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Commit d33852c5 authored by dogmaphobic's avatar dogmaphobic
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PX4FLOW Sensor Support.

parent a4742fdc
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Showing with 588 additions and 344 deletions
QGCApplication.pro
View file @ d33852c5
......@@ -271,7 +271,7 @@ HEADERS += \
src/ui/uas/UASMessageView.h \
src/MissionItem.h \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
src/QGCSettings.h
src/QmlControls/QGCImageProvider.h \
WindowsBuild {
PRECOMPILED_HEADER += src/stable_headers.h
......@@ -383,7 +383,7 @@ SOURCES += \
src/ui/uas/UASMessageView.cc \
src/MissionItem.cc \
src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
src/QGCSettings.cpp
src/QmlControls/QGCImageProvider.cc \
!iOSBuild {
SOURCES += \
......
qgroundcontrol.qrc
View file @ d33852c5
......@@ -6,99 +6,104 @@
<file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
</qresource>
<qresource prefix="/qml">
<file alias="test.qml">src/test.qml</file>
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
<file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
<file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
<file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
<file alias="AirframeComponent.qml">src/AutoPilotPlugins/PX4/AirframeComponent.qml</file>
<file alias="AirframeComponentSummary.qml">src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml</file>
<file alias="APMAirframeComponent.qml">src/AutoPilotPlugins/APM/APMAirframeComponent.qml</file>
<file alias="APMAirframeComponentSummary.qml">src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml</file>
<file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
<file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
<file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
<file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
<file alias="GeneralSettings.qml">src/ui/preferences/GeneralSettings.qml</file>
<file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
<file alias="MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
<file alias="MainWindow.qml">src/ui/MainWindow.qml</file>
<file alias="MainWindowLeftPanel.qml">src/ui/MainWindowLeftPanel.qml</file>
<file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
<file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
<file alias="MissionEditorHelp.qml">src/MissionEditor/MissionEditorHelp.qml</file>
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
<file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
<file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
<file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
<file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
<file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
<file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
<file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
<file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
<file alias="QGroundControl/Controls/QGCRadioButton.qml">src/QmlControls/QGCRadioButton.qml</file>
<file alias="QGroundControl/Controls/QGCCanvas.qml">src/QmlControls/QGCCanvas.qml</file>
<file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
<file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
<file alias="QGroundControl/Controls/QGCComboBox.qml">src/QmlControls/QGCComboBox.qml</file>
<file alias="QGroundControl/Controls/QGCLabel.qml">src/QmlControls/QGCLabel.qml</file>
<file alias="QGroundControl/Controls/QGCMovableItem.qml">src/QmlControls/QGCMovableItem.qml</file>
<file alias="QGroundControl/Controls/QGCRadioButton.qml">src/QmlControls/QGCRadioButton.qml</file>
<file alias="QGroundControl/Controls/QGCTextField.qml">src/QmlControls/QGCTextField.qml</file>
<file alias="QGroundControl/Controls/QGCComboBox.qml">src/QmlControls/QGCComboBox.qml</file>
<file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
<file alias="QGroundControl/Controls/QGCToolBarButton.qml">src/QmlControls/QGCToolBarButton.qml</file>
<file alias="QGroundControl/Controls/QGCMovableItem.qml">src/QmlControls/QGCMovableItem.qml</file>
<file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
<file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
<file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
<file alias="QGroundControl/Controls/QGCView.qml">src/QmlControls/QGCView.qml</file>
<file alias="QGroundControl/Controls/QGCViewPanel.qml">src/QmlControls/QGCViewPanel.qml</file>
<file alias="QGroundControl/Controls/QGCViewDialog.qml">src/QmlControls/QGCViewDialog.qml</file>
<file alias="QGroundControl/Controls/QGCViewMessage.qml">src/QmlControls/QGCViewMessage.qml</file>
<file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
<file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
<file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
<file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
<file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
<file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/QGCViewPanel.qml">src/QmlControls/QGCViewPanel.qml</file>
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
<file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
<file alias="QGroundControl/Controls/QGCCanvas.qml">src/QmlControls/QGCCanvas.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="MainWindow.qml">src/ui/MainWindow.qml</file>
<file alias="MainWindowLeftPanel.qml">src/ui/MainWindowLeftPanel.qml</file>
<file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
<file alias="QGroundControl/Controls/MainToolBarIndicators.qml">src/ui/toolbar/MainToolBarIndicators.qml</file>
<file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
<file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
<file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
<file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
<file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
<file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
<file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
<file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
<file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
<file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
<file alias="SensorsComponentSummary.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml</file>
<file alias="SensorsComponentSummaryFixedWing.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
<file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
<file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
<file alias="AirframeComponentSummary.qml">src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml</file>
<file alias="AirframeComponent.qml">src/AutoPilotPlugins/PX4/AirframeComponent.qml</file>
<file alias="MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
<file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
<file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
<file alias="MissionEditorHelp.qml">src/MissionEditor/MissionEditorHelp.qml</file>
<file alias="APMAirframeComponent.qml">src/AutoPilotPlugins/APM/APMAirframeComponent.qml</file>
<file alias="APMAirframeComponentSummary.qml">src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
<file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
<file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
<file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
<file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
<file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
<file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
<file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
<file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
<file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
<file alias="QGroundControl/FlightMap/MissionLineView.qml">src/FlightMap/MapItems/MissionLineView.qml</file>
<file alias="QGroundControl/FlightMap/QGCArtificialHorizon.qml">src/FlightMap/Widgets/QGCArtificialHorizon.qml</file>
<file alias="QGroundControl/FlightMap/QGCAttitudeWidget.qml">src/FlightMap/Widgets/QGCAttitudeWidget.qml</file>
<file alias="QGroundControl/FlightMap/QGCAttitudeHUD.qml">src/FlightMap/Widgets/QGCAttitudeHUD.qml</file>
<file alias="QGroundControl/FlightMap/QGCAttitudeWidget.qml">src/FlightMap/Widgets/QGCAttitudeWidget.qml</file>
<file alias="QGroundControl/FlightMap/QGCCompassWidget.qml">src/FlightMap/Widgets/QGCCompassWidget.qml</file>
<file alias="QGroundControl/FlightMap/QGCInstrumentWidget.qml">src/FlightMap/Widgets/QGCInstrumentWidget.qml</file>
<file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
<file alias="QGroundControl/FlightMap/QGCSlider.qml">src/FlightMap/Widgets/QGCSlider.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
<file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
<file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
<file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
<file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
<file alias="QGroundControl/FlightMap/MissionLineView.qml">src/FlightMap/MapItems/MissionLineView.qml</file>
<file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
<file alias="MavlinkSettings.qml">src/ui/preferences/MavlinkSettings.qml</file>
<file alias="GeneralSettings.qml">src/ui/preferences/GeneralSettings.qml</file>
<file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
<file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
<file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
<file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
<file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
<file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>
<file alias="SensorsComponentSummary.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml</file>
<file alias="SensorsComponentSummaryFixedWing.qml">src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml</file>
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
<file alias="test.qml">src/test.qml</file>
<file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
</qresource>
</RCC>
src/QGCQmlWidgetHolder.cpp
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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/>.
======================================================================*/
/// @file
......@@ -30,7 +30,7 @@ QGCQmlWidgetHolder::QGCQmlWidgetHolder(const QString& title, QAction* action, QW
QGCDockWidget(title, action, parent)
{
_ui.setupUi(this);
layout()->setContentsMargins(0,0,0,0);
if (action) {
......@@ -69,6 +69,12 @@ QQuickItem* QGCQmlWidgetHolder::getRootObject(void)
return _ui.qmlWidget->rootObject();
}
QQmlEngine* QGCQmlWidgetHolder::getEngine()
{
return _ui.qmlWidget->engine();
}
void QGCQmlWidgetHolder::setResizeMode(QQuickWidget::ResizeMode resizeMode)
{
_ui.qmlWidget->setResizeMode(resizeMode);
......
src/QGCQmlWidgetHolder.h
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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/>.
======================================================================*/
#ifndef QGCQmlWidgetHolder_h
......@@ -49,7 +49,7 @@ public:
// action = NULL
explicit QGCQmlWidgetHolder(const QString& title, QAction* action, QWidget *parent = 0);
~QGCQmlWidgetHolder();
/// Sets the UAS into the widget which in turn will load facts into the context
void setAutoPilot(AutoPilotPlugin* autoPilot);
......@@ -58,13 +58,16 @@ public:
/// Get Root Object
QQuickItem* getRootObject(void);
/// Get QML Engine
QQmlEngine* getEngine();
/// Sets the QML into the control. Will display errors message box if error occurs loading source.
/// @return true: source loaded, false: source not loaded, errors occured
bool setSource(const QUrl& qmlUrl);
void setContextPropertyObject(const QString& name, QObject* object);
/// Sets the resize mode for the QQuickWidget container
void setResizeMode(QQuickWidget::ResizeMode resizeMode);
......
src/QGCToolbox.cc
View file @ d33852c5
......@@ -32,6 +32,7 @@
#include "AutoPilotPluginManager.h"
#include "UASMessageHandler.h"
#include "FactSystem.h"
#include "QGCImageProvider.h"
QGCToolbox::QGCToolbox(QGCApplication* app)
: _firmwarePluginManager(NULL)
......@@ -45,6 +46,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
, _audioOutput(NULL)
, _uasMessageHandler(NULL)
, _factSystem(NULL)
, _imageProvider(NULL)
{
_firmwarePluginManager = new FirmwarePluginManager(app);
_autopilotPluginManager = new AutoPilotPluginManager(app);
......@@ -57,6 +59,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
_joystickManager = new JoystickManager(app);
_audioOutput = new GAudioOutput(app);
_uasMessageHandler = new UASMessageHandler(app);
_imageProvider = new QGCImageProvider(app);
_firmwarePluginManager->setToolbox(this);
_autopilotPluginManager->setToolbox(this);
......@@ -69,6 +72,7 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
_joystickManager->setToolbox(this);
_audioOutput->setToolbox(this);
_uasMessageHandler->setToolbox(this);
_imageProvider->setToolbox(this);
}
QGCToolbox::~QGCToolbox()
......
src/QGCToolbox.h
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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/>.
======================================================================*/
#ifndef QGCToolbox_h
......@@ -38,6 +38,7 @@ class GAudioOutput;
class FirmwarePluginManager;
class AutoPilotPluginManager;
class FactSystem;
class QGCImageProvider;
/// This is used to manage all of our top level services/tools
class QGCToolbox {
......@@ -46,29 +47,31 @@ public:
QGCToolbox(QGCApplication* app);
~QGCToolbox();
LinkManager* linkManager(void) { return _linkManager; }
MAVLinkProtocol* mavlinkProtocol(void) { return _mavlinkProtocol; }
MultiVehicleManager* multiVehicleManager(void) { return _multiVehicleManager; }
JoystickManager* joystickManager(void) { return _joystickManager; }
UASMessageHandler* uasMessageHandler(void) { return _uasMessageHandler; }
HomePositionManager* homePositionManager(void) { return _homePositionManager; }
FlightMapSettings* flightMapSettings(void) { return _flightMapSettings; }
GAudioOutput* audioOutput(void) { return _audioOutput; }
FirmwarePluginManager* firmwarePluginManager(void) { return _firmwarePluginManager; }
AutoPilotPluginManager* autopilotPluginManager(void) { return _autopilotPluginManager; }
LinkManager* linkManager(void) { return _linkManager; }
MAVLinkProtocol* mavlinkProtocol(void) { return _mavlinkProtocol; }
MultiVehicleManager* multiVehicleManager(void) { return _multiVehicleManager; }
JoystickManager* joystickManager(void) { return _joystickManager; }
UASMessageHandler* uasMessageHandler(void) { return _uasMessageHandler; }
HomePositionManager* homePositionManager(void) { return _homePositionManager; }
FlightMapSettings* flightMapSettings(void) { return _flightMapSettings; }
GAudioOutput* audioOutput(void) { return _audioOutput; }
FirmwarePluginManager* firmwarePluginManager(void) { return _firmwarePluginManager; }
AutoPilotPluginManager* autopilotPluginManager(void) { return _autopilotPluginManager; }
QGCImageProvider* imageProvider() { return _imageProvider; }
private:
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
LinkManager* _linkManager;
MultiVehicleManager* _multiVehicleManager;
MAVLinkProtocol* _mavlinkProtocol;
FlightMapSettings* _flightMapSettings;
HomePositionManager* _homePositionManager;
JoystickManager* _joystickManager;
GAudioOutput* _audioOutput;
UASMessageHandler* _uasMessageHandler;
FactSystem* _factSystem;
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
LinkManager* _linkManager;
MultiVehicleManager* _multiVehicleManager;
MAVLinkProtocol* _mavlinkProtocol;
FlightMapSettings* _flightMapSettings;
HomePositionManager* _homePositionManager;
JoystickManager* _joystickManager;
GAudioOutput* _audioOutput;
UASMessageHandler* _uasMessageHandler;
FactSystem* _factSystem;
QGCImageProvider* _imageProvider;
};
/// This is the base class for all tools
......
src/QGCSettings.cpp → src/QmlControls/QGCImageProvider.cc
View file @ d33852c5
......@@ -23,17 +23,75 @@ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
/**
* @file
* @brief Implementation of class QGCSettings
* @brief Image Provider
*
* @author Gus Grubba <mavlink@grubba.com>
*
*/
#include "QGCSettings.h"
#include "QGCImageProvider.h"
QGCSettings::QGCSettings(QObject *parent) : QObject(parent)
#include <QPainter>
#include <qFont>
QGCImageProvider::QGCImageProvider(QGCApplication *app)
: QGCTool(app)
, QQuickImageProvider(QQmlImageProviderBase::Image)
{
}
QGCImageProvider::~QGCImageProvider()
{
}
void QGCImageProvider::setToolbox(QGCToolbox *toolbox)
{
QGCTool::setToolbox(toolbox);
//-- Dummy temporary image until something comes along
_pImage = QImage(320, 240, QImage::Format_RGBA8888);
_pImage.fill(Qt::black);
QPainter painter(&_pImage);
QFont f = painter.font();
f.setPixelSize(20);
painter.setFont(f);
painter.setPen(Qt::white);
painter.drawText(QRectF(0, 0, 320, 240), Qt::AlignCenter, "Waiting...");
}
QImage QGCImageProvider::requestImage(const QString & /* image url with vehicle id*/, QSize *, const QSize &)
{
/*
The QML side will request an image using a special URL, which we've registered as QGCImages.
The URL follows this format (or anything you want to make out of it after the "QGCImages" part):
"image://QGCImages/vvv/iii"
Where:
vvv: Some vehicle id
iii: An auto incremented index (which forces the Item to reload the image)
The image index is incremented each time a new image arrives. A signal is emitted and the QML side
updates its contents automatically.
Image {
source: "image://QGCImages/" + _activeVehicle.id + "/" + _activeVehicle.flowImageIndex
width: parent.width * 0.5
height: width * 0.75
cache: false
anchors.centerIn: parent
fillMode: Image.PreserveAspectFit
}
For now, we don't even look at the URL. This will have to be fixed if we're to support multiple
vehicles transmitting flow images.
*/
return _pImage;
}
void QGCImageProvider::setImage(QImage* pImage, int /* vehicle id*/)
{
_pImage = pImage->mirrored();
}
src/QGCSettings.h → src/QmlControls/QGCImageProvider.h
View file @ d33852c5
......@@ -23,28 +23,37 @@
/**
* @file
* @brief Definition of main class
* @brief Image Provider
*
* @author Gus Grubba <mavlink@grubba.com>
* @author Gus Grubba <mavlink@grubba.com>
*
*/
#ifndef QGCSETTINGS_H
#define QGCSETTINGS_H
#ifndef QGCIMAGEPROVIDER_H
#define QGCIMAGEPROVIDER_H
#include <QObject>
#include <QQmlListProperty>
#include <QQuickImageProvider>
class QGCSettings : public QObject
#include "QGCToolbox.h"
class QGCImageProvider : public QGCTool, public QQuickImageProvider
{
Q_OBJECT
public:
explicit QGCSettings(QObject *parent = 0);
signals:
public slots:
QGCImageProvider (QGCApplication* app);
~QGCImageProvider ();
QImage requestImage (const QString & id, QSize * size, const QSize & requestedSize);
void setImage (QImage* pImage, int id = 0);
void setToolbox (QGCToolbox *toolbox);
private:
//-- TODO: For now this is holding a single image. If you happen to have two
// or more vehicles with flow, it will not work. To properly manage that condition
// this should be a map between each vehicle and its image. The URL provided
// for the image request would contain the vehicle identification.
QImage _pImage;
};
#endif // QGCSETTINGS_H
#endif // QGCIMAGEPROVIDER_H
src/QmlControls/SubMenuButton.qml
View file @ d33852c5
......@@ -39,6 +39,7 @@ Button {
verticalAlignment: TextEdit.AlignVCenter
horizontalAlignment: TextEdit.AlignHCenter
color: showHighlight ? qgcPal.buttonHighlightText : qgcPal.buttonText
font.pixelSize: ScreenTools.isMobile ? ScreenTools.defaultFontPixelSize * 0.65 : ScreenTools.defaultFontPixelSize
text: control.text
Rectangle {
......
src/Vehicle/MultiVehicleManager.cc
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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/>.
======================================================================*/
/// @file
......@@ -56,6 +56,7 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
}
bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
......@@ -64,7 +65,7 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
if (vehicleId == _mavlinkProtocol->getSystemId()) {
_app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
}
QSettings settings;
bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
......@@ -74,24 +75,24 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
"QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
return false;
}
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
if (!vehicle) {
qWarning() << "New Vehicle allocation failed";
return false;
}
connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
_vehicles.append(vehicle);
emit vehicleAdded(vehicle);
setActiveVehicle(vehicle);
}
return true;
}
......@@ -115,17 +116,17 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
if (!found) {
qWarning() << "Vehicle not found in map!";
}
vehicle->setActive(false);
vehicle->uas()->clearVehicle();
// First we must signal that a vehicle is no longer available.
_activeVehicleAvailable = false;
_parameterReadyVehicleAvailable = false;
emit activeVehicleAvailableChanged(false);
emit parameterReadyVehicleAvailableChanged(false);
emit vehicleRemoved(vehicle);
// We must let the above signals flow through the system as well as get back to the main loop event queue
// before we can actually delete the Vehicle. The reason is that Qml may be holding on the references to it.
// Even though the above signals should unload any Qml which has references, that Qml will not be destroyed
......@@ -141,15 +142,15 @@ void MultiVehicleManager::_deleteVehiclePhase2 (void)
/// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
/// This means we can now clear the active vehicle property and delete the Vehicle for real.
Vehicle* newActiveVehicle = NULL;
if (_vehicles.count()) {
newActiveVehicle = qobject_cast<Vehicle*>(_vehicles[0]);
}
_activeVehicle = newActiveVehicle;
emit activeVehicleChanged(newActiveVehicle);
if (_activeVehicle) {
_activeVehicle->setActive(true);
emit activeVehicleAvailableChanged(true);
......@@ -157,7 +158,7 @@ void MultiVehicleManager::_deleteVehiclePhase2 (void)
emit parameterReadyVehicleAvailableChanged(true);
}
}
_vehicleBeingDeleted->deleteLater();
}
......@@ -168,10 +169,10 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
if (vehicle != _activeVehicle) {
if (_activeVehicle) {
_activeVehicle->setActive(false);
// The sequence of signals is very important in order to not leave Qml elements connected
// to a non-existent vehicle.
// First we must signal that there is no active vehicle available. This will disconnect
// any existing ui from the currently active vehicle.
_activeVehicleAvailable = false;
......@@ -179,7 +180,7 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
emit activeVehicleAvailableChanged(false);
emit parameterReadyVehicleAvailableChanged(false);
}
// See explanation in _deleteVehiclePhase1
_vehicleBeingSetActive = vehicle;
QTimer::singleShot(20, this, &MultiVehicleManager::_setActiveVehiclePhase2);
......@@ -193,13 +194,13 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
// Now we signal the new active vehicle
_activeVehicle = _vehicleBeingSetActive;
emit activeVehicleChanged(_activeVehicle);
// And finally vehicle availability
if (_activeVehicle) {
_activeVehicle->setActive(true);
_activeVehicleAvailable = true;
emit activeVehicleAvailableChanged(true);
if (_activeVehicle->autopilotPlugin()->parametersReady()) {
_parameterReadyVehicleAvailable = true;
emit parameterReadyVehicleAvailableChanged(true);
......@@ -210,12 +211,12 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
void MultiVehicleManager::_autopilotParametersReadyChanged(bool parametersReady)
{
AutoPilotPlugin* autopilot = dynamic_cast<AutoPilotPlugin*>(sender());
if (!autopilot) {
qWarning() << "Dynamic cast failed!";
return;
}
if (autopilot->vehicle() == _activeVehicle) {
_parameterReadyVehicleAvailable = parametersReady;
emit parameterReadyVehicleAvailableChanged(parametersReady);
......@@ -249,10 +250,12 @@ Vehicle* MultiVehicleManager::getVehicleById(int vehicleId)
QList<Vehicle*> MultiVehicleManager::vehicles(void)
{
QList<Vehicle*> list;
for (int i=0; i< _vehicles.count(); i++) {
list += qobject_cast<Vehicle*>(_vehicles[i]);
}
return list;
}
src/Vehicle/MultiVehicleManager.h
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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/>.
======================================================================*/
/// @file
......@@ -44,20 +44,20 @@ Q_DECLARE_LOGGING_CATEGORY(MultiVehicleManagerLog)
class MultiVehicleManager : public QGCTool
{
Q_OBJECT
public:
MultiVehicleManager(QGCApplication* app);
Q_INVOKABLE void saveSetting (const QString &key, const QString& value);
Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue);
Q_PROPERTY(bool activeVehicleAvailable READ activeVehicleAvailable NOTIFY activeVehicleAvailableChanged)
Q_PROPERTY(bool parameterReadyVehicleAvailable READ parameterReadyVehicleAvailable NOTIFY parameterReadyVehicleAvailableChanged)
Q_PROPERTY(Vehicle* activeVehicle READ activeVehicle WRITE setActiveVehicle NOTIFY activeVehicleChanged)
Q_PROPERTY(QmlObjectListModel* vehicles READ vehiclesModel CONSTANT)
// Methods
/// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
/// will create/update Vehicles as necessary.
/// @param link Heartbeat came through on this link
......@@ -65,24 +65,24 @@ public:
/// @param heartbeat Mavlink heartbeat message
/// @return true: continue further processing of this message, false: disregard this message
bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
QList<Vehicle*> vehicles(void);
// Property accessors
bool activeVehicleAvailable(void) { return _activeVehicleAvailable; }
bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; }
Vehicle* activeVehicle(void) { return _activeVehicle; }
void setActiveVehicle(Vehicle* vehicle);
QmlObjectListModel* vehiclesModel(void) { return &_vehicles; }
// Override from QGCTool
virtual void setToolbox(QGCToolbox *toolbox);
......@@ -92,33 +92,34 @@ signals:
void activeVehicleAvailableChanged(bool activeVehicleAvailable);
void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
void activeVehicleChanged(Vehicle* activeVehicle);
void _deleteVehiclePhase2Signal(void);
private slots:
void _deleteVehiclePhase1(Vehicle* vehicle);
void _deleteVehiclePhase2(void);
void _setActiveVehiclePhase2(void);
void _autopilotParametersReadyChanged(bool parametersReady);
private:
bool _vehicleExists(int vehicleId);
bool _activeVehicleAvailable; ///< true: An active vehicle is available
bool _parameterReadyVehicleAvailable; ///< true: An active vehicle with ready parameters is available
Vehicle* _activeVehicle; ///< Currently active vehicle from a ui perspective
Vehicle* _vehicleBeingDeleted; ///< Vehicle being deleted in queued phases
Vehicle* _vehicleBeingSetActive; ///< Vehicle being set active in queued phases
QList<int> _ignoreVehicleIds; ///< List of vehicle id for which we ignore further communication
QmlObjectListModel _vehicles;
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
JoystickManager* _joystickManager;
MAVLinkProtocol* _mavlinkProtocol;
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
JoystickManager* _joystickManager;
MAVLinkProtocol* _mavlinkProtocol;
};
#endif
src/Vehicle/Vehicle.cc
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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/>.
======================================================================*/
#include "Vehicle.h"
......@@ -34,6 +34,7 @@
#include "CoordinateVector.h"
#include "ParameterLoader.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
......@@ -104,25 +105,27 @@ Vehicle::Vehicle(LinkInterface* link,
, _firmwarePluginManager(firmwarePluginManager)
, _autopilotPluginManager(autopilotPluginManager)
, _joystickManager(joystickManager)
, _flowImageIndex(0)
{
_addLink(link);
_mavlink = qgcApp()->toolbox()->mavlinkProtocol();
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
_uas = new UAS(_mavlink, this, _firmwarePluginManager);
setLatitude(_uas->getLatitude());
setLongitude(_uas->getLongitude());
connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_autopilotPlugin = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
connect(_uas, &UAS::imageReady, this, &Vehicle::_imageReady);
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
_autopilotPlugin = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged, this, &Vehicle::_parametersReady);
connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged, this, &Vehicle::missingParametersChanged);
......@@ -131,7 +134,7 @@ Vehicle::Vehicle(LinkInterface* link,
_refreshTimer->setInterval(UPDATE_TIMER);
_refreshTimer->start(UPDATE_TIMER);
emit heartbeatTimeoutChanged();
_mav = uas();
// Reset satellite count (no GPS)
_satelliteCount = -1;
......@@ -158,9 +161,9 @@ Vehicle::Vehicle(LinkInterface* link,
_setSatelliteCount(pUas->getSatelliteCount(), QString(""));
connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
}
_loadSettings();
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
......@@ -169,10 +172,10 @@ Vehicle::Vehicle(LinkInterface* link,
connect(_parameterLoader, SIGNAL(parameterListProgress(float)), _autopilotPlugin, SIGNAL(parameterListProgress(float)));
_firmwarePlugin->initializeVehicle(this);
_sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
_mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
......@@ -191,6 +194,7 @@ Vehicle::~Vehicle()
delete _mav;
_mav = NULL;
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
......@@ -200,14 +204,14 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
}
_communicationInactivityTimer.start();
if (!_containsLink(link)) {
_addLink(link);
}
// Give the plugin a change to adjust the message contents
_firmwarePlugin->adjustMavlinkMessage(&message);
switch (message.msgid) {
case MAVLINK_MSG_ID_HOME_POSITION:
_handleHomePosition(message);
......@@ -216,9 +220,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
_handleHeartbeat(message);
break;
}
emit mavlinkMessageReceived(message);
_uas->receiveMessage(message);
}
......@@ -228,7 +232,7 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
bool emitHomePositionAvailableChanged = false;
mavlink_home_position_t homePos;
mavlink_msg_home_position_decode(&message, &homePos);
QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
......@@ -255,15 +259,15 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
void Vehicle::_handleHeartbeat(mavlink_message_t& message)
{
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
bool newArmed = heartbeat.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;
if (_armed != newArmed) {
_armed = newArmed;
emit armedChanged(_armed);
// We are transitioning to the armed state, begin tracking trajectory points for the map
if (_armed) {
_mapTrajectoryStart();
......@@ -286,7 +290,7 @@ bool Vehicle::_containsLink(LinkInterface* link)
return true;
}
}
return false;
}
......@@ -303,14 +307,14 @@ void Vehicle::_linkDisconnected(LinkInterface* link)
{
qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
qCDebug(VehicleLog) << "link count:" << _links.count();
for (int i=0; i<_links.count(); i++) {
if (_links[i].data() == link) {
_links.removeAt(i);
break;
}
}
if (_links.count() == 0) {
emit allLinksDisconnected(this);
}
......@@ -327,20 +331,20 @@ void Vehicle::_sendMessage(mavlink_message_t message)
foreach (SharedLinkInterface sharedLink, _links) {
LinkInterface* link = sharedLink.data();
Q_ASSERT(link);
if (link->isConnected()) {
MAVLinkProtocol* mavlink = _mavlink;
// Give the plugin a chance to adjust
_firmwarePlugin->adjustMavlinkMessage(&message);
static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int len = mavlink_msg_to_send_buffer(buffer, &message);
link->writeBytes((const char*)buffer, len);
}
}
......@@ -349,11 +353,11 @@ void Vehicle::_sendMessage(mavlink_message_t message)
QList<LinkInterface*> Vehicle::links(void)
{
QList<LinkInterface*> list;
foreach (SharedLinkInterface sharedLink, _links) {
list += sharedLink.data();
}
return list;
}
......@@ -592,7 +596,7 @@ QString Vehicle::getMavIconColor()
void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
{
if(percent < 0.0) {
percent = 0.0;
}
......@@ -678,7 +682,7 @@ void Vehicle::_handleTextMessage(int newCount)
emit messageCountChanged();
return;
}
UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
Q_ASSERT(pMh);
MessageType_t type = newCount ? _currentMessageType : MessageNone;
......@@ -755,16 +759,16 @@ int Vehicle::manualControlReservedButtonCount(void)
void Vehicle::_loadSettings(void)
{
QSettings settings;
settings.beginGroup(QString(_settingsGroup).arg(_id));
bool convertOk;
_joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
if (!convertOk) {
_joystickMode = JoystickModeRC;
}
_joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
_communicationInactivityTimeoutMSecs = settings.value(_communicationInactivityKey, _communicationInactivityTimeoutMSecsDefault).toInt();
}
......@@ -772,9 +776,9 @@ void Vehicle::_loadSettings(void)
void Vehicle::_saveSettings(void)
{
QSettings settings;
settings.beginGroup(QString(_settingsGroup).arg(_id));
settings.setValue(_joystickModeSettingsKey, _joystickMode);
settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
settings.setValue(_communicationInactivityKey, _communicationInactivityTimeoutMSecs);
......@@ -791,7 +795,7 @@ void Vehicle::setJoystickMode(int mode)
qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
return;
}
_joystickMode = (JoystickMode_t)mode;
_saveSettings();
emit joystickModeChanged(mode);
......@@ -800,9 +804,9 @@ void Vehicle::setJoystickMode(int mode)
QStringList Vehicle::joystickModes(void)
{
QStringList list;
list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";
return list;
}
......@@ -844,7 +848,7 @@ bool Vehicle::active(void)
void Vehicle::setActive(bool active)
{
_active = active;
_startJoystick(_active);
}
......@@ -866,10 +870,10 @@ QGeoCoordinate Vehicle::homePosition(void)
void Vehicle::setArmed(bool armed)
{
// We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.
mavlink_message_t msg;
mavlink_command_long_t cmd;
cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
cmd.confirmation = 0;
cmd.param1 = armed ? 1.0f : 0.0f;
......@@ -881,9 +885,9 @@ void Vehicle::setArmed(bool armed)
cmd.param7 = 0.0f;
cmd.target_system = id();
cmd.target_component = 0;
mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
sendMessage(msg);
}
......@@ -948,13 +952,13 @@ void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate)
{
mavlink_message_t msg;
mavlink_request_data_stream_t dataStream;
dataStream.req_stream_id = stream;
dataStream.req_message_rate = rate;
dataStream.start_stop = 1; // start
dataStream.target_system = id();
dataStream.target_component = 0;
mavlink_msg_request_data_stream_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &dataStream);
// We use sendMessageMultiple since we really want these to make it to the vehicle
......@@ -965,16 +969,16 @@ void Vehicle::_sendMessageMultipleNext(void)
{
if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;
sendMessage(_sendMessageMultipleList[_nextSendMessageMultipleIndex].message);
if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
_sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
} else {
_nextSendMessageMultipleIndex++;
}
}
if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
_nextSendMessageMultipleIndex = 0;
}
......@@ -983,10 +987,10 @@ void Vehicle::_sendMessageMultipleNext(void)
void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
SendMessageMultipleInfo_t info;
info.message = message;
info.retryCount = _sendMessageMultipleRetries;
_sendMessageMultipleList.append(info);
}
......@@ -1043,3 +1047,14 @@ ParameterLoader* Vehicle::getParameterLoader(void)
{
return _parameterLoader;
}
void Vehicle::_imageReady(UASInterface*)
{
if(_uas)
{
QImage img = _uas->getImage();
qgcApp()->toolbox()->imageProvider()->setImage(&img, _id);
_flowImageIndex++;
emit flowImageIndexChanged();
}
}
src/Vehicle/Vehicle.h
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2014 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/>.
======================================================================*/
/// @file
......@@ -29,7 +29,6 @@
#include <QObject>
#include <QGeoCoordinate>
#include <QQmlListProperty>
#include "LinkInterface.h"
#include "QGCMAVLink.h"
......@@ -52,7 +51,7 @@ Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
class Vehicle : public QObject
{
Q_OBJECT
public:
Vehicle(LinkInterface* link,
int vehicleId,
......@@ -62,7 +61,7 @@ public:
AutoPilotPluginManager* autopilotPluginManager,
JoystickManager* joystickManager);
~Vehicle();
Q_PROPERTY(int id READ id CONSTANT)
Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
......@@ -106,7 +105,8 @@ public:
Q_PROPERTY(int joystickMode READ joystickMode WRITE setJoystickMode NOTIFY joystickModeChanged)
Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
Q_PROPERTY(int flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged)
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
......@@ -121,8 +121,8 @@ public:
QGeoCoordinate coordinate(void) { return _coordinate; }
bool coordinateValid(void) { return _coordinateValid; }
QmlObjectListModel* missionItemsModel(void);
typedef enum {
JoystickModeRC, ///< Joystick emulates an RC Transmitter
JoystickModeAttitude,
......@@ -131,50 +131,50 @@ public:
JoystickModeVelocity,
JoystickModeMax
} JoystickMode_t;
int joystickMode(void);
void setJoystickMode(int mode);
/// List of joystick mode names
QStringList joystickModes(void);
bool joystickEnabled(void);
void setJoystickEnabled(bool enabled);
// Is vehicle active with respect to current active vehicle in QGC
bool active(void);
void setActive(bool active);
// Property accesors
int id(void) { return _id; }
MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
MAV_TYPE vehicleType(void) { return _vehicleType; }
/// Sends this specified message to all links accociated with this vehicle
void sendMessage(mavlink_message_t message);
/// Sends the specified messages multiple times to the vehicle in order to attempt to
/// guarantee that it makes it to the vehicle.
void sendMessageMultiple(mavlink_message_t message);
/// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out.
UAS* uas(void) { return _uas; }
/// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out.
AutoPilotPlugin* autopilotPlugin(void) { return _autopilotPlugin; }
/// Provides access to the Firmware Plugin for this Vehicle
FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
QList<LinkInterface*> links(void);
int manualControlReservedButtonCount(void);
MissionManager* missionManager(void) { return _missionManager; }
bool homePositionAvailable(void);
QGeoCoordinate homePosition(void);
bool armed(void) { return _armed; }
void setArmed(bool armed);
......@@ -185,23 +185,25 @@ public:
bool hilMode(void);
void setHilMode(bool hilMode);
QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
int flowImageIndex() { return _flowImageIndex; }
/// Requests the specified data stream from the vehicle
/// @param stream Stream which is being requested
/// @param rate Rate at which to send stream in Hz
void requestDataStream(MAV_DATA_STREAM stream, uint16_t rate);
bool missingParameters(void);
typedef enum {
MessageNone,
MessageNormal,
MessageWarning,
MessageError
} MessageType_t;
enum {
ROLL_CHANGED,
PITCH_CHANGED,
......@@ -213,10 +215,10 @@ public:
ALTITUDEWGS84_CHANGED,
ALTITUDEAMSL_CHANGED
};
// Called when the message drop-down is invoked to clear current count
void resetMessages();
bool messageTypeNone () { return _currentMessageType == MessageNone; }
bool messageTypeNormal () { return _currentMessageType == MessageNormal; }
bool messageTypeWarning () { return _currentMessageType == MessageWarning; }
......@@ -245,11 +247,11 @@ public:
unsigned int heartbeatTimeout () { return _currentHeartbeatTimeout; }
ParameterLoader* getParameterLoader(void);
public slots:
void setLatitude(double latitude);
void setLongitude(double longitude);
signals:
void allLinksDisconnected(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate);
......@@ -264,10 +266,10 @@ signals:
void flightModeChanged(const QString& flightMode);
void hilModeChanged(bool hilMode);
void missingParametersChanged(bool missingParameters);
/// Used internally to move sendMessage call to main thread
void _sendMessageOnThread(mavlink_message_t message);
void messageTypeChanged ();
void newMessageCountChanged ();
void messageCountChanged ();
......@@ -290,7 +292,8 @@ signals:
void satelliteCountChanged ();
void currentStateChanged ();
void satelliteLockChanged ();
void flowImageIndexChanged ();
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _linkDisconnected(LinkInterface* link);
......@@ -316,6 +319,8 @@ private slots:
void _heartbeatTimeout (bool timeout, unsigned int ms);
void _setSatelliteCount (double val, QString name);
void _setSatLoc (UASInterface* uas, int fix);
/** @brief A new camera image has arrived */
void _imageReady (UASInterface* uas);
private:
bool _containsLink(LinkInterface* link);
......@@ -335,29 +340,29 @@ private:
private:
int _id; ///< Mavlink system id
bool _active;
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
FirmwarePlugin* _firmwarePlugin;
AutoPilotPlugin* _autopilotPlugin;
MAVLinkProtocol* _mavlink;
/// List of all links associated with this vehicle. We keep SharedLinkInterface objects
/// which are QSharedPointer's in order to maintain reference counts across threads.
/// This way Link deletion works correctly.
QList<SharedLinkInterface> _links;
JoystickMode_t _joystickMode;
bool _joystickEnabled;
UAS* _uas;
QGeoCoordinate _coordinate;
bool _coordinateValid; ///< true: vehicle has 3d lock and therefore valid location
bool _homePositionAvailable;
QGeoCoordinate _homePosition;
UASInterface* _mav;
int _currentMessageCount;
int _messageCount;
......@@ -389,12 +394,12 @@ private:
int _satelliteCount;
int _satelliteLock;
int _updateCount;
MissionManager* _missionManager;
bool _missionManagerInitialRequestComplete;
ParameterLoader* _parameterLoader;
bool _armed; ///< true: vehicle is armed
uint8_t _base_mode; ///< base_mode from HEARTBEAT
uint32_t _custom_mode; ///< custom_mode from HEARTBEAT
......@@ -404,15 +409,15 @@ private:
mavlink_message_t message; ///< Message to send multiple times
int retryCount; ///< Number of retries left
} SendMessageMultipleInfo_t;
QList<SendMessageMultipleInfo_t> _sendMessageMultipleList; ///< List of messages being sent multiple times
static const int _sendMessageMultipleRetries = 5;
static const int _sendMessageMultipleIntraMessageDelay = 500;
QTimer _sendMultipleTimer;
int _nextSendMessageMultipleIndex;
QTimer _mapTrajectoryTimer;
QmlObjectListModel _mapTrajectoryList;
QGeoCoordinate _mapTrajectoryLastCoordinate;
......@@ -423,10 +428,12 @@ private:
int _communicationInactivityTimeoutMSecs;
static const int _communicationInactivityTimeoutMSecsDefault = 30 * 1000;
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
JoystickManager* _joystickManager;
FirmwarePluginManager* _firmwarePluginManager;
AutoPilotPluginManager* _autopilotPluginManager;
JoystickManager* _joystickManager;
int _flowImageIndex;
// Settings keys
static const char* _settingsGroup;
static const char* _joystickModeSettingsKey;
......
src/VehicleSetup/PX4FlowSensor.qml 0 → 100644
View file @ d33852c5
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2015 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/>.
======================================================================*/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.2
import QtQuick.Dialogs 1.2
import QGroundControl.Controls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.Palette 1.0
import QGroundControl.Controllers 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.MultiVehicleManager 1.0
QGCView {
id: qgcView
viewPanel: panel
property var _activeVehicle: multiVehicleManager.activeVehicle
QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
QGCViewPanel {
id: panel
anchors.fill: parent
QGCLabel {
id: titleLabel
text: "PX4Flow Camera"
font.pixelSize: ScreenTools.mediumFontPixelSize
}
Image {
source: _activeVehicle ? "image://QGCImages/" + _activeVehicle.id + "/" + _activeVehicle.flowImageIndex : ""
width: parent.width * 0.5
height: width * 0.75
cache: false
anchors.centerIn: parent
fillMode: Image.PreserveAspectFit
}
}
}
src/VehicleSetup/SetupView.qml
View file @ d33852c5
......@@ -94,6 +94,11 @@ Rectangle {
panelLoader.source = "SetupParameterEditor.qml";
}
function showPX4FlowPanel()
{
panelLoader.source = "PX4FlowSensor.qml";
}
function showVehicleComponentPanel(vehicleComponent)
{
if (multiVehicleManager.activeVehicle.armed) {
......@@ -247,6 +252,16 @@ Rectangle {
onClicked: showFirmwarePanel()
}
SubMenuButton {
id: px4FlowButton
width: mainWindow.menuButtonWidth
exclusiveGroup: setupButtonGroup
visible: _fullParameterVehicleAvailable
setupIndicator: false
text: "PX4FLOW"
onClicked: showPX4FlowPanel()
}
SubMenuButton {
id: joystickButton
width: mainWindow.menuButtonWidth
......
src/comm/MockLink.cc
View file @ d33852c5
......@@ -70,7 +70,7 @@ union px4_custom_mode {
float MockLink::_vehicleLatitude = 47.633033f;
float MockLink::_vehicleLongitude = -122.08794f;
float MockLink::_vehicleAltitude = 2.5f;
float MockLink::_vehicleAltitude = 9872.5f;
const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
const char* MockConfiguration::_vehicleTypeKey = "VehicleType";
......@@ -108,9 +108,9 @@ MockLink::MockLink(MockConfiguration* config)
_fileServer = new MockLinkFileServer(_vehicleSystemId, _vehicleComponentId, this);
Q_CHECK_PTR(_fileServer);
moveToThread(this);
_loadParams();
QObject::connect(this, &MockLink::_incomingBytes, this, &MockLink::_handleIncomingBytes);
}
......@@ -154,7 +154,7 @@ void MockLink::run(void)
QTimer _timer10HzTasks;
QTimer _timer50HzTasks;
QObject::connect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
QObject::connect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
QObject::connect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
QObject::connect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
......@@ -164,10 +164,10 @@ void MockLink::run(void)
exec();
QObject::disconnect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
QObject::disconnect(&_timer1HzTasks, &QTimer::timeout, this, &MockLink::_run1HzTasks);
QObject::disconnect(&_timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
QObject::disconnect(&_timer50HzTasks, &QTimer::timeout, this, &MockLink::_run50HzTasks);
_missionItemHandler.shutdown();
}
......@@ -285,14 +285,14 @@ void MockLink::_sendHeartBeat(void)
_mavBaseMode, // MAV_MODE
_mavCustomMode, // custom mode
_mavState); // MAV_STATE
respondWithMavlinkMessage(msg);
}
void MockLink::respondWithMavlinkMessage(const mavlink_message_t& msg)
{
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int cBuffer = mavlink_msg_to_send_buffer(buffer, &msg);
QByteArray bytes((char *)buffer, cBuffer);
emit bytesReceived(this, bytes);
......@@ -354,7 +354,7 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
if (!mavlink_parse_char(getMavlinkChannel(), bytes[i], &msg, &comm)) {
continue;
}
if (_missionItemHandler.handleMessage(msg)) {
continue;
}
......@@ -379,11 +379,11 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
_handleParamRequestRead(msg);
break;
case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
_handleFTP(msg);
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
_handleCommandLong(msg);
break;
......@@ -552,14 +552,14 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
Q_ASSERT(request.target_system == _vehicleSystemId);
Q_ASSERT(request.target_component == MAV_COMP_ID_ALL);
// We must send the first parameter for each component first. Otherwise system won't correctly know
// when all parameters are loaded.
foreach (int componentId, _mapParamName2Value.keys()) {
uint16_t paramIndex = 0;
int cParameters = _mapParamName2Value[componentId].count();
foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
mavlink_message_t responseMsg;
......@@ -583,17 +583,17 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
cParameters, // Total number of parameters
paramIndex++); // Index of this parameter
respondWithMavlinkMessage(responseMsg);
// Only first parameter the first time through
break;
}
}
foreach (int componentId, _mapParamName2Value.keys()) {
uint16_t paramIndex = 0;
int cParameters = _mapParamName2Value[componentId].count();
bool skipParam = true;
foreach(QString paramName, _mapParamName2Value[componentId].keys()) {
if (skipParam) {
// We've already sent the first param
......@@ -602,17 +602,17 @@ void MockLink::_handleParamRequestList(const mavlink_message_t& msg)
} else {
char paramId[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
mavlink_message_t responseMsg;
Q_ASSERT(_mapParamName2Value[componentId].contains(paramName));
Q_ASSERT(_mapParamName2MavParamType.contains(paramName));
MAV_PARAM_TYPE paramType = _mapParamName2MavParamType[paramName];
Q_ASSERT(paramName.length() <= MAVLINK_MSG_ID_PARAM_VALUE_LEN);
strncpy(paramId, paramName.toLocal8Bit().constData(), MAVLINK_MSG_ID_PARAM_VALUE_LEN);
qCDebug(MockLinkLog) << "Sending msg_param_value" << componentId << paramId << paramType << _mapParamName2Value[componentId][paramId];
mavlink_msg_param_value_pack(_vehicleSystemId,
componentId, // component id
&responseMsg, // Outgoing message
......@@ -634,14 +634,14 @@ void MockLink::_handleParamSet(const mavlink_message_t& msg)
Q_ASSERT(request.target_system == _vehicleSystemId);
int componentId = request.target_component;
// Param may not be null terminated if exactly fits
char paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1];
paramId[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN] = 0;
strncpy(paramId, request.param_id, MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN);
qCDebug(MockLinkLog) << "_handleParamSet" << componentId << paramId << request.param_type;
Q_ASSERT(_mapParamName2Value.contains(componentId));
Q_ASSERT(_mapParamName2Value[componentId].contains(paramId));
Q_ASSERT(request.param_type == _mapParamName2MavParamType[paramId]);
......@@ -726,12 +726,12 @@ void MockLink::_handleParamRequestRead(const mavlink_message_t& msg)
void MockLink::emitRemoteControlChannelRawChanged(int channel, uint16_t raw)
{
uint16_t chanRaw[18];
for (int i=0; i<18; i++) {
chanRaw[i] = UINT16_MAX;
}
chanRaw[channel] = raw;
mavlink_message_t responseMsg;
mavlink_msg_rc_channels_pack(_vehicleSystemId,
_vehicleComponentId,
......@@ -769,7 +769,7 @@ void MockLink::_handleFTP(const mavlink_message_t& msg)
void MockLink::_handleCommandLong(const mavlink_message_t& msg)
{
mavlink_command_long_t request;
mavlink_msg_command_long_decode(&msg, &request);
if (request.command == MAV_CMD_COMPONENT_ARM_DISARM) {
......@@ -808,7 +808,7 @@ void MockLink::_sendHomePosition(void)
(int32_t)(_vehicleAltitude * 1000),
0.0f, 0.0f, 0.0f,
&bogus[0],
0.0f, 0.0f, 0.0f);
0.0f, 0.0f, 0.0f);
respondWithMavlinkMessage(msg);
}
}
......@@ -823,9 +823,9 @@ void MockLink::_sendGpsRawInt(void)
&msg,
timeTick++, // time since boot
3, // 3D fix
(int32_t)(_vehicleLatitude * 1E7),
(int32_t)(_vehicleLatitude * 1E7),
(int32_t)(_vehicleLongitude * 1E7),
(int32_t)(_vehicleAltitude * 1000),
(int32_t)(_vehicleAltitude * 1000),
UINT16_MAX, UINT16_MAX, // HDOP/VDOP not known
UINT16_MAX, // velocity not known
UINT16_MAX, // course over ground not known
......@@ -878,7 +878,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
: LinkConfiguration(source)
{
_firmwareType = source->_firmwareType;
_vehicleType = source->_vehicleType;
_vehicleType = source->_vehicleType;
_sendStatusText = source->_sendStatusText;
}
......
src/ui/MainWindow.cc
View file @ d33852c5
......@@ -53,6 +53,7 @@ This file is part of the QGROUNDCONTROL project
#include "HomePositionManager.h"
#include "LogCompressor.h"
#include "UAS.h"
#include "QGCImageProvider.h"
#ifndef __mobile__
#include "QGCDataPlot2D.h"
......@@ -166,6 +167,10 @@ MainWindow::MainWindow()
_mainQmlWidgetHolder->setContextPropertyObject("controller", this);
_mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindow.qml"));
// Image provider
QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
_mainQmlWidgetHolder->getEngine()->addImageProvider(QLatin1String("QGCImages"), pImgProvider);
// Set dock options
setDockOptions(0);
// Setup corners
......@@ -309,6 +314,7 @@ MainWindow::MainWindow()
MainWindow::~MainWindow()
{
_mainQmlWidgetHolder->getEngine()->removeImageProvider(QLatin1String("QGCImages"));
_instance = NULL;
}
......@@ -465,6 +471,8 @@ void MainWindow::closeEvent(QCloseEvent *event)
// We have to pull out the QmlWidget from the main window and delete it here, before
// the MainWindow ends up getting deleted. Otherwise the Qml has a reference to MainWindow
// inside it which in turn causes a shutdown crash.
// Remove image provider
_mainQmlWidgetHolder->getEngine()->removeImageProvider(QLatin1String("QGCImages"));
_centralLayout->removeWidget(_mainQmlWidgetHolder);
delete _mainQmlWidgetHolder;
_mainQmlWidgetHolder = NULL;
......@@ -474,7 +482,10 @@ void MainWindow::closeEvent(QCloseEvent *event)
event->accept();
//-- TODO: This effectively causes the QGCApplication destructor to not being able
// to access the pointer it is trying to delete.
_instance = NULL;
emit mainWindowClosed();
}
......
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