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Commit 18d74deb authored by James Goppert's avatar James Goppert
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K/R formatting, debugging serialport.

parent 48f4d3ba
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Showing with 74896 additions and 78153 deletions
CMakeLists.txt
View file @ 18d74deb
......@@ -155,6 +155,7 @@ if(QSERIAL_BUILD_FROM_SOURCE)
${PROJECT_SOURCE_DIR}/thirdParty/qserial/include/QtSerialPort
${PROJECT_SOURCE_DIR}/thirdParty/qserial/src
)
set(QSERIAL_LIBRARIES qserial)
add_custom_command(OUTPUT QSERIAL_BUILD.stamp
COMMAND touch QSERIAL_BUILD.stamp)
endif()
......@@ -216,6 +217,7 @@ endif()
message(STATUS "\t\tQSERIAL\t\t${QSERIAL_FOUND}")
if (QSERIAL_FOUND)
list(APPEND qgroundcontrolIncludes ${QSERIAL_INCLUDE_DIRS})
list(APPEND qgroundcontrolLibs ${QSERIAL_LIBRARIES})
endif()
message(STATUS "\t\tOpenSceneGraph\t${OPENSCENEGRAPH_FOUND}")
......@@ -792,13 +794,13 @@ set (qserialHdrs
thirdParty/qserial/include/QtSerialPort/qserialport_export.h
thirdParty/qserial/include/QtSerialPort/QSerialPort
thirdParty/qserial/include/QtSerialPort/qportsettings.h
thirdParty/qserial/include/QtSerialPort/qserialport.h
thirdParty/qserial/include/QtSerialPort/qserialportnative.h
)
# qserial headers with Q_OBJECT
# r !grep -Rl Q_OBJECT thirdParty/qserial
set (qserialMocSrc
thirdParty/qserial/include/QtSerialPort/qserialport.h
thirdParty/qserial/include/QtSerialPort/qserialportnative.h
)
)
# qserial src
set (qserialSrc
thirdParty/qserial/src/common/qserialport.cpp
......@@ -812,28 +814,32 @@ set(qserialRscSrc
)
# qserial native code
if (WIN32)
list(APPEND qSerialMocSrc
thirdParty/qserial/src/win32/qwincommevtnotifier.h
thirdParty/qserial/src/win32/wincommevtbreaker.h
)
list(APPEND qSerialSrc
thirdParty/qserial/src/win32/qserialportnative_win32.cpp
thirdParty/qserial/src/win32/commdcbhelper.h
thirdParty/qserial/src/win32/commdcbhelper.cpp
thirdParty/qserial/src/win32/qserialportnative_wince.cpp
thirdParty/qserial/src/win32/wincommevtbreaker.cpp
thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
)
elseif(UNIX OR APPLE)
list(APPEND qSerialSrc
#if (WIN32)
#list(APPEND qserialHdrs
#thirdParty/qserial/src/win32/commdcbhelper.h
#)
#list(APPEND qserialMocSrc
#thirdParty/qserial/src/win32/qwincommevtnotifier.h
#thirdParty/qserial/src/win32/wincommevtbreaker.h
#)
#list(APPEND qserialSrc
#thirdParty/qserial/src/win32/qserialportnative_win32.cpp
#thirdParty/qserial/src/win32/commdcbhelper.cpp
#thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
##thirdParty/qserial/src/win32/qserialportnative_wince.cpp
##thirdParty/qserial/src/win32/wincommevtbreaker.cpp
#)
#elseif(UNIX OR APPLE)
list(APPEND qserialHdrs
thirdParty/qserial/src/posix/termioshelper.h
)
list(APPEND qserialSrc
thirdParty/qserial/src/posix/termioshelper.cpp
thirdParty/qserial/src/posix/qserialportnative_posix.cpp
)
else()
message(FATAL_ERROR "unknown OS")
endif()
#else()
#message(FATAL_ERROR "unknown OS")
#endif()
# qserial linking
qt4_wrap_cpp(qserialMoc ${qserialMocSrc})
......
CMakeModules/FindQSERIAL.cmake 0 → 100644
View file @ 18d74deb
# - Try to find QSERIAL
# Once done, this will define
#
# QSERIAL_FOUND - system has scicoslab
# QSERIAL_INCLUDE_DIRS - the scicoslab include directories
# QSERIAL_LIBRARIES - libraries to link to
include(LibFindMacros)
# Include dir
find_path(QSERIAL_INCLUDE_DIR
NAMES QSerialPort
PATHS
/usr/include/QtSerialPort
/usr/local/include/QtSerialPort
/usr/local/qserialport/include/QtSerialPort
)
# Finally the library itself
find_library(QSERIAL_LIBRARY
NAMES
QtSerialPort
PATHS
/usr/lib
/usr/local/lib
/usr/local/qserialport/lib
)
# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(QSERIAL_PROCESS_INCLUDES QSERIAL_INCLUDE_DIR)
set(QSERIAL_PROCESS_LIBS QSERIAL_LIBRARY QSERIAL_LIBRARIES)
libfind_process(QSERIAL)
commit 0 → 100755
View file @ 18d74deb
#!/bin/bash
astyle --style=k/r $(find src -regex ".*\.\(cpp\|cc\|h\|hpp\)")
rm -f $(find . -regex '.*orig$')
git commit
src/AudioOutput.cc
View file @ 18d74deb
#include "AudioOutput.h"
#ifdef Q_OS_MAC
#include <ApplicationServices/ApplicationServices.h>
#include <ApplicationServices/ApplicationServices.h>
#else
#include <flite.h>
#include <phonon/mediaobject.h>
#include <QTemporaryFile>
#include <flite.h>
#include <phonon/mediaobject.h>
#include <QTemporaryFile>
#endif
#include <QDebug>
......@@ -34,8 +34,7 @@ AudioOutput::AudioOutput(QString voice, QObject* parent)
flite_init();
#endif
switch (voiceIndex)
{
switch (voiceIndex) {
case 0:
selectFemaleVoice();
break;
......@@ -79,8 +78,7 @@ bool AudioOutput::say(QString text, int severity)
#else
QTemporaryFile file;
file.setFileTemplate("XXXXXX.wav");
if (file.open())
{
if (file.open()) {
cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), this->voice);
// file.fileName() returns the unique file name
cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
......@@ -155,7 +153,7 @@ extern "C" {
l.append(s);
}
printf("\n");
*/
*/
#endif
return l;
}
......
src/Core.cc
View file @ 18d74deb
......@@ -87,20 +87,16 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
bool upgraded = false;
QString lastApplicationVersion("");
if (settings.contains("QGC_APPLICATION_VERSION"))
{
if (settings.contains("QGC_APPLICATION_VERSION")) {
QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
if (qgcVersion != QGC_APPLICATION_VERSION)
{
if (qgcVersion != QGC_APPLICATION_VERSION) {
lastApplicationVersion = qgcVersion;
settings.clear();
// Write current application version
settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
upgraded = true;
}
}
else
{
} else {
// If application version is not set, clear settings anyway
settings.clear();
// Write current application version
......@@ -172,8 +168,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
// Check if link could be connected
if (!udpLink->connect())
{
if (!udpLink->connect()) {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
......@@ -186,8 +181,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
QTimer::singleShot(5000, &msgBox, SLOT(reject()));
// Exit application
if (ret == QMessageBox::Yes)
{
if (ret == QMessageBox::Yes) {
//mainWindow->close();
QTimer::singleShot(200, mainWindow, SLOT(close()));
}
......@@ -244,8 +238,7 @@ void Core::startUASManager()
if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
pluginsDir.cdUp();
#elif defined(Q_OS_MAC)
if (pluginsDir.dirName() == "MacOS")
{
if (pluginsDir.dirName() == "MacOS") {
pluginsDir.cdUp();
pluginsDir.cdUp();
pluginsDir.cdUp();
......@@ -259,12 +252,10 @@ void Core::startUASManager()
QStringList pluginFileNames;
foreach (QString fileName, pluginsDir.entryList(QDir::Files))
{
foreach (QString fileName, pluginsDir.entryList(QDir::Files)) {
QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
QObject *plugin = loader.instance();
if (plugin)
{
if (plugin) {
//populateMenus(plugin);
pluginFileNames += fileName;
//printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());
......
src/GAudioOutput.cc
View file @ 18d74deb
......@@ -89,9 +89,9 @@ GAudioOutput* GAudioOutput::instance()
#define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
voiceIndex(0),
emergency(false),
muted(false)
voiceIndex(0),
emergency(false),
muted(false)
{
// Load settings
QSettings settings;
......@@ -103,19 +103,15 @@ muted(false)
flite_init();
#endif
#if _MSC_VER2
#if _MSC_VER2
ISpVoice * pVoice = NULL;
if (FAILED(::CoInitialize(NULL)))
{
if (FAILED(::CoInitialize(NULL))) {
qDebug("Creating COM object for audio output failed!");
}
else
{
} else {
HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
if( SUCCEEDED( hr ) )
{
if( SUCCEEDED( hr ) ) {
hr = pVoice->Speak(L"Hello world", 0, NULL);
pVoice->Release();
pVoice = NULL;
......@@ -131,8 +127,7 @@ muted(false)
emergencyTimer = new QTimer();
connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
switch (voiceIndex)
{
switch (voiceIndex) {
case 0:
selectFemaleVoice();
break;
......@@ -151,8 +146,7 @@ GAudioOutput::~GAudioOutput()
void GAudioOutput::mute(bool mute)
{
if (mute != muted)
{
if (mute != muted) {
this->muted = mute;
QSettings settings;
settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
......@@ -168,13 +162,11 @@ bool GAudioOutput::isMuted()
bool GAudioOutput::say(QString text, int severity)
{
if (!muted)
{
if (!muted) {
// TODO Add severity filter
Q_UNUSED(severity);
bool res = false;
if (!emergency)
{
if (!emergency) {
// Speech synthesis is only supported with MSVC compiler
#ifdef _MSC_VER2
......@@ -187,8 +179,7 @@ bool GAudioOutput::say(QString text, int severity)
#ifdef Q_OS_LINUX
QTemporaryFile file;
file.setFileTemplate("XXXXXX.wav");
if (file.open())
{
if (file.open()) {
cst_voice* v = register_cmu_us_kal(NULL);
cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), v);
// file.fileName() returns the unique file name
......@@ -211,9 +202,7 @@ bool GAudioOutput::say(QString text, int severity)
#endif
}
return res;
}
else
{
} else {
return false;
}
}
......@@ -223,40 +212,35 @@ bool GAudioOutput::say(QString text, int severity)
*/
bool GAudioOutput::alert(QString text)
{
if (!emergency || !muted)
{
if (!emergency || !muted) {
// Play alert sound
beep();
// Say alert message
say(text, 2);
return true;
}
else
{
} else {
return false;
}
}
void GAudioOutput::notifyPositive()
{
if (!muted)
{
if (!muted) {
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
m_media->play();
}
}
}
void GAudioOutput::notifyNegative()
{
if (!muted)
{
if (!muted) {
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
m_media->play();
}
}
}
/**
......@@ -268,8 +252,7 @@ void GAudioOutput::notifyNegative()
*/
bool GAudioOutput::startEmergency()
{
if (!emergency)
{
if (!emergency) {
emergency = true;
// Beep immediately and then start timer
if (!muted) beep();
......@@ -287,8 +270,7 @@ bool GAudioOutput::startEmergency()
*/
bool GAudioOutput::stopEmergency()
{
if (emergency)
{
if (emergency) {
emergency = false;
emergencyTimer->stop();
}
......@@ -297,8 +279,7 @@ bool GAudioOutput::stopEmergency()
void GAudioOutput::beep()
{
if (!muted)
{
if (!muted) {
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
qDebug() << "FILE:" << f.fileName();
......@@ -339,8 +320,7 @@ QStringList GAudioOutput::listVoices(void)
printf("Voices available: ");
for (v=flite_voice_list; v; v=val_cdr(v))
{
for (v=flite_voice_list; v; v=val_cdr(v)) {
voice = val_voice(val_car(v));
QString s;
s.sprintf("%s",voice->name);
......
src/GAudioOutput.h
View file @ 18d74deb
......@@ -59,7 +59,7 @@ This file is part of the PIXHAWK project
extern "C" {
cst_voice *REGISTER_VOX(const char *voxdir);
void UNREGISTER_VOX(cst_voice *vox);
cst_voice* register_cmu_us_kal16(const char *voxdir);
cst_voice* register_cmu_us_kal16(const char *voxdir);
}
#endif
......
src/LogCompressor.cc
View file @ 18d74deb
......@@ -61,16 +61,14 @@ void LogCompressor::run()
qDebug() << "LOG COMPRESSOR: Starting" << fileName;
if (!file.exists() || !file.open(QIODevice::ReadOnly | QIODevice::Text))
{
if (!file.exists() || !file.open(QIODevice::ReadOnly | QIODevice::Text)) {
//qDebug() << "LOG COMPRESSOR: INPUT FILE DOES NOT EXIST";
emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since input file %1 is not readable").arg(QFileInfo(fileName).absoluteFilePath()));
return;
}
// Check if file is writeable
if (outFileName == ""/* || !QFileInfo(outfile).isWritable()*/)
{
if (outFileName == ""/* || !QFileInfo(outfile).isWritable()*/) {
//qDebug() << "LOG COMPRESSOR: OUTPUT FILE DOES NOT EXIST" << outFileName;
emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outFileName).absoluteFilePath()));
return;
......@@ -98,8 +96,7 @@ void LogCompressor::run()
QString header = "";
QString spacer = "";
for (int i = 0; i < keys->length(); i++)
{
for (int i = 0; i < keys->length(); i++) {
header += keys->at(i) + separator;
spacer += " " + separator;
}
......@@ -116,14 +113,12 @@ void LogCompressor::run()
in.reset();
in.resetStatus();
bool ok;
while (!in.atEnd())
{
while (!in.atEnd()) {
QString line = in.readLine();
// Accumulate map of keys
// Data field name is at position 2b
quint64 time = static_cast<QString>(line.split(separator).at(0)).toLongLong(&ok);
if (ok)
{
if (ok) {
times.append(time);
}
}
......@@ -134,11 +129,9 @@ void LogCompressor::run()
// Create lines
QStringList* outLines = new QStringList();
for (int i = 0; i < times.length(); i++)
{
for (int i = 0; i < times.length(); i++) {
// Cast to signed on purpose, 64 bit timestamp still long enough
if (static_cast<qint64>(times.at(i)) != lastTime)
{
if (static_cast<qint64>(times.at(i)) != lastTime) {
outLines->append(QString("%1").arg(times.at(i)) + separator + spacer);
lastTime = static_cast<qint64>(times.at(i));
finalTimes.append(times.at(i));
......@@ -157,8 +150,7 @@ void LogCompressor::run()
quint64 lastTimeIndex = 0;
bool failed = false;
while (!data.atEnd())
{
while (!data.atEnd()) {
linecounter++;
currentDataLine = linecounter;
QString line = data.readLine();
......@@ -168,8 +160,7 @@ void LogCompressor::run()
QString field = parts.at(2);
QString value = parts.at(3);
// Enforce NaN if no value is present
if (value.length() == 0 || value == "" || value == " " || value == "\t" || value == "\n")
{
if (value.length() == 0 || value == "" || value == " " || value == "\t" || value == "\n") {
value = "NaN";
}
// Get matching output line
......@@ -185,29 +176,21 @@ void LogCompressor::run()
// Search the index until it is valid (!= -1)
// or the start of the list has been reached (failed)
while (index == -1 && !failed)
{
if (lastTimeIndex > offsetLimit)
{
while (index == -1 && !failed) {
if (lastTimeIndex > offsetLimit) {
offset = lastTimeIndex - offsetLimit;
}
else
{
} else {
offset = 0;
}
index = finalTimes.indexOf(time, offset);
if (index == -1)
{
if (offset == 0)
{
if (index == -1) {
if (offset == 0) {
emit logProcessingStatusChanged(tr("Log compressor: Timestamp %1 not found in dataset, ignoring log line %2").arg(time).arg(linecounter));
qDebug() << "Completely failed finding value";
//continue;
failed = true;
}
else
{
} else {
emit logProcessingStatusChanged(tr("Log compressor: Timestamp %1 not found in dataset, restarting search.").arg(time));
offsetLimit*=2;
}
......@@ -216,8 +199,7 @@ void LogCompressor::run()
if (dataLines > 100) if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
if (!failed)
{
if (!failed) {
// When the algorithm reaches here the correct index was found
lastTimeIndex = index;
QString outLine = outLines->at(index);
......@@ -233,8 +215,7 @@ void LogCompressor::run()
// Add header, write out file
file.close();
if (outFileName == logFileName)
{
if (outFileName == logFileName) {
QFile::remove(file.fileName());
outfile.setFileName(file.fileName());
......@@ -246,8 +227,7 @@ void LogCompressor::run()
//QString fileHeader = QString("unix_timestamp") + header.replace(" ", "_") + QString("\n");
// File output
for (int i = 0; i < outLines->length(); i++)
{
for (int i = 0; i < outLines->length(); i++) {
//qDebug() << outLines->at(i);
outfile.write(QString(outLines->at(i) + "\n").toLatin1());
......
src/MG.h
View file @ 18d74deb
......@@ -41,62 +41,58 @@ This file is part of the PIXHAWK project
namespace MG
{
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
class VERSION
{
public:
class VERSION
{
public:
static const int MAJOR = 1;
static const int MINOR = 01;
};
};
class SYSTEM
{
public:
class SYSTEM
{
public:
static const int ID = 127;
static const int COMPID = 0;
static int getID()
{
static int getID() {
return SYSTEM::ID;
}
};
};
class SLEEP : public QThread
{
public:
class SLEEP : public QThread
{
public:
/**
* @brief Set a thread to sleep for seconds
* @param s time in seconds to sleep
**/
static void sleep(unsigned long s)
{
static void sleep(unsigned long s) {
QThread::sleep(s);
}
/**
* @brief Set a thread to sleep for milliseconds
* @param ms time in milliseconds to sleep
**/
static void msleep(unsigned long ms)
{
static void msleep(unsigned long ms) {
QThread::msleep(ms);
}
/**
* @brief Set a thread to sleep for microseconds
* @param us time in microseconds to sleep
**/
static void usleep(unsigned long us)
{
static void usleep(unsigned long us) {
QThread::usleep(us);
}
};
};
class UNITS
{
public:
class UNITS
{
public:
/** The distance units supported for display by the groundstation **/
enum DistanceUnit {
......@@ -116,8 +112,7 @@ namespace MG
*
* @return The converted distance
*/
static double convertFromMeter(double in, DistanceUnit newUnit)
{
static double convertFromMeter(double in, DistanceUnit newUnit) {
double result = in;
// Conversion table in meter
......@@ -162,8 +157,7 @@ namespace MG
*
* @return The converted distance
*/
static double convert(double in, DistanceUnit inputUnit, DistanceUnit outputUnit)
{
static double convert(double in, DistanceUnit inputUnit, DistanceUnit outputUnit) {
double meters = convertToMeter(in, inputUnit);
return convertFromMeter(meters, outputUnit);
}
......@@ -214,11 +208,12 @@ namespace MG
return result;
}
};
};
class DISPLAY {
class DISPLAY
{
public:
public:
DISPLAY() {
// Initialize static class display with notebook display default value
......@@ -267,21 +262,23 @@ namespace MG
pixelSize = screenDiameter / sqrt(static_cast<float>(horizontalResolution*horizontalResolution + verticalResolution*verticalResolution));
}
private:
private:
/** The size of a single pixel **/
static double pixelSize;
};
};
class STAT {
class STAT
{
/** The time interval for the last few moments in milliseconds **/
static const int SHORT_TERM_INTERVAL = 300;
/** The time interval for the last moment in milliseconds **/
static const int CURRENT_INTERVAL = 50;
};
};
class TIME {
class TIME
{
public:
public:
//static const QString ICONDIR = "./icons";
......@@ -343,11 +340,12 @@ namespace MG
return time.addMSecs(msecs % 1000);
}
};
};
class DIR {
class DIR
{
public:
public:
/**
* @brief Get the current support file directory.
*
......@@ -362,32 +360,23 @@ namespace MG
QString path = QDir::current().absolutePath();
QDir currentDir = QDir::current();
if (QDir::current().dirName().toLower() == "debug")
{
if (QDir::current().dirName().toLower() == "debug") {
// Debug folder of development environment
path.append("/..");
}
else if (QDir::current().dirName().toLower() == "release")
{
} else if (QDir::current().dirName().toLower() == "release") {
// Release folder of development environment
path.append("/..");
}
else if (QDir::current().dirName().toLower() == "bin")
{
} else if (QDir::current().dirName().toLower() == "bin") {
// Release folder of development environment
path.append("/..");
}
else if (QDir::current().dirName().toLower() == "macos")
{
} else if (QDir::current().dirName().toLower() == "macos") {
// Mac application bundle in development environment
path.append("/../../../../..");
}
// Check if we are still in a development folder
if(currentDir.cdUp())
{
if(currentDir.dirName().toLower() == "build")
{
if(currentDir.cdUp()) {
if(currentDir.dirName().toLower() == "build") {
path.append("/..");
}
}
......@@ -408,7 +397,7 @@ namespace MG
return MG::DIR::getSupportFilesDirectory() + "/images/";
}
};
};
}
......
src/QGC.cc
View file @ 18d74deb
......@@ -26,7 +26,8 @@ This file is part of the QGROUNDCONTROL project
#include <qmath.h>
#include <float.h>
namespace QGC {
namespace QGC
{
quint64 groundTimeUsecs()
{
......@@ -48,13 +49,11 @@ quint64 groundTimeMilliseconds()
float limitAngleToPMPIf(float angle)
{
while (angle > ((float)M_PI+FLT_EPSILON))
{
while (angle > ((float)M_PI+FLT_EPSILON)) {
angle -= 2.0f * (float)M_PI;
}
while (angle <= -((float)M_PI+FLT_EPSILON))
{
while (angle <= -((float)M_PI+FLT_EPSILON)) {
angle += 2.0f * (float)M_PI;
}
......@@ -63,17 +62,12 @@ float limitAngleToPMPIf(float angle)
double limitAngleToPMPId(double angle)
{
if (angle < -M_PI)
{
while (angle < -M_PI)
{
if (angle < -M_PI) {
while (angle < -M_PI) {
angle += M_PI;
}
}
else if (angle > M_PI)
{
while (angle > M_PI)
{
} else if (angle > M_PI) {
while (angle > M_PI) {
angle -= M_PI;
}
}
......
src/QGC.h
View file @ 18d74deb
......@@ -9,58 +9,55 @@
namespace QGC
{
const static int defaultSystemId = 255;
const static int defaultComponentId = 0;
const static int defaultSystemId = 255;
const static int defaultComponentId = 0;
const QColor colorCyan(55, 154, 195);
const QColor colorRed(154, 20, 20);
const QColor colorGreen(20, 200, 20);
const QColor colorYellow(255, 255, 0);
const QColor colorOrange(255, 140, 0);
const QColor colorDarkYellow(180, 180, 0);
const QColor colorBackground("#050508");
const QColor colorBlack(0, 0, 0);
const QColor colorCyan(55, 154, 195);
const QColor colorRed(154, 20, 20);
const QColor colorGreen(20, 200, 20);
const QColor colorYellow(255, 255, 0);
const QColor colorOrange(255, 140, 0);
const QColor colorDarkYellow(180, 180, 0);
const QColor colorBackground("#050508");
const QColor colorBlack(0, 0, 0);
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
/** @brief Get the current ground time in milliseconds */
quint64 groundTimeMilliseconds();
/** @brief Returns the angle limited to -pi - pi */
float limitAngleToPMPIf(float angle);
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);
int applicationVersion();
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
/** @brief Get the current ground time in milliseconds */
quint64 groundTimeMilliseconds();
/** @brief Returns the angle limited to -pi - pi */
float limitAngleToPMPIf(float angle);
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);
int applicationVersion();
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
class SLEEP : public QThread
{
public:
class SLEEP : public QThread
{
public:
/**
* @brief Set a thread to sleep for seconds
* @param s time in seconds to sleep
**/
static void sleep(unsigned long s)
{
static void sleep(unsigned long s) {
QThread::sleep(s);
}
/**
* @brief Set a thread to sleep for milliseconds
* @param ms time in milliseconds to sleep
**/
static void msleep(unsigned long ms)
{
static void msleep(unsigned long ms) {
QThread::msleep(ms);
}
/**
* @brief Set a thread to sleep for microseconds
* @param us time in microseconds to sleep
**/
static void usleep(unsigned long us)
{
static void usleep(unsigned long us) {
QThread::usleep(us);
}
};
};
}
......
src/Waypoint.cc
View file @ 18d74deb
......@@ -78,8 +78,7 @@ void Waypoint::save(QTextStream &saveStream)
bool Waypoint::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 12)
{
if (wpParams.size() == 12) {
this->id = wpParams[0].toInt();
this->current = (wpParams[1].toInt() == 1 ? true : false);
this->frame = (MAV_FRAME) wpParams[2].toInt();
......@@ -107,8 +106,7 @@ void Waypoint::setId(quint16 id)
void Waypoint::setX(double x)
{
if (this->x != x)
{
if (this->x != x) {
this->x = x;
emit changed(this);
}
......@@ -116,8 +114,7 @@ void Waypoint::setX(double x)
void Waypoint::setY(double y)
{
if (this->y != y)
{
if (this->y != y) {
this->y = y;
emit changed(this);
}
......@@ -125,8 +122,7 @@ void Waypoint::setY(double y)
void Waypoint::setZ(double z)
{
if (this->z != z)
{
if (this->z != z) {
this->z = z;
emit changed(this);
}
......@@ -134,8 +130,7 @@ void Waypoint::setZ(double z)
void Waypoint::setLatitude(double lat)
{
if (this->x != lat)
{
if (this->x != lat) {
this->x = lat;
this->frame = MAV_FRAME_GLOBAL;
emit changed(this);
......@@ -144,8 +139,7 @@ void Waypoint::setLatitude(double lat)
void Waypoint::setLongitude(double lon)
{
if (this->y != lon)
{
if (this->y != lon) {
this->y = lon;
this->frame = MAV_FRAME_GLOBAL;
emit changed(this);
......@@ -154,8 +148,7 @@ void Waypoint::setLongitude(double lon)
void Waypoint::setAltitude(double altitude)
{
if (this->z != altitude)
{
if (this->z != altitude) {
this->z = altitude;
this->frame = MAV_FRAME_GLOBAL;
emit changed(this);
......@@ -164,8 +157,7 @@ void Waypoint::setAltitude(double altitude)
void Waypoint::setYaw(int yaw)
{
if (this->yaw != yaw)
{
if (this->yaw != yaw) {
this->yaw = yaw;
emit changed(this);
}
......@@ -173,8 +165,7 @@ void Waypoint::setYaw(int yaw)
void Waypoint::setYaw(double yaw)
{
if (this->yaw != yaw)
{
if (this->yaw != yaw) {
this->yaw = yaw;
emit changed(this);
}
......@@ -182,8 +173,7 @@ void Waypoint::setYaw(double yaw)
void Waypoint::setAction(int action)
{
if (this->action != (MAV_CMD)action)
{
if (this->action != (MAV_CMD)action) {
this->action = (MAV_CMD)action;
emit changed(this);
}
......@@ -191,8 +181,7 @@ void Waypoint::setAction(int action)
void Waypoint::setAction(MAV_CMD action)
{
if (this->action != action)
{
if (this->action != action) {
this->action = action;
emit changed(this);
}
......@@ -200,8 +189,7 @@ void Waypoint::setAction(MAV_CMD action)
void Waypoint::setFrame(MAV_FRAME frame)
{
if (this->frame != frame)
{
if (this->frame != frame) {
this->frame = frame;
emit changed(this);
}
......@@ -209,8 +197,7 @@ void Waypoint::setFrame(MAV_FRAME frame)
void Waypoint::setAutocontinue(bool autoContinue)
{
if (this->autocontinue != autocontinue)
{
if (this->autocontinue != autocontinue) {
this->autocontinue = autoContinue;
emit changed(this);
}
......@@ -218,8 +205,7 @@ void Waypoint::setAutocontinue(bool autoContinue)
void Waypoint::setCurrent(bool current)
{
if (this->current != current)
{
if (this->current != current) {
this->current = current;
emit changed(this);
}
......@@ -227,8 +213,7 @@ void Waypoint::setCurrent(bool current)
void Waypoint::setAcceptanceRadius(double radius)
{
if (this->param2 != radius)
{
if (this->param2 != radius) {
this->param2 = radius;
emit changed(this);
}
......@@ -238,8 +223,7 @@ void Waypoint::setParam1(double param1)
{
qDebug() << "SENDER:" << QObject::sender();
qDebug() << "PARAM1 SET REQ:" << param1;
if (this->param1 != param1)
{
if (this->param1 != param1) {
this->param1 = param1;
emit changed(this);
}
......@@ -247,8 +231,7 @@ void Waypoint::setParam1(double param1)
void Waypoint::setParam2(double param2)
{
if (this->param2 != param2)
{
if (this->param2 != param2) {
this->param2 = param2;
emit changed(this);
}
......@@ -256,8 +239,7 @@ void Waypoint::setParam2(double param2)
void Waypoint::setParam3(double param3)
{
if (this->orbit != param3)
{
if (this->orbit != param3) {
this->orbit = param3;
emit changed(this);
}
......@@ -265,8 +247,7 @@ void Waypoint::setParam3(double param3)
void Waypoint::setParam4(double param4)
{
if (this->yaw != param4)
{
if (this->yaw != param4) {
this->yaw = param4;
emit changed(this);
}
......@@ -274,8 +255,7 @@ void Waypoint::setParam4(double param4)
void Waypoint::setParam5(double param5)
{
if (this->x != param5)
{
if (this->x != param5) {
this->x = param5;
emit changed(this);
}
......@@ -283,8 +263,7 @@ void Waypoint::setParam5(double param5)
void Waypoint::setParam6(double param6)
{
if (this->y != param6)
{
if (this->y != param6) {
this->y = param6;
emit changed(this);
}
......@@ -292,8 +271,7 @@ void Waypoint::setParam6(double param6)
void Waypoint::setParam7(double param7)
{
if (this->z != param7)
{
if (this->z != param7) {
this->z = param7;
emit changed(this);
}
......@@ -301,8 +279,7 @@ void Waypoint::setParam7(double param7)
void Waypoint::setLoiterOrbit(double orbit)
{
if (this->orbit != orbit)
{
if (this->orbit != orbit) {
this->orbit = orbit;
emit changed(this);
}
......@@ -310,8 +287,7 @@ void Waypoint::setLoiterOrbit(double orbit)
void Waypoint::setHoldTime(int holdTime)
{
if (this->param1 != holdTime)
{
if (this->param1 != holdTime) {
this->param1 = holdTime;
emit changed(this);
}
......@@ -319,8 +295,7 @@ void Waypoint::setHoldTime(int holdTime)
void Waypoint::setHoldTime(double holdTime)
{
if (this->param1 != holdTime)
{
if (this->param1 != holdTime) {
this->param1 = holdTime;
emit changed(this);
}
......@@ -328,8 +303,7 @@ void Waypoint::setHoldTime(double holdTime)
void Waypoint::setTurns(int turns)
{
if (this->param1 != turns)
{
if (this->param1 != turns) {
this->param1 = turns;
emit changed(this);
}
......
src/Waypoint.h
View file @ 18d74deb
......@@ -47,30 +47,78 @@ public:
bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
~Waypoint();
quint16 getId() const { return id; }
double getX() const { return x; }
double getY() const { return y; }
double getZ() const { return z; }
double getLatitude() const { return x; }
double getLongitude() const { return y; }
double getAltitude() const { return z; }
double getYaw() const { return yaw; }
bool getAutoContinue() const { return autocontinue; }
bool getCurrent() const { return current; }
double getLoiterOrbit() const { return orbit; }
double getAcceptanceRadius() const { return param2; }
double getHoldTime() const { return param1; }
double getParam1() const { return param1; }
double getParam2() const { return param2; }
double getParam3() const { return orbit; }
double getParam4() const { return yaw; }
double getParam5() const { return x; }
double getParam6() const { return y; }
double getParam7() const { return z; }
int getTurns() const { return param1; }
MAV_FRAME getFrame() const { return frame; }
MAV_CMD getAction() const { return action; }
const QString& getName() const { return name; }
quint16 getId() const {
return id;
}
double getX() const {
return x;
}
double getY() const {
return y;
}
double getZ() const {
return z;
}
double getLatitude() const {
return x;
}
double getLongitude() const {
return y;
}
double getAltitude() const {
return z;
}
double getYaw() const {
return yaw;
}
bool getAutoContinue() const {
return autocontinue;
}
bool getCurrent() const {
return current;
}
double getLoiterOrbit() const {
return orbit;
}
double getAcceptanceRadius() const {
return param2;
}
double getHoldTime() const {
return param1;
}
double getParam1() const {
return param1;
}
double getParam2() const {
return param2;
}
double getParam3() const {
return orbit;
}
double getParam4() const {
return yaw;
}
double getParam5() const {
return x;
}
double getParam6() const {
return y;
}
double getParam7() const {
return z;
}
int getTurns() const {
return param1;
}
MAV_FRAME getFrame() const {
return frame;
}
MAV_CMD getAction() const {
return action;
}
const QString& getName() const {
return name;
}
/** @brief Returns true if x, y, z contain reasonable navigation data */
bool isNavigationType();
......
src/comm/AS4Protocol.cc
View file @ 18d74deb
......@@ -54,7 +54,7 @@ AS4Protocol::AS4Protocol()
// heartbeatTimer = new QTimer(this);
// connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT());
// heartbeatTimer->start(1000/heartbeatRate);
/*
/*
// Start the node manager
configData = new FileLoader("nodeManager.conf");
handler = new MyHandler();
......@@ -86,8 +86,7 @@ AS4Protocol::~AS4Protocol()
void AS4Protocol::run()
{
forever
{
forever {
QGC::SLEEP::msleep(5000);
}
}
......@@ -126,8 +125,7 @@ void AS4Protocol::receiveBytes(LinkInterface* link)
// qDebug() << __FILE__ << __LINE__ << ": buffer size:" << maxlen << "bytes:" << bytesToRead;
//
for (int position = 0; position < bytesToRead; position++)
{
for (int position = 0; position < bytesToRead; position++) {
}
// receiveMutex.unlock();
......
src/comm/AS4Protocol.h
View file @ 18d74deb
......@@ -109,7 +109,8 @@ public:
* SAE AS-4 Nodemanager
*
**/
class AS4Protocol : public ProtocolInterface {
class AS4Protocol : public ProtocolInterface
{
Q_OBJECT
public:
......
src/comm/LinkInterface.h
View file @ 18d74deb
......@@ -39,7 +39,8 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
* with the groundstation application.
*
**/
class LinkInterface : public QThread {
class LinkInterface : public QThread
{
Q_OBJECT
public:
LinkInterface(QObject* parent = 0) : QThread(parent) {}
......@@ -232,21 +233,20 @@ signals:
void communicationError(const QString& linkname, const QString& error);
protected:
static int getNextLinkId()
{
static int getNextLinkId() {
static int nextId = 0;
return nextId++;
}
protected slots:
/**
/**
* @brief Read a number of bytes from the interface.
*
* @param bytes The pointer to write the bytes to
* @param maxLength The maximum length which can be written
**/
virtual void readBytes() = 0;
virtual void readBytes() = 0;
};
......
src/comm/LinkManager.cc
View file @ 18d74deb
......@@ -36,7 +36,8 @@ This file is part of the QGROUNDCONTROL project
#include <QDebug>
LinkManager* LinkManager::instance() {
LinkManager* LinkManager::instance()
{
static LinkManager* _instance = 0;
if(_instance == 0) {
_instance = new LinkManager();
......@@ -66,8 +67,7 @@ LinkManager::~LinkManager()
void LinkManager::add(LinkInterface* link)
{
if (!links.contains(link))
{
if (!links.contains(link)) {
if(!link) return;
connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
links.append(link);
......@@ -85,8 +85,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
// If protocol has not been added before (list length == 0)
// OR if link has not been added to protocol, add
if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0)
{
if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0) {
// Protocol is new, add
connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
// Store the connection information in the protocol links map
......@@ -105,8 +104,7 @@ bool LinkManager::connectAll()
{
bool allConnected = true;
foreach (LinkInterface* link, links)
{
foreach (LinkInterface* link, links) {
if(!link) {}
else if(!link->connect()) allConnected = false;
}
......@@ -118,10 +116,9 @@ bool LinkManager::disconnectAll()
{
bool allDisconnected = true;
foreach (LinkInterface* link, links)
{
foreach (LinkInterface* link, links) {
//static int i=0;
if(!link){}
if(!link) {}
else if(!link->disconnect()) allDisconnected = false;
}
......@@ -143,27 +140,22 @@ bool LinkManager::disconnectLink(LinkInterface* link)
void LinkManager::removeLink(QObject* link)
{
LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
if (linkInterface)
{
if (linkInterface) {
removeLink(linkInterface);
}
}
bool LinkManager::removeLink(LinkInterface* link)
{
if(link)
{
for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
{
if(link==links.at(i))
{
if(link) {
for (int i=0; i < QList<LinkInterface*>(links).size(); i++) {
if(link==links.at(i)) {
links.removeAt(i); //remove from link list
}
}
// Remove link from protocol map
QList<ProtocolInterface* > protocols = protocolLinks.keys(link);
foreach (ProtocolInterface* proto, protocols)
{
foreach (ProtocolInterface* proto, protocols) {
protocolLinks.remove(proto, link);
}
return true;
......@@ -179,8 +171,7 @@ bool LinkManager::removeLink(LinkInterface* link)
*/
LinkInterface* LinkManager::getLinkForId(int id)
{
foreach (LinkInterface* link, links)
{
foreach (LinkInterface* link, links) {
if (link->getId() == id) return link;
}
return NULL;
......
src/comm/LinkManager.h
View file @ 18d74deb
......@@ -63,7 +63,9 @@ public:
const QList<LinkInterface*> getLinks();
/** @brief Get a list of all protocols */
const QList<ProtocolInterface*> getProtocols() { return protocolLinks.uniqueKeys(); }
const QList<ProtocolInterface*> getProtocols() {
return protocolLinks.uniqueKeys();
}
public slots:
......
src/comm/MAVLinkProtocol.cc
View file @ 18d74deb
This diff is collapsed.
src/comm/MAVLinkProtocol.h
View file @ 18d74deb
......@@ -49,7 +49,8 @@ This file is part of the QGROUNDCONTROL project
* for more information, please see the official website.
* @ref http://pixhawk.ethz.ch/software/mavlink/
**/
class MAVLinkProtocol : public ProtocolInterface {
class MAVLinkProtocol : public ProtocolInterface
{
Q_OBJECT
public:
......@@ -66,31 +67,55 @@ public:
/** @brief The auto heartbeat emission rate in Hertz */
int getHeartbeatRate();
/** @brief Get heartbeat state */
bool heartbeatsEnabled() const { return m_heartbeatsEnabled; }
bool heartbeatsEnabled() const {
return m_heartbeatsEnabled;
}
/** @brief Get logging state */
bool loggingEnabled() const { return m_loggingEnabled; }
bool loggingEnabled() const {
return m_loggingEnabled;
}
/** @brief Get protocol version check state */
bool versionCheckEnabled() const { return m_enable_version_check; }
bool versionCheckEnabled() const {
return m_enable_version_check;
}
/** @brief Get the multiplexing state */
bool multiplexingEnabled() const { return m_multiplexingEnabled; }
bool multiplexingEnabled() const {
return m_multiplexingEnabled;
}
/** @brief Get the authentication state */
bool getAuthEnabled() { return m_authEnabled; }
bool getAuthEnabled() {
return m_authEnabled;
}
/** @brief Get the protocol version */
int getVersion() { return MAVLINK_VERSION; }
int getVersion() {
return MAVLINK_VERSION;
}
/** @brief Get the auth key */
QString getAuthKey() { return m_authKey; }
QString getAuthKey() {
return m_authKey;
}
/** @brief Get the name of the packet log file */
QString getLogfileName();
/** @brief Get state of parameter retransmission */
bool paramGuardEnabled() { return m_paramGuardEnabled; }
bool paramGuardEnabled() {
return m_paramGuardEnabled;
}
/** @brief Get parameter read timeout */
int getParamRetransmissionTimeout() { return m_paramRetransmissionTimeout; }
int getParamRetransmissionTimeout() {
return m_paramRetransmissionTimeout;
}
/** @brief Get parameter write timeout */
int getParamRewriteTimeout() { return m_paramRewriteTimeout; }
int getParamRewriteTimeout() {
return m_paramRewriteTimeout;
}
/** @brief Get state of action retransmission */
bool actionGuardEnabled() { return m_actionGuardEnabled; }
bool actionGuardEnabled() {
return m_actionGuardEnabled;
}
/** @brief Get parameter read timeout */
int getActionRetransmissionTimeout() { return m_actionRetransmissionTimeout; }
int getActionRetransmissionTimeout() {
return m_actionRetransmissionTimeout;
}
public slots:
/** @brief Receive bytes from a communication interface */
......@@ -138,7 +163,9 @@ public slots:
void enableAuth(bool enable);
/** @brief Set authentication token */
void setAuthKey(QString key) { m_authKey = key;}
void setAuthKey(QString key) {
m_authKey = key;
}
/** @brief Send an extra heartbeat to all connected units */
void sendHeartbeat();
......
src/comm/MAVLinkSimulationLink.cc
View file @ 18d74deb
This diff is collapsed.
src/comm/MAVLinkSimulationMAV.cc
View file @ 18d74deb
......@@ -52,16 +52,14 @@ void MAVLinkSimulationMAV::mainloop()
// double xNew = // (nextSPX - previousSPX)
if (flying)
{
if (flying) {
sys_state = MAV_STATE_ACTIVE;
sys_mode = MAV_MODE_AUTO;
nav_mode = MAV_NAV_WAYPOINT;
}
// 1 Hz execution
if (timer1Hz <= 0)
{
if (timer1Hz <= 0) {
mavlink_message_t msg;
mavlink_msg_heartbeat_pack_version_free(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, mavlink_version);
link->sendMAVLinkMessage(&msg);
......@@ -83,8 +81,7 @@ void MAVLinkSimulationMAV::mainloop()
}
// 10 Hz execution
if (timer10Hz <= 0)
{
if (timer10Hz <= 0) {
double radPer100ms = 0.00006;
double altPer100ms = 0.4;
double xm = (nextSPX - x);
......@@ -93,35 +90,28 @@ void MAVLinkSimulationMAV::mainloop()
float zsign = (zm < 0) ? -1.0f : 1.0f;
if (!firstWP)
{
if (!firstWP) {
//float trueyaw = atan2f(xm, ym);
float newYaw = atan2f(ym, xm);
if (fabs(yaw - newYaw) < 90)
{
if (fabs(yaw - newYaw) < 90) {
yaw = yaw*0.7 + 0.3*newYaw;
}
else
{
} else {
yaw = newYaw;
}
//qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
//if (sqrt(xm*xm+ym*ym) > 0.0000001)
if (flying)
{
if (flying) {
x += cos(yaw)*radPer100ms;
y += sin(yaw)*radPer100ms;
z += altPer100ms*zsign;
}
//if (xm < 0.001) xm
}
else
{
} else {
x = nextSPX;
y = nextSPY;
z = nextSPZ;
......@@ -205,12 +195,11 @@ void MAVLinkSimulationMAV::mainloop()
}
// 25 Hz execution
if (timer25Hz <= 0)
{
if (timer25Hz <= 0) {
// The message container to be used for sending
mavlink_message_t ret;
#ifdef MAVLINK_ENABLED_PIXHAWK
#ifdef MAVLINK_ENABLED_PIXHAWK
// Send which controllers are active
mavlink_control_status_t control_status;
control_status.control_att = 1;
......@@ -223,7 +212,7 @@ void MAVLinkSimulationMAV::mainloop()
control_status.ahrs_health = 230;
mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status);
link->sendMAVLinkMessage(&ret);
#endif //MAVLINK_ENABLED_PIXHAWK
#endif //MAVLINK_ENABLED_PIXHAWK
// Send actual controller outputs
// This message just shows the direction
......@@ -301,34 +290,28 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
{
//qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
switch(msg.msgid)
{
switch(msg.msgid) {
case MAVLINK_MSG_ID_ATTITUDE:
break;
case MAVLINK_MSG_ID_SET_MODE:
{
case MAVLINK_MSG_ID_SET_MODE: {
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&msg, &mode);
if (systemid == mode.target) sys_mode = mode.mode;
}
break;
case MAVLINK_MSG_ID_ACTION:
{
case MAVLINK_MSG_ID_ACTION: {
mavlink_action_t action;
mavlink_msg_action_decode(&msg, &action);
if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU))
{
if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
mavlink_action_ack_t ack;
ack.action = action.action;
switch (action.action)
{
switch (action.action) {
case MAV_ACTION_TAKEOFF:
flying = true;
nav_mode = MAV_NAV_LIFTOFF;
ack.result = 1;
break;
default:
{
default: {
ack.result = 0;
}
break;
......@@ -341,12 +324,10 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: {
mavlink_local_position_setpoint_set_t sp;
mavlink_msg_local_position_setpoint_set_decode(&msg, &sp);
if (sp.target_system == this->systemid)
{
if (sp.target_system == this->systemid) {
nav_mode = MAV_NAV_WAYPOINT;
previousSPX = nextSPX;
previousSPY = nextSPY;
......
src/comm/MAVLinkSimulationMAV.h
View file @ 18d74deb
......@@ -55,8 +55,7 @@ protected:
bool flying;
int mavlink_version;
static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version)
{
static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
......
src/comm/MAVLinkSimulationWaypointPlanner.h
View file @ 18d74deb
......@@ -7,8 +7,7 @@
#include "MAVLinkSimulationLink.h"
#include "QGCMAVLink.h"
enum PX_WAYPOINTPLANNER_STATES
{
enum PX_WAYPOINTPLANNER_STATES {
PX_WPP_IDLE = 0,
PX_WPP_SENDLIST,
PX_WPP_SENDLIST_SENDWPS,
......
src/comm/MAVLinkSyntaxHighlighter.cc
View file @ 18d74deb
......@@ -30,7 +30,7 @@ MAVLinkSyntaxHighlighter::MAVLinkSyntaxHighlighter(QObject *parent) :
void MAVLinkSyntaxHighlighter::highlightBlock(const QString &text)
{
{
QTextCharFormat myClassFormat;
myClassFormat.setFontWeight(QFont::Bold);
myClassFormat.setForeground(Qt::darkMagenta);
......@@ -43,4 +43,4 @@ void MAVLinkSyntaxHighlighter::highlightBlock(const QString &text)
setFormat(index, length, myClassFormat);
index = text.indexOf(expression, index + length);
}
}
}
src/comm/MAVLinkSyntaxHighlighter.h
View file @ 18d74deb
......@@ -5,7 +5,7 @@
class MAVLinkSyntaxHighlighter : public QSyntaxHighlighter
{
Q_OBJECT
Q_OBJECT
public:
explicit MAVLinkSyntaxHighlighter(QObject *parent = 0);
......
src/comm/MAVLinkXMLParser.cc
View file @ 18d74deb
This diff is collapsed.
src/comm/OpalLink.cc
View file @ 18d74deb
......@@ -79,20 +79,16 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
for (int i=0; (!(decodeSuccess=mavlink_parse_char(this->getId(), bytes[i], &msg, &status))&& i<length); ++i);
/* perform the appropriate action */
if (decodeSuccess)
{
switch(msg.msgid)
{
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
if (decodeSuccess) {
switch(msg.msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
qDebug() << "OpalLink::writeBytes(): request params";
mavlink_message_t param;
OpalRT::ParameterList::const_iterator paramIter;
for (paramIter = params->begin(); paramIter != params->end(); ++paramIter)
{
for (paramIter = params->begin(); paramIter != params->end(); ++paramIter) {
mavlink_msg_param_value_pack(systemID,
(*paramIter).getComponentID(),
&param,
......@@ -105,8 +101,7 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
}
case MAVLINK_MSG_ID_PARAM_SET:
{
case MAVLINK_MSG_ID_PARAM_SET: {
// qDebug() << "OpalLink::writeBytes(): Attempt to set a parameter";
......@@ -116,8 +111,7 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
// qDebug() << "OpalLink::writeBytes():paramName: " << paramName;
if ((*params).contains(param.target_component, paramName))
{
if ((*params).contains(param.target_component, paramName)) {
OpalRT::Parameter p = (*params)(param.target_component, paramName);
// qDebug() << __FILE__ << ":" << __LINE__ << ": " << p;
// Set the param value in Opal-RT
......@@ -144,8 +138,7 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
// }
// break;
#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
case MAVLINK_MSG_ID_RADIO_CALIBRATION:
{
case MAVLINK_MSG_ID_RADIO_CALIBRATION: {
mavlink_radio_calibration_t radio;
mavlink_msg_radio_calibration_decode(&msg, &radio);
// qDebug() << "RADIO CALIBRATION RECEIVED";
......@@ -220,12 +213,10 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
break;
#endif
#ifdef MAVLINK_ENABLED_PIXHAWK
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: {
mavlink_request_data_stream_t stream;
mavlink_msg_request_data_stream_decode(&msg, &stream);
switch (stream.req_stream_id)
{
switch (stream.req_stream_id) {
case 0: // All data types
break;
case 1: // Raw Sensor Data
......@@ -257,8 +248,7 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
}
}
break;
default:
{
default: {
qDebug() << "OpalLink::writeBytes(): Unknown mavlink packet";
}
}
......@@ -283,8 +273,7 @@ void OpalLink::receiveMessage(mavlink_message_t message)
// Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer((uint8_t*)(buffer), &message);
// If link is connected
if (isConnected())
{
if (isConnected()) {
receiveDataMutex.lock();
receiveBuffer->enqueue(QByteArray(buffer, len));
receiveDataMutex.unlock();
......@@ -296,8 +285,7 @@ void OpalLink::receiveMessage(mavlink_message_t message)
void OpalLink::heartbeat()
{
if (m_heartbeatsEnabled)
{
if (m_heartbeatsEnabled) {
mavlink_message_t beat;
mavlink_msg_heartbeat_pack(systemID, componentID,&beat, MAV_HELICOPTER, MAV_AUTOPILOT_GENERIC);
receiveMessage(beat);
......@@ -312,8 +300,7 @@ void OpalLink::setSignals(double *values)
int returnValue;
returnValue = OpalSetSignals( numSignals, logicalId, signalIndex, values);
if (returnValue != EOK)
{
if (returnValue != EOK) {
OpalRT::OpalErrorMsg::displayLastErrorMsg();
}
}
......@@ -327,16 +314,13 @@ void OpalLink::getSignals()
unsigned short *lastValues = new unsigned short(false);
unsigned short *decimation = new unsigned short(0);
while (!(*lastValues))
{
while (!(*lastValues)) {
int returnVal = OpalGetSignals(timeout, acqGroup, OpalRT::NUM_OUTPUT_SIGNALS, numSignals, timestep,
values, lastValues, decimation);
if (returnVal == EOK )
{
if (returnVal == EOK ) {
/* Send position info to qgroundcontrol */
if (sendPosition)
{
if (sendPosition) {
mavlink_message_t local_position;
mavlink_msg_local_position_pack(systemID, componentID, &local_position,
(*timestep)*1000000,
......@@ -375,8 +359,7 @@ void OpalLink::getSignals()
receiveMessage(bias);
/* send radio outputs */
if (sendRCValues)
{
if (sendRCValues) {
mavlink_message_t rc;
mavlink_msg_rc_channels_raw_pack(systemID, componentID, &rc,
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
......@@ -391,8 +374,7 @@ void OpalLink::getSignals()
);
receiveMessage(rc);
}
if (sendRawController)
{
if (sendRawController) {
mavlink_message_t rawController;
mavlink_msg_attitude_controller_output_pack(systemID, componentID, &rawController,
1,
......@@ -403,9 +385,7 @@ void OpalLink::getSignals()
);
receiveMessage(rawController);
}
}
else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
{
} else if (returnVal != EAGAIN) { // if returnVal == EAGAIN => data just wasn't ready
getSignalsTimer->stop();
OpalRT::OpalErrorMsg::displayLastErrorMsg();
}
......@@ -447,7 +427,8 @@ void OpalLink::setName(QString name)
emit nameChanged(this->name);
}
bool OpalLink::isConnected() {
bool OpalLink::isConnected()
{
return connectState;
}
......@@ -459,8 +440,7 @@ uint16_t OpalLink::duty2PulseMicros(double duty)
uint8_t OpalLink::rescaleNorm(double norm, int ch)
{
switch(ch)
{
switch(ch) {
case OpalRT::NORM_CHANNEL_1:
case OpalRT::NORM_CHANNEL_2:
case OpalRT::NORM_CHANNEL_4:
......@@ -488,8 +468,7 @@ bool OpalLink::connect()
if ((OpalConnect(opalInstID, false, &modelState) == EOK)
&& (OpalGetSignalControl(0, true) == EOK)
&& (OpalGetParameterControl(true) == EOK))
{
&& (OpalGetParameterControl(true) == EOK)) {
connectState = true;
if (params)
delete params;
......@@ -497,9 +476,7 @@ bool OpalLink::connect()
emit connected();
heartbeatTimer->start(1000/heartbeatRate);
getSignalsTimer->start(getSignalsPeriod);
}
else
{
} else {
connectState = false;
OpalRT::OpalErrorMsg::displayLastErrorMsg();
}
......@@ -546,7 +523,8 @@ qint64 OpalLink::getTotalUpstream()
return totalUpstream;
}
qint64 OpalLink::getTotalDownstream() {
qint64 OpalLink::getTotalDownstream()
{
statisticsMutex.lock();
qint64 totalDownstream = bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
statisticsMutex.unlock();
......@@ -563,11 +541,13 @@ qint64 OpalLink::getMaxUpstream()
return 0; //unknown
}
qint64 OpalLink::getBitsSent() {
qint64 OpalLink::getBitsSent()
{
return bitsSentTotal;
}
qint64 OpalLink::getBitsReceived() {
qint64 OpalLink::getBitsReceived()
{
return bitsReceivedTotal;
}
......
src/comm/OpalLink.h
View file @ 18d74deb
......@@ -96,7 +96,9 @@ public:
void run();
int getOpalInstID() {return static_cast<int>(opalInstID);}
int getOpalInstID() {
return static_cast<int>(opalInstID);
}
public slots:
......@@ -108,7 +110,9 @@ public slots:
void getSignals();
void setOpalInstID(int instID) {opalInstID = static_cast<unsigned short>(instID);}
void setOpalInstID(int instID) {
opalInstID = static_cast<unsigned short>(instID);
}
protected slots:
......
src/comm/OpalRT.cc
View file @ 18d74deb
......@@ -2,19 +2,19 @@
namespace OpalRT
{
// lastErrorMsg = QString();
void OpalErrorMsg::displayLastErrorMsg()
{
// lastErrorMsg = QString();
void OpalErrorMsg::displayLastErrorMsg()
{
static QString lastErrorMsg;
setLastErrorMsg();
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(lastErrorMsg);
msgBox.exec();
}
}
void OpalErrorMsg::setLastErrorMsg()
{
void OpalErrorMsg::setLastErrorMsg()
{
char* buf = new char[512];
unsigned short len;
static QString lastErrorMsg;
......@@ -22,5 +22,5 @@ namespace OpalRT
lastErrorMsg.clear();
lastErrorMsg.append(buf);
delete buf;
}
}
}
src/comm/OpalRT.h
View file @ 18d74deb
......@@ -37,36 +37,35 @@ This file is part of the QGROUNDCONTROL project
namespace OpalRT
{
/**
/**
Configuration info for the model
*/
const unsigned short NUM_OUTPUT_SIGNALS=48;
/* ------------------------------ Outputs ------------------------------
*
* Port 1: Navigation state estimates
* 1 t [s] time elapsed since INS mode started
* 2-4 p^n [m] navigation frame position (N,E,D)
* 5-7 v^n [m/s] navigation frame velocity (N,E,D)
* 8-10 Euler angles [rad] (roll, pitch, yaw)
* 11-13 Angular rates
* 14-16 b_f [m/s^2] accelerometer biases
* 17-19 b_w [rad/s] gyro biases
*
* Port 2: Navigation system status
* 1 mode (0: initialization, 1: INS)
* 2 t_GPS time elapsed since last valid GPS measurement
* 3 solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
* 4 position solution type ( 0: NONE, 34: NARROW_FLOAT,
* 49: WIDE_INT, 50: NARROW_INT)
* 5 # obs (number of visible satellites)
*
* Port 3: Covariance matrix diagonal
* 1-15 diagonal elements of estimation error covariance matrix P
*/
enum SignalPort
{
const unsigned short NUM_OUTPUT_SIGNALS=48;
/* ------------------------------ Outputs ------------------------------
*
* Port 1: Navigation state estimates
* 1 t [s] time elapsed since INS mode started
* 2-4 p^n [m] navigation frame position (N,E,D)
* 5-7 v^n [m/s] navigation frame velocity (N,E,D)
* 8-10 Euler angles [rad] (roll, pitch, yaw)
* 11-13 Angular rates
* 14-16 b_f [m/s^2] accelerometer biases
* 17-19 b_w [rad/s] gyro biases
*
* Port 2: Navigation system status
* 1 mode (0: initialization, 1: INS)
* 2 t_GPS time elapsed since last valid GPS measurement
* 3 solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
* 4 position solution type ( 0: NONE, 34: NARROW_FLOAT,
* 49: WIDE_INT, 50: NARROW_INT)
* 5 # obs (number of visible satellites)
*
* Port 3: Covariance matrix diagonal
* 1-15 diagonal elements of estimation error covariance matrix P
*/
enum SignalPort {
T_ELAPSED,
X_POS,
Y_POS,
......@@ -110,27 +109,26 @@ namespace OpalRT
ELE_POUT,
ELE_IOUT,
ELE_DOUT
};
};
/** Component IDs of the parameters. Currently they are all 1 becuase there is no advantage
/** Component IDs of the parameters. Currently they are all 1 becuase there is no advantage
to dividing them between component ids. However this syntax is used so that this can
easily be changed in the future.
*/
enum SubsystemIds
{
enum SubsystemIds {
NAV = 1,
LOG,
CONTROLLER,
SERVO_OUTPUTS,
SERVO_INPUTS
};
};
class OpalErrorMsg
{
class OpalErrorMsg
{
static QString lastErrorMsg;
public:
public:
static void displayLastErrorMsg();
static void setLastErrorMsg();
};
};
}
#endif // OPALRT_H
src/comm/Parameter.cc
View file @ 18d74deb
......@@ -87,8 +87,7 @@ float Parameter::getValue()
int returnVal = OpalGetParameters(allocatedParams, &numParams, &opalID,
numValues, &returnedNumValues, &value);
if (returnVal != EOK)
{
if (returnVal != EOK) {
OpalRT::OpalErrorMsg::displayLastErrorMsg();
return FLT_MAX;
}
......@@ -106,8 +105,7 @@ void Parameter::setValue(float val)
int returnVal = OpalSetParameters(allocatedParams, &numParams, &opalID,
numValues, &returnedNumValues, &value);
if (returnVal != EOK)
{
if (returnVal != EOK) {
//qDebug() << __FILE__ << ":" << __LINE__ << ": Error numer: " << QString::number(returnVal);
OpalErrorMsg::displayLastErrorMsg();
}
......
src/comm/Parameter.h
View file @ 18d74deb
......@@ -43,9 +43,9 @@ This file is part of the QGROUNDCONTROL project
namespace OpalRT
{
class Parameter
{
public:
class Parameter
{
public:
// Parameter(char *simulinkPath = "",
// char *simulinkName = "",
// uint8_t componentID = 0,
......@@ -59,24 +59,34 @@ namespace OpalRT
Parameter(const Parameter& other);
~Parameter();
const QGCParamID& getParamID() const {return *paramID;}
void setOpalID(unsigned short opalID) {this->opalID = opalID;}
const QString& getSimulinkPath() const {return *simulinkPath;}
const QString& getSimulinkName() const {return *simulinkName;}
uint8_t getComponentID() const {return componentID;}
const QGCParamID& getParamID() const {
return *paramID;
}
void setOpalID(unsigned short opalID) {
this->opalID = opalID;
}
const QString& getSimulinkPath() const {
return *simulinkPath;
}
const QString& getSimulinkName() const {
return *simulinkName;
}
uint8_t getComponentID() const {
return componentID;
}
float getValue();
void setValue(float value);
bool operator==(const Parameter& other) const;
operator QString() const;
protected:
protected:
QString *simulinkPath;
QString *simulinkName;
uint8_t componentID;
QGCParamID *paramID;
unsigned short opalID;
};
};
}
#endif // PARAMETER_H
src/comm/ParameterList.cc
View file @ 18d74deb
......@@ -59,8 +59,7 @@ ParameterList::ParameterList()
reqdServoParams->append("RUD_RIGHT_IN");
QString filename(settingsDir.path() + "/ParameterList.xml");
if ((QFile::exists(filename)) && open(filename))
{
if ((QFile::exists(filename)) && open(filename)) {
/* Get a list of the available parameters from opal-rt */
QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>;
......@@ -70,20 +69,15 @@ ParameterList::ParameterList()
QMap<int, QMap<QGCParamID, Parameter> >::iterator componentIter;
QMap<QGCParamID, Parameter>::iterator paramIter;
QString s;
for (componentIter = params->begin(); componentIter != params->end(); ++componentIter)
{
for (componentIter = params->begin(); componentIter != params->end(); ++componentIter) {
paramList->append(QList<Parameter*>());
for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter)
{
for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter) {
paramList->last().append(paramIter.operator ->());
s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName();
if (opalParams->contains(s))
{
if (opalParams->contains(s)) {
(*paramIter).setOpalID(opalParams->value(s));
// qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s;
}
else
{
} else {
qWarning() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
}
}
......@@ -128,8 +122,7 @@ void ParameterList::getParameterList(QMap<QString, unsigned short> *opalParams)
allocatedPathLen, &maxPathLen, paths,
allocatedNameLen, &maxNameLen, names,
allocatedVarLen, &maxVarLen, var);
if (returnValue!=E2BIG)
{
if (returnValue!=E2BIG) {
// OpalRT::setLastErrorMsg();
OpalRT::OpalErrorMsg::displayLastErrorMsg();
return;
......@@ -160,16 +153,14 @@ void ParameterList::getParameterList(QMap<QString, unsigned short> *opalParams)
allocatedNameLen, &maxNameLen, names,
allocatedVarLen, &maxVarLen, var);
if (returnValue != EOK)
{
if (returnValue != EOK) {
// OpalRT::setLastErrorMsg();
OpalRT::OpalErrorMsg::displayLastErrorMsg();
return;
}
QString path, name;
for (int i=0; i<numParams; ++i)
{
for (int i=0; i<numParams; ++i) {
path.clear();
path.append(paths[i]);
name.clear();
......@@ -194,8 +185,7 @@ int ParameterList::indexOf(const Parameter &p)
QList<QList<Parameter*> >::const_iterator iter;
int index = -1;
for (iter = paramList->begin(); iter != paramList->end(); ++iter)
{
for (iter = paramList->begin(); iter != paramList->end(); ++iter) {
if ((index = (*iter).indexOf(pPtr)) != -1)
return index;
}
......@@ -245,14 +235,12 @@ int ParameterList::count()
bool ParameterList::open(QString filename)
{
QFile paramFile(filename);
if (!paramFile.exists())
{
if (!paramFile.exists()) {
/// \todo open dialog box (maybe: that could also go in comm config window)
return false;
}
if (!paramFile.open(QIODevice::ReadOnly))
{
if (!paramFile.open(QIODevice::ReadOnly)) {
return false;
}
......@@ -272,8 +260,7 @@ bool ParameterList::read(QIODevice *device)
int errorColumn;
if (!paramConfig->setContent(device, true, &errorStr, &errorLine,
&errorColumn))
{
&errorColumn)) {
qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr;
return false;
}
......@@ -285,17 +272,14 @@ bool ParameterList::read(QIODevice *device)
}
QDomElement child = root.firstChildElement("Block");
while (!child.isNull())
{
while (!child.isNull()) {
parseBlock(child);
child = child.nextSiblingElement("Block");
}
if (!reqdServoParams->empty())
{
if (!reqdServoParams->empty()) {
qDebug() << __FILE__ << __LINE__ << "Missing the following required servo parameters";
foreach(QString s, *reqdServoParams)
{
foreach(QString s, *reqdServoParams) {
qDebug() << s;
}
}
......@@ -321,13 +305,11 @@ void ParameterList::parseBlock(const QDomElement &block)
id = OpalRT::SERVO_INPUTS;
paramList = block.elementsByTagName("Parameter");
for (int i=0; i < paramList.size(); ++i)
{
for (int i=0; i < paramList.size(); ++i) {
e = paramList.item(i).toElement();
if (e.hasAttribute("SimulinkPath") &&
e.hasAttribute("SimulinkParameterName") &&
e.hasAttribute("QGCParamID"))
{
e.hasAttribute("QGCParamID")) {
p = new Parameter(e.attribute("SimulinkPath"),
e.attribute("SimulinkParameterName"),
......@@ -340,9 +322,7 @@ void ParameterList::parseBlock(const QDomElement &block)
delete p;
}
else
{
} else {
qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc in block" << block.attribute("name");
}
}
......
src/comm/ParameterList.h
View file @ 18d74deb
......@@ -40,9 +40,9 @@ This file is part of the QGROUNDCONTROL project
namespace OpalRT
{
class ParameterList
{
public:
class ParameterList
{
public:
class const_iterator
{
......@@ -52,16 +52,32 @@ namespace OpalRT
inline const_iterator() {}
const_iterator(const const_iterator& other);
const_iterator& operator+=(int i) {index += i; return *this;}
bool operator<(const const_iterator& other) const {return (this->paramList == other.paramList)
&&(this->index<other.index);}
bool operator==(const const_iterator& other) const {return (this->paramList == other.paramList)
&&(this->index==other.index);}
bool operator!=(const const_iterator& other) const {return !((*this) == other);}
const Parameter& operator*() const {return paramList[index];}
const Parameter* operator->() const {return &paramList[index];}
const_iterator& operator++() {++index; return *this;}
const_iterator& operator+=(int i) {
index += i;
return *this;
}
bool operator<(const const_iterator& other) const {
return (this->paramList == other.paramList)
&&(this->index<other.index);
}
bool operator==(const const_iterator& other) const {
return (this->paramList == other.paramList)
&&(this->index==other.index);
}
bool operator!=(const const_iterator& other) const {
return !((*this) == other);
}
const Parameter& operator*() const {
return paramList[index];
}
const Parameter* operator->() const {
return &paramList[index];
}
const_iterator& operator++() {
++index;
return *this;
}
private:
const_iterator(QList<Parameter>);
QList<Parameter> paramList;
......@@ -90,21 +106,33 @@ namespace OpalRT
\endcode
*/
int indexOf(const Parameter& p);
bool contains(int compid, QGCParamID paramid) const {return (*params)[compid].contains(paramid);}
bool contains(int compid, QGCParamID paramid) const {
return (*params)[compid].contains(paramid);
}
/// Get a parameter from the list
const Parameter getParameter(int compid, QGCParamID paramid) const {return (*params)[compid][paramid];}
Parameter& getParameter(int compid, QGCParamID paramid) {return (*params)[compid][paramid];}
const Parameter getParameter(int compid, int index) const {return *((*paramList)[compid][index]);}
const Parameter getParameter(int compid, QGCParamID paramid) const {
return (*params)[compid][paramid];
}
Parameter& getParameter(int compid, QGCParamID paramid) {
return (*params)[compid][paramid];
}
const Parameter getParameter(int compid, int index) const {
return *((*paramList)[compid][index]);
}
/** Convenient syntax for calling OpalRT::Parameter::getParameter() */
Parameter& operator()(int compid, QGCParamID paramid) {return getParameter(compid, paramid);}
Parameter& operator()(uint8_t compid, QGCParamID paramid) {return getParameter(static_cast<int>(compid), paramid);}
Parameter& operator()(int compid, QGCParamID paramid) {
return getParameter(compid, paramid);
}
Parameter& operator()(uint8_t compid, QGCParamID paramid) {
return getParameter(static_cast<int>(compid), paramid);
}
const_iterator begin() const;
const_iterator end() const;
protected:
protected:
/** Store the parameters mapped by componentid, and paramid.
\code
// Look up a parameter
......@@ -142,6 +170,6 @@ namespace OpalRT
bool read(QIODevice *device);
void parseBlock(const QDomElement &block);
};
};
}
#endif // PARAMETERLIST_H
src/comm/QGCNMEAProtocol.h
View file @ 18d74deb
......@@ -46,7 +46,8 @@ This file is part of the QGROUNDCONTROL project
* for more information, please see the official website.
* @ref http://pixhawk.ethz.ch/software/mavlink/
**/
class QGCNMEAProtocol : public ProtocolInterface {
class QGCNMEAProtocol : public ProtocolInterface
{
Q_OBJECT
public:
......@@ -55,7 +56,9 @@ public:
void run();
/** @brief Get the human-friendly name of this protocol */
QString getName() { return QString("NMEA (GPS)"); }
QString getName() {
return QString("NMEA (GPS)");
}
public slots:
/** @brief Receive bytes from a communication interface */
......
src/comm/QGCParamID.h
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......@@ -43,30 +43,40 @@ This file is part of the QGROUNDCONTROL project
namespace OpalRT
{
/** Stores a param_id for the mavlink parameter packets. This class adds the convenience
/** Stores a param_id for the mavlink parameter packets. This class adds the convenience
of storing the id as a string (e.g., easy comparison).
\todo Fix: warning: deprecated conversion from string constant to 'char*'
*/
class QGCParamID
{
class QGCParamID
{
// friend QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid);
public:
public:
QGCParamID(const char[]);
QGCParamID(const QString);
QGCParamID() {}
QGCParamID(const QGCParamID& other);
bool operator<(const QGCParamID& other) const {return data<other.data;}
bool operator==(const QGCParamID& other) const {return data == other.data;}
operator QString() const {return data;}
const QString getParamString() const {return static_cast<const QString>(data);}
int8_t* toInt8_t() const {return (int8_t*)data.toAscii().data();}
protected:
bool operator<(const QGCParamID& other) const {
return data<other.data;
}
bool operator==(const QGCParamID& other) const {
return data == other.data;
}
operator QString() const {
return data;
}
const QString getParamString() const {
return static_cast<const QString>(data);
}
int8_t* toInt8_t() const {
return (int8_t*)data.toAscii().data();
}
protected:
QString data;
};
};
}
#endif // QGCPARAMID_H
src/comm/SerialInterface.h
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src/comm/SerialLink.h
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......@@ -52,7 +52,8 @@ This file is part of the QGROUNDCONTROL project
* safe.
*
*/
class SerialLink : public SerialLinkInterface {
class SerialLink : public SerialLinkInterface
{
Q_OBJECT
//Q_INTERFACES(SerialLinkInterface:LinkInterface)
......
src/comm/SerialLinkInterface.h
View file @ 18d74deb
......@@ -36,7 +36,8 @@ This file is part of the QGROUNDCONTROL project
#include <QString>
#include <LinkInterface.h>
class SerialLinkInterface : public LinkInterface {
class SerialLinkInterface : public LinkInterface
{
Q_OBJECT
public:
......
src/comm/SerialSimulationLink.cc
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......@@ -93,8 +93,7 @@ void SerialSimulationLink::run()
msleep(rate);
}*/
forever
{
forever {
QGC::SLEEP::msleep(5000);
}
}
......@@ -107,8 +106,7 @@ void SerialSimulationLink::enableLoopBackMode(SerialLinkInterface* loop)
disconnect();
// Delete previous loopback link if exists
if(loopBack != NULL)
{
if(loopBack != NULL) {
delete loopBack;
loopBack = NULL;
}
......@@ -129,12 +127,9 @@ qint64 SerialSimulationLink::bytesAvailable()
{
readyBufferMutex.lock();
qint64 size = 0;
if(loopBack == 0)
{
if(loopBack == 0) {
size = readyBuffer.size();
}
else
{
} else {
size = loopBack->bytesAvailable();
}
readyBufferMutex.unlock();
......@@ -145,8 +140,7 @@ qint64 SerialSimulationLink::bytesAvailable()
void SerialSimulationLink::writeBytes(char* data, qint64 length)
{
/* Write bytes to one line */
for(qint64 i = 0; i < length; i++)
{
for(qint64 i = 0; i < length; i++) {
outStream->operator <<(data[i]);
outStream->flush();
}
......@@ -160,15 +154,12 @@ void SerialSimulationLink::readBytes()
char data[maxLength];
/* Lock concurrent resource readyBuffer */
readyBufferMutex.lock();
if(loopBack == NULL)
{
if(loopBack == NULL) {
// FIXME Maxlength has no meaning here
/* copy leftmost maxLength bytes and remove them from buffer */
qstrncpy(data, readyBuffer.left(maxLength).data(), maxLength);
readyBuffer.remove(0, maxLength);
}
else
{
} else {
//loopBack->readBytes(data, maxLength);
}
readyBufferMutex.unlock();
......@@ -188,8 +179,7 @@ void SerialSimulationLink::readBytes()
void SerialSimulationLink::readLine()
{
if(_isConnected)
{
if(_isConnected) {
/* The order of operations in this method is arranged to
* minimize the impact of slow file read operations on the
* message emit timing. The functions should be kept in this order
......@@ -200,19 +190,15 @@ void SerialSimulationLink::readLine()
/* (2) Save content of line buffer in readyBuffer (has to be lock for thread safety)*/
readyBufferMutex.lock();
if(loopBack == NULL)
{
if(loopBack == NULL) {
readyBuffer.append(lineBuffer);
//qDebug() << "readLine readyBuffer: " << readyBuffer;
}
else
{
} else {
loopBack->writeBytes(lineBuffer.data(), lineBuffer.size());
}
readyBufferMutex.unlock();
if(loopBack == NULL)
{
if(loopBack == NULL) {
readBytes();
}
......@@ -290,7 +276,8 @@ void SerialSimulationLink::addTimeNoise()
* @return True if connection has been disconnected, false if connection
* couldn't be disconnected.
**/
bool SerialSimulationLink::disconnect() {
bool SerialSimulationLink::disconnect()
{
if(isConnected()) {
timer->stop();
......
src/comm/SerialSimulationLink.h
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......@@ -46,7 +46,8 @@ This file is part of the QGROUNDCONTROL project
* by communicating with a simulation.
*
**/
class SerialSimulationLink : public SerialLinkInterface {
class SerialSimulationLink : public SerialLinkInterface
{
Q_OBJECT
public:
......
src/comm/UDPLink.cc
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src/comm/UDPLink.h
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......@@ -51,7 +51,9 @@ public:
bool isConnected();
qint64 bytesAvailable();
int getPort() const { return port; }
int getPort() const {
return port;
}
/**
* @brief The human readable port name
......@@ -63,7 +65,9 @@ public:
int getParityType();
int getDataBitsType();
int getStopBitsType();
QList<QHostAddress> getHosts() { return hosts; }
QList<QHostAddress> getHosts() {
return hosts;
}
/* Extensive statistics for scientific purposes */
qint64 getNominalDataRate();
......
src/configuration.h
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src/input/Freenect.h
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QSharedPointer<QByteArray> getColoredDepthData(void);
QSharedPointer< QVector<QVector3D> > get3DPointCloudData(void);
typedef struct
{
typedef struct {
double x;
double y;
double z;
......@@ -71,8 +70,7 @@ public:
void setTiltAngle(int angle);
private:
typedef struct
{
typedef struct {
// coordinates of principal point
double cx;
double cy;
......
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