Some VT100 hacks, fixed MAVLink inclusion path

images/style-mission.css

@@ -34,13 +34,15 @@ border: 1px solid #777777;
 }
 
 QTextEdit {
-border: 1px solid #777777;
+    border: 1px solid #777777;
     border-radius: 2px;
 }
 
 QPlainTextEdit {
-border: 1px solid #777777;
+    border: 1px solid #777777;
     border-radius: 2px;
+    font-family: "Monospace";
+    font: large;
 }
 
 QComboBox {

qgroundcontrol.pro

@@ -111,7 +111,7 @@ isEmpty(MAVLINK_CONF) {
     INCLUDEPATH += $$MAVLINKPATH/common
 } else {
     INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
-    DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
+    #DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
     DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
 }
 

src/comm/QGCMAVLink.h

@@ -30,19 +30,13 @@ This file is part of the QGROUNDCONTROL project
 #ifndef QGCMAVLINK_H
 #define QGCMAVLINK_H
 
-#include <../../mavlink/include/mavlink/v1.0/mavlink_types.h>
+#include <mavlink.h>
 
-#ifdef QGC_USE_PIXHAWK_MESSAGES
-#include <../../mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h> //please do not delete this.
-#else
-#include <../../mavlink/include/mavlink/v1.0/common/mavlink.h>
-#endif
-
-#ifdef MAVLINK_CONF
-#define MY_MACRO(x) <x>
-#include MY_MACRO(MAVLINK_CONF)
+//#ifdef MAVLINK_CONF
+//#define MY_MACRO(x) <x>
+//#include MY_MACRO(MAVLINK_CONF)
 //#include MAVLINK_CONF
-#endif
+//#endif
 
 
 #endif // QGCMAVLINK_H

src/ui/DebugConsole.cc

@@ -74,12 +74,13 @@ DebugConsole::DebugConsole(QWidget *parent) :
     m_ui->receiveText->setMaximumBlockCount(500);
     // Allow to wrap everywhere
     m_ui->receiveText->setWordWrapMode(QTextOption::WrapAnywhere);
+//    // Set monospace font
+//    m_ui->receiveText->setFontFamily("Monospace");
 
     // Enable 10 Hz output
     //connect(&lineBufferTimer, SIGNAL(timeout()), this, SLOT(showData()));
     //lineBufferTimer.setInterval(100); // 100 Hz
     //lineBufferTimer.start();
-
     loadSettings();
 
     // Enable traffic measurements
@@ -392,20 +393,65 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
                 // Convert to ASCII for readability
                 if (convertToAscii)
                 {
-                    if ((byte <= 32) || (byte > 126))
+                    if (escReceived)
+                    {
+                        if (escIndex < sizeof(escBytes))
+                        {
+                            escBytes[escIndex] = byte;
+                            //qDebug() << "GOT BYTE ESC:" << byte;
+                            if (/*escIndex == 1 && */escBytes[escIndex] == 0x48)
+                            {
+                                // Handle sequence
+                                // for this one, clear all text
+                                m_ui->receiveText->clear();
+                                escReceived = false;
+                            }
+                            else if (/*escIndex == 1 && */escBytes[escIndex] == 0x4b)
+                            {
+                                // Handle sequence
+                                // for this one, do nothing
+                                escReceived = false;
+                            }
+                            else if (byte == 0x5b)
+                            {
+                                // Do nothing, this is still a valid escape sequence
+                            }
+                            else
+                            {
+                                escReceived = false;
+                            }
+                         }
+                        else
+                        {
+                            // Obviously something went wrong, reset
+                            escReceived = false;
+                            escIndex = 0;
+                        }
+                    }
+                    else if ((byte <= 32) || (byte > 126))
                     {
                         switch (byte)
                         {
                             case (unsigned char)'\n':   // Accept line feed
-                                if (lastByte != '\r')   // Do not break line again for CR+LF
+                                if (lastByte != '\r')   // Do not break line again for LF+CR
                                     str.append(byte);   // only break line for single LF or CR bytes
                             break;
                             case (unsigned char)' ':    // space of any type means don't add another on hex output
                             case (unsigned char)'\t':   // Accept tab
                             case (unsigned char)'\r':   // Catch and carriage return
-                                str.append(byte);
+                                if (lastByte != '\n')   // Do not break line again for CR+LF
+                                str.append(byte);       // only break line for single LF or CR bytes
                                 lastSpace = 1;
                             break;
+                            /* VT100 emulation (partially */
+                            case 0x1b:                  // ESC received
+                                escReceived = true;
+                                escIndex = 0;
+                                //qDebug() << "GOT ESC";
+                                break;
+                            case 0x08:                  // BS (backspace) received
+                                // Do nothing for now
+                                break;
                             default:                    // Append replacement character (box) if char is not ASCII
 //                                str.append(QChar(QChar::ReplacementCharacter));
                                 QString str2;
@@ -414,6 +460,7 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
                                 else str2.sprintf(" 0x%02x ", byte);
                                 str.append(str2);
                                 lastSpace = 1;
+                                escReceived = false;
                             break;
                         }
                     }

src/ui/DebugConsole.h

@@ -121,6 +121,10 @@ protected:
     bool autoHold;            ///< Auto-hold mode sets view into hold if the data rate is too high
     int bytesToIgnore;        ///< Number of bytes to ignore
     char lastByte;            ///< The last received byte
+    bool escReceived;         ///< True if received ESC char in ASCII mode
+    int escIndex;             ///< Index of bytes since ESC was received
+    char escBytes[5];         ///< Escape-following bytes
+    bool terminalReceived;    ///< Terminal sequence received
     QList<QString> sentBytes; ///< Transmitted bytes, per transmission
     QByteArray holdBuffer;    ///< Buffer where bytes are stored during hold-enable
     QString lineBuffer;       ///< Buffere where bytes are stored before writing them out