Fixed MAV selection bug in parameter view

.gitignore

@@ -20,3 +20,5 @@ qgroundcontrol
 qgroundcontrol.xcodeproj/**
 doc/html
 doc/doxy.log
+deploy/mac
+deploy/linux

deploy/linux_create_debian_packet.sh

+#!/bin/sh
+# Clean build directories
+rm -rf linux
+mkdir -p linux
+# Change to build directory and compile application
+cd ..
+make -j4
+# Copy and build the application bundle
+cd deploy
+cp -r qgroundcontrol linux/.
+cp -r ../audio linux/.
+# FIXME Create debian packet
+echo -e '\n QGroundControl Debian packet is now ready for publishing\n'

deploy/mac_create_dmg.sh

+#!/bin/sh
+# Clean build directories
+rm -rf mac
+mkdir -p mac
+# Change to build directory and compile application
+cd ..
+make -j4
+# Copy and build the application bundle
+cd deploy
+cp -r ../bin/mac/qgroundcontrol.app mac/.
+cp -r ../audio mac/qgroundcontrol.app/Contents/MacOs/.
+macdeployqt qgroundcontrol.app --bundle
+echo -e '\n QGroundControl .DMG file is now ready for publishing\n'

mac_audiotest.sh

+#!/bin/sh
+cp -r audio bin/mac/qgroundcontrol.app/Contents/MacOs/.

src/LogCompressor.cc

@@ -81,6 +81,11 @@ void LogCompressor::run()
         QString time = parts.first();
         QString field = parts.at(2);
         QString value = parts.at(3);
+        // Enforce NaN if no value is present
+        if (value.length() == 0 || value == "" || value == " " || value == "\t" || value == "\n")
+        {
+            value = "NaN";
+        }
         // Get matching output line
         quint64 index = times->indexOf(time);
         QString outLine = outLines->at(index);

src/uas/UAS.cc

@@ -285,6 +285,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "vis. x", pos.x, time);
                 emit valueChanged(uasId, "vis. y", pos.y, time);
                 emit valueChanged(uasId, "vis. z", pos.z, time);
+                // FIXME Only for testing for now
+                emit valueChanged(uasId, "vis. rot r1", pos.r1, time);
+                emit valueChanged(uasId, "vis. rot r2", pos.r2, time);
+                emit valueChanged(uasId, "vis. rot r3", pos.r3, time);
+                emit valueChanged(uasId, "vis. rot r4", pos.r4, time);
+                emit valueChanged(uasId, "vis. rot r5", pos.r5, time);
+                emit valueChanged(uasId, "vis. rot r6", pos.r6, time);
+                emit valueChanged(uasId, "vis. rot r7", pos.r7, time);
+                emit valueChanged(uasId, "vis. rot r8", pos.r8, time);
+                emit valueChanged(uasId, "vis. rot r9", pos.r9, time);
             }
             break;
         case MAVLINK_MSG_ID_POSITION:
@@ -533,7 +543,6 @@ void UAS::requestParameters()
     mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::writeParameters()

src/ui/MainWindow.cc

@@ -120,7 +120,7 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
     QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
 
     QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
-    /*
+
     windowname.append(" (" + QHostInfo::localHostName() + ": ");
     bool prevAddr = false;
     for (int i = 0; i < hostAddresses.size(); i++)
@@ -135,7 +135,6 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
     }
 
     windowname.append(")");
-    */
 
     setWindowTitle(windowname);
 #ifndef Q_WS_MAC
@@ -216,18 +215,28 @@ void MainWindow::saveScreen()
     }
 }
 
+/**
+ * Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
+ * directory (which by default does not exist). If it fails, it will load the bundled default CSS
+ * from memory.
+ * To customize the application, just create a qgroundcontrol.css file in the application directory
+ */
 void MainWindow::reloadStylesheet()
 {
     // Load style sheet
-    //QFile styleSheet(MG::DIR::getSupportFilesDirectory() + "/images/style-mission.css");
-    QFile styleSheet(":/images/style-mission.css");
-    if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
-        QString style = QString(styleSheet.readAll());
-        style.replace("ICONDIR", MG::DIR::getIconDirectory());
+    QFile* styleSheet = new QFile(QCoreApplication::applicationDirPath() + "/qgroundcontrol.css");
+    if (!styleSheet->exists())
+    {
+        styleSheet = new QFile(":/images/style-mission.css");
+    }
+    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text)) {
+        QString style = QString(styleSheet->readAll());
+        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
         qApp->setStyleSheet(style);
     } else {
-        qDebug() << "Style not set:" << styleSheet.fileName() << "opened: " << styleSheet.isOpen();
+        qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
     }
+    delete styleSheet;
 }
 
 void MainWindow::showStatusMessage(const QString& status, int timeout)
@@ -235,14 +244,9 @@ void MainWindow::showStatusMessage(const QString& status, int timeout)
     statusBar->showMessage(status, timeout);
 }
 
-void MainWindow::setLastAction(QString status)
+void MainWindow::showStatusMessage(const QString& status)
 {
-    showStatusMessage(status, 5);
-}
-
-void MainWindow::setLinkStatus(QString status)
-{
-    showStatusMessage(status, 15);
+    statusBar->showMessage(status, 5);
 }
 
 /**
@@ -270,6 +274,7 @@ void MainWindow::connectActions()
     connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
     connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
     connect(ui.actionSettingsView, SIGNAL(triggered()), this, SLOT(loadSettingsView()));
+    connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
     connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
 
     // Joystick configuration
@@ -501,28 +506,65 @@ void MainWindow::loadEngineerView()
 
 void MainWindow::loadAllView()
 {
+    clearView();
+    GAudioOutput::instance()->say("Loaded complete view");
+
+    QDockWidget* containerPFD = new QDockWidget(tr("Primary Flight Display"), this);
+    containerPFD->setWidget(headDown1);
+    addDockWidget(Qt::RightDockWidgetArea, containerPFD);
+
+    QDockWidget* containerPayload = new QDockWidget(tr("Payload Status"), this);
+    containerPayload->setWidget(headDown2);
+    addDockWidget(Qt::RightDockWidgetArea, containerPayload);
+
+    headDown1->start();
+    headDown2->start();
+
+    // UAS CONTROL
+    QDockWidget* containerControl = new QDockWidget(tr("Control"), this);
+    containerControl->setWidget(control);
+    addDockWidget(Qt::LeftDockWidgetArea, containerControl);
+
+    // UAS LIST
+    QDockWidget* containerUASList = new QDockWidget(tr("Unmanned Systems"), this);
+    containerUASList->setWidget(list);
+    addDockWidget(Qt::BottomDockWidgetArea, containerUASList);
+
+    // UAS STATUS
+    QDockWidget* containerStatus = new QDockWidget(tr("Status Details"), this);
+    containerStatus->setWidget(info);
+    addDockWidget(Qt::LeftDockWidgetArea, containerStatus);
 
+    // WAYPOINT LIST
+    QDockWidget* containerWaypoints = new QDockWidget(tr("Waypoint List"), this);
+    containerWaypoints->setWidget(waypoints);
+    addDockWidget(Qt::BottomDockWidgetArea, containerWaypoints);
+
+    // DEBUG CONSOLE
+    QDockWidget* containerComm = new QDockWidget(tr("Communication Console"), this);
+    containerComm->setWidget(debugConsole);
+    addDockWidget(Qt::BottomDockWidgetArea, containerComm);
+
+    // OBJECT DETECTION
+    QDockWidget* containerObjRec = new QDockWidget(tr("Object Recognition"), this);
+    containerObjRec->setWidget(detection);
+    addDockWidget(Qt::RightDockWidgetArea, containerObjRec);
+
+    // LINE CHART
+    linechart->setActive(true);
+    centerStack->setCurrentWidget(linechart);
+
+    // ONBOARD PARAMETERS
+    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
+    containerParams->setWidget(parameters);
+    addDockWidget(Qt::RightDockWidgetArea, containerParams);
+
+    this->show();
 }
 
 void MainWindow::loadWidgets()
 {
-    loadOperatorView();
-    //loadEngineerView();
+    //loadOperatorView();
+    loadEngineerView();
     //loadPilotView();
 }
-
-/*
-void MainWindow::removeCommConfAct(QAction* action)
-{
-    ui.menuNetwork->removeAction(action);
-}*/
-
-void MainWindow::runTests()
-{
-    // TODO Remove after debugging: Add fake data
-    static double testvalue = 0.0f;
-    testvalue += 0.01f;
-    linechart->appendData(126, "test data", testvalue, MG::TIME::getGroundTimeNow());
-}
-
-

src/ui/MainWindow.h

@@ -76,32 +76,6 @@ public:
     MainWindow(QWidget *parent = 0);
     ~MainWindow();
 
-    QSettings settings;
-    UASControlWidget* control;
-    LinechartWidget* linechart;
-    UASInfoWidget* info;
-    CameraView* camera;
-    UASListWidget* list;
-    WaypointList* waypoints;
-    ObjectDetectionView* detection;
-    HUD* hud;
-    PFD* pfd;
-    GaugePanel* gaugePanel;
-
-    // Popup widgets
-    JoystickWidget* joystickWidget;
-
-    JoystickInput* joystick;
-
-    /** User interface actions **/
-    QAction* connectUASAct;
-    QAction* disconnectUASAct;
-    QAction* startUASAct;
-    QAction* returnUASAct;
-    QAction* stopUASAct;
-    QAction* killUASAct;
-    QAction* simulateUASAct;
-
 public slots:
     /**
      * @brief Shows a status message on the bottom status bar
@@ -112,8 +86,15 @@ public slots:
      * @param timeout how long the status should be displayed
      */
     void showStatusMessage(const QString& status, int timeout);
-    void setLastAction(QString status);
-    void setLinkStatus(QString status);
+    /**
+     * @brief Shows a status message on the bottom status bar
+     *
+     * The status message will be overwritten if a new message is posted to this function.
+     * it will be automatically hidden after 5 seconds.
+     *
+     * @param status message text
+     */
+    void showStatusMessage(const QString& status);
     void addLink();
     void addLink(LinkInterface* link);
     void configure();
@@ -133,10 +114,8 @@ public slots:
     /** @brief Load view with all widgets */
     void loadAllView();
 
+    /** @brief Reload the CSS style sheet */
     void reloadStylesheet();
-
-    void runTests();
-
 protected:
     QStatusBar* statusBar;
     QStatusBar* createStatusBar();
@@ -151,16 +130,39 @@ protected:
     MAVLinkSimulationLink* simulationLink;
     LinkInterface* udpLink;
 
-    QDockWidget* controlDock;
-    QStackedWidget* centerStack;
-
+    QSettings settings;
+    UASControlWidget* control;
+    LinechartWidget* linechart;
+    UASInfoWidget* info;
+    CameraView* camera;
+    UASListWidget* list;
+    WaypointList* waypoints;
+    ObjectDetectionView* detection;
+    HUD* hud;
     DebugConsole* debugConsole;
     MapWidget* map;
     ParameterInterface* parameters;
     XMLCommProtocolWidget* protocol;
     HDDisplay* headDown1;
     HDDisplay* headDown2;
+    GaugePanel* gaugePanel;
 
+    // Popup widgets
+    JoystickWidget* joystickWidget;
+
+    JoystickInput* joystick;
+
+    /** User interface actions **/
+    QAction* connectUASAct;
+    QAction* disconnectUASAct;
+    QAction* startUASAct;
+    QAction* returnUASAct;
+    QAction* stopUASAct;
+    QAction* killUASAct;
+    QAction* simulateUASAct;
+
+    QDockWidget* controlDock;
+    QStackedWidget* centerStack;
 
     LogCompressor* comp;
     QString screenFileName;

src/ui/MainWindow.ui

@@ -74,6 +74,7 @@
     <addaction name="actionOperatorView"/>
     <addaction name="actionSettingsView"/>
     <addaction name="separator"/>
+    <addaction name="actionShow_full_view"/>
     <addaction name="actionStyleConfig"/>
    </widget>
    <addaction name="menuMGround"/>
@@ -243,6 +244,15 @@
     <string>Simulate one vehicle to test and evaluate this application</string>
    </property>
   </action>
+  <action name="actionShow_full_view">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/network-transmit-receive.svg</normaloff>:/images/status/network-transmit-receive.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Show full view</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/QGCParamWidget.cc

@@ -43,7 +43,8 @@ This file is part of the QGROUNDCONTROL project
 QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
         QWidget(parent),
         mav(uas),
-        components(new QMap<int, QTreeWidgetItem*>())
+        components(new QMap<int, QTreeWidgetItem*>()),
+        changedValues()//QMap<int, QMap<QString, float>* >())
 {
     // Create tree widget
     tree = new QTreeWidget(this);
@@ -82,6 +83,8 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
 
     // Connect signals/slots
     connect(this, SIGNAL(parameterChanged(int,QString,float)), mav, SLOT(setParameter(int,QString,float)));
+    connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));
+
     // New parameters from UAS
     connect(uas, SIGNAL(parameterChanged(int,int,QString,float)), this, SLOT(addParameter(int,int,QString,float)));
 }
@@ -138,8 +141,26 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
     {
         addComponent(uas, component, "Component #" + QString::number(component));
     }
-    components->value(component)->addChild(item);
-    item->setFlags(item->flags() | Qt::ItemIsEditable);
+
+    bool found = false;
+    QTreeWidgetItem* parent = components->value(component);
+    for (int i = 0; i < parent->childCount(); i++)
+    {
+        QTreeWidgetItem* child = parent->child(i);
+        QString key = child->data(0, Qt::DisplayRole).toString();
+        if (key == parameterName)
+        {
+            qDebug() << "UPDATED CHILD";
+            child->setData(1, Qt::DisplayRole, value);
+            found = true;
+        }
+    }
+
+    if (!found)
+    {
+        components->value(component)->addChild(item);
+        item->setFlags(item->flags() | Qt::ItemIsEditable);
+    }
     //connect(item, SIGNAL())
     tree->expandAll();
     tree->update();
@@ -156,6 +177,40 @@ void QGCParamWidget::requestParameterList()
     mav->requestParameters();
 }
 
+void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
+{
+    if (current && column > 0)
+    {
+        QTreeWidgetItem* parent = current->parent();
+        while (parent->parent() != NULL)
+        {
+            parent = parent->parent();
+        }
+        // Parent is now top-level component
+        int key = components->key(parent);
+        if (!changedValues.contains(key))
+        {
+            changedValues.insert(key, new QMap<QString, float>());
+        }
+        QMap<QString, float>* map = changedValues.value(key, NULL);
+        if (map)
+        {
+            bool ok;
+            QString str = current->data(0, Qt::DisplayRole).toString();
+            float value = current->data(1, Qt::DisplayRole).toDouble(&ok);
+            // Send parameter to MAV
+            if (ok)
+            {
+                if (ok)
+                {
+                    qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
+                    map->insert(str, value);
+                }
+            }
+        }
+    }
+}
+
 /**
  * @param component the subsystem which has the parameter
  * @param parameterName name of the parameter, as delivered by the system
@@ -171,36 +226,23 @@ void QGCParamWidget::setParameter(int component, QString parameterName, float va
  */
 void QGCParamWidget::setParameters()
 {
-    //mav->setParameter(component, parameterName, value);
     // Iterate through all components, through all parameters and emit them
-    QMap<int, QTreeWidgetItem*>::iterator i;
-    // Iterate through all components / subsystems
-    for (i = components->begin(); i != components->end(); ++i)
+    QMap<int, QMap<QString, float>*>::iterator i;
+    for (i = changedValues.begin(); i != changedValues.end(); ++i)
     {
-        // Get all parameters of this component
+        // Iterate through the parameters of the component
         int compid = i.key();
-        QTreeWidgetItem* item = i.value();
-        for (int j = 0; j < item->childCount(); ++j)
+        QMap<QString, float>* comp = i.value();
         {
-            QTreeWidgetItem* param = item->child(j);
-            // First column is name, second column value
-            bool ok = true;
-            QString key = param->data(0, Qt::DisplayRole).toString();
-            float value = param->data(1, Qt::DisplayRole).toDouble(&ok);
-            // Send parameter to MAV
-            if (ok)
+            QMap<QString, float>::iterator j;
+            for (j = comp->begin(); j != comp->end(); ++j)
             {
-                emit parameterChanged(compid, key, value);
-                qDebug() << "KEY:" << key << "VALUE:" << value;
-            }
-            else
-            {
-                qDebug() << __FILE__ << __LINE__ << "CONVERSION ERROR!";
+                emit parameterChanged(compid, j.key(), j.value());
             }
         }
     }
-    clear();
-    //mav->requestParameters();
+
+    changedValues.clear();
     qDebug() << __FILE__ << __LINE__ << "SETTING ALL PARAMETERS";
 }
 

src/ui/QGCParamWidget.h

@@ -67,10 +67,13 @@ public slots:
     void writeParameters();
     /** @brief Clear the parameter list */
     void clear();
+    /** @brief Update when user changes parameters */
+    void parameterItemChanged(QTreeWidgetItem* prev, int column);
 protected:
     UASInterface* mav;  ///< The MAV this widget is controlling
     QTreeWidget* tree;  ///< The parameter tree
     QMap<int, QTreeWidgetItem*>* components; ///< The list of components
+    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
 
 };