Cleaned up old parameter interface, added initial support for other autopilots

qgroundcontrol.pro

@@ -111,8 +111,6 @@ HEADERS += src/MG.h \
     src/ui/AudioOutputWidget.h \
     src/GAudioOutput.h \
     src/LogCompressor.h \
-    src/ui/param/ParamTreeItem.h \
-    src/ui/param/ParamTreeModel.h \
     src/ui/QGCParamWidget.h \
     src/ui/QGCSensorSettingsWidget.h \
     src/ui/linechart/Linecharts.h \
@@ -163,8 +161,6 @@ SOURCES += src/main.cc \
     src/ui/AudioOutputWidget.cc \
     src/GAudioOutput.cc \
     src/LogCompressor.cc \
-    src/ui/param/ParamTreeItem.cc \
-    src/ui/param/ParamTreeModel.cc \
     src/ui/QGCParamWidget.cc \
     src/ui/QGCSensorSettingsWidget.cc \
     src/ui/linechart/Linecharts.cc \

src/comm/MAVLinkProtocol.cc

@@ -42,6 +42,7 @@ This file is part of the PIXHAWK project
 #include "UASManager.h"
 #include "UASInterface.h"
 #include "UAS.h"
+#include "SlugsMAV.h" /* FIXME REMOVE */
 #include "configuration.h"
 #include "LinkManager.h"
 #include <mavlink.h>
@@ -131,6 +132,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
 
                 // First create new UAS object
                 uas = new UAS(this, message.sysid);
+                //uas = new SlugsMAV(this, message.sysid);
+
+
                 // Make UAS aware that this link can be used to communicate with the actual robot
                 uas->addLink(link);
                 // Connect this robot to the UAS object

src/uas/ArduPilotMAV.h

@@ -5,6 +5,7 @@
 
 class ArduPilotMAV : public UAS
 {
+    Q_OBJECT
 public:
     ArduPilotMAV(MAVLinkProtocol* mavlink, int id = 0);
 };

src/uas/PxQuadMAV.h

@@ -5,6 +5,7 @@
 
 class PxQuadMAV : public UAS
 {
+    Q_OBJECT
 public:
     PxQuadMAV(MAVLinkProtocol* mavlink, int id);
 };

src/uas/SlugsMAV.cc

 #include "SlugsMAV.h"
 
+#include <QDebug>
+
 SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
         UAS(mavlink, id)//,
         // Place other initializers here
@@ -9,15 +11,19 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
 
 void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
+    // Let UAS handle the default message set
+    UAS::receiveMessage(link, message);
+
+    // Handle your special messages
     switch (message.msgid)
     {
     case MAVLINK_MSG_ID_HEARTBEAT:
         {
-            printf("RECEIVED HEARTBEAT");
+            qDebug() << "RECEIVED HEARTBEAT";
             break;
         }
     default:
-        printf("\nSLUGS RECEIVED MESSAGE WITH ID %d", message.msgid);
+        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
         break;
     }
 }

src/uas/SlugsMAV.h

@@ -5,6 +5,7 @@
 
 class SlugsMAV : public UAS
 {
+    Q_OBJECT
 public:
     SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
 

src/uas/UAS.cc

@@ -398,8 +398,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (!unknownPackets.contains(message.msgid))
                 {
                     unknownPackets.append(message.msgid);
-                    GAudioOutput::instance()->say("UNABLE TO DECODE MESSAGE WITH ID " + QString::number(message.msgid) + " FROM SYSTEM " + QString::number(message.sysid));
-                    std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
+                    //GAudioOutput::instance()->say("UNABLE TO DECODE MESSAGE WITH ID " + QString::number(message.msgid) + " FROM SYSTEM " + QString::number(message.sysid));
+                    std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                     //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                 }
             }

src/ui/DebugConsole.cc

@@ -196,7 +196,7 @@ void DebugConsole::updateTrafficMeasurements()
 
 void DebugConsole::paintEvent(QPaintEvent *event)
 {
-
+    Q_UNUSED(event);
     // Update bandwidth
     if (holdOn)
     {

src/ui/HDDisplay.cc

@@ -110,6 +110,7 @@ void HDDisplay::triggerUpdate()
 
 void HDDisplay::paintEvent(QPaintEvent * event)
 {
+    Q_UNUSED(event);
     //paintGL();
     static quint64 interval = 0;
     qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
@@ -123,7 +124,7 @@ void HDDisplay::paintGL()
 
 void HDDisplay::paintDisplay()
 {
-    int refreshInterval = 100;
+    quint64 refreshInterval = 100;
     quint64 currTime = MG::TIME::getGroundTimeNow();
     if (currTime - lastPaintTime < refreshInterval)
     {

src/ui/ObjectDetectionView.cc

@@ -78,6 +78,14 @@ void ObjectDetectionView::setUAS(UASInterface* uas)
 
 void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected)
 {
+    Q_UNUSED(x1);
+    Q_UNUSED(y1);
+    Q_UNUSED(x2);
+    Q_UNUSED(y2);
+    Q_UNUSED(x3);
+    Q_UNUSED(y3);
+    Q_UNUSED(x4);
+    Q_UNUSED(y4);
     if (detected)
     {
         if (patternList.contains(patternPath))

src/ui/WaypointList.cc

@@ -115,8 +115,7 @@ void WaypointList::setWaypoint(int uasId, int id, double x, double y, double z,
 
 void WaypointList::waypointReached(UASInterface* uas, int waypointId)
 {
-    qDebug() << "ENTERING WAYPOINT REACHED";
-
+    Q_UNUSED(uas);
     if (waypoints.size() > waypointId)
     {
         if (waypoints[waypointId]->autocontinue == true)

src/ui/param/ParamTreeItem.cc

-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Implementation of class MainWindow
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include <QStringList>
-
-#include "ParamTreeItem.h"
-
-ParamTreeItem::ParamTreeItem(QString name, float value, ParamTreeItem* parent)
-{
-    parentItem = parent;
-    paramName = name;
-    paramValue = value;
-    // Initialize empty itemData
-    itemData = QList<QVariant>();
-}
-
-ParamTreeItem::ParamTreeItem(const QList<QVariant> &data, ParamTreeItem *parent)
-{
-    parentItem = parent;
-    itemData = data;
-}
-
-ParamTreeItem::~ParamTreeItem()
-{
-    qDeleteAll(childItems);
-}
-
-void ParamTreeItem::appendChild(ParamTreeItem *item)
-{
-    childItems.append(item);
-}
-
-ParamTreeItem *ParamTreeItem::child(int row)
-{
-    return childItems.value(row);
-}
-
-int ParamTreeItem::childCount() const
-{
-    return childItems.count();
-}
-
-int ParamTreeItem::columnCount() const
-{
-    return 2;// itemData.count();
-}
-
-QString ParamTreeItem::getParamName()
-{
-    return paramName;
-}
-
-float ParamTreeItem::getParamValue()
-{
-    return paramValue;
-}
-
-QVariant ParamTreeItem::data(int column) const
-{
-    if (itemData.empty())
-    {
-        QVariant ret;
-        switch (column)
-        {
-        case 0:
-            ret.setValue(paramName);
-            break;
-        case 1:
-            ret.setValue(paramValue);
-            break;
-        default:
-            ret.setValue(QString(""));
-            break;
-        }
-        return ret;
-    }
-    else
-    {
-        return itemData.value(column, QVariant(QString("")));
-    }
-}
-
-ParamTreeItem *ParamTreeItem::parent() const
-{
-    return parentItem;
-}
-
-const QList<ParamTreeItem*>* ParamTreeItem::children() const
-{
-    return &childItems;
-}
-
-int ParamTreeItem::row() const
-{
-    if (parentItem)
-        return parentItem->childItems.indexOf(const_cast<ParamTreeItem*>(this));
-
-    return 0;
-}

src/ui/param/ParamTreeItem.h

-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class ParamTreeItem
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef PARAMTREEITEM_H
-#define PARAMTREEITEM_H
-
-#include <QList>
-#include <QVariant>
-
-/**
- * @brief One item in the onboard parameter tree
- */
-class ParamTreeItem
-{
-public:
-    ParamTreeItem(QString name, float value, ParamTreeItem* parent = 0);
-    ParamTreeItem(const QList<QVariant> &data, ParamTreeItem *parent = 0);
-    ~ParamTreeItem();
-
-    void appendChild(ParamTreeItem *child);
-    QString getParamName();
-    float getParamValue();
-
-    ParamTreeItem *child(int row);
-    int childCount() const;
-    int columnCount() const;
-    QVariant data(int column) const;
-    int row() const;
-    ParamTreeItem *parent() const;
-    const QList<ParamTreeItem*>* children() const;
-
-    protected:
-    QString paramName;
-    float paramValue;
-
-private:
-    QList<ParamTreeItem*> childItems;
-    QList<QVariant> itemData;
-    ParamTreeItem *parentItem;
-};
-
-#endif // PARAMTREEITEM_H

src/ui/param/ParamTreeModel.cc

-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Implementation of class ParamTreeModel
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include <QtGui>
-
-#include "ParamTreeItem.h"
-#include "ParamTreeModel.h"
-
-ParamTreeModel::ParamTreeModel(QObject *parent)
-    : QAbstractItemModel(parent),
-    components()
-{
-    QList<QVariant> rootData;
-    rootData << tr("Parameter") << tr("Value");
-    rootItem = new ParamTreeItem(rootData);
-
-    //String data = "IMU\n ROLL_K_I\t1.255\n PITCH_K_P\t0.621\n PITCH_K_I\t2.5545\n";
-    //setupModelData(data.split(QString("\n")), rootItem);
-}
-
-ParamTreeModel::ParamTreeModel(const QString &data, QObject *parent)
-    : QAbstractItemModel(parent),
-    components()
-{
-    QList<QVariant> rootData;
-    rootData << tr("Parameter") << tr("Value");
-    rootItem = new ParamTreeItem(rootData);
-    setupModelData(data.split(QString("\n")), rootItem);
-}
-
-ParamTreeModel::~ParamTreeModel()
-{
-    delete rootItem;
-}
-
-int ParamTreeModel::columnCount(const QModelIndex &parent) const
-{
-    if (parent.isValid())
-        return static_cast<ParamTreeItem*>(parent.internalPointer())->columnCount();
-    else
-        return rootItem->columnCount();
-}
-
-QVariant ParamTreeModel::data(const QModelIndex &index, int role) const
-{
-    if (!index.isValid())
-        return QVariant();
-
-    if (role != Qt::DisplayRole)
-        return QVariant();
-
-    ParamTreeItem *item = static_cast<ParamTreeItem*>(index.internalPointer());
-
-    return item->data(index.column());
-}
-
-bool ParamTreeModel::setData (const QModelIndex & index, const QVariant & value, int role)
-{
-
-}
-
-Qt::ItemFlags ParamTreeModel::flags(const QModelIndex &index) const
-{
-    if (!index.isValid())
-        return 0;
-
-    return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsEditable;
-}
-
-QVariant ParamTreeModel::headerData(int section, Qt::Orientation orientation,
-                                    int role) const
-{
-    if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
-        return rootItem->data(section);
-
-    return QVariant();
-}
-
-QModelIndex ParamTreeModel::index(int row, int column, const QModelIndex &parent)
-        const
-{
-    if (!hasIndex(row, column, parent))
-        return QModelIndex();
-
-    ParamTreeItem *parentItem;
-
-    if (!parent.isValid())
-        parentItem = rootItem;
-    else
-        parentItem = static_cast<ParamTreeItem*>(parent.internalPointer());
-
-    ParamTreeItem *childItem = parentItem->child(row);
-    if (childItem)
-        return createIndex(row, column, childItem);
-    else
-        return QModelIndex();
-}
-
-QModelIndex ParamTreeModel::parent(const QModelIndex &index) const
-{
-    if (!index.isValid())
-        return QModelIndex();
-
-    ParamTreeItem *childItem = static_cast<ParamTreeItem*>(index.internalPointer());
-    ParamTreeItem *parentItem = childItem->parent();
-
-    if (parentItem == rootItem)
-        return QModelIndex();
-
-    return createIndex(parentItem->row(), 0, parentItem);
-}
-
-int ParamTreeModel::rowCount(const QModelIndex &parent) const
-{
-    ParamTreeItem *parentItem;
-    if (parent.column() > 0)
-        return 0;
-
-    if (!parent.isValid())
-        parentItem = rootItem;
-    else
-        parentItem = static_cast<ParamTreeItem*>(parent.internalPointer());
-
-    return parentItem->childCount();
-}
-
-ParamTreeItem* ParamTreeModel::getNodeForComponentId(int id)
-{
-    return components.value(id);
-}
-
-void ParamTreeModel::appendComponent(int componentId, QString name)
-{
-    if (!components.contains(componentId))
-    {
-        ParamTreeItem* item = new ParamTreeItem(name + QString("(#") + QString::number(componentId) + QString(")"), 0, rootItem);
-        components.insert(componentId, item);
-    }
-}
-
-void ParamTreeModel::appendComponent(int componentId)
-{
-    if (!components.contains(componentId))
-    {
-        ParamTreeItem* item = new ParamTreeItem(QString("Component #") + QString::number(componentId) + QString(""), 0, rootItem);
-        components.insert(componentId, item);
-    }
-    //emit dataChanged();
-}
-
-void ParamTreeModel::appendParam(int componentId, QString name, float value)
-{
-    // If component does not exist yet
-    if (!components.contains(componentId))
-    {
-        appendComponent(componentId);
-    }
-    ParamTreeItem* comp = components.value(componentId);
-    // FIXME Children may be double here
-    comp->appendChild(new ParamTreeItem(name, value, comp));
-    qDebug() << __FILE__ << __LINE__ << "Added param" << name << value << "for component" << comp->getParamName();
-    emit dataChanged(createIndex(0, 0, rootItem), createIndex(0, 0, rootItem));
-}
-
-void ParamTreeModel::setupModelData(const QStringList &lines, ParamTreeItem *parent)
-{
-    QList<ParamTreeItem*> parents;
-    QList<int> indentations;
-    parents << parent;
-    indentations << 0;
-
-    int number = 0;
-
-    while (number < lines.count()) {
-        int position = 0;
-        while (position < lines[number].length()) {
-            if (lines[number].mid(position, 1) != " ")
-                break;
-            position++;
-        }
-
-        QString lineData = lines[number].mid(position).trimmed();
-
-        if (!lineData.isEmpty()) {
-            // Read the column data from the rest of the line.
-            QStringList columnStrings = lineData.split("\t", QString::SkipEmptyParts);
-            QList<QVariant> columnData;
-            for (int column = 0; column < columnStrings.count(); ++column)
-                columnData << columnStrings[column];
-
-            if (position > indentations.last()) {
-                // The last child of the current parent is now the new parent
-                // unless the current parent has no children.
-
-                if (parents.last()->childCount() > 0) {
-                    parents << parents.last()->child(parents.last()->childCount()-1);
-                    indentations << position;
-                }
-            } else {
-                while (position < indentations.last() && parents.count() > 0) {
-                    parents.pop_back();
-                    indentations.pop_back();
-                }
-            }
-
-            // Append a new item to the current parent's list of children.
-            parents.last()->appendChild(new ParamTreeItem(columnData, parents.last()));
-        }
-
-        number++;
-    }
-}

src/ui/param/ParamTreeModel.h

-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class ParamParamTreeModel
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef PARAMTREEMODEL_H
-#define PARAMTREEMODEL_H
-
-#include <QAbstractItemModel>
-#include <QModelIndex>
-#include <QVariant>
-
-class ParamTreeItem;
-
-class ParamTreeModel : public QAbstractItemModel
-{
-    Q_OBJECT
-
-public:
-    ParamTreeModel(QObject *parent = 0);
-    ParamTreeModel(const QString &data, QObject *parent = 0);
-    ~ParamTreeModel();
-
-    QVariant data(const QModelIndex &index, int role) const;
-    bool setData ( const QModelIndex & index, const QVariant & value, int role = Qt::EditRole );
-    Qt::ItemFlags flags(const QModelIndex &index) const;
-    QVariant headerData(int section, Qt::Orientation orientation,
-                        int role = Qt::DisplayRole) const;
-    QModelIndex index(int row, int column,
-                      const QModelIndex &parent = QModelIndex()) const;
-    QModelIndex parent(const QModelIndex &index) const;
-    int rowCount(const QModelIndex &parent = QModelIndex()) const;
-    int columnCount(const QModelIndex &parent = QModelIndex()) const;
-
-public slots:
-    /** @brief Add a new parameter */
-    void appendParam(int componentId, QString name, float value);
-    /** @brief Add a new component for this system */
-    void appendComponent(int componentId, QString name);
-    /** @brief Add a new component for this system */
-    void appendComponent(int componentId);
-
-protected:
-    ParamTreeItem* getNodeForComponentId(int id);
-
-    QMap<int, ParamTreeItem*> components;
-
-private:
-    void setupModelData(const QStringList &lines, ParamTreeItem *parent);
-
-    ParamTreeItem *rootItem;
-};
-#endif // PARAMParamTreeModel_H