Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol

qgroundcontrol.pro

@@ -62,7 +62,8 @@ INCLUDEPATH += src \
     src/input \
     src/lib/qmapcontrol \
     src/ui/mavlink \
-    src/ui/param
+    src/ui/param \
+    src/ui/watchdog
 HEADERS += src/MG.h \
     src/Core.h \
     src/uas/UASInterface.h \

src/uas/UAS.cc

@@ -713,6 +713,94 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
     sendMessage(msg);
 }
 
+void UAS::enablePositionTransmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 6;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
+void UAS::enableExtra1Transmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 7;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
+void UAS::enableExtra2Transmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 8;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
+void UAS::enableExtra3Transmission(bool enabled)
+{
+    // Buffers to write data to
+    mavlink_message_t msg;
+    mavlink_request_data_stream_t stream;
+    // Select the message to request from now on
+    stream.req_stream_id = 9;
+    // Select the update rate in Hz the message should be send
+    stream.req_message_rate = 200;
+    // Start / stop the message
+    stream.start_stop = (enabled) ? 1 : 0;
+    // The system which should take this command
+    stream.target_system = uasId;
+    // The component / subsystem which should take this command
+    stream.target_component = 0;
+    // Encode and send the message
+    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
 void UAS::setParameter(int component, QString id, float value)
 {
     mavlink_message_t msg;

src/uas/UAS.h

@@ -202,6 +202,10 @@ public slots:
     void enableRCChannelDataTransmission(bool enabled);
     void enableRawControllerDataTransmission(bool enabled);
     void enableRawSensorFusionTransmission(bool enabled);
+    void enablePositionTransmission(bool enabled);
+    void enableExtra1Transmission(bool enabled);
+    void enableExtra2Transmission(bool enabled);
+    void enableExtra3Transmission(bool enabled);
 
     /** @brief Update the system state */
     void updateState();

src/ui/MainWindow.cc

@@ -59,7 +59,7 @@ This file is part of the QGROUNDCONTROL project
 * @see QMainWindow::show()
 **/
 MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
-    settings()
+settings()
 {
     this->hide();
     this->setVisible(false);
@@ -98,6 +98,8 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
     centerStack->addWidget(protocol);
     parameters = new ParameterInterface(this);
     parameters->setVisible(false);
+    watchdogControl = new WatchdogControl(this);
+    watchdogControl->setVisible(false);
 
     QStringList* acceptList = new QStringList();
     acceptList->append("roll IMU");
@@ -435,6 +437,10 @@ void MainWindow::loadOperatorView()
     container6->setWidget(detection);
     addDockWidget(Qt::RightDockWidgetArea, container6);
 
+    // PROCESS CONTROL
+    QDockWidget* pControl = new QDockWidget(tr("Process Control"), this);
+    pControl->setWidget(watchdogControl);
+    addDockWidget(Qt::RightDockWidgetArea, pControl);
     this->show();
 }
 
@@ -458,6 +464,7 @@ void MainWindow::loadSettingsView()
     QDockWidget* container6 = new QDockWidget(tr("Onboard Parameters"), this);
     container6->setWidget(parameters);
     addDockWidget(Qt::RightDockWidgetArea, container6);
+    this->show();
 }
 
 void MainWindow::loadEngineerView()
@@ -503,6 +510,7 @@ void MainWindow::loadMAVLinkView()
 {
     clearView();
     centerStack->setCurrentWidget(protocol);
+    this->show();
 }
 
 void MainWindow::loadAllView()

src/ui/MainWindow.h

@@ -60,6 +60,7 @@ This file is part of the PIXHAWK project
 #include "ParameterInterface.h"
 #include "XMLCommProtocolWidget.h"
 #include "HDDisplay.h"
+#include "WatchdogControl.h"
 
 #include "LogCompressor.h"
 
@@ -146,6 +147,7 @@ protected:
     XMLCommProtocolWidget* protocol;
     HDDisplay* headDown1;
     HDDisplay* headDown2;
+    WatchdogControl* watchdogControl;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/MainWindow.ui

@@ -35,7 +35,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>22</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -257,7 +257,7 @@
   <action name="actionShow_MAVLink_view">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+     <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
    </property>
    <property name="text">
     <string>Show MAVLink view</string>

src/ui/QGCSensorSettingsWidget.cc

@@ -12,6 +12,10 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par
     connect(ui->sendControllerCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawControllerDataTransmission(bool)));
     connect(ui->sendExtendedCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtendedSystemStatusTransmission(bool)));
     connect(ui->sendRCCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRCChannelDataTransmission(bool)));
+    connect(ui->sendPositionCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enablePositionTransmission(bool)));
+    connect(ui->sendExtra1CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra1Transmission(bool)));
+    connect(ui->sendExtra2CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra2Transmission(bool)));
+    connect(ui->sendExtra3CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra3Transmission(bool)));
 }
 
 QGCSensorSettingsWidget::~QGCSensorSettingsWidget()

src/ui/QGCSensorSettingsWidget.ui

@@ -54,6 +54,34 @@
         </property>
        </widget>
       </item>
+      <item row="4" column="0">
+       <widget class="QCheckBox" name="sendPositionCheckBox">
+        <property name="text">
+         <string>Send position setpoint and estimate</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QCheckBox" name="sendExtra1CheckBox">
+        <property name="text">
+         <string>Send Extra1</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QCheckBox" name="sendExtra2CheckBox">
+        <property name="text">
+         <string>Send Extra2</string>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="0">
+       <widget class="QCheckBox" name="sendExtra3CheckBox">
+        <property name="text">
+         <string>Send Extra3</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>

src/ui/XMLCommProtocolWidget.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,10,0,0,0" columnstretch="1,1,1,10">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,100,0,0,0" columnstretch="1,1,1,100">
    <property name="topMargin">
     <number>6</number>
    </property>

src/ui/watchdog/WatchdogControl.cc

@@ -2,6 +2,8 @@
 #include "ui_WatchdogControl.h"
 #include "PxQuadMAV.h"
 
+#include "UASManager.h"
+
 #include <QDebug>
 
 WatchdogControl::WatchdogControl(QWidget *parent) :
@@ -10,6 +12,7 @@ WatchdogControl::WatchdogControl(QWidget *parent) :
         ui(new Ui::WatchdogControl)
 {
     ui->setupUi(this);
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
 }
 
 WatchdogControl::~WatchdogControl()
@@ -24,6 +27,8 @@ void WatchdogControl::setUAS(UASInterface* 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,int)), 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)));
     }
 }
 
@@ -38,6 +43,7 @@ void WatchdogControl::updateWatchdog(int systemId, int watchdogId, unsigned int
 
     // 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;
 }
 
@@ -51,6 +57,7 @@ void WatchdogControl::addProcess(int systemId, int watchdogId, int processId, QS
     process.name_ = name.toStdString();
     process.arguments_ = arguments.toStdString();
     process.timeout_ = timeout;
+    qDebug() << "PROCESS RECEIVED";
     //qDebug() << "<-- received mavlink_watchdog_process_info_t " << msg->sysid << " / " << (const char*)payload.name << " / " << (const char*)payload.arguments << " / " << payload.timeout << std::endl;
 }
 
@@ -67,6 +74,7 @@ void WatchdogControl::updateProcess(int systemId, int watchdogId, int processId,
     process.crashes_ = crashes;
     process.pid_ = pid;
 
+    qDebug() << "PROCESS UPDATED";
     //process.updateTimer_.reset();
     //qDebug() << "<-- received mavlink_watchdog_process_status_t " << msg->sysid << " / " << payload.state << " / " << payload.muted << " / " << payload.crashes << " / " << payload.pid << std::endl;
 }

src/ui/watchdog/WatchdogControl.ui

+<?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <author/>
- <comment/>
- <exportmacro/>
  <class>WatchdogControl</class>
  <widget class="QWidget" name="WatchdogControl">
   <property name="geometry">
@@ -15,7 +13,19 @@
   <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>
- <pixmapfunction/>
+ <resources/>
  <connections/>
 </ui>