Component for configuring CF2 Radio

qgroundcontrol.pro

@@ -806,6 +806,8 @@ HEADERS+= \
     src/AutoPilotPlugins/Common/MixersComponent.h \
     src/AutoPilotPlugins/Common/MotorComponent.h \
     src/AutoPilotPlugins/Common/RadioComponentController.h \
+    src/AutoPilotPlugins/Common/SyslinkComponent.h \
+    src/AutoPilotPlugins/Common/SyslinkComponentController.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/FirmwarePlugin/CameraMetaData.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
@@ -829,6 +831,8 @@ SOURCES += \
     src/AutoPilotPlugins/Common/MixersComponent.cc \
     src/AutoPilotPlugins/Common/MotorComponent.cc \
     src/AutoPilotPlugins/Common/RadioComponentController.cc \
+    src/AutoPilotPlugins/Common/SyslinkComponent.cc \
+    src/AutoPilotPlugins/Common/SyslinkComponentController.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/FirmwarePlugin/CameraMetaData.cc \
     src/FirmwarePlugin/FirmwarePlugin.cc \

qgroundcontrol.qrc

@@ -24,6 +24,7 @@
         <file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
         <file alias="ESP8266Component.qml">src/AutoPilotPlugins/Common/ESP8266Component.qml</file>
         <file alias="ESP8266ComponentSummary.qml">src/AutoPilotPlugins/Common/ESP8266ComponentSummary.qml</file>
+        <file alias="SyslinkComponent.qml">src/AutoPilotPlugins/Common/SyslinkComponent.qml</file>
         <file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
         <file alias="FlightDisplayViewDummy.qml">src/FlightDisplay/FlightDisplayViewDummy.qml</file>
         <file alias="FlightDisplayViewUVC.qml">src/FlightDisplay/FlightDisplayViewUVC.qml</file>

src/AutoPilotPlugins/Common/SyslinkComponent.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#include "SyslinkComponent.h"
+#include "AutoPilotPlugin.h"
+
+SyslinkComponent::SyslinkComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : VehicleComponent(vehicle, autopilot, parent)
+    , _name(tr("Syslink"))
+{
+
+}
+
+QString SyslinkComponent::name(void) const
+{
+    return _name;
+}
+
+QString SyslinkComponent::description(void) const
+{
+    return tr("The Syslink Component is used to setup the radio connection on Crazyflies.");
+}
+
+QString SyslinkComponent::iconResource(void) const
+{
+    return "/qmlimages/wifi.svg";
+}
+
+bool SyslinkComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool SyslinkComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QStringList SyslinkComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QUrl SyslinkComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/SyslinkComponent.qml");
+}
+
+QUrl SyslinkComponent::summaryQmlSource(void) const
+{
+    return QUrl();
+}
+
+QString SyslinkComponent::prerequisiteSetup(void) const
+{
+    return QString();
+}

src/AutoPilotPlugins/Common/SyslinkComponent.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+#ifndef SyslinkComponent_H
+#define SyslinkComponent_H
+
+#include "VehicleComponent.h"
+
+class SyslinkComponent : public VehicleComponent
+{
+    Q_OBJECT
+public:
+    SyslinkComponent            (Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from VehicleComponent
+    QStringList setupCompleteChangedTriggerList() const;
+    
+    // Virtuals from VehicleComponent
+    QString name                () const;
+    QString description         () const;
+    QString iconResource        () const;
+    bool    requiresSetup       () const;
+    bool    setupComplete       () const;
+    QUrl    setupSource         () const;
+    QUrl    summaryQmlSource    () const;
+    QString prerequisiteSetup   () const;
+    
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif

src/AutoPilotPlugins/Common/SyslinkComponent.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+import QtQuick          2.5
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
+
+QGCView {
+    id:         qgcView
+    viewPanel:  panel
+
+    QGCPalette { id: palette; colorGroupEnabled: panel.enabled }
+
+    property real _margins:         ScreenTools.defaultFontPixelHeight
+    property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth * 16
+    property real _labelWidth:      ScreenTools.defaultFontPixelWidth * 18
+
+    SyslinkComponentController {
+        id:             controller
+        factPanel:      panel
+    }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        Flickable {
+            clip:                                       true
+            anchors.fill:                               parent
+            contentHeight:                              mainCol.height
+            flickableDirection:                         Flickable.VerticalFlick
+            Column {
+                id:                                     mainCol
+                spacing:                                _margins
+                anchors.horizontalCenter:               parent.horizontalCenter
+                Item { width: 1; height: _margins * 0.5; }
+
+                Rectangle {
+                    color:                              palette.windowShade
+                    height:                             settingsRow.height  + _margins * 2
+                    Row {
+                        id:                             settingsRow
+                        spacing:                        _margins * 4
+                        anchors.centerIn:               parent
+                        Column {
+                            spacing:                        _margins * 0.5
+                            anchors.verticalCenter:         parent.verticalCenter
+                            Row {
+                                QGCLabel {
+                                    text:                               qsTr("NRF Radio Settings")
+                                    font.family:                        ScreenTools.demiboldFontFamily
+                                }
+                            }
+                            Row {
+                                QGCLabel {
+                                    text:                   qsTr("Channel")
+                                    width:                  _labelWidth
+                                    anchors.baseline:       channelField.baseline
+                                }
+                                QGCTextField {
+                                    id:                     channelField
+                                    width:                  _editFieldWidth
+                                    text:                   controller.radioChannel
+                                    validator:              IntValidator {bottom: 0; top: 125;}
+                                    inputMethodHints:       Qt.ImhDigitsOnly
+                                    onEditingFinished: {
+                                        controller.radioChannel = text
+                                    }
+                                }
+                            }
+                            Row {
+                                anchors.right:   parent.right
+                                QGCLabel {
+                                    wrapMode:       Text.WordWrap
+                                    text:           qsTr("Channel can be between 0 and 125")
+                                }
+
+                            }
+                            Row {
+                                QGCLabel {
+                                    text:                   qsTr("Address")
+                                    width:                  _labelWidth
+                                    anchors.baseline:       addressField.baseline
+                                }
+                                QGCTextField {
+                                    id:                     addressField
+                                    width:                  _editFieldWidth
+                                    text:                   controller.radioAddress
+                                    maximumLength:          10
+                                    validator:              RegExpValidator { regExp: /^[0-9A-Fa-f]*$/ }
+                                    onEditingFinished: {
+                                        controller.radioAddress = text
+                                    }
+                                }
+                            }
+                            Row {
+                                anchors.right:  parent.right
+                                QGCLabel {
+                                    wrapMode:       Text.WordWrap
+                                    text:           qsTr("Address in hex. Default E7E7E7E7E7")
+                                }
+
+                            }
+                            Row {
+                                QGCLabel {
+                                    text:                   qsTr("Data Rate")
+                                    width:                  _labelWidth
+                                    anchors.baseline:       rateField.baseline
+                                }
+                                QGCComboBox {
+                                    id:                     rateField
+                                    width:                  _editFieldWidth
+                                    model:                  controller.radioRates
+                                    currentIndex:           controller.radioRate
+                                    onActivated: {
+                                        controller.radioRate = index
+                                    }
+                                }
+                            }
+                            Row {
+                                spacing:                            _margins
+                                anchors.horizontalCenter:           parent.horizontalCenter
+                                QGCButton {
+                                    text:                           qsTr("Restore Defaults")
+                                    width:                          _editFieldWidth
+                                    onClicked: {
+                                        controller.resetDefaults()
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+
+            }
+        }
+    }
+}

src/AutoPilotPlugins/Common/SyslinkComponentController.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "SyslinkComponentController.h"
+#include "QGCApplication.h"
+#include "UAS.h"
+#include "ParameterManager.h"
+
+#include <QHostAddress>
+#include <QtEndian>
+
+QGC_LOGGING_CATEGORY(SyslinkComponentControllerLog, "SyslinkComponentControllerLog")
+
+//-----------------------------------------------------------------------------
+SyslinkComponentController::SyslinkComponentController()
+{
+    _dataRates.append("750Kb/s");
+    _dataRates.append("1Mb/s");
+    _dataRates.append("2Mb/s");
+
+    Fact* chan = getParameterFact(_vehicle->id(), "SLNK_RADIO_CHAN");
+    connect(chan, &Fact::valueChanged, this, &SyslinkComponentController::_channelChanged);
+    Fact* rate = getParameterFact(_vehicle->id(), "SLNK_RADIO_RATE");
+    connect(rate, &Fact::valueChanged, this, &SyslinkComponentController::_rateChanged);
+    Fact* addr1 = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR1");
+    connect(addr1, &Fact::valueChanged, this, &SyslinkComponentController::_addressChanged);
+    Fact* addr2 = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR2");
+    connect(addr2, &Fact::valueChanged, this, &SyslinkComponentController::_addressChanged);
+}
+
+//-----------------------------------------------------------------------------
+SyslinkComponentController::~SyslinkComponentController()
+{
+
+}
+
+//-----------------------------------------------------------------------------
+int
+SyslinkComponentController::radioChannel()
+{
+    return getParameterFact(_vehicle->id(), "SLNK_RADIO_CHAN")->rawValue().toUInt();
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::setRadioChannel(int num)
+{
+    Fact* f = getParameterFact(_vehicle->id(), "SLNK_RADIO_CHAN");
+    f->setRawValue(QVariant(num));
+}
+
+//-----------------------------------------------------------------------------
+QString
+SyslinkComponentController::radioAddress()
+{
+    uint32_t val_uh = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR1")->rawValue().toUInt();
+    uint32_t val_lh = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR2")->rawValue().toUInt();
+    uint64_t val = (((uint64_t) val_uh) << 32) | ((uint64_t) val_lh);
+
+    return QString().number(val, 16);
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::setRadioAddress(QString str)
+{
+    Fact *uh = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR1");
+    Fact *lh = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR2");
+
+    uint64_t val = str.toULongLong(0, 16);
+
+    uint32_t val_uh = val >> 32;
+    uint32_t val_lh = val & 0xFFFFFFFF;
+
+    uh->setRawValue(QVariant(val_uh));
+    lh->setRawValue(QVariant(val_lh));
+}
+
+//-----------------------------------------------------------------------------
+int
+SyslinkComponentController::radioRate()
+{
+    return getParameterFact(_vehicle->id(), "SLNK_RADIO_RATE")->rawValue().toInt();
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::setRadioRate(int idx)
+{
+    if(idx >= 0 && idx <= 2 && idx != radioRate()) {
+        Fact* r = getParameterFact(_vehicle->id(), "SLNK_RADIO_RATE");
+        r->setRawValue(idx);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::resetDefaults()
+{
+    Fact* chan = getParameterFact(_vehicle->id(), "SLNK_RADIO_CHAN");
+    Fact* rate = getParameterFact(_vehicle->id(), "SLNK_RADIO_RATE");
+    Fact* addr1 = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR1");
+    Fact* addr2 = getParameterFact(_vehicle->id(), "SLNK_RADIO_ADDR2");
+
+    chan->setRawValue(chan->rawDefaultValue());
+    rate->setRawValue(rate->rawDefaultValue());
+    addr1->setRawValue(addr1->rawDefaultValue());
+    addr2->setRawValue(addr2->rawDefaultValue());
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::_channelChanged(QVariant)
+{
+    emit radioChannelChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::_addressChanged(QVariant)
+{
+    emit radioAddressChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
+SyslinkComponentController::_rateChanged(QVariant)
+{
+    emit radioRateChanged();
+}
+

src/AutoPilotPlugins/Common/SyslinkComponentController.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#ifndef SyslinkComponentController_H
+#define SyslinkComponentController_H
+
+#include "FactPanelController.h"
+#include "UASInterface.h"
+#include "QGCLoggingCategory.h"
+#include "AutoPilotPlugin.h"
+
+Q_DECLARE_LOGGING_CATEGORY(SyslinkComponentControllerLog)
+
+namespace Ui {
+    class SyslinkComponentController;
+}
+
+class SyslinkComponentController : public FactPanelController
+{
+    Q_OBJECT
+
+public:
+    SyslinkComponentController      ();
+    ~SyslinkComponentController     ();
+
+    Q_PROPERTY(int              radioChannel    READ radioChannel       WRITE setRadioChannel       NOTIFY radioChannelChanged)
+    Q_PROPERTY(QString          radioAddress    READ radioAddress       WRITE setRadioAddress       NOTIFY radioAddressChanged)
+    Q_PROPERTY(int              radioRate       READ radioRate          WRITE setRadioRate          NOTIFY radioRateChanged)
+    Q_PROPERTY(QStringList      radioRates      READ radioRates                                     CONSTANT)
+    Q_PROPERTY(Vehicle*         vehicle         READ vehicle                                        CONSTANT)
+
+    Q_INVOKABLE void resetDefaults();
+
+    int             radioChannel    ();
+    QString         radioAddress    ();
+    int             radioRate       ();
+    QStringList     radioRates      () { return _dataRates; }
+    Vehicle*        vehicle         () { return _vehicle; }
+
+    void        setRadioChannel     (int num);
+    void        setRadioAddress     (QString str);
+    void        setRadioRate        (int idx);
+
+
+signals:
+    void        radioChannelChanged     ();
+    void        radioAddressChanged     ();
+    void        radioRateChanged        ();
+
+private slots:
+    void        _channelChanged     (QVariant value);
+    void        _addressChanged     (QVariant value);
+    void        _rateChanged        (QVariant value);
+
+private:
+    QStringList _dataRates;
+
+};
+
+#endif // SyslinkComponentController_H

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -40,6 +40,7 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _motorComponent(NULL)
     , _tuningComponent(NULL)
     , _mixersComponent(NULL)
+    , _syslinkComponent(NULL)
 {
     if (!vehicle) {
         qWarning() << "Internal error";
@@ -122,6 +123,12 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             } else {
                 qWarning() << "Call to vehicleCompenents prior to parametersReady";
             }
+
+            if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "SLNK_RADIO_CHAN")) {
+                _syslinkComponent = new SyslinkComponent(_vehicle, this);
+                _syslinkComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_syslinkComponent));
+            }
         } else {
             qWarning() << "Internal error";
         }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -24,6 +24,7 @@
 #include "MotorComponent.h"
 #include "PX4TuningComponent.h"
 #include "MixersComponent.h"
+#include "SyslinkComponent.h"
 #include "Vehicle.h"
 
 #include <QImage>
@@ -44,7 +45,6 @@ public:
     const QVariantList& vehicleComponents(void) override;
     void parametersReadyPreChecks(void) override;
     QString prerequisiteSetup(VehicleComponent* component) const override;
-
 protected:
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
     PX4AirframeLoader*      _airframeFacts;
@@ -59,7 +59,7 @@ protected:
     MotorComponent*         _motorComponent;
     PX4TuningComponent*     _tuningComponent;
     MixersComponent*        _mixersComponent;
-
+    SyslinkComponent*       _syslinkComponent;
 private:
     QVariantList            _components;
 };

src/QGCApplication.cc

@@ -51,6 +51,7 @@
 #include "ScreenToolsController.h"
 #include "QFileDialogController.h"
 #include "RCChannelMonitorController.h"
+#include "SyslinkComponentController.h"
 #include "AutoPilotPlugin.h"
 #include "VehicleComponent.h"
 #include "FirmwarePluginManager.h"
@@ -390,6 +391,7 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<RCChannelMonitorController>         ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
     qmlRegisterType<JoystickConfigController>           ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
     qmlRegisterType<LogDownloadController>              ("QGroundControl.Controllers", 1, 0, "LogDownloadController");
+    qmlRegisterType<SyslinkComponentController>         ("QGroundControl.Controllers", 1, 0, "SyslinkComponentController");
 #ifndef __mobile__
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<CustomCommandWidgetController>  ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");