diff --git a/qgcresources.qrc b/qgcresources.qrc
index ae67a275deadee15131f5a8449e588f4b3268f2c..033fcd8cf01c6c83e6385c47d91a124c8d6a5458 100644
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -56,6 +56,7 @@
src/AutoPilotPlugins/PX4/Images/GeoFence.svg
src/AutoPilotPlugins/PX4/Images/GeoFenceLight.svg
src/AnalyzeView/GeoTagIcon.svg
+ src/AnalyzeView/MavlinkConsoleIcon.svg
src/AutoPilotPlugins/PX4/Images/LandMode.svg
src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
src/AutoPilotPlugins/APM/Images/LightsComponentIcon.png
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 0b38de5698d92e850d4f9129b0b0a7b17cd7f26d..84ad18bd83952763bc46eea7d68f18e7dec7037d 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -555,6 +555,7 @@ HEADERS += \
!MobileBuild {
HEADERS += \
src/AnalyzeView/GeoTagController.h \
+ src/AnalyzeView/MavlinkConsoleController.h \
src/GPS/Drivers/src/gps_helper.h \
src/GPS/Drivers/src/ubx.h \
src/GPS/GPSManager.h \
@@ -718,6 +719,7 @@ contains(DEFINES, QGC_ENABLE_BLUETOOTH) {
!MobileBuild {
SOURCES += \
src/AnalyzeView/GeoTagController.cc \
+ src/AnalyzeView/MavlinkConsoleController.cc \
src/GPS/Drivers/src/gps_helper.cpp \
src/GPS/Drivers/src/ubx.cpp \
src/GPS/GPSManager.cc \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index a9593fff355e7af0e38764629c792f9ce9e49551..fb2f48da76878515dfca8d5e6e19b33b9609ac14 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -28,6 +28,7 @@
src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
src/ui/preferences/GeneralSettings.qml
src/AnalyzeView/GeoTagPage.qml
+ src/AnalyzeView/MavlinkConsolePage.qml
src/VehicleSetup/JoystickConfig.qml
src/ui/preferences/LinkSettings.qml
src/AnalyzeView/LogDownloadPage.qml
diff --git a/src/AnalyzeView/AnalyzeView.qml b/src/AnalyzeView/AnalyzeView.qml
index cd910754a9c1f1fbf2f890b1e2cece19d6ad94bf..fb1b5e5d1895d64929ec56ceb6068c892d469df2 100644
--- a/src/AnalyzeView/AnalyzeView.qml
+++ b/src/AnalyzeView/AnalyzeView.qml
@@ -18,6 +18,7 @@ import QtQuick.Controls 1.2
import QGroundControl 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controls 1.0
+import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
Rectangle {
@@ -35,6 +36,10 @@ Rectangle {
readonly property real _verticalMargin: _defaultTextHeight / 2
readonly property real _buttonWidth: _defaultTextWidth * 18
+ MavlinkConsoleController {
+ id: conController
+ }
+
QGCFlickable {
id: buttonScroll
width: buttonColumn.width
@@ -95,6 +100,11 @@ Rectangle {
buttonText: qsTr("GeoTag Images")
pageSource: "GeoTagPage.qml"
}
+ ListElement {
+ buttonImage: "/qmlimages/MavlinkConsoleIcon"
+ buttonText: qsTr("Mavlink Console")
+ pageSource: "MavlinkConsolePage.qml"
+ }
}
Component.onCompleted: itemAt(0).checked = true
diff --git a/src/AnalyzeView/MavlinkConsoleController.cc b/src/AnalyzeView/MavlinkConsoleController.cc
new file mode 100644
index 0000000000000000000000000000000000000000..106725152ee145517b111ead27cd616655ff3768
--- /dev/null
+++ b/src/AnalyzeView/MavlinkConsoleController.cc
@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ * (c) 2009-2017 QGROUNDCONTROL PROJECT
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "MavlinkConsoleController.h"
+#include "QGCApplication.h"
+#include "UAS.h"
+
+MavlinkConsoleController::MavlinkConsoleController()
+ : _cursor_home_pos{-1},
+ _cursor{0},
+ _vehicle{nullptr}
+{
+ auto *manager = qgcApp()->toolbox()->multiVehicleManager();
+ connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MavlinkConsoleController::_setActiveVehicle);
+ _setActiveVehicle(manager->activeVehicle());
+}
+
+MavlinkConsoleController::~MavlinkConsoleController()
+{
+ if (_vehicle) {
+ QByteArray msg("");
+ _sendSerialData(msg, true);
+ }
+}
+
+void
+MavlinkConsoleController::sendCommand(QString command)
+{
+ command.append("\n");
+ _sendSerialData(qPrintable(command));
+ _cursor_home_pos = -1;
+ _cursor = _console_text.length();
+}
+
+void
+MavlinkConsoleController::_setActiveVehicle(Vehicle* vehicle)
+{
+ for (auto &con : _uas_connections)
+ disconnect(con);
+ _uas_connections.clear();
+
+ _vehicle = vehicle;
+
+ if (_vehicle) {
+ _incoming_buffer.clear();
+ _console_text.clear();
+ emit cursorChanged(0);
+ emit textChanged(_console_text);
+ _uas_connections << connect(_vehicle, &Vehicle::mavlinkSerialControl, this, &MavlinkConsoleController::_receiveData);
+ }
+}
+
+void
+MavlinkConsoleController::_receiveData(uint8_t device, uint8_t, uint16_t, uint32_t, QByteArray data)
+{
+ if (device != SERIAL_CONTROL_DEV_SHELL)
+ return;
+
+ // Append incoming data and parse for ANSI codes
+ _incoming_buffer.append(data);
+ auto old_size = _console_text.size();
+ _processANSItext();
+ auto new_size = _console_text.size();
+
+ // Update QML and cursor
+ if (old_size > new_size) {
+ // Rewind back so we don't get a warning to stderr
+ emit cursorChanged(new_size);
+ }
+ emit textChanged(_console_text);
+ emit cursorChanged(new_size);
+}
+
+void
+MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
+{
+ Q_ASSERT(_vehicle);
+ if (!_vehicle)
+ return;
+
+ // Send maximum sized chunks until the complete buffer is transmitted
+ while(data.size()) {
+ QByteArray chunk{data.left(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN)};
+ uint8_t flags = SERIAL_CONTROL_FLAG_EXCLUSIVE | SERIAL_CONTROL_FLAG_RESPOND;
+ if (close) flags = 0;
+ auto protocol = qgcApp()->toolbox()->mavlinkProtocol();
+ auto priority_link = _vehicle->priorityLink();
+ mavlink_message_t msg;
+ mavlink_msg_serial_control_pack_chan(
+ protocol->getSystemId(),
+ protocol->getComponentId(),
+ priority_link->mavlinkChannel(),
+ &msg,
+ SERIAL_CONTROL_DEV_SHELL,
+ flags,
+ 0,
+ 0,
+ chunk.size(),
+ reinterpret_cast(chunk.data()));
+ _vehicle->sendMessageOnLink(priority_link, msg);
+ data.remove(0, chunk.size());
+ }
+}
+
+void
+MavlinkConsoleController::_processANSItext()
+{
+ int i; // Position into the parsed buffer
+
+ // Iterate over the incoming buffer to parse off known ANSI control codes
+ for (i = 0; i < _incoming_buffer.size(); i++) {
+ if (_incoming_buffer.at(i) == '\x1B') {
+ // For ANSI codes we expect at most 4 incoming chars
+ if (i < _incoming_buffer.size() - 3 && _incoming_buffer.at(i+1) == '[') {
+ // Parse ANSI code
+ switch(_incoming_buffer.at(i+2)) {
+ default:
+ continue;
+ case 'H':
+ if (_cursor_home_pos == -1) {
+ // Assign new home position if home is unset
+ _cursor_home_pos = _cursor;
+ } else {
+ // Rewind write cursor position to home
+ _cursor = _cursor_home_pos;
+ }
+ break;
+ case 'K':
+ // Erase the current line to the end
+ {
+ auto next_lf = _console_text.indexOf('\n', _cursor);
+ if (next_lf > 0)
+ _console_text.remove(_cursor, next_lf + 1 - _cursor);
+ }
+ break;
+ case '2':
+ // Erase everything and rewind to home
+ if (_incoming_buffer.at(i+3) == 'J' && _cursor_home_pos != -1) {
+ // Keep newlines so textedit doesn't scroll annoyingly
+ int newlines = _console_text.mid(_cursor_home_pos).count('\n');
+ _console_text.remove(_cursor_home_pos, _console_text.size());
+ _console_text.append(QByteArray(newlines, '\n'));
+ _cursor = _cursor_home_pos;
+ }
+ // Even if we didn't understand this ANSI code, remove the 4th char
+ _incoming_buffer.remove(i+3,1);
+ break;
+ }
+ // Remove the parsed ANSI code and decrement the bufferpos
+ _incoming_buffer.remove(i, 3);
+ i--;
+ } else {
+ // We can reasonably expect a control code was fragemented
+ // Stop parsing here and wait for it to come in
+ break;
+ }
+ }
+ }
+
+ // Insert the new data and increment the write cursor
+ _console_text.insert(_cursor, _incoming_buffer.left(i));
+ _cursor += i;
+
+ // Remove written data from the incoming buffer
+ _incoming_buffer.remove(0, i);
+}
diff --git a/src/AnalyzeView/MavlinkConsoleController.h b/src/AnalyzeView/MavlinkConsoleController.h
new file mode 100644
index 0000000000000000000000000000000000000000..8af2c803bb60a7da3d3ab66bde93823050aab494
--- /dev/null
+++ b/src/AnalyzeView/MavlinkConsoleController.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ * (c) 2009-2017 QGROUNDCONTROL PROJECT
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "QmlObjectListModel.h"
+#include "Fact.h"
+#include "FactMetaData.h"
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+
+// Fordward decls
+class Vehicle;
+
+
+/// Controller for MavlinkConsole.qml.
+class MavlinkConsoleController : public QObject
+{
+ Q_OBJECT
+
+ Q_PROPERTY(int cursor READ cursor NOTIFY cursorChanged)
+ Q_PROPERTY(QString text READ text NOTIFY textChanged)
+
+public:
+ MavlinkConsoleController();
+ ~MavlinkConsoleController();
+
+ int cursor() const { return _console_text.size(); }
+ QString text() const { return _console_text; }
+public slots:
+ void sendCommand(QString command);
+
+signals:
+ void cursorChanged(int);
+ void textChanged(QString text);
+
+private slots:
+ void _setActiveVehicle (Vehicle* vehicle);
+ void _receiveData(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data);
+
+private:
+ void _processANSItext();
+ void _sendSerialData(QByteArray, bool close = false);
+
+ int _cursor_home_pos;
+ int _cursor;
+ QByteArray _incoming_buffer;
+ QString _console_text;
+ Vehicle* _vehicle;
+ QList _uas_connections;
+
+};
diff --git a/src/AnalyzeView/MavlinkConsoleIcon.svg b/src/AnalyzeView/MavlinkConsoleIcon.svg
new file mode 100644
index 0000000000000000000000000000000000000000..7a84f89c532f2b622785b0782c664e36c136e52d
--- /dev/null
+++ b/src/AnalyzeView/MavlinkConsoleIcon.svg
@@ -0,0 +1,19 @@
+
+
diff --git a/src/AnalyzeView/MavlinkConsolePage.qml b/src/AnalyzeView/MavlinkConsolePage.qml
new file mode 100644
index 0000000000000000000000000000000000000000..e6dd3301b6c5bf2ae90b070d9ff44f2986bbdf5c
--- /dev/null
+++ b/src/AnalyzeView/MavlinkConsolePage.qml
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ * (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 2.3
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs 1.2
+import QtQuick.Layouts 1.2
+
+import QGroundControl 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controllers 1.0
+
+AnalyzePage {
+ id: mavlinkConsolePage
+ pageComponent: pageComponent
+ pageName: qsTr("Mavlink Console")
+ pageDescription: qsTr("Mavlink Console provides a connection to the vehicle's system shell.")
+
+ Component {
+ id: pageComponent
+
+ ColumnLayout {
+ id: consoleColumn
+ height: availableHeight
+ width: availableWidth
+
+ TextArea {
+ id: consoleEditor
+ Layout.fillHeight: true
+ anchors.left: parent.left
+ anchors.right: parent.right
+ font.family: ScreenTools.fixedFontFamily
+ font.pointSize: ScreenTools.defaultFontPointSize
+ readOnly: true
+
+ cursorPosition: conController.cursor
+ text: conController.text
+ }
+
+ QGCTextField {
+ id: command
+ anchors.left: parent.left
+ anchors.right: parent.right
+ placeholderText: "Enter Commands here..."
+
+ onAccepted: {
+ conController.sendCommand(text)
+ text = ""
+ }
+ }
+ }
+ } // Component
+} // AnalyzePage
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 7bc96582be5adea9a82cb113e9ce8e95f120baae..83e08213ea54c21c275a2c7c53e8b9e2aa119fc3 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -91,6 +91,7 @@
#include "FirmwareUpgradeController.h"
#include "MainWindow.h"
#include "GeoTagController.h"
+#include "MavlinkConsoleController.h"
#endif
#ifdef QGC_RTLAB_ENABLED
@@ -377,6 +378,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
qmlRegisterType ("QGroundControl.Controllers", 1, 0, "GeoTagController");
+ qmlRegisterType ("QGroundControl.Controllers", 1, 0, "MavlinkConsoleController");
#endif
// Register Qml Singletons
diff --git a/src/QmlControls/ScreenTools.qml b/src/QmlControls/ScreenTools.qml
index 4fd7bd42941efde4589f6b62eda4a1995dbb1a90..e6c619e13c8fc99d3819f8c471dd2b64368b3a9e 100644
--- a/src/QmlControls/ScreenTools.qml
+++ b/src/QmlControls/ScreenTools.qml
@@ -74,7 +74,7 @@ Item {
readonly property string normalFontFamily: "opensans"
readonly property string demiboldFontFamily: "opensans-demibold"
-
+ readonly property string fixedFontFamily: ScreenToolsController.fixedFontFamily
/* This mostly works but for some reason, reflowWidths() in SetupView doesn't change size.
I've disabled (in release builds) until I figure out why. Changes require a restart for now.
*/
diff --git a/src/QmlControls/ScreenToolsController.cc b/src/QmlControls/ScreenToolsController.cc
index 9d0034cb8e9fee4f03e5178b39d7c1103db8385e..68a3190cd50aa27e392b2f1c78bbddfc672f6939 100644
--- a/src/QmlControls/ScreenToolsController.cc
+++ b/src/QmlControls/ScreenToolsController.cc
@@ -12,7 +12,9 @@
/// @author Gus Grubba
#include "ScreenToolsController.h"
+#include
#include
+
#if defined(__ios__)
#include
#endif
@@ -23,7 +25,7 @@ ScreenToolsController::ScreenToolsController()
}
QString
-ScreenToolsController::iOSDevice()
+ScreenToolsController::iOSDevice() const
{
#if defined(__ios__)
struct utsname systemInfo;
@@ -33,3 +35,9 @@ ScreenToolsController::iOSDevice()
return QString();
#endif
}
+
+QString
+ScreenToolsController::fixedFontFamily() const
+{
+ return QFontDatabase::systemFont(QFontDatabase::FixedFont).family();
+}
diff --git a/src/QmlControls/ScreenToolsController.h b/src/QmlControls/ScreenToolsController.h
index 86e5ee247543df4869be67a404047a7fc92944b7..e44d983e47873dc5540f20768242e6bd8e537785 100644
--- a/src/QmlControls/ScreenToolsController.h
+++ b/src/QmlControls/ScreenToolsController.h
@@ -29,14 +29,15 @@ class ScreenToolsController : public QQuickItem
public:
ScreenToolsController();
- Q_PROPERTY(bool isAndroid READ isAndroid CONSTANT)
- Q_PROPERTY(bool isiOS READ isiOS CONSTANT)
- Q_PROPERTY(bool isMobile READ isMobile CONSTANT)
- Q_PROPERTY(bool testHighDPI READ testHighDPI CONSTANT)
- Q_PROPERTY(bool isDebug READ isDebug CONSTANT)
- Q_PROPERTY(bool isMacOS READ isMacOS CONSTANT)
- Q_PROPERTY(bool isLinux READ isLinux CONSTANT)
- Q_PROPERTY(QString iOSDevice READ iOSDevice CONSTANT)
+ Q_PROPERTY(bool isAndroid READ isAndroid CONSTANT)
+ Q_PROPERTY(bool isiOS READ isiOS CONSTANT)
+ Q_PROPERTY(bool isMobile READ isMobile CONSTANT)
+ Q_PROPERTY(bool testHighDPI READ testHighDPI CONSTANT)
+ Q_PROPERTY(bool isDebug READ isDebug CONSTANT)
+ Q_PROPERTY(bool isMacOS READ isMacOS CONSTANT)
+ Q_PROPERTY(bool isLinux READ isLinux CONSTANT)
+ Q_PROPERTY(QString iOSDevice READ iOSDevice CONSTANT)
+ Q_PROPERTY(QString fixedFontFamily READ fixedFontFamily CONSTANT)
// Returns current mouse position
Q_INVOKABLE int mouseX(void) { return QCursor::pos().x(); }
@@ -83,7 +84,8 @@ public:
bool testHighDPI () { return false; }
#endif
- QString iOSDevice ();
+ QString iOSDevice () const;
+ QString fixedFontFamily () const;
};
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index b89cdb5704da2d2f4a62c6156591d4b1bf64ca00..2bed10cccd83d96fec41c2514b0cbadd80395ec5 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -582,6 +582,13 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_handleScaledPressure3(message);
break;
+ case MAVLINK_MSG_ID_SERIAL_CONTROL:
+ {
+ mavlink_serial_control_t ser;
+ mavlink_msg_serial_control_decode(&message, &ser);
+ emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate, QByteArray(reinterpret_cast(ser.data), ser.count));
+ }
+ break;
// Following are ArduPilot dialect messages
case MAVLINK_MSG_ID_WIND:
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 263820900a8c8df7d7c19333918b25a433b00127..3021a662c5ffd63768fcde8bcebd8fcbc6ed79de 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -749,6 +749,9 @@ signals:
/// @param noResponseFromVehicle true: vehicle did not respond to command, false: vehicle responsed, MAV_RESULT in result
void mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
+ // Mavlink Serial Data
+ void mavlinkSerialControl(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data);
+
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _telemetryChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, int rssi, int remrssi, unsigned txbuf, unsigned noise, unsigned remnoise);