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Commit a7f039bf authored by Lorenz Meier's avatar Lorenz Meier
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Operational toy examples

parent c1f0d707
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Showing with 192 additions and 17 deletions
src/uas/QGCMAVLinkUASFactory.cc
View file @ a7f039bf
......@@ -30,6 +30,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
mav->setSystemType((int)heartbeat->type);
// Connect this robot to the UAS object
connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
connect(mavlink, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), mav->getFileManager(), SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
#ifdef QGC_PROTOBUF_ENABLED
connect(mavlink, SIGNAL(extendedMessageReceived(LinkInterface*, std::tr1::shared_ptr<google::protobuf::Message>)), mav, SLOT(receiveExtendedMessage(LinkInterface*, std::tr1::shared_ptr<google::protobuf::Message>)));
#endif
......
src/uas/QGCUASFileManager.cc
View file @ a7f039bf
#include "QGCUASFileManager.h"
#include "QGC.h"
#include "MAVLinkProtocol.h"
#include <QFile>
#include <QDir>
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
};
QGCUASFileManager::QGCUASFileManager(QObject* parent, UASInterface* uas) :
QObject(parent),
_mav(uas)
_mav(uas),
_encdata_seq(0)
{
}
quint32
QGCUASFileManager::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;
}
void QGCUASFileManager::nothingMessage() {
void QGCUASFileManager::nothingMessage()
{
mavlink_message_t message;
unsigned crcstate = 0;
RequestHeader hdr;
hdr.magic = 9;
crcstate = crc32((uint8_t*)&hdr, 4, crcstate);
hdr.crc32 = crcstate;
mavlink_msg_encapsulated_data_pack(250, 0, &message, _encdata_seq, (uint8_t*)&hdr);
_mav->sendMessage(message);
qDebug() << "Sent message!";
}
void QGCUASFileManager::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
switch (message.msgid) {
case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
emit statusMessage("GOT ENC DATA");
break;
}
}
void QGCUASFileManager::listRecursively(const QString &from)
{
// This sends out one line to the text area
emit statusMessage("/");
emit statusMessage(" fs/");
emit statusMessage(" microsd/");
emit statusMessage(" log001.bin");
}
void QGCUASFileManager::downloadPath(const QString &from, const QString &to)
{
// Send path, e.g. /fs/microsd and download content
// recursively into a local directory
char buf[255];
unsigned len = 10;
QByteArray data(buf, len);
QString filename = "log001.bin"; // XXX get this from onboard
// Qt takes care of slash conversions in paths
QFile file(to + QDir::separator() + filename);
file.open(QIODevice::WriteOnly);
file.write(data);
file.close();
emit statusMessage(QString("Downloaded: %1 to directory %2").arg(filename).arg(to));
}
src/uas/QGCUASFileManager.h
View file @ a7f039bf
......@@ -11,12 +11,30 @@ public:
QGCUASFileManager(QObject* parent, UASInterface* uas);
signals:
void statusMessage(const QString& msg);
public slots:
void receiveMessage(LinkInterface* link, mavlink_message_t message);
void nothingMessage();
void listRecursively(const QString &from);
void downloadPath(const QString& from, const QString& to);
protected:
UASInterface* _mav;
quint16 _encdata_seq;
struct RequestHeader
{
uint8_t magic;
uint8_t session;
uint8_t opcode;
uint8_t size;
uint32_t crc32;
uint32_t offset;
uint8_t data[];
};
static quint32 crc32(const uint8_t *src, unsigned len, unsigned state);
};
......
src/ui/QGCUASFileView.cc
View file @ a7f039bf
......@@ -2,6 +2,9 @@
#include "uas/QGCUASFileManager.h"
#include "ui_QGCUASFileView.h"
#include <QFileDialog>
#include <QDir>
QGCUASFileView::QGCUASFileView(QWidget *parent, QGCUASFileManager *manager) :
QWidget(parent),
_manager(manager),
......@@ -10,9 +13,28 @@ QGCUASFileView::QGCUASFileView(QWidget *parent, QGCUASFileManager *manager) :
ui->setupUi(this);
connect(ui->testButton, SIGNAL(clicked()), _manager, SLOT(nothingMessage()));
connect(ui->listFilesButton, SIGNAL(clicked()), this, SLOT(listFiles()));
connect(ui->downloadButton, SIGNAL(clicked()), this, SLOT(downloadFiles()));
connect(_manager, SIGNAL(statusMessage(QString)), ui->messageArea, SLOT(appendPlainText(QString)));
}
QGCUASFileView::~QGCUASFileView()
{
delete ui;
}
void QGCUASFileView::listFiles()
{
_manager->listRecursively(ui->pathLineEdit->text());
}
void QGCUASFileView::downloadFiles()
{
QString dir = QFileDialog::getExistingDirectory(this, tr("Open Directory"),
QDir::homePath(),
QFileDialog::ShowDirsOnly
| QFileDialog::DontResolveSymlinks);
// And now download to this location
_manager->downloadPath(ui->pathLineEdit->text(), dir);
}
src/ui/QGCUASFileView.h
View file @ a7f039bf
......@@ -16,6 +16,10 @@ public:
explicit QGCUASFileView(QWidget *parent, QGCUASFileManager *manager);
~QGCUASFileView();
public slots:
void listFiles();
void downloadFiles();
protected:
QGCUASFileManager* _manager;
......
src/ui/QGCUASFileView.ui
View file @ a7f039bf
......@@ -6,26 +6,58 @@
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
<width>414</width>
<height>518</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QPushButton" name="testButton">
<property name="geometry">
<rect>
<x>30</x>
<y>20</y>
<width>114</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Test</string>
</property>
</widget>
<layout class="QGridLayout" name="gridLayout">
<item row="3" column="1">
<widget class="QPushButton" name="listFilesButton">
<property name="text">
<string>List Files</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="3">
<widget class="QPlainTextEdit" name="messageArea"/>
</item>
<item row="1" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidget">
<column>
<property name="text">
<string notr="true">1</string>
</property>
</column>
</widget>
</item>
<item row="3" column="0">
<widget class="QPushButton" name="testButton">
<property name="text">
<string>Null Message</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QPushButton" name="downloadButton">
<property name="text">
<string>Download File</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Path:</string>
</property>
</widget>
</item>
<item row="2" column="1" colspan="2">
<widget class="QLineEdit" name="pathLineEdit"/>
</item>
</layout>
</widget>
<resources/>
<connections/>
......
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