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Commit 5c4d513d authored by Don Gagne's avatar Don Gagne
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Merge pull request #1509 from DonLakeFlyer/ParamRework 

Re-write of parameter system to move all control to FactSystem
parents 439d6cf8 834aa526
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Showing with 798 additions and 78267 deletions
QGCApplication.pro
View file @ 5c4d513d
......@@ -151,11 +151,9 @@ INCLUDEPATH += \
src/uas \
src/ui \
src/ui/configuration \
src/ui/designer \
src/ui/flightdisplay \
src/ui/linechart \
src/ui/map \
src/ui/map3D \
src/ui/mapdisplay \
src/ui/mavlink \
src/ui/mission \
......@@ -170,13 +168,6 @@ FORMS += \
src/ui/configuration/SerialSettingsDialog.ui \
src/ui/configuration/terminalconsole.ui \
src/ui/DebugConsole.ui \
src/ui/designer/QGCActionButton.ui \
src/ui/designer/QGCCommandButton.ui \
src/ui/designer/QGCParamSlider.ui \
src/ui/designer/QGCTextLabel.ui \
src/ui/designer/QGCToolWidget.ui \
src/ui/designer/QGCToolWidgetComboBox.ui \
src/ui/designer/QGCXYPlot.ui \
src/ui/HDDisplay.ui \
src/ui/Linechart.ui \
src/ui/MainWindow.ui \
......@@ -215,7 +206,6 @@ FORMS += \
src/ui/QGCUASFileViewMulti.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/QMap3D.ui \
src/ui/SerialSettings.ui \
src/ui/SettingsDialog.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui \
......@@ -279,30 +269,17 @@ HEADERS += \
src/QmlControls/ScreenTools.h \
src/uas/QGCMAVLinkUASFactory.h \
src/uas/QGCUASFileManager.h \
src/uas/QGCUASParamManager.h \
src/uas/QGCUASParamManagerInterface.h \
src/uas/UAS.h \
src/uas/UASInterface.h \
src/uas/UASManager.h \
src/uas/UASManagerInterface.h \
src/uas/UASMessageHandler.h \
src/uas/UASParameterCommsMgr.h \
src/uas/UASParameterDataModel.h \
src/uas/UASWaypointManager.h \
src/ui/configuration/ApmHighlighter.h \
src/ui/configuration/console.h \
src/ui/configuration/SerialSettingsDialog.h \
src/ui/configuration/terminalconsole.h \
src/ui/DebugConsole.h \
src/ui/designer/QGCCommandButton.h \
src/ui/designer/QGCParamSlider.h \
src/ui/designer/QGCRadioChannelDisplay.h \
src/ui/designer/QGCTextLabel.h \
src/ui/designer/QGCToolWidget.h \
src/ui/designer/QGCToolWidgetComboBox.h \
src/ui/designer/QGCToolWidgetItem.h \
src/ui/designer/QGCXYPlot.h \
src/ui/designer/RCChannelWidget.h \
src/ui/flightdisplay/QGCFlightDisplay.h \
src/ui/HDDisplay.h \
src/ui/HSIDisplay.h \
......@@ -423,27 +400,15 @@ SOURCES += \
src/QmlControls/ScreenTools.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/uas/QGCUASFileManager.cc \
src/uas/QGCUASParamManager.cc \
src/uas/UAS.cc \
src/uas/UASManager.cc \
src/uas/UASMessageHandler.cc \
src/uas/UASParameterCommsMgr.cc \
src/uas/UASParameterDataModel.cc \
src/uas/UASWaypointManager.cc \
src/ui/configuration/ApmHighlighter.cc \
src/ui/configuration/console.cpp \
src/ui/configuration/SerialSettingsDialog.cc \
src/ui/configuration/terminalconsole.cpp \
src/ui/DebugConsole.cc \
src/ui/designer/QGCCommandButton.cc \
src/ui/designer/QGCParamSlider.cc \
src/ui/designer/QGCRadioChannelDisplay.cpp \
src/ui/designer/QGCTextLabel.cc \
src/ui/designer/QGCToolWidget.cc \
src/ui/designer/QGCToolWidgetComboBox.cc \
src/ui/designer/QGCToolWidgetItem.cc \
src/ui/designer/QGCXYPlot.cc \
src/ui/designer/RCChannelWidget.cc \
src/ui/flightdisplay/QGCFlightDisplay.cc \
src/ui/HDDisplay.cc \
src/ui/HSIDisplay.cc \
......@@ -553,11 +518,7 @@ HEADERS += \
src/qgcunittest/FlightGearTest.h \
src/qgcunittest/MockMavlinkFileServer.h \
src/qgcunittest/MockMavlinkInterface.h \
src/qgcunittest/MockQGCUASParamManager.h \
src/qgcunittest/MockUAS.h \
src/qgcunittest/MockUASManager.h \
src/qgcunittest/MultiSignalSpy.h \
src/qgcunittest/QGCUASFileManagerTest.h \
src/qgcunittest/TCPLinkTest.h \
src/qgcunittest/TCPLoopBackServer.h \
src/FactSystem/FactSystemTestBase.h \
......@@ -577,11 +538,7 @@ HEADERS += \
SOURCES += \
src/qgcunittest/FlightGearTest.cc \
src/qgcunittest/MockMavlinkFileServer.cc \
src/qgcunittest/MockQGCUASParamManager.cc \
src/qgcunittest/MockUAS.cc \
src/qgcunittest/MockUASManager.cc \
src/qgcunittest/MultiSignalSpy.cc \
src/qgcunittest/QGCUASFileManagerTest.cc \
src/qgcunittest/TCPLinkTest.cc \
src/qgcunittest/TCPLoopBackServer.cc \
src/FactSystem/FactSystemTestBase.cc \
......
QGCExternalLibs.pri
View file @ 5c4d513d
......@@ -55,113 +55,6 @@ exists($$MAVLINKPATH/common) {
error($$sprintf("MAVLink folder does not exist at '%1'! Run 'git submodule init && git submodule update' on the command line.",$$MAVLINKPATH_REL))
}
#
# [OPTIONAL] OpenSceneGraph
# Allow the user to override OpenSceneGraph compilation through a DISABLE_OPEN_SCENE_GRAPH
# define like: `qmake DEFINES=DISABLE_OPEN_SCENE_GRAPH`
contains(DEFINES, DISABLE_OPEN_SCENE_GRAPH) {
message("Skipping support for OpenSceneGraph (manual override from command line)")
DEFINES -= DISABLE_OPEN_SCENE_GRAPH
}
# Otherwise the user can still disable this feature in the user_config.pri file.
else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_OPEN_SCENE_GRAPH) {
message("Skipping support for OpenSceneGraph (manual override from user_config.pri)")
}
else:MacBuild {
# GLUT and OpenSceneGraph are part of standard install on Mac
message("Including support for OpenSceneGraph")
CONFIG += OSGDependency
INCLUDEPATH += \
$$BASEDIR/libs/lib/mac64/include
LIBS += \
-L$$BASEDIR/libs/lib/mac64/lib \
-losgWidget
} else:LinuxBuild {
exists(/usr/include/osg) | exists(/usr/local/include/osg) {
message("Including support for OpenSceneGraph")
CONFIG += OSGDependency
} else {
warning("Skipping support for OpenSceneGraph (missing libraries, see README)")
}
} else:WindowsBuild {
exists($$BASEDIR/libs/lib/osg123) {
message("Including support for OpenSceneGraph")
CONFIG += OSGDependency
INCLUDEPATH += \
$$BASEDIR/libs/lib/osgEarth/win32/include \
$$BASEDIR/libs/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/include
LIBS += -L$$BASEDIR/libs/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/lib
} else {
warning("Skipping support for OpenSceneGraph (missing libraries, see README)")
}
} else {
message("Skipping support for OpenSceneGraph (unsupported platform)")
}
OSGDependency {
DEFINES += QGC_OSG_ENABLED
LIBS += \
-losg \
-losgViewer \
-losgGA \
-losgDB \
-losgText \
-lOpenThreads
HEADERS += \
src/ui/map3D/gpl.h \
src/ui/map3D/CameraParams.h \
src/ui/map3D/ViewParamWidget.h \
src/ui/map3D/SystemContainer.h \
src/ui/map3D/SystemViewParams.h \
src/ui/map3D/GlobalViewParams.h \
src/ui/map3D/SystemGroupNode.h \
src/ui/map3D/Q3DWidget.h \
src/ui/map3D/GCManipulator.h \
src/ui/map3D/ImageWindowGeode.h \
src/ui/map3D/PixhawkCheetahNode.h \
src/ui/map3D/Pixhawk3DWidget.h \
src/ui/map3D/Q3DWidgetFactory.h \
src/ui/map3D/WebImageCache.h \
src/ui/map3D/WebImage.h \
src/ui/map3D/TextureCache.h \
src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.h \
src/ui/map3D/HUDScaleGeode.h \
src/ui/map3D/WaypointGroupNode.h \
src/ui/map3D/TerrainParamDialog.h \
src/ui/map3D/ImageryParamDialog.h
SOURCES += \
src/ui/map3D/gpl.cc \
src/ui/map3D/CameraParams.cc \
src/ui/map3D/ViewParamWidget.cc \
src/ui/map3D/SystemContainer.cc \
src/ui/map3D/SystemViewParams.cc \
src/ui/map3D/GlobalViewParams.cc \
src/ui/map3D/SystemGroupNode.cc \
src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/PixhawkCheetahNode.cc \
src/ui/map3D/Pixhawk3DWidget.cc \
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/WebImageCache.cc \
src/ui/map3D/WebImage.cc \
src/ui/map3D/TextureCache.cc \
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc \
src/ui/map3D/HUDScaleGeode.cc \
src/ui/map3D/WaypointGroupNode.cc \
src/ui/map3D/TerrainParamDialog.cc \
src/ui/map3D/ImageryParamDialog.cc
}
#
# [REQUIRED] EIGEN matrix library
# NOMINMAX constant required to make internal min/max work.
......
src/AutoPilotPlugins/AutoPilotPlugin.cc
View file @ 5c4d513d
......@@ -25,11 +25,11 @@
/// @author Don Gagne <don@thegagnes.com>
#include "AutoPilotPlugin.h"
#include "QGCUASParamManagerInterface.h"
#include "SetupView.h"
#include "QGCApplication.h"
#include "QGCMessageBox.h"
#include "MainWindow.h"
#include "ParameterLoader.h"
AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
QObject(parent),
......@@ -160,27 +160,10 @@ const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
{
Q_ASSERT(_uas);
_uas->getParamManager()->writeOnboardParamsToStream(stream, _uas->getUASName());
_getParameterLoader()->writeParametersToStream(stream, _uas->getUASName());
}
void AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
{
Q_ASSERT(_uas);
Fact* autoSaveFact = NULL;
int previousAutoSave = 0;
if (parameterExists("COM_AUTOS_PAR")) {
autoSaveFact = getParameterFact("COM_AUTOS_PAR");
previousAutoSave = autoSaveFact->value().toInt();
autoSaveFact->setValue(1);
}
_uas->getParamManager()->readPendingParamsFromStream(stream);
if (autoSaveFact) {
autoSaveFact->setValue(previousAutoSave);
}
_getParameterLoader()->readParametersFromStream(stream);
}
src/AutoPilotPlugins/AutoPilotPlugin.h
View file @ 5c4d513d
......@@ -35,7 +35,8 @@
#include "UASInterface.h"
#include "VehicleComponent.h"
#include "FactSystem.h"
#include "ParameterLoader.h"
class ParameterLoader;
/// This is the base class for AutoPilot plugins
///
......@@ -115,6 +116,7 @@ public:
signals:
void pluginReadyChanged(bool pluginReady);
void setupCompleteChanged(bool setupComplete);
void parameterListProgress(float value);
protected:
/// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
......
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
View file @ 5c4d513d
......@@ -31,10 +31,11 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* paren
{
Q_ASSERT(uas);
_parameterFacts = new GenericParameterFacts(uas, this);
_parameterFacts = new GenericParameterFacts(this, uas, this);
Q_CHECK_PTR(_parameterFacts);
connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReady);
connect(_parameterFacts, &GenericParameterFacts::parameterListProgress, this, &GenericAutoPilotPlugin::parameterListProgress);
}
QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
......
src/AutoPilotPlugins/Generic/GenericParameterFacts.cc
View file @ 5c4d513d
......@@ -28,8 +28,8 @@
#include <QDebug>
GenericParameterFacts::GenericParameterFacts(UASInterface* uas, QObject* parent) :
ParameterLoader(uas, parent)
GenericParameterFacts::GenericParameterFacts(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) :
ParameterLoader(autopilot, uas, parent)
{
Q_ASSERT(uas);
}
src/AutoPilotPlugins/Generic/GenericParameterFacts.h
View file @ 5c4d513d
......@@ -28,6 +28,7 @@
#include "ParameterLoader.h"
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
/// @file
/// @author Don Gagne <don@thegagnes.com>
......@@ -40,7 +41,7 @@ class GenericParameterFacts : public ParameterLoader
public:
/// @param uas Uas which this set of facts is associated with
GenericParameterFacts(UASInterface* uas, QObject* parent = NULL);
GenericParameterFacts(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL);
/// Override from ParameterLoader
virtual QString getDefaultComponentIdParam(void) const { return QString(); }
......
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
View file @ 5c4d513d
......@@ -81,7 +81,7 @@ AirframeComponentController::AirframeComponentController(QObject* parent) :
_airframeTypes.append(QVariant::fromValue(airframeType));
}
if (_autostartId != 0) {
// FIXME: Should be a user error
Q_UNUSED(autostartFound);
......@@ -104,33 +104,14 @@ void AirframeComponentController::changeAutostart(void)
_autoPilotPlugin->getParameterFact("SYS_AUTOSTART")->setValue(_autostartId);
_autoPilotPlugin->getParameterFact("SYS_AUTOCONFIG")->setValue(1);
// Wait for the parameters to come back to us
qgcApp()->setOverrideCursor(Qt::WaitCursor);
int waitSeconds = 10;
bool success = false;
QGCUASParamManagerInterface* paramMgr = _uas->getParamManager();
while (true) {
if (paramMgr->countPendingParams() == 0) {
success = true;
break;
}
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
QGC::SLEEP::sleep(1);
if (--waitSeconds == 0) {
break;
}
}
// Wait for the parameters to flow through system
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
QGC::SLEEP::sleep(1);
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
if (!success) {
qgcApp()->restoreOverrideCursor();
QGCMessageBox::critical("Airframe Config", "Airframe Config parameters not received back from vehicle. Config has not been set.");
return;
}
// Reboot board and reconnect
_uas->executeCommand(MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0);
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
......@@ -173,4 +154,3 @@ Airframe::~Airframe()
{
}
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 5c4d513d
......@@ -24,7 +24,6 @@
#include "PX4AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UASManager.h"
#include "QGCUASParamManagerInterface.h"
#include "PX4ParameterLoader.h"
#include "FlightModesComponentController.h"
#include "AirframeComponentController.h"
......@@ -79,10 +78,11 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
_parameterFacts = new PX4ParameterLoader(uas, this);
_parameterFacts = new PX4ParameterLoader(this, uas, this);
Q_CHECK_PTR(_parameterFacts);
connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_pluginReadyPreChecks);
connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress);
PX4ParameterLoader::loadParameterFactMetaData();
}
......@@ -197,26 +197,32 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
_airframeComponent = new AirframeComponent(_uas, this);
Q_CHECK_PTR(_airframeComponent);
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
_radioComponent = new RadioComponent(_uas, this);
Q_CHECK_PTR(_radioComponent);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
_flightModesComponent = new FlightModesComponent(_uas, this);
Q_CHECK_PTR(_flightModesComponent);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
_sensorsComponent = new SensorsComponent(_uas, this);
Q_CHECK_PTR(_sensorsComponent);
_sensorsComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
_powerComponent = new PowerComponent(_uas, this);
Q_CHECK_PTR(_powerComponent);
_powerComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
_safetyComponent = new SafetyComponent(_uas, this);
Q_CHECK_PTR(_safetyComponent);
_safetyComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
}
......
src/AutoPilotPlugins/PX4/PX4Component.cc
View file @ 5c4d513d
......@@ -25,32 +25,29 @@
/// @author Don Gagne <don@thegagnes.com>
#include "PX4Component.h"
#include "Fact.h"
#include "AutoPilotPlugin.h"
PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
VehicleComponent(uas, autopilot, parent)
{
Q_ASSERT(uas);
Q_ASSERT(autopilot);
_paramMgr = _uas->getParamManager();
Q_ASSERT(_paramMgr);
}
bool fSuccess = connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant)));
Q_ASSERT(fSuccess);
Q_UNUSED(fSuccess);
void PX4Component::setupTriggerSignals(void)
{
// Watch for changed on trigger list params
foreach (QString paramName, setupCompleteChangedTriggerList()) {
Fact* fact = _autopilot->getParameterFact(paramName);
connect(fact, &Fact::valueChanged, this, &PX4Component::_triggerUpdated);
}
}
void PX4Component::_parameterUpdated(int compId, QString paramName, QVariant value)
void PX4Component::_triggerUpdated(QVariant value)
{
Q_UNUSED(value);
if (compId == _paramMgr->getDefaultComponentId()) {
QStringList triggerList = setupCompleteChangedTriggerList();
foreach(QString triggerParam, triggerList) {
if (paramName == triggerParam) {
emit setupCompleteChanged(setupComplete());
return;
}
}
}
emit setupCompleteChanged(setupComplete());
}
src/AutoPilotPlugins/PX4/PX4Component.h
View file @ 5c4d513d
......@@ -43,13 +43,12 @@ public:
/// signal to be emitted. Last element is signalled by NULL.
virtual QStringList setupCompleteChangedTriggerList(void) const = 0;
private slots:
/// @brief Connected to QGCUASParamManagerInterface::parameterUpdated signal in order to signal
/// setupCompleteChanged at appropriate times.
void _parameterUpdated(int compId, QString paramName, QVariant value);
/// Should be called after the component is created (but not in constructor) to setup the
/// signals which are used to track parameter changes which affect setupComplete state.
void setupTriggerSignals(void);
private:
QGCUASParamManagerInterface* _paramMgr;
private slots:
void _triggerUpdated(QVariant value);
};
#endif
src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc
View file @ 5c4d513d
......@@ -38,8 +38,8 @@ QGC_LOGGING_CATEGORY(PX4ParameterLoaderLog, "PX4ParameterLoaderLog")
bool PX4ParameterLoader::_parameterMetaDataLoaded = false;
QMap<QString, FactMetaData*> PX4ParameterLoader::_mapParameterName2FactMetaData;
PX4ParameterLoader::PX4ParameterLoader(UASInterface* uas, QObject* parent) :
ParameterLoader(uas, parent)
PX4ParameterLoader::PX4ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) :
ParameterLoader(autopilot, uas, parent)
{
Q_ASSERT(uas);
}
......@@ -221,7 +221,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
Q_CHECK_PTR(metaData);
if (_mapParameterName2FactMetaData.contains(name)) {
// We can't trust the meta dafa since we have dups
qDebug() << "Duplicate parameter found:" << name;
qCDebug(PX4ParameterLoaderLog) << "Duplicate parameter found:" << name;
badMetaData = true;
// Reset to default meta data
_mapParameterName2FactMetaData[name] = metaData;
......@@ -236,7 +236,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
metaData->setDefaultValue(varDefault);
} else {
// Non-fatal
qDebug() << "Parameter meta data with bad default value, name:" << name << " type:" << type << " default:" << strDefault;
qCDebug(PX4ParameterLoaderLog) << "Parameter meta data with bad default value, name:" << name << " type:" << type << " default:" << strDefault;
}
}
}
......
src/AutoPilotPlugins/PX4/PX4ParameterLoader.h
View file @ 5c4d513d
......@@ -32,6 +32,7 @@
#include "ParameterLoader.h"
#include "FactSystem.h"
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
/// @file
/// @author Don Gagne <don@thegagnes.com>
......@@ -46,7 +47,7 @@ class PX4ParameterLoader : public ParameterLoader
public:
/// @param uas Uas which this set of facts is associated with
PX4ParameterLoader(UASInterface* uas, QObject* parent = NULL);
PX4ParameterLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
/// Override from ParameterLoader
virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
......
src/AutoPilotPlugins/PX4/SensorsComponentController.cc
View file @ 5c4d513d
......@@ -228,7 +228,6 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
}
_appendStatusLog(text);
qDebug() << text;
if (_unknownFirmwareVersion) {
// We don't know how to do visual cal with the version of firwmare
......@@ -401,8 +400,8 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
void SensorsComponentController::_refreshParams(void)
{
// Pull full set in order to get all cal values back
_autopilot->refreshAllParameters();
_autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "CAL_");
_autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "SENS_");
}
bool SensorsComponentController::fixedWing(void)
......
src/FactSystem/Fact.cc
View file @ 5c4d513d
......@@ -40,29 +40,35 @@ Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObjec
void Fact::setValue(const QVariant& value)
{
QVariant newValue;
switch (type()) {
case FactMetaData::valueTypeInt8:
case FactMetaData::valueTypeInt16:
case FactMetaData::valueTypeInt32:
_value.setValue(QVariant(value.toInt()));
newValue = QVariant(value.toInt());
break;
case FactMetaData::valueTypeUint8:
case FactMetaData::valueTypeUint16:
case FactMetaData::valueTypeUint32:
_value.setValue(value.toUInt());
newValue = QVariant(value.toUInt());
break;
case FactMetaData::valueTypeFloat:
_value.setValue(value.toFloat());
newValue = QVariant(value.toFloat());
break;
case FactMetaData::valueTypeDouble:
_value.setValue(value.toDouble());
newValue = QVariant(value.toDouble());
break;
}
emit valueChanged(_value);
emit _containerValueChanged(_value);
if (newValue != _value) {
_value.setValue(newValue);
emit valueChanged(_value);
emit _containerValueChanged(_value);
}
}
void Fact::_containerSetValue(const QVariant& value)
......
src/FactSystem/FactSystemTestBase.cc
View file @ 5c4d513d
......@@ -59,9 +59,6 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
_uas = UASManager::instance()->getActiveUAS();
Q_ASSERT(_uas);
_paramMgr = _uas->getParamManager();
Q_ASSERT(_paramMgr);
// Get the plugin for the uas
AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
......@@ -74,7 +71,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReadyChanged(bool)));
if (!_plugin->pluginReady()) {
QCOMPARE(spyPlugin.wait(5000), true);
QCOMPARE(spyPlugin.wait(10000), true);
}
Q_ASSERT(_plugin->pluginReady());
}
......@@ -87,23 +84,17 @@ void FactSystemTestBase::_cleanup(void)
/// Basic test of parameter values in Fact System
void FactSystemTestBase::_parameter_default_component_id_test(void)
{
// Compare the value in the Parameter Manager with the value from the FactSystem.
QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE"));
Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE");
QVERIFY(fact != NULL);
QVariant factValue = fact->value();
QCOMPARE(factValue.isValid(), true);
QVariant paramValue;
Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue));
QCOMPARE(factValue.toInt(), paramValue.toInt());
QCOMPARE(factValue.toInt(), 3);
}
void FactSystemTestBase::_parameter_specific_component_id_test(void)
{
// Compare the value in the Parameter Manager with the value from the FactSystem.
QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE"));
Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE");
QVERIFY(fact != NULL);
......@@ -111,10 +102,7 @@ void FactSystemTestBase::_parameter_specific_component_id_test(void)
QCOMPARE(factValue.isValid(), true);
QVariant paramValue;
Q_ASSERT(_paramMgr->getParameterValue(50, "RC_MAP_THROTTLE", paramValue));
QCOMPARE(factValue.toInt(), paramValue.toInt());
QCOMPARE(factValue.toInt(), 3);
// Test another component id
QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 51, "COMPONENT_51"));
......@@ -123,9 +111,7 @@ void FactSystemTestBase::_parameter_specific_component_id_test(void)
factValue = fact->value();
QCOMPARE(factValue.isValid(), true);
Q_ASSERT(_paramMgr->getParameterValue(51, "COMPONENT_51", paramValue));
QCOMPARE(factValue.toInt(), paramValue.toInt());
QCOMPARE(factValue.toInt(), 51);
}
/// Test that QML can reference a Fact
......@@ -142,38 +128,7 @@ void FactSystemTestBase::_qml_test(void)
QVERIFY(control != NULL);
QVariant qmlValue = control->property("text").toInt();
QVariant paramMgrValue;
Q_ASSERT(_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramMgrValue));
QCOMPARE(qmlValue.toInt(), paramMgrValue.toInt());
}
// Test correct behavior when the Param Manager gets a parameter update
void FactSystemTestBase::_paramMgrSignal_test(void)
{
// Get the parameter Fact from the AutoPilot
Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, -1, "RC_MAP_THROTTLE");
QVERIFY(fact != NULL);
// Setting a new value into the parameter should trigger a valueChanged signal on the Fact
QSignalSpy spyFact(fact, SIGNAL(valueChanged(QVariant)));
QVariant paramValue = 12;
_paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue);
_paramMgr->sendPendingParameters(true, false);
// Wait for the Fact::valueChanged signal to come through
QCOMPARE(spyFact.wait(5000), true);
// Make sure the signal has the right value
QList<QVariant> arguments = spyFact.takeFirst();
qDebug() << arguments.at(0).type();
QCOMPARE(arguments.at(0).toInt(), 12);
// Make sure the Fact has the new value
QCOMPARE(fact->value().toInt(), 12);
QCOMPARE(qmlValue.toInt(), 3);
}
/// Test QML getting an updated Fact value
......@@ -185,11 +140,10 @@ void FactSystemTestBase::_qmlUpdate_test(void)
widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
// Change the value using param manager
// Change the value
QVariant paramValue = 12;
_paramMgr->setParameter(_paramMgr->getDefaultComponentId(), "RC_MAP_THROTTLE", paramValue);
_paramMgr->sendPendingParameters(true, false);
_plugin->getParameterFact("RC_MAP_THROTTLE")->setValue(paramValue);
QTest::qWait(500); // Let the signals flow through
......
src/FactSystem/FactSystemTestBase.h
View file @ 5c4d513d
......@@ -46,11 +46,9 @@ protected:
void _parameter_default_component_id_test(void);
void _parameter_specific_component_id_test(void);
void _qml_test(void);
void _paramMgrSignal_test(void);
void _qmlUpdate_test(void);
UASInterface* _uas;
QGCUASParamManagerInterface* _paramMgr;
AutoPilotPlugin* _plugin;
LinkManager* _linkMgr;
};
......
src/FactSystem/FactSystemTestGeneric.h
View file @ 5c4d513d
......@@ -46,7 +46,6 @@ private slots:
void parameter_default_component_id_test(void) { _parameter_default_component_id_test(); }
void parameter_specific_component_id_test(void) { _parameter_specific_component_id_test(); }
void qml_test(void) { _qml_test(); }
void paramMgrSignal_test(void) { _paramMgrSignal_test(); }
void qmlUpdate_test(void) { _qmlUpdate_test(); }
};
......
src/FactSystem/FactSystemTestPX4.h
View file @ 5c4d513d
......@@ -46,7 +46,6 @@ private slots:
void parameter_default_component_id_test(void) { _parameter_default_component_id_test(); }
void parameter_specific_component_id_test(void) { _parameter_specific_component_id_test(); }
void qml_test(void) { _qml_test(); }
void paramMgrSignal_test(void) { _paramMgrSignal_test(); }
void qmlUpdate_test(void) { _qmlUpdate_test(); }
};
......
src/FactSystem/ParameterLoader.cc
View file @ 5c4d513d
This diff is collapsed.
src/FactSystem/ParameterLoader.h
View file @ 5c4d513d
......@@ -28,9 +28,13 @@
#include <QMap>
#include <QXmlStreamReader>
#include <QLoggingCategory>
#include <QMutex>
#include "FactSystem.h"
#include "UASInterface.h"
#include "MAVLinkProtocol.h"
#include "AutoPilotPlugin.h"
#include "QGCMAVLink.h"
/// @file
/// @author Don Gagne <don@thegagnes.com>
......@@ -44,7 +48,7 @@ class ParameterLoader : public QObject
public:
/// @param uas Uas which this set of facts is associated with
ParameterLoader(UASInterface* uas, QObject* parent = NULL);
ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL);
~ParameterLoader();
......@@ -76,6 +80,9 @@ public:
const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
void readParametersFromStream(QTextStream& stream);
void writeParametersToStream(QTextStream &stream, const QString& name);
/// Return the parameter for which the default component id is derived from. Return an empty
/// string is this is not available.
virtual QString getDefaultComponentIdParam(void) const = 0;
......@@ -83,6 +90,12 @@ public:
signals:
/// Signalled when the full set of facts are ready
void parametersReady(void);
/// Signalled to update progress of full parameter list request
void parameterListProgress(float value);
/// Signalled to ourselves in order to get call on our own thread
void restartWaitingParamTimer(void);
protected:
/// Base implementation adds generic meta data based on variant type. Derived class can override to provide
......@@ -90,21 +103,27 @@ protected:
virtual void _addMetaDataToFact(Fact* fact);
private slots:
void _parameterUpdate(int uas, int componentId, QString parameterName, int mavType, QVariant value);
void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
void _valueUpdated(const QVariant& value);
void _paramMgrParameterListUpToDate(void);
void _restartWaitingParamTimer(void);
void _waitingParamTimeout(void);
private:
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
int _actualComponentId(int componentId);
void _determineDefaultComponentId(void);
void _setupGroupMap(void);
int _uasId; ///< Id for uas which this set of Facts are associated with
void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
QGCUASParamManagerInterface* _paramMgr;
AutoPilotPlugin* _autopilot;
UASInterface* _uas;
MAVLinkProtocol* _mavlink;
/// First mapping id\s by component id
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
......@@ -115,6 +134,19 @@ private:
bool _parametersReady; ///< All params received from param mgr
int _defaultComponentId;
QString _defaultComponentIdParam;
QMap<int, int> _paramCountMap; ///< Map of total known parameter count, keyed by component id
QMap<int, QList<int> > _waitingReadParamIndexMap; ///< Map of param indices waiting for initial first time read, keyed by component id
QMap<int, QStringList> _waitingReadParamNameMap; ///< Map of param names we are waiting to hear a read response from, keyed by component id
QMap<int, QStringList> _waitingWriteParamNameMap; ///< Map of param names we are waiting to hear a write response from, keyed by component id
int _totalParamCount; ///< Number of parameters across all components
QTimer _waitingParamTimeoutTimer;
bool _fullRefresh;
QMutex _dataMutex;
};
#endif
\ No newline at end of file
src/qgcunittest/MockLink.cc
View file @ 5c4d513d
......@@ -422,19 +422,31 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
switch (paramType) {
case MAV_PARAM_TYPE_INT8:
valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
} else {
valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
}
break;
case MAV_PARAM_TYPE_INT32:
valueUnion.param_int32 = paramVar.toInt();
if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toInt();
} else {
valueUnion.param_int32 = paramVar.toInt();
}
break;
case MAV_PARAM_TYPE_UINT32:
valueUnion.param_uint32 = paramVar.toUInt();
if (_autopilotType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
valueUnion.param_float = paramVar.toUInt();
} else {
valueUnion.param_uint32 = paramVar.toUInt();
}
break;
case MAV_PARAM_TYPE_REAL32:
valueUnion.param_float = paramVar.toFloat();
valueUnion.param_float = paramVar.toFloat();
break;
default:
......@@ -454,7 +466,7 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
Q_ASSERT(request.target_component == MAV_COMP_ID_ALL);
foreach (int componentId, _mapParamName2Value.keys()) {
uint16_t paramIndex = 1;
uint16_t paramIndex = 0;
int cParameters = _mapParamName2Value[componentId].count();
foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
......@@ -469,7 +481,7 @@ 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;
qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
......@@ -535,7 +547,7 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
} else {
// Request is by index
Q_ASSERT(request.param_index >= 0 && request.param_index < _mapParamName2Value.count());
Q_ASSERT(request.param_index >= 0 && request.param_index < _mapParamName2Value[componentId].count());
QString key = _mapParamName2Value[componentId].keys().at(request.param_index);
Q_ASSERT(key.length() <= MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
......@@ -618,3 +630,40 @@ void MockLink::_handleMissionItem(const mavlink_message_t& msg)
_missionItems[request.seq] = request;
}
void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
{
uint16_t chanRaw[18];
for (int i=0; i<18; i++) {
chanRaw[i] = UINT16_MAX;
}
chanRaw[channel] = raw;
mavlink_message_t responseMsg;
mavlink_msg_rc_channels_pack(_vehicleSystemId,
_vehicleComponentId,
&responseMsg, // Outgoing message
0, // time since boot, ignored
18, // channel count
chanRaw[0], // channel raw value
chanRaw[1], // channel raw value
chanRaw[2], // channel raw value
chanRaw[3], // channel raw value
chanRaw[4], // channel raw value
chanRaw[5], // channel raw value
chanRaw[6], // channel raw value
chanRaw[7], // channel raw value
chanRaw[8], // channel raw value
chanRaw[9], // channel raw value
chanRaw[10], // channel raw value
chanRaw[11], // channel raw value
chanRaw[12], // channel raw value
chanRaw[13], // channel raw value
chanRaw[14], // channel raw value
chanRaw[15], // channel raw value
chanRaw[16], // channel raw value
chanRaw[17], // channel raw value
0); // rss
_emitMavlinkMessage(responseMsg);
}
src/qgcunittest/MockLink.h
View file @ 5c4d513d
......@@ -70,6 +70,7 @@ public:
// MockLink methods
MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
// These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
......
src/qgcunittest/MockQGCUASParamManager.cc deleted 100644 → 0
View file @ 439d6cf8
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "MockQGCUASParamManager.h"
#include "mavlink.h"
#include "QGCLoggingCategory.h"
#include <QTest>
#include <QDebug>
QGC_LOGGING_CATEGORY(MockQGCUASParamManagerLog, "MockQGCUASParamManagerLog")
MockQGCUASParamManager::MockQGCUASParamManager(void)
{
_loadParams();
}
bool MockQGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const
{
Q_UNUSED(component);
if (_mapParams.contains(parameter)) {
value = _mapParams[parameter];
return true;
}
qCDebug(MockQGCUASParamManagerLog) << QString("getParameterValue: parameter not found %1").arg(parameter);
return false;
}
void MockQGCUASParamManager::setParameter(int component, QString parameterName, QVariant value)
{
qCDebug(MockQGCUASParamManagerLog) << QString("setParameter: component(%1) parameter(%2) value(%3)").arg(component).arg(parameterName).arg(value.toString());
_mapParams[parameterName] = value;
emit parameterUpdated(_defaultComponentId, parameterName, value);
}
void MockQGCUASParamManager::_loadParams(void)
{
QFile paramFile(":/unittest/MockLink.params");
bool success = paramFile.open(QFile::ReadOnly);
Q_UNUSED(success);
Q_ASSERT(success);
QTextStream paramStream(&paramFile);
while (!paramStream.atEnd()) {
QString line = paramStream.readLine();
if (line.startsWith("#")) {
continue;
}
QStringList paramData = line.split("\t");
Q_ASSERT(paramData.count() == 5);
QString paramName = paramData.at(2);
QString valStr = paramData.at(3);
uint paramType = paramData.at(4).toUInt();
QVariant paramValue;
switch (paramType) {
case MAV_PARAM_TYPE_REAL32:
paramValue = QVariant(valStr.toFloat());
break;
case MAV_PARAM_TYPE_UINT32:
paramValue = QVariant(valStr.toUInt());
break;
case MAV_PARAM_TYPE_INT32:
paramValue = QVariant(valStr.toInt());
break;
case MAV_PARAM_TYPE_INT8:
paramValue = QVariant((unsigned char)valStr.toUInt());
break;
default:
Q_ASSERT(false);
break;
}
Q_ASSERT(!_mapParams.contains(paramName));
_mapParams[paramName] = paramValue;
}
}
QList<int> MockQGCUASParamManager::getComponentForParam(const QString& parameter) const
{
if (_mapParams.contains(parameter)) {
QList<int> list;
list << 50;
return list;
} else {
return QList<int>();
}
}
src/qgcunittest/MockQGCUASParamManager.h deleted 100644 → 0
View file @ 439d6cf8
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MOCKQGCUASPARAMMANAGER_H
#define MOCKQGCUASPARAMMANAGER_H
#include <QLoggingCategory>
#include "QGCUASParamManagerInterface.h"
Q_DECLARE_LOGGING_CATEGORY(MockQGCUASParamManagerLog)
/// @file
/// @brief This is a mock implementation of QGCUASParamManager for writing Unit Tests.
///
/// @author Don Gagne <don@thegagnes.com>
class MockQGCUASParamManager : public QGCUASParamManagerInterface
{
Q_OBJECT
signals:
// The following QGCSUASParamManagerInterface signals are supported
void parameterListUpToDate(); // You can connect to this signal, but it will never be emitted
void parameterUpdated(int compId, QString paramName, QVariant value);
public:
// Implemented QGCSUASParamManager overrides
virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
virtual int getDefaultComponentId(void) { return _defaultComponentId; }
virtual int countOnboardParams(void) { return _mapParams.count(); }
public slots:
// Implemented QGCSUASParamManager overrides
void setParameter(int component, QString parameterName, QVariant value);
virtual void setPendingParam(int componentId, const QString& key, const QVariant& value, bool forceSend = false)
{ Q_UNUSED(forceSend); setParameter(componentId, key, value); }
virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false)
{ Q_UNUSED(persistAfterSend); Q_UNUSED(forceSend); }
virtual bool parametersReady(void) { return true; }
public:
// MockQGCUASParamManager methods
MockQGCUASParamManager(void);
/// QMap of parameters, QString key is paremeter name, QVariant value is parameter value
typedef QMap<QString, QVariant> ParamMap_t;
/// Sets current set of parameters to support calls like getParameterValue
void setMockParameters(ParamMap_t& map) { _mapParams = map; }
/// Returns the parameters which were set by calls to setParameter calls
ParamMap_t getMockSetParameters(void) { return _mapParams; }
/// Clears the set of parameters set by setParameter calls
void clearMockSetParameters(void) { _mapParams.clear(); }
public:
// Unimplemented QGCUASParamManagerInterface overrides
virtual QList<int> getComponentForParam(const QString& parameter) const;
virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs) { Q_ASSERT(false); Q_UNUSED(paramDescs); }
virtual int countPendingParams() { Q_ASSERT(false); return 0; }
virtual UASParameterDataModel* dataModel() { Q_ASSERT(false); return NULL; }
public slots:
// Unimplemented QGCUASParamManagerInterface overrides
virtual void requestParameterList() { Q_ASSERT(false); }
virtual void requestParameterListIfEmpty() { Q_ASSERT(false); }
virtual void clearAllPendingParams() { Q_ASSERT(false); }
virtual void requestParameterUpdate(int component, const QString& parameter)
{ Q_ASSERT(false); Q_UNUSED(component); Q_UNUSED(parameter); }
virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName)
{ Q_ASSERT(false); Q_UNUSED(stream); Q_UNUSED(uasName); }
virtual void readPendingParamsFromStream(QTextStream &stream) { Q_ASSERT(false); Q_UNUSED(stream); }
virtual void requestRcCalibrationParamsUpdate() { Q_ASSERT(false); }
virtual void copyVolatileParamsToPersistent() { Q_ASSERT(false); }
virtual void copyPersistentParamsToVolatile() { Q_ASSERT(false); }
private:
void _loadParams(void);
ParamMap_t _mapParams;
static const int _defaultComponentId = 50;
// Bogus variables used for return types of NYI methods
QList<int> _bogusQListInt;
};
#endif
\ No newline at end of file
src/qgcunittest/MockUAS.cc deleted 100644 → 0
View file @ 439d6cf8
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "MockUAS.h"
QString MockUAS::_bogusStaticString;
MockUAS::MockUAS(void) :
_systemType(MAV_TYPE_QUADROTOR),
_systemId(1),
_mavlinkPlugin(NULL)
{
}
void MockUAS::setMockParametersAndSignal(MockQGCUASParamManager::ParamMap_t& map)
{
_paramManager.setMockParameters(map);
QMapIterator<QString, QVariant> i(map);
while (i.hasNext()) {
i.next();
emit parameterChanged(_systemId, 0, i.key(), i.value());
}
}
void MockUAS::sendMessage(mavlink_message_t message)
{
if (!_mavlinkPlugin) {
Q_ASSERT(false);
}
_mavlinkPlugin->sendMessage(message);
}
\ No newline at end of file
src/qgcunittest/MockUAS.h deleted 100644 → 0
View file @ 439d6cf8
This diff is collapsed.
src/qgcunittest/MockUASManager.cc deleted 100644 → 0
View file @ 439d6cf8
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "MockUASManager.h"
MockUASManager::MockUASManager(void) :
UASManagerInterface(NULL),
_mockUAS(NULL)
{
}
UASInterface* MockUASManager::getActiveUAS(void)
{
return _mockUAS;
}
void MockUASManager::setMockActiveUAS(MockUAS* mockUAS)
{
// Signal components that the last UAS is no longer active.
if (_mockUAS != NULL) {
emit activeUASStatusChanged(_mockUAS, false);
emit activeUASStatusChanged(_mockUAS->getUASID(), false);
}
_mockUAS = mockUAS;
// And signal that a new UAS is.
emit activeUASSet(_mockUAS);
if (_mockUAS)
{
// We don't support swiching between different UAS
//_mockUAS->setSelected();
emit activeUASStatusChanged(_mockUAS, true);
emit activeUASStatusChanged(_mockUAS->getUASID(), true);
}
}
src/qgcunittest/MockUASManager.h deleted 100644 → 0
View file @ 439d6cf8
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef MOCKUASMANAGER_H
#define MOCKUASMANAGER_H
#include "UASManagerInterface.h"
#include "MockUAS.h"
/// @file
/// @brief This is a mock implementation of a UASManager used for writing Unit Tests. In order
/// to use it you must call UASManager::setMockUASManager which will then cause all further
/// calls to UASManager::instance to return the mock UASManager instead of the normal one.
///
/// @author Don Gagne <don@thegagnes.com>
class MockUASManager : public UASManagerInterface
{
Q_OBJECT
signals:
// The following signals from UASManager interface are supported:
// void activeUASSet(UASInterface* UAS);
// void activeUASStatusChanged(UASInterface* UAS, bool active);
// void activeUASStatusChanged(int systemId, bool active);
public:
// Implemented UASManagerInterface overrides
virtual UASInterface* getActiveUAS(void);
public:
// MockUASManager methods
MockUASManager(void);
// Does not support singleton deletion
virtual void deleteInstance(void) { Q_ASSERT(false); }
/// Sets the currently active mock UAS
/// @param mockUAS new mock uas, NULL for no active UAS
void setMockActiveUAS(MockUAS* mockUAS);
public:
// Unimplemented UASManagerInterface overrides
virtual UASWaypointManager *getActiveUASWaypointManager() { Q_ASSERT(false); return NULL; }
virtual UASInterface* silentGetActiveUAS() { Q_ASSERT(false); return NULL; }
virtual UASInterface* getUASForId(int id) { Q_ASSERT(false); Q_UNUSED(id); return NULL; }
virtual QList<UASInterface*> getUASList() { Q_ASSERT(false); return _bogusQListUASInterface; }
virtual double getHomeLatitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
virtual double getHomeLongitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
virtual double getHomeAltitude() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); }
virtual int getHomeFrame() const { Q_ASSERT(false); return 0; }
virtual Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
{ Q_ASSERT(false); Q_UNUSED(latitude); Q_UNUSED(longitude); Q_UNUSED(altitude); return _bogusEigenVector3d; }
virtual Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef)
{ Q_ASSERT(false); Q_UNUSED(ecef); return _bogusEigenVector3d; }
virtual void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
{ Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); Q_UNUSED(east); Q_UNUSED(north); Q_UNUSED(up); }
virtual void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
{ Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
virtual void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
{ Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
virtual void getLocalNEDSafetyLimits(double* x1, double* y1, double* z1, double* x2, double* y2, double* z2)
{ Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); }
virtual bool isInLocalNEDSafetyLimits(double x, double y, double z)
{ Q_ASSERT(false); Q_UNUSED(x); Q_UNUSED(y); Q_UNUSED(z); return false; }
public slots:
// Unimplemented UASManagerInterface overrides
virtual void setActiveUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); }
virtual void addUAS(UASInterface* UAS) { Q_ASSERT(false); Q_UNUSED(UAS); }
virtual void removeUAS(UASInterface* uas) { Q_ASSERT(false); Q_UNUSED(uas);}
virtual bool launchActiveUAS() { Q_ASSERT(false); return false; }
virtual bool haltActiveUAS() { Q_ASSERT(false); return false; }
virtual bool continueActiveUAS() { Q_ASSERT(false); return false; }
virtual bool returnActiveUAS() { Q_ASSERT(false); return false; }
virtual bool stopActiveUAS() { Q_ASSERT(false); return false; }
virtual bool killActiveUAS() { Q_ASSERT(false); return false; }
virtual bool shutdownActiveUAS() { Q_ASSERT(false); return false; }
virtual bool setHomePosition(double lat, double lon, double alt)
{ Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; }
virtual bool setHomePositionAndNotify(double lat, double lon, double alt)
{ Q_ASSERT(false); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); return false; }
virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2)
{ Q_ASSERT(false); Q_UNUSED(x1); Q_UNUSED(y1); Q_UNUSED(z1); Q_UNUSED(x2); Q_UNUSED(y2); Q_UNUSED(z2); }
virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt)
{ Q_ASSERT(false); Q_UNUSED(uav); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
virtual void loadSettings() { Q_ASSERT(false); }
virtual void storeSettings() { Q_ASSERT(false); }
virtual void _shutdown(void) { Q_ASSERT(false); }
private:
MockUAS* _mockUAS;
// Bogus variables used for return types of NYI methods
QList<UASInterface*> _bogusQListUASInterface;
Eigen::Vector3d _bogusEigenVector3d;
public:
/* Need to align struct pointer to prevent a memory assertion:
* See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
* for details
*/
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
#endif
\ No newline at end of file
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ 5c4d513d
This diff is collapsed.
src/qgcunittest/PX4RCCalibrationTest.h
View file @ 5c4d513d
......@@ -25,11 +25,11 @@
#define PX4RCCALIBRATIONTEST_H
#include "UnitTest.h"
#include "MockUASManager.h"
#include "MockUAS.h"
#include "MockLink.h"
#include "MultiSignalSpy.h"
#include "px4_configuration/PX4RCCalibration.h"
#include "QGCLoggingCategory.h"
#include "AutoPilotPlugin.h"
/// @file
/// @brief PX4RCCalibration Widget unit test
......@@ -94,8 +94,8 @@ private:
void _validateParameters(void);
MockUASManager* _mockUASManager;
MockUAS* _mockUAS;
MockLink* _mockLink;
AutoPilotPlugin* _autopilot;
PX4RCCalibration* _calWidget;
......
src/uas/QGCMAVLinkUASFactory.cc
View file @ 5c4d513d
......@@ -39,9 +39,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Make UAS aware that this link can be used to communicate with the actual robot
uasInterface->addLink(link);
// First thing we do with a new UAS is get the parameters
uasInterface->getParamManager()->requestParameterList();
// Now add UAS to "official" list, which makes the whole application aware of it
UASManager::instance()->addUAS(uasInterface);
......
src/uas/QGCUASParamManager.cc deleted 100644 → 0
View file @ 439d6cf8
#include "QGCUASParamManager.h"
#include <QApplication>
#include <QDir>
#include <QDebug>
#include "UASInterface.h"
#include "QGCMessageBox.h"
QGCUASParamManager::QGCUASParamManager(QObject *parent) :
QGCUASParamManagerInterface(parent),
mav(NULL),
paramDataModel(this),
_parametersReady(false)
{
}
QGCUASParamManager* QGCUASParamManager::initWithUAS(UASInterface* uas)
{
mav = uas;
paramDataModel.setUASID(mav->getUASID());
paramCommsMgr.initWithUAS(uas);
connectToModelAndComms();
return this;
}
void QGCUASParamManager::connectToModelAndComms()
{
// Pass along comms mgr status msgs
connect(&paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
this, SIGNAL(parameterStatusMsgUpdated(QString,int)));
connect(&paramCommsMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_parameterListUpToDate()));
connect(&paramCommsMgr, SIGNAL(parameterListProgress(float)), this, SIGNAL(parameterListProgress(float)));
// Pass along data model updates
connect(&paramDataModel, SIGNAL(parameterUpdated(int, QString , QVariant )),
this, SIGNAL(parameterUpdated(int, QString , QVariant )));
connect(&paramDataModel, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )),
this, SIGNAL(pendingParamUpdate(int , const QString& , QVariant , bool )));
}
void QGCUASParamManager::clearAllPendingParams()
{
paramDataModel.clearAllPendingParams();
emit parameterStatusMsgUpdated(tr("Cleared all pending params"), UASParameterCommsMgr::ParamCommsStatusLevel_OK);
}
int QGCUASParamManager::getDefaultComponentId()
{
return paramDataModel.getDefaultComponentId();
}
QList<int> QGCUASParamManager::getComponentForParam(const QString& parameter) const
{
return paramDataModel.getComponentForOnboardParam(parameter);
}
bool QGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const
{
return paramDataModel.getOnboardParamValue(component,parameter,value);
}
void QGCUASParamManager::requestParameterUpdate(int component, const QString& parameter)
{
if (mav) {
paramCommsMgr.requestParameterUpdate(component,parameter);
}
}
/**
* Send a request to deliver the list of onboard parameters
* to the MAV.
*/
void QGCUASParamManager::requestParameterList()
{
if (mav) {
emit parameterStatusMsgUpdated(tr("Requested param list.. waiting"), UASParameterCommsMgr::ParamCommsStatusLevel_OK);
paramCommsMgr.requestParameterList();
}
}
void QGCUASParamManager::requestParameterListIfEmpty()
{
if (mav) {
int totalOnboard = paramDataModel.countOnboardParams();
if (totalOnboard < 2) { //TODO arbitrary constant, maybe 0 is OK?
requestParameterList();
}
}
}
void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& paramInfo) {
paramDataModel.setParamDescriptions(paramInfo);
}
void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant value)
{
if ((0 == compId) || (-1 == compId)) {
//attempt to get an actual component ID
compId = paramDataModel.getDefaultComponentId();
}
paramDataModel.updatePendingParamWithValue(compId,paramName,value);
}
void QGCUASParamManager::sendPendingParameters(bool persistAfterSend, bool forceSend)
{
paramCommsMgr.sendPendingParameters(persistAfterSend, forceSend);
}
void QGCUASParamManager::setPendingParam(int compId, const QString& paramName, const QVariant& value, bool forceSend)
{
if ((0 == compId) || (-1 == compId)) {
//attempt to get an actual component ID
compId = paramDataModel.getDefaultComponentId();
}
paramDataModel.updatePendingParamWithValue(compId,paramName,value, forceSend);
}
UASInterface* QGCUASParamManager::getUAS()
{
return mav;
}
UASParameterDataModel* QGCUASParamManager::dataModel()
{
return &paramDataModel;
}
void QGCUASParamManager::writeOnboardParamsToStream(QTextStream &stream, const QString& uasName)
{
paramDataModel.writeOnboardParamsToStream(stream,uasName);
}
void QGCUASParamManager::readPendingParamsFromStream(QTextStream &stream)
{
paramDataModel.readUpdateParamsFromStream(stream);
}
void QGCUASParamManager::copyVolatileParamsToPersistent()
{
int changedParamCount = paramDataModel.countPendingParams();
if (changedParamCount > 0) {
QGCMessageBox::warning(tr("Warning"),
tr("There are locally changed parameters. Please transmit them first (<TRANSMIT>) or update them with the onboard values (<REFRESH>) before storing onboard from RAM to ROM."));
}
else {
paramCommsMgr.writeParamsToPersistentStorage();
}
}
void QGCUASParamManager::copyPersistentParamsToVolatile()
{
if (mav) {
mav->readParametersFromStorage(); //TODO use comms mgr instead?
}
}
void QGCUASParamManager::requestRcCalibrationParamsUpdate() {
paramCommsMgr.requestRcCalibrationParamsUpdate();
}
void QGCUASParamManager::_parameterListUpToDate(void)
{
//qDebug() << "Emitting parameters ready, count:" << paramDataModel.countOnboardParams();
_parametersReady = true;
emit parameterListUpToDate();
}
src/uas/QGCUASParamManager.h deleted 100644 → 0
View file @ 439d6cf8
#ifndef QGCUASPARAMMANAGER_H
#define QGCUASPARAMMANAGER_H
#include <QWidget>
#include <QMap>
#include <QTimer>
#include <QVariant>
#include "UASParameterDataModel.h"
#include "QGCUASParamManagerInterface.h"
#include "UASParameterCommsMgr.h"
//forward declarations
class QTextStream;
class UASInterface;
class QGCUASParamManager : public QGCUASParamManagerInterface
{
Q_OBJECT
public:
QGCUASParamManager(QObject* parent = 0);
QGCUASParamManager* initWithUAS(UASInterface* uas);
/** @brief Get the known, confirmed value of a parameter */
virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
/** @brief determine which component is the root component for the UAS and return its ID or 0 if unknown */
virtual int getDefaultComponentId();
/**
* @brief Get a list of all component IDs using this parameter name
* @param parameter The string encoding the parameter name
* @return A list with all components using this parameter name. Can be empty.
*/
virtual QList<int> getComponentForParam(const QString& parameter) const;
/** @brief Provide tooltips / user-visible descriptions for parameters */
virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs);
/**
* @brief Count the pending parameters in the current transmission
* @return The number of pending parameters
*/
virtual int countPendingParams() {
return paramDataModel.countPendingParams();
}
/**
* @brief Count the number of onboard parameters
* @return The number of onboard parameters
*/
virtual int countOnboardParams() {
return paramDataModel.countOnboardParams();
}
/** @brief Get the UAS of this widget
* @return The MAV of this mgr. Unless the MAV object has been destroyed, this is never null.
*/
UASInterface* getUAS();
/** @return The data model managed by this class */
virtual UASParameterDataModel* dataModel();
/// @return true: first full set of parameters received
virtual bool parametersReady(void) { return _parametersReady; }
protected:
void connectToModelAndComms();
signals:
/** @brief We updated the parameter status message */
void parameterStatusMsgUpdated(QString msg, int level);
/** @brief We have received a complete list of all parameters onboard the MAV */
void parameterListUpToDate();
void parameterListProgress(float percentComplete);
/** @brief We've received an update of a parameter's value */
void parameterUpdated(int compId, QString paramName, QVariant value);
/** @brief Notifies listeners that a param was added to or removed from the pending list */
void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
public slots:
/** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
virtual void setParameter(int component, QString parameterName, QVariant value);
/** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory
* @param persistAfterSend If true, all parameters will be written to persistent storage as well
*/
virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false);
/** @brief Request list of parameters from MAV */
virtual void requestParameterList();
/** @brief Request a list of params onboard the MAV if the onboard param list we have is empty */
virtual void requestParameterListIfEmpty();
/** @brief queue a pending parameter for sending to the MAV */
virtual void setPendingParam(int componentId, const QString& key, const QVariant& value, bool forceSend = false);
/** @brief remove all params from the pending list */
virtual void clearAllPendingParams();
/** @brief Request a single parameter by name from the MAV */
virtual void requestParameterUpdate(int component, const QString& parameter);
virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName);
virtual void readPendingParamsFromStream(QTextStream &stream);
virtual void requestRcCalibrationParamsUpdate();
/** @brief Copy the current parameters in volatile RAM to persistent storage (EEPROM/HDD) */
virtual void copyVolatileParamsToPersistent();
/** @brief Copy the parameters from persistent storage to volatile RAM */
virtual void copyPersistentParamsToVolatile();
private slots:
void _parameterListUpToDate(void);
protected:
// Parameter data model
UASInterface* mav; ///< The MAV this manager is controlling
UASParameterDataModel paramDataModel;///< Shared data model of parameters
UASParameterCommsMgr paramCommsMgr; ///< Shared comms mgr for parameters
bool _parametersReady;
};
#endif // QGCUASPARAMMANAGER_H
src/uas/QGCUASParamManagerInterface.h deleted 100644 → 0
View file @ 439d6cf8
#ifndef QGCUASPARAMMANAGERINTERFACE_H
#define QGCUASPARAMMANAGERINTERFACE_H
#include <QWidget>
#include <QMap>
#include <QTimer>
#include <QVariant>
#include <QTextStream>
#include "UASParameterDataModel.h"
/**
* @brief This is the abstract base class for QGCUASParamManager. Although there is
* normally only a single QGCUASParamManager we still use an abstract base interface
* since this allows us to create mock versions.
*
* See QGCUASParamManager.h for method documentation
**/
//forward declarations
class QTextStream;
class UASInterface;
class UASParameterCommsMgr;
class QGCUASParamManagerInterface : public QObject
{
public:
QGCUASParamManagerInterface(QObject* parent = NULL) : QObject(parent) { }
virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const = 0;
virtual int getDefaultComponentId() = 0;
virtual QList<int> getComponentForParam(const QString& parameter) const = 0;
virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs) = 0;
virtual int countPendingParams() = 0;
virtual int countOnboardParams() = 0;
virtual UASParameterDataModel* dataModel() = 0;
virtual bool parametersReady(void) = 0;
public slots:
virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
virtual void sendPendingParameters(bool persistAfterSend = false, bool forceSend = false) = 0;
virtual void requestParameterList() = 0;
virtual void requestParameterListIfEmpty() = 0;
virtual void setPendingParam(int componentId, const QString& key, const QVariant& value, bool forceSend = false) = 0;
virtual void clearAllPendingParams() = 0;
virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName) = 0;
virtual void readPendingParamsFromStream(QTextStream &stream) = 0;
virtual void requestRcCalibrationParamsUpdate() = 0;
virtual void copyVolatileParamsToPersistent() = 0;
virtual void copyPersistentParamsToVolatile() = 0;
signals:
void parameterStatusMsgUpdated(QString msg, int level);
void parameterListUpToDate();
void parameterListProgress(float percentComplete);
void parameterUpdated(int compId, QString paramName, QVariant value);
void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
};
#endif // QGCUASPARAMMANAGER_H
src/uas/UAS.cc
View file @ 5c4d513d
......@@ -27,7 +27,6 @@
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"
#include "UASParameterCommsMgr.h"
#include <Eigen/Geometry>
#include "AutoPilotPluginManager.h"
#include "QGCMessageBox.h"
......@@ -143,8 +142,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
receivedMode(false),
paramsOnceRequested(false),
paramMgr(this),
simulation(0),
// The protected members.
......@@ -230,8 +227,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
statusTimeout.start(500);
readSettings();
//need to init paramMgr after readSettings have been loaded, to properly set autopilot and so forth
paramMgr.initWithUAS(this);
// Initial signals
emit disarmed();
emit armingChanged(false);
......@@ -1645,26 +1641,6 @@ quint64 UAS::getUnixTime(quint64 time)
return ret;
}
/**
* @param component that will be searched for in the map of parameters.
*/
QList<QString> UAS::getParameterNames(int component)
{
if (parameters.contains(component))
{
return parameters.value(component)->keys();
}
else
{
return QList<QString>();
}
}
QList<int> UAS::getComponentIds()
{
return parameters.keys();
}
/**
* @param newBaseMode that UAS is to be set to.
* @param newCustomMode that UAS is to be set to.
......@@ -1914,21 +1890,6 @@ quint64 UAS::getUptime() const
}
}
void UAS::writeParametersToStorage()
{
mavlink_message_t msg;
mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
sendMessage(msg);
}
void UAS::readParametersFromStorage()
{
mavlink_message_t msg;
mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1, 0, 0, 0);
sendMessage(msg);
}
bool UAS::isRotaryWing()
{
switch (type) {
......@@ -2205,116 +2166,11 @@ void UAS::enableExtra3Transmission(int rate)
sendMessage(msg);
}
/**
* Set a parameter value onboard
*
* @param component The component to set the parameter
* @param id Name of the parameter
*/
void UAS::setParameter(const int compId, const QString& paramId, const QVariant& value)
{
if (!paramId.isNull())
{
mavlink_message_t msg;
mavlink_param_set_t p;
mavlink_param_union_t union_value;
// Assign correct value based on QVariant
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
{
switch ((int)value.type())
{
case QVariant::Char:
union_value.param_float = (unsigned char)value.toChar().toLatin1();
p.param_type = MAV_PARAM_TYPE_INT8;
break;
case QVariant::Int:
union_value.param_float = value.toInt();
p.param_type = MAV_PARAM_TYPE_INT32;
break;
case QVariant::UInt:
union_value.param_float = value.toUInt();
p.param_type = MAV_PARAM_TYPE_UINT32;
break;
case QMetaType::Float:
union_value.param_float = value.toFloat();
p.param_type = MAV_PARAM_TYPE_REAL32;
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
return;
}
}
else
{
switch ((int)value.type())
{
case QVariant::Char:
union_value.param_int8 = (unsigned char)value.toChar().toLatin1();
p.param_type = MAV_PARAM_TYPE_INT8;
break;
case QVariant::Int:
union_value.param_int32 = value.toInt();
p.param_type = MAV_PARAM_TYPE_INT32;
break;
case QVariant::UInt:
union_value.param_uint32 = value.toUInt();
p.param_type = MAV_PARAM_TYPE_UINT32;
break;
case QMetaType::Float:
union_value.param_float = value.toFloat();
p.param_type = MAV_PARAM_TYPE_REAL32;
break;
default:
qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
return;
}
}
p.param_value = union_value.param_float;
p.target_system = (uint8_t)uasId;
p.target_component = (uint8_t)compId;
//qDebug() << "SENT PARAM:" << value;
// Copy string into buffer, ensuring not to exceed the buffer size
for (unsigned int i = 0; i < sizeof(p.param_id); i++)
{
// String characters
if ((int)i < paramId.length())
{
p.param_id[i] = paramId.toLatin1()[i];
}
else
{
// Fill rest with zeros
p.param_id[i] = 0;
}
}
mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
sendMessage(msg);
}
}
//TODO update this to use the parameter manager / param data model instead
void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramUnion)
{
int compId = msg.compid;
// Insert component if necessary
if (!parameters.contains(compId)) {
parameters.insert(compId, new QMap<QString, QVariant>());
}
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant paramValue;
// Insert with correct type
......@@ -2374,50 +2230,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;
parameters.value(compId)->insert(paramName, paramValue);
emit parameterChanged(uasId, compId, paramName, paramValue);
emit parameterUpdate(uasId, compId, paramName, rawValue.param_type, paramValue);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, paramValue);
}
/**
* Request parameter, use parameter name to request it.
*/
void UAS::requestParameter(int component, int id)
{
// Request parameter, use parameter name to request it
mavlink_message_t msg;
mavlink_param_request_read_t read;
read.param_index = id;
read.param_id[0] = '\0'; // Enforce null termination
read.target_system = uasId;
read.target_component = component;
mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
sendMessage(msg);
//qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
}
/**
* Request a parameter, use parameter name to request it.
*/
void UAS::requestParameter(int component, const QString& parameter)
{
// Request parameter, use parameter name to request it
mavlink_message_t msg;
mavlink_param_request_read_t read;
read.param_index = -1;
// Copy full param name or maximum max field size
if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)
{
emit textMessageReceived(uasId, 0, MAV_SEVERITY_WARNING, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1));
}
strncpy(read.param_id, parameter.toStdString().c_str(), sizeof(read.param_id));
read.param_id[sizeof(read.param_id) - 1] = '\0'; // Enforce null termination
read.target_system = uasId;
read.target_component = component;
mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
sendMessage(msg);
//qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter;
emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue);
}
/**
......
src/uas/UAS.h
View file @ 5c4d513d
......@@ -40,7 +40,6 @@ This file is part of the QGROUNDCONTROL project
#include "QGCFlightGearLink.h"
#include "QGCJSBSimLink.h"
#include "QGCXPlaneLink.h"
#include "QGCUASParamManager.h"
#include "QGCUASFileManager.h"
Q_DECLARE_LOGGING_CATEGORY(UASLog)
......@@ -462,11 +461,6 @@ protected: //COMMENTS FOR TEST UNIT
bool blockHomePositionChanges; ///< Block changes to the home position
bool receivedMode; ///< True if mode was retrieved from current conenction to UAS
/// PARAMETERS
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
QGCUASParamManager paramMgr; ///< Parameter manager for this UAS
/// SIMULATION
QGCHilLink* simulation; ///< Hardware in the loop simulation link
......@@ -493,11 +487,6 @@ public:
return &waypointManager;
}
/** @brief Get reference to the param manager **/
virtual QGCUASParamManagerInterface* getParamManager() {
return &paramMgr;
}
virtual QGCUASFileManager* getFileManager() {
return &fileManager;
}
......@@ -821,25 +810,6 @@ public slots:
/** @brief Set current mode of operation, e.g. auto or manual, does not check the arming status, for anything else than arming/disarming operations use setMode instead */
void setModeArm(uint8_t newBaseMode, uint32_t newCustomMode);
/** @brief Request a single parameter by name */
void requestParameter(int component, const QString& parameter);
/** @brief Request a single parameter by index */
void requestParameter(int component, int id);
/** @brief Set a system parameter */
void setParameter(const int compId, const QString& paramId, const QVariant& value);
/** @brief Write parameters to permanent storage */
void writeParametersToStorage();
/** @brief Read parameters from permanent storage */
void readParametersFromStorage();
/** @brief Get the names of all parameters */
QList<QString> getParameterNames(int component);
/** @brief Get the ids of all components */
QList<int> getComponentIds();
void enableAllDataTransmission(int rate);
void enableRawSensorDataTransmission(int rate);
void enableExtendedSystemStatusTransmission(int rate);
......
src/uas/UASInterface.h
View file @ 5c4d513d
......@@ -40,9 +40,7 @@ This file is part of the QGROUNDCONTROL project
#include "LinkInterface.h"
#include "ProtocolInterface.h"
#include "UASParameterDataModel.h"
#include "UASWaypointManager.h"
#include "QGCUASParamManagerInterface.h"
class QGCUASFileManager;
......@@ -134,9 +132,6 @@ public:
/** @brief Get reference to the waypoint manager **/
virtual UASWaypointManager* getWaypointManager(void) = 0;
/** @brief Get reference to the param manager **/
virtual QGCUASParamManagerInterface* getParamManager() = 0;
virtual QGCUASFileManager* getFileManager() = 0;
/** @brief Send a message over this link (to this or to all UAS on this link) */
......@@ -314,19 +309,6 @@ public slots:
virtual void setLocalOriginAtCurrentGPSPosition() = 0;
/** @brief Set world frame origin / home position at this GPS position */
virtual void setHomePosition(double lat, double lon, double alt) = 0;
/** @brief Request one specific onboard parameter */
virtual void requestParameter(int component, const QString& parameter) = 0;
/** @brief Write parameter to permanent storage */
virtual void writeParametersToStorage() = 0;
/** @brief Read parameter from permanent storage */
virtual void readParametersFromStorage() = 0;
/** @brief Set a system parameter
* @param component ID of the system component to write the parameter to
* @param id String identifying the parameter
* @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it
* @param value Value of the parameter, IEEE 754 single precision floating point
*/
virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0;
/**
* @brief Add a link to the list of current links
......@@ -496,11 +478,7 @@ signals:
void waypointSelected(int uasId, int id);
void waypointReached(UASInterface* uas, int id);
void autoModeChanged(bool autoMode);
void parameterChanged(int uas, int component, QString parameterName, QVariant value);
void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
void parameterUpdate(int uas, int component, QString parameterName, int type, QVariant value);
void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
void letterDetected(int uasId, QString letter, float confidence, bool detected);
void parameterUpdate(int uas, int component, QString parameterName, int parameterCount, int parameterId, int type, QVariant value);
/**
* @brief The battery status has been updated
*
......
src/uas/UASParameterCommsMgr.cc deleted 100644 → 0
View file @ 439d6cf8
This diff is collapsed.
src/uas/UASParameterCommsMgr.h deleted 100644 → 0
View file @ 439d6cf8
#ifndef UASPARAMETERCOMMSMGR_H
#define UASPARAMETERCOMMSMGR_H
#include <QObject>
#include <QMap>
#include <QTimer>
#include <QVariant>
#include <QVector>
#include <QLoggingCategory>
class UASInterface;
class UASParameterDataModel;
Q_DECLARE_LOGGING_CATEGORY(UASParameterCommsMgrLog)
class UASParameterCommsMgr : public QObject
{
Q_OBJECT
public:
explicit UASParameterCommsMgr(QObject *parent = 0);
UASParameterCommsMgr* initWithUAS(UASInterface* model);///< Two-stage constructor
~UASParameterCommsMgr();
typedef enum ParamCommsStatusLevel {
ParamCommsStatusLevel_OK = 0,
ParamCommsStatusLevel_Warning = 2,
ParamCommsStatusLevel_Error = 4,
ParamCommsStatusLevel_Count
} ParamCommsStatusLevel_t;
protected:
/** @brief activate the silence timer if there are unack'd reads or writes */
virtual void updateSilenceTimer();
virtual void setParameterStatusMsg(const QString& msg, ParamCommsStatusLevel_t level=ParamCommsStatusLevel_OK);
/** @brief Load settings that control eg retransmission timeouts */
void loadParamCommsSettings();
/** @brief clear transmissionMissingPackets and transmissionMissingWriteAckPackets */
void clearRetransmissionLists(int& missingReadCount, int& missingWriteCount );
/** @brief we are waiting for a response to this read param request */
virtual void markReadParamWaiting(int compId, int paramId);
/** @brief we are waiting for a response to this write param request */
void markWriteParamWaiting(int compId, QString paramName, QVariant value);
void resendReadWriteRequests();
void resetAfterListReceive();
void emitPendingParameterCommit(int compId, const QString& key, QVariant& value);
signals:
void commitPendingParameter(int component, QString parameter, QVariant value);
void parameterChanged(int component, int parameterIndex, QVariant value);
void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value);
/** @brief We have received a complete list of all parameters onboard the MAV */
void parameterListUpToDate();
void parameterListProgress(float percentComplete);
void parameterUpdateRequested(int component, const QString& parameter);
void parameterUpdateRequestedById(int componentId, int paramId);
/** @brief We updated the parameter status message */
void parameterStatusMsgUpdated(QString msg, int level);
/// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
void _startSilenceTimer(void);
void _stopSilenceTimer(void);
public slots:
/** @brief Iterate through all components, through all pending parameters and send them to UAS */
virtual void sendPendingParameters(bool copyToPersistent = false, bool forceSend = false);
/** @brief Write the current onboard parameters from transient RAM into persistent storage, e.g. EEPROM or harddisk */
virtual void writeParamsToPersistentStorage();
/** @brief Write one parameter to the MAV */
virtual void setParameter(int component, QString parameterName, QVariant value, bool forceSend = false);
/** @brief Request list of parameters from MAV */
virtual void requestParameterList();
/** @brief The max silence time expired */
virtual void silenceTimerExpired();
/** @brief Request a single parameter update by name */
virtual void requestParameterUpdate(int component, const QString& parameter);
/** @brief Request an update of RC parameters */
virtual void requestRcCalibrationParamsUpdate();
virtual void receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value);
protected:
QMap<int, int> knownParamListSize;///< The known param list size for each component, by component ID
quint64 lastReceiveTime; ///< The last time we received anything from our partner
quint64 lastSilenceTimerReset;
UASInterface* mav; ///< The MAV we're talking to
int maxSilenceTimeout; ///< If nothing received within this period of time, abandon resends
UASParameterDataModel* paramDataModel;
bool persistParamsAfterSend; ///< Copy all parameters to persistent storage after sending
QMap<int, QSet<int>*> readsWaiting; ///< All reads that have not yet been received, by component ID
int retransmitBurstLimit; ///< Number of packets requested for retransmission per burst
int silenceTimeout; ///< If nothing received within this period of time, start resends
QTimer silenceTimer; ///< Timer handling parameter retransmission
bool transmissionListMode; ///< Currently requesting list
QMap<int, QMap<QString, QVariant>* > writesWaiting; ///< All writes that have not yet been ack'd, by component ID
private slots:
/// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
void _startSilenceTimerOnThisThread(void);
void _stopSilenceTimerOnThisThread(void);
private:
void _sendParamRequestListMsg(void);
};
#endif // UASPARAMETERCOMMSMGR_H
src/uas/UASParameterDataModel.cc deleted 100644 → 0
View file @ 439d6cf8
This diff is collapsed.
src/uas/UASParameterDataModel.h deleted 100644 → 0
View file @ 439d6cf8
#ifndef UASPARAMETERDATAMODEL_H
#define UASPARAMETERDATAMODEL_H
#include <QMap>
#include <QObject>
#include <QVariant>
class QTextStream;
class UASParameterDataModel : public QObject
{
Q_OBJECT
public:
explicit UASParameterDataModel(QObject *parent = 0);
//Parameter meta info
bool isParamMinKnown(const QString& param) { return paramMin.contains(param); }
virtual bool isValueLessThanParamMin(const QString& param, double dblVal);
bool isParamMaxKnown(const QString& param) { return paramMax.contains(param); }
virtual bool isValueGreaterThanParamMax(const QString& param, double dblVal);
bool isParamDefaultKnown(const QString& param) { return paramDefault.contains(param); }
double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); }
double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); }
double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); }
virtual QString getParamDescription(const QString& param) { return paramDescriptions.value(param, ""); }
virtual void setParamDescriptions(const QMap<QString,QString>& paramInfo);
/** @brief Get the default component ID for the UAS */
virtual int getDefaultComponentId();
//TODO make this method protected?
/** @brief Ensure that the data model is aware of this component
* @param compId Id of the component
*/
virtual void addComponent(int compId);
/**
* @brief Return a list of all components for this parameter name
* @param parameter The parameter string to search for
* @return A list with all components, can be potentially empty
*/
virtual QList<int> getComponentForOnboardParam(const QString& parameter) const;
/** @brief clears every parameter for every loaded component */
virtual void forgetAllOnboardParams();
/** @brief add this parameter to pending list iff it has changed from onboard value
* @return true if the parameter is now pending
*/
virtual bool updatePendingParamWithValue(int componentId, const QString &key, const QVariant &value, bool forceSend = false);
virtual void handleParamUpdate(int componentId, const QString& key, const QVariant& value);
virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
virtual bool isParamChangePending(int componentId,const QString& key);
QMap<QString , QVariant>* getPendingParamsForComponent(int componentId) {
return pendingParameters.value(componentId);
}
QMap<QString , QVariant>* getOnboardParamsForComponent(int componentId) {
return onboardParameters.value(componentId);
}
QMap<int, QMap<QString, QVariant>* >* getAllPendingParams() {
return &pendingParameters;
}
QMap<int, QMap<QString, QVariant>* >* getAllOnboardParams() {
return &onboardParameters;
}
/** @brief return a count of all pending parameters */
virtual int countPendingParams();
/** @brief return a count of all onboard parameters we've received */
virtual int countOnboardParams();
virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName);
virtual void readUpdateParamsFromStream(QTextStream &stream);
virtual void loadParamMetaInfoFromStream(QTextStream& stream);
void setUASID(int anId) { this->uasId = anId; }
protected:
/** @brief set the confirmed value of a parameter in the onboard params list */
virtual void setOnboardParam(int componentId, const QString& key, const QVariant& value);
/** @brief Save the parameter with a the type specified in the QVariant as fixed */
void setParamWithTypeInMap(int compId, const QString& key, const QVariant &value, QMap<int, QMap<QString, QVariant>* >& map);
/** @brief Write a new pending parameter value that may be eventually sent to the UAS */
virtual void setPendingParam(int componentId, const QString &key, const QVariant& value);
/** @brief remove a parameter from the pending list */
virtual void removePendingParam(int compId, const QString &key);
signals:
/** @brief We've received an update of a parameter's value */
void parameterUpdated(int compId, QString paramName, QVariant value);
/** @brief Notifies listeners that a param was added to or removed from the pending list */
void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
void allPendingParamsCommitted(); ///< All pending params have been committed to the MAV
public slots:
virtual void clearAllPendingParams();
protected:
int defaultComponentId; ///< Cached default component ID
int uasId; ///< The UAS / MAV to which this data model pertains
QMap<int, QMap<QString, QVariant>* > pendingParameters; ///< Changed values that have not yet been transmitted to the UAS, by component ID
QMap<int, QMap<QString, QVariant>* > onboardParameters; ///< All parameters confirmed to be stored onboard the UAS, by component ID
// Tooltip data structures
QMap<QString, QString> paramDescriptions; ///< Tooltip values
// Min / Default / Max data structures
QMap<QString, double> paramMin; ///< Minimum param values
QMap<QString, double> paramDefault; ///< Default param values
QMap<QString, double> paramMax; ///< Minimum param values
};
#endif // UASPARAMETERDATAMODEL_H
src/ui/MainWindow.cc
View file @ 5c4d513d
......@@ -49,7 +49,6 @@ This file is part of the QGROUNDCONTROL project
#include "JoystickWidget.h"
#endif
#include "GAudioOutput.h"
#include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h"
#include "SettingsDialog.h"
#include "QGCMapTool.h"
......@@ -299,18 +298,16 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
_ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0));
_ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0));
_ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0));
_ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0));
_ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0));
_ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+7", 0));
_ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0));
_ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0));
_ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0));
#else
_ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0));
_ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0));
_ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0));
_ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0));
_ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0));
_ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0));
_ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+7", 0));
_ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0));
_ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0));
_ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0));
#endif
......@@ -382,24 +379,6 @@ QString MainWindow::_getWindowGeometryKey()
return "_geometry";
}
void MainWindow::_buildCustomWidgets(void)
{
Q_ASSERT(_customWidgets.count() == 0);
// Create custom widgets
_customWidgets = QGCToolWidget::createWidgetsFromSettings(this);
if (_customWidgets.size() > 0)
{
_ui.menuTools->addSeparator();
}
foreach(QGCToolWidget* tool, _customWidgets) {
// Check if this widget already has a parent, do not create it in this case
QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
if (!dock) {
_createDockWidget(tool->getTitle(), tool->objectName(), Qt::BottomDockWidgetArea, tool);
}
}
}
void MainWindow::_createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget)
{
Q_ASSERT(!_mapName2DockWidget.contains(name));
......@@ -474,8 +453,6 @@ void MainWindow::_buildCommonWidgets(void)
const struct DockWidgetInfo* pDockInfo = &rgDockWidgetInfo[i];
_createDockWidget(pDockInfo->title, pDockInfo->name, pDockInfo->area, NULL /* no inner widget yet */);
}
_buildCustomWidgets();
}
void MainWindow::_buildPlanView(void)
......@@ -534,16 +511,6 @@ void MainWindow::_buildTerminalView(void)
}
}
void MainWindow::_buildLocal3DView(void)
{
#ifdef QGC_OSG_ENABLED
if (!_local3DView) {
_local3DView = Q3DWidgetFactory::get("PIXHAWK", this);
_local3DView->setVisible(false);
}
#endif
}
/// Shows or hides the specified dock widget, creating if necessary
void MainWindow::_showDockWidget(const QString& name, bool show)
{
......@@ -718,45 +685,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
event->accept();
}
void MainWindow::_createNewCustomWidget(void)
{
if (QGCToolWidget::instances()->isEmpty())
{
// This is the first widget
_ui.menuTools->addSeparator();
}
QString objectName;
int customToolIndex = 0;
//Find the next unique object name that we can use
do {
++customToolIndex;
objectName = QString("CUSTOM_TOOL_%1").arg(customToolIndex) + "DOCK";
} while(QGCToolWidget::instances()->contains(objectName));
QString title = tr("Custom Tool %1").arg(customToolIndex );
QGCToolWidget* tool = new QGCToolWidget(objectName, title);
tool->resize(100, 100);
_createDockWidget(title, objectName, Qt::BottomDockWidgetArea, tool);
_mapName2DockWidget[objectName]->setVisible(true);
}
void MainWindow::_loadCustomWidgetFromFile(void)
{
QString fileName = QGCFileDialog::getOpenFileName(
this, tr("Load Widget File"),
QStandardPaths::writableLocation(QStandardPaths::DesktopLocation),
tr("QGroundControl Widgets (*.qgw);;All Files (*)"));
if (!fileName.isEmpty()) {
QGCToolWidget* tool = new QGCToolWidget("", "", this);
if (tool->loadSettings(fileName, true)) {
QString objectName = tool->objectName() + "DOCK";
_createDockWidget(tool->getTitle(), objectName, Qt::LeftDockWidgetArea, tool);
_mapName2DockWidget[objectName]->widget()->setVisible(true);
}
}
// TODO Add error dialog if widget could not be loaded
}
void MainWindow::loadSettings()
{
// Why the screaming?
......@@ -778,9 +706,6 @@ void MainWindow::loadSettings()
case VIEW_SIMULATION:
case VIEW_SETUP:
case VIEW_TERMINAL:
#ifdef QGC_OSG_ENABLED
case VIEW_LOCAL3D:
#endif
_currentView = currentViewCandidate;
break;
default:
......@@ -806,9 +731,6 @@ void MainWindow::storeSettings()
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", _currentView);
settings.setValue(_getWindowStateKey(), saveState());
// And save any custom weidgets
QGCToolWidget::storeWidgetsToSettings(settings);
}
void MainWindow::configureWindowName()
......@@ -850,15 +772,9 @@ void MainWindow::connectCommonActions()
perspectives->addAction(_ui.actionPlan);
perspectives->addAction(_ui.actionSetup);
perspectives->addAction(_ui.actionTerminalView);
perspectives->addAction(_ui.actionLocal3DView);
perspectives->addAction(_ui.actionExperimentalPlanView);
perspectives->setExclusive(true);
/* Hide the actions that are not relevant */
#ifndef QGC_OSG_ENABLED
_ui.actionLocal3DView->setVisible(false);
#endif
// Mark the right one as selected
if (_currentView == VIEW_ANALYZE)
{
......@@ -895,11 +811,6 @@ void MainWindow::connectCommonActions()
_ui.actionTerminalView->setChecked(true);
_ui.actionTerminalView->activate(QAction::Trigger);
}
if (_currentView == VIEW_LOCAL3D)
{
_ui.actionLocal3DView->setChecked(true);
_ui.actionLocal3DView->activate(QAction::Trigger);
}
// The UAS actions are not enabled without connection to system
_ui.actionLiftoff->setEnabled(false);
......@@ -927,7 +838,6 @@ void MainWindow::connectCommonActions()
connect(_ui.actionAnalyze, SIGNAL(triggered()), this, SLOT(loadAnalyzeView()));
connect(_ui.actionPlan, SIGNAL(triggered()), this, SLOT(loadPlanView()));
connect(_ui.actionExperimentalPlanView, SIGNAL(triggered()), this, SLOT(loadOldPlanView()));
connect(_ui.actionLocal3DView, SIGNAL(triggered()), this, SLOT(loadLocal3DView()));
connect(_ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView()));
// Help Actions
......@@ -935,10 +845,6 @@ void MainWindow::connectCommonActions()
connect(_ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
connect(_ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
// Custom widget actions
connect(_ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(_createNewCustomWidget()));
connect(_ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(_loadCustomWidgetFromFile()));
// Audio output
_ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), _ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
......@@ -1113,10 +1019,9 @@ void MainWindow::_loadCurrentViewState(void)
_buildTerminalView();
centerView = _terminalView;
break;
case VIEW_LOCAL3D:
_buildLocal3DView();
centerView = _local3DView;
default:
Q_ASSERT(false);
break;
}
......@@ -1269,17 +1174,6 @@ void MainWindow::loadTerminalView()
}
}
void MainWindow::loadLocal3DView()
{
if (_currentView != VIEW_LOCAL3D)
{
_storeCurrentViewState();
_currentView = VIEW_LOCAL3D;
_ui.actionLocal3DView->setChecked(true);
_loadCurrentViewState();
}
}
void MainWindow::loadFlightView()
{
if (_currentView != VIEW_FLIGHT)
......
src/ui/MainWindow.h
View file @ 5c4d513d
......@@ -67,7 +67,6 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkDecoder.h"
#include "QGCUASFileViewMulti.h"
#include "QGCFlightGearLink.h"
#include "QGCToolWidget.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
......@@ -162,8 +161,6 @@ public slots:
void loadOldPlanView();
/** @brief Load Terminal Console views */
void loadTerminalView();
/** @brief Load local 3D view */
void loadLocal3DView();
/** @brief Manage Links */
void manageLinks();
......@@ -231,14 +228,14 @@ protected:
typedef enum _VIEW_SECTIONS
{
VIEW_ANALYZE, // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
VIEW_PLAN, // New (QtQuick) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
VIEW_FLIGHT, // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle.
VIEW_SIMULATION, // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations.
VIEW_SETUP, // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
VIEW_TERMINAL, // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode.
VIEW_LOCAL3D, // A local 3D view. Provides a local 3D view that makes visualizing 3D attitude/orientation/pose easy while in operation.
VIEW_EXPERIMENTAL_PLAN, // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
VIEW_ANALYZE, // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
VIEW_PLAN, // New (QtQuick) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
VIEW_FLIGHT, // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle.
VIEW_SIMULATION, // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations.
VIEW_SETUP, // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
VIEW_TERMINAL, // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode.
VIEW_LOCAL3D, // Unused
VIEW_EXPERIMENTAL_PLAN, // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
} VIEW_SECTIONS;
/** @brief Catch window resize events */
......@@ -300,8 +297,6 @@ protected:
private slots:
void _showDockWidgetAction(bool show);
void _loadCustomWidgetFromFile(void);
void _createNewCustomWidget(void);
void _linkStateChange(LinkInterface*);
#ifdef UNITTEST_BUILD
void _showQmlTestWidget(void);
......@@ -321,7 +316,6 @@ private:
QPointer<QWidget> _analyzeView;
QPointer<QWidget> _simView;
QPointer<QWidget> _terminalView;
QPointer<QWidget> _local3DView;
// Dock widget names
static const char* _uasControlDockWidgetName;
......@@ -351,14 +345,12 @@ private:
void _buildAnalyzeView(void);
void _buildSimView(void);
void _buildTerminalView(void);
void _buildLocal3DView(void);
void _storeCurrentViewState(void);
void _loadCurrentViewState(void);
void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget);
void _createInnerDockWidget(const QString& widgetName);
void _buildCustomWidgets(void);
void _buildCommonWidgets(void);
void _hideAllHilDockWidgets(void);
void _hideAllDockWidgets(void);
......@@ -370,7 +362,6 @@ private:
bool _showStatusBar;
QActionGroup* _centerStackActionGroup;
MAVLinkSimulationLink* _simulationLink;
QList<QGCToolWidget*> _customWidgets;
QVBoxLayout* _centralLayout;
QList<QObject*> _commsWidgetList;
QWidget* _currentViewWidget; ///< Currently displayed view widget
......
src/ui/MainWindow.ui
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......@@ -95,12 +95,9 @@
<property name="title">
<string>Tool Widgets</string>
</property>
<addaction name="actionNewCustomWidget"/>
<addaction name="actionLoadCustomWidgetFile"/>
<addaction name="separator"/>
</widget>
<addaction name="actionExperimentalPlanView"/>
<addaction name="actionLocal3DView"/>
<addaction name="actionTerminalView"/>
<addaction name="actionSimulationView"/>
<addaction name="separator"/>
......@@ -223,11 +220,6 @@
<string>Fly</string>
</property>
</action>
<action name="actionNewCustomWidget">
<property name="text">
<string>New Custom Widget</string>
</property>
</action>
<action name="actionMuteAudioOutput">
<property name="checkable">
<bool>true</bool>
......@@ -287,11 +279,6 @@
<string>Esc</string>
</property>
</action>
<action name="actionLoadCustomWidgetFile">
<property name="text">
<string>Load Custom Widget File</string>
</property>
</action>
<action name="actionSetup">
<property name="checkable">
<bool>true</bool>
......@@ -330,14 +317,6 @@
<string>Terminal</string>
</property>
</action>
<action name="actionLocal3DView">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Local 3D View</string>
</property>
</action>
<action name="actionStatusBar">
<property name="checkable">
<bool>true</bool>
......
src/ui/QGCMapRCToParamDialog.cpp
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......@@ -30,7 +30,9 @@
#include <QDialog>
#include <QThread>
#include "UASInterface.h"
#include "AutoPilotPlugin.h"
namespace Ui {
class QGCMapRCToParamDialog;
......@@ -42,27 +44,23 @@ class ParamLoader : public QObject
Q_OBJECT
public:
ParamLoader(QString param_id, UASInterface *mav, QObject * parent = 0):
QObject(parent),
mav(mav),
paramMgr(mav->getParamManager()),
param_id(param_id),
param_received(false)
{}
ParamLoader(QString paramName, UASInterface* uas, QObject* parent = NULL);
public slots:
void load();
void handleParameterChanged(int uas, int component, QString parameterName, QVariant value);
signals:
void paramLoaded(bool success, float value, QString message = "");
void correctParameterChanged();
private slots:
void _parameterUpdated(QVariant value);
protected:
UASInterface *mav;
QGCUASParamManagerInterface* paramMgr;
QString param_id;
bool param_received;
private:
UASInterface* _uas;
AutoPilotPlugin* _autopilot;
QString _paramName;
bool _paramReceived;
};
class QGCMapRCToParamDialog : public QDialog
......
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#ifndef CAMERAPARAMS_H
#define CAMERAPARAMS_H
class CameraParams
{
public:
CameraParams();
float& minZoomRange(void);
float minZoomRange(void) const;
float& fov(void);
float fov(void) const;
float& minClipRange(void);
float minClipRange(void) const;
float& maxClipRange(void);
float maxClipRange(void) const;
private:
float mMinZoomRange;
float mFov;
float mMinClipRange;
float mMaxClipRange;
};
#endif // CAMERAPARAMS_H
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