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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} ...@@ -122,6 +122,7 @@ find_package(Qt5 ${QT_VERSION}
Network Network
Positioning Positioning
Quick Quick
QuickControls2
QuickWidgets QuickWidgets
OpenGL OpenGL
Sql Sql
......
src/CMakeLists.txt
View file @ bcea3449
...@@ -11,6 +11,7 @@ set(EXTRA_SRC) ...@@ -11,6 +11,7 @@ set(EXTRA_SRC)
if(MOBILE) if(MOBILE)
list(APPEND EXTRA_SRC list(APPEND EXTRA_SRC
MobileScreenMgr.cc MobileScreenMgr.cc
MobileScreenMgr.h
) )
endif() endif()
if(GST_FOUND) if(GST_FOUND)
...@@ -85,25 +86,48 @@ add_library(qgc ...@@ -85,25 +86,48 @@ add_library(qgc
${EXTRA_SRC} ${EXTRA_SRC}
CmdLineOptParser.cc CmdLineOptParser.cc
CmdLineOptParser.h
JsonHelper.cc JsonHelper.cc
KMLFileHelper.cc JsonHelper.h
KMLDomDocument.cc
KMLDomDocument.h
KMLHelper.cc
KMLHelper.h
LogCompressor.cc LogCompressor.cc
LogCompressor.h
main.cc main.cc
QGCApplication.cc
QGC.cc QGC.cc
QGC.h
QGCApplication.cc
QGCApplication.h
QGCComboBox.cc QGCComboBox.cc
QGCComboBox.h
QGCConfig.h
QGCDockWidget.cc QGCDockWidget.cc
QGCDockWidget.h
QGCFileDownload.cc QGCFileDownload.cc
QGCFileDownload.h
QGCLoggingCategory.cc QGCLoggingCategory.cc
QGCLoggingCategory.h
QGCMapPalette.cc QGCMapPalette.cc
QGCMapPalette.h
QGCPalette.cc QGCPalette.cc
QGCPalette.h
QGCQGeoCoordinate.cc QGCQGeoCoordinate.cc
QGCQGeoCoordinate.h
QGCTemporaryFile.cc QGCTemporaryFile.cc
QGCTemporaryFile.h
QGCToolbox.cc QGCToolbox.cc
QGCToolbox.h
RunGuard.cc RunGuard.cc
RunGuard.h
ShapeFileHelper.cc ShapeFileHelper.cc
ShapeFileHelper.h
SHPFileHelper.cc SHPFileHelper.cc
SHPFileHelper.h
stable_headers.h
TerrainTile.cc TerrainTile.cc
TerrainTile.h
) )
set_source_files_properties(QGCApplication.cc PROPERTIES COMPILE_DEFINITIONS GIT_VERSION="${GIT_VERSION}") set_source_files_properties(QGCApplication.cc PROPERTIES COMPILE_DEFINITIONS GIT_VERSION="${GIT_VERSION}")
...@@ -143,6 +167,7 @@ add_subdirectory(ViewWidgets) ...@@ -143,6 +167,7 @@ add_subdirectory(ViewWidgets)
target_link_libraries(qgc target_link_libraries(qgc
PRIVATE PRIVATE
shp shp
Qt5::QuickControls2
PUBLIC PUBLIC
Qt5::QuickWidgets Qt5::QuickWidgets
......
src/FlightMap/CMakeLists.txt
View file @ bcea3449
...@@ -3,7 +3,7 @@ add_subdirectory(MapItems) ...@@ -3,7 +3,7 @@ add_subdirectory(MapItems)
add_subdirectory(Widgets) add_subdirectory(Widgets)
add_library(FlightMap add_library(FlightMap
Widgets/ValuesWidgetController.cc #Widgets/ValuesWidgetController.cc
) )
target_link_libraries(FlightMap target_link_libraries(FlightMap
......
src/MissionManager/CMakeLists.txt
View file @ bcea3449
...@@ -68,8 +68,10 @@ add_library(MissionManager ...@@ -68,8 +68,10 @@ add_library(MissionManager
GeoFenceController.h GeoFenceController.h
GeoFenceManager.cc GeoFenceManager.cc
GeoFenceManager.h GeoFenceManager.h
KML.cc KMLPlanDomDocument.cc
KML.h KMLPlanDomDocument.h
LandingComplexItem.cc
LandingComplexItem.h
MissionCommandList.cc MissionCommandList.cc
MissionCommandList.h MissionCommandList.h
MissionCommandTree.cc MissionCommandTree.cc
...@@ -103,12 +105,11 @@ add_library(MissionManager ...@@ -103,12 +105,11 @@ add_library(MissionManager
QGCMapPolyline.cc QGCMapPolyline.cc
QGCMapPolyline.h QGCMapPolyline.h
RallyPoint.cc RallyPoint.cc
RallyPoint.h
RallyPointController.cc RallyPointController.cc
RallyPointController.h RallyPointController.h
RallyPoint.h
RallyPointManager.cc RallyPointManager.cc
RallyPointManager.h RallyPointManager.h
Section.h
SimpleMissionItem.cc SimpleMissionItem.cc
SimpleMissionItem.h SimpleMissionItem.h
SpeedSection.cc SpeedSection.cc
...@@ -127,6 +128,8 @@ add_library(MissionManager ...@@ -127,6 +128,8 @@ add_library(MissionManager
TransectStyleComplexItem.h TransectStyleComplexItem.h
VisualMissionItem.cc VisualMissionItem.cc
VisualMissionItem.h VisualMissionItem.h
VTOLLandingComplexItem.cc
VTOLLandingComplexItem.h
Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC
...@@ -134,10 +137,10 @@ add_library(MissionManager ...@@ -134,10 +137,10 @@ add_library(MissionManager
) )
add_custom_Target(MisionManagerQml add_custom_Target(MisionManagerQml
SOURCES SOURCES
QGCMapCircleVisuals.qml QGCMapCircleVisuals.qml
QGCMapPolygonVisuals.qml QGCMapPolygonVisuals.qml
QGCMapPolylineVisuals.qml QGCMapPolylineVisuals.qml
) )
target_link_libraries(MissionManager target_link_libraries(MissionManager
...@@ -149,3 +152,4 @@ target_link_libraries(MissionManager ...@@ -149,3 +152,4 @@ target_link_libraries(MissionManager
) )
target_include_directories(MissionManager INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}) target_include_directories(MissionManager INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
src/QmlControls/CMakeLists.txt
View file @ bcea3449
add_library(QmlControls add_library(QmlControls
AppMessages.cc AppMessages.cc
CoordinateVector.cc AppMessages.h
EditPositionDialogController.cc EditPositionDialogController.cc
EditPositionDialogController.h
FlightPathSegment.cc
FlightPathSegment.h
InstrumentValueArea.cc
InstrumentValueArea.h
InstrumentValueData.cc
InstrumentValueData.h
ParameterEditorController.cc ParameterEditorController.cc
ParameterEditorController.h
QGCFileDialogController.cc QGCFileDialogController.cc
QGCFileDialogController.h
QGCGeoBoundingCube.cc QGCGeoBoundingCube.cc
QGCGeoBoundingCube.h
QGCImageProvider.cc QGCImageProvider.cc
QGCImageProvider.h
QGroundControlQmlGlobal.cc QGroundControlQmlGlobal.cc
QGroundControlQmlGlobal.h
QmlObjectListModel.cc QmlObjectListModel.cc
QmlObjectListModel.h
QmlUnitsConversion.h
RCChannelMonitorController.cc RCChannelMonitorController.cc
RCChannelMonitorController.h
RCToParamDialogController.cc
RCToParamDialogController.h
ScreenToolsController.cc ScreenToolsController.cc
ScreenToolsController.h
TerrainProfile.cc
TerrainProfile.h
) )
add_custom_target(QmlControlsQml add_custom_target(QmlControlsQml
SOURCES SOURCES
APMSubMotorDisplay.qml APMSubMotorDisplay.qml
AppMessages.qml AppMessages.qml
AxisMonitor.qml AxisMonitor.qml
ClickableColor.qml ClickableColor.qml
DeadMouseArea.qml DeadMouseArea.qml
DropButton.qml DropButton.qml
DropPanel.qml DropPanel.qml
EditPositionDialog.qml EditPositionDialog.qml
ExclusiveGroupItem.qml ExclusiveGroupItem.qml
FactSliderPanel.qml FactSliderPanel.qml
FileButton.qml FileButton.qml
FlightModeDropdown.qml FlightModeDropdown.qml
FlightModeMenu.qml FlightModeMenu.qml
HackAndroidFileDialog.qml HackAndroidFileDialog.qml
HackFileDialog.qml HackFileDialog.qml
IndicatorButton.qml IndicatorButton.qml
JoystickThumbPad.qml JoystickThumbPad.qml
LogReplayStatusBar.qml LogReplayStatusBar.qml
MAVLinkMessageButton.qml MAVLinkMessageButton.qml
MissionCommandDialog.qml MissionCommandDialog.qml
MissionItemIndexLabel.qml MissionItemIndexLabel.qml
ModeSwitchDisplay.qml ModeSwitchDisplay.qml
MultiRotorMotorDisplay.qml MultiRotorMotorDisplay.qml
OfflineMapButton.qml OfflineMapButton.qml
PageView.qml PageView.qml
ParameterEditor.qml ParameterEditor.qml
ParameterEditorDialog.qml ParameterEditorDialog.qml
PIDTuning.qml PIDTuning.qml
PreFlightCheckButton.qml PreFlightCheckButton.qml
PreFlightCheckGroup.qml PreFlightCheckGroup.qml
PreFlightCheckModel.qml PreFlightCheckModel.qml
QGCButton.qml QGCButton.qml
QGCCheckBox.qml QGCCheckBox.qml
QGCColoredImage.qml QGCColoredImage.qml
QGCComboBox.qml QGCComboBox.qml
QGCFileDialog.qml QGCFileDialog.qml
QGCFlickable.qml QGCFlickable.qml
QGCFlickableHorizontalIndicator.qml QGCFlickableHorizontalIndicator.qml
QGCFlickableVerticalIndicator.qml QGCFlickableVerticalIndicator.qml
QGCGroupBox.qml QGCGroupBox.qml
QGCHoverButton.qml QGCHoverButton.qml
QGCLabel.qml QGCLabel.qml
QGCListView.qml QGCListView.qml
QGCMapLabel.qml QGCMapLabel.qml
QGCMenu.qml QGCMenu.qml
QGCMenuItem.qml QGCMenuItem.qml
QGCMenuSeparator.qml QGCMenuSeparator.qml
QGCMouseArea.qml QGCMouseArea.qml
QGCMovableItem.qml QGCMovableItem.qml
QGCPipable.qml QGCPipable.qml
QGCRadioButton.qml QGCRadioButton.qml
QGCSlider.qml QGCSlider.qml
QGCSwitch.qml QGCSwitch.qml
QGCTabBar.qml QGCTabBar.qml
QGCTabButton.qml QGCTabButton.qml
QGCTextField.qml QGCTextField.qml
QGCToolBarButton.qml QGCToolBarButton.qml
QGCViewDialog.qml QGCViewDialog.qml
QGCViewDialogContainer.qml QGCViewDialogContainer.qml
QGCViewMessage.qml QGCViewMessage.qml
QmlTest.qml QmlTest.qml
RCChannelMonitor.qml RCChannelMonitor.qml
RoundButton.qml RoundButton.qml
ScreenTools.qml ScreenTools.qml
SectionHeader.qml SectionHeader.qml
SliderSwitch.qml SliderSwitch.qml
SubMenuButton.qml SubMenuButton.qml
ToolStrip.qml ToolStrip.qml
VehicleRotationCal.qml VehicleRotationCal.qml
VehicleSummaryRow.qml VehicleSummaryRow.qml
) )
target_link_libraries(QmlControls target_link_libraries(QmlControls
PUBLIC PUBLIC
......
src/comm/CMakeLists.txt
View file @ bcea3449
...@@ -16,21 +16,14 @@ add_library(comm ...@@ -16,21 +16,14 @@ add_library(comm
LogReplayLink.cc LogReplayLink.cc
MavlinkMessagesTimer.cc MavlinkMessagesTimer.cc
MAVLinkProtocol.cc MAVLinkProtocol.cc
QGCJSBSimLink.cc
QGCMAVLink.cc QGCMAVLink.cc
QGCSerialPortInfo.cc QGCSerialPortInfo.cc
QGCXPlaneLink.cc
SerialLink.cc SerialLink.cc
TCPLink.cc TCPLink.cc
UDPLink.cc UDPLink.cc
UdpIODevice.cc UdpIODevice.cc
${EXTRA_SRC} ${EXTRA_SRC}
# HEADERS
# shouldn't be listed here, but aren't named properly for AUTOMOC
QGCHilLink.h
QGCJSBSimLink.h
) )
target_link_libraries(comm target_link_libraries(comm
......
src/ui/CMakeLists.txt
View file @ bcea3449
...@@ -2,9 +2,6 @@ add_subdirectory(preferences) ...@@ -2,9 +2,6 @@ add_subdirectory(preferences)
add_subdirectory(toolbar) add_subdirectory(toolbar)
add_library(ui add_library(ui
MAVLinkDecoder.cc
MAVLinkDecoder.h
QGCMapRCToParamDialog.h QGCMapRCToParamDialog.h
QGCPluginHost.cc QGCPluginHost.cc
QGCPluginHost.h 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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