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qgroundcontrol
Commit aaed8c2d authored by Don Gagne's avatar Don Gagne
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Auto connect support 

- Pervasive change to automatically connect to known board types
- Lots of additional changes along with this:
- More exposure of objects/properties to Qml
- Much restructuring in LinkManager and LinkManager clients
parent ee06661a
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Showing with 740 additions and 985 deletions
qgroundcontrol.pro
View file @ aaed8c2d
......@@ -270,7 +270,6 @@ HEADERS += \
src/QmlControls/QGCQGeoCoordinate.h \
src/QmlControls/QGroundControlQmlGlobal.h \
src/QmlControls/QmlObjectListModel.h \
src/SerialPortIds.h \
src/uas/FileManager.h \
src/uas/UAS.h \
src/uas/UASInterface.h \
......
qgroundcontrol.qrc
View file @ aaed8c2d
......@@ -28,7 +28,6 @@
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
<file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
<file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
......@@ -42,7 +41,6 @@
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
<file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
<file alias="QGroundControl/Controls/QGCCanvas.qml">src/QmlControls/QGCCanvas.qml</file>
<file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
<file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
<file alias="QGroundControl/Controls/QGCComboBox.qml">src/QmlControls/QGCComboBox.qml</file>
......@@ -62,20 +60,17 @@
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
<file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
<file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
<file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
<file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
<file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
......@@ -90,10 +85,8 @@
<file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
<file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
<file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
<file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
<file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
......
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
View file @ aaed8c2d
......@@ -139,7 +139,7 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
QGC::SLEEP::usleep(500);
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
}
qgcApp()->toolbox()->linkManager()->disconnectAll();
qgcApp()->toolbox()->linkManager()->disconnectAll(false /* disconnectAutoconnectLink */);
qgcApp()->restoreOverrideCursor();
}
......
src/HomePositionManager.cc
View file @ aaed8c2d
......@@ -50,14 +50,13 @@ HomePositionManager::HomePositionManager(QGCApplication* app)
, homeLon(8.549444)
, homeAlt(470.0)
{
qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
}
void HomePositionManager::setToolbox(QGCToolbox *toolbox)
{
QGCTool::setToolbox(toolbox);
qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
_loadSettings();
}
......
src/QmlControls/DropButton.qml
View file @ aaed8c2d
......@@ -184,7 +184,7 @@ Item {
id: dropDownItem
visible: checked
QGCCanvas {
Canvas {
id: arrowCanvas
anchors.fill: parent
......
src/QmlControls/QGCCanvas.qml deleted 100644 → 0
View file @ ee06661a
import QtQuick 2.2
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
/// Canvas has some sort of bug in it which can cause it to not paint when top level Views
/// are switched. In order to fix this we ahve a signal hacked into ScreenTools to force
/// a repaint.
Canvas {
id: _root
Connections {
target: ScreenTools
onRepaintRequested: _root.requestPaint()
}
}
src/QmlControls/QGroundControl.Controls.qmldir
View file @ aaed8c2d
......@@ -9,7 +9,6 @@ QGCComboBox 1.0 QGCComboBox.qml
QGCColoredImage 1.0 QGCColoredImage.qml
QGCToolBarButton 1.0 QGCToolBarButton.qml
QGCMovableItem 1.0 QGCMovableItem.qml
QGCCanvas 1.0 QGCCanvas.qml
SubMenuButton 1.0 SubMenuButton.qml
IndicatorButton 1.0 IndicatorButton.qml
......
src/QmlControls/QGroundControlQmlGlobal.cc
View file @ aaed8c2d
......@@ -33,6 +33,8 @@ static const char* kQmlGlobalKeyName = "QGCQml";
QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent)
: QObject(parent)
, _multiVehicleManager(toolbox->multiVehicleManager())
, _linkManager(toolbox->linkManager())
, _homePositionManager(toolbox->homePositionManager())
, _flightMapSettings(toolbox->flightMapSettings())
{
......@@ -70,25 +72,25 @@ bool QGroundControlQmlGlobal::loadBoolGlobalSetting (const QString& key, bool de
#ifdef QT_DEBUG
void QGroundControlQmlGlobal::_startMockLink(MockConfiguration* mockConfig)
{
MockLink* mockLink = new MockLink(mockConfig);
LinkManager* linkManager = qgcApp()->toolbox()->linkManager();
linkManager->_addLink(mockLink);
linkManager->connectLink(mockLink);
mockConfig->setDynamic(true);
linkManager->linkConfigurations()->append(mockConfig);
linkManager->createConnectedLink(mockConfig, false /* autoconnectLink */);
}
#endif
void QGroundControlQmlGlobal::startPX4MockLink(bool sendStatusText)
{
#ifdef QT_DEBUG
MockConfiguration mockConfig("PX4 MockLink");
MockConfiguration* mockConfig = new MockConfiguration("PX4 MockLink");
mockConfig.setFirmwareType(MAV_AUTOPILOT_PX4);
mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
mockConfig.setSendStatusText(sendStatusText);
mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
mockConfig->setSendStatusText(sendStatusText);
_startMockLink(&mockConfig);
_startMockLink(mockConfig);
#else
Q_UNUSED(sendStatusText);
#endif
......@@ -97,13 +99,13 @@ void QGroundControlQmlGlobal::startPX4MockLink(bool sendStatusText)
void QGroundControlQmlGlobal::startGenericMockLink(bool sendStatusText)
{
#ifdef QT_DEBUG
MockConfiguration mockConfig("Generic MockLink");
MockConfiguration* mockConfig = new MockConfiguration("Generic MockLink");
mockConfig.setFirmwareType(MAV_AUTOPILOT_GENERIC);
mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
mockConfig.setSendStatusText(sendStatusText);
mockConfig->setFirmwareType(MAV_AUTOPILOT_GENERIC);
mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
mockConfig->setSendStatusText(sendStatusText);
_startMockLink(&mockConfig);
_startMockLink(mockConfig);
#else
Q_UNUSED(sendStatusText);
#endif
......@@ -112,13 +114,13 @@ void QGroundControlQmlGlobal::startGenericMockLink(bool sendStatusText)
void QGroundControlQmlGlobal::startAPMArduCopterMockLink(bool sendStatusText)
{
#ifdef QT_DEBUG
MockConfiguration mockConfig("APM ArduCopter MockLink");
MockConfiguration* mockConfig = new MockConfiguration("APM ArduCopter MockLink");
mockConfig.setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
mockConfig.setSendStatusText(sendStatusText);
mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
mockConfig->setSendStatusText(sendStatusText);
_startMockLink(&mockConfig);
_startMockLink(mockConfig);
#else
Q_UNUSED(sendStatusText);
#endif
......@@ -127,13 +129,13 @@ void QGroundControlQmlGlobal::startAPMArduCopterMockLink(bool sendStatusText)
void QGroundControlQmlGlobal::startAPMArduPlaneMockLink(bool sendStatusText)
{
#ifdef QT_DEBUG
MockConfiguration mockConfig("APM ArduPlane MockLink");
MockConfiguration* mockConfig = new MockConfiguration("APM ArduPlane MockLink");
mockConfig.setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
mockConfig.setVehicleType(MAV_TYPE_FIXED_WING);
mockConfig.setSendStatusText(sendStatusText);
mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
mockConfig->setVehicleType(MAV_TYPE_FIXED_WING);
mockConfig->setSendStatusText(sendStatusText);
_startMockLink(&mockConfig);
_startMockLink(mockConfig);
#else
Q_UNUSED(sendStatusText);
#endif
......@@ -144,12 +146,12 @@ void QGroundControlQmlGlobal::stopAllMockLinks(void)
#ifdef QT_DEBUG
LinkManager* linkManager = qgcApp()->toolbox()->linkManager();
QList<LinkInterface*> links = linkManager->getLinks();
for (int i=0; i<links.count(); i++) {
LinkInterface* link = links[i];
for (int i=0; i<linkManager->links()->count(); i++) {
LinkInterface* link = linkManager->links()->value<LinkInterface*>(i);
MockLink* mockLink = qobject_cast<MockLink*>(link);
if (mockLink) {
linkManager->disconnectLink(mockLink);
linkManager->disconnectLink(mockLink, false /* disconnectAutoconnectLink */);
}
}
#endif
......
src/QmlControls/QGroundControlQmlGlobal.h
View file @ aaed8c2d
......@@ -31,6 +31,7 @@
#include "QGCApplication.h"
#include "MainWindow.h"
#include "LinkManager.h"
#include "HomePositionManager.h"
#include "FlightMapSettings.h"
......@@ -47,6 +48,8 @@ class QGroundControlQmlGlobal : public QObject
public:
QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent = NULL);
Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT)
Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager CONSTANT)
Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager CONSTANT)
Q_PROPERTY(FlightMapSettings* flightMapSettings READ flightMapSettings CONSTANT)
......@@ -70,6 +73,8 @@ public:
// Property accesors
LinkManager* linkManager () { return _linkManager; }
MultiVehicleManager* multiVehicleManager () { return _multiVehicleManager; }
HomePositionManager* homePositionManager () { return _homePositionManager; }
FlightMapSettings* flightMapSettings () { return _flightMapSettings; }
......@@ -137,6 +142,8 @@ private:
void _startMockLink(MockConfiguration* mockConfig);
#endif
MultiVehicleManager* _multiVehicleManager;
LinkManager* _linkManager;
HomePositionManager* _homePositionManager;
FlightMapSettings* _flightMapSettings;
};
......
src/QmlControls/QmlObjectListModel.cc
View file @ aaed8c2d
......@@ -197,11 +197,6 @@ int QmlObjectListModel::count(void) const
return rowCount();
}
QObject* QmlObjectListModel::get(int index)
{
return _objectList[index];
}
void QmlObjectListModel::setDirty(bool dirty)
{
_dirty = dirty;
......
src/QmlControls/QmlObjectListModel.h
View file @ aaed8c2d
......@@ -34,14 +34,14 @@ public:
QmlObjectListModel(QObject* parent = NULL);
~QmlObjectListModel();
Q_INVOKABLE QObject* get(int index);
Q_PROPERTY(int count READ count NOTIFY countChanged)
/// Returns true if any of the items in the list are dirty. Requires each object to have
/// a dirty property and dirtyChanged signal.
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
Q_INVOKABLE QObject* get(int index) { return _objectList[index]; }
// Property accessors
int count(void) const;
......@@ -52,13 +52,14 @@ public:
void append(QObject* object);
void clear(void);
QObject* removeAt(int i);
QObject* removeOne(QObject* object) { return removeAt(indexOf(object)); }
void insert(int i, QObject* object);
QObject* operator[](int i);
const QObject* operator[](int i) const;
template <class T>
const QList<T*>& list(void) { return *((QList<T*>*)((void*)(&_objectList))); }
bool contains(QObject* object) { return _objectList.indexOf(object) != -1; }
int indexOf(QObject* object) { return _objectList.indexOf(object); }
template<class T> T value(int index) { return qobject_cast<T>(_objectList[index]); }
signals:
void countChanged(int count);
void dirtyChanged(bool dirtyChanged);
......
src/QmlControls/ScreenTools.qml
View file @ aaed8c2d
......@@ -47,9 +47,4 @@ Item {
property real fontWidth: contentWidth * (ScreenToolsController.testHighDPI ? 2 : 1)
property real fontHeight: contentHeight * (ScreenToolsController.testHighDPI ? 2 : 1)
}
Connections {
target: ScreenToolsController
onRepaintRequested: repaintRequested()
}
}
src/QmlControls/ScreenToolsController.cc
View file @ aaed8c2d
......@@ -43,15 +43,5 @@ const double ScreenToolsController::_largeFontPixelSizeRatio = 1.66;
ScreenToolsController::ScreenToolsController()
{
MainWindow* mainWindow = MainWindow::instance();
// Unit tests can run Qml without MainWindow
if (mainWindow) {
connect(mainWindow, &MainWindow::repaintCanvas, this, &ScreenToolsController::_updateCanvas);
}
}
void ScreenToolsController::_updateCanvas()
{
emit repaintRequested();
}
src/QmlControls/ScreenToolsController.h
View file @ aaed8c2d
......@@ -114,12 +114,6 @@ public:
bool testHighDPI () { return false; }
#endif
signals:
void repaintRequested();
private slots:
void _updateCanvas();
private:
static const double _defaultFontPixelSizeRatio;
static const double _smallFontPixelSizeRatio;
......
src/Vehicle/MultiVehicleManager.cc
View file @ aaed8c2d
......@@ -57,33 +57,26 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
connect(_toolbox->linkManager(), &LinkManager::linkActive, this, &MultiVehicleManager::_linkActive);
}
bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
void MultiVehicleManager::_linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType)
{
if (!getVehicleById(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
if (vehicleId == _mavlinkProtocol->getSystemId()) {
_app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
}
QSettings settings;
bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
_ignoreVehicleIds += vehicleId;
_app->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
"It is unsafe to use different MAVLink versions. "
"QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
return false;
}
if (!getVehicleById(vehicleId)) {
qCDebug(MultiVehicleManagerLog) << "Adding new vehicle linkName:vehicleId:vehicleFirmwareType:vehicleType"
<< link->getName()
<< vehicleId
<< vehicleFirmwareType
<< vehicleType;
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
if (!vehicle) {
qWarning() << "New Vehicle allocation failed";
return false;
return;
}
connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
_vehicles.append(vehicle);
......@@ -92,22 +85,20 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
setActiveVehicle(vehicle);
}
return true;
}
/// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
/// and all other right things happen when the Vehicle goes away.
void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
{
qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1";
qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1" << vehicle;
_vehicleBeingDeleted = vehicle;
_vehiclesBeingDeleted << vehicle;
// Remove from map
bool found = false;
for (int i=0; i<_vehicles.count(); i++) {
if (_vehicles[i] == _vehicleBeingDeleted) {
if (_vehicles[i] == vehicle) {
_vehicles.removeAt(i);
found = true;
break;
......@@ -136,9 +127,9 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
QTimer::singleShot(20, this, &MultiVehicleManager::_deleteVehiclePhase2);
}
void MultiVehicleManager::_deleteVehiclePhase2 (void)
void MultiVehicleManager::_deleteVehiclePhase2(void)
{
qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2";
qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2" << _vehiclesBeingDeleted[0];
/// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
/// This means we can now clear the active vehicle property and delete the Vehicle for real.
......@@ -159,7 +150,8 @@ void MultiVehicleManager::_deleteVehiclePhase2 (void)
}
}
_vehicleBeingDeleted->deleteLater();
delete _vehiclesBeingDeleted[0];
_vehiclesBeingDeleted.removeAt(0);
}
void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
......@@ -189,7 +181,7 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
void MultiVehicleManager::_setActiveVehiclePhase2(void)
{
qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2";
qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2 _vehicleBeingSetActive" << _vehicleBeingSetActive;
// Now we signal the new active vehicle
_activeVehicle = _vehicleBeingSetActive;
......
src/Vehicle/MultiVehicleManager.h
View file @ aaed8c2d
......@@ -58,14 +58,6 @@ public:
// Methods
/// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
/// will create/update Vehicles as necessary.
/// @param link Heartbeat came through on this link
/// @param vehicleId Mavlink system id for vehicle
/// @param heartbeat Mavlink heartbeat message
/// @return true: continue further processing of this message, false: disregard this message
bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
......@@ -98,6 +90,7 @@ private slots:
void _deleteVehiclePhase2(void);
void _setActiveVehiclePhase2(void);
void _autopilotParametersReadyChanged(bool parametersReady);
void _linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);
private:
bool _vehicleExists(int vehicleId);
......@@ -106,8 +99,8 @@ private:
bool _parameterReadyVehicleAvailable; ///< true: An active vehicle with ready parameters is available
Vehicle* _activeVehicle; ///< Currently active vehicle from a ui perspective
Vehicle* _vehicleBeingDeleted; ///< Vehicle being deleted in queued phases
Vehicle* _vehicleBeingSetActive; ///< Vehicle being set active in queued phases
QList<Vehicle*> _vehiclesBeingDeleted; ///< List of Vehicles being deleted in queued phases
Vehicle* _vehicleBeingSetActive; ///< Vehicle being set active in queued phases
QList<int> _ignoreVehicleIds; ///< List of vehicle id for which we ignore further communication
......
src/Vehicle/Vehicle.cc
View file @ aaed8c2d
......@@ -94,6 +94,8 @@ Vehicle::Vehicle(LinkInterface* link,
, _satelliteCount(-1)
, _satelliteLock(0)
, _updateCount(0)
, _rcRSSI(0)
, _rcRSSIstore(100.0)
, _missionManager(NULL)
, _missionManagerInitialRequestComplete(false)
, _parameterLoader(NULL)
......@@ -106,6 +108,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _autopilotPluginManager(autopilotPluginManager)
, _joystickManager(joystickManager)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
{
_addLink(link);
......@@ -119,9 +122,10 @@ Vehicle::Vehicle(LinkInterface* link,
setLatitude(_uas->getLatitude());
setLongitude(_uas->getLongitude());
connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
connect(_uas, &UAS::imageReady, this, &Vehicle::_imageReady);
connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
connect(_uas, &UAS::imageReady, this, &Vehicle::_imageReady);
connect(_uas, &UAS::remoteControlRSSIChanged, this, &Vehicle::_remoteControlRSSIChanged);
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_autopilotPlugin = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
......@@ -186,6 +190,8 @@ Vehicle::Vehicle(LinkInterface* link,
Vehicle::~Vehicle()
{
qCDebug(VehicleLog) << "~Vehicle" << this;
delete _missionManager;
_missionManager = NULL;
......@@ -285,38 +291,29 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
bool Vehicle::_containsLink(LinkInterface* link)
{
foreach (SharedLinkInterface sharedLink, _links) {
if (sharedLink.data() == link) {
return true;
}
}
return false;
return _links.contains(link);
}
void Vehicle::_addLink(LinkInterface* link)
{
if (!_containsLink(link)) {
_links += qgcApp()->toolbox()->linkManager()->sharedPointerForLink(link);
_links += link;
qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
}
}
void Vehicle::_linkDisconnected(LinkInterface* link)
void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
{
qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
qCDebug(VehicleLog) << "link count:" << _links.count();
qCDebug(VehicleLog) << "_linkInactiveOrDeleted linkCount" << _links.count();
for (int i=0; i<_links.count(); i++) {
if (_links[i].data() == link) {
_links.removeAt(i);
break;
}
}
_links.removeOne(link);
if (_links.count() == 0) {
emit allLinksDisconnected(this);
if (_links.count() == 0 && !_allLinksInactiveSent) {
// Make sure to not send this more than one time
_allLinksInactiveSent = true;
emit allLinksInactive(this);
}
}
......@@ -328,10 +325,7 @@ void Vehicle::sendMessage(mavlink_message_t message)
void Vehicle::_sendMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
foreach (SharedLinkInterface sharedLink, _links) {
LinkInterface* link = sharedLink.data();
Q_ASSERT(link);
foreach (LinkInterface* link, _links) {
if (link->isConnected()) {
MAVLinkProtocol* mavlink = _mavlink;
......@@ -350,17 +344,6 @@ void Vehicle::_sendMessage(mavlink_message_t message)
}
}
QList<LinkInterface*> Vehicle::links(void)
{
QList<LinkInterface*> list;
foreach (SharedLinkInterface sharedLink, _links) {
list += sharedLink.data();
}
return list;
}
void Vehicle::setLatitude(double latitude)
{
_coordinate.setLatitude(latitude);
......@@ -1035,11 +1018,11 @@ void Vehicle::_parametersReady(bool parametersReady)
void Vehicle::_communicationInactivityTimedOut(void)
{
// Vechile is no longer communicating with us, disconnect all links
// Vehicle is no longer communicating with us, disconnect all links inactive
LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
for (int i=0; i<_links.count(); i++) {
linkMgr->disconnectLink(_links[i].data());
linkMgr->disconnectLink(_links[i], false /* disconnectAutoconnectLink */);
}
}
......@@ -1058,3 +1041,17 @@ void Vehicle::_imageReady(UASInterface*)
emit flowImageIndexChanged();
}
}
void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
{
// Low pass to git rid of jitter
_rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
if(_rcRSSIstore < 0.1) {
filteredRSSI = 0;
}
if(_rcRSSI != filteredRSSI) {
_rcRSSI = filteredRSSI;
emit rcRSSIChanged(_rcRSSI);
}
}
src/Vehicle/Vehicle.h
View file @ aaed8c2d
......@@ -107,6 +107,7 @@ public:
Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
Q_PROPERTY(int flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged)
Q_PROPERTY(int rcRSSI READ rcRSSI NOTIFY rcRSSIChanged)
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
......@@ -166,8 +167,6 @@ public:
/// Provides access to the Firmware Plugin for this Vehicle
FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
QList<LinkInterface*> links(void);
int manualControlReservedButtonCount(void);
MissionManager* missionManager(void) { return _missionManager; }
......@@ -245,6 +244,7 @@ public:
QString currentState () { return _currentState; }
int satelliteLock () { return _satelliteLock; }
unsigned int heartbeatTimeout () { return _currentHeartbeatTimeout; }
int rcRSSI () { return _rcRSSI; }
ParameterLoader* getParameterLoader(void);
......@@ -253,7 +253,7 @@ public slots:
void setLongitude(double longitude);
signals:
void allLinksDisconnected(Vehicle* vehicle);
void allLinksInactive(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate);
void coordinateValidChanged(bool coordinateValid);
void joystickModeChanged(int mode);
......@@ -293,15 +293,17 @@ signals:
void currentStateChanged ();
void satelliteLockChanged ();
void flowImageIndexChanged ();
void rcRSSIChanged (int rcRSSI);
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _linkDisconnected(LinkInterface* link);
void _linkInactiveOrDeleted(LinkInterface* link);
void _sendMessage(mavlink_message_t message);
void _sendMessageMultipleNext(void);
void _addNewMapTrajectoryPoint(void);
void _parametersReady(bool parametersReady);
void _communicationInactivityTimedOut(void);
void _remoteControlRSSIChanged(uint8_t rssi);
void _handleTextMessage (int newCount);
/** @brief Attitude from main autopilot / system state */
......@@ -347,10 +349,7 @@ private:
AutoPilotPlugin* _autopilotPlugin;
MAVLinkProtocol* _mavlink;
/// List of all links associated with this vehicle. We keep SharedLinkInterface objects
/// which are QSharedPointer's in order to maintain reference counts across threads.
/// This way Link deletion works correctly.
QList<SharedLinkInterface> _links;
QList<LinkInterface*> _links;
JoystickMode_t _joystickMode;
bool _joystickEnabled;
......@@ -394,6 +393,8 @@ private:
int _satelliteCount;
int _satelliteLock;
int _updateCount;
int _rcRSSI;
double _rcRSSIstore;
MissionManager* _missionManager;
bool _missionManagerInitialRequestComplete;
......@@ -434,6 +435,8 @@ private:
int _flowImageIndex;
bool _allLinksInactiveSent; ///< true: allLinkInactive signal already sent one time
// Settings keys
static const char* _settingsGroup;
static const char* _joystickModeSettingsKey;
......
src/VehicleSetup/FirmwareUpgrade.qml
View file @ aaed8c2d
......@@ -26,12 +26,13 @@ import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
QGCView {
id: qgcView
......@@ -88,7 +89,7 @@ QGCView {
onBoardFound: {
if (initialBoardSearch) {
// Board was found right away, so something is already plugged in before we've started upgrade
if (controller.qgcConnections) {
if (QGroundControl.linkManager.anyActiveLinks) {
statusTextArea.append(qgcDisconnectText)
} else {
statusTextArea.append(usbUnplugText.replace('{0}', controller.boardType))
......
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ aaed8c2d
......@@ -68,13 +68,17 @@ FirmwareUpgradeController::FirmwareUpgradeController(void) :
connect(_threadController, &PX4FirmwareUpgradeThreadController::flashComplete, this, &FirmwareUpgradeController::_flashComplete);
connect(_threadController, &PX4FirmwareUpgradeThreadController::updateProgress, this, &FirmwareUpgradeController::_updateProgress);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &FirmwareUpgradeController::_linkDisconnected);
connect(&_eraseTimer, &QTimer::timeout, this, &FirmwareUpgradeController::_eraseProgressTick);
}
FirmwareUpgradeController::~FirmwareUpgradeController()
{
qgcApp()->toolbox()->linkManager()->setConnectionsAllowed();
}
void FirmwareUpgradeController::startBoardSearch(void)
{
qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Firmware Upgrade."));
_bootloaderFound = false;
_startFlashWhenBootloaderFound = false;
_threadController->startFindBoardLoop();
......@@ -556,17 +560,6 @@ void FirmwareUpgradeController::_appendStatusLog(const QString& text, bool criti
Q_ARG(QVariant, varText));
}
bool FirmwareUpgradeController::qgcConnections(void)
{
return qgcApp()->toolbox()->linkManager()->anyConnectedLinks();
}
void FirmwareUpgradeController::_linkDisconnected(LinkInterface* link)
{
Q_UNUSED(link);
emit qgcConnectionsChanged(qgcConnections());
}
void FirmwareUpgradeController::_errorCancel(const QString& msg)
{
_appendStatusLog(msg, false);
......
src/VehicleSetup/FirmwareUpgradeController.h
View file @ aaed8c2d
......@@ -104,7 +104,8 @@ public:
};
FirmwareUpgradeController(void);
~FirmwareUpgradeController();
Q_PROPERTY(QString boardPort READ boardPort NOTIFY boardFound)
Q_PROPERTY(QString boardDescription READ boardDescription NOTIFY boardFound)
Q_PROPERTY(QString boardType MEMBER _foundBoardType NOTIFY boardFound)
......@@ -115,9 +116,6 @@ public:
/// Progress bar for you know what
Q_PROPERTY(QQuickItem* progressBar READ progressBar WRITE setProgressBar)
/// Returns true if there are active QGC connections
Q_PROPERTY(bool qgcConnections READ qgcConnections NOTIFY qgcConnectionsChanged)
/// Starts searching for boards on the background thread
Q_INVOKABLE void startBoardSearch(void);
......@@ -140,8 +138,6 @@ public:
QQuickItem* statusLog(void) { return _statusLog; }
void setStatusLog(QQuickItem* statusLog) { _statusLog = statusLog; }
bool qgcConnections(void);
QString boardPort(void) { return _foundBoardInfo.portName(); }
QString boardDescription(void) { return _foundBoardInfo.description(); }
......@@ -151,7 +147,6 @@ signals:
void boardGone(void);
void flashComplete(void);
void flashCancelled(void);
void qgcConnectionsChanged(bool connections);
void error(void);
private slots:
......@@ -170,7 +165,6 @@ private slots:
void _eraseStarted(void);
void _eraseComplete(void);
void _eraseProgressTick(void);
void _linkDisconnected(LinkInterface* link);
private:
void _getFirmwareFile(FirmwareIdentifier firmwareId);
......
src/comm/LinkConfiguration.cc
View file @ aaed8c2d
......@@ -42,19 +42,20 @@ This file is part of the QGROUNDCONTROL project
#define LINK_SETTING_ROOT "LinkConfigurations"
LinkConfiguration::LinkConfiguration(const QString& name)
: _preferred(false)
: _link(NULL)
, _name(name)
, _dynamic(false)
{
_link = NULL;
_name = name;
Q_ASSERT(!_name.isEmpty());
if (_name.isEmpty()) {
qWarning() << "Internal error";
}
}
LinkConfiguration::LinkConfiguration(LinkConfiguration* copy)
{
_link = copy->getLink();
_link = copy->link();
_name = copy->name();
_preferred = copy->isPreferred();
_dynamic = copy->isDynamic();
Q_ASSERT(!_name.isEmpty());
}
......@@ -62,9 +63,8 @@ LinkConfiguration::LinkConfiguration(LinkConfiguration* copy)
void LinkConfiguration::copyFrom(LinkConfiguration* source)
{
Q_ASSERT(source != NULL);
_link = source->getLink();
_link = source->link();
_name = source->name();
_preferred = source->isPreferred();
_dynamic = source->isDynamic();
}
......@@ -138,3 +138,15 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
}
return dupe;
}
void LinkConfiguration::setName(const QString name)
{
_name = name;
emit nameChanged(name);
}
void LinkConfiguration::setLink(LinkInterface* link)
{
_link = link;
emit linkChanged(link);
}
src/comm/LinkConfiguration.h
View file @ aaed8c2d
......@@ -30,13 +30,26 @@ class LinkInterface;
/// Interface holding link specific settings.
class LinkConfiguration
class LinkConfiguration : public QObject
{
Q_OBJECT
public:
LinkConfiguration(const QString& name);
LinkConfiguration(LinkConfiguration* copy);
virtual ~LinkConfiguration() {}
Q_PROPERTY(QString name READ name WRITE setName NOTIFY nameChanged)
Q_PROPERTY(LinkInterface* link READ link WRITE setLink NOTIFY linkChanged)
// Property accessors
const QString name(void) { return _name; }
LinkInterface* link(void) { return _link; }
void setName(const QString name);
void setLink(LinkInterface* link);
/// The link types supported by QGC
enum {
#ifndef __ios__
......@@ -55,48 +68,6 @@ public:
TypeLast // Last type value (type >= TypeLast == invalid)
};
/*!
* @brief Get configuration name
*
* This is the user friendly name shown in the connection drop down box and the name used to save the configuration in the settings.
* @return The name of this link.
*/
const QString name() { return _name; }
/*!
* @brief Set the name of this link configuration.
*
* This is the user friendly name shown in the connection drop down box and the name used to save the configuration in the settings.
* @param[in] name The configuration name
*/
void setName(const QString name) {_name = name; }
/*!
* @brief Set the link this configuration is currently attched to.
*
* @param[in] link The pointer to the current LinkInterface instance (if any)
*/
void setLink(LinkInterface* link) { _link = link; }
/*!
* @brief Get the link this configuration is currently attched to.
*
* @return The pointer to the current LinkInterface instance (if any)
*/
LinkInterface* getLink() { return _link; }
/*!
*
* Is this a preferred configuration? (decided at runtime)
* @return True if this is a known configuration (PX4, etc.)
*/
bool isPreferred() { return _preferred; }
/*!
* Set if this is this a preferred configuration. (decided at runtime)
*/
void setPreferred(bool preferred = true) { _preferred = preferred; }
/*!
*
* Is this a dynamic configuration? (non persistent)
......@@ -178,11 +149,14 @@ public:
*/
static LinkConfiguration* duplicateSettings(LinkConfiguration *source);
signals:
void nameChanged(const QString& name);
void linkChanged(LinkInterface* link);
protected:
LinkInterface* _link; ///< Link currently using this configuration (if any)
private:
QString _name;
bool _preferred; ///< Determined internally if this is a preferred connection. It comes up first in the drop down box.
bool _dynamic; ///< A connection added automatically and not persistent (unless it's edited).
};
......
src/comm/LinkInterface.h
View file @ aaed8c2d
......@@ -57,6 +57,15 @@ class LinkInterface : public QThread
friend class LinkManager;
public:
Q_PROPERTY(bool autoconnect READ autoconnect WRITE setAutoconnect NOTIFY autoconnectChanged)
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
// Property accessors
bool autoconnect(void) { return _autoconnect; }
void setAutoconnect(bool autoconnect) { _autoconnect = autoconnect; emit autoconnectChanged(autoconnect); }
bool active(void) { return _active; }
void setActive(bool active) { _active = active; emit activeChanged(active); }
/**
* @brief Get link configuration (if used)
* @return A pointer to the instance of LinkConfiguration if supported. NULL otherwise.
......@@ -128,6 +137,7 @@ public:
/// @return true: "sh /etc/init.d/rc.usb" must be sent on link to start mavlink
virtual bool requiresUSBMavlinkStart(void) const { return false; }
// These are left unimplemented in order to cause linker errors which indicate incorrect usage of
// connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
bool connect(void);
......@@ -148,6 +158,8 @@ public slots:
virtual void writeBytes(const char *bytes, qint64 length) = 0;
signals:
void autoconnectChanged(bool autoconnect);
void activeChanged(bool active);
/**
* @brief New data arrived
......@@ -184,8 +196,10 @@ signals:
protected:
// Links are only created by LinkManager so constructor is not public
LinkInterface() :
QThread(0),
_mavlinkChannelSet(false)
QThread(0)
, _mavlinkChannelSet(false)
, _autoconnect(false)
, _active(false)
{
// Initialize everything for the data rate calculation buffers.
_inDataIndex = 0;
......@@ -321,12 +335,7 @@ private:
**/
virtual bool _connect(void) = 0;
/**
* @brief Disconnect this interface logically
*
* @return True if connection could be terminated, false otherwise
**/
virtual bool _disconnect(void) = 0;
virtual void _disconnect(void) = 0;
/// Sets the mavlink channel to use for this link
void _setMavlinkChannel(uint8_t channel) { Q_ASSERT(!_mavlinkChannelSet); _mavlinkChannelSet = true; _mavlinkChannel = channel; }
......@@ -351,6 +360,9 @@ private:
qint64 _outDataWriteTimes[_dataRateBufferSize]; // in ms
mutable QMutex _dataRateMutex; // Mutex for accessing the data rate member variables
bool _autoconnect; ///< true: Link is an autoconnect connection and should never be disconnected
bool _active; ///< true: link is actively receiving mavlink messages
};
typedef QSharedPointer<LinkInterface> SharedLinkInterface;
......
src/comm/LinkManager.cc
View file @ aaed8c2d
This diff is collapsed.
src/comm/LinkManager.h
View file @ aaed8c2d
This diff is collapsed.
src/comm/LogReplayLink.cc
View file @ aaed8c2d
......@@ -102,7 +102,7 @@ LogReplayLink::~LogReplayLink(void)
bool LogReplayLink::_connect(void)
{
// Disallow replay when any links are connected
if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
emit communicationError(_errorTitle, "You must close all connections prior to replaying a log.");
return false;
}
......@@ -115,7 +115,7 @@ bool LogReplayLink::_connect(void)
return true;
}
bool LogReplayLink::_disconnect(void)
void LogReplayLink::_disconnect(void)
{
if (_connected) {
quit();
......@@ -123,7 +123,6 @@ bool LogReplayLink::_disconnect(void)
_connected = false;
emit disconnected();
}
return true;
}
void LogReplayLink::run(void)
......@@ -366,7 +365,6 @@ void LogReplayLink::_readNextLogEntry(void)
void LogReplayLink::_play(void)
{
// FIXME: With move to link I don't think this is needed any more? Except for the replay widget handling multi-uas?
qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
#ifndef __mobile__
qgcApp()->toolbox()->mavlinkProtocol()->suspendLogForReplay(true);
......
src/comm/LogReplayLink.h
View file @ aaed8c2d
......@@ -33,6 +33,8 @@
class LogReplayLinkConfiguration : public LinkConfiguration
{
Q_OBJECT
public:
LogReplayLinkConfiguration(const QString& name);
LogReplayLinkConfiguration(LogReplayLinkConfiguration* copy);
......@@ -130,7 +132,7 @@ private:
// Virtuals from LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
virtual void _disconnect(void);
// Virtuals from QThread
virtual void run(void);
......
src/comm/MAVLinkProtocol.cc
View file @ aaed8c2d
......@@ -193,13 +193,6 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
Q_ASSERT(link);
if (connected) {
foreach (SharedLinkInterface sharedLink, _connectedLinks) {
Q_ASSERT(sharedLink.data() != link);
}
// Use the same shared pointer as LinkManager
_connectedLinks.append(_linkMgr->sharedPointerForLink(link));
if (link->requiresUSBMavlinkStart()) {
// Send command to start MAVLink
// XXX hacky but safe
......@@ -210,17 +203,6 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
link->writeBytes(cmd, strlen(cmd));
link->writeBytes(init, 4);
}
} else {
bool found = false;
for (int i=0; i<_connectedLinks.count(); i++) {
if (_connectedLinks[i].data() == link) {
found = true;
_connectedLinks.removeAt(i);
break;
}
}
Q_UNUSED(found);
Q_ASSERT(found);
}
}
......@@ -236,7 +218,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Since receiveBytes signals cross threads we can end up with signals in the queue
// that come through after the link is disconnected. For these we just drop the data
// since the link is closed.
if (!_linkMgr->containsLink(link)) {
if (!_linkMgr->links()->contains(link)) {
return;
}
......@@ -300,7 +282,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
mavlink_message_t msg;
mavlink_msg_ping_pack(getSystemId(), getComponentId(), &msg, ping.time_usec, ping.seq, message.sysid, message.compid);
sendMessage(msg);
_sendMessage(msg);
}
}
......@@ -359,12 +341,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
_startLogging();
#endif
// Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
if (!_multiVehicleManager->notifyHeartbeatInfo(link, message.sysid, heartbeat)) {
continue;
}
emit vehicleHeartbeatInfo(link, message.sysid, heartbeat.mavlink_version, heartbeat.autopilot, heartbeat.type);
}
// Increase receive counter
......@@ -417,15 +396,13 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Multiplex message if enabled
if (m_multiplexingEnabled)
{
// Get all links connected to this unit
QList<LinkInterface*> links = _linkMgr->getLinks();
// Emit message on all links that are currently connected
foreach (LinkInterface* currLink, links)
{
for (int i=0; i<_linkMgr->links()->count(); i++) {
LinkInterface* currLink = _linkMgr->links()->value<LinkInterface*>(i);
// Only forward this message to the other links,
// not the link the message was received on
if (currLink != link) sendMessage(currLink, message, message.sysid, message.compid);
if (currLink && currLink != link) _sendMessage(currLink, message, message.sysid, message.compid);
}
}
}
......@@ -460,17 +437,11 @@ int MAVLinkProtocol::getComponentId()
/**
* @param message message to send
*/
void MAVLinkProtocol::sendMessage(mavlink_message_t message)
void MAVLinkProtocol::_sendMessage(mavlink_message_t message)
{
// Get all links connected to this unit
QList<LinkInterface*> links = _linkMgr->getLinks();
// Emit message on all links that are currently connected
QList<LinkInterface*>::iterator i;
for (i = links.begin(); i != links.end(); ++i)
{
sendMessage(*i, message);
// qDebug() << __FILE__ << __LINE__ << "SENT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
for (int i=0; i<_linkMgr->links()->count(); i++) {
LinkInterface* link = _linkMgr->links()->value<LinkInterface*>(i);
_sendMessage(link, message);
}
}
......@@ -478,7 +449,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
* @param link the link to send the message over
* @param message message to send
*/
void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message)
void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t message)
{
// Create buffer
static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
......@@ -501,7 +472,7 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
* @param systemid id of the system the message is originating from
* @param componentid id of the component the message is originating from
*/
void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid)
void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid)
{
// Create buffer
static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
......@@ -529,7 +500,7 @@ void MAVLinkProtocol::sendHeartbeat()
{
mavlink_message_t beat;
mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE);
sendMessage(beat);
_sendMessage(beat);
}
if (m_authEnabled)
{
......@@ -538,7 +509,7 @@ void MAVLinkProtocol::sendHeartbeat()
memset(&auth, 0, sizeof(auth));
memcpy(auth.key, m_authKey.toStdString().c_str(), qMin(m_authKey.length(), MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN));
mavlink_msg_auth_key_encode(getSystemId(), getComponentId(), &msg, &auth);
sendMessage(msg);
_sendMessage(msg);
}
}
......
src/comm/MAVLinkProtocol.h
View file @ aaed8c2d
......@@ -158,12 +158,6 @@ public slots:
void linkConnected(void);
void linkDisconnected(void);
/** @brief Send MAVLink message through serial interface */
void sendMessage(mavlink_message_t message);
/** @brief Send MAVLink message */
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send MAVLink message with correct system / component ID */
void sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
/** @brief Set the rate at which heartbeats are emitted */
void setHeartbeatRate(int rate);
/** @brief Set the system id of this application */
......@@ -238,6 +232,9 @@ protected:
int systemId;
signals:
/// Heartbeat received on link
void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
/** @brief Message received and directly copied via signal */
void messageReceived(LinkInterface* link, mavlink_message_t message);
/** @brief Emitted if heartbeat emission mode is changed */
......@@ -289,6 +286,9 @@ private slots:
private:
void _linkStatusChanged(LinkInterface* link, bool connected);
void _sendMessage(mavlink_message_t message);
void _sendMessage(LinkInterface* link, mavlink_message_t message);
void _sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
#ifndef __mobile__
bool _closeLogFile(void);
......@@ -303,12 +303,7 @@ private:
static const char* _tempLogFileTemplate; ///< Template for temporary log file
static const char* _logFileExtension; ///< Extension for log files
#endif
/// List of all links connected to protocol. We keep SharedLinkInterface objects
/// which are QSharedPointer's in order to maintain reference counts across threads.
/// This way Link deletion works correctly.
QList<SharedLinkInterface> _connectedLinks;
QTimer _heartbeatTimer; ///< Timer to emit heartbeats
int _heartbeatRate; ///< Heartbeat rate, controls the timer interval
bool _heartbeatsEnabled; ///< Enabled/disable heartbeat emission
......
src/comm/MockLink.cc
View file @ aaed8c2d
......@@ -98,6 +98,7 @@ MockLink::MockLink(MockConfiguration* config)
_firmwareType = config->firmwareType();
_vehicleType = config->vehicleType();
_sendStatusText = config->sendStatusText();
_config->setLink(this);
}
union px4_custom_mode px4_cm;
......@@ -136,7 +137,7 @@ bool MockLink::_connect(void)
return true;
}
bool MockLink::_disconnect(void)
void MockLink::_disconnect(void)
{
if (_connected) {
_connected = false;
......@@ -144,8 +145,6 @@ bool MockLink::_disconnect(void)
wait();
emit disconnected();
}
return true;
}
void MockLink::run(void)
......
src/comm/MockLink.h
View file @ aaed8c2d
......@@ -37,6 +37,8 @@ Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog)
class MockConfiguration : public LinkConfiguration
{
Q_OBJECT
public:
MockConfiguration(const QString& name);
MockConfiguration(MockConfiguration* source);
......@@ -146,7 +148,7 @@ private slots:
private:
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
virtual void _disconnect(void);
// QThread override
virtual void run(void);
......
src/comm/SerialLink.cc
View file @ aaed8c2d
......@@ -124,7 +124,7 @@ void SerialLink::readBytes()
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool SerialLink::_disconnect(void)
void SerialLink::_disconnect(void)
{
if (_port) {
_port->close();
......@@ -135,7 +135,6 @@ bool SerialLink::_disconnect(void)
#ifdef __android__
qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
#endif
return true;
}
/**
......
src/comm/SerialLink.h
View file @ aaed8c2d
......@@ -59,6 +59,8 @@ Q_DECLARE_LOGGING_CATEGORY(SerialLinkLog)
class SerialConfiguration : public LinkConfiguration
{
Q_OBJECT
public:
SerialConfiguration(const QString& name);
......@@ -158,7 +160,7 @@ private:
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
virtual void _disconnect(void);
// Internal methods
void _emitLinkError(const QString& errorMsg);
......
src/comm/TCPLink.cc
View file @ aaed8c2d
......@@ -124,18 +124,16 @@ void TCPLink::readBytes()
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool TCPLink::_disconnect(void)
void TCPLink::_disconnect(void)
{
quit();
wait();
if (_socket)
{
if (_socket) {
_socketIsConnected = false;
_socket->deleteLater(); // Make sure delete happens on correct thread
_socket = NULL;
emit disconnected();
}
return true;
}
/**
......
src/comm/TCPLink.h
View file @ aaed8c2d
......@@ -52,6 +52,8 @@ class TCPLinkUnitTest;
class TCPConfiguration : public LinkConfiguration
{
Q_OBJECT
public:
/*!
......@@ -164,7 +166,7 @@ private:
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
virtual void _disconnect(void);
bool _hardwareConnect();
void _restartConnection();
......
src/comm/UDPLink.cc
View file @ aaed8c2d
......@@ -281,7 +281,7 @@ void UDPLink::readBytes()
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool UDPLink::_disconnect(void)
void UDPLink::_disconnect(void)
{
_running = false;
quit();
......@@ -293,7 +293,6 @@ bool UDPLink::_disconnect(void)
emit disconnected();
}
_connectState = false;
return true;
}
/**
......
src/comm/UDPLink.h
View file @ aaed8c2d
......@@ -52,6 +52,8 @@ This file is part of the QGROUNDCONTROL project
class UDPConfiguration : public LinkConfiguration
{
Q_OBJECT
public:
/*!
......@@ -203,7 +205,7 @@ private:
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
virtual void _disconnect(void);
bool _hardwareConnect();
void _restartConnection();
......
src/comm/XbeeLink.cpp
View file @ aaed8c2d
......@@ -158,7 +158,7 @@ bool XbeeLink::_connect(void)
return true;
}
bool XbeeLink::_disconnect(void)
void XbeeLink::_disconnect(void)
{
if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
......@@ -170,7 +170,6 @@ bool XbeeLink::_disconnect(void)
this->m_connected = false;
emit disconnected();
return true;
}
void XbeeLink::writeBytes(const char *bytes, qint64 length) // TO DO: delete the data array
......
src/comm/XbeeLink.h
View file @ aaed8c2d
......@@ -67,7 +67,7 @@ protected:
private:
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
virtual void _disconnect(void);
bool hardwareConnect();
//void CALLTYPE portCallback(xbee_con *XbeeCon, xbee_pkt *XbeePkt);
......
src/qgcunittest/LinkManagerTest.cc
View file @ aaed8c2d
......@@ -71,30 +71,29 @@ void LinkManagerTest::cleanup(void)
void LinkManagerTest::_add_test(void)
{
Q_ASSERT(_linkMgr);
Q_ASSERT(_linkMgr->getLinks().count() == 0);
Q_ASSERT(_linkMgr->links()->count() == 0);
_connectMockLink();
QList<LinkInterface*> links = _linkMgr->getLinks();
QCOMPARE(links.count(), 1);
QCOMPARE(dynamic_cast<MockLink*>(links[0]), _mockLink);
QCOMPARE(_linkMgr->links()->count(), 1);
QCOMPARE(_linkMgr->links()->value<MockLink*>(0), _mockLink);
}
void LinkManagerTest::_delete_test(void)
{
Q_ASSERT(_linkMgr);
Q_ASSERT(_linkMgr->getLinks().count() == 0);
Q_ASSERT(_linkMgr->links()->count() == 0);
_connectMockLink();
_disconnectMockLink();
QCOMPARE(_linkMgr->getLinks().count(), 0);
QCOMPARE(_linkMgr->links()->count(), 0);
}
void LinkManagerTest::_addSignals_test(void)
{
Q_ASSERT(_linkMgr);
Q_ASSERT(_linkMgr->getLinks().count() == 0);
Q_ASSERT(_linkMgr->links()->count() == 0);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
_connectMockLink();
......@@ -114,7 +113,7 @@ void LinkManagerTest::_addSignals_test(void)
void LinkManagerTest::_deleteSignals_test(void)
{
Q_ASSERT(_linkMgr);
Q_ASSERT(_linkMgr->getLinks().count() == 0);
Q_ASSERT(_linkMgr->links()->count() == 0);
Q_ASSERT(_multiSpy->checkNoSignals() == true);
_connectMockLink();
......
src/qgcunittest/UnitTest.cc
View file @ aaed8c2d
......@@ -387,7 +387,7 @@ void UnitTest::_disconnectMockLink(void)
if (_mockLink) {
QSignalSpy linkSpy(_linkManager, SIGNAL(linkDeleted(LinkInterface*)));
_linkManager->disconnectLink(_mockLink);
_linkManager->disconnectLink(_mockLink, false /* disconnectAutoconnectLink */);
// Wait for link to go away
linkSpy.wait(1000);
......
src/ui/MAVLinkSettingsWidget.cc
View file @ aaed8c2d
......@@ -141,12 +141,14 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
QString hostString = m_ui->droneOSComboBox->currentText();
//QString host = hostString.split(":").first();
LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
UDPLink* firstUdp = NULL;
// Delete from all lists first
UDPLink* firstUdp = NULL;
QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
foreach (LinkInterface* link, links)
{
UDPLink* udp = dynamic_cast<UDPLink*>(link);
for (int i=0; i<linkMgr->links()->count(); i++) {
LinkInterface* link = linkMgr->links()->value<LinkInterface*>(i);
UDPLink* udp = qobject_cast<UDPLink*>(link);
if (udp)
{
if (!firstUdp) firstUdp = udp;
......
src/ui/MainWindow.cc
View file @ aaed8c2d
......@@ -208,10 +208,6 @@ MainWindow::MainWindow()
connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
#endif //QGC_MOUSE_ENABLED_LINUX
// These also cause the screen to redraw so we need to update any OpenGL canvases in QML controls
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkConnected, this, &MainWindow::_linkStateChange);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &MainWindow::_linkStateChange);
// Connect link
if (_autoReconnect)
{
......@@ -445,7 +441,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMessageBox::Yes | QMessageBox::Cancel,
QMessageBox::Cancel);
if (button == QMessageBox::Yes) {
qgcApp()->toolbox()->linkManager()->disconnectAll();
qgcApp()->toolbox()->linkManager()->shutdown();
// The above disconnect causes a flurry of activity as the vehicle components are removed. This in turn
// causes the Windows Version of Qt to crash if you allow the close event to be accepted. In order to prevent
// the crash, we ignore the close event and setup a delayed timer to close the window after things settle down.
......@@ -456,11 +452,17 @@ void MainWindow::closeEvent(QCloseEvent *event)
return;
}
// We still need to shutdown LinkManager even though no active connections so that we don't get any
// more auto-connect links during shutdown.
qgcApp()->toolbox()->linkManager()->shutdown();
// This will process any remaining flight log save dialogs
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
// Should not be any active connections
Q_ASSERT(!qgcApp()->toolbox()->linkManager()->anyConnectedLinks());
if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
qWarning() << "All links should be disconnected by now";
}
// We have to pull out the QmlWidget from the main window and delete it here, before
// the MainWindow ends up getting deleted. Otherwise the Qml has a reference to MainWindow
......@@ -649,11 +651,6 @@ void MainWindow::restoreLastUsedConnection()
}
}
void MainWindow::_linkStateChange(LinkInterface*)
{
emit repaintCanvas();
}
#ifdef QGC_MOUSE_ENABLED_LINUX
bool MainWindow::x11Event(XEvent *event)
{
......
src/ui/MainWindow.h
View file @ aaed8c2d
......@@ -159,8 +159,6 @@ signals:
void initStatusChanged(const QString& message, int alignment, const QColor &color);
/** Emitted when any value changes from any source */
void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec);
/** Emitted when any the Canvas elements within QML wudgets need updating */
void repaintCanvas();
// Used for unit tests to know when the main window closes
void mainWindowClosed(void);
......@@ -213,7 +211,6 @@ protected:
QTimer windowNameUpdateTimer;
private slots:
void _linkStateChange(LinkInterface*);
void _closeWindow(void) { close(); }
void _vehicleAdded(Vehicle* vehicle);
......
src/ui/QGCLinkConfiguration.cc
View file @ aaed8c2d
......@@ -32,6 +32,8 @@ This file is part of the QGROUNDCONTROL project
#include "ui_QGCLinkConfiguration.h"
#include "QGCCommConfiguration.h"
#include "QGCMessageBox.h"
#include "UDPLink.h"
#include "TCPLink.h"
QGCLinkConfiguration::QGCLinkConfiguration(QWidget *parent) :
QWidget(parent),
......@@ -69,14 +71,17 @@ void QGCLinkConfiguration::on_delLinkButton_clicked()
QMessageBox::Cancel);
if (button == QMessageBox::Yes) {
// Get link attached to this configuration (if any)
LinkInterface* iface = config->getLink();
LinkInterface* iface = config->link();
if(iface) {
// Disconnect it (if connected)
qgcApp()->toolbox()->linkManager()->disconnectLink(iface);
qgcApp()->toolbox()->linkManager()->disconnectLink(iface, false /* disconnectAutoconnectLink */);
}
_viewModel->beginChange();
// Remove configuration
qgcApp()->toolbox()->linkManager()->removeLinkConfiguration(config);
QmlObjectListModel* linkConfigurations = qgcApp()->toolbox()->linkManager()->linkConfigurations();
linkConfigurations->removeOne(config);
delete config;
// Save list
qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
_viewModel->endChange();
......@@ -97,11 +102,11 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked()
if(index.row() >= 0) {
LinkConfiguration* config = _viewModel->getConfiguration(index.row());
if(config) {
LinkInterface* link = config->getLink();
LinkInterface* link = config->link();
if(link) {
// Disconnect Link
if (link->isConnected()) {
qgcApp()->toolbox()->linkManager()->disconnectLink(link);
qgcApp()->toolbox()->linkManager()->disconnectLink(link, false /* disconnectAutoconnectLink */);
}
} else {
LinkInterface* link = qgcApp()->toolbox()->linkManager()->createConnectedLink(config);
......@@ -186,7 +191,7 @@ void QGCLinkConfiguration::on_addLinkButton_clicked()
if(config) {
_fixUnnamed(config);
_viewModel->beginChange();
qgcApp()->toolbox()->linkManager()->addLinkConfiguration(commDialog->getConfig());
qgcApp()->toolbox()->linkManager()->linkConfigurations()->append(commDialog->getConfig());
qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
_viewModel->endChange();
}
......@@ -240,7 +245,7 @@ void QGCLinkConfiguration::_updateButtons()
if(config->isDynamic()) {
deleteEnabled = false;
}
LinkInterface* link = config->getLink();
LinkInterface* link = config->link();
if(link) {
_ui->connectLinkButton->setText("Disconnect");
} else {
......@@ -261,16 +266,13 @@ LinkViewModel::LinkViewModel(QObject *parent) : QAbstractListModel(parent)
int LinkViewModel::rowCount( const QModelIndex & parent) const
{
Q_UNUSED(parent);
QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
int count = cfgList.count();
return count;
return qgcApp()->toolbox()->linkManager()->linkConfigurations()->count();
}
QVariant LinkViewModel::data( const QModelIndex & index, int role) const
{
QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
if (role == Qt::DisplayRole && index.row() < cfgList.count()) {
QString name(cfgList.at(index.row())->name());
if (role == Qt::DisplayRole && index.row() < rowCount()) {
QString name(qgcApp()->toolbox()->linkManager()->linkConfigurations()->value<LinkConfiguration*>(index.row())->name());
return name;
}
return QVariant();
......@@ -278,9 +280,8 @@ QVariant LinkViewModel::data( const QModelIndex & index, int role) const
LinkConfiguration* LinkViewModel::getConfiguration(int row)
{
QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
if(row < cfgList.count()) {
return cfgList.at(row);
if(row < rowCount()) {
return qgcApp()->toolbox()->linkManager()->linkConfigurations()->value<LinkConfiguration*>(row);
}
return NULL;
}
......
src/ui/QGCMAVLinkInspector.cc
View file @ aaed8c2d
......@@ -490,7 +490,10 @@ void QGCMAVLinkInspector::changeStreamInterval(int msgid, int interval)
mavlink_message_t msg;
mavlink_msg_request_data_stream_encode(_protocol->getSystemId(), _protocol->getComponentId(), &msg, &stream);
#if 0
// FIXME: Is this really used?
_protocol->sendMessage(msg);
#endif
}
void QGCMAVLinkInspector::rateTreeItemChanged(QTreeWidgetItem* paramItem, int column)
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ aaed8c2d
......@@ -60,7 +60,7 @@ void QGCMAVLinkLogPlayer::_pause(void)
void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
{
// Disallow replay when any links are connected
if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
return;
}
......@@ -188,4 +188,4 @@ void QGCMAVLinkLogPlayer::_replayLinkDisconnected(void)
{
_enablePlaybackControls(false);
_replayLink = NULL;
}
\ No newline at end of file
}
src/ui/preferences/GeneralSettings.qml
View file @ aaed8c2d
......@@ -169,6 +169,34 @@ Rectangle {
}
}
}
//-----------------------------------------------------------------
//-- Autoconnect settings
QGCLabel { text: "Autoconnect to the following devices:" }
QGCCheckBox {
text: "Pixhawk"
checked: QGroundControl.linkManager.autoconnectPixhawk
onClicked: QGroundControl.linkManager.autoconnectPixhawk = checked
}
QGCCheckBox {
text: "3DR Radio"
checked: QGroundControl.linkManager.autoconnect3DRRadio
onClicked: QGroundControl.linkManager.autoconnect3DRRadio = checked
}
QGCCheckBox {
text: "PX4 Flow"
checked: QGroundControl.linkManager.autoconnectPX4Flow
onClicked: QGroundControl.linkManager.autoconnectPX4Flow = checked
}
QGCCheckBox {
text: "UDP"
checked: QGroundControl.linkManager.autoconnectUDP
onClicked: QGroundControl.linkManager.autoconnectUDP = checked
}
}
}
}
src/ui/toolbar/MainToolBar.qml
View file @ aaed8c2d
......@@ -31,6 +31,7 @@ import QtQuick 2.5
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
......@@ -152,7 +153,7 @@ Rectangle {
}
function showMavStatus() {
return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0 && _controller.connectionCount > 0);
return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0);
}
Component.onCompleted: {
......@@ -250,7 +251,7 @@ Rectangle {
Item {
visible: showMavStatus() && !connectionStatus.visible
height: mainWindow.tbCellHeight
width: (toolBar.width - viewRow.width - connectRow.width)
width: (toolBar.width - viewRow.width)
anchors.left: viewRow.right
anchors.leftMargin: mainWindow.tbSpacing * 2
anchors.verticalCenter: parent.verticalCenter
......@@ -273,125 +274,6 @@ Rectangle {
anchors.verticalCenter: parent.verticalCenter
}
Row {
id: connectRow
height: mainWindow.tbCellHeight
spacing: mainWindow.tbSpacing
anchors.rightMargin: mainWindow.tbSpacing
anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter
Menu {
id: connectMenu
Component.onCompleted: {
_controller.configListChanged.connect(connectMenu.updateConnectionList);
connectMenu.updateConnectionList();
}
function addMenuEntry(name) {
var label = "Add Connection"
if(name !== "")
label = name;
var mItem = connectMenu.addItem(label);
var menuSlot = function() {_controller.onConnect(name)};
mItem.triggered.connect(menuSlot);
}
function updateConnectionList() {
connectMenu.clear();
for(var i = 0; i < _controller.configList.length; i++) {
connectMenu.addMenuEntry(_controller.configList[i]);
}
if(_controller.configList.length > 0) {
connectMenu.addSeparator();
}
// Add "Add Connection" to the list
connectMenu.addMenuEntry("");
}
}
Rectangle {
height: mainWindow.tbCellHeight
width: 1
color: Qt.rgba(1,1,1,0.45)
}
QGCToolBarButton {
id: connectButton
width: mainWindow.tbButtonWidth
height: mainWindow.tbCellHeight
visible: _controller.connectionCount === 0
source: "/qmlimages/Connect.svg"
checked: false
onClicked: {
checked = false
connectMenu.popup()
/*
console.log("Main Window Width: " + mainWindow.width)
console.log("Toolbar height: " + toolBar.height)
console.log("Default font: " + ScreenTools.defaultFontPixelSize)
console.log("Font (.75): " + ScreenTools.defaultFontPixelSize * 0.75)
console.log("Font (.85): " + ScreenTools.defaultFontPixelSize * 0.85)
console.log("Font 1.5): " + ScreenTools.defaultFontPixelSize * 1.5)
console.log("Default Font Width: " + ScreenTools.defaultFontPixelWidth)
console.log("Default Font Height: " + ScreenTools.defaultFontPixelHeight)
console.log("--")
console.log("Real Font Height: " + ScreenTools.realFontHeight)
console.log("fontHRatio: " + ScreenTools.fontHRatio)
console.log("--")
console.log("cellHeight: " + cellHeight)
console.log("tbFontSmall: " + tbFontSmall);
console.log("tbFontNormal: " + tbFontNormal);
console.log("tbFontLarge: " + tbFontLarge);
console.log("mainWindow.tbSpacing: " + tbSpacing);
*/
}
}
QGCToolBarButton {
id: disconnectButton
width: mainWindow.tbButtonWidth
height: mainWindow.tbCellHeight
visible: _controller.connectionCount === 1
source: "/qmlimages/Disconnect.svg"
checked: false
onClicked: {
checked = false
_controller.onDisconnect("");
}
}
Menu {
id: disconnectMenu
Component.onCompleted: {
_controller.connectedListChanged.connect(disconnectMenu.onConnectedListChanged)
}
function addMenuEntry(name) {
var mItem = disconnectMenu.addItem(name);
var menuSlot = function() {_controller.onDisconnect(name)};
mItem.triggered.connect(menuSlot);
}
function onConnectedListChanged(conList) {
disconnectMenu.clear();
for(var i = 0; i < conList.length; i++) {
disconnectMenu.addMenuEntry(conList[i]);
}
}
}
QGCToolBarButton {
id: multidisconnectButton
width: mainWindow.tbButtonWidth
height: mainWindow.tbCellHeight
visible: _controller.connectionCount > 1
source: "/qmlimages/Disconnect.svg"
checked: false
onClicked: {
checked = false
disconnectMenu.popup()
}
}
}
// Progress bar
Rectangle {
id: progressBar
......
src/ui/toolbar/MainToolBarController.cc
View file @ aaed8c2d
......@@ -43,24 +43,14 @@ MainToolBarController::MainToolBarController(QObject* parent)
: QObject(parent)
, _vehicle(NULL)
, _mav(NULL)
, _connectionCount(0)
, _progressBarValue(0.0f)
, _remoteRSSI(0)
, _remoteRSSIstore(100.0)
, _telemetryRRSSI(0)
, _telemetryLRSSI(0)
, _rollDownMessages(0)
, _toolbarMessageVisible(false)
{
emit configListChanged();
emit connectionCountChanged(_connectionCount);
_activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
// Link signals
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkConfigurationChanged, this, &MainToolBarController::_updateConfigurations);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkConnected, this, &MainToolBarController::_linkConnected);
connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &MainToolBarController::_linkDisconnected);
// RSSI (didn't like standard connection)
connect(qgcApp()->toolbox()->mavlinkProtocol(),
SIGNAL(radioStatusChanged(LinkInterface*, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned)), this,
......@@ -89,54 +79,6 @@ void MainToolBarController::onFlyView()
MainWindow::instance()->showFlyView();
}
void MainToolBarController::onDisconnect(QString conf)
{
if(conf.isEmpty()) {
// Disconnect Only Connected Link
int connectedCount = 0;
LinkInterface* connectedLink = NULL;
QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
foreach(LinkInterface* link, links) {
if (link->isConnected()) {
connectedCount++;
connectedLink = link;
}
}
Q_ASSERT(connectedCount == 1);
Q_ASSERT(_connectionCount == 1);
Q_ASSERT(connectedLink);
qgcApp()->toolbox()->linkManager()->disconnectLink(connectedLink);
} else {
// Disconnect Named Connected Link
QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
foreach(LinkInterface* link, links) {
if (link->isConnected()) {
if(link->getLinkConfiguration() && link->getLinkConfiguration()->name() == conf) {
qgcApp()->toolbox()->linkManager()->disconnectLink(link);
}
}
}
}
}
void MainToolBarController::onConnect(QString conf)
{
// Connect Link
if(conf.isEmpty()) {
MainWindow::instance()->manageLinks();
} else {
// We don't want the list updating under our feet
qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
// Create a link
LinkInterface* link = qgcApp()->toolbox()->linkManager()->createConnectedLink(conf);
if(link) {
// Save last used connection
MainWindow::instance()->saveLastUsedConnection(conf);
}
qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
}
}
void MainToolBarController::onEnterMessageArea(int x, int y)
{
Q_UNUSED(x);
......@@ -177,7 +119,6 @@ void MainToolBarController::_activeVehicleChanged(Vehicle* vehicle)
{
// Disconnect the previous one (if any)
if (_vehicle) {
disconnect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBarController::_remoteControlRSSIChanged);
disconnect(_vehicle->autopilotPlugin(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
_mav = NULL;
_vehicle = NULL;
......@@ -188,109 +129,21 @@ void MainToolBarController::_activeVehicleChanged(Vehicle* vehicle)
{
_vehicle = vehicle;
_mav = vehicle->uas();
connect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBarController::_remoteControlRSSIChanged);
connect(_vehicle->autopilotPlugin(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
}
}
void MainToolBarController::_updateConfigurations()
{
QStringList tmpList;
QList<LinkConfiguration*> configs = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
foreach(LinkConfiguration* conf, configs) {
if(conf) {
if(conf->isPreferred()) {
tmpList.insert(0,conf->name());
} else {
tmpList << conf->name();
}
}
}
// Any changes?
if(tmpList != _linkConfigurations) {
_linkConfigurations = tmpList;
emit configListChanged();
}
}
void MainToolBarController::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned rssi, unsigned remrssi, unsigned, unsigned, unsigned)
{
// We only care if we haveone single connection
if(_connectionCount == 1) {
if((unsigned)_telemetryLRSSI != rssi) {
// According to the Silabs data sheet, the RSSI value is 0.5db per bit
_telemetryLRSSI = rssi >> 1;
emit telemetryLRSSIChanged(_telemetryLRSSI);
}
if((unsigned)_telemetryRRSSI != remrssi) {
// According to the Silabs data sheet, the RSSI value is 0.5db per bit
_telemetryRRSSI = remrssi >> 1;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
}
}
void MainToolBarController::_remoteControlRSSIChanged(uint8_t rssi)
{
// We only care if we have one single connection
if(_connectionCount == 1) {
// Low pass to git rid of jitter
_remoteRSSIstore = (_remoteRSSIstore * 0.9f) + ((float)rssi * 0.1);
uint8_t filteredRSSI = (uint8_t)ceil(_remoteRSSIstore);
if(_remoteRSSIstore < 0.1) {
filteredRSSI = 0;
}
if(_remoteRSSI != filteredRSSI) {
_remoteRSSI = filteredRSSI;
emit remoteRSSIChanged(_remoteRSSI);
}
}
}
void MainToolBarController::_linkConnected(LinkInterface*)
{
_updateConnection();
}
void MainToolBarController::_linkDisconnected(LinkInterface* link)
{
_updateConnection(link);
}
void MainToolBarController::_updateConnection(LinkInterface *disconnectedLink)
{
QStringList connList;
int oldCount = _connectionCount;
// If there are multiple connected links add/update the connect button menu
_connectionCount = 0;
QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
foreach(LinkInterface* link, links) {
if (disconnectedLink != link && link->isConnected()) {
_connectionCount++;
if(link->getLinkConfiguration()) {
connList << link->getLinkConfiguration()->name();
}
}
}
if(oldCount != _connectionCount) {
emit connectionCountChanged(_connectionCount);
}
if(connList != _connectedList) {
_connectedList = connList;
emit connectedListChanged(_connectedList);
}
// Update telemetry RSSI display
if(_connectionCount != 1 && _telemetryRRSSI > 0) {
_telemetryRRSSI = 0;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
if(_connectionCount != 1 && _telemetryLRSSI > 0) {
_telemetryLRSSI = 0;
if((unsigned)_telemetryLRSSI != rssi) {
// According to the Silabs data sheet, the RSSI value is 0.5db per bit
_telemetryLRSSI = rssi >> 1;
emit telemetryLRSSIChanged(_telemetryLRSSI);
}
if(_connectionCount != 1 && _remoteRSSI > 0) {
_remoteRSSI = 0;
emit remoteRSSIChanged(_remoteRSSI);
if((unsigned)_telemetryRRSSI != remrssi) {
// According to the Silabs data sheet, the RSSI value is 0.5db per bit
_telemetryRRSSI = remrssi >> 1;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
}
......@@ -344,3 +197,8 @@ void MainToolBarController::showSettings(void)
{
MainWindow::instance()->showSettings();
}
void MainToolBarController::manageLinks(void)
{
MainWindow::instance()->manageLinks();
}
src/ui/toolbar/MainToolBarController.h
View file @ aaed8c2d
......@@ -53,35 +53,24 @@ public:
Q_INVOKABLE void onSetupView();
Q_INVOKABLE void onPlanView();
Q_INVOKABLE void onFlyView();
Q_INVOKABLE void onConnect(QString conf);
Q_INVOKABLE void onDisconnect(QString conf);
Q_INVOKABLE void onEnterMessageArea(int x, int y);
Q_INVOKABLE void onToolBarMessageClosed(void);
Q_INVOKABLE void showSettings(void);
Q_INVOKABLE void manageLinks(void);
Q_PROPERTY(double height MEMBER _toolbarHeight NOTIFY heightChanged)
Q_PROPERTY(QStringList configList MEMBER _linkConfigurations NOTIFY configListChanged)
Q_PROPERTY(int connectionCount READ connectionCount NOTIFY connectionCountChanged)
Q_PROPERTY(QStringList connectedList MEMBER _connectedList NOTIFY connectedListChanged)
Q_PROPERTY(float progressBarValue MEMBER _progressBarValue NOTIFY progressBarValueChanged)
Q_PROPERTY(int remoteRSSI READ remoteRSSI NOTIFY remoteRSSIChanged)
Q_PROPERTY(int telemetryRRSSI READ telemetryRRSSI NOTIFY telemetryRRSSIChanged)
Q_PROPERTY(int telemetryLRSSI READ telemetryLRSSI NOTIFY telemetryLRSSIChanged)
void viewStateChanged (const QString& key, bool value);
int remoteRSSI () { return _remoteRSSI; }
int telemetryRRSSI () { return _telemetryRRSSI; }
int telemetryLRSSI () { return _telemetryLRSSI; }
int connectionCount () { return _connectionCount; }
void showToolBarMessage(const QString& message);
signals:
void connectionCountChanged (int count);
void configListChanged ();
void connectedListChanged (QStringList connectedList);
void progressBarValueChanged (float value);
void remoteRSSIChanged (int value);
void telemetryRRSSIChanged (int value);
void telemetryLRSSIChanged (int value);
void heightChanged (double height);
......@@ -91,26 +80,15 @@ signals:
private slots:
void _activeVehicleChanged (Vehicle* vehicle);
void _updateConfigurations ();
void _linkConnected (LinkInterface* link);
void _linkDisconnected (LinkInterface* link);
void _leaveMessageView ();
void _setProgressBarValue (float value);
void _remoteControlRSSIChanged (uint8_t rssi);
void _telemetryChanged (LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi, unsigned txbuf, unsigned noise, unsigned remnoise);
void _delayedShowToolBarMessage (void);
private:
void _updateConnection (LinkInterface *disconnectedLink = NULL);
private:
Vehicle* _vehicle;
UASInterface* _mav;
QStringList _linkConfigurations;
int _connectionCount;
QStringList _connectedList;
float _progressBarValue;
int _remoteRSSI;
double _remoteRSSIstore;
int _telemetryRRSSI;
int _telemetryLRSSI;
......
src/ui/toolbar/MainToolBarIndicators.qml
View file @ aaed8c2d
......@@ -219,12 +219,12 @@ Row {
smooth: true
width: mainWindow.tbCellHeight * 0.65
height: mainWindow.tbCellHeight * 0.5
opacity: _controller.remoteRSSI < 1 ? 0.5 : 1
opacity: activeVehicle.rcRSSI < 1 ? 0.5 : 1
anchors.verticalCenter: parent.verticalCenter
}
SignalStrength {
size: mainWindow.tbCellHeight * 0.5
percent: _controller.remoteRSSI
percent: activeVehicle.rcRSSI
anchors.verticalCenter: parent.verticalCenter
}
}
......@@ -284,10 +284,11 @@ Row {
//-------------------------------------------------------------------------
//-- Vehicle Selector
QGCButton {
width: ScreenTools.defaultFontPixelSize * 12
height: mainWindow.tbButtonWidth
text: "Vehicle " + activeVehicle.id
visible: vehicleMenuItems.length > 0
id: vehicleSelectorButton
width: ScreenTools.defaultFontPixelSize * 12
height: mainWindow.tbButtonWidth
text: "Vehicle " + activeVehicle.id
visible: QGroundControl.multiVehicleManager.vehicles.count > 1
anchors.verticalCenter: parent.verticalCenter
menu: vehicleMenu
......@@ -331,7 +332,7 @@ Row {
Connections {
target: multiVehicleManager.vehicles
onCountChanged: parent.updateVehicleMenu
onCountChanged: vehicleSelectorButton.updateVehicleMenu
}
}
......
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