Merge pull request #977 from DonLakeFlyer/RemovePixhawkAutopilot

Remove PIXHAWK specific board support

QGCExternalLibs.pri

@@ -31,12 +31,6 @@ else:exists(user_config.pri):infile(user_config.pri, MAVLINK_CONF) {
         message($$sprintf("Using MAVLink dialect '%1' specified in user_config.pri", $$MAVLINK_CONF))
     }
 }
-# If no valid user selection is found, default to the pixhawk if it's available.
-# Note: This can be a list of several dialects.
-else {
-    MAVLINK_CONF=pixhawk
-    message($$sprintf("Using default MAVLink dialect '%1'.", $$MAVLINK_CONF))
-}
 
 # Then we add the proper include paths dependent on the dialect.
 INCLUDEPATH += $$MAVLINKPATH

qgroundcontrol.pro

@@ -245,7 +245,6 @@ INCLUDEPATH += \
     src/lib/qmapcontrol \
     src/ui/mavlink \
     src/ui/param \
-    src/ui/watchdog \
     src/ui/map3D \
     src/ui/mission \
     src/ui/designer \
@@ -266,16 +265,12 @@ FORMS += \
     src/ui/UASView.ui \
     src/ui/ParameterInterface.ui \
     src/ui/WaypointList.ui \
-    src/ui/ObjectDetectionView.ui \
     src/ui/JoystickWidget.ui \
     src/ui/DebugConsole.ui \
     src/ui/HDDisplay.ui \
     src/ui/MAVLinkSettingsWidget.ui \
     src/ui/AudioOutputWidget.ui \
     src/ui/QGCSensorSettingsWidget.ui \
-    src/ui/watchdog/WatchdogControl.ui \
-    src/ui/watchdog/WatchdogProcessView.ui \
-    src/ui/watchdog/WatchdogView.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCRemoteControlView.ui \
     src/ui/QMap3D.ui \
@@ -372,7 +367,6 @@ HEADERS += \
     src/ui/ParameterInterface.h \
     src/ui/WaypointList.h \
     src/Waypoint.h \
-    src/ui/ObjectDetectionView.h \
     src/input/JoystickInput.h \
     src/ui/JoystickWidget.h \
     src/ui/DebugConsole.h \
@@ -384,10 +378,6 @@ HEADERS += \
     src/ui/QGCParamWidget.h \
     src/ui/QGCSensorSettingsWidget.h \
     src/ui/linechart/Linecharts.h \
-    src/uas/PxQuadMAV.h \
-    src/ui/watchdog/WatchdogControl.h \
-    src/ui/watchdog/WatchdogProcessView.h \
-    src/ui/watchdog/WatchdogView.h \
     src/uas/UASWaypointManager.h \
     src/ui/HSIDisplay.h \
     src/QGC.h \
@@ -528,7 +518,6 @@ SOURCES += \
     src/ui/ParameterInterface.cc \
     src/ui/WaypointList.cc \
     src/Waypoint.cc \
-    src/ui/ObjectDetectionView.cc \
     src/input/JoystickInput.cc \
     src/ui/JoystickWidget.cc \
     src/ui/DebugConsole.cc \
@@ -540,10 +529,6 @@ SOURCES += \
     src/ui/QGCParamWidget.cc \
     src/ui/QGCSensorSettingsWidget.cc \
     src/ui/linechart/Linecharts.cc \
-    src/uas/PxQuadMAV.cc \
-    src/ui/watchdog/WatchdogControl.cc \
-    src/ui/watchdog/WatchdogProcessView.cc \
-    src/ui/watchdog/WatchdogView.cc \
     src/uas/UASWaypointManager.cc \
     src/ui/HSIDisplay.cc \
     src/QGC.cc \

src/comm/MAVLinkProtocol.cc

@@ -24,7 +24,6 @@
 #include "UASManager.h"
 #include "UASInterface.h"
 #include "UAS.h"
-#include "PxQuadMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
 #include "QGCMAVLink.h"

src/comm/MAVLinkSimulationLink.cc

@@ -197,10 +197,6 @@ void MAVLinkSimulationLink::mainloop()
 
     mavlink_attitude_t attitude;
     memset(&attitude, 0, sizeof(mavlink_attitude_t));
-#ifdef MAVLINK_ENABLED_PIXHAWK
-    mavlink_raw_aux_t rawAuxValues;
-    memset(&rawAuxValues, 0, sizeof(mavlink_raw_aux_t));
-#endif
     mavlink_raw_imu_t rawImuValues;
     memset(&rawImuValues, 0, sizeof(mavlink_raw_imu_t));
 
@@ -301,15 +297,6 @@ void MAVLinkSimulationLink::mainloop()
                         rawImuValues.zgyro = d;
                         attitude.yawspeed = ((d-29.000)/3000.0)*2.7-2.7-2.65;
                     }
-#ifdef MAVLINK_ENABLED_PIXHAWK
-                    if (keys.value(i, "") == "Pressure") {
-                        rawAuxValues.baro = d;
-                    }
-
-                    if (keys.value(i, "") == "Battery") {
-                        rawAuxValues.vbat = d;
-                    }
-#endif
                     if (keys.value(i, "") == "roll_IMU") {
                         attitude.roll = d;
                     }
@@ -473,46 +460,6 @@ void MAVLinkSimulationLink::mainloop()
 
         static int detectionCounter = 6;
         if (detectionCounter % 10 == 0) {
-#ifdef MAVLINK_ENABLED_PIXHAWK
-            mavlink_pattern_detected_t detected;
-            detected.confidence = 5.0f;
-            detected.type = 0;  // compiler confused into thinking type is used unitialized, bogus init to silence
-
-            if (detectionCounter == 10) {
-                char fileName[] = "patterns/face5.png";
-                memcpy(detected.file, fileName, sizeof(fileName));
-                detected.type = 0; // 0: Pattern, 1: Letter
-            } else if (detectionCounter == 20) {
-                char fileName[] = "7";
-                memcpy(detected.file, fileName, sizeof(fileName));
-                detected.type = 1; // 0: Pattern, 1: Letter
-            } else if (detectionCounter == 30) {
-                char fileName[] = "patterns/einstein.bmp";
-                memcpy(detected.file, fileName, sizeof(fileName));
-                detected.type = 0; // 0: Pattern, 1: Letter
-            } else if (detectionCounter == 40) {
-                char fileName[] = "F";
-                memcpy(detected.file, fileName, sizeof(fileName));
-                detected.type = 1; // 0: Pattern, 1: Letter
-            } else if (detectionCounter == 50) {
-                char fileName[] = "patterns/face2.png";
-                memcpy(detected.file, fileName, sizeof(fileName));
-                detected.type = 0; // 0: Pattern, 1: Letter
-            } else if (detectionCounter == 60) {
-                char fileName[] = "H";
-                memcpy(detected.file, fileName, sizeof(fileName));
-                detected.type = 1; // 0: Pattern, 1: Letter
-                detectionCounter = 0;
-            }
-            detected.detected = 1;
-            mavlink_msg_pattern_detected_encode(systemId, componentId, &msg, &detected);
-            // Allocate buffer with packet data
-            bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
-            //add data into datastream
-            memcpy(stream+streampointer,buffer, bufferlength);
-            streampointer += bufferlength;
-            //detectionCounter = 0;
-#endif
         }
         detectionCounter++;
 
@@ -701,14 +648,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
 //                }
             }
             break;
-#ifdef MAVLINK_ENABLED_PIXHAWK
-            case MAVLINK_MSG_ID_MANUAL_CONTROL: {
-                mavlink_manual_control_t control;
-                mavlink_msg_manual_control_decode(&msg, &control);
-//                qDebug() << "\n" << "ROLL:" << control.x << "PITCH:" << control.y;
-            }
-            break;
-#endif
             case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
             {
 //                qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";

src/comm/OpalLink.cc

@@ -199,47 +199,6 @@ void OpalLink::writeBytes(const char *bytes, qint64 length)
                 params->getParameter(OpalRT::SERVO_INPUTS, "PIT_SET4_IN").setValue(((radio.pitch[4]>900 /*in us?*/)?radio.pitch[4]/1000:radio.pitch[4]));
         }
         break;
-#endif
-#ifdef MAVLINK_ENABLED_PIXHAWK
-        case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: {
-            mavlink_request_data_stream_t stream;
-            mavlink_msg_request_data_stream_decode(&msg, &stream);
-            switch (stream.req_stream_id) {
-            case 0: // All data types
-                break;
-            case 1: // Raw Sensor Data
-                break;
-            case 2: // extended system status
-                break;
-            case 3: // rc channel data
-                sendRCValues = (stream.start_stop == 1?true:false);
-                break;
-            case 4: // raw controller
-                if (stream.start_stop == 1)
-                    sendRawController = true;
-                else
-                    sendRawController = false;
-                break;
-            case 5: // raw sensor fusion
-                break;
-            case 6: // position
-                sendPosition = (stream.start_stop == 1?true:false);
-                break;
-            case 7: // extra 1
-                break;
-            case 8: // extra 2
-                break;
-            case 9: // extra 3
-                break;
-            default:
-                qDebug() << __FILE__ << __LINE__ << "Received Unknown Data Strem Request with ID" << stream.req_stream_id;
-            }
-        }
-        break;
-        default: {
-            qDebug() << "OpalLink::writeBytes(): Unknown mavlink packet";
-        }
-        }
 #endif
     }
 

src/comm/QGCMAVLink.h

@@ -32,12 +32,5 @@ This file is part of the QGROUNDCONTROL project
 
 #include <mavlink.h>
 
-//#ifdef MAVLINK_CONF
-//#define MY_MACRO(x) <x>
-//#include MY_MACRO(MAVLINK_CONF)
-//#include MAVLINK_CONF
-//#endif
-
-
 #endif // QGCMAVLINK_H
 

src/uas/PxQuadMAV.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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 PXQUADMAV_H
-#define PXQUADMAV_H
-
-#include "UAS.h"
-
-class PxQuadMAV : public UAS
-{
-    Q_OBJECT
-    Q_INTERFACES(UASInterface)
-public:
-    PxQuadMAV(MAVLinkProtocol* mavlink, QThread* thread, int id);
-public slots:
-    /** @brief Receive a MAVLink message from this MAV */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send a command to an onboard process */
-    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
-signals:
-    void watchdogReceived(int systemId, int watchdogId, unsigned int processCount);
-    void processReceived(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
-    void processChanged(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
-};
-
-#endif // PXQUADMAV_H

src/uas/QGCMAVLinkUASFactory.cc

@@ -39,20 +39,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
-    case MAV_AUTOPILOT_PIXHAWK:
-    {
-        PxQuadMAV* mav = new PxQuadMAV(mavlink, worker, sysid);
-        // Set the system type
-        mav->setSystemType((int)heartbeat->type);
-
-        // Connect this robot to the UAS object
-        // it is IMPORTANT here to use the right object type,
-        // else the slot of the parent object is called (and thus the special
-        // packets never reach their goal)
-        connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-        uas = mav;
-    }
-    break;
     case MAV_AUTOPILOT_PX4:
     {
         QGXPX4UAS* px4 = new QGXPX4UAS(mavlink, worker, sysid);

src/uas/QGCMAVLinkUASFactory.h

@@ -10,7 +10,6 @@
 
 // INCLUDE ALL MAV/UAS CLASSES USING MAVLINK
 #include "UAS.h"
-#include "PxQuadMAV.h"
 
 class QGCMAVLinkUASFactory : public QObject
 {

src/uas/UAS.h

@@ -334,65 +334,6 @@ public:
     bool isRotaryWing();
     bool isFixedWing();
 
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay getOverlay()
-    {
-        QMutexLocker locker(&overlayMutex);
-        return overlay;
-    }
-
-    px::GLOverlay getOverlay(qreal& receivedTimestamp)
-    {
-        receivedTimestamp = receivedOverlayTimestamp;
-        QMutexLocker locker(&overlayMutex);
-        return overlay;
-    }
-
-    px::ObstacleList getObstacleList() {
-        QMutexLocker locker(&obstacleListMutex);
-        return obstacleList;
-    }
-
-    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedObstacleListTimestamp;
-        QMutexLocker locker(&obstacleListMutex);
-        return obstacleList;
-    }
-
-    px::Path getPath() {
-        QMutexLocker locker(&pathMutex);
-        return path;
-    }
-
-    px::Path getPath(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPathTimestamp;
-        QMutexLocker locker(&pathMutex);
-        return path;
-    }
-
-    px::PointCloudXYZRGB getPointCloud() {
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPointCloudTimestamp;
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::RGBDImage getRGBDImage() {
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-
-    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedRGBDImageTimestamp;
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-#endif
-
     friend class UASWaypointManager;
     friend class QGCUASFileManager;
 
@@ -525,28 +466,6 @@ 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
 
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay overlay;
-    QMutex overlayMutex;
-    qreal receivedOverlayTimestamp;
-
-    px::ObstacleList obstacleList;
-    QMutex obstacleListMutex;
-    qreal receivedObstacleListTimestamp;
-
-    px::Path path;
-    QMutex pathMutex;
-    qreal receivedPathTimestamp;
-
-    px::PointCloudXYZRGB pointCloud;
-    QMutex pointCloudMutex;
-    qreal receivedPointCloudTimestamp;
-
-    px::RGBDImage rgbdImage;
-    QMutex rgbdImageMutex;
-    qreal receivedRGBDImageTimestamp;
-#endif
-
     /// PARAMETERS
     QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     bool paramsOnceRequested;       ///< If the parameter list has been read at least once

src/ui/MainWindow.cc

@@ -75,9 +75,6 @@ This file is part of the QGROUNDCONTROL project
 #include "Q3DWidgetFactory.h"
 #endif
 
-// FIXME Move
-#include "PxQuadMAV.h"
-
 #include "LogCompressor.h"
 
 // Set up some constants
@@ -1541,25 +1538,6 @@ void MainWindow::UASCreated(UASInterface* uas)
     // Load default custom widgets for this autopilot type
     loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
 
-
-    if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
-    {
-        // Dock widgets
-        if (!detectionDockWidget)
-        {
-            detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
-            detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) );
-            detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
-        }
-
-        if (!watchdogControlDockWidget)
-        {
-            watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
-            watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
-            watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
-        }
-    }
-
     // Reload view state in case new widgets were added
     loadViewState();
 }

src/ui/MainWindow.h

@@ -48,7 +48,6 @@ This file is part of the QGROUNDCONTROL project
 #include "UASListWidget.h"
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
-#include "ObjectDetectionView.h"
 #include "submainwindow.h"
 #include "input/JoystickInput.h"
 #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
@@ -57,7 +56,6 @@ This file is part of the QGROUNDCONTROL project
 #include "DebugConsole.h"
 #include "ParameterInterface.h"
 #include "HDDisplay.h"
-#include "WatchdogControl.h"
 #include "HSIDisplay.h"
 #include "QGCRemoteControlView.h"
 #include "opmapcontrol.h"

src/ui/ObjectDetectionView.cc

-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK 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.
-
-    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief List of detected objects
- *   @author Benjamin Knecht <mavteam@student.ethz.ch>
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *   @author Fabian Landau <mavteam@student.ethz.ch>
- *
- */
-
-#include <QListView>
-#include <QPixmap>
-#include "ObjectDetectionView.h"
-#include "ui_ObjectDetectionView.h"
-#include "UASManager.h"
-#include "GAudioOutput.h"
-
-#include <QDebug>
-#include <QMap>
-
-ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
-    QWidget(parent),
-    patternList(),
-    letterList(),
-    letterTimer(),
-    uas(NULL),
-    patternFolder(folder),
-    separator(" "),
-    m_ui(new Ui::ObjectDetectionView)
-{
-    m_ui->setupUi(this);
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
-    letterTimer.start(1000);
-    connect(&letterTimer, SIGNAL(timeout()), this, SLOT(decreaseLetterTime()));
-    connect(m_ui->clearButton, SIGNAL(clicked()), this, SLOT(clearLists()));
-
-    this->setVisible(false);
-}
-
-ObjectDetectionView::~ObjectDetectionView()
-{
-    delete m_ui;
-}
-
-void ObjectDetectionView::changeEvent(QEvent *e)
-{
-    switch (e->type()) {
-    case QEvent::LanguageChange:
-        m_ui->retranslateUi(this);
-        break;
-    default:
-        break;
-    }
-}
-
-void ObjectDetectionView::setUAS(UASInterface* uas)
-{
-    if (this->uas != NULL) {
-        disconnect(this->uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
-        disconnect(this->uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
-    }
-
-    this->uas = uas;
-    connect(uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
-    connect(uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
-}
-
-void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confidence, bool detected)
-{
-    if (detected) {
-        if (!patternList.contains(patternPath)) {
-            // Emit audio message on detection
-            if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected pattern " + QString(patternPath.split("/", QString::SkipEmptyParts).last()).split(".", QString::SkipEmptyParts).first());
-
-            patternList.insert(patternPath, Pattern(patternPath, confidence));
-        } else {
-            Pattern pattern = patternList.value(patternPath);
-            if (confidence > pattern.confidence)
-                pattern.confidence = confidence;
-            ++pattern.count;
-            patternList.insert(patternPath, pattern);
-        }
-
-        // set list items
-        QList<Pattern> templist;
-        foreach (Pattern pattern, patternList)
-        templist.push_back(pattern);
-        qSort(templist);
-        m_ui->listWidget->clear();
-        foreach (Pattern pattern, templist)
-        m_ui->listWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
-
-        // load image
-        QString filePath = patternFolder + "/" + patternPath.split("/", QString::SkipEmptyParts).last();
-        QPixmap image = QPixmap(filePath);
-        if (image.width() > image.height())
-            image = image.scaledToWidth(m_ui->imageLabel->width());
-        else
-            image = image.scaledToHeight(m_ui->imageLabel->height());
-        m_ui->imageLabel->setPixmap(image);
-
-        // set textlabel
-        QString patternName = patternPath.split("/", QString::SkipEmptyParts).last(); // Remove preceding folder names
-        patternName = patternName.split(".", QString::SkipEmptyParts).first(); // Remove file ending
-        m_ui->nameLabel->setText("Pattern: " + patternName);
-    }
-}
-
-void ObjectDetectionView::newLetter(int uasId, QString letter, float confidence, bool detected)
-{
-    Q_UNUSED(confidence);
-
-    if (detected) {
-        if (!letterList.contains(letter)) {
-            // Emit audio message on detection
-            if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected letter " + letter);
-
-            letterList.insert(letter, Pattern(letter, 0));
-        } else {
-            Pattern pattern = letterList.value(letter);
-            pattern.confidence = 0;
-            ++pattern.count;
-            letterList.insert(letter, pattern);
-        }
-
-        updateLetterList();
-
-        // display letter
-        m_ui->letterLabel->setText(letter);
-
-        // set textlabel
-        m_ui->nameLabel->setText("Letter: " + letter);
-    }
-}
-
-void ObjectDetectionView::decreaseLetterTime()
-{
-    foreach (Pattern pattern, letterList) {
-        pattern.confidence -= 1;
-        letterList.insert(pattern.name, pattern);
-    }
-
-    updateLetterList();
-}
-
-void ObjectDetectionView::updateLetterList()
-{
-    // set list items
-    QList<Pattern> templist;
-    foreach (Pattern pattern, letterList)
-    templist.push_back(pattern);
-    qSort(templist);
-    m_ui->letterListWidget->clear();
-    foreach (Pattern pattern, templist)
-    m_ui->letterListWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
-}
-
-void ObjectDetectionView::clearLists()
-{
-    patternList.clear();
-    letterList.clear();
-
-    m_ui->listWidget->clear();
-    m_ui->letterListWidget->clear();
-
-    m_ui->imageLabel->clear();;
-    m_ui->letterLabel->clear();
-    m_ui->nameLabel->clear();
-}
-
-void ObjectDetectionView::takeAction()
-{
-    QAction* act = dynamic_cast<QAction*>(sender());
-    if (act) {
-        QString patternPath = act->text().trimmed().split(separator, QString::SkipEmptyParts).first(); // Remove additional information
-        QString patternName = patternPath.split("//", QString::SkipEmptyParts).last(); // Remove preceding folder names
-        patternName = patternName.split(".", QString::SkipEmptyParts).first(); // Remove file ending
-
-        // Set name and label
-        m_ui->nameLabel->setText(patternName);
-        m_ui->imageLabel->setPixmap(act->icon().pixmap(64, 64));
-    }
-}
-
-void ObjectDetectionView::resizeEvent(QResizeEvent * event )
-{
-    if (event->isAccepted()) {
-        // Enforce square shape of image label
-        m_ui->imageLabel->resize(m_ui->imageLabel->width(), m_ui->imageLabel->width());
-    }
-}
-

src/ui/ObjectDetectionView.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief List of detected objects
- *   @author Benjamin Knecht <mavteam@student.ethz.ch>
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *   @author Fabian Landau <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _OBJECTDETECTIONVIEW_H_
-#define _OBJECTDETECTIONVIEW_H_
-
-#include <QWidget>
-#include <QResizeEvent>
-#include <QMap>
-#include "UASInterface.h"
-
-namespace Ui
-{
-class ObjectDetectionView;
-}
-
-/**
- * @brief Lists the detected objects and their confidence
- */
-class ObjectDetectionView : public QWidget
-{
-    Q_OBJECT
-    Q_DISABLE_COPY(ObjectDetectionView)
-
-    struct Pattern {
-        Pattern() : name(QString()), confidence(0.0f), count(0) {}
-        Pattern(QString name, float confidence) : name(name), confidence(confidence), count(1) {}
-
-        bool operator<(const Pattern& other) const {
-            return this->confidence > other.confidence;    // this comparison is intentionally wrong to sort the QList from highest confidence to lowest
-        }
-
-        QString name;
-        float confidence;
-        unsigned int count;
-    };
-
-public:
-    explicit ObjectDetectionView(QString folder="files/images/patterns", QWidget *parent = 0);
-    virtual ~ObjectDetectionView();
-
-    /** @brief Resize widget contents */
-    void resizeEvent(QResizeEvent * event );
-
-public slots:
-    /** @brief Set the UAS this view is currently associated to */
-    void setUAS(UASInterface* uas);
-    /** @brief Report new detection */
-    void newPattern(int uasId, QString patternPath, float confidence, bool detected);
-    void newLetter(int uasId, QString letter, float confidence, bool detected);
-    void decreaseLetterTime();
-    void updateLetterList();
-    void clearLists();
-    /** @brief Accept an internal action, update name and preview image label */
-    void takeAction();
-
-protected:
-    virtual void changeEvent(QEvent *e);
-    QMap<QString, Pattern> patternList;  ///< The detected patterns with their confidence and detection count
-    QMap<QString, Pattern> letterList;   ///< The detected letters with their confidence and detection count
-    QTimer letterTimer;                  ///< A timer to "forget" old letters
-    UASInterface* uas;                   ///< The monitored UAS
-    QString patternFolder;               ///< The base folder where pattern images are stored in
-    const QString separator;
-
-private:
-    Ui::ObjectDetectionView *m_ui;
-};
-
-#endif // _OBJECTDETECTIONVIEW_H_

src/ui/ObjectDetectionView.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>ObjectDetectionView</class>
- <widget class="QWidget" name="ObjectDetectionView">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>246</width>
-    <height>403</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0" colspan="3">
-    <widget class="QListWidget" name="listWidget"/>
-   </item>
-   <item row="1" column="0" colspan="3">
-    <widget class="QListWidget" name="letterListWidget"/>
-   </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="imageLabel">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-       <horstretch>10</horstretch>
-       <verstretch>10</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>110</width>
-       <height>110</height>
-      </size>
-     </property>
-     <property name="sizeIncrement">
-      <size>
-       <width>2</width>
-       <height>2</height>
-      </size>
-     </property>
-     <property name="baseSize">
-      <size>
-       <width>10</width>
-       <height>10</height>
-      </size>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1" colspan="2">
-    <widget class="QLabel" name="letterLabel">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-       <horstretch>10</horstretch>
-       <verstretch>10</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>110</width>
-       <height>110</height>
-      </size>
-     </property>
-     <property name="sizeIncrement">
-      <size>
-       <width>2</width>
-       <height>2</height>
-      </size>
-     </property>
-     <property name="baseSize">
-      <size>
-       <width>10</width>
-       <height>10</height>
-      </size>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">font: 72pt;
-color: white;</string>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="0" colspan="2">
-    <widget class="QLabel" name="nameLabel">
-     <property name="text">
-      <string>No objects recognized</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="2">
-    <widget class="QPushButton" name="clearButton">
-     <property name="maximumSize">
-      <size>
-       <width>80</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Clear</string>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/QGCRGBDView.cc

@@ -247,76 +247,5 @@ float colormapJet[128][3] = {
 
 void QGCRGBDView::updateData(UASInterface *uas)
 {
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::RGBDImage rgbdImage = uas->getRGBDImage();
-
-    if (rgbdImage.rows() == 0 || rgbdImage.cols() == 0 || (!rgbEnabled && !depthEnabled))
-    {
-        return;
-    }
-
-    QImage fill;
-
-    if (rgbEnabled)
-    {
-//        fill = QImage(reinterpret_cast<const unsigned char*>(rgbdImage.imagedata1().c_str()),
-//                      rgbdImage.cols(), rgbdImage.rows(), QImage::Format_Mono);
-
-
-        // Construct PGM header
-        QString header("P5\n%1 %2\n%3\n");
-        int imgColors = 255;
-        header = header.arg(rgbdImage.cols()).arg(rgbdImage.rows()).arg(imgColors);
-
-        //QByteArray tmpImage(rgbdImage.imagedata1().c_str(), rgbdImage.cols()*rgbdImage.rows());
-        QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
-        tmpImage.append(rgbdImage.imagedata1().c_str(), rgbdImage.cols()*rgbdImage.rows());
-
-        //qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;
-
-//        if (imageRecBuffer.isNull())
-//        {
-//            qDebug()<< "could not convertToPGM()";
-//            return QImage();
-//        }
-
-        if (!fill.loadFromData(tmpImage, "PGM"))
-        {
-            qDebug()<< "could not create extracted image";
-//            return QImage();
-        }
-    }
-
-    if (depthEnabled)
-    {
-        QByteArray coloredDepth(rgbdImage.cols() * rgbdImage.rows() * 3, 0);
-
-        for (uint32_t r = 0; r < rgbdImage.rows(); ++r)
-        {
-            const float* depth = reinterpret_cast<const float*>(rgbdImage.imagedata2().c_str() + r * rgbdImage.step2());
-            uint8_t* pixel = reinterpret_cast<uint8_t*>(coloredDepth.data()) + r * rgbdImage.cols() * 3;
-            for (uint32_t c = 0; c < rgbdImage.cols(); ++c)
-            {
-                if (depth[c] != 0)
-                {
-                    int idx = fminf(depth[c], 10.0f) / 10.0f * 127.0f;
-                    idx = 127 - idx;
-
-                    pixel[0] = colormapJet[idx][2] * 255.0f;
-                    pixel[1] = colormapJet[idx][1] * 255.0f;
-                    pixel[2] = colormapJet[idx][0] * 255.0f;
-                }
-
-                pixel += 3;
-            }
-        }
-
-        fill = QImage(reinterpret_cast<const uchar*>(coloredDepth.constData()),
-                      rgbdImage.cols(), rgbdImage.rows(), QImage::Format_RGB888);
-    }
-
-    glImage = QGLWidget::convertToGLFormat(fill);
-#else
 	Q_UNUSED(uas);
-#endif
 }

src/ui/WaypointEditableView.cc

@@ -78,11 +78,6 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
     //m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
     m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);
-#ifdef MAVLINK_ENABLED_PIXHAWK
-    m_ui->comboBox_action->addItem(tr("NAV: Sweep"),MAV_CMD_NAV_SWEEP);
-    m_ui->comboBox_action->addItem(tr("Do: Start Search"),MAV_CMD_DO_START_SEARCH);
-    m_ui->comboBox_action->addItem(tr("Do: Finish Search"),MAV_CMD_DO_FINISH_SEARCH);
-#endif
     m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
 
     // add frames
@@ -191,17 +186,6 @@ void WaypointEditableView::updateActionView(int action)
         case MAV_CMD_DO_JUMP:
             if(MissionDoJumpWidget) MissionDoJumpWidget->show();
             break;
-        #ifdef MAVLINK_ENABLED_PIXHAWK
-        case MAV_CMD_NAV_SWEEP:
-            if(MissionNavSweepWidget) MissionNavSweepWidget->show();
-            break;
-        case MAV_CMD_DO_START_SEARCH:
-            if(MissionDoStartSearchWidget) MissionDoStartSearchWidget->show();
-            break;
-        case MAV_CMD_DO_FINISH_SEARCH:
-            if(MissionDoFinishSearchWidget) MissionDoFinishSearchWidget->show();
-            break;
-        #endif
 
         default:
             if(MissionOtherWidget) MissionOtherWidget->show();
@@ -305,29 +289,6 @@ void WaypointEditableView::initializeActionView(int actionID)
             m_ui->customActionWidget->layout()->addWidget(MissionDoJumpWidget);
         }
         break;
- #ifdef MAVLINK_ENABLED_PIXHAWK
-    case MAV_CMD_NAV_SWEEP:
-        if (!MissionNavSweepWidget)
-        {
-            MissionNavSweepWidget = new QGCMissionNavSweep(this);
-            m_ui->customActionWidget->layout()->addWidget(MissionNavSweepWidget);
-        }
-        break;
-    case MAV_CMD_DO_START_SEARCH:
-        if (!MissionDoStartSearchWidget)
-        {
-            MissionDoStartSearchWidget = new QGCMissionDoStartSearch(this);
-            m_ui->customActionWidget->layout()->addWidget(MissionDoStartSearchWidget);
-        }
-        break;
-    case MAV_CMD_DO_FINISH_SEARCH:
-        if (!MissionDoFinishSearchWidget)
-        {
-            MissionDoFinishSearchWidget = new QGCMissionDoFinishSearch(this);
-            m_ui->customActionWidget->layout()->addWidget(MissionDoFinishSearchWidget);
-        }
-        break;
-#endif
     case MAV_CMD_ENUM_END:
     default:
         if (!MissionOtherWidget)

src/ui/WaypointViewOnlyView.cc

@@ -350,37 +350,6 @@ void WaypointViewOnlyView::updateValues()
         m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1()));
         break;
     }
-#ifdef MAVLINK_ENABLED_PIXHAWK
-    case MAV_CMD_DO_START_SEARCH:
-    {
-        m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2()));
-        break;
-    }
-    case MAV_CMD_DO_FINISH_SEARCH:
-    {
-        m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2.  Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()));
-        break;
-    }
-    case MAV_CMD_NAV_SWEEP:
-    {
-        switch (wp->getFrame())
-        {
-        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
-        case MAV_FRAME_GLOBAL:
-        {
-        m_ui->displayBar->setText(QString("Sweep. Corners: <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup>)</b> and <b>(</b>lat <b>%3<sup>o</sup></b>, lon <b>%4<sup>o</sup>)</b>; alt: <b>%5</b>; scan radius: %6").arg(wp->getParam3(),0, 'f', 7).arg(wp->getParam4(),0, 'f', 7).arg(wp->getParam5(),0, 'f', 7).arg(wp->getParam6(),0, 'f', 7).arg(wp->getParam7(),0, 'f', 2).arg(wp->getParam1()));
-            break;
-        }
-        case MAV_FRAME_LOCAL_NED:
-        default:
-        {
-        m_ui->displayBar->setText(QString("Sweep. Corners: <b>(%1, %2)</b> and <b>(%3, %4)</b>; z: <b>%5</b>; scan radius: %6").arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()).arg(wp->getParam1()));
-            break;
-        }
-        } //end Frame switch
-        break;
-    }
-#endif
     default:
     {
         m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()));

src/ui/map3D/Pixhawk3DWidget.h

@@ -78,10 +78,6 @@ private slots:
     void setBirdEyeView(void);
     void loadTerrainModel(void);
 
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    void addOverlay(UASInterface* uas);
-#endif
-
     void selectTargetHeading(void);
     void selectTarget(void);
     void setTarget(void);
@@ -162,21 +158,6 @@ private:
                       QMap<int, int>& trailIndexMap);
     void updateWaypoints(UASInterface* uas, MAV_FRAME frame,
                          osg::ref_ptr<WaypointGroupNode>& waypointGroupNode);
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    void updateRGBD(UASInterface* uas, MAV_FRAME frame,
-                    osg::ref_ptr<ImageWindowGeode>& rgbImageNode,
-                    osg::ref_ptr<ImageWindowGeode>& depthImageNode);
-    void updatePointCloud(UASInterface* uas, MAV_FRAME frame,
-                          double robotX, double robotY, double robotZ,
-                          osg::ref_ptr<osg::Geode>& pointCloudNode,
-                          bool colorPointCloudByDistance);
-    void updateObstacles(UASInterface* uas, MAV_FRAME frame,
-                         double robotX, double robotY, double robotZ,
-                         osg::ref_ptr<ObstacleGroupNode>& obstacleGroupNode);
-    void updatePlannedPath(UASInterface* uas, MAV_FRAME frame,
-                           double robotX, double robotY, double robotZ,
-                           osg::ref_ptr<osg::Geode>& plannedPathNode);
-#endif
 
     int findWaypoint(const QPoint& mousePos);
     bool findTarget(int mouseX, int mouseY);

src/ui/map3D/SystemContainer.cc

@@ -96,25 +96,3 @@ SystemContainer::waypointGroupNode(void)
 {
     return mWaypointGroupNode;
 }
-
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-
-osg::ref_ptr<ObstacleGroupNode>&
-SystemContainer::obstacleGroupNode(void)
-{
-    return mObstacleGroupNode;
-}
-
-QMap<QString,osg::ref_ptr<GLOverlayGeode> >&
-SystemContainer::overlayNodeMap(void)
-{
-    return mOverlayNodeMap;
-}
-
-osg::ref_ptr<osg::Geode>&
-SystemContainer::plannedPathNode(void)
-{
-    return mPlannedPathNode;
-}
-
-#endif

src/ui/map3D/SystemContainer.h

@@ -10,11 +10,6 @@
 #include "ImageWindowGeode.h"
 #include "WaypointGroupNode.h"
 
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-#include "GLOverlayGeode.h"
-#include "ObstacleGroupNode.h"
-#endif
-
 class SystemContainer
 {
 public:
@@ -39,11 +34,6 @@ public:
     osg::ref_ptr<osg::Node>& targetNode(void);
     osg::ref_ptr<osg::Geode>& trailNode(void);
     osg::ref_ptr<WaypointGroupNode>& waypointGroupNode(void);
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    osg::ref_ptr<ObstacleGroupNode>& obstacleGroupNode(void);
-    QMap<QString,osg::ref_ptr<GLOverlayGeode> >& overlayNodeMap(void);
-    osg::ref_ptr<osg::Geode>& plannedPathNode(void);
-#endif
 
 private:
     QVector3D mGPSLocalOrigin;
@@ -66,11 +56,6 @@ private:
     osg::ref_ptr<osg::Node> mTargetNode;
     osg::ref_ptr<osg::Geode> mTrailNode;
     osg::ref_ptr<WaypointGroupNode> mWaypointGroupNode;
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    osg::ref_ptr<ObstacleGroupNode> mObstacleGroupNode;
-    QMap<QString,osg::ref_ptr<GLOverlayGeode> > mOverlayNodeMap;
-    osg::ref_ptr<osg::Geode> mPlannedPathNode;
-#endif
 };
 
 #endif // SYSTEMCONTAINER_H

src/ui/watchdog/WatchdogControl.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Implementation of class WatchdogControl
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include "WatchdogControl.h"
-#include "WatchdogView.h"
-#include "WatchdogProcessView.h"
-#include "ui_WatchdogControl.h"
-#include "PxQuadMAV.h"
-
-#include "UASManager.h"
-
-#include <QDebug>
-
-WatchdogControl::WatchdogControl(QWidget *parent) :
-    QWidget(parent),
-    mav(NULL),
-    updateInterval(2000000),
-    ui(new Ui::WatchdogControl)
-{
-    ui->setupUi(this);
-
-    // UI is initialized, setup layout
-    listLayout = new QVBoxLayout(ui->mainWidget);
-    listLayout->setSpacing(6);
-    listLayout->setMargin(0);
-    listLayout->setAlignment(Qt::AlignTop);
-    ui->mainWidget->setLayout(listLayout);
-
-    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
-
-    this->setVisible(false);
-}
-
-WatchdogControl::~WatchdogControl()
-{
-    delete ui;
-}
-
-void WatchdogControl::setUAS(UASInterface* uas)
-{
-    PxQuadMAV* qmav = dynamic_cast<PxQuadMAV*>(uas);
-
-    if (qmav) {
-        connect(qmav, SIGNAL(processReceived(int,int,int,QString,QString,int)), this, SLOT(addProcess(int,int,int,QString,QString,int)));
-        connect(qmav, SIGNAL(watchdogReceived(int,int,uint)), this, SLOT(updateWatchdog(int,int,uint)));
-        connect(qmav, SIGNAL(processChanged(int,int,int,int,bool,int,int)), this, SLOT(updateProcess(int,int,int,int,bool,int,int)));
-    }
-}
-
-void WatchdogControl::updateWatchdog(int systemId, int watchdogId, unsigned int processCount)
-{
-    // request the watchdog with the given ID
-    // Get the watchdog and request the info for it
-    WatchdogInfo& watchdog = this->getWatchdog(systemId, watchdogId);
-
-    // if the proces count doesn't match, the watchdog is either new or has changed - create a new vector with new (and empty) ProcessInfo structs.
-    if (watchdog.processes_.size() != processCount) {
-        watchdog.processes_ = std::vector<ProcessInfo>(processCount);
-        // Create new UI widget
-        //WatchdogView* view = new WatchdogView(this);
-
-    }
-
-    // start the timeout timer
-    //watchdog.timeoutTimer_.reset();
-
-    qDebug() << "WATCHDOG RECEIVED";
-    //qDebug() << "<-- received mavlink_watchdog_heartbeat_t " << msg->sysid << " / " << payload.watchdog_id << " / " << payload.process_count << std::endl;
-}
-
-void WatchdogControl::addProcess(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout)
-{
-    // request the watchdog and the process with the given IDs
-    WatchdogInfo& watchdog = this->getWatchdog(systemId, watchdogId);
-    ProcessInfo& process = watchdog.getProcess(processId);
-
-    // store the process information in the ProcessInfo struct
-    process.name_ = name.toStdString();
-    process.arguments_ = arguments.toStdString();
-    process.timeout_ = timeout;
-    qDebug() << "PROCESS RECEIVED";
-    qDebug() << "SYS" << systemId << "WD" << watchdogId << "PROCESS" << processId << name << "ARG" << arguments << "TO" << timeout;
-    //qDebug() << "<-- received mavlink_watchdog_process_info_t " << msg->sysid << " / " << (const char*)payload.name << " / " << (const char*)payload.arguments << " / " << payload.timeout << std::endl;
-}
-
-
-void WatchdogControl::updateProcess(int systemId, int watchdogId, int processId, int state, bool muted, int crashes, int pid)
-{
-    // request the watchdog and the process with the given IDs
-    WatchdogInfo& watchdog = this->getWatchdog(systemId, watchdogId);
-    ProcessInfo& process = watchdog.getProcess(processId);
-
-    // store the status information in the ProcessInfo struct
-    process.state_ = static_cast<ProcessInfo::State::Enum>(state);
-    process.muted_ = muted;
-    process.crashes_ = crashes;
-    process.pid_ = pid;
-
-    qDebug() << "PROCESS UPDATED";
-    qDebug() << "SYS" << systemId << "WD" << watchdogId << "PROCESS" << processId << "STATE" << state << "CRASH" << crashes << "PID" << pid;
-
-    //process.updateTimer_.reset();
-    //qDebug() << "<-- received mavlink_watchdog_process_status_t " << msg->sysid << " / " << payload.state << " / " << payload.muted << " / " << payload.crashes << " / " << payload.pid << std::endl;
-}
-
-/**
-    @brief Returns a WatchdogInfo struct that belongs to the watchdog with the given system-ID and watchdog-ID
-*/
-WatchdogControl::WatchdogInfo& WatchdogControl::getWatchdog(uint8_t systemId, uint16_t watchdogId)
-{
-    WatchdogID id(systemId, watchdogId);
-
-    std::map<WatchdogID, WatchdogInfo>::iterator it = this->watchdogs_.find(id);
-    if (it != this->watchdogs_.end()) {
-        // the WatchdogInfo struct already exists in the map, return it
-        return it->second;
-    } else {
-        // the WatchdogInfo struct doesn't exist - request info and status for all processes and create the struct
-        this->sendCommand(id, WatchdogControl::ALL, Command::RequestInfo);
-        this->sendCommand(id, WatchdogControl::ALL, Command::RequestStatus);
-        return this->watchdogs_[id];
-    }
-}
-
-/**
-    @brief Returns a ProcessInfo struct that belongs to the process with the given ID.
-*/
-WatchdogControl::ProcessInfo& WatchdogControl::WatchdogInfo::getProcess(uint16_t index)
-{
-    // if the index is out of bounds, resize the vector
-    if (index >= this->processes_.size())
-        this->processes_.resize(index + 1);
-
-    return this->processes_[index];
-}
-
-/**
-    @brief Sends a watchdog command to a process on a given watchdog.
-    @param w_id The WatchdogID struct (containing system-ID and watchdog-ID) that identifies the watchdog
-    @param p_id The process-ID
-    @param command The command-ID
-*/
-void WatchdogControl::sendCommand(const WatchdogID& w_id, uint16_t p_id, Command::Enum command)
-{
-    emit sendProcessCommand(w_id.watchdog_id_, p_id, command);
-}
-
-void WatchdogControl::changeEvent(QEvent *e)
-{
-    QWidget::changeEvent(e);
-    switch (e->type()) {
-    case QEvent::LanguageChange:
-        ui->retranslateUi(this);
-        break;
-    default:
-        break;
-    }
-}

src/ui/watchdog/WatchdogControl.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class WatchdogControl
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef WATCHDOGCONTROL_H
-#define WATCHDOGCONTROL_H
-
-#include <inttypes.h>
-
-#include <QWidget>
-#include <QTimer>
-#include <QVBoxLayout>
-
-#include <map>
-#include <string>
-#include <sstream>
-
-#include "WatchdogView.h"
-
-#include "UASInterface.h"
-
-namespace Ui
-{
-class WatchdogControl;
-}
-
-/**
- * @brief Overall widget for controlling all watchdogs of all connected MAVs
- */
-class WatchdogControl : public QWidget
-{
-    Q_OBJECT
-public:
-
-
-    ///! Command codes, used to send and receive commands over lcm
-    struct Command {
-        enum Enum {
-            Start         = 0,
-            Restart       = 1,
-            Stop          = 2,
-            Mute          = 3,
-            Unmute        = 4,
-
-            RequestInfo   = 254,
-            RequestStatus = 255
-        };
-    };
-
-    ///! This struct represents a process on the watchdog. Used to store all values.
-    struct ProcessInfo {
-        ///! Process state - each process is in exactly one of those states (except unknown, that's just to initialize it)
-        struct State {
-            enum Enum {
-                Unknown       = 0,
-                Running       = 1,
-                Stopped       = 2,
-                Stopped_OK    = 3,
-                Stopped_ERROR = 4
-            };
-        };
-
-        ///! Constructor - initialize the values
-        ProcessInfo() : timeout_(0), state_(State::Unknown), muted_(false), crashes_(0), pid_(-1) {}
-
-        std::string name_;      ///< The name of the process
-        std::string arguments_; ///< The arguments (argv of the process)
-
-        int32_t timeout_;       ///< Heartbeat timeout value (in microseconds)
-
-        State::Enum state_;     ///< The current state of the process
-        bool muted_;            ///< True if the process is currently muted
-        uint16_t crashes_;      ///< The number of crashes
-        int32_t pid_;           ///< The PID of the process
-
-        //quint64_t requestTimeout;
-        //    Timer requestTimer_;    ///< Internal timer, used to repeat status and info requests after some time (in case of packet loss)
-        //    Timer updateTimer_;     ///< Internal timer, used to measure the time since the last update (used only for graphics)
-    };
-
-    ///! This struct identifies a watchdog. It's a combination of system-ID and watchdog-ID. implements operator< to be used as key in a std::map
-    struct WatchdogID {
-        ///! Constructor - initialize the values
-        WatchdogID(uint8_t system_id, uint16_t watchdog_id) : system_id_(system_id), watchdog_id_(watchdog_id) {}
-
-        uint8_t system_id_;     ///< The system-ID
-        uint16_t watchdog_id_;  ///< The watchdog-ID
-
-        ///! Comparison operator which is used by std::map
-        inline bool operator<(const WatchdogID& other) const {
-            return (this->system_id_ != other.system_id_) ? (this->system_id_ < other.system_id_) : (this->watchdog_id_ < other.watchdog_id_);
-        }
-
-    };
-
-    ///! This struct represents a watchdog
-    struct WatchdogInfo {
-        ProcessInfo& getProcess(uint16_t index);
-
-        std::vector<ProcessInfo> processes_;    ///< A vector containing all processes running on this watchdog
-        uint64_t timeout;
-        QTimer* timeoutTimer_;                    ///< Internal timer, used to measure the time since the last heartbeat message
-    };
-
-    WatchdogControl(QWidget *parent = 0);
-    ~WatchdogControl();
-
-    static const uint16_t ALL         = (uint16_t)-1;   ///< A magic value for a process-ID which addresses "all processes"
-    static const uint16_t ALL_RUNNING = (uint16_t)-2;   ///< A magic value for a process-ID which addresses "all running processes"
-    static const uint16_t ALL_CRASHED = (uint16_t)-3;   ///< A magic value for a process-ID which addresses "all crashed processes"
-
-public slots:
-    void updateWatchdog(int systemId, int watchdogId, unsigned int processCount);
-    void addProcess(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
-    void updateProcess(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
-    void setUAS(UASInterface* uas);
-
-signals:
-    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
-
-protected:
-    void changeEvent(QEvent *e);
-
-    UASInterface* mav;
-    QVBoxLayout* listLayout;
-    uint64_t updateInterval;
-
-private:
-    Ui::WatchdogControl *ui;
-
-    void sendCommand(const WatchdogID& w_id, uint16_t p_id, Command::Enum command);
-
-    WatchdogInfo& getWatchdog(uint8_t system_id, uint16_t watchdog_id);
-
-    std::map<WatchdogID, WatchdogInfo> watchdogs_;          ///< A map containing all watchdogs which are currently active
-    std::map<WatchdogID, WatchdogView> views;
-    QTimer updateTimer_;
-};
-
-#endif // WATCHDOGCONTROL_H
-
-///! Convert a value to std::string
-template <class T>
-std::string convertToString(T value)
-{
-    std::ostringstream oss;
-    oss << value;
-    return oss.str();
-}

src/ui/watchdog/WatchdogControl.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>WatchdogControl</class>
- <widget class="QWidget" name="WatchdogControl">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>400</width>
-    <height>300</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout" stretch="100,0">
-   <item>
-    <widget class="QWidget" name="mainWidget" native="true"/>
-   </item>
-   <item>
-    <widget class="QLabel" name="processInfoLabel">
-     <property name="text">
-      <string>0 Processes  Core 1: 0%  Core 2: 0%</string>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/watchdog/WatchdogProcessView.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Implementation of class WatchdogControl
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include "WatchdogProcessView.h"
-#include "ui_WatchdogProcessView.h"
-
-WatchdogProcessView::WatchdogProcessView(int processid, QWidget *parent) :
-    QWidget(parent),
-    processid(processid),
-    m_ui(new Ui::WatchdogProcessView)
-{
-    m_ui->setupUi(this);
-}
-
-WatchdogProcessView::~WatchdogProcessView()
-{
-    delete m_ui;
-}
-
-void WatchdogProcessView::changeEvent(QEvent *e)
-{
-    QWidget::changeEvent(e);
-    switch (e->type()) {
-    case QEvent::LanguageChange:
-        m_ui->retranslateUi(this);
-        break;
-    default:
-        break;
-    }
-}

src/ui/watchdog/WatchdogProcessView.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class WatchdogProcessView
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef WATCHDOGPROCESSVIEW_H
-#define WATCHDOGPROCESSVIEW_H
-
-#include <QWidget>
-#include <QMap>
-
-namespace Ui
-{
-class WatchdogProcessView;
-}
-
-/**
- * @brief Represents one process monitored by the linux onboard watchdog
- */
-class WatchdogProcessView : public QWidget
-{
-    Q_OBJECT
-public:
-    WatchdogProcessView(int processid, QWidget *parent = 0);
-    ~WatchdogProcessView();
-
-protected:
-    void changeEvent(QEvent *e);
-    int processid;
-
-private:
-    Ui::WatchdogProcessView *m_ui;
-};
-
-#endif // WATCHDOGPROCESSVIEW_H

src/ui/watchdog/WatchdogProcessView.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>WatchdogProcessView</class>
- <widget class="QWidget" name="WatchdogProcessView">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>400</width>
-    <height>44</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout">
-   <item>
-    <widget class="QLabel" name="nameLabel">
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QLabel" name="pidLabel">
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QLabel" name="argumentsLabel">
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QToolButton" name="startButton">
-     <property name="text">
-      <string>...</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QToolButton" name="restartButton">
-     <property name="text">
-      <string>...</string>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/watchdog/WatchdogView.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Implementation of class WatchdogControl
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include "WatchdogView.h"
-#include "ui_WatchdogView.h"
-
-WatchdogView::WatchdogView(QWidget *parent) :
-    QWidget(parent),
-    m_ui(new Ui::WatchdogView)
-{
-    m_ui->setupUi(this);
-}
-
-WatchdogView::~WatchdogView()
-{
-    delete m_ui;
-}
-
-void WatchdogView::changeEvent(QEvent *e)
-{
-    QWidget::changeEvent(e);
-    switch (e->type()) {
-    case QEvent::LanguageChange:
-        m_ui->retranslateUi(this);
-        break;
-    default:
-        break;
-    }
-}

src/ui/watchdog/WatchdogView.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class WatchdogView
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef WATCHDOGVIEW_H
-#define WATCHDOGVIEW_H
-
-#include <QWidget>
-
-namespace Ui
-{
-class WatchdogView;
-}
-
-/**
- * @brief Represents one onboard watchdog
- */
-class WatchdogView : public QWidget
-{
-    Q_OBJECT
-public:
-    WatchdogView(QWidget *parent = 0);
-    ~WatchdogView();
-
-protected:
-    void changeEvent(QEvent *e);
-
-private:
-    Ui::WatchdogView *m_ui;
-};
-
-#endif // WATCHDOGVIEW_H

src/ui/watchdog/WatchdogView.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>WatchdogView</class>
- <widget class="QWidget" name="WatchdogView">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>400</width>
-    <height>300</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="0,100">
-   <item row="0" column="0">
-    <widget class="QLabel" name="nameLabel">
-     <property name="text">
-      <string>Watchdog</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QWidget" name="processListWidget" native="true"/>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>