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qgroundcontrol
Commit 1665245a authored by Lorenz Meier's avatar Lorenz Meier
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Merge branch 'config' of github.com:mavlink/qgroundcontrol into config

parents e6350560 94fcdaa3
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.gitignore
View file @ 1665245a
......@@ -52,5 +52,7 @@ user_config.pri
thirdParty/qserialport-build-desktop/
thirdParty/qserialport/bin/
thirdParty/qserialport/lib/
apmplanner2.xcodeproj/
GeneratedFiles/
/qupgrade/
*.autosave
files/px4/widgets/px4_calibration.qgw
View file @ 1665245a
......@@ -58,4 +58,16 @@ QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM4=1
QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM5=0
QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM6=0
QGC_TOOL_WIDGET_ITEMS\5\QGC_COMMAND_BUTTON_PARAM7=0
QGC_TOOL_WIDGET_ITEMS\size=5
QGC_TOOL_WIDGET_ITEMS\6\TYPE=COMMANDBUTTON
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot to Bootloader
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_BUTTONTEXT=BOOTLOADER
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_COMMANDID=246
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM1=3
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM2=0
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM3=0
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM4=0
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM5=0
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM6=0
QGC_TOOL_WIDGET_ITEMS\6\QGC_COMMAND_BUTTON_PARAM7=0
QGC_TOOL_WIDGET_ITEMS\size=7
files/styles/style-dark.css
View file @ 1665245a
......@@ -248,6 +248,31 @@ QLabel#noUas {
font-size: 30pt;
}
QMessageBox QLabel {
font-size: 14pt;
}
QMessageBox {
min-width: 400px;
min-height: 300px;
}
QLabel#calibrationExplanationLabel {
font-size: 20pt;
}
QLabel#tabTitleLabel {
font-size: 28pt;
font-weight: lighter;
margin-top: 16px;
margin-bottom: 8px;
}
QLabel#instructionLabel {
color: #FEC654;
font-size: 26pt;
}
QLineEdit {
border: 1px solid #777;
border-radius: 2px;
......@@ -345,6 +370,34 @@ QPushButton, QToolButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
}
QPushButton#advancedMenuButton, QPushButton#airframeMenuButton, QPushButton#firmwareMenuButton,
QPushButton#generalMenuButton, QPushButton#rcMenuButton, QPushButton#sensorMenuButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #333, stop: 1 #111);
border-radius: 5px;
min-height: 64px;
max-height: 64px;
min-width: 80px;
border: 1px solid #000000;
}
QPushButton#planePushButton, QPushButton#flyingWingPushButton, QPushButton#quadXPushButton,
QPushButton#quadPlusPushButton, QPushButton#hexaXPushButton, QPushButton#hexaPlusPushButton,
QPushButton#octoXPushButton, QPushButton#octoPlusPushButton, QPushButton#hPushButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
border-radius: 5px;
min-height: 140px;
max-height: 240px;
min-width: 140px;
border: 1px solid #465158;
}
QPushButton:checked#planePushButton, QPushButton:checked#flyingWingPushButton, QPushButton:checked#quadXPushButton,
QPushButton:checked#quadPlusPushButton, QPushButton:checked#hexaXPushButton, QPushButton:checked#hexaPlusPushButton,
QPushButton:checked#octoXPushButton, QPushButton:checked#octoPlusPushButton, QPushButton:checked#hPushButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #77F, stop: 1 #33A);
border: 3px solid #4651A8;
}
QPushButton#viewModeGeneric, QPushButton#viewModePX4, QPushButton#viewModeAPM, QPushButton#viewModeAR {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
border-radius: 12px;
......@@ -355,6 +408,18 @@ QPushButton#viewModeGeneric, QPushButton#viewModePX4, QPushButton#viewModeAPM, Q
border: 3px solid #465158;
}
QWidget#containerWidget {
background-color: qlineargradient(spread:pad, x1:0.527222, y1:0.961, x2:0.536946, y2:0.198864, stop:0.103448 rgba(65, 65, 65, 255), stop:1 rgba(119, 119, 119, 255));
border-radius: 16px;
border: 2px solid #CCCCCC;
}
QWidget#navBarWidget {
background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:1, y2:0, stop:0 #404040, stop:1 #727272);
border-radius: 0px;
border: 1px solid #222222;
}
QPushButton#connectButton, QPushButton#controlButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
}
......
qgroundcontrol.pro
View file @ 1665245a
......@@ -142,6 +142,35 @@ INCLUDEPATH += \
include(src/apps/mavlinkgen/mavlinkgen.pri)
# Include QUpgrade tool
exists(qupgrade) {
SOURCES += qupgrade/src/apps/qupgrade/qgcfirmwareupgradeworker.cpp \
qupgrade/src/apps/qupgrade/uploader.cpp \
qupgrade/src/apps/qupgrade/dialog_bare.cpp \
qupgrade/src/apps/qupgrade/boardwidget.cpp
HEADERS += qupgrade/src/apps/qupgrade/qgcfirmwareupgradeworker.h \
qupgrade/src/apps/qupgrade/uploader.h \
qupgrade/src/apps/qupgrade/dialog_bare.h \
qupgrade/src/apps/qupgrade/boardwidget.h
FORMS += qupgrade/src/apps/qupgrade/dialog_bare.ui \
qupgrade/src/apps/qupgrade/boardwidget.ui
RESOURCES += qupgrade/qupgrade.qrc
linux*:CONFIG += qesp_linux_udev
include(qupgrade/libs/qextserialport/src/qextserialport.pri)
INCLUDEPATH += qupgrade/src/apps/qupgrade
DEFINES += "QUPGRADE_SUPPORT"
}
# Include GLC library
#include(libs/GLC_lib/glc_lib.pri)
# Include QWT plotting library
include(libs/qwt/qwt.pri)
......@@ -153,12 +182,6 @@ INCLUDEPATH += .
# Include serial port library (QSerialPort)
include(libs/serialport/qserialport.pri)
## Serial port detection (ripped-off from qextserialport library)
#macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
#linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
#linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
#win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
......@@ -269,7 +292,10 @@ FORMS += src/ui/MainWindow.ui \
src/ui/main/QGCWelcomeMainWindow.ui \
src/ui/configuration/terminalconsole.ui \
src/ui/configuration/SerialSettingsDialog.ui \
src/ui/configuration/ApmFirmwareConfig.ui
src/ui/configuration/ApmFirmwareConfig.ui \
src/ui/px4_configuration/QGCPX4AirframeConfig.ui \
src/ui/px4_configuration/QGCPX4MulticopterConfig.ui \
src/ui/px4_configuration/QGCPX4SensorCalibration.ui
INCLUDEPATH += src \
src/ui \
......@@ -388,8 +414,7 @@ HEADERS += src/MG.h \
src/ui/QGCMAVLinkInspector.h \
src/ui/MAVLinkDecoder.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointEditableView.h \
src/ui/UnconnectedUASInfoWidget.h \
src/ui/WaypointEditableView.h \
src/ui/QGCRGBDView.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
......@@ -471,7 +496,11 @@ HEADERS += src/MG.h \
src/ui/configuration/ApmFirmwareConfig.h \
src/uas/UASParameterDataModel.h \
src/uas/UASParameterCommsMgr.h \
src/ui/QGCPendingParamWidget.h
src/ui/QGCPendingParamWidget.h \
src/ui/px4_configuration/QGCPX4AirframeConfig.h \
src/ui/QGCBaseParamWidget.h \
src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
src/ui/px4_configuration/QGCPX4SensorCalibration.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
......@@ -689,7 +718,11 @@ SOURCES += src/main.cc \
src/ui/configuration/ApmFirmwareConfig.cc \
src/uas/UASParameterDataModel.cc \
src/uas/UASParameterCommsMgr.cc \
src/ui/QGCPendingParamWidget.cc
src/ui/QGCPendingParamWidget.cc \
src/ui/px4_configuration/QGCPX4AirframeConfig.cc \
src/ui/QGCBaseParamWidget.cc \
src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
src/ui/px4_configuration/QGCPX4SensorCalibration.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
qgroundcontrol.qrc
View file @ 1665245a
......@@ -157,6 +157,29 @@
<file>files/images/firmware/X8_on.png</file>
<file>files/images/firmware/Y6_off.png</file>
<file>files/images/firmware/Y6_on.png</file>
<file>files/images/px4/airframes/quad_x.png</file>
<file>files/images/px4/airframes/quad_+.png</file>
<file>files/images/px4/airframes/octo_+.png</file>
<file>files/images/px4/airframes/hexa_+.png</file>
<file>files/images/px4/airframes/hexa_x.png</file>
<file>files/images/px4/airframes/octo_x.png</file>
<file>files/images/px4/airframes/flying_wing.png</file>
<file>files/images/px4/airframes/plane_ert.png</file>
<file>files/images/px4/airframes/plane_aert.png</file>
<file>files/images/px4/airframes/quad_h.png</file>
<file>files/images/px4/calibration/arrows.png</file>
<file>files/images/px4/calibration/accel_x+.png</file>
<file>files/images/px4/calibration/accel_x-.png</file>
<file>files/images/px4/calibration/accel_y-.png</file>
<file>files/images/px4/calibration/accel_z+.png</file>
<file>files/images/px4/calibration/accel_z-.png</file>
<file>files/images/px4/calibration/accel_y+.png</file>
<file>files/images/px4/calibration/mag_calibration_figure8.png</file>
<file>files/images/px4/menu/sensors.png</file>
<file>files/images/px4/menu/firmware_upgrade.png</file>
<file>files/images/px4/menu/plane.png</file>
<file>files/images/px4/menu/remote.png</file>
<file>files/images/px4/menu/cogwheels.png</file>
</qresource>
<qresource prefix="/general">
<file alias="vera.ttf">files/styles/Vera.ttf</file>
......
src/comm/MAVLinkProtocol.cc
View file @ 1665245a
......@@ -250,9 +250,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (decodeState == 0 && !decodedFirstPacket)
{
nonmavlinkCount++;
if (nonmavlinkCount > 500 && !warnedUserNonMavlink)
if (nonmavlinkCount > 2000 && !warnedUserNonMavlink)
{
//500 bytes with no mavlink message. Are we connected to a mavlink capable device?
//2000 bytes with no mavlink message. Are we connected to a mavlink capable device?
if (!checkedUserNonMavlink)
{
link->requestReset();
......
src/comm/SerialLink.cc
View file @ 1665245a
......@@ -19,6 +19,8 @@
#include "QGC.h"
#include <MG.h>
SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
int dataBits, int stopBits) :
m_bytesRead(0),
......@@ -137,8 +139,7 @@ void SerialLink::writeSettings()
void SerialLink::run()
{
// Initialize the connection
if (!hardwareConnect())
{
if (!hardwareConnect()) {
//Need to error out here.
emit communicationError(getName(),"Error connecting: " + m_port->errorString());
disconnect(); // This tidies up and sends the necessary signals
......@@ -155,20 +156,17 @@ void SerialLink::run()
qint64 timeout = 5000;
int linkErrorCount = 0;
forever
{
forever {
{
QMutexLocker locker(&this->m_stoppMutex);
if(m_stopp)
{
QMutexLocker locker(&this->m_stoppMutex);
if(m_stopp) {
m_stopp = false;
break; // exit the thread
}
if (m_reqReset)
{
if (m_reqReset) {
m_reqReset = false;
communicationUpdate(getName(),"Reset requested via DTR signal");
emit communicationUpdate(getName(),"Reset requested via DTR signal");
m_port->setDataTerminalReady(true);
msleep(250);
m_port->setDataTerminalReady(false);
......@@ -178,27 +176,29 @@ void SerialLink::run()
if (isConnected() && (linkErrorCount > 100)) {
qDebug() << "linkErrorCount too high: disconnecting!";
linkErrorCount = 0;
communicationError("SerialLink", tr("Disconnecting on too many link errors"));
emit communicationUpdate(getName(), tr("Disconnecting on too many link errors"));
disconnect();
}
if (m_transmitBuffer.count() > 0) {
QMutexLocker writeLocker(&m_writeMutex);
int numWritten = m_port->write(m_transmitBuffer);
bool txSuccess = m_port->waitForBytesWritten(1);
if (!txSuccess || (numWritten != m_transmitBuffer.count()))
{
bool txSuccess = m_port->waitForBytesWritten(5);
if (!txSuccess || (numWritten != m_transmitBuffer.count())) {
linkErrorCount++;
qDebug() << "TX Error! wrote" << numWritten << ", asked for " << m_transmitBuffer.count() << "bytes";
} else {
}
else {
linkErrorCount = 0;
}
m_transmitBuffer = m_transmitBuffer.remove(0, numWritten);
}
//wait n msecs for data to be ready
//[TODO][BB] lower to SerialLink::poll_interval?
bool success = m_port->waitForReadyRead(10);
if (success) { // Waits for 1/2 second [TODO][BB] lower to SerialLink::poll_interval?
if (success) {
QByteArray readData = m_port->readAll();
while (m_port->waitForReadyRead(10))
readData += m_port->readAll();
......@@ -210,24 +210,21 @@ void SerialLink::run()
m_bitsReceivedTotal += readData.length() * 8;
linkErrorCount = 0;
}
} else {
}
else {
linkErrorCount++;
//qDebug() << "Wait read response timeout" << QTime::currentTime().toString();
}
if (bytes != m_bytesRead) // i.e things are good and data is being read.
{
if (bytes != m_bytesRead) { // i.e things are good and data is being read.
bytes = m_bytesRead;
msecs = QDateTime::currentMSecsSinceEpoch();
}
else
{
if (QDateTime::currentMSecsSinceEpoch() - msecs > timeout)
{
else {
if (QDateTime::currentMSecsSinceEpoch() - msecs > timeout) {
//It's been 10 seconds since the last data came in. Reset and try again
msecs = QDateTime::currentMSecsSinceEpoch();
if (msecs - initialmsecs > 25000)
{
if (msecs - initialmsecs > 25000) {
//After initial 25 seconds, timeouts are increased to 30 seconds.
//This prevents temporary silences from things like calibration commands
//from screwing things up. In all reality, timeouts should be enabled/disabled
......@@ -235,25 +232,22 @@ void SerialLink::run()
//TODO ^^
timeout = 30000;
}
if (!triedDTR && triedreset)
{
if (!triedDTR && triedreset) {
triedDTR = true;
communicationUpdate(getName(),"No data to receive on COM port. Attempting to reset via DTR signal");
emit communicationUpdate(getName(),"No data to receive on COM port. Attempting to reset via DTR signal");
qDebug() << "No data!!! Attempting reset via DTR.";
m_port->setDataTerminalReady(true);
msleep(250);
m_port->setDataTerminalReady(false);
}
else if (!triedreset)
{
else if (!triedreset) {
qDebug() << "No data!!! Attempting reset via reboot command.";
communicationUpdate(getName(),"No data to receive on COM port. Assuming possible terminal mode, attempting to reset via \"reboot\" command");
emit communicationUpdate(getName(),"No data to receive on COM port. Assuming possible terminal mode, attempting to reset via \"reboot\" command");
m_port->write("reboot\r\n",8);
triedreset = true;
}
else
{
communicationUpdate(getName(),"No data to receive on COM port....");
else {
emit communicationUpdate(getName(),"No data to receive on COM port....");
qDebug() << "No data!!!";
}
}
......@@ -406,8 +400,7 @@ bool SerialLink::connect()
**/
bool SerialLink::hardwareConnect()
{
if(m_port)
{
if(m_port) {
qDebug() << "SerialLink:" << QString::number((long)this, 16) << "closing port";
m_port->close();
delete m_port;
......@@ -416,21 +409,19 @@ bool SerialLink::hardwareConnect()
qDebug() << "SerialLink: hardwareConnect to " << m_portName;
m_port = new QSerialPort(m_portName);
if (m_port == NULL)
{
if (m_port == NULL) {
emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString());
return false; // couldn't create serial port.
}
QObject::connect(m_port,SIGNAL(aboutToClose()),this,SIGNAL(disconnected()));
QObject::connect(m_port, SIGNAL(error(QSerialPort::SerialPortError)),
this, SLOT(linkError(QSerialPort::SerialPortError)));
QObject::connect(m_port, SIGNAL(error(SerialLinkPortError_t)),
this, SLOT(linkError(SerialLinkPortError_t)));
// port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
m_connectionStartTime = MG::TIME::getGroundTimeNow();
if (!m_port->open(QIODevice::ReadWrite))
{
if (!m_port->open(QIODevice::ReadWrite)) {
emit communicationUpdate(getName(),"Error opening port: " + m_port->errorString());
m_port->close();
return false; // couldn't open serial port
......@@ -456,7 +447,7 @@ bool SerialLink::hardwareConnect()
return true; // successful connection
}
void SerialLink::linkError(QSerialPort::SerialPortError error)
void SerialLink::linkError(SerialLinkPortError_t error)
{
qDebug() << error;
}
......
src/comm/SerialLink.h
View file @ 1665245a
......@@ -40,6 +40,9 @@ This file is part of the QGROUNDCONTROL project
#include <configuration.h>
#include "SerialLinkInterface.h"
// convenience type for passing errors
typedef QSerialPort::SerialPortError SerialLinkPortError_t;
/**
* @brief The SerialLink class provides cross-platform access to serial links.
* It takes care of the link management and provides a common API to higher
......@@ -53,6 +56,7 @@ class SerialLink : public SerialLinkInterface
Q_OBJECT
//Q_INTERFACES(SerialLinkInterface:LinkInterface)
public:
SerialLink(QString portname = "",
int baudrate=57600,
......@@ -142,7 +146,7 @@ public slots:
bool connect();
bool disconnect();
void linkError(QSerialPort::SerialPortError error);
void linkError(SerialLinkPortError_t error);
protected:
quint64 m_bytesRead;
......
src/comm/px4_custom_mode.h 0 → 100644
View file @ 1665245a
#ifndef PX4_CUSTOM_MODE_H
#define PX4_CUSTOM_MODE_H
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_SEATBELT,
PX4_CUSTOM_MAIN_MODE_EASY,
PX4_CUSTOM_MAIN_MODE_AUTO,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
};
union px4_custom_mode {
struct {
uint16_t reserved;
uint8_t main_mode;
uint8_t sub_mode;
};
uint32_t data;
float data_float;
};
#endif // PX4_CUSTOM_MODE_H
src/uas/QGCUASParamManager.cc
View file @ 1665245a
#include "QGCUASParamManager.h"
#include <QApplication>>
#include <QApplication>
#include <QDir>
#include <QMessageBox>
#include "UASInterface.h"
#include "UASParameterCommsMgr.h"
QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
QWidget(parent),
mav(uas),
paramDataModel(NULL),
paramCommsMgr(NULL)
QGCUASParamManager::QGCUASParamManager(QObject *parent) :
QObject(parent),
mav(NULL),
paramDataModel(this),
paramCommsMgr(NULL),
defaultComponentId(-1)
{
paramDataModel = uas->getParamDataModel();
paramCommsMgr = uas->getParamCommsMgr();
mav->setParamManager(this);
// Load default values and tooltips
}
QGCUASParamManager* QGCUASParamManager::initWithUAS(UASInterface* uas)
{
mav = uas;
// Load default values and tooltips for data model
loadParamMetaInfoCSV();
paramCommsMgr = new UASParameterCommsMgr(this);
paramCommsMgr->initWithUAS(uas);
connectToModelAndComms();
return this;
}
void QGCUASParamManager::connectToModelAndComms()
{
// Pass along comms mgr status msgs
connect(paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
this, SIGNAL(parameterStatusMsgUpdated(QString,int)));
connect(paramCommsMgr, SIGNAL(parameterListUpToDate()),
this, SIGNAL(parameterListUpToDate()));
// Pass along data model updates
connect(&paramDataModel, SIGNAL(parameterUpdated(int, QString , QVariant )),
this, SIGNAL(parameterUpdated(int, QString , QVariant )));
connect(&paramDataModel, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )),
this, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )));
}
void QGCUASParamManager::clearAllPendingParams()
{
paramDataModel.clearAllPendingParams();
emit parameterStatusMsgUpdated(tr("Cleared all pending params"), UASParameterCommsMgr::ParamCommsStatusLevel_OK);
}
int QGCUASParamManager::getDefaultComponentId()
{
int result = 0;
if (-1 != defaultComponentId)
return defaultComponentId;
QList<int> components = getComponentForParam("SYS_AUTOSTART");//TODO is this the best way to find the right component?
// Guard against multiple components responding - this will never show in practice
if (1 == components.count()) {
result = components.first();
defaultComponentId = result;
}
qDebug() << "Default compId: " << result;
return result;
}
QList<int> QGCUASParamManager::getComponentForParam(const QString& parameter) const
{
return paramDataModel.getComponentForOnboardParam(parameter);
}
bool QGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const
{
return paramDataModel->getOnboardParamValue(component,parameter,value);
return paramDataModel.getOnboardParamValue(component,parameter,value);
}
......@@ -42,39 +108,53 @@ void QGCUASParamManager::requestParameterUpdate(int component, const QString& pa
*/
void QGCUASParamManager::requestParameterList()
{
if (!mav) {
return;
if (mav) {
emit parameterStatusMsgUpdated(tr("Requested param list.. waiting"), UASParameterCommsMgr::ParamCommsStatusLevel_OK);
paramCommsMgr->requestParameterList();
}
setParameterStatusMsg(tr("Requested param list.. waiting"));
paramCommsMgr->requestParameterList();
}
void QGCUASParamManager::setParameterStatusMsg(const QString& msg)
void QGCUASParamManager::requestParameterListIfEmpty()
{
qDebug() << "parameterStatusMsg: " << msg;
parameterStatusMsg = msg;
if (mav) {
int totalOnboard = paramDataModel.countOnboardParams();
if (totalOnboard < 2) { //TODO arbitrary constant, maybe 0 is OK?
defaultComponentId = -1; //reset this ...we have no idea what the default component ID is
requestParameterList();
}
}
}
void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& paramInfo) {
paramDataModel->setParamDescriptions(paramInfo);
paramDataModel.setParamDescriptions(paramInfo);
}
void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant value)
{
//paramCommsMgr->setParameter(compId,paramName,value);
paramDataModel->updatePendingParamWithValue(compId,paramName,value);
if ((0 == compId) || (-1 == compId)) {
//attempt to get an actual component ID
compId = getDefaultComponentId();
}
paramDataModel.updatePendingParamWithValue(compId,paramName,value);
}
void QGCUASParamManager::sendPendingParameters()
void QGCUASParamManager::sendPendingParameters(bool persistAfterSend)
{
paramCommsMgr->sendPendingParameters();
paramCommsMgr->sendPendingParameters(persistAfterSend);
}
void QGCUASParamManager::setPendingParam(int compId, QString& paramName, const QVariant& value)
void QGCUASParamManager::setPendingParam(int compId, const QString& paramName, const QVariant& value)
{
paramDataModel->updatePendingParamWithValue(compId,paramName,value);
if ((0 == compId) || (-1 == compId)) {
//attempt to get an actual component ID
compId = getDefaultComponentId();
}
paramDataModel.updatePendingParamWithValue(compId,paramName,value);
}
......@@ -97,16 +177,59 @@ void QGCUASParamManager::loadParamMetaInfoCSV()
}
QTextStream in(&paramMetaFile);
paramDataModel->loadParamMetaInfoFromStream(in);
paramDataModel.loadParamMetaInfoFromStream(in);
paramMetaFile.close();
}
/**
* @return The MAV of this mgr. Unless the MAV object has been destroyed, this
* pointer is never zero.
*/
UASInterface* QGCUASParamManager::getUAS()
{
return mav;
}
UASParameterDataModel* QGCUASParamManager::dataModel()
{
return &paramDataModel;
}
void QGCUASParamManager::writeOnboardParamsToStream(QTextStream &stream, const QString& uasName)
{
paramDataModel.writeOnboardParamsToStream(stream,uasName);
}
void QGCUASParamManager::readPendingParamsFromStream(QTextStream &stream)
{
paramDataModel.readUpdateParamsFromStream(stream);
}
void QGCUASParamManager::copyVolatileParamsToPersistent()
{
int changedParamCount = paramDataModel.countPendingParams();
if (changedParamCount > 0) {
QMessageBox msgBox;
msgBox.setText(tr("There are locally changed parameters. Please transmit them first (<TRANSMIT>) or update them with the onboard values (<REFRESH>) before storing onboard from RAM to ROM."));
msgBox.exec();
}
else {
paramCommsMgr->writeParamsToPersistentStorage();
}
}
void QGCUASParamManager::copyPersistentParamsToVolatile()
{
if (mav) {
mav->readParametersFromStorage(); //TODO use comms mgr instead?
}
}
void QGCUASParamManager::requestRcCalibrationParamsUpdate() {
paramCommsMgr->requestRcCalibrationParamsUpdate();
}
src/uas/QGCUASParamManager.h
View file @ 1665245a
......@@ -6,67 +6,126 @@
#include <QTimer>
#include <QVariant>
#include "UASParameterDataModel.h"
//forward declarations
class QTextStream;
class UASInterface;
class UASParameterCommsMgr;
class UASParameterDataModel;
class QGCUASParamManager : public QWidget
class QGCUASParamManager : public QObject
{
Q_OBJECT
public:
QGCUASParamManager(UASInterface* uas, QWidget *parent = 0);
QGCUASParamManager(QObject* parent = 0);
QGCUASParamManager* initWithUAS(UASInterface* uas);
/** @brief Get the known, confirmed value of a parameter */
virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
/** @brief determine which component is the root component for the UAS and return its ID or 0 if unknown */
virtual int getDefaultComponentId();
/**
* @brief Get a list of all component IDs using this parameter name
* @param parameter The string encoding the parameter name
* @return A list with all components using this parameter name. Can be empty.
*/
virtual QList<int> getComponentForParam(const QString& parameter) const;
/** @brief Provide tooltips / user-visible descriptions for parameters */
virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs);
/**
* @brief Count the pending parameters in the current transmission
* @return The number of pending parameters
*/
virtual int countPendingParams() {
return paramDataModel.countPendingParams();
}
/**
* @brief Count the number of onboard parameters
* @return The number of onboard parameters
*/
virtual int countOnboardParams() {
return paramDataModel.countOnboardParams();
}
/** @brief Get the UAS of this widget
* @return The MAV of this mgr. Unless the MAV object has been destroyed, this is never null.
*/
UASInterface* getUAS();
/** @return The data model managed by this class */
virtual UASParameterDataModel* dataModel();
protected:
//TODO decouple this UI message display further?
virtual void setParameterStatusMsg(const QString& msg);
/** @brief Load parameter meta information from appropriate CSV file */
virtual void loadParamMetaInfoCSV();
void connectToModelAndComms();
signals:
void parameterChanged(int component, QString parameter, QVariant value);
void parameterChanged(int component, int parameterIndex, QVariant value);
/** @brief We updated the parameter status message */
void parameterStatusMsgUpdated(QString msg, int level);
/** @brief We have received a complete list of all parameters onboard the MAV */
void parameterListUpToDate();
/** @brief We've received an update of a parameter's value */
void parameterUpdated(int compId, QString paramName, QVariant value);
/** @brief Notifies listeners that a param was added to or removed from the pending list */
void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
public slots:
/** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
virtual void setParameter(int component, QString parameterName, QVariant value);
/** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory */
virtual void sendPendingParameters();
/** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory
* @param persistAfterSend If true, all parameters will be written to persistent storage as well
*/
virtual void sendPendingParameters(bool persistAfterSend = false);
/** @brief Request list of parameters from MAV */
virtual void requestParameterList();
virtual void setPendingParam(int componentId, QString& key, const QVariant& value);
/** @brief Request a list of params onboard the MAV if the onboard param list we have is empty */
virtual void requestParameterListIfEmpty();
/** @brief queue a pending parameter for sending to the MAV */
virtual void setPendingParam(int componentId, const QString& key, const QVariant& value);
/** @brief remove all params from the pending list */
virtual void clearAllPendingParams();
/** @brief Request a single parameter by name from the MAV */
virtual void requestParameterUpdate(int component, const QString& parameter);
virtual void handleParameterUpdate(int component, const QString& parameterName, QVariant value) = 0;
virtual void handleParameterListUpToDate() = 0;
virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName);
virtual void readPendingParamsFromStream(QTextStream &stream);
virtual void requestRcCalibrationParamsUpdate();
/** @brief Copy the current parameters in volatile RAM to persistent storage (EEPROM/HDD) */
virtual void copyVolatileParamsToPersistent();
/** @brief Copy the parameters from persistent storage to volatile RAM */
virtual void copyPersistentParamsToVolatile();
protected:
// Parameter data model
UASInterface* mav; ///< The MAV this manager is controlling
UASParameterDataModel* paramDataModel;///< Shared data model of parameters
UASParameterDataModel paramDataModel;///< Shared data model of parameters
UASParameterCommsMgr* paramCommsMgr; ///< Shared comms mgr for parameters
// Status
QString parameterStatusMsg;
int defaultComponentId; ///< Cached default component ID
};
......
src/uas/UAS.cc
View file @ 1665245a
This diff is collapsed.
src/uas/UAS.h
View file @ 1665245a
......@@ -69,7 +69,7 @@ public:
/** @brief Get short mode */
const QString& getShortMode() const;
/** @brief Translate from mode id to text */
static QString getShortModeTextFor(int id);
static QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot);
/** @brief Translate from mode id to audio text */
static QString getAudioModeTextFor(int id);
/** @brief Get the unique system id */
......@@ -362,9 +362,8 @@ protected: //COMMENTS FOR TEST UNIT
int airframe; ///< The airframe type
int autopilot; ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
bool systemIsArmed; ///< If the system is armed
uint8_t mode; ///< The current mode of the MAV
uint8_t base_mode; ///< The current mode of the MAV
uint32_t custom_mode; ///< The current mode of the MAV
uint32_t navMode; ///< The current navigation mode of the MAV
int status; ///< The current status of the MAV
QString shortModeText; ///< Short textual mode description
QString shortStateText; ///< Short textual state description
......@@ -492,9 +491,7 @@ protected: //COMMENTS FOR TEST UNIT
/// PARAMETERS
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
QGCUASParamManager* paramManager; ///< Parameter manager class
UASParameterDataModel* paramDataModel; ///< The parameter data model for this UAS
UASParameterCommsMgr* paramCommsMgr;
QGCUASParamManager paramMgr; ///< Parameter manager for this UAS
/// SIMULATION
QGCHilLink* simulation; ///< Hardware in the loop simulation link
......@@ -508,43 +505,27 @@ public:
float getChargeLevel();
/** @brief Get the human-readable status message for this code */
void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
/** @brief Get the human-readable navigation mode translation for this mode */
QString getNavModeText(int mode);
/** @brief Check if vehicle is in autonomous mode */
bool isAuto();
/** @brief Check if vehicle is armed */
bool isArmed() const { return systemIsArmed; }
/** @brief Get reference to the waypoint manager **/
UASWaypointManager* getWaypointManager() {
return &waypointManager;
}
/** @brief Get reference to the param manager **/
QGCUASParamManager* getParamManager() const {
return paramManager;
}
/** @brief Get reference to the parameter data model (same one shared with the parameter manager) **/
UASParameterDataModel* getParamDataModel() {
return paramDataModel;
}
UASParameterCommsMgr* getParamCommsMgr() {
return paramCommsMgr;
/** @brief Get reference to the param manager **/
virtual QGCUASParamManager* getParamManager() {
return &paramMgr;
}
/** @brief Get the HIL simulation */
QGCHilLink* getHILSimulation() const {
return simulation;
}
// TODO Will be removed
/** @brief Set reference to the param manager **/
void setParamManager(QGCUASParamManager* manager) {
paramManager = manager;
}
int getSystemType();
/**
......@@ -850,7 +831,7 @@ public slots:
void setSelected();
/** @brief Set current mode of operation, e.g. auto or manual */
void setMode(int mode);
void setMode(uint8_t newBaseMode, uint32_t newCustomMode);
/** @brief Request all parameters */
void requestParameters();
......@@ -861,7 +842,7 @@ public slots:
void requestParameter(int component, int id);
/** @brief Set a system parameter */
void setParameter(const int component, const QString& id, const QVariant& value);
void setParameter(const int compId, const QString& paramId, const QVariant& value);
/** @brief Write parameters to permanent storage */
void writeParametersToStorage();
......@@ -953,6 +934,8 @@ protected:
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
int componentID[256];
bool componentMulti[256];
bool connectionLost; ///< Flag indicates a timed out connection
......
src/uas/UASInterface.h
View file @ 1665245a
......@@ -154,18 +154,8 @@ public:
/** @brief Get reference to the waypoint manager **/
virtual UASWaypointManager* getWaypointManager(void) = 0;
/** @brief Access the parameter data model for this UAS (sans widget). This is the same parameter data model used by the parameter manager. **/
virtual UASParameterDataModel* getParamDataModel() = 0;
virtual UASParameterCommsMgr* getParamCommsMgr() = 0;
/** @brief Get reference to the param manager **/
virtual QGCUASParamManager* getParamManager() const = 0;
// TODO Will be removed
/** @brief Set reference to the param manager **/
virtual void setParamManager(QGCUASParamManager* manager) = 0;
virtual QGCUASParamManager* getParamManager() = 0;
/* COMMUNICATION FLAGS */
......@@ -305,7 +295,7 @@ public slots:
/** @brief Start/continue the current robot action */
virtual void go() = 0;
/** @brief Set the current mode of operation */
virtual void setMode(int mode) = 0;
virtual void setMode(uint8_t newBaseMode, uint32_t newCustomMode) = 0;
/** Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
virtual void emergencySTOP() = 0;
/** Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
......
src/uas/UASParameterCommsMgr.cc
View file @ 1665245a
......@@ -7,9 +7,9 @@
#define RC_CAL_CHAN_MAX 8
UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent) :
QObject(parent),
mav(uas),
mav(NULL),
paramDataModel(NULL),
transmissionListMode(false),
transmissionActive(false),
......@@ -18,10 +18,16 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
rewriteTimeout(1000),
retransmissionBurstRequestSize(5)
{
paramDataModel = mav->getParamDataModel();
loadParamCommsSettings();
}
UASParameterCommsMgr* UASParameterCommsMgr::initWithUAS(UASInterface* uas)
{
mav = uas;
paramDataModel = mav->getParamManager()->dataModel();
loadParamCommsSettings();
//Requesting parameters one-by-one from mav
connect(this, SIGNAL(parameterUpdateRequestedById(int,int)),
mav, SLOT(requestParameter(int,int)));
......@@ -34,10 +40,11 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent, UASInterface *uas) :
connect(mav, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)),
this, SLOT(receivedParameterUpdate(int,int,int,int,QString,QVariant)));
//connecto retransmissionTimer
//connect to retransmissionTimer
connect(&retransmissionTimer, SIGNAL(timeout()),
this, SLOT(retransmissionGuardTick()));
return this;
}
......@@ -60,15 +67,6 @@ void UASParameterCommsMgr::loadParamCommsSettings()
}
void UASParameterCommsMgr::requestParameterListIfEmpty()
{
int totalOnboard = paramDataModel->countOnboardParams();
if (totalOnboard < 2) { //TODO arbitrary constant, maybe 0 is OK?
requestParameterList();
}
}
/**
* Send a request to deliver the list of onboard parameters
......@@ -80,9 +78,6 @@ void UASParameterCommsMgr::requestParameterList()
return;
}
//TODO check: no need to cause datamodel to forget params here?
// paramDataModel->forgetAllOnboardParameters();
if (!transmissionListMode) {
// Clear transmission state
receivedParamsList.clear();
......@@ -161,11 +156,11 @@ void UASParameterCommsMgr::emitPendingParameterCommit(int compId, const QString&
}
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
qCritical() << "ABORTED PARAM SEND, INVALID QVARIANT TYPE" << paramType;
return;
}
setParameterStatusMsg(tr("Requested write of: %1: %2").arg(key).arg(value.toDouble()));
setParameterStatusMsg(tr("Writing %1: %2 for comp. %3").arg(key).arg(value.toDouble()).arg(compId));
}
......@@ -218,7 +213,7 @@ void UASParameterCommsMgr::resendReadWriteRequests()
}
if ((0 == requestedWriteCount) && (0 == requestedReadCount) ) {
qDebug() << __FILE__ << __LINE__ << "NO re-read or rewrite requests??";
qDebug() << __FILE__ << __LINE__ << "No pending re-read or rewrite requests";
if (!transmissionListMode) {
setRetransmissionGuardEnabled(false);
transmissionActive = false;
......@@ -429,6 +424,8 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
{
Q_UNUSED(uas); //this object is assigned to one UAS only
qDebug() << "compId" << compId << "receivedParameterUpdate:" << paramName;
//notify the data model that we have an updated param
paramDataModel->handleParamUpdate(compId,paramName,value);
......@@ -476,6 +473,10 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
// Mark this parameter as received in write ACK list
QMap<QString, QVariant>* compMissWritePackets = missingWriteAckPackets.value(compId);
if (!compMissWritePackets) {
//we sometimes send a write request on compId 0 and get a response on a nonzero compId eg 50
compMissWritePackets = missingWriteAckPackets.value(0);
}
if (compMissWritePackets && compMissWritePackets->contains(paramName)) {
justWritten = true;
if (compMissWritePackets->value(paramName) != value) {
......@@ -500,6 +501,10 @@ void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int para
setParameterStatusMsg(tr("SUCCESS: Wrote %2 (#%1/%4): %3 [%5]").arg(paramId+1).arg(paramName).arg(value.toDouble()).arg(paramCount).arg(missWriteCount));
if (0 == missWriteCount) {
setParameterStatusMsg(tr("SUCCESS: WROTE ALL PARAMETERS"));
if (persistParamsAfterSend) {
writeParamsToPersistentStorage();
persistParamsAfterSend = false;
}
}
}
else {
......@@ -565,12 +570,15 @@ void UASParameterCommsMgr::writeParamsToPersistentStorage()
{
if (mav) {
mav->writeParametersToStorage(); //TODO track timeout, retransmit etc?
persistParamsAfterSend = false; //done
}
}
void UASParameterCommsMgr::sendPendingParameters()
void UASParameterCommsMgr::sendPendingParameters(bool copyToPersistent)
{
persistParamsAfterSend |= copyToPersistent;
// Iterate through all components, through all pending parameters and send them to UAS
int parametersSent = 0;
QMap<int, QMap<QString, QVariant>*>* changedValues = paramDataModel->getAllPendingParams();
......@@ -592,7 +600,11 @@ void UASParameterCommsMgr::sendPendingParameters()
// Change transmission status if necessary
if (parametersSent == 0) {
setParameterStatusMsg(tr("No transmission: No changed values."),ParamCommsStatusLevel_Warning);
} else {
if (persistParamsAfterSend) {
writeParamsToPersistentStorage();
}
}
else {
setParameterStatusMsg(tr("Transmitting %1 parameters.").arg(parametersSent));
// Set timeouts
if (transmissionActive) {
......
src/uas/UASParameterCommsMgr.h
View file @ 1665245a
......@@ -18,7 +18,9 @@ class UASParameterCommsMgr : public QObject
public:
explicit UASParameterCommsMgr(QObject *parent = 0, UASInterface* uas = NULL);
explicit UASParameterCommsMgr(QObject *parent = 0);
UASParameterCommsMgr* initWithUAS(UASInterface* model);///< Two-stage constructor
~UASParameterCommsMgr();
typedef enum ParamCommsStatusLevel {
......@@ -62,7 +64,7 @@ signals:
public slots:
/** @brief Iterate through all components, through all pending parameters and send them to UAS */
virtual void sendPendingParameters();
virtual void sendPendingParameters(bool copyToPersistent = false);
/** @brief Write the current onboard parameters from transient RAM into persistent storage, e.g. EEPROM or harddisk */
virtual void writeParamsToPersistentStorage();
......@@ -72,8 +74,6 @@ public slots:
/** @brief Request list of parameters from MAV */
virtual void requestParameterList();
/** @brief Request a list of params onboard the MAV if the onboard param list we have is empty */
virtual void requestParameterListIfEmpty();
/** @brief Check for missing parameters */
virtual void retransmissionGuardTick();
......@@ -99,6 +99,7 @@ protected:
bool transmissionListMode; ///< Currently requesting list
QMap<int, bool> transmissionListSizeKnown; ///< List size initialized?
bool transmissionActive; ///< Missing packets, working on list?
bool persistParamsAfterSend; ///< Copy all parameters to persistent storage after sending
quint64 transmissionTimeout; ///< Timeout
QTimer retransmissionTimer; ///< Timer handling parameter retransmission
quint64 lastTimerReset; ///< Last time the guard timer was reset, to prevent premature firing
......
src/uas/UASParameterDataModel.cc
View file @ 1665245a
......@@ -45,7 +45,7 @@ int UASParameterDataModel::countOnboardParams()
}
bool UASParameterDataModel::updatePendingParamWithValue(int compId, QString& key, const QVariant& value)
bool UASParameterDataModel::updatePendingParamWithValue(int compId, const QString& key, const QVariant& value)
{
bool pending = true;
//ensure we have this component in our onboard and pending lists already
......@@ -76,18 +76,15 @@ bool UASParameterDataModel::isParamChangePending(int compId, const QString& key)
return ((NULL != pendingParms) && pendingParms->contains(key));
}
void UASParameterDataModel::setPendingParam(int compId, QString& key, const QVariant &value)
void UASParameterDataModel::setPendingParam(int compId, const QString& key, const QVariant &value)
{
//ensure we have a placeholder map for this component
addComponent(compId);
QMap<QString, QVariant> *pendParams = getPendingParamsForComponent(compId);
if (pendParams) {
pendParams->insert(key,value);
emit pendingParamUpdate(compId, key, value, true);
}
setParamWithTypeInMap(compId,key,value,pendingParameters);
emit pendingParamUpdate(compId, key, value, true);
}
void UASParameterDataModel::removePendingParam(int compId, QString& key)
void UASParameterDataModel::removePendingParam(int compId, const QString& key)
{
qDebug() << "removePendingParam:" << key;
......@@ -101,15 +98,16 @@ void UASParameterDataModel::removePendingParam(int compId, QString& key)
}
}
void UASParameterDataModel::setOnboardParam(int compId, QString& key, const QVariant& value)
void UASParameterDataModel::setOnboardParam(int compId, const QString &key, const QVariant& value)
{
//ensure we have a placeholder map for this component
addComponent(compId);
//TODO use setParamWithTypeInMap instead and verify
QMap<QString, QVariant> *params = getOnboardParamsForComponent(compId);
params->insert(key,value);
}
void UASParameterDataModel::setOnboardParamWithType(int compId, QString& key, QVariant& value)
void UASParameterDataModel::setParamWithTypeInMap(int compId, const QString& key, const QVariant &value, QMap<int, QMap<QString, QVariant>* >& map)
{
switch ((int)value.type())
......@@ -117,25 +115,35 @@ void UASParameterDataModel::setOnboardParamWithType(int compId, QString& key, QV
case QVariant::Int:
{
QVariant fixedValue(value.toInt());
onboardParameters.value(compId)->insert(key, fixedValue);
map.value(compId)->insert(key, fixedValue);
}
break;
case QVariant::UInt:
{
QVariant fixedValue(value.toUInt());
onboardParameters.value(compId)->insert(key, fixedValue);
map.value(compId)->insert(key, fixedValue);
}
break;
case QMetaType::Float:
{
QVariant fixedValue(value.toFloat());
onboardParameters.value(compId)->insert(key, fixedValue);
map.value(compId)->insert(key, fixedValue);
}
break;
case QMetaType::QChar:
{
QVariant fixedValue(QChar((unsigned char)value.toUInt()));
onboardParameters.value(compId)->insert(key, fixedValue);
map.value(compId)->insert(key, fixedValue);
}
break;
case QMetaType::QString:
{
QString strVal = value.toString();
float floatVal = strVal.toFloat();
QVariant fixedValue( floatVal );
//TODO track down WHY we're getting unexpected QString values here...this is a workaround
qDebug() << "Unexpected string QVariant:" << key << " val:" << value << "fixedVal:" << fixedValue;
map.value(compId)->insert(key, fixedValue);
}
break;
default:
......@@ -155,7 +163,7 @@ void UASParameterDataModel::addComponent(int compId)
}
void UASParameterDataModel::handleParamUpdate(int compId, QString& paramName, QVariant& value)
void UASParameterDataModel::handleParamUpdate(int compId, const QString &paramName, const QVariant &value)
{
//verify that the value requested by the user matches the set value
//if it doesn't match, leave the pending parameter in the pending list!
......@@ -165,8 +173,7 @@ void UASParameterDataModel::handleParamUpdate(int compId, QString& paramName, QV
QVariant reqVal = pendingParams->value(paramName);
if (reqVal == value) {
//notify everyone that this item is being removed from the pending parameters list since it's now confirmed
emit pendingParamUpdate(compId, paramName, value, false);
pendingParams->remove(paramName);
removePendingParam(compId,paramName);
}
else {
qDebug() << "Pending commit for " << paramName << " want: " << reqVal << " got: " << value;
......@@ -192,11 +199,38 @@ bool UASParameterDataModel::getOnboardParamValue(int componentId, const QString&
return false;
}
QList<int> UASParameterDataModel::getComponentForOnboardParam(const QString& parameter) const
{
QList<int> components;
// Iterate through all components
foreach (int comp, onboardParameters.keys())
{
if (onboardParameters.value(comp)->contains(parameter))
components.append(comp);
}
return components;
}
void UASParameterDataModel::forgetAllOnboardParams()
{
onboardParameters.clear();
}
void UASParameterDataModel::clearAllPendingParams()
{
QList<int> compIds = pendingParameters.keys();
foreach (int compId , compIds) {
QMap<QString, QVariant>* compParams = pendingParameters.value(compId);
QList<QString> paramNames = compParams->keys();
foreach (QString paramName, paramNames) {
//remove this item from pending status and broadcast update
removePendingParam(compId,paramName);
}
}
}
void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream)
{
bool userWarned = false;
......
src/uas/UASParameterDataModel.h
View file @ 1665245a
......@@ -34,20 +34,24 @@ public:
*/
virtual void addComponent(int compId);
/**
* @brief Return a list of all components for this parameter name
* @param parameter The parameter string to search for
* @return A list with all components, can be potentially empty
*/
virtual QList<int> getComponentForOnboardParam(const QString& parameter) const;
/** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
/** @brief clears every parameter for every loaded component */
virtual void forgetAllOnboardParams();
/** @brief add this parameter to pending list iff it has changed from onboard value
* @return true if the parameter is now pending
*/
virtual bool updatePendingParamWithValue(int componentId, QString& key, const QVariant &value);
virtual void handleParamUpdate(int componentId, QString& key, QVariant& value);
virtual bool updatePendingParamWithValue(int componentId, const QString &key, const QVariant &value);
virtual void handleParamUpdate(int componentId, const QString& key, const QVariant& value);
virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
virtual bool isParamChangePending(int componentId,const QString& key);
......@@ -83,12 +87,15 @@ public:
protected:
/** @brief set the confirmed value of a parameter in the onboard params list */
virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
virtual void setOnboardParam(int componentId, const QString& key, const QVariant& value);
/** @brief Save the parameter with a the type specified in the QVariant as fixed */
void setParamWithTypeInMap(int compId, const QString& key, const QVariant &value, QMap<int, QMap<QString, QVariant>* >& map);
/** @brief Write a new pending parameter value that may be eventually sent to the UAS */
virtual void setPendingParam(int componentId, QString& key, const QVariant& value);
virtual void setPendingParam(int componentId, const QString &key, const QVariant& value);
/** @brief remove a parameter from the pending list */
virtual void removePendingParam(int compId, QString& key);
virtual void removePendingParam(int compId, const QString &key);
signals:
......@@ -103,6 +110,7 @@ signals:
public slots:
virtual void clearAllPendingParams();
protected:
int uasId; ///< The UAS / MAV to which this data model pertains
......
src/ui/DebugConsole.cc
View file @ 1665245a
......@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
*/
#include <QPainter>
#include <QSettings>
#include <QScrollBar>
#include "DebugConsole.h"
#include "ui_DebugConsole.h"
......@@ -313,9 +314,15 @@ void DebugConsole::receiveTextMessage(int id, int component, int severity, QStri
break;
}
//turn off updates while we're appending content to avoid breaking the autoscroll behavior
m_ui->receiveText->setUpdatesEnabled(false);
QScrollBar *scroller = m_ui->receiveText->verticalScrollBar();
m_ui->receiveText->appendHtml(QString("<font color=\"%1\">(%2:%3) %4</font>\n").arg(UASManager::instance()->getUASForId(id)->getColor().name(), name, comp, text));
// Ensure text area scrolls correctly
m_ui->receiveText->ensureCursorVisible();
scroller->setValue(scroller->maximum());
m_ui->receiveText->setUpdatesEnabled(true);
}
}
......
src/ui/HSIDisplay.cc
View file @ 1665245a
......@@ -176,7 +176,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
setToolTip(tr("View from top in body frame. Scroll with mouse wheel to change the horizontal field of view of the widget."));
setStatusTip(tr("View from top in body frame. Scroll with mouse wheel to change the horizontal field of view of the widget."));
connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
// XXX this looks a potential recursive issue
//connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
if (UASManager::instance()->getActiveUAS())
{
......
src/ui/MainWindow.cc
View file @ 1665245a
......@@ -57,7 +57,6 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "QGCFirmwareUpdate.h"
#include "QGCStatusBar.h"
#include "UASQuickView.h"
#include "QGCDataPlot2D.h"
......@@ -1414,8 +1413,9 @@ void MainWindow::connectCommonActions()
perspectives->addAction(ui.actionMissionView);
//perspectives->addAction(ui.actionConfiguration_2);
perspectives->addAction(ui.actionHardwareConfig);
perspectives->addAction(ui.actionSoftwareConfig);
perspectives->addAction(ui.actionFirmwareUpdateView);
if (getCustomMode() == CUSTOM_MODE_APM) {
perspectives->addAction(ui.actionSoftwareConfig);
}
perspectives->addAction(ui.actionTerminalView);
perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true);
......@@ -1456,11 +1456,6 @@ void MainWindow::connectCommonActions()
ui.actionSoftwareConfig->setChecked(true);
ui.actionSoftwareConfig->activate(QAction::Trigger);
}
if (currentView == VIEW_FIRMWAREUPDATE)
{
ui.actionFirmwareUpdateView->setChecked(true);
ui.actionFirmwareUpdateView->activate(QAction::Trigger);
}
if (currentView == VIEW_TERMINAL)
{
ui.actionTerminalView->setChecked(true);
......@@ -1509,7 +1504,6 @@ void MainWindow::connectCommonActions()
connect(ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView()));
}
connect(ui.actionFirmwareUpdateView, SIGNAL(triggered()), this, SLOT(loadFirmwareUpdateView()));
connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
// Help Actions
......@@ -2027,9 +2021,9 @@ void MainWindow::loadViewState()
case VIEW_MAVLINK:
centerStack->setCurrentWidget(mavlinkView);
break;
case VIEW_FIRMWAREUPDATE:
centerStack->setCurrentWidget(firmwareUpdateWidget);
break;
// case VIEW_FIRMWAREUPDATE:
// centerStack->setCurrentWidget(firmwareUpdateWidget);
// break;
case VIEW_MISSION:
centerStack->setCurrentWidget(plannerView);
break;
......@@ -2190,17 +2184,6 @@ void MainWindow::loadMAVLinkView()
}
}
void MainWindow::loadFirmwareUpdateView()
{
if (currentView != VIEW_FIRMWAREUPDATE)
{
storeViewState();
currentView = VIEW_FIRMWAREUPDATE;
ui.actionFirmwareUpdateView->setChecked(true);
loadViewState();
}
}
//void MainWindow::loadDataView(QString fileName)
//{
// // Plot is now selected, now load data from file
......
src/ui/MainWindow.h
View file @ 1665245a
......@@ -240,8 +240,6 @@ public slots:
void loadOperatorView();
/** @brief Load MAVLink XML generator view */
void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Load Terminal Console views */
void loadTerminalView();
......
src/ui/ParameterInterface.cc
View file @ 1665245a
......@@ -97,14 +97,15 @@ void ParameterInterface::addUAS(UASInterface* uas)
return;
}
QGCParamWidget* param = new QGCParamWidget(uas, this);
param->init();
QGCParamWidget* paramWidget = new QGCParamWidget(this);
paramWidget = (QGCParamWidget*)paramWidget->initWithUAS(uas);
QString ptrStr;
ptrStr.sprintf("QGCParamWidget %8p (parent %8p)", param,this);
ptrStr.sprintf("QGCParamWidget %8p (parent %8p)", paramWidget,this);
qDebug() << "Created " << ptrStr << " for UAS id: " << uasId << " count: " << paramWidgets->count();
paramWidgets->insert(uasId, param);
m_ui->stackedWidget->addWidget(param);
paramWidgets->insert(uasId, paramWidget);
m_ui->stackedWidget->addWidget(paramWidget);
QGCSensorSettingsWidget* sensor = NULL;
......@@ -119,7 +120,7 @@ void ParameterInterface::addUAS(UASInterface* uas)
// Clear
if (m_ui->sensorSettings && sensor)
m_ui->sensorSettings->setCurrentWidget(sensor);
m_ui->stackedWidget->setCurrentWidget(param);
m_ui->stackedWidget->setCurrentWidget(paramWidget);
curr = 0;
}
}
......
src/ui/PrimaryFlightDisplay.cc
View file @ 1665245a
......@@ -357,6 +357,7 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double
if (yaw<0) yaw+=360;
this->heading = yaw;
}
}
void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp)
......
src/ui/QGCBaseParamWidget.cc 0 → 100644
View file @ 1665245a
#include "QGCBaseParamWidget.h"
#include <QFileDialog>
#include <QFile>
#include <QVariant>
#include <QTextStream>>
#include "QGCUASParamManager.h"
#include "UASInterface.h"
QGCBaseParamWidget::QGCBaseParamWidget(QWidget *parent) :
QWidget(parent),
mav(NULL),
paramMgr(NULL),
updatingParamNameLock("")
{
}
QGCBaseParamWidget* QGCBaseParamWidget::initWithUAS(UASInterface *uas)
{
setUAS(uas);
return this;
}
void QGCBaseParamWidget::setUAS(UASInterface* uas)
{
if (uas != mav) {
if (mav) {
//TODO disconnect any connections as needed
disconnectViewSignalsAndSlots();
disconnectFromParamManager();
clearOnboardParamDisplay();
clearPendingParamDisplay();
}
mav = uas;
if (mav) {
connectToParamManager();
connectViewSignalsAndSlots();
layoutWidget();
paramMgr->requestParameterListIfEmpty();
}
}
}
void QGCBaseParamWidget::connectToParamManager()
{
paramMgr = mav->getParamManager();
//TODO route via paramManager instead?
// Listen to updated param signals from the data model
connect(paramMgr, SIGNAL(parameterUpdated(int, QString , QVariant )),
this, SLOT(handleOnboardParamUpdate(int,QString,QVariant)));
connect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
this, SLOT(handlePendingParamUpdate(int , const QString& , QVariant, bool )));
// Listen for param list reload finished
connect(paramMgr, SIGNAL(parameterListUpToDate()),
this, SLOT(handleOnboardParameterListUpToDate()));
// Listen to communications status messages so we can display them
connect(paramMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
this, SLOT(handleParamStatusMsgUpdate(QString , int )));
}
void QGCBaseParamWidget::disconnectFromParamManager()
{
disconnect(paramMgr, SIGNAL(parameterUpdated(int, QString , QVariant )),
this, SLOT(handleOnboardParamUpdate(int,QString,QVariant)));
disconnect(paramMgr, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
this, SLOT(handlePendingParamUpdate(int , const QString& , QVariant, bool )));
disconnect(paramMgr, SIGNAL(parameterListUpToDate()),
this, SLOT(handleOnboardParameterListUpToDate()));
// Listen to communications status messages so we can display them
disconnect(paramMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
this, SLOT(handleParamStatusMsgUpdate(QString , int )));
paramMgr = NULL;
}
void QGCBaseParamWidget::requestOnboardParamsUpdate()
{
paramMgr->requestParameterList();
}
void QGCBaseParamWidget::saveParametersToFile()
{
if (!mav)
return;
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)"));
QFile file(fileName);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
return;
}
QTextStream outstream(&file);
paramMgr->writeOnboardParamsToStream(outstream,mav->getUASName());
file.close();
}
void QGCBaseParamWidget::loadParametersFromFile()
{
if (!mav)
return;
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)"));
QFile file(fileName);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return;
QTextStream in(&file);
paramMgr->readPendingParamsFromStream(in);
file.close();
}
src/ui/QGCBaseParamWidget.h 0 → 100644
View file @ 1665245a
#ifndef QGCBASEPARAMWIDGET_H
#define QGCBASEPARAMWIDGET_H
#include <QVariant>
#include <QWidget>
//forward declarations
class QGCUASParamManager;
class UASInterface;
class QGCBaseParamWidget : public QWidget
{
Q_OBJECT
public:
explicit QGCBaseParamWidget(QWidget *parent = 0);
virtual QGCBaseParamWidget* initWithUAS(UASInterface* uas);///< Two-stage construction: initialize this object
virtual void setUAS(UASInterface* uas);///< Allows swapping the underlying UAS
protected:
virtual void setParameterStatusMsg(const QString& msg) = 0;
virtual void layoutWidget() = 0;///< Layout the appearance of this widget
virtual void connectViewSignalsAndSlots() = 0;///< Connect view signals/slots as needed
virtual void disconnectViewSignalsAndSlots() = 0;///< Disconnect view signals/slots as needed
virtual void connectToParamManager(); ///>Connect to any required param manager signals
virtual void disconnectFromParamManager(); ///< Disconnect from any connected param manager signals
signals:
public slots:
virtual void handleOnboardParamUpdate(int component,const QString& parameterName, QVariant value) = 0;
virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending) = 0;
virtual void handleOnboardParameterListUpToDate() = 0;
virtual void handleParamStatusMsgUpdate(QString msg, int level) = 0;
/** @brief Clear the rendering of onboard parameters */
virtual void clearOnboardParamDisplay() = 0;
/** @brief Clear the rendering of pending parameters */
virtual void clearPendingParamDisplay() = 0;
/** @brief Request list of parameters from MAV */
virtual void requestOnboardParamsUpdate();
/** @brief Store parameters to a file */
virtual void saveParametersToFile();
/** @brief Load parameters from a file */
virtual void loadParametersFromFile();
protected:
QGCUASParamManager* paramMgr;
UASInterface* mav;
QString updatingParamNameLock; ///< Name of param currently being updated-- used for reducing echo on param change
};
#endif // QGCBASEPARAMWIDGET_H
src/ui/QGCConfigView.cc
View file @ 1665245a
......@@ -4,18 +4,33 @@
#include "QGCPX4VehicleConfig.h"
#include "QGCVehicleConfig.h"
#include "QGCPX4VehicleConfig.h"
#include "MainWindow.h"
QGCConfigView::QGCConfigView(QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCConfigView),
config(NULL),
mav(NULL)
{
ui->setupUi(this);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASChanged(UASInterface*)));
//don't show a configuration widget if no vehicle is connected
//show a placeholder informational widget instead
// The config screens are required for firmware uploading
if (MainWindow::instance()->getCustomMode() == MainWindow::CUSTOM_MODE_PX4) {
ui->gridLayout->removeWidget(ui->waitingLabel);
ui->waitingLabel->setVisible(false);
delete ui->waitingLabel;
ui->waitingLabel = NULL;
config = new QGCPX4VehicleConfig();
ui->gridLayout->addWidget(config);
} else {
//don't show a configuration widget if no vehicle is connected
//show a placeholder informational widget instead
}
}
......@@ -29,30 +44,53 @@ void QGCConfigView::activeUASChanged(UASInterface* uas)
if (mav == uas)
return;
//remove all child widgets since they could contain stale data
//for example, when we switch from one PX4 UAS to another UAS
foreach (QObject* obj, ui->gridLayout->children()) {
QWidget* w = dynamic_cast<QWidget*>(obj);
if (w) {
if (obj != ui->waitingLabel) {
ui->gridLayout->removeWidget(w);
delete obj;
}
}
}
int type = -1;
if (mav)
type = mav->getAutopilotType();
mav = uas;
if (NULL != mav) {
ui->gridLayout->removeWidget(ui->waitingLabel);
ui->waitingLabel->setVisible(false);
if (uas && type != uas->getAutopilotType()) {
if (ui->waitingLabel) {
ui->gridLayout->removeWidget(ui->waitingLabel);
ui->waitingLabel->setVisible(false);
}
//remove all child widgets since they could contain stale data
//for example, when we switch from one PX4 UAS to another UAS
foreach (QObject* obj, ui->gridLayout->children()) {
QWidget* w = dynamic_cast<QWidget*>(obj);
if (w) {
if (obj != ui->waitingLabel) {
ui->gridLayout->removeWidget(w);
delete obj;
}
}
}
int autopilotType = mav->getAutopilotType();
switch (autopilotType) {
case MAV_AUTOPILOT_PX4:
ui->gridLayout->addWidget(new QGCPX4VehicleConfig());
{
QGCPX4VehicleConfig* px4config = qobject_cast<QGCPX4VehicleConfig*>(config);
if (!px4config) {
if (config)
delete config;
config = new QGCPX4VehicleConfig();
ui->gridLayout->addWidget(config);
}
}
break;
default:
ui->gridLayout->addWidget(new QGCVehicleConfig());
{
QGCVehicleConfig* generalconfig = qobject_cast<QGCVehicleConfig*>(config);
if (!generalconfig) {
if (config)
delete config;
config = new QGCVehicleConfig();
ui->gridLayout->addWidget(config);
}
}
break;
}
}
......
src/ui/QGCConfigView.h
View file @ 1665245a
......@@ -21,6 +21,7 @@ public slots:
private:
Ui::QGCConfigView *ui;
QWidget *config;
UASInterface* mav;
};
......
src/ui/QGCConfigView.ui
View file @ 1665245a
......@@ -14,6 +14,9 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="waitingLabel">
<property name="text">
......
src/ui/QGCPX4VehicleConfig.cc
View file @ 1665245a
This diff is collapsed.
src/ui/QGCPX4VehicleConfig.h
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src/ui/QGCPX4VehicleConfig.ui
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src/ui/QGCParamWidget.cc
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This diff is collapsed.
src/ui/QGCParamWidget.h
View file @ 1665245a
......@@ -37,72 +37,65 @@ This file is part of the QGROUNDCONTROL project
#include <QLabel>
#include <QTimer>
#include "QGCUASParamManager.h"
#include "UASInterface.h"
#include "QGCBaseParamWidget.h"
//forward declarations
class QGridLayout;
class UASInterface;
/**
* @brief Widget to read/set onboard parameters
*/
class QGCParamWidget : public QGCUASParamManager
class QGCParamWidget : public QGCBaseParamWidget
{
Q_OBJECT
public:
QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
virtual void init(); ///< Two-stage construction: initialize the object
QGCParamWidget(QWidget *parent = 0);
protected:
virtual void setParameterStatusMsg(const QString& msg);
virtual void layoutWidget();///< Layout the appearance of this widget
virtual void connectSignalsAndSlots();///< Connect signals/slots as needed
virtual void connectViewSignalsAndSlots();///< Connect view signals/slots as needed
virtual void disconnectViewSignalsAndSlots();///< Connect view signals/slots as needed
virtual QTreeWidgetItem* getParentWidgetItemForParam(int compId, const QString& paramName);
virtual QTreeWidgetItem* findChildWidgetItemForParam(QTreeWidgetItem* parentItem, const QString& paramName);
signals:
public slots:
/** @brief Add a component to the list
/** @brief Add a component item as a child of this widget
* @param compId Component id of the component
* @param compName Human friendly name of the component
*/
void addComponentItem(int compId, QString compName);
virtual void addActionButtonsToLayout(QGridLayout* layout);
virtual void handleParameterUpdate(int component,const QString& parameterName, QVariant value);
virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
virtual void handleParameterListUpToDate();
signals:
public slots:
virtual void handleOnboardParamUpdate(int component,const QString& parameterName, QVariant value);
virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
virtual void handleOnboardParameterListUpToDate();
virtual void handleParamStatusMsgUpdate(QString msg, int level);
virtual void clearOnboardParamDisplay();
virtual void clearPendingParamDisplay();
/** @brief Ensure that view of parameter matches data in the model */
QTreeWidgetItem* updateParameterDisplay(int component, QString parameterName, QVariant value);
/** @brief Request list of parameters from MAV */
void requestAllParamsUpdate();
/** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
void writeParameters();
/** @brief Read the parameters from permanent storage to RAM */
void readParameters();
/** @brief Clear the parameter list */
void clear();
/** @brief Update when user changes parameters */
void parameterItemChanged(QTreeWidgetItem* prev, int column);
/** @brief Store parameters to a file */
void saveParametersToFile();
/** @brief Load parameters from a file */
void loadParametersFromFile();
/** @brief Update when user changes parameters */
void parameterItemChanged(QTreeWidgetItem* prev, int column);
protected:
QTreeWidget* tree; ///< The parameter tree
QLabel* statusLabel; ///< User-facing parameter status label
QMap<int, QTreeWidgetItem*>* componentItems; ///< The tree of component items, stored by component ID
QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups to organize component items
QString updatingParamNameLock; ///< Name of param currently being updated-- used for reducing echo on param change
QLabel* statusLabel; ///< User-facing parameter status label
QTreeWidget* tree; ///< The parameter tree
};
......
src/ui/QGCPendingParamWidget.cc
View file @ 1665245a
This diff is collapsed.
src/ui/QGCPendingParamWidget.h
View file @ 1665245a
......@@ -4,17 +4,23 @@
#include "QGCParamWidget.h"
class QGridLayout;
class QGCPendingParamWidget : public QGCParamWidget
{
Q_OBJECT
public:
explicit QGCPendingParamWidget(QObject* parent);
virtual void init(); ///< Two-stage construction: initialize the object
protected:
virtual void connectSignalsAndSlots();
virtual void connectToParamManager();
virtual void disconnectFromParamManager();
virtual void connectViewSignalsAndSlots();
virtual void disconnectViewSignalsAndSlots();
virtual void addActionButtonsToLayout(QGridLayout* layout);
signals:
......
src/ui/QGCTabbedInfoView.cpp
View file @ 1665245a
......@@ -4,18 +4,18 @@ QGCTabbedInfoView::QGCTabbedInfoView(QWidget *parent) : QWidget(parent)
{
ui.setupUi(this);
messageView = new QGCMessageView(this);
actionsWidget = new UASActionsWidget(this);
//actionsWidget = new UASActionsWidget(this);
quickView = new UASQuickView(this);
rawView = new UASRawStatusView(this);
//rawView = new UASRawStatusView(this);
ui.tabWidget->addTab(quickView,"Quick");
ui.tabWidget->addTab(actionsWidget,"Actions");
ui.tabWidget->addTab(rawView,"Status");
//ui.tabWidget->addTab(actionsWidget,"Actions");
//ui.tabWidget->addTab(rawView,"Status");
ui.tabWidget->addTab(messageView,"Messages");
}
void QGCTabbedInfoView::addSource(MAVLinkDecoder *decoder)
{
m_decoder = decoder;
rawView->addSource(decoder);
//rawView->addSource(decoder);
quickView->addSource(decoder);
}
......
src/ui/QGCToolBar.cc
View file @ 1665245a
This diff is collapsed.
src/ui/QGCToolBar.h
View file @ 1665245a
......@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
#include <QLabel>
#include <QProgressBar>
#include <QComboBox>
#include <QTimer>
#include "UASInterface.h"
#include "QGCMAVLinkLogPlayer.h"
#include "SerialLink.h"
......@@ -84,13 +85,19 @@ public slots:
void clearStatusString();
/** @brief Set an activity action as checked in menu */
void advancedActivityTriggered(QAction* action);
void updateComboBox();
/**
* @brief User selected baud rate
* @param index The current index of the combo box
*/
void baudSelected(int index);
protected:
void storeSettings();
void loadSettings();
void createUI();
void resetToolbarUI();
void updateComboBox();
UASInterface* mav;
QLabel* symbolLabel;
QLabel* toolBarNameLabel;
......@@ -108,6 +115,8 @@ protected:
QGCMAVLinkLogPlayer* player;
QComboBox *portComboBox;
QComboBox *baudcomboBox;
QTimer portBoxTimer;
bool userBaudChoice;
bool changed;
float batteryPercent;
float batteryVoltage;
......
src/ui/QGCVehicleConfig.cc
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src/ui/QGCVehicleConfig.h
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src/ui/designer/QGCComboBox.cc
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src/ui/designer/QGCComboBox.h
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src/ui/designer/QGCParamSlider.cc
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src/ui/designer/QGCParamSlider.h
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src/ui/designer/QGCTextLabel.h
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src/ui/designer/QGCToolWidgetItem.h
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src/ui/px4_configuration/QGCPX4AirframeConfig.cc 0 → 100644
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src/ui/px4_configuration/QGCPX4AirframeConfig.h 0 → 100644
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src/ui/px4_configuration/QGCPX4AirframeConfig.ui 0 → 100644
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src/ui/uas/QGCMessageView.cc
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src/ui/uas/UASListWidget.cc
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