PX4FLOW Sensor Support.

QGCApplication.pro

@@ -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 += \

src/QGCQmlWidgetHolder.cpp

@@ -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

@@ -59,6 +59,9 @@ 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);

src/QGCToolbox.cc

@@ -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

@@ -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 {
@@ -56,6 +57,7 @@ public:
     GAudioOutput*               audioOutput(void)               { return _audioOutput; }
     FirmwarePluginManager*      firmwarePluginManager(void)     { return _firmwarePluginManager; }
     AutoPilotPluginManager*     autopilotPluginManager(void)    { return _autopilotPluginManager; }
+    QGCImageProvider*           imageProvider()                 { return _imageProvider; }
 
 private:
     FirmwarePluginManager*      _firmwarePluginManager;
@@ -69,6 +71,7 @@ private:
     GAudioOutput*               _audioOutput;
     UASMessageHandler*          _uasMessageHandler;
     FactSystem*                 _factSystem;
+    QGCImageProvider*           _imageProvider;
 };
 
 /// This is the base class for all tools

src/QGCSettings.cpp → src/QmlControls/QGCImageProvider.cc

@@ -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

@@ -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

@@ -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

@@ -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)
@@ -256,3 +257,5 @@ QList<Vehicle*> MultiVehicleManager::vehicles(void)
 
     return list;
 }
+
+

src/Vehicle/MultiVehicleManager.h

@@ -119,6 +119,7 @@ private:
     AutoPilotPluginManager*     _autopilotPluginManager;
     JoystickManager*            _joystickManager;
     MAVLinkProtocol*            _mavlinkProtocol;
+
 };
 
 #endif

src/Vehicle/Vehicle.cc

@@ -34,6 +34,7 @@
 #include "CoordinateVector.h"
 #include "ParameterLoader.h"
 #include "QGCApplication.h"
+#include "QGCImageProvider.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -104,6 +105,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _firmwarePluginManager(firmwarePluginManager)
     , _autopilotPluginManager(autopilotPluginManager)
     , _joystickManager(joystickManager)
+    , _flowImageIndex(0)
 {
     _addLink(link);
 
@@ -119,6 +121,7 @@ Vehicle::Vehicle(LinkInterface*             link,
 
     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);
@@ -191,6 +194,7 @@ Vehicle::~Vehicle()
 
     delete _mav;
     _mav = NULL;
+
 }
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
@@ -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

@@ -29,7 +29,6 @@
 
 #include <QObject>
 #include <QGeoCoordinate>
-#include <QQmlListProperty>
 
 #include "LinkInterface.h"
 #include "QGCMAVLink.h"
@@ -107,6 +106,7 @@ public:
     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(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.
@@ -188,6 +188,8 @@ public:
 
     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
@@ -290,6 +292,7 @@ signals:
     void satelliteCountChanged  ();
     void currentStateChanged    ();
     void satelliteLockChanged   ();
+    void flowImageIndexChanged  ();
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -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);
@@ -427,6 +432,8 @@ private:
     AutoPilotPluginManager*     _autopilotPluginManager;
     JoystickManager*            _joystickManager;
 
+    int                         _flowImageIndex;
+
     // Settings keys
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;

src/VehicleSetup/PX4FlowSensor.qml

+/*=====================================================================
+
+ 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

@@ -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

@@ -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";

src/ui/MainWindow.cc

@@ -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();
 }