Fixing the parameter view

lib/QMapControl/QMapControl.pri

@@ -3,50 +3,50 @@ INCLUDEPATH += src
 
 # Input
 HEADERS += curve.h \
-           geometry.h \
-           imagemanager.h \
-           layer.h \
-           layermanager.h \
-           linestring.h \
-           mapadapter.h \
-           mapcontrol.h \
-           mapnetwork.h \
-           point.h \
-           tilemapadapter.h \
-           wmsmapadapter.h \
-           circlepoint.h \
-           imagepoint.h \
-           gps_position.h \
-           osmmapadapter.h \
-           maplayer.h \
-           geometrylayer.h \
-           yahoomapadapter.h \
-           googlemapadapter.h \
-           googlesatmapadapter.h \
-           openaerialmapadapter.h \
-	   fixedimageoverlay.h \
-	   emptymapadapter.h
+    geometry.h \
+    imagemanager.h \
+    layer.h \
+    layermanager.h \
+    linestring.h \
+    mapadapter.h \
+    mapcontrol.h \
+    mapnetwork.h \
+    point.h \
+    tilemapadapter.h \
+    wmsmapadapter.h \
+    circlepoint.h \
+    imagepoint.h \
+    gps_position.h \
+    osmmapadapter.h \
+    maplayer.h \
+    geometrylayer.h \
+    yahoomapadapter.h \
+    googlemapadapter.h \
+    googlesatmapadapter.h \
+    openaerialmapadapter.h \
+    fixedimageoverlay.h \
+    emptymapadapter.h
 SOURCES += curve.cpp \
-           geometry.cpp \
-           imagemanager.cpp \
-           layer.cpp \
-           layermanager.cpp \
-           linestring.cpp \
-           mapadapter.cpp \
-           mapcontrol.cpp \
-           mapnetwork.cpp \
-           point.cpp \
-           tilemapadapter.cpp \
-           wmsmapadapter.cpp \
-           circlepoint.cpp \
-           imagepoint.cpp \
-           gps_position.cpp \
-           osmmapadapter.cpp \
-           maplayer.cpp \
-           geometrylayer.cpp \
-           yahoomapadapter.cpp \
-           googlemapadapter.cpp \
-           googlesatmapadapter.cpp \
-           openaerialmapadapter.cpp \
-	   fixedimageoverlay.cpp \
-	   emptymapadapter.cpp
+    geometry.cpp \
+    imagemanager.cpp \
+    layer.cpp \
+    layermanager.cpp \
+    linestring.cpp \
+    mapadapter.cpp \
+    mapcontrol.cpp \
+    mapnetwork.cpp \
+    point.cpp \
+    tilemapadapter.cpp \
+    wmsmapadapter.cpp \
+    circlepoint.cpp \
+    imagepoint.cpp \
+    gps_position.cpp \
+    osmmapadapter.cpp \
+    maplayer.cpp \
+    geometrylayer.cpp \
+    yahoomapadapter.cpp \
+    googlemapadapter.cpp \
+    googlesatmapadapter.cpp \
+    openaerialmapadapter.cpp \
+    fixedimageoverlay.cpp \
+    emptymapadapter.cpp

qgroundcontrol.pro

@@ -112,7 +112,8 @@ HEADERS += src/MG.h \
     src/GAudioOutput.h \
     src/LogCompressor.h \
     src/ui/param/ParamTreeItem.h \
-    src/ui/param/ParamTreeModel.h
+    src/ui/param/ParamTreeModel.h \
+    src/ui/QGCParamWidget.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -159,5 +160,6 @@ SOURCES += src/main.cc \
     src/GAudioOutput.cc \
     src/LogCompressor.cc \
     src/ui/param/ParamTreeItem.cc \
-    src/ui/param/ParamTreeModel.cc
+    src/ui/param/ParamTreeModel.cc \
+    src/ui/QGCParamWidget.cc
 RESOURCES = mavground.qrc

src/Core.cc

@@ -40,11 +40,14 @@ This file is part of the PIXHAWK project
 #include <QStyleFactory>
 #include <QAction>
 
-#include <Core.h>
-#include <MG.h>
-#include <MainWindow.h>
+#include "Core.h"
+#include "MG.h"
+#include "MainWindow.h"
 #include "GAudioOutput.h"
 
+#include "UDPLink.h"
+#include "MAVLinkSimulationLink.h"
+
 
 /**
  * @brief Constructor for the main application.
@@ -100,6 +103,43 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     // Remove splash screen
     splashScreen->finish(mainWindow);
 
+    // Connect links
+    // to make sure that all components are initialized when the
+    // first messages arrive
+    UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
+    mainWindow->addLink(udpLink);
+
+    // Check if link could be connected
+    if (!udpLink->connect())
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?");
+        msgBox.setInformativeText("You will not be able to receive data via UDP. Do you want to close the application?");
+        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
+        msgBox.setDefaultButton(QMessageBox::Cancel);
+        int ret = msgBox.exec();
+
+        // Close the message box shortly after the click to prevent accidental clicks
+        QTimer::singleShot(5000, &msgBox, SLOT(reject()));
+
+        // Exit application
+        if (ret == QMessageBox::Yes)
+        {
+            qDebug() << "EXITING";
+            mainWindow->close();
+            this->exit(EXIT_SUCCESS);
+        }
+    }
+
+    MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
+    mainWindow->addLink(simulationLink);
+
+    //CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
+    //ui.menuNetwork->addAction(commWidget->getAction());
+    //simulationLink->connect();
+
+
 }
 
 /**

src/comm/MAVLinkProtocol.cc

@@ -174,7 +174,7 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
     // Create buffer
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     // Write message into buffer, prepending start sign
-    int len = message_to_send_buffer(buffer, &message);
+    int len = mavlink_msg_to_send_buffer(buffer, &message);
     // If link is connected
     if (link->isConnected())
     {
@@ -193,7 +193,7 @@ void MAVLinkProtocol::sendHeartbeat()
     if (m_heartbeatsEnabled)
     {
         mavlink_message_t beat;
-        message_heartbeat_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID,&beat, OCU);
+        mavlink_msg_heartbeat_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID,&beat, OCU);
         sendMessage(beat);
     }
 }

src/comm/MAVLinkSimulationLink.h

@@ -115,7 +115,7 @@ protected:
     int id;
     QString name;
     qint64 timeOffset;
-    sys_status_t status;
+    mavlink_sys_status_t status;
 
     void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
 

src/comm/MAVLinkXMLParser.cc

@@ -91,14 +91,15 @@ bool MAVLinkXMLParser::generate()
                     QString commentContainer = "/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n";
                     QString commentEntry = " * @param %1 %2\n";
                     QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
-                    QString cStructName = QString("%1_t").arg(messageName);
+                    QString cStructName = QString("mavlink_%1_t").arg(messageName);
                     QString cStruct = "typedef struct __%1 \n{\n%2\n} %1;";
                     QString cStructLines = "";
-                    QString encode = "static inline uint16_t message_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn message_%1_pack(%3);\n}\n";
+                    QString encode = "static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n";
 
-                    QString decode = "static inline void message_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
-                    QString pack = "static inline uint16_t message_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\tuint16_t i = 0;\n\n%4\n\treturn finalize_message(msg, system_id, component_id, i);\n}\n\n";
-                    QString compactSend = "#if !defined(_WIN32) && !defined(__linux) && !defined(__APPLE__)\n\n#include \"global_data.h\"\n\nstatic inline void message_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmessage_%3_pack(global_data.param[PARAM_SYSTEM_ID], global_data.param[PARAM_COMPONENT_ID], &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
+                    QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
+                    QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\tuint16_t i = 0;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
+                    QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
+                    //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
                     QString unpacking = "";
                     QString prepends = "";
                     QString packParameters = "";
@@ -135,7 +136,7 @@ bool MAVLinkXMLParser::generate()
                                 // Add pack line to message_xx_pack function
                                 packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
                                 // Add decode function for this type
-                                decodeLines += QString("\tmessage_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
+                                decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                             }
                             else
                                 // Handle simple types like integers and floats
@@ -148,7 +149,7 @@ bool MAVLinkXMLParser::generate()
                                 // Add pack line to message_xx_pack function
                                 packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); //%3\n").arg(fieldType, fieldName, e2.text());
                                 // Add decode function for this type
-                                decodeLines += QString("\t%1->%2 = message_%1_get_%2(msg);\n").arg(messageName, fieldName);
+                                decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
                             }
                             commentLines += commentEntry.arg(fieldName, fieldText);
                             QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
@@ -184,14 +185,14 @@ bool MAVLinkXMLParser::generate()
                             // Array handling is different from simple types
                             if (fieldType.startsWith("array"))
                             {
-                                unpacking += unpackingComment + QString("static inline uint16_t message_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
+                                unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
                                 decodeLines += "";
                                 QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
                                 prepends += "+" + arrayLength;
                             }
                             else
                             {
-                                unpacking += unpackingComment + QString("static inline %1 message_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode);
+                                unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode);
                                 decodeLines += "";
                                 prepends += "+sizeof(" + e2.attribute("type", "void") + ")";
                             }
@@ -206,7 +207,7 @@ bool MAVLinkXMLParser::generate()
                     decode = decode.arg(messageName).arg(cStructName).arg(decodeLines);
                     compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters);
                     QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
-                    cFiles.append(qMakePair(QString("mavlink_message_%1.h").arg(messageName), cFile));
+                    cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
                 }
             }
         }

src/ui/MainWindow.cc

@@ -155,42 +155,6 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
 
     joystick = new JoystickInput();
 
-    // HAS TO BE THE LAST ACTION
-    // to make sure that all components are initialized when the
-    // first messages arrive
-    udpLink = new UDPLink(QHostAddress::Any, 14550);
-    LinkManager::instance()->addProtocol(udpLink, mavlink);
-    CommConfigurationWindow* commWidget = new CommConfigurationWindow(udpLink, mavlink, this);
-    ui.menuNetwork->addAction(commWidget->getAction());
-
-    // Check if link could be connected
-    if (!udpLink->connect())
-    {
-        QMessageBox msgBox;
-        msgBox.setIcon(QMessageBox::Critical);
-        msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?");
-        msgBox.setInformativeText("Do you want to close the application?");
-        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
-        msgBox.setDefaultButton(QMessageBox::Cancel);
-        int ret = msgBox.exec();
-
-        // Close the message box shortly after the click to prevent accidental clicks
-        QTimer::singleShot(5000, &msgBox, SLOT(reject()));
-
-        // Exit application
-        if (ret == QMessageBox::Yes)
-        {
-            qApp->exit(EXIT_SUCCESS);
-        }
-    }
-
-    simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
-    connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
-    LinkManager::instance()->addProtocol(simulationLink, mavlink);
-    //CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
-    //ui.menuNetwork->addAction(commWidget->getAction());
-    //simulationLink->connect();
-
     // Create actions
     connectActions();
 
@@ -309,7 +273,6 @@ void MainWindow::connectActions()
 
     // Joystick configuration
     connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
-    connect(ui.actionSimulate, SIGNAL(triggered(bool)), simulationLink, SLOT(connectLink(bool)));
 }
 
 void MainWindow::configure()
@@ -333,6 +296,21 @@ void MainWindow::addLink()
     // TODO Implement the link removal!
 }
 
+void MainWindow::addLink(LinkInterface *link)
+{
+    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
+    ui.menuNetwork->addAction(commWidget->getAction());
+    LinkManager::instance()->addProtocol(link, mavlink);
+
+    // Special case for simulationlink
+    MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
+    if (sim)
+    {
+        connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
+        connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
+    }
+}
+
 void MainWindow::UASCreated(UASInterface* uas)
 {
     // Connect the UAS to the full user interface

src/ui/MainWindow.h

@@ -113,6 +113,7 @@ public slots:
     void setLastAction(QString status);
     void setLinkStatus(QString status);
     void addLink();
+    void addLink(LinkInterface* link);
     void configure();
     void UASCreated(UASInterface* uas);
     void startVideoCapture();

src/ui/ParameterInterface.cc

@@ -9,29 +9,18 @@
 
 ParameterInterface::ParameterInterface(QWidget *parent) :
         QWidget(parent),
+        paramWidgets(new QMap<int, QGCParamWidget*>()),
+        curr(-1),
         m_ui(new Ui::parameterWidget)
 {
     m_ui->setupUi(this);
-    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
-
-    components = new QMap<int, QTreeWidgetItem*>();
-    tree = new ParamTreeModel();
-
-    //treeView = new QTreeView(this);
-    //treeView->setModel(tree);
-
-    treeWidget = new QTreeWidget(this);
-    QStringList headerItems;
-    headerItems.append("Parameter");
-    headerItems.append("Value");
-    treeWidget->setHeaderLabels(headerItems);
 
-    QStackedWidget* stack = m_ui->stackedWidget;
-    //stack->addWidget(treeView);
-    //stack->setCurrentWidget(treeView);
-    stack->addWidget(treeWidget);
-    stack->setCurrentWidget(treeWidget);
+    // Setup UI connections
+    connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
+    connect(m_ui->readParamsButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
 
+    // Setup MAV connections
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
 }
 
 ParameterInterface::~ParameterInterface()
@@ -39,6 +28,12 @@ ParameterInterface::~ParameterInterface()
     delete m_ui;
 }
 
+void ParameterInterface::selectUAS(int index)
+{
+    m_ui->stackedWidget->setCurrentIndex(index);
+    curr = index;
+}
+
 /**
  *
  * @param uas System to add to list
@@ -47,26 +42,31 @@ void ParameterInterface::addUAS(UASInterface* uas)
 {
     m_ui->vehicleComboBox->addItem(uas->getUASName());
 
-    mav = uas;
-
-    // Setup UI connections
-    connect(m_ui->readParamsButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
+    QGCParamWidget* param = new QGCParamWidget(uas, this);
+    paramWidgets->insert(uas->getUASID(), param);
+    m_ui->stackedWidget->addWidget(param);
+    if (curr == -1)
+    {
+        m_ui->stackedWidget->setCurrentWidget(param);
+        curr = uas->getUASID();
+        qDebug() << "first widget";
+    }
 
     // Connect signals
-    connect(uas, SIGNAL(parameterChanged(int,int,QString,float)), this, SLOT(receiveParameter(int,int,QString,float)));
-    //if (!paramViews.contains(uas))
-    //{
-    //uasViews.insert(uas, new UASView(uas, this));
-    //listLayout->addWidget(uasViews.value(uas));
-
-    //}
+    connect(uas, SIGNAL(parameterChanged(int,int,QString,float)), this, SLOT(addParameter(int,int,QString,float)));
 }
 
 void ParameterInterface::requestParameterList()
 {
-    mav->requestParameters();
-    // Clear view
-    treeWidget->clear();
+    UASInterface* mav;
+    QGCParamWidget* widget = paramWidgets->value(curr);
+    if (widget != NULL)
+    {
+        mav = widget->getUAS();
+        mav->requestParameters();
+        // Clear view
+        widget->clear();
+    }
 }
 
 /**
@@ -77,34 +77,20 @@ void ParameterInterface::requestParameterList()
  */
 void ParameterInterface::addComponent(int uas, int component, QString componentName)
 {
-    Q_UNUSED(uas);
-    QStringList list;
-    list.append(componentName);
-    list.append(QString::number(component));
-    QTreeWidgetItem* comp = new QTreeWidgetItem(list);
-    bool updated = false;
-    if (components->contains(component)) updated = true;
-    components->insert(component, comp);
-    if (!updated) treeWidget->addTopLevelItem(comp);
+    QGCParamWidget* widget = paramWidgets->value(uas);
+    if (widget != NULL)
+    {
+        widget->addComponent(component, componentName);
+    }
 }
 
-void ParameterInterface::receiveParameter(int uas, int component, QString parameterName, float value)
+void ParameterInterface::addParameter(int uas, int component, QString parameterName, float value)
 {
-    Q_UNUSED(uas);
-    // Insert parameter into map
-    //tree->appendParam(component, parameterName, value);
-    QStringList plist;
-    plist.append(parameterName);
-    plist.append(QString::number(value));
-    QTreeWidgetItem* item = new QTreeWidgetItem(plist);
-
-    // Get component
-    if (!components->contains(component))
+    QGCParamWidget* widget = paramWidgets->value(uas);
+    if (widget != NULL)
     {
-        addComponent(uas, component, "Component #" + QString::number(component));
+        widget->addParameter(component, parameterName, value);
     }
-    components->value(component)->addChild(item);
-    //treeWidget->addTopLevelItem(new QTreeWidgetItem(list));
 }
 
 /**
@@ -126,6 +112,12 @@ void ParameterInterface::commitParameter(UASInterface* uas, int component, QStri
 
 }
 
+/*
+void ParameterInterface::commitParameters(UASInterface* uas)
+{
+
+}*/
+
 /**
  *
  */

src/ui/ParameterInterface.h

@@ -8,6 +8,7 @@
 #include "ui_ParameterInterface.h"
 #include "UASInterface.h"
 #include "ParamTreeModel.h"
+#include "QGCParamWidget.h"
 
 namespace Ui {
     class ParameterInterface;
@@ -21,20 +22,17 @@ public:
 
 public slots:
     void addUAS(UASInterface* uas);
+    void selectUAS(int index);
     void addComponent(int uas, int component, QString componentName);
-    void receiveParameter(int uas, int component, QString parameterName, float value);
+    void addParameter(int uas, int component, QString parameterName, float value);
     void requestParameterList();
     void setParameter(UASInterface* uas, int component, QString parameterName, float value);
     void commitParameter(UASInterface* uas, int component, QString parameterName, float value);
 
 protected:
     virtual void changeEvent(QEvent *e);
-
-    UASInterface* mav;
-    ParamTreeModel* tree;
-    QTreeView* treeView;
-    QTreeWidget* treeWidget;
-    QMap<int, QTreeWidgetItem*>* components;
+    QMap<int, QGCParamWidget*>* paramWidgets;
+    int curr;
 
 private:
     Ui::parameterWidget *m_ui;

src/ui/QGCParamWidget.cc

+#include <QHBoxLayout>
+
+#include "QGCParamWidget.h"
+#include "UASInterface.h"
+#include <QDebug>
+
+QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
+    QWidget(parent),
+    mav(uas),
+    components(new QMap<int, QTreeWidgetItem*>())
+{
+    // Create tree widget
+    tree = new QTreeWidget(this);
+
+    // Set tree widget as widget onto this component
+    QHBoxLayout* horizontalLayout;
+    //form->setAutoFillBackground(false);
+    horizontalLayout = new QHBoxLayout(this);
+    horizontalLayout->setSpacing(0);
+    horizontalLayout->setMargin(0);
+    horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
+
+    horizontalLayout->addWidget(tree);
+    this->setLayout(horizontalLayout);
+
+    // Set header
+    QStringList headerItems;
+    headerItems.append("Parameter");
+    headerItems.append("Value");
+    tree->setHeaderLabels(headerItems);
+    tree->setColumnCount(2);
+}
+
+UASInterface* QGCParamWidget::getUAS()
+{
+    return mav;
+}
+
+/**
+ *
+ * @param uas System which has the component
+ * @param component id of the component
+ * @param componentName human friendly name of the component
+ */
+void QGCParamWidget::addComponent(int component, QString componentName)
+{
+    QStringList list;
+    list.append(componentName);
+    list.append(QString::number(component));
+    QTreeWidgetItem* comp = new QTreeWidgetItem(list);
+    bool updated = false;
+    if (components->contains(component)) updated = true;
+    components->insert(component, comp);
+    if (!updated)
+    {
+        tree->addTopLevelItem(comp);
+        tree->update();
+    }
+}
+
+void QGCParamWidget::addParameter(int component, QString parameterName, float value)
+{
+    // Insert parameter into map
+    //tree->appendParam(component, parameterName, value);
+    QStringList plist;
+    plist.append(parameterName);
+    plist.append(QString::number(value));
+    QTreeWidgetItem* item = new QTreeWidgetItem(plist);
+
+    // Get component
+    if (!components->contains(component))
+    {
+        addComponent(component, "Component #" + QString::number(component));
+    }
+    components->value(component)->addChild(item);
+    tree->update();
+}
+
+void QGCParamWidget::clear()
+{
+    tree->clear();
+}

src/ui/QGCParamWidget.h

+#ifndef QGCPARAMWIDGET_H
+#define QGCPARAMWIDGET_H
+
+#include <QWidget>
+#include <QTreeWidget>
+#include <QTreeWidgetItem>
+#include <QMap>
+
+#include "UASInterface.h"
+
+class QGCParamWidget : public QWidget
+{
+Q_OBJECT
+public:
+    explicit QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
+    UASInterface* getUAS();
+signals:
+
+public slots:
+    void addComponent(int component, QString componentName);
+    void addParameter(int component, QString parameterName, float value);
+    void clear();
+protected:
+    UASInterface* mav;
+    QTreeWidget* tree;
+    QMap<int, QTreeWidgetItem*>* components;
+
+};
+
+#endif // QGCPARAMWIDGET_H

src/ui/uas/UASInfoWidget.cc

@@ -83,10 +83,8 @@ void UASInfoWidget::addUAS(UASInterface* uas)
 {
     if (uas != NULL)
     {
-        //    connect(uas, SIGNAL(voltageChanged(int, double)), this, SLOT(setVoltage(int, double)));
         connect(uas, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBattery(UASInterface*,double,double,int)));
-        connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(valueChanged(int,QString,double,quint64)));
-        connect(uas, SIGNAL(actuatorChanged(UASInterface*,int,double)), this, SLOT(actuatorChanged(UASInterface*,int,double)));
+        connect(uas, SIGNAL(dropRateChanged(int,float,float)), this, SLOT(updateDropRate(int,float,float)));
         connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateCPULoad(UASInterface*,double)));
 
         // Set this UAS as active if it is the first one
@@ -99,33 +97,6 @@ void UASInfoWidget::setActiveUAS(UASInterface* uas)
     activeUAS = uas;
 }
 
-/*
-void UASInfoWidget::actuatorChanged(UASInterface* uas, int actId, double value)
-{
-    if (activeUAS == uas)
-    {
-        switch (actId)
-        {
-        case 0:
-            ui.topRotorLabel->setText(QString::number(value*3300, 'f', 2));
-            ui.topRotorBar->setValue(value * 100);
-            break;
-        case 1:
-            ui.botRotorLabel->setText(QString::number(value*3300, 'f', 2));
-            ui.botRotorBar->setValue(value * 100);
-            break;
-        case 2:
-            ui.leftServoLabel->setText(QString::number(value*57.2957795f, 'f', 2));
-            ui.leftServoBar->setValue((value * 50.0f) + 50);
-            break;
-        case 3:
-            ui.rightServoLabel->setText(QString::number(value*57.2957795f, 'f', 2));
-            ui.rightServoBar->setValue((value * 50.0f) + 50);
-            break;
-        }
-    }
-}*/
-
 void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
 {
     setVoltage(uas, voltage);
@@ -147,67 +118,18 @@ void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
 void UASInfoWidget::updateDropRate(int sysId, float receiveDrop, float sendDrop)
 {
     Q_UNUSED(sysId);
-    ui.receiveLossBar->setValue(receiveDrop * 100.0f);
-    ui.sendLossBar->setValue(sendDrop * 100.0f);
+    ui.receiveLossBar->setValue(receiveDrop);
+    ui.receiveLossLabel->setText(QString::number(receiveDrop) + "%");
+    ui.sendLossBar->setValue(sendDrop);
+    ui.sendLossLabel->setText(QString::number(receiveDrop) + "%");
 }
 
-//void UASInfoWidget::setBattery(int uasid, BatteryType type, int cells)
-//{
-//    this->batteryType = type;
-//    this->cells = cells;
-//    switch (batteryType)
-//    {
-//            case NICD:
-//        break;
-//            case NIMH:
-//        break;
-//            case LIION:
-//        break;
-//            case LIPOLY:
-//        fullVoltage = this->cells * 4.18;
-//        emptyVoltage = this->cells * 3.4;
-//        break;
-//            case LIFE:
-//        break;
-//            case AGZN:
-//        break;
-//    }
-//}
-
-//double UASInfoWidget::calculateTimeRemaining() {
-//    quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
-//    double seconds = dt / 1000.0f;
-//    double voltDifference = startVoltage - currentVoltage;
-//    if (voltDifference <= 0) voltDifference = 0.00000000001f;
-//    double dischargePerSecond = voltDifference / seconds;
-//    double remaining = (currentVoltage - emptyVoltage) / dischargePerSecond;
-//    // Can never be below 0
-//    if (remaining <= 0) remaining = 0.0000000000001f;
-//    return remaining;
-//}
-
 void UASInfoWidget::setVoltage(UASInterface* uas, double voltage)
 {
     Q_UNUSED(uas);
     this->voltage = voltage;
 }
 
-//void UASInfoWidget::setVoltage(int uasid, double voltage)
-//{
-//    // Read and update data
-//    currentVoltage = voltage;
-//    if (startVoltage == 0) startVoltage = currentVoltage;
-//    // This is a low pass filter to get smoother results: (0.8 * lastChargeLevel) + (0.2 * chargeLevel)
-//    double chargeLevel = (currentVoltage - emptyVoltage)/(fullVoltage - emptyVoltage);
-//    lastChargeLevel = (0.6 * lastChargeLevel) + (0.4 * chargeLevel);
-//
-//    lastRemainingTime = calculateTimeRemaining();
-//
-//    ui.voltageLabel->setText(QString::number(currentVoltage, 'f', voltageDecimals));
-//    setChargeLevel(0, lastChargeLevel * 100);
-//    setTimeRemaining(0, lastRemainingTime);
-//}
-
 void UASInfoWidget::setChargeLevel(UASInterface* uas, double chargeLevel)
 {
     if (activeUAS == uas)
@@ -231,20 +153,4 @@ void UASInfoWidget::refresh()
 
     ui.loadLabel->setText(QString::number(this->load, 'f', loadDecimals));
     ui.loadBar->setValue(static_cast<int>(this->load));
-
-    //    if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
-    //    {
-    //        // Filter output to get a higher stability
-    //        static int filterTime = static_cast<int>(this->timeRemaining);
-    //        //filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
-    //
-    //        int hours = filterTime % (60 * 60);
-    //        int min = (filterTime - hours * 60) % 60;
-    //        int sec = (filterTime - hours * 60 - min * 60);
-    //        QString timeText;
-    //        timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
-    //        ui.voltageTimeEstimateLabel->setText(timeText);
-    //    } else {
-    //        ui.voltageTimeEstimateLabel->setText(tr("Calculating"));
-    //    }
 }