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qgroundcontrol
Commit aafc4330 authored by LM's avatar LM
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Minor cleanups in various places

parent 4d41cb20
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Showing with 210 additions and 80 deletions
qgroundcontrol.pri
View file @ aafc4330
......@@ -42,8 +42,8 @@ macx|macx-g++42|macx-g++: {
# COMPILER_VERSION = $$system(gcc -v)
#message(Using compiler $$COMPILER_VERSION)
CONFIG += x86 cocoa phonon
CONFIG -= x86_64
CONFIG += x86_64 cocoa phonon
CONFIG -= x86
#HARDWARE_PLATFORM = $$system(uname -a)
#contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
......@@ -94,7 +94,7 @@ macx|macx-g++42|macx-g++: {
QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy libraries
QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/qgroundcontrol.app/Contents/libs
QMAKE_POST_LINK += && cp -rf $$BASEDIR/lib/mac32/lib/* $$TARGETDIR/qgroundcontrol.app/Contents/libs
QMAKE_POST_LINK += && cp -rf $$BASEDIR/lib/mac64/lib/* $$TARGETDIR/qgroundcontrol.app/Contents/libs
# Fix library paths inside executable
QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
......@@ -164,11 +164,11 @@ macx|macx-g++42|macx-g++: {
# Include OpenSceneGraph libraries
INCLUDEPATH += -framework GLUT \
-framework Cocoa \
$$BASEDIR/lib/mac32/include
$$BASEDIR/lib/mac64/include
LIBS += -framework GLUT \
-framework Cocoa \
-L$$BASEDIR/lib/mac32/lib \
-L$$BASEDIR/lib/mac64/lib \
-lOpenThreads \
-losg \
-losgViewer \
......@@ -178,6 +178,18 @@ macx|macx-g++42|macx-g++: {
-losgWidget
#}
exists(/usr/local/include/google/protobuf) {
message("Building support for Protocol Buffers")
DEPENDENCIES_PRESENT += protobuf
# Include Protocol Buffers libraries
LIBS += -L/usr/local/lib \
-lprotobuf \
-lprotobuf-lite \
-lprotoc
DEFINES += QGC_PROTOBUF_ENABLED
}
exists(/opt/local/include/libfreenect)|exists(/usr/local/include/libfreenect) {
message("Building support for libfreenect")
DEPENDENCIES_PRESENT += libfreenect
......
src/input/JoystickInput.cc
View file @ aafc4330
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
......@@ -44,17 +24,17 @@ This file is part of the PIXHAWK project
* @image html http://pixhawk.ethz.ch/wiki/_media/standards/body-frame.png Aeronautical frame
*/
JoystickInput::JoystickInput() :
sdlJoystickMin(-32768.0f),
sdlJoystickMax(32767.0f),
defaultIndex(0),
uas(NULL),
uasButtonList(QList<int>()),
done(false),
thrustAxis(2),
xAxis(0),
yAxis(1),
yawAxis(3),
joystickName(tr("Unitinialized"))
sdlJoystickMin(-32768.0f),
sdlJoystickMax(32767.0f),
defaultIndex(0),
uas(NULL),
uasButtonList(QList<int>()),
done(false),
thrustAxis(2),
xAxis(0),
yAxis(1),
yawAxis(3),
joystickName(tr("Unitinialized"))
{
for (int i = 0; i < 10; i++) {
calibrationPositive[i] = sdlJoystickMax;
......@@ -69,12 +49,12 @@ JoystickInput::JoystickInput() :
JoystickInput::~JoystickInput()
{
{
QMutexLocker locker(&this->m_doneMutex);
done = true;
}
this->wait();
this->deleteLater();
done = true;
while (done)
{
QGC::SLEEP::usleep(5000);
}
this->deleteLater();
}
......@@ -82,9 +62,11 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
{
// Only connect / disconnect is the UAS is of a controllable UAS class
UAS* tmp = 0;
if (this->uas) {
if (this->uas)
{
tmp = dynamic_cast<UAS*>(this->uas);
if(tmp) {
if(tmp)
{
disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
disconnect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
}
......@@ -97,7 +79,8 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
connect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
}
if (!isRunning()) {
if (!isRunning())
{
start();
}
}
......@@ -113,17 +96,20 @@ void JoystickInput::init()
int numJoysticks = SDL_NumJoysticks();
// Wait for joysticks if none is connected
while (numJoysticks == 0) {
MG::SLEEP::msleep(200);
while (numJoysticks == 0)
{
MG::SLEEP::msleep(800);
// INITIALIZE SDL Joystick support
if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0)
{
printf("Couldn't initialize SimpleDirectMediaLayer: %s\n", SDL_GetError());
}
numJoysticks = SDL_NumJoysticks();
}
printf("%d Input devices found:\n", numJoysticks);
for(int i=0; i < SDL_NumJoysticks(); i++ ) {
for(int i=0; i < SDL_NumJoysticks(); i++ )
{
printf("\t- %s\n", SDL_JoystickName(i));
joystickName = QString(SDL_JoystickName(i));
}
......@@ -147,16 +133,14 @@ void JoystickInput::run()
init();
forever
{
{
QMutexLocker locker(&this->m_doneMutex);
if(done)
{
done = false;
break;
}
}
while(SDL_PollEvent(&event)) {
{
if (done)
{
done = false;
exit();
}
while(SDL_PollEvent(&event))
{
SDL_JoystickUpdate();
......@@ -197,7 +181,8 @@ void JoystickInput::run()
}
// Display all axes
for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++) {
for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++)
{
//qDebug() << "\rAXIS" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
}
......@@ -268,15 +253,19 @@ void JoystickInput::run()
// Display all buttons
for(int i = 0; i < SDL_JoystickNumButtons(joystick); i++) {
for(int i = 0; i < SDL_JoystickNumButtons(joystick); i++)
{
//qDebug() << "BUTTON" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
if(SDL_JoystickGetButton(joystick, i)) {
if(SDL_JoystickGetButton(joystick, i))
{
emit buttonPressed(i);
// Check if button is a UAS select button
if (uasButtonList.contains(i)) {
if (uasButtonList.contains(i))
{
UASInterface* uas = UASManager::instance()->getUASForId(i);
if (uas) {
if (uas)
{
UASManager::instance()->setActiveUAS(uas);
}
}
......
src/uas/UAS.cc
View file @ aafc4330
......@@ -185,6 +185,38 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
}
if (!components.contains(message.compid))
{
QString componentName;
switch (message.compid)
{
case MAV_COMP_ID_ALL:
{
componentName = "ANONYMOUS";
break;
}
case MAV_COMP_ID_IMU:
{
componentName = "IMU #1";
break;
}
case MAV_COMP_ID_CAMERA:
{
componentName = "CAMERA";
break;
}
case MAV_COMP_ID_MISSIONPLANNER:
{
componentName = "MISSIONPLANNER";
break;
}
}
components.insert(message.compid, componentName);
emit componentCreated(uasId, message.compid, componentName);
}
// qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
// Only accept messages from this system (condition 1)
......@@ -2261,15 +2293,17 @@ void UAS::removeLink(QObject* object)
}
}
/**
* @brief Get the links associated with this robot
*
**/
QList<LinkInterface*>* UAS::getLinks()
{
return links;
}
QMap<int, QString> UAS::getComponents()
{
return components;
}
void UAS::setBattery(BatteryType type, int cells)
......
src/uas/UAS.h
View file @ aafc4330
......@@ -81,6 +81,9 @@ public:
int getAirframe() const {
return airframe;
}
/** @brief Get the components */
QMap<int, QString> getComponents();
/** @brief The time interval the robot is switched on */
quint64 getUptime() const;
/** @brief Get the status flag for the communication */
......@@ -90,13 +93,16 @@ public:
/** @brief Get the links associated with this robot */
QList<LinkInterface*>* getLinks();
double getLocalX() const {
double getLocalX() const
{
return localX;
}
double getLocalY() const {
double getLocalY() const
{
return localY;
}
double getLocalZ() const {
double getLocalZ() const
{
return localZ;
}
double getLatitude() const {
......@@ -160,6 +166,7 @@ protected: //COMMENTS FOR TEST UNIT
QList<double> motorValues;
QList<QString> motorNames;
QMap<int, QString> components; ///< IDs and names of all detected onboard components
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators, in Newtons
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
......
src/uas/UASInterface.h
View file @ aafc4330
......@@ -198,9 +198,12 @@ public:
/** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
virtual int getAutopilotType() = 0;
virtual QString getAutopilotTypeName() = 0;
virtual void setAutopilotType(int apType)= 0;
virtual void setAutopilotType(int apType) = 0;
QColor getColor() {
virtual QMap<int, QString> getComponents() = 0;
QColor getColor()
{
return color;
}
......@@ -315,8 +318,10 @@ protected:
QColor color;
signals:
/** @brief The robot state has changed **/
/** @brief The robot state has changed */
void statusChanged(int stateFlag);
/** @brief A new component was detected or created */
void componentCreated(int uas, int component, const QString& name);
/** @brief The robot state has changed
*
* @param uas this robot
......
src/uas/UASManager.cc
View file @ aafc4330
......@@ -258,13 +258,15 @@ void UASManager::addUAS(UASInterface* uas)
// returns the UAS once the UASCreated() signal
// is emitted. The code is thus NOT redundant.
bool firstUAS = false;
if (activeUAS == NULL) {
if (activeUAS == NULL)
{
firstUAS = true;
activeUAS = uas;
}
// Only execute if there is no UAS at this index
if (!systems.contains(uas)) {
if (!systems.contains(uas))
{
systems.append(uas);
connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
// Set home position on UAV if set in UI
......@@ -275,7 +277,8 @@ void UASManager::addUAS(UASInterface* uas)
}
// If there is no active UAS yet, set the first one as the active UAS
if (firstUAS) {
if (firstUAS)
{
setActiveUAS(uas);
}
}
......
src/ui/QGCMAVLinkInspector.cc
View file @ aafc4330
......@@ -2,6 +2,7 @@
#include "QGCMAVLink.h"
#include "QGCMAVLinkInspector.h"
#include "UASManager.h"
#include "ui_QGCMAVLinkInspector.h"
#include <QDebug>
......@@ -11,12 +12,15 @@ const unsigned int QGCMAVLinkInspector::updateInterval = 1000U;
QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) :
QWidget(parent),
selectedSystemID(0),
selectedComponentID(0),
ui(new Ui::QGCMAVLinkInspector)
{
ui->setupUi(this);
/* Insert system */
ui->systemComboBox->addItem(tr("All Systems"), -1);
ui->systemComboBox->addItem(tr("All Systems"), 0);
ui->componentComboBox->addItem(tr("All Components"), 0);
mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
......@@ -29,9 +33,62 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *par
header << tr("Type");
ui->treeWidget->setHeaderLabels(header);
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(refreshView()));
// ARM UI
connect(ui->systemComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectDropDownMenuSystem(int)));
connect(ui->componentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectDropDownMenuComponent(int)));
// ARM external connections
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addSystem(UASInterface*)));
// Start
updateTimer.start(updateInterval);
}
void QGCMAVLinkInspector::addSystem(UASInterface* uas)
{
ui->systemComboBox->addItem(uas->getUASName(), uas->getUASID());
}
void QGCMAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
{
selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
rebuildComponentList();
}
void QGCMAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
{
selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
}
void QGCMAVLinkInspector::rebuildComponentList()
{
ui->componentComboBox->clear();
// Fill
UASInterface* uas = UASManager::instance()->getUASForId(selectedSystemID);
if (uas)
{
QMap<int, QString> components = uas->getComponents();
foreach (int id, components.keys())
{
QString name = components.value(id);
ui->componentComboBox->addItem(name, id);
}
}
}
void QGCMAVLinkInspector::addComponent(int uas, int component, const QString& name)
{
Q_UNUSED(component);
Q_UNUSED(name);
if (uas != selectedSystemID) return;
rebuildComponentList();
}
void QGCMAVLinkInspector::refreshView()
{
for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages)
......@@ -76,6 +133,8 @@ void QGCMAVLinkInspector::refreshView()
void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t message)
{
Q_UNUSED(link);
if (selectedSystemID != 0 && selectedSystemID != message.sysid) return;
if (selectedComponentID != 0 && selectedComponentID != message.compid) return;
// Only overwrite if system filter is set
memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
......
src/ui/QGCMAVLinkInspector.h
View file @ aafc4330
......@@ -12,6 +12,7 @@ namespace Ui {
}
class QTreeWidgetItem;
class UASInterface;
class QGCMAVLinkInspector : public QWidget
{
......@@ -24,8 +25,16 @@ public:
public slots:
void receiveMessage(LinkInterface* link,mavlink_message_t message);
void refreshView();
void addSystem(UASInterface* uas);
void addComponent(int uas, int component, const QString& name);
/** @Brief Select a system through the drop down menu */
void selectDropDownMenuSystem(int dropdownid);
/** @Brief Select a component through the drop down menu */
void selectDropDownMenuComponent(int dropdownid);
protected:
int selectedSystemID; ///< Currently selected system
int selectedComponentID; ///< Currently selected component
QMap<int, quint64> lastMessageUpdate; ///< Used to switch between highlight and non-highlighting color
QMap<int, float> messagesHz; ///< Used to store update rate in Hz
QMap<int, unsigned int> messageCount; ///< Used to store the message count
......@@ -36,6 +45,8 @@ protected:
// Update one message field
void updateField(int msgid, int fieldid, QTreeWidgetItem* item);
/** @brief Rebuild the list of components */
void rebuildComponentList();
static const unsigned int updateInterval;
static const float updateHzLowpass;
......
src/ui/QGCMAVLinkInspector.ui
View file @ aafc4330
......@@ -17,7 +17,7 @@
<property name="margin">
<number>6</number>
</property>
<item row="1" column="0" colspan="2">
<item row="2" column="0" colspan="2">
<widget class="QTreeWidget" name="treeWidget">
<column>
<property name="text">
......@@ -29,13 +29,23 @@
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>System Filter</string>
<string>System</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="systemComboBox"/>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="componentComboBox"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Component</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
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