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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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qgroundcontrol.pro
View file @ 0eb7a24f
...@@ -235,7 +235,11 @@ FORMS += src/ui/MainWindow.ui \ ...@@ -235,7 +235,11 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCMAVLinkInspector.ui \ src/ui/QGCMAVLinkInspector.ui \
src/ui/WaypointViewOnlyView.ui \ src/ui/WaypointViewOnlyView.ui \
src/ui/WaypointEditableView.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 \ INCLUDEPATH += src \
src/ui \ src/ui \
src/ui/linechart \ src/ui/linechart \
...@@ -353,7 +357,11 @@ HEADERS += src/MG.h \ ...@@ -353,7 +357,11 @@ HEADERS += src/MG.h \
src/ui/WaypointViewOnlyView.h \ src/ui/WaypointViewOnlyView.h \
src/ui/WaypointEditableView.h \ src/ui/WaypointEditableView.h \
src/ui/UnconnectedUASInfoWidget.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 # 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 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
...@@ -481,7 +489,11 @@ SOURCES += src/main.cc \ ...@@ -481,7 +489,11 @@ SOURCES += src/main.cc \
src/ui/WaypointViewOnlyView.cc \ src/ui/WaypointViewOnlyView.cc \
src/ui/WaypointEditableView.cc \ src/ui/WaypointEditableView.cc \
src/ui/UnconnectedUASInfoWidget.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 # 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 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() : ...@@ -63,8 +63,10 @@ MAVLinkProtocol::MAVLinkProtocol() :
totalLossCounter = 0; totalLossCounter = 0;
currReceiveCounter = 0; currReceiveCounter = 0;
currLossCounter = 0; currLossCounter = 0;
for (int i = 0; i < 256; i++) { for (int i = 0; i < 256; i++)
for (int j = 0; j < 256; j++) { {
for (int j = 0; j < 256; j++)
{
lastIndex[i][j] = -1; lastIndex[i][j] = -1;
} }
} }
...@@ -83,9 +85,12 @@ void MAVLinkProtocol::loadSettings() ...@@ -83,9 +85,12 @@ void MAVLinkProtocol::loadSettings()
enableMultiplexing(settings.value("MULTIPLEXING_ENABLED", m_multiplexingEnabled).toBool()); enableMultiplexing(settings.value("MULTIPLEXING_ENABLED", m_multiplexingEnabled).toBool());
// Only set logfile if there is a name present in settings // 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()); 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"); m_logfile = new QFile(QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink");
} }
// Enable logging // Enable logging
...@@ -93,7 +98,8 @@ void MAVLinkProtocol::loadSettings() ...@@ -93,7 +98,8 @@ void MAVLinkProtocol::loadSettings()
// Only set system id if it was valid // Only set system id if it was valid
int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt(); int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
if (temp > 0 && temp < 256) { if (temp > 0 && temp < 256)
{
systemId = temp; systemId = temp;
} }
...@@ -123,7 +129,8 @@ void MAVLinkProtocol::storeSettings() ...@@ -123,7 +129,8 @@ void MAVLinkProtocol::storeSettings()
settings.setValue("GCS_SYSTEM_ID", systemId); settings.setValue("GCS_SYSTEM_ID", systemId);
settings.setValue("GCS_AUTH_KEY", m_authKey); settings.setValue("GCS_AUTH_KEY", m_authKey);
settings.setValue("GCS_AUTH_ENABLED", m_authEnabled); settings.setValue("GCS_AUTH_ENABLED", m_authEnabled);
if (m_logfile) { if (m_logfile)
{
// Logfile exists, store the name // Logfile exists, store the name
settings.setValue("LOGFILE_NAME", m_logfile->fileName()); settings.setValue("LOGFILE_NAME", m_logfile->fileName());
} }
...@@ -139,20 +146,26 @@ void MAVLinkProtocol::storeSettings() ...@@ -139,20 +146,26 @@ void MAVLinkProtocol::storeSettings()
MAVLinkProtocol::~MAVLinkProtocol() MAVLinkProtocol::~MAVLinkProtocol()
{ {
storeSettings(); storeSettings();
if (m_logfile) { if (m_logfile)
if (m_logfile->isOpen()) { {
if (m_logfile->isOpen())
{
m_logfile->flush(); m_logfile->flush();
m_logfile->close(); m_logfile->close();
} }
delete m_logfile; delete m_logfile;
m_logfile = NULL;
} }
} }
QString MAVLinkProtocol::getLogfileName() QString MAVLinkProtocol::getLogfileName()
{ {
if (m_logfile) { if (m_logfile)
{
return m_logfile->fileName(); return m_logfile->fileName();
} else { }
else
{
return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink"; return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink";
} }
} }
...@@ -174,7 +187,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -174,7 +187,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
for (int position = 0; position < b.size(); position++) { for (int position = 0; position < b.size(); position++) {
unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status); 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 //#ifdef MAVLINK_MESSAGE_LENGTHS
// const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS; // const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
// if (message.msgid >= sizeof(message_lengths) || // if (message.msgid >= sizeof(message_lengths) ||
...@@ -216,7 +230,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -216,7 +230,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
#endif #endif
// Log data // Log data
if (m_loggingEnabled && m_logfile) { if (m_loggingEnabled && m_logfile)
{
const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64); const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
uint8_t buf[len]; uint8_t buf[len];
quint64 time = QGC::groundTimeUsecs(); quint64 time = QGC::groundTimeUsecs();
...@@ -224,7 +239,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -224,7 +239,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Write message to buffer // Write message to buffer
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message); mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
QByteArray b((const char*)buf, len); 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())); emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, disabling logging.").arg(m_logfile->fileName()));
// Stop logging // Stop logging
enableLogging(false); enableLogging(false);
...@@ -238,7 +254,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -238,7 +254,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
UASInterface* uas = UASManager::instance()->getUASForId(message.sysid); UASInterface* uas = UASManager::instance()->getUASForId(message.sysid);
// Check and (if necessary) create UAS object // 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! // ORDER MATTERS HERE!
// The UAS object has first to be created and connected, // The UAS object has first to be created and connected,
// only then the rest of the application can be made aware // only then the rest of the application can be made aware
...@@ -246,7 +263,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -246,7 +263,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// it's first messages. // it's first messages.
// Check if the UAS has the same id like this system // 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())); 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) ...@@ -262,9 +280,11 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
mavlink_msg_heartbeat_decode(&message, &heartbeat); mavlink_msg_heartbeat_decode(&message, &heartbeat);
// Check if the UAS has a different protocol version // 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 // Bring up dialog to inform user
if (!versionMismatchIgnore) { if (!versionMismatchIgnore)
{
emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"), 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)); 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; versionMismatchIgnore = true;
...@@ -279,28 +299,39 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -279,28 +299,39 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
} }
// Only count message if UAS exists for this message // Only count message if UAS exists for this message
if (uas != NULL) { if (uas != NULL)
{
// Increase receive counter // Increase receive counter
totalReceiveCounter++; totalReceiveCounter++;
currReceiveCounter++; currReceiveCounter++;
qint64 lastLoss = totalLossCounter; qint64 lastLoss = totalLossCounter;
// Update last packet index // 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; lastIndex[message.sysid][message.compid] = message.seq;
} else { }
else
{
// TODO: This if-else block can (should) be greatly simplified // 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; lastIndex[message.sysid][message.compid] = 0;
} else { }
else
{
lastIndex[message.sysid][message.compid]++; lastIndex[message.sysid][message.compid]++;
} }
int safeguard = 0; int safeguard = 0;
//qDebug() << "SYSID" << message.sysid << "COMPID" << message.compid << "MSGID" << message.msgid << "LASTINDEX" << lastIndex[message.sysid][message.compid] << "SEQ" << message.seq; //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) { while(lastIndex[message.sysid][message.compid] != message.seq && safeguard < 255)
if (lastIndex[message.sysid][message.compid] == 255) { {
if (lastIndex[message.sysid][message.compid] == 255)
{
lastIndex[message.sysid][message.compid] = 0; lastIndex[message.sysid][message.compid] = 0;
} else { }
else
{
lastIndex[message.sysid][message.compid]++; lastIndex[message.sysid][message.compid]++;
} }
totalLossCounter++; totalLossCounter++;
...@@ -317,7 +348,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -317,7 +348,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
//if () //if ()
// If a new loss was detected or we just hit one 128th packet step // 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 // Calculate new loss ratio
// Receive loss // Receive loss
float receiveLoss = (double)currLossCounter/(double)(currReceiveCounter+currLossCounter); float receiveLoss = (double)currLossCounter/(double)(currReceiveCounter+currLossCounter);
...@@ -335,12 +367,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -335,12 +367,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
emit messageReceived(link, message); emit messageReceived(link, message);
// Multiplex message if enabled // Multiplex message if enabled
if (m_multiplexingEnabled) { if (m_multiplexingEnabled)
{
// Get all links connected to this unit // Get all links connected to this unit
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this); QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
// Emit message on all links that are currently connected // 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, // Only forward this message to the other links,
// not the link the message was received on // not the link the message was received on
if (currLink != link) sendMessage(currLink, message); if (currLink != link) sendMessage(currLink, message);
...@@ -387,7 +421,8 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message) ...@@ -387,7 +421,8 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
// Emit message on all links that are currently connected // Emit message on all links that are currently connected
QList<LinkInterface*>::iterator i; QList<LinkInterface*>::iterator i;
for (i = links.begin(); i != links.end(); ++i) { for (i = links.begin(); i != links.end(); ++i)
{
sendMessage(*i, message); sendMessage(*i, message);
//qDebug() << __FILE__ << __LINE__ << "SENT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size(); //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 ...@@ -407,7 +442,8 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
// Write message into buffer, prepending start sign // Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer(buffer, &message); int len = mavlink_msg_to_send_buffer(buffer, &message);
// If link is connected // If link is connected
if (link->isConnected()) { if (link->isConnected())
{
// Send the portion of the buffer now occupied by the message // Send the portion of the buffer now occupied by the message
link->writeBytes((const char*)buffer, len); link->writeBytes((const char*)buffer, len);
} }
...@@ -506,25 +542,36 @@ void MAVLinkProtocol::enableLogging(bool enabled) ...@@ -506,25 +542,36 @@ void MAVLinkProtocol::enableLogging(bool enabled)
bool changed = false; bool changed = false;
if (enabled != m_loggingEnabled) changed = true; if (enabled != m_loggingEnabled) changed = true;
if (enabled) { if (enabled)
if (m_logfile && m_logfile->isOpen()) { {
if (m_logfile && m_logfile->isOpen())
{
m_logfile->flush(); m_logfile->flush();
m_logfile->close(); 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())); 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; m_loggingEnabled = false;
} }
} }
} else if (!enabled) { else
if (m_logfile) { {
if (m_logfile->isOpen()) { 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->flush();
m_logfile->close(); m_logfile->close();
} }
delete m_logfile;
m_logfile = NULL;
} }
} }
m_loggingEnabled = enabled; m_loggingEnabled = enabled;
...@@ -533,9 +580,12 @@ void MAVLinkProtocol::enableLogging(bool enabled) ...@@ -533,9 +580,12 @@ void MAVLinkProtocol::enableLogging(bool enabled)
void MAVLinkProtocol::setLogfileName(const QString& filename) void MAVLinkProtocol::setLogfileName(const QString& filename)
{ {
if (!m_logfile) { if (!m_logfile)
{
m_logfile = new QFile(filename); m_logfile = new QFile(filename);
} else { }
else
{
m_logfile->flush(); m_logfile->flush();
m_logfile->close(); m_logfile->close();
} }
......
src/ui/MAVLinkSettingsWidget.cc
View file @ 0eb7a24f
...@@ -161,12 +161,14 @@ void MAVLinkSettingsWidget::chooseLogfileName() ...@@ -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);;")); 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"); fileName.append(".mavlink");
} }
QFileInfo file(fileName); QFileInfo file(fileName);
if (file.exists() && !file.isWritable()) { if (file.exists() && !file.isWritable())
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical); msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(tr("The selected logfile is not writable")); msgBox.setText(tr("The selected logfile is not writable"));
...@@ -174,7 +176,9 @@ void MAVLinkSettingsWidget::chooseLogfileName() ...@@ -174,7 +176,9 @@ void MAVLinkSettingsWidget::chooseLogfileName()
msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec(); msgBox.exec();
} else { }
else
{
updateLogfileName(fileName); updateLogfileName(fileName);
protocol->setLogfileName(fileName); protocol->setLogfileName(fileName);
} }
...@@ -189,12 +193,15 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable) ...@@ -189,12 +193,15 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
// Delete from all lists first // Delete from all lists first
UDPLink* firstUdp = NULL; UDPLink* firstUdp = NULL;
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol); QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol);
foreach (LinkInterface* link, links) { foreach (LinkInterface* link, links)
{
UDPLink* udp = dynamic_cast<UDPLink*>(link); UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (udp) { if (udp)
{
if (!firstUdp) firstUdp = udp; if (!firstUdp) firstUdp = udp;
// Remove current hosts // 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); QString oldHostString = m_ui->droneOSComboBox->itemText(i);
oldHostString = hostString.split(":").first(); oldHostString = hostString.split(":").first();
udp->removeHost(oldHostString); udp->removeHost(oldHostString);
...@@ -203,8 +210,10 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable) ...@@ -203,8 +210,10 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
} }
// Re-add if enabled // Re-add if enabled
if (enable) { if (enable)
if (firstUdp) { {
if (firstUdp)
{
firstUdp->addHost(hostString); firstUdp->addHost(hostString);
} }
// Set key // Set key
......
src/ui/MainWindow.cc
View file @ 0eb7a24f
...@@ -51,7 +51,9 @@ This file is part of the QGROUNDCONTROL project ...@@ -51,7 +51,9 @@ This file is part of the QGROUNDCONTROL project
#include "QGCSettingsWidget.h" #include "QGCSettingsWidget.h"
#include "QGCMapTool.h" #include "QGCMapTool.h"
#include "MAVLinkDecoder.h" #include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h" #include "QGCRGBDView.h"
#include "QGCFirmwareUpdate.h"
#ifdef QGC_OSG_ENABLED #ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h" #include "Q3DWidgetFactory.h"
...@@ -237,7 +239,7 @@ MainWindow::~MainWindow() ...@@ -237,7 +239,7 @@ MainWindow::~MainWindow()
// Get and delete all dockwidgets and contained // Get and delete all dockwidgets and contained
// widgets // widgets
QObjectList childList( this->children() ); QObjectList childList(this->children());
QObjectList::iterator i; QObjectList::iterator i;
QDockWidget* dockWidget; QDockWidget* dockWidget;
...@@ -251,12 +253,11 @@ MainWindow::~MainWindow() ...@@ -251,12 +253,11 @@ MainWindow::~MainWindow()
// delete dockWidget->widget(); // delete dockWidget->widget();
delete dockWidget; delete dockWidget;
} }
else else if (dynamic_cast<QObject*>(*i))
{ {
delete dynamic_cast<QObject*>(*i); delete dynamic_cast<QObject*>(*i);
} }
} }
// Delete all UAS objects // Delete all UAS objects
} }
...@@ -402,31 +403,42 @@ void MainWindow::buildCommonWidgets() ...@@ -402,31 +403,42 @@ void MainWindow::buildCommonWidgets()
addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea); 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 //FIXME: memory of acceptList will never be freed again
QStringList* acceptList = new QStringList(); QStringList* acceptList = new QStringList();
acceptList->append("-105,roll deg,deg,+105,s"); acceptList->append("-3.3,ATTITUDE.roll,rad,+3.3,s");
acceptList->append("-105,pitch deg,deg,+105,s"); acceptList->append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
acceptList->append("-105,heading deg,deg,+105,s"); acceptList->append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
//FIXME: memory of acceptList2 will never be freed again //FIXME: memory of acceptList2 will never be freed again
QStringList* acceptList2 = new QStringList(); 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 = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) ); parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea); addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea);
} }
if (!hsiDockWidget) { if (!hsiDockWidget)
{
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this); hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) ); hsiDockWidget->setWidget( new HSIDisplay(this) );
hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET"); hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea); addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea);
} }
if (!headDown1DockWidget) { if (!headDown1DockWidget)
{
headDown1DockWidget = new QDockWidget(tr("Flight Display"), this); headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this); HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this);
hdDisplay->addSource(mavlinkDecoder); hdDisplay->addSource(mavlinkDecoder);
...@@ -435,7 +447,8 @@ void MainWindow::buildCommonWidgets() ...@@ -435,7 +447,8 @@ void MainWindow::buildCommonWidgets()
addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea); addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea);
} }
if (!headDown2DockWidget) { if (!headDown2DockWidget)
{
headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this); headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this);
HDDisplay* hdDisplay = new HDDisplay(acceptList2, "Actuator Status", this); HDDisplay* hdDisplay = new HDDisplay(acceptList2, "Actuator Status", this);
hdDisplay->addSource(mavlinkDecoder); hdDisplay->addSource(mavlinkDecoder);
...@@ -444,21 +457,24 @@ void MainWindow::buildCommonWidgets() ...@@ -444,21 +457,24 @@ void MainWindow::buildCommonWidgets()
addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea); addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea);
} }
if (!rcViewDockWidget) { if (!rcViewDockWidget)
{
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea); addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea);
} }
if (!headUpDockWidget) { if (!headUpDockWidget)
{
headUpDockWidget = new QDockWidget(tr("HUD"), this); headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this)); headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea); addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea);
} }
if (!video1DockWidget) { if (!video1DockWidget)
{
video1DockWidget = new QDockWidget(tr("Video Stream 1"), this); video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
QGCRGBDView* video1 = new QGCRGBDView(160, 120, this); QGCRGBDView* video1 = new QGCRGBDView(160, 120, this);
video1->enableHUDInstruments(false); video1->enableHUDInstruments(false);
...@@ -469,7 +485,8 @@ void MainWindow::buildCommonWidgets() ...@@ -469,7 +485,8 @@ void MainWindow::buildCommonWidgets()
addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea); addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea);
} }
if (!video2DockWidget) { if (!video2DockWidget)
{
video2DockWidget = new QDockWidget(tr("Video Stream 2"), this); video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
QGCRGBDView* video2 = new QGCRGBDView(160, 120, this); QGCRGBDView* video2 = new QGCRGBDView(160, 120, this);
video2->enableHUDInstruments(false); video2->enableHUDInstruments(false);
...@@ -518,6 +535,12 @@ void MainWindow::buildCommonWidgets() ...@@ -518,6 +535,12 @@ void MainWindow::buildCommonWidgets()
addCentralWidget(protocolWidget, "Mavlink Generator"); addCentralWidget(protocolWidget, "Mavlink Generator");
} }
if (!firmwareUpdateWidget)
{
firmwareUpdateWidget = new QGCFirmwareUpdate(this);
addCentralWidget(firmwareUpdateWidget, "Firmware Update");
}
if (!hudWidget) { if (!hudWidget) {
hudWidget = new HUD(320, 240, this); hudWidget = new HUD(320, 240, this);
addCentralWidget(hudWidget, tr("Head Up Display")); addCentralWidget(hudWidget, tr("Head Up Display"));
...@@ -608,7 +631,8 @@ void MainWindow::closeEvent(QCloseEvent *event) ...@@ -608,7 +631,8 @@ void MainWindow::closeEvent(QCloseEvent *event)
*/ */
void MainWindow::connectCommonWidgets() void MainWindow::connectCommonWidgets()
{ {
if (infoDockWidget && infoDockWidget->widget()) { if (infoDockWidget && infoDockWidget->widget())
{
connect(mavlink, SIGNAL(receiveLossChanged(int, float)), connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
infoDockWidget->widget(), SLOT(updateSendLoss(int, float))); infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
} }
...@@ -846,7 +870,8 @@ void MainWindow::selectStylesheet() ...@@ -846,7 +870,8 @@ void MainWindow::selectStylesheet()
// Let user select style sheet // Let user select style sheet
styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;")); styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;"));
if (!styleFileName.endsWith(".css")) { if (!styleFileName.endsWith(".css"))
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Information); msgBox.setIcon(QMessageBox::Information);
msgBox.setText(tr("QGroundControl did lot load a new style")); msgBox.setText(tr("QGroundControl did lot load a new style"));
...@@ -865,14 +890,18 @@ void MainWindow::reloadStylesheet() ...@@ -865,14 +890,18 @@ void MainWindow::reloadStylesheet()
{ {
// Load style sheet // Load style sheet
QFile* styleSheet = new QFile(styleFileName); QFile* styleSheet = new QFile(styleFileName);
if (!styleSheet->exists()) { if (!styleSheet->exists())
{
styleSheet = new QFile(":/images/style-mission.css"); 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()); QString style = QString(styleSheet->readAll());
style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/"); style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
qApp->setStyleSheet(style); qApp->setStyleSheet(style);
} else { }
else
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Information); msgBox.setIcon(QMessageBox::Information);
msgBox.setText(tr("QGroundControl did lot load a new style")); msgBox.setText(tr("QGroundControl did lot load a new style"));
...@@ -940,6 +969,7 @@ void MainWindow::connectCommonActions() ...@@ -940,6 +969,7 @@ void MainWindow::connectCommonActions()
perspectives->addAction(ui.actionMavlinkView); perspectives->addAction(ui.actionMavlinkView);
perspectives->addAction(ui.actionPilotsView); perspectives->addAction(ui.actionPilotsView);
perspectives->addAction(ui.actionOperatorsView); perspectives->addAction(ui.actionOperatorsView);
perspectives->addAction(ui.actionFirmwareUpdateView);
perspectives->addAction(ui.actionUnconnectedView); perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true); perspectives->setExclusive(true);
...@@ -948,6 +978,7 @@ void MainWindow::connectCommonActions() ...@@ -948,6 +978,7 @@ void MainWindow::connectCommonActions()
if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true); if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true); if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->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); if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The UAS actions are not enabled without connection to system // The UAS actions are not enabled without connection to system
...@@ -978,7 +1009,9 @@ void MainWindow::connectCommonActions() ...@@ -978,7 +1009,9 @@ void MainWindow::connectCommonActions()
connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView())); connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView())); 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.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionReloadStylesheet, SIGNAL(triggered()), this, SLOT(reloadStylesheet())); connect(ui.actionReloadStylesheet, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
connect(ui.actionSelectStylesheet, SIGNAL(triggered()), this, SLOT(selectStylesheet())); connect(ui.actionSelectStylesheet, SIGNAL(triggered()), this, SLOT(selectStylesheet()));
...@@ -1012,7 +1045,8 @@ void MainWindow::connectCommonActions() ...@@ -1012,7 +1045,8 @@ void MainWindow::connectCommonActions()
void MainWindow::showHelp() void MainWindow::showHelp()
{ {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start")))
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical); msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open help in browser"); msgBox.setText("Could not open help in browser");
...@@ -1025,7 +1059,8 @@ void MainWindow::showHelp() ...@@ -1025,7 +1059,8 @@ void MainWindow::showHelp()
void MainWindow::showCredits() void MainWindow::showCredits()
{ {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits")))
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical); msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open credits in browser"); msgBox.setText("Could not open credits in browser");
...@@ -1038,7 +1073,8 @@ void MainWindow::showCredits() ...@@ -1038,7 +1073,8 @@ void MainWindow::showCredits()
void MainWindow::showRoadMap() void MainWindow::showRoadMap()
{ {
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap"))) { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap")))
{
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical); msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not open roadmap in browser"); msgBox.setText("Could not open roadmap in browser");
...@@ -1051,8 +1087,10 @@ void MainWindow::showRoadMap() ...@@ -1051,8 +1087,10 @@ void MainWindow::showRoadMap()
void MainWindow::configure() void MainWindow::configure()
{ {
if (!joystickWidget) { if (!joystickWidget)
if (!joystick->isRunning()) { {
if (!joystick->isRunning())
{
joystick->start(); joystick->start();
} }
joystickWidget = new JoystickWidget(joystick); joystickWidget = new JoystickWidget(joystick);
...@@ -1080,8 +1118,10 @@ void MainWindow::addLink() ...@@ -1080,8 +1118,10 @@ void MainWindow::addLink()
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link)); const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId()); const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions) { foreach (QAction* act, actions)
if (act->data().toInt() == linkID) { // LinkManager::instance()->getLinks().indexOf(link) {
if (act->data().toInt() == linkID)
{ // LinkManager::instance()->getLinks().indexOf(link)
act->trigger(); act->trigger();
break; break;
} }
...@@ -1105,15 +1145,18 @@ void MainWindow::addLink(LinkInterface *link) ...@@ -1105,15 +1145,18 @@ void MainWindow::addLink(LinkInterface *link)
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link)); const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId()); const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions) { foreach (QAction* act, actions)
if (act->data().toInt() == linkID) { // LinkManager::instance()->getLinks().indexOf(link) {
if (act->data().toInt() == linkID)
{ // LinkManager::instance()->getLinks().indexOf(link)
found = true; found = true;
} }
} }
//UDPLink* udp = dynamic_cast<UDPLink*>(link); //UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (!found) { // || udp if (!found)
{ // || udp
CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this); CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
QAction* action = commWidget->getAction(); QAction* action = commWidget->getAction();
ui.menuNetwork->addAction(action); ui.menuNetwork->addAction(action);
...@@ -1274,13 +1317,17 @@ void MainWindow::UASCreated(UASInterface* uas) ...@@ -1274,13 +1317,17 @@ void MainWindow::UASCreated(UASInterface* uas)
if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED")) if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
{ {
int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt(); int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
switch (view) { switch (view)
{
case VIEW_ENGINEER: case VIEW_ENGINEER:
loadEngineerView(); loadEngineerView();
break; break;
case VIEW_MAVLINK: case VIEW_MAVLINK:
loadMAVLinkView(); loadMAVLinkView();
break; break;
case VIEW_FIRMWAREUPDATE:
loadFirmwareUpdateView();
break;
case VIEW_PILOT: case VIEW_PILOT:
loadPilotView(); loadPilotView();
break; break;
...@@ -1358,6 +1405,7 @@ void MainWindow::loadViewState() ...@@ -1358,6 +1405,7 @@ void MainWindow::loadViewState()
debugConsoleDockWidget->show(); debugConsoleDockWidget->show();
logPlayerDockWidget->show(); logPlayerDockWidget->show();
mavlinkInspectorWidget->show(); mavlinkInspectorWidget->show();
mavlinkSenderWidget->show();
parametersDockWidget->show(); parametersDockWidget->show();
hsiDockWidget->hide(); hsiDockWidget->hide();
headDown1DockWidget->hide(); headDown1DockWidget->hide();
...@@ -1393,7 +1441,27 @@ void MainWindow::loadViewState() ...@@ -1393,7 +1441,27 @@ void MainWindow::loadViewState()
infoDockWidget->hide(); infoDockWidget->hide();
debugConsoleDockWidget->hide(); debugConsoleDockWidget->hide();
logPlayerDockWidget->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(); mavlinkInspectorWidget->hide();
mavlinkSenderWidget->hide();
parametersDockWidget->hide(); parametersDockWidget->hide();
hsiDockWidget->hide(); hsiDockWidget->hide();
headDown1DockWidget->hide(); headDown1DockWidget->hide();
...@@ -1506,6 +1574,17 @@ void MainWindow::loadMAVLinkView() ...@@ -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) void MainWindow::loadDataView(QString fileName)
{ {
// Plot is now selected, now load data from file // 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 ...@@ -55,7 +55,6 @@ This file is part of the QGROUNDCONTROL project
#include "JoystickWidget.h" #include "JoystickWidget.h"
#include "input/JoystickInput.h" #include "input/JoystickInput.h"
#include "DebugConsole.h" #include "DebugConsole.h"
//#include "MapWidget.h"
#include "ParameterInterface.h" #include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h" #include "XMLCommProtocolWidget.h"
#include "HDDisplay.h" #include "HDDisplay.h"
...@@ -80,6 +79,8 @@ This file is part of the QGROUNDCONTROL project ...@@ -80,6 +79,8 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkDecoder.h" #include "MAVLinkDecoder.h"
class QGCMapTool; class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen; class QSplashScreen;
/** /**
...@@ -154,6 +155,8 @@ public slots: ...@@ -154,6 +155,8 @@ public slots:
void loadOperatorView(); void loadOperatorView();
/** @brief Load MAVLink XML generator view */ /** @brief Load MAVLink XML generator view */
void loadMAVLinkView(); void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Show the online help for users */ /** @brief Show the online help for users */
void showHelp(); void showHelp();
...@@ -241,13 +244,11 @@ protected: ...@@ -241,13 +244,11 @@ protected:
VIEW_OPERATOR, VIEW_OPERATOR,
VIEW_PILOT, VIEW_PILOT,
VIEW_MAVLINK, VIEW_MAVLINK,
VIEW_FIRMWAREUPDATE,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets shown at once VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS; } 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 * @brief Adds an already instantiated QDockedWidget to the Tools Menu
* *
...@@ -314,12 +315,10 @@ protected: ...@@ -314,12 +315,10 @@ protected:
#ifdef QGC_OSG_ENABLED #ifdef QGC_OSG_ENABLED
QPointer<QWidget> _3DWidget; QPointer<QWidget> _3DWidget;
#endif #endif
#ifdef QGC_OSGEARTH_ENABLED
QPointer<QWidget> _3DMapWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC) #if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget; QPointer<QGCGoogleEarthView> gEarthWidget;
#endif #endif
QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
// Dock widgets // Dock widgets
QPointer<QDockWidget> controlDockWidget; QPointer<QDockWidget> controlDockWidget;
...@@ -353,6 +352,7 @@ protected: ...@@ -353,6 +352,7 @@ protected:
QPointer<QDockWidget> mavlinkInspectorWidget; QPointer<QDockWidget> mavlinkInspectorWidget;
QPointer<MAVLinkDecoder> mavlinkDecoder; QPointer<MAVLinkDecoder> mavlinkDecoder;
QPointer<QDockWidget> mavlinkSenderWidget;
QGCMAVLinkLogPlayer* logPlayer; QGCMAVLinkLogPlayer* logPlayer;
// Popup widgets // Popup widgets
......
src/ui/MainWindow.ui
View file @ 0eb7a24f
...@@ -51,7 +51,7 @@ ...@@ -51,7 +51,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>800</width> <width>800</width>
<height>25</height> <height>22</height>
</rect> </rect>
</property> </property>
<widget class="QMenu" name="menuMGround"> <widget class="QMenu" name="menuMGround">
...@@ -108,7 +108,7 @@ ...@@ -108,7 +108,7 @@
</widget> </widget>
<widget class="QMenu" name="menuTools"> <widget class="QMenu" name="menuTools">
<property name="title"> <property name="title">
<string>Widgets</string> <string>Tool Widgets</string>
</property> </property>
<addaction name="actionNewCustomWidget"/> <addaction name="actionNewCustomWidget"/>
<addaction name="actionLoadCustomWidgetFile"/> <addaction name="actionLoadCustomWidgetFile"/>
...@@ -129,6 +129,7 @@ ...@@ -129,6 +129,7 @@
<addaction name="actionEngineersView"/> <addaction name="actionEngineersView"/>
<addaction name="actionPilotsView"/> <addaction name="actionPilotsView"/>
<addaction name="separator"/> <addaction name="separator"/>
<addaction name="actionFirmwareUpdateView"/>
<addaction name="actionMavlinkView"/> <addaction name="actionMavlinkView"/>
<addaction name="actionUnconnectedView"/> <addaction name="actionUnconnectedView"/>
<addaction name="separator"/> <addaction name="separator"/>
...@@ -137,16 +138,22 @@ ...@@ -137,16 +138,22 @@
</widget> </widget>
<widget class="QMenu" name="menuMain"> <widget class="QMenu" name="menuMain">
<property name="title"> <property name="title">
<string>Main</string> <string>Main Widget</string>
</property>
</widget>
<widget class="QMenu" name="menuPlugins">
<property name="title">
<string>Plugins</string>
</property> </property>
</widget> </widget>
<addaction name="menuMGround"/> <addaction name="menuMGround"/>
<addaction name="menuNetwork"/> <addaction name="menuNetwork"/>
<addaction name="menuConnected_Systems"/> <addaction name="menuConnected_Systems"/>
<addaction name="menuUnmanned_System"/> <addaction name="menuUnmanned_System"/>
<addaction name="menuPerspectives"/>
<addaction name="menuMain"/> <addaction name="menuMain"/>
<addaction name="menuTools"/> <addaction name="menuTools"/>
<addaction name="menuPerspectives"/> <addaction name="menuPlugins"/>
<addaction name="menuHelp"/> <addaction name="menuHelp"/>
</widget> </widget>
<widget class="QStatusBar" name="statusBar"/> <widget class="QStatusBar" name="statusBar"/>
...@@ -466,6 +473,18 @@ ...@@ -466,6 +473,18 @@
<string>Load Custom Widget File</string> <string>Load Custom Widget File</string>
</property> </property>
</action> </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> </widget>
<layoutdefault spacing="6" margin="11"/> <layoutdefault spacing="6" margin="11"/>
<resources> <resources>
......
src/ui/QGCFirmwareUpdate.ui
View file @ 0eb7a24f
...@@ -6,13 +6,21 @@ ...@@ -6,13 +6,21 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>400</width> <width>596</width>
<height>300</height> <height>343</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
<string>Form</string> <string>Form</string>
</property> </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> </widget>
<resources/> <resources/>
<connections/> <connections/>
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ 0eb7a24f
...@@ -21,6 +21,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare ...@@ -21,6 +21,7 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
mavlinkLogFormat(true), mavlinkLogFormat(true),
binaryBaudRate(57600), binaryBaudRate(57600),
isPlaying(false), isPlaying(false),
currPacketCount(0),
ui(new Ui::QGCMAVLinkLogPlayer) ui(new Ui::QGCMAVLinkLogPlayer)
{ {
ui->setupUi(this); ui->setupUi(this);
...@@ -102,6 +103,7 @@ void QGCMAVLinkLogPlayer::play() ...@@ -102,6 +103,7 @@ void QGCMAVLinkLogPlayer::play()
loopTimer.start(interval*accelerationFactor); loopTimer.start(interval*accelerationFactor);
} }
isPlaying = true; isPlaying = true;
ui->logStatsLabel->setText(tr("Started playing.."));
ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg")); ui->playButton->setIcon(QIcon(":images/actions/media-playback-pause.svg"));
} }
else else
...@@ -272,7 +274,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file) ...@@ -272,7 +274,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
minutes -= 60*hours; minutes -= 60*hours;
QString timelabel = tr("%1h:%2m:%3s").arg(hours, 2).arg(minutes, 2).arg(seconds, 2); 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 else
{ {
...@@ -302,6 +305,10 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file) ...@@ -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); 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)); 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; return true;
} }
} }
...@@ -458,7 +465,7 @@ void QGCMAVLinkLogPlayer::logLoop() ...@@ -458,7 +465,7 @@ void QGCMAVLinkLogPlayer::logLoop()
// Update status label // Update status label
// Update progress bar // Update progress bar
if (loopCounter % 40 == 0) if (loopCounter % 40 == 0 || currPacketCount < 500)
{ {
QFileInfo logFileInfo(logFile); QFileInfo logFileInfo(logFile);
int progress = (ui->positionSlider->maximum()-ui->positionSlider->minimum())*(logFile.pos()/static_cast<float>(logFileInfo.size())); 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: ...@@ -78,6 +78,7 @@ protected:
bool mavlinkLogFormat; bool mavlinkLogFormat;
int binaryBaudRate; int binaryBaudRate;
bool isPlaying; bool isPlaying;
unsigned int currPacketCount;
static const int packetLen = MAVLINK_MAX_PACKET_LEN; static const int packetLen = MAVLINK_MAX_PACKET_LEN;
static const int timeLen = sizeof(quint64); static const int timeLen = sizeof(quint64);
void changeEvent(QEvent *e); 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) : ...@@ -45,7 +45,7 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
toggleLoggingAction = new QAction(QIcon(":"), "Logging", this); toggleLoggingAction = new QAction(QIcon(":"), "Logging", this);
toggleLoggingAction->setCheckable(true); toggleLoggingAction->setCheckable(true);
logReplayAction = new QAction(QIcon(":"), "Replay", this); logReplayAction = new QAction(QIcon(":"), "Replay", this);
logReplayAction->setCheckable(true); logReplayAction->setCheckable(false);
addAction(toggleLoggingAction); addAction(toggleLoggingAction);
addAction(logReplayAction); addAction(logReplayAction);
...@@ -101,8 +101,8 @@ QGCToolBar::QGCToolBar(QWidget *parent) : ...@@ -101,8 +101,8 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player) void QGCToolBar::setLogPlayer(QGCMAVLinkLogPlayer* player)
{ {
this->player = player; this->player = player;
connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool))); connect(toggleLoggingAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool)));
connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(logging(bool))); connect(logReplayAction, SIGNAL(triggered(bool)), this, SLOT(playLogFile(bool)));
} }
void QGCToolBar::playLogFile(bool enabled) void QGCToolBar::playLogFile(bool enabled)
...@@ -143,7 +143,7 @@ void QGCToolBar::logging(bool enabled) ...@@ -143,7 +143,7 @@ void QGCToolBar::logging(bool enabled)
} }
QFileInfo file(fileName); QFileInfo file(fileName);
if (file.exists() && !file.isWritable()) if ((file.exists() && !file.isWritable()))
{ {
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical); 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 ...@@ -35,8 +35,8 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
minTime(0), minTime(0),
lastTime(0), lastTime(0),
maxTime(100), maxTime(100),
plotPosition(0),
maxInterval(MAX_STORAGE_INTERVAL), maxInterval(MAX_STORAGE_INTERVAL),
plotPosition(0),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false), automaticScrollActive(false),
m_active(false), m_active(false),
......
src/ui/linechart/LinechartPlot.h
View file @ 0eb7a24f
...@@ -298,8 +298,8 @@ protected: ...@@ -298,8 +298,8 @@ protected:
// TODO CHECK THIS!!! // TODO CHECK THIS!!!
int scaling; int scaling;
QwtScaleEngine* yScaleEngine; QwtScaleEngine* yScaleEngine;
quint64 lastTime; ///< Last added timestamp
quint64 minTime; ///< The smallest timestamp occured so far quint64 minTime; ///< The smallest timestamp occured so far
quint64 lastTime; ///< Last added timestamp
quint64 maxTime; ///< The biggest timestamp occured so far quint64 maxTime; ///< The biggest timestamp occured so far
quint64 maxInterval; quint64 maxInterval;
quint64 storageInterval; quint64 storageInterval;
......
src/ui/map3D/Pixhawk3DWidget.cc
View file @ 0eb7a24f
...@@ -663,15 +663,19 @@ void ...@@ -663,15 +663,19 @@ void
Pixhawk3DWidget::getPosition(double& x, double& y, double& z, Pixhawk3DWidget::getPosition(double& x, double& y, double& z,
QString& utmZone) QString& utmZone)
{ {
if (uas) { if (uas)
if (frame == MAV_FRAME_GLOBAL) { {
if (frame == MAV_FRAME_GLOBAL)
{
double latitude = uas->getLatitude(); double latitude = uas->getLatitude();
double longitude = uas->getLongitude(); double longitude = uas->getLongitude();
double altitude = uas->getAltitude(); double altitude = uas->getAltitude();
Imagery::LLtoUTM(latitude, longitude, x, y, utmZone); Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
z = -altitude; z = -altitude;
} else if (frame == MAV_FRAME_LOCAL_NED) { }
else if (frame == MAV_FRAME_LOCAL_NED)
{
x = uas->getLocalX(); x = uas->getLocalX();
y = uas->getLocalY(); y = uas->getLocalY();
z = uas->getLocalZ(); z = uas->getLocalZ();
...@@ -881,7 +885,8 @@ Pixhawk3DWidget::resizeHUD(void) ...@@ -881,7 +885,8 @@ Pixhawk3DWidget::resizeHUD(void)
int bottomHUDHeight = 25; int bottomHUDHeight = 25;
osg::Vec3Array* vertices = static_cast<osg::Vec3Array*>(hudBackgroundGeometry->getVertexArray()); 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); osg::ref_ptr<osg::Vec3Array> newVertices = new osg::Vec3Array(8);
hudBackgroundGeometry->setVertexArray(newVertices); hudBackgroundGeometry->setVertexArray(newVertices);
...@@ -899,7 +904,8 @@ Pixhawk3DWidget::resizeHUD(void) ...@@ -899,7 +904,8 @@ Pixhawk3DWidget::resizeHUD(void)
statusText->setPosition(osg::Vec3(10, height() - 15, -1.5)); 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 windowWidth = (width() - 20) / 2;
int windowHeight = 3 * windowWidth / 4; int windowHeight = 3 * windowWidth / 4;
rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2, rgb2DGeode->setAttributes(10, (height() - windowHeight) / 2,
...@@ -922,7 +928,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ, ...@@ -922,7 +928,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
std::ostringstream oss; std::ostringstream oss;
oss.setf(std::ios::fixed, std::ios::floatfield); oss.setf(std::ios::fixed, std::ios::floatfield);
oss.precision(2); oss.precision(2);
if (frame == MAV_FRAME_GLOBAL) { if (frame == MAV_FRAME_GLOBAL)
{
double latitude, longitude; double latitude, longitude;
Imagery::UTMtoLL(robotX, robotY, utmZone, latitude, longitude); Imagery::UTMtoLL(robotX, robotY, utmZone, latitude, longitude);
...@@ -943,7 +950,9 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ, ...@@ -943,7 +950,9 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
oss.precision(6); oss.precision(6);
oss << " Cursor [" << cursorLatitude << oss << " Cursor [" << cursorLatitude <<
" " << cursorLongitude << "]"; " " << cursorLongitude << "]";
} else if (frame == MAV_FRAME_LOCAL_NED) { }
else if (frame == MAV_FRAME_LOCAL_NED)
{
oss << " x = " << robotX << oss << " x = " << robotX <<
" y = " << robotY << " y = " << robotY <<
" z = " << robotZ << " z = " << robotZ <<
...@@ -957,7 +966,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ, ...@@ -957,7 +966,8 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
statusText->setText(oss.str()); statusText->setText(oss.str());
bool darkBackground = true; bool darkBackground = true;
if (mapNode->getImageryType() == Imagery::GOOGLE_MAP) { if (mapNode->getImageryType() == Imagery::GOOGLE_MAP)
{
darkBackground = false; darkBackground = false;
} }
...@@ -968,34 +978,44 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ, ...@@ -968,34 +978,44 @@ Pixhawk3DWidget::updateHUD(double robotX, double robotY, double robotZ,
void void
Pixhawk3DWidget::updateTrail(double robotX, double robotY, double robotZ) 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; return;
} }
bool addToTrail = false; bool addToTrail = false;
if (trail.size() > 0) { if (trail.size() > 0)
{
if (fabs(robotX - trail[trail.size() - 1].x()) > 0.01f || if (fabs(robotX - trail[trail.size() - 1].x()) > 0.01f ||
fabs(robotY - trail[trail.size() - 1].y()) > 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; addToTrail = true;
} }
} else { }
else
{
addToTrail = true; addToTrail = true;
} }
if (addToTrail) { if (addToTrail)
{
osg::Vec3d p(robotX, robotY, robotZ); osg::Vec3d p(robotX, robotY, robotZ);
if (trail.size() == trail.capacity()) { if (trail.size() == trail.capacity())
{
memcpy(trail.data(), trail.data() + 1, memcpy(trail.data(), trail.data() + 1,
(trail.size() - 1) * sizeof(osg::Vec3d)); (trail.size() - 1) * sizeof(osg::Vec3d));
trail[trail.size() - 1] = p; trail[trail.size() - 1] = p;
} else { }
else
{
trail.append(p); trail.append(p);
} }
} }
trailVertices->clear(); 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, trailVertices->push_back(osg::Vec3d(trail[i].y() - robotY,
trail[i].x() - robotX, trail[i].x() - robotX,
-(trail[i].z() - robotZ))); -(trail[i].z() - robotZ)));
...@@ -1010,12 +1030,14 @@ void ...@@ -1010,12 +1030,14 @@ void
Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ, Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
const QString& zone) const QString& zone)
{ {
if (mapNode->getImageryType() == Imagery::BLANK_MAP) { if (mapNode->getImageryType() == Imagery::BLANK_MAP)
{
return; return;
} }
double viewingRadius = cameraManipulator->getDistance() * 10.0; double viewingRadius = cameraManipulator->getDistance() * 10.0;
if (viewingRadius < 100.0) { if (viewingRadius < 100.0)
{
viewingRadius = 100.0; viewingRadius = 100.0;
} }
...@@ -1024,7 +1046,8 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ, ...@@ -1024,7 +1046,8 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
double maxResolution = 1048576.0; double maxResolution = 1048576.0;
Imagery::ImageryType imageryType = mapNode->getImageryType(); Imagery::ImageryType imageryType = mapNode->getImageryType();
switch (imageryType) { switch (imageryType)
{
case Imagery::GOOGLE_MAP: case Imagery::GOOGLE_MAP:
minResolution = 0.25; minResolution = 0.25;
break; break;
...@@ -1040,10 +1063,13 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ, ...@@ -1040,10 +1063,13 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
} }
double resolution = minResolution; double resolution = minResolution;
while (resolution * 2.0 < centerResolution) { while (resolution * 2.0 < centerResolution)
{
resolution *= 2.0; resolution *= 2.0;
} }
if (resolution > maxResolution) {
if (resolution > maxResolution)
{
resolution = maxResolution; resolution = maxResolution;
} }
...@@ -1057,14 +1083,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ, ...@@ -1057,14 +1083,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
zone); zone);
// prefetch map tiles // prefetch map tiles
if (resolution / 2.0 >= minResolution) { if (resolution / 2.0 >= minResolution)
{
mapNode->prefetch3D(viewingRadius / 2.0, mapNode->prefetch3D(viewingRadius / 2.0,
resolution / 2.0, resolution / 2.0,
cameraManipulator->getCenter().y(), cameraManipulator->getCenter().y(),
cameraManipulator->getCenter().x(), cameraManipulator->getCenter().x(),
zone); zone);
} }
if (resolution * 2.0 <= maxResolution) { if (resolution * 2.0 <= maxResolution)
{
mapNode->prefetch3D(viewingRadius * 2.0, mapNode->prefetch3D(viewingRadius * 2.0,
resolution * 2.0, resolution * 2.0,
cameraManipulator->getCenter().y(), 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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