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Commit bcea3449 authored by Daniel Agar's avatar Daniel Agar
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cmake updates for current master

parent 2c09c1d8
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Showing with 132 additions and 664 deletions
CMakeLists.txt
View file @ bcea3449
......@@ -122,6 +122,7 @@ find_package(Qt5 ${QT_VERSION}
Network
Positioning
Quick
QuickControls2
QuickWidgets
OpenGL
Sql
......
src/CMakeLists.txt
View file @ bcea3449
......@@ -11,6 +11,7 @@ set(EXTRA_SRC)
if(MOBILE)
list(APPEND EXTRA_SRC
MobileScreenMgr.cc
MobileScreenMgr.h
)
endif()
if(GST_FOUND)
......@@ -85,25 +86,48 @@ add_library(qgc
${EXTRA_SRC}
CmdLineOptParser.cc
CmdLineOptParser.h
JsonHelper.cc
KMLFileHelper.cc
JsonHelper.h
KMLDomDocument.cc
KMLDomDocument.h
KMLHelper.cc
KMLHelper.h
LogCompressor.cc
LogCompressor.h
main.cc
QGCApplication.cc
QGC.cc
QGC.h
QGCApplication.cc
QGCApplication.h
QGCComboBox.cc
QGCComboBox.h
QGCConfig.h
QGCDockWidget.cc
QGCDockWidget.h
QGCFileDownload.cc
QGCFileDownload.h
QGCLoggingCategory.cc
QGCLoggingCategory.h
QGCMapPalette.cc
QGCMapPalette.h
QGCPalette.cc
QGCPalette.h
QGCQGeoCoordinate.cc
QGCQGeoCoordinate.h
QGCTemporaryFile.cc
QGCTemporaryFile.h
QGCToolbox.cc
QGCToolbox.h
RunGuard.cc
RunGuard.h
ShapeFileHelper.cc
ShapeFileHelper.h
SHPFileHelper.cc
SHPFileHelper.h
stable_headers.h
TerrainTile.cc
TerrainTile.h
)
set_source_files_properties(QGCApplication.cc PROPERTIES COMPILE_DEFINITIONS GIT_VERSION="${GIT_VERSION}")
......@@ -143,6 +167,7 @@ add_subdirectory(ViewWidgets)
target_link_libraries(qgc
PRIVATE
shp
Qt5::QuickControls2
PUBLIC
Qt5::QuickWidgets
......
src/FlightMap/CMakeLists.txt
View file @ bcea3449
......@@ -3,7 +3,7 @@ add_subdirectory(MapItems)
add_subdirectory(Widgets)
add_library(FlightMap
Widgets/ValuesWidgetController.cc
#Widgets/ValuesWidgetController.cc
)
target_link_libraries(FlightMap
......
src/MissionManager/CMakeLists.txt
View file @ bcea3449
......@@ -68,8 +68,10 @@ add_library(MissionManager
GeoFenceController.h
GeoFenceManager.cc
GeoFenceManager.h
KML.cc
KML.h
KMLPlanDomDocument.cc
KMLPlanDomDocument.h
LandingComplexItem.cc
LandingComplexItem.h
MissionCommandList.cc
MissionCommandList.h
MissionCommandTree.cc
......@@ -103,12 +105,11 @@ add_library(MissionManager
QGCMapPolyline.cc
QGCMapPolyline.h
RallyPoint.cc
RallyPoint.h
RallyPointController.cc
RallyPointController.h
RallyPoint.h
RallyPointManager.cc
RallyPointManager.h
Section.h
SimpleMissionItem.cc
SimpleMissionItem.h
SpeedSection.cc
......@@ -127,6 +128,8 @@ add_library(MissionManager
TransectStyleComplexItem.h
VisualMissionItem.cc
VisualMissionItem.h
VTOLLandingComplexItem.cc
VTOLLandingComplexItem.h
Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC
......@@ -134,10 +137,10 @@ add_library(MissionManager
)
add_custom_Target(MisionManagerQml
SOURCES
QGCMapCircleVisuals.qml
QGCMapPolygonVisuals.qml
QGCMapPolylineVisuals.qml
SOURCES
QGCMapCircleVisuals.qml
QGCMapPolygonVisuals.qml
QGCMapPolylineVisuals.qml
)
target_link_libraries(MissionManager
......@@ -149,3 +152,4 @@ target_link_libraries(MissionManager
)
target_include_directories(MissionManager INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
src/QmlControls/CMakeLists.txt
View file @ bcea3449
add_library(QmlControls
AppMessages.cc
CoordinateVector.cc
AppMessages.h
EditPositionDialogController.cc
EditPositionDialogController.h
FlightPathSegment.cc
FlightPathSegment.h
InstrumentValueArea.cc
InstrumentValueArea.h
InstrumentValueData.cc
InstrumentValueData.h
ParameterEditorController.cc
ParameterEditorController.h
QGCFileDialogController.cc
QGCFileDialogController.h
QGCGeoBoundingCube.cc
QGCGeoBoundingCube.h
QGCImageProvider.cc
QGCImageProvider.h
QGroundControlQmlGlobal.cc
QGroundControlQmlGlobal.h
QmlObjectListModel.cc
QmlObjectListModel.h
QmlUnitsConversion.h
RCChannelMonitorController.cc
RCChannelMonitorController.h
RCToParamDialogController.cc
RCToParamDialogController.h
ScreenToolsController.cc
ScreenToolsController.h
TerrainProfile.cc
TerrainProfile.h
)
add_custom_target(QmlControlsQml
SOURCES
APMSubMotorDisplay.qml
AppMessages.qml
AxisMonitor.qml
ClickableColor.qml
DeadMouseArea.qml
DropButton.qml
DropPanel.qml
EditPositionDialog.qml
ExclusiveGroupItem.qml
FactSliderPanel.qml
FileButton.qml
FlightModeDropdown.qml
FlightModeMenu.qml
HackAndroidFileDialog.qml
HackFileDialog.qml
IndicatorButton.qml
JoystickThumbPad.qml
LogReplayStatusBar.qml
MAVLinkMessageButton.qml
MissionCommandDialog.qml
MissionItemIndexLabel.qml
ModeSwitchDisplay.qml
MultiRotorMotorDisplay.qml
OfflineMapButton.qml
PageView.qml
ParameterEditor.qml
ParameterEditorDialog.qml
PIDTuning.qml
PreFlightCheckButton.qml
PreFlightCheckGroup.qml
PreFlightCheckModel.qml
QGCButton.qml
QGCCheckBox.qml
QGCColoredImage.qml
QGCComboBox.qml
QGCFileDialog.qml
QGCFlickable.qml
QGCFlickableHorizontalIndicator.qml
QGCFlickableVerticalIndicator.qml
QGCGroupBox.qml
QGCHoverButton.qml
QGCLabel.qml
QGCListView.qml
QGCMapLabel.qml
QGCMenu.qml
QGCMenuItem.qml
QGCMenuSeparator.qml
QGCMouseArea.qml
QGCMovableItem.qml
QGCPipable.qml
QGCRadioButton.qml
QGCSlider.qml
QGCSwitch.qml
QGCTabBar.qml
QGCTabButton.qml
QGCTextField.qml
QGCToolBarButton.qml
QGCViewDialog.qml
QGCViewDialogContainer.qml
QGCViewMessage.qml
QmlTest.qml
RCChannelMonitor.qml
RoundButton.qml
ScreenTools.qml
SectionHeader.qml
SliderSwitch.qml
SubMenuButton.qml
ToolStrip.qml
VehicleRotationCal.qml
VehicleSummaryRow.qml
APMSubMotorDisplay.qml
AppMessages.qml
AxisMonitor.qml
ClickableColor.qml
DeadMouseArea.qml
DropButton.qml
DropPanel.qml
EditPositionDialog.qml
ExclusiveGroupItem.qml
FactSliderPanel.qml
FileButton.qml
FlightModeDropdown.qml
FlightModeMenu.qml
HackAndroidFileDialog.qml
HackFileDialog.qml
IndicatorButton.qml
JoystickThumbPad.qml
LogReplayStatusBar.qml
MAVLinkMessageButton.qml
MissionCommandDialog.qml
MissionItemIndexLabel.qml
ModeSwitchDisplay.qml
MultiRotorMotorDisplay.qml
OfflineMapButton.qml
PageView.qml
ParameterEditor.qml
ParameterEditorDialog.qml
PIDTuning.qml
PreFlightCheckButton.qml
PreFlightCheckGroup.qml
PreFlightCheckModel.qml
QGCButton.qml
QGCCheckBox.qml
QGCColoredImage.qml
QGCComboBox.qml
QGCFileDialog.qml
QGCFlickable.qml
QGCFlickableHorizontalIndicator.qml
QGCFlickableVerticalIndicator.qml
QGCGroupBox.qml
QGCHoverButton.qml
QGCLabel.qml
QGCListView.qml
QGCMapLabel.qml
QGCMenu.qml
QGCMenuItem.qml
QGCMenuSeparator.qml
QGCMouseArea.qml
QGCMovableItem.qml
QGCPipable.qml
QGCRadioButton.qml
QGCSlider.qml
QGCSwitch.qml
QGCTabBar.qml
QGCTabButton.qml
QGCTextField.qml
QGCToolBarButton.qml
QGCViewDialog.qml
QGCViewDialogContainer.qml
QGCViewMessage.qml
QmlTest.qml
RCChannelMonitor.qml
RoundButton.qml
ScreenTools.qml
SectionHeader.qml
SliderSwitch.qml
SubMenuButton.qml
ToolStrip.qml
VehicleRotationCal.qml
VehicleSummaryRow.qml
)
target_link_libraries(QmlControls
PUBLIC
......
src/comm/CMakeLists.txt
View file @ bcea3449
......@@ -16,21 +16,14 @@ add_library(comm
LogReplayLink.cc
MavlinkMessagesTimer.cc
MAVLinkProtocol.cc
QGCJSBSimLink.cc
QGCMAVLink.cc
QGCSerialPortInfo.cc
QGCXPlaneLink.cc
SerialLink.cc
TCPLink.cc
UDPLink.cc
UdpIODevice.cc
${EXTRA_SRC}
# HEADERS
# shouldn't be listed here, but aren't named properly for AUTOMOC
QGCHilLink.h
QGCJSBSimLink.h
)
target_link_libraries(comm
......
src/ui/CMakeLists.txt
View file @ bcea3449
......@@ -2,9 +2,6 @@ add_subdirectory(preferences)
add_subdirectory(toolbar)
add_library(ui
MAVLinkDecoder.cc
MAVLinkDecoder.h
QGCMapRCToParamDialog.h
QGCPluginHost.cc
QGCPluginHost.h
......
src/ui/MAVLinkDecoder.cc deleted 100644 → 0
View file @ 2c09c1d8
#include "QGCMAVLink.h"
#include "MAVLinkDecoder.h"
#include <QDebug>
MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol) :
QThread(), creationThread(QThread::currentThread())
{
// We're doing it wrong - because the Qt folks got the API wrong:
// http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
moveToThread(this);
// Fill filter
// Allow system status
// messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
// messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT_LONG, false);
messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false);
messageFilter.insert(MAVLINK_MSG_ID_PARAM_VALUE, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false);
messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false);
messageFilter.insert(MAVLINK_MSG_ID_RC_CHANNELS_RAW, false);
messageFilter.insert(MAVLINK_MSG_ID_LOG_DATA, false);
#ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA
messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false);
#endif
#ifdef MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE
messageFilter.insert(MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, false);
#endif
messageFilter.insert(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY, false);
textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
// textMessageFilter.insert(MAVLINK_MSG_ID_HIGHRES_IMU, false);
connect(protocol, &MAVLinkProtocol::messageReceived, this, &MAVLinkDecoder::receiveMessage);
connect(this, &MAVLinkDecoder::finish, this, &QThread::quit);
start(LowestPriority);
}
/**
* @brief Runs the thread
*
**/
void MAVLinkDecoder::run()
{
exec();
moveToThread(creationThread);
}
void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message)
{
Q_UNUSED(link);
uint32_t msgid = message.msgid;
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(&message);
if(!msgInfo) {
qWarning() << "Invalid MAVLink message received. ID:" << msgid;
return;
}
msgDict[message.msgid] = message;
// Store an arrival time for this message. This value ends up being calculated later.
quint64 time = 0;
// The SYSTEM_TIME message is special, in that it's handled here for synchronizing the QGC time with the remote time.
if (message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME)
{
mavlink_system_time_t timebase;
mavlink_msg_system_time_decode(&message, &timebase);
sysDict[msgid].onboardTimeOffset = (timebase.time_unix_usec+500)/1000 - timebase.time_boot_ms;
sysDict[msgid].onboardToGCSUnixTimeOffsetAndDelay = static_cast<qint64>(QGC::groundTimeMilliseconds() - (timebase.time_unix_usec+500)/1000);
}
else
{
// See if first value is a time value and if it is, use that as the arrival time for this data.
uint8_t fieldid = 0;
uint8_t* m = (uint8_t*)(msgDict[msgid].payload64);
if (QString(msgInfo->fields[fieldid].name) == QString("time_boot_ms") && msgInfo->fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
{
time = *((quint32*)(m+msgInfo->fields[fieldid].wire_offset));
}
else if (QString(msgInfo->fields[fieldid].name).contains("usec") && msgInfo->fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
{
time = *((quint64*)(m+msgInfo->fields[fieldid].wire_offset));
time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
}
}
// Align UAS time to global time
time = getUnixTimeFromMs(message.sysid, time);
// Send out all field values for this message
for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
{
emitFieldValue(&message, i, time);
}
// Send out combined math expressions
// FIXME XXX TODO
}
quint64 MAVLinkDecoder::getUnixTimeFromMs(int systemID, quint64 time)
{
quint64 ret = 0;
if (time == 0)
{
ret = QGC::groundTimeMilliseconds() - sysDict[systemID].onboardToGCSUnixTimeOffsetAndDelay;
}
// Check if time is smaller than 40 years,
// assuming no system without Unix timestamp
// runs longer than 40 years continuously without
// reboot. In worst case this will add/subtract the
// communication delay between GCS and MAV,
// it will never alter the timestamp in a safety
// critical way.
//
// Calculation:
// 40 years
// 365 days
// 24 hours
// 60 minutes
// 60 seconds
// 1000 milliseconds
// 1000 microseconds
#ifndef _MSC_VER
else if (time < 1261440000000LLU)
#else
else if (time < 1261440000000)
#endif
{
if (sysDict[systemID].onboardTimeOffset == 0 || time < (sysDict[systemID].firstOnboardTime -100))
{
sysDict[systemID].firstOnboardTime = time;
sysDict[systemID].onboardTimeOffset = QGC::groundTimeMilliseconds() - time;
}
if (time > sysDict[systemID].firstOnboardTime ) sysDict[systemID].firstOnboardTime = time;
ret = time + sysDict[systemID].onboardTimeOffset;
}
else
{
// Time is not zero and larger than 40 years -> has to be
// a Unix epoch timestamp. Do nothing.
ret = time;
}
// // Check if the offset estimation likely went wrong
// // and we're talking to a new instance / the system
// // has rebooted. Only reset if this is consistent.
// if (!isNull && lastNonNullTime > ret)
// {
// onboardTimeOffsetInvalidCount++;
// }
// else if (!isNull && lastNonNullTime < ret)
// {
// onboardTimeOffsetInvalidCount = 0;
// }
// // Reset onboard time offset estimation, since it seems to be really off
// if (onboardTimeOffsetInvalidCount > 20)
// {
// onboardTimeOffset = 0;
// onboardTimeOffsetInvalidCount = 0;
// lastNonNullTime = 0;
// qDebug() << "RESETTET ONBOARD TIME OFFSET";
// }
// // If we're progressing in time, set it
// // else wait for the reboot detection to
// // catch the timestamp wrap / reset
// if (!isNull && (lastNonNullTime < ret)) {
// lastNonNullTime = ret;
// }
return ret;
}
void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
{
bool multiComponentSourceDetected = false;
const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
uint32_t msgid = msg->msgid;
// create new system data if it wasn't dectected yet
if (!(sysDict.keys().contains(msgid))) {
sysDict[msgid] = SystemData();
}
// Store component ID
if (sysDict[msgid].componentID == -1)
{
sysDict[msgid].componentID = msg->compid;
}
else
{
// Got this message already
if (sysDict[msgid].componentID != msg->compid)
{
sysDict[msgid].componentMulti = true;
}
}
if (sysDict[msgid].componentMulti == true) {
multiComponentSourceDetected = true;
}
// Add field tree widget item
if (messageFilter.contains(msgid)) return;
QString fieldName(msgInfo->fields[fieldid].name);
QString fieldType;
uint8_t* m = (uint8_t*)(msgDict[msgid].payload64);
QString name("%1.%2");
QString unit;
// Debug vector messages
if (msgid == MAVLINK_MSG_ID_DEBUG_VECT)
{
mavlink_debug_vect_t debug;
mavlink_msg_debug_vect_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString("%1.%2").arg(buf, fieldName);
time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
}
else if (msgid == MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY)
{
mavlink_debug_float_array_t debug;
mavlink_msg_debug_float_array_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString("%1.%2").arg(buf, fieldName);
time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
}
else if (msgid == MAVLINK_MSG_ID_DEBUG)
{
mavlink_debug_t debug;
mavlink_msg_debug_decode(msg, &debug);
name = name.arg(QString("debug")).arg(debug.ind);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
{
mavlink_named_value_float_t debug;
mavlink_msg_named_value_float_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString(buf);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
{
mavlink_named_value_int_t debug;
mavlink_msg_named_value_int_decode(msg, &debug);
char buf[11];
strncpy(buf, debug.name, 10);
buf[10] = '\0';
name = QString(buf);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_RAW)
{
// XXX this is really ugly, but we do not know a better way to do this
mavlink_rc_channels_raw_t raw;
mavlink_msg_rc_channels_raw_decode(msg, &raw);
name = name.arg(msgInfo->name, fieldName);
name.prepend(QString("port%1_").arg(raw.port));
}
else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_SCALED)
{
// XXX this is really ugly, but we do not know a better way to do this
mavlink_rc_channels_scaled_t scaled;
mavlink_msg_rc_channels_scaled_decode(msg, &scaled);
name = name.arg(msgInfo->name, fieldName);
name.prepend(QString("port%1_").arg(scaled.port));
}
else if (msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW)
{
// XXX this is really ugly, but we do not know a better way to do this
mavlink_servo_output_raw_t servo;
mavlink_msg_servo_output_raw_decode(msg, &servo);
name = name.arg(msgInfo->name, fieldName);
name.prepend(QString("port%1_").arg(servo.port));
}
else
{
name = name.arg(msgInfo->name, fieldName);
}
if (multiComponentSourceDetected)
{
name = name.prepend(QString("C%1:").arg(msg->compid));
}
name = name.prepend(QString("M%1:").arg(msg->sysid));
switch (msgInfo->fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
if (msgInfo->fields[fieldid].array_length > 0)
{
char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
// Enforce null termination
str[msgInfo->fields[fieldid].array_length-1] = '\0';
QString string(name + ": " + str);
if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, MAV_SEVERITY_INFO, string);
}
else
{
// Single char
char b = *((char*)(m+msgInfo->fields[fieldid].wire_offset));
unit = QString("char[%1]").arg(msgInfo->fields[fieldid].array_length);
emit valueChanged(msg->sysid, name, unit, b, time);
}
break;
case MAVLINK_TYPE_UINT8_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
fieldType = QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
fieldType = "uint8_t";
emit valueChanged(msg->sysid, name, fieldType, u, time);
}
break;
case MAVLINK_TYPE_INT8_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "int8_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_UINT16_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "uint16_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT16_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "int16_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_UINT32_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
uint32_t n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "uint32_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_INT32_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "int32_t";
emit valueChanged(msg->sysid, name, fieldType, n, time);
}
break;
case MAVLINK_TYPE_FLOAT:
if (msgInfo->fields[fieldid].array_length > 0)
{
float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("float[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (float)(nums[j]), time);
}
}
else
{
// Single value
float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "float";
emit valueChanged(msg->sysid, name, fieldType, f, time);
}
break;
case MAVLINK_TYPE_DOUBLE:
if (msgInfo->fields[fieldid].array_length > 0)
{
double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("double[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
}
}
else
{
// Single value
double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "double";
emit valueChanged(msg->sysid, name, fieldType, f, time);
}
break;
case MAVLINK_TYPE_UINT64_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time);
}
}
else
{
// Single value
uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "uint64_t";
emit valueChanged(msg->sysid, name, fieldType, (quint64) n, time);
}
break;
case MAVLINK_TYPE_INT64_T:
if (msgInfo->fields[fieldid].array_length > 0)
{
int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
fieldType = QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length);
for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
{
emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time);
}
}
else
{
// Single value
int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
fieldType = "int64_t";
emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time);
}
break;
default:
qDebug() << "WARNING: UNKNOWN MAVLINK TYPE";
}
}
src/ui/MAVLinkDecoder.h deleted 100644 → 0
View file @ 2c09c1d8
#pragma once
#include <QObject>
#include <QHash>
#include "MAVLinkProtocol.h"
struct SystemData {
/**
* @brief Holds mavlink system data
*/
SystemData() :
componentID(-1),
componentMulti(false),
onboardTimeOffset(0),
onboardToGCSUnixTimeOffsetAndDelay(0),
firstOnboardTime(0) {
}
int componentID; ///< Multi component detection
bool componentMulti; ///< Multi components detected
quint64 onboardTimeOffset; ///< Offset of onboard time from Unix epoch (of the receiving GCS)
qint64 onboardToGCSUnixTimeOffsetAndDelay; ///< Offset of onboard time and GCS Unix time
quint64 firstOnboardTime; ///< First seen onboard time
};
class MAVLinkDecoder : public QThread
{
Q_OBJECT
public:
MAVLinkDecoder(MAVLinkProtocol* protocol);
void run();
signals:
void textMessageReceived(int uasid, int componentid, int severity, const QString& text);
void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec);
void finish(); ///< Trigger a thread safe shutdown
public slots:
/** @brief Receive one message from the protocol and decode it */
void receiveMessage(LinkInterface* link,mavlink_message_t message);
protected:
/** @brief Emit the value of one message field */
void emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time);
/** @brief Shift a timestamp in Unix time if necessary */
quint64 getUnixTimeFromMs(int systemID, quint64 time);
QMap<uint16_t, bool> messageFilter; ///< Message/field names not to emit
QMap<uint16_t, bool> textMessageFilter; ///< Message/field names not to emit in text mode
QHash<int, mavlink_message_t> msgDict; ///< dictionary of all mavlink messages
QHash<int, SystemData> sysDict; ///< dictionary of all systmes
QThread* creationThread; ///< QThread on which the object is created
};
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