Commit 6e00bdcc authored by lm's avatar lm

Merged experimental and dev;

parents c9a863b7 fbedfdc4
......@@ -249,7 +249,8 @@ HEADERS += src/MG.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPIDControl.h \
src/ui/SlugsVideoCamControl.h \
src/ui/SlugsPadCameraControl.h
src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
......@@ -359,7 +360,8 @@ SOURCES += src/main.cc \
src/ui/SlugsHilSim.cc \
src/ui/SlugsPIDControl.cpp \
src/ui/SlugsVideoCamControl.cpp \
src/ui/SlugsPadCameraControl.cpp
src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
......
......@@ -157,6 +157,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
**/
Core::~Core()
{
//mainWindow->storeSettings();
mainWindow->hide();
mainWindow->deleteLater();
// Delete singletons
delete LinkManager::instance();
delete UASManager::instance();
......
......@@ -14,6 +14,9 @@ namespace QGC
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
const QString APPNAME = "QGROUNDCONTROL";
const QString COMPANYNAME = "OPENMAV";
}
#endif // QGC_H
......@@ -559,16 +559,17 @@ void MAVLinkSimulationLink::mainloop()
// Send controller states
// uint8_t attControl = 1;
// uint8_t posXYControl = 1;
// uint8_t posZControl = 0;
// uint8_t posYawControl = 1;
// uint8_t gpsLock = 2;
// uint8_t visLock = 3;
//uint8_t posLock = qMax(gpsLock, visLock);
#ifdef MAVLINK_ENABLED_PIXHAWK
uint8_t attControl = 1;
uint8_t posXYControl = 1;
uint8_t posZControl = 0;
uint8_t posYawControl = 1;
uint8_t gpsLock = 2;
uint8_t visLock = 3;
uint8_t posLock = qMax(gpsLock, visLock);
messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
#endif
......
......@@ -30,9 +30,11 @@ This file is part of the QGROUNDCONTROL project
#include <QTimer>
#include <QDebug>
#include <QSettings>
#include <QMutexLocker>
#include "SerialLink.h"
#include "LinkManager.h"
#include "QGC.h"
#include <MG.h>
#ifdef _WIN32
#include "windows.h"
......@@ -54,12 +56,26 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
#endif
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
this->baudrate = baudrate;
this->flow = flow;
this->parity = parity;
this->dataBits = dataBits;
this->stopBits = stopBits;
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
// Load defaults from settings
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
if (settings.contains("SERIALLINK_COMM_PORT"))
{
this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
}
else
{
this->baudrate = baudrate;
this->flow = flow;
this->parity = parity;
this->dataBits = dataBits;
this->stopBits = stopBits;
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
}
// Set the port name
if (porthandle == "")
......@@ -282,6 +298,15 @@ bool SerialLink::connect()
**/
bool SerialLink::hardwareConnect()
{
// Store settings
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
settings.setValue("SERIALLINK_COMM_BAUD", this->baudrate);
settings.setValue("SERIALLINK_COMM_PARITY", this->parity);
settings.setValue("SERIALLINK_COMM_STOPBITS", this->stopBits);
settings.setValue("SERIALLINK_COMM_DATABITS", this->dataBits);
settings.sync();
QObject::connect(port, SIGNAL(aboutToClose()), this, SIGNAL(disconnected()));
port->open(QIODevice::ReadWrite);
......
......@@ -341,7 +341,7 @@ Freenect::readConfigFile(void)
settings.value("transform/R33").toDouble(),
settings.value("transform/Tz").toDouble(),
0.0, 0.0, 0.0, 1.0);
transformMatrix = transformMatrix.transposed();
transformMatrix = transformMatrix.inverted();
baseline = settings.value("transform/baseline").toDouble();
disparityOffset = settings.value("transform/disparity_offset").toDouble();
......
......@@ -41,12 +41,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
// mavlink_message_t* msg = &message;
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
// Only compile this portion if matching MAVLink packets have been compiled
#ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t* msg = &message;
if (message.sysid == uasId)
{
......
......@@ -373,9 +373,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
positionLock = true;
// Send to patch antenna
mavlink_message_t msg;
mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
sendMessage(msg);
// FIXME Message re-routing should be implemented differently
//mavlink_message_t msg;
//mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
//sendMessage(msg);
}
break;
case MAVLINK_MSG_ID_GPS_RAW:
......
......@@ -165,6 +165,19 @@ HUD::~HUD()
}
void HUD::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
if (isVisible())
{
refreshTimer->start();
}
else
{
refreshTimer->stop();
}
}
void HUD::start()
{
refreshTimer->start();
......
......@@ -123,6 +123,8 @@ protected:
float refLineWidthToPen(float line);
/** @brief Rotate a polygon around a point clockwise */
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
QImage* image; ///< Double buffer image
QImage glImage; ///< The background / camera image
......
This diff is collapsed.
......@@ -87,6 +87,9 @@ public:
~MainWindow();
public slots:
// /** @brief Store the mainwindow settings */
// void storeSettings();
/**
* @brief Shows a status message on the bottom status bar
*
......@@ -324,7 +327,6 @@ protected:
void configureWindowName();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
AS4Protocol* as4link;
......@@ -367,6 +369,7 @@ protected:
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsPIDControlWidget;
QPointer<QDockWidget> slugsHilSimWidget;
......
......@@ -108,14 +108,7 @@
<addaction name="menuPerspectives"/>
<addaction name="menuHelp"/>
</widget>
<widget class="QToolBar" name="mainToolBar">
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
</widget>
<widget class="QStatusBar" name="statusBar"/>
<action name="actionExit">
<property name="icon">
......@@ -461,3 +454,5 @@
</connection>
</connections>
</ui>
#include "QGCMainWindowAPConfigurator.h"
QGCMainWindowAPConfigurator::QGCMainWindowAPConfigurator(QObject *parent) :
QObject(parent)
{
}
#ifndef QGCMAINWINDOWAPCONFIGURATOR_H
#define QGCMAINWINDOWAPCONFIGURATOR_H
#include <QObject>
class QGCMainWindowAPConfigurator : public QObject
{
Q_OBJECT
public:
explicit QGCMainWindowAPConfigurator(QObject *parent = 0);
signals:
public slots:
};
#endif // QGCMAINWINDOWAPCONFIGURATOR_H
......@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
#include <SerialConfigurationWindow.h>
#include <SerialLinkInterface.h>
#include <QDir>
#include <QSettings>
#include <QFileInfoList>
#ifdef _WIN32
#include <QextSerialEnumerator.h>
......
......@@ -7,6 +7,7 @@
#include "ui_XMLCommProtocolWidget.h"
#include "MAVLinkXMLParser.h"
#include "MAVLinkSyntaxHighlighter.h"
#include "QGC.h"
#include <QDebug>
#include <iostream>
......@@ -31,7 +32,7 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
void XMLCommProtocolWidget::selectXMLFile()
{
//QString fileName = QFileDialog::getOpenFileName(this, tr("Load Protocol Definition File"), ".", "*.xml");
QSettings settings;
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
const QString mavlinkXML = "MAVLINK_XML_FILE";
QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
QFileDialog dialog;
......@@ -56,6 +57,7 @@ void XMLCommProtocolWidget::selectXMLFile()
setXML(instanceText);
// Store filename for next time
settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath());
settings.sync();
}
else
{
......@@ -92,7 +94,7 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
void XMLCommProtocolWidget::selectOutputDirectory()
{
QSettings settings;
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
QFileDialog dialog;
......@@ -110,7 +112,8 @@ void XMLCommProtocolWidget::selectOutputDirectory()
{
m_ui->outputDirNameLabel->setText(fileNames.first());
// Store directory for next time
settings.setValue(mavlinkOutputDir, fileNames.first());
settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
settings.sync();
//QFile file(fileName);
}
}
......
......@@ -159,7 +159,9 @@ void LinechartWidget::createLayout()
QToolButton* timeButton = new QToolButton(this);
timeButton->setText(tr("Ground Time"));
timeButton->setCheckable(true);
timeButton->setChecked(false);
bool gTimeDefault = true;
if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
timeButton->setChecked(gTimeDefault);
layout->addWidget(timeButton, 1, 4);
layout->setColumnStretch(4, 0);
connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
......@@ -442,6 +444,12 @@ void LinechartWidget::removeCurve(QString curve)
// Remove name
}
void LinechartWidget::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
setActive(isVisible());
}
void LinechartWidget::setActive(bool active)
{
if (activePlot)
......
......@@ -77,6 +77,8 @@ public slots:
void setPlotWindowPosition(int scrollBarValue);
void setPlotWindowPosition(quint64 position);
void setPlotInterval(quint64 interval);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
void setActive(bool active);
/** @brief Set the number of values to average over */
void setAverageWindow(int windowSize);
......
......@@ -16,9 +16,11 @@
QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
QWidget(parent),
updateTimer(new QTimer(this)),
refreshRateMs(200),
mav(NULL),
followCamera(true),
trailEnabled(true),
webViewInitialized(false),
#if (defined Q_OS_MAC)
webViewMac(new QWebView(this)),
#endif
......@@ -34,22 +36,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
#endif
ui->setupUi(this);
#if (defined Q_OS_MAC)
ui->webViewLayout->addWidget(webViewMac);
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
webViewMac->load(QUrl("earth.html"));
#endif
#if (defined Q_OS_WIN) & !(defined __MINGW32__)
webViewWin->load(QUrl("earth.html"));
#endif
#if ((defined Q_OS_MAC) | ((defined Q_OS_WIN) & !(defined __MINGW32__)))
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
updateTimer->start(200);
updateTimer->start(refreshRateMs);
#endif
// Follow checkbox
......@@ -94,53 +88,82 @@ void QGCGoogleEarthView::follow(bool follow)
followCamera = follow;
}
void QGCGoogleEarthView::updateState()
void QGCGoogleEarthView::hide()
{
#ifdef Q_OS_MAC
if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
updateTimer->stop();
QWidget::hide();
}
void QGCGoogleEarthView::show()
{
if (!webViewInitialized)
{
static bool initialized = false;
if (!initialized)
{
webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
initialized = true;
}
int uasId = 0;
double lat = 22.679833;
double lon = 8.549444;
double alt = 470.0;
#if (defined Q_OS_MAC)
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
webViewMac->load(QUrl("earth.html"));
#endif
float roll = 0.0f;
float pitch = 0.0f;
float yaw = 0.0f;
#if (defined Q_OS_WIN) & !(defined __MINGW32__)
webViewWin->load(QUrl("earth.html"));
#endif
webViewInitialized = true;
}
updateTimer->start();
QWidget::show();
}
if (mav)
{
uasId = mav->getUASID();
lat = mav->getLatitude();
lon = mav->getLongitude();
alt = mav->getAltitude();
roll = mav->getRoll();
pitch = mav->getPitch();
yaw = mav->getYaw();
}
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat)
.arg(lon)
.arg(alt+500)
.arg(roll)
.arg(pitch)
.arg(yaw));
if (followCamera)
void QGCGoogleEarthView::updateState()
{
#ifdef Q_OS_MAC
if (isVisible())
{
if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
{
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
static bool initialized = false;
if (!initialized)
{
webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
initialized = true;
}
int uasId = 0;
double lat = 22.679833;
double lon = 8.549444;
double alt = 470.0;
float roll = 0.0f;
float pitch = 0.0f;
float yaw = 0.0f;
if (mav)
{
uasId = mav->getUASID();
lat = mav->getLatitude();
lon = mav->getLongitude();
alt = mav->getAltitude();
roll = mav->getRoll();
pitch = mav->getPitch();
yaw = mav->getYaw();
}
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat)
.arg(lon)
.arg(alt+500)
.arg(roll)
.arg(pitch)
.arg(yaw));
if (followCamera)
{
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
}
}
}
#endif
}
void QGCGoogleEarthView::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
......
......@@ -62,13 +62,19 @@ public slots:
void showWaypoints(bool state);
/** @brief Follow the aircraft during flight */
void follow(bool follow);
/** @brief Hide and deactivate */
void hide();
/** @brief Show and activate */
void show();
protected:
void changeEvent(QEvent *e);
QTimer* updateTimer;
int refreshRateMs;
UASInterface* mav;
bool followCamera;
bool trailEnabled;
bool webViewInitialized;
#if (defined Q_OS_WIN) && !(defined __MINGW32__)
WebAxWidget* webViewWin;
#endif
......
......@@ -50,7 +50,7 @@ This file is part of the PIXHAWK project
#define CONTROL_MODE_TEST2 "MODE TEST2"
#define CONTROL_MODE_TEST3 "MODE TEST3"
#define CONTROL_MODE_READY "MODE TEST3"
#define CONTROL_MODE_RC_TRAINING "MODE RC TRAINING"
#define CONTROL_MODE_RC_TRAINING "RC SIMULATION"
#define CONTROL_MODE_LOCKED_INDEX 1
#define CONTROL_MODE_MANUAL_INDEX 2
......
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