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Commit 6e57a50a authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #5073 from DonLakeFlyer/Fixes 

Pile of fixes
parents 23f21402 6d83753f
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Showing with 696 additions and 679 deletions
src/AnalyzeView/MavlinkConsoleController.cc
View file @ 6e57a50a
......@@ -80,9 +80,10 @@ MavlinkConsoleController::_receiveData(uint8_t device, uint8_t, uint16_t, uint32
void
MavlinkConsoleController::_sendSerialData(QByteArray data, bool close)
{
Q_ASSERT(_vehicle);
if (!_vehicle)
if (!_vehicle) {
qWarning() << "Internal error";
return;
}
// Send maximum sized chunks until the complete buffer is transmitted
while(data.size()) {
......
src/AutoPilotPlugins/AutoPilotPlugin.cc
View file @ 6e57a50a
......@@ -21,7 +21,7 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
: QObject(parent)
, _vehicle(vehicle)
, _firmwarePlugin(vehicle->firmwarePlugin())
, _setupComplete(false)
, _setupComplete(false)
{
}
......@@ -33,27 +33,29 @@ AutoPilotPlugin::~AutoPilotPlugin()
void AutoPilotPlugin::_recalcSetupComplete(void)
{
bool newSetupComplete = true;
foreach(const QVariant componentVariant, vehicleComponents()) {
VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
Q_ASSERT(component);
if (!component->setupComplete()) {
newSetupComplete = false;
break;
}
}
if (_setupComplete != newSetupComplete) {
_setupComplete = newSetupComplete;
emit setupCompleteChanged(_setupComplete);
}
bool newSetupComplete = true;
foreach(const QVariant componentVariant, vehicleComponents()) {
VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
if (component) {
if (!component->setupComplete()) {
newSetupComplete = false;
break;
}
} else {
qWarning() << "AutoPilotPlugin::_recalcSetupComplete Incorrectly typed VehicleComponent";
}
}
if (_setupComplete != newSetupComplete) {
_setupComplete = newSetupComplete;
emit setupCompleteChanged(_setupComplete);
}
}
bool AutoPilotPlugin::setupComplete(void)
{
return _setupComplete;
return _setupComplete;
}
void AutoPilotPlugin::parametersReadyPreChecks(void)
......
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
View file @ 6e57a50a
......@@ -16,7 +16,9 @@
GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
AutoPilotPlugin(vehicle, parent)
{
Q_ASSERT(vehicle);
if (!vehicle) {
qWarning() << "Internal error";
}
}
const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
......
src/AutoPilotPlugins/PX4/AirframeComponent.cc
View file @ 6e57a50a
......@@ -15,96 +15,11 @@
#include "QGCQmlWidgetHolder.h"
#include "ParameterManager.h"
#if 0
// Broken by latest mavlink module changes. Not used yet. Comment out for now.
// Discussing mavlink fix.
struct mavType {
int type;
const char* description;
};
/// @brief Used to translate from MAV_TYPE_* id to user string
static const struct mavType mavTypeInfo[] = {
{ MAV_TYPE_GENERIC, "Generic" },
{ MAV_TYPE_FIXED_WING, "Fixed Wing" },
{ MAV_TYPE_QUADROTOR, "Quadrotor" },
{ MAV_TYPE_COAXIAL, "Coaxial" },
{ MAV_TYPE_HELICOPTER, "Helicopter"},
{ MAV_TYPE_ANTENNA_TRACKER, "Antenna Tracker" },
{ MAV_TYPE_GCS, "Ground Control Station" },
{ MAV_TYPE_AIRSHIP, "Airship" },
{ MAV_TYPE_FREE_BALLOON, "Free Balloon" },
{ MAV_TYPE_ROCKET, "Rocket" },
{ MAV_TYPE_GROUND_ROVER, "Ground Rover" },
{ MAV_TYPE_SURFACE_BOAT, "Boat" },
{ MAV_TYPE_SUBMARINE, "Submarine" },
{ MAV_TYPE_HEXAROTOR, "Hexarotor" },
{ MAV_TYPE_OCTOROTOR, "Octorotor" },
{ MAV_TYPE_TRICOPTER, "Tricopter" },
{ MAV_TYPE_FLAPPING_WING, "Flapping Wing" },
{ MAV_TYPE_KITE, "Kite" },
{ MAV_TYPE_ONBOARD_CONTROLLER, "Onbard companion controller" },
{ MAV_TYPE_VTOL_DUOROTOR, "Two-rotor VTOL" },
{ MAV_TYPE_VTOL_QUADROTOR, "Quad-rotor VTOL" },
{ MAV_TYPE_VTOL_RESERVED1, "Reserved" },
{ MAV_TYPE_VTOL_RESERVED2, "Reserved" },
{ MAV_TYPE_VTOL_RESERVED3, "Reserved" },
{ MAV_TYPE_VTOL_RESERVED4, "Reserved" },
{ MAV_TYPE_VTOL_RESERVED5, "Reserved" },
{ MAV_TYPE_GIMBAL, "Gimbal" },
};
static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
#endif
AirframeComponent::AirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
VehicleComponent(vehicle, autopilot, parent),
_name(tr("Airframe"))
{
#if 0
// Broken by latest mavlink module changes. Not used yet. Comment out for now.
// Discussing mavlink fix.
Q_UNUSED(mavTypeInfo); // Keeping this around for later use
// Validate that our mavTypeInfo array hasn't gotten out of sync
qDebug() << cMavTypes << MAV_TYPE_ENUM_END;
Q_ASSERT(cMavTypes == MAV_TYPE_ENUM_END);
static const int mavTypes[] = {
MAV_TYPE_GENERIC,
MAV_TYPE_FIXED_WING,
MAV_TYPE_QUADROTOR,
MAV_TYPE_COAXIAL,
MAV_TYPE_HELICOPTER,
MAV_TYPE_ANTENNA_TRACKER,
MAV_TYPE_GCS,
MAV_TYPE_AIRSHIP,
MAV_TYPE_FREE_BALLOON,
MAV_TYPE_ROCKET,
MAV_TYPE_GROUND_ROVER,
MAV_TYPE_SURFACE_BOAT,
MAV_TYPE_SUBMARINE,
MAV_TYPE_HEXAROTOR,
MAV_TYPE_OCTOROTOR,
MAV_TYPE_TRICOPTER,
MAV_TYPE_FLAPPING_WING,
MAV_TYPE_KITE,
MAV_TYPE_ONBOARD_CONTROLLER,
MAV_TYPE_VTOL_DUOROTOR,
MAV_TYPE_VTOL_QUADROTOR,
MAV_TYPE_VTOL_RESERVED1,
MAV_TYPE_VTOL_RESERVED2,
MAV_TYPE_VTOL_RESERVED3,
MAV_TYPE_VTOL_RESERVED4,
MAV_TYPE_VTOL_RESERVED5,
MAV_TYPE_GIMBAL,
};
Q_UNUSED(mavTypes); // Keeping this around for later use
for (size_t i=0; i<cMavTypes; i++) {
Q_ASSERT(mavTypeInfo[i].type == mavTypes[i]);
}
#endif
}
QString AirframeComponent::name(void) const
......
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
View file @ 6e57a50a
......@@ -57,7 +57,9 @@ AirframeComponentController::AirframeComponentController(void) :
Q_CHECK_PTR(pInfo);
if (_autostartId == pInfo->autostartId) {
Q_ASSERT(!autostartFound);
if (autostartFound) {
qWarning() << "AirframeComponentController::AirframeComponentController duplicate ids found:" << _autostartId;
}
autostartFound = true;
_currentAirframeType = pType->name;
_currentVehicleName = pInfo->name;
......
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
View file @ 6e57a50a
......@@ -30,7 +30,6 @@ PX4AirframeLoader::PX4AirframeLoader(AutoPilotPlugin* autopilot, UASInterface* u
Q_UNUSED(autopilot);
Q_UNUSED(uas);
Q_UNUSED(parent);
Q_ASSERT(uas);
}
QString PX4AirframeLoader::aiframeMetaDataFile(void)
......@@ -51,7 +50,10 @@ void PX4AirframeLoader::loadAirframeMetaData(void)
qCDebug(PX4AirframeLoaderLog) << "Loading PX4 airframe fact meta data";
Q_ASSERT(AirframeComponentAirframes::get().count() == 0);
if (AirframeComponentAirframes::get().count() != 0) {
qCWarning(PX4AirframeLoaderLog) << "Internal error";
return;
}
QString airframeFilename;
......@@ -67,11 +69,12 @@ void PX4AirframeLoader::loadAirframeMetaData(void)
qCDebug(PX4AirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
QFile xmlFile(airframeFilename);
Q_ASSERT(xmlFile.exists());
if (!xmlFile.exists()) {
qCWarning(PX4AirframeLoaderLog) << "Internal error";
return;
}
bool success = xmlFile.open(QIODevice::ReadOnly);
Q_UNUSED(success);
Q_ASSERT(success);
if (!success) {
qCWarning(PX4AirframeLoaderLog) << "Failed opening airframe XML";
......
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 6e57a50a
......@@ -41,7 +41,10 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
, _tuningComponent(NULL)
, _mixersComponent(NULL)
{
Q_ASSERT(vehicle);
if (!vehicle) {
qWarning() << "Internal error";
return;
}
_airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this);
Q_CHECK_PTR(_airframeFacts);
......@@ -57,68 +60,70 @@ PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
{
if (_components.count() == 0 && !_incorrectParameterVersion) {
Q_ASSERT(_vehicle);
if (_vehicle->parameterManager()->parametersReady()) {
_airframeComponent = new AirframeComponent(_vehicle, this);
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
_radioComponent = new PX4RadioComponent(_vehicle, this);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
if (!_vehicle->hilMode()) {
_sensorsComponent = new SensorsComponent(_vehicle, this);
_sensorsComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
}
_flightModesComponent = new FlightModesComponent(_vehicle, this);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
_powerComponent = new PowerComponent(_vehicle, this);
_powerComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
if (_vehicle) {
if (_vehicle->parameterManager()->parametersReady()) {
_airframeComponent = new AirframeComponent(_vehicle, this);
_airframeComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
_radioComponent = new PX4RadioComponent(_vehicle, this);
_radioComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
if (!_vehicle->hilMode()) {
_sensorsComponent = new SensorsComponent(_vehicle, this);
_sensorsComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
}
_flightModesComponent = new FlightModesComponent(_vehicle, this);
_flightModesComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
_powerComponent = new PowerComponent(_vehicle, this);
_powerComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
#if 0
// Coming soon
_motorComponent = new MotorComponent(_vehicle, this);
_motorComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
// Coming soon
_motorComponent = new MotorComponent(_vehicle, this);
_motorComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_motorComponent));
#endif
_safetyComponent = new SafetyComponent(_vehicle, this);
_safetyComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
_safetyComponent = new SafetyComponent(_vehicle, this);
_safetyComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));
_tuningComponent = new PX4TuningComponent(_vehicle, this);
_tuningComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
_tuningComponent = new PX4TuningComponent(_vehicle, this);
_tuningComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
#if 0
// Coming soon
_mixersComponent = new MixersComponent(_vehicle, this);
_mixersComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_mixersComponent));
// Coming soon
_mixersComponent = new MixersComponent(_vehicle, this);
_mixersComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_mixersComponent));
#endif
//-- Is there support for cameras?
if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
_cameraComponent = new CameraComponent(_vehicle, this);
_cameraComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
}
//-- Is there an ESP8266 Connected?
if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
_esp8266Component = new ESP8266Component(_vehicle, this);
_esp8266Component->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
//-- Is there support for cameras?
if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
_cameraComponent = new CameraComponent(_vehicle, this);
_cameraComponent->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
}
//-- Is there an ESP8266 Connected?
if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
_esp8266Component = new ESP8266Component(_vehicle, this);
_esp8266Component->setupTriggerSignals();
_components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
}
} else {
qWarning() << "Call to vehicleCompenents prior to parametersReady";
}
} else {
qWarning() << "Call to vehicleCompenents prior to parametersReady";
qWarning() << "Internal error";
}
}
......
src/AutoPilotPlugins/PX4/SafetyComponent.qml
View file @ 6e57a50a
......@@ -123,7 +123,7 @@ SetupPage {
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
source: "/qmlimages/check.png"///qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
Layout.rowSpan: 3
Layout.minimumWidth: _imageWidth
}
......@@ -177,7 +177,7 @@ SetupPage {
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
//source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
Layout.rowSpan: 3
Layout.minimumWidth: _imageWidth
}
......@@ -222,7 +222,7 @@ SetupPage {
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
//source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
Layout.rowSpan: 3
Layout.minimumWidth: _imageWidth
}
......@@ -267,7 +267,7 @@ SetupPage {
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
//source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
source: qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
Layout.rowSpan: 3
Layout.minimumWidth: _imageWidth
}
......@@ -330,7 +330,7 @@ SetupPage {
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
//source: controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
source: controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
Layout.rowSpan: 7
Layout.minimumWidth: _imageWidth
}
......@@ -424,7 +424,7 @@ SetupPage {
sourceSize.height: height
mipmap: true
fillMode: Image.PreserveAspectFit
//source: controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
source: controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
Layout.rowSpan: landVelocityLabel.visible ? 2 : 1
Layout.minimumWidth: _imageWidth
}
......
src/AutoPilotPlugins/PX4/SensorsComponentController.cc
View file @ 6e57a50a
......@@ -73,7 +73,10 @@ bool SensorsComponentController::usingUDPLink(void)
/// Appends the specified text to the status log area in the ui
void SensorsComponentController::_appendStatusLog(const QString& text)
{
Q_ASSERT(_statusLog);
if (!_statusLog) {
qWarning() << "Internal error";
return;
}
QVariant returnedValue;
QVariant varText = text;
......@@ -229,8 +232,11 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
bool ok;
int p = percent.toInt(&ok);
if (ok) {
Q_ASSERT(_progressBar);
_progressBar->setProperty("value", (float)(p / 100.0));
if (_progressBar) {
_progressBar->setProperty("value", (float)(p / 100.0));
} else {
qWarning() << "Internal error";
}
}
return;
}
......@@ -324,7 +330,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
_gyroCalInProgress = true;
_orientationCalDownSideVisible = true;
} else {
Q_ASSERT(false);
qWarning() << "Unknown calibration message type" << text;
}
emit orientationCalSidesDoneChanged();
emit orientationCalSidesVisibleChanged();
......
src/FactSystem/ParameterManager.cc
View file @ 6e57a50a
......@@ -303,11 +303,15 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
_dataMutex.unlock();
Q_ASSERT(_mapParameterName2Variant[componentId].contains(parameterName));
Fact* fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
Q_ASSERT(fact);
fact->_containerSetRawValue(value);
Fact* fact = NULL;
if (_mapParameterName2Variant[componentId].contains(parameterName)) {
fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
}
if (fact) {
fact->_containerSetRawValue(value);
} else {
qWarning() << "Internal error";
}
if (componentParamsComplete) {
if (componentId == _vehicle->defaultComponentId()) {
......@@ -352,18 +356,24 @@ void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString
void ParameterManager::_valueUpdated(const QVariant& value)
{
Fact* fact = qobject_cast<Fact*>(sender());
Q_ASSERT(fact);
if (!fact) {
qWarning() << "Internal error";
return;
}
int componentId = fact->componentId();
QString name = fact->name();
_dataMutex.lock();
Q_ASSERT(_waitingWriteParamNameMap.contains(componentId));
_waitingWriteParamNameMap[componentId].remove(name); // Remove any old entry
_waitingWriteParamNameMap[componentId][name] = 0; // Add new entry and set retry count
_waitingParamTimeoutTimer.start();
_saveRequired = true;
if (_waitingWriteParamNameMap.contains(componentId)) {
_waitingWriteParamNameMap[componentId].remove(name); // Remove any old entry
_waitingWriteParamNameMap[componentId][name] = 0; // Add new entry and set retry count
_waitingParamTimeoutTimer.start();
_saveRequired = true;
} else {
qWarning() << "Internal error";
}
_dataMutex.unlock();
......@@ -397,7 +407,6 @@ void ParameterManager::refreshAllParameters(uint8_t componentId)
_dataMutex.unlock();
MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
Q_ASSERT(mavlink);
mavlink_message_t msg;
mavlink_msg_param_request_list_pack_chan(mavlink->getSystemId(),
......@@ -432,8 +441,6 @@ void ParameterManager::refreshParameter(int componentId, const QString& name)
_dataMutex.lock();
Q_ASSERT(_waitingReadParamNameMap.contains(componentId));
if (_waitingReadParamNameMap.contains(componentId)) {
QString mappedParamName = _remapParamNameToVersion(name);
......@@ -441,6 +448,8 @@ void ParameterManager::refreshParameter(int componentId, const QString& name)
_waitingReadParamNameMap[componentId][mappedParamName] = 0; // Add new wait entry and update retry count
qCDebug(ParameterManagerLog) << _logVehiclePrefix(componentId) << "restarting _waitingParamTimeout";
_waitingParamTimeoutTimer.start();
} else {
qWarning() << "Internal error";
}
_dataMutex.unlock();
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ 6e57a50a
......@@ -245,9 +245,9 @@ FlightMap {
}
}
// Camera points
// Camera trigger points
MapItemView {
model: _missionController.cameraPoints
model: _activeVehicle ? _activeVehicle.cameraTriggerPoints : 0
delegate: CameraTriggerIndicator {
coordinate: object.coordinate
......
src/GPS/GPSManager.cc
View file @ 6e57a50a
......@@ -28,8 +28,6 @@ GPSManager::~GPSManager()
void GPSManager::connectGPS(const QString& device)
{
Q_ASSERT(_toolbox);
RTKSettings* rtkSettings = qgcApp()->toolbox()->settingsManager()->rtkSettings();
cleanup();
......
src/MissionManager/MissionController.cc
View file @ 6e57a50a
......@@ -1384,7 +1384,6 @@ void MissionController::managerVehicleChanged(Vehicle* managerVehicle)
connect(_missionManager, &MissionManager::currentIndexChanged, this, &MissionController::_currentMissionIndexChanged);
connect(_missionManager, &MissionManager::lastCurrentIndexChanged, this, &MissionController::resumeMissionIndexChanged);
connect(_missionManager, &MissionManager::resumeMissionReady, this, &MissionController::resumeMissionReady);
connect(_missionManager, &MissionManager::cameraFeedback, this, &MissionController::_cameraFeedback);
connect(_managerVehicle, &Vehicle::homePositionChanged, this, &MissionController::_managerVehicleHomePositionChanged);
connect(_managerVehicle, &Vehicle::defaultCruiseSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(_managerVehicle, &Vehicle::defaultHoverSpeedChanged, this, &MissionController::_recalcMissionFlightStatus);
......@@ -1664,19 +1663,6 @@ void MissionController::applyDefaultMissionAltitude(void)
}
}
void MissionController::_cameraFeedback(QGeoCoordinate imageCoordinate, int index)
{
Q_UNUSED(index);
if (!_editMode) {
_cameraPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
}
void MissionController::clearCameraPoints(void)
{
_cameraPoints.clearAndDeleteContents();
}
void MissionController::_progressPctChanged(double progressPct)
{
if (!qFuzzyCompare(progressPct, _progressPct)) {
......
src/MissionManager/MissionController.h
View file @ 6e57a50a
......@@ -64,7 +64,6 @@ public:
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(QmlObjectListModel* cameraPoints READ cameraPoints CONSTANT)
Q_PROPERTY(QStringList complexMissionItemNames READ complexMissionItemNames NOTIFY complexMissionItemNamesChanged)
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
......@@ -106,8 +105,6 @@ public:
/// Sends the mission items to the specified vehicle
static void sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems);
Q_INVOKABLE void clearCameraPoints(void);
bool loadJsonFile(QFile& file, QString& errorString);
bool loadTextFile(QFile& file, QString& errorString);
......@@ -130,7 +127,6 @@ public:
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
QmlObjectListModel* cameraPoints (void) { return &_cameraPoints; }
QStringList complexMissionItemNames (void) const;
QGeoCoordinate plannedHomePosition (void) const;
double progressPct (void) const { return _progressPct; }
......@@ -178,7 +174,6 @@ private slots:
void _recalcWaypointLines(void);
void _recalcMissionFlightStatus(void);
void _updateContainsItems(void);
void _cameraFeedback(QGeoCoordinate imageCoordinate, int index);
void _progressPctChanged(double progressPct);
void _visualItemsDirtyChanged(bool dirty);
void _managerSendComplete(void);
......@@ -220,7 +215,6 @@ private:
QmlObjectListModel* _visualItems;
MissionSettingsItem* _settingsItem;
QmlObjectListModel _waypointLines;
QmlObjectListModel _cameraPoints;
CoordVectHashTable _linesTable;
bool _firstItemsFromVehicle;
bool _itemsRequested;
......
src/MissionManager/MissionManager.cc
View file @ 6e57a50a
......@@ -680,31 +680,6 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message)
break;
}
}
void MissionManager::_handleCameraFeedback(const mavlink_message_t& message)
{
mavlink_camera_feedback_t feedback;
mavlink_msg_camera_feedback_decode(&message, &feedback);
QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
emit cameraFeedback(imageCoordinate, feedback.img_idx);
}
void MissionManager::_handleCameraImageCaptured(const mavlink_message_t& message)
{
mavlink_camera_image_captured_t feedback;
mavlink_msg_camera_image_captured_decode(&message, &feedback);
QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
qCDebug(MissionManagerLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
if (feedback.capture_result == 1) {
emit cameraFeedback(imageCoordinate, feedback.image_index);
}
}
/// Called when a new mavlink message for out vehicle is received
void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
{
......@@ -740,14 +715,6 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
case MAVLINK_MSG_ID_MISSION_CURRENT:
_handleMissionCurrent(message);
break;
case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
_handleCameraFeedback(message);
break;
case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
_handleCameraImageCaptured(message);
break;
}
}
......
src/MissionManager/MissionManager.h
View file @ 6e57a50a
......@@ -88,7 +88,6 @@ signals:
void currentIndexChanged(int currentIndex);
void lastCurrentIndexChanged(int lastCurrentIndex);
void resumeMissionReady(void);
void cameraFeedback(QGeoCoordinate imageCoordinate, int index);
void progressPct(double progressPercentPct);
void removeAllComplete (void);
void sendComplete (void);
......@@ -122,8 +121,6 @@ private:
void _handleMissionRequest(const mavlink_message_t& message, bool missionItemInt);
void _handleMissionAck(const mavlink_message_t& message);
void _handleMissionCurrent(const mavlink_message_t& message);
void _handleCameraFeedback(const mavlink_message_t& message);
void _handleCameraImageCaptured(const mavlink_message_t& message);
void _requestNextMissionItem(void);
void _clearMissionItems(void);
void _sendError(ErrorCode_t errorCode, const QString& errorMsg);
......
src/PlanView/PlanView.qml
View file @ 6e57a50a
......@@ -231,7 +231,8 @@ QGCView {
id: fileDialog
qgcView: _qgcView
folder: QGroundControl.settingsManager.appSettings.missionSavePath
fileExtension: masterController.fileExtension
fileExtension: QGroundControl.settingsManager.appSettings.planFileExtension
fileExtension2: QGroundControl.settingsManager.appSettings.missionFileExtension
onAcceptedForSave: {
masterController.saveToFile(file)
......@@ -653,7 +654,7 @@ QGCView {
id: syncLoadFromFileOverwrite
QGCViewMessage {
id: syncLoadFromVehicleCheck
message: qsTr("You have unsaved/unsent changes. Loading a from a file will lose these changes. Are you sure you want to load from a file?")
message: qsTr("You have unsaved/unsent changes. Loading from a file will lose these changes. Are you sure you want to load from a file?")
function accept() {
hideDialog()
masterController.loadFromSelectedFile()
......
src/QGCApplication.cc
View file @ 6e57a50a
......@@ -176,7 +176,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
, _toolbox(NULL)
, _bluetoothAvailable(false)
{
Q_ASSERT(_app == NULL);
_app = this;
// This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
......@@ -193,11 +192,11 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
if (getuid() == 0) {
QMessageBox msgBox;
msgBox.setInformativeText(tr("You are running %1 as root. "
"You should not do this since it will cause other issues with %1. "
"%1 will now exit. "
"If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
"You should not do this since it will cause other issues with %1. "
"%1 will now exit. "
"If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
......@@ -473,7 +472,6 @@ void QGCApplication::clearDeleteAllSettingsNextBoot(void)
/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
Q_ASSERT(QGCApplication::_app);
return QGCApplication::_app;
}
......@@ -612,19 +610,19 @@ void QGCApplication::reportMissingParameter(int componentId, const QString& name
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
{
Q_ASSERT(_missingParams.count());
QString params;
foreach (const QString &name, _missingParams) {
if (params.isEmpty()) {
params += name;
} else {
params += QString(", %1").arg(name);
if (_missingParams.count()) {
QString params;
foreach (const QString &name, _missingParams) {
if (params.isEmpty()) {
params += name;
} else {
params += QString(", %1").arg(name);
}
}
}
_missingParams.clear();
_missingParams.clear();
showMessage(QString("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
showMessage(QString("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
}
}
QObject* QGCApplication::_rootQmlObject()
......
src/QGCFileDownload.cc
View file @ 6e57a50a
......@@ -110,19 +110,24 @@ void QGCFileDownload::_downloadFinished(void)
// Download file location is in user attribute
QString downloadFilename = reply->request().attribute(QNetworkRequest::User).toString();
Q_ASSERT(!downloadFilename.isEmpty());
// Store downloaded file in download location
QFile file(downloadFilename);
if (!file.open(QIODevice::WriteOnly)) {
emit error(QString("Could not save downloaded file to %1. Error: %2").arg(downloadFilename).arg(file.errorString()));
return;
}
file.write(reply->readAll());
file.close();
emit downloadFinished(_originalRemoteFile, downloadFilename);
if (!downloadFilename.isEmpty()) {
// Store downloaded file in download location
QFile file(downloadFilename);
if (!file.open(QIODevice::WriteOnly)) {
emit error(QString("Could not save downloaded file to %1. Error: %2").arg(downloadFilename).arg(file.errorString()));
return;
}
file.write(reply->readAll());
file.close();
emit downloadFinished(_originalRemoteFile, downloadFilename);
} else {
QString errorMsg = "Internal error";
qWarning() << errorMsg;
emit error(errorMsg);
}
}
/// @brief Called when an error occurs during download
......
src/QGCPalette.cc
View file @ 6e57a50a
......@@ -39,8 +39,9 @@ QGCPalette::QGCPalette(QObject* parent) :
QGCPalette::~QGCPalette()
{
bool fSuccess = _paletteObjects.removeOne(this);
Q_ASSERT(fSuccess);
Q_UNUSED(fSuccess);
if (!fSuccess) {
qWarning() << "Internal error";
}
}
void QGCPalette::_buildMap(void)
......
src/QGCQFileDialog.cc
View file @ 6e57a50a
......@@ -126,7 +126,9 @@ QString QGCQFileDialog::getSaveFileName(
defaultSuffixCopy = _getFirstExtensionInFilter(filter);
}
//-- If this is set to strict, we have to have a default extension
Q_ASSERT(defaultSuffixCopy.isEmpty() == false);
if (defaultSuffixCopy.isEmpty()) {
qWarning() << "Internal error";
}
//-- Forcefully append our desired extension
result += ".";
result += defaultSuffixCopy;
......@@ -197,9 +199,13 @@ void QGCQFileDialog::_validate(Options& options)
Q_UNUSED(options)
// You can't use QGCQFileDialog if QGCApplication is not created yet.
Q_ASSERT(qgcApp());
if (!qgcApp()) {
qWarning() << "Internal error";
return;
}
Q_ASSERT_X(QThread::currentThread() == qgcApp()->thread(), "Threading issue", "QGCQFileDialog can only be called from main thread");
if (MainWindow::instance()) {
if (QThread::currentThread() != qgcApp()->thread()) {
qWarning() << "Threading issue: QGCQFileDialog can only be called from main thread";
return;
}
}
src/QmlControls/ParameterEditorController.cc
View file @ 6e57a50a
......@@ -89,8 +89,9 @@ QStringList ParameterEditorController::searchParametersForComponent(int componen
void ParameterEditorController::clearRCToParam(void)
{
Q_ASSERT(_uas);
_uas->unsetRCToParameterMap();
if (_uas) {
_uas->unsetRCToParameterMap();
}
}
void ParameterEditorController::saveToFile(const QString& filename)
......@@ -147,9 +148,10 @@ void ParameterEditorController::setRCToParam(const QString& paramName)
#ifdef __mobile__
Q_UNUSED(paramName)
#else
Q_ASSERT(_uas);
QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, qgcApp()->toolbox()->multiVehicleManager(), MainWindow::instance());
d->exec();
if (_uas) {
QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, qgcApp()->toolbox()->multiVehicleManager(), MainWindow::instance());
d->exec();
}
#endif
}
......
src/QmlControls/QGCCheckBox.qml
View file @ 6e57a50a
......@@ -11,7 +11,7 @@ CheckBox {
style: CheckBoxStyle {
label: Item {
implicitWidth: text.implicitWidth + 2
implicitHeight: text.implicitHeight
implicitHeight: ScreenTools.implicitCheckBoxHeight
baselineOffset: text.baselineOffset
Rectangle {
......@@ -39,7 +39,7 @@ CheckBox {
} // label
indicator: Item {
implicitWidth: ScreenTools.implicitCheckBoxWidth
implicitWidth: ScreenTools.checkBoxIndicatorSize
implicitHeight: implicitWidth
Rectangle {
......
src/QmlControls/QGCFileDialog.qml
View file @ 6e57a50a
......@@ -18,6 +18,7 @@ Item {
property string folder
property var nameFilters
property string fileExtension
property string fileExtension2
property string title
property bool selectExisting
property bool selectFolder
......@@ -90,7 +91,7 @@ Item {
spacing: ScreenTools.defaultFontPixelHeight / 2
Repeater {
id: fileList;
id: fileList
model: controller.getFiles(folder, fileExtension)
QGCButton {
......@@ -105,9 +106,25 @@ Item {
}
}
Repeater {
id: fileList2
model: fileExtension2 == "" ? [ ] : controller.getFiles(folder, fileExtension2)
QGCButton {
anchors.left: parent.left
anchors.right: parent.right
text: modelData
onClicked: {
hideDialog()
_root.acceptedForLoad(controller.fullyQualifiedFilename(folder, modelData, fileExtension2))
}
}
}
QGCLabel {
text: qsTr("No files")
visible: fileList.model.length == 0
visible: fileList.model.length == 0 && fileList2.model.length == 0
}
}
}
......
src/QmlControls/QGCRadioButton.qml
View file @ 6e57a50a
......@@ -15,7 +15,7 @@ RadioButton {
style: RadioButtonStyle {
label: Item {
implicitWidth: text.implicitWidth + ScreenTools.defaultFontPixelWidth * 0.25
implicitHeight: text.implicitHeight
implicitHeight: ScreenTools.implicitRadioButtonHeight
baselineOffset: text.y + text.baselineOffset
Rectangle {
......@@ -43,5 +43,23 @@ RadioButton {
anchors.centerIn: parent
}
}
indicator: Rectangle {
width: ScreenTools.radioButtonIndicatorSize
height: width
border.color: qgcPal.text
antialiasing: true
radius: height / 2
Rectangle {
anchors.centerIn: parent
width: Math.round(parent.width * 0.5)
height: width
antialiasing: true
radius: height/2
color: qgcPal.text
opacity: control.checked ? (control.enabled ? 1 : 0.5) : 0
}
}
}
}
src/QmlControls/ScreenTools.qml
View file @ 6e57a50a
......@@ -64,13 +64,16 @@ Item {
property real minTouchPixels: 0 ///< Minimum touch size in pixels
// The implicit heights/widths for our custom control set
property real implicitButtonWidth: Math.round(defaultFontPixelWidth * (isMobile ? 7.0 : 5.0))
property real implicitButtonHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitCheckBoxWidth: Math.round(defaultFontPixelHeight * (isMobile ? 1.5 : 1.0))
property real implicitTextFieldHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitComboBoxHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitComboBoxWidth: Math.round(defaultFontPixelWidth * (isMobile ? 7.0 : 5.0))
property real implicitSliderHeight: isMobile ? Math.max(defaultFontPixelHeight, minTouchPixels) : defaultFontPixelHeight
property real implicitButtonWidth: Math.round(defaultFontPixelWidth * (isMobile ? 7.0 : 5.0))
property real implicitButtonHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitCheckBoxHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.0))
property real implicitRadioButtonHeight: implicitCheckBoxHeight
property real implicitTextFieldHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitComboBoxHeight: Math.round(defaultFontPixelHeight * (isMobile ? 2.0 : 1.6))
property real implicitComboBoxWidth: Math.round(defaultFontPixelWidth * (isMobile ? 7.0 : 5.0))
property real implicitSliderHeight: isMobile ? Math.max(defaultFontPixelHeight, minTouchPixels) : defaultFontPixelHeight
property real checkBoxIndicatorSize: Math.round(defaultFontPixelHeight * (isMobile ? 1.5 : 1.0))
property real radioButtonIndicatorSize: checkBoxIndicatorSize
readonly property string normalFontFamily: "opensans"
readonly property string demiboldFontFamily: "opensans-demibold"
......
src/Settings/App.SettingsGroup.json
View file @ 6e57a50a
......@@ -116,13 +116,6 @@
"type": "bool",
"defaultValue": false
},
{
"name": "AutomaticMissionUpload",
"shortDescription": "Automatic mission upload",
"longDescription": "Automatically upload mission to vehicle after changes",
"type": "bool",
"defaultValue": true
},
{
"name": "SavePath",
"shortDescription": "Application save directory",
......
src/Settings/AppSettings.cc
View file @ 6e57a50a
......@@ -31,7 +31,6 @@ const char* AppSettings::indoorPaletteName = "StyleIs
const char* AppSettings::showLargeCompassName = "ShowLargeCompass";
const char* AppSettings::savePathName = "SavePath";
const char* AppSettings::autoLoadMissionsName = "AutoLoadMissions";
const char* AppSettings::automaticMissionUploadName = "AutomaticMissionUpload";
const char* AppSettings::parameterFileExtension = "params";
const char* AppSettings::planFileExtension = "plan";
......@@ -62,7 +61,6 @@ AppSettings::AppSettings(QObject* parent)
, _showLargeCompassFact(NULL)
, _savePathFact(NULL)
, _autoLoadMissionsFact(NULL)
, _automaticMissionUpload(NULL)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<AppSettings>("QGroundControl.SettingsManager", 1, 0, "AppSettings", "Reference only");
......@@ -280,15 +278,6 @@ Fact* AppSettings::autoLoadMissions(void)
return _autoLoadMissionsFact;
}
Fact* AppSettings::automaticMissionUpload(void)
{
if (!_automaticMissionUpload) {
_automaticMissionUpload = _createSettingsFact(automaticMissionUploadName);
}
return _automaticMissionUpload;
}
MAV_AUTOPILOT AppSettings::offlineEditingFirmwareTypeFromFirmwareType(MAV_AUTOPILOT firmwareType)
{
if (firmwareType != MAV_AUTOPILOT_PX4 && firmwareType != MAV_AUTOPILOT_ARDUPILOTMEGA) {
......
src/Settings/AppSettings.h
View file @ 6e57a50a
......@@ -35,7 +35,6 @@ public:
Q_PROPERTY(Fact* showLargeCompass READ showLargeCompass CONSTANT)
Q_PROPERTY(Fact* savePath READ savePath CONSTANT)
Q_PROPERTY(Fact* autoLoadMissions READ autoLoadMissions CONSTANT)
Q_PROPERTY(Fact* automaticMissionUpload READ automaticMissionUpload CONSTANT)
Q_PROPERTY(QString missionSavePath READ missionSavePath NOTIFY savePathsChanged)
Q_PROPERTY(QString parameterSavePath READ parameterSavePath NOTIFY savePathsChanged)
......@@ -62,7 +61,6 @@ public:
Fact* showLargeCompass (void);
Fact* savePath (void);
Fact* autoLoadMissions (void);
Fact* automaticMissionUpload (void);
QString missionSavePath (void);
QString parameterSavePath (void);
......@@ -88,7 +86,6 @@ public:
static const char* showLargeCompassName;
static const char* savePathName;
static const char* autoLoadMissionsName;
static const char* automaticMissionUploadName;
// Application wide file extensions
static const char* parameterFileExtension;
......@@ -127,7 +124,6 @@ private:
SettingsFact* _showLargeCompassFact;
SettingsFact* _savePathFact;
SettingsFact* _autoLoadMissionsFact;
SettingsFact* _automaticMissionUpload;
};
#endif
src/Vehicle/MAVLinkLogManager.cc
View file @ 6e57a50a
......@@ -150,10 +150,10 @@ bool
MAVLinkLogProcessor::create(MAVLinkLogManager* manager, const QString path, uint8_t id)
{
_fileName.sprintf("%s/%03d-%s%s",
path.toLatin1().data(),
id,
QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz").toLatin1().data(),
kUlogExtension);
path.toLatin1().data(),
id,
QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz").toLatin1().data(),
kUlogExtension);
_fd = fopen(_fileName.toLatin1().data(), "wb");
if(_fd) {
_record = new MAVLinkLogFiles(manager, _fileName, true);
......@@ -498,17 +498,20 @@ MAVLinkLogManager::uploadLog()
}
for(int i = 0; i < _logFiles.count(); i++) {
_currentLogfile = qobject_cast<MAVLinkLogFiles*>(_logFiles.get(i));
Q_ASSERT(_currentLogfile);
if(_currentLogfile->selected()) {
_currentLogfile->setSelected(false);
if(!_currentLogfile->uploaded() && !_emailAddress.isEmpty() && !_uploadURL.isEmpty()) {
_currentLogfile->setUploading(true);
_currentLogfile->setProgress(0.0);
QString filePath = _makeFilename(_currentLogfile->name());
_sendLog(filePath);
emit uploadingChanged();
return;
if (_currentLogfile) {
if(_currentLogfile->selected()) {
_currentLogfile->setSelected(false);
if(!_currentLogfile->uploaded() && !_emailAddress.isEmpty() && !_uploadURL.isEmpty()) {
_currentLogfile->setUploading(true);
_currentLogfile->setProgress(0.0);
QString filePath = _makeFilename(_currentLogfile->name());
_sendLog(filePath);
emit uploadingChanged();
return;
}
}
} else {
qWarning() << "Internal error";
}
}
_currentLogfile = NULL;
......@@ -541,9 +544,12 @@ MAVLinkLogManager::_getFirstSelected()
{
for(int i = 0; i < _logFiles.count(); i++) {
MAVLinkLogFiles* f = qobject_cast<MAVLinkLogFiles*>(_logFiles.get(i));
Q_ASSERT(f);
if(f->selected()) {
return i;
if (f) {
if(f->selected()) {
return i;
}
} else {
qWarning() << "Internal error";
}
}
return -1;
......@@ -590,9 +596,12 @@ MAVLinkLogManager::cancelUpload()
{
for(int i = 0; i < _logFiles.count(); i++) {
MAVLinkLogFiles* pLogFile = qobject_cast<MAVLinkLogFiles*>(_logFiles.get(i));
Q_ASSERT(pLogFile);
if(pLogFile->selected() && pLogFile != _currentLogfile) {
pLogFile->setSelected(false);
if (pLogFile) {
if(pLogFile->selected() && pLogFile != _currentLogfile) {
pLogFile->setSelected(false);
}
} else {
qWarning() << "Internal error";
}
}
if(_currentLogfile) {
......
src/Vehicle/Vehicle.cc
View file @ 6e57a50a
......@@ -29,6 +29,7 @@
#include "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "QGCQGeoCoordinate.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
......@@ -316,6 +317,10 @@ void Vehicle::_commonInit(void)
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearTrajectoryPoints);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
......@@ -584,6 +589,13 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE3:
_handleScaledPressure3(message);
break;
case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
_handleCameraFeedback(message);
break;
case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
_handleCameraImageCaptured(message);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
......@@ -605,6 +617,31 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_uas->receiveMessage(message);
}
void Vehicle::_handleCameraFeedback(const mavlink_message_t& message)
{
mavlink_camera_feedback_t feedback;
mavlink_msg_camera_feedback_decode(&message, &feedback);
QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
_cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
{
mavlink_camera_image_captured_t feedback;
mavlink_msg_camera_image_captured_decode(&message, &feedback);
QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
if (feedback.capture_result == 1) {
_cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
}
void Vehicle::_handleVfrHud(mavlink_message_t& message)
{
mavlink_vfr_hud_t vfrHud;
......@@ -945,15 +982,24 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
// We are transitioning to the armed state, begin tracking trajectory points for the map
if (_armed) {
_mapTrajectoryStart();
_clearCameraTriggerPoints();
} else {
_mapTrajectoryStop();
}
}
if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
QString previousFlightMode;
if (_base_mode != 0 || _custom_mode != 0){
// Vehicle is initialized with _base_mode=0 and _custom_mode=0. Don't pass this to flightMode() since it will complain about
// bad modes while unit testing.
previousFlightMode = flightMode();
}
_base_mode = heartbeat.base_mode;
_custom_mode = heartbeat.custom_mode;
emit flightModeChanged(flightMode());
if (previousFlightMode != flightMode()) {
emit flightModeChanged(flightMode());
}
}
}
......@@ -1277,7 +1323,6 @@ void Vehicle::_handleTextMessage(int newCount)
}
UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
Q_ASSERT(pMh);
MessageType_t type = newCount ? _currentMessageType : MessageNone;
int errorCount = _currentErrorCount;
int warnCount = _currentWarningCount;
......@@ -1622,10 +1667,20 @@ void Vehicle::_addNewMapTrajectoryPoint(void)
_mapTrajectoryLastCoordinate = _coordinate;
}
void Vehicle::_clearTrajectoryPoints(void)
{
_mapTrajectoryList.clearAndDeleteContents();
}
void Vehicle::_clearCameraTriggerPoints(void)
{
_cameraTriggerPoints.clearAndDeleteContents();
}
void Vehicle::_mapTrajectoryStart(void)
{
_mapTrajectoryHaveFirstCoordinate = false;
_mapTrajectoryList.clear();
_clearTrajectoryPoints();
_mapTrajectoryTimer.start();
_flightDistanceFact.setRawValue(0);
}
......@@ -1907,11 +1962,6 @@ void Vehicle::_announceArmedChanged(bool armed)
_say(QString("%1 %2").arg(_vehicleIdSpeech()).arg(armed ? QStringLiteral("armed") : QStringLiteral("disarmed")));
}
void Vehicle::clearTrajectoryPoints(void)
{
_mapTrajectoryList.clearAndDeleteContents();
}
void Vehicle::setFlying(bool flying)
{
if (armed() && _flying != flying) {
......
src/Vehicle/Vehicle.h
View file @ 6e57a50a
......@@ -246,6 +246,7 @@ public:
Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
Q_PROPERTY(QmlObjectListModel* trajectoryPoints READ trajectoryPoints CONSTANT)
Q_PROPERTY(QmlObjectListModel* cameraTriggerPoints READ cameraTriggerPoints CONSTANT)
Q_PROPERTY(float latitude READ latitude NOTIFY coordinateChanged)
Q_PROPERTY(float longitude READ longitude NOTIFY coordinateChanged)
Q_PROPERTY(bool messageTypeNone READ messageTypeNone NOTIFY messageTypeChanged)
......@@ -371,8 +372,6 @@ public:
Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
Q_INVOKABLE void disconnectInactiveVehicle(void);
Q_INVOKABLE void clearTrajectoryPoints(void);
/// Command vehicle to return to launch
Q_INVOKABLE void guidedModeRTL(void);
......@@ -524,6 +523,7 @@ public:
void setPrearmError(const QString& prearmError);
QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
QmlObjectListModel* cameraTriggerPoints(void) { return &_cameraTriggerPoints; }
int flowImageIndex() { return _flowImageIndex; }
......@@ -791,8 +791,9 @@ private slots:
void _geoFenceLoadComplete(void);
void _rallyPointLoadComplete(void);
void _sendMavCommandAgain(void);
void _activeJoystickChanged(void);
void _clearTrajectoryPoints(void);
void _clearCameraTriggerPoints(void);
private:
bool _containsLink(LinkInterface* link);
......@@ -820,6 +821,8 @@ private:
void _handleScaledPressure(mavlink_message_t& message);
void _handleScaledPressure2(mavlink_message_t& message);
void _handleScaledPressure3(mavlink_message_t& message);
void _handleCameraFeedback(const mavlink_message_t& message);
void _handleCameraImageCaptured(const mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
void _geoFenceManagerError(int errorCode, const QString& errorMsg);
void _rallyPointManagerError(int errorCode, const QString& errorMsg);
......@@ -954,6 +957,8 @@ private:
bool _mapTrajectoryHaveFirstCoordinate;
static const int _mapTrajectoryMsecsBetweenPoints = 1000;
QmlObjectListModel _cameraTriggerPoints;
// Toolbox references
FirmwarePluginManager* _firmwarePluginManager;
JoystickManager* _joystickManager;
......
src/VehicleSetup/VehicleComponent.cc
View file @ 6e57a50a
......@@ -20,8 +20,9 @@ VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot,
_vehicle(vehicle),
_autopilot(autopilot)
{
Q_ASSERT(vehicle);
Q_ASSERT(autopilot);
if (!vehicle || !autopilot) {
qWarning() << "Internal error";
}
}
VehicleComponent::~VehicleComponent()
......@@ -31,19 +32,23 @@ VehicleComponent::~VehicleComponent()
void VehicleComponent::addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent)
{
Q_ASSERT(context);
// FIXME: We own this object now, need to delete somewhere
QQmlComponent component(context->engine(), QUrl::fromUserInput("qrc:/qml/VehicleComponentSummaryButton.qml"));
if (component.status() == QQmlComponent::Error) {
qDebug() << component.errors();
Q_ASSERT(false);
if (context) {
// FIXME: We own this object now, need to delete somewhere
QQmlComponent component(context->engine(), QUrl::fromUserInput("qrc:/qml/VehicleComponentSummaryButton.qml"));
if (component.status() == QQmlComponent::Error) {
qWarning() << component.errors();
} else {
QQuickItem* item = qobject_cast<QQuickItem*>(component.create(context));
if (item) {
item->setParentItem(parent);
item->setProperty("vehicleComponent", QVariant::fromValue(this));
} else {
qWarning() << "Internal error";
}
}
} else {
qWarning() << "Internal error";
}
QQuickItem* item = qobject_cast<QQuickItem*>(component.create(context));
Q_ASSERT(item);
item->setParentItem(parent);
item->setProperty("vehicleComponent", QVariant::fromValue(this));
}
void VehicleComponent::setupTriggerSignals(void)
......
src/ViewWidgets/ViewWidgetController.cc
View file @ 6e57a50a
......@@ -33,11 +33,11 @@ void ViewWidgetController::_vehicleAvailable(bool available)
_uas = vehicle->uas();
_autopilot = vehicle->autopilotPlugin();
Q_ASSERT(_autopilot);
emit pluginConnected(QVariant::fromValue(_autopilot));
}
}
Q_INVOKABLE void ViewWidgetController::checkForVehicle(void)
void ViewWidgetController::checkForVehicle(void)
{
_vehicleAvailable(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
}
src/comm/LinkInterface.cc
View file @ 6e57a50a
......@@ -152,7 +152,9 @@ qint64 LinkInterface::_getCurrentDataRate(int index, const qint64 dataWriteTimes
/// Sets the mavlink channel to use for this link
void LinkInterface::_setMavlinkChannel(uint8_t channel)
{
Q_ASSERT(!_mavlinkChannelSet);
if (_mavlinkChannelSet) {
qWarning() << "Mavlink channel set multiple times";
}
_mavlinkChannelSet = true;
_mavlinkChannel = channel;
}
src/comm/LinkManager.cc
View file @ 6e57a50a
This diff is collapsed.
src/comm/LogReplayLink.cc
View file @ 6e57a50a
......@@ -35,8 +35,11 @@ void LogReplayLinkConfiguration::copyFrom(LinkConfiguration *source)
{
LinkConfiguration::copyFrom(source);
LogReplayLinkConfiguration* ssource = dynamic_cast<LogReplayLinkConfiguration*>(source);
Q_ASSERT(ssource != NULL);
_logFilename = ssource->logFilename();
if (ssource) {
_logFilename = ssource->logFilename();
} else {
qWarning() << "Internal error";
}
}
void LogReplayLinkConfiguration::saveSettings(QSettings& settings, const QString& root)
......@@ -70,7 +73,9 @@ LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config)
, _connected(false)
, _replayAccelerationFactor(1.0f)
{
Q_ASSERT(_logReplayConfig);
if (!_logReplayConfig) {
qWarning() << "Internal error";
}
_readTickTimer.moveToThread(this);
......
src/comm/SerialLink.cc
View file @ 6e57a50a
......@@ -38,10 +38,13 @@ SerialLink::SerialLink(SharedLinkConfigurationPointer& config)
, _reqReset(false)
, _serialConfig(qobject_cast<SerialConfiguration*>(config.data()))
{
Q_ASSERT(_serialConfig);
if (!_serialConfig) {
qWarning() << "Internal error";
return;
}
qCDebug(SerialLinkLog) << "Create SerialLink " << _serialConfig->portName() << _serialConfig->baud() << _serialConfig->flowControl()
<< _serialConfig->parity() << _serialConfig->dataBits() << _serialConfig->stopBits();
<< _serialConfig->parity() << _serialConfig->dataBits() << _serialConfig->stopBits();
qCDebug(SerialLinkLog) << "portName: " << _serialConfig->portName();
}
......@@ -76,7 +79,7 @@ bool SerialLink::_isBootloader()
info.description().toLower().contains("px4 fmu v1.6"))) {
qCDebug(SerialLinkLog) << "BOOTLOADER FOUND";
return true;
}
}
}
// Not found
return false;
......@@ -229,7 +232,7 @@ bool SerialLink::_hardwareConnect(QSerialPort::SerialPortError& error, QString&
emit connected();
qCDebug(SerialLinkLog) << "Connection SeriaLink: " << "with settings" << _serialConfig->portName()
<< _serialConfig->baud() << _serialConfig->dataBits() << _serialConfig->parity() << _serialConfig->stopBits();
<< _serialConfig->baud() << _serialConfig->dataBits() << _serialConfig->parity() << _serialConfig->stopBits();
return true; // successful connection
}
......@@ -299,34 +302,34 @@ qint64 SerialLink::getConnectionSpeed() const
qint64 dataRate;
switch (baudRate)
{
case QSerialPort::Baud1200:
dataRate = 1200;
break;
case QSerialPort::Baud2400:
dataRate = 2400;
break;
case QSerialPort::Baud4800:
dataRate = 4800;
break;
case QSerialPort::Baud9600:
dataRate = 9600;
break;
case QSerialPort::Baud19200:
dataRate = 19200;
break;
case QSerialPort::Baud38400:
dataRate = 38400;
break;
case QSerialPort::Baud57600:
dataRate = 57600;
break;
case QSerialPort::Baud115200:
dataRate = 115200;
break;
// Otherwise do nothing.
default:
dataRate = -1;
break;
case QSerialPort::Baud1200:
dataRate = 1200;
break;
case QSerialPort::Baud2400:
dataRate = 2400;
break;
case QSerialPort::Baud4800:
dataRate = 4800;
break;
case QSerialPort::Baud9600:
dataRate = 9600;
break;
case QSerialPort::Baud19200:
dataRate = 19200;
break;
case QSerialPort::Baud38400:
dataRate = 38400;
break;
case QSerialPort::Baud57600:
dataRate = 57600;
break;
case QSerialPort::Baud115200:
dataRate = 115200;
break;
// Otherwise do nothing.
default:
dataRate = -1;
break;
}
return dataRate;
}
......@@ -378,15 +381,18 @@ void SerialConfiguration::copyFrom(LinkConfiguration *source)
{
LinkConfiguration::copyFrom(source);
SerialConfiguration* ssource = dynamic_cast<SerialConfiguration*>(source);
Q_ASSERT(ssource != NULL);
_baud = ssource->baud();
_flowControl = ssource->flowControl();
_parity = ssource->parity();
_dataBits = ssource->dataBits();
_stopBits = ssource->stopBits();
_portName = ssource->portName();
_portDisplayName = ssource->portDisplayName();
_usbDirect = ssource->_usbDirect;
if (ssource) {
_baud = ssource->baud();
_flowControl = ssource->flowControl();
_parity = ssource->parity();
_dataBits = ssource->dataBits();
_stopBits = ssource->stopBits();
_portName = ssource->portName();
_portDisplayName = ssource->portDisplayName();
_usbDirect = ssource->_usbDirect;
} else {
qWarning() << "Internal error";
}
}
void SerialConfiguration::updateSettings()
......
src/comm/UDPLink.cc
View file @ 6e57a50a
......@@ -67,15 +67,17 @@ static QString get_ip_address(const QString& address)
UDPLink::UDPLink(SharedLinkConfigurationPointer& config)
: LinkInterface(config)
#if defined(QGC_ZEROCONF_ENABLED)
#if defined(QGC_ZEROCONF_ENABLED)
, _dnssServiceRef(NULL)
#endif
#endif
, _running(false)
, _socket(NULL)
, _udpConfig(qobject_cast<UDPConfiguration*>(config.data()))
, _connectState(false)
{
Q_ASSERT(_udpConfig);
if (!_udpConfig) {
qWarning() << "Internal error";
}
moveToThread(this);
}
......@@ -292,14 +294,14 @@ void UDPLink::_registerZeroconf(uint16_t port, const std::string &regType)
{
#if defined(QGC_ZEROCONF_ENABLED)
DNSServiceErrorType result = DNSServiceRegister(&_dnssServiceRef, 0, 0, 0,
regType.c_str(),
NULL,
NULL,
htons(port),
0,
NULL,
NULL,
NULL);
regType.c_str(),
NULL,
NULL,
htons(port),
0,
NULL,
NULL,
NULL);
if (result != kDNSServiceErr_NoError)
{
emit communicationError("UDP Link Error", "Error registering Zeroconf");
......@@ -315,10 +317,10 @@ void UDPLink::_deregisterZeroconf()
{
#if defined(QGC_ZEROCONF_ENABLED)
if (_dnssServiceRef)
{
DNSServiceRefDeallocate(_dnssServiceRef);
_dnssServiceRef = NULL;
}
{
DNSServiceRefDeallocate(_dnssServiceRef);
_dnssServiceRef = NULL;
}
#endif
}
......@@ -347,15 +349,18 @@ void UDPConfiguration::copyFrom(LinkConfiguration *source)
{
LinkConfiguration::copyFrom(source);
UDPConfiguration* usource = dynamic_cast<UDPConfiguration*>(source);
Q_ASSERT(usource != NULL);
_localPort = usource->localPort();
_hosts.clear();
QString host;
int port;
if(usource->firstHost(host, port)) {
do {
addHost(host, port);
} while(usource->nextHost(host, port));
if (usource) {
_localPort = usource->localPort();
_hosts.clear();
QString host;
int port;
if(usource->firstHost(host, port)) {
do {
addHost(host, port);
} while(usource->nextHost(host, port));
}
} else {
qWarning() << "Internal error";
}
}
......
src/ui/MainWindow.cc
View file @ 6e57a50a
......@@ -92,10 +92,7 @@ static MainWindow* _instance = NULL; ///< @brief MainWindow singleton
MainWindow* MainWindow::_create()
{
Q_ASSERT(_instance == NULL);
new MainWindow();
// _instance is set in constructor
Q_ASSERT(_instance);
return _instance;
}
......@@ -118,7 +115,6 @@ MainWindow::MainWindow()
, _mainQmlWidgetHolder(NULL)
, _forceClose(false)
{
Q_ASSERT(_instance == NULL);
_instance = this;
//-- Load fonts
......@@ -337,7 +333,7 @@ void MainWindow::_showDockWidget(const QString& name, bool show)
// Create the inner widget if we need to
if (!_mapName2DockWidget.contains(name)) {
if(!_createInnerDockWidget(name)) {
qWarning() << "Trying to load non existing widget:" << name;
qWarning() << "Trying to load non existent widget:" << name;
return;
}
}
......
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