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qgroundcontrol
Commit a347a659 authored by LM's avatar LM
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Formatting, fixing audio alarms

parent 24560f76
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Showing with 685 additions and 651 deletions
.gitignore
View file @ a347a659
......@@ -22,7 +22,6 @@ debug
release
qgroundcontrol
mavlinkgen-build-desktop
*.wav
qgroundcontrol.xcodeproj/**
doc/html
doc/doxy.log
......
qgroundcontrol.pri
View file @ a347a659
......@@ -81,8 +81,6 @@ macx|macx-g++42|macx-g++: {
ICON = $$BASEDIR/images/icons/macx.icns
# Copy audio files if needed
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy contributed files
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy google earth starter file
......@@ -274,7 +272,6 @@ message("Compiling for linux 32")
}
# Validated copy commands
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR
......@@ -367,7 +364,6 @@ linux-g++-64 {
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug
}
DESTDIR = $$TARGETDIR/debug
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/debug
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/debug/images
......@@ -378,7 +374,6 @@ linux-g++-64 {
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release
}
DESTDIR = $$TARGETDIR/release
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/release
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/release/images
......@@ -455,7 +450,6 @@ DEFINES += QGC_OSG_ENABLED
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\debug\\audio" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\debug\\files" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\debug\\models" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\debug"$$escape_expand(\\n))
......@@ -476,7 +470,6 @@ DEFINES += QGC_OSG_ENABLED
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll" "$$TARGETDIR_WIN\\release"$$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\audio" "$$TARGETDIR_WIN\\release\\audio" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\files" "$$TARGETDIR_WIN\\release\\files" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(xcopy /Y "$$BASEDIR_WIN\\models" "$$TARGETDIR_WIN\\release\\models" /E /I $$escape_expand(\\n))
QMAKE_POST_LINK += $$quote(copy /Y "$$BASEDIR_WIN\\images\\earth.html" "$$TARGETDIR_WIN\\release\\earth.html" $$escape_expand(\\n))
......@@ -543,13 +536,13 @@ win32-g++ {
message("Using cp to copy image and audio files to executable")
debug {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
QMAKE_POST_LINK += && cp -r $$BASEDIR/files $$TARGETDIR/debug/files
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/debug/models
}
release {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/release/audio
QMAKE_POST_LINK += && cp -r $$BASEDIR/files $$TARGETDIR/release/files
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
}
......@@ -561,14 +554,14 @@ win32-g++ {
exists($$TARGETDIR/debug) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\debug\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\files\" \"$$TARGETDIR_WIN\\debug\\files\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\debug\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\debug\\earth.html\"
}
exists($$TARGETDIR/release) {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\release\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\audio\" \"$$TARGETDIR_WIN\\release\\audio\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\files\" \"$$TARGETDIR_WIN\\release\\files\\\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\\models\" \"$$TARGETDIR_WIN\\release\\models\\\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\images\\earth.html\" \"$$TARGETDIR_WIN\\release\\earth.html\"
}
......
src/GAudioOutput.cc
View file @ a347a659
......@@ -77,7 +77,8 @@ extern "C" {
GAudioOutput* GAudioOutput::instance()
{
static GAudioOutput* _instance = 0;
if(_instance == 0) {
if(_instance == 0)
{
_instance = new GAudioOutput();
// Set the application as parent to ensure that this object
// will be destroyed when the main application exits
......@@ -106,12 +107,16 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
#if _MSC_VER2
ISpVoice * pVoice = NULL;
if (FAILED(::CoInitialize(NULL))) {
if (FAILED(::CoInitialize(NULL)))
{
qDebug("Creating COM object for audio output failed!");
} else {
}
else
{
HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
if( SUCCEEDED( hr ) ) {
if( SUCCEEDED( hr ) )
{
hr = pVoice->Speak(L"Hello world", 0, NULL);
pVoice->Release();
pVoice = NULL;
......@@ -146,7 +151,8 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
void GAudioOutput::mute(bool mute)
{
if (mute != muted) {
if (mute != muted)
{
this->muted = mute;
QSettings settings;
settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
......@@ -162,11 +168,13 @@ bool GAudioOutput::isMuted()
bool GAudioOutput::say(QString text, int severity)
{
if (!muted) {
if (!muted)
{
// TODO Add severity filter
Q_UNUSED(severity);
bool res = false;
if (!emergency) {
if (!emergency)
{
// Speech synthesis is only supported with MSVC compiler
#ifdef _MSC_VER2
......@@ -202,7 +210,9 @@ bool GAudioOutput::say(QString text, int severity)
#endif
}
return res;
} else {
}
else
{
return false;
}
}
......@@ -212,22 +222,26 @@ bool GAudioOutput::say(QString text, int severity)
*/
bool GAudioOutput::alert(QString text)
{
if (!emergency || !muted) {
if (!emergency || !muted)
{
// Play alert sound
beep();
// Say alert message
say(text, 2);
return true;
} else {
}
else
{
return false;
}
}
void GAudioOutput::notifyPositive()
{
if (!muted) {
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/double_notify.wav"));
//m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
//m_media->play();
}
......@@ -235,9 +249,10 @@ void GAudioOutput::notifyPositive()
void GAudioOutput::notifyNegative()
{
if (!muted) {
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/flat_notify.wav"));
//m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
//m_media->play();
}
......@@ -252,7 +267,8 @@ void GAudioOutput::notifyNegative()
*/
bool GAudioOutput::startEmergency()
{
if (!emergency) {
if (!emergency)
{
emergency = true;
// Beep immediately and then start timer
if (!muted) beep();
......@@ -279,9 +295,10 @@ bool GAudioOutput::stopEmergency()
void GAudioOutput::beep()
{
if (!muted) {
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/alert.wav"));
qDebug() << "FILE:" << f.fileName();
//m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
//m_media->play();
......
src/comm/MAVLinkSimulationLink.cc
View file @ a347a659
......@@ -678,8 +678,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
int bufferlength = 0;
// Output all bytes as hex digits
int i;
for (i=0; i<size; i++)
for (int i=0; i<size; i++)
{
if (mavlink_parse_char(this->id, data[i], &msg, &comm))
{
......@@ -687,16 +686,19 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
emit messageReceived(msg);
switch (msg.msgid) {
switch (msg.msgid)
{
// SET THE SYSTEM MODE
case MAVLINK_MSG_ID_SET_MODE: {
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&msg, &mode);
// Set mode indepent of mode.target
system.base_mode = mode.base_mode;
}
break;
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: {
case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT:
{
mavlink_set_local_position_setpoint_t set;
mavlink_msg_set_local_position_setpoint_decode(&msg, &set);
spX = set.x;
......@@ -714,7 +716,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
break;
// EXECUTE OPERATOR ACTIONS
case MAVLINK_MSG_ID_COMMAND_LONG: {
case MAVLINK_MSG_ID_COMMAND_LONG:
{
mavlink_command_long_t action;
mavlink_msg_command_long_decode(&msg, &action);
......@@ -756,44 +759,48 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
break;
#endif
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
mavlink_param_request_list_t read;
mavlink_msg_param_request_list_decode(&msg, &read);
// if (read.target_system == systemId)
// {
// Output all params
// Iterate through all components, through all parameters and emit them
QMap<QString, float>::iterator i;
// Iterate through all components / subsystems
int j = 0;
for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
if (j != 5) {
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), MAVLINK_TYPE_FLOAT, onboardParams.size(), j);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
if (read.target_system == systemId)
{
// Output all params
// Iterate through all components, through all parameters and emit them
QMap<QString, float>::iterator i;
// Iterate through all components / subsystems
int j = 0;
for (i = onboardParams.begin(); i != onboardParams.end(); ++i) {
if (j != 5) {
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(read.target_system, componentId, &msg, i.key().toStdString().c_str(), i.value(), MAVLINK_TYPE_FLOAT, onboardParams.size(), j);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
}
j++;
}
j++;
}
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
// }
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
}
}
break;
case MAVLINK_MSG_ID_PARAM_SET: {
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
// Drop on even milliseconds
if (QGC::groundTimeMilliseconds() % 2 == 0) {
if (QGC::groundTimeMilliseconds() % 2 == 0)
{
qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
mavlink_param_set_t set;
mavlink_msg_param_set_decode(&msg, &set);
// if (set.target_system == systemId)
// {
QString key = QString((char*)set.param_id);
if (onboardParams.contains(key)) {
if (onboardParams.contains(key))
{
onboardParams.remove(key);
onboardParams.insert(key, set.param_value);
......@@ -809,13 +816,15 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
mavlink_param_request_read_t read;
mavlink_msg_param_request_read_decode(&msg, &read);
QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
QString key = QString(bytes);
if (onboardParams.contains(key)) {
if (onboardParams.contains(key))
{
float paramValue = onboardParams.value(key);
// Pack message and get size of encoded byte string
......@@ -826,7 +835,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
//qDebug() << "Sending PARAM" << key;
} else if (read.param_index < onboardParams.size()) {
}
else if (read.param_index < onboardParams.size())
{
key = onboardParams.keys().at(read.param_index);
float paramValue = onboardParams.value(key);
......@@ -842,8 +853,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
break;
}
}
unsigned char v=data[i];
fprintf(stderr,"%02x ", v);
......@@ -851,7 +860,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
fprintf(stderr,"\n");
readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++) {
for (int i = 0; i < streampointer; i++)
{
readyBuffer.enqueue(*(stream + i));
}
readyBufferMutex.unlock();
......
src/uas/UAS.cc
View file @ a347a659
This diff is collapsed.
src/uas/UAS.h
View file @ a347a659
......@@ -218,7 +218,8 @@ protected: //COMMENTS FOR TEST UNIT
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
int timeRemaining; ///< Remaining time calculated based on previous and current
uint8_t mode; ///< The current mode of the MAV
uint8_t mode; ///< The current mode of the MAV
uint32_t custom_mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
uint32_t navMode; ///< The current navigation mode of the MAV
quint64 onboardTimeOffset;
......
src/ui/HSIDisplay.cc
View file @ a347a659
......@@ -104,6 +104,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
leftDragStarted(false),
mouseHasMoved(false),
actionPending(false),
directSending(false),
userSetPointSet(false),
userXYSetPointSet(false)
{
......@@ -637,37 +638,53 @@ void HSIDisplay::keyPressEvent(QKeyEvent* event)
statusClearTimer.start();
sendBodySetPointCoordinates();
}
else if ((event->key() == Qt::Key_Up))
else if ((event->key() == Qt::Key_W))
{
setBodySetpointCoordinateXY(0.5, 0);
setBodySetpointCoordinateXY(1.0, 0);
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
}
else if ((event->key() == Qt::Key_Down))
else if ((event->key() == Qt::Key_S))
{
setBodySetpointCoordinateXY(-0.5, 0);
setBodySetpointCoordinateXY(-1.0, 0);
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
}
else if ((event->key() == Qt::Key_Left))
else if ((event->key() == Qt::Key_A))
{
setBodySetpointCoordinateXY(0, -0.5);
setBodySetpointCoordinateXY(0, -1.0);
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
}
else if ((event->key() == Qt::Key_Right))
else if ((event->key() == Qt::Key_D))
{
setBodySetpointCoordinateXY(0, 0.5);
setBodySetpointCoordinateXY(0, 1.0);
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
}
else if ((event->key() == Qt::Key_Plus))
else if ((event->key() == Qt::Key_Up))
{
setBodySetpointCoordinateZ(-0.2);
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateZ(-0.5+uas->getLocalZ());
setBodySetpointCoordinateYaw(uas->getYaw());
}
else if ((event->key() == Qt::Key_Minus))
else if ((event->key() == Qt::Key_Down))
{
setBodySetpointCoordinateZ(+0.2);
setBodySetpointCoordinateZ(+0.5+uas->getLocalZ());
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateYaw(uas->getYaw());
}
else if ((event->key() == Qt::Key_L))
else if ((event->key() == Qt::Key_Left))
{
setBodySetpointCoordinateYaw(-0.1);
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(-0.2+uas->getYaw());
}
else if ((event->key() == Qt::Key_R))
else if ((event->key() == Qt::Key_Right))
{
setBodySetpointCoordinateYaw(0.1);
setBodySetpointCoordinateXY(0, 0);
setBodySetpointCoordinateZ(uas->getLocalZ());
setBodySetpointCoordinateYaw(0.2+uas->getYaw());
}
HDDisplay::keyPressEvent(event);
}
......@@ -811,7 +828,7 @@ void HSIDisplay::sendBodySetPointCoordinates()
double dx = uiXSetCoordinate - uas->getLocalX();
double dy = uiYSetCoordinate - uas->getLocalY();
double dz = uiZSetCoordinate - uas->getLocalZ();
bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 1.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 3.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
if (valid)
{
uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);
......
src/ui/HSIDisplay.h
View file @ a347a659
......@@ -175,6 +175,7 @@ protected:
QTimer statusClearTimer;
QString statusMessage;
bool actionPending;
bool directSending;
/**
* @brief Private data container class to be used within the HSI widget
......
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