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Commit 9b1006ce authored by Nate Weibley's avatar Nate Weibley
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Merge remote-tracking branch 'origin/master' into qt-pch-compiletime

parents 4b3783fb 1f3100cf
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Showing with 714 additions and 366 deletions
QGCApplication.pro
View file @ 9b1006ce
......@@ -230,6 +230,7 @@ HEADERS += \
src/QGCApplication.h \
src/QGCComboBox.h \
src/QGCConfig.h \
src/QGCDockWidget.h \
src/QGCFileDialog.h \
src/QGCGeo.h \
src/QGCLoggingCategory.h \
......@@ -295,7 +296,6 @@ HEADERS += \
src/comm/QGCHilLink.h \
src/comm/QGCJSBSimLink.h \
src/comm/QGCXPlaneLink.h \
src/QGCDockWidget.h \
src/ui/CameraView.h \
src/ui/HILDockWidget.h \
src/ui/MultiVehicleDockWidget.h \
......@@ -346,6 +346,7 @@ SOURCES += \
src/QGC.cc \
src/QGCApplication.cc \
src/QGCComboBox.cc \
src/QGCDockWidget.cc \
src/QGCFileDialog.cc \
src/QGCLoggingCategory.cc \
src/QGCPalette.cc \
......@@ -399,7 +400,6 @@ SOURCES += \
src/comm/QGCFlightGearLink.cc \
src/comm/QGCJSBSimLink.cc \
src/comm/QGCXPlaneLink.cc \
src/QGCDockWidget.cc \
src/ui/CameraView.cc \
src/ui/HILDockWidget.cc \
src/ui/MultiVehicleDockWidget.cc \
......
src/FactSystem/Fact.cc
View file @ 9b1006ce
......@@ -134,7 +134,7 @@ QString Fact::valueString(void) const
return _value.toString();
}
QVariant Fact::defaultValue(void)
QVariant Fact::defaultValue(void) const
{
if (_metaData) {
if (!_metaData->defaultValueAvailable()) {
......@@ -147,12 +147,12 @@ QVariant Fact::defaultValue(void)
}
}
FactMetaData::ValueType_t Fact::type(void)
FactMetaData::ValueType_t Fact::type(void) const
{
return _type;
}
QString Fact::shortDescription(void)
QString Fact::shortDescription(void) const
{
if (_metaData) {
return _metaData->shortDescription();
......@@ -162,7 +162,7 @@ QString Fact::shortDescription(void)
}
}
QString Fact::longDescription(void)
QString Fact::longDescription(void) const
{
if (_metaData) {
return _metaData->longDescription();
......@@ -172,7 +172,7 @@ QString Fact::longDescription(void)
}
}
QString Fact::units(void)
QString Fact::units(void) const
{
if (_metaData) {
return _metaData->units();
......@@ -182,7 +182,7 @@ QString Fact::units(void)
}
}
QVariant Fact::min(void)
QVariant Fact::min(void) const
{
if (_metaData) {
return _metaData->min();
......@@ -192,7 +192,7 @@ QVariant Fact::min(void)
}
}
QVariant Fact::max(void)
QVariant Fact::max(void) const
{
if (_metaData) {
return _metaData->max();
......@@ -202,7 +202,7 @@ QVariant Fact::max(void)
}
}
bool Fact::minIsDefaultForType(void)
bool Fact::minIsDefaultForType(void) const
{
if (_metaData) {
return _metaData->minIsDefaultForType();
......@@ -212,7 +212,7 @@ bool Fact::minIsDefaultForType(void)
}
}
bool Fact::maxIsDefaultForType(void)
bool Fact::maxIsDefaultForType(void) const
{
if (_metaData) {
return _metaData->maxIsDefaultForType();
......@@ -222,7 +222,7 @@ bool Fact::maxIsDefaultForType(void)
}
}
QString Fact::group(void)
QString Fact::group(void) const
{
if (_metaData) {
return _metaData->group();
......@@ -237,7 +237,7 @@ void Fact::setMetaData(FactMetaData* metaData)
_metaData = metaData;
}
bool Fact::valueEqualsDefault(void)
bool Fact::valueEqualsDefault(void) const
{
if (_metaData) {
if (_metaData->defaultValueAvailable()) {
......@@ -251,7 +251,7 @@ bool Fact::valueEqualsDefault(void)
}
}
bool Fact::defaultValueAvailable(void)
bool Fact::defaultValueAvailable(void) const
{
if (_metaData) {
return _metaData->defaultValueAvailable();
......
src/FactSystem/Fact.h
View file @ 9b1006ce
......@@ -74,18 +74,18 @@ public:
QVariant value(void) const;
QString valueString(void) const;
void setValue(const QVariant& value);
QVariant defaultValue(void);
bool defaultValueAvailable(void);
bool valueEqualsDefault(void);
FactMetaData::ValueType_t type(void);
QString shortDescription(void);
QString longDescription(void);
QString units(void);
QVariant min(void);
bool minIsDefaultForType(void);
QVariant max(void);
bool maxIsDefaultForType(void);
QString group(void);
QVariant defaultValue(void) const;
bool defaultValueAvailable(void) const;
bool valueEqualsDefault(void) const;
FactMetaData::ValueType_t type(void) const;
QString shortDescription(void) const;
QString longDescription(void) const;
QString units(void) const;
QVariant min(void) const;
bool minIsDefaultForType(void) const;
QVariant max(void) const;
bool maxIsDefaultForType(void) const;
QString group(void) const;
/// Sets and sends new value to vehicle even if value is the same
void forceSetValue(const QVariant& value);
......@@ -120,4 +120,4 @@ private:
FactMetaData* _metaData;
};
#endif
\ No newline at end of file
#endif
src/FactSystem/FactMetaData.cc
View file @ 9b1006ce
......@@ -80,7 +80,7 @@ const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
return *this;
}
QVariant FactMetaData::defaultValue(void)
QVariant FactMetaData::defaultValue(void) const
{
if (_defaultValueAvailable) {
return _defaultValue;
......@@ -122,7 +122,7 @@ void FactMetaData::setMax(const QVariant& max)
}
}
QVariant FactMetaData::_minForType(void)
QVariant FactMetaData::_minForType(void) const
{
switch (_type) {
case valueTypeUint8:
......@@ -147,7 +147,7 @@ QVariant FactMetaData::_minForType(void)
return QVariant();
}
QVariant FactMetaData::_maxForType(void)
QVariant FactMetaData::_maxForType(void) const
{
switch (_type) {
case valueTypeUint8:
......
src/FactSystem/FactMetaData.h
View file @ 9b1006ce
......@@ -57,28 +57,28 @@ public:
FactMetaData(const FactMetaData& other, QObject* parent = NULL);
const FactMetaData& operator=(const FactMetaData& other);
// Property accessors
QString name(void) { return _name; }
QString group(void) { return _group; }
ValueType_t type(void) { return _type; }
QVariant defaultValue(void);
bool defaultValueAvailable(void) { return _defaultValueAvailable; }
QString shortDescription(void) { return _shortDescription; }
QString longDescription(void) { return _longDescription;}
QString units(void) { return _units; }
QVariant min(void) { return _min; }
QVariant max(void) { return _max; }
bool minIsDefaultForType(void) { return _minIsDefaultForType; }
bool maxIsDefaultForType(void) { return _maxIsDefaultForType; }
// Property setters
// Property accessors
QString name(void) const { return _name; }
QString group(void) const { return _group; }
ValueType_t type(void) const { return _type; }
QVariant defaultValue(void) const;
bool defaultValueAvailable(void) const { return _defaultValueAvailable; }
QString shortDescription(void) const { return _shortDescription; }
QString longDescription(void) const { return _longDescription;}
QString units(void) const { return _units; }
QVariant min(void) const { return _min; }
QVariant max(void) const { return _max; }
bool minIsDefaultForType(void) const { return _minIsDefaultForType; }
bool maxIsDefaultForType(void) const { return _maxIsDefaultForType; }
// Property setters
void setName(const QString& name) { _name = name; }
void setGroup(const QString& group) { _group = group; }
void setDefaultValue(const QVariant& defaultValue);
void setShortDescription(const QString& shortDescription) { _shortDescription = shortDescription; }
void setLongDescription(const QString& longDescription) { _longDescription = longDescription;}
void setUnits(const QString& units) { _units = units; }
void setGroup(const QString& group) { _group = group; }
void setDefaultValue(const QVariant& defaultValue);
void setShortDescription(const QString& shortDescription) { _shortDescription = shortDescription; }
void setLongDescription(const QString& longDescription) { _longDescription = longDescription;}
void setUnits(const QString& units) { _units = units; }
void setMin(const QVariant& max);
void setMax(const QVariant& max);
......@@ -91,8 +91,8 @@ public:
bool convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString);
private:
QVariant _minForType(void);
QVariant _maxForType(void);
QVariant _minForType(void) const;
QVariant _maxForType(void) const;
QString _name;
QString _group;
......@@ -108,4 +108,4 @@ private:
bool _maxIsDefaultForType;
};
#endif
\ No newline at end of file
#endif
src/FactSystem/ParameterLoader.cc
View file @ 9b1006ce
......@@ -36,6 +36,11 @@
#include <QFile>
#include <QDebug>
/* types for local parameter cache */
typedef QPair<int, QVariant> ParamTypeVal;
typedef QPair<QString, ParamTypeVal> NamedParam;
typedef QMap<int, NamedParam> MapID2NamedParam;
QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog")
QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
......@@ -61,12 +66,16 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
_waitingParamTimeoutTimer.setSingleShot(true);
_waitingParamTimeoutTimer.setInterval(1000);
connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout);
_cacheTimeoutTimer.setSingleShot(true);
_cacheTimeoutTimer.setInterval(2500);
connect(&_cacheTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::refreshAllParameters);
// FIXME: Why not direct connect?
connect(_vehicle->uas(), SIGNAL(parameterUpdate(int, int, QString, int, int, int, QVariant)), this, SLOT(_parameterUpdate(int, int, QString, int, int, int, QVariant)));
// Request full param list
refreshAllParameters();
/* Initially attempt a local cache load, refresh over the link if it fails */
_tryCacheLookup();
}
ParameterLoader::~ParameterLoader()
......@@ -101,7 +110,13 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
return;
}
#endif
if (parameterName == "_HASH_CHECK") {
/* we received a cache hash, potentially load from cache */
_cacheTimeoutTimer.stop();
_tryCacheHashLoad(uasId, value);
return;
}
_dataMutex.lock();
// Restart our waiting for param timer
......@@ -112,6 +127,8 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
_paramCountMap[componentId] = parameterCount;
_totalParamCount += parameterCount;
}
_mapParameterId2Name[componentId][parameterId] = parameterName;
// If we've never seen this component id before, setup the wait lists.
if (!_waitingReadParamIndexMap.contains(componentId)) {
......@@ -246,6 +263,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
if (waitingParamCount == 0) {
// Now that we know vehicle is up to date persist
_saveToEEPROM();
_writeLocalParamCache();
}
_checkInitialLoadComplete();
......@@ -484,6 +502,19 @@ Out:
}
}
void ParameterLoader::_tryCacheLookup()
{
/* Start waiting for 2.5 seconds to get a cache hit and avoid loading all params over the radio */
_cacheTimeoutTimer.start();
MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
Q_ASSERT(mavlink);
mavlink_message_t msg;
mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1);
_vehicle->sendMessage(msg);
}
void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex)
{
mavlink_message_t msg;
......@@ -553,6 +584,70 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
_vehicle->sendMessage(msg);
}
void ParameterLoader::_writeLocalParamCache()
{
QMap<int, MapID2NamedParam> cache_map;
foreach(int component, _mapParameterId2Name.keys()) {
foreach(int id, _mapParameterId2Name[component].keys()) {
const QString name(_mapParameterId2Name[component][id]);
const Fact *fact = _mapParameterName2Variant[component][name].value<Fact*>();
cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->value()));
}
}
QFile cache_file(QFileInfo(QSettings().fileName()).path() + QDir::separator() + "param_cache");
cache_file.open(QIODevice::WriteOnly | QIODevice::Truncate);
QDataStream ds(&cache_file);
ds << cache_map;
}
void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value)
{
uint32_t crc32_value = 0;
/* The datastructure of the cache table */
QMap<int, MapID2NamedParam> cache_map;
const QDir settingsDir(QFileInfo(QSettings().fileName()).dir());
QFile cache_file(settingsDir.filePath("param_cache"));
if (!cache_file.exists()) {
/* no local cache, immediately refresh all params */
refreshAllParameters();
return;
}
cache_file.open(QIODevice::ReadOnly);
/* Deserialize the parameter cache table */
QDataStream ds(&cache_file);
ds >> cache_map;
/* compute the crc of the local cache to check against the remote */
foreach(int component, cache_map.keys()) {
foreach(int id, cache_map[component].keys()) {
const QString name(cache_map[component][id].first);
const void *vdat = cache_map[component][id].second.second.constData();
crc32_value = QGC::crc32((const uint8_t *)qPrintable(name), name.length(), crc32_value);
crc32_value = QGC::crc32((const uint8_t *)vdat, sizeof(uint32_t), crc32_value);
}
}
if (crc32_value == hash_value.toUInt()) {
/* if the two param set hashes match, just load from the disk */
foreach(int component, cache_map.keys()) {
int count = cache_map[component].count();
foreach(int id, cache_map[component].keys()) {
const QString &name = cache_map[component][id].first;
const QVariant &value = cache_map[component][id].second.second;
const int mavType = _factTypeToMavType(static_cast<FactMetaData::ValueType_t>(cache_map[component][id].second.first));
_parameterUpdate(uasId, component, name, count, id, mavType, value);
}
}
} else {
/* cache and remote hashes differ. Immediately request all params */
refreshAllParameters();
}
}
void ParameterLoader::_saveToEEPROM(void)
{
if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) {
......
src/FactSystem/ParameterLoader.h
View file @ 9b1006ce
......@@ -55,10 +55,12 @@ public:
/// Returns true if the full set of facts are ready
bool parametersAreReady(void) { return _parametersReady; }
public slots:
/// Re-request the full set of parameters from the autopilot
void refreshAllParameters(void);
public:
/// Request a refresh on the specific parameter
void refreshParameter(int componentId, const QString& name);
......@@ -109,6 +111,7 @@ private slots:
void _valueUpdated(const QVariant& value);
void _restartWaitingParamTimer(void);
void _waitingParamTimeout(void);
void _tryCacheLookup(void);
private:
static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
......@@ -117,6 +120,9 @@ private:
void _setupGroupMap(void);
void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
void _writeLocalParamCache();
void _tryCacheHashLoad(int uasId, QVariant hash_value);
MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
void _saveToEEPROM(void);
......@@ -128,7 +134,8 @@ private:
/// First mapping is by component id
/// Second mapping is parameter name, to Fact* in QVariant
QMap<int, QVariantMap> _mapParameterName2Variant;
QMap<int, QVariantMap> _mapParameterName2Variant;
QMap<int, QMap<int, QString> > _mapParameterId2Name;
/// First mapping is by component id
/// Second mapping is group name, to Fact
......@@ -150,10 +157,11 @@ private:
int _totalParamCount; ///< Number of parameters across all components
QTimer _waitingParamTimeoutTimer;
QTimer _cacheTimeoutTimer;
QMutex _dataMutex;
static Fact _defaultFact; ///< Used to return default fact, when parameter not found
};
#endif
\ No newline at end of file
#endif
src/FlightDisplay/FlightDisplayView.cc
View file @ 9b1006ce
......@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
const char* kMainFlightDisplayViewGroup = "FlightDisplayView";
FlightDisplayView::FlightDisplayView(QWidget *parent)
: QGCQmlWidgetHolder(parent)
: QGCQmlWidgetHolder(QString(), NULL, parent)
{
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setObjectName("FlightDisplayView");
......
src/FlightDisplay/FlightDisplayWidget.cc
View file @ 9b1006ce
......@@ -34,8 +34,8 @@ This file is part of the QGROUNDCONTROL project
const char* kMainFlightDisplayWidgetGroup = "FlightDisplayWidget";
FlightDisplayWidget::FlightDisplayWidget(QWidget *parent)
: QGCQmlWidgetHolder(parent)
FlightDisplayWidget::FlightDisplayWidget(const QString& title, QAction* action, QWidget *parent)
: QGCQmlWidgetHolder(title, action, parent)
{
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setObjectName("FlightDisplayWidget");
......@@ -86,6 +86,8 @@ FlightDisplayWidget::FlightDisplayWidget(QWidget *parent)
setSource(QUrl::fromUserInput("qrc:/qml/FlightDisplayWidget.qml"));
setVisible(true);
loadSettings();
}
FlightDisplayWidget::~FlightDisplayWidget()
......
src/FlightDisplay/FlightDisplayWidget.h
View file @ 9b1006ce
......@@ -30,7 +30,7 @@ class FlightDisplayWidget : public QGCQmlWidgetHolder
{
Q_OBJECT
public:
FlightDisplayWidget(QWidget* parent = NULL);
FlightDisplayWidget(const QString& title, QAction* action, QWidget* parent = NULL);
~FlightDisplayWidget();
/// @brief Invokes the Flight Display Options menu
......
src/FlightMap/FlightMap.qml
View file @ 9b1006ce
......@@ -50,8 +50,8 @@ Map {
property string mapName: 'defaultMap'
property string mapType: QGroundControl.flightMapSettings.mapTypeForMapName(mapName)
property alias mapWidgets: controlWidgets
property bool isSatelliteMap: false
property bool isSatelliteMap: mapType == "Satellite Map" || mapType == "Hybrid Map"
property real lon: (longitude >= -180 && longitude <= 180) ? longitude : 0
property real lat: (latitude >= -90 && latitude <= 90) ? latitude : 0
......@@ -289,4 +289,11 @@ Map {
}
}
*/
MouseArea {
//-- TODO: Check if this is still needed when we switch to 5.5.1
//-- Workaround for QTBUG-46388 (Pinch zoom doesn't work without it on mobile)
anchors.fill: parent
}
} // Map
src/MissionEditor/MissionEditor.cc
View file @ 9b1006ce
......@@ -35,9 +35,11 @@ This file is part of the QGROUNDCONTROL project
const char* MissionEditor::_settingsGroup = "MissionEditor";
MissionEditor::MissionEditor(QWidget *parent)
: QGCQmlWidgetHolder(parent)
: QGCQmlWidgetHolder(QString(), NULL, parent)
, _missionItems(NULL)
, _canEdit(true)
, _activeVehicle(NULL)
, _liveHomePositionAvailable(false)
{
// Get rid of layout default margins
QLayout* pl = layout();
......@@ -45,11 +47,16 @@ MissionEditor::MissionEditor(QWidget *parent)
pl->setContentsMargins(0,0,0,0);
}
Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance();
connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionEditor::_activeVehicleChanged);
Vehicle* activeVehicle = multiVehicleMgr->activeVehicle();
if (activeVehicle) {
MissionManager* missionManager = activeVehicle->missionManager();
connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditor::_newMissionItemsAvailable);
_newMissionItemsAvailable();
_activeVehicleChanged(activeVehicle);
} else {
_missionItems = new QmlObjectListModel(this);
_initAllMissionItems();
......@@ -389,3 +396,34 @@ void MissionEditor::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command
_recalcChildItems();
_recalcWaypointLines();
}
void MissionEditor::_activeVehicleChanged(Vehicle* activeVehicle)
{
if (_activeVehicle) {
disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditor::_activeVehicleHomePositionAvailableChanged);
disconnect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditor::_activeVehicleHomePositionChanged);
_activeVehicle = NULL;
_activeVehicleHomePositionAvailableChanged(false);
}
_activeVehicle = activeVehicle;
if (_activeVehicle) {
connect(_activeVehicle, &Vehicle::homePositionAvailableChanged, this, &MissionEditor::_activeVehicleHomePositionAvailableChanged);
connect(_activeVehicle, &Vehicle::homePositionChanged, this, &MissionEditor::_activeVehicleHomePositionChanged);
_activeVehicleHomePositionChanged(_activeVehicle->homePosition());
_activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
}
}
void MissionEditor::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
{
_liveHomePositionAvailable = homePositionAvailable;
emit liveHomePositionAvailableChanged(_liveHomePositionAvailable);
}
void MissionEditor::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
{
_liveHomePosition = homePosition;
emit liveHomePositionChanged(_liveHomePosition);
}
src/MissionEditor/MissionEditor.h
View file @ 9b1006ce
......@@ -26,6 +26,7 @@ This file is part of the QGROUNDCONTROL project
#include "QGCQmlWidgetHolder.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
class MissionEditor : public QGCQmlWidgetHolder
{
......@@ -35,9 +36,11 @@ public:
MissionEditor(QWidget* parent = NULL);
~MissionEditor();
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
Q_PROPERTY(QmlObjectListModel* missionItems READ missionItems NOTIFY missionItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(bool canEdit READ canEdit NOTIFY canEditChanged)
Q_PROPERTY(bool liveHomePositionAvailable READ liveHomePositionAvailable NOTIFY liveHomePositionAvailableChanged)
Q_PROPERTY(QGeoCoordinate liveHomePosition READ liveHomePosition NOTIFY liveHomePositionChanged)
Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
Q_INVOKABLE void getMissionItems(void);
......@@ -53,16 +56,23 @@ public:
QmlObjectListModel* missionItems(void) { return _missionItems; }
QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
bool canEdit(void) { return _canEdit; }
bool liveHomePositionAvailable(void) { return _liveHomePositionAvailable; }
QGeoCoordinate liveHomePosition(void) { return _liveHomePosition; }
signals:
void missionItemsChanged(void);
void canEditChanged(bool canEdit);
void waypointLinesChanged(void);
void liveHomePositionAvailableChanged(bool homePositionAvailable);
void liveHomePositionChanged(const QGeoCoordinate& homePosition);
private slots:
void _newMissionItemsAvailable();
void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
void _activeVehicleChanged(Vehicle* activeVehicle);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
private:
void _recalcSequence(void);
......@@ -78,7 +88,10 @@ private:
QmlObjectListModel* _missionItems;
QmlObjectListModel _waypointLines;
bool _canEdit; ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
Vehicle* _activeVehicle;
bool _liveHomePositionAvailable;
QGeoCoordinate _liveHomePosition;
static const char* _settingsGroup;
};
......
src/MissionEditor/MissionEditor.qml
View file @ 9b1006ce
This diff is collapsed.
src/QGC.cc
View file @ 9b1006ce
......@@ -94,4 +94,48 @@ double limitAngleToPMPId(double angle)
return angle;
}
static const quint32 crctab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
quint32 crc32(const quint8 *src, unsigned len, unsigned state)
{
for (unsigned i = 0; i < len; i++) {
state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
}
return state;
}
}
src/QGC.h
View file @ 9b1006ce
......@@ -125,6 +125,8 @@ public:
}
};
quint32 crc32(const quint8 *src, unsigned len, unsigned state);
}
#define QGC_EVENTLOOP_DEBUG 0
......
src/QGCDockWidget.cc
View file @ 9b1006ce
......@@ -24,24 +24,51 @@
#include "QGCDockWidget.h"
#include <QCloseEvent>
#include <QSettings>
QGCDockWidget::QGCDockWidget(const QString& title, QAction* action, QWidget *parent, Qt::WindowFlags flags) :
QDockWidget(title, parent, flags),
_action(action)
const char* QGCDockWidget::_settingsGroup = "DockWidgets";
QGCDockWidget::QGCDockWidget(const QString& title, QAction* action, QWidget* parent)
: QWidget(parent)
, _title(title)
, _action(action)
{
QDockWidget::DockWidgetFeatures features = QDockWidget::DockWidgetMovable;
if (action) {
features |= QDockWidget::DockWidgetClosable;
}
setFeatures(features);
if (action) {
setWindowTitle(title);
setWindowFlags(Qt::Tool);
loadSettings();
}
}
// Instead of destroying the widget just hide it
void QGCDockWidget::closeEvent(QCloseEvent* event)
{
Q_ASSERT(_action);
event->ignore();
_action->trigger();
if (_action) {
saveSettings();
event->ignore();
_action->trigger();
}
}
void QGCDockWidget::loadSettings(void)
{
if (_action) {
QSettings settings;
settings.beginGroup(_settingsGroup);
if (settings.contains(_title)) {
restoreGeometry(settings.value(_title).toByteArray());
}
}
}
void QGCDockWidget::saveSettings(void)
{
if (_action) {
QSettings settings;
settings.beginGroup(_settingsGroup);
settings.setValue(_title, saveGeometry());
}
}
src/QGCDockWidget.h
View file @ 9b1006ce
......@@ -27,21 +27,22 @@
#include <QDockWidget>
#include <QAction>
/// @file
/// @brief Subclass of QDockWidget so we can intercept the closeEvent.
///
/// @author Don Gagne <don@thegagnes.com>
class QGCDockWidget : public QDockWidget {
class QGCDockWidget : public QWidget {
Q_OBJECT
public:
QGCDockWidget(const QString& title, QAction* action, QWidget *parent = 0, Qt::WindowFlags flags = 0);
/// Pass in title = QString() and action = NULL when just using as a regular widget
QGCDockWidget(const QString& title, QAction* action, QWidget *parent = 0);
void loadSettings(void);
void saveSettings(void);
void closeEvent(QCloseEvent* event);
private:
QAction* _action;
protected:
QString _title;
QAction* _action;
static const char* _settingsGroup;
};
......
src/QGCQmlWidgetHolder.cpp
View file @ 9b1006ce
......@@ -26,10 +26,14 @@
#include "QGCQmlWidgetHolder.h"
QGCQmlWidgetHolder::QGCQmlWidgetHolder(QWidget *parent) :
QWidget(parent)
QGCQmlWidgetHolder::QGCQmlWidgetHolder(const QString& title, QAction* action, QWidget *parent) :
QGCDockWidget(title, action, parent)
{
_ui.setupUi(this);
if (action) {
setWindowTitle(title);
}
setResizeMode(QQuickWidget::SizeRootObjectToView);
}
......
src/QGCQmlWidgetHolder.h
View file @ 9b1006ce
......@@ -27,10 +27,10 @@
/// @file
/// @author Don Gagne <don@thegagnes.com>
#include <QWidget>
#include "QGCDockWidget.h"
#include "AutoPilotPlugin.h"
#include "ui_QGCQmlWidgetHolder.h"
#include "AutoPilotPlugin.h"
namespace Ui {
class QGCQmlWidgetHolder;
......@@ -38,12 +38,16 @@ class QGCQmlWidgetHolder;
/// This is used to create widgets which are implemented in QML.
class QGCQmlWidgetHolder : public QWidget
class QGCQmlWidgetHolder : public QGCDockWidget
{
Q_OBJECT
public:
explicit QGCQmlWidgetHolder(QWidget *parent = 0);
// This has a title and action since the base class is QGCDockWidget. In order to use this
// control as a normal QWidget, not a doc widget just pass in:
// title = QString()
// action = NULL
explicit QGCQmlWidgetHolder(const QString& title, QAction* action, QWidget *parent = 0);
~QGCQmlWidgetHolder();
/// Sets the UAS into the widget which in turn will load facts into the context
......
src/QmlControls/QmlTestWidget.cc
View file @ 9b1006ce
......@@ -27,6 +27,7 @@
#include "QmlTestWidget.h"
QmlTestWidget::QmlTestWidget(void)
: QGCQmlWidgetHolder(QString(), NULL, NULL)
{
setAttribute(Qt::WA_DeleteOnClose);
resize(900, 500);
......
src/QmlControls/ScreenToolsController.cc
View file @ 9b1006ce
......@@ -55,7 +55,7 @@ void ScreenToolsController::_updateCanvas()
double ScreenToolsController::getQmlDefaultFontPixelSize(void)
{
if (_qmlDefaultFontPixelSize == -1) {
QGCQmlWidgetHolder qmlWidgetHolder;
QGCQmlWidgetHolder qmlWidgetHolder(QString(), NULL);
qmlWidgetHolder.setSource(QUrl::fromUserInput("qrc:/qml/ScreenToolsFontQuery.qml"));
}
......
src/Vehicle/Vehicle.cc
View file @ 9b1006ce
......@@ -227,8 +227,8 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
_homePosition.setAltitude(homePos.altitude / 1000.0);
_homePositionAvailable = true;
emit homePositionAvailableChanged(true);
emit homePositionChanged(_homePosition);
emit homePositionAvailableChanged(true);
}
void Vehicle::_handleHeartbeat(mavlink_message_t& message)
......@@ -963,10 +963,6 @@ bool Vehicle::homePositionAvailable(void)
QGeoCoordinate Vehicle::homePosition(void)
{
if (!_homePositionAvailable) {
qWarning() << "Call to homePosition while _homePositionAvailable == false";
}
return _homePosition;
}
......
src/VehicleSetup/Bootloader.cc
View file @ 9b1006ce
......@@ -35,50 +35,6 @@
#include "QGC.h"
static const quint32 crctab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
static quint32 crc32(const uint8_t *src, unsigned len, unsigned state)
{
for (unsigned i = 0; i < len; i++) {
state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8);
}
return state;
}
Bootloader::Bootloader(QObject *parent) :
QObject(parent)
{
......@@ -286,7 +242,7 @@ bool Bootloader::_binProgram(QextSerialPort* port, const FirmwareImage* image)
bytesSent += bytesToSend;
// Calculate the CRC now so we can test it after the board is flashed.
_imageCRC = crc32((uint8_t *)imageBuf, bytesToSend, _imageCRC);
_imageCRC = QGC::crc32((uint8_t *)imageBuf, bytesToSend, _imageCRC);
emit updateProgress(bytesSent, imageSize);
}
......@@ -295,7 +251,7 @@ bool Bootloader::_binProgram(QextSerialPort* port, const FirmwareImage* image)
// We calculate the CRC using the entire flash size, filling the remainder with 0xFF.
while (bytesSent < _boardFlashSize) {
const uint8_t fill = 0xFF;
_imageCRC = crc32(&fill, 1, _imageCRC);
_imageCRC = QGC::crc32(&fill, 1, _imageCRC);
bytesSent++;
}
......
src/VehicleSetup/SetupView.cc
View file @ 9b1006ce
......@@ -41,7 +41,7 @@
#include <QDebug>
SetupView::SetupView(QWidget* parent) :
QGCQmlWidgetHolder(parent)
QGCQmlWidgetHolder(QString(), NULL, parent)
{
setSource(QUrl::fromUserInput("qrc:/qml/SetupView.qml"));
}
......
src/ViewWidgets/CustomCommandWidget.cc
View file @ 9b1006ce
......@@ -23,8 +23,12 @@ This file is part of the QGROUNDCONTROL project
#include "CustomCommandWidget.h"
CustomCommandWidget::CustomCommandWidget(QWidget *parent) :
QGCQmlWidgetHolder(parent)
CustomCommandWidget::CustomCommandWidget(const QString& title, QAction* action, QWidget *parent) :
QGCQmlWidgetHolder(title, action, parent)
{
Q_UNUSED(title);
Q_UNUSED(action);
setSource(QUrl::fromUserInput("qrc:/qml/CustomCommandWidget.qml"));
loadSettings();
}
src/ViewWidgets/CustomCommandWidget.h
View file @ 9b1006ce
......@@ -34,7 +34,7 @@ class CustomCommandWidget : public QGCQmlWidgetHolder
Q_OBJECT
public:
CustomCommandWidget(QWidget *parent = 0);
CustomCommandWidget(const QString& title, QAction* action, QWidget *parent = 0);
};
#endif
src/comm/MockLink.cc
View file @ 9b1006ce
......@@ -157,6 +157,7 @@ void MockLink::_run1HzTasks(void)
{
if (_mavlinkStarted && _connected) {
_sendHeartBeat();
_sendHomePosition();
}
}
......@@ -571,10 +572,31 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
{
mavlink_message_t responseMsg;
mavlink_param_request_read_t request;
mavlink_msg_param_request_read_decode(&msg, &request);
const QString param_name(QString::fromLocal8Bit(request.param_id, strnlen(request.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)));
int componentId = request.target_component;
// special case for magic _HASH_CHECK value
if (request.target_component == MAV_COMP_ID_ALL && param_name == "_HASH_CHECK") {
mavlink_param_union_t valueUnion;
valueUnion.type = MAV_PARAM_TYPE_UINT32;
valueUnion.param_uint32 = 0;
// Special case of magic hash check value
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId,
&responseMsg,
request.param_id,
valueUnion.param_float,
MAV_PARAM_TYPE_UINT32,
0,
-1);
respondWithMavlinkMessage(responseMsg);
return;
}
Q_ASSERT(_mapParamName2Value.contains(componentId));
char paramId[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
......@@ -598,8 +620,6 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
Q_ASSERT(_mapParamName2MavParamType.contains(paramId));
mavlink_message_t responseMsg;
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
&responseMsg, // Outgoing message
......@@ -673,3 +693,25 @@ void MockLink::setMissionItemFailureMode(MockLinkMissionItemHandler::FailureMode
{
_missionItemHandler.setMissionItemFailureMode(failureMode, firstTimeOnly);
}
void MockLink::_sendHomePosition(void)
{
mavlink_message_t msg;
float bogus[4];
bogus[0] = 0.0f;
bogus[1] = 0.0f;
bogus[2] = 0.0f;
bogus[3] = 0.0f;
mavlink_msg_home_position_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
(int32_t)(47.633033f * 1E7),
(int32_t)(-122.08794f * 1E7),
(int32_t)(2.0f * 1000),
0.0f, 0.0f, 0.0f,
&bogus[0],
0.0f, 0.0f, 0.0f);
respondWithMavlinkMessage(msg);
}
src/comm/MockLink.h
View file @ 9b1006ce
......@@ -143,6 +143,7 @@ private:
void _handleCommandLong(const mavlink_message_t& msg);
float _floatUnionForParam(int componentId, const QString& paramName);
void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
void _sendHomePosition(void);
MockLinkMissionItemHandler _missionItemHandler;
......
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ 9b1006ce
......@@ -164,7 +164,7 @@ void RadioConfigTest::init(void)
Q_ASSERT(_autopilot);
// This will instatiate the widget with an active uas with ready parameters
_calWidget = new QGCQmlWidgetHolder();
_calWidget = new QGCQmlWidgetHolder(QString(), NULL);
_calWidget->resize(600, 600);
Q_CHECK_PTR(_calWidget);
_calWidget->setAutoPilot(_autopilot);
......
src/ui/CameraView.cc
View file @ 9b1006ce
......@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
#include "CameraView.h"
#include <QDebug>
#include <QtOpenGL>
#include <QOpenGLFunctions_2_0>
CameraView::CameraView(int width, int height, int depth, int channels, QWidget* parent) : QGLWidget(parent)
{
......@@ -237,14 +238,26 @@ void CameraView::setPixels(int imgid, const unsigned char* imageData, int length
void CameraView::paintGL()
{
glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
Q_ASSERT(QOpenGLContext::currentContext());
QOpenGLFunctions_2_0 *funcs = QOpenGLContext::currentContext()->versionFunctions<QOpenGLFunctions_2_0>();
if (!funcs) {
qWarning() << "OpenGL 2.0 not available on this platform. CameraView will not function";
return;
}
funcs->glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
}
void CameraView::resizeGL(int w, int h)
{
glViewport(0, 0, w, h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, w, 0, h, -1, 1);
glMatrixMode(GL_MODELVIEW);
Q_ASSERT(QOpenGLContext::currentContext());
QOpenGLFunctions_2_0 *funcs = QOpenGLContext::currentContext()->versionFunctions<QOpenGLFunctions_2_0>();
if (!funcs) {
// paintGL warning should suffice
return;
}
funcs->glViewport(0, 0, w, h);
funcs->glMatrixMode(GL_PROJECTION);
funcs->glLoadIdentity();
funcs->glOrtho(0, w, 0, h, -1, 1);
funcs->glMatrixMode(GL_MODELVIEW);
}
src/ui/HILDockWidget.cc
View file @ 9b1006ce
......@@ -24,10 +24,12 @@
#include "HILDockWidget.h"
#include "QGCHilConfiguration.h"
HILDockWidget::HILDockWidget(QWidget *parent)
: MultiVehicleDockWidget(parent)
HILDockWidget::HILDockWidget(const QString& title, QAction* action, QWidget *parent)
: MultiVehicleDockWidget(title, action, parent)
{
init();
loadSettings();
}
HILDockWidget::~HILDockWidget()
......
src/ui/HILDockWidget.h
View file @ 9b1006ce
......@@ -31,7 +31,7 @@ class HILDockWidget : public MultiVehicleDockWidget
Q_OBJECT
public:
explicit HILDockWidget(QWidget *parent = 0);
explicit HILDockWidget(const QString& title, QAction* action, QWidget *parent = 0);
~HILDockWidget();
protected:
......
src/ui/MainWindow.cc
View file @ 9b1006ce
This diff is collapsed.
src/ui/MainWindow.h
View file @ 9b1006ce
......@@ -35,24 +35,26 @@ This file is part of the QGROUNDCONTROL project
#include <QStatusBar>
#include <QStackedWidget>
#include <QSettings>
#include <qlist.h>
#include <QList>
#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "CameraView.h"
#if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
#include "Mouse6dofInput.h"
#endif // QGC_MOUSE_ENABLED_WIN
#include "MainToolBar.h"
#include "LogCompressor.h"
#include "FlightDisplayView.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "MAVLinkDecoder.h"
#include "Vehicle.h"
#include "QGCDockWidget.h"
#if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
#include "Mouse6dofInput.h"
#endif // QGC_MOUSE_ENABLED_WIN
class QGCFirmwareUpdate;
class QSplashScreen;
......@@ -270,13 +272,12 @@ private:
static const char* _customCommandWidgetName;
static const char* _filesDockWidgetName;
static const char* _uasStatusDetailsDockWidgetName;
static const char* _mapViewDockWidgetName;
static const char* _pfdDockWidgetName;
static const char* _uasInfoViewDockWidgetName;
static const char* _hilDockWidgetName;
QMap<QString, QDockWidget*> _mapName2DockWidget;
QMap<QDockWidget*, QAction*> _mapDockWidget2Action;
QMap<QString, QGCDockWidget*> _mapName2DockWidget;
QMap<QString, QAction*> _mapName2Action;
#endif
void _buildPlanView(void);
......@@ -290,11 +291,14 @@ private:
void _loadCurrentViewState(void);
#ifndef __mobile__
void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget);
void _createInnerDockWidget(const QString& widgetName);
void _buildCommonWidgets(void);
void _hideAllDockWidgets(void);
void _showDockWidget(const QString &name, bool show);
void _loadVisibleWidgetsSettings(void);
void _storeVisibleWidgetsSettings(void);
static const char* _visibleWidgetsKey;
#endif
bool _autoReconnect;
......
src/ui/MultiVehicleDockWidget.cc
View file @ 9b1006ce
......@@ -25,12 +25,14 @@
#include "ui_MultiVehicleDockWidget.h"
#include "MultiVehicleManager.h"
MultiVehicleDockWidget::MultiVehicleDockWidget(QWidget *parent)
: QWidget(parent)
MultiVehicleDockWidget::MultiVehicleDockWidget(const QString& title, QAction* action, QWidget *parent)
: QGCDockWidget(title, action, parent)
, _ui(new Ui::MultiVehicleDockWidget)
{
_ui->setupUi(this);
setWindowTitle(title);
connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MultiVehicleDockWidget::_activeVehicleChanged);
connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MultiVehicleDockWidget::_vehicleAdded);
connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MultiVehicleDockWidget::_vehicleRemoved);
......
src/ui/MultiVehicleDockWidget.h
View file @ 9b1006ce
......@@ -24,9 +24,9 @@
#ifndef MultiVehicleDockWidget_H
#define MultiVehicleDockWidget_H
#include <QWidget>
#include <QMap>
#include "QGCDockWidget.h"
#include "Vehicle.h"
namespace Ui
......@@ -37,12 +37,12 @@ namespace Ui
/// Provides a base class for a dock widget which automatically handles
/// Vehicles coming and going. It does this by using a stacked widget which
/// holds individual Vehicle specific widgets.
class MultiVehicleDockWidget : public QWidget
class MultiVehicleDockWidget : public QGCDockWidget
{
Q_OBJECT
public:
explicit MultiVehicleDockWidget(QWidget *parent = 0);
explicit MultiVehicleDockWidget(const QString& title, QAction* action, QWidget *parent = 0);
~MultiVehicleDockWidget();
/// Must be called in the derived class contructor to initialize the base class
......
src/ui/QGCHilConfiguration.ui
View file @ 9b1006ce
......@@ -17,7 +17,7 @@
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
<string>HIL Config</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="1,100,1" columnstretch="40,0">
<item row="0" column="0">
......
src/ui/QGCMAVLinkInspector.cc
View file @ 9b1006ce
......@@ -12,8 +12,8 @@
const float QGCMAVLinkInspector::updateHzLowpass = 0.2f;
const unsigned int QGCMAVLinkInspector::updateInterval = 1000U;
QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) :
QWidget(parent),
QGCMAVLinkInspector::QGCMAVLinkInspector(const QString& title, QAction* action, MAVLinkProtocol* protocol, QWidget *parent) :
QGCDockWidget(title, action, parent),
_protocol(protocol),
selectedSystemID(0),
selectedComponentID(0),
......@@ -58,6 +58,8 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *par
// Attach the UI's refresh rate to a timer.
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(refreshView()));
updateTimer.start(updateInterval);
loadSettings();
}
void QGCMAVLinkInspector::_vehicleAdded(Vehicle* vehicle)
......
src/ui/QGCMAVLinkInspector.h
View file @ 9b1006ce
#ifndef QGCMAVLINKINSPECTOR_H
#define QGCMAVLINKINSPECTOR_H
#include <QWidget>
#include <QMap>
#include <QTimer>
#include "QGCDockWidget.h"
#include "MAVLinkProtocol.h"
#include "Vehicle.h"
......@@ -15,12 +15,12 @@ namespace Ui {
class QTreeWidgetItem;
class UASInterface;
class QGCMAVLinkInspector : public QWidget
class QGCMAVLinkInspector : public QGCDockWidget
{
Q_OBJECT
public:
explicit QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent = 0);
explicit QGCMAVLinkInspector(const QString& title, QAction* action, MAVLinkProtocol* protocol, QWidget *parent = 0);
~QGCMAVLinkInspector();
public slots:
......
src/ui/QGCMAVLinkInspector.ui
View file @ 9b1006ce
......@@ -11,7 +11,7 @@
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
<string>MAVLink Inspector</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="2,8,2,8,3">
<property name="leftMargin">
......
src/ui/QGCTabbedInfoView.cpp
View file @ 9b1006ce
#include "QGCTabbedInfoView.h"
QGCTabbedInfoView::QGCTabbedInfoView(QWidget *parent) : QWidget(parent)
QGCTabbedInfoView::QGCTabbedInfoView(const QString& title, QAction* action, QWidget *parent)
: QGCDockWidget(title, action, parent)
{
ui.setupUi(this);
messageView = new UASMessageViewWidget(this);
......@@ -11,6 +12,8 @@ QGCTabbedInfoView::QGCTabbedInfoView(QWidget *parent) : QWidget(parent)
//ui.tabWidget->addTab(actionsWidget,"Actions");
//ui.tabWidget->addTab(rawView,"Status");
ui.tabWidget->addTab(messageView,"Messages");
loadSettings();
}
void QGCTabbedInfoView::addSource(MAVLinkDecoder *decoder)
{
......
src/ui/QGCTabbedInfoView.h
View file @ 9b1006ce
#ifndef QGCTABBEDINFOVIEW_H
#define QGCTABBEDINFOVIEW_H
#include <QWidget>
#include "ui_QGCTabbedInfoView.h"
#include "QGCDockWidget.h"
#include "MAVLinkDecoder.h"
#include "UASMessageView.h"
#include "UASQuickView.h"
#include "UASRawStatusView.h"
class QGCTabbedInfoView : public QWidget
#include "ui_QGCTabbedInfoView.h"
class QGCTabbedInfoView : public QGCDockWidget
{
Q_OBJECT
public:
explicit QGCTabbedInfoView(QWidget *parent = 0);
explicit QGCTabbedInfoView(const QString& title, QAction* action, QWidget *parent = 0);
~QGCTabbedInfoView();
void addSource(MAVLinkDecoder *decoder);
private:
......
src/ui/QGCTabbedInfoView.ui
View file @ 9b1006ce
......@@ -11,7 +11,7 @@
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
<string>Info View</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
......
src/ui/QGCUASFileViewMulti.cc
View file @ 9b1006ce
......@@ -4,8 +4,8 @@
#include "MultiVehicleManager.h"
#include "QGCUASFileView.h"
QGCUASFileViewMulti::QGCUASFileViewMulti(QWidget *parent) :
QWidget(parent),
QGCUASFileViewMulti::QGCUASFileViewMulti(const QString& title, QAction* action, QWidget *parent) :
QGCDockWidget(title, action, parent),
ui(new Ui::QGCUASFileViewMulti)
{
ui->setupUi(this);
......@@ -18,6 +18,8 @@ QGCUASFileViewMulti::QGCUASFileViewMulti(QWidget *parent) :
_vehicleAdded(MultiVehicleManager::instance()->activeVehicle());
_activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
}
loadSettings();
}
void QGCUASFileViewMulti::_vehicleRemoved(Vehicle* vehicle)
......
src/ui/QGCUASFileViewMulti.h
View file @ 9b1006ce
#ifndef QGCUASFILEVIEWMULTI_H
#define QGCUASFILEVIEWMULTI_H
#include <QWidget>
#include <QMap>
#include "QGCDockWidget.h"
#include "QGCUASFileView.h"
#include "UAS.h"
......@@ -12,12 +12,12 @@ namespace Ui
class QGCUASFileViewMulti;
}
class QGCUASFileViewMulti : public QWidget
class QGCUASFileViewMulti : public QGCDockWidget
{
Q_OBJECT
public:
explicit QGCUASFileViewMulti(QWidget *parent = 0);
explicit QGCUASFileViewMulti(const QString& title, QAction* action, QWidget *parent = 0);
~QGCUASFileViewMulti();
protected:
......
src/ui/QGCUASFileViewMulti.ui
View file @ 9b1006ce
......@@ -11,7 +11,7 @@
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
<string>Onboard Files</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
......
src/ui/UASInfo.ui
View file @ 9b1006ce
......@@ -11,7 +11,7 @@
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
<string>Status Details</string>
</property>
<property name="styleSheet">
<string notr="true"/>
......
src/ui/toolbar/MainToolBar.cc
View file @ 9b1006ce
......@@ -41,7 +41,7 @@ This file is part of the QGROUNDCONTROL project
#include "UAS.h"
MainToolBar::MainToolBar(QWidget* parent)
: QGCQmlWidgetHolder(parent)
: QGCQmlWidgetHolder(QString(), NULL, parent)
, _vehicle(NULL)
, _mav(NULL)
, _toolBar(NULL)
......
src/ui/uas/UASInfoWidget.cc
View file @ 9b1006ce
......@@ -43,7 +43,8 @@ This file is part of the PIXHAWK project
#include "QGC.h"
#include "UAS.h"
UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
UASInfoWidget::UASInfoWidget(const QString& title, QAction* action, QWidget *parent, QString name)
: QGCDockWidget(title, action, parent)
{
ui.setupUi(this);
this->name = name;
......@@ -72,6 +73,8 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
updateTimer->start(updateInterval);
this->setVisible(false);
loadSettings();
}
UASInfoWidget::~UASInfoWidget()
......
src/ui/uas/UASInfoWidget.h
View file @ 9b1006ce
......@@ -32,10 +32,10 @@ This file is part of the QGROUNDCONTROL project
#ifndef _UASINFOWIDGET_H_
#define _UASINFOWIDGET_H_
#include <QWidget>
#include <QTimer>
#include <QMap>
#include "QGCDockWidget.h"
#include "UASInterface.h"
#include "ui_UASInfo.h"
#include "Vehicle.h"
......@@ -44,11 +44,11 @@ This file is part of the QGROUNDCONTROL project
* @brief Info indicator for the currently active UAS
*
**/
class UASInfoWidget : public QWidget
class UASInfoWidget : public QGCDockWidget
{
Q_OBJECT
public:
UASInfoWidget(QWidget *parent = 0, QString name = "");
UASInfoWidget(const QString& title, QAction* action, QWidget *parent = 0, QString name = "");
~UASInfoWidget();
public slots:
......
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