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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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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
......@@ -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 {
......
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
......@@ -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
......@@ -35,10 +35,12 @@ OpalLink::OpalLink() :
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(true),
getSignalsTimer(new QTimer(this)),
getSignalsPeriod(1000),
getSignalsPeriod(10),
receiveBuffer(new QQueue<QByteArray>()),
systemID(1),
componentID(1)
componentID(1),
params(NULL),
opalInstID(101)
{
start(QThread::LowPriority);
......@@ -67,29 +69,83 @@ qint64 OpalLink::bytesAvailable()
void OpalLink::writeBytes(const char *bytes, qint64 length)
{
/* decode the message */
mavlink_message_t msg;
mavlink_status_t status;
int decodeSuccess = 0;
for (int i=0; (!(decodeSuccess=mavlink_parse_char(this->getId(), bytes[i], &msg, &status))&& i<length); ++i);
/* perform the appropriate action */
if (decodeSuccess)
{
switch(msg.msgid)
{
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
qDebug() << "OpalLink::writeBytes(): request params";
}
mavlink_message_t param;
void OpalLink::readBytes()
{
receiveDataMutex.lock();
const qint64 maxLength = 2048;
char bytes[maxLength];
qDebug() << "OpalLink::readBytes(): Reading a message. size of buffer: " << receiveBuffer->count();
QByteArray message = receiveBuffer->dequeue();
if (maxLength < message.size())
OpalRT::ParameterList::const_iterator paramIter;
for (paramIter = params->begin(); paramIter != params->end(); ++paramIter)
{
qDebug() << "OpalLink::readBytes:: Buffer Overflow";
mavlink_msg_param_value_pack(systemID,
(*paramIter).getComponentID(),
&param,
(*paramIter).getParamID().toInt8_t(),
(static_cast<OpalRT::Parameter>(*paramIter)).getValue(),
params->count(),
params->indexOf(*paramIter));
receiveMessage(param);
}
memcpy(bytes, message.data(), maxLength);
}
else
case MAVLINK_MSG_ID_PARAM_SET:
{
// qDebug() << "OpalLink::writeBytes(): Attempt to set a parameter";
mavlink_param_set_t param;
mavlink_msg_param_set_decode(&msg, &param);
OpalRT::QGCParamID paramName((char*)param.param_id);
// qDebug() << "OpalLink::writeBytes():paramName: " << paramName;
if ((*params).contains(param.target_component, paramName))
{
memcpy(bytes, message.data(), message.size());
OpalRT::Parameter p = (*params)(param.target_component, paramName);
// qDebug() << __FILE__ << ":" << __LINE__ << ": " << p;
// Set the param value in Opal-RT
p.setValue(param.param_value);
// Get the param value from Opal-RT to make sure it was set properly
mavlink_message_t paramMsg;
mavlink_msg_param_value_pack(systemID,
p.getComponentID(),
&paramMsg,
p.getParamID().toInt8_t(),
p.getValue(),
params->count(),
params->indexOf(p));
receiveMessage(paramMsg);
}
}
break;
default:
{
qDebug() << "OpalLink::writeBytes(): Unknown mavlink packet";
}
}
}
}
emit bytesReceived(this, message);
void OpalLink::readBytes()
{
receiveDataMutex.lock();
emit bytesReceived(this, receiveBuffer->dequeue());
receiveDataMutex.unlock();
}
......@@ -104,7 +160,9 @@ void OpalLink::receiveMessage(mavlink_message_t message)
// If link is connected
if (isConnected())
{
receiveDataMutex.lock();
receiveBuffer->enqueue(QByteArray(buffer, len));
receiveDataMutex.unlock();
readBytes();
}
......@@ -115,54 +173,97 @@ void OpalLink::heartbeat()
if (m_heartbeatsEnabled)
{
qDebug() << "OpalLink::heartbeat(): Generate a heartbeat";
mavlink_message_t beat;
mavlink_msg_heartbeat_pack(systemID, componentID,&beat, MAV_HELICOPTER, MAV_AUTOPILOT_GENERIC);
receiveMessage(beat);
}
}
void OpalLink::setSignals(double *values)
{
unsigned short numSignals = 2;
unsigned short logicalId = 1;
unsigned short signalIndex[] = {0,1};
int returnValue;
returnValue = OpalSetSignals( numSignals, logicalId, signalIndex, values);
if (returnValue != EOK)
{
OpalRT::OpalErrorMsg::displayLastErrorMsg();
}
}
void OpalLink::getSignals()
{
// qDebug() << "OpalLink::getSignals(): Attempting to acquire signals";
//
//
// unsigned long timeout = 0;
// unsigned short acqGroup = 0; //this is actually group 1 in the model
// unsigned short allocatedSignals = NUM_OUTPUT_SIGNALS;
// unsigned short *numSignals = new unsigned short(0);
// double *timestep = new double(0);
// double values[NUM_OUTPUT_SIGNALS] = {};
// unsigned short *lastValues = new unsigned short(false);
// unsigned short *decimation = new unsigned short(0);
//
// int returnVal = OpalGetSignals(timeout, acqGroup, allocatedSignals, numSignals, timestep,
// values, lastValues, decimation);
//
// if (returnVal == EOK )
// {
// qDebug() << "OpalLink::getSignals: Timestep=" << *timestep;// << ", Last? " << (bool)(*lastValues);
// }
// else if (returnVal == EAGAIN)
// {
// qDebug() << "OpalLink::getSignals: Data was not ready";
// }
// // if returnVal == EAGAIN => data just wasn't ready
// else if (returnVal != EAGAIN)
// {
// getSignalsTimer->stop();
// displayErrorMsg();
// }
// /* deallocate used memory */
//
// delete timestep;
// delete lastValues;
// delete lastValues;
// delete decimation;
unsigned long timeout = 0;
unsigned short acqGroup = 0; //this is actually group 1 in the model
unsigned short *numSignals = new unsigned short(0);
double *timestep = new double(0);
double values[OpalRT::NUM_OUTPUT_SIGNALS] = {};
unsigned short *lastValues = new unsigned short(false);
unsigned short *decimation = new unsigned short(0);
while (!(*lastValues))
{
int returnVal = OpalGetSignals(timeout, acqGroup, OpalRT::NUM_OUTPUT_SIGNALS, numSignals, timestep,
values, lastValues, decimation);
if (returnVal == EOK )
{
/* Send position info to qgroundcontrol */
mavlink_message_t local_position;
mavlink_msg_local_position_pack(systemID, componentID, &local_position,
(*timestep)*1000000,
values[OpalRT::X_POS],
values[OpalRT::Y_POS],
values[OpalRT::Z_POS],
values[OpalRT::X_VEL],
values[OpalRT::Y_VEL],
values[OpalRT::Z_VEL]);
receiveMessage(local_position);
/* send attitude info to qgroundcontrol */
mavlink_message_t attitude;
mavlink_msg_attitude_pack(systemID, componentID, &attitude,
(*timestep)*1000000,
values[OpalRT::ROLL],
values[OpalRT::PITCH],
values[OpalRT::YAW],
values[OpalRT::ROLL_SPEED],
values[OpalRT::PITCH_SPEED],
values[OpalRT::YAW_SPEED]
);
receiveMessage(attitude);
/* send bias info to qgroundcontrol */
mavlink_message_t bias;
mavlink_msg_nav_filter_bias_pack(systemID, componentID, &bias,
(*timestep)*1000000,
values[OpalRT::B_F_0],
values[OpalRT::B_F_1],
values[OpalRT::B_F_2],
values[OpalRT::B_W_0],
values[OpalRT::B_W_1],
values[OpalRT::B_W_2]
);
receiveMessage(bias);
}
else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
{
getSignalsTimer->stop();
OpalRT::OpalErrorMsg::displayLastErrorMsg();
}
}
/* deallocate used memory */
delete numSignals;
delete timestep;
delete lastValues;
delete decimation;
}
/*
*
Administrative
......@@ -170,7 +271,7 @@ void OpalLink::getSignals()
*/
void OpalLink::run()
{
qDebug() << "OpalLink::run():: Starting the thread";
// qDebug() << "OpalLink::run():: Starting the thread";
}
int OpalLink::getId()
......@@ -190,7 +291,6 @@ void OpalLink::setName(QString name)
}
bool OpalLink::isConnected() {
//qDebug() << "OpalLink::isConnected:: connectState: " << connectState;
return connectState;
}
......@@ -202,18 +302,23 @@ bool OpalLink::connect()
short modelState;
/// \todo allow configuration of instid in window
// if (OpalConnect(101, false, &modelState) == EOK)
// {
if ((OpalConnect(opalInstID, false, &modelState) == EOK)
&& (OpalGetSignalControl(0, true) == EOK)
&& (OpalGetParameterControl(true) == EOK))
{
connectState = true;
if (params)
delete params;
params = new OpalRT::ParameterList();
emit connected();
heartbeatTimer->start(1000/heartbeatRate);
getSignalsTimer->start(getSignalsPeriod);
// }
// else
// {
// connectState = false;
// displayErrorMsg();
// }
}
else
{
connectState = false;
OpalRT::OpalErrorMsg::displayLastErrorMsg();
}
emit connected(connectState);
return connectState;
......@@ -221,26 +326,16 @@ bool OpalLink::connect()
bool OpalLink::disconnect()
{
return false;
// OpalDisconnect returns void so its success or failure cannot be tested
OpalDisconnect();
heartbeatTimer->stop();
getSignalsTimer->stop();
connectState = false;
emit connected(connectState);
return true;
}
void OpalLink::displayErrorMsg()
{
setLastErrorMsg();
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(lastErrorMsg);
msgBox.exec();
}
void OpalLink::setLastErrorMsg()
{
// char buf[512];
// unsigned short len;
// OpalGetLastErrMsg(buf, sizeof(buf), &len);
// lastErrorMsg.clear();
// lastErrorMsg.append(buf);
}
/*
......
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
/*=====================================================================
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::ParameterList
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
#include "ParameterList.h"
using namespace OpalRT;
ParameterList::ParameterList()
:params(new QMap<int, QMap<QGCParamID, Parameter> >),
paramList(new QList<QList<Parameter*> >())
{
QDir settingsDir = QDir(qApp->applicationDirPath());
if (settingsDir.dirName() == "bin")
settingsDir.cdUp();
settingsDir.cd("settings");
QString filename(settingsDir.path() + "/ParameterList.xml");
if ((QFile::exists(filename)) && open(filename))
{
/* Populate the map with parameter names. There is no elegant way of doing this so all
parameter paths and names must be known at compile time and defined here.
Note: This function is written in a way that calls a lot of copy constructors and is
therefore not particularly efficient. However since it is only called once memory
and computation time are sacrificed for code clarity when adding and modifying
parameters.
When defining the path, the trailing slash is necessary
*/
// Parameter *p;
// /* Component: Navigation Filter */
// p = new Parameter("avionics_src/sm_ampro/NAV_FILT_INIT/",
// "Value",
// OpalRT::NAV_ID,
// QGCParamID("NAV_FILT_INIT"));
// (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
// delete p;
//
// p = new Parameter("avionics_src/sm_ampro/Gain/",
// "Gain",
// OpalRT::NAV_ID,
// QGCParamID("TEST_OUTP_GAIN"));
// (*params)[OpalRT::NAV_ID].insert(p->getParamID(), *p);
// delete p;
//
// /* Component: Log Facility */
// p = new Parameter("avionics_src/sm_ampro/LOG_FILE_ON/",
// "Value",
// OpalRT::LOG_ID,
// QGCParamID("LOG_FILE_ON"));
// (*params)[OpalRT::LOG_ID].insert(p->getParamID(), *p);
// delete p;
/* Get a list of the available parameters from opal-rt */
QMap<QString, unsigned short> *opalParams = new QMap<QString, unsigned short>;
getParameterList(opalParams);
/* Iterate over the parameters we want to use in qgc and populate their ids */
QMap<int, QMap<QGCParamID, Parameter> >::iterator componentIter;
QMap<QGCParamID, Parameter>::iterator paramIter;
QString s;
for (componentIter = params->begin(); componentIter != params->end(); ++componentIter)
{
paramList->append(QList<Parameter*>());
for (paramIter = (*componentIter).begin(); paramIter != (*componentIter).end(); ++paramIter)
{
paramList->last().append(paramIter.operator ->());
s = (*paramIter).getSimulinkPath() + (*paramIter).getSimulinkName();
if (opalParams->contains(s))
{
(*paramIter).setOpalID(opalParams->value(s));
// qDebug() << __FILE__ << " Line:" << __LINE__ << ": Successfully added " << s;
}
else
{
qWarning() << __FILE__ << " Line:" << __LINE__ << ": " << s << " was not found in param list";
}
}
}
delete opalParams;
}
}
ParameterList::~ParameterList()
{
delete params;
delete paramList;
}
/**
Get the list of parameters in the simulink model. This function does not require
any prior knowlege of the parameters. It works by first calling OpalGetParameterList to
get the number of paramters, then allocates the required amount of memory and then gets
the paramter list using a second call to OpalGetParameterList.
*/
void ParameterList::getParameterList(QMap<QString, unsigned short> *opalParams)
{
/* inputs */
unsigned short allocatedParams=0;
unsigned short allocatedPathLen=0;
unsigned short allocatedNameLen=0;
unsigned short allocatedVarLen=0;
/* outputs */
unsigned short numParams;
unsigned short *idParam=NULL;
unsigned short maxPathLen;
char **paths=NULL;
unsigned short maxNameLen;
char **names=NULL;
unsigned short maxVarLen;
char **var=NULL;
int returnValue;
returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam,
allocatedPathLen, &maxPathLen, paths,
allocatedNameLen, &maxNameLen, names,
allocatedVarLen, &maxVarLen, var);
if (returnValue!=E2BIG)
{
// OpalRT::setLastErrorMsg();
OpalRT::OpalErrorMsg::displayLastErrorMsg();
return;
}
// allocate memory for parameter list
idParam = new unsigned short[numParams];
allocatedParams = numParams;
paths = new char*[numParams];
for (int i=0; i<numParams; i++)
paths[i]=new char[maxPathLen];
allocatedPathLen = maxPathLen;
names = new char*[numParams];
for (int i=0; i<numParams; i++)
names[i] = new char[maxNameLen];
allocatedNameLen = maxNameLen;
var = new char*[numParams];
for (int i=0; i<numParams; i++)
var[i] = new char[maxVarLen];
allocatedVarLen = maxVarLen;
returnValue = OpalGetParameterList(allocatedParams, &numParams, idParam,
allocatedPathLen, &maxPathLen, paths,
allocatedNameLen, &maxNameLen, names,
allocatedVarLen, &maxVarLen, var);
if (returnValue != EOK)
{
// OpalRT::setLastErrorMsg();
OpalRT::OpalErrorMsg::displayLastErrorMsg();
return;
}
QString path, name;
for (int i=0; i<numParams; ++i)
{
path.clear();
path.append(paths[i]);
name.clear();
name.append(names[i]);
if (path[path.size()-1] == '/')
opalParams->insert(path+name, idParam[i]);
else
opalParams->insert(path+'/'+name, idParam[i]);
}
// Dump out the list of parameters
// QMap<QString, unsigned short>::const_iterator paramPrint;
// for (paramPrint = opalParams->begin(); paramPrint != opalParams->end(); ++paramPrint)
// qDebug() << paramPrint.key();
}
int ParameterList::indexOf(const Parameter &p)
{
// incase p is a copy of the actual parameter we want (i.e., addresses differ)
Parameter *pPtr = &((*params)[p.getComponentID()][p.getParamID()]);
QList<QList<Parameter*> >::const_iterator iter;
int index = -1;
for (iter = paramList->begin(); iter != paramList->end(); ++iter)
{
if ((index = (*iter).indexOf(pPtr)) != -1)
return index;
}
return index;
}
ParameterList::const_iterator::const_iterator(QList<Parameter> paramList)
{
this->paramList = QList<Parameter>(paramList);
index = 0;
}
ParameterList::const_iterator::const_iterator(const const_iterator &other)
{
paramList = QList<Parameter>(other.paramList);
index = other.index;
}
ParameterList::const_iterator ParameterList::begin() const
{
QList<QMap<QGCParamID, Parameter> > compList = params->values();
QList<Parameter> paramList;
QList<QMap<QGCParamID, Parameter> >::const_iterator compIter;
for (compIter = compList.begin(); compIter != compList.end(); ++compIter)
paramList.append((*compIter).values());
return const_iterator(paramList);
}
ParameterList::const_iterator ParameterList::end() const
{
const_iterator iter = begin();
return iter+=iter.paramList.size();
}
int ParameterList::count()
{
int count = 0;
QList<QList<Parameter*> >::const_iterator iter;
for (iter = paramList->begin(); iter != paramList->end(); ++iter)
count += (*iter).count();
return count;
}
/* Functions related to reading the xml config file */
bool ParameterList::open(QString filename)
{
QFile paramFile(filename);
if (!paramFile.exists())
{
/// \todo open dialog box (maybe: that could also go in comm config window)
return false;
}
if (!paramFile.open(QIODevice::ReadOnly))
{
return false;
}
read(&paramFile);
return true;
}
bool ParameterList::read(QIODevice *device)
{
QDomDocument *paramConfig = new QDomDocument();
QString errorStr;
int errorLine;
int errorColumn;
if (!paramConfig->setContent(device, true, &errorStr, &errorLine,
&errorColumn))
{
qDebug() << "Error reading XML Parameter File on line: " << errorLine << errorStr;
return false;
}
QDomElement root = paramConfig->documentElement();
if (root.tagName() != "ParameterList") {
qDebug() << __FILE__ << __LINE__ << "This is not a parameter list xml file";
return false;
}
QDomElement child = root.firstChildElement("Block");
while (!child.isNull())
{
parseBlock(child);
child = child.nextSiblingElement("Block");
}
delete paramConfig;
return true;
}
void ParameterList::parseBlock(const QDomElement &block)
{
QDomNodeList paramList;
QDomElement e;
Parameter *p;
SubsystemIds id;
if (block.attribute("name") == "Navigation")
id = OpalRT::NAV_ID;
else if (block.attribute("name") == "Controller")
id = OpalRT::CONTROLLER_ID;
else if (block.attribute("name") == "ServoOutputs")
id = OpalRT::SERVO_OUTPUTS;
else if (block.attribute("name") == "ServoInputs")
id = OpalRT::SERVO_INPUTS;
paramList = block.elementsByTagName("Parameter");
for (int i=0; i < paramList.size(); ++i)
{
e = paramList.item(i).toElement();
if (e.hasAttribute("SimulinkPath") &&
e.hasAttribute("SimulinkParameterName") &&
e.hasAttribute("QGCParamID"))
{
p = new Parameter(e.attribute("SimulinkPath"),
e.attribute("SimulinkParameterName"),
static_cast<uint8_t>(id),
QGCParamID(e.attribute("QGCParamID")));
(*params)[id].insert(p->getParamID(), *p);
delete p;
}
else
{
qDebug() << __FILE__ << ":" << __LINE__ << ": error in xml doc";
}
}
}
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
......@@ -92,7 +92,7 @@ MainWindow::MainWindow(QWidget *parent) :
// Create actions
connectActions();
// Load widgets and show application window
// Load widgets and show application windowa
loadWidgets();
// Adjust the size
......@@ -131,6 +131,7 @@ void MainWindow::buildWidgets()
mapWidget = new MapWidget(this);
protocolWidget = new XMLCommProtocolWidget(this);
dataplotWidget = new QGCDataPlot2D(this);
map3DWidget = new QWidget(this); // FIXME Lionel, insert visualizer here
// Dock widgets
controlDockWidget = new QDockWidget(tr("Control"), this);
......@@ -175,6 +176,9 @@ void MainWindow::buildWidgets()
}
/**
* Connect all signals and slots of the main window widgets
*/
void MainWindow::connectWidgets()
{
if (linechartWidget)
......@@ -191,6 +195,16 @@ void MainWindow::connectWidgets()
connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
}
if (mapWidget && waypointsDockWidget->widget())
{
// clear path create on the map
connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearPath()));
// add Waypoint widget in the WaypointList widget when mouse clicked
connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
// it notifies that a waypoint global goes to do create
connect(mapWidget, SIGNAL(createGlobalWP(bool)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool)));
connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
}
}
void MainWindow::arrangeCenterStack()
......@@ -341,7 +355,7 @@ void MainWindow::connectActions()
connect(ui.actionPilotView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
connect(ui.actionSettingsView, SIGNAL(triggered()), this, SLOT(loadSettingsView()));
connect(ui.action3DView, SIGNAL(triggered()), this, SLOT(load3DView()));
connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
......@@ -353,6 +367,8 @@ void MainWindow::connectActions()
// Joystick configuration
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
}
void MainWindow::showHelp()
......@@ -678,6 +694,18 @@ void MainWindow::loadPixhawkView()
waypointsDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
hsi->start();
addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
}
}
// DEBUG CONSOLE
if (debugConsoleDockWidget)
{
......@@ -842,36 +870,56 @@ void MainWindow::loadOperatorView()
this->show();
}
void MainWindow::loadSettingsView()
void MainWindow::load3DView()
{
clearView();
// LINE CHART
if (linechartWidget)
// 3D map
if (map3DWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
//map3DWidget->setActive(true);
centerStack->setCurrentWidget(map3DWidget);
}
}
/*
// COMM XML
QDockWidget* container1 = new QDockWidget(tr("MAVLink XML to C Code Generator"), this);
container1->setWidget(protocol);
addDockWidget(Qt::LeftDockWidgetArea, container1);*/
// UAS CONTROL
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// ONBOARD PARAMETERS
if (parametersDockWidget)
// UAS LIST
if (listDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->show();
}
// WAYPOINT LIST
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
hsi->start();
addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
}
}
this->show();
}
}
void MainWindow::loadEngineerView()
{
......
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);
......@@ -364,11 +383,17 @@ 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){
void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
{
mc->setMouseMode(qmapcontrol::MapControl::Panning);
// qDebug() << geom->name();
......@@ -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
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>WaypointGlobalView</class>
<widget class="QWidget" name="WaypointGlobalView">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>869</width>
<height>60</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">QWidget#colorIcon {}
QWidget {
background-color: #252528;
color: #DDDDDF;
border-color: #EEEEEE;
background-clip: border;
}
QCheckBox {
background-color: #252528;
color: #454545;
}
QGroupBox {
border: 1px solid #EEEEEE;
border-radius: 5px;
padding: 0px 0px 0px 0px;
margin-top: 1ex; /* leave space at the top for the title */
margin: 0px;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
margin: 0 3px 0px 3px;
padding: 0 3px 0px 0px;
font: bold 8px;
}
QGroupBox#heartbeatIcon {
background-color: red;
}
QDockWidget {
font: bold;
border: 1px solid #32345E;
}
QPushButton {
font-weight: bold;
font-size: 12px;
border: 1px solid #999999;
border-radius: 10px;
min-width:22px;
max-width: 36px;
min-height: 16px;
max-height: 16px;
padding: 2px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777777, stop: 1 #555555);
}
QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #444444, stop: 1 #555555);
}
QPushButton#landButton {
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffee01, stop:1 #ae8f00) url(&quot;ICONDIR/control/emergency-button.png&quot;);
}
QPushButton:pressed#landButton {
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bbaa00, stop:1 #a05b00) url(&quot;ICONDIR/control/emergency-button.png&quot;);
}
QPushButton#killButton {
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffb917, stop:1 #b37300) url(&quot;ICONDIR/control/emergency-button.png&quot;);
}
QPushButton:pressed#killButton {
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bb8500, stop:1 #903000) url(&quot;ICONDIR/control/emergency-button.png&quot;);
}
QProgressBar {
border: 1px solid white;
border-radius: 4px;
text-align: center;
padding: 2px;
color: white;
background-color: #111111;
}
QProgressBar:horizontal {
height: 12px;
}
QProgressBar QLabel {
font-size: 8px;
}
QProgressBar:vertical {
width: 12px;
}
QProgressBar::chunk {
background-color: #656565;
}
QProgressBar::chunk#batteryBar {
background-color: green;
}
QProgressBar::chunk#speedBar {
background-color: yellow;
}
QProgressBar::chunk#thrustBar {
background-color: orange;
}</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="idWP_label">
<property name="text">
<string>WP_id</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>135</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="Latitud_label">
<property name="text">
<string>Lat:</string>
</property>
</widget>
</item>
<item>
<widget class="QTextEdit" name="m_latitudtextEdit">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>120</width>
<height>25</height>
</size>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>50</width>
<height>30</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="Longitud_label">
<property name="text">
<string>Lon:</string>
</property>
</widget>
</item>
<item>
<widget class="QTextEdit" name="m_longitudtextEdit">
<property name="maximumSize">
<size>
<width>120</width>
<height>25</height>
</size>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>50</width>
<height>30</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="height_label">
<property name="text">
<string>Heigth</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_heigthSpinBox"/>
</item>
<item>
<widget class="QCheckBox" name="m_orbitCheckBox">
<property name="palette">
<palette>
<active>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
</active>
<inactive>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
</inactive>
<disabled>
<colorrole role="WindowText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="Button">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
<colorrole role="Text">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="ButtonText">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>69</red>
<green>69</green>
<blue>69</blue>
</color>
</brush>
</colorrole>
<colorrole role="Base">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
<colorrole role="Window">
<brush brushstyle="SolidPattern">
<color alpha="255">
<red>37</red>
<green>37</green>
<blue>40</blue>
</color>
</brush>
</colorrole>
</disabled>
</palette>
</property>
<property name="text">
<string>Orbital</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_orbitalSpinBox">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
src/ui/WaypointList.cc
View file @ 739fe5be
......@@ -37,6 +37,8 @@ This file is part of the PIXHAWK project
#include <UASManager.h>
#include <QDebug>
#include <QFileDialog>
#include "WaypointGlobalView.h"
#include <QMessageBox>
WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
QWidget(parent),
......@@ -77,6 +79,8 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
// SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
setUAS(uas);
......@@ -84,6 +88,8 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
updateStatusLabel("");
this->setVisible(false);
isGlobalWP = false;
isLocalWP = false;
}
WaypointList::~WaypointList()
......@@ -162,6 +168,7 @@ void WaypointList::add()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
{
......@@ -174,12 +181,24 @@ void WaypointList::add()
Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
}
isLocalWP = true;
}
}
void WaypointList::addCurrentPositonWaypoint()
{
if (uas)
{
// For Global Waypoints
if(isGlobalWP)
{
isLocalWP = false;
}
else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
......@@ -193,6 +212,9 @@ void WaypointList::addCurrentPositonWaypoint()
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
}
isLocalWP = true;
}
}
}
......@@ -240,6 +262,60 @@ void WaypointList::waypointListChanged()
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
// For Global Waypoints
if(isGlobalWP)
{
isLocalWP = false;
// first remove all views of non existing waypoints
if (!wpGlobalViews.empty())
{
QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
viewIt.toFront();
while(viewIt.hasNext())
{
viewIt.next();
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
{
if (waypoints[i] == cur)
{
break;
}
}
if (i == waypoints.size())
{
WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpGlobalViews.remove(cur);
}
}
}
// then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
{
Waypoint *wp = waypoints[i];
if (!wpGlobalViews.contains(wp))
{
WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
wpGlobalViews.insert(wp, wpview);
// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
wpgv->updateValues();
listLayout->addWidget(wpgv);
}
}
else
{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
{
......@@ -281,12 +357,18 @@ void WaypointList::waypointListChanged()
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointView *wpv = wpViews.value(wp);
wpv->updateValues(); // update the values of the ui elements in the view
listLayout->addWidget(wpv);
}
}
}
}
void WaypointList::moveUp(Waypoint* wp)
......@@ -352,3 +434,140 @@ void WaypointList::changeEvent(QEvent *e)
}
}
void WaypointList::on_clearWPListButton_clicked()
{
if (uas)
{
if(isGlobalWP)
{
emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointGlobalView* widget = wpGlobalViews.find(waypoints[0]).value();
widget->remove();
}
isGlobalWP = false;
}
else
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove();
}
}
}
}
/** @brief Add a waypoint by mouse click over the map */
void WaypointList::addWaypointMouse(QPointF coordinate)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().localAddWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().localAddWaypoint(wp);
}
}
}
/** @brief it notifies that a global waypoint goes to do created */
void WaypointList::setIsWPGlobal(bool value)
{
if(isLocalWP)
{
if(wpViews.size()!= 0)
{
int ret = QMessageBox::warning(this, tr("My Application"),
tr("There are Waypoints local created.\n"
"Do you want to clear them?"),
QMessageBox::Ok | QMessageBox::Cancel);
if(ret)
{
clearLocalWPWidget();
isGlobalWP = value;
isLocalWP = !(value);
}
}
}
else
{
isGlobalWP = value;
}
}
/** @brief The MapWidget informs that a waypoint global was changed on the map */
void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *temp = waypoints.at(indexWP);
temp->setX(coordinate.x());
temp->setY(coordinate.y());
WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
widget->updateValues();
}
}
}
void WaypointList::clearLocalWPWidget()
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove();
}
}
}
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);
......
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