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Commit 8ba0c5b8 authored by James Goppert's avatar James Goppert
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Further progress on cmake build system.

parent 55491754
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CMakeLists.txt
View file @ 8ba0c5b8
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src/MissionLog.cc deleted 100644 → 0
View file @ 55491754
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Brief Description
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QThread>
#include <QSplashScreen>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <MissionLog.h>
#include <MG.h>
#include <QDebug>
/**
* @brief Constructor for the mission log
*
**/
MissionLog::MissionLog(QObject* parent) : QObject(parent)
{
logLines = new QMap<QString, LogLine*>();
logFiles = new QMap<QString, QFile*>();
}
/**
* @brief Destructor for the mission log. It closes all files
*
**/
MissionLog::~MissionLog()
{
delete logFiles;
delete logLines;
}
void MissionLog::startLog(UASInterface* uas, QString format)
{
QString separator;
if (format.contains(",")) separator = ",";
if (format.contains(";")) separator = ";";
if (format.contains("\t")) separator = "\t";
QStringList fields = format.split(separator);
}
void MissionLog::stopLog(UASInterface* uas, QString format)
{
// TODO Check if file has to be closed explicitely
logFiles->remove(format);
}
src/MissionLog.h deleted 100644 → 0
View file @ 55491754
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Brief Description
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MISSIONLOG_H_
#define _MISSIONLOG_H_
#include <QString>
#include <QFile>
#include <QMap>
#include <UASInterface.h>
/**
* @brief Log the mission executed by this groundstation
*
* Displays all events in a console window and writes (if enabled) all events to a logfile
*
**/
class MissionLog : public QObject {
Q_OBJECT
public:
MissionLog(QObject* parent = NULL);
~MissionLog();
public slots:
void startLog(UASInterface* uas, QString format);
void stopLog(UASInterface* uas, QString format);
protected:
/**
* @brief This nested class is just a data container for a log line
*/
class LogFile
{
public:
void setField(QString id, double value)
{
//fields->value(id.trimmed()) = value;
fieldsDone++;
if (fieldsDone == fields->size()) writeLine();
}
protected:
QMap<QString, double>* fields;
int fieldsDone;
QFile* file;
LogFile(QFile* file, QString format)
{
fields = new QMap<QString, double>();
fieldsDone = 0;
file->open(QIODevice::WriteOnly | QIODevice::Text);
}
void addField(QString id)
{
fields->insert(id, 0.0f);
}
void writeLine()
{
QString line = "";
// Iterate through the fields
// Reset value to zero after write
line += "\n";
file->write(line.toAscii());
file->flush();
}
};
QMap<QString, LogFile*>* logFiles;
private:
};
#endif // _MISSIONLOG_H_
src/plugins/PxMAV.cc deleted 100644 → 0
View file @ 55491754
#include "PxMAV.h"
#include <QtCore>
PxMAV::PxMAV() :
UAS(NULL, 0)
{
}
PxMAV::PxMAV(MAVLinkProtocol* mavlink, int id) :
UAS(mavlink, id)
{
}
/**
* This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
* mavlink packet is received.
*
* @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
* messages can be sent back to the system via this link
* @param message MAVLink message, as received from the MAVLink protocol stack
*/
void PxMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
mavlink_message_t* msg = &message;
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
// Handle your special messages
switch (msg->msgid)
{
case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
{
mavlink_watchdog_heartbeat_t payload;
mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
{
mavlink_watchdog_process_info_t payload;
mavlink_msg_watchdog_process_info_decode(msg, &payload);
emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
{
mavlink_watchdog_process_status_t payload;
mavlink_msg_watchdog_process_status_decode(msg, &payload);
emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
}
break;
case MAVLINK_MSG_ID_DEBUG_VECT:
{
mavlink_debug_vect_t vect;
mavlink_msg_debug_vect_decode(msg, &vect);
QString str((const char*)vect.name);
emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis. roll", pos.roll, time);
emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
emit valueChanged(uasId, "vis. x", pos.x, time);
emit valueChanged(uasId, "vis. y", pos.y, time);
emit valueChanged(uasId, "vis. z", pos.z, time);
emit valueChanged(uasId, "vis. vx", pos.vx, time);
emit valueChanged(uasId, "vis. vy", pos.vy, time);
emit valueChanged(uasId, "vis. vz", pos.vz, time);
emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
// Set internal state
if (!positionLock)
{
// If position was not locked before, notify positive
// GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
}
break;
default:
// Do nothing
break;
}
}
void PxMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
{
mavlink_watchdog_command_t payload;
payload.target_system_id = uasId;
payload.watchdog_id = watchdogId;
payload.process_id = processId;
payload.command_id = (uint8_t)command;
mavlink_message_t msg;
mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
sendMessage(msg);
}
Q_EXPORT_PLUGIN2(pixhawk_plugins, PxMAV)
src/plugins/PxMAV.h deleted 100644 → 0
View file @ 55491754
#ifndef PXMAV_H
#define PXMAV_H
#include "UAS.h"
class PxMAV : public UAS
{
Q_OBJECT
Q_INTERFACES(UASInterface)
public:
PxMAV(MAVLinkProtocol* mavlink, int id);
PxMAV();
public slots:
/** @brief Receive a MAVLink message from this MAV */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send a command to an onboard process */
void sendProcessCommand(int watchdogId, int processId, unsigned int command);
signals:
void watchdogReceived(int systemId, int watchdogId, unsigned int processCount);
void processReceived(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
void processChanged(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
};
#endif // PXMAV_H
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