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Commit 565b4ae3 authored by Don Gagne's avatar Don Gagne
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Remove old APM code from PX4 config

parent 4b2a5047
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src/ui/QGCPX4VehicleConfig.cc
View file @ 565b4ae3
......@@ -195,172 +195,6 @@ void QGCPX4VehicleConfig::toggleSpektrumPairing(bool enabled)
}
#endif
void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
{
Q_UNUSED(primary);
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
QDir generaldir = QDir(autopilotdir.absolutePath() + "/general/widgets");
QDir vehicledir = QDir(autopilotdir.absolutePath() + "/" + mav->getSystemTypeName().toLower() + "/widgets");
if (!autopilotdir.exists("general"))
{
//TODO: Throw some kind of error here. There is no general configuration directory
qDebug() << "Invalid general dir. no general configuration will be loaded.";
}
if (!autopilotdir.exists(mav->getAutopilotTypeName().toLower()))
{
//TODO: Throw an error here too, no autopilot specific configuration
qDebug() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
}
// Generate widgets for the General tab.
QGCToolWidget *tool;
bool left = true;
foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
tool = new QGCToolWidget("", "", parent);
if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (left)
{
left = false;
ui->generalLeftLayout->addWidget(box);
}
else
{
left = true;
ui->generalRightLayout->addWidget(box);
}
} else {
delete tool;
}
}
}
//TODO fix and reintegrate the Advanced parameter editor
// // Generate widgets for the Advanced tab.
// foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
// {
// if (file.toLower().endsWith(".qgw")) {
// QWidget* parent = ui->advanceColumnContents;
// tool = new QGCToolWidget("", parent);
// if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
// {
// toolWidgets.append(tool);
// QGroupBox *box = new QGroupBox(parent);
// box->setTitle(tool->objectName());
// box->setLayout(new QVBoxLayout(box));
// box->layout()->addWidget(tool);
// ui->advancedColumnLayout->addWidget(box);
// } else {
// delete tool;
// }
// }
// }
// Load tabs for general configuration
foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
{
QPushButton *button = new QPushButton(this);
connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
ui->navBarLayout->insertWidget(2,button);
button->setMinimumHeight(75);
button->setMinimumWidth(100);
button->show();
button->setText(dir);
QWidget *tab = new QWidget(ui->stackedWidget);
ui->stackedWidget->insertWidget(2,tab);
buttonToWidgetMap[button] = tab;
tab->setLayout(new QVBoxLayout());
tab->show();
QScrollArea *area = new QScrollArea(tab);
tab->layout()->addWidget(area);
QWidget *scrollArea = new QWidget(tab);
scrollArea->setLayout(new QVBoxLayout(tab));
area->setWidget(scrollArea);
area->setWidgetResizable(true);
area->show();
scrollArea->show();
QDir newdir = QDir(generaldir.absoluteFilePath(dir));
foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", "", tab);
if (tool->loadSettings(newdir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
//ui->sensorLayout->addWidget(tool);
QGroupBox *box = new QGroupBox(tab);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(tab));
box->layout()->addWidget(tool);
scrollArea->layout()->addWidget(box);
} else {
delete tool;
}
}
}
}
// Load additional tabs for vehicle specific configuration
foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
{
QPushButton *button = new QPushButton(this);
connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
ui->navBarLayout->insertWidget(2,button);
QWidget *tab = new QWidget(ui->stackedWidget);
ui->stackedWidget->insertWidget(2,tab);
buttonToWidgetMap[button] = tab;
button->setMinimumHeight(75);
button->setMinimumWidth(100);
button->show();
button->setText(dir);
tab->setLayout(new QVBoxLayout());
tab->show();
QScrollArea *area = new QScrollArea(tab);
tab->layout()->addWidget(area);
QWidget *scrollArea = new QWidget(tab);
scrollArea->setLayout(new QVBoxLayout(tab));
area->setWidget(scrollArea);
area->setWidgetResizable(true);
area->show();
scrollArea->show();
QDir newdir = QDir(vehicledir.absoluteFilePath(dir));
foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
{
if (file.toLower().endsWith(".qgw")) {
tool = new QGCToolWidget("", "", tab);
tool->addUAS(mav);
if (tool->loadSettings(newdir.absoluteFilePath(file), false))
{
toolWidgets.append(tool);
//ui->sensorLayout->addWidget(tool);
QGroupBox *box = new QGroupBox(tab);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
scrollArea->layout()->addWidget(box);
box->show();
//gbox->layout()->addWidget(box);
} else {
delete tool;
}
}
}
}
}
void QGCPX4VehicleConfig::menuButtonClicked()
{
QPushButton *button = qobject_cast<QPushButton*>(sender());
......@@ -375,325 +209,6 @@ void QGCPX4VehicleConfig::menuButtonClicked()
}
void QGCPX4VehicleConfig::loadConfig()
{
QGCToolWidget* tool;
QDir autopilotdir(qApp->applicationDirPath() + "/files/" + mav->getAutopilotTypeName().toLower());
qDebug() << autopilotdir.absolutePath();
QFile xmlfile(autopilotdir.absolutePath() + "/arduplane.pdef.xml");
if (!xmlfile.open(QIODevice::ReadOnly))
{
loadQgcConfig(false);
doneLoadingConfig = true;
return;
}
loadQgcConfig(true);
QXmlStreamReader xml(xmlfile.readAll());
xmlfile.close();
//TODO: Testing to ensure that incorrectly formatted XML won't break this.
while (!xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "paramfile")
{
xml.readNext();
while ((xml.name() != "paramfile") && !xml.atEnd())
{
QString valuetype = "";
if (xml.isStartElement() && (xml.name() == "vehicles" || xml.name() == "libraries")) //Enter into the vehicles loop
{
valuetype = xml.name().toString();
xml.readNext();
while ((xml.name() != valuetype) && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "parameters") //This is a parameter block
{
QString parametersname = "";
if (xml.attributes().hasAttribute("name"))
{
parametersname = xml.attributes().value("name").toString();
}
QVariantMap genset;
QVariantMap advset;
QString setname = parametersname;
xml.readNext();
int genarraycount = 0;
int advarraycount = 0;
while ((xml.name() != "parameters") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "param")
{
QString humanname = xml.attributes().value("humanName").toString();
QString name = xml.attributes().value("name").toString();
QString tab= xml.attributes().value("user").toString();
if (tab == "Advanced")
{
advset["title"] = parametersname;
}
else
{
genset["title"] = parametersname;
}
if (name.contains(":"))
{
name = name.split(":")[1];
}
QString docs = xml.attributes().value("documentation").toString();
paramTooltips[name] = name + " - " + docs;
int type = -1; //Type of item
QMap<QString,QString> fieldmap;
xml.readNext();
while ((xml.name() != "param") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "values")
{
type = 1; //1 is a combobox
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "COMBO";
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "COMBO";
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_DESCRIPTION"] = humanname;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_PARAMID"] = name;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COMPONENTID"] = 1;
}
int paramcount = 0;
xml.readNext();
while ((xml.name() != "values") && !xml.atEnd())
{
if (xml.isStartElement() && xml.name() == "value")
{
QString code = xml.attributes().value("code").toString();
QString arg = xml.readElementText();
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_TEXT"] = arg;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_ITEM_" + QString::number(paramcount) + "_VAL"] = code.toInt();
}
paramcount++;
}
xml.readNext();
}
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_COMBOBOX_COUNT"] = paramcount;
}
}
if (xml.isStartElement() && xml.name() == "field")
{
type = 2; //2 is a slider
QString fieldtype = xml.attributes().value("name").toString();
QString text = xml.readElementText();
fieldmap[fieldtype] = text;
}
xml.readNext();
}
if (type == -1)
{
//Nothing inside! Assume it's a value, give it a default range.
type = 2;
QString fieldtype = "Range";
QString text = "0 100"; //TODO: Determine a better way of figuring out default ranges.
fieldmap[fieldtype] = text;
}
if (type == 2)
{
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "TYPE"] = "SLIDER";
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "TYPE"] = "SLIDER";
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_DESCRIPTION"] = humanname;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_PARAMID"] = name;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_COMPONENTID"] = 1;
}
if (fieldmap.contains("Range"))
{
float min = 0;
float max = 0;
//Some range fields list "0-10" and some list "0 10". Handle both.
if (fieldmap["Range"].split(" ").size() > 1)
{
min = fieldmap["Range"].split(" ")[0].trimmed().toFloat();
max = fieldmap["Range"].split(" ")[1].trimmed().toFloat();
}
else if (fieldmap["Range"].split("-").size() > 1)
{
min = fieldmap["Range"].split("-")[0].trimmed().toFloat();
max = fieldmap["Range"].split("-")[1].trimmed().toFloat();
}
if (tab == "Advanced")
{
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
advset[setname + "\\" + QString::number(advarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
}
else
{
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MIN"] = min;
genset[setname + "\\" + QString::number(genarraycount) + "\\" + "QGC_PARAM_SLIDER_MAX"] = max;
}
}
}
if (tab == "Advanced")
{
advarraycount++;
advset["count"] = advarraycount;
}
else
{
genarraycount++;
genset["count"] = genarraycount;
}
}
xml.readNext();
}
if (genarraycount > 0)
{
QWidget* parent = this;
if (valuetype == "vehicles")
{
parent = ui->generalLeftContents;
}
else if (valuetype == "libraries")
{
parent = ui->generalRightContents;
}
tool = new QGCToolWidget(parametersname, parametersname, parent);
tool->addUAS(mav);
tool->setSettings(genset);
QList<QString> paramlist = tool->getParamList();
for (int i=0;i<paramlist.size();i++)
{
//Based on the airframe, we add the parameter to different categories.
if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
{
systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
}
else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
{
systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
}
else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
{
systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
}
else
{
libParamToWidgetMap.insert(paramlist[i],tool);
}
}
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (valuetype == "vehicles")
{
ui->generalLeftLayout->addWidget(box);
}
else if (valuetype == "libraries")
{
ui->generalRightLayout->addWidget(box);
}
box->hide();
toolToBoxMap[tool] = box;
}
if (advarraycount > 0)
{
QWidget* parent = this;
if (valuetype == "vehicles")
{
parent = ui->generalLeftContents;
}
else if (valuetype == "libraries")
{
parent = ui->generalRightContents;
}
tool = new QGCToolWidget(parametersname, parametersname, parent);
tool->addUAS(mav);
tool->setSettings(advset);
QList<QString> paramlist = tool->getParamList();
for (int i=0;i<paramlist.size();i++)
{
//Based on the airframe, we add the parameter to different categories.
if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
{
systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
}
else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
{
systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
}
else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
{
systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
}
else
{
libParamToWidgetMap.insert(paramlist[i],tool);
}
}
toolWidgets.append(tool);
QGroupBox *box = new QGroupBox(parent);
box->setTitle(tool->objectName());
box->setLayout(new QVBoxLayout(box));
box->layout()->addWidget(tool);
if (valuetype == "vehicles")
{
ui->generalLeftLayout->addWidget(box);
}
else if (valuetype == "libraries")
{
ui->generalRightLayout->addWidget(box);
}
box->hide();
toolToBoxMap[tool] = box;
}
}
xml.readNext();
}
}
xml.readNext();
}
}
xml.readNext();
}
if (!paramTooltips.isEmpty()) {
paramMgr->setParamDescriptions(paramTooltips);
}
doneLoadingConfig = true;
//Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
paramMgr->requestParameterListIfEmpty();
}
void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
{
// Hide items if NULL and abort
......@@ -713,20 +228,6 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
SLOT(parameterChanged(int,int,QString,QVariant)));
// Delete all children from all fixed tabs.
foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>()) {
child->deleteLater();
}
foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>()) {
child->deleteLater();
}
foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>()) {
child->deleteLater();
}
// foreach(QWidget* child, ui->sensorLayout->findChildren<QWidget*>()) {
// child->deleteLater();
// }
foreach(QWidget* child, ui->airframeLayout->findChildren<QWidget*>())
{
child->deleteLater();
......
src/ui/QGCPX4VehicleConfig.h
View file @ 565b4ae3
......@@ -50,10 +50,6 @@ public slots:
/** Set the MAV currently being calibrated */
void setActiveUAS(UASInterface* active);
/** Fallback function, automatically called by loadConfig() upon failure to find and xml file*/
void loadQgcConfig(bool primary);
/** Load configuration from xml file */
void loadConfig();
protected slots:
void menuButtonClicked();
......
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