From 3f5aabfc1c70cb4a69448a9116bb8249fb62008a Mon Sep 17 00:00:00 2001
From: Dima Ponomarev <36133264+PonomarevDA@users.noreply.github.com>
Date: Wed, 2 Sep 2020 19:37:49 +0300
Subject: [PATCH] Add Vehicle FactGroup for ESC_STATUS values (#8983)
Add esc_status to vehicle fact group
---
custom-example/qgroundcontrol.qrc | 1 +
qgroundcontrol.pro | 2 +
qgroundcontrol.qrc | 1 +
src/Vehicle/EscStatusFactGroup.json | 106 +++++++++++++++++++++++
src/Vehicle/Vehicle.cc | 3 +
src/Vehicle/Vehicle.h | 5 ++
src/Vehicle/VehicleEscStatusFactGroup.cc | 92 ++++++++++++++++++++
src/Vehicle/VehicleEscStatusFactGroup.h | 94 ++++++++++++++++++++
8 files changed, 304 insertions(+)
create mode 100644 src/Vehicle/EscStatusFactGroup.json
create mode 100644 src/Vehicle/VehicleEscStatusFactGroup.cc
create mode 100644 src/Vehicle/VehicleEscStatusFactGroup.h
diff --git a/custom-example/qgroundcontrol.qrc b/custom-example/qgroundcontrol.qrc
index f2c562c27..f49a138cd 100644
--- a/custom-example/qgroundcontrol.qrc
+++ b/custom-example/qgroundcontrol.qrc
@@ -316,6 +316,7 @@
../src/Vehicle/BatteryFact.json
../src/Vehicle/ClockFact.json
../src/Vehicle/DistanceSensorFact.json
+ ../src/Vehicle/EscStatusFactGroup.json
../src/Vehicle/EstimatorStatusFactGroup.json
../src/Vehicle/GPSFact.json
../src/Vehicle/GPSRTKFact.json
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 8a0b3ddef..d2d0548a0 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -426,6 +426,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
HEADERS += \
src/QmlControls/QmlUnitsConversion.h \
+ src/Vehicle/VehicleEscStatusFactGroup.h \
src/api/QGCCorePlugin.h \
src/api/QGCOptions.h \
src/api/QGCSettings.h \
@@ -439,6 +440,7 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
}
SOURCES += \
+ src/Vehicle/VehicleEscStatusFactGroup.cc \
src/api/QGCCorePlugin.cc \
src/api/QGCOptions.cc \
src/api/QGCSettings.cc \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 05f627002..ea152f915 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -317,6 +317,7 @@
src/Vehicle/BatteryFact.json
src/Vehicle/ClockFact.json
src/Vehicle/DistanceSensorFact.json
+ src/Vehicle/EscStatusFactGroup.json
src/Vehicle/EstimatorStatusFactGroup.json
src/Vehicle/GPSFact.json
src/Vehicle/GPSRTKFact.json
diff --git a/src/Vehicle/EscStatusFactGroup.json b/src/Vehicle/EscStatusFactGroup.json
new file mode 100644
index 000000000..81c681a76
--- /dev/null
+++ b/src/Vehicle/EscStatusFactGroup.json
@@ -0,0 +1,106 @@
+{
+ "version": 1,
+ "fileType": "FactMetaData",
+ "QGC.MetaData.Facts":
+[
+{
+ "name": "index",
+ "shortDesc": "Index Of The First ESC In This Message",
+ "type": "uint8",
+ "default": 0
+},
+{
+ "name": "rpmFirst",
+ "shortDesc": "Rotation Per Minute",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null
+},
+{
+ "name": "rpmSecond",
+ "shortDesc": "Rotation Per Minute",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null
+},
+{
+ "name": "rpmThird",
+ "shortDesc": "Rotation Per Minute",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null
+},
+{
+ "name": "rpmFourth",
+ "shortDesc": "Rotation Per Minute",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null
+},
+{
+ "name": "currentFirst",
+ "shortDesc": "Current",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "A"
+
+},
+{
+ "name": "currentSecond",
+ "shortDesc": "Current",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "A"
+},
+{
+ "name": "currentThird",
+ "shortDesc": "Current",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "A"
+},
+{
+ "name": "currentFourth",
+ "shortDesc": "Current",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "A"
+},
+{
+ "name": "voltageFirst",
+ "shortDesc": "Voltage",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "v"
+},
+{
+ "name": "voltageSecond",
+ "shortDesc": "Voltage",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "v"
+},
+{
+ "name": "voltageThird",
+ "shortDesc": "Voltage",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "v"
+},
+{
+ "name": "voltageFourth",
+ "shortDesc": "Voltage",
+ "type": "float",
+ "decimalPlaces": 2,
+ "default": null,
+ "units": "v"
+}
+]
+}
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 3423eae5e..788c0c551 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -92,6 +92,7 @@ const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
const char* Vehicle::_clockFactGroupName = "clock";
const char* Vehicle::_distanceSensorFactGroupName = "distanceSensor";
+const char* Vehicle::_escStatusFactGroupName = "escStatus";
const char* Vehicle::_estimatorStatusFactGroupName = "estimatorStatus";
const char* Vehicle::_terrainFactGroupName = "terrain";
@@ -211,6 +212,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _temperatureFactGroup(this)
, _clockFactGroup(this)
, _distanceSensorFactGroup(this)
+ , _escStatusFactGroup(this)
, _estimatorStatusFactGroup(this)
, _terrainFactGroup(this)
, _terrainProtocolHandler(new TerrainProtocolHandler(this, &_terrainFactGroup, this))
@@ -501,6 +503,7 @@ void Vehicle::_commonInit()
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
_addFactGroup(&_clockFactGroup, _clockFactGroupName);
_addFactGroup(&_distanceSensorFactGroup, _distanceSensorFactGroupName);
+ _addFactGroup(&_escStatusFactGroup, _escStatusFactGroupName);
_addFactGroup(&_estimatorStatusFactGroup, _estimatorStatusFactGroupName);
_addFactGroup(&_terrainFactGroup, _terrainFactGroupName);
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 53105167a..c6cb86e53 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -33,6 +33,7 @@
#include "VehicleSetpointFactGroup.h"
#include "VehicleTemperatureFactGroup.h"
#include "VehicleVibrationFactGroup.h"
+#include "VehicleEscStatusFactGroup.h"
#include "VehicleEstimatorStatusFactGroup.h"
class UAS;
@@ -279,6 +280,7 @@ public:
Q_PROPERTY(FactGroup* temperature READ temperatureFactGroup CONSTANT)
Q_PROPERTY(FactGroup* clock READ clockFactGroup CONSTANT)
Q_PROPERTY(FactGroup* setpoint READ setpointFactGroup CONSTANT)
+ Q_PROPERTY(FactGroup* escStatus READ escStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* estimatorStatus READ estimatorStatusFactGroup CONSTANT)
Q_PROPERTY(FactGroup* terrain READ terrainFactGroup CONSTANT)
Q_PROPERTY(FactGroup* distanceSensors READ distanceSensorFactGroup CONSTANT)
@@ -612,6 +614,7 @@ public:
FactGroup* clockFactGroup () { return &_clockFactGroup; }
FactGroup* setpointFactGroup () { return &_setpointFactGroup; }
FactGroup* distanceSensorFactGroup () { return &_distanceSensorFactGroup; }
+ FactGroup* escStatusFactGroup () { return &_escStatusFactGroup; }
FactGroup* estimatorStatusFactGroup () { return &_estimatorStatusFactGroup; }
FactGroup* terrainFactGroup () { return &_terrainFactGroup; }
QmlObjectListModel* batteries () { return &_batteryFactGroupListModel; }
@@ -1249,6 +1252,7 @@ private:
VehicleClockFactGroup _clockFactGroup;
VehicleSetpointFactGroup _setpointFactGroup;
VehicleDistanceSensorFactGroup _distanceSensorFactGroup;
+ VehicleEscStatusFactGroup _escStatusFactGroup;
VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
TerrainFactGroup _terrainFactGroup;
QmlObjectListModel _batteryFactGroupListModel;
@@ -1282,6 +1286,7 @@ private:
static const char* _temperatureFactGroupName;
static const char* _clockFactGroupName;
static const char* _distanceSensorFactGroupName;
+ static const char* _escStatusFactGroupName;
static const char* _estimatorStatusFactGroupName;
static const char* _terrainFactGroupName;
diff --git a/src/Vehicle/VehicleEscStatusFactGroup.cc b/src/Vehicle/VehicleEscStatusFactGroup.cc
new file mode 100644
index 000000000..1c5ab1024
--- /dev/null
+++ b/src/Vehicle/VehicleEscStatusFactGroup.cc
@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "VehicleEscStatusFactGroup.h"
+#include "Vehicle.h"
+
+const char* VehicleEscStatusFactGroup::_indexFactName = "index";
+
+const char* VehicleEscStatusFactGroup::_rpmFirstFactName = "rpm1";
+const char* VehicleEscStatusFactGroup::_rpmSecondFactName = "rpm2";
+const char* VehicleEscStatusFactGroup::_rpmThirdFactName = "rpm3";
+const char* VehicleEscStatusFactGroup::_rpmFourthFactName = "rpm4";
+
+const char* VehicleEscStatusFactGroup::_currentFirstFactName = "current1";
+const char* VehicleEscStatusFactGroup::_currentSecondFactName = "current2";
+const char* VehicleEscStatusFactGroup::_currentThirdFactName = "current3";
+const char* VehicleEscStatusFactGroup::_currentFourthFactName = "current4";
+
+const char* VehicleEscStatusFactGroup::_voltageFirstFactName = "voltage1";
+const char* VehicleEscStatusFactGroup::_voltageSecondFactName = "voltage2";
+const char* VehicleEscStatusFactGroup::_voltageThirdFactName = "voltage3";
+const char* VehicleEscStatusFactGroup::_voltageFourthFactName = "voltage4";
+
+VehicleEscStatusFactGroup::VehicleEscStatusFactGroup(QObject* parent)
+ : FactGroup (1000, ":/json/Vehicle/EscStatusFactGroup.json", parent)
+ , _indexFact (0, _indexFactName, FactMetaData::valueTypeUint8)
+
+ , _rpmFirstFact (0, _rpmFirstFactName, FactMetaData::valueTypeFloat)
+ , _rpmSecondFact (0, _rpmSecondFactName, FactMetaData::valueTypeFloat)
+ , _rpmThirdFact (0, _rpmThirdFactName, FactMetaData::valueTypeFloat)
+ , _rpmFourthFact (0, _rpmFourthFactName, FactMetaData::valueTypeFloat)
+
+ , _currentFirstFact (0, _currentFirstFactName, FactMetaData::valueTypeFloat)
+ , _currentSecondFact (0, _currentSecondFactName, FactMetaData::valueTypeFloat)
+ , _currentThirdFact (0, _currentThirdFactName, FactMetaData::valueTypeFloat)
+ , _currentFourthFact (0, _currentFourthFactName, FactMetaData::valueTypeFloat)
+
+ , _voltageFirstFact (0, _voltageFirstFactName, FactMetaData::valueTypeFloat)
+ , _voltageSecondFact (0, _voltageSecondFactName, FactMetaData::valueTypeFloat)
+ , _voltageThirdFact (0, _voltageThirdFactName, FactMetaData::valueTypeFloat)
+ , _voltageFourthFact (0, _voltageFourthFactName, FactMetaData::valueTypeFloat)
+{
+ _addFact(&_indexFact, _indexFactName);
+
+ _addFact(&_rpmFirstFact, _rpmFirstFactName);
+ _addFact(&_rpmSecondFact, _rpmSecondFactName);
+ _addFact(&_rpmThirdFact, _rpmThirdFactName);
+ _addFact(&_rpmFourthFact, _rpmFourthFactName);
+
+ _addFact(&_currentFirstFact, _currentFirstFactName);
+ _addFact(&_currentSecondFact, _currentSecondFactName);
+ _addFact(&_currentThirdFact, _currentThirdFactName);
+ _addFact(&_currentFourthFact, _currentFourthFactName);
+
+ _addFact(&_voltageFirstFact, _voltageFirstFactName);
+ _addFact(&_voltageSecondFact, _voltageSecondFactName);
+ _addFact(&_voltageThirdFact, _voltageThirdFactName);
+ _addFact(&_voltageFourthFact, _voltageFourthFactName);
+}
+
+void VehicleEscStatusFactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& message)
+{
+ if (message.msgid != MAVLINK_MSG_ID_ESC_STATUS) {
+ return;
+ }
+
+ mavlink_esc_status_t content;
+ mavlink_msg_esc_status_decode(&message, &content);
+
+ index()->setRawValue (content.index);
+
+ rpmFirst()->setRawValue (content.rpm[0]);
+ rpmSecond()->setRawValue (content.rpm[1]);
+ rpmThird()->setRawValue (content.rpm[2]);
+ rpmFourth()->setRawValue (content.rpm[3]);
+
+ currentFirst()->setRawValue (content.current[0]);
+ currentSecond()->setRawValue (content.current[1]);
+ currentThird()->setRawValue (content.current[2]);
+ currentFourth()->setRawValue (content.current[3]);
+
+ voltageFirst()->setRawValue (content.voltage[0]);
+ voltageSecond()->setRawValue (content.voltage[1]);
+ voltageThird()->setRawValue (content.voltage[2]);
+ voltageFourth()->setRawValue (content.voltage[3]);
+}
diff --git a/src/Vehicle/VehicleEscStatusFactGroup.h b/src/Vehicle/VehicleEscStatusFactGroup.h
new file mode 100644
index 000000000..0c93917f6
--- /dev/null
+++ b/src/Vehicle/VehicleEscStatusFactGroup.h
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FactGroup.h"
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleEscStatusFactGroup : public FactGroup
+{
+ Q_OBJECT
+
+public:
+ VehicleEscStatusFactGroup(QObject* parent = nullptr);
+
+ Q_PROPERTY(Fact* index READ index CONSTANT)
+
+ Q_PROPERTY(Fact* rpmFirst READ rpmFirst CONSTANT)
+ Q_PROPERTY(Fact* rpmSecond READ rpmSecond CONSTANT)
+ Q_PROPERTY(Fact* rpmThird READ rpmThird CONSTANT)
+ Q_PROPERTY(Fact* rpmFourth READ rpmFourth CONSTANT)
+
+ Q_PROPERTY(Fact* currentFirst READ currentFirst CONSTANT)
+ Q_PROPERTY(Fact* currentSecond READ currentSecond CONSTANT)
+ Q_PROPERTY(Fact* currentThird READ currentThird CONSTANT)
+ Q_PROPERTY(Fact* currentFourth READ currentFourth CONSTANT)
+
+ Q_PROPERTY(Fact* voltageFirst READ voltageFirst CONSTANT)
+ Q_PROPERTY(Fact* voltageSecond READ voltageSecond CONSTANT)
+ Q_PROPERTY(Fact* voltageThird READ voltageThird CONSTANT)
+ Q_PROPERTY(Fact* voltageFourth READ voltageFourth CONSTANT)
+
+ Fact* index () { return &_indexFact; }
+
+ Fact* rpmFirst () { return &_rpmFirstFact; }
+ Fact* rpmSecond () { return &_rpmSecondFact; }
+ Fact* rpmThird () { return &_rpmThirdFact; }
+ Fact* rpmFourth () { return &_rpmFourthFact; }
+
+ Fact* currentFirst () { return &_currentFirstFact; }
+ Fact* currentSecond () { return &_currentSecondFact; }
+ Fact* currentThird () { return &_currentThirdFact; }
+ Fact* currentFourth () { return &_currentFourthFact; }
+
+ Fact* voltageFirst () { return &_voltageFirstFact; }
+ Fact* voltageSecond () { return &_voltageSecondFact; }
+ Fact* voltageThird () { return &_voltageThirdFact; }
+ Fact* voltageFourth () { return &_voltageFourthFact; }
+
+ // Overrides from FactGroup
+ void handleMessage(Vehicle* vehicle, mavlink_message_t& message) override;
+
+ static const char* _indexFactName;
+
+ static const char* _rpmFirstFactName;
+ static const char* _rpmSecondFactName;
+ static const char* _rpmThirdFactName;
+ static const char* _rpmFourthFactName;
+
+ static const char* _currentFirstFactName;
+ static const char* _currentSecondFactName;
+ static const char* _currentThirdFactName;
+ static const char* _currentFourthFactName;
+
+ static const char* _voltageFirstFactName;
+ static const char* _voltageSecondFactName;
+ static const char* _voltageThirdFactName;
+ static const char* _voltageFourthFactName;
+private:
+ Fact _indexFact;
+
+ Fact _rpmFirstFact;
+ Fact _rpmSecondFact;
+ Fact _rpmThirdFact;
+ Fact _rpmFourthFact;
+
+ Fact _currentFirstFact;
+ Fact _currentSecondFact;
+ Fact _currentThirdFact;
+ Fact _currentFourthFact;
+
+ Fact _voltageFirstFact;
+ Fact _voltageSecondFact;
+ Fact _voltageThirdFact;
+ Fact _voltageFourthFact;
+};
--
2.22.0