Merge pull request #1144 from DonLakeFlyer/SafetyComponent

Safety component

qgroundcontrol.qrc

@@ -244,12 +244,14 @@
         <file alias="QGroundControl/FactControls/SetupButton.qml">qml/QGroundControl/FactControls/SetupButton.qml</file>
         <file alias="QGroundControl/FactControls/FactLabel.qml">qml/QGroundControl/FactControls/FactLabel.qml</file>
         <file alias="QGroundControl/FactControls/FactTextField.qml">qml/QGroundControl/FactControls/FactTextField.qml</file>
+        <file alias="QGroundControl/FactControls/FactCheckBox.qml">qml/QGroundControl/FactControls/FactCheckBox.qml</file>
 
         <file alias="octo_x.png">files/images/px4/airframes/octo_x.png</file>
         <file alias="px4fmu_2.x.png">files/images/px4/boards/px4fmu_2.x.png</file>
 
         <file alias="SetupViewConnected.qml">src/VehicleSetup/SetupViewConnected.qml</file>
         <file alias="SetupViewDisconnected.qml">src/VehicleSetup/SetupViewDisconnected.qml</file>
+        <file alias="SetupPane.qml">src/VehicleSetup/SetupPane.qml</file>
 
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
     </qresource>

qml/QGroundControl/FactControls/FactCheckBox.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QGroundControl.FactSystem 1.0
+
+CheckBox {
+    property Fact fact: Fact { value: 0 }
+    property variant checkedValue: 1
+    property variant uncheckedValue: 0
+
+    partiallyCheckedEnabled: fact.value != checkedValue && fact.value != uncheckedValue
+    checkedState: fact.value == checkedValue ? Qt.Checked : (fact.value == uncheckedValue ? Qt.Unchecked : Qt.PartiallyChecked)
+
+    text: "Label"
+
+    onClicked: {
+        fact.value = checked ? checkedValue : uncheckedValue
+    }
+
+    style: CheckBoxStyle {
+        label: Text {
+            color: palette.windowText
+            text: control.text
+        }
+    }
+}

qml/QGroundControl/FactControls/FactLabel.qml

@@ -9,5 +9,5 @@ Label {
 
     color: palette.windowText
 
-    text: fact.value
+    text: fact.valueString
 }

qml/QGroundControl/FactControls/FactTextField.qml

@@ -5,10 +5,56 @@ import QGroundControl.FactSystem 1.0
 
 TextField {
     property Fact fact: Fact { value: 0 }
+    property bool showUnits: false
+    QGCPalette { id: palette; colorGroup: enabled ? QGCPalette.Active : QGCPalette.Disabled }
 
-    QGCPalette { id: palette; colorGroup: QGCPalette.Active }
+    text: fact.valueString
+    textColor: palette.text
 
-    text: fact.value
+    Label {
+        id: unitsLabelWidthGenerator
+        text: parent.fact.units
+        width: contentWidth + ((parent.__contentHeight/3)*2)
+        visible: false
+    }
 
-    onAccepted: fact.value = text
+    style: TextFieldStyle {
+        background: Item {
+            id: backgroundItem
+
+            Rectangle {
+                anchors.fill: parent
+                anchors.bottomMargin: -1
+                color: "#44ffffff"
+            }
+
+            Rectangle {
+                anchors.fill: parent
+
+                border.color: control.activeFocus ? "#47b" : "#999"
+                color: palette.base
+            }
+
+            Text {
+                id: unitsLabel
+
+                anchors.top: parent.top
+                anchors.bottom: parent.bottom
+
+                verticalAlignment: Text.AlignVCenter
+                horizontalAlignment: Text.AlignHCenter
+
+                x: parent.width - width
+                width: unitsLabelWidthGenerator.width
+
+                text: control.fact.units
+                color: control.textColor
+                visible: control.showUnits
+            }
+        }
+
+        padding.right: control.showUnits ? unitsLabelWidthGenerator.width : control.__contentHeight/3
+    }
+
+    onEditingFinished: fact.value = text
 }

qml/QGroundControl/FactControls/qmldir

 Module QGroundControl.FactControls
 FactLabel 1.0 FactLabel.qml
-FactTextField 1.0 FactTextField.qml
\ No newline at end of file
+FactTextField 1.0 FactTextField.qml
+FactCheckBox 1.0 FactCheckBox.qml
\ No newline at end of file

src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml

@@ -159,6 +159,7 @@
             <default>2</default>
             <min>0</min>
             <max>1000</max>
+            <unit>timeouts</unit>
         </parameter>
         <parameter name="NAV_DLL_CHSK" type="INT32">
             <short_desc>Skip comms hold wp</short_desc>
@@ -2041,7 +2042,7 @@
             <default>0.5</default>
             <min>0</min>
             <max>35</max>
-            <unit>second</unit>
+            <unit>seconds</unit>
         </parameter>
     </group>
     <group name="mTECS">

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -102,55 +102,35 @@ QWidget* SafetyComponent::setupWidget(void) const
 
 const QVariantList& SafetyComponent::summaryItems(void)
 {
-    // FIXME: No summary items yet
-#if 0
     if (!_summaryItems.count()) {
         QString name;
         QString state;
         
-        // FIXME: Need to pull receiver type from RSSI value
-        name = "Receiver type:";
-        state = "n/a";
+        name = "RTL min alt:";
 
         VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
         _summaryItems.append(QVariant::fromValue(item));
         
-        static const char* stickParams[] = { "RC_MAP_ROLL", "RC_MAP_PITCH", "RC_MAP_YAW", "RC_MAP_THROTTLE" };
+        name = "RTL home alt:";
         
-        QString summary("Chan ");
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+
+        name = "RTL home loiter:";
+        
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
         
-        bool allSticksMapped = true;
-        for (size_t i=0; i<sizeof(stickParams)/sizeof(stickParams[0]); i++) {
-            QVariant value;
-            
-            if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), stickParams[i], value)) {
-                if (value.toInt() == 0) {
-                    allSticksMapped = false;
-                    break;
-                } else {
-                    if (i != 0) {
-                        summary += ",";
-                    }
-                    summary += value.toString();
-                }
-            } else {
-                // Why is the parameter missing?
-                Q_ASSERT(false);
-                summary += "?";
-            }
-        }
+        name = "Telemetry loss RTL:";
         
-        if (!allSticksMapped) {
-            summary = "Not mapped";
-        }
-
-        name = "Ail, Ele, Rud, Throt:";
-        state = summary;
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+        
+        name = "RC loss RTL:";
         
         item = new VehicleComponentSummaryItem(name, state, this);
         _summaryItems.append(QVariant::fromValue(item));
     }
-#endif
     
     return _summaryItems;
 }

src/AutoPilotPlugins/PX4/SafetyComponent.qml

@@ -7,14 +7,92 @@ import QGroundControl.FactControls 1.0
 Rectangle {
     QGCPalette { id: palette; colorGroup: QGCPalette.Active }
 
-    width: 400
+    width: 600
     height: 400
     color: palette.window
 
     Column {
-        Label { text: "Work in Progress"; color: palette.windowText }
-        Label { text: "Return to Land Altitude"; color: palette.windowText }
-        FactLabel { fact: autopilot.parameters["RTL_RETURN_ALT"] }
-        FactTextField { fact: autopilot.parameters["RTL_RETURN_ALT"] }
+        anchors.fill: parent
+        spacing: 20
+
+        Column {
+            spacing: 10
+
+            Label { text: "Return to Land setup"; color: palette.windowText; font.pointSize: 20 }
+            Row {
+                Label { text: "Climb to minimum altitude of "; color: palette.windowText; anchors.baseline: climbField.baseline }
+                FactTextField { id: climbField; fact: autopilot.parameters["RTL_RETURN_ALT"]; showUnits: true }
+            }
+            Row {
+                Label { text: "When Home is reached, descend to altitude of "; color: palette.windowText; anchors.baseline: descendField.baseline }
+                FactTextField { id: descendField; fact: autopilot.parameters["RTL_DESCEND_ALT"]; showUnits: true }
+            }
+            Row {
+                CheckBox {
+                    id: homeLoiterCheckbox
+                    property Fact fact: autopilot.parameters["RTL_LAND_DELAY"]
+
+                    checked: fact.value < 0
+                    text: "Loiter at Home altitude for "
+
+                    onClicked: {
+                        fact.value = checked ? 60 : -1
+                    }
+
+                    style: CheckBoxStyle {
+                        label: Text {
+                            color: palette.windowText
+                            text: control.text
+                        }
+                    }
+                }
+                FactTextField {
+                    fact: autopilot.parameters["RTL_LAND_DELAY"];
+                    showUnits: true
+                    anchors.baseline: homeLoiterCheckbox.baseline
+                }
+            }
+        }
+
+        Column {
+            spacing: 10
+
+            Label { text: "Return to Land Triggers"; color: palette.windowText; font.pointSize: 20 }
+            Row {
+                FactCheckBox {
+                    id: telemetryLossCheckbox
+                    fact: autopilot.parameters["COM_DL_LOSS_EN"]
+                    checkedValue: 1
+                    uncheckedValue: 0
+                    text: "Telemetry signal timeout - Return to Land"
+                    anchors.baseline: telemetryLossField.baseline
+                }
+                Label { text: " after "; color: palette.windowText; anchors.baseline: telemetryLossField.baseline }
+                FactTextField {
+                    id: telemetryLossField
+                    fact: autopilot.parameters["NAV_DLL_N"];
+                    showUnits: true
+                }
+            }
+            Row {
+                Label { text: "RC Transmitter signal loss - Return to Land after "; color: palette.windowText; anchors.baseline: rcLossField.baseline }
+                FactTextField { id: rcLossField; fact: autopilot.parameters["COM_RC_LOSS_T"]; showUnits: true }
+            }
+        }
+
+        Text {
+            width: parent.width
+            text: "Warning: You have an advanced safety configuration set using the NAV_RCL_OBC parameter. The above settings may not apply.";
+            visible: autopilot.parameters["NAV_RCL_OBC"].value == 1
+            color: palette.windowText
+            wrapMode: Text.Wrap
+        }
+        Text {
+            width: parent.width
+            text: "Warning: You have an advanced safety configuration set using the NAV_DLL_OBC parameter. The above settings may not apply.";
+            visible: autopilot.parameters["NAV_DLL_OBC"].value == 1
+            color: palette.windowText
+            wrapMode: Text.Wrap
+        }
     }
 }

src/FactSystem/Fact.cc

@@ -48,3 +48,58 @@ void Fact::_containerSetValue(const QVariant& value)
     _value = value;
     emit valueChanged(_value);
 }
+
+QString Fact::name(void) const
+{
+    return _name;
+}
+
+QVariant Fact::value(void) const
+{
+    return _value;
+}
+
+QString Fact::valueString(void) const
+{
+    return _value.toString();
+}
+
+QVariant Fact::defaultValue(void)
+{
+    return _metaData->defaultValue;
+}
+
+FactMetaData::ValueType_t Fact::type(void)
+{
+    return _metaData->type;
+}
+
+QString Fact::shortDescription(void)
+{
+    return _metaData->shortDescription;
+}
+
+QString Fact::longDescription(void)
+{
+    return _metaData->longDescription;
+}
+
+QString Fact::units(void)
+{
+    return _metaData->units;
+}
+
+QVariant Fact::min(void)
+{
+    return _metaData->min;
+}
+
+QVariant Fact::max(void)
+{
+    return _metaData->max;
+}
+
+void Fact::setMetaData(FactMetaData* metaData)
+{
+    _metaData = metaData;
+}

src/FactSystem/Fact.h

@@ -32,6 +32,7 @@
 #include <QObject>
 #include <QString>
 #include <QVariant>
+#include <QDebug>
 
 /// @brief A Fact is used to hold a single value within the system.
 ///
@@ -44,6 +45,7 @@ class Fact : public QObject
     
     Q_PROPERTY(QString name READ name CONSTANT)
     Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true)
+    Q_PROPERTY(QVariant valueString READ valueString NOTIFY valueChanged)
     Q_PROPERTY(QVariant defaultValue READ defaultValue CONSTANT)
     Q_PROPERTY(FactMetaData::ValueType_t type READ type CONSTANT)
     Q_PROPERTY(QString shortDescription READ shortDescription CONSTANT)
@@ -60,37 +62,40 @@ public:
     // Property system methods
     
     /// Read accessor or name property
-    QString name(void) const { return _name; }
+    QString name(void) const;
     
     /// Read accessor for value property
-    QVariant value(void) const { return _value; }
+    QVariant value(void) const;
+    
+    /// Read accessor for valueString property
+    QString valueString(void) const;
     
     /// Write accessor for value property
     void setValue(const QVariant& value);
     
     /// Read accesor for defaultValue property
-    QVariant defaultValue(void) { return _metaData->defaultValue; }
+    QVariant defaultValue(void);
     
     /// Read accesor for type property
-    FactMetaData::ValueType_t type(void) { return _metaData->type; }
+    FactMetaData::ValueType_t type(void);
     
     /// Read accesor for shortDescription property
-    QString shortDescription(void) { return _metaData->shortDescription; }
+    QString shortDescription(void);
     
     /// Read accesor for longDescription property
-    QString longDescription(void) { return _metaData->longDescription; }
+    QString longDescription(void);
     
     /// Read accesor for units property
-    QString units(void) { return _metaData->units; }
+    QString units(void);
     
     /// Read accesor for min property
-    QVariant min(void) { return _metaData->min; }
+    QVariant min(void);
 
     /// Read accesor for max property
-    QVariant max(void) { return _metaData->max; }
+    QVariant max(void);
     
     /// Sets the meta data associated with the Fact.
-    void setMetaData(FactMetaData* metaData) { _metaData = metaData; }
+    void setMetaData(FactMetaData* metaData);
     
     void _containerSetValue(const QVariant& value);
     

src/FactSystem/FactLoader.cc

@@ -82,18 +82,18 @@ void FactLoader::_parameterChanged(int uas, int component, QString parameterName
         Q_ASSERT(component == _lastSeenComponent);
     }
     
+    bool setMetaData = false;
     if (!_mapParameterName2Variant.contains(parameterName)) {
         qCDebug(FactLoaderLog) << "Adding new fact" << parameterName;
         
         Fact* fact = new Fact(parameterName, this);
+        setMetaData = true;
         
         _mapParameterName2Variant[parameterName] = QVariant::fromValue(fact);
         _mapFact2ParameterName[fact] = parameterName;
         
         // We need to know when the fact changes from QML so that we can send the new value to the parameter manager
         connect(fact, &Fact::_containerValueChanged, this, &FactLoader::_valueUpdated);
-
-        _addMetaDataToFact(fact);
     }
     
     Q_ASSERT(_mapParameterName2Variant.contains(parameterName));
@@ -103,6 +103,10 @@ void FactLoader::_parameterChanged(int uas, int component, QString parameterName
     Fact* fact = _mapParameterName2Variant[parameterName].value<Fact*>();
     Q_ASSERT(fact);
     fact->_containerSetValue(value);
+    
+    if (setMetaData) {
+        _addMetaDataToFact(fact);
+    }
 }
 
 /// Connected to Fact::valueUpdated
@@ -122,23 +126,26 @@ void FactLoader::_valueUpdated(QVariant value)
         case FactMetaData::valueTypeInt8:
         case FactMetaData::valueTypeInt16:
         case FactMetaData::valueTypeInt32:
-            typedValue = QVariant(value.value<int>());
+            typedValue.setValue(QVariant(value.toInt()));
+            break;
             
         case FactMetaData::valueTypeUint8:
         case FactMetaData::valueTypeUint16:
         case FactMetaData::valueTypeUint32:
-            typedValue = QVariant(value.value<uint>());
+            typedValue.setValue(value.toUInt());
             break;
             
         case FactMetaData::valueTypeFloat:
-            typedValue = QVariant(value.toFloat());
+            typedValue.setValue(value.toFloat());
             break;
             
         case FactMetaData::valueTypeDouble:
-            typedValue = QVariant(value.toDouble());
+            typedValue.setValue(value.toDouble());
             break;
     }
     
+    qCDebug(FactLoaderLog) << "Set parameter" << fact->name() << typedValue;
+
     _paramMgr->setParameter(_lastSeenComponent, _mapFact2ParameterName[fact], typedValue);
     _paramMgr->sendPendingParameters(true /* persistAfterSend */, false /* forceSend */);
 }
@@ -191,7 +198,7 @@ void FactLoader::_addMetaDataToFact(Fact* fact)
             break;
             
         default:
-            qCWarning(FactLoaderLog) << "Invalid variant type" << fact->value().type();
+            qWarning() << fact->name() << "Invalid variant type" << fact->value().type();
             break;
     }
     

src/GAudioOutput.cc

@@ -40,13 +40,18 @@ This file is part of the QGROUNDCONTROL project
 
 IMPLEMENT_QGC_SINGLETON(GAudioOutput, GAudioOutput)
 
+const char* GAudioOutput::_mutedKey = "AudioMuted";
+
 GAudioOutput::GAudioOutput(QObject *parent) :
     QGCSingleton(parent),
     muted(false),
     thread(new QThread()),
     worker(new QGCAudioWorker())
 {
-    muted = qgcApp()->runningUnitTests();
+    QSettings settings;
+    
+    muted = settings.value(_mutedKey, false).toBool();
+    muted |= qgcApp()->runningUnitTests();
     
     worker->moveToThread(thread);
     connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int)));
@@ -66,7 +71,12 @@ GAudioOutput::~GAudioOutput()
 
 void GAudioOutput::mute(bool mute)
 {
+    QSettings settings;
+    
     muted = mute;
+    settings.setValue(_mutedKey, mute);
+    
+    emit mutedChanged(mute);
 }
 
 bool GAudioOutput::isMuted()

src/GAudioOutput.h

@@ -110,6 +110,8 @@ protected:
 private:
     GAudioOutput(QObject *parent = NULL);
     ~GAudioOutput();
+    
+    static const char* _mutedKey;
 };
 
 #endif // AUDIOOUTPUT_H

src/QGCPalette.cc

@@ -47,7 +47,8 @@ QColor QGCPalette::_window[QGCPalette::_cColorGroups];
 QColor QGCPalette::_windowText[QGCPalette::_cColorGroups];
 
 QGCPalette::QGCPalette(QObject* parent) :
-    QObject(parent)
+    QObject(parent),
+    _colorGroup(Active)
 {
     if (!_paletteLoaded) {
         _paletteLoaded = true;

src/QGCPalette.h

@@ -55,7 +55,7 @@ class QGCPalette : public QObject
 
 public:
     enum ColorGroup {
-        Disabled,
+        Disabled = 0,
         Active,
         Inactive
     };

src/VehicleSetup/SetupPane.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+//import QGroundControl.FactControls 1.0
+
+Item {
+    id: item1
+    width: 500
+    height: 500
+
+    Rectangle {
+        id: innerRect
+        color: "#d298d2"
+        z: 1
+        anchors.rightMargin: 15
+        anchors.leftMargin: 15
+        anchors.bottomMargin: 15
+        anchors.topMargin: 40
+        anchors.fill: parent
+
+        Rectangle {
+            id: close
+            x: parent.width - (width / 2)
+            y: 0 - (height / 2)
+            width: 30
+            height: 30
+            color: "#ffffff"
+            radius: 15
+            z: 2
+            border.color: "#000000"
+        }
+
+    }
+
+    Rectangle {
+        id: outerRect
+        color: "#ffffff"
+        opacity: 0.8
+        anchors.fill: parent
+
+        Text {
+            id: title
+            x: 237
+            y: 8
+            text: qsTr("Setup Pane")
+            anchors.horizontalCenter: parent.horizontalCenter
+            font.pointSize: 20
+        }
+    }
+
+}

src/qgcunittest/MockLink.cc

@@ -206,6 +206,8 @@ void MockLink::_loadParams(void)
                 break;
         }
         
+        qCDebug(MockLinkLog) << "Loading param" << paramName << paramValue;
+        
         _mapParamName2Value[paramName] = paramValue;
         _mapParamName2MavParamType[paramName] = static_cast<MAV_PARAM_TYPE>(paramType);
     }
@@ -461,6 +463,8 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
         Q_ASSERT(paramName.length() <= MAVLINK_MSG_ID_PARAM_VALUE_LEN);
         strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_ID_PARAM_VALUE_LEN);
         
+        qCDebug(MockLinkLog) << "Sending msg_param_value" << paramId << paramType;
+        
         mavlink_msg_param_value_pack(_vehicleSystemId,
                                      _vehicleComponentId,
                                      &responseMsg,                      // Outgoing message