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qgroundcontrol
Commit 739fe5be authored by lm's avatar lm
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Merge branch 'master' of http://github.com/godbolt/qgroundcontrol

parents a36499df 40cff93f
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.cproject 0 → 100644
View file @ 739fe5be
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.project 0 → 100644
View file @ 739fe5be
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>qgroundcontrol</name>
<comment></comment>
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images/style-mission.css
View file @ 739fe5be
......@@ -18,54 +18,54 @@ margin-top: 1ex; /* leave space at the top for the title */
QCheckBox {
/*background-color: #252528;*/
color: #DDDDDF;
}
QCheckBox::indicator {
border: 1px solid #777777;
border-radius: 2px;
color: #DDDDDF;
width: 10px;
height: 10px;
}
QLineEdit {
border: 1px solid #777777;
border-radius: 2px;
}
QTextEdit {
border: 1px solid #777777;
border-radius: 2px;
}
QPlainTextEdit {
border: 1px solid #777777;
border-radius: 2px;
}
QComboBox {
border: 1px solid #777777;
border-radius: 2px;
}
QCheckBox::indicator:checked {
background-color: #555555;
}
QCheckBox::indicator:checked:hover {
background-color: #555555;
}
QCheckBox::indicator:checked:pressed {
background-color: #555555;
}
QCheckBox::indicator:indeterminate:hover {
image: url(:/images/checkbox_indeterminate_hover.png);
}
QCheckBox::indicator:indeterminate:pressed {
image: url(:/images/checkbox_indeterminate_pressed.png);
}
QCheckBox::indicator {
border: 1px solid #777777;
border-radius: 2px;
color: #DDDDDF;
width: 10px;
height: 10px;
}
QLineEdit {
border: 1px solid #777777;
border-radius: 2px;
}
QTextEdit {
border: 1px solid #777777;
border-radius: 2px;
}
QPlainTextEdit {
border: 1px solid #777777;
border-radius: 2px;
}
QComboBox {
border: 1px solid #777777;
border-radius: 2px;
}
QCheckBox::indicator:checked {
background-color: #555555;
}
QCheckBox::indicator:checked:hover {
background-color: #555555;
}
QCheckBox::indicator:checked:pressed {
background-color: #555555;
}
QCheckBox::indicator:indeterminate:hover {
image: url(:/images/checkbox_indeterminate_hover.png);
}
QCheckBox::indicator:indeterminate:pressed {
image: url(:/images/checkbox_indeterminate_pressed.png);
}
QGroupBox::title {
......@@ -73,7 +73,7 @@ border: 1px solid #777777;
subcontrol-position: top center; /* position at the top center */
margin: 0 3px 0px 3px;
padding: 0 3px 0px 0px;
font: bold 8px;
font: bold 8px;
color: #DDDDDF;
}
......@@ -89,7 +89,7 @@ QDockWidget::close-button, QDockWidget::float-button {
QDockWidget::title {
text-align: left;
background: #121214;
background: #121214;
color: #4A4A4F;
padding-left: 5px;
height: 10px;
......@@ -102,46 +102,46 @@ QSeparator {
QSpinBox {
min-height: 14px;
max-height: 18px;
border: 1px solid #4A4A4F;
min-height: 14px;
max-height: 18px;
border: 1px solid #4A4A4F;
border-radius: 5px;
}
QSpinBox::up-button {
subcontrol-origin: border;
subcontrol-position: top right; /* position at the top right corner */
border-image: url(:/images/actions/go-up.svg) 1;
border-width: 1px;
}
QSpinBox::down-button {
subcontrol-origin: border;
subcontrol-position: bottom right; /* position at the top right corner */
border-image: url(:/images/actions/go-down.svg) 1;
border-width: 1px;
}
QDoubleSpinBox {
min-height: 14px;
max-height: 18px;
border: 1px solid #4A4A4F;
border-radius: 5px;
}
QDoubleSpinBox::up-button {
subcontrol-origin: border;
subcontrol-position: top right; /* position at the top right corner */
border-image: url(:/images/actions/go-up.svg) 1;
border-width: 1px;
max-width: 5px;
}
QDoubleSpinBox::down-button {
subcontrol-origin: border;
subcontrol-position: bottom right; /* position at the top right corner */
border-image: url(:/images/actions/go-down.svg) 1;
border-width: 1px;
max-width: 5px;
}
}
QSpinBox::up-button {
subcontrol-origin: border;
subcontrol-position: top right; /* position at the top right corner */
border-image: url(:/images/actions/go-up.svg) 1;
border-width: 1px;
}
QSpinBox::down-button {
subcontrol-origin: border;
subcontrol-position: bottom right; /* position at the top right corner */
border-image: url(:/images/actions/go-down.svg) 1;
border-width: 1px;
}
QDoubleSpinBox {
min-height: 14px;
max-height: 18px;
border: 1px solid #4A4A4F;
border-radius: 5px;
}
QDoubleSpinBox::up-button {
subcontrol-origin: border;
subcontrol-position: top right; /* position at the top right corner */
border-image: url(:/images/actions/go-up.svg) 1;
border-width: 1px;
max-width: 5px;
}
QDoubleSpinBox::down-button {
subcontrol-origin: border;
subcontrol-position: bottom right; /* position at the top right corner */
border-image: url(:/images/actions/go-down.svg) 1;
border-width: 1px;
max-width: 5px;
}
QPushButton {
font-weight: bold;
......@@ -155,7 +155,7 @@ QPushButton {
}
QPushButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #101010, stop: 1 #404040);
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
}
QPushButton:pressed {
......@@ -170,8 +170,8 @@ QToolButton {
border: 2px solid #4A4A4F;
border-radius: 5px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
}
}
QToolButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
}
......@@ -228,7 +228,7 @@ QPushButton:pressed#killButton {
border-radius: 5px;
}
QPushButton#controlButton {
QPushButton#controlButton {
min-height: 25px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A0AE00, stop: 1 #909E00);
}
......@@ -268,4 +268,4 @@ QProgressBar::chunk#speedBar {
QProgressBar::chunk#thrustBar {
background-color: orange;
}
}
lib/QMapControl/src/geometry.cpp
View file @ 739fe5be
......@@ -29,9 +29,9 @@ namespace qmapcontrol
Geometry::Geometry(QString name)
: GeometryType("Geometry"), myparentGeometry(0), mypen(0), visible(true), myname(name)
{
myIndex = name.toInt(0,10);
}
Geometry::~Geometry()
{
}
......@@ -40,6 +40,11 @@ namespace qmapcontrol
{
return myname;
}
int Geometry::get_myIndex() const
{
return myIndex;
}
Geometry* Geometry::parentGeometry() const
{
return myparentGeometry;
......@@ -85,4 +90,5 @@ namespace qmapcontrol
{
return mypen;
}
}
lib/QMapControl/src/geometry.h
View file @ 739fe5be
......@@ -49,6 +49,7 @@ namespace qmapcontrol
Q_OBJECT
public:
explicit Geometry(QString name = QString());
virtual ~Geometry();
QString GeometryType;
......@@ -74,6 +75,12 @@ namespace qmapcontrol
*/
QString name() const;
//! returns the index of this Geometry
/*!
* @return the index of this Geometry
*/
int get_myIndex() const;
//! returns the parent Geometry of this Geometry
/*!
* A LineString is a composition of many Points. This methods returns the parent (the LineString) of a Point
......@@ -123,6 +130,7 @@ namespace qmapcontrol
QPen* mypen;
bool visible;
QString myname;
int myIndex;
void setParentGeometry(Geometry* geom);
signals:
......@@ -149,6 +157,8 @@ namespace qmapcontrol
* @param visible if the layer should be visible
*/
virtual void setVisible(bool visible);
};
}
#endif
lib/QMapControl/src/layer.cpp
View file @ 739fe5be
......@@ -29,6 +29,7 @@ namespace qmapcontrol
Layer::Layer(QString layername, MapAdapter* mapadapter, enum LayerType layertype, bool takeevents)
:visible(true), mylayername(layername), mylayertype(layertype), mapAdapter(mapadapter), takeevents(takeevents), myoffscreenViewport(QRect(0,0,0,0))
{
draggingGeometry = false;
//qDebug() << "creating new Layer: " << layername << ", type: " << contents;
//qDebug() << this->layertype;
}
......
lib/QMapControl/src/layermanager.cpp
View file @ 739fe5be
......@@ -366,15 +366,26 @@ namespace qmapcontrol
void LayerManager::mouseEvent(const QMouseEvent* evnt)
{
QListIterator<Layer*> it(mylayers);
while (it.hasNext())
// TODO: to review errors generated in the Windows operating system when the QListIterator is used
for(int i=0; i<mylayers.size(); i++)
{
Layer* l = it.next();
Layer* l = mylayers[i];
if (l->isVisible())
{
l->mouseEvent(evnt, mapmiddle_px);
}
}
// QListIterator<Layer*> it(mylayers);
// while (it.hasNext())
// {
// qDebug() << it.next();
// Layer* l = it.next();
// if (l->isVisible())
// {
// l->mouseEvent(evnt, mapmiddle_px);
// }
// }
}
void LayerManager::updateRequest(QRectF rect)
......
qgroundcontrol.pri
View file @ 739fe5be
......@@ -126,7 +126,8 @@ win32 {
# Special settings for debug
#CONFIG += CONSOLE
INCLUDEPATH += $$BASEDIR\lib\sdl\include #\
INCLUDEPATH += $$BASEDIR\lib\sdl\include \
$$BASEDIR\lib\opal\include #\ #\
#"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include"
LIBS += -L$$BASEDIR\lib\sdl\win32 \
......
qgroundcontrol.pro
View file @ 739fe5be
......@@ -18,7 +18,7 @@ TARGET = qgroundcontrol
BASEDIR = .
BUILDDIR = build
LANGUAGE = C++
CONFIG += debug_and_release \
CONFIG += debug_and_release \
console
OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
......@@ -42,8 +42,8 @@ DEPENDPATH += . \
plugins
INCLUDEPATH += . \
lib/QMapControl \
$$BASEDIR/../mavlink/contrib/slugs/include \
$$BASEDIR/../mavlink/include
$$BASEDIR/../mavlink/include \
$$BASEDIR/../mavlink/contrib/slugs/include
# ../mavlink/include \
# MAVLink/include \
......@@ -75,7 +75,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCFirmwareUpdate.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui
src/ui/QGCRemoteControlView.ui \
src/ui/WaypointGlobalView.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
......@@ -157,7 +158,9 @@ HEADERS += src/MG.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/MAV2DIcon.h \
src/ui/map/QGC2DIcon.h \
src/ui/QGCRemoteControlView.h
src/ui/QGCRemoteControlView.h \
src/WaypointGlobal.h \
src/ui/WaypointGlobalView.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
......@@ -221,15 +224,29 @@ SOURCES += src/main.cc \
src/ui/map/Waypoint2DIcon.cc \
src/ui/map/MAV2DIcon.cc \
src/ui/map/QGC2DIcon.cc \
src/ui/QGCRemoteControlView.cc
src/ui/QGCRemoteControlView.cc \
src/WaypointGlobal.cpp \
src/ui/WaypointGlobalView.cpp
RESOURCES = mavground.qrc
# Include RT-LAB Library
win32 {
win32:exists(src/lib/opalrt/OpalApi.h) {
message("Building support for Opal-RT")
LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin \
-lOpalApi
INCLUDEPATH += src/lib/opalrt
SOURCES += src/comm/OpalLink.cc
HEADERS += src/comm/OpalLink.h
HEADERS += src/comm/OpalRT.h \
src/comm/OpalLink.h \
src/comm/Parameter.h \
src/comm/QGCParamID.h \
src/comm/ParameterList.h \
src/ui/OpalLinkConfigurationWindow.h
SOURCES += src/comm/OpalRT.cc \
src/comm/OpalLink.cc \
src/comm/Parameter.cc \
src/comm/QGCParamID.cc \
src/comm/ParameterList.cc \
src/ui/OpalLinkConfigurationWindow.cc
FORMS += src/ui/OpalLinkSettings.ui
DEFINES += OPAL_RT
}
settings/ParameterList.xml 0 → 100644
View file @ 739fe5be
<ParameterList version="0.1">
<!-- Parameters in the top level block -->
<Block name="TopLevel">
<Parameter>
</Parameter>
</Block>
<!--Parameters related to the navigation block -->
<Block name="Navigation">
<Parameter
SimulinkPath="avionics_src/sm_avionics/Navigation_Filter/NAV_FILT_INIT/"
SimulinkParameterName="Value"
QGCParamID="NAV_FILT_INIT"
/>
</Block>
<!--Parameters related to the controller block -->
<Block name="Controller">
</Block>
<!-- Paremters for the Pilot Input/Raw RC block -->
<Block name="ServoInputs">
</Block>
<!-- Parameters for the servo output block -->
<Block name="ServoOutputs">
<!-- Settings for Aileron Servo -->
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
SimulinkParameterName="Low"
QGCParamID="AIL_LOW_OUT"
/>
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
SimulinkParameterName="Center"
QGCParamID="AIL_CENTER_OUT"
/>
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
SimulinkParameterName="High"
QGCParamID="AIL_HIGH_OUT"
/>
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/AileronOutput/"
SimulinkParameterName="Reverse"
QGCParamID="AIL_REV_OUT"
/>
<!-- Settings for Elevator Servo -->
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
SimulinkParameterName="Low"
QGCParamID="ELE_LOW_OUT"
/>
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
SimulinkParameterName="Center"
QGCParamID="ELE_CENTER_OUT"
/>
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
SimulinkParameterName="High"
QGCParamID="ELE_HIGH_OUT"
/>
<Parameter
SimulinkPath="avionics_src/sm_avionics/Servo_Outputs/ElevatorOutput/"
SimulinkParameterName="Reverse"
QGCParamID="ELE_REV_OUT"
/>
</Block>
</ParameterList>
src/Core.cc
View file @ 739fe5be
......@@ -142,7 +142,6 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// Add OpalRT Link, but do not connect
OpalLink* opalLink = new OpalLink();
mainWindow->addLink(opalLink);
#warning OPAL LINK NOW AUTO CONNECTING IN CORE.CC
#endif
// MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
......
src/Waypoint.h
View file @ 739fe5be
......@@ -59,7 +59,7 @@ public:
bool load(QTextStream &loadStream);
private:
protected:
quint16 id;
float x;
float y;
......
src/WaypointGlobal.cpp 0 → 100644
View file @ 739fe5be
#include "WaypointGlobal.h"
#include <QPointF>
WaypointGlobal::WaypointGlobal(const QPointF coordinate):
Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime)
{
coordinateWP = coordinate;
}
src/WaypointGlobal.h 0 → 100644
View file @ 739fe5be
#ifndef WAYPOINTGLOBAL_H
#define WAYPOINTGLOBAL_H
#include "Waypoint.h"
#include <QPointF>
class WaypointGlobal: public Waypoint {
Q_OBJECT
public:
WaypointGlobal(const QPointF coordinate);
public slots:
// void set_latitud(double latitud);
// void set_longitud(double longitud);
// double get_latitud();
// double get_longitud();
private:
QPointF coordinateWP;
};
#endif // WAYPOINTGLOBAL_H
src/comm/OpalLink.cc
View file @ 739fe5be
This diff is collapsed.
src/comm/OpalLink.h
View file @ 739fe5be
......@@ -32,11 +32,13 @@ This file is part of the QGROUNDCONTROL project
#include <QMutex>
#include <QDebug>
#include <QMessageBox>
#include <QTextStreamManipulator>
#include <QTimer>
#include <QQueue>
#include <QByteArray>
#include <QObject>
#include <stdlib.h>
#include "LinkInterface.h"
#include "LinkManager.h"
......@@ -44,31 +46,18 @@ This file is part of the QGROUNDCONTROL project
#include "mavlink.h"
#include "mavlink_types.h"
#include "configuration.h"
#include "OpalRT.h"
#include "ParameterList.h"
#include "Parameter.h"
#include "QGCParamID.h"
#include "OpalApi.h"
#include "errno.h"
// FIXME
//#include "OpalApi.h"
#include "string.h"
/*
Configuration info for the model
*/
#define NUM_OUTPUT_SIGNALS 6
/**
* @brief Interface to OPAL-RT targets
* @brief Interface to OpalRT targets
*
* This is an interface to the Opal-RT hardware-in-the-loop (HIL) simulator.
* This is an interface to the OpalRT hardware-in-the-loop (HIL) simulator.
* This class receives MAVLink packets as if it is a true link, but it
* interprets the packets internally, and calls the appropriate api functions.
*
......@@ -100,34 +89,32 @@ public:
qint64 getBitsSent();
qint64 getBitsReceived();
bool connect();
bool disconnect();
qint64 bytesAvailable();
void run();
public slots:
int getOpalInstID() {return static_cast<int>(opalInstID);}
public slots:
void writeBytes(const char *bytes, qint64 length);
void readBytes();
void heartbeat();
void getSignals();
void setOpalInstID(int instID) {opalInstID = static_cast<unsigned short>(instID);}
protected slots:
void receiveMessage(mavlink_message_t message);
void setSignals(double *values);
protected:
QString name;
......@@ -144,9 +131,6 @@ protected:
QMutex statisticsMutex;
QMutex receiveDataMutex;
QString lastErrorMsg;
void setLastErrorMsg();
void displayErrorMsg();
void setName(QString name);
......@@ -163,7 +147,10 @@ protected:
const int systemID;
const int componentID;
void getParameterList();
OpalRT::ParameterList *params;
unsigned short opalInstID;
};
#endif // OPALLINK_H
src/comm/OpalRT.cc 0 → 100644
View file @ 739fe5be
#include "OpalRT.h"
namespace OpalRT
{
// lastErrorMsg = QString();
void OpalErrorMsg::displayLastErrorMsg()
{
static QString lastErrorMsg;
setLastErrorMsg();
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(lastErrorMsg);
msgBox.exec();
}
void OpalErrorMsg::setLastErrorMsg()
{
char* buf = new char[512];
unsigned short len;
static QString lastErrorMsg;
OpalGetLastErrMsg(buf, sizeof(buf), &len);
lastErrorMsg.clear();
lastErrorMsg.append(buf);
delete buf;
}
}
src/comm/OpalRT.h 0 → 100644
View file @ 739fe5be
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Types used for Opal-RT interface configuration
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
#ifndef OPALRT_H
#define OPALRT_H
#include <QString>
#include <QMessageBox>
#include "OpalApi.h"
namespace OpalRT
{
/**
Configuration info for the model
*/
const unsigned short NUM_OUTPUT_SIGNALS=39;
/* ------------------------------ Outputs ------------------------------
*
* Port 1: Navigation state estimates
* 1 t [s] time elapsed since INS mode started
* 2-4 p^n [m] navigation frame position (N,E,D)
* 5-7 v^n [m/s] navigation frame velocity (N,E,D)
* 8-10 Euler angles [rad] (roll, pitch, yaw)
* 11-13 Angular rates
* 14-16 b_f [m/s^2] accelerometer biases
* 17-19 b_w [rad/s] gyro biases
*
* Port 2: Navigation system status
* 1 mode (0: initialization, 1: INS)
* 2 t_GPS time elapsed since last valid GPS measurement
* 3 solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
* 4 position solution type ( 0: NONE, 34: NARROW_FLOAT,
* 49: WIDE_INT, 50: NARROW_INT)
* 5 # obs (number of visible satellites)
*
* Port 3: Covariance matrix diagonal
* 1-15 diagonal elements of estimation error covariance matrix P
*/
enum SignalPort
{
T_ELAPSED,
X_POS,
Y_POS,
Z_POS,
X_VEL,
Y_VEL,
Z_VEL,
ROLL,
PITCH,
YAW,
ROLL_SPEED,
PITCH_SPEED,
YAW_SPEED,
B_F_0,
B_F_1,
B_F_2,
B_W_0,
B_W_1,
B_W_2
};
/** Component IDs of the parameters. Currently they are all 1 becuase there is no advantage
to dividing them between component ids. However this syntax is used so that this can
easily be changed in the future.
*/
enum SubsystemIds
{
NAV_ID = 1,
LOG_ID,
CONTROLLER_ID,
SERVO_OUTPUTS,
SERVO_INPUTS
};
class OpalErrorMsg
{
static QString lastErrorMsg;
public:
static void displayLastErrorMsg();
static void setLastErrorMsg();
};
}
#endif // OPALRT_H
src/comm/Parameter.cc 0 → 100644
View file @ 739fe5be
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class OpalRT::Parameter
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
#include "Parameter.h"
using namespace OpalRT;
//Parameter::Parameter(char *simulinkPath, char *simulinkName, uint8_t componentID,
// QGCParamID paramID, unsigned short opalID)
// : simulinkPath(new QString(simulinkPath)),
// simulinkName(new QString(simulinkName)),
// componentID(componentID),
// paramID(new QGCParamID(paramID)),
// opalID(opalID)
//
//{
//}
Parameter::Parameter(QString simulinkPath, QString simulinkName, uint8_t componentID,
QGCParamID paramID, unsigned short opalID)
: simulinkPath(new QString(simulinkPath)),
simulinkName(new QString(simulinkName)),
componentID(componentID),
paramID(new QGCParamID(paramID)),
opalID(opalID)
{
}
Parameter::Parameter(const Parameter &other)
: componentID(other.componentID),
opalID(other.opalID)
{
simulinkPath = new QString(*other.simulinkPath);
simulinkName = new QString(*other.simulinkName);
paramID = new QGCParamID(*other.paramID);
}
Parameter::~Parameter()
{
delete simulinkPath;
delete simulinkName;
delete paramID;
}
bool Parameter::operator ==(const Parameter& other) const
{
return
(*simulinkPath) == *(other.simulinkPath)
&& *simulinkName == *(other.simulinkName)
&& componentID == other.componentID
&& *paramID == *(other.paramID)
&& opalID == other.opalID;
}
float Parameter::getValue()
{
unsigned short allocatedParams = 1;
unsigned short numParams;
unsigned short numValues = 1;
unsigned short returnedNumValues;
double value;
int returnVal = OpalGetParameters(allocatedParams, &numParams, &opalID,
numValues, &returnedNumValues, &value);
if (returnVal != EOK)
{
OpalRT::OpalErrorMsg::displayLastErrorMsg();
return FLT_MAX;
}
return static_cast<float>(value);
}
void Parameter::setValue(float val)
{
unsigned short allocatedParams = 1;
unsigned short numParams;
unsigned short numValues = 1;
unsigned short returnedNumValues;
double value = static_cast<double>(val);
int returnVal = OpalSetParameters(allocatedParams, &numParams, &opalID,
numValues, &returnedNumValues, &value);
if (returnVal != EOK)
{
//qDebug() << __FILE__ << ":" << __LINE__ << ": Error numer: " << QString::number(returnVal);
OpalErrorMsg::displayLastErrorMsg();
}
}
Parameter::operator QString() const
{
return *simulinkPath + *simulinkName + " " + QString::number(componentID)
+ " " + *paramID + " " + QString::number(opalID);
}
src/comm/Parameter.h 0 → 100644
View file @ 739fe5be
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Parameter Object used to intefrace with an OpalRT Simulink Parameter
\see OpalLink
\see OpalRT::ParameterList
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
#ifndef PARAMETER_H
#define PARAMETER_H
#include <QString>
#include <QDebug>
#include "mavlink_types.h"
#include "QGCParamID.h"
#include "OpalApi.h"
#include "OpalRT.h"
#include <cfloat>
namespace OpalRT
{
class Parameter
{
public:
// Parameter(char *simulinkPath = "",
// char *simulinkName = "",
// uint8_t componentID = 0,
// QGCParamID paramID = QGCParamID(),
// unsigned short opalID = 0);
Parameter(QString simulinkPath = QString(),
QString simulinkName = QString(),
uint8_t componentID = 0,
QGCParamID paramID = QGCParamID(),
unsigned short opalID = 0);
Parameter(const Parameter& other);
~Parameter();
const QGCParamID& getParamID() const {return *paramID;}
void setOpalID(unsigned short opalID) {this->opalID = opalID;}
const QString& getSimulinkPath() {return *simulinkPath;}
const QString& getSimulinkName() {return *simulinkName;}
uint8_t getComponentID() const {return componentID;}
float getValue();
void setValue(float value);
bool operator==(const Parameter& other) const;
operator QString() const;
protected:
QString *simulinkPath;
QString *simulinkName;
uint8_t componentID;
QGCParamID *paramID;
unsigned short opalID;
};
}
#endif // PARAMETER_H
src/comm/ParameterList.cc 0 → 100644
View file @ 739fe5be
This diff is collapsed.
src/comm/ParameterList.h 0 → 100644
View file @ 739fe5be
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef PARAMETERLIST_H
#define PARAMETERLIST_H
#include <QMap>
#include <QVector>
#include <QIODevice>
#include <QFile>
#include <QDir>
#include <QApplication>
#include <QtXml>
#include "mavlink_types.h"
#include "QGCParamID.h"
#include "Parameter.h"
#include "OpalRT.h"
namespace OpalRT
{
class ParameterList
{
public:
class const_iterator
{
friend class ParameterList;
public:
inline const_iterator() {}
const_iterator(const const_iterator& other);
const_iterator& operator+=(int i) {index += i; return *this;}
bool operator<(const const_iterator& other) {return (this->paramList == other.paramList)
&&(this->index<other.index);}
bool operator==(const const_iterator& other) {return (this->paramList == other.paramList)
&&(this->index==other.index);}
bool operator!=(const const_iterator& other) {return !((*this) == other);}
const Parameter& operator*() const {return paramList[index];}
const Parameter* operator->() const {return &paramList[index];}
const_iterator& operator++() {++index; return *this;}
private:
const_iterator(QList<Parameter>);
QList<Parameter> paramList;
int index;
};
ParameterList();
~ParameterList();
/** Count the number of parameters in the list.
\return Total number of parameters
*/
int count();
/** Find p in the list and return its index.
\note In order to use this index to look up p, the component is also needed.
\return the index of p or -1 if p is not found
\example
\code
int compid = OpalRT::CONTROLLER_ID;
Parameter p("simulinkpath", "simulinkparamname", compid, QGCParamID("PID_GAIN"));
ParameterList pList;
if ((int index=pList.indexOf(p)) != -1)
qDebug() << "PID_GAIN is at index " << index;
\endcode
*/
int indexOf(const Parameter& p);
bool contains(int compid, QGCParamID paramid) const {return (*params)[compid].contains(paramid);}
/// Get a parameter from the list
const Parameter getParameter(int compid, QGCParamID paramid) const {return (*params)[compid][paramid];}
Parameter& getParameter(int compid, QGCParamID paramid) {return (*params)[compid][paramid];}
const Parameter getParameter(int compid, int index) const {return *((*paramList)[compid][index]);}
/** Convenient syntax for calling OpalRT::Parameter::getParameter() */
Parameter& operator()(int compid, QGCParamID paramid) {return getParameter(compid, paramid);}
Parameter& operator()(uint8_t compid, QGCParamID paramid) {return getParameter(static_cast<int>(compid), paramid);}
const_iterator begin() const;
const_iterator end() const;
protected:
/** Store the parameters mapped by componentid, and paramid.
\code
// Look up a parameter
int compid = 1;
QGCParamID paramid("PID_GAIN");
Parameter p = params[compid][paramid];
\endcode
*/
QMap<int, QMap<QGCParamID, Parameter> > *params;
/**
Store pointers to the parameters to allow fast lookup by index.
This variable may be changed to const pointers to ensure all changes
are made through the map container.
*/
QList<QList<Parameter*> > *paramList;
/**
Get the list of available parameters from Opal-RT.
\param[out] opalParams Map of parameter paths/names to ids which are valid in Opal-RT
*/
void getParameterList(QMap<QString, unsigned short>* opalParams);
/**
Open a file for reading in the xml config data
*/
bool open(QString filename=QString());
/**
Attempt to read XML configuration data from device
\param[in] the device to read the xml data from
\return true if the configuration was read successfully, false otherwise
*/
bool read(QIODevice *device);
void parseBlock(const QDomElement &block);
};
}
#endif // PARAMETERLIST_H
src/comm/QGCParamID.cc 0 → 100644
View file @ 739fe5be
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class OpalRT::QGCParamID
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
#include "QGCParamID.h"
using namespace OpalRT;
QGCParamID::QGCParamID(const char paramid[]):data(paramid)
{
}
QGCParamID::QGCParamID(const QString s):data(s)
{
}
QGCParamID::QGCParamID(const QGCParamID &other):data(other.data)
{
}
//
//QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid)
//{
// return stream << paramid.data;
//}
src/comm/QGCParamID.h 0 → 100644
View file @ 739fe5be
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Stores the paramid used for mavlink
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
#ifndef QGCPARAMID_H
#define QGCPARAMID_H
#include <QString>
#include "mavlink_types.h"
//namespace OpalRT
//{
// class QGCParamID;
//}
//
//QDataStream& operator<<(QDataStream&, const OpalRT::QGCParamID&);
namespace OpalRT
{
/** Stores a param_id for the mavlink parameter packets. This class adds the convenience
of storing the id as a string (e.g., easy comparison).
\todo Fix: warning: deprecated conversion from string constant to 'char*'
*/
class QGCParamID
{
// friend QDataStream& operator<<(QDataStream& stream, const QGCParamID& paramid);
public:
QGCParamID(const char[]);
QGCParamID(const QString);
QGCParamID() {}
QGCParamID(const QGCParamID& other);
bool operator<(const QGCParamID& other) const {return data<other.data;}
bool operator==(const QGCParamID& other) const {return data == other.data;}
operator QString() const {return data;}
const QString getParamString() const {return static_cast<const QString>(data);}
int8_t* toInt8_t() const {return (int8_t*)data.toAscii().data();}
protected:
QString data;
};
}
#endif // QGCPARAMID_H
src/uas/UAS.cc
View file @ 739fe5be
......@@ -222,7 +222,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// LOW BATTERY ALARM
float chargeLevel = getChargeLevel();
if (chargeLevel <= 10.0f)
if (chargeLevel <= 20.0f)
{
startLowBattAlarm();
}
......@@ -538,6 +538,21 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit textMessageReceived(uasId, message.compid, severity, text);
}
break;
#ifdef MAVLINK_ENABLED_UALBERTA_MESSAGES
case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
{
mavlink_nav_filter_bias_t bias;
mavlink_msg_nav_filter_bias_decode(&message, &bias);
quint64 time = MG::TIME::getGroundTimeNow();
emit valueChanged(uasId, "b_f[0]", bias.accel_0, time);
emit valueChanged(uasId, "b_f[1]", bias.accel_1, time);
emit valueChanged(uasId, "b_f[2]", bias.accel_2, time);
emit valueChanged(uasId, "b_w[0]", bias.gyro_0, time);
emit valueChanged(uasId, "b_w[1]", bias.gyro_1, time);
emit valueChanged(uasId, "b_w[2]", bias.gyro_2, time);
}
break;
#endif
default:
{
if (!unknownPackets.contains(message.msgid))
......
src/uas/UASWaypointManager.cc
View file @ 739fe5be
......@@ -451,6 +451,7 @@ void UASWaypointManager::writeWaypoints()
current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
//clear local buffer
//TODO: Why not replace with waypoint_buffer.clear() ?
while(!waypoint_buffer.empty())
{
delete waypoint_buffer.back();
......@@ -473,6 +474,7 @@ void UASWaypointManager::writeWaypoints()
cur_d->orbit_direction = 0;
cur_d->param1 = cur_s->getOrbit();
cur_d->param2 = cur_s->getHoldTime();
// TODO: Replace this value depending on the type of waypoint
cur_d->type = 1; //FIXME: we only use local waypoints at the moment
cur_d->seq = i; // don't read out the sequence number of the waypoint class
cur_d->x = cur_s->getX();
......
src/ui/CommConfigurationWindow.cc
View file @ 739fe5be
......@@ -43,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
#include "MAVLinkSimulationLink.h"
#ifdef OPAL_RT
#include "OpalLink.h"
#include "OpalLinkConfigurationWindow.h"
#endif
#include "MAVLinkProtocol.h"
#include "MAVLinkSettingsWidget.h"
......@@ -114,6 +115,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
OpalLink* opal = dynamic_cast<OpalLink*>(link);
if (opal != 0)
{
QWidget* conf = new OpalLinkConfigurationWindow(opal, this);
QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
layout->addWidget(conf);
ui.linkGroupBox->setLayout(layout);
ui.linkGroupBox->setTitle(tr("Opal-RT Link"));
}
#endif
......
src/ui/MainWindow.cc
View file @ 739fe5be
This diff is collapsed.
src/ui/MainWindow.h
View file @ 739fe5be
......@@ -111,8 +111,8 @@ public slots:
void loadEngineerView();
/** @brief Load view for operator */
void loadOperatorView();
/** @brief Load view for general settings */
void loadSettingsView();
/** @brief Load 3D view */
void load3DView();
/** @brief Load view with all widgets */
void loadAllView();
/** @brief Load MAVLink XML generator view */
......@@ -160,6 +160,7 @@ protected:
QPointer<MapWidget> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
QPointer<QWidget> map3DWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> infoDockWidget;
......
src/ui/MainWindow.ui
View file @ 739fe5be
......@@ -22,6 +22,9 @@
<height>800</height>
</size>
</property>
<property name="mouseTracking">
<bool>false</bool>
</property>
<property name="windowTitle">
<string>MGMainWindow</string>
</property>
......@@ -35,7 +38,7 @@
<x>0</x>
<y>0</y>
<width>1000</width>
<height>22</height>
<height>23</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......@@ -72,7 +75,7 @@
<addaction name="actionEngineerView"/>
<addaction name="actionPilotView"/>
<addaction name="actionOperatorView"/>
<addaction name="actionSettingsView"/>
<addaction name="action3DView"/>
<addaction name="separator"/>
<addaction name="actionShow_MAVLink_view"/>
<addaction name="actionShow_data_analysis_view"/>
......@@ -110,7 +113,7 @@
<widget class="QStatusBar" name="statusBar"/>
<action name="actionExit">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
</property>
<property name="text">
......@@ -122,7 +125,7 @@
</action>
<action name="actionSettings">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/categories/preferences-system.svg</normaloff>
<normalon>:/images/categories/preferences-system.svg</normalon>:/images/categories/preferences-system.svg</iconset>
</property>
......@@ -135,7 +138,7 @@
</action>
<action name="actionLiftoff">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/control/launch.svg</normaloff>
<normalon>:/images/control/launch.svg</normalon>:/images/control/launch.svg</iconset>
</property>
......@@ -145,7 +148,7 @@
</action>
<action name="actionLand">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
</property>
<property name="text">
......@@ -170,7 +173,7 @@
</action>
<action name="actionAdd_Link">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
</property>
<property name="text">
......@@ -179,7 +182,7 @@
</action>
<action name="actionConfiguration">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
</property>
<property name="text">
......@@ -191,7 +194,7 @@
</action>
<action name="actionEngineerView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
</property>
<property name="text">
......@@ -200,7 +203,7 @@
</action>
<action name="actionPilotView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
</property>
<property name="text">
......@@ -209,7 +212,7 @@
</action>
<action name="actionStyleConfig">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
</property>
<property name="text">
......@@ -218,7 +221,7 @@
</action>
<action name="actionJoystickSettings">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
</property>
<property name="text">
......@@ -227,7 +230,7 @@
</action>
<action name="actionOperatorView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
</property>
<property name="text">
......@@ -237,13 +240,16 @@
<string>Shop the 2D map and system status</string>
</property>
</action>
<action name="actionSettingsView">
<action name="action3DView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
</property>
<property name="text">
<string>Show settings view</string>
<string>Show 3D view</string>
</property>
<property name="toolTip">
<string>Show 3D view</string>
</property>
</action>
<action name="actionSimulate">
......@@ -251,7 +257,7 @@
<bool>true</bool>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
</property>
<property name="text">
......@@ -263,7 +269,7 @@
</action>
<action name="actionShow_full_view">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/status/network-transmit-receive.svg</normaloff>:/images/status/network-transmit-receive.svg</iconset>
</property>
<property name="text">
......@@ -272,7 +278,7 @@
</action>
<action name="actionShow_MAVLink_view">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
</property>
<property name="text">
......@@ -281,7 +287,7 @@
</action>
<action name="actionOnline_documentation">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
</property>
<property name="text">
......@@ -290,7 +296,7 @@
</action>
<action name="actionShow_data_analysis_view">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
</property>
<property name="text">
......@@ -299,7 +305,7 @@
</action>
<action name="actionProject_Roadmap">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
</property>
<property name="text">
......@@ -308,7 +314,7 @@
</action>
<action name="actionCredits_Developers">
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
</property>
<property name="text">
......@@ -317,9 +323,7 @@
</action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources>
<include location="../../mavground.qrc"/>
</resources>
<resources/>
<connections>
<connection>
<sender>actionExit</sender>
......
src/ui/MapWidget.cc
View file @ 739fe5be
......@@ -87,7 +87,10 @@ MapWidget::MapWidget(QWidget *parent) :
// Set default zoom level
mc->setZoom(16);
// Zurich, ETH
mc->setView(QPointF(8.548056,47.376389));
//mc->setView(QPointF(8.548056,47.376389));
// Veracruz Mexico, ETH
mc->setView(QPointF(-96.105208,19.138955));
// Add controls to select map provider
/////////////////////////////////////////////////
......@@ -299,24 +302,32 @@ void MapWidget::createPathButtonClicked(bool checked)
{
Q_UNUSED(checked);
if (createPath->isChecked())
{
// change the cursor shape
this->setCursor(Qt::PointingHandCursor);
mc->setMouseMode(qmapcontrol::MapControl::None);
// Clear the previous WP track
// TODO: Move this to an actual clear track button and add a warning dialog
mc->layer("Waypoints")->clearGeometries();
wps.clear();
path->setPoints(wps);
mc->layer("Waypoints")->addGeometry(path);
wpIndex.clear();
// emit signal start to create a Waypoint global
emit createGlobalWP(true);
// // Clear the previous WP track
// // TODO: Move this to an actual clear track button and add a warning dialog
// mc->layer("Waypoints")->clearGeometries();
// wps.clear();
// path->setPoints(wps);
// mc->layer("Waypoints")->addGeometry(path);
// wpIndex.clear();
} else {
this->setCursor(Qt::ArrowCursor);
mc->setMouseMode(qmapcontrol::MapControl::Panning);
}
}
......@@ -328,7 +339,7 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
// Create waypoint name
QString str;
str = QString("WP%1").arg(path->numberOfPoints());
str = QString("%1").arg(path->numberOfPoints());
// create the WP and set everything in the LineString to display the path
CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
......@@ -342,6 +353,10 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
// Refresh the screen
mc->updateRequestNew();
// emit signal mouse was clicked
emit captureMapCoordinateClick(coordinate);
}
}
......@@ -357,6 +372,10 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
Q_UNUSED(coordinate);
// Refresh the screen
mc->updateRequestNew();
int temp = 0;
Point* point2Find;
point2Find = wpIndex[geom->name()];
point2Find->setCoordinate(coordinate);
......@@ -364,12 +383,18 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
point2Find = dynamic_cast <Point*> (geom);
point2Find->setCoordinate(coordinate);
// Refresh the screen
mc->updateRequestNew();
// qDebug() << geom->name();
temp = geom->get_myIndex();
//qDebug() << temp;
emit sendGeometryEndDrag(coordinate,temp);
}
void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate){
mc->setMouseMode(qmapcontrol::MapControl::Panning);
void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
{
mc->setMouseMode(qmapcontrol::MapControl::Panning);
// qDebug() << geom->name();
// qDebug() << geom->GeometryType;
......@@ -536,3 +561,21 @@ void MapWidget::changeEvent(QEvent *e)
break;
}
}
void MapWidget::clearPath()
{
// Clear the previous WP track
mc->layer("Waypoints")->clearGeometries();
wps.clear();
path->setPoints(wps);
mc->layer("Waypoints")->addGeometry(path);
wpIndex.clear();
mc->updateRequestNew();
// si el boton de crear wp globales esta activo desactivarlo llamando a su evento clicket
if(createPath->isChecked())
{
createPath->click();
}
}
src/ui/MapWidget.h
View file @ 739fe5be
......@@ -63,6 +63,9 @@ public slots:
void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
void updatePosition(float time, double lat, double lon);
//ROCA
void clearPath();
protected:
void changeEvent(QEvent* e);
void wheelEvent(QWheelEvent *event);
......@@ -108,8 +111,14 @@ protected:
void captureGeometryDrag(Geometry* geom, QPointF coordinate);
void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
signals:
void movePoint(QPointF newCoord);
//void movePoint(QPointF newCoord);
void captureMapCoordinateClick(const QPointF coordinate); //ROCA
void createGlobalWP(bool value);
void sendGeometryEndDrag(const QPointF coordinate, const int index);
private:
Ui::MapWidget *m_ui;
......
src/ui/OpalLinkConfigurationWindow.cc 0 → 100644
View file @ 739fe5be
#include "OpalLinkConfigurationWindow.h"
OpalLinkConfigurationWindow::OpalLinkConfigurationWindow(OpalLink* link,
QWidget *parent,
Qt::WindowFlags flags) :
QWidget(parent, flags),
link(link)
{
ui.setupUi(this);
ui.opalInstIDSpinBox->setValue(this->link->getOpalInstID());
connect(ui.opalInstIDSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setOpalInstID(int)));
connect(link, SIGNAL(connected(bool)), this, SLOT(allowSettingsAccess(bool)));
this->show();
}
void OpalLinkConfigurationWindow::allowSettingsAccess(bool enabled)
{
ui.paramFileButton->setEnabled(enabled);
ui.servoConfigFileButton->setEnabled(enabled);
}
src/ui/OpalLinkConfigurationWindow.h 0 → 100644
View file @ 739fe5be
#ifndef OPALLINKCONFIGURATIONWINDOW_H
#define OPALLINKCONFIGURATIONWINDOW_H
#include <QWidget>
#include <QDebug>
#include "LinkInterface.h"
#include "ui_OpalLinkSettings.h"
#include "OpalLink.h"
class OpalLinkConfigurationWindow : public QWidget
{
Q_OBJECT
public:
explicit OpalLinkConfigurationWindow(OpalLink* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
signals:
public slots:
void allowSettingsAccess(bool enabled);
private:
Ui::OpalLinkSettings ui;
OpalLink* link;
};
#endif // OPALLINKCONFIGURATIONWINDOW_H
src/ui/OpalLinkSettings.ui 0 → 100644
View file @ 739fe5be
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>OpalLinkSettings</class>
<widget class="QWidget" name="OpalLinkSettings">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>537</width>
<height>250</height>
</rect>
</property>
<property name="windowTitle">
<string>OpalLink Configuration</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0">
<property name="margin">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="portlabel">
<property name="text">
<string>Model Instance ID</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="portlabel_2">
<property name="text">
<string>Opal-RT Parameter File</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="portlabel_3">
<property name="text">
<string>Servo Configuration File</string>
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>431</width>
<height>47</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="paramFileButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Change</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QPushButton" name="servoConfigFileButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Change</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
</property>
</widget>
</item>
<item row="0" column="1" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="opalInstIDSpinBox">
<property name="minimum">
<number>101</number>
</property>
<property name="maximum">
<number>200</number>
</property>
<property name="value">
<number>101</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
<action name="actionDelete">
<property name="text">
<string>Delete</string>
</property>
<property name="toolTip">
<string>Delete this link</string>
</property>
</action>
<action name="actionConnect">
<property name="text">
<string>Connect</string>
</property>
<property name="toolTip">
<string>Connect this link</string>
</property>
</action>
<action name="actionClose">
<property name="text">
<string>Close</string>
</property>
<property name="toolTip">
<string>Close the configuration window</string>
</property>
</action>
</widget>
<resources>
<include location="../../mavground.qrc"/>
</resources>
<connections>
<connection>
<sender>actionClose</sender>
<signal>triggered()</signal>
<receiver>OpalLinkSettings</receiver>
<slot>close()</slot>
<hints>
<hint type="sourcelabel">
<x>-1</x>
<y>-1</y>
</hint>
<hint type="destinationlabel">
<x>224</x>
<y>195</y>
</hint>
</hints>
</connection>
</connections>
</ui>
src/ui/WaypointGlobalView.cpp 0 → 100644
View file @ 739fe5be
#include "WaypointGlobalView.h"
#include "ui_WaypointGlobalView.h"
#include <math.h>
WaypointGlobalView::WaypointGlobalView(Waypoint* wp,QWidget *parent) :
QWidget(parent),
ui(new Ui::WaypointGlobalView)
{
ui->setupUi(this);
this->wp = wp;
ui->m_orbitalSpinBox->hide();
connect(ui->m_orbitalSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
connect(ui->m_heigthSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
connect(ui->m_orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
// Read values and set user interface
updateValues();
// connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
// connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
// connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
// //hidden degree to radian conversion of the yaw angle
// connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
// connect(this, SIGNAL(setYaw(double)), wp, SLOT(setYaw(double)));
// connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
// connect(m_ui->downButton, SIGNAL(clicked()), this, SLOT(moveDown()));
// connect(m_ui->removeButton, SIGNAL(clicked()), this, SLOT(remove()));
// connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
// connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
//
// connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
}
WaypointGlobalView::~WaypointGlobalView()
{
delete ui;
}
void WaypointGlobalView::updateValues()
{
ui->m_latitudtextEdit->setText(getLatitudString(wp->getY()));
ui->m_longitudtextEdit->setText(getLongitudString(wp->getX()));
ui->idWP_label->setText(QString("%1").arg(wp->getId()));\
}
void WaypointGlobalView::changeEvent(QEvent *e)
{
switch (e->type()) {
case QEvent::LanguageChange:
ui->retranslateUi(this);
break;
default:
break;
}
}
void WaypointGlobalView::remove()
{
emit removeWaypoint(wp);
delete this;
}
QString WaypointGlobalView::getLatitudString(float latitud)
{
QString tempNS ="";
QString stringLatitudTemp = "";
float minutos = 0;
float grados = 0;
float entero = 0;
float dec = 0;
if (latitud<0){tempNS="S"; latitud = latitud * -1;}
else {tempNS="N";}
if(latitud< 90 || latitud > -90)
{
dec = latitud - (entero = ::floor(latitud));;
minutos = dec * 60;
grados = entero;
if(grados < 0) grados = grados * (-1);
if(minutos < 0) minutos = minutos * (-1);
stringLatitudTemp = QString::number(grados)+ " "+ QString::number(minutos)+"' "+ tempNS;
return stringLatitudTemp;
}
else
{
stringLatitudTemp = "erroneous latitude";
return stringLatitudTemp;
}
}
QString WaypointGlobalView::getLongitudString(float longitud)
{
QString tempEW ="";
QString stringLongitudTemp = "";
float minutos = 0;
float grados = 0;
float entero = 0;
float dec = 0;
if (longitud<0){tempEW="W"; longitud = longitud * -1;}
else {tempEW="E";}
if(longitud<180 || longitud > -180)
{
dec = longitud - (entero = ::floor(longitud));;
minutos = dec * 60;
grados = entero;
if(grados < 0) grados = grados * (-1);
if(minutos < 0) minutos = minutos * (-1);
stringLongitudTemp = QString::number(grados)+ " "+ QString::number(minutos)+"' "+ tempEW;
return stringLongitudTemp;
}
else
{
stringLongitudTemp = "erroneous longitude";
return stringLongitudTemp;
}
}
void WaypointGlobalView::changeOrbitalState(int state)
{
Q_UNUSED(state);
if(ui->m_orbitCheckBox->isChecked())
{
ui->m_orbitalSpinBox->setEnabled(true);
ui->m_orbitalSpinBox->show();
}
else
{
ui->m_orbitalSpinBox->setEnabled(false);
ui->m_orbitalSpinBox->hide();
}
}
src/ui/WaypointGlobalView.h 0 → 100644
View file @ 739fe5be
#ifndef WAYPOINTGLOBALVIEW_H
#define WAYPOINTGLOBALVIEW_H
#include <QWidget>
#include "Waypoint.h"
namespace Ui {
class WaypointGlobalView;
}
class WaypointGlobalView : public QWidget
{
Q_OBJECT
public:
explicit WaypointGlobalView(Waypoint* wp, QWidget *parent = 0);
~WaypointGlobalView();
public slots:
void updateValues(void);
void remove();
QString getLatitudString(float lat);
QString getLongitudString(float lon);
void changeOrbitalState(int state);
signals:
void removeWaypoint(Waypoint*);
protected:
virtual void changeEvent(QEvent *e);
Waypoint* wp;
private:
Ui::WaypointGlobalView *ui;
private slots:
};
#endif // WAYPOINTGLOBALVIEW_H
src/ui/WaypointGlobalView.ui 0 → 100644
View file @ 739fe5be
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src/ui/WaypointList.cc
View file @ 739fe5be
This diff is collapsed.
src/ui/WaypointList.h
View file @ 739fe5be
......@@ -41,6 +41,8 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include "UASInterface.h"
#include "WaypointView.h"
#include "WaypointGlobalView.h"
namespace Ui {
class WaypointList;
......@@ -72,6 +74,11 @@ public slots:
void add();
/** @brief Add a waypoint at the current MAV position */
void addCurrentPositonWaypoint();
/** @brief Add a waypoint by mouse click over the map */
void addWaypointMouse(QPointF coordinate);
/** @brief it notifies that a global waypoint goes to do created */
void setIsWPGlobal(bool value);
//Update events
/** @brief sets statusLabel string */
......@@ -83,25 +90,49 @@ public slots:
/** @brief The waypoint manager informs that the waypoint list was changed */
void waypointListChanged(void);
/** @brief The MapWidget informs that a waypoint global was changed on the map */
void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
void clearLocalWPWidget();
// Waypoint operations
void moveUp(Waypoint* wp);
void moveDown(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
signals:
void clearPathclicked();
protected:
virtual void changeEvent(QEvent *e);
protected:
QMap<Waypoint*, WaypointView*> wpViews;
QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
QVBoxLayout* listLayout;
UASInterface* uas;
double mavX;
double mavY;
double mavZ;
double mavYaw;
bool isGlobalWP;
bool isLocalWP;
private:
Ui::WaypointList *m_ui;
private slots:
void on_clearWPListButton_clicked();
};
#endif // WAYPOINTLIST_H
src/ui/WaypointList.ui
View file @ 739fe5be
......@@ -26,7 +26,7 @@
<property name="spacing">
<number>4</number>
</property>
<item row="0" column="0" colspan="9">
<item row="0" column="0" colspan="10">
<widget class="QScrollArea" name="scrollArea">
<property name="widgetResizable">
<bool>true</bool>
......@@ -37,7 +37,7 @@
<x>0</x>
<y>0</y>
<width>466</width>
<height>149</height>
<height>163</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
......@@ -54,7 +54,7 @@
</widget>
</widget>
</item>
<item row="2" column="7">
<item row="2" column="8">
<widget class="QPushButton" name="readButton">
<property name="text">
<string>Read</string>
......@@ -65,7 +65,7 @@
</property>
</widget>
</item>
<item row="2" column="8">
<item row="2" column="9">
<widget class="QPushButton" name="transmitButton">
<property name="text">
<string>Write</string>
......@@ -76,7 +76,7 @@
</property>
</widget>
</item>
<item row="3" column="0" colspan="9">
<item row="3" column="0" colspan="10">
<widget class="QLabel" name="statusLabel">
<property name="text">
<string>TextLabel</string>
......@@ -135,6 +135,17 @@
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QPushButton" name="clearWPListButton">
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/actions/process-stop.svg</normaloff>:/images/actions/process-stop.svg</iconset>
</property>
</widget>
</item>
</layout>
<action name="actionAddWaypoint">
<property name="icon">
......
src/ui/WaypointView.ui
View file @ 739fe5be
......@@ -355,7 +355,7 @@ QProgressBar::chunk#thrustBar {
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/actions/go-up.svg</normaloff>:/images/actions/go-up.svg</iconset>
</property>
</widget>
......@@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar {
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/actions/go-down.svg</normaloff>:/images/actions/go-down.svg</iconset>
</property>
</widget>
......@@ -395,7 +395,7 @@ QProgressBar::chunk#thrustBar {
<string/>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<iconset>
<normaloff>:/images/actions/list-remove.svg</normaloff>:/images/actions/list-remove.svg</iconset>
</property>
</widget>
......@@ -405,8 +405,6 @@ QProgressBar::chunk#thrustBar {
</item>
</layout>
</widget>
<resources>
<include location="../../mavground.qrc"/>
</resources>
<resources/>
<connections/>
</ui>
src/ui/linechart/LinechartPlot.h
View file @ 739fe5be
......@@ -107,7 +107,7 @@ class TimeSeriesData
{
public:
TimeSeriesData(QwtPlot* plot, QString friendlyName = "data", quint64 plotInterval = 30000, quint64 maxInterval = 0, double zeroValue = 0);
TimeSeriesData(QwtPlot* plot, QString friendlyName = "data", quint64 plotInterval = 10000, quint64 maxInterval = 0, double zeroValue = 0);
~TimeSeriesData();
void append(quint64 ms, double value);
......
testlog2.txt
View file @ 739fe5be
This diff is collapsed.
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