From de6731dd151be14480f1f13e98d83e17d9bfc778 Mon Sep 17 00:00:00 2001 From: lm Date: Fri, 11 Feb 2011 09:06:19 +0100 Subject: [PATCH] Minor naming changes to MAVLink enum end --- qgroundcontrol.pri | 22 +++++++++++----------- src/Waypoint.cc | 10 +++++----- src/Waypoint.h | 8 ++++---- src/comm/MAVLinkXMLParser.cc | 9 +++++---- src/uas/UASWaypointManager.cc | 4 ++-- src/ui/QGCParamWidget.cc | 24 ++++++++++++++++++++++-- src/ui/WaypointView.cc | 16 ++++++++-------- 7 files changed, 57 insertions(+), 36 deletions(-) diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri index 5cd1846dd..008cf1599 100644 --- a/qgroundcontrol.pri +++ b/qgroundcontrol.pri @@ -47,35 +47,35 @@ DEFINES += _TTY_NOWARN_ # MAC OS X macx { - COMPILER_VERSION = $$system(gcc -v) + # COMPILER_VERSION = $$system(gcc -v) #message(Using compiler $$COMPILER_VERSION) CONFIG += x86 cocoa phonon CONFIG -= x86_64 - HARDWARE_PLATFORM = $$system(uname -a) - contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) { + #HARDWARE_PLATFORM = $$system(uname -a) + #contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) { # x86 Mac OS X Leopard 10.5 and earlier #message(Building for Mac OS X 32bit/Leopard 10.5 and earlier) # Enable function-profiling with the OS X saturn tool - debug { + #debug { #QMAKE_CXXFLAGS += -finstrument-functions #LIBS += -lSaturn - CONFIG += console - } - } else { + # CONFIG += console + #} + #} else { # x64 Mac OS X Snow Leopard 10.6 and later - CONFIG += x86_64 x86 cocoa phonon + # CONFIG += x86_64 x86 cocoa phonon #CONFIG -= x86 # phonon #message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later) - debug { + # debug { #QMAKE_CXXFLAGS += -finstrument-functions #LIBS += -lSaturn CONFIG += console - } - } + # } + #} QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5 diff --git a/src/Waypoint.cc b/src/Waypoint.cc index cf8f71293..1403096a3 100644 --- a/src/Waypoint.cc +++ b/src/Waypoint.cc @@ -32,7 +32,7 @@ This file is part of the QGROUNDCONTROL project #include "Waypoint.h" #include -Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _yaw, bool _autocontinue, bool _current, double _orbit, int _holdTime, MAV_FRAME _frame, MAV_COMMAND _action) +Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _yaw, bool _autocontinue, bool _current, double _orbit, int _holdTime, MAV_FRAME _frame, MAV_CMD _action) : id(_id), x(_x), y(_y), @@ -75,7 +75,7 @@ bool Waypoint::load(QTextStream &loadStream) { this->id = wpParams[0].toInt(); this->frame = (MAV_FRAME) wpParams[1].toInt(); - this->action = (MAV_COMMAND) wpParams[2].toInt(); + this->action = (MAV_CMD) wpParams[2].toInt(); this->param1 = wpParams[3].toDouble(); this->param2 = wpParams[4].toDouble(); this->orbit = wpParams[5].toDouble(); @@ -136,14 +136,14 @@ void Waypoint::setYaw(double yaw) void Waypoint::setAction(int action) { - if (this->action != (MAV_COMMAND)action) + if (this->action != (MAV_CMD)action) { - this->action = (MAV_COMMAND)action; + this->action = (MAV_CMD)action; emit changed(this); } } -void Waypoint::setAction(MAV_COMMAND action) +void Waypoint::setAction(MAV_CMD action) { if (this->action != action) { diff --git a/src/Waypoint.h b/src/Waypoint.h index dfba969f8..0df9e96e9 100644 --- a/src/Waypoint.h +++ b/src/Waypoint.h @@ -45,7 +45,7 @@ class Waypoint : public QObject public: Waypoint(quint16 id = 0, double x = 0.0f, double y = 0.0f, double z = 0.0f, double yaw = 0.0f, bool autocontinue = false, bool current = false, double orbit = 0.15f, int holdTime = 0, - MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_COMMAND action=MAV_CMD_NAV_WAYPOINT); + MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT); ~Waypoint(); quint16 getId() const { return id; } @@ -67,7 +67,7 @@ public: double getParam7() const { return z; } int getTurns() const { return param1; } MAV_FRAME getFrame() const { return frame; } - MAV_COMMAND getAction() const { return action; } + MAV_CMD getAction() const { return action; } const QString& getName() const { return name; } void save(QTextStream &saveStream); @@ -81,7 +81,7 @@ protected: double z; double yaw; MAV_FRAME frame; - MAV_COMMAND action; + MAV_CMD action; bool autocontinue; bool current; double orbit; @@ -98,7 +98,7 @@ public slots: void setYaw(double yaw); /** @brief Set the waypoint action */ void setAction(int action); - void setAction(MAV_COMMAND action); + void setAction(MAV_CMD action); void setFrame(MAV_FRAME frame); void setAutocontinue(bool autoContinue); void setCurrent(bool current); diff --git a/src/comm/MAVLinkXMLParser.cc b/src/comm/MAVLinkXMLParser.cc index 8ae7ff927..792883e12 100644 --- a/src/comm/MAVLinkXMLParser.cc +++ b/src/comm/MAVLinkXMLParser.cc @@ -247,11 +247,11 @@ bool MAVLinkXMLParser::generate() // Everything sane, starting with enum content currEnum = "enum " + enumName.toUpper() + "\n{\n"; - currEnumEnd = QString("\n%1_ENUM_END\n};\n\n").arg(enumName.toUpper()); + currEnumEnd = QString("\t%1_ENUM_END\n};\n\n").arg(enumName.toUpper()); int nextEnumValue = 0; - // Get the message fields + // Get the enum fields QDomNode f = e.firstChild(); while (!f.isNull()) { @@ -298,8 +298,9 @@ bool MAVLinkXMLParser::generate() } // Add the last parsed enum // Remove the last comma, as the last value has none - int commaPosition = currEnum.lastIndexOf(","); - currEnum.remove(commaPosition, 1); + // ENUM END MARKER IS LAST ENTRY, COMMA REMOVAL NOT NEEDED + //int commaPosition = currEnum.lastIndexOf(","); + //currEnum.remove(commaPosition, 1); enums += "/** @brief " + comment + " */\n" + currEnum + currEnumEnd; } // Element is non-zero and element name is diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc index f399286e7..2690dfd3a 100644 --- a/src/uas/UASWaypointManager.cc +++ b/src/uas/UASWaypointManager.cc @@ -138,8 +138,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ if(wp->seq == current_wp_id) { - qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_COMMAND) wp->command; - Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_COMMAND) wp->command); + qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_CMD) wp->command; + Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command); addWaypoint(lwp, false); //get next waypoint diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index 7fef09c2b..513df663a 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -179,7 +179,21 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, // Get component if (!components->contains(component)) { - addComponent(uas, component, "Component #" + QString::number(component)); + QString componentName; + switch (component) + { + case MAV_COMP_ID_CAMERA: + componentName = tr("Camera (#%1)").arg(component); + break; + case MAV_COMP_ID_IMU: + componentName = tr("IMU (#%1)").arg(component); + break; + default: + componentName = tr("Component #").arg(component); + break; + } + + addComponent(uas, component, componentName); } // Replace value in map @@ -227,7 +241,9 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QStringList plist; plist.append(parameterName); plist.append(QString::number(value)); + // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); + // CONFIGURE PARAMETER ITEM compParamGroups->value(parent)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); @@ -256,7 +272,9 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QStringList plist; plist.append(parameterName); plist.append(QString::number(value)); + // CREATE PARAMETER ITEM parameterItem = new QTreeWidgetItem(plist); + // CONFIGURE PARAMETER ITEM components->value(component)->addChild(parameterItem); parameterItem->setFlags(parameterItem->flags() | Qt::ItemIsEditable); @@ -356,7 +374,9 @@ void QGCParamWidget::saveParameters() QMap::iterator j; for (j = comp->begin(); j != comp->end(); ++j) { - in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << j.value() << "\n"; + QString paramValue("%1"); + paramValue = paramValue.arg(j.value(), 18, 'g'); + in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\n"; in.flush(); } } diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc index 718c7f2d9..ec4f28d1e 100644 --- a/src/ui/WaypointView.cc +++ b/src/ui/WaypointView.cc @@ -42,7 +42,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) : m_ui->comboBox_action->addItem(tr("Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS); m_ui->comboBox_action->addItem(tr("Return to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH); m_ui->comboBox_action->addItem(tr("Land"),MAV_CMD_NAV_LAND); - m_ui->comboBox_action->addItem(tr("Other"), MAV_COMMAND_ENUM_END); + m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END); // m_ui->comboBox_action->addItem(tr("Delay"), MAV_ACTION_DELAY_BEFORE_COMMAND); // m_ui->comboBox_action->addItem(tr("Ascend/Descent"), MAV_ACTION_ASCEND_AT_RATE); // m_ui->comboBox_action->addItem(tr("Change Mode"), MAV_ACTION_CHANGE_MODE); @@ -226,9 +226,9 @@ void WaypointView::changedAction(int index) { // set waypoint action int actionIndex = m_ui->comboBox_action->itemData(index).toUInt(); - if (actionIndex < MAV_COMMAND_ENUM_END && actionIndex >= 0) + if (actionIndex < MAV_CMD_ENUM_END && actionIndex >= 0) { - MAV_COMMAND action = (MAV_COMMAND) actionIndex; + MAV_CMD action = (MAV_CMD) actionIndex; wp->setAction(action); } @@ -245,14 +245,14 @@ void WaypointView::changedAction(int index) case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_TURNS: case MAV_CMD_NAV_LOITER_TIME: - case MAV_CMD_NAV_DELAY: - case MAV_CMD_SYS_SET_MODE: + case MAV_CMD_CONDITION_DELAY: + case MAV_CMD_DO_SET_MODE: // Back to global frame if (wp->getFrame() == MAV_FRAME_MISSION) changedFrame(0); // Update view updateActionView(actionIndex); break; - case MAV_COMMAND_ENUM_END: + case MAV_CMD_ENUM_END: default: // Switch to mission frame changedFrame(MAV_FRAME_MISSION); @@ -411,12 +411,12 @@ void WaypointView::updateValues() } // Update action - MAV_COMMAND action = wp->getAction(); + MAV_CMD action = wp->getAction(); int action_index = m_ui->comboBox_action->findData(action); // Set to "Other" action if it was -1 if (action_index == -1) { - action_index = m_ui->comboBox_action->findData(MAV_COMMAND_ENUM_END); + action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END); } // Only update if changed if (m_ui->comboBox_action->currentIndex() != action_index) -- 2.22.0