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qgroundcontrol
Commit ab7869ce authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of git@github.com:pixhawk/qgroundcontrol into mergeRemote

parents 1059752a cf1558b0
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Showing with 665 additions and 213 deletions
qgroundcontrol.pro
View file @ ab7869ce
......@@ -249,7 +249,8 @@ HEADERS += src/MG.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPIDControl.h \
src/ui/SlugsVideoCamControl.h \
src/ui/SlugsPadCameraControl.h
src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
......@@ -359,7 +360,8 @@ SOURCES += src/main.cc \
src/ui/SlugsHilSim.cc \
src/ui/SlugsPIDControl.cpp \
src/ui/SlugsVideoCamControl.cpp \
src/ui/SlugsPadCameraControl.cpp
src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
......
src/Core.cc
View file @ ab7869ce
......@@ -157,6 +157,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
**/
Core::~Core()
{
//mainWindow->storeSettings();
mainWindow->hide();
mainWindow->deleteLater();
// Delete singletons
delete LinkManager::instance();
delete UASManager::instance();
......
src/QGC.h
View file @ ab7869ce
......@@ -14,6 +14,9 @@ namespace QGC
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
const QString APPNAME = "QGROUNDCONTROL";
const QString COMPANYNAME = "OPENMAV";
}
#endif // QGC_H
src/comm/LinkManager.cc
View file @ ab7869ce
......@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include <QList>
#include <QApplication>
#include "LinkManager.h"
#include <iostream>
#include <QDebug>
......@@ -65,6 +66,7 @@ LinkManager::~LinkManager()
void LinkManager::add(LinkInterface* link)
{
if(!link) return;
links.append(link);
emit newLink(link);
}
......@@ -73,6 +75,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
{
// Connect link to protocol
// the protocol will receive new bytes from the link
if(!link || !protocol) return;
connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
// Store the connection information in the protocol links map
protocolLinks.insertMulti(protocol, link);
......@@ -91,7 +94,8 @@ bool LinkManager::connectAll()
foreach (LinkInterface* link, links)
{
if(! link->connect()) allConnected = false;
if(!link) {}
else if(!link->connect()) allConnected = false;
}
return allConnected;
......@@ -103,7 +107,9 @@ bool LinkManager::disconnectAll()
foreach (LinkInterface* link, links)
{
if(! link->disconnect()) allDisconnected = false;
//static int i=0;
if(!link){}
else if(!link->disconnect()) allDisconnected = false;
}
return allDisconnected;
......@@ -111,14 +117,32 @@ bool LinkManager::disconnectAll()
bool LinkManager::connectLink(LinkInterface* link)
{
if(!link) return false;
return link->connect();
}
bool LinkManager::disconnectLink(LinkInterface* link)
{
if(!link) return false;
return link->disconnect();
}
bool LinkManager::removeLink(LinkInterface* link)
{
if(link)
{
for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
{
if(link==links.at(i))
{
links.removeAt(i); //remove from link list
}
}
return true;
}
return false;
}
/**
* The access time is linear in the number of links.
*
......
src/comm/LinkManager.h
View file @ ab7869ce
......@@ -67,6 +67,8 @@ public slots:
void add(LinkInterface* link);
void addProtocol(LinkInterface* link, ProtocolInterface* protocol);
bool removeLink(LinkInterface* link);
bool connectAll();
bool connectLink(LinkInterface* link);
......
src/comm/MAVLinkSimulationLink.cc
View file @ ab7869ce
......@@ -559,16 +559,17 @@ void MAVLinkSimulationLink::mainloop()
// Send controller states
// uint8_t attControl = 1;
// uint8_t posXYControl = 1;
// uint8_t posZControl = 0;
// uint8_t posYawControl = 1;
// uint8_t gpsLock = 2;
// uint8_t visLock = 3;
//uint8_t posLock = qMax(gpsLock, visLock);
#ifdef MAVLINK_ENABLED_PIXHAWK
uint8_t attControl = 1;
uint8_t posXYControl = 1;
uint8_t posZControl = 0;
uint8_t posYawControl = 1;
uint8_t gpsLock = 2;
uint8_t visLock = 3;
uint8_t posLock = qMax(gpsLock, visLock);
messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
#endif
......
src/comm/SerialLink.cc
View file @ ab7869ce
......@@ -30,10 +30,13 @@ This file is part of the QGROUNDCONTROL project
#include <QTimer>
#include <QDebug>
#include <QSettings>
#include <QMutexLocker>
#include "SerialLink.h"
#include "LinkManager.h"
#include "QGC.h"
#include <MG.h>
#include <iostream>
#ifdef _WIN32
#include "windows.h"
#endif
......@@ -54,12 +57,41 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
#endif
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
this->baudrate = baudrate;
this->flow = flow;
this->parity = parity;
this->dataBits = dataBits;
this->stopBits = stopBits;
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
// Load defaults from settings
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
settings.sync();
if (settings.contains("SERIALLINK_COMM_PORT"))
{
this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
}
// *nix (Linux, MacOS tested) serial port support
port = new QextSerialPort(porthandle, QextSerialPort::Polling);
//port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
if (settings.contains("SERIALLINK_COMM_PORT"))
{
setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
}
else
{
this->baudrate = baudrate;
this->flow = flow;
this->parity = parity;
this->dataBits = dataBits;
this->stopBits = stopBits;
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
}
port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
port->setBaudRate(baudrate);
port->setFlowControl(flow);
port->setParity(parity);
port->setDataBits(dataBits);
port->setStopBits(stopBits);
// Set the port name
if (porthandle == "")
......@@ -88,15 +120,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
//some other error occurred. Inform user.
}
#else
// *nix (Linux, MacOS tested) serial port support
port = new QextSerialPort(porthandle, QextSerialPort::Polling);
//port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
port->setBaudRate(baudrate);
port->setFlowControl(flow);
port->setParity(parity);
port->setDataBits(dataBits);
port->setStopBits(stopBits);
#endif
// Link is setup, register it with link manager
......@@ -106,7 +130,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
SerialLink::~SerialLink()
{
disconnect();
delete port;
if(port) delete port;
port = NULL;
}
......@@ -239,6 +263,8 @@ bool SerialLink::disconnect()
port->close();
dataMutex.unlock();
if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
bool closed = true;
//port->isOpen();
......@@ -298,6 +324,15 @@ bool SerialLink::hardwareConnect()
if(connectionUp) {
emit connected();
emit connected(true);
// Store settings
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
settings.setValue("SERIALLINK_COMM_BAUD", getBaudRate());
settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
settings.sync();
}
return connectionUp;
......@@ -311,7 +346,14 @@ bool SerialLink::hardwareConnect()
**/
bool SerialLink::isConnected()
{
return port->isOpen();
if (port)
{
return port->isOpen();
}
else
{
return false;
}
}
int SerialLink::getId()
......@@ -516,7 +558,7 @@ bool SerialLink::setPortName(QString portName)
this->porthandle = "\\\\.\\" + this->porthandle;
}
#endif
delete port;
if(port) delete port;
port = new QextSerialPort(porthandle, QextSerialPort::Polling);
port->setBaudRate(baudrate);
......@@ -707,9 +749,16 @@ bool SerialLink::setBaudRate(int rate)
break;
}
port->setBaudRate(this->baudrate);
if(reconnect) connect();
return accepted;
if (port)
{
port->setBaudRate(this->baudrate);
if(reconnect) connect();
return accepted;
}
else
{
return false;
}
}
bool SerialLink::setFlowType(int flow)
......
src/input/Freenect.cc
View file @ ab7869ce
......@@ -341,7 +341,7 @@ Freenect::readConfigFile(void)
settings.value("transform/R33").toDouble(),
settings.value("transform/Tz").toDouble(),
0.0, 0.0, 0.0, 1.0);
transformMatrix = transformMatrix.transposed();
transformMatrix = transformMatrix.inverted();
baseline = settings.value("transform/baseline").toDouble();
disparityOffset = settings.value("transform/disparity_offset").toDouble();
......
src/uas/PxQuadMAV.cc
View file @ ab7869ce
......@@ -41,12 +41,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
// mavlink_message_t* msg = &message;
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
// Only compile this portion if matching MAVLink packets have been compiled
#ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t* msg = &message;
if (message.sysid == uasId)
{
......
src/uas/UAS.cc
View file @ ab7869ce
......@@ -95,6 +95,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
UAS::~UAS()
{
delete links;
links=NULL;
}
int UAS::getUASID() const
......@@ -126,6 +127,7 @@ void UAS::setSelected()
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
if (!link) return;
if (!links->contains(link))
{
addLink(link);
......@@ -371,11 +373,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
// Send to patch antenna
mavlink_message_t msg;
mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
sendMessage(msg);
}
break;
case MAVLINK_MSG_ID_GPS_RAW:
......@@ -839,6 +836,7 @@ void UAS::sendMessage(mavlink_message_t message)
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
if(!link) return;
// Create buffer
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// Write message into buffer, prepending start sign
......
src/uas/UASManager.cc
View file @ ab7869ce
......@@ -85,6 +85,11 @@ void UASManager::addUAS(UASInterface* uas)
}
}
QList<UASInterface*> UASManager::getUASList()
{
return systems.values();
}
UASInterface* UASManager::getActiveUAS()
{
if(!activeUAS)
......
src/uas/UASManager.h
View file @ ab7869ce
......@@ -69,6 +69,8 @@ public:
**/
UASInterface* getUASForId(int id);
QList<UASInterface*> getUASList();
public slots:
......
src/ui/CommConfigurationWindow.cc
View file @ ab7869ce
......@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project
#endif
#include "MAVLinkProtocol.h"
#include "MAVLinkSettingsWidget.h"
#include "LinkManager.h"
CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags)
{
......@@ -58,6 +59,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
// add link types
ui.linkType->addItem("Serial",QGC_LINK_SERIAL);
ui.linkType->addItem("UDP",QGC_LINK_UDP);
ui.linkType->addItem("Simulation",QGC_LINK_SIMULATION);
ui.linkType->addItem("Serial Forwarding",QGC_LINK_FORWARDING);
ui.connectionType->addItem("MAVLink", QGC_PROTOCOL_MAVLINK);
// Create action to open this menu
// Create configuration action for this link
......@@ -195,11 +200,20 @@ void CommConfigurationWindow::setLinkName(QString name)
void CommConfigurationWindow::remove()
{
link->disconnect();
//delete link;
//delete action;
if(action) delete action; //delete action first since it has a pointer to link
action=NULL;
if(link)
{
LinkManager::instance()->removeLink(link); //remove link from LinkManager list
link->disconnect(); //disconnect port, and also calls terminate() to stop the thread
if (link->isRunning()) link->terminate(); // terminate() the serial thread just in case it is still running
link->wait(); // wait() until thread is stoped before deleting
delete link;
}
link=NULL;
this->window()->close();
qDebug() << "TODO: Link cannot be deleted: CommConfigurationWindow::remove() NOT IMPLEMENTED!";
}
void CommConfigurationWindow::connectionState(bool connect)
......
src/ui/CommConfigurationWindow.h
View file @ ab7869ce
......@@ -42,7 +42,14 @@ This file is part of the QGROUNDCONTROL project
enum qgc_link_t
{
QGC_LINK_SERIAL,
QGC_LINK_UDP
QGC_LINK_UDP,
QGC_LINK_SIMULATION,
QGC_LINK_FORWARDING
};
enum qgc_protocol_t
{
QGC_PROTOCOL_MAVLINK
};
#ifdef OPAL_RT
......
src/ui/CommSettings.ui
View file @ ab7869ce
......@@ -43,23 +43,7 @@
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="linkType">
<item>
<property name="text">
<string>Serial Link</string>
</property>
</item>
<item>
<property name="text">
<string>UDP</string>
</property>
</item>
<item>
<property name="text">
<string>Simulation</string>
</property>
</item>
</widget>
<widget class="QComboBox" name="linkType"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
......@@ -71,13 +55,8 @@
<item row="1" column="1">
<widget class="QComboBox" name="connectionType">
<property name="currentIndex">
<number>0</number>
<number>-1</number>
</property>
<item>
<property name="text">
<string>MAVLink</string>
</property>
</item>
</widget>
</item>
</layout>
......
src/ui/HUD.cc
View file @ ab7869ce
......@@ -165,6 +165,19 @@ HUD::~HUD()
}
void HUD::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
if (isVisible())
{
refreshTimer->start();
}
else
{
refreshTimer->stop();
}
}
void HUD::start()
{
refreshTimer->start();
......
src/ui/HUD.h
View file @ ab7869ce
......@@ -123,6 +123,8 @@ protected:
float refLineWidthToPen(float line);
/** @brief Rotate a polygon around a point clockwise */
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
QImage* image; ///< Double buffer image
QImage glImage; ///< The background / camera image
......
src/ui/MainWindow.cc
View file @ ab7869ce
......@@ -16,6 +16,7 @@
#include <QHostInfo>
#include "MG.h"
#include "QGC.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
......@@ -82,6 +83,33 @@ MainWindow::MainWindow(QWidget *parent):
// Adjust the size
adjustSize();
// Load previous widget setup
// FIXME WORK IN PROGRESS
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
if (dockwidgets.size())
{
settings.beginGroup("mainwindow/dockwidgets");
for (int i = 0; i < dockwidgets.size(); ++i)
{
QDockWidget *dockWidget = dockwidgets.at(i);
if (dockWidget->parentWidget() == this)
{
if (settings.contains(dockWidget->windowTitle()))
{
dockWidget->setVisible(settings.value(dockWidget->windowTitle(), dockWidget->isVisible()).toBool());
}
}
}
settings.endGroup();
}
this->show();
}
MainWindow::~MainWindow()
......@@ -127,6 +155,110 @@ void MainWindow::buildCommonWidgets()
}
//=======
//void MainWindow::storeSettings()
//{
// QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
// QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
// if (dockwidgets.size())
// {
// settings.beginGroup("mainwindow/dockwidgets");
// for (int i = 0; i < dockwidgets.size(); ++i)
// {
// QDockWidget *dockWidget = dockwidgets.at(i);
// if (dockWidget->parentWidget() == this)
// {
// settings.setValue(dockWidget->windowTitle(), QVariant(dockWidget->isVisible()));
// }
// }
// settings.endGroup();
// }
// settings.sync();
//}
//QMenu* MainWindow::createCenterWidgetMenu()
//{
// QMenu* menu = NULL;
// QStackedWidget* centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
// if (centerStack)
// {
// if (centerStack->count() > 0)
// {
// menu = new QMenu(this);
// for (int i = 0; i < centerStack->count(); ++i)
// {
// //menu->addAction(centerStack->widget(i)->actions())
// }
// }
// }
// return menu;
//}
//QMenu* MainWindow::createDockWidgetMenu()
//{
// QMenu *menu = 0;
//#ifndef QT_NO_DOCKWIDGET
// QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
// if (dockwidgets.size())
// {
// menu = new QMenu(this);
// for (int i = 0; i < dockwidgets.size(); ++i)
// {
// QDockWidget *dockWidget = dockwidgets.at(i);
// if (dockWidget->parentWidget() == this)
// {
// menu->addAction(dockwidgets.at(i)->toggleViewAction());
// }
// }
// menu->addSeparator();
// }
//#endif
// return menu;
//}
////QList<QWidget* >* MainWindow::getMainWidgets()
////{
////}
////QMenu* QMainWindow::getDockWidgetMenu()
////{
//// Q_D(QMainWindow);
//// QMenu *menu = 0;
////#ifndef QT_NO_DOCKWIDGET
//// QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
//// if (dockwidgets.size()) {
//// menu = new QMenu(this);
//// for (int i = 0; i < dockwidgets.size(); ++i) {
//// QDockWidget *dockWidget = dockwidgets.at(i);
//// if (dockWidget->parentWidget() == this
//// && d->layout->contains(dockWidget)) {
//// menu->addAction(dockwidgets.at(i)->toggleViewAction());
//// }
//// }
//// menu->addSeparator();
//// }
////#endif // QT_NO_DOCKWIDGET
////#ifndef QT_NO_TOOLBAR
//// QList<QToolBar *> toolbars = qFindChildren<QToolBar *>(this);
//// if (toolbars.size()) {
//// if (!menu)
//// menu = new QMenu(this);
//// for (int i = 0; i < toolbars.size(); ++i) {
//// QToolBar *toolBar = toolbars.at(i);
//// if (toolBar->parentWidget() == this
//// && d->layout->contains(toolBar)) {
//// menu->addAction(toolbars.at(i)->toggleViewAction());
//// }
//// }
//// }
////#endif
//// Q_UNUSED(d);
//// return menu;
////}
//>>>>>>> master
void MainWindow::buildPxWidgets()
{
//FIXME: memory of acceptList will never be freed again
......@@ -172,6 +304,7 @@ void MainWindow::buildPxWidgets()
#endif
// Dock widgets
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
......@@ -189,9 +322,53 @@ void MainWindow::buildPxWidgets()
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
//=======
// controlDockWidget = new QDockWidget(tr("Control"), this);
// controlDockWidget->setWidget( new UASControlWidget(this) );
// addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
// controlDockWidget->hide();
// infoDockWidget = new QDockWidget(tr("Status Details"), this);
// infoDockWidget->setWidget( new UASInfoWidget(this) );
// addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
// //infoDockWidget->hide();
// listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
// listDockWidget->setWidget( new UASListWidget(this) );
// addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
// listDockWidget->hide();
// waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
// waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
// addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
// waypointsDockWidget->hide();
// detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
// detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
// addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
// detectionDockWidget->hide();
// debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
// debugConsoleDockWidget->setWidget( new DebugConsole(this) );
// addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
// parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
// parametersDockWidget->setWidget( new ParameterInterface(this) );
// addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
// watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
// watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
// addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
// watchdogControlDockWidget->hide();
// hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
// hsiDockWidget->setWidget( new HSIDisplay(this) );
// addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
//>>>>>>> master
headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
......@@ -201,6 +378,18 @@ void MainWindow::buildPxWidgets()
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
//=======
// addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
// headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
// headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
// addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
// rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
// rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
// addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
// rcViewDockWidget->hide();
//>>>>>>> master
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
......@@ -234,16 +423,34 @@ void MainWindow::buildSlugsWidgets()
slugsDataWidget->setWidget( new SlugsDataSensorView(this));
addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
//=======
// this->addDockWidget(Qt::LeftDockWidgetArea, headUpDockWidget);
slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
// // SLUGS
// slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
// slugsDataWidget->setWidget( new SlugsDataSensorView(this));
// addDockWidget(Qt::LeftDockWidgetArea, slugsDataWidget);
// slugsDataWidget->hide();
//>>>>>>> master
slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
//=======
// addDockWidget(Qt::BottomDockWidgetArea, slugsPIDControlWidget);
// slugsPIDControlWidget->hide();
slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
// slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
// slugsHilSimWidget->setWidget( new SlugsHilSim(this));
// addDockWidget(Qt::BottomDockWidgetArea, slugsHilSimWidget);
// slugsHilSimWidget->hide();
//>>>>>>> master
slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
......@@ -475,6 +682,13 @@ void MainWindow::updateLocationSettings (Qt::DockWidgetArea location){
break;
}
}
//=======
// addDockWidget(Qt::BottomDockWidgetArea, slugsCamControlWidget);
// slugsCamControlWidget->hide();
// //FIXME: free memory in destructor
// joystick = new JoystickInput();
//>>>>>>> master
}
/**
......@@ -505,10 +719,6 @@ void MainWindow::connectPxWidgets()
{
if (linechartWidget)
{
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
linechartWidget, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
linechartWidget, SLOT(selectSystem(int)));
connect(linechartWidget, SIGNAL(logfileWritten(QString)),
this, SLOT(loadDataView(QString)));
}
......@@ -1006,7 +1216,8 @@ void MainWindow::clearView()
if (dockWidget)
{
// Remove dock widget from main window
this->removeDockWidget(dockWidget);
//this->removeDockWidget(dockWidget);
dockWidget->setVisible(false);
// Deletion of dockWidget would also delete all child
// widgets of dockWidget
// Is there a way to unset a widget from QDockWidget?
......@@ -1048,6 +1259,14 @@ void MainWindow::loadMAVLinkView()
currentView = VIEW_MAVLINK;
presentView();
//=======
// // Slugs Data View
// if (slugsHilSimWidget)
// {
// addDockWidget(Qt::LeftDockWidgetArea, slugsHilSimWidget);
// slugsHilSimWidget->show();
// }
//>>>>>>> master
}
void MainWindow::presentView() {
......@@ -1224,12 +1443,18 @@ void MainWindow::presentView() {
}
void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view){
bool tempVisible;
QWidget* tempWidget = dockWidgets[centralWidget];
//=======
// // ONBOARD PARAMETERS
// if (parametersDockWidget)
// {
// addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
// parametersDockWidget->show();
// }
//}
//>>>>>>> master
tempVisible = settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view)).toBool();
qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
......@@ -1281,6 +1506,24 @@ void MainWindow::loadAllView()
hdd->start();
}
}
//<<<<<<< HEAD
//=======
//}
//void MainWindow::loadOperatorView()
//{
// clearView();
// // MAP
// if (mapWidget)
// {
// QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
// if (centerStack)
// {
// centerStack->setCurrentWidget(mapWidget);
// }
// }
//>>>>>>> master
// UAS CONTROL
if (controlDockWidget)
......@@ -1341,8 +1584,6 @@ void MainWindow::loadAllView()
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
this->show();
}
void MainWindow::loadWidgets()
......@@ -1430,7 +1671,6 @@ void MainWindow::load3DMapView()
}
}
#endif
this->show();
}
void MainWindow::loadGoogleEarthView()
......@@ -1480,7 +1720,6 @@ void MainWindow::loadGoogleEarthView()
hsiDockWidget->show();
}
}
this->show();
#endif
}
......@@ -1534,8 +1773,6 @@ void MainWindow::load3DView()
}
}
#endif
this->show();
}
/*
......@@ -1586,15 +1823,26 @@ void MainWindow::buildWidgets()
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
<<<<<<< HEAD
waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
=======
// RADIO CONTROL VIEW
if (rcViewDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
rcViewDockWidget->show();
}
}
>>>>>>> master
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
<<<<<<< HEAD
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
......@@ -1635,6 +1883,16 @@ void MainWindow::buildWidgets()
slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
=======
if (protocolWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(protocolWidget);
}
}
>>>>>>> master
}
void MainWindow::connectWidgets()
......@@ -1707,10 +1965,19 @@ void MainWindow::arrangeCenterStack()
if (dataplotWidget) centerStack->addWidget(dataplotWidget);
setCentralWidget(centerStack);
=======
// ONBOARD PARAMETERS
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
>>>>>>> master
}
void MainWindow::connectActions()
{
<<<<<<< HEAD
// Connect actions from ui
connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
......@@ -1763,6 +2030,9 @@ void MainWindow::connectActions()
//GlobalOperatorView
// connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
=======
//loadEngineerView();
>>>>>>> master
}
*/
src/ui/MainWindow.h
View file @ ab7869ce
......@@ -87,6 +87,9 @@ public:
~MainWindow();
public slots:
// /** @brief Store the mainwindow settings */
// void storeSettings();
/**
* @brief Shows a status message on the bottom status bar
*
......@@ -324,7 +327,6 @@ protected:
void configureWindowName();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
AS4Protocol* as4link;
......@@ -367,6 +369,7 @@ protected:
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsPIDControlWidget;
QPointer<QDockWidget> slugsHilSimWidget;
......
src/ui/MainWindow.ui
View file @ ab7869ce
......@@ -108,14 +108,7 @@
<addaction name="menuPerspectives"/>
<addaction name="menuHelp"/>
</widget>
<widget class="QToolBar" name="mainToolBar">
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
</widget>
<widget class="QStatusBar" name="statusBar"/>
<action name="actionExit">
<property name="icon">
......@@ -461,3 +454,5 @@
</connection>
</connections>
</ui>
src/ui/MapWidget.cc
View file @ ab7869ce
......@@ -593,21 +593,12 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
}
// points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));
// points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen));
// // "Blind" Points
// points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne"));
// points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße"));
// Connect click events of the layer to this object
// connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
// this, SLOT(geometryClicked(Geometry*, QPoint)));
// Sets the view to the interesting area
//QList<QPointF> view;
//view.append(QPointF(8.24764, 50.0319));
//view.append(QPointF(8.28412, 49.9998));
// mc->setView(view);
updatePosition(0, lat, lon);
}
}
......
src/ui/ParameterInterface.cc
View file @ ab7869ce
......@@ -51,6 +51,15 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
// Setup UI connections
connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
// Add each of them
foreach (UASInterface* sys, systems)
{
addUAS(sys);
}
// Setup MAV connections
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
this->setVisible(false);
......
src/ui/QGCMainWindowAPConfigurator.cc 0 → 100644
View file @ ab7869ce
#include "QGCMainWindowAPConfigurator.h"
QGCMainWindowAPConfigurator::QGCMainWindowAPConfigurator(QObject *parent) :
QObject(parent)
{
}
src/ui/QGCMainWindowAPConfigurator.h 0 → 100644
View file @ ab7869ce
#ifndef QGCMAINWINDOWAPCONFIGURATOR_H
#define QGCMAINWINDOWAPCONFIGURATOR_H
#include <QObject>
class QGCMainWindowAPConfigurator : public QObject
{
Q_OBJECT
public:
explicit QGCMainWindowAPConfigurator(QObject *parent = 0);
signals:
public slots:
};
#endif // QGCMAINWINDOWAPCONFIGURATOR_H
src/ui/SerialConfigurationWindow.cc
View file @ ab7869ce
......@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
#include <SerialConfigurationWindow.h>
#include <SerialLinkInterface.h>
#include <QDir>
#include <QSettings>
#include <QFileInfoList>
#ifdef _WIN32
#include <QextSerialEnumerator.h>
......@@ -509,12 +510,3 @@ void SerialConfigurationWindow::setLinkName(QString name)
setWindowTitle(tr("Configuration of ") + link->getName());
}
void SerialConfigurationWindow::remove()
{
link->disconnect();
//delete link;
//delete action;
this->window()->close();
qDebug() << "TODO: Link cannot be deleted: SerialConfigurationWindow::remove() NOT IMPLEMENTED!";
}
src/ui/SerialConfigurationWindow.h
View file @ ab7869ce
......@@ -60,12 +60,6 @@ public slots:
void setParityEven();
void setPortName(QString port);
void setLinkName(QString name);
/**
* @brief Remove this link
*
* Disconnects the associated link, removes it from all menus and closes the window.
*/
void remove();
void setupPortList();
protected slots:
......
src/ui/XMLCommProtocolWidget.cc
View file @ ab7869ce
......@@ -7,6 +7,7 @@
#include "ui_XMLCommProtocolWidget.h"
#include "MAVLinkXMLParser.h"
#include "MAVLinkSyntaxHighlighter.h"
#include "QGC.h"
#include <QDebug>
#include <iostream>
......@@ -31,7 +32,7 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
void XMLCommProtocolWidget::selectXMLFile()
{
//QString fileName = QFileDialog::getOpenFileName(this, tr("Load Protocol Definition File"), ".", "*.xml");
QSettings settings;
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
const QString mavlinkXML = "MAVLINK_XML_FILE";
QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
QFileDialog dialog;
......@@ -56,6 +57,7 @@ void XMLCommProtocolWidget::selectXMLFile()
setXML(instanceText);
// Store filename for next time
settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath());
settings.sync();
}
else
{
......@@ -92,7 +94,7 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
void XMLCommProtocolWidget::selectOutputDirectory()
{
QSettings settings;
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
QFileDialog dialog;
......@@ -110,7 +112,8 @@ void XMLCommProtocolWidget::selectOutputDirectory()
{
m_ui->outputDirNameLabel->setText(fileNames.first());
// Store directory for next time
settings.setValue(mavlinkOutputDir, fileNames.first());
settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
settings.sync();
//QFile file(fileName);
}
}
......
src/ui/linechart/LinechartPlot.cc
View file @ ab7869ce
......@@ -56,7 +56,7 @@ maxInterval(MAX_STORAGE_INTERVAL),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false),
m_active(true),
m_groundTime(false),
m_groundTime(true),
d_data(NULL),
d_curve(NULL)
{
......
src/ui/linechart/LinechartWidget.cc
View file @ ab7869ce
......@@ -159,7 +159,9 @@ void LinechartWidget::createLayout()
QToolButton* timeButton = new QToolButton(this);
timeButton->setText(tr("Ground Time"));
timeButton->setCheckable(true);
timeButton->setChecked(false);
bool gTimeDefault = true;
if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
timeButton->setChecked(gTimeDefault);
layout->addWidget(timeButton, 1, 4);
layout->setColumnStretch(4, 0);
connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
......@@ -442,6 +444,12 @@ void LinechartWidget::removeCurve(QString curve)
// Remove name
}
void LinechartWidget::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
setActive(isVisible());
}
void LinechartWidget::setActive(bool active)
{
if (activePlot)
......
src/ui/linechart/LinechartWidget.h
View file @ ab7869ce
......@@ -77,6 +77,8 @@ public slots:
void setPlotWindowPosition(int scrollBarValue);
void setPlotWindowPosition(quint64 position);
void setPlotInterval(quint64 interval);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
void setActive(bool active);
/** @brief Set the number of values to average over */
void setAverageWindow(int windowSize);
......
src/ui/linechart/Linecharts.cc
View file @ ab7869ce
#include "Linecharts.h"
#include "UASManager.h"
Linecharts::Linecharts(QWidget *parent) :
QStackedWidget(parent),
......@@ -6,6 +7,18 @@ Linecharts::Linecharts(QWidget *parent) :
active(true)
{
this->setVisible(false);
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
// Add each of them
foreach (UASInterface* sys, systems)
{
addSystem(sys);
}
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
this, SLOT(addSystem(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
this, SLOT(selectSystem(int)));
}
......
src/ui/map/MAV2DIcon.cc
View file @ ab7869ce
......@@ -14,7 +14,10 @@ MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen*
{
int radius = 10;
size = QSize(radius, radius);
drawIcon(pen);
if (pen)
{
drawIcon(pen);
}
}
MAV2DIcon::~MAV2DIcon()
......@@ -24,8 +27,11 @@ MAV2DIcon::~MAV2DIcon()
void MAV2DIcon::setPen(QPen* pen)
{
mypen = pen;
drawIcon(pen);
if (pen)
{
mypen = pen;
drawIcon(pen);
}
}
/**
......@@ -38,46 +44,49 @@ void MAV2DIcon::setYaw(float yaw)
void MAV2DIcon::drawIcon(QPen* pen)
{
mypixmap = new QPixmap(radius+1, radius+1);
mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
if (pen)
{
mypixmap = new QPixmap(radius+1, radius+1);
mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
// DRAW MICRO AIR VEHICLE
QPointF p(radius/2, radius/2);
// DRAW MICRO AIR VEHICLE
QPointF p(radius/2, radius/2);
float waypointSize = radius;
QPolygonF poly(3);
// Top point
poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f));
// Left point
poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f));
float waypointSize = radius;
QPolygonF poly(3);
// Top point
poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f));
// Left point
poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f));
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
//pen.setColor(color);
if (pen)
{
pen->setWidthF(2);
painter.setPen(*pen);
}
else
{
QPen pen2(Qt::yellow);
pen2.setWidth(2);
painter.setPen(pen2);
//pen.setColor(color);
if (pen)
{
pen->setWidthF(2);
painter.setPen(*pen);
}
else
{
QPen pen2(Qt::yellow);
pen2.setWidth(2);
painter.setPen(pen2);
}
painter.setBrush(Qt::NoBrush);
painter.drawPolygon(poly);
}
painter.setBrush(Qt::NoBrush);
painter.drawPolygon(poly);
}
src/ui/map3D/GCManipulator.cc
View file @ ab7869ce
......@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
*/
#include "GCManipulator.h"
#include <osg/Version>
GCManipulator::GCManipulator()
{
......@@ -254,10 +255,10 @@ GCManipulator::calcMovement(void)
if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
{
// rotate camera
#ifdef __WIN32__
osg::Vec3 axis;
#else
#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
osg::Vec3d axis;
#else
osg::Vec3 axis;
#endif
float angle;
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ ab7869ce
......@@ -16,9 +16,11 @@
QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
QWidget(parent),
updateTimer(new QTimer(this)),
refreshRateMs(200),
mav(NULL),
followCamera(true),
trailEnabled(true),
webViewInitialized(false),
#if (defined Q_OS_MAC)
webViewMac(new QWebView(this)),
#endif
......@@ -34,22 +36,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
#endif
ui->setupUi(this);
#if (defined Q_OS_MAC)
ui->webViewLayout->addWidget(webViewMac);
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
webViewMac->load(QUrl("earth.html"));
#endif
#if (defined Q_OS_WIN) & !(defined __MINGW32__)
webViewWin->load(QUrl("earth.html"));
#endif
#if ((defined Q_OS_MAC) | ((defined Q_OS_WIN) & !(defined __MINGW32__)))
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
updateTimer->start(200);
updateTimer->start(refreshRateMs);
#endif
// Follow checkbox
......@@ -94,53 +88,82 @@ void QGCGoogleEarthView::follow(bool follow)
followCamera = follow;
}
void QGCGoogleEarthView::updateState()
void QGCGoogleEarthView::hide()
{
#ifdef Q_OS_MAC
if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
updateTimer->stop();
QWidget::hide();
}
void QGCGoogleEarthView::show()
{
if (!webViewInitialized)
{
static bool initialized = false;
if (!initialized)
{
webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
initialized = true;
}
int uasId = 0;
double lat = 22.679833;
double lon = 8.549444;
double alt = 470.0;
#if (defined Q_OS_MAC)
webViewMac->setPage(new QGCWebPage(webViewMac));
webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
webViewMac->load(QUrl("earth.html"));
#endif
float roll = 0.0f;
float pitch = 0.0f;
float yaw = 0.0f;
#if (defined Q_OS_WIN) & !(defined __MINGW32__)
webViewWin->load(QUrl("earth.html"));
#endif
webViewInitialized = true;
}
updateTimer->start();
QWidget::show();
}
if (mav)
{
uasId = mav->getUASID();
lat = mav->getLatitude();
lon = mav->getLongitude();
alt = mav->getAltitude();
roll = mav->getRoll();
pitch = mav->getPitch();
yaw = mav->getYaw();
}
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat)
.arg(lon)
.arg(alt+500)
.arg(roll)
.arg(pitch)
.arg(yaw));
if (followCamera)
void QGCGoogleEarthView::updateState()
{
#ifdef Q_OS_MAC
if (isVisible())
{
if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
{
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
static bool initialized = false;
if (!initialized)
{
webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
initialized = true;
}
int uasId = 0;
double lat = 22.679833;
double lon = 8.549444;
double alt = 470.0;
float roll = 0.0f;
float pitch = 0.0f;
float yaw = 0.0f;
if (mav)
{
uasId = mav->getUASID();
lat = mav->getLatitude();
lon = mav->getLongitude();
alt = mav->getAltitude();
roll = mav->getRoll();
pitch = mav->getPitch();
yaw = mav->getYaw();
}
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat)
.arg(lon)
.arg(alt+500)
.arg(roll)
.arg(pitch)
.arg(yaw));
if (followCamera)
{
webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
}
}
}
#endif
}
void QGCGoogleEarthView::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
......
src/ui/map3D/QGCGoogleEarthView.h
View file @ ab7869ce
......@@ -62,13 +62,19 @@ public slots:
void showWaypoints(bool state);
/** @brief Follow the aircraft during flight */
void follow(bool follow);
/** @brief Hide and deactivate */
void hide();
/** @brief Show and activate */
void show();
protected:
void changeEvent(QEvent *e);
QTimer* updateTimer;
int refreshRateMs;
UASInterface* mav;
bool followCamera;
bool trailEnabled;
bool webViewInitialized;
#if (defined Q_OS_WIN) && !(defined __MINGW32__)
WebAxWidget* webViewWin;
#endif
......
src/ui/map3D/QMap3D.cc
View file @ ab7869ce
......@@ -38,8 +38,13 @@ This file is part of the QGROUNDCONTROL project
QMap3D::QMap3D(QWidget * parent, const char * name, WindowFlags f) :
QWidget(parent,f)
{
Q_UNUSED(name);
setupUi(this);
#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
graphicsView->setCameraManipulator(new osgEarth::Util::EarthManipulator);
#else
graphicsView->setCameraManipulator(new osgEarthUtil::EarthManipulator);
#endif
graphicsView->setSceneData(new osg::Group);
graphicsView->updateCamera();
show();
......
src/ui/uas/UASControlWidget.cc
View file @ ab7869ce
......@@ -50,7 +50,7 @@ This file is part of the PIXHAWK project
#define CONTROL_MODE_TEST2 "MODE TEST2"
#define CONTROL_MODE_TEST3 "MODE TEST3"
#define CONTROL_MODE_READY "MODE TEST3"
#define CONTROL_MODE_RC_TRAINING "MODE RC TRAINING"
#define CONTROL_MODE_RC_TRAINING "RC SIMULATION"
#define CONTROL_MODE_LOCKED_INDEX 1
#define CONTROL_MODE_MANUAL_INDEX 2
......
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