Still working on having independent builds for each MAV, most of the work is...

Still working on having independent builds for each MAV, most of the work is done, only Central Widgets remain to be instantiated and menu-controlled based on the autopilot

src/comm/MAVLinkProtocol.cc

@@ -159,7 +159,13 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 switch (heartbeat.autopilot)
                 {
                 case MAV_AUTOPILOT_GENERIC:
+
                     uas = new UAS(this, message.sysid);
+
+                    // Set the autopilot type
+                    uas->setAutopilotType((int)heartbeat.autopilot);
+
+
                     // Connect this robot to the UAS object
                     connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
                     break;
@@ -167,6 +173,10 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     {
                     // Fixme differentiate between quadrotor and coaxial here
                     PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
+
+                    // Set the autopilot type
+                    //mav->setAutopilotType((int)heartbeat.autopilot);
+
                     // Connect this robot to the UAS object
                     // it is IMPORTANT here to use the right object type,
                     // else the slot of the parent object is called (and thus the special
@@ -178,6 +188,10 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 case MAV_AUTOPILOT_SLUGS:
                     {
                     SlugsMAV* mav = new SlugsMAV(this, message.sysid);
+
+                    // Set the autopilot type
+                    mav->setAutopilotType((int)heartbeat.autopilot);
+
                     // Connect this robot to the UAS object
                     // it is IMPORTANT here to use the right object type,
                     // else the slot of the parent object is called (and thus the special
@@ -189,6 +203,10 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 case MAV_AUTOPILOT_ARDUPILOTMEGA:
                     {
                     ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
+
+                    // Set the autopilot type
+                    mav->setAutopilotType((int)heartbeat.autopilot);
+
                     // Connect this robot to the UAS object
                     // it is IMPORTANT here to use the right object type,
                     // else the slot of the parent object is called (and thus the special
@@ -202,11 +220,21 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     break;
                 }
 
+                // Set the autopilot type
+                uas->setAutopilotType((int)heartbeat.autopilot);
 
                 // Make UAS aware that this link can be used to communicate with the actual robot
                 uas->addLink(link);
+
                 // Now add UAS to "official" list, which makes the whole application aware of it
                 UASManager::instance()->addUAS(uas);
+
+
+
+                qDebug() << "++===============================";
+                qDebug() << uas->getAutopilotType();
+                qDebug() << "++===============================";
+
             }
 
             // Only count message if UAS exists for this message

src/uas/UAS.cc

@@ -44,12 +44,13 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkProtocol.h"
 #include "QGCMAVLink.h"
 
+
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         uasId(id),
         startTime(MG::TIME::getGroundTimeNow()),
         commStatus(COMM_DISCONNECTED),
         name(""),
-        autopilot(0),
+        autopilot(-1),
         links(new QList<LinkInterface*>()),
         unknownPackets(),
         mavlink(protocol),
@@ -153,6 +154,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 this->autopilot = mavlink_msg_heartbeat_get_autopilot(&message);
                 emit systemTypeSet(this, type);
             }
+
             break;
         case MAVLINK_MSG_ID_BOOT:
             getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);

src/uas/UAS.h

@@ -98,7 +98,7 @@ protected:
     quint64 startTime;            ///< The time the UAS was switched on
     CommStatus commStatus;        ///< Communication status
     QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
-    int autopilot;                ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
     QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
     QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
     MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
@@ -165,7 +165,8 @@ protected:
 public:
     UASWaypointManager &getWaypointManager(void) { return waypointManager; }
     int getSystemType();
-    unsigned char getAutopilotType() {return autopilot;}
+    int getAutopilotType() {return autopilot;}
+    void setAutopilotType(int apType) { autopilot = apType;}
 
 public slots:
     /** @brief Launches the system **/

src/uas/UASInterface.h

@@ -157,7 +157,9 @@ public:
         return color;
     }
 
-    virtual unsigned char getAutopilotType() = 0;
+    virtual int getAutopilotType() = 0;
+    virtual void setAutopilotType(int apType)= 0;
+
 public slots:
 
     /** @brief Launches the system/Liftof **/

src/uas/UASManager.cc

@@ -96,6 +96,11 @@ UASInterface* UASManager::getActiveUAS()
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
 
+UASInterface* UASManager::silentGetActiveUAS()
+{
+    return activeUAS; ///< Return zero pointer if no UAS has been loaded
+}
+
 bool UASManager::launchActiveUAS()
 {
     // If the active UAS is set, execute command

src/uas/UASManager.h

@@ -57,6 +57,7 @@ public:
      * @return NULL pointer if no UAS exists, active UAS else
      **/
     UASInterface* getActiveUAS();
+    UASInterface* silentGetActiveUAS();
     /**
      * @brief Get the UAS with this id
      *

src/ui/MainWindow.h

@@ -146,11 +146,14 @@ public slots:
     void loadPixhawkEngineerView();
     void loadSlugsEngineerView();
 
+    void presentView();
+
     /** @brief Reload the CSS style sheet */
     void reloadStylesheet();
 
 
     void showToolWidget();
+    void showCentralWidget();
     void updateVisibilitySettings (bool vis);
     void updateLocationSettings (Qt::DockWidgetArea location);
 protected:
@@ -179,7 +182,7 @@ protected:
       MENU_SLUGS_PID,
       MENU_SLUGS_HIL,
       MENU_SLUGS_CAMERA,
-      CENTRAL_LINECHART = 255, // Separation from dockwidgets and central widgets
+      CENTRAL_LINECHART = 255, // do not change
       CENTRAL_PROTOCOL,
       CENTRAL_MAP,
       CENTRAL_3D_LOCAL,
@@ -187,18 +190,22 @@ protected:
       CENTRAL_GOOGLE_EARTH,
       CENTRAL_HUD,
       CENTRAL_DATA_PLOT,
+      CENTRAL_SEPARATOR,
     }TOOLS_WIDGET_NAMES;
 
     typedef enum _SETTINGS_SECTIONS {
       SECTION_MENU,
-      VIEW_ENGINEER,
-      VIEW_OPERATOR,
-      VIEW_CALIBRATION,
-      VIEW_MAVLINK,
       SUB_SECTION_CHECKED,
       SUB_SECTION_LOCATION,
     } SETTINGS_SECTIONS;
 
+    typedef enum _VIEW_SECTIONS {
+      VIEW_ENGINEER,
+      VIEW_OPERATOR,
+      VIEW_PILOT,
+      VIEW_MAVLINK,
+    } VIEW_SECTIONS;
+
 
     QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
     QHash<int, QWidget*> dockWidgets;  // Holds ptr to the Actual Dock widget
@@ -206,9 +213,11 @@ protected:
 
 
     void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location);
-    void showTheWidget (TOOLS_WIDGET_NAMES widget);
+    void showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view = VIEW_MAVLINK);
+    void showCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view);
+    void addToCentralWidgetsMenu ( QWidget* widget, const QString title,const char * slotName, TOOLS_WIDGET_NAMES centralWidget);
 
-    int currentView;
+    VIEW_SECTIONS currentView;
     int aboutToQuit;
     //QHash<int, QString> settingsSections;
 
@@ -250,7 +259,9 @@ protected:
 
     // Center widgets
     QPointer<Linecharts> linechartWidget;
+
     QPointer<HUD> hudWidget;
+
     QPointer<MapWidget> mapWidget;
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
@@ -273,7 +284,9 @@ protected:
     QPointer<QDockWidget> headDown1DockWidget;
     QPointer<QDockWidget> headDown2DockWidget;
     QPointer<QDockWidget> watchdogControlDockWidget;
+
     QPointer<QDockWidget> headUpDockWidget;
+
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
     QPointer<QDockWidget> slugsDataWidget;
@@ -304,7 +317,7 @@ protected:
 private:
     Ui::MainWindow ui;
 
-    QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool);
+    QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
 
 };
 

src/ui/MainWindow.ui

@@ -80,7 +80,6 @@
     <property name="title">
      <string>Tools</string>
     </property>
-    <addaction name="separator"/>
    </widget>
    <widget class="QMenu" name="menuHelp">
     <property name="title">
@@ -94,9 +93,9 @@
     <property name="title">
      <string>Perspectives</string>
     </property>
-    <addaction name="actionFlightView"/>
+    <addaction name="actionOperatorsView"/>
     <addaction name="actionEngineersView"/>
-    <addaction name="actionCalibrationView"/>
+    <addaction name="actionPilotsView"/>
     <addaction name="separator"/>
     <addaction name="actionMavlinkView"/>
     <addaction name="actionReloadStyle"/>
@@ -393,13 +392,13 @@
     <string>Developer Credits</string>
    </property>
   </action>
-  <action name="actionFlightView">
+  <action name="actionOperatorsView">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
    </property>
    <property name="text">
-    <string>Flight</string>
+    <string>Operator</string>
    </property>
   </action>
   <action name="actionEngineersView">
@@ -429,13 +428,13 @@
     <string>Reload Style</string>
    </property>
   </action>
-  <action name="actionCalibrationView">
+  <action name="actionPilotsView">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
    </property>
    <property name="text">
-    <string>Calibration</string>
+    <string>Pilot</string>
    </property>
   </action>
  </widget>