Fixed object instantiation bug, started to implement QGroundControl-Server for...

Fixed object instantiation bug, started to implement QGroundControl-Server for online MAV visualization and control

src/comm/MAVLinkProtocol.cc

@@ -170,16 +170,42 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
                 {
                 case MAV_AUTOPILOT_GENERIC:
                     uas = new UAS(this, message.sysid);
+                    // Connect this robot to the UAS object
+                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
                     break;
                 case MAV_AUTOPILOT_PIXHAWK:
+                    {
                     // Fixme differentiate between quadrotor and coaxial here
-                    uas = new PxQuadMAV(this, message.sysid);
+                    PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
+                    // Connect this robot to the UAS object
+                    // it is IMPORTANT here to use the right object type,
+                    // else the slot of the parent object is called (and thus the special
+                    // packets never reach their goal)
+                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                    uas = mav;
+                }
                     break;
                 case MAV_AUTOPILOT_SLUGS:
-                    uas = new SlugsMAV(this, message.sysid);
+                    {
+                    SlugsMAV* mav = new SlugsMAV(this, message.sysid);
+                    // Connect this robot to the UAS object
+                    // it is IMPORTANT here to use the right object type,
+                    // else the slot of the parent object is called (and thus the special
+                    // packets never reach their goal)
+                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                    uas = mav;
+                }
                     break;
                 case MAV_AUTOPILOT_ARDUPILOT:
-                    uas = new ArduPilotMAV(this, message.sysid);
+                    {
+                    ArduPilotMAV* mav = new ArduPilotMAV(this, message.sysid);
+                    // Connect this robot to the UAS object
+                    // it is IMPORTANT here to use the right object type,
+                    // else the slot of the parent object is called (and thus the special
+                    // packets never reach their goal)
+                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                    uas = mav;
+                }
                     break;
                 default:
                     uas = new UAS(this, message.sysid);
@@ -189,8 +215,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
 
                 // Make UAS aware that this link can be used to communicate with the actual robot
                 uas->addLink(link);
-                // Connect this robot to the UAS object
-                connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
                 // Now add UAS to "official" list, which makes the whole application aware of it
                 UASManager::instance()->addUAS(uas);
             }

standalone/qgroundcontrol-server/qgroundcontrol-server.pro

+QT       += net
+
+TEMPLATE = app
+TARGET = qgroundcontrol-server
+
+BASEDIR = ../..
+BUILDDIR = $$BASEDIR/build/qgroundcontrol-server
+LANGUAGE = C++
+
+CONFIG += release
+CONFIG -= debug
+
+OBJECTS_DIR = $$BUILDDIR/qgroundcontrol-server/obj
+MOC_DIR = $$BUILDDIR/qgroundcontrol-server/moc
+
+macx:DESTDIR = $$BASEDIR/bin/mac
+
+INCLUDEPATH += $$BASEDIR/. \
+    $$BASEDIR/src \
+    $$BASEDIR/src/comm \
+    $$BASEDIR/standalone/qgroundcontrol-server/src
+
+HEADERS += src/QGroundControlServer.h \
+   $$BASEDIR/src/comm/MAVLinkProtocol.h
+SOURCES += src/main.cc \
+	src/QGroundControlServer.cc \
+	$$BASEDIR/src/comm/MAVLinkProtocol.cc
+RESOURCES = $$BASEDIR/mavground.qrc

standalone/qgroundcontrol-server/src/QGroundControlServer.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class MAVLinkGen
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+#include <QFile>
+#include <QFlags>
+#include <QThread>
+#include <QSplashScreen>
+#include <QPixmap>
+#include <QDesktopWidget>
+#include <QPainter>
+#include <QStyleFactory>
+#include <QAction>
+#include <QSettings>
+#include <QFontDatabase>
+#include <QMainWindow>
+
+#include "MAVLinkGen.h"
+#include "XMLCommProtocolWidget.h"
+
+
+/**
+ * @brief Constructor for the main application.
+ *
+ * This constructor initializes and starts the whole application. It takes standard
+ * command-line parameters
+ *
+ * @param argc The number of command-line parameters
+ * @param argv The string array of parameters
+ **/
+
+MAVLinkGen::MAVLinkGen(int &argc, char* argv[]) : QApplication(argc, argv)
+{
+    this->setApplicationName("MAVLink Generator");
+    this->setApplicationVersion("v. 0.1.0 (Beta)");
+    this->setOrganizationName(QLatin1String("OpenMAV Association"));
+    this->setOrganizationDomain("http://qgroundcontrol.org");
+	
+    QSettings::setDefaultFormat(QSettings::IniFormat);
+    // Exit main application when last window is closed
+    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
+	
+    // Set application font
+    QFontDatabase fontDatabase = QFontDatabase();
+    const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
+    const QString fontFamilyName = "Bitstream Vera Sans";
+    if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
+    fontDatabase.addApplicationFont(fontFileName);
+    setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
+
+    // Create main window
+    QMainWindow* window = new QMainWindow();
+    window->setCentralWidget(new XMLCommProtocolWidget(window));
+    window->setWindowTitle(applicationName() + " " + applicationVersion());
+    window->show();
+}
+
+/**
+ * @brief Destructor for the groundstation. It destroys all loaded instances.
+ *
+ **/
+MAVLinkGen::~MAVLinkGen()
+{
+}
+

standalone/qgroundcontrol-server/src/QGroundControlServer.h

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkGen
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+#ifndef MAVLINKGEN_H
+#define MAVLINKGEN_H
+
+#include <QApplication>
+
+/**
+ * @brief The main application and management class.
+ *
+ * This class is started by the main method and provides
+ * the central management unit of the groundstation application.
+ *
+ **/
+class MAVLinkGen : public QApplication
+{
+	Q_OBJECT
+
+public:
+        MAVLinkGen(int &argc, char* argv[]);
+        ~MAVLinkGen();
+
+protected:
+
+private:
+};
+
+#endif /* MAVLINKGEN_H */

standalone/qgroundcontrol-server/src/main.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Main executable
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QtGui/QApplication>
+#include "MAVLinkGen.h"
+
+/**
+ * @brief Starts the application
+ *
+ * @param argc Number of commandline arguments
+ * @param argv Commandline arguments
+ * @return exit code, 0 for normal exit and !=0 for error cases
+ */
+int main(int argc, char *argv[])
+{
+
+    MAVLinkGen gen(argc, argv);
+    return gen.exec();
+}