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Commit d1d6f8f9 authored by pixhawk's avatar pixhawk
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Cleaned up serial port libs, activated mav visualization on map (still... 

Cleaned up serial port libs, activated mav visualization on map (still debugging), fixed standalone MAVLink generator
parent 0846707b
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Showing with 650 additions and 3360 deletions
mavlinkgen.pro
View file @ d1d6f8f9
......@@ -37,12 +37,12 @@ HEADERS += src/standalone/mavlinkgen/MAVLinkGen.h \
src/comm/MAVLinkXMLParser.h \
src/ui/mavlink/DomItem.h \
src/ui/mavlink/DomModel.h \
src/comm/MAVLinkSyntaxHighlighter.h
src/ui/mavlink/QGCMAVLinkTextEdit.h
SOURCES += src/standalone/mavlinkgen/main.cc \
src/standalone/mavlinkgen/MAVLinkGen.cc \
src/ui/XMLCommProtocolWidget.cc \
src/ui/mavlink/DomItem.cc \
src/ui/mavlink/DomModel.cc \
src/comm/MAVLinkXMLParser.cc \
src/comm/MAVLinkSyntaxHighlighter.cc
src/ui/mavlink/QGCMAVLinkTextEdit.cc
RESOURCES = mavground.qrc
qgroundcontrol.pri
View file @ d1d6f8f9
......@@ -29,7 +29,7 @@
# $$BASEDIR/lib/openjaus/libopenJaus/include
message(Qt version $$[QT_VERSION])
message(Using Qt from $QTDIR)
message(Using Qt from $$[QTDIR])
release {
# DEFINES += QT_NO_DEBUG_OUTPUT
......
qgroundcontrol.pro
View file @ d1d6f8f9
# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Author:
# Lorenz Meier <mavteam@student.ethz.ch>
# (c) 2009-2010 PIXHAWK Team
# This file is part of the mav groundstation project
# Maintainer:
# Lorenz Meier <lm@inf.ethz.ch>
# (c) 2009-2011 QGroundControl Developers
# This file is part of the open groundstation project
# QGroundControl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
......@@ -23,11 +23,17 @@
# Version from GIT repository is preferred
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
#include(lib/QMapControl/QMapControl.pri)
# include(lib/QMapControl/QMapControl.pri)
include(lib/nmea/nmea.pri)
include(lib/opmapcontrol/opmapcontrol.pri)
# This is a HACK - linking to openpilot repo for now
# OPMapControl is a OpenPilot-independent map library
# provided by the OpenPilot team - thanks, great piece
# of open-source software!
# (We're not reusing any part of the OP GCS, just the map library)
include(../openpilot/ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol_external.pri)
# include(lib/opmapcontrol/opmapcontrol.pri)
# message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
QT += network \
opengl \
......@@ -57,7 +63,6 @@ exists(user_config.pri) {
message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
message("------------------------------------------------------------------------")
}
INCLUDEPATH += $$BASEDIR/../mavlink/include/common
INCLUDEPATH += $$BASEDIR/../mavlink/include
INCLUDEPATH += $$BASEDIR/thirdParty/mavlink/include/common
......@@ -112,27 +117,19 @@ include(qgroundcontrol.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
DEPENDPATH += . \
# lib/QMapControl \
# lib/QMapControl/src \
lib/opmapcontrol \
lib/opmapcontrol/src \
plugins \
thirdParty/qserialport/include \
thirdParty/qserialport/include/QtSerialPort \
thirdParty/qserialport
\ # lib/QMapControl \
# lib/QMapControl/src \
lib/opmapcontrollib/opmapcontrol/srcpluginsthirdParty/qserialport/includethirdParty/qserialport/include/QtSerialPortthirdParty/qserialport
INCLUDEPATH += . \
# lib/QMapControl \
lib/opmapcontrol \
thirdParty/qserialport/include \
thirdParty/qserialport/include/QtSerialPort \
thirdParty/qserialport/src
\ # lib/QMapControl \
lib/opmapcontrolthirdParty/qserialport/includethirdParty/qserialport/include/QtSerialPortthirdParty/qserialport/src
# Include serial port library
#include(src/lib/qextserialport/qextserialport.pri)
# include(src/lib/qextserialport/qextserialport.pri)
# include qserial library
include(thirdParty/qserialport/qgroundcontrol-qserialport.pri)
# ../mavlink/include \
# MAVLink/include \
# mavlink/include
......@@ -151,7 +148,7 @@ FORMS += src/ui/MainWindow.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
# src/ui/MapWidget.ui \
\ \ # src/ui/MapWidget.ui \
src/ui/XMLCommProtocolWidget.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
......@@ -183,7 +180,6 @@ FORMS += src/ui/MainWindow.ui \
src/ui/UASControlParameters.ui \
src/ui/mission/QGCMissionDoWidget.ui \
src/ui/mission/QGCMissionConditionWidget.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
......@@ -199,7 +195,6 @@ INCLUDEPATH += src \
src/ui/watchdog \
src/ui/map3D \
src/ui/designer
HEADERS += src/MG.h \
src/QGCCore.h \
src/uas/UASInterface.h \
......@@ -237,7 +232,6 @@ HEADERS += src/MG.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/DebugConsole.h \
# src/ui/MapWidget.h \
src/ui/XMLCommProtocolWidget.h \
src/ui/mavlink/DomItem.h \
src/ui/mavlink/DomModel.h \
......@@ -264,8 +258,6 @@ HEADERS += src/MG.h \
src/ui/QGCPxImuFirmwareUpdate.h \
src/ui/QGCDataPlot2D.h \
src/ui/linechart/IncrementalPlot.h \
# src/ui/map/Waypoint2DIcon.h \
# src/ui/map/MAV2DIcon.h \
src/ui/QGCRemoteControlView.h \
src/ui/RadioCalibration/RadioCalibrationData.h \
src/ui/RadioCalibration/RadioCalibrationWindow.h \
......@@ -298,13 +290,11 @@ HEADERS += src/MG.h \
src/ui/mission/QGCMissionDoWidget.h \
src/ui/mission/QGCMissionConditionWidget.h \
src/uas/QGCUASParamManager.h \
src/ui/QGCMapWidget.h
src/ui/QGCMapWidget.h \
src/ui/mavlink/QGCMAVLinkTextEdit.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008: {
HEADERS += src/ui/map3D/QGCGoogleEarthView.h
}
macx|win32-msvc2008::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
......@@ -336,7 +326,6 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
# Enable only if libfreenect is available
HEADERS += src/input/Freenect.h
}
SOURCES += src/main.cc \
src/QGCCore.cc \
src/uas/UASManager.cc \
......@@ -369,7 +358,7 @@ SOURCES += src/main.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/DebugConsole.cc \
# src/ui/MapWidget.cc \
\ \ # src/ui/MapWidget.cc \
src/ui/XMLCommProtocolWidget.cc \
src/ui/mavlink/DomItem.cc \
src/ui/mavlink/DomModel.cc \
......@@ -396,8 +385,8 @@ SOURCES += src/main.cc \
src/ui/QGCPxImuFirmwareUpdate.cc \
src/ui/QGCDataPlot2D.cc \
src/ui/linechart/IncrementalPlot.cc \
# src/ui/map/Waypoint2DIcon.cc \
# src/ui/map/MAV2DIcon.cc \
\ \ # src/ui/map/Waypoint2DIcon.cc \
# src/ui/map/MAV2DIcon.cc \
src/ui/QGCRemoteControlView.cc \
src/ui/RadioCalibration/RadioCalibrationWindow.cc \
src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
......@@ -429,12 +418,9 @@ SOURCES += src/main.cc \
src/ui/mission/QGCMissionDoWidget.cc \
src/ui/mission/QGCMissionConditionWidget.cc \
src/uas/QGCUASParamManager.cc \
src/ui/QGCMapWidget.cc
macx|win32-msvc2008: {
SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
}
src/ui/QGCMapWidget.cc \
src/ui/mavlink/QGCMAVLinkTextEdit.cc
macx|win32-msvc2008::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
......@@ -452,9 +438,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc \
src/ui/map3D/HUDScaleGeode.cc \
src/ui/map3D/WaypointGroupNode.cc \
src/ui/map3D/WaypointGroupNode.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
......@@ -471,7 +455,7 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
RESOURCES += mavground.qrc
# Include RT-LAB Library
win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
message("Building support for Opal-RT")
LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
-lOpalApi
......@@ -491,6 +475,5 @@ win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin)
FORMS += src/ui/OpalLinkSettings.ui
DEFINES += OPAL_RT
}
TRANSLATIONS += es-MX.ts \
TRANSLATIONS += es-MX.ts \
en-US.ts
src/comm/MAVLinkXMLParser.cc
View file @ d1d6f8f9
......@@ -149,7 +149,8 @@ bool MAVLinkXMLParser::generate()
connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
// Generate and write
recursion_level++;
includeParser.generate();
// Abort if inclusion fails
if (!includeParser.generate()) return false;
recursion_level--;
mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
......
src/configuration.h
View file @ d1d6f8f9
#ifndef QGC_CONFIGURATION_H
#define QGC_CONFIGURATION_H
#include "mavlink.h"
#include <QString>
/** @brief Polling interval in ms */
#ifdef MAVLINK_ENABLED_SLUGS
#define SERIAL_POLL_INTERVAL 7
#else
#define SERIAL_POLL_INTERVAL 7
#endif
/** @brief Heartbeat emission rate, in Hertz (times per second) */
#define MAVLINK_HEARTBEAT_DEFAULT_RATE 1
......
src/lib/qextserialport/posix_qextserialport.cpp deleted 100644 → 0
View file @ 0846707b
This diff is collapsed.
src/lib/qextserialport/posix_qextserialport.h deleted 100644 → 0
View file @ 0846707b
#ifndef _POSIX_QEXTSERIALPORT_H_
#define _POSIX_QEXTSERIALPORT_H_
#include <stdio.h>
#include <termios.h>
#include <errno.h>
#include <unistd.h>
#include <sys/time.h>
#include <sys/ioctl.h>
#include <sys/select.h>
#include "qextserialbase.h"
class Posix_QextSerialPort:public QextSerialBase
{
private:
/*!
* This method is a part of constructor.
*/
void init();
protected:
int fd;
struct termios Posix_CommConfig;
struct termios old_termios;
struct timeval Posix_Timeout;
struct timeval Posix_Copy_Timeout;
virtual qint64 readData(char * data, qint64 maxSize);
virtual qint64 writeData(const char * data, qint64 maxSize);
public:
Posix_QextSerialPort(QextSerialBase::QueryMode mode);
Posix_QextSerialPort(const Posix_QextSerialPort& s);
Posix_QextSerialPort(const QString & name, QextSerialBase::QueryMode mode);
Posix_QextSerialPort(const PortSettings& settings, QextSerialBase::QueryMode mode);
Posix_QextSerialPort(const QString & name, const PortSettings& settings, QextSerialBase::QueryMode mode);
Posix_QextSerialPort& operator=(const Posix_QextSerialPort& s);
virtual ~Posix_QextSerialPort();
virtual void setBaudRate(BaudRateType);
virtual void setDataBits(DataBitsType);
virtual void setParity(ParityType);
virtual void setStopBits(StopBitsType);
virtual void setFlowControl(FlowType);
virtual void setTimeout(long);
virtual bool open(OpenMode mode);
virtual void close();
virtual void flush();
virtual qint64 size() const;
virtual qint64 bytesAvailable() const;
virtual void ungetChar(char c);
virtual void translateError(ulong error);
virtual void setDtr(bool set=true);
virtual void setRts(bool set=true);
virtual ulong lineStatus();
};
#endif
src/lib/qextserialport/qextserialbase.cpp deleted 100644 → 0
View file @ 0846707b
#include "qextserialbase.h"
/*!
\fn QextSerialBase::QextSerialBase()
Default constructor.
*/
QextSerialBase::QextSerialBase()
: QIODevice()
{
#ifdef _TTY_WIN_
setPortName("COM1");
#elif defined(_TTY_IRIX_)
setPortName("/dev/ttyf1");
#elif defined(_TTY_HPUX_)
setPortName("/dev/tty1p0");
#elif defined(_TTY_SUN_)
setPortName("/dev/ttya");
#elif defined(_TTY_DIGITAL_)
setPortName("/dev/tty01");
#elif defined(_TTY_FREEBSD_)
setPortName("/dev/ttyd1");
#elif defined(_TTY_OPENBSD_)
setPortName("/dev/tty00");
#else
setPortName("/dev/ttyS0");
#endif
construct();
}
/*!
\fn QextSerialBase::QextSerialBase(const QString & name)
Construct a port and assign it to the device specified by the name parameter.
*/
QextSerialBase::QextSerialBase(const QString & name)
: QIODevice()
{
setPortName(name);
construct();
}
/*!
\fn QextSerialBase::~QextSerialBase()
Standard destructor.
*/
QextSerialBase::~QextSerialBase()
{
delete mutex;
}
/*!
\fn void QextSerialBase::construct()
Common constructor function for setting up default port settings.
(115200 Baud, 8N1, Hardware flow control where supported, otherwise no flow control, and 0 ms timeout).
*/
void QextSerialBase::construct()
{
lastErr = E_NO_ERROR;
Settings.BaudRate=BAUD115200;
Settings.DataBits=DATA_8;
Settings.Parity=PAR_NONE;
Settings.StopBits=STOP_1;
Settings.FlowControl=FLOW_HARDWARE;
Settings.Timeout_Millisec=500;
mutex = new QMutex( QMutex::Recursive );
setOpenMode(QIODevice::NotOpen);
}
void QextSerialBase::setQueryMode(QueryMode mechanism)
{
_queryMode = mechanism;
}
/*!
\fn void QextSerialBase::setPortName(const QString & name)
Sets the name of the device associated with the object, e.g. "COM1", or "/dev/ttyS0".
*/
void QextSerialBase::setPortName(const QString & name)
{
port = name;
}
/*!
\fn QString QextSerialBase::portName() const
Returns the name set by setPortName().
*/
QString QextSerialBase::portName() const
{
return port;
}
/*!
\fn BaudRateType QextSerialBase::baudRate(void) const
Returns the baud rate of the serial port. For a list of possible return values see
the definition of the enum BaudRateType.
*/
BaudRateType QextSerialBase::baudRate(void) const
{
return Settings.BaudRate;
}
/*!
\fn DataBitsType QextSerialBase::dataBits() const
Returns the number of data bits used by the port. For a list of possible values returned by
this function, see the definition of the enum DataBitsType.
*/
DataBitsType QextSerialBase::dataBits() const
{
return Settings.DataBits;
}
/*!
\fn ParityType QextSerialBase::parity() const
Returns the type of parity used by the port. For a list of possible values returned by
this function, see the definition of the enum ParityType.
*/
ParityType QextSerialBase::parity() const
{
return Settings.Parity;
}
/*!
\fn StopBitsType QextSerialBase::stopBits() const
Returns the number of stop bits used by the port. For a list of possible return values, see
the definition of the enum StopBitsType.
*/
StopBitsType QextSerialBase::stopBits() const
{
return Settings.StopBits;
}
/*!
\fn FlowType QextSerialBase::flowControl() const
Returns the type of flow control used by the port. For a list of possible values returned
by this function, see the definition of the enum FlowType.
*/
FlowType QextSerialBase::flowControl() const
{
return Settings.FlowControl;
}
/*!
\fn bool QextSerialBase::isSequential() const
Returns true if device is sequential, otherwise returns false. Serial port is sequential device
so this function always returns true. Check QIODevice::isSequential() documentation for more
information.
*/
bool QextSerialBase::isSequential() const
{
return true;
}
/*!
\fn bool QextSerialBase::atEnd() const
This function will return true if the input buffer is empty (or on error), and false otherwise.
Call QextSerialBase::lastError() for error information.
*/
bool QextSerialBase::atEnd() const
{
if (size()) {
return true;
}
return false;
}
/*!
\fn qint64 QextSerialBase::readLine(char * data, qint64 maxSize)
This function will read a line of buffered input from the port, stopping when either maxSize bytes
have been read, the port has no more data available, or a newline is encountered.
The value returned is the length of the string that was read.
*/
qint64 QextSerialBase::readLine(char * data, qint64 maxSize)
{
qint64 numBytes = bytesAvailable();
char* pData = data;
if (maxSize < 2) //maxSize must be larger than 1
return -1;
/*read a byte at a time for MIN(bytesAvail, maxSize - 1) iterations, or until a newline*/
while (pData<(data+numBytes) && --maxSize) {
readData(pData, 1);
if (*pData++ == '\n') {
break;
}
}
*pData='\0';
/*return size of data read*/
return (pData-data);
}
/*!
\fn ulong QextSerialBase::lastError() const
Returns the code for the last error encountered by the port, or E_NO_ERROR if the last port
operation was successful. Possible error codes are:
\verbatim
Error Explanation
--------------------------- -------------------------------------------------------------
E_NO_ERROR No Error has occured
E_INVALID_FD Invalid file descriptor (port was not opened correctly)
E_NO_MEMORY Unable to allocate memory tables (POSIX)
E_CAUGHT_NON_BLOCKED_SIGNAL Caught a non-blocked signal (POSIX)
E_PORT_TIMEOUT Operation timed out (POSIX)
E_INVALID_DEVICE The file opened by the port is not a character device (POSIX)
E_BREAK_CONDITION The port detected a break condition
E_FRAMING_ERROR The port detected a framing error
(usually caused by incorrect baud rate settings)
E_IO_ERROR There was an I/O error while communicating with the port
E_BUFFER_OVERRUN Character buffer overrun
E_RECEIVE_OVERFLOW Receive buffer overflow
E_RECEIVE_PARITY_ERROR The port detected a parity error in the received data
E_TRANSMIT_OVERFLOW Transmit buffer overflow
E_READ_FAILED General read operation failure
E_WRITE_FAILED General write operation failure
\endverbatim
*/
ulong QextSerialBase::lastError() const
{
return lastErr;
}
src/lib/qextserialport/qextserialbase.h deleted 100644 → 0
View file @ 0846707b
#ifndef _QEXTSERIALBASE_H_
#define _QEXTSERIALBASE_H_
#include <QIODevice>
#include <QFile>
#include <QThread>
#include <QMutex>
/*if all warning messages are turned off, flag portability warnings to be turned off as well*/
#ifdef _TTY_NOWARN_
#define _TTY_NOWARN_PORT_
#endif
/*macros for thread support*/
#define LOCK_MUTEX() mutex->lock()
#define UNLOCK_MUTEX() mutex->unlock()
/*macros for warning and debug messages*/
#ifdef _TTY_NOWARN_PORT_
#define TTY_PORTABILITY_WARNING(s)
#else
#define TTY_PORTABILITY_WARNING(s) qWarning(s)
#endif /*_TTY_NOWARN_PORT_*/
#ifdef _TTY_NOWARN_
#define TTY_WARNING(s)
#else
#define TTY_WARNING(s) qWarning(s)
#endif /*_TTY_NOWARN_*/
/*line status constants*/
#define LS_CTS 0x01
#define LS_DSR 0x02
#define LS_DCD 0x04
#define LS_RI 0x08
#define LS_RTS 0x10
#define LS_DTR 0x20
#define LS_ST 0x40
#define LS_SR 0x80
/*error constants*/
#define E_NO_ERROR 0
#define E_INVALID_FD 1
#define E_NO_MEMORY 2
#define E_CAUGHT_NON_BLOCKED_SIGNAL 3
#define E_PORT_TIMEOUT 4
#define E_INVALID_DEVICE 5
#define E_BREAK_CONDITION 6
#define E_FRAMING_ERROR 7
#define E_IO_ERROR 8
#define E_BUFFER_OVERRUN 9
#define E_RECEIVE_OVERFLOW 10
#define E_RECEIVE_PARITY_ERROR 11
#define E_TRANSMIT_OVERFLOW 12
#define E_READ_FAILED 13
#define E_WRITE_FAILED 14
/*!
* Enums for port settings.
*/
enum NamingConvention {
WIN_NAMES,
IRIX_NAMES,
HPUX_NAMES,
SUN_NAMES,
DIGITAL_NAMES,
FREEBSD_NAMES,
OPENBSD_NAMES,
LINUX_NAMES
};
enum BaudRateType {
BAUD50, //POSIX ONLY
BAUD75, //POSIX ONLY
BAUD110,
BAUD134, //POSIX ONLY
BAUD150, //POSIX ONLY
BAUD200, //POSIX ONLY
BAUD300,
BAUD600,
BAUD1200,
BAUD1800, //POSIX ONLY
BAUD2400,
BAUD4800,
BAUD9600,
BAUD14400, //WINDOWS ONLY
BAUD19200,
BAUD38400,
BAUD56000, //WINDOWS ONLY
BAUD57600,
BAUD76800, //POSIX ONLY
BAUD115200,
BAUD128000, // WINDOWS ONLY
BAUD230400, // WINDOWS ONLY
BAUD256000, // WINDOWS ONLY
BAUD460800, // WINDOWS ONLY
BAUD921600 // WINDOWS ONLY
};
enum DataBitsType {
DATA_5,
DATA_6,
DATA_7,
DATA_8
};
enum ParityType {
PAR_NONE,
PAR_ODD,
PAR_EVEN,
PAR_MARK, //WINDOWS ONLY
PAR_SPACE
};
enum StopBitsType {
STOP_1,
STOP_1_5, //WINDOWS ONLY
STOP_2
};
enum FlowType {
FLOW_OFF,
FLOW_HARDWARE,
FLOW_XONXOFF
};
/**
* structure to contain port settings
*/
struct PortSettings {
BaudRateType BaudRate;
DataBitsType DataBits;
ParityType Parity;
StopBitsType StopBits;
FlowType FlowControl;
long Timeout_Millisec;
};
/*!
* \author Stefan Sander
* \author Michal Policht
*
* A common base class for Win_QextSerialBase, Posix_QextSerialBase and QextSerialPort.
*/
class QextSerialBase : public QIODevice
{
Q_OBJECT
public:
enum QueryMode {
Polling,
EventDriven
};
protected:
QMutex* mutex;
QString port;
PortSettings Settings;
ulong lastErr;
QextSerialBase::QueryMode _queryMode;
virtual qint64 readData(char * data, qint64 maxSize)=0;
virtual qint64 writeData(const char * data, qint64 maxSize)=0;
public:
QextSerialBase();
QextSerialBase(const QString & name);
virtual ~QextSerialBase();
virtual void construct();
virtual void setPortName(const QString & name);
virtual QString portName() const;
/**!
* Get query mode.
* \return query mode.
*/
inline QextSerialBase::QueryMode queryMode() const {
return _queryMode;
};
/*!
* Set desired serial communication handling style. You may choose from polling
* or event driven approach. This function does nothing when port is open; to
* apply changes port must be reopened.
*
* In event driven approach read() and write() functions are acting
* asynchronously. They return immediately and the operation is performed in
* the background, so they doesn't freeze the calling thread.
* To determine when operation is finished, QextSerialPort runs separate thread
* and monitors serial port events. Whenever the event occurs, adequate signal
* is emitted.
*
* When polling is set, read() and write() are acting synchronously. Signals are
* not working in this mode and some functions may not be available. The advantage
* of polling is that it generates less overhead due to lack of signals emissions
* and it doesn't start separate thread to monitor events.
*
* Generally event driven approach is more capable and friendly, although some
* applications may need as low overhead as possible and then polling comes.
*
* \param mode query mode.
*/
virtual void setQueryMode(QueryMode mode);
virtual void setBaudRate(BaudRateType)=0;
virtual BaudRateType baudRate() const;
virtual void setDataBits(DataBitsType)=0;
virtual DataBitsType dataBits() const;
virtual void setParity(ParityType)=0;
virtual ParityType parity() const;
virtual void setStopBits(StopBitsType)=0;
virtual StopBitsType stopBits() const;
virtual void setFlowControl(FlowType)=0;
virtual FlowType flowControl() const;
virtual void setTimeout(long)=0;
virtual bool open(OpenMode mode)=0;
virtual bool isSequential() const;
virtual void close()=0;
virtual void flush()=0;
virtual qint64 size() const = 0;
virtual qint64 bytesAvailable() const = 0;
virtual bool atEnd() const;
virtual void ungetChar(char c)=0;
virtual qint64 readLine(char * data, qint64 maxSize);
virtual ulong lastError() const;
virtual void translateError(ulong error)=0;
virtual void setDtr(bool set=true)=0;
virtual void setRts(bool set=true)=0;
virtual ulong lineStatus()=0;
signals:
/**
* This signal is emitted whenever port settings are updated.
* \param valid \p true if settings are valid, \p false otherwise.
*
* @todo implement.
*/
// void validSettings(bool valid);
/*!
* This signal is emitted whenever dsr line has changed its state. You may
* use this signal to check if device is connected.
* \param status \p true when DSR signal is on, \p false otherwise.
*
* \see lineStatus().
*/
void dsrChanged(bool status);
};
#endif
src/lib/qextserialport/qextserialenumerator.cpp deleted 100644 → 0
View file @ 0846707b
/**
* @file qextserialenumerator.cpp
* @author Michał Policht
* @see QextSerialEnumerator
*/
#include "qextserialenumerator.h"
#ifdef _TTY_WIN_
#include <objbase.h>
#include <initguid.h>
//this is serial port GUID
#ifndef GUID_CLASS_COMPORT
DEFINE_GUID(GUID_CLASS_COMPORT, 0x86e0d1e0L, 0x8089, 0x11d0, 0x9c, 0xe4, 0x08, 0x00, 0x3e, 0x30, 0x1f, 0x73);
#endif
/* Gordon Schumacher's macros for TCHAR -> QString conversions and vice versa */
#ifdef UNICODE
#define QStringToTCHAR(x) (wchar_t*) x.utf16()
#define PQStringToTCHAR(x) (wchar_t*) x->utf16()
#define TCHARToQString(x) QString::fromUtf16((ushort*)(x))
#define TCHARToQStringN(x,y) QString::fromUtf16((ushort*)(x),(y))
#else
#define QStringToTCHAR(x) x.local8Bit().constData()
#define PQStringToTCHAR(x) x->local8Bit().constData()
#define TCHARToQString(x) QString::fromLocal8Bit((x))
#define TCHARToQStringN(x,y) QString::fromLocal8Bit((x),(y))
#endif /*UNICODE*/
//static
QString QextSerialEnumerator::getRegKeyValue(HKEY key, LPCTSTR property)
{
DWORD size = 0;
RegQueryValueEx(key, property, NULL, NULL, NULL, & size);
BYTE * buff = new BYTE[size];
if (RegQueryValueEx(key, property, NULL, NULL, buff, & size) == ERROR_SUCCESS) {
return TCHARToQStringN(buff, size);
delete [] buff;
} else {
qWarning("QextSerialEnumerator::getRegKeyValue: can not obtain value from registry");
delete [] buff;
return QString();
}
}
//static
QString QextSerialEnumerator::getDeviceProperty(HDEVINFO devInfo, PSP_DEVINFO_DATA devData, DWORD property)
{
DWORD buffSize = 0;
SetupDiGetDeviceRegistryProperty(devInfo, devData, property, NULL, NULL, 0, & buffSize);
BYTE * buff = new BYTE[buffSize];
if (!SetupDiGetDeviceRegistryProperty(devInfo, devData, property, NULL, buff, buffSize, NULL))
qCritical("Can not obtain property: %ld from registry", property);
QString result = TCHARToQString(buff);
delete [] buff;
return result;
}
//static
void QextSerialEnumerator::setupAPIScan(QList<QextPortInfo> & infoList)
{
HDEVINFO devInfo = INVALID_HANDLE_VALUE;
GUID * guidDev = (GUID *) & GUID_CLASS_COMPORT;
devInfo = SetupDiGetClassDevs(guidDev, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
if(devInfo == INVALID_HANDLE_VALUE) {
qCritical("SetupDiGetClassDevs failed. Error code: %ld", GetLastError());
return;
}
//enumerate the devices
bool ok = true;
SP_DEVICE_INTERFACE_DATA ifcData;
ifcData.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
SP_DEVICE_INTERFACE_DETAIL_DATA * detData = NULL;
DWORD detDataSize = 0;
DWORD oldDetDataSize = 0;
for (DWORD i = 0; ok; i++) {
ok = SetupDiEnumDeviceInterfaces(devInfo, NULL, guidDev, i, &ifcData);
if (ok) {
SP_DEVINFO_DATA devData = {sizeof(SP_DEVINFO_DATA)};
//check for required detData size
SetupDiGetDeviceInterfaceDetail(devInfo, & ifcData, NULL, 0, & detDataSize, & devData);
//if larger than old detData size then reallocate the buffer
if (detDataSize > oldDetDataSize) {
delete [] detData;
detData = (SP_DEVICE_INTERFACE_DETAIL_DATA *) new char[detDataSize];
detData->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
oldDetDataSize = detDataSize;
}
//check the details
if (SetupDiGetDeviceInterfaceDetail(devInfo, & ifcData, detData, detDataSize,
NULL, & devData)) {
// Got a device. Get the details.
QextPortInfo info;
info.friendName = getDeviceProperty(devInfo, & devData, SPDRP_FRIENDLYNAME);
info.physName = getDeviceProperty(devInfo, & devData, SPDRP_PHYSICAL_DEVICE_OBJECT_NAME);
info.enumName = getDeviceProperty(devInfo, & devData, SPDRP_ENUMERATOR_NAME);
//anyway, to get the port name we must still open registry directly :( ???
//Eh...
HKEY devKey = SetupDiOpenDevRegKey(devInfo, & devData, DICS_FLAG_GLOBAL, 0,
DIREG_DEV, KEY_READ);
info.portName = getRegKeyValue(devKey, TEXT("PortName"));
RegCloseKey(devKey);
infoList.append(info);
} else {
qCritical("SetupDiGetDeviceInterfaceDetail failed. Error code: %ld", GetLastError());
delete [] detData;
return;
}
} else {
if (GetLastError() != ERROR_NO_MORE_ITEMS) {
delete [] detData;
qCritical("SetupDiEnumDeviceInterfaces failed. Error code: %ld", GetLastError());
return;
}
}
}
delete [] detData;
}
#endif /*_TTY_WIN_*/
//static
QList<QextPortInfo> QextSerialEnumerator::getPorts()
{
QList<QextPortInfo> ports;
#ifdef _TTY_WIN_
OSVERSIONINFO vi;
vi.dwOSVersionInfoSize = sizeof(vi);
if (!::GetVersionEx(&vi)) {
qCritical("Could not get OS version.");
return ports;
}
// Handle windows 9x and NT4 specially
if (vi.dwMajorVersion < 5) {
qCritical("Enumeration for this version of Windows is not implemented yet");
/* if (vi.dwPlatformId == VER_PLATFORM_WIN32_NT)
EnumPortsWNt4(ports);
else
EnumPortsW9x(ports);*/
} else //w2k or later
setupAPIScan(ports);
#endif /*_TTY_WIN_*/
#ifdef _TTY_POSIX_
qCritical("Enumeration for POSIX systems is not implemented yet.");
#endif /*_TTY_POSIX_*/
return ports;
}
src/lib/qextserialport/qextserialenumerator.h deleted 100644 → 0
View file @ 0846707b
/*!
* \file qextserialenumerator.h
* \author Michal Policht
* \see QextSerialEnumerator
*/
#ifndef _QEXTSERIALENUMERATOR_H_
#define _QEXTSERIALENUMERATOR_H_
#include <QString>
#include <QList>
#ifdef _TTY_WIN_
#include <windows.h>
#include <setupapi.h>
#endif /*_TTY_WIN_*/
/*!
* Structure containing port information.
*/
struct QextPortInfo {
QString portName; ///< Port name.
QString physName; ///< Physical name.
QString friendName; ///< Friendly name.
QString enumName; ///< Enumerator name.
};
/*!
* Serial port enumerator. This class provides list of ports available in the system.
*
* Windows implementation is based on Zach Gorman's work from
* <a href="http://www.codeproject.com">The Code Project</a> (http://www.codeproject.com/system/setupdi.asp).
*/
class QextSerialEnumerator
{
private:
#ifdef _TTY_WIN_
/*!
* Get value of specified property from the registry.
* \param key handle to an open key.
* \param property property name.
* \return property value.
*/
static QString getRegKeyValue(HKEY key, LPCTSTR property);
/*!
* Get specific property from registry.
* \param devInfo pointer to the device information set that contains the interface
* and its underlying device. Returned by SetupDiGetClassDevs() function.
* \param devData pointer to an SP_DEVINFO_DATA structure that defines the device instance.
* this is returned by SetupDiGetDeviceInterfaceDetail() function.
* \param property registry property. One of defined SPDRP_* constants.
* \return property string.
*/
static QString getDeviceProperty(HDEVINFO devInfo, PSP_DEVINFO_DATA devData, DWORD property);
/*!
* Search for serial ports using setupapi.
* \param infoList list with result.
*/
static void setupAPIScan(QList<QextPortInfo> & infoList);
#endif /*_TTY_WIN_*/
public:
/*!
* Get list of ports.
* \return list of ports currently available in the system.
*/
static QList<QextPortInfo> getPorts();
};
#endif /*_QEXTSERIALENUMERATOR_H_*/
src/lib/qextserialport/qextserialport.cpp deleted 100644 → 0
View file @ 0846707b
/*!
\class QextSerialPort
\author Stefan Sander
\author Michal Policht
A cross-platform serial port class.
This class encapsulates a serial port on both POSIX and Windows systems. The user will be
notified of errors and possible portability conflicts at run-time by default - this behavior can
be turned off by defining _TTY_NOWARN_ (to turn off all warnings) or _TTY_NOWARN_PORT_ (to turn
off portability warnings) in the project.
You may choose from polling or event driven API. For details check setQueryMode() documentation.
\note
On Windows NT/2000/XP this class uses Win32 serial port functions by default. The user may
select POSIX behavior under NT, 2000, or XP ONLY by defining _TTY_POSIX_ in the project. I can
make no guarantees as to the quality of POSIX support under NT/2000 however.
*/
#include <stdio.h>
#include "qextserialport.h"
/*!
Default constructor. Note that the naming convention used by a QextSerialPort constructed with
this constructor will be determined by #defined constants, or lack thereof - the default behavior
is the same as _TTY_LINUX_. Possible naming conventions and their associated constants are:
\verbatim
Constant Used By Naming Convention
---------- ------------- ------------------------
_TTY_WIN_ Windows COM1, COM2
_TTY_IRIX_ SGI/IRIX /dev/ttyf1, /dev/ttyf2
_TTY_HPUX_ HP-UX /dev/tty1p0, /dev/tty2p0
_TTY_SUN_ SunOS/Solaris /dev/ttya, /dev/ttyb
_TTY_DIGITAL_ Digital UNIX /dev/tty01, /dev/tty02
_TTY_FREEBSD_ FreeBSD /dev/ttyd0, /dev/ttyd1
_TTY_LINUX_ Linux /dev/ttyS0, /dev/ttyS1
<none> Linux /dev/ttyS0, /dev/ttyS1
\endverbatim
The object will be associated with the first port in the system, e.g. COM1 on Windows systems.
See the other constructors if you need to use a port other than the first.
*/
QextSerialPort::QextSerialPort(QueryMode mode)
: QextBaseType(mode)
{}
/*!
Constructs a serial port attached to the port specified by name.
name is the name of the device, which is windowsystem-specific,
e.g."COM1" or "/dev/ttyS0".
\see setQueryMode().
*/
QextSerialPort::QextSerialPort(const QString & name, QueryMode mode)
: QextBaseType(name, mode)
{
}
/*!
Constructs a port with default name and settings specified by the settings parameter.
\see setQueryMode().
*/
QextSerialPort::QextSerialPort(PortSettings const& settings, QueryMode mode)
: QextBaseType(settings, mode)
{}
/*!
Constructs a port with the name and settings specified.
\see setQueryMode().
*/
QextSerialPort::QextSerialPort(const QString & name, PortSettings const& settings, QueryMode mode)
: QextBaseType(name, settings, mode)
{}
/*!
Copy constructor.
\deprecated
*/
QextSerialPort::QextSerialPort(const QextSerialPort& s)
: QextBaseType(s)
{}
/*!
\fn QextSerialPort& QextSerialPort::operator=(const QextSerialPort& s)
Overrides the = operator.
\deprecated
*/
QextSerialPort& QextSerialPort::operator=(const QextSerialPort& s)
{
return (QextSerialPort&)QextBaseType::operator=(s);
}
/*!
\fn QextSerialPort::~QextSerialPort()
Standard destructor.
*/
QextSerialPort::~QextSerialPort()
{}
src/lib/qextserialport/qextserialport.h deleted 100644 → 0
View file @ 0846707b
#ifndef _QEXTSERIALPORT_H_
#define _QEXTSERIALPORT_H_
/*POSIX CODE*/
#ifdef _TTY_POSIX_
#include "posix_qextserialport.h"
#define QextBaseType Posix_QextSerialPort
/*MS WINDOWS CODE*/
#else
#include "win_qextserialport.h"
#define QextBaseType Win_QextSerialPort
#endif
class QextSerialPort: public QextBaseType
{
Q_OBJECT
public:
typedef QextSerialBase::QueryMode QueryMode;
QextSerialPort(QueryMode mode = QextSerialPort::EventDriven);
QextSerialPort(const QString & name, QueryMode mode = QextSerialPort::EventDriven);
QextSerialPort(PortSettings const& s, QueryMode mode = QextSerialPort::EventDriven);
QextSerialPort(const QString & name, PortSettings const& s, QueryMode mode = QextSerialPort::EventDriven);
QextSerialPort(const QextSerialPort& s);
QextSerialPort& operator=(const QextSerialPort&);
virtual ~QextSerialPort();
};
#endif
src/lib/qextserialport/qextserialport.pri deleted 100644 → 0
View file @ 0846707b
QPORTDIR = src/lib/qextserialport
INCLUDEPATH += $$QPORTDIR
HEADERS += $$QPORTDIR/qextserialbase.h \
$$QPORTDIR/qextserialport.h \
$$QPORTDIR/qextserialenumerator.h
SOURCES += $$QPORTDIR/qextserialbase.cpp \
$$QPORTDIR/qextserialport.cpp \
$$QPORTDIR/qextserialenumerator.cpp
unix:HEADERS += $$QPORTDIR/posix_qextserialport.h
unix:SOURCES += $$QPORTDIR/posix_qextserialport.cpp
unix:DEFINES += _TTY_POSIX_
win32:HEADERS += $$QPORTDIR/win_qextserialport.h
win32:SOURCES += $$QPORTDIR/win_qextserialport.cpp
win32:DEFINES += _TTY_WIN_
win32:LIBS += -lsetupapi
unix:VERSION = 1.2.0
src/lib/qextserialport/win_qextserialport.cpp deleted 100644 → 0
View file @ 0846707b
This diff is collapsed.
src/lib/qextserialport/win_qextserialport.h deleted 100644 → 0
View file @ 0846707b
#ifndef _WIN_QEXTSERIALPORT_H_
#define _WIN_QEXTSERIALPORT_H_
#include "qextserialbase.h"
#include <windows.h>
#include <QThread>
/* These baudrates work on windows, but are not part of the windows headers */
#ifndef CBR_230400
#define CBR_230400 230400
#endif
#ifndef CBR_460800
#define CBR_460800 460800
#endif
#ifndef CBR_921600
#define CBR_921600 921600
#endif
/*if all warning messages are turned off, flag portability warnings to be turned off as well*/
#ifdef _TTY_NOWARN_
#define _TTY_NOWARN_PORT_
#endif
class QReadWriteLock;
class Win_QextSerialThread;
/*!
\author Stefan Sander
\author Michal Policht
A cross-platform serial port class.
This class encapsulates the Windows portion of QextSerialPort. The user will be notified of
errors and possible portability conflicts at run-time by default - this behavior can be turned
off by defining _TTY_NOWARN_ (to turn off all warnings) or _TTY_NOWARN_PORT_ (to turn off
portability warnings) in the project. Note that defining _TTY_NOWARN_ also defines
_TTY_NOWARN_PORT_.
\note
On Windows NT/2000/XP this class uses Win32 serial port functions by default. The user may
select POSIX behavior under NT, 2000, or XP ONLY by defining _TTY_POSIX_ in the project. I can
make no guarantees as to the quality of POSIX support under NT/2000 however.
\todo remove copy constructor and assign operator.
*/
class Win_QextSerialPort: public QextSerialBase
{
Q_OBJECT
friend class Win_QextSerialThread;
private:
/*!
* This method is a part of constructor.
*/
void init();
protected:
HANDLE Win_Handle;
HANDLE threadStartEvent;
HANDLE threadTerminateEvent;
OVERLAPPED overlap;
OVERLAPPED overlapWrite;
COMMCONFIG Win_CommConfig;
COMMTIMEOUTS Win_CommTimeouts;
QReadWriteLock * bytesToWriteLock; ///< @todo maybe move to QextSerialBase.
qint64 _bytesToWrite; ///< @todo maybe move to QextSerialBase (and implement in POSIX).
Win_QextSerialThread * overlapThread; ///< @todo maybe move to QextSerialBase (and implement in POSIX).
void monitorCommEvent();
void terminateCommWait();
virtual qint64 readData(char *data, qint64 maxSize);
virtual qint64 writeData(const char *data, qint64 maxSize);
public:
Win_QextSerialPort(QextSerialBase::QueryMode mode);
Win_QextSerialPort(Win_QextSerialPort const& s);
Win_QextSerialPort(const QString & name, QextSerialBase::QueryMode mode);
Win_QextSerialPort(const PortSettings& settings, QextSerialBase::QueryMode mode);
Win_QextSerialPort(const QString & name, const PortSettings& settings, QextSerialBase::QueryMode mode);
Win_QextSerialPort& operator=(const Win_QextSerialPort& s);
virtual ~Win_QextSerialPort();
virtual bool open(OpenMode mode);
virtual void close();
virtual void flush();
virtual qint64 size() const;
virtual void ungetChar(char c);
virtual void setFlowControl(FlowType);
virtual void setParity(ParityType);
virtual void setDataBits(DataBitsType);
virtual void setStopBits(StopBitsType);
virtual void setBaudRate(BaudRateType);
virtual void setDtr(bool set=true);
virtual void setRts(bool set=true);
virtual ulong lineStatus(void);
virtual qint64 bytesAvailable() const;
virtual void translateError(ulong);
virtual void setTimeout(long);
/*!
* Return number of bytes waiting in the buffer. Currently this shows number
* of bytes queued within write() and before the TX_EMPTY event occured. TX_EMPTY
* event is created whenever last character in the system buffer was sent.
*
* \return number of bytes queued within write(), before the first TX_EMPTY
* event occur.
*
* \warning this function may not give you expected results since TX_EMPTY may occur
* while writing data to the buffer. Eventually some TX_EMPTY events may not be
* catched.
*
* \note this function always returns 0 in polling mode.
*
* \see flush().
*/
virtual qint64 bytesToWrite() const;
virtual bool waitForReadyRead(int msecs); ///< @todo implement.
};
/*!
* This thread monitors communication events.
*/
class Win_QextSerialThread: public QThread
{
Win_QextSerialPort * qesp;
bool terminate;
public:
/*!
* Constructor.
*
* \param qesp valid serial port object.
*/
Win_QextSerialThread(Win_QextSerialPort * qesp);
/*!
* Stop the thread.
*/
void stop();
protected:
//overriden
virtual void run();
};
#endif
src/standalone/mavlinkgen/MAVLinkGen.cc
View file @ d1d6f8f9
......@@ -60,8 +60,8 @@ This file is part of the PIXHAWK project
MAVLinkGen::MAVLinkGen(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("MAVLink Generator");
this->setApplicationVersion("v. 0.1.0 (Beta)");
this->setOrganizationName(QLatin1String("OpenMAV Association"));
this->setApplicationVersion("v. 1.0.0 (Beta)");
this->setOrganizationName(QLatin1String("QGroundControl"));
this->setOrganizationDomain("http://qgroundcontrol.org");
QSettings::setDefaultFormat(QSettings::IniFormat);
......
src/ui/MainWindow.cc
View file @ d1d6f8f9
......@@ -29,6 +29,7 @@
#include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCSettingsWidget.h"
#include "QGCMapWidget.h"
#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
......@@ -352,7 +353,7 @@ void MainWindow::buildCommonWidgets()
// Center widgets
if (!mapWidget)
{
mapWidget = new mapcontrol::OPMapWidget(this);//new MapWidget(this);
mapWidget = new QGCMapWidget(this);
addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
}
......
src/ui/QGCMapWidget.cc
View file @ d1d6f8f9
......@@ -11,9 +11,6 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
{
addUAS(uas);
}
UAV->setVisible(true);
UAV->setPos(0, 0);
UAV->show();
......@@ -68,6 +65,9 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
Home->SetCoord(pos_lat_lon); // set the HOME position
UAV->SetUAVPos(pos_lat_lon, 0.0); // set the UAV position
GPS->SetUAVPos(pos_lat_lon, 0.0); // set the UAV position
//UAV->setVisible(false);
//UAV->setPos(0, 0);
//UAV->show();
//SetUAVPos(pos_lat_lon, 0.0); // set the UAV position
......@@ -89,6 +89,7 @@ QGCMapWidget::~QGCMapWidget()
*/
void QGCMapWidget::addUAS(UASInterface* uas)
{
qDebug() << "ADDING UAS";
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
//connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
//connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int)));
......@@ -108,9 +109,13 @@ void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lo
Q_UNUSED(usec);
Q_UNUSED(alt); // FIXME Use altitude
UAV->setPos(lat, lon);
UAV->show();
qDebug() << "Updating 2D map position";
static int uasid = 220;
if (uas->getUASID() == uasid)
{
UAV->setPos(lon, lat);
if (!UAV->isVisible()) UAV->show();
qDebug() << "Updating 2D map position" << uas->getUASID() << "LAT:" << lat << "LON:" << lon;
}
// QPointF coordinate;
// coordinate.setX(lon);
......
src/ui/XMLCommProtocolWidget.cc
View file @ d1d6f8f9
......@@ -19,14 +19,12 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
m_ui->setupUi(this);
// Now set syntax highlighter
highlighter = new MAVLinkSyntaxHighlighter(m_ui->xmlTextView->document());
//highlighter = new MAVLinkSyntaxHighlighter(m_ui->xmlTextView->document());
connect(m_ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectXMLFile()));
connect(m_ui->selectOutputButton, SIGNAL(clicked()), this, SLOT(selectOutputDirectory()));
connect(m_ui->generateButton, SIGNAL(clicked()), this, SLOT(generate()));
connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(save()));
this->setVisible(false);
}
void XMLCommProtocolWidget::selectXMLFile()
......@@ -81,6 +79,7 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
}
model = new DomModel(doc, this);
m_ui->xmlTreeView->setModel(model);
m_ui->xmlTreeView->expandAll();
m_ui->xmlTreeView->repaint();
}
......@@ -126,6 +125,9 @@ void XMLCommProtocolWidget::generate()
// Clean log
m_ui->compileLog->clear();
// Check XML validity
if (!m_ui->xmlTextView->syntaxcheck()) return;
MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
bool result = parser->generate();
......
src/ui/XMLCommProtocolWidget.ui
View file @ d1d6f8f9
......@@ -57,7 +57,7 @@
</widget>
</item>
<item row="0" column="3" rowspan="6">
<widget class="QTextEdit" name="xmlTextView">
<widget class="QGCMAVLinkTextEdit" name="xmlTextView">
<property name="readOnly">
<bool>false</bool>
</property>
......@@ -130,6 +130,13 @@
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>QGCMAVLinkTextEdit</class>
<extends>QTextEdit</extends>
<header location="global">QGCMAVLinkTextEdit.h</header>
</customwidget>
</customwidgets>
<resources>
<include location="../../mavground.qrc"/>
</resources>
......
src/ui/mavlink/QGCMAVLinkTextEdit.cc 0 → 100644
View file @ d1d6f8f9
This diff is collapsed.
src/ui/mavlink/QGCMAVLinkTextEdit.h 0 → 100644
View file @ d1d6f8f9
// Based on: Syntax highlighting from:
// http://code.google.com/p/fop-miniscribus/
// (GPL v2) thanks!
#ifndef QGCMAVLINKTEXTEDIT_H
#define QGCMAVLINKTEXTEDIT_H
#include <QSyntaxHighlighter>
#include <QTextCharFormat>
#include <QColor>
#include <QDomDocument>
#include <QTextEdit>
//class QGCMAVLinkTextEdit : public QTextEdit
//{
//public:
// QGCMAVLinkTextEdit();
//};
class XmlHighlighter : public QSyntaxHighlighter
{
public:
XmlHighlighter(QObject* parent);
XmlHighlighter(QTextDocument* parent);
XmlHighlighter(QTextEdit* parent);
~XmlHighlighter();
enum HighlightType
{
SyntaxChar,
ElementName,
Comment,
AttributeName,
AttributeValue,
Error,
Other
};
void setHighlightColor(HighlightType type, QColor color, bool foreground = true);
void setHighlightFormat(HighlightType type, QTextCharFormat format);
protected:
void highlightBlock(const QString& rstrText);
int processDefaultText(int i, const QString& rstrText);
private:
void init();
QTextCharFormat fmtSyntaxChar;
QTextCharFormat fmtElementName;
QTextCharFormat fmtComment;
QTextCharFormat fmtAttributeName;
QTextCharFormat fmtAttributeValue;
QTextCharFormat fmtError;
QTextCharFormat fmtOther;
enum ParsingState
{
NoState = 0,
ExpectElementNameOrSlash,
ExpectElementName,
ExpectAttributeOrEndOfElement,
ExpectEqual,
ExpectAttributeValue
};
enum BlockState
{
NoBlock = -1,
InComment,
InElement
};
ParsingState state;
};
class QGCMAVLinkTextEdit : public QTextEdit
{
Q_OBJECT
//
public:
QGCMAVLinkTextEdit( QWidget * parent = 0 );
bool Conform();
QDomDocument xml_document();
inline QString text() const
{
return QTextEdit::toPlainText();
}
QMenu *createOwnStandardContextMenu();
protected:
void contextMenuEvent ( QContextMenuEvent * e );
bool event( QEvent *event );
private:
XmlHighlighter *highlight;
signals:
public slots:
bool syntaxcheck();
void setPlainText( const QString txt );
};
#endif // QGCMAVLINKTEXTEDIT_H
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