable(true);
logReplayAction->setCheckable(false);
addAction(toggleLoggingAction);
addAction(logReplayAction);
......@@ -101,8 +101,8 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
{
this->player = player;
connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
}
void QGCToolBar::playLogFile(bool enabled)
......@@ -143,7 +143,7 @@ void QGCToolBar::logging(bool enabled)
}
QFileInfo file(fileName);
if (file.exists() && !file.isWritable())
if ((file.exists() && !file.isWritable()))
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
......
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc 0 → 100644
View file @ 0eb7a24f
#include "QGCFirmwareUpdateWidget.h"
#include "ui_QGCFirmwareUpdateWidget.h"
QGCFirmwareUpdateWidget::QGCFirmwareUpdateWidget(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCFirmwareUpdateWidget)
{
ui->setupUi(this);
}
QGCFirmwareUpdateWidget::~QGCFirmwareUpdateWidget()
{
delete ui;
}
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h 0 → 100644
View file @ 0eb7a24f
#ifndef QGCFIRMWAREUPDATEWIDGET_H
#define QGCFIRMWAREUPDATEWIDGET_H
#include <QWidget>
namespace Ui {
class QGCFirmwareUpdateWidget;
}
class QGCFirmwareUpdateWidget : public QWidget
{
Q_OBJECT
public:
explicit QGCFirmwareUpdateWidget(QWidget *parent = 0);
~QGCFirmwareUpdateWidget();
private:
Ui::QGCFirmwareUpdateWidget *ui;
};
#endif // QGCFIRMWAREUPDATEWIDGET_H
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui 0 → 100644
View file @ 0eb7a24f
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCFirmwareUpdateWidget</class>
<widget class="QWidget" name="QGCFirmwareUpdateWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>638</width>
<height>412</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>1) Select Autopilot</string>
</property>
</widget>
</item>
<item row="1" column="0" colspan="2">
<widget class="QListWidget" name="autopilotListWidget"/>
</item>
<item row="1" column="2">
<widget class="QTextEdit" name="textEdit">
<property name="readOnly">
<bool>true</bool>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;Autopilot Selection&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Select one of the connected autopilots from the list on the left.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="1" column="3" rowspan="4" colspan="2">
<widget class="QTextEdit" name="firmwareInfo">
<property name="readOnly">
<bool>true</bool>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;AP Firmware v0.9.1&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;This software update...&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;FIXES:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;- Fix1&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;FEATURES:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;- New feature 1&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="label_3">
<property name="text">
<string>2) Select Software Version</string>
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<widget class="QListWidget" name="firmwareListWidget"/>
</item>
<item row="3" column="2" rowspan="2">
<widget class="QTextEdit" name="textEdit_2">
<property name="readOnly">
<bool>true</bool>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:14px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:large; font-weight:600;&quot;&gt;Software Version Selection&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Select the software version from the online repository on the left or choose the select file button to load a file from the harddisk. Detail information is shown on the right.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="selectFileButton">
<property name="text">
<string>Select File..</string>
</property>
</widget>
</item>
<item row="5" column="0" rowspan="2" colspan="5">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="6" column="4" rowspan="2">
<widget class="QPushButton" name="flashFirmwareButton">
<property name="text">
<string>Flash Firmware</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Status</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc 0 → 100644
View file @ 0eb7a24f
#include "QGCPX4FirmwareUpdate.h"
#include "ui_QGCPX4FirmwareUpdate.h"
QGCPX4FirmwareUpdate::QGCPX4FirmwareUpdate(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCPX4FirmwareUpdate)
{
ui->setupUi(this);
}
QGCPX4FirmwareUpdate::~QGCPX4FirmwareUpdate()
{
delete ui;
}
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h 0 → 100644
View file @ 0eb7a24f
#ifndef QGCPX4FIRMWAREUPDATE_H
#define QGCPX4FIRMWAREUPDATE_H
#include <QWidget>
namespace Ui {
class QGCPX4FirmwareUpdate;
}
class QGCPX4FirmwareUpdate : public QWidget
{
Q_OBJECT
public:
explicit QGCPX4FirmwareUpdate(QWidget *parent = 0);
~QGCPX4FirmwareUpdate();
private:
Ui::QGCPX4FirmwareUpdate *ui;
};
#endif // QGCPX4FIRMWAREUPDATE_H
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui 0 → 100644
View file @ 0eb7a24f
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCPX4FirmwareUpdate</class>
<widget class="QWidget" name="QGCPX4FirmwareUpdate">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0" colspan="4">
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>2</number>
</property>
<widget class="QWidget" name="firmwareSelectTab">
<attribute name="title">
<string>Firmware</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
<property name="leftMargin">
<number>6</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
<number>6</number>
</property>
<item row="0" column="0" colspan="2">
<widget class="QListWidget" name="fileList"/>
</item>
<item row="1" column="0">
<widget class="QLineEdit" name="fileLineEdit"/>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="selectFileButton">
<property name="text">
<string>Select File</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="settingsBackupTab">
<attribute name="title">
<string>Settings</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QLineEdit" name="lineEdit"/>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="settingsStoreButton">
<property name="text">
<string>Select File</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="flashTab">
<attribute name="title">
<string>Flash Firmware</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<widget class="QLabel" name="fileLabel">
<property name="text">
<string>Filename</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="statusLabel">
<property name="text">
<string>Status</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QPushButton" name="flashButton">
<property name="text">
<string>Flash Firmware</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>Prev</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="text">
<string>Next</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QPushButton" name="pushButton_3">
<property name="text">
<string>Flash</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/linechart/LinechartPlot.cc
View file @ 0eb7a24f
......@@ -35,8 +35,8 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
minTime(0),
lastTime(0),
maxTime(100),
plotPosition(0),
maxInterval(MAX_STORAGE_INTERVAL),
plotPosition(0),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false),
m_active(false),
......
src/ui/linechart/LinechartPlot.h
View file @ 0eb7a24f
......@@ -298,8 +298,8 @@ protected:
// TODO CHECK THIS!!!
int scaling;
QwtScaleEngine* yScaleEngine;
quint64 lastTime; ///< Last added timestamp
quint64 minTime; ///< The smallest timestamp occured so far
quint64 lastTime; ///< Last added timestamp
quint64 maxTime; ///< The biggest timestamp occured so far
quint64 maxInterval;
quint64 storageInterval;
......
src/ui/map3D/Pixhawk3DWidget.cc
View file @ 0eb7a24f
......@@ -663,15 +663,19 @@ void
Pixhawk3DWidget::getPosition(double& x, double& y, double& z,
QString& utmZone)
{
if (uas) {
if (frame == MAV_FRAME_GLOBAL) {
if (uas)
{
if (frame == MAV_FRAME_GLOBAL)
{
double latitude = uas->getLatitude();
double longitude = uas->getLongitude();
double altitude = uas->getAltitude();
Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
z = -altitude;
} else if (frame == MAV_FRAME_LOCAL_NED) {
}
else if (frame == MAV_FRAME_LOCAL_NED)
{
x = uas->getLocalX();
y = uas->getLocalY();
z = uas->getLocalZ();
......@@ -881,7 +885,8 @@ Pixhawk3DWidget::resizeHUD(void)
int bottomHUDHeight = 25;
osg::Vec3Array* vertices = static_cast<osg::Vec3Array*>(hudBackgroundGeometry->getVertexArray());
if (vertices == NULL || vertices->size() != 8) {
if (vertices == NULL || vertices->size() != 8)
{
osg::ref_ptr<osg::Vec3Array> newVertices = new osg::Vec3Array(8);
hudBackgroundGeometry->setVertexArray(newVertices);
......@@ -899,7 +904,8 @@ Pixhawk3DWidget::resizeHUD(void)
statusText->setPosition(osg::Vec3(10, height() - 15, -1.5));
if (rgb2DGeode.valid() && depth2DGeode.valid()) {
if (rgb2DGeode.valid() && depth2DGeode.valid())
{
int windowWidth = (width() - 20) / 2;
int windowHeight = 3 * windowWidth / 4;
rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2,
......@@ -922,7 +928,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
std::ostringstream oss;
oss.setf(std::ios::fixed, std::ios::floatfield);
oss.precision(2);
if (frame == MAV_FRAME_GLOBAL) {
if (frame == MAV_FRAME_GLOBAL)
{
double latitude, longitude;
Imagery::UTMtoLL(robotX, robotY, utmZone, latitude, longitude);
......@@ -943,7 +950,9 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
oss.precision(6);
oss << " Cursor [" << cursorLatitude <<
" " << cursorLongitude << "]";
} else if (frame == MAV_FRAME_LOCAL_NED) {
}
else if (frame == MAV_FRAME_LOCAL_NED)
{
oss << " x = " << robotX <<
" y = " << robotY <<
" z = " << robotZ <<
......@@ -957,7 +966,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
statusText->setText(oss.str());
bool darkBackground = true;
if (mapNode->getImageryType() == Imagery::GOOGLE_MAP) {
if (mapNode->getImageryType() == Imagery::GOOGLE_MAP)
{
darkBackground = false;
}
......@@ -968,34 +978,44 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
void
Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ)
{
if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f) {
if (robotX == 0.0f || robotY == 0.0f || robotZ == 0.0f)
{
return;
}
bool addToTrail = false;
if (trail.size() > 0) {
if (trail.size() > 0)
{
if (fabs(robotX - trail[trail.size() - 1].x()) > 0.01f ||
fabs(robotY - trail[trail.size() - 1].y()) > 0.01f ||
fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f) {
fabs(robotZ - trail[trail.size() - 1].z()) > 0.01f)
{
addToTrail = true;
}
} else {
}
else
{
addToTrail = true;
}
if (addToTrail) {
if (addToTrail)
{
osg::Vec3d p(robotX, robotY, robotZ);
if (trail.size() == trail.capacity()) {
if (trail.size() == trail.capacity())
{
memcpy(trail.data(), trail.data() + 1,
(trail.size() - 1) * sizeof(osg::Vec3d));
trail[trail.size() - 1] = p;
} else {
}
else
{
trail.append(p);
}
}
trailVertices->clear();
for (int i = 0; i < trail.size(); ++i) {
for (int i = 0; i < trail.size(); ++i)
{
trailVertices->push_back(osg::Vec3d(trail[i].y() - robotY,
trail[i].x() - robotX,
-(trail[i].z() - robotZ)));
......@@ -1010,12 +1030,14 @@ void
Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
const QString& zone)
{
if (mapNode->getImageryType() == Imagery::BLANK_MAP) {
if (mapNode->getImageryType() == Imagery::BLANK_MAP)
{
return;
}
double viewingRadius = cameraManipulator->getDistance() * 10.0;
if (viewingRadius < 100.0) {
if (viewingRadius < 100.0)
{
viewingRadius = 100.0;
}
......@@ -1024,7 +1046,8 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
double maxResolution = 1048576.0;
Imagery::ImageryType imageryType = mapNode->getImageryType();
switch (imageryType) {
switch (imageryType)
{
case Imagery::GOOGLE_MAP:
minResolution = 0.25;
break;
......@@ -1040,10 +1063,13 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
}
double resolution = minResolution;
while (resolution * 2.0 < centerResolution) {
while (resolution * 2.0 < centerResolution)
{
resolution *= 2.0;
}
if (resolution > maxResolution) {
if (resolution > maxResolution)
{
resolution = maxResolution;
}
......@@ -1057,14 +1083,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
zone);
// prefetch map tiles
if (resolution / 2.0 >= minResolution) {
if (resolution / 2.0 >= minResolution)
{
mapNode->prefetch3D(viewingRadius / 2.0,
resolution / 2.0,
cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(),
zone);
}
if (resolution * 2.0 <= maxResolution) {
if (resolution * 2.0 <= maxResolution)
{
mapNode->prefetch3D(viewingRadius * 2.0,
resolution * 2.0,
cameraManipulator->getCenter().y(),
......
src/ui/mavlink/QGCMAVLinkMessageSender.cc 0 → 100644
View file @ 0eb7a24f
#include "QGCMAVLinkMessageSender.h"
#include "ui_QGCMAVLinkMessageSender.h"
#include "MAVLinkProtocol.h"
QGCMAVLinkMessageSender::QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidget *parent) :
QWidget(parent),
protocol(mavlink),
ui(new Ui::QGCMAVLinkMessageSender)
{
ui->setupUi(this);
mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
QStringList header;
header << tr("Name");
header << tr("Value");
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
createTreeView();
connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
refreshTimer.start(1000); // Refresh at 1 Hz interval
}
void QGCMAVLinkMessageSender::refresh()
{
unsigned int maxUpdateRate = 0;
// Send messages
foreach (unsigned int i, managementItems.keys())
{
if (!sendTimers.contains(i))
{
//sendTimers.insert(i, new QTimer())
}
}
// ui->treeWidget->topLevelItem(0)->children();
}
bool QGCMAVLinkMessageSender::sendMessage(unsigned int msgid)
{
bool result = true;
if (treeWidgetItems.contains(msgid))
{
// Fill message fields
mavlink_message_t msg;
QList<QTreeWidgetItem*> fields;// = treeWidgetItems.value(msgid)->;
for (unsigned int i = 0; i < messageInfo[msgid].num_fields; ++i)
{
QTreeWidgetItem* field = fields.at(i);
int fieldid = i;
uint8_t* m = ((uint8_t*)(&msg))+8;
switch (messageInfo[msgid].fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// Copy data
QString string = field->data(1, Qt::DisplayRole).toString();
// Copy string size
int len = qMin((unsigned int)string.length(), messageInfo[msgid].fields[fieldid].array_length);
memcpy(str, string.toStdString().c_str(), len);
// Enforce null termination
str[len-1] = '\0';
}
else
{
// Single char
char* b = ((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
*b = field->data(1, Qt::DisplayRole).toChar().toAscii();
}
break;
case MAVLINK_TYPE_UINT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
if (field->data(1, Qt::DisplayRole).toString().split(" ").size() > j)
{
nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toInt();
}
}
}
else
{
// Single value
uint8_t* u = (m+messageInfo[msgid].fields[fieldid].wire_offset);
*u = field->data(1, Qt::DisplayRole).toChar().toAscii();
}
break;
// case MAVLINK_TYPE_INT8_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// if (field->data(1, DisplayRole).toString().split(" ").size() > j)
// {
// nums[j] = field->data(1, DisplayRole).toString().split(" ").at(j).toInt();
// }
// }
// item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "int8_t");
// item->setData(1, Qt::DisplayRole, n);
// }
// break;
// case MAVLINK_TYPE_UINT16_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "uint16_t");
// item->setData(1, Qt::DisplayRole, n);
// }
// break;
// case MAVLINK_TYPE_INT16_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "int16_t");
// item->setData(1, Qt::DisplayRole, n);
// }
// break;
// case MAVLINK_TYPE_UINT32_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "uint32_t");
// item->setData(1, Qt::DisplayRole, n);
// }
// break;
// case MAVLINK_TYPE_INT32_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "int32_t");
// item->setData(1, Qt::DisplayRole, n);
// }
// break;
// case MAVLINK_TYPE_FLOAT:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "float");
// item->setData(1, Qt::DisplayRole, f);
// }
// break;
// case MAVLINK_TYPE_DOUBLE:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "double");
// item->setData(1, Qt::DisplayRole, f);
// }
// break;
// case MAVLINK_TYPE_UINT64_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "uint64_t");
// item->setData(1, Qt::DisplayRole, (quint64) n);
// }
// break;
// case MAVLINK_TYPE_INT64_T:
// if (messageInfo[msgid].fields[fieldid].array_length > 0)
// {
// int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
// // Enforce null termination
// QString tmp("%1, ");
// QString string;
// for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
// {
// string += tmp.arg(nums[j]);
// }
// item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
// item->setData(1, Qt::DisplayRole, string);
// }
// else
// {
// // Single value
// int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
// item->setData(2, Qt::DisplayRole, "int64_t");
// item->setData(1, Qt::DisplayRole, (qint64) n);
// }
// break;
}
}
}
else
{
result = false;
}
return result;
}
QGCMAVLinkMessageSender::~QGCMAVLinkMessageSender()
{
delete ui;
}
void QGCMAVLinkMessageSender::createTreeView()
{
for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages)
{
// Update the tree view
QString messageName("%1 (%2 Hz, #%3)");
float msgHz = messagesHz.value(i, 0);
// Ignore non-existent messages
if (QString(messageInfo[i].name) == "EMPTY") continue;
messageName = messageName.arg(messageInfo[i].name).arg(msgHz, 3, 'f', 1).arg(i);
if (!treeWidgetItems.contains(i))
{
QStringList fields;
fields << messageName;
QTreeWidgetItem* widget = new QTreeWidgetItem(fields);
widget->setFirstColumnSpanned(true);
for (unsigned int j = 0; j < messageInfo[i].num_fields; ++j)
{
QTreeWidgetItem* field = new QTreeWidgetItem();
widget->addChild(field);
}
treeWidgetItems.insert(i, widget);
ui->treeWidget->addTopLevelItem(widget);
QTreeWidgetItem* message = widget;//treeWidgetItems.value(msg->msgid);
message->setFirstColumnSpanned(true);
message->setData(0, Qt::DisplayRole, QVariant(messageName));
for (unsigned int j = 0; j < messageInfo[i].num_fields; ++j)
{
createField(i, j, message->child(j));
}
// Add management fields, such as update rate and send button
// QTreeWidgetItem* management = new QTreeWidgetItem();
// widget->addChild(management);
// management->setData(0, Qt::DisplayRole, "Rate:");
// management->setData(1, Qt::DisplayRole, 0);
// management->setData(2, Qt::DisplayRole, "Hz");
// managementItems.insert(i, management);
}
}
}
void QGCMAVLinkMessageSender::createField(int msgid, int fieldid, QTreeWidgetItem* item)
{
// Add field tree widget item
item->setData(0, Qt::DisplayRole, QVariant(messageInfo[msgid].fields[fieldid].name));
//uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
switch (messageInfo[msgid].fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
item->setData(2, Qt::DisplayRole, "char");
item->setData(1, Qt::DisplayRole, "");
}
else
{
// Single char
item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, "");
}
break;
case MAVLINK_TYPE_UINT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "uint8_t");
item->setData(1, Qt::DisplayRole, 0);
}
break;
case MAVLINK_TYPE_INT8_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "int8_t");
item->setData(1, Qt::DisplayRole, 0);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "uint16_t");
item->setData(1, Qt::DisplayRole, 0);
}
break;
case MAVLINK_TYPE_INT16_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "int16_t");
item->setData(1, Qt::DisplayRole, 0);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "uint32_t");
item->setData(1, Qt::DisplayRole, 0);
}
break;
case MAVLINK_TYPE_INT32_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "int32_t");
item->setData(1, Qt::DisplayRole, 0);
}
break;
case MAVLINK_TYPE_FLOAT:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0.0f);
}
item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "float");
item->setData(1, Qt::DisplayRole, 0.0f);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "double");
item->setData(1, Qt::DisplayRole, 0.0);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "uint64_t");
item->setData(1, Qt::DisplayRole, (quint64) 0);
}
break;
case MAVLINK_TYPE_INT64_T:
if (messageInfo[msgid].fields[fieldid].array_length > 0)
{
// Enforce null termination
QString tmp("%1, ");
QString string;
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
{
string += tmp.arg(0);
}
item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
item->setData(1, Qt::DisplayRole, string);
}
else
{
// Single value
item->setData(2, Qt::DisplayRole, "int64_t");
item->setData(1, Qt::DisplayRole, (qint64) 0);
}
break;
}
}
src/ui/mavlink/QGCMAVLinkMessageSender.h 0 → 100644
View file @ 0eb7a24f
#ifndef QGCMAVLINKMESSAGESENDER_H
#define QGCMAVLINKMESSAGESENDER_H
#include <QWidget>
#include <QTreeWidgetItem>
#include <QMap>
#include <QTimer>
#include "MAVLinkProtocol.h"
namespace Ui {
class QGCMAVLinkMessageSender;
}
class QGCMAVLinkMessageSender : public QWidget
{
Q_OBJECT
friend class QTimer;
public:
explicit QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidget *parent = 0);
~QGCMAVLinkMessageSender();
protected:
mavlink_message_info_t messageInfo[256]; ///< Meta information about all messages
MAVLinkProtocol* protocol; ///< MAVLink protocol
QMap<int, float> messagesHz; ///< Used to store update rate in Hz
QTimer refreshTimer;
QMap<unsigned int, QTimer*> sendTimers;
QMap<unsigned int, QTreeWidgetItem*> managementItems;
QMap<unsigned int, QTreeWidgetItem*> treeWidgetItems; ///< Messages
/** @brief Create the tree view of all messages */
void createTreeView();
/** @brief Create one field of one message in the tree view of all messages */
void createField(int msgid, int fieldid, QTreeWidgetItem* item);
/** @brief Send message with values taken from tree view */
bool sendMessage(unsigned int id);
protected slots:
/** @brief Read / display values in UI */
void refresh();
private:
Ui::QGCMAVLinkMessageSender *ui;
};
#endif // QGCMAVLINKMESSAGESENDER_H
src/ui/mavlink/QGCMAVLinkMessageSender.ui 0 → 100644
View file @ 0eb7a24f
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCMAVLinkMessageSender</class>
<widget class="QWidget" name="QGCMAVLinkMessageSender">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>6</number>
</property>
<item row="0" column="0" colspan="2">
<widget class="QTreeWidget" name="treeWidget">
<column>
<property name="text">
<string notr="true">1</string>
</property>
</column>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
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