From c4bbfcdbd2cc639dae9d6c7a9db862e64d943d48 Mon Sep 17 00:00:00 2001 From: Pritam Ghanghas Date: Thu, 8 Oct 2015 03:29:56 +0530 Subject: [PATCH] Fixes the problems because of this change https://github.com/diydrones/apm_planner/issues/788 --- src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 149 +++++++++++++++++++- src/FirmwarePlugin/APM/APMFirmwarePlugin.h | 28 +++- 2 files changed, 174 insertions(+), 3 deletions(-) diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index 3341c6b9c..aa52a98d0 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -26,15 +26,99 @@ #include "APMFirmwarePlugin.h" #include "Generic/GenericFirmwarePlugin.h" +#include "QGCMAVLink.h" #include IMPLEMENT_QGC_SINGLETON(APMFirmwarePlugin, FirmwarePlugin) +static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)"); +static const QRegExp APM_PLANE_REXP("^(ArduPlane|APM:Plane)"); +static const QRegExp APM_ROVER_REXP("^(ArduRover|APM:Rover)"); + +// Regex to parse version text coming from APM, gives out firmware type, major, minor and patch level numbers +static const QRegExp VERSION_REXP("^(APM:Copter|APM:Plane|APM:Rover|ArduCopter|ArduPlane|ArduRover) +[vV](\\d*)\\.*(\\d*)*\\.*(\\d*)*"); + +// minimum firmware versions that don't suffer from mavlink severity inversion bug. +// https://github.com/diydrones/apm_planner/issues/788 +static const QString MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Copter V3.4.0"); +static const QString MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Plane V3.4.0"); +static const QString MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS("APM:Rover V2.6.0"); + + +/* + * @brief APMFirmwareVersion is a small class to represent the firmware version + * It encabsules vehicleType, major version, minor version and patch level version + * and provides accessors for the same. + * isValid() can be used, to know whether version infromation is available or not + * supports < operator + */ +APMFirmwareVersion::APMFirmwareVersion(const QString &versionText) +{ + _major = 0; + _minor = 0; + _patch = 0; + + _parseVersion(versionText); +} + +bool APMFirmwareVersion::isValid() const +{ + return !_versionString.isEmpty(); +} + +bool APMFirmwareVersion::isBeta() const +{ + return _versionString.contains(QStringLiteral(".rc")); +} + +bool APMFirmwareVersion::isDev() const +{ + return _versionString.contains(QStringLiteral(".dev")); +} + +bool APMFirmwareVersion::operator <(const APMFirmwareVersion& other) const +{ + int myVersion = _major << 16 | _minor << 8 | _patch ; + int otherVersion = other.majorNumber() << 16 | other.minorNumber() << 8 | other.patchNumber(); + return myVersion < otherVersion; +} + +void APMFirmwareVersion::_parseVersion(const QString &versionText) +{ + if (versionText.isEmpty()) { + return; + } + + + if (VERSION_REXP.indexIn(versionText) == -1) { + qWarning() << "firmware version regex didn't match anything" + << "version text to be parsed" << versionText; + return; + } + + QStringList capturedTexts = VERSION_REXP.capturedTexts(); + + if (capturedTexts.count() < 5) { + qWarning() << "something wrong with parsing the version text, not hitting anything" + << VERSION_REXP.captureCount() << VERSION_REXP.capturedTexts(); + return; + } + + // successful extraction of version numbers + // even though we could have collected the version string atleast + // but if the parsing has faild, not much point + _versionString = versionText; + _vehicleType = capturedTexts[1]; + _major = capturedTexts[2].toInt(); + _minor = capturedTexts[3].toInt(); + _patch = capturedTexts[4].toInt(); +} + APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent) : FirmwarePlugin(parent) { - + } bool APMFirmwarePlugin::isCapable(FirmwareCapabilities capabilities) @@ -167,5 +251,66 @@ void APMFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message) mavlink_msg_param_set_encode(message->sysid, message->compid, message, ¶mSet); } - // FIXME: Need to implement mavlink message severity adjustment + if (message->msgid == MAVLINK_MSG_ID_STATUSTEXT) + { + QByteArray b; + b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1); + mavlink_msg_statustext_get_text(message, b.data()); + // Ensure NUL-termination + b[b.length()-1] = '\0'; + QString text = QString(b); + qCDebug(FirmwareUpgradeLog()) << text; + + if (text.contains(APM_COPTER_REXP) || text.contains(APM_PLANE_REXP) || text.contains(APM_ROVER_REXP)) { + // found version string + _firmwareVersion = APMFirmwareVersion(text); + } + + // adjust mesasge if needed + _adjustSeverity(message); + } +} + +void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const +{ + // return if we don't know the firmware version + if (!_firmwareVersion.isValid()) { + return; + } + + bool adjustmentNeeded = false; + if (_firmwareVersion.vehicleType().contains(APM_COPTER_REXP)) { + if (_firmwareVersion < APMFirmwareVersion(MIN_COPTER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { + adjustmentNeeded = true; + } + } else if (_firmwareVersion.vehicleType().contains(APM_PLANE_REXP)) { + if (_firmwareVersion < APMFirmwareVersion(MIN_PLANE_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { + adjustmentNeeded = true; + } + } else if (_firmwareVersion.vehicleType().contains(APM_ROVER_REXP)) { + if (_firmwareVersion < APMFirmwareVersion(MIN_ROVER_VERSION_WITH_CORRECT_SEVERITY_MSGS)) { + adjustmentNeeded = true; + } + } + + if (!adjustmentNeeded) { + return; + } + + // finally lets make QGC happy with right severity values + mavlink_statustext_t statusText; + mavlink_msg_statustext_decode(message, &statusText); + switch(statusText.severity) { + case MAV_SEVERITY_ALERT: /* SEVERITY_LOW according to old codes */ + statusText.severity = MAV_SEVERITY_WARNING; + break; + case MAV_SEVERITY_CRITICAL: /*SEVERITY_MEDIUM according to old codes */ + statusText.severity = MAV_SEVERITY_ALERT; + break; + case MAV_SEVERITY_ERROR: /*SEVERITY_HIGH according to old codes */ + statusText.severity = MAV_SEVERITY_CRITICAL; + break; + } + + mavlink_msg_statustext_encode(message->sysid, message->compid, message, &statusText); } diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h index 524a36f38..723a4997f 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h @@ -29,6 +29,29 @@ #include "FirmwarePlugin.h" +class APMFirmwareVersion +{ +public: + APMFirmwareVersion(const QString &versionText = ""); + bool isValid() const; + bool isBeta() const; + bool isDev() const; + bool operator<(const APMFirmwareVersion& other) const; + QString versionString() const { return _versionString; } + QString vehicleType() const { return _vehicleType; } + int majorNumber() const { return _major; } + int minorNumber() const { return _minor; } + int patchNumber() const { return _patch; } + +private: + void _parseVersion(const QString &versionText); + QString _versionString; + QString _vehicleType; + int _major; + int _minor; + int _patch; +}; + class APMFirmwarePlugin : public FirmwarePlugin { Q_OBJECT @@ -44,11 +67,14 @@ public: virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode); virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode); virtual int manualControlReservedButtonCount(void); - virtual void adjustMavlinkMessage(mavlink_message_t* message); + virtual void adjustMavlinkMessage(mavlink_message_t *message); private: /// All access to singleton is through AutoPilotPluginManager::instance APMFirmwarePlugin(QObject* parent = NULL); + void _adjustSeverity(mavlink_message_t* message) const; + + APMFirmwareVersion _firmwareVersion; }; #endif -- 2.22.0