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Valentin Platzgummer
qgroundcontrol
Commits
4355b8e7
Commit
4355b8e7
authored
Sep 03, 2010
by
Bryan Godbolt
Browse files
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added ability to configure the instance id for the opal-rt link
parent
b6827a06
Changes
7
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7 changed files
with
247 additions
and
4 deletions
+247
-4
qgroundcontrol.pro
qgroundcontrol.pro
+5
-2
OpalLink.cc
src/comm/OpalLink.cc
+5
-2
OpalLink.h
src/comm/OpalLink.h
+6
-0
CommConfigurationWindow.cc
src/ui/CommConfigurationWindow.cc
+5
-0
OpalLinkConfigurationWindow.cc
src/ui/OpalLinkConfigurationWindow.cc
+25
-0
OpalLinkConfigurationWindow.h
src/ui/OpalLinkConfigurationWindow.h
+28
-0
OpalLinkSettings.ui
src/ui/OpalLinkSettings.ui
+173
-0
No files found.
qgroundcontrol.pro
View file @
4355b8e7
...
...
@@ -234,11 +234,14 @@ win32:exists(src/lib/opalrt/OpalApi.h) {
src
/
comm
/
OpalLink
.
h
\
src
/
comm
/
Parameter
.
h
\
src
/
comm
/
QGCParamID
.
h
\
src
/
comm
/
ParameterList
.
h
src
/
comm
/
ParameterList
.
h
\
src
/
ui
/
OpalLinkConfigurationWindow
.
h
SOURCES
+=
src
/
comm
/
OpalRT
.
cc
\
src
/
comm
/
OpalLink
.
cc
\
src
/
comm
/
Parameter
.
cc
\
src
/
comm
/
QGCParamID
.
cc
\
src
/
comm
/
ParameterList
.
cc
src
/
comm
/
ParameterList
.
cc
\
src
/
ui
/
OpalLinkConfigurationWindow
.
cc
FORMS
+=
src
/
ui
/
OpalLinkSettings
.
ui
DEFINES
+=
OPAL_RT
}
src/comm/OpalLink.cc
View file @
4355b8e7
...
...
@@ -39,7 +39,8 @@ OpalLink::OpalLink() :
receiveBuffer
(
new
QQueue
<
QByteArray
>
()),
systemID
(
1
),
componentID
(
1
),
params
(
NULL
)
params
(
NULL
),
opalInstID
(
101
)
{
start
(
QThread
::
LowPriority
);
...
...
@@ -302,7 +303,7 @@ bool OpalLink::connect()
short
modelState
;
/// \todo allow configuration of instid in window
if
((
OpalConnect
(
101
,
false
,
&
modelState
)
==
EOK
)
if
((
OpalConnect
(
opalInstID
,
false
,
&
modelState
)
==
EOK
)
&&
(
OpalGetSignalControl
(
0
,
true
)
==
EOK
)
&&
(
OpalGetParameterControl
(
true
)
==
EOK
))
{
...
...
@@ -330,6 +331,8 @@ bool OpalLink::disconnect()
OpalDisconnect
();
heartbeatTimer
->
stop
();
getSignalsTimer
->
stop
();
connectState
=
false
;
emit
connected
(
connectState
);
return
true
;
}
...
...
src/comm/OpalLink.h
View file @
4355b8e7
...
...
@@ -103,6 +103,8 @@ public:
void
run
();
int
getOpalInstID
()
{
return
static_cast
<
int
>
(
opalInstID
);}
public
slots
:
void
writeBytes
(
const
char
*
bytes
,
qint64
length
);
...
...
@@ -113,6 +115,8 @@ public slots:
void
getSignals
();
void
setOpalInstID
(
int
instID
)
{
opalInstID
=
static_cast
<
unsigned
short
>
(
instID
);}
protected
slots
:
void
receiveMessage
(
mavlink_message_t
message
);
...
...
@@ -151,6 +155,8 @@ protected:
void
getParameterList
();
OpalRT
::
ParameterList
*
params
;
unsigned
short
opalInstID
;
};
#endif // OPALLINK_H
src/ui/CommConfigurationWindow.cc
View file @
4355b8e7
...
...
@@ -43,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkSimulationLink.h"
#ifdef OPAL_RT
#include "OpalLink.h"
#include "OpalLinkConfigurationWindow.h"
#endif
#include "MAVLinkProtocol.h"
#include "MAVLinkSettingsWidget.h"
...
...
@@ -114,6 +115,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
OpalLink
*
opal
=
dynamic_cast
<
OpalLink
*>
(
link
);
if
(
opal
!=
0
)
{
QWidget
*
conf
=
new
OpalLinkConfigurationWindow
(
opal
,
this
);
QBoxLayout
*
layout
=
new
QBoxLayout
(
QBoxLayout
::
LeftToRight
,
ui
.
linkGroupBox
);
layout
->
addWidget
(
conf
);
ui
.
linkGroupBox
->
setLayout
(
layout
);
ui
.
linkGroupBox
->
setTitle
(
tr
(
"Opal-RT Link"
));
}
#endif
...
...
src/ui/OpalLinkConfigurationWindow.cc
0 → 100644
View file @
4355b8e7
#include "OpalLinkConfigurationWindow.h"
OpalLinkConfigurationWindow
::
OpalLinkConfigurationWindow
(
OpalLink
*
link
,
QWidget
*
parent
,
Qt
::
WindowFlags
flags
)
:
QWidget
(
parent
,
flags
),
link
(
link
)
{
ui
.
setupUi
(
this
);
ui
.
opalInstIDSpinBox
->
setValue
(
this
->
link
->
getOpalInstID
());
connect
(
ui
.
opalInstIDSpinBox
,
SIGNAL
(
valueChanged
(
int
)),
link
,
SLOT
(
setOpalInstID
(
int
)));
connect
(
link
,
SIGNAL
(
connected
(
bool
)),
this
,
SLOT
(
allowSettingsAccess
(
bool
)));
this
->
show
();
}
void
OpalLinkConfigurationWindow
::
allowSettingsAccess
(
bool
enabled
)
{
ui
.
paramFileButton
->
setEnabled
(
enabled
);
ui
.
servoConfigFileButton
->
setEnabled
(
enabled
);
}
src/ui/OpalLinkConfigurationWindow.h
0 → 100644
View file @
4355b8e7
#ifndef OPALLINKCONFIGURATIONWINDOW_H
#define OPALLINKCONFIGURATIONWINDOW_H
#include <QWidget>
#include <QDebug>
#include "LinkInterface.h"
#include "ui_OpalLinkSettings.h"
#include "OpalLink.h"
class
OpalLinkConfigurationWindow
:
public
QWidget
{
Q_OBJECT
public:
explicit
OpalLinkConfigurationWindow
(
OpalLink
*
link
,
QWidget
*
parent
=
0
,
Qt
::
WindowFlags
flags
=
Qt
::
Sheet
);
signals:
public
slots
:
void
allowSettingsAccess
(
bool
enabled
);
private:
Ui
::
OpalLinkSettings
ui
;
OpalLink
*
link
;
};
#endif // OPALLINKCONFIGURATIONWINDOW_H
src/ui/OpalLinkSettings.ui
0 → 100644
View file @
4355b8e7
<?xml version="1.0" encoding="UTF-8"?>
<ui
version=
"4.0"
>
<class>
OpalLinkSettings
</class>
<widget
class=
"QWidget"
name=
"OpalLinkSettings"
>
<property
name=
"geometry"
>
<rect>
<x>
0
</x>
<y>
0
</y>
<width>
537
</width>
<height>
250
</height>
</rect>
</property>
<property
name=
"windowTitle"
>
<string>
OpalLink Configuration
</string>
</property>
<layout
class=
"QGridLayout"
name=
"gridLayout"
rowstretch=
"0,0,0,0"
>
<property
name=
"margin"
>
<number>
6
</number>
</property>
<item
row=
"0"
column=
"0"
>
<widget
class=
"QLabel"
name=
"portlabel"
>
<property
name=
"text"
>
<string>
Model Instance ID
</string>
</property>
</widget>
</item>
<item
row=
"1"
column=
"0"
>
<widget
class=
"QLabel"
name=
"portlabel_2"
>
<property
name=
"text"
>
<string>
Opal-RT Parameter File
</string>
</property>
</widget>
</item>
<item
row=
"2"
column=
"0"
>
<widget
class=
"QLabel"
name=
"portlabel_3"
>
<property
name=
"text"
>
<string>
Servo Configuration File
</string>
</property>
</widget>
</item>
<item
row=
"3"
column=
"0"
colspan=
"2"
>
<spacer
name=
"verticalSpacer"
>
<property
name=
"orientation"
>
<enum>
Qt::Vertical
</enum>
</property>
<property
name=
"sizeHint"
stdset=
"0"
>
<size>
<width>
431
</width>
<height>
47
</height>
</size>
</property>
</spacer>
</item>
<item
row=
"1"
column=
"1"
>
<widget
class=
"QLabel"
name=
"label"
>
<property
name=
"text"
>
<string/>
</property>
</widget>
</item>
<item
row=
"2"
column=
"1"
>
<widget
class=
"QLabel"
name=
"label_2"
>
<property
name=
"text"
>
<string/>
</property>
</widget>
</item>
<item
row=
"1"
column=
"2"
>
<widget
class=
"QPushButton"
name=
"paramFileButton"
>
<property
name=
"enabled"
>
<bool>
false
</bool>
</property>
<property
name=
"text"
>
<string>
Change
</string>
</property>
<property
name=
"icon"
>
<iconset
resource=
"../../mavground.qrc"
>
<normaloff>
:/images/status/folder-open.svg
</normaloff>
:/images/status/folder-open.svg
</iconset>
</property>
</widget>
</item>
<item
row=
"2"
column=
"2"
>
<widget
class=
"QPushButton"
name=
"servoConfigFileButton"
>
<property
name=
"enabled"
>
<bool>
false
</bool>
</property>
<property
name=
"text"
>
<string>
Change
</string>
</property>
<property
name=
"icon"
>
<iconset
resource=
"../../mavground.qrc"
>
<normaloff>
:/images/status/folder-open.svg
</normaloff>
:/images/status/folder-open.svg
</iconset>
</property>
</widget>
</item>
<item
row=
"0"
column=
"1"
colspan=
"2"
>
<layout
class=
"QHBoxLayout"
name=
"horizontalLayout"
>
<item>
<spacer
name=
"horizontalSpacer"
>
<property
name=
"orientation"
>
<enum>
Qt::Horizontal
</enum>
</property>
<property
name=
"sizeHint"
stdset=
"0"
>
<size>
<width>
40
</width>
<height>
20
</height>
</size>
</property>
</spacer>
</item>
<item>
<widget
class=
"QSpinBox"
name=
"opalInstIDSpinBox"
>
<property
name=
"minimum"
>
<number>
101
</number>
</property>
<property
name=
"maximum"
>
<number>
200
</number>
</property>
<property
name=
"value"
>
<number>
101
</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
<action
name=
"actionDelete"
>
<property
name=
"text"
>
<string>
Delete
</string>
</property>
<property
name=
"toolTip"
>
<string>
Delete this link
</string>
</property>
</action>
<action
name=
"actionConnect"
>
<property
name=
"text"
>
<string>
Connect
</string>
</property>
<property
name=
"toolTip"
>
<string>
Connect this link
</string>
</property>
</action>
<action
name=
"actionClose"
>
<property
name=
"text"
>
<string>
Close
</string>
</property>
<property
name=
"toolTip"
>
<string>
Close the configuration window
</string>
</property>
</action>
</widget>
<resources>
<include
location=
"../../mavground.qrc"
/>
</resources>
<connections>
<connection>
<sender>
actionClose
</sender>
<signal>
triggered()
</signal>
<receiver>
OpalLinkSettings
</receiver>
<slot>
close()
</slot>
<hints>
<hint
type=
"sourcelabel"
>
<x>
-1
</x>
<y>
-1
</y>
</hint>
<hint
type=
"destinationlabel"
>
<x>
224
</x>
<y>
195
</y>
</hint>
</hints>
</connection>
</connections>
</ui>
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