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Valentin Platzgummer
qgroundcontrol
Commits
1abafb59
Commit
1abafb59
authored
Oct 06, 2015
by
Don Gagne
Browse files
Options
Browse Files
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Plain Diff
Merge pull request #1918 from DonLakeFlyer/ParametersReady
Allow param edit with missing parameters
parents
3e850d32
bac74f16
Changes
15
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15 changed files
with
93 additions
and
44 deletions
+93
-44
AutoPilotPlugin.cc
src/AutoPilotPlugins/AutoPilotPlugin.cc
+12
-11
AutoPilotPlugin.h
src/AutoPilotPlugins/AutoPilotPlugin.h
+12
-6
GenericAutoPilotPlugin.cc
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
+6
-4
GenericAutoPilotPlugin.h
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h
+1
-1
PX4AutoPilotPlugin.cc
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+8
-6
PX4AutoPilotPlugin.h
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
+1
-1
FactPanelController.cc
src/FactSystem/FactControls/FactPanelController.cc
+2
-1
ParameterLoader.cc
src/FactSystem/ParameterLoader.cc
+2
-2
ParameterLoader.h
src/FactSystem/ParameterLoader.h
+1
-1
MissionManager.cc
src/MissionManager/MissionManager.cc
+1
-1
MultiVehicleManager.cc
src/Vehicle/MultiVehicleManager.cc
+6
-6
MultiVehicleManager.h
src/Vehicle/MultiVehicleManager.h
+1
-1
Vehicle.cc
src/Vehicle/Vehicle.cc
+7
-0
Vehicle.h
src/Vehicle/Vehicle.h
+5
-0
SetupView.qml
src/VehicleSetup/SetupView.qml
+28
-3
No files found.
src/AutoPilotPlugins/AutoPilotPlugin.cc
View file @
1abafb59
...
...
@@ -30,17 +30,18 @@
#include "MainWindow.h"
#include "ParameterLoader.h"
AutoPilotPlugin
::
AutoPilotPlugin
(
Vehicle
*
vehicle
,
QObject
*
parent
)
:
QObject
(
parent
),
_vehicle
(
vehicle
),
_pluginReady
(
false
),
_setupComplete
(
false
)
AutoPilotPlugin
::
AutoPilotPlugin
(
Vehicle
*
vehicle
,
QObject
*
parent
)
:
QObject
(
parent
)
,
_vehicle
(
vehicle
)
,
_parametersReady
(
false
)
,
_missingParameters
(
false
)
,
_setupComplete
(
false
)
{
Q_ASSERT
(
vehicle
);
connect
(
_vehicle
->
uas
(),
&
UASInterface
::
disconnected
,
this
,
&
AutoPilotPlugin
::
_uasDisconnected
);
connect
(
this
,
&
AutoPilotPlugin
::
p
luginReadyChanged
,
this
,
&
AutoPilotPlugin
::
_plugin
ReadyChanged
);
connect
(
this
,
&
AutoPilotPlugin
::
p
arametersReadyChanged
,
this
,
&
AutoPilotPlugin
::
_parameters
ReadyChanged
);
}
AutoPilotPlugin
::~
AutoPilotPlugin
()
...
...
@@ -50,13 +51,13 @@ AutoPilotPlugin::~AutoPilotPlugin()
void
AutoPilotPlugin
::
_uasDisconnected
(
void
)
{
_p
lugin
Ready
=
false
;
emit
p
luginReadyChanged
(
_plugin
Ready
);
_p
arameters
Ready
=
false
;
emit
p
arametersReadyChanged
(
_parameters
Ready
);
}
void
AutoPilotPlugin
::
_p
luginReadyChanged
(
bool
plugin
Ready
)
void
AutoPilotPlugin
::
_p
arametersReadyChanged
(
bool
parameters
Ready
)
{
if
(
p
lugin
Ready
)
{
if
(
p
arameters
Ready
)
{
_recalcSetupComplete
();
if
(
!
_setupComplete
)
{
QGCMessageBox
::
warning
(
"Setup"
,
"One or more vehicle components require setup prior to flight."
);
...
...
@@ -92,7 +93,7 @@ void AutoPilotPlugin::_recalcSetupComplete(void)
bool
AutoPilotPlugin
::
setupComplete
(
void
)
{
Q_ASSERT
(
_p
lugin
Ready
);
Q_ASSERT
(
_p
arameters
Ready
);
return
_setupComplete
;
}
...
...
src/AutoPilotPlugins/AutoPilotPlugin.h
View file @
1abafb59
...
...
@@ -54,8 +54,11 @@ public:
AutoPilotPlugin
(
Vehicle
*
vehicle
,
QObject
*
parent
);
~
AutoPilotPlugin
();
/// true: plugin is ready for use, plugin should no longer be used
Q_PROPERTY
(
bool
pluginReady
READ
pluginReady
NOTIFY
pluginReadyChanged
)
/// true: parameters are ready for use
Q_PROPERTY
(
bool
parametersReady
READ
parametersReady
NOTIFY
parametersReadyChanged
)
/// true: parameters are missing from firmware response, false: all parameters received from firmware
Q_PROPERTY
(
bool
missingParameters
READ
missingParameters
NOTIFY
missingParametersChanged
)
/// List of VehicleComponent objects
Q_PROPERTY
(
QVariantList
vehicleComponents
READ
vehicleComponents
CONSTANT
)
...
...
@@ -113,13 +116,15 @@ public:
static
void
clearStaticData
(
void
);
// Property accessors
bool
pluginReady
(
void
)
{
return
_pluginReady
;
}
bool
parametersReady
(
void
)
{
return
_parametersReady
;
}
bool
missingParameters
(
void
)
{
return
_missingParameters
;
}
bool
setupComplete
(
void
);
Vehicle
*
vehicle
(
void
)
{
return
_vehicle
;
}
signals:
void
pluginReadyChanged
(
bool
pluginReady
);
void
parametersReadyChanged
(
bool
parametersReady
);
void
missingParametersChanged
(
bool
missingParameters
);
void
setupCompleteChanged
(
bool
setupComplete
);
void
parameterListProgress
(
float
value
);
...
...
@@ -131,12 +136,13 @@ protected:
virtual
ParameterLoader
*
_getParameterLoader
(
void
)
=
0
;
Vehicle
*
_vehicle
;
bool
_pluginReady
;
bool
_parametersReady
;
bool
_missingParameters
;
bool
_setupComplete
;
private
slots
:
void
_uasDisconnected
(
void
);
void
_p
luginReadyChanged
(
bool
plugin
Ready
);
void
_p
arametersReadyChanged
(
bool
parameters
Ready
);
private:
void
_recalcSetupComplete
(
void
);
...
...
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
View file @
1abafb59
...
...
@@ -34,7 +34,7 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent
_parameterFacts
=
new
GenericParameterFacts
(
this
,
vehicle
,
this
);
Q_CHECK_PTR
(
_parameterFacts
);
connect
(
_parameterFacts
,
&
GenericParameterFacts
::
parametersReady
,
this
,
&
GenericAutoPilotPlugin
::
_parametersReady
);
connect
(
_parameterFacts
,
&
GenericParameterFacts
::
parametersReady
,
this
,
&
GenericAutoPilotPlugin
::
_parametersReady
Slot
);
connect
(
_parameterFacts
,
&
GenericParameterFacts
::
parameterListProgress
,
this
,
&
GenericAutoPilotPlugin
::
parameterListProgress
);
}
...
...
@@ -50,8 +50,10 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
return
emptyList
;
}
void
GenericAutoPilotPlugin
::
_parametersReady
(
void
)
void
GenericAutoPilotPlugin
::
_parametersReady
Slot
(
bool
missingParameters
)
{
_pluginReady
=
true
;
emit
pluginReadyChanged
(
_pluginReady
);
_parametersReady
=
true
;
_missingParameters
=
missingParameters
;
emit
missingParametersChanged
(
_missingParameters
);
emit
parametersReadyChanged
(
_parametersReady
);
}
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h
View file @
1abafb59
...
...
@@ -45,7 +45,7 @@ public:
static
void
clearStaticData
(
void
);
private
slots
:
void
_parametersReady
(
void
);
void
_parametersReady
Slot
(
bool
missingParameters
);
private:
// Overrides from AutoPilotPlugin
...
...
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @
1abafb59
...
...
@@ -79,7 +79,7 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
_parameterFacts
=
new
PX4ParameterLoader
(
this
,
vehicle
,
this
);
Q_CHECK_PTR
(
_parameterFacts
);
connect
(
_parameterFacts
,
&
PX4ParameterLoader
::
parametersReady
,
this
,
&
PX4AutoPilotPlugin
::
_p
lugin
ReadyPreChecks
);
connect
(
_parameterFacts
,
&
PX4ParameterLoader
::
parametersReady
,
this
,
&
PX4AutoPilotPlugin
::
_p
arameters
ReadyPreChecks
);
connect
(
_parameterFacts
,
&
PX4ParameterLoader
::
parameterListProgress
,
this
,
&
PX4AutoPilotPlugin
::
parameterListProgress
);
_airframeFacts
=
new
PX4AirframeLoader
(
this
,
_vehicle
->
uas
(),
this
);
...
...
@@ -106,7 +106,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
if
(
_components
.
count
()
==
0
&&
!
_incorrectParameterVersion
)
{
Q_ASSERT
(
_vehicle
);
if
(
p
lugin
Ready
())
{
if
(
p
arameters
Ready
())
{
_airframeComponent
=
new
AirframeComponent
(
_vehicle
->
uas
(),
this
);
Q_CHECK_PTR
(
_airframeComponent
);
_airframeComponent
->
setupTriggerSignals
();
...
...
@@ -137,7 +137,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
_safetyComponent
->
setupTriggerSignals
();
_components
.
append
(
QVariant
::
fromValue
((
VehicleComponent
*
)
_safetyComponent
));
}
else
{
qWarning
()
<<
"Call to vehicleCompenents prior to p
lugin
Ready"
;
qWarning
()
<<
"Call to vehicleCompenents prior to p
arameters
Ready"
;
}
}
...
...
@@ -145,7 +145,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
}
/// This will perform various checks prior to signalling that the plug in ready
void
PX4AutoPilotPlugin
::
_p
luginReadyPreChecks
(
void
)
void
PX4AutoPilotPlugin
::
_p
arametersReadyPreChecks
(
bool
missingParameters
)
{
// Check for older parameter version set
// FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
...
...
@@ -156,6 +156,8 @@ void PX4AutoPilotPlugin::_pluginReadyPreChecks(void)
"Please perform a Firmware Upgrade if you wish to use Vehicle Setup."
);
}
_pluginReady
=
true
;
emit
pluginReadyChanged
(
_pluginReady
);
_parametersReady
=
true
;
_missingParameters
=
missingParameters
;
emit
missingParametersChanged
(
_missingParameters
);
emit
parametersReadyChanged
(
_parametersReady
);
}
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
View file @
1abafb59
...
...
@@ -63,7 +63,7 @@ public:
PowerComponent
*
powerComponent
(
void
)
{
return
_powerComponent
;
}
private
slots
:
void
_p
luginReadyPreChecks
(
void
);
void
_p
arametersReadyPreChecks
(
bool
missingParameters
);
private:
// Overrides from AutoPilotPlugin
...
...
src/FactSystem/FactControls/FactPanelController.cc
View file @
1abafb59
...
...
@@ -43,7 +43,8 @@ FactPanelController::FactPanelController(void) :
_autopilot
=
_vehicle
->
autopilotPlugin
();
Q_ASSERT
(
_autopilot
);
Q_ASSERT
(
_autopilot
->
pluginReady
());
Q_ASSERT
(
_autopilot
->
parametersReady
());
Q_ASSERT
(
!
_autopilot
->
missingParameters
());
// Do a delayed check for the _factPanel finally being set correctly from Qml
QTimer
::
singleShot
(
1000
,
this
,
&
FactPanelController
::
_checkForMissingFactPanel
);
...
...
src/FactSystem/ParameterLoader.cc
View file @
1abafb59
...
...
@@ -771,12 +771,12 @@ void ParameterLoader::_checkInitialLoadComplete(void)
"If you are using modified firmware, you may need to resolve any vehicle startup errors to resolve the issue. "
"If you are using standard firmware, you may need to upgrade to a newer version to resolve the issue."
);
qCWarning
(
ParameterLoaderLog
)
<<
"The following parameter indices could not be loaded after the maximum number of retries: "
<<
indexList
;
emit
parametersReady
(
true
);
}
else
{
// No failed parameters, ok to signal ready
_parametersReady
=
true
;
_determineDefaultComponentId
();
_setupGroupMap
();
emit
parametersReady
();
emit
parametersReady
(
false
);
}
}
src/FactSystem/ParameterLoader.h
View file @
1abafb59
...
...
@@ -91,7 +91,7 @@ public:
signals:
/// Signalled when the full set of facts are ready
void
parametersReady
(
void
);
void
parametersReady
(
bool
missingParameters
);
/// Signalled to update progress of full parameter list request
void
parameterListProgress
(
float
value
);
...
...
src/MissionManager/MissionManager.cc
View file @
1abafb59
...
...
@@ -132,7 +132,7 @@ bool MissionManager::_stopAckTimeout(AckType_t expectedAck)
_ackTimeoutTimer
->
stop
();
if
(
_retryAck
!=
expectedAck
)
{
qC
Debu
g
(
MissionManagerLog
)
<<
"Invalid ack sequence _retryAck:expectedAck"
<<
_retryAck
<<
expectedAck
;
qC
Warnin
g
(
MissionManagerLog
)
<<
"Invalid ack sequence _retryAck:expectedAck"
<<
_retryAck
<<
expectedAck
;
success
=
false
;
}
else
{
success
=
true
;
...
...
src/Vehicle/MultiVehicleManager.cc
View file @
1abafb59
...
...
@@ -72,7 +72,7 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
}
connect
(
vehicle
,
&
Vehicle
::
allLinksDisconnected
,
this
,
&
MultiVehicleManager
::
_deleteVehiclePhase1
);
connect
(
vehicle
->
autopilotPlugin
(),
&
AutoPilotPlugin
::
p
luginReadyChanged
,
this
,
&
MultiVehicleManager
::
_autopilotPlugin
ReadyChanged
);
connect
(
vehicle
->
autopilotPlugin
(),
&
AutoPilotPlugin
::
p
arametersReadyChanged
,
this
,
&
MultiVehicleManager
::
_autopilotParameters
ReadyChanged
);
_vehicles
.
append
(
vehicle
);
...
...
@@ -138,7 +138,7 @@ void MultiVehicleManager::_deleteVehiclePhase2 (void)
if
(
_activeVehicle
)
{
_activeVehicle
->
setActive
(
true
);
emit
activeVehicleAvailableChanged
(
true
);
if
(
_activeVehicle
->
autopilotPlugin
()
->
p
lugin
Ready
())
{
if
(
_activeVehicle
->
autopilotPlugin
()
->
p
arameters
Ready
())
{
emit
parameterReadyVehicleAvailableChanged
(
true
);
}
}
...
...
@@ -181,14 +181,14 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
_activeVehicleAvailable
=
true
;
emit
activeVehicleAvailableChanged
(
true
);
if
(
_activeVehicle
->
autopilotPlugin
()
->
p
lugin
Ready
())
{
if
(
_activeVehicle
->
autopilotPlugin
()
->
p
arameters
Ready
())
{
_parameterReadyVehicleAvailable
=
true
;
emit
parameterReadyVehicleAvailableChanged
(
true
);
}
}
}
void
MultiVehicleManager
::
_autopilotP
luginReadyChanged
(
bool
plugin
Ready
)
void
MultiVehicleManager
::
_autopilotP
arametersReadyChanged
(
bool
parameters
Ready
)
{
AutoPilotPlugin
*
autopilot
=
dynamic_cast
<
AutoPilotPlugin
*>
(
sender
());
...
...
@@ -198,8 +198,8 @@ void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
}
if
(
autopilot
->
vehicle
()
==
_activeVehicle
)
{
_parameterReadyVehicleAvailable
=
p
lugin
Ready
;
emit
parameterReadyVehicleAvailableChanged
(
p
lugin
Ready
);
_parameterReadyVehicleAvailable
=
p
arameters
Ready
;
emit
parameterReadyVehicleAvailableChanged
(
p
arameters
Ready
);
}
}
...
...
src/Vehicle/MultiVehicleManager.h
View file @
1abafb59
...
...
@@ -92,7 +92,7 @@ private slots:
void
_deleteVehiclePhase1
(
Vehicle
*
vehicle
);
void
_deleteVehiclePhase2
(
void
);
void
_setActiveVehiclePhase2
(
void
);
void
_autopilotP
luginReadyChanged
(
bool
plugin
Ready
);
void
_autopilotP
arametersReadyChanged
(
bool
parameters
Ready
);
private:
/// All access to singleton is through MultiVehicleManager::instance
...
...
src/Vehicle/Vehicle.cc
View file @
1abafb59
...
...
@@ -107,6 +107,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
_firmwarePlugin
=
FirmwarePluginManager
::
instance
()
->
firmwarePluginForAutopilot
(
firmwareType
);
_autopilotPlugin
=
AutoPilotPluginManager
::
instance
()
->
newAutopilotPluginForVehicle
(
this
);
connect
(
_autopilotPlugin
,
&
AutoPilotPlugin
::
missingParametersChanged
,
this
,
&
Vehicle
::
missingParametersChanged
);
// Refresh timer
connect
(
_refreshTimer
,
SIGNAL
(
timeout
()),
this
,
SLOT
(
_checkUpdate
()));
_refreshTimer
->
setInterval
(
UPDATE_TIMER
);
...
...
@@ -1058,3 +1060,8 @@ void Vehicle::setHilMode(bool hilMode)
mavlink_msg_set_mode_pack
(
_mavlink
->
getSystemId
(),
_mavlink
->
getComponentId
(),
&
msg
,
id
(),
newBaseMode
,
_custom_mode
);
sendMessage
(
msg
);
}
bool
Vehicle
::
missingParameters
(
void
)
{
return
_autopilotPlugin
->
missingParameters
();
}
src/Vehicle/Vehicle.h
View file @
1abafb59
...
...
@@ -71,6 +71,8 @@ public:
Q_PROPERTY
(
bool
hilMode
READ
hilMode
WRITE
setHilMode
NOTIFY
hilModeChanged
)
Q_PROPERTY
(
bool
missingParameters
READ
missingParameters
NOTIFY
missingParametersChanged
)
Q_INVOKABLE
QString
getMavIconColor
();
//-- System Messages
...
...
@@ -178,6 +180,8 @@ public:
bool
hilMode
(
void
);
void
setHilMode
(
bool
hilMode
);
bool
missingParameters
(
void
);
typedef
enum
{
MessageNone
,
MessageNormal
,
...
...
@@ -248,6 +252,7 @@ signals:
void
armedChanged
(
bool
armed
);
void
flightModeChanged
(
const
QString
&
flightMode
);
void
hilModeChanged
(
bool
hilMode
);
void
missingParametersChanged
(
bool
missingParameters
);
/// Used internally to move sendMessage call to main thread
void
_sendMessageOnThread
(
mavlink_message_t
message
);
...
...
src/VehicleSetup/SetupView.qml
View file @
1abafb59
...
...
@@ -51,10 +51,14 @@ Rectangle {
property
string
messagePanelText
:
"
missing message panel text
"
readonly
property
string
armedVehicleText
:
"
This operation cannot be performed while vehicle is armed.
"
property
bool
fullParameterVehicleAvailable
:
multiVehicleManager
.
parameterReadyVehicleAvailable
&&
!
multiVehicleManager
.
activeVehicle
.
missingParameters
function
showSummaryPanel
()
{
if
(
multiVehicleManager
.
parameterReady
VehicleAvailable
)
{
if
(
fullParameter
VehicleAvailable
)
{
panelLoader
.
source
=
"
VehicleSummary.qml
"
;
}
else
if
(
multiVehicleManager
.
parameterReadyVehicleAvailable
)
{
panelLoader
.
sourceComponent
=
missingParametersVehicleSummaryComponent
}
else
{
panelLoader
.
sourceComponent
=
disconnectedVehicleSummaryComponent
}
...
...
@@ -137,6 +141,27 @@ Rectangle {
}
}
Component
{
id
:
missingParametersVehicleSummaryComponent
Rectangle
{
color
:
palette
.
windowShade
QGCLabel
{
anchors.margins
:
defaultTextWidth
*
2
anchors.fill
:
parent
verticalAlignment
:
Text
.
AlignVCenter
horizontalAlignment
:
Text
.
AlignHCenter
wrapMode
:
Text
.
WordWrap
font.pixelSize
:
ScreenTools
.
mediumFontPixelSize
text
:
"
You are currently connected to a vehicle, but that vehicle did not return back the full parameter list.
"
+
"
Because of this the full set of vehicle setup options are not available.
"
onLinkActivated
:
Qt
.
openUrlExternally
(
link
)
}
}
}
Component
{
id
:
messagePanelComponent
...
...
@@ -194,14 +219,14 @@ Rectangle {
setupIndicator
:
true
setupComplete
:
joystickManager
.
activeJoystick
?
joystickManager
.
activeJoystick
.
calibrated
:
false
exclusiveGroup
:
setupButtonGroup
visible
:
multiVehicleManager
.
parameterReady
VehicleAvailable
&&
joystickManager
.
joysticks
.
length
!=
0
visible
:
fullParameter
VehicleAvailable
&&
joystickManager
.
joysticks
.
length
!=
0
text
:
"
JOYSTICK
"
onClicked
:
showJoystickPanel
()
}
Repeater
{
model
:
multiVehicleManager
.
parameterReady
VehicleAvailable
?
multiVehicleManager
.
activeVehicle
.
autopilot
.
vehicleComponents
:
0
model
:
fullParameter
VehicleAvailable
?
multiVehicleManager
.
activeVehicle
.
autopilot
.
vehicleComponents
:
0
SubMenuButton
{
width
:
buttonWidth
...
...
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