From 68280d32aec3dcf914c5567f4bc3dc80f456839c Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 30 Dec 2016 17:34:00 -0500 Subject: [PATCH] Add frame configuration page for ArduSub --- qgcresources.qrc | 6 + qgroundcontrol.pro | 2 + .../APM/APMAutoPilotPlugin.cc | 9 ++ src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h | 3 + .../APM/APMSubFrameComponent.cc | 78 +++++++++ .../APM/APMSubFrameComponent.h | 40 +++++ .../APM/APMSubFrameComponent.qml | 151 ++++++++++++++++++ .../APM/APMSubFrameComponentSummary.qml | 57 +++++++ .../APM/Images/SubFrameComponentIcon.png | Bin 0 -> 5847 bytes .../APM/Images/bluerov-frame.png | Bin 0 -> 42591 bytes .../APM/Images/simple3-frame.png | Bin 0 -> 20583 bytes .../APM/Images/simple4-frame.png | Bin 0 -> 27835 bytes .../APM/Images/vectored-frame.png | Bin 0 -> 42944 bytes .../APM/Images/vectored6dof-frame.png | Bin 0 -> 60605 bytes src/FirmwarePlugin/APM/APMResources.qrc | 2 + 15 files changed, 348 insertions(+) create mode 100644 src/AutoPilotPlugins/APM/APMSubFrameComponent.cc create mode 100644 src/AutoPilotPlugins/APM/APMSubFrameComponent.h create mode 100644 src/AutoPilotPlugins/APM/APMSubFrameComponent.qml create mode 100644 src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml create mode 100644 src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png create mode 100644 src/AutoPilotPlugins/APM/Images/bluerov-frame.png create mode 100644 src/AutoPilotPlugins/APM/Images/simple3-frame.png create mode 100644 src/AutoPilotPlugins/APM/Images/simple4-frame.png create mode 100644 src/AutoPilotPlugins/APM/Images/vectored-frame.png create mode 100644 src/AutoPilotPlugins/APM/Images/vectored6dof-frame.png diff --git a/qgcresources.qrc b/qgcresources.qrc index dcfc66ccf..5c714bbed 100644 --- a/qgcresources.qrc +++ b/qgcresources.qrc @@ -58,6 +58,12 @@ src/AutoPilotPlugins/PX4/Images/LandMode.svg src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg src/AutoPilotPlugins/APM/Images/LightsComponentIcon.png + src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png + src/AutoPilotPlugins/APM/Images/bluerov-frame.png + src/AutoPilotPlugins/APM/Images/vectored-frame.png + src/AutoPilotPlugins/APM/Images/vectored6dof-frame.png + src/AutoPilotPlugins/APM/Images/simple3-frame.png + src/AutoPilotPlugins/APM/Images/simple4-frame.png src/AnalyzeView/LogDownloadIcon.svg src/AutoPilotPlugins/PX4/Images/LowBattery.svg src/AutoPilotPlugins/PX4/Images/LowBatteryLight.svg diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro index 4fa119de4..356059415 100644 --- a/qgroundcontrol.pro +++ b/qgroundcontrol.pro @@ -796,6 +796,7 @@ APMFirmwarePlugin { src/AutoPilotPlugins/APM/APMFlightModesComponent.h \ src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \ src/AutoPilotPlugins/APM/APMLightsComponent.h \ + src/AutoPilotPlugins/APM/APMSubFrameComponent.h \ src/AutoPilotPlugins/APM/APMPowerComponent.h \ src/AutoPilotPlugins/APM/APMRadioComponent.h \ src/AutoPilotPlugins/APM/APMSafetyComponent.h \ @@ -822,6 +823,7 @@ APMFirmwarePlugin { src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \ src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \ src/AutoPilotPlugins/APM/APMLightsComponent.cc \ + src/AutoPilotPlugins/APM/APMSubFrameComponent.cc \ src/AutoPilotPlugins/APM/APMPowerComponent.cc \ src/AutoPilotPlugins/APM/APMRadioComponent.cc \ src/AutoPilotPlugins/APM/APMSafetyComponent.cc \ diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc index 618e2a7ab..4edebf5de 100644 --- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc @@ -27,6 +27,7 @@ #include "MotorComponent.h" #include "APMCameraComponent.h" #include "APMLightsComponent.h" +#include "APMSubFrameComponent.h" #include "ESP8266Component.h" /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type. @@ -36,6 +37,7 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) , _airframeComponent(NULL) , _cameraComponent(NULL) , _lightsComponent(NULL) + , _subFrameComponent(NULL) , _flightModesComponent(NULL) , _powerComponent(NULL) #if 0 @@ -109,6 +111,13 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void) _lightsComponent = new APMLightsComponent(_vehicle, this); _lightsComponent->setupTriggerSignals(); _components.append(QVariant::fromValue((VehicleComponent*)_lightsComponent)); + + qWarning() << "ArduSub Version Detected:" << _vehicle->firmwareMajorVersion() << _vehicle->firmwareMinorVersion(); + if(_vehicle->firmwareMajorVersion() > 3 || (_vehicle->firmwareMajorVersion() == 3 && _vehicle->firmwareMinorVersion() >= 5)) { + _subFrameComponent = new APMSubFrameComponent(_vehicle, this); + _subFrameComponent->setupTriggerSignals(); + _components.append(QVariant::fromValue((VehicleComponent*)_subFrameComponent)); + } } //-- Is there an ESP8266 Connected? diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h index 6bd603152..8ac267b42 100644 --- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h +++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h @@ -25,6 +25,7 @@ class APMPowerComponent; class MotorComponent; class APMCameraComponent; class APMLightsComponent; +class APMSubFrameComponent; class ESP8266Component; /// This is the APM specific implementation of the AutoPilot class. @@ -42,6 +43,7 @@ public: APMAirframeComponent* airframeComponent (void) const { return _airframeComponent; } APMCameraComponent* cameraComponent (void) const { return _cameraComponent; } APMLightsComponent* lightsComponent (void) const { return _lightsComponent; } + APMSubFrameComponent* subFrameComponent (void) const { return _subFrameComponent; } APMFlightModesComponent* flightModesComponent(void) const { return _flightModesComponent; } APMPowerComponent* powerComponent (void) const { return _powerComponent; } #if 0 @@ -61,6 +63,7 @@ private: APMAirframeComponent* _airframeComponent; APMCameraComponent* _cameraComponent; APMLightsComponent* _lightsComponent; + APMSubFrameComponent* _subFrameComponent; APMFlightModesComponent* _flightModesComponent; APMPowerComponent* _powerComponent; #if 0 diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc b/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc new file mode 100644 index 000000000..95506a14c --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.cc @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * (c) 2009-2016 QGROUNDCONTROL PROJECT + * + * QGroundControl is licensed according to the terms in the file + * COPYING.md in the root of the source code directory. + * + ****************************************************************************/ + + +/// @file +/// @author Don Gagne +/// @author Jacob Walser + +#include "APMSubFrameComponent.h" +#include "QGCQmlWidgetHolder.h" +#include "APMAutoPilotPlugin.h" +#include "APMAirframeComponent.h" + +APMSubFrameComponent::APMSubFrameComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) + : VehicleComponent(vehicle, autopilot, parent) + , _name(tr("Frame")) +{ +} + +QString APMSubFrameComponent::name(void) const +{ + return _name; +} + +QString APMSubFrameComponent::description(void) const +{ + return tr("Frame setup allows you to choose your vehicle's motor configuration. Install clockwise" \ + "\npropellers on the green thrusters and counter-clockwise propellers on the blue thrusters" \ + "\n(or vice-versa). The flight controller will need to be rebooted to apply changes."); +} + +QString APMSubFrameComponent::iconResource(void) const +{ + return QStringLiteral("/qmlimages/SubFrameComponentIcon.png"); +} + +bool APMSubFrameComponent::requiresSetup(void) const +{ + return false; +} + +bool APMSubFrameComponent::setupComplete(void) const +{ + return true; +} + +QStringList APMSubFrameComponent::setupCompleteChangedTriggerList(void) const +{ + return QStringList(); +} + +QUrl APMSubFrameComponent::setupSource(void) const +{ + return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMSubFrameComponent.qml")); +} + +QUrl APMSubFrameComponent::summaryQmlSource(void) const +{ + return QUrl::fromUserInput(QStringLiteral("qrc:/qml/APMSubFrameComponentSummary.qml")); +} + +QString APMSubFrameComponent::prerequisiteSetup(void) const +{ + APMAutoPilotPlugin* plugin = dynamic_cast(_autopilot); + Q_ASSERT(plugin); + + if (!plugin->airframeComponent()->setupComplete()) { + return plugin->airframeComponent()->name(); + } + + return QString(); +} diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.h b/src/AutoPilotPlugins/APM/APMSubFrameComponent.h new file mode 100644 index 000000000..68b3eabb1 --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.h @@ -0,0 +1,40 @@ +/**************************************************************************** + * + * (c) 2009-2016 QGROUNDCONTROL PROJECT + * + * QGroundControl is licensed according to the terms in the file + * COPYING.md in the root of the source code directory. + * + ****************************************************************************/ + + +#ifndef APMSubFrameComponent_H +#define APMSubFrameComponent_H + +#include "VehicleComponent.h" + +class APMSubFrameComponent : public VehicleComponent +{ + Q_OBJECT + +public: + APMSubFrameComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL); + + // Virtuals from VehicleComponent + QStringList setupCompleteChangedTriggerList(void) const final; + + // Virtuals from VehicleComponent + QString name(void) const final; + QString description(void) const final; + QString iconResource(void) const final; + bool requiresSetup(void) const final; + bool setupComplete(void) const final; + QUrl setupSource(void) const final; + QUrl summaryQmlSource(void) const final; + QString prerequisiteSetup(void) const final; + +private: + const QString _name; +}; + +#endif diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml b/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml new file mode 100644 index 000000000..df06fec69 --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml @@ -0,0 +1,151 @@ +/**************************************************************************** + * + * (c) 2009-2016 QGROUNDCONTROL PROJECT + * + * QGroundControl is licensed according to the terms in the file + * COPYING.md in the root of the source code directory. + * + ****************************************************************************/ + + +import QtQuick 2.5 +import QtQuick.Controls 1.2 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.FactControls 1.0 +import QGroundControl.Palette 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.ScreenTools 1.0 + +SetupPage { + id: subFramePage + pageComponent: subFramePageComponent + + Component { + id: subFramePageComponent + + Column { + id: mainColumn + width: availableWidth + + FactPanelController { id: controller; factPanel: subFramePage.viewPanel } + + QGCPalette { id: palette; colorGroupEnabled: true } + + property Fact _frameConfig: controller.getParameterFact(-1, "FRAME_CONFIG") + + function setFrameConfig(frame) { + _frameConfig.value = frame; + } + + property real _minW: ScreenTools.defaultFontPixelWidth * 30 + property real _boxWidth: _minW + property real _boxSpace: ScreenTools.defaultFontPixelWidth + + onWidthChanged: { + computeDimensions() + } + + Component.onCompleted: computeDimensions() + + function computeDimensions() { + var sw = 0 + var rw = 0 + var idx = Math.floor(mainColumn.width / (_minW + ScreenTools.defaultFontPixelWidth)) + if(idx < 1) { + _boxWidth = mainColumn.width + _boxSpace = 0 + } else { + _boxSpace = 0 + if(idx > 1) { + _boxSpace = ScreenTools.defaultFontPixelWidth + sw = _boxSpace * (idx - 1) + } + rw = mainColumn.width - sw + _boxWidth = rw / idx + } + } + + ListModel { + id: subFrameModel + + ListElement { + name: "BlueROV1" + resource: "qrc:///qmlimages/Frames/BlueROV1.png" + paramValue: 0 + } + + ListElement { + name: "BlueROV2/Vectored" + resource: "qrc:///qmlimages/Frames/Vectored.png" + paramValue: 1 + } + + ListElement { + name: "Vectored-6DOF" + resource: "qrc:///qmlimages/Frames/Vectored6DOF.png" + paramValue: 2 + } + + ListElement { + name: "SimpleROV-3" + resource: "qrc:///qmlimages/Frames/SimpleROV-3.png" + paramValue: 4 + } + + ListElement { + name: "SimpleROV-4" + resource: "qrc:///qmlimages/Frames/SimpleROV-4.png" + paramValue: 5 + } + } + + Flow { + id: flowView + width: parent.width + spacing: _boxSpace + + Repeater { + model: subFrameModel + + Rectangle { + width: _boxWidth + height: ScreenTools.defaultFontPixelHeight * 14 + color: qgcPal.window + + QGCLabel { + id: title + text: subFrameModel.get(index).name + } + + Rectangle { + anchors.topMargin: ScreenTools.defaultFontPixelHeight / 2 + anchors.top: title.bottom + anchors.bottom: parent.bottom + anchors.left: parent.left + anchors.right: parent.right + color: subFrameModel.get(index).paramValue == _frameConfig.value ? qgcPal.buttonHighlight: qgcPal.windowShade + + Image { + anchors.margins: ScreenTools.defaultFontPixelWidth + anchors.top: parent.top + anchors.bottom: parent.bottom + anchors.left: parent.left + anchors.right: parent.right + fillMode: Image.PreserveAspectFit + smooth: true + mipmap: true + source: subFrameModel.get(index).resource + } + + MouseArea { + anchors.fill: parent + onClicked: setFrameConfig(subFrameModel.get(index).paramValue) + } + } + } + }// Repeater + }// Flow + } // Column + } // Component +} // SetupPage diff --git a/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml b/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml new file mode 100644 index 000000000..6dcf659fd --- /dev/null +++ b/src/AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml @@ -0,0 +1,57 @@ +import QtQuick 2.2 +import QtQuick.Controls 1.2 + +import QGroundControl.FactSystem 1.0 +import QGroundControl.FactControls 1.0 +import QGroundControl.Controls 1.0 +import QGroundControl.Controllers 1.0 +import QGroundControl.Palette 1.0 + +FactPanel { + id: panel + anchors.fill: parent + color: qgcPal.windowShadeDark + + QGCPalette { id: qgcPal; colorGroupEnabled: enabled } + + FactPanelController { id: controller; factPanel: panel } + + property Fact frameFact: controller.getParameterFact(-1, "FRAME_CONFIG") + + function frameName() { + switch(frameFact.value) { + case 0: + return "BlueROV1" + case 1: + return "Vectored/BlueROV2" + case 2: + return "Vectored 6DOF" + case 3: + return "Vectored 6DOF 90Degree" + case 4: + return "SimpleROV-3" + case 5: + return "SimpleROV-4" + case 6: + return "SimpleROV-5" + case 7: + return "Custom" + default: + return "Unknown" + } + } + + Column { + anchors.fill: parent + VehicleSummaryRow { + id: nameRow; + labelText: qsTr("Frame Type:") + valueText: frameName() + } + + VehicleSummaryRow { + labelText: qsTr("Firmware Version:") + valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + "-" + activeVehicle.firmwareVersionTypeString + } + } +} diff --git a/src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png b/src/AutoPilotPlugins/APM/Images/SubFrameComponentIcon.png new file mode 100644 index 0000000000000000000000000000000000000000..6401e093c8591eb554f2dccb99a717d12124ae20 GIT 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../../AutoPilotPlugins/APM/APMLightsComponent.qml ../../AutoPilotPlugins/APM/APMLightsComponentSummary.qml + ../../AutoPilotPlugins/APM/APMSubFrameComponent.qml + ../../AutoPilotPlugins/APM/APMSubFrameComponentSummary.qml ../../AutoPilotPlugins/APM/APMNotSupported.qml ../../AutoPilotPlugins/APM/APMPowerComponent.qml ../../AutoPilotPlugins/APM/APMPowerComponentSummary.qml -- 2.22.0