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Commit dffc01d6 authored by Alejandro's avatar Alejandro
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Working in SLUGS widgets for debug

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qgroundcontrol.pro
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src/uas/SlugsMAV.cc
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src/uas/SlugsMAV.h
View file @ dffc01d6
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 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/>.
======================================================================*/
#ifndef SLUGSMAV_H
#define SLUGSMAV_H
#include "UAS.h"
#include "mavlink.h"
#include <QTimer>
#define SLUGS_UPDATE_RATE 100 // in ms
class SlugsMAV : public UAS
{
Q_OBJECT
Q_INTERFACES(UASInterface)
public:
SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
public slots:
/** @brief Receive a MAVLink message from this MAV */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
void emitSignals (void);
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_pwm_commands_t* getPwmCommands();
#endif
signals:
void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
void slugsGPSCogSog(int uasId, double cog, double sog);
#ifdef MAVLINK_ENABLED_SLUGS
void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
void slugsAirData(int systemId, const mavlink_air_data_t& airData);
void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
void slugsBootMsg(int uasId, mavlink_boot_t& boot);
void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
#endif
protected:
typedef struct _mavlink_pid_values_t {
float P[11];
float I[11];
float D[11];
}mavlink_pid_values_t;
unsigned char updateRoundRobin;
QTimer* widgetTimer;
mavlink_raw_imu_t mlRawImuData;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_gps_raw_t mlGpsData;
mavlink_attitude_t mlAttitude;
mavlink_cpu_load_t mlCpuLoadData;
mavlink_air_data_t mlAirData;
mavlink_sensor_bias_t mlSensorBiasData;
mavlink_diagnostic_t mlDiagnosticData;
mavlink_pilot_console_t mlPilotConsoleData;
mavlink_filtered_data_t mlFilteredData;
mavlink_boot_t mlBoot;
mavlink_gps_date_time_t mlGpsDateTime;
mavlink_mid_lvl_cmds_t mlMidLevelCommands;
mavlink_set_mode_t mlApMode;
mavlink_pwm_commands_t mlPwmCommands;
mavlink_pid_values_t mlPidValues;
mavlink_pid_t mlSinglePid;
mavlink_slugs_navigation_t mlNavigation;
mavlink_data_log_t mlDataLog;
mavlink_ctrl_srfc_pt_t mlPassthrough;
mavlink_action_ack_t mlActionAck;
mavlink_slugs_action_t mlAction;
// Standart messages MAVLINK used by SLUGS
private:
void emitGpsSignals (void);
void emitPidSignal(void);
int uasId;
#endif // if SLUGS
};
#endif // SLUGSMAV_H
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 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/>.
======================================================================*/
#ifndef SLUGSMAV_H
#define SLUGSMAV_H
#include "UAS.h"
#include "mavlink.h"
#include <QTimer>
#define SLUGS_UPDATE_RATE 100 // in ms
class SlugsMAV : public UAS
{
Q_OBJECT
Q_INTERFACES(UASInterface)
public:
SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
public slots:
/** @brief Receive a MAVLink message from this MAV */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
void emitSignals (void);
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_pwm_commands_t* getPwmCommands();
#endif
signals:
void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
void slugsGPSCogSog(int uasId, double cog, double sog);
#ifdef MAVLINK_ENABLED_SLUGS
void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
void slugsAirData(int systemId, const mavlink_air_data_t& airData);
void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
void slugsBootMsg(int uasId, mavlink_boot_t& boot);
void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
#endif
protected:
typedef struct _mavlink_pid_values_t {
float P[11];
float I[11];
float D[11];
}mavlink_pid_values_t;
unsigned char updateRoundRobin;
QTimer* widgetTimer;
mavlink_raw_imu_t mlRawImuData;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_gps_raw_t mlGpsData;
mavlink_attitude_t mlAttitude;
mavlink_cpu_load_t mlCpuLoadData;
mavlink_air_data_t mlAirData;
mavlink_sensor_bias_t mlSensorBiasData;
mavlink_diagnostic_t mlDiagnosticData;
mavlink_pilot_console_t mlPilotConsoleData;
mavlink_filtered_data_t mlFilteredData;
mavlink_boot_t mlBoot;
mavlink_gps_date_time_t mlGpsDateTime;
mavlink_mid_lvl_cmds_t mlMidLevelCommands;
mavlink_set_mode_t mlApMode;
mavlink_pwm_commands_t mlPwmCommands;
mavlink_pid_values_t mlPidValues;
mavlink_pid_t mlSinglePid;
mavlink_slugs_navigation_t mlNavigation;
mavlink_data_log_t mlDataLog;
mavlink_ctrl_srfc_pt_t mlPassthrough;
mavlink_action_ack_t mlActionAck;
mavlink_slugs_action_t mlAction;
// Standart messages MAVLINK used by SLUGS
private:
void emitGpsSignals (void);
void emitPidSignal(void);
int uasId;
#endif // if SLUGS
};
#endif // SLUGSMAV_H
src/uas/UAS.cc
View file @ dffc01d6
......@@ -244,7 +244,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_msg_sys_status_decode(&message, &state);
// FIXME
qDebug() << "1 SYSTEM STATUS:" << state.status;
//qDebug() << "1 SYSTEM STATUS:" << state.status;
QString audiostring = "System " + QString::number(this->getUASID());
QString stateAudio = "";
......@@ -260,12 +260,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit statusChanged(this, uasState, stateDescription);
emit statusChanged(this->status);
emit loadChanged(this,state.load/10.0f);
emit valueChanged(uasId, "Load", "%", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
stateAudio = " changed status to " + uasState;
}
qDebug() << "1 SYSTEM MODE:" << state.mode;
qDebug() << "1 THIS MODE:" << this->mode;
//qDebug() << "1 SYSTEM MODE:" << state.mode;
//qDebug() << "1 THIS MODE:" << this->mode;
if (this->mode != static_cast<unsigned int>(state.mode))
{
modechanged = true;
......@@ -308,7 +309,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit modeChanged(this->getUASID(), mode, "");
qDebug() << "2 SYSTEM MODE:" << mode;
//qDebug() << "2 SYSTEM MODE:" << mode;
modeAudio = " is now in " + mode;
}
......@@ -333,6 +334,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// COMMUNICATIONS DROP RATE
emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f);
//add for development
emit remoteControlRSSIChanged(state.packet_drop/1000.0f);
float en = state.packet_drop/1000.0f;
emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW
emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED
//qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop;
// AUDIO
......
src/ui/MainWindow.cc
View file @ dffc01d6
......@@ -537,30 +537,30 @@ void MainWindow::buildSlugsWidgets()
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
// if (!slugsDataWidget)
// {
// // Dialog widgets
// slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
// slugsDataWidget->setWidget( new SlugsDataSensorView(this));
// slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
// addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
// }
if (!slugsDataWidget)
{
// Dialog widgets
slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
slugsDataWidget->setWidget( new SlugsDataSensorView(this));
slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
}
// if (!slugsPIDControlWidget)
// {
// slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
// slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
// slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
// addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
// }
if (!slugsPIDControlWidget)
{
slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
}
// if (!slugsHilSimWidget)
// {
// slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
// slugsHilSimWidget->setWidget( new SlugsHilSim(this));
// slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
// addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
// }
if (!slugsHilSimWidget)
{
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
}
// if (!slugsCamControlWidget)
// {
......@@ -1024,7 +1024,10 @@ void MainWindow::connectSlugsWidgets()
slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
}
if (slugsPIDControlWidget && slugsPIDControlWidget->widget()){
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
slugsPIDControlWidget->widget(), SLOT(activeUasSet(UASInterface*)));
}
}
void MainWindow::arrangeCommonCenterStack()
......@@ -1547,6 +1550,15 @@ void MainWindow::UASCreated(UASInterface* uas)
// Connect Slugs Actions
connectSlugsActions();
// if(slugsDataWidget)
// {
// SlugsDataSensorView *mm = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
// if(mm)
// {
// mm->addUAS(uas);
// }
// }
// FIXME: This type checking might be redundant
// // if (slugsDataWidget) {
// // SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
......
src/ui/QGCRemoteControlView.cc
View file @ dffc01d6
This diff is collapsed.
src/ui/QGCRemoteControlView.h
View file @ dffc01d6
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 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/>.
======================================================================*/
/**
* @file
* @brief Declaration of QGCRemoteControlView
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#ifndef QGCREMOTECONTROLVIEW_H
#define QGCREMOTECONTROLVIEW_H
#include <QWidget>
#include <QVector>
#include <QPushButton>
#include "RadioCalibration/RadioCalibrationWindow.h"
namespace Ui {
class QGCRemoteControlView;
}
class QVBoxLayout;
class QLabel;
class QProgressBar;
class QGCRemoteControlView : public QWidget {
Q_OBJECT
public:
QGCRemoteControlView(QWidget *parent = 0);
~QGCRemoteControlView();
public slots:
void setUASId(int id);
void setChannelRaw(int channelId, float raw);
void setChannelScaled(int channelId, float normalized);
void setRemoteRSSI(float rssiNormalized);
void redraw();
protected slots:
void appendChannelWidget(int channelId);
protected:
void changeEvent(QEvent *e);
int uasId;
float rssi;
bool updated;
QVBoxLayout* channelLayout;
QVector<int> raw;
QVector<float> normalized;
QVector<QLabel*> rawLabels;
QVector<QProgressBar*> progressBars;
QProgressBar* rssiBar;
QLabel* nameLabel;
QPushButton *calibrate;
RadioCalibrationWindow *calibrationWindow;
private:
Ui::QGCRemoteControlView *ui;
};
#endif // QGCREMOTECONTROLVIEW_H
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 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/>.
======================================================================*/
/**
* @file
* @brief Declaration of QGCRemoteControlView
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#ifndef QGCREMOTECONTROLVIEW_H
#define QGCREMOTECONTROLVIEW_H
#include <QWidget>
#include <QVector>
#include <QPushButton>
#include "RadioCalibration/RadioCalibrationWindow.h"
namespace Ui {
class QGCRemoteControlView;
}
class QVBoxLayout;
class QLabel;
class QProgressBar;
class QGCRemoteControlView : public QWidget {
Q_OBJECT
public:
QGCRemoteControlView(QWidget *parent = 0);
~QGCRemoteControlView();
public slots:
void setUASId(int id);
void setChannelRaw(int channelId, float raw);
//void setChannelScaled(int channelId, float normalized);
void setRemoteRSSI(float rssiNormalized);
void redraw();
protected slots:
void appendChannelWidget(int channelId);
protected:
void changeEvent(QEvent *e);
int uasId;
float rssi;
bool updated;
QVBoxLayout* channelLayout;
QVector<int> raw;
QVector<float> normalized;
QVector<QLabel*> rawLabels;
QVector<QProgressBar*> progressBars;
QProgressBar* rssiBar;
QLabel* nameLabel;
QPushButton *calibrate;
RadioCalibrationWindow *calibrationWindow;
private:
Ui::QGCRemoteControlView *ui;
};
#endif // QGCREMOTECONTROLVIEW_H
src/ui/QGCRemoteControlView.ui
View file @ dffc01d6
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCRemoteControlView</class>
<widget class="QWidget" name="QGCRemoteControlView">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>300</x>
<y>260</y>
<width>93</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>Calibrate</string>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>10</x>
<y>270</y>
<width>171</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Remote Control detected</string>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 1</string>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 2</string>
</property>
</widget>
<widget class="QLabel" name="label_4">
<property name="geometry">
<rect>
<x>10</x>
<y>50</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 3</string>
</property>
</widget>
<widget class="QLabel" name="label_5">
<property name="geometry">
<rect>
<x>10</x>
<y>70</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 4</string>
</property>
</widget>
<widget class="QLabel" name="label_6">
<property name="geometry">
<rect>
<x>10</x>
<y>90</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 5</string>
</property>
</widget>
<widget class="QLabel" name="label_7">
<property name="geometry">
<rect>
<x>10</x>
<y>110</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 6</string>
</property>
</widget>
<widget class="QLabel" name="label_8">
<property name="geometry">
<rect>
<x>10</x>
<y>130</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 7</string>
</property>
</widget>
<widget class="QLabel" name="label_9">
<property name="geometry">
<rect>
<x>10</x>
<y>150</y>
<width>71</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Channel 8</string>
</property>
</widget>
<widget class="QLabel" name="label_10">
<property name="geometry">
<rect>
<x>10</x>
<y>170</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>RSSI</string>
</property>
</widget>
<widget class="QProgressBar" name="chan1ProgressBar">
<property name="geometry">
<rect>
<x>200</x>
<y>10</y>
<width>118</width>
<height>16</height>
</rect>
</property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>