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qgroundcontrol
Commit 45eb8581 authored by Thomas Gubler's avatar Thomas Gubler
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HIL: reorganization of UI

parent 172fd1bb
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Showing with 501 additions and 227 deletions
qgroundcontrol.pro
View file @ 45eb8581
......@@ -224,7 +224,9 @@ FORMS += src/ui/MainWindow.ui \
src/ui/mission/QGCMissionDoStartSearch.ui \
src/ui/mission/QGCMissionDoFinishSearch.ui \
src/ui/QGCVehicleConfig.ui \
src/ui/QGCHilConfiguration.ui
src/ui/QGCHilConfiguration.ui \
src/ui/QGCHilFlightGearConfiguration.ui \
src/ui/QGCHilXPlaneConfiguration.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
......@@ -362,7 +364,9 @@ HEADERS += src/MG.h \
src/ui/mission/QGCMissionDoFinishSearch.h \
src/ui/QGCVehicleConfig.h \
src/comm/QGCHilLink.h \
src/ui/QGCHilConfiguration.h
src/ui/QGCHilConfiguration.h \
src/ui/QGCHilFlightGearConfiguration.h \
src/ui/QGCHilXPlaneConfiguration.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
......@@ -520,7 +524,9 @@ SOURCES += src/main.cc \
src/ui/mission/QGCMissionDoFinishSearch.cc \
src/ui/QGCVehicleConfig.cc \
src/comm/QGCHilLink.cc \
src/ui/QGCHilConfiguration.cc
src/ui/QGCHilConfiguration.cc \
src/ui/QGCHilFlightGearConfiguration.cc \
src/ui/QGCHilXPlaneConfiguration.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
src/comm/QGCFlightGearLink.cc
View file @ 45eb8581
......@@ -39,9 +39,10 @@ This file is part of the QGROUNDCONTROL project
#include <QHostInfo>
#include "MainWindow.h"
QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) :
QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
process(NULL),
terraSync(NULL),
startupArguments(startupArguments),
flightGearVersion(0)
{
this->host = host;
......@@ -438,35 +439,37 @@ bool QGCFlightGearLink::connectSimulation()
flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
}
flightGearArguments << "--atlas=socket,out,1,localhost,5505,udp";
flightGearArguments << "--in-air";
flightGearArguments << "--roll=0";
flightGearArguments << "--pitch=0";
flightGearArguments << "--vc=90";
flightGearArguments << "--heading=300";
flightGearArguments << "--timeofday=noon";
flightGearArguments << "--disable-hud-3d";
flightGearArguments << "--disable-fullscreen";
flightGearArguments << "--geometry=400x300";
flightGearArguments << "--disable-anti-alias-hud";
flightGearArguments << "--wind=0@0";
flightGearArguments << "--turbulence=0.0";
flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
flightGearArguments << "--control=mouse";
flightGearArguments << "--disable-intro-music";
flightGearArguments << "--disable-sound";
flightGearArguments << "--disable-random-objects";
flightGearArguments << "--disable-ai-models";
flightGearArguments << "--shading-flat";
flightGearArguments << "--fog-disable";
flightGearArguments << "--disable-specular-highlight";
//flightGearArguments << "--disable-skyblend";
flightGearArguments << "--disable-random-objects";
flightGearArguments << "--disable-panel";
//flightGearArguments << "--disable-horizon-effect";
flightGearArguments << "--disable-clouds";
flightGearArguments << "--fdm=jsb";
flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
flightGearArguments << "--notrim";
// flightGearArguments << "--in-air";
// flightGearArguments << "--roll=0";
// flightGearArguments << "--pitch=0";
// flightGearArguments << "--vc=90";
// flightGearArguments << "--heading=300";
// flightGearArguments << "--timeofday=noon";
// flightGearArguments << "--disable-hud-3d";
// flightGearArguments << "--disable-fullscreen";
// flightGearArguments << "--geometry=400x300";
// flightGearArguments << "--disable-anti-alias-hud";
// flightGearArguments << "--wind=0@0";
// flightGearArguments << "--turbulence=0.0";
// flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
// flightGearArguments << "--control=mouse";
// flightGearArguments << "--disable-intro-music";
// flightGearArguments << "--disable-sound";
// flightGearArguments << "--disable-random-objects";
// flightGearArguments << "--disable-ai-models";
// flightGearArguments << "--shading-flat";
// flightGearArguments << "--fog-disable";
// flightGearArguments << "--disable-specular-highlight";
// //flightGearArguments << "--disable-skyblend";
// flightGearArguments << "--disable-random-objects";
// flightGearArguments << "--disable-panel";
// //flightGearArguments << "--disable-horizon-effect";
// flightGearArguments << "--disable-clouds";
// flightGearArguments << "--fdm=jsb";
// flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
// flightGearArguments << "--notrim";
flightGearArguments += startupArguments.split(" ");
if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
{
// Start all engines of the quad
......
src/comm/QGCFlightGearLink.h
View file @ 45eb8581
......@@ -49,7 +49,7 @@ class QGCFlightGearLink : public QGCHilLink
//Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
public:
QGCFlightGearLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
~QGCFlightGearLink();
bool isConnected();
......@@ -137,6 +137,7 @@ protected:
QProcess* process;
QProcess* terraSync;
unsigned int flightGearVersion;
QString startupArguments;
void setName(QString name);
......
src/uas/UAS.cc
View file @ 45eb8581
......@@ -2590,14 +2590,14 @@ bool UAS::emergencyKILL()
}
/**
* If enabled, connect the fligth gear link.
* If enabled, connect the flight gear link.
*/
void UAS::enableHilFlightGear(bool enable)
void UAS::enableHilFlightGear(bool enable, QString options)
{
// Connect Flight Gear Link
if (enable)
{
simulation = new QGCFlightGearLink(this);
simulation = new QGCFlightGearLink(this, options);
startHil();
}
else
......@@ -2607,13 +2607,14 @@ void UAS::enableHilFlightGear(bool enable)
}
/**
* If enabled, connect the fligth gear link.
* If enabled, connect the X-plane gear link.
*/
void UAS::enableHilXPlane(bool enable)
{
// Connect Flight Gear Link
// Connect X-Plane Link
if (enable)
{
simulation = new QGCXPlaneLink(this);
startHil();
}
else
......
src/uas/UAS.h
View file @ 45eb8581
......@@ -528,7 +528,7 @@ public slots:
void go();
/** @brief Enable / disable HIL */
void enableHilFlightGear(bool enable);
void enableHilFlightGear(bool enable, QString options);
void enableHilXPlane(bool enable);
......
src/ui/MainWindow.cc
View file @ 45eb8581
......@@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project
#include <QSplashScreen>
#include <QGCHilLink.h>
#include <QGCHilConfiguration.h>
#include <QGCHilFlightGearConfiguration.h>
#include "QGC.h"
#include "MAVLinkSimulationLink.h"
......@@ -643,6 +644,26 @@ void MainWindow::showCentralWidget()
centerStack->setCurrentWidget(widget);
}
void MainWindow::showHILConfigurationWidget(UASInterface* uas)
{
// Add simulation configuration widget
UAS* mav = dynamic_cast<UAS*>(uas);
if (mav)
{
QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
QDockWidget* hilDock = new QDockWidget(hilDockName, this);
hilDock->setWidget(hconf);
hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
addTool(hilDock, hilDockName, Qt::RightDockWidgetArea);
}
// Reload view state in case new widgets were added
loadViewState();
}
void MainWindow::closeEvent(QCloseEvent *event)
{
if (isVisible()) storeViewState();
......@@ -1420,19 +1441,6 @@ void MainWindow::UASCreated(UASInterface* uas)
if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
// Add simulation configuration widget
UAS* mav = dynamic_cast<UAS*>(uas);
if (mav)
{
QGCHilConfiguration* hconf = new QGCHilConfiguration(mav->getHILSimulation(), this);
QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
QDockWidget* hilDock = new QDockWidget(hilDockName, this);
hilDock->setWidget(hconf);
hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
addTool(hilDock, hilDockName, Qt::RightDockWidgetArea);
}
// Reload view state in case new widgets were added
loadViewState();
}
......
src/ui/MainWindow.h
View file @ 45eb8581
......@@ -201,6 +201,9 @@ public slots:
/** @brief Load custom widgets from default file */
void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
/** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
void showHILConfigurationWidget(UASInterface *uas);
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
......
src/ui/QGCHilConfiguration.cc
View file @ 45eb8581
#include "QGCHilConfiguration.h"
#include "ui_QGCHilConfiguration.h"
#include "QGCXPlaneLink.h"
QGCHilConfiguration::QGCHilConfiguration(QGCHilLink* link, QWidget *parent) :
#include "QGCHilFlightGearConfiguration.h"
#include "QGCHilXPlaneConfiguration.h"
QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
QWidget(parent),
link(link),
mav(mav),
ui(new Ui::QGCHilConfiguration)
{
ui->setupUi(this);
connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
connect(link, SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
connect(link, SIGNAL(versionChanged(QString)), ui->simComboBox, SLOT(setEditText(QString)));
connect(ui->simComboBox, SIGNAL(activated(QString)), link, SLOT(setVersion(QString)));
ui->simComboBox->setEditText(link->getVersion());
ui->startButton->setText(tr("Connect"));
QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(link);
connect(mav->getHILSimulation(), SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
connect(ui->simComboBox, SIGNAL(activated(QString)), mav->getHILSimulation(), SLOT(setVersion(QString)));
//ui->simComboBox->setEditText(mav->getHILSimulation()->getVersion());
if (xplane)
{
connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(setAirframe(QString)));
ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
}
ui->hostComboBox->clear();
ui->hostComboBox->addItem(link->getRemoteHost());
// connect(ui->)
}
......@@ -39,23 +23,26 @@ void QGCHilConfiguration::receiveStatusMessage(const QString& message)
ui->statusLabel->setText(message);
}
void QGCHilConfiguration::toggleSimulation(bool connect)
QGCHilConfiguration::~QGCHilConfiguration()
{
delete ui;
}
void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
{
Q_UNUSED(connect);
if (!link->isConnected())
//XXX make sure here that no other simulator is running
if(1 == index)
{
link->setRemoteHost(ui->hostComboBox->currentText());
link->connectSimulation();
ui->startButton->setText(tr("Disconnect"));
QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
hfgconf->show();
ui->simulatorConfigurationDockWidget->setWidget(hfgconf);
}
else
else if(2 == index || 3 == index)
{
link->disconnectSimulation();
ui->startButton->setText(tr("Connect"));
}
}
QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
hxpconf->show();
ui->simulatorConfigurationDockWidget->setWidget(hxpconf);
QGCHilConfiguration::~QGCHilConfiguration()
{
delete ui;
}
}
src/ui/QGCHilConfiguration.h
View file @ 45eb8581
......@@ -4,6 +4,7 @@
#include <QWidget>
#include "QGCHilLink.h"
#include "UAS.h"
namespace Ui {
class QGCHilConfiguration;
......@@ -14,18 +15,19 @@ class QGCHilConfiguration : public QWidget
Q_OBJECT
public:
QGCHilConfiguration(QGCHilLink* link, QWidget *parent = 0);
QGCHilConfiguration(UAS* mav, QWidget *parent = 0);
~QGCHilConfiguration();
public slots:
/** @brief Start / stop simulation */
void toggleSimulation(bool connect);
/** @brief Receive status message */
void receiveStatusMessage(const QString& message);
protected:
QGCHilLink* link;
UAS* mav;
private slots:
void on_simComboBox_currentIndexChanged(int index);
private:
Ui::QGCHilConfiguration *ui;
};
......
src/ui/QGCHilConfiguration.ui
View file @ 45eb8581
......@@ -7,70 +7,13 @@
<x>0</x>
<y>0</y>
<width>305</width>
<height>261</height>
<height>355</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="40,60,50,50">
<item row="1" column="1" colspan="3">
<widget class="QComboBox" name="airframeComboBox">
<property name="editable">
<bool>true</bool>
</property>
<item>
<property name="text">
<string>X-Plane default</string>
</property>
</item>
<item>
<property name="text">
<string>QRO_X/MK</string>
</property>
</item>
<item>
<property name="text">
<string>QRO_X/Ardrone</string>
</property>
</item>
<item>
<property name="text">
<string>QRO_X/PWM</string>
</property>
</item>
<item>
<property name="text">
<string>Unlimited</string>
</property>
</item>
<item>
<property name="text">
<string>Twinjet</string>
</property>
</item>
<item>
<property name="text">
<string>Early Bird</string>
</property>
</item>
<item>
<property name="text">
<string>Reno Racer</string>
</property>
</item>
<item>
<property name="text">
<string>Slowstick</string>
</property>
</item>
<item>
<property name="text">
<string>Tiny</string>
</property>
</item>
</widget>
</item>
<layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0">
<item row="0" column="0">
<widget class="QLabel" name="simLabel">
<property name="text">
......@@ -78,97 +21,60 @@
</property>
</widget>
</item>
<item row="4" column="2" colspan="2">
<widget class="QPushButton" name="setHomeButton">
<property name="text">
<string>Set HOME</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="statusLabel">
<property name="text">
<string>Status</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Airframe</string>
</property>
</widget>
</item>
<item row="0" column="1" colspan="3">
<item row="0" column="1" colspan="2">
<widget class="QComboBox" name="simComboBox">
<property name="editable">
<bool>true</bool>
</property>
<item>
<property name="text">
<string>X-Plane 10</string>
<string/>
</property>
</item>
<item>
<property name="text">
<string>X-Plane 9</string>
<string>Flightgear</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1" colspan="3">
<widget class="QComboBox" name="hostComboBox">
<property name="editable">
<bool>true</bool>
</property>
<item>
<property name="text">
<string>127.0.0.1:49000</string>
<string>X-Plane 10</string>
</property>
</item>
<item>
<property name="text">
<string>X-Plane 9</string>
</property>
</item>
</widget>
</item>
<item row="6" column="2" colspan="2">
<widget class="QPushButton" name="randomPositionButton">
<property name="text">
<string>Random POS</string>
<item row="1" column="0" colspan="3">
<widget class="QDockWidget" name="simulatorConfigurationDockWidget">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="6" column="0" colspan="2">
<widget class="QPushButton" name="randomAttitudeButton">
<property name="text">
<string>Random ATT</string>
<property name="minimumSize">
<size>
<width>33</width>
<height>150</height>
</size>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="hostLabel">
<property name="text">
<string>Host</string>
<property name="features">
<set>QDockWidget::NoDockWidgetFeatures</set>
</property>
<widget class="QWidget" name="dockWidgetContents"/>
</widget>
</item>
<item row="4" column="0" colspan="2">
<widget class="QPushButton" name="startButton">
<item row="2" column="0">
<widget class="QLabel" name="statusLabel">
<property name="text">
<string>Start</string>
<string>Status</string>
</property>
</widget>
</item>
<item row="8" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>
......
src/ui/QGCHilFlightGearConfiguration.cc 0 → 100644
View file @ 45eb8581
#include "QGCHilFlightGearConfiguration.h"
#include "ui_QGCHilFlightGearConfiguration.h"
#include "MainWindow.h"
QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(UAS* mav,QWidget *parent) :
QWidget(parent),
mav(mav),
ui(new Ui::QGCHilFlightGearConfiguration)
{
ui->setupUi(this);
}
QGCHilFlightGearConfiguration::~QGCHilFlightGearConfiguration()
{
delete ui;
}
void QGCHilFlightGearConfiguration::on_startButton_clicked()
{
mav->enableHilFlightGear(true, ui->optionsPlainTextEdit->toPlainText());
}
src/ui/QGCHilFlightGearConfiguration.h 0 → 100644
View file @ 45eb8581
#ifndef QGCHILFLIGHTGEARCONFIGURATION_H
#define QGCHILFLIGHTGEARCONFIGURATION_H
#include <QWidget>
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
#include "UAS.h"
namespace Ui {
class QGCHilFlightGearConfiguration;
}
class QGCHilFlightGearConfiguration : public QWidget
{
Q_OBJECT
public:
explicit QGCHilFlightGearConfiguration(UAS* mav, QWidget *parent = 0);
~QGCHilFlightGearConfiguration();
protected:
UAS* mav;
private slots:
void on_startButton_clicked();
private:
Ui::QGCHilFlightGearConfiguration *ui;
};
#endif // QGCHILFLIGHTGEARCONFIGURATION_H
src/ui/QGCHilFlightGearConfiguration.ui 0 → 100644
View file @ 45eb8581
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCHilFlightGearConfiguration</class>
<widget class="QWidget" name="QGCHilFlightGearConfiguration">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>350</width>
<height>261</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QWidget" name="gridLayoutWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>0</y>
<width>331</width>
<height>261</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>9</number>
</property>
<item row="1" column="0">
<widget class="QPlainTextEdit" name="optionsPlainTextEdit">
<property name="plainText">
<string>--in-air --roll=0 --pitch=0 --vc=90 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --control=mouse --disable-intro-music --disable-sound --disable-random-objects --disable-ai-models --shading-flat --fog-disable --disable-specular-highlight --disable-random-objects --disable-panel --disable-clouds --fdm=jsb --units-meters --notrim --prop:/engines/engine/running=true</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="startButton">
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item row="3" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>68</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QLabel" name="plaintextInfoLabel">
<property name="text">
<string>Additional Options:</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
<resources/>
<connections/>
</ui>
src/ui/QGCHilXPlaneConfiguration.cc 0 → 100644
View file @ 45eb8581
#include "QGCHilXPlaneConfiguration.h"
#include "ui_QGCHilXPlaneConfiguration.h"
#include "QGCXPlaneLink.h"
QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *parent) :
QWidget(parent),
ui(new Ui::QGCHilXPlaneConfiguration)
{
ui->setupUi(this);
connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
connect(link, SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
ui->startButton->setText(tr("Connect"));
QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(link);
if (xplane)
{
connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(setAirframe(QString)));
ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
}
ui->hostComboBox->clear();
ui->hostComboBox->addItem(link->getRemoteHost());
}
void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
{
Q_UNUSED(connect);
if (!link->isConnected())
{
link->setRemoteHost(ui->hostComboBox->currentText());
link->connectSimulation();
ui->startButton->setText(tr("Disconnect"));
}
else
{
link->disconnectSimulation();
ui->startButton->setText(tr("Connect"));
}
}
QGCHilXPlaneConfiguration::~QGCHilXPlaneConfiguration()
{
delete ui;
}
src/ui/QGCHilXPlaneConfiguration.h 0 → 100644
View file @ 45eb8581
#ifndef QGCHILXPLANECONFIGURATION_H
#define QGCHILXPLANECONFIGURATION_H
#include <QWidget>
#include "QGCHilLink.h"
namespace Ui {
class QGCHilXPlaneConfiguration;
}
class QGCHilXPlaneConfiguration : public QWidget
{
Q_OBJECT
public:
explicit QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *parent = 0);
~QGCHilXPlaneConfiguration();
public slots:
/** @brief Start / stop simulation */
void toggleSimulation(bool connect);
protected:
QGCHilLink* link;
private:
Ui::QGCHilXPlaneConfiguration *ui;
};
#endif // QGCHILXPLANECONFIGURATION_H
src/ui/QGCHilXPlaneConfiguration.ui 0 → 100644
View file @ 45eb8581
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCHilXPlaneConfiguration</class>
<widget class="QWidget" name="QGCHilXPlaneConfiguration">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>305</width>
<height>261</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0,0">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Airframe</string>
</property>
</widget>
</item>
<item row="0" column="1" colspan="3">
<widget class="QComboBox" name="airframeComboBox">
<property name="editable">
<bool>true</bool>
</property>
<item>
<property name="text">
<string>X-Plane default</string>
</property>
</item>
<item>
<property name="text">
<string>QRO_X/MK</string>
</property>
</item>
<item>
<property name="text">
<string>QRO_X/Ardrone</string>
</property>
</item>
<item>
<property name="text">
<string>QRO_X/PWM</string>
</property>
</item>
<item>
<property name="text">
<string>Unlimited</string>
</property>
</item>
<item>
<property name="text">
<string>Twinjet</string>
</property>
</item>
<item>
<property name="text">
<string>Early Bird</string>
</property>
</item>
<item>
<property name="text">
<string>Reno Racer</string>
</property>
</item>
<item>
<property name="text">
<string>Slowstick</string>
</property>
</item>
<item>
<property name="text">
<string>Tiny</string>
</property>
</item>
</widget>
</item>
<item row="3" column="2" colspan="2">
<widget class="QPushButton" name="setHomeButton">
<property name="text">
<string>Set HOME</string>
</property>
</widget>
</item>
<item row="1" column="1" colspan="3">
<widget class="QComboBox" name="hostComboBox">
<property name="editable">
<bool>true</bool>
</property>
<item>
<property name="text">
<string>127.0.0.1:49000</string>
</property>
</item>
</widget>
</item>
<item row="5" column="2" colspan="2">
<widget class="QPushButton" name="randomPositionButton">
<property name="text">
<string>Random POS</string>
</property>
</widget>
</item>
<item row="5" column="0" colspan="2">
<widget class="QPushButton" name="randomAttitudeButton">
<property name="text">
<string>Random ATT</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="hostLabel">
<property name="text">
<string>Host</string>
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<widget class="QPushButton" name="startButton">
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item row="6" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/uas/UASView.cc
View file @ 45eb8581
......@@ -40,6 +40,7 @@ This file is part of the PIXHAWK project
#include "UASWaypointManager.h"
#include "MainWindow.h"
#include "ui_UASView.h"
#include <QGCHilFlightGearConfiguration.h>
UASView::UASView(UASInterface* uas, QWidget *parent) :
QWidget(parent),
......@@ -68,8 +69,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
removeAction(new QAction("Delete this system", this)),
renameAction(new QAction("Rename..", this)),
selectAction(new QAction("Control this system", this )),
hilAction(new QAction("Enable Flightgear Hardware-in-the-Loop Simulation", this )),
hilXAction(new QAction("Enable X-Plane Hardware-in-the-Loop Simulation", this )),
hilAction(new QAction("HIL - Hardware in the Loop", this )),
selectAirframeAction(new QAction("Choose Airframe", this)),
setBatterySpecsAction(new QAction("Set Battery Options", this)),
lowPowerModeEnabled(true),
......@@ -81,9 +81,6 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();
hilAction->setCheckable(true);
// Flightgear is not ready for prime time
//hilAction->setEnabled(false);
hilXAction->setCheckable(true);
m_ui->setupUi(this);
......@@ -122,8 +119,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilFlightGear(bool)));
connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilXPlane(bool)));
connect(hilAction, SIGNAL(triggered(bool)), this, SLOT(showHILUi()));
connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
......@@ -504,8 +500,6 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
menu.addAction(removeAction);
}
menu.addAction(hilAction);
menu.addAction(hilXAction);
// XXX Re-enable later menu.addAction(hilXAction);
menu.addAction(selectAirframeAction);
menu.addAction(setBatterySpecsAction);
menu.exec(event->globalPos());
......@@ -566,6 +560,11 @@ void UASView::selectAirframe()
}
}
void UASView::showHILUi()
{
MainWindow::instance()->showHILConfigurationWidget(uas);
}
void UASView::refresh()
{
//setUpdatesEnabled(false);
......
src/ui/uas/UASView.h
View file @ 45eb8581
......@@ -64,6 +64,7 @@ public slots:
void updateMode(int sysId, QString status, QString description);
void updateLoad(UASInterface* uas, double load);
//void receiveValue(int uasid, QString id, double value, quint64 time);
void showHILUi();
void refresh();
/** @brief Receive new waypoint information */
void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
......
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