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qgroundcontrol
Commit cbc50b8c authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of git@github.com:pixhawk/qgroundcontrol into mergeRemote

parents c10d20d5 ae730288
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Showing with 3087 additions and 1258 deletions
images/style-mission.css
View file @ cbc50b8c
......@@ -49,15 +49,15 @@ border: 1px solid #777777;
}
QCheckBox::indicator:checked {
background-color: #555555;
background-color: #379AC3;
}
QCheckBox::indicator:checked:hover {
background-color: #555555;
background-color: #379AC3;
}
QCheckBox::indicator:checked:pressed {
background-color: #555555;
background-color: #379AC3;
}
QCheckBox::indicator:indeterminate:hover {
......@@ -182,17 +182,19 @@ QPushButton {
max-height: 18px;
border: 2px solid #4A4A4F;
border-radius: 5px;
padding-left: 10px;
padding-right: 10px;
padding-left: 5px;
padding-right: 5px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
}
QPushButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
border: 2px solid #379AC3;
}
QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
border: 2px solid #379AC3;
}
QToolButton {
......@@ -207,17 +209,49 @@ QToolButton {
QToolButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
border: 2px solid #379AC3;
}
QToolButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
border: 2px solid #379AC3;
}
QToolTip {
background-color: #404040;
background-color: #090909;
border: 1px solid #379AC3;
border-radius: 3px;
color: #DDDDDF;
}
QMenu {
border: 1px solid #379AC3;
}
QMenu::separator {
height: 1px;
background: #379AC3;
margin-top: 8px;
margin-bottom: 4px;
margin-left: 5px;
margin-right: 5px;
}
QSlider::groove:horizontal {
border: 1px solid #999999;
height: 4px; /* the groove expands to the size of the slider by default. by giving it a height, it has a fixed size */
background: qlineargradient(x1:0, y1:0, x2:0, y2:1, stop:0 #4A4A4F, stop:1 #4A4A4F);
margin: 2px 0;
}
QSlider::handle:horizontal {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
border: 2px solid #379AC3;
width: 18px;
margin: -5px 0; /* handle is placed by default on the contents rect of the groove. Expand outside the groove */
border-radius: 3px;
}
QPushButton#forceLandButton {
font-weight: bold;
min-height: 30px;
......
images/style-outdoor.css 0 → 100644
View file @ cbc50b8c
* { font-family: "Bitstream Vera Sans"; font: "Roman"; font-size: 12px; }
QWidget#colorIcon {}
QWidget {
background-color: #F6F6F6;
color: #000000;
background-clip: border;
font-size: 11px;
}
QGroupBox {
border: 1px solid #222216;
border-radius: 3px;
padding: 10px 0px 0px 0px;
margin-top: 1ex; /* leave space at the top for the title */
}
QCheckBox {
/*background-color: #252528;*/
color: #222221;
}
QCheckBox::indicator {
border: 1px solid #111111;
border-radius: 2px;
color: #222221;
width: 10px;
height: 10px;
}
QLineEdit {
border: 1px solid #111111;
border-radius: 2px;
}
QTextEdit {
border: 1px solid #111111;
border-radius: 2px;
}
QPlainTextEdit {
border: 1px solid #111111;
border-radius: 2px;
}
QComboBox {
border: 1px solid #111111;
border-radius: 2px;
}
QCheckBox::indicator:checked {
background-color: #222222;
}
QCheckBox::indicator:checked:hover {
background-color: #222222;
}
QCheckBox::indicator:checked:pressed {
background-color: #222222;
}
QCheckBox::indicator:indeterminate:hover {
image: url(:/images/checkbox_indeterminate_hover.png);
}
QCheckBox::indicator:indeterminate:pressed {
image: url(:/images/checkbox_indeterminate_pressed.png);
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
margin: 0 3px 0px 3px;
padding: 0 3px 0px 0px;
font: bold 8px;
color: #DDDDDF;
}
QMainWindow::separator {
background: #090909;
width: 2px; /* when vertical */
height: 2px; /* when horizontal */
}
QMainWindow::separator:hover {
background: white;
}
QDockWidget {
border: 1px solid #32345E;
/* titlebar-close-icon: url(close.png);
titlebar-normal-icon: url(undock.png);*/
}
QDockWidget::title {
text-align: left; /* align the text to the left */
background: lightgray;
padding-left: 5px;
}
QDockWidget::close-button, QDockWidget::float-button {
border: 1px solid transparent;
background: darkgray;
padding: 0px;
}
QDockWidget::close-button:hover, QDockWidget::float-button:hover {
background: gray;
}
QDockWidget::close-button:pressed, QDockWidget::float-button:pressed {
padding: 1px -1px -1px 1px;
}
QDockWidget::close-button, QDockWidget::float-button {
background-color: #181820;
color: #EEEEEE;
}
QDockWidget::title {
text-align: left;
background: #121214;
color: #4A4A4F;
padding-left: 5px;
height: 10px;
border-bottom: 1px solid #222222;
}
QSeparator {
color: #EEEEEE;
}
QSpinBox {
min-height: 14px;
max-height: 18px;
border: 1px solid #4A4A4F;
border-radius: 5px;
}
QSpinBox::up-button {
subcontrol-origin: border;
subcontrol-position: top right; /* position at the top right corner */
border-image: url(:/images/actions/go-up.svg) 1;
border-width: 1px;
}
QSpinBox::down-button {
subcontrol-origin: border;
subcontrol-position: bottom right; /* position at the top right corner */
border-image: url(:/images/actions/go-down.svg) 1;
border-width: 1px;
}
QDoubleSpinBox {
min-height: 14px;
max-height: 18px;
border: 1px solid #4A4A4F;
border-radius: 5px;
}
QDoubleSpinBox::up-button {
subcontrol-origin: border;
subcontrol-position: top right; /* position at the top right corner */
border-image: url(:/images/actions/go-up.svg) 1;
border-width: 1px;
max-width: 5px;
}
QDoubleSpinBox::down-button {
subcontrol-origin: border;
subcontrol-position: bottom right; /* position at the top right corner */
border-image: url(:/images/actions/go-down.svg) 1;
border-width: 1px;
max-width: 5px;
}
QPushButton {
font-weight: bold;
min-height: 18px;
max-height: 18px;
border: 2px solid #4A4A4F;
border-radius: 5px;
padding-left: 10px;
padding-right: 10px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
}
QPushButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
}
QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
}
QToolButton {
font-weight: bold;
min-height: 16px;
min-width: 24px;
max-height: 18px;
border: 2px solid #4A4A4F;
border-radius: 5px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
}
QToolButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
}
QToolButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
}
QToolTip {
background-color: #404040;
border-radius: 3px;
}
QPushButton#forceLandButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffee01, stop:1 #ae8f00) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #222222;
border-radius: 5px;
}
QPushButton:pressed#forceLandButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bbaa00, stop:1 #a05b00) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #222222;
border-radius: 5px;
}
QPushButton#killButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffb917, stop:1 #b37300) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #222222;
border-radius: 5px;
}
QPushButton:pressed#killButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bb8500, stop:1 #903000) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #222222;
border-radius: 5px;
}
QPushButton#controlButton {
min-height: 25px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A0AE00, stop: 1 #909E00);
}
QPushButton:checked#controlButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #b76f11, stop: 1 #e1a718);
}
QProgressBar {
border: 1px solid #4A4A4F;
border-radius: 4px;
text-align: center;
padding: 2px;
color: #DDDDDF;
background-color: #111118;
}
QProgressBar:horizontal {
height: 9px;
}
QProgressBar:vertical {
width: 9px;
}
QProgressBar::chunk {
background-color: #3C7B9E;
}
QProgressBar::chunk#batteryBar {
background-color: green;
}
QProgressBar::chunk#speedBar {
background-color: yellow;
}
QProgressBar::chunk#thrustBar {
background-color: orange;
}
qgroundcontrol.pri
View file @ cbc50b8c
......@@ -83,6 +83,9 @@ macx {
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
# Copy google earth starter file
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
# Copy CSS stylesheets
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-mission.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/style-indoor.css
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-outdoor.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
# Copy model files
#QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
......@@ -189,7 +192,7 @@ linux-g++ {
DEFINES += QGC_OSG_ENABLED
}
exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) {
exists(/usr/include/osgEarth):exists(/usr/include/osg) | exists(/usr/local/include/osgEarth):exists(/usr/include/osg) {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
......
qgroundcontrol.pro
View file @ cbc50b8c
......@@ -153,7 +153,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui \
src/ui/designer/QGCToolWidget.ui \
src/ui/designer/QGCParamSlider.ui \
src/ui/designer/QGCActionButton.ui
src/ui/designer/QGCActionButton.ui \
src/ui/QGCMAVLinkLogPlayer.ui
INCLUDEPATH += src \
src/ui \
......@@ -259,7 +260,8 @@ HEADERS += src/MG.h \
src/ui/designer/QGCToolWidget.h \
src/ui/designer/QGCParamSlider.h \
src/ui/designer/QGCActionButton.h \
src/ui/designer/QGCToolWidgetItem.h
src/ui/designer/QGCToolWidgetItem.h \
src/ui/QGCMAVLinkLogPlayer.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008: {
......@@ -380,7 +382,8 @@ SOURCES += src/main.cc \
src/ui/designer/QGCToolWidget.cc \
src/ui/designer/QGCParamSlider.cc \
src/ui/designer/QGCActionButton.cc \
src/ui/designer/QGCToolWidgetItem.cc
src/ui/designer/QGCToolWidgetItem.cc \
src/ui/QGCMAVLinkLogPlayer.cc
macx|win32-msvc2008: {
SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
src/Core.cc
View file @ cbc50b8c
......@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
#include <QAction>
#include "configuration.h"
#include "QGC.h"
#include "Core.h"
#include "MG.h"
#include "MainWindow.h"
......@@ -69,6 +70,26 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
this->setOrganizationName(QLatin1String("OPENMAV"));
this->setOrganizationDomain("http://qgroundcontrol.org");
// Check application settings
// clear them if they mismatch
// QGC then falls back to default
QSettings settings;
settings.sync();
if (settings.contains("QGC_APPLICATION_VERSION_INT"))
{
QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
if (qgcVersion != QGC_APPLICATION_VERSION)
{
settings.clear();
}
}
else
{
// If application version is not set, clear settings anyway
settings.clear();
}
settings.sync();
// Show splash screen
QPixmap splashImage(":images/splash.png");
QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
......
src/LogCompressor.cc
View file @ cbc50b8c
......@@ -214,7 +214,7 @@ void LogCompressor::run()
}
}
if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
if (dataLines > 100) if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
if (!failed)
{
......
src/QGC.cc
View file @ cbc50b8c
......@@ -34,4 +34,9 @@ quint64 groundTimeUsecs()
return static_cast<quint64>(microseconds + (time.time().msec()*1000));
}
int applicationVersion()
{
return APPLICATIONVERSION;
}
}
src/QGC.h
View file @ cbc50b8c
......@@ -3,6 +3,9 @@
#include <QDateTime>
#include <QColor>
#include <QThread>
#include "configuration.h"
namespace QGC
{
......@@ -15,9 +18,39 @@ namespace QGC
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
int applicationVersion();
class SLEEP : public QThread
{
public:
/**
* @brief Set a thread to sleep for seconds
* @param s time in seconds to sleep
**/
static void sleep(unsigned long s)
{
QThread::sleep(s);
}
/**
* @brief Set a thread to sleep for milliseconds
* @param ms time in milliseconds to sleep
**/
static void msleep(unsigned long ms)
{
QThread::msleep(ms);
}
/**
* @brief Set a thread to sleep for microseconds
* @param us time in microseconds to sleep
**/
static void usleep(unsigned long us)
{
QThread::usleep(us);
}
};
const QString APPNAME = "QGROUNDCONTROL";
const QString COMPANYNAME = "OPENMAV";
}
#define QGC_EVENTLOOP_DEBUG 0
......
src/comm/AS4Protocol.cc
View file @ cbc50b8c
......@@ -43,6 +43,8 @@ This file is part of the QGROUNDCONTROL project
#include <inttypes.h>
#include <iostream>
#include "QGC.h"
AS4Protocol::AS4Protocol()
{
......@@ -84,6 +86,10 @@ AS4Protocol::~AS4Protocol()
void AS4Protocol::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
}
......
src/comm/MAVLinkProtocol.cc
View file @ cbc50b8c
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
/*===================================================================
======================================================================*/
/**
......@@ -59,7 +39,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(false),
m_loggingEnabled(false),
m_logfile(NULL),
m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink_packetlog.mavlink")),
m_enable_version_check(true),
versionMismatchIgnore(false)
{
......@@ -86,6 +66,7 @@ MAVLinkProtocol::~MAVLinkProtocol()
{
if (m_logfile)
{
m_logfile->flush();
m_logfile->close();
delete m_logfile;
}
......@@ -95,11 +76,15 @@ MAVLinkProtocol::~MAVLinkProtocol()
void MAVLinkProtocol::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
}
QString MAVLinkProtocol::getLogfileName()
{
return QCoreApplication::applicationDirPath()+"/mavlink.log";
return m_logfile->fileName();
}
/**
......@@ -124,12 +109,18 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Log data
if (m_loggingEnabled)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
quint64 time = MG::TIME::getGroundTimeNowUsecs();
int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
uint8_t buf[len];
quint64 time = QGC::groundTimeUsecs();
memcpy(buf, (void*)&time, sizeof(quint64));
// int packetlen =
// quint64 checktime = *((quint64*)buf);
// qDebug() << "TIME" << time << "CHECKTIME:" << checktime;
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
m_logfile->write((const char*) buf);
qDebug() << "WROTE LOGFILE";
QByteArray b((const char*)buf, len);
//int packetlen =
if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64)) qDebug() << "WRITING TO LOG FAILED!";
//qDebug() << "WROTE LOGFILE";
}
// ORDER MATTERS HERE!
......@@ -170,7 +161,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (!versionMismatchIgnore)
{
emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
versionMismatchIgnore = true;
}
......@@ -189,37 +180,37 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
break;
case MAV_AUTOPILOT_PIXHAWK:
{
// Fixme differentiate between quadrotor and coaxial here
PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
// Fixme differentiate between quadrotor and coaxial here
PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
case MAV_AUTOPILOT_SLUGS:
{
SlugsMAV* mav = new SlugsMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
SlugsMAV* mav = new SlugsMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
case MAV_AUTOPILOT_ARDUPILOTMEGA:
{
ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
default:
uas = new UAS(this, message.sysid);
......@@ -390,23 +381,43 @@ void MAVLinkProtocol::enableHeartbeats(bool enabled)
void MAVLinkProtocol::enableLogging(bool enabled)
{
if (enabled && !m_loggingEnabled)
bool changed = false;
if (enabled != m_loggingEnabled) changed = true;
if (enabled)
{
m_logfile = new QFile(getLogfileName());
m_logfile->open(QIODevice::WriteOnly | QIODevice::Append);
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
qDebug() << "OPENING LOGFILE FAILED!";
}
}
else
else if (!enabled)
{
m_logfile->close();
delete m_logfile;
m_logfile = NULL;
m_logfile->flush();
m_logfile->close();
}
m_loggingEnabled = enabled;
if (changed) emit loggingChanged(enabled);
}
void MAVLinkProtocol::setLogfileName(const QString& filename)
{
m_logfile->flush();
m_logfile->close();
m_logfile->setFileName(filename);
enableLogging(m_loggingEnabled);
}
void MAVLinkProtocol::enableVersionCheck(bool enabled)
{
m_enable_version_check = enabled;
emit versionCheckChanged(enabled);
}
bool MAVLinkProtocol::heartbeatsEnabled(void)
......
src/comm/MAVLinkProtocol.h
View file @ cbc50b8c
......@@ -70,8 +70,10 @@ public:
bool loggingEnabled(void);
/** @brief Get protocol version check state */
bool versionCheckEnabled(void);
/** @brief Get the protocol version */
int getVersion() { return MAVLINK_VERSION; }
/** @brief Get the name of the packet log file */
static QString getLogfileName();
QString getLogfileName();
public slots:
/** @brief Receive bytes from a communication interface */
......@@ -89,6 +91,9 @@ public slots:
/** @brief Enable/disable binary packet logging */
void enableLogging(bool enabled);
/** @brief Set log file name */
void setLogfileName(const QString& filename);
/** @brief Enable / disable version check */
void enableVersionCheck(bool enabled);
......
src/comm/MAVLinkSimulationLink.cc
View file @ cbc50b8c
......@@ -97,8 +97,8 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
LinkManager::instance()->add(this);
// Open packet log
mavlinkLogFile = new QFile(MAVLinkProtocol::getLogfileName());
mavlinkLogFile->open(QIODevice::ReadOnly);
mavlinkLogFile = new QFile();
//mavlinkLogFile->open(QIODevice::ReadOnly);
}
MAVLinkSimulationLink::~MAVLinkSimulationLink()
......@@ -141,7 +141,7 @@ void MAVLinkSimulationLink::run()
}
last = MG::TIME::getGroundTimeNow();
}
MG::SLEEP::msleep(2);
QGC::SLEEP::msleep(3);
}
}
......@@ -375,12 +375,21 @@ void MAVLinkSimulationLink::mainloop()
{
rate10hzCounter = 1;
float lastX = x;
float lastY = y;
float lastZ = z;
float hackDt = 0.1f; // 100 ms
// Move X Position
x = 12.0*sin(((double)circleCounter)/100.0);
y = 5.0*cos(((double)circleCounter)/100.0);
z = 1.8 + 1.2*sin(((double)circleCounter)/60.0);
x = 12.0*sin(((double)circleCounter)/200.0);
y = 5.0*cos(((double)circleCounter)/200.0);
z = 1.8 + 1.2*sin(((double)circleCounter)/200.0);
float xSpeed = (x - lastX)/hackDt;
float ySpeed = (y - lastY)/hackDt;
float zSpeed = (z - lastZ)/hackDt;
circleCounter++;
......@@ -402,7 +411,7 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength;
// Send back new position
mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), 0, 0, 0);
mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), xSpeed, ySpeed, zSpeed);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
......@@ -416,14 +425,14 @@ void MAVLinkSimulationLink::mainloop()
// streampointer += bufferlength;
// GLOBAL POSITION
mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed, ySpeed, zSpeed);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// GLOBAL POSITION VEHICLE 2
mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed, ySpeed, zSpeed);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
......@@ -447,7 +456,7 @@ void MAVLinkSimulationLink::mainloop()
chan.chan5_raw = (chan.chan3_raw + chan.chan4_raw) / 2.0f;
chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
chan.chan8_raw = 0;
chan.rssi = 100;
messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
// Allocate buffer with packet data
......
src/comm/MAVLinkXMLParser.cc
View file @ cbc50b8c
......@@ -464,7 +464,7 @@ bool MAVLinkXMLParser::generate()
// Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
// Add pack line to message_xx_pack function
packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
packLines += QString("\ti += put_array_by_index((const int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
// Add decode function for this type
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
......
src/comm/SerialLink.cc
View file @ cbc50b8c
......@@ -108,8 +108,9 @@ void SerialLink::loadSettings()
setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
setBaudRateType(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());
setStopBits(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
setDataBits(settings.value("SERIALLINK_COMM_DATABITS").toInt());
setFlowType(settings.value("SERIALLINK_COMM_FLOW_CONTROL").toInt());
}
}
......@@ -120,8 +121,9 @@ void SerialLink::writeSettings()
settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBits());
settings.setValue("SERIALLINK_COMM_DATABITS", getDataBits());
settings.setValue("SERIALLINK_COMM_FLOW_CONTROL", getFlowType());
settings.sync();
}
......@@ -316,10 +318,10 @@ bool SerialLink::hardwareConnect()
{
emit connected();
emit connected(true);
writeSettings();
}
writeSettings();
return connectionUp;
}
......@@ -531,6 +533,48 @@ int SerialLink::getStopBitsType()
return stopBits;
}
int SerialLink::getDataBits()
{
int ret;
switch (dataBits)
{
case DATA_5:
ret = 5;
break;
case DATA_6:
ret = 6;
break;
case DATA_7:
ret = 7;
break;
case DATA_8:
ret = 8;
break;
default:
ret = 0;
break;
}
return ret;
}
int SerialLink::getStopBits()
{
int ret;
switch (stopBits)
{
case STOP_1:
ret = 1;
break;
case STOP_2:
ret = 2;
break;
default:
ret = 0;
break;
}
return ret;
}
bool SerialLink::setPortName(QString portName)
{
if(portName.trimmed().length() > 0)
......@@ -845,8 +889,7 @@ bool SerialLink::setParityType(int parity)
}
// FIXME Works not as anticipated by user!
bool SerialLink::setDataBitsType(int dataBits)
bool SerialLink::setDataBits(int dataBits)
{
bool accepted = true;
......@@ -879,12 +922,12 @@ bool SerialLink::setDataBitsType(int dataBits)
return accepted;
}
// FIXME WORKS NOT AS ANTICIPATED BY USER!
bool SerialLink::setStopBitsType(int stopBits)
bool SerialLink::setStopBits(int stopBits)
{
bool reconnect = false;
bool accepted = true;
if(isConnected()) {
if(isConnected())
{
disconnect();
reconnect = true;
}
......@@ -907,3 +950,51 @@ bool SerialLink::setStopBitsType(int stopBits)
if(reconnect) connect();
return accepted;
}
bool SerialLink::setDataBitsType(int dataBits)
{
bool reconnect = false;
bool accepted = false;
if (isConnected())
{
disconnect();
reconnect = true;
}
if (dataBits >= (int)DATA_5 && dataBits <= (int)DATA_8)
{
DataBitsType newBits = (DataBitsType) dataBits;
port->setDataBits(newBits);
if(reconnect)
{
connect();
}
accepted = true;
}
return accepted;
}
bool SerialLink::setStopBitsType(int stopBits)
{
bool reconnect = false;
bool accepted = false;
if(isConnected())
{
disconnect();
reconnect = true;
}
if (stopBits >= (int)STOP_1 && dataBits <= (int)STOP_2)
{
StopBitsType newBits = (StopBitsType) stopBits;
port->setStopBits(newBits);
accepted = true;
}
if(reconnect) connect();
return accepted;
}
src/comm/SerialLink.h
View file @ cbc50b8c
......@@ -74,6 +74,10 @@ public:
*/
QString getName();
int getBaudRate();
int getDataBits();
int getStopBits();
// ENUM values
int getBaudRateType();
int getFlowType();
int getParityType();
......@@ -103,6 +107,10 @@ public:
public slots:
bool setPortName(QString portName);
bool setBaudRate(int rate);
bool setDataBits(int dataBits);
bool setStopBits(int stopBits);
// Set ENUM values
bool setBaudRateType(int rateIndex);
bool setFlowType(int flow);
bool setParityType(int parity);
......
src/comm/SerialLinkInterface.h
View file @ cbc50b8c
......@@ -43,6 +43,9 @@ class SerialLinkInterface : public LinkInterface {
public:
virtual QString getPortName() = 0;
virtual int getBaudRate() = 0;
virtual int getDataBits() = 0;
virtual int getStopBits() = 0;
virtual int getBaudRateType() = 0;
virtual int getFlowType() = 0;
virtual int getParityType() = 0;
......
src/comm/SerialSimulationLink.cc
View file @ cbc50b8c
......@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include <QFile>
#include <QDebug>
#include <MG.h>
#include "QGC.h"
/**
* Create a simulated link. This link is connected to an input and output file.
......@@ -92,6 +93,10 @@ void SerialSimulationLink::run()
msleep(rate);
}*/
forever
{
QGC::SLEEP::msleep(5000);
}
}
void SerialSimulationLink::enableLoopBackMode(SerialLink* loop)
......
src/comm/UDPLink.cc
View file @ cbc50b8c
......@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
#include <iostream>
#include "UDPLink.h"
#include "LinkManager.h"
#include "MG.h"
#include "QGC.h"
//#include <netinet/in.h>
UDPLink::UDPLink(QHostAddress host, quint16 port)
......@@ -49,7 +49,7 @@ UDPLink::UDPLink(QHostAddress host, quint16 port)
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
this->name = tr("UDP link ") + QString::number(getId());
this->name = tr("UDP Link (port:%1)").arg(14550);
LinkManager::instance()->add(this);
}
......@@ -64,6 +64,10 @@ UDPLink::~UDPLink()
**/
void UDPLink::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
}
void UDPLink::setAddress(QString address)
......@@ -242,7 +246,7 @@ bool UDPLink::connect()
if (connectState)
{
emit connected();
connectionStartTime = MG::TIME::getGroundTimeNow();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
start(HighPriority);
......@@ -281,7 +285,7 @@ qint64 UDPLink::getNominalDataRate() {
qint64 UDPLink::getTotalUpstream() {
statisticsMutex.lock();
qint64 totalUpstream = bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
qint64 totalUpstream = bitsSentTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
statisticsMutex.unlock();
return totalUpstream;
}
......@@ -304,7 +308,7 @@ qint64 UDPLink::getBitsReceived() {
qint64 UDPLink::getTotalDownstream() {
statisticsMutex.lock();
qint64 totalDownstream = bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
qint64 totalDownstream = bitsReceivedTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
statisticsMutex.unlock();
return totalDownstream;
}
......
src/configuration.h
View file @ cbc50b8c
......@@ -2,6 +2,7 @@
#define CONFIGURATION_H
#include "mavlink.h"
#include <QString>
/** @brief Polling interval in ms */
#ifdef MAVLINK_ENABLED_SLUGS
......@@ -16,6 +17,14 @@
#define WITH_TEXT_TO_SPEECH 1
#define QGC_APPLICATION_NAME "QGroundControl"
#define QGC_APPLICATION_VERSION "v. 0.8.0 (Beta)"
#define QGC_APPLICATION_VERSION "v. 0.8.1 (Alpha)"
namespace QGC
{
const QString APPNAME = "QGROUNDCONTROL";
const QString COMPANYNAME = "OPENMAV";
const int APPLICATIONVERSION = 80; // 0.8.0
}
#endif // CONFIGURATION_H
src/input/JoystickInput.cc
View file @ cbc50b8c
......@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
#include <limits.h>
#include "UAS.h"
#include "UASManager.h"
#include "QGC.h"
/**
* The coordinate frame of the joystick axis is the aeronautical frame like shown on this image:
......@@ -276,7 +277,7 @@ void JoystickInput::run()
}
// Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms)
MG::SLEEP::msleep(20);
QGC::SLEEP::msleep(20);
}
......
src/uas/PxQuadMAV.cc
View file @ cbc50b8c
......@@ -60,8 +60,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_raw_aux_t raw;
mavlink_msg_raw_aux_decode(&message, &raw);
quint64 time = getUnixTime(0);
emit valueChanged(uasId, "Pressure", raw.baro, time);
emit valueChanged(uasId, "Temperature", raw.temp, time);
emit valueChanged(uasId, "Pressure", "raw", raw.baro, time);
emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
}
break;
case MAVLINK_MSG_ID_PATTERN_DETECTED:
......@@ -110,12 +110,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_msg_vision_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis. roll", pos.roll, time);
emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
emit valueChanged(uasId, "vis. x", pos.x, time);
emit valueChanged(uasId, "vis. y", pos.y, time);
emit valueChanged(uasId, "vis. z", pos.z, time);
emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vis. x", "m", pos.x, time);
emit valueChanged(uasId, "vis. y", "m", pos.y, time);
emit valueChanged(uasId, "vis. z", "m", pos.z, time);
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
......@@ -124,12 +124,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_msg_vicon_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vicon roll", pos.roll, time);
emit valueChanged(uasId, "vicon pitch", pos.pitch, time);
emit valueChanged(uasId, "vicon yaw", pos.yaw, time);
emit valueChanged(uasId, "vicon x", pos.x, time);
emit valueChanged(uasId, "vicon y", pos.y, time);
emit valueChanged(uasId, "vicon z", pos.z, time);
emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vicon x", "m", pos.x, time);
emit valueChanged(uasId, "vicon y", "m", pos.y, time);
emit valueChanged(uasId, "vicon z", "m", pos.z, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break;
......@@ -143,7 +143,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
emit UAS::valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
emit valueChanged(uasId, "Load", "%", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
}
break;
case MAVLINK_MSG_ID_CONTROL_STATUS:
......
src/uas/UAS.cc
View file @ cbc50b8c
This diff is collapsed.
src/uas/UASInterface.h
View file @ cbc50b8c
......@@ -328,9 +328,9 @@ signals:
* @param msec the timestamp of the message, in milliseconds
*/
// FIXME Exchange the lines below against the commented ones
void valueChanged(int uasId, QString name, double value, quint64 msec);
void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);
//void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
void valueChanged(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
// void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
// //void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);
......
src/uas/UASManager.cc
View file @ cbc50b8c
......@@ -33,10 +33,12 @@ This file is part of the QGROUNDCONTROL project
#include <QMessageBox>
#include <QTimer>
#include "UAS.h"
#include <UASInterface.h>
#include <UASManager.h>
#include "UASInterface.h"
#include "UASManager.h"
#include "QGC.h"
UASManager* UASManager::instance() {
UASManager* UASManager::instance()
{
static UASManager* _instance = 0;
if(_instance == 0) {
_instance = new UASManager();
......@@ -67,6 +69,10 @@ UASManager::~UASManager()
void UASManager::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
}
void UASManager::addUAS(UASInterface* uas)
......@@ -104,12 +110,6 @@ QList<UASInterface*> UASManager::getUASList()
UASInterface* UASManager::getActiveUAS()
{
// if(!activeUAS)
// {
// QMessageBox msgBox;
// msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
// msgBox.exec();
// }
return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
......@@ -193,8 +193,6 @@ void UASManager::setActiveUAS(UASInterface* uas)
activeUAS = uas;
activeUASMutex.unlock();
qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << uas->getUASName();
emit activeUASSet(uas);
emit activeUASSet(uas->getUASID());
emit activeUASStatusChanged(uas, true);
......
src/uas/UASWaypointManager.cc
View file @ cbc50b8c
......@@ -56,6 +56,7 @@ void UASWaypointManager::timeout()
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries--;
emit updateStatusString(tr("Timeout, retrying (retries left: %1)").arg(current_retries));
qDebug() << "Timeout, retrying (retries left:" << current_retries << ")";
if (current_state == WP_GETLIST)
{
......@@ -518,7 +519,7 @@ void UASWaypointManager::sendWaypointClearAll()
wpca.target_system = uas.getUASID();
wpca.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
emit updateStatusString(QString("clearing waypoint list..."));
emit updateStatusString(QString("Clearing waypoint list..."));
mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca);
uas.sendMessage(message);
......@@ -555,7 +556,7 @@ void UASWaypointManager::sendWaypointCount()
wpc.count = current_count;
qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
emit updateStatusString(QString("start transmitting waypoints..."));
emit updateStatusString(QString("Starting to transmit waypoints..."));
mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
uas.sendMessage(message);
......@@ -572,7 +573,7 @@ void UASWaypointManager::sendWaypointRequestList()
wprl.target_system = uas.getUASID();
wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
emit updateStatusString(QString("requesting waypoint list..."));
emit updateStatusString(QString("Requesting waypoint list..."));
mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl);
uas.sendMessage(message);
......@@ -592,7 +593,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
wpr.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
wpr.seq = seq;
emit updateStatusString(QString("retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count));
emit updateStatusString(QString("Retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count));
mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
uas.sendMessage(message);
......@@ -616,7 +617,7 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
wp->target_system = uas.getUASID();
wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER;
emit updateStatusString(QString("sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
emit updateStatusString(QString("Sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<<waypoint_buffer.count();
......
src/ui/CommConfigurationWindow.cc
View file @ cbc50b8c
......@@ -106,7 +106,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
layout->addWidget(conf);
ui.linkGroupBox->setLayout(layout);
ui.linkGroupBox->setTitle(tr("serial link"));
ui.linkGroupBox->setTitle(tr("Serial Link"));
//ui.linkGroupBox->setTitle(link->getName());
//connect(link, SIGNAL(nameChanged(QString)), ui.linkGroupBox, SLOT(setTitle(QString)));
}
......@@ -142,13 +142,13 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
// Open details pane for MAVLink if necessary
MAVLinkProtocol* mavlink = dynamic_cast<MAVLinkProtocol*>(protocol);
if(mavlink != 0)
if (mavlink != 0)
{
QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.protocolGroupBox);
layout->addWidget(conf);
ui.protocolGroupBox->setLayout(layout);
ui.protocolGroupBox->setTitle(protocol->getName());
ui.protocolGroupBox->setTitle(protocol->getName()+" (Global Settings)");
}
else
{
......
src/ui/DebugConsole.cc
View file @ cbc50b8c
......@@ -62,6 +62,8 @@ DebugConsole::DebugConsole(QWidget *parent) :
{
// Setup basic user interface
m_ui->setupUi(this);
// Hide sent text field - it is only useful after send has been hit
m_ui->sentText->setVisible(false);
// Make text area not editable
m_ui->receiveText->setReadOnly(true);
// Limit to 500 lines
......@@ -105,6 +107,8 @@ DebugConsole::DebugConsole(QWidget *parent) :
connect(m_ui->holdButton, SIGNAL(toggled(bool)), this, SLOT(hold(bool)));
// Connect connect button
connect(m_ui->connectButton, SIGNAL(clicked()), this, SLOT(handleConnectButton()));
// Connect the special chars combo box
connect(m_ui->specialComboBox, SIGNAL(activated(QString)), this, SLOT(appendSpecialSymbol(QString)));
this->setVisible(false);
}
......@@ -327,8 +331,83 @@ void DebugConsole::receiveBytes(LinkInterface* link, QByteArray bytes)
}
}
QByteArray DebugConsole::symbolNameToBytes(const QString& text)
{
QByteArray b;
if (text == "LF")
{
b.append(static_cast<char>(0x0A));
}
else if (text == "FF")
{
b.append(static_cast<char>(0x0C));
}
else if (text == "CR")
{
b.append(static_cast<char>(0x0D));
}
else if (text == "CR+LF")
{
b.append(static_cast<char>(0x0D));
b.append(static_cast<char>(0x0A));
}
else if (text == "TAB")
{
b.append(static_cast<char>(0x09));
}
else if (text == "NUL")
{
b.append(static_cast<char>(0x00));
}
else if (text == "ESC")
{
b.append(static_cast<char>(0x1B));
}
else if (text == "~")
{
b.append(static_cast<char>(0x7E));
}
else if (text == "<Space>")
{
b.append(static_cast<char>(0x20));
}
return b;
}
void DebugConsole::appendSpecialSymbol(const QString& text)
{
QString line = m_ui->sendText->text();
QByteArray symbols = symbolNameToBytes(text);
// The text is appended to the enter field
if (convertToAscii)
{
line.append(symbols);
}
else
{
for (int i = 0; i < symbols.size(); i++)
{
QString add(" 0x%1");
line.append(add.arg(static_cast<char>(symbols.at(i)), 2, 16, QChar('0')));
}
}
m_ui->sendText->setText(line);
}
void DebugConsole::sendBytes()
{
if (!m_ui->sentText->isVisible())
{
m_ui->sentText->setVisible(true);
}
if (!currLink->isConnected())
{
m_ui->sentText->setText(tr("Nothing sent. The link %1 is unconnected. Please connect first.").arg(currLink->getName()));
return;
}
QByteArray transmit;
QString feedback;
bool ok = true;
......@@ -382,8 +461,16 @@ void DebugConsole::sendBytes()
if (ok && m_ui->sendText->text().toLatin1().size() > 0)
{
// Transmit only if conversion succeeded
currLink->writeBytes(transmit, transmit.size());
m_ui->sentText->setText(tr("Sent: ") + feedback);
// int transmitted =
currLink->writeBytes(transmit, transmit.size());
// if (transmit.size() == transmitted)
// {
m_ui->sentText->setText(tr("Sent: ") + feedback);
// }
// else
// {
// m_ui->sentText->setText(tr("Error during sending: Transmitted only %1 bytes instead of %2.").arg(transmitted, transmit.size()));
// }
}
else if (m_ui->sendText->text().toLatin1().size() > 0)
{
......@@ -403,6 +490,8 @@ void DebugConsole::hexModeEnabled(bool mode)
{
convertToAscii = !mode;
m_ui->receiveText->clear();
m_ui->sendText->clear();
m_ui->sentText->clear();
}
/**
......
src/ui/DebugConsole.h
View file @ cbc50b8c
......@@ -83,6 +83,8 @@ public slots:
void setAutoHold(bool hold);
/** @brief Receive plain text message to output to the user */
void receiveTextMessage(int id, int component, int severity, QString text);
/** @brief Append a special symbol */
void appendSpecialSymbol(const QString& text);
protected slots:
/** @brief Draw information overlay */
......@@ -92,6 +94,7 @@ public slots:
protected:
void changeEvent(QEvent *e);
QByteArray symbolNameToBytes(const QString& symbol);
QList<LinkInterface*> links;
LinkInterface* currLink;
......
src/ui/DebugConsole.ui
View file @ cbc50b8c
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>463</width>
<height>159</height>
<width>447</width>
<height>181</height>
</rect>
</property>
<property name="windowTitle">
......@@ -106,24 +106,74 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="sendText">
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Type the bytes to send here, use 0xAA format for HEX (Check HEX checkbox above)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10,0">
<item row="4" column="1">
<layout class="QHBoxLayout" name="horizontalLayout" stretch="0,10,10,10,0">
<property name="spacing">
<number>5</number>
</property>
<item>
<widget class="QComboBox" name="specialComboBox">
<property name="maxVisibleItems">
<number>10</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
</property>
<property name="minimumContentsLength">
<number>1</number>
</property>
<item>
<property name="text">
<string>Add..</string>
</property>
</item>
<item>
<property name="text">
<string>CR+LF</string>
</property>
</item>
<item>
<property name="text">
<string>LF</string>
</property>
</item>
<item>
<property name="text">
<string>FF</string>
</property>
</item>
<item>
<property name="text">
<string>CR</string>
</property>
</item>
<item>
<property name="text">
<string>TAB</string>
</property>
</item>
<item>
<property name="text">
<string>NUL</string>
</property>
</item>
<item>
<property name="text">
<string>ESC</string>
</property>
</item>
<item>
<property name="text">
<string>~</string>
</property>
</item>
<item>
<property name="text">
<string>&lt;Space&gt;</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QPushButton" name="transmitButton">
<property name="toolTip">
......@@ -164,6 +214,19 @@
</item>
</layout>
</item>
<item row="3" column="0" colspan="2">
<widget class="QLineEdit" name="sendText">
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Type the bytes to send here, use 0xAA format for HEX (Check HEX checkbox above)</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources>
......
src/ui/HDDisplay.cc
View file @ cbc50b8c
This diff is collapsed.
src/ui/HDDisplay.h
View file @ cbc50b8c
......@@ -64,7 +64,7 @@ public:
public slots:
/** @brief Update a HDD value */
void updateValue(int uasId, QString name, double value, quint64 msec);
void updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
void setActiveUAS(UASInterface* uas);
/** @brief Removes a plot item by the action data */
......@@ -114,7 +114,7 @@ protected:
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
......@@ -137,12 +137,14 @@ protected:
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
QMap<QString, QString> units; ///< The units
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, bool> symmetric; ///< Draw the gauge / dial symmetric bool = yes
QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
......@@ -176,7 +178,8 @@ protected:
float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
QStringList* acceptList; ///< Variable names to plot
QStringList* acceptList; ///< Variable names to plot
QStringList* acceptUnitList; ///< Unit names to plot
quint64 lastPaintTime; ///< Last time this widget was refreshed
int columns; ///< Number of instrument columns
......
src/ui/HSIDisplay.cc
View file @ cbc50b8c
......@@ -46,7 +46,7 @@ This file is part of the QGROUNDCONTROL project
#include <QDebug>
HSIDisplay::HSIDisplay(QWidget *parent) :
HDDisplay(NULL, "", parent),
HDDisplay(NULL, "HSI", parent),
gpsSatellites(),
satellitesUsed(0),
attXSet(0),
......@@ -102,11 +102,17 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
refreshTimer->setInterval(updateInterval);
columns = 1;
// this->setScene(new QGraphicsScene(-metricWidth/2.0f, -metricWidth/2.0f, metricWidth, metricWidth, this));
vwidth = 80;
vheight = 80;
xCenterPos = vwidth/2.0f;
yCenterPos = vheight/2.0f + topMargin - bottomMargin;
qDebug() << "CENTER" << xCenterPos << yCenterPos;
// Add interaction elements
QHBoxLayout* layout = new QHBoxLayout(this);
......
src/ui/HUD.cc
View file @ cbc50b8c
This diff is collapsed.
src/ui/HUD.h
View file @ cbc50b8c
......@@ -63,11 +63,8 @@ public slots:
/** @brief Set the currently monitored UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Update a HUD value */
void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
// void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
void updateBattery(UASInterface*, double, double, int);
void receiveHeartbeat(UASInterface*);
void updateThrust(UASInterface*, double);
......@@ -77,7 +74,7 @@ public slots:
void updateState(UASInterface*,QString);
void updateMode(int id,QString mode, QString description);
void updateLoad(UASInterface*, double);
void selectWaypoint(UASInterface* uas, int id);
void selectWaypoint(int uasId, int id);
void startImage(int imgid, int width, int height, int depth, int channels);
void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex);
......@@ -103,8 +100,6 @@ protected slots:
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void drawPolygon(QPolygonF refPolygon, QPainter* painter);
......@@ -130,11 +125,6 @@ protected:
QImage* image; ///< Double buffer image
QImage glImage; ///< The background / camera image
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
float yawInt; ///< The yaw integral. Used to damp the yaw indication.
QString mode; ///< The current vehicle mode
QString state; ///< The current vehicle state
......@@ -188,6 +178,20 @@ protected:
float roll;
float pitch;
float yaw;
float rollLP;
float pitchLP;
float yawLP;
double yawDiff;
double xPos;
double yPos;
double zPos;
double xSpeed;
double ySpeed;
double zSpeed;
double lat;
double lon;
double alt;
float load;
void paintEvent(QPaintEvent *event);
};
......
src/ui/MAVLinkSettingsWidget.cc
View file @ cbc50b8c
......@@ -27,6 +27,11 @@ This file is part of the QGROUNDCONTROL project
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#include <QFileInfo>
#include <QFileDialog>
#include <QMessageBox>
#include <QDesktopServices>
#include "MAVLinkSettingsWidget.h"
#include "ui_MAVLinkSettingsWidget.h"
......@@ -37,6 +42,8 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
{
m_ui->setupUi(this);
m_ui->gridLayout->setAlignment(Qt::AlignTop);
// Initialize state
m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled());
m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled());
......@@ -49,7 +56,59 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableLogging(bool)));
connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionCheckBox, SLOT(setChecked(bool)));
connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableVersionCheck(bool)));
connect(m_ui->logFileButton, SIGNAL(clicked()), this, SLOT(chooseLogfileName()));
// Update values
m_ui->versionLabel->setText(tr("MAVLINK_VERSION: %1").arg(protocol->getVersion()));
updateLogfileName(protocol->getLogfileName());
// Connect visibility updates
connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionLabel, SLOT(setVisible(bool)));
m_ui->versionLabel->setVisible(protocol->versionCheckEnabled());
//connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), m_ui->versionSpacer, SLOT(setVisible(bool)));
//connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), m_ui->logFileSpacer, SLOT(setVisible(bool)));
connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileLabel, SLOT(setVisible(bool)));
m_ui->logFileLabel->setVisible(protocol->loggingEnabled());
connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileButton, SLOT(setVisible(bool)));
m_ui->logFileButton->setVisible(protocol->loggingEnabled());
// Update settings
m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled());
m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled());
m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled());
}
void MAVLinkSettingsWidget::updateLogfileName(const QString& fileName)
{
QFileInfo file(fileName);
m_ui->logFileLabel->setText(file.fileName());
}
void MAVLinkSettingsWidget::chooseLogfileName()
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Specify MAVLink log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("MAVLink Logfile (*.mavlink);;"));
if (!fileName.endsWith(".mavlink"))
{
fileName.append(".mavlink");
}
QFileInfo file(fileName);
if (file.exists() && !file.isWritable())
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText(tr("The selected logfile is not writable"));
msgBox.setInformativeText(tr("Please make sure that the file %1 is writable or select a different file").arg(fileName));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
}
else
{
updateLogfileName(fileName);
protocol->setLogfileName(fileName);
}
}
MAVLinkSettingsWidget::~MAVLinkSettingsWidget()
......
src/ui/MAVLinkSettingsWidget.h
View file @ cbc50b8c
......@@ -15,6 +15,12 @@ public:
MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget *parent = 0);
~MAVLinkSettingsWidget();
public slots:
/** @brief Update the log file name display */
void updateLogfileName(const QString& fileName);
/** @brief Start the file select dialog for the log file */
void chooseLogfileName();
protected:
MAVLinkProtocol* protocol;
void changeEvent(QEvent *e);
......
src/ui/MAVLinkSettingsWidget.ui
View file @ cbc50b8c
......@@ -6,51 +6,85 @@
<rect>
<x>0</x>
<y>0</y>
<width>267</width>
<height>123</height>
<width>361</width>
<height>145</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<number>6</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="1,100,1">
<item row="0" column="0" colspan="3">
<widget class="QCheckBox" name="heartbeatCheckBox">
<property name="text">
<string>Emit heartbeat</string>
</property>
</widget>
</item>
<item>
<item row="1" column="0" colspan="3">
<widget class="QCheckBox" name="loggingCheckBox">
<property name="text">
<string>Log all MAVLink packets</string>
</property>
</widget>
</item>
<item>
<item row="3" column="0">
<spacer name="logFileSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>8</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="0" colspan="3">
<widget class="QCheckBox" name="versionCheckBox">
<property name="text">
<string>Only accept MAVs with same protocol version</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<item row="5" column="0">
<spacer name="versionSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>84</height>
<width>8</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1" colspan="2">
<widget class="QLabel" name="versionLabel">
<property name="text">
<string>MAVLINK_VERSION: </string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="logFileLabel">
<property name="text">
<string>Logfile name</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QPushButton" name="logFileButton">
<property name="text">
<string>Select..</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
src/ui/MainWindow.cc
View file @ cbc50b8c
This diff is collapsed.
src/ui/MainWindow.h
View file @ cbc50b8c
......@@ -104,6 +104,9 @@ public slots:
void addLink();
void addLink(LinkInterface* link);
void configure();
/** @brief Set the currently controlled UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Add a new UAS */
void UASCreated(UASInterface* uas);
void startVideoCapture();
void stopVideoCapture();
......@@ -142,19 +145,19 @@ public slots:
==========================================================
*/
void loadWidgets();
// void loadWidgets();
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/** @brief Load 3D map view */
void load3DMapView();
// /** @brief Load 3D map view */
// void load3DMapView();
/** @brief Load 3D Google Earth view */
void loadGoogleEarthView();
// /** @brief Load 3D Google Earth view */
// void loadGoogleEarthView();
/** @brief Load 3D view */
void load3DView();
// /** @brief Load 3D view */
// void load3DView();
/**
* @brief Shows a Docked Widget based on the action sender
......@@ -208,6 +211,7 @@ protected:
MENU_SLUGS_PID,
MENU_SLUGS_HIL,
MENU_SLUGS_CAMERA,
MENU_MAVLINK_LOG_PLAYER,
CENTRAL_SEPARATOR= 255, // do not change
CENTRAL_LINECHART,
CENTRAL_PROTOCOL,
......@@ -297,6 +301,7 @@ protected:
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
bool aboutToCloseFlag;
bool changingViewsFlag;
void clearView();
......@@ -360,6 +365,7 @@ protected:
QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> logPlayerDockWidget;
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
......@@ -393,6 +399,8 @@ private:
Ui::MainWindow ui;
QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
QString getWindowStateKey();
QString getWindowGeometryKey();
};
......
src/ui/MainWindow.ui
View file @ cbc50b8c
This diff is collapsed.
src/ui/QGCMAVLinkLogPlayer.cc 0 → 100644
View file @ cbc50b8c
This diff is collapsed.
src/ui/QGCMAVLinkLogPlayer.h 0 → 100644
View file @ cbc50b8c
#ifndef QGCMAVLINKLOGPLAYER_H
#define QGCMAVLINKLOGPLAYER_H
#include <QWidget>
#include <QFile>
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
namespace Ui {
class QGCMAVLinkLogPlayer;
}
/**
* @brief Replays MAVLink log files
*
* This class allows to replay MAVLink logs at varying speeds.
* captured flights can be replayed, shown to others and analyzed
* in-depth later on.
*/
class QGCMAVLinkLogPlayer : public QWidget
{
Q_OBJECT
public:
explicit QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent = 0);
~QGCMAVLinkLogPlayer();
public slots:
/** @brief Replay the logfile */
void play();
/** @brief Pause the logfile */
void pause();
/** @brief Reset the logfile */
void reset();
/** @brief Select logfile */
void selectLogFile();
/** @brief Load log file */
void loadLogFile(const QString& file);
/** @brief The logging mainloop */
void logLoop();
/** @brief Set acceleration factor in percent */
void setAccelerationFactorInt(int factor);
protected:
int lineCounter;
int totalLines;
quint64 startTime;
quint64 endTime;
quint64 currentStartTime;
float accelerationFactor;
MAVLinkProtocol* mavlink;
MAVLinkSimulationLink* logLink;
QFile logFile;
QTimer loopTimer;
int loopCounter;
void changeEvent(QEvent *e);
private:
Ui::QGCMAVLinkLogPlayer *ui;
};
#endif // QGCMAVLINKLOGPLAYER_H
src/ui/QGCMAVLinkLogPlayer.ui 0 → 100644
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src/ui/QGCRemoteControlView.cc
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......@@ -197,7 +197,7 @@ void QGCRemoteControlView::redraw()
// Update raw values
for(int i = 0; i < rawLabels.count(); i++)
{
rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4));
rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
}
// Update percent bars
......
src/ui/SerialConfigurationWindow.cc
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src/ui/SerialSettings.ui
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src/ui/WaypointList.ui
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src/ui/linechart/LinechartPlot.cc
View file @ cbc50b8c
......@@ -228,7 +228,8 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
datalock.lock();
/* Check if dataset identifier already exists */
if(!data.contains(dataname)) {
if(!data.contains(dataname))
{
addCurve(dataname);
}
......
src/ui/linechart/LinechartWidget.cc
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src/ui/linechart/LinechartWidget.h
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src/ui/linechart/Linecharts.cc
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......@@ -96,7 +96,12 @@ void Linecharts::addSystem(UASInterface* uas)
addWidget(widget);
plots.insert(uas->getUASID(), widget);
#ifndef MAVLINK_ENABLED_SLUGS
connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
// Values without unit
//connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
// Values with unit as double
connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
// Values with unit as integer
connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
#endif
connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
// Set system active if this is the only system
......
src/ui/map3D/QGCGoogleEarthView.ui
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src/ui/uas/QGCUnconnectedInfoWidget.ui
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src/ui/uas/UASControlWidget.cc
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......@@ -84,6 +84,8 @@ engineOn(false)
connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
ui.modeComboBox->setCurrentIndex(0);
ui.gridLayout->setAlignment(Qt::AlignTop);
}
void UASControlWidget::setUAS(UASInterface* uas)
......
src/ui/uas/UASListWidget.cc
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