Skip to content

Q
qgroundcontrol
Commit 590ea791 authored by Don Gagne's avatar Don Gagne Committed by GitHub
Browse files
Options

Merge pull request #5121 from bluerobotics/sub-vehicle-values 

Add firmware-specific factgroups
parents 9a4ad1e7 7c59a1e2
Hide whitespace changes
Inline Side-by-side
Showing with 238 additions and 66 deletions
qgroundcontrol.qrc
View file @ 590ea791
......@@ -102,7 +102,7 @@
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
<file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/PlanView/RallyPointEditorHeader.qml</file>
<file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
<file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
<file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
<file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
<file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
<file alias="QGroundControl/Controls/SectionHeader.qml">src/PlanView/SectionHeader.qml</file>
......@@ -136,7 +136,7 @@
<file alias="QGroundControl/FlightDisplay/GuidedAltitudeSlider.qml">src/FlightDisplay/GuidedAltitudeSlider.qml</file>
<file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
<file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
<file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
<file alias="QGroundControl/FlightMap/CenterMapDropPanel.qml">src/FlightMap/Widgets/CenterMapDropPanel.qml</file>
<file alias="QGroundControl/FlightMap/CompassRing.qml">src/FlightMap/Widgets/CompassRing.qml</file>
......@@ -212,6 +212,7 @@
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
<file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
<file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>
<file alias="Vehicle/SubmarineFact.json">src/Vehicle/SubmarineFact.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ 590ea791
......@@ -76,27 +76,27 @@ public:
QList<MAV_CMD> supportedMissionCommands(void) final;
AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final;
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities);
bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities) override;
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode (const Vehicle* vehicle) const final;
void pauseVehicle (Vehicle* vehicle);
int manualControlReservedButtonCount(void);
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final;
void pauseVehicle (Vehicle* vehicle) override;
int manualControlReservedButtonCount(void) override;
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) override;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final;
void initializeVehicle (Vehicle* vehicle) final;
bool sendHomePositionToVehicle (void) final;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
QString missionCommandOverrides (MAV_TYPE vehicleType) const;
QString missionCommandOverrides (MAV_TYPE vehicleType) const override;
QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); }
QString internalParameterMetaDataFile (Vehicle* vehicle) final;
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); }
QString brandImageIndoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QString brandImageOutdoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QObject* loadParameterMetaData (const QString& metaDataFile) final;
GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) final { return new APMGeoFenceManager(vehicle); }
RallyPointManager* newRallyPointManager (Vehicle* vehicle) final { return new APMRallyPointManager(vehicle); }
QString brandImageIndoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
QString brandImageOutdoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); }
protected:
/// All access to singleton is through stack specific implementation
......
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
View file @ 590ea791
......@@ -40,7 +40,8 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) :
setEnumToStringMapping(enumToString);
}
ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
_infoFactGroup(this)
{
QList<APMCustomMode> supportedFlightModes;
supportedFlightModes << APMSubMode(APMSubMode::MANUAL ,true);
......@@ -99,6 +100,8 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
_remapParamNameIntialized = true;
}
_nameToFactGroupMap.insert("APMSubInfo", &_infoFactGroup);
}
int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
......@@ -150,3 +153,69 @@ const QVariantList& ArduSubFirmwarePlugin::toolBarIndicators(const Vehicle* vehi
}
return _toolBarIndicators;
}
void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
{
mavlink_named_value_float_t value;
mavlink_msg_named_value_float_decode(message, &value);
QString name = QString(value.name);
if (name == "CamTilt") {
_infoFactGroup.getFact("camera tilt")->setRawValue(value.value * 100);
} else if (name == "TetherTrn") {
_infoFactGroup.getFact("tether turns")->setRawValue(value.value);
} else if (name == "Lights1") {
_infoFactGroup.getFact("lights 1")->setRawValue(value.value * 100);
} else if (name == "Lights2") {
_infoFactGroup.getFact("lights 2")->setRawValue(value.value * 100);
} else if (name == "PilotGain") {
_infoFactGroup.getFact("pilot gain")->setRawValue(value.value * 100);
}
}
void ArduSubFirmwarePlugin::_handleMavlinkMessage(mavlink_message_t* message)
{
switch (message->msgid) {
case (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT):
_handleNamedValueFloat(message);
}
}
bool ArduSubFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
{
_handleMavlinkMessage(message);
return APMFirmwarePlugin::adjustIncomingMavlinkMessage(vehicle, message);
}
QMap<QString, FactGroup*>* ArduSubFirmwarePlugin::factGroups(void) {
return &_nameToFactGroupMap;
}
const char* APMSubmarineFactGroup::_camTiltFactName = "camera tilt";
const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
const char* APMSubmarineFactGroup::_pilotGainFactName = "pilot gain";
APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
: FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
, _camTiltFact (0, _camTiltFactName, FactMetaData::valueTypeDouble)
, _tetherTurnsFact (0, _tetherTurnsFactName, FactMetaData::valueTypeDouble)
, _lightsLevel1Fact (0, _lightsLevel1FactName, FactMetaData::valueTypeDouble)
, _lightsLevel2Fact (0, _lightsLevel2FactName, FactMetaData::valueTypeDouble)
, _pilotGainFact (0, _pilotGainFactName, FactMetaData::valueTypeDouble)
{
_addFact(&_camTiltFact, _camTiltFactName);
_addFact(&_tetherTurnsFact, _tetherTurnsFactName);
_addFact(&_lightsLevel1Fact, _lightsLevel1FactName);
_addFact(&_lightsLevel2Fact, _lightsLevel2FactName);
_addFact(&_pilotGainFact, _pilotGainFactName);
// Start out as not available "--.--"
_camTiltFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_tetherTurnsFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_lightsLevel1Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_lightsLevel2Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_pilotGainFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
}
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
View file @ 590ea791
......@@ -28,6 +28,40 @@
#define ArduSubFirmwarePlugin_H
#include "APMFirmwarePlugin.h"
class APMSubmarineFactGroup : public FactGroup
{
Q_OBJECT
public:
APMSubmarineFactGroup(QObject* parent = NULL);
Q_PROPERTY(Fact* camTilt READ camTilt CONSTANT)
Q_PROPERTY(Fact* tetherTurns READ tetherTurns CONSTANT)
Q_PROPERTY(Fact* lightsLevel1 READ lightsLevel1 CONSTANT)
Q_PROPERTY(Fact* lightsLevel2 READ lightsLevel2 CONSTANT)
Q_PROPERTY(Fact* pilotGain READ pilotGain CONSTANT)
Fact* camTilt (void) { return &_camTiltFact; }
Fact* tetherTurns (void) { return &_tetherTurnsFact; }
Fact* lightsLevel1 (void) { return &_lightsLevel1Fact; }
Fact* lightsLevel2 (void) { return &_lightsLevel2Fact; }
Fact* pilotGain (void) { return &_pilotGainFact; }
static const char* _camTiltFactName;
static const char* _tetherTurnsFactName;
static const char* _lightsLevel1FactName;
static const char* _lightsLevel2FactName;
static const char* _pilotGainFactName;
static const char* _settingsGroup;
private:
Fact _camTiltFact;
Fact _tetherTurnsFact;
Fact _lightsLevel1Fact;
Fact _lightsLevel2Fact;
Fact _pilotGainFact;
};
class APMSubMode : public APMCustomMode
{
......@@ -86,11 +120,18 @@ public:
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
const QVariantList& toolBarIndicators(const Vehicle* vehicle) final;
bool adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
virtual QMap<QString, FactGroup*>* factGroups(void);
private:
QVariantList _toolBarIndicators;
static bool _remapParamNameIntialized;
static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName;
};
void _handleNamedValueFloat(mavlink_message_t* message);
void _handleMavlinkMessage(mavlink_message_t* message);
QMap<QString, FactGroup*> _nameToFactGroupMap;
APMSubmarineFactGroup _infoFactGroup;
};
#endif
src/FirmwarePlugin/FirmwarePlugin.cc
View file @ 590ea791
......@@ -414,6 +414,11 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
return _cameraList;
}
QMap<QString, FactGroup*>* FirmwarePlugin::factGroups(void) {
// Generic plugin has no FactGroups
return NULL;
}
bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
return vehicle->multiRotor() ? false : true;
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ 590ea791
......@@ -269,6 +269,9 @@ public:
/// Returns a list of CameraMetaData objects for available cameras on the vehicle.
virtual const QVariantList& cameraList(const Vehicle* vehicle);
/// Returns a pointer to a dictionary of firmware-specific FactGroups
virtual QMap<QString, FactGroup*>* factGroups(void);
/// @true: When flying a mission the vehicle is always facing towards the next waypoint
virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const;
......@@ -303,7 +306,6 @@ protected:
private:
QVariantList _toolBarIndicatorList;
static QVariantList _cameraList; ///< Standard QGC camera list
};
class FirmwarePluginFactory : public QObject
......
src/FlightMap/Widgets/ValuesWidget.qml
View file @ 590ea791
......@@ -65,33 +65,39 @@ QGCFlickable {
Repeater {
model: _activeVehicle ? controller.largeValues : 0
Column {
width: _largeColumn.width
Loader {
sourceComponent: fact ? largeValue : undefined
property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", ""))
property bool largeValue: _root.listContains(controller.altitudeProperties, fact.name)
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
color: textColor
fontSizeMode: Text.HorizontalFit
text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "")
}
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.mediumFontPointSize * (largeValue ? 1.3 : 1.0)
font.family: largeValue ? ScreenTools.demiboldFontFamily : ScreenTools.normalFontFamily
fontSizeMode: Text.HorizontalFit
color: textColor
text: fact.valueString
}
}
} // Repeater - Large
} // Column - Large
Component {
id: largeValue
Column {
width: _largeColumn.width
property bool largeValue: _root.listContains(controller.altitudeProperties, fact.name)
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
color: textColor
fontSizeMode: Text.HorizontalFit
text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "")
}
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.mediumFontPointSize * (largeValue ? 1.3 : 1.0)
font.family: largeValue ? ScreenTools.demiboldFontFamily : ScreenTools.normalFontFamily
fontSizeMode: Text.HorizontalFit
color: textColor
text: fact.valueString
}
}
}
Flow {
id: _smallFlow
width: parent.width
......@@ -102,40 +108,46 @@ QGCFlickable {
Repeater {
model: _activeVehicle ? controller.smallValues : 0
Column {
width: (_root.width / 2) - (_margins / 2) - 0.1
clip: true
Loader {
sourceComponent: fact ? smallValue : undefined
property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", ""))
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
fontSizeMode: Text.HorizontalFit
color: textColor
text: fact.shortDescription
}
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
color: textColor
fontSizeMode: Text.HorizontalFit
text: fact.enumOrValueString
}
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
fontSizeMode: Text.HorizontalFit
color: textColor
text: fact.units
}
}
} // Repeater - Small
} // Flow
Component {
id: smallValue
Column {
width: (_root.width / 2) - (_margins / 2) - 0.1
clip: true
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
fontSizeMode: Text.HorizontalFit
color: textColor
text: fact.shortDescription
}
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
color: textColor
fontSizeMode: Text.HorizontalFit
text: fact.enumOrValueString
}
QGCLabel {
width: parent.width
horizontalAlignment: Text.AlignHCenter
font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize
fontSizeMode: Text.HorizontalFit
color: textColor
text: fact.units
}
}
}
Component {
id: propertyPicker
......
src/Vehicle/SubmarineFact.json 0 → 100644
View file @ 590ea791
[
{
"name": "camera tilt",
"shortDescription": "Camera Tilt",
"type": "int16",
"units": "%"
},
{
"name": "tether turns",
"shortDescription": "Tether Turns",
"type": "int16",
"units": "clockwise"
},
{
"name": "lights 1",
"shortDescription": "Lights 1 level",
"type": "int16",
"units": "%"
},
{
"name": "lights 2",
"shortDescription": "Lights 2 level",
"type": "int16",
"units": "%"
},
{
"name": "pilot gain",
"shortDescription": "Pilot Gain",
"type": "int16",
"units": "%"
}
]
src/Vehicle/Vehicle.cc
View file @ 590ea791
......@@ -372,6 +372,16 @@ void Vehicle::_commonInit(void)
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
// Add firmware-specific fact groups, if provided
QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
if (fwFactGroups) {
QMapIterator<QString, FactGroup*> i(*fwFactGroups);
while(i.hasNext()) {
i.next();
_addFactGroup(i.value(), i.key());
}
}
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
}
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment