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Commit eb21fe21 authored by Matthias Krebs's avatar Matthias Krebs
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Implementation of 6DOF 3DMouse input (Windows only) 

Implementation of 6DOF 3DMouse input (Windows only). Not tested yet.
parent 9483a2d9
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qgroundcontrol.pro
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# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Maintainer:
# Lorenz Meier <lm@inf.ethz.ch>
# (c) 2009-2011 QGroundControl Developers
# This file is part of the open groundstation 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/>.
# -------------------------------------------------
# Qt configuration
CONFIG += qt \
thread
QT += network \
opengl \
svg \
xml \
phonon \
webkit \
sql
TEMPLATE = app
TARGET = qgroundcontrol
BASEDIR = $${IN_PWD}
linux-g++|linux-g++-64{
debug {
TARGETDIR = $${OUT_PWD}/debug
BUILDDIR = $${OUT_PWD}/build-debug
}
release {
TARGETDIR = $${OUT_PWD}/release
BUILDDIR = $${OUT_PWD}/build-release
}
} else {
TARGETDIR = $${OUT_PWD}
BUILDDIR = $${OUT_PWD}/build
}
LANGUAGE = C++
OBJECTS_DIR = $${BUILDDIR}/obj
MOC_DIR = $${BUILDDIR}/moc
UI_DIR = $${BUILDDIR}/ui
RCC_DIR = $${BUILDDIR}/rcc
MAVLINK_CONF = "pixhawk"
MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
DEFINES += MAVLINK_NO_DATA
win32 {
QMAKE_INCDIR_QT = $$(QTDIR)/include
QMAKE_LIBDIR_QT = $$(QTDIR)/lib
QMAKE_UIC = "$$(QTDIR)/bin/uic.exe"
QMAKE_MOC = "$$(QTDIR)/bin/moc.exe"
QMAKE_RCC = "$$(QTDIR)/bin/rcc.exe"
QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe"
# Build QAX for GoogleEarth API access
!exists( $(QTDIR)/src/activeqt/Makefile ) {
message( Making QAx (ONE TIME) )
system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
}
}
#################################################################
# EXTERNAL LIBRARY CONFIGURATION
# EIGEN matrix library (header-only)
INCLUDEPATH += libs/eigen
# OPMapControl library (from OpenPilot)
include(libs/utils/utils_external.pri)
include(libs/opmapcontrol/opmapcontrol_external.pri)
DEPENDPATH += \
libs/utils \
libs/utils/src \
libs/opmapcontrol \
libs/opmapcontrol/src \
libs/opmapcontrol/src/mapwidget
INCLUDEPATH += \
libs/utils \
libs \
libs/opmapcontrol
# If the user config file exists, it will be included.
# if the variable MAVLINK_CONF contains the name of an
# additional project, QGroundControl includes the support
# of custom MAVLink messages of this project. It will also
# create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
# within the actual code.
exists(user_config.pri) {
include(user_config.pri)
message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
message("------------------------------------------------------------------------")
}
INCLUDEPATH += $$MAVLINKPATH
isEmpty(MAVLINK_CONF) {
INCLUDEPATH += $$MAVLINKPATH/common
} else {
INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
#DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
}
# Include general settings for QGroundControl
# necessary as last include to override any non-acceptable settings
# done by the plugins above
include(qgroundcontrol.pri)
# Include MAVLink generator
# has been deprecated
DEPENDPATH += \
src/apps/mavlinkgen
INCLUDEPATH += \
src/apps/mavlinkgen \
src/apps/mavlinkgen/ui \
src/apps/mavlinkgen/generator
include(src/apps/mavlinkgen/mavlinkgen.pri)
# Include QWT plotting library
include(libs/qwt/qwt.pri)
DEPENDPATH += . \
plugins \
libs/thirdParty/qserialport/include \
libs/thirdParty/qserialport/include/QtSerialPort \
libs/thirdParty/qserialport \
libs/qextserialport
INCLUDEPATH += . \
libs/thirdParty/qserialport/include \
libs/thirdParty/qserialport/include/QtSerialPort \
libs/thirdParty/qserialport/src \
libs/qextserialport
# Include serial port library (QSerial)
include(qserialport.pri)
# Serial port detection (ripped-off from qextserialport library)
macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
src/ui/SerialSettings.ui \
src/ui/UASControl.ui \
src/ui/UASList.ui \
src/ui/UASInfo.ui \
src/ui/Linechart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
src/ui/AudioOutputWidget.ui \
src/ui/QGCSensorSettingsWidget.ui \
src/ui/watchdog/WatchdogControl.ui \
src/ui/watchdog/WatchdogProcessView.ui \
src/ui/watchdog/WatchdogView.ui \
src/ui/QGCFirmwareUpdate.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui \
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \
src/ui/SlugsDataSensorView.ui \
src/ui/SlugsHilSim.ui \
src/ui/SlugsPadCameraControl.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui \
src/ui/designer/QGCToolWidget.ui \
src/ui/designer/QGCParamSlider.ui \
src/ui/designer/QGCActionButton.ui \
src/ui/designer/QGCCommandButton.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
src/ui/UASControlParameters.ui \
src/ui/map/QGCMapTool.ui \
src/ui/map/QGCMapToolBar.ui \
src/ui/QGCMAVLinkInspector.ui \
src/ui/WaypointViewOnlyView.ui \
src/ui/WaypointEditableView.ui \
src/ui/UnconnectedUASInfoWidget.ui \
src/ui/mavlink/QGCMAVLinkMessageSender.ui \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
src/ui/QGCPluginHost.ui \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
src/ui/mission/QGCMissionOther.ui \
src/ui/mission/QGCMissionNavWaypoint.ui \
src/ui/mission/QGCMissionDoJump.ui \
src/ui/mission/QGCMissionConditionDelay.ui \
src/ui/mission/QGCMissionNavLoiterUnlim.ui \
src/ui/mission/QGCMissionNavLoiterTurns.ui \
src/ui/mission/QGCMissionNavLoiterTime.ui \
src/ui/mission/QGCMissionNavReturnToLaunch.ui \
src/ui/mission/QGCMissionNavLand.ui \
src/ui/mission/QGCMissionNavTakeoff.ui \
src/ui/mission/QGCMissionNavSweep.ui \
src/ui/mission/QGCMissionDoStartSearch.ui \
src/ui/mission/QGCMissionDoFinishSearch.ui \
src/ui/QGCVehicleConfig.ui \
src/ui/QGCHilConfiguration.ui \
src/ui/QGCHilFlightGearConfiguration.ui \
src/ui/QGCHilXPlaneConfiguration.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
src/ui/uas \
src/ui/map \
src/uas \
src/comm \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink \
src/ui/param \
src/ui/watchdog \
src/ui/map3D \
src/ui/mission \
src/ui/designer
HEADERS += src/MG.h \
src/QGCCore.h \
src/uas/UASInterface.h \
src/uas/UAS.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/QGCFlightGearLink.h \
src/comm/QGCXPlaneLink.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/HUD.h \
src/ui/linechart/LinechartWidget.h \
src/ui/linechart/LinechartPlot.h \
src/ui/linechart/Scrollbar.h \
src/ui/linechart/ScrollZoomer.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/DebugConsole.h \
src/ui/HDDisplay.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/GAudioOutput.h \
src/LogCompressor.h \
src/ui/QGCParamWidget.h \
src/ui/QGCSensorSettingsWidget.h \
src/ui/linechart/Linecharts.h \
src/uas/SlugsMAV.h \
src/uas/PxQuadMAV.h \
src/uas/ArduPilotMegaMAV.h \
src/uas/senseSoarMAV.h \
src/ui/watchdog/WatchdogControl.h \
src/ui/watchdog/WatchdogProcessView.h \
src/ui/watchdog/WatchdogView.h \
src/uas/UASWaypointManager.h \
src/ui/HSIDisplay.h \
src/QGC.h \
src/ui/QGCFirmwareUpdate.h \
src/ui/QGCPxImuFirmwareUpdate.h \
src/ui/QGCDataPlot2D.h \
src/ui/linechart/IncrementalPlot.h \
src/ui/QGCRemoteControlView.h \
src/ui/RadioCalibration/RadioCalibrationData.h \
src/ui/RadioCalibration/RadioCalibrationWindow.h \
src/ui/RadioCalibration/AirfoilServoCalibrator.h \
src/ui/RadioCalibration/SwitchCalibrator.h \
src/ui/RadioCalibration/CurveCalibrator.h \
src/ui/RadioCalibration/AbstractCalibrator.h \
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \
src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h \
src/comm/MAVLinkSwarmSimulationLink.h \
src/ui/uas/QGCUnconnectedInfoWidget.h \
src/ui/designer/QGCToolWidget.h \
src/ui/designer/QGCParamSlider.h \
src/ui/designer/QGCCommandButton.h \
src/ui/designer/QGCToolWidgetItem.h \
src/ui/QGCMAVLinkLogPlayer.h \
src/comm/MAVLinkSimulationWaypointPlanner.h \
src/comm/MAVLinkSimulationMAV.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
src/ui/uas/UASControlParameters.h \
src/uas/QGCUASParamManager.h \
src/ui/map/QGCMapWidget.h \
src/ui/map/MAV2DIcon.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/QGCMapTool.h \
src/ui/map/QGCMapToolBar.h \
libs/qextserialport/qextserialenumerator.h \
src/QGCGeo.h \
src/ui/QGCToolBar.h \
src/ui/QGCMAVLinkInspector.h \
src/ui/MAVLinkDecoder.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointEditableView.h \
src/ui/UnconnectedUASInfoWidget.h \
src/ui/QGCRGBDView.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
src/ui/mission/QGCMissionOther.h \
src/ui/mission/QGCMissionNavWaypoint.h \
src/ui/mission/QGCMissionDoJump.h \
src/ui/mission/QGCMissionConditionDelay.h \
src/ui/mission/QGCMissionNavLoiterUnlim.h \
src/ui/mission/QGCMissionNavLoiterTurns.h \
src/ui/mission/QGCMissionNavLoiterTime.h \
src/ui/mission/QGCMissionNavReturnToLaunch.h \
src/ui/mission/QGCMissionNavLand.h \
src/ui/mission/QGCMissionNavTakeoff.h \
src/ui/mission/QGCMissionNavSweep.h \
src/ui/mission/QGCMissionDoStartSearch.h \
src/ui/mission/QGCMissionDoFinishSearch.h \
src/ui/QGCVehicleConfig.h \
src/comm/QGCHilLink.h \
src/ui/QGCHilConfiguration.h \
src/ui/QGCHilFlightGearConfiguration.h \
src/ui/QGCHilXPlaneConfiguration.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
HEADERS += src/ui/map3D/gpl.h \
src/ui/map3D/CameraParams.h \
src/ui/map3D/ViewParamWidget.h \
src/ui/map3D/SystemContainer.h \
src/ui/map3D/SystemViewParams.h \
src/ui/map3D/GlobalViewParams.h \
src/ui/map3D/SystemGroupNode.h \
src/ui/map3D/Q3DWidget.h \
src/ui/map3D/GCManipulator.h \
src/ui/map3D/ImageWindowGeode.h \
src/ui/map3D/PixhawkCheetahNode.h \
src/ui/map3D/Pixhawk3DWidget.h \
src/ui/map3D/Q3DWidgetFactory.h \
src/ui/map3D/WebImageCache.h \
src/ui/map3D/WebImage.h \
src/ui/map3D/TextureCache.h \
src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.h \
src/ui/map3D/HUDScaleGeode.h \
src/ui/map3D/WaypointGroupNode.h \
src/ui/map3D/TerrainParamDialog.h \
src/ui/map3D/ImageryParamDialog.h
}
contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
message("Including headers for Protocol Buffers")
# Enable only if protobuf is available
HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
src/ui/map3D/ObstacleGroupNode.h \
src/ui/map3D/GLOverlayGeode.h
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including headers for libfreenect")
# Enable only if libfreenect is available
HEADERS += src/input/Freenect.h
}
SOURCES += src/main.cc \
src/QGCCore.cc \
src/uas/UASManager.cc \
src/uas/UAS.cc \
src/comm/LinkManager.cc \
src/comm/LinkInterface.cpp \
src/comm/SerialLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/QGCFlightGearLink.cc \
src/comm/QGCXPlaneLink.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/HUD.cc \
src/ui/linechart/LinechartWidget.cc \
src/ui/linechart/LinechartPlot.cc \
src/ui/linechart/Scrollbar.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/DebugConsole.cc \
src/ui/HDDisplay.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/GAudioOutput.cc \
src/LogCompressor.cc \
src/ui/QGCParamWidget.cc \
src/ui/QGCSensorSettingsWidget.cc \
src/ui/linechart/Linecharts.cc \
src/uas/SlugsMAV.cc \
src/uas/PxQuadMAV.cc \
src/uas/ArduPilotMegaMAV.cc \
src/uas/senseSoarMAV.cpp \
src/ui/watchdog/WatchdogControl.cc \
src/ui/watchdog/WatchdogProcessView.cc \
src/ui/watchdog/WatchdogView.cc \
src/uas/UASWaypointManager.cc \
src/ui/HSIDisplay.cc \
src/QGC.cc \
src/ui/QGCFirmwareUpdate.cc \
src/ui/QGCPxImuFirmwareUpdate.cc \
src/ui/QGCDataPlot2D.cc \
src/ui/linechart/IncrementalPlot.cc \
src/ui/QGCRemoteControlView.cc \
src/ui/RadioCalibration/RadioCalibrationWindow.cc \
src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
src/ui/RadioCalibration/SwitchCalibrator.cc \
src/ui/RadioCalibration/CurveCalibrator.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \
src/ui/map3D/QGCWebPage.cc \
src/ui/SlugsDataSensorView.cc \
src/ui/SlugsHilSim.cc \
src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc \
src/ui/designer/QGCToolWidget.cc \
src/ui/designer/QGCParamSlider.cc \
src/ui/designer/QGCCommandButton.cc \
src/ui/designer/QGCToolWidgetItem.cc \
src/ui/QGCMAVLinkLogPlayer.cc \
src/comm/MAVLinkSimulationWaypointPlanner.cc \
src/comm/MAVLinkSimulationMAV.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
src/ui/uas/UASControlParameters.cpp \
src/uas/QGCUASParamManager.cc \
src/ui/map/QGCMapWidget.cc \
src/ui/map/MAV2DIcon.cc \
src/ui/map/Waypoint2DIcon.cc \
src/ui/map/QGCMapTool.cc \
src/ui/map/QGCMapToolBar.cc \
src/ui/QGCToolBar.cc \
src/ui/QGCMAVLinkInspector.cc \
src/ui/MAVLinkDecoder.cc \
src/ui/WaypointViewOnlyView.cc \
src/ui/WaypointEditableView.cc \
src/ui/UnconnectedUASInfoWidget.cc \
src/ui/QGCRGBDView.cc \
src/ui/mavlink/QGCMAVLinkMessageSender.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
src/ui/mission/QGCMissionOther.cc \
src/ui/mission/QGCMissionNavWaypoint.cc \
src/ui/mission/QGCMissionDoJump.cc \
src/ui/mission/QGCMissionConditionDelay.cc \
src/ui/mission/QGCMissionNavLoiterUnlim.cc \
src/ui/mission/QGCMissionNavLoiterTurns.cc \
src/ui/mission/QGCMissionNavLoiterTime.cc \
src/ui/mission/QGCMissionNavReturnToLaunch.cc \
src/ui/mission/QGCMissionNavLand.cc \
src/ui/mission/QGCMissionNavTakeoff.cc \
src/ui/mission/QGCMissionNavSweep.cc \
src/ui/mission/QGCMissionDoStartSearch.cc \
src/ui/mission/QGCMissionDoFinishSearch.cc \
src/ui/QGCVehicleConfig.cc \
src/ui/QGCHilConfiguration.cc \
src/ui/QGCHilFlightGearConfiguration.cc \
src/ui/QGCHilXPlaneConfiguration.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
# Enable OSG only if it has been found
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/gpl.cc \
src/ui/map3D/CameraParams.cc \
src/ui/map3D/ViewParamWidget.cc \
src/ui/map3D/SystemContainer.cc \
src/ui/map3D/SystemViewParams.cc \
src/ui/map3D/GlobalViewParams.cc \
src/ui/map3D/SystemGroupNode.cc \
src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/PixhawkCheetahNode.cc \
src/ui/map3D/Pixhawk3DWidget.cc \
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/WebImageCache.cc \
src/ui/map3D/WebImage.cc \
src/ui/map3D/TextureCache.cc \
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc \
src/ui/map3D/HUDScaleGeode.cc \
src/ui/map3D/WaypointGroupNode.cc \
src/ui/map3D/TerrainParamDialog.cc \
src/ui/map3D/ImageryParamDialog.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
# Enable only if OpenSceneGraph is available
SOURCES +=
}
}
contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
message("Including sources for Protocol Buffers")
# Enable only if protobuf is available
SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
src/ui/map3D/ObstacleGroupNode.cc \
src/ui/map3D/GLOverlayGeode.cc
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including sources for libfreenect")
# Enable only if libfreenect is available
SOURCES += src/input/Freenect.cc
}
# Add icons and other resources
RESOURCES += qgroundcontrol.qrc
# Include RT-LAB Library
win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
message("Building support for Opal-RT")
LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
-lOpalApi
INCLUDEPATH += src/lib/opalrt
HEADERS += src/comm/OpalRT.h \
src/comm/OpalLink.h \
src/comm/Parameter.h \
src/comm/QGCParamID.h \
src/comm/ParameterList.h \
src/ui/OpalLinkConfigurationWindow.h
SOURCES += src/comm/OpalRT.cc \
src/comm/OpalLink.cc \
src/comm/Parameter.cc \
src/comm/QGCParamID.cc \
src/comm/ParameterList.cc \
src/ui/OpalLinkConfigurationWindow.cc
FORMS += src/ui/OpalLinkSettings.ui
DEFINES += OPAL_RT
}
TRANSLATIONS += es-MX.ts \
en-US.ts
# xbee support
# libxbee only supported by linux and windows systems
win32-msvc2008|win32-msvc2010|linux {
HEADERS += src/comm/XbeeLinkInterface.h \
src/comm/XbeeLink.h \
src/comm/HexSpinBox.h \
src/ui/XbeeConfigurationWindow.h \
src/comm/CallConv.h
SOURCES += src/comm/XbeeLink.cpp \
src/comm/HexSpinBox.cpp \
src/ui/XbeeConfigurationWindow.cpp
DEFINES += XBEELINK
INCLUDEPATH += libs/thirdParty/libxbee
# TO DO: build library when it does not exist already
LIBS += -Llibs/thirdParty/libxbee/lib \
-llibxbee
}
# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Maintainer:
# Lorenz Meier <lm@inf.ethz.ch>
# (c) 2009-2011 QGroundControl Developers
# This file is part of the open groundstation 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/>.
# -------------------------------------------------
# Qt configuration
CONFIG += qt \
thread
QT += network \
opengl \
svg \
xml \
phonon \
webkit \
sql
TEMPLATE = app
TARGET = qgroundcontrol
BASEDIR = $${IN_PWD}
linux-g++|linux-g++-64{
debug {
TARGETDIR = $${OUT_PWD}/debug
BUILDDIR = $${OUT_PWD}/build-debug
}
release {
TARGETDIR = $${OUT_PWD}/release
BUILDDIR = $${OUT_PWD}/build-release
}
} else {
TARGETDIR = $${OUT_PWD}
BUILDDIR = $${OUT_PWD}/build
}
LANGUAGE = C++
OBJECTS_DIR = $${BUILDDIR}/obj
MOC_DIR = $${BUILDDIR}/moc
UI_DIR = $${BUILDDIR}/ui
RCC_DIR = $${BUILDDIR}/rcc
MAVLINK_CONF = "pixhawk"
MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
DEFINES += MAVLINK_NO_DATA
win32 {
QMAKE_INCDIR_QT = $$(QTDIR)/include
QMAKE_LIBDIR_QT = $$(QTDIR)/lib
QMAKE_UIC = "$$(QTDIR)/bin/uic.exe"
QMAKE_MOC = "$$(QTDIR)/bin/moc.exe"
QMAKE_RCC = "$$(QTDIR)/bin/rcc.exe"
QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe"
# Build QAX for GoogleEarth API access
!exists( $(QTDIR)/src/activeqt/Makefile ) {
message( Making QAx (ONE TIME) )
system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
}
}
#################################################################
# EXTERNAL LIBRARY CONFIGURATION
# EIGEN matrix library (header-only)
INCLUDEPATH += libs/eigen
# OPMapControl library (from OpenPilot)
include(libs/utils/utils_external.pri)
include(libs/opmapcontrol/opmapcontrol_external.pri)
DEPENDPATH += \
libs/utils \
libs/utils/src \
libs/opmapcontrol \
libs/opmapcontrol/src \
libs/opmapcontrol/src/mapwidget
INCLUDEPATH += \
libs/utils \
libs \
libs/opmapcontrol
# If the user config file exists, it will be included.
# if the variable MAVLINK_CONF contains the name of an
# additional project, QGroundControl includes the support
# of custom MAVLink messages of this project. It will also
# create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
# within the actual code.
exists(user_config.pri) {
include(user_config.pri)
message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
message("------------------------------------------------------------------------")
}
INCLUDEPATH += $$MAVLINKPATH
isEmpty(MAVLINK_CONF) {
INCLUDEPATH += $$MAVLINKPATH/common
} else {
INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
#DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
}
# Include general settings for QGroundControl
# necessary as last include to override any non-acceptable settings
# done by the plugins above
include(qgroundcontrol.pri)
# Include MAVLink generator
# has been deprecated
DEPENDPATH += \
src/apps/mavlinkgen
INCLUDEPATH += \
src/apps/mavlinkgen \
src/apps/mavlinkgen/ui \
src/apps/mavlinkgen/generator
include(src/apps/mavlinkgen/mavlinkgen.pri)
# Include QWT plotting library
include(libs/qwt/qwt.pri)
DEPENDPATH += . \
plugins \
libs/thirdParty/qserialport/include \
libs/thirdParty/qserialport/include/QtSerialPort \
libs/thirdParty/qserialport \
libs/qextserialport
INCLUDEPATH += . \
libs/thirdParty/qserialport/include \
libs/thirdParty/qserialport/include/QtSerialPort \
libs/thirdParty/qserialport/src \
libs/qextserialport
# Include serial port library (QSerial)
include(qserialport.pri)
# Serial port detection (ripped-off from qextserialport library)
macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
src/ui/SerialSettings.ui \
src/ui/UASControl.ui \
src/ui/UASList.ui \
src/ui/UASInfo.ui \
src/ui/Linechart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
src/ui/AudioOutputWidget.ui \
src/ui/QGCSensorSettingsWidget.ui \
src/ui/watchdog/WatchdogControl.ui \
src/ui/watchdog/WatchdogProcessView.ui \
src/ui/watchdog/WatchdogView.ui \
src/ui/QGCFirmwareUpdate.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui \
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \
src/ui/SlugsDataSensorView.ui \
src/ui/SlugsHilSim.ui \
src/ui/SlugsPadCameraControl.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui \
src/ui/designer/QGCToolWidget.ui \
src/ui/designer/QGCParamSlider.ui \
src/ui/designer/QGCActionButton.ui \
src/ui/designer/QGCCommandButton.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui \
src/ui/UASControlParameters.ui \
src/ui/map/QGCMapTool.ui \
src/ui/map/QGCMapToolBar.ui \
src/ui/QGCMAVLinkInspector.ui \
src/ui/WaypointViewOnlyView.ui \
src/ui/WaypointEditableView.ui \
src/ui/UnconnectedUASInfoWidget.ui \
src/ui/mavlink/QGCMAVLinkMessageSender.ui \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
src/ui/QGCPluginHost.ui \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
src/ui/mission/QGCMissionOther.ui \
src/ui/mission/QGCMissionNavWaypoint.ui \
src/ui/mission/QGCMissionDoJump.ui \
src/ui/mission/QGCMissionConditionDelay.ui \
src/ui/mission/QGCMissionNavLoiterUnlim.ui \
src/ui/mission/QGCMissionNavLoiterTurns.ui \
src/ui/mission/QGCMissionNavLoiterTime.ui \
src/ui/mission/QGCMissionNavReturnToLaunch.ui \
src/ui/mission/QGCMissionNavLand.ui \
src/ui/mission/QGCMissionNavTakeoff.ui \
src/ui/mission/QGCMissionNavSweep.ui \
src/ui/mission/QGCMissionDoStartSearch.ui \
src/ui/mission/QGCMissionDoFinishSearch.ui \
src/ui/QGCVehicleConfig.ui \
src/ui/QGCHilConfiguration.ui \
src/ui/QGCHilFlightGearConfiguration.ui \
src/ui/QGCHilXPlaneConfiguration.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
src/ui/uas \
src/ui/map \
src/uas \
src/comm \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink \
src/ui/param \
src/ui/watchdog \
src/ui/map3D \
src/ui/mission \
src/ui/designer
HEADERS += src/MG.h \
src/QGCCore.h \
src/uas/UASInterface.h \
src/uas/UAS.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/QGCFlightGearLink.h \
src/comm/QGCXPlaneLink.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/HUD.h \
src/ui/linechart/LinechartWidget.h \
src/ui/linechart/LinechartPlot.h \
src/ui/linechart/Scrollbar.h \
src/ui/linechart/ScrollZoomer.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/DebugConsole.h \
src/ui/HDDisplay.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/GAudioOutput.h \
src/LogCompressor.h \
src/ui/QGCParamWidget.h \
src/ui/QGCSensorSettingsWidget.h \
src/ui/linechart/Linecharts.h \
src/uas/SlugsMAV.h \
src/uas/PxQuadMAV.h \
src/uas/ArduPilotMegaMAV.h \
src/uas/senseSoarMAV.h \
src/ui/watchdog/WatchdogControl.h \
src/ui/watchdog/WatchdogProcessView.h \
src/ui/watchdog/WatchdogView.h \
src/uas/UASWaypointManager.h \
src/ui/HSIDisplay.h \
src/QGC.h \
src/ui/QGCFirmwareUpdate.h \
src/ui/QGCPxImuFirmwareUpdate.h \
src/ui/QGCDataPlot2D.h \
src/ui/linechart/IncrementalPlot.h \
src/ui/QGCRemoteControlView.h \
src/ui/RadioCalibration/RadioCalibrationData.h \
src/ui/RadioCalibration/RadioCalibrationWindow.h \
src/ui/RadioCalibration/AirfoilServoCalibrator.h \
src/ui/RadioCalibration/SwitchCalibrator.h \
src/ui/RadioCalibration/CurveCalibrator.h \
src/ui/RadioCalibration/AbstractCalibrator.h \
src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \
src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h \
src/comm/MAVLinkSwarmSimulationLink.h \
src/ui/uas/QGCUnconnectedInfoWidget.h \
src/ui/designer/QGCToolWidget.h \
src/ui/designer/QGCParamSlider.h \
src/ui/designer/QGCCommandButton.h \
src/ui/designer/QGCToolWidgetItem.h \
src/ui/QGCMAVLinkLogPlayer.h \
src/comm/MAVLinkSimulationWaypointPlanner.h \
src/comm/MAVLinkSimulationMAV.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h \
src/ui/uas/UASControlParameters.h \
src/uas/QGCUASParamManager.h \
src/ui/map/QGCMapWidget.h \
src/ui/map/MAV2DIcon.h \
src/ui/map/Waypoint2DIcon.h \
src/ui/map/QGCMapTool.h \
src/ui/map/QGCMapToolBar.h \
libs/qextserialport/qextserialenumerator.h \
src/QGCGeo.h \
src/ui/QGCToolBar.h \
src/ui/QGCMAVLinkInspector.h \
src/ui/MAVLinkDecoder.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointViewOnlyView.h \
src/ui/WaypointEditableView.h \
src/ui/UnconnectedUASInfoWidget.h \
src/ui/QGCRGBDView.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
src/ui/mission/QGCMissionOther.h \
src/ui/mission/QGCMissionNavWaypoint.h \
src/ui/mission/QGCMissionDoJump.h \
src/ui/mission/QGCMissionConditionDelay.h \
src/ui/mission/QGCMissionNavLoiterUnlim.h \
src/ui/mission/QGCMissionNavLoiterTurns.h \
src/ui/mission/QGCMissionNavLoiterTime.h \
src/ui/mission/QGCMissionNavReturnToLaunch.h \
src/ui/mission/QGCMissionNavLand.h \
src/ui/mission/QGCMissionNavTakeoff.h \
src/ui/mission/QGCMissionNavSweep.h \
src/ui/mission/QGCMissionDoStartSearch.h \
src/ui/mission/QGCMissionDoFinishSearch.h \
src/ui/QGCVehicleConfig.h \
src/comm/QGCHilLink.h \
src/ui/QGCHilConfiguration.h \
src/ui/QGCHilFlightGearConfiguration.h \
src/ui/QGCHilXPlaneConfiguration.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
HEADERS += src/ui/map3D/gpl.h \
src/ui/map3D/CameraParams.h \
src/ui/map3D/ViewParamWidget.h \
src/ui/map3D/SystemContainer.h \
src/ui/map3D/SystemViewParams.h \
src/ui/map3D/GlobalViewParams.h \
src/ui/map3D/SystemGroupNode.h \
src/ui/map3D/Q3DWidget.h \
src/ui/map3D/GCManipulator.h \
src/ui/map3D/ImageWindowGeode.h \
src/ui/map3D/PixhawkCheetahNode.h \
src/ui/map3D/Pixhawk3DWidget.h \
src/ui/map3D/Q3DWidgetFactory.h \
src/ui/map3D/WebImageCache.h \
src/ui/map3D/WebImage.h \
src/ui/map3D/TextureCache.h \
src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.h \
src/ui/map3D/HUDScaleGeode.h \
src/ui/map3D/WaypointGroupNode.h \
src/ui/map3D/TerrainParamDialog.h \
src/ui/map3D/ImageryParamDialog.h
}
contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
message("Including headers for Protocol Buffers")
# Enable only if protobuf is available
HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
src/ui/map3D/ObstacleGroupNode.h \
src/ui/map3D/GLOverlayGeode.h
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including headers for libfreenect")
# Enable only if libfreenect is available
HEADERS += src/input/Freenect.h
}
SOURCES += src/main.cc \
src/QGCCore.cc \
src/uas/UASManager.cc \
src/uas/UAS.cc \
src/comm/LinkManager.cc \
src/comm/LinkInterface.cpp \
src/comm/SerialLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/QGCFlightGearLink.cc \
src/comm/QGCXPlaneLink.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/HUD.cc \
src/ui/linechart/LinechartWidget.cc \
src/ui/linechart/LinechartPlot.cc \
src/ui/linechart/Scrollbar.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/DebugConsole.cc \
src/ui/HDDisplay.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/GAudioOutput.cc \
src/LogCompressor.cc \
src/ui/QGCParamWidget.cc \
src/ui/QGCSensorSettingsWidget.cc \
src/ui/linechart/Linecharts.cc \
src/uas/SlugsMAV.cc \
src/uas/PxQuadMAV.cc \
src/uas/ArduPilotMegaMAV.cc \
src/uas/senseSoarMAV.cpp \
src/ui/watchdog/WatchdogControl.cc \
src/ui/watchdog/WatchdogProcessView.cc \
src/ui/watchdog/WatchdogView.cc \
src/uas/UASWaypointManager.cc \
src/ui/HSIDisplay.cc \
src/QGC.cc \
src/ui/QGCFirmwareUpdate.cc \
src/ui/QGCPxImuFirmwareUpdate.cc \
src/ui/QGCDataPlot2D.cc \
src/ui/linechart/IncrementalPlot.cc \
src/ui/QGCRemoteControlView.cc \
src/ui/RadioCalibration/RadioCalibrationWindow.cc \
src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
src/ui/RadioCalibration/SwitchCalibrator.cc \
src/ui/RadioCalibration/CurveCalibrator.cc \
src/ui/RadioCalibration/AbstractCalibrator.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \
src/ui/map3D/QGCWebPage.cc \
src/ui/SlugsDataSensorView.cc \
src/ui/SlugsHilSim.cc \
src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc \
src/ui/designer/QGCToolWidget.cc \
src/ui/designer/QGCParamSlider.cc \
src/ui/designer/QGCCommandButton.cc \
src/ui/designer/QGCToolWidgetItem.cc \
src/ui/QGCMAVLinkLogPlayer.cc \
src/comm/MAVLinkSimulationWaypointPlanner.cc \
src/comm/MAVLinkSimulationMAV.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc \
src/ui/uas/UASControlParameters.cpp \
src/uas/QGCUASParamManager.cc \
src/ui/map/QGCMapWidget.cc \
src/ui/map/MAV2DIcon.cc \
src/ui/map/Waypoint2DIcon.cc \
src/ui/map/QGCMapTool.cc \
src/ui/map/QGCMapToolBar.cc \
src/ui/QGCToolBar.cc \
src/ui/QGCMAVLinkInspector.cc \
src/ui/MAVLinkDecoder.cc \
src/ui/WaypointViewOnlyView.cc \
src/ui/WaypointEditableView.cc \
src/ui/UnconnectedUASInfoWidget.cc \
src/ui/QGCRGBDView.cc \
src/ui/mavlink/QGCMAVLinkMessageSender.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
src/ui/mission/QGCMissionOther.cc \
src/ui/mission/QGCMissionNavWaypoint.cc \
src/ui/mission/QGCMissionDoJump.cc \
src/ui/mission/QGCMissionConditionDelay.cc \
src/ui/mission/QGCMissionNavLoiterUnlim.cc \
src/ui/mission/QGCMissionNavLoiterTurns.cc \
src/ui/mission/QGCMissionNavLoiterTime.cc \
src/ui/mission/QGCMissionNavReturnToLaunch.cc \
src/ui/mission/QGCMissionNavLand.cc \
src/ui/mission/QGCMissionNavTakeoff.cc \
src/ui/mission/QGCMissionNavSweep.cc \
src/ui/mission/QGCMissionDoStartSearch.cc \
src/ui/mission/QGCMissionDoFinishSearch.cc \
src/ui/QGCVehicleConfig.cc \
src/ui/QGCHilConfiguration.cc \
src/ui/QGCHilFlightGearConfiguration.cc \
src/ui/QGCHilXPlaneConfiguration.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
# Enable OSG only if it has been found
contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph")
# Enable only if OpenSceneGraph is available
SOURCES += src/ui/map3D/gpl.cc \
src/ui/map3D/CameraParams.cc \
src/ui/map3D/ViewParamWidget.cc \
src/ui/map3D/SystemContainer.cc \
src/ui/map3D/SystemViewParams.cc \
src/ui/map3D/GlobalViewParams.cc \
src/ui/map3D/SystemGroupNode.cc \
src/ui/map3D/Q3DWidget.cc \
src/ui/map3D/ImageWindowGeode.cc \
src/ui/map3D/GCManipulator.cc \
src/ui/map3D/PixhawkCheetahNode.cc \
src/ui/map3D/Pixhawk3DWidget.cc \
src/ui/map3D/Q3DWidgetFactory.cc \
src/ui/map3D/WebImageCache.cc \
src/ui/map3D/WebImage.cc \
src/ui/map3D/TextureCache.cc \
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc \
src/ui/map3D/HUDScaleGeode.cc \
src/ui/map3D/WaypointGroupNode.cc \
src/ui/map3D/TerrainParamDialog.cc \
src/ui/map3D/ImageryParamDialog.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
# Enable only if OpenSceneGraph is available
SOURCES +=
}
}
contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
message("Including sources for Protocol Buffers")
# Enable only if protobuf is available
SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
src/ui/map3D/ObstacleGroupNode.cc \
src/ui/map3D/GLOverlayGeode.cc
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including sources for libfreenect")
# Enable only if libfreenect is available
SOURCES += src/input/Freenect.cc
}
# Add icons and other resources
RESOURCES += qgroundcontrol.qrc
# Include RT-LAB Library
win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
message("Building support for Opal-RT")
LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
-lOpalApi
INCLUDEPATH += src/lib/opalrt
HEADERS += src/comm/OpalRT.h \
src/comm/OpalLink.h \
src/comm/Parameter.h \
src/comm/QGCParamID.h \
src/comm/ParameterList.h \
src/ui/OpalLinkConfigurationWindow.h
SOURCES += src/comm/OpalRT.cc \
src/comm/OpalLink.cc \
src/comm/Parameter.cc \
src/comm/QGCParamID.cc \
src/comm/ParameterList.cc \
src/ui/OpalLinkConfigurationWindow.cc
FORMS += src/ui/OpalLinkSettings.ui
DEFINES += OPAL_RT
}
TRANSLATIONS += es-MX.ts \
en-US.ts
# xbee support
# libxbee only supported by linux and windows systems
win32-msvc2008|win32-msvc2010|linux {
HEADERS += src/comm/XbeeLinkInterface.h \
src/comm/XbeeLink.h \
src/comm/HexSpinBox.h \
src/ui/XbeeConfigurationWindow.h \
src/comm/CallConv.h
SOURCES += src/comm/XbeeLink.cpp \
src/comm/HexSpinBox.cpp \
src/ui/XbeeConfigurationWindow.cpp
DEFINES += XBEELINK
INCLUDEPATH += libs/thirdParty/libxbee
# TO DO: build library when it does not exist already
LIBS += -Llibs/thirdParty/libxbee/lib \
-llibxbee
}
#win32-msvc2008|win32-msvc2010 {
message("Including support for 3DxWare for Windows system.")
SOURCES += libs/thirdParty/3DMouse/win/MouseParameters.cpp \
libs/thirdParty/3DMouse/win/Mouse3DInput.cpp \
src/input/Mouse6dofInput.cpp
HEADERS += libs/thirdParty/3DMouse/win/I3dMouseParams.h \
libs/thirdParty/3DMouse/win/MouseParameters.h \
libs/thirdParty/3DMouse/win/Mouse3DInput.h \
src/input/Mouse6dofInput.h
INCLUDEPATH += libs/thirdParty/3DMouse/win
DEFINES += MOUSE_ENABLED_WIN
#}
src/input/Mouse6dofInput.cpp 0 → 100644
View file @ eb21fe21
/**
* @file
* @brief 3dConnexion 3dMouse interface for QGroundControl
*
* @author Matthias Krebs <makrebs@student.ethz.ch>
*
*/
#include "Mouse6dofInput.h"
#include "UAS.h"
#include "UASManager.h"
Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
mouse3DMax(0.01), // TODO: check maximum value fot plugged device
uas(NULL),
done(false),
xValue(0.0),
yValue(0.0),
zValue(0.0),
aValue(0.0),
bValue(0.0),
cValue(0.0)
{
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
// Connect 3DxWare SDK MotionEvent
connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
// TODO: Connect button mapping
//connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT);
//connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT);
}
Mouse6dofInput::~Mouse6dofInput()
{
done = true;
}
void Mouse6dofInput::setActiveUAS(UASInterface* uas)
{
// Only connect / disconnect is the UAS is of a controllable UAS class
UAS* tmp = 0;
if (this->uas)
{
tmp = dynamic_cast<UAS*>(this->uas);
if(tmp)
{
disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
// Todo: disconnect button mapping
}
}
this->uas = uas;
tmp = dynamic_cast<UAS*>(this->uas);
if(tmp) {
connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
// Todo: disconnect button mapping
}
if (!isRunning())
{
start();
}
}
void Mouse6dofInput::init()
{
// Make sure active UAS is set
setActiveUAS(UASManager::instance()->getActiveUAS());
}
void Mouse6dofInput::run()
{
init();
forever
{
if (done)
{
done = false;
exit();
}
// Bound x value
if (xValue > 1.0) xValue = 1.0;
if (xValue < -1.0) xValue = -1.0;
// Bound x value
if (yValue > 1.0) yValue = 1.0;
if (yValue < -1.0) yValue = -1.0;
// Bound x value
if (zValue > 1.0) zValue = 1.0;
if (zValue < -1.0) zValue = -1.0;
// Bound x value
if (aValue > 1.0) aValue = 1.0;
if (aValue < -1.0) aValue = -1.0;
// Bound x value
if (bValue > 1.0) bValue = 1.0;
if (bValue < -1.0) bValue = -1.0;
// Bound x value
if (cValue > 1.0) cValue = 1.0;
if (cValue < -1.0) cValue = -1.0;
emit mouse6dofChanged(xValue, yValue, zValue, aValue, bValue, cValue);
// Sleep, update rate of 3d mouse is approx. 50 Hz (1000 ms / 50 = 20 ms)
QGC::SLEEP::msleep(20);
}
}
void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
{
if (motionData.size() < 6) return;
xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
}
src/input/Mouse6dofInput.h 0 → 100644
View file @ eb21fe21
/**
* @file
* @brief Definition of 3dConnexion 3dMouse interface for QGroundControl
*
* @author Matthias Krebs <makrebs@student.ethz.ch>
*
*/
#ifndef MOUSE6DOFINPUT_H
#define MOUSE6DOFINPUT_H
#include <QThread>
#include "Mouse3DInput.h"
#include "UASInterface.h"
class Mouse6dofInput : public QThread
{
Q_OBJECT
public:
Mouse6dofInput(Mouse3DInput* mouseInput);
~Mouse6dofInput();
void run();
const double mouse3DMax;
protected:
void init();
Mouse3DInput* mouse3D;
UASInterface* uas;
bool done;
double xValue;
double yValue;
double zValue;
double aValue;
double bValue;
double cValue;
signals:
/**
* @brief Input of the 3d mouse has changed
*
* @param x Input x direction, range [-1, 1]
* @param y Input y direction, range [-1, 1]
* @param z Input z direction, range [-1, 1]
* @param a Input x rotation, range [-1, 1]
* @param b Input y rotation, range [-1, 1]
* @param c Input z rotation, range [-1, 1]
*/
void mouse6dofChanged(double x, double y, double z, double a, double b, double c);
public slots:
void setActiveUAS(UASInterface* uas);
void motion3DMouse(std::vector<float> &motionData);
};
#endif // MOUSE6DOFINPUT_H
src/uas/UAS.cc
View file @ eb21fe21
This source diff could not be displayed because it is too large. You can view the blob instead.
src/uas/UAS.h
View file @ eb21fe21
/*=====================================================================
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 Definition of Unmanned Aerial Vehicle object
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _UAS_H_
#define _UAS_H_
#include "UASInterface.h"
#include <MAVLinkProtocol.h>
#include <QVector3D>
#include "QGCMAVLink.h"
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
#include "QGCXPlaneLink.h"
/**
* @brief A generic MAVLINK-connected MAV/UAV
*
* This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
* will automatically send the appropriate messages to the vehicle. The vehicle state will also be
* automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
* no knowledge of the communication infrastructure is needed.
*/
class UAS : public UASInterface
{
Q_OBJECT
public:
UAS(MAVLinkProtocol* protocol, int id = 0);
~UAS();
enum BatteryType
{
NICD = 0,
NIMH = 1,
LIION = 2,
LIPOLY = 3,
LIFE = 4,
AGZN = 5
}; ///< The type of battery used
static const int lipoFull = 4.2f; ///< 100% charged voltage
static const int lipoEmpty = 3.5f; ///< Discharged voltage
/* MANAGEMENT */
/** @brief The name of the robot */
QString getUASName(void) const;
/** @brief Get short state */
const QString& getShortState() const;
/** @brief Get short mode */
const QString& getShortMode() const;
/** @brief Translate from mode id to text */
static QString getShortModeTextFor(int id);
/** @brief Translate from mode id to audio text */
static QString getAudioModeTextFor(int id);
/** @brief Get the unique system id */
int getUASID() const;
/** @brief Get the airframe */
int getAirframe() const
{
return airframe;
}
/** @brief Get the components */
QMap<int, QString> getComponents();
/** @brief The time interval the robot is switched on */
quint64 getUptime() const;
/** @brief Get the status flag for the communication */
int getCommunicationStatus() const;
/** @brief Add one measurement and get low-passed voltage */
float filterVoltage(float value) const;
/** @brief Get the links associated with this robot */
QList<LinkInterface*>* getLinks();
double getLocalX() const
{
return localX;
}
double getLocalY() const
{
return localY;
}
double getLocalZ() const
{
return localZ;
}
double getLatitude() const
{
return latitude;
}
double getLongitude() const
{
return longitude;
}
double getAltitude() const
{
return altitude;
}
virtual bool localPositionKnown() const
{
return isLocalPositionKnown;
}
virtual bool globalPositionKnown() const
{
return isGlobalPositionKnown;
}
double getRoll() const
{
return roll;
}
double getPitch() const
{
return pitch;
}
double getYaw() const
{
return yaw;
}
bool getSelected() const;
QVector3D getNedPosGlobalOffset() const
{
return nedPosGlobalOffset;
}
QVector3D getNedAttGlobalOffset() const
{
return nedAttGlobalOffset;
}
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
px::GLOverlay getOverlay()
{
QMutexLocker locker(&overlayMutex);
return overlay;
}
px::GLOverlay getOverlay(qreal& receivedTimestamp)
{
receivedTimestamp = receivedOverlayTimestamp;
QMutexLocker locker(&overlayMutex);
return overlay;
}
px::ObstacleList getObstacleList() {
QMutexLocker locker(&obstacleListMutex);
return obstacleList;
}
px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
receivedTimestamp = receivedObstacleListTimestamp;
QMutexLocker locker(&obstacleListMutex);
return obstacleList;
}
px::Path getPath() {
QMutexLocker locker(&pathMutex);
return path;
}
px::Path getPath(qreal& receivedTimestamp) {
receivedTimestamp = receivedPathTimestamp;
QMutexLocker locker(&pathMutex);
return path;
}
px::PointCloudXYZRGB getPointCloud() {
QMutexLocker locker(&pointCloudMutex);
return pointCloud;
}
px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
receivedTimestamp = receivedPointCloudTimestamp;
QMutexLocker locker(&pointCloudMutex);
return pointCloud;
}
px::RGBDImage getRGBDImage() {
QMutexLocker locker(&rgbdImageMutex);
return rgbdImage;
}
px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
receivedTimestamp = receivedRGBDImageTimestamp;
QMutexLocker locker(&rgbdImageMutex);
return rgbdImage;
}
#endif
friend class UASWaypointManager;
protected: //COMMENTS FOR TEST UNIT
int uasId; ///< Unique system ID
unsigned char type; ///< UAS type (from type enum)
quint64 startTime; ///< The time the UAS was switched on
CommStatus commStatus; ///< Communication status
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
int autopilot; ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
BatteryType batteryType; ///< The battery type
int cells; ///< Number of cells
UASWaypointManager waypointManager;
QList<double> actuatorValues;
QList<QString> actuatorNames;
QList<double> motorValues;
QList<QString> motorNames;
QMap<int, QString> components; ///< IDs and names of all detected onboard components
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators, in Newtons
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
// Battery stats
float fullVoltage; ///< Voltage of the fully charged battery (100%)
float emptyVoltage; ///< Voltage of the empty battery (0%)
float startVoltage; ///< Voltage at system start
float tickVoltage; ///< Voltage where 0.1 V ticks are told
float lastTickVoltageValue; ///< The last voltage where a tick was announced
float tickLowpassVoltage; ///< Lowpass-filtered voltage for the tick announcement
float warnVoltage; ///< Voltage where QGC will start to warn about low battery
float warnLevelPercent; ///< Warning level, in percent
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
int timeRemaining; ///< Remaining time calculated based on previous and current
uint8_t mode; ///< The current mode of the MAV
uint32_t custom_mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
uint32_t navMode; ///< The current navigation mode of the MAV
quint64 onboardTimeOffset;
bool controlRollManual; ///< status flag, true if roll is controlled manually
bool controlPitchManual; ///< status flag, true if pitch is controlled manually
bool controlYawManual; ///< status flag, true if yaw is controlled manually
bool controlThrustManual; ///< status flag, true if thrust is controlled manually
double manualRollAngle; ///< Roll angle set by human pilot (radians)
double manualPitchAngle; ///< Pitch angle set by human pilot (radians)
double manualYawAngle; ///< Yaw angle set by human pilot (radians)
double manualThrust; ///< Thrust set by human pilot (radians)
float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
bool lowBattAlarm; ///< Switch if battery is low
bool positionLock; ///< Status if position information is available or not
double localX;
double localY;
double localZ;
double latitude;
double longitude;
double altitude;
double speedX; ///< True speed in X axis
double speedY; ///< True speed in Y axis
double speedZ; ///< True speed in Z axis
double roll;
double pitch;
double yaw;
quint64 lastHeartbeat; ///< Time of the last heartbeat message
QTimer* statusTimeout; ///< Timer for various status timeouts
int imageSize; ///< Image size being transmitted (bytes)
int imagePackets; ///< Number of data packets being sent for this image
int imagePacketsArrived; ///< Number of data packets recieved
int imagePayload; ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
int imageQuality; ///< Quality of the transmitted image (percentage)
int imageType; ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
int imageWidth; ///< Width of the image stream
int imageHeight; ///< Width of the image stream
QByteArray imageRecBuffer; ///< Buffer for the incoming bytestream
QImage image; ///< Image data of last completely transmitted image
quint64 imageStart;
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
px::GLOverlay overlay;
QMutex overlayMutex;
qreal receivedOverlayTimestamp;
px::ObstacleList obstacleList;
QMutex obstacleListMutex;
qreal receivedObstacleListTimestamp;
px::Path path;
QMutex pathMutex;
qreal receivedPathTimestamp;
px::PointCloudXYZRGB pointCloud;
QMutex pointCloudMutex;
qreal receivedPointCloudTimestamp;
px::RGBDImage rgbdImage;
QMutex rgbdImageMutex;
qreal receivedRGBDImageTimestamp;
#endif
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
int airframe; ///< The airframe type
bool attitudeKnown; ///< True if attitude was received, false else
QGCUASParamManager* paramManager; ///< Parameter manager class
QString shortStateText; ///< Short textual state description
QString shortModeText; ///< Short textual mode description
bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
quint64 lastAttitude; ///< Timestamp of last attitude measurement
QGCHilLink* simulation; ///< Hardware in the loop simulation link
bool isLocalPositionKnown; ///< If the local position has been received for this MAV
bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
bool systemIsArmed; ///< If the system is armed
QVector3D nedPosGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
QVector3D nedAttGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
public:
/** @brief Set the current battery type */
void setBattery(BatteryType type, int cells);
/** @brief Estimate how much flight time is remaining */
int calculateTimeRemaining();
/** @brief Get the current charge level */
float getChargeLevel();
/** @brief Get the human-readable status message for this code */
void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
/** @brief Get the human-readable navigation mode translation for this mode */
QString getNavModeText(int mode);
/** @brief Check if vehicle is in autonomous mode */
bool isAuto();
/** @brief Check if vehicle is armed */
bool isArmed() const { return systemIsArmed; }
UASWaypointManager* getWaypointManager() {
return &waypointManager;
}
/** @brief Get reference to the param manager **/
QGCUASParamManager* getParamManager() const {
return paramManager;
}
/** @brief Get the HIL simulation */
QGCHilLink* getHILSimulation() const {
return simulation;
}
// TODO Will be removed
/** @brief Set reference to the param manager **/
void setParamManager(QGCUASParamManager* manager) {
paramManager = manager;
}
int getSystemType();
QString getSystemTypeName()
{
switch(type)
{
case MAV_TYPE_GENERIC:
return "GENERIC";
break;
case MAV_TYPE_FIXED_WING:
return "FIXED_WING";
break;
case MAV_TYPE_QUADROTOR:
return "QUADROTOR";
break;
case MAV_TYPE_COAXIAL:
return "COAXIAL";
break;
case MAV_TYPE_HELICOPTER:
return "HELICOPTER";
break;
case MAV_TYPE_ANTENNA_TRACKER:
return "ANTENNA_TRACKER";
break;
case MAV_TYPE_GCS:
return "GCS";
break;
case MAV_TYPE_AIRSHIP:
return "AIRSHIP";
break;
case MAV_TYPE_FREE_BALLOON:
return "FREE_BALLOON";
break;
case MAV_TYPE_ROCKET:
return "ROCKET";
break;
case MAV_TYPE_GROUND_ROVER:
return "GROUND_ROVER";
break;
case MAV_TYPE_SURFACE_BOAT:
return "BOAT";
break;
case MAV_TYPE_SUBMARINE:
return "SUBMARINE";
break;
case MAV_TYPE_HEXAROTOR:
return "HEXAROTOR";
break;
case MAV_TYPE_OCTOROTOR:
return "OCTOROTOR";
break;
case MAV_TYPE_TRICOPTER:
return "TRICOPTER";
break;
case MAV_TYPE_FLAPPING_WING:
return "FLAPPING_WING";
break;
default:
return "";
break;
}
}
QImage getImage();
void requestImage();
int getAutopilotType(){
return autopilot;
}
QString getAutopilotTypeName()
{
switch (autopilot)
{
case MAV_AUTOPILOT_GENERIC:
return "GENERIC";
break;
case MAV_AUTOPILOT_PIXHAWK:
return "PIXHAWK";
break;
case MAV_AUTOPILOT_SLUGS:
return "SLUGS";
break;
case MAV_AUTOPILOT_ARDUPILOTMEGA:
return "ARDUPILOTMEGA";
break;
case MAV_AUTOPILOT_OPENPILOT:
return "OPENPILOT";
break;
case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
return "GENERIC_WAYPOINTS_ONLY";
break;
case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
return "GENERIC_MISSION_NAVIGATION_ONLY";
break;
case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
return "GENERIC_MISSION_FULL";
break;
case MAV_AUTOPILOT_INVALID:
return "NO AP";
break;
case MAV_AUTOPILOT_PPZ:
return "PPZ";
break;
case MAV_AUTOPILOT_UDB:
return "UDB";
break;
case MAV_AUTOPILOT_FP:
return "FP";
break;
case MAV_AUTOPILOT_PX4:
return "PX4";
break;
default:
return "";
break;
}
}
public slots:
/** @brief Set the autopilot type */
void setAutopilotType(int apType)
{
autopilot = apType;
emit systemSpecsChanged(uasId);
}
/** @brief Set the type of airframe */
void setSystemType(int systemType);
/** @brief Set the specific airframe type */
void setAirframe(int airframe)
{
if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
{
this->airframe = airframe;
emit systemSpecsChanged(uasId);
}
}
/** @brief Set a new name **/
void setUASName(const QString& name);
/** @brief Executes a command **/
void executeCommand(MAV_CMD command);
/** @brief Executes a command with 7 params */
void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
/** @brief Set the current battery type and voltages */
void setBatterySpecs(const QString& specs);
/** @brief Get the current battery type and specs */
QString getBatterySpecs();
/** @brief Launches the system **/
void launch();
/** @brief Write this waypoint to the list of waypoints */
//void setWaypoint(Waypoint* wp); FIXME tbd
/** @brief Set currently active waypoint */
//void setWaypointActive(int id); FIXME tbd
/** @brief Order the robot to return home **/
void home();
/** @brief Order the robot to land **/
void land();
void halt();
void go();
/** @brief Enable / disable HIL */
void enableHilFlightGear(bool enable, QString options);
void enableHilXPlane(bool enable);
/** @brief Send the full HIL state to the MAV */
void sendHilState( uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
/** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
void startHil();
/** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
void stopHil();
/** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
void emergencySTOP();
/** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
bool emergencyKILL();
/** @brief Shut the system cleanly down. Will shut down any onboard computers **/
void shutdown();
/** @brief Set the target position for the robot to navigate to. */
void setTargetPosition(float x, float y, float z, float yaw);
void startLowBattAlarm();
void stopLowBattAlarm();
/** @brief Arm system */
void armSystem();
/** @brief Disable the motors */
void disarmSystem();
/** @brief Set the values for the manual control of the vehicle */
void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
/** @brief Receive a button pressed event from an input device, e.g. joystick */
void receiveButton(int buttonIndex);
/** @brief Add a link associated with this robot */
void addLink(LinkInterface* link);
/** @brief Remove a link associated with this robot */
void removeLink(QObject* object);
/** @brief Receive a message from one of the communication links. */
virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
#ifdef QGC_PROTOBUF_ENABLED
/** @brief Receive a message from one of the communication links. */
virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
#endif
/** @brief Send a message over this link (to this or to all UAS on this link) */
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send a message over all links this UAS can be reached with (!= all links) */
void sendMessage(mavlink_message_t message);
/** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
void forwardMessage(mavlink_message_t message);
/** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
void setSelected();
/** @brief Set current mode of operation, e.g. auto or manual */
void setMode(int mode);
/** @brief Request all parameters */
void requestParameters();
/** @brief Request a single parameter by name */
void requestParameter(int component, const QString& parameter);
/** @brief Request a single parameter by index */
void requestParameter(int component, int id);
/** @brief Set a system parameter */
void setParameter(const int component, const QString& id, const QVariant& value);
/** @brief Write parameters to permanent storage */
void writeParametersToStorage();
/** @brief Read parameters from permanent storage */
void readParametersFromStorage();
/** @brief Get the names of all parameters */
QList<QString> getParameterNames(int component);
/** @brief Get the ids of all components */
QList<int> getComponentIds();
void enableAllDataTransmission(int rate);
void enableRawSensorDataTransmission(int rate);
void enableExtendedSystemStatusTransmission(int rate);
void enableRCChannelDataTransmission(int rate);
void enableRawControllerDataTransmission(int rate);
//void enableRawSensorFusionTransmission(int rate);
void enablePositionTransmission(int rate);
void enableExtra1Transmission(int rate);
void enableExtra2Transmission(int rate);
void enableExtra3Transmission(int rate);
/** @brief Update the system state */
void updateState();
/** @brief Set world frame origin at current GPS position */
void setLocalOriginAtCurrentGPSPosition();
/** @brief Set world frame origin / home position at this GPS position */
void setHomePosition(double lat, double lon, double alt);
/** @brief Set local position setpoint */
void setLocalPositionSetpoint(float x, float y, float z, float yaw);
/** @brief Add an offset in body frame to the setpoint */
void setLocalPositionOffset(float x, float y, float z, float yaw);
void startRadioControlCalibration();
void startMagnetometerCalibration();
void startGyroscopeCalibration();
void startPressureCalibration();
void startDataRecording();
void stopDataRecording();
void deleteSettings();
signals:
/** @brief The main/battery voltage has changed/was updated */
//void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
/** @brief An actuator value has changed */
//void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
/** @brief An actuator value has changed */
void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
/** @brief The system load (MCU/CPU usage) changed */
void loadChanged(UASInterface* uas, double load);
/** @brief Propagate a heartbeat received from the system */
//void heartbeat(UASInterface* uas); // Defined in UASInterface already
void imageStarted(quint64 timestamp);
/** @brief A new camera image has arrived */
void imageReady(UASInterface* uas);
/** @brief HIL controls have changed */
void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
/** @brief HIL actuator outputs have changed */
void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
protected:
/** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
quint64 getUnixTime(quint64 time=0);
/** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
quint64 getUnixTimeFromMs(quint64 time);
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
int componentID[256];
bool componentMulti[256];
bool connectionLost; ///< Flag indicates a timed out connection
quint64 connectionLossTime; ///< Time the connection was interrupted
quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
quint64 lastNonNullTime; ///< The last timestamp from the MAV that was not null
unsigned int onboardTimeOffsetInvalidCount; ///< Count when the offboard time offset estimation seemed wrong
bool hilEnabled; ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
protected slots:
/** @brief Write settings to disk */
void writeSettings();
/** @brief Read settings from disk */
void readSettings();
// // MESSAGE RECEPTION
// /** @brief Receive a named value message */
// void receiveMessageNamedValue(const mavlink_message_t& message);
private:
// unsigned int mode; ///< The current mode of the MAV
};
#endif // _UAS_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 Definition of Unmanned Aerial Vehicle object
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _UAS_H_
#define _UAS_H_
#include "UASInterface.h"
#include <MAVLinkProtocol.h>
#include <QVector3D>
#include "QGCMAVLink.h"
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
#include "QGCXPlaneLink.h"
/**
* @brief A generic MAVLINK-connected MAV/UAV
*
* This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
* will automatically send the appropriate messages to the vehicle. The vehicle state will also be
* automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
* no knowledge of the communication infrastructure is needed.
*/
class UAS : public UASInterface
{
Q_OBJECT
public:
UAS(MAVLinkProtocol* protocol, int id = 0);
~UAS();
enum BatteryType
{
NICD = 0,
NIMH = 1,
LIION = 2,
LIPOLY = 3,
LIFE = 4,
AGZN = 5
}; ///< The type of battery used
static const int lipoFull = 4.2f; ///< 100% charged voltage
static const int lipoEmpty = 3.5f; ///< Discharged voltage
/* MANAGEMENT */
/** @brief The name of the robot */
QString getUASName(void) const;
/** @brief Get short state */
const QString& getShortState() const;
/** @brief Get short mode */
const QString& getShortMode() const;
/** @brief Translate from mode id to text */
static QString getShortModeTextFor(int id);
/** @brief Translate from mode id to audio text */
static QString getAudioModeTextFor(int id);
/** @brief Get the unique system id */
int getUASID() const;
/** @brief Get the airframe */
int getAirframe() const
{
return airframe;
}
/** @brief Get the components */
QMap<int, QString> getComponents();
/** @brief The time interval the robot is switched on */
quint64 getUptime() const;
/** @brief Get the status flag for the communication */
int getCommunicationStatus() const;
/** @brief Add one measurement and get low-passed voltage */
float filterVoltage(float value) const;
/** @brief Get the links associated with this robot */
QList<LinkInterface*>* getLinks();
double getLocalX() const
{
return localX;
}
double getLocalY() const
{
return localY;
}
double getLocalZ() const
{
return localZ;
}
double getLatitude() const
{
return latitude;
}
double getLongitude() const
{
return longitude;
}
double getAltitude() const
{
return altitude;
}
virtual bool localPositionKnown() const
{
return isLocalPositionKnown;
}
virtual bool globalPositionKnown() const
{
return isGlobalPositionKnown;
}
double getRoll() const
{
return roll;
}
double getPitch() const
{
return pitch;
}
double getYaw() const
{
return yaw;
}
bool getSelected() const;
QVector3D getNedPosGlobalOffset() const
{
return nedPosGlobalOffset;
}
QVector3D getNedAttGlobalOffset() const
{
return nedAttGlobalOffset;
}
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
px::GLOverlay getOverlay()
{
QMutexLocker locker(&overlayMutex);
return overlay;
}
px::GLOverlay getOverlay(qreal& receivedTimestamp)
{
receivedTimestamp = receivedOverlayTimestamp;
QMutexLocker locker(&overlayMutex);
return overlay;
}
px::ObstacleList getObstacleList() {
QMutexLocker locker(&obstacleListMutex);
return obstacleList;
}
px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
receivedTimestamp = receivedObstacleListTimestamp;
QMutexLocker locker(&obstacleListMutex);
return obstacleList;
}
px::Path getPath() {
QMutexLocker locker(&pathMutex);
return path;
}
px::Path getPath(qreal& receivedTimestamp) {
receivedTimestamp = receivedPathTimestamp;
QMutexLocker locker(&pathMutex);
return path;
}
px::PointCloudXYZRGB getPointCloud() {
QMutexLocker locker(&pointCloudMutex);
return pointCloud;
}
px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
receivedTimestamp = receivedPointCloudTimestamp;
QMutexLocker locker(&pointCloudMutex);
return pointCloud;
}
px::RGBDImage getRGBDImage() {
QMutexLocker locker(&rgbdImageMutex);
return rgbdImage;
}
px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
receivedTimestamp = receivedRGBDImageTimestamp;
QMutexLocker locker(&rgbdImageMutex);
return rgbdImage;
}
#endif
friend class UASWaypointManager;
protected: //COMMENTS FOR TEST UNIT
int uasId; ///< Unique system ID
unsigned char type; ///< UAS type (from type enum)
quint64 startTime; ///< The time the UAS was switched on
CommStatus commStatus; ///< Communication status
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
int autopilot; ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
BatteryType batteryType; ///< The battery type
int cells; ///< Number of cells
UASWaypointManager waypointManager;
QList<double> actuatorValues;
QList<QString> actuatorNames;
QList<double> motorValues;
QList<QString> motorNames;
QMap<int, QString> components; ///< IDs and names of all detected onboard components
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators, in Newtons
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
// Battery stats
float fullVoltage; ///< Voltage of the fully charged battery (100%)
float emptyVoltage; ///< Voltage of the empty battery (0%)
float startVoltage; ///< Voltage at system start
float tickVoltage; ///< Voltage where 0.1 V ticks are told
float lastTickVoltageValue; ///< The last voltage where a tick was announced
float tickLowpassVoltage; ///< Lowpass-filtered voltage for the tick announcement
float warnVoltage; ///< Voltage where QGC will start to warn about low battery
float warnLevelPercent; ///< Warning level, in percent
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
int timeRemaining; ///< Remaining time calculated based on previous and current
uint8_t mode; ///< The current mode of the MAV
uint32_t custom_mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
uint32_t navMode; ///< The current navigation mode of the MAV
quint64 onboardTimeOffset;
bool controlRollManual; ///< status flag, true if roll is controlled manually
bool controlPitchManual; ///< status flag, true if pitch is controlled manually
bool controlYawManual; ///< status flag, true if yaw is controlled manually
bool controlThrustManual; ///< status flag, true if thrust is controlled manually
double manualRollAngle; ///< Roll angle set by human pilot (radians)
double manualPitchAngle; ///< Pitch angle set by human pilot (radians)
double manualYawAngle; ///< Yaw angle set by human pilot (radians)
double manualThrust; ///< Thrust set by human pilot (radians)
float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
bool lowBattAlarm; ///< Switch if battery is low
bool positionLock; ///< Status if position information is available or not
double localX;
double localY;
double localZ;
double latitude;
double longitude;
double altitude;
double speedX; ///< True speed in X axis
double speedY; ///< True speed in Y axis
double speedZ; ///< True speed in Z axis
double roll;
double pitch;
double yaw;
quint64 lastHeartbeat; ///< Time of the last heartbeat message
QTimer* statusTimeout; ///< Timer for various status timeouts
int imageSize; ///< Image size being transmitted (bytes)
int imagePackets; ///< Number of data packets being sent for this image
int imagePacketsArrived; ///< Number of data packets recieved
int imagePayload; ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
int imageQuality; ///< Quality of the transmitted image (percentage)
int imageType; ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
int imageWidth; ///< Width of the image stream
int imageHeight; ///< Width of the image stream
QByteArray imageRecBuffer; ///< Buffer for the incoming bytestream
QImage image; ///< Image data of last completely transmitted image
quint64 imageStart;
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
px::GLOverlay overlay;
QMutex overlayMutex;
qreal receivedOverlayTimestamp;
px::ObstacleList obstacleList;
QMutex obstacleListMutex;
qreal receivedObstacleListTimestamp;
px::Path path;
QMutex pathMutex;
qreal receivedPathTimestamp;
px::PointCloudXYZRGB pointCloud;
QMutex pointCloudMutex;
qreal receivedPointCloudTimestamp;
px::RGBDImage rgbdImage;
QMutex rgbdImageMutex;
qreal receivedRGBDImageTimestamp;
#endif
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
int airframe; ///< The airframe type
bool attitudeKnown; ///< True if attitude was received, false else
QGCUASParamManager* paramManager; ///< Parameter manager class
QString shortStateText; ///< Short textual state description
QString shortModeText; ///< Short textual mode description
bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
quint64 lastAttitude; ///< Timestamp of last attitude measurement
QGCHilLink* simulation; ///< Hardware in the loop simulation link
bool isLocalPositionKnown; ///< If the local position has been received for this MAV
bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
bool systemIsArmed; ///< If the system is armed
QVector3D nedPosGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
QVector3D nedAttGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
public:
/** @brief Set the current battery type */
void setBattery(BatteryType type, int cells);
/** @brief Estimate how much flight time is remaining */
int calculateTimeRemaining();
/** @brief Get the current charge level */
float getChargeLevel();
/** @brief Get the human-readable status message for this code */
void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
/** @brief Get the human-readable navigation mode translation for this mode */
QString getNavModeText(int mode);
/** @brief Check if vehicle is in autonomous mode */
bool isAuto();
/** @brief Check if vehicle is armed */
bool isArmed() const { return systemIsArmed; }
UASWaypointManager* getWaypointManager() {
return &waypointManager;
}
/** @brief Get reference to the param manager **/
QGCUASParamManager* getParamManager() const {
return paramManager;
}
/** @brief Get the HIL simulation */
QGCHilLink* getHILSimulation() const {
return simulation;
}
// TODO Will be removed
/** @brief Set reference to the param manager **/
void setParamManager(QGCUASParamManager* manager) {
paramManager = manager;
}
int getSystemType();
QString getSystemTypeName()
{
switch(type)
{
case MAV_TYPE_GENERIC:
return "GENERIC";
break;
case MAV_TYPE_FIXED_WING:
return "FIXED_WING";
break;
case MAV_TYPE_QUADROTOR:
return "QUADROTOR";
break;
case MAV_TYPE_COAXIAL:
return "COAXIAL";
break;
case MAV_TYPE_HELICOPTER:
return "HELICOPTER";
break;
case MAV_TYPE_ANTENNA_TRACKER:
return "ANTENNA_TRACKER";
break;
case MAV_TYPE_GCS:
return "GCS";
break;
case MAV_TYPE_AIRSHIP:
return "AIRSHIP";
break;
case MAV_TYPE_FREE_BALLOON:
return "FREE_BALLOON";
break;
case MAV_TYPE_ROCKET:
return "ROCKET";
break;
case MAV_TYPE_GROUND_ROVER:
return "GROUND_ROVER";
break;
case MAV_TYPE_SURFACE_BOAT:
return "BOAT";
break;
case MAV_TYPE_SUBMARINE:
return "SUBMARINE";
break;
case MAV_TYPE_HEXAROTOR:
return "HEXAROTOR";
break;
case MAV_TYPE_OCTOROTOR:
return "OCTOROTOR";
break;
case MAV_TYPE_TRICOPTER:
return "TRICOPTER";
break;
case MAV_TYPE_FLAPPING_WING:
return "FLAPPING_WING";
break;
default:
return "";
break;
}
}
QImage getImage();
void requestImage();
int getAutopilotType(){
return autopilot;
}
QString getAutopilotTypeName()
{
switch (autopilot)
{
case MAV_AUTOPILOT_GENERIC:
return "GENERIC";
break;
case MAV_AUTOPILOT_PIXHAWK:
return "PIXHAWK";
break;
case MAV_AUTOPILOT_SLUGS:
return "SLUGS";
break;
case MAV_AUTOPILOT_ARDUPILOTMEGA:
return "ARDUPILOTMEGA";
break;
case MAV_AUTOPILOT_OPENPILOT:
return "OPENPILOT";
break;
case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
return "GENERIC_WAYPOINTS_ONLY";
break;
case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
return "GENERIC_MISSION_NAVIGATION_ONLY";
break;
case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
return "GENERIC_MISSION_FULL";
break;
case MAV_AUTOPILOT_INVALID:
return "NO AP";
break;
case MAV_AUTOPILOT_PPZ:
return "PPZ";
break;
case MAV_AUTOPILOT_UDB:
return "UDB";
break;
case MAV_AUTOPILOT_FP:
return "FP";
break;
case MAV_AUTOPILOT_PX4:
return "PX4";
break;
default:
return "";
break;
}
}
public slots:
/** @brief Set the autopilot type */
void setAutopilotType(int apType)
{
autopilot = apType;
emit systemSpecsChanged(uasId);
}
/** @brief Set the type of airframe */
void setSystemType(int systemType);
/** @brief Set the specific airframe type */
void setAirframe(int airframe)
{
if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
{
this->airframe = airframe;
emit systemSpecsChanged(uasId);
}
}
/** @brief Set a new name **/
void setUASName(const QString& name);
/** @brief Executes a command **/
void executeCommand(MAV_CMD command);
/** @brief Executes a command with 7 params */
void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
/** @brief Set the current battery type and voltages */
void setBatterySpecs(const QString& specs);
/** @brief Get the current battery type and specs */
QString getBatterySpecs();
/** @brief Launches the system **/
void launch();
/** @brief Write this waypoint to the list of waypoints */
//void setWaypoint(Waypoint* wp); FIXME tbd
/** @brief Set currently active waypoint */
//void setWaypointActive(int id); FIXME tbd
/** @brief Order the robot to return home **/
void home();
/** @brief Order the robot to land **/
void land();
void halt();
void go();
/** @brief Enable / disable HIL */
void enableHilFlightGear(bool enable, QString options);
void enableHilXPlane(bool enable);
/** @brief Send the full HIL state to the MAV */
void sendHilState( uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
/** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
void startHil();
/** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
void stopHil();
/** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
void emergencySTOP();
/** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
bool emergencyKILL();
/** @brief Shut the system cleanly down. Will shut down any onboard computers **/
void shutdown();
/** @brief Set the target position for the robot to navigate to. */
void setTargetPosition(float x, float y, float z, float yaw);
void startLowBattAlarm();
void stopLowBattAlarm();
/** @brief Arm system */
void armSystem();
/** @brief Disable the motors */
void disarmSystem();
/** @brief Set the values for the manual control of the vehicle */
void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
/** @brief Receive a button pressed event from an input device, e.g. joystick */
void receiveButton(int buttonIndex);
/** @brief Set the values for the 6dof manual control of the vehicle */
void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
/** @brief Add a link associated with this robot */
void addLink(LinkInterface* link);
/** @brief Remove a link associated with this robot */
void removeLink(QObject* object);
/** @brief Receive a message from one of the communication links. */
virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
#ifdef QGC_PROTOBUF_ENABLED
/** @brief Receive a message from one of the communication links. */
virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
#endif
/** @brief Send a message over this link (to this or to all UAS on this link) */
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Send a message over all links this UAS can be reached with (!= all links) */
void sendMessage(mavlink_message_t message);
/** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
void forwardMessage(mavlink_message_t message);
/** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
void setSelected();
/** @brief Set current mode of operation, e.g. auto or manual */
void setMode(int mode);
/** @brief Request all parameters */
void requestParameters();
/** @brief Request a single parameter by name */
void requestParameter(int component, const QString& parameter);
/** @brief Request a single parameter by index */
void requestParameter(int component, int id);
/** @brief Set a system parameter */
void setParameter(const int component, const QString& id, const QVariant& value);
/** @brief Write parameters to permanent storage */
void writeParametersToStorage();
/** @brief Read parameters from permanent storage */
void readParametersFromStorage();
/** @brief Get the names of all parameters */
QList<QString> getParameterNames(int component);
/** @brief Get the ids of all components */
QList<int> getComponentIds();
void enableAllDataTransmission(int rate);
void enableRawSensorDataTransmission(int rate);
void enableExtendedSystemStatusTransmission(int rate);
void enableRCChannelDataTransmission(int rate);
void enableRawControllerDataTransmission(int rate);
//void enableRawSensorFusionTransmission(int rate);
void enablePositionTransmission(int rate);
void enableExtra1Transmission(int rate);
void enableExtra2Transmission(int rate);
void enableExtra3Transmission(int rate);
/** @brief Update the system state */
void updateState();
/** @brief Set world frame origin at current GPS position */
void setLocalOriginAtCurrentGPSPosition();
/** @brief Set world frame origin / home position at this GPS position */
void setHomePosition(double lat, double lon, double alt);
/** @brief Set local position setpoint */
void setLocalPositionSetpoint(float x, float y, float z, float yaw);
/** @brief Add an offset in body frame to the setpoint */
void setLocalPositionOffset(float x, float y, float z, float yaw);
void startRadioControlCalibration();
void startMagnetometerCalibration();
void startGyroscopeCalibration();
void startPressureCalibration();
void startDataRecording();
void stopDataRecording();
void deleteSettings();
signals:
/** @brief The main/battery voltage has changed/was updated */
//void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
/** @brief An actuator value has changed */
//void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
/** @brief An actuator value has changed */
void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
/** @brief The system load (MCU/CPU usage) changed */
void loadChanged(UASInterface* uas, double load);
/** @brief Propagate a heartbeat received from the system */
//void heartbeat(UASInterface* uas); // Defined in UASInterface already
void imageStarted(quint64 timestamp);
/** @brief A new camera image has arrived */
void imageReady(UASInterface* uas);
/** @brief HIL controls have changed */
void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
/** @brief HIL actuator outputs have changed */
void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
protected:
/** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
quint64 getUnixTime(quint64 time=0);
/** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
quint64 getUnixTimeFromMs(quint64 time);
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
int componentID[256];
bool componentMulti[256];
bool connectionLost; ///< Flag indicates a timed out connection
quint64 connectionLossTime; ///< Time the connection was interrupted
quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
quint64 lastNonNullTime; ///< The last timestamp from the MAV that was not null
unsigned int onboardTimeOffsetInvalidCount; ///< Count when the offboard time offset estimation seemed wrong
bool hilEnabled; ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
protected slots:
/** @brief Write settings to disk */
void writeSettings();
/** @brief Read settings from disk */
void readSettings();
// // MESSAGE RECEPTION
// /** @brief Receive a named value message */
// void receiveMessageNamedValue(const mavlink_message_t& message);
private:
// unsigned int mode; ///< The current mode of the MAV
};
#endif // _UAS_H_
src/ui/MainWindow.cc
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src/ui/MainWindow.h
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/*=====================================================================
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 Definition of class MainWindow
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_
#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
#include <QSettings>
#include <qlist.h>
#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
#include "Linecharts.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "DebugConsole.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
#include "WatchdogControl.h"
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#include "opmapcontrol.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
#include "QGCToolBar.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
#include "SlugsHilSim.h"
#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCVehicleConfig.h"
#include "MAVLinkDecoder.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen;
/**
* @brief Main Application Window
*
**/
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
static MainWindow* instance(QSplashScreen* screen = 0);
~MainWindow();
enum QGC_MAINWINDOW_STYLE
{
QGC_MAINWINDOW_STYLE_NATIVE,
QGC_MAINWINDOW_STYLE_INDOOR,
QGC_MAINWINDOW_STYLE_OUTDOOR
};
/** @brief Get current visual style */
int getStyle()
{
return currentStyle;
}
/** @brief Get auto link reconnect setting */
bool autoReconnectEnabled()
{
return autoReconnect;
}
/** @brief Get low power mode setting */
bool lowPowerModeEnabled()
{
return lowPowerMode;
}
QList<QAction*> listLinkMenuActions(void);
public slots:
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status, int timeout);
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status);
/** @brief Shows a critical message as popup or as widget */
void showCriticalMessage(const QString& title, const QString& message);
/** @brief Shows an info message as popup or as widget */
void showInfoMessage(const QString& title, const QString& message);
/** @brief Show the application settings */
void showSettings();
/** @brief Add a communication link */
void addLink();
void addLink(LinkInterface* link);
void configure();
/** @brief Set the currently controlled UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Add a new UAS */
void UASCreated(UASInterface* uas);
/** Delete an UAS */
void UASDeleted(UASInterface* uas);
/** @brief Update system specs of a UAS */
void UASSpecsChanged(int uas);
void startVideoCapture();
void stopVideoCapture();
void saveScreen();
/** @brief Load default view when no MAV is connected */
void loadUnconnectedView();
/** @brief Load view for pilot */
void loadPilotView();
/** @brief Load view for engineer */
void loadEngineerView();
/** @brief Load view for operator */
void loadOperatorView();
/** @brief Load MAVLink XML generator view */
void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Show the online help for users */
void showHelp();
/** @brief Show the authors / credits */
void showCredits();
/** @brief Show the project roadmap */
void showRoadMap();
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
/** @brief Let the user select the CSS style sheet */
void selectStylesheet();
/** @brief Automatically reconnect last link */
void enableAutoReconnect(bool enabled);
/** @brief Save power by reducing update rates */
void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
/** @brief Switch to native application style */
void loadNativeStyle();
/** @brief Switch to indoor mission style */
void loadIndoorStyle();
/** @brief Switch to outdoor mission style */
void loadOutdoorStyle();
/** @brief Load a specific style */
void loadStyle(QGC_MAINWINDOW_STYLE style);
/** @brief Add a custom tool widget */
void createCustomWidget();
/** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
void loadCustomWidget();
/** @brief Load a custom tool widget from a file */
void loadCustomWidget(const QString& fileName, bool singleinstance=false);
/** @brief Load custom widgets from default file */
void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
/** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
void showHILConfigurationWidget(UASInterface *uas);
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/**
* @brief Shows a Docked Widget based on the action sender
*
* This slot is written to be used in conjunction with the addTool() function
* It shows the QDockedWidget based on the action sender
*
*/
void showTool(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
*
* This slot is written to be used in conjunction with the addCentralWidget() function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
/** @brief Update the window name */
void configureWindowName();
signals:
void initStatusChanged(const QString& message);
public:
QGCMAVLinkLogPlayer* getLogPlayer()
{
return logPlayer;
}
MAVLinkProtocol* getMAVLink()
{
return mavlink;
}
protected:
MainWindow(QWidget *parent = 0);
typedef enum _VIEW_SECTIONS
{
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_FIRMWAREUPDATE,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
*
* This function does all the hosekeeping to have a QDockedWidget added to the
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
* @param widget The QDockWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Adds an already instantiated QWidget to the center stack
*
* This function does all the hosekeeping to have a QWidget added to the tools menu
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item. This is used for all the central widgets (those in
* the center stack.
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
*/
void addCentralWidget(QWidget* widget, const QString& title);
/** @brief Catch window resize events */
void resizeEvent(QResizeEvent * event);
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
QGC_MAINWINDOW_STYLE currentStyle;
bool aboutToCloseFlag;
bool changingViewsFlag;
void storeViewState();
void loadViewState();
void buildCustomWidget();
void buildCommonWidgets();
void connectCommonWidgets();
void connectCommonActions();
void connectSenseSoarActions();
void loadSettings();
void storeSettings();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
MAVLinkSimulationLink* simulationLink;
LinkInterface* udpLink;
QSettings settings;
QStackedWidget *centerStack;
QActionGroup* centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget;
QPointer<QGCVehicleConfig> configWidget;
QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
#ifdef QGC_OSG_ENABLED
QPointer<QWidget> _3DWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
QPointer<QDockWidget> infoDockWidget;
QPointer<QDockWidget> cameraDockWidget;
QPointer<QDockWidget> listDockWidget;
QPointer<QDockWidget> waypointsDockWidget;
QPointer<QDockWidget> detectionDockWidget;
QPointer<QDockWidget> debugConsoleDockWidget;
QPointer<QDockWidget> parametersDockWidget;
QPointer<QDockWidget> headDown1DockWidget;
QPointer<QDockWidget> headDown2DockWidget;
QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> video1DockWidget;
QPointer<QDockWidget> video2DockWidget;
QPointer<QDockWidget> rgbd1DockWidget;
QPointer<QDockWidget> rgbd2DockWidget;
QPointer<QDockWidget> logPlayerDockWidget;
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsHilSimWidget;
QPointer<QDockWidget> slugsCamControlWidget;
QPointer<QGCToolBar> toolBar;
QPointer<QDockWidget> mavlinkInspectorWidget;
QPointer<MAVLinkDecoder> mavlinkDecoder;
QPointer<QDockWidget> mavlinkSenderWidget;
QGCMAVLinkLogPlayer* logPlayer;
// Popup widgets
JoystickWidget* joystickWidget;
JoystickInput* joystick;
/** User interface actions **/
QAction* connectUASAct;
QAction* disconnectUASAct;
QAction* startUASAct;
QAction* returnUASAct;
QAction* stopUASAct;
QAction* killUASAct;
QAction* simulateUASAct;
LogCompressor* comp;
QString screenFileName;
QTimer* videoTimer;
QString styleFileName;
bool autoReconnect;
Qt::WindowStates windowStateVal;
bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
QGCFlightGearLink* fgLink;
QTimer windowNameUpdateTimer;
private:
Ui::MainWindow ui;
QString getWindowStateKey();
QString getWindowGeometryKey();
};
#endif /* _MAINWINDOW_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 Definition of class MainWindow
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_
#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
#include <QSettings>
#include <qlist.h>
#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
#include "Linecharts.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "input/Mouse6dofInput.h"
#include "DebugConsole.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
#include "WatchdogControl.h"
#include "HSIDisplay.h"
#include "QGCDataPlot2D.h"
#include "QGCRemoteControlView.h"
#include "opmapcontrol.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
#include "QGCToolBar.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"
#include "SlugsHilSim.h"
#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCVehicleConfig.h"
#include "MAVLinkDecoder.h"
class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen;
/**
* @brief Main Application Window
*
**/
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
static MainWindow* instance(QSplashScreen* screen = 0);
~MainWindow();
enum QGC_MAINWINDOW_STYLE
{
QGC_MAINWINDOW_STYLE_NATIVE,
QGC_MAINWINDOW_STYLE_INDOOR,
QGC_MAINWINDOW_STYLE_OUTDOOR
};
/** @brief Get current visual style */
int getStyle()
{
return currentStyle;
}
/** @brief Get auto link reconnect setting */
bool autoReconnectEnabled()
{
return autoReconnect;
}
/** @brief Get low power mode setting */
bool lowPowerModeEnabled()
{
return lowPowerMode;
}
QList<QAction*> listLinkMenuActions(void);
public slots:
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status, int timeout);
/** @brief Shows a status message on the bottom status bar */
void showStatusMessage(const QString& status);
/** @brief Shows a critical message as popup or as widget */
void showCriticalMessage(const QString& title, const QString& message);
/** @brief Shows an info message as popup or as widget */
void showInfoMessage(const QString& title, const QString& message);
/** @brief Show the application settings */
void showSettings();
/** @brief Add a communication link */
void addLink();
void addLink(LinkInterface* link);
void configure();
/** @brief Set the currently controlled UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Add a new UAS */
void UASCreated(UASInterface* uas);
/** Delete an UAS */
void UASDeleted(UASInterface* uas);
/** @brief Update system specs of a UAS */
void UASSpecsChanged(int uas);
void startVideoCapture();
void stopVideoCapture();
void saveScreen();
/** @brief Load default view when no MAV is connected */
void loadUnconnectedView();
/** @brief Load view for pilot */
void loadPilotView();
/** @brief Load view for engineer */
void loadEngineerView();
/** @brief Load view for operator */
void loadOperatorView();
/** @brief Load MAVLink XML generator view */
void loadMAVLinkView();
/** @brief Load firmware update view */
void loadFirmwareUpdateView();
/** @brief Show the online help for users */
void showHelp();
/** @brief Show the authors / credits */
void showCredits();
/** @brief Show the project roadmap */
void showRoadMap();
/** @brief Reload the CSS style sheet */
void reloadStylesheet();
/** @brief Let the user select the CSS style sheet */
void selectStylesheet();
/** @brief Automatically reconnect last link */
void enableAutoReconnect(bool enabled);
/** @brief Save power by reducing update rates */
void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
/** @brief Switch to native application style */
void loadNativeStyle();
/** @brief Switch to indoor mission style */
void loadIndoorStyle();
/** @brief Switch to outdoor mission style */
void loadOutdoorStyle();
/** @brief Load a specific style */
void loadStyle(QGC_MAINWINDOW_STYLE style);
/** @brief Add a custom tool widget */
void createCustomWidget();
/** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
void loadCustomWidget();
/** @brief Load a custom tool widget from a file */
void loadCustomWidget(const QString& fileName, bool singleinstance=false);
/** @brief Load custom widgets from default file */
void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
/** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
void showHILConfigurationWidget(UASInterface *uas);
void closeEvent(QCloseEvent* event);
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/**
* @brief Shows a Docked Widget based on the action sender
*
* This slot is written to be used in conjunction with the addTool() function
* It shows the QDockedWidget based on the action sender
*
*/
void showTool(bool visible);
/**
* @brief Shows a Widget from the center stack based on the action sender
*
* This slot is written to be used in conjunction with the addCentralWidget() function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
/** @brief Update the window name */
void configureWindowName();
signals:
void initStatusChanged(const QString& message);
public:
QGCMAVLinkLogPlayer* getLogPlayer()
{
return logPlayer;
}
MAVLinkProtocol* getMAVLink()
{
return mavlink;
}
protected:
MainWindow(QWidget *parent = 0);
typedef enum _VIEW_SECTIONS
{
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
VIEW_FIRMWAREUPDATE,
VIEW_UNCONNECTED, ///< View in unconnected mode, when no UAS is available
VIEW_FULL ///< All widgets shown at once
} VIEW_SECTIONS;
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
*
* This function does all the hosekeeping to have a QDockedWidget added to the
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
* @param widget The QDockWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
/**
* @brief Adds an already instantiated QWidget to the center stack
*
* This function does all the hosekeeping to have a QWidget added to the tools menu
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item. This is used for all the central widgets (those in
* the center stack.
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
*/
void addCentralWidget(QWidget* widget, const QString& title);
/** @brief Catch window resize events */
void resizeEvent(QResizeEvent * event);
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
QGC_MAINWINDOW_STYLE currentStyle;
bool aboutToCloseFlag;
bool changingViewsFlag;
void storeViewState();
void loadViewState();
void buildCustomWidget();
void buildCommonWidgets();
void connectCommonWidgets();
void connectCommonActions();
void connectSenseSoarActions();
void loadSettings();
void storeSettings();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
MAVLinkSimulationLink* simulationLink;
LinkInterface* udpLink;
QSettings settings;
QStackedWidget *centerStack;
QActionGroup* centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget;
QPointer<QGCVehicleConfig> configWidget;
QPointer<QGCMapTool> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget;
#ifdef QGC_OSG_ENABLED
QPointer<QWidget> _3DWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
// Dock widgets
QPointer<QDockWidget> controlDockWidget;
QPointer<QDockWidget> controlParameterWidget;
QPointer<QDockWidget> infoDockWidget;
QPointer<QDockWidget> cameraDockWidget;
QPointer<QDockWidget> listDockWidget;
QPointer<QDockWidget> waypointsDockWidget;
QPointer<QDockWidget> detectionDockWidget;
QPointer<QDockWidget> debugConsoleDockWidget;
QPointer<QDockWidget> parametersDockWidget;
QPointer<QDockWidget> headDown1DockWidget;
QPointer<QDockWidget> headDown2DockWidget;
QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> video1DockWidget;
QPointer<QDockWidget> video2DockWidget;
QPointer<QDockWidget> rgbd1DockWidget;
QPointer<QDockWidget> rgbd2DockWidget;
QPointer<QDockWidget> logPlayerDockWidget;
QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsHilSimWidget;
QPointer<QDockWidget> slugsCamControlWidget;
QPointer<QGCToolBar> toolBar;
QPointer<QDockWidget> mavlinkInspectorWidget;
QPointer<MAVLinkDecoder> mavlinkDecoder;
QPointer<QDockWidget> mavlinkSenderWidget;
QGCMAVLinkLogPlayer* logPlayer;
// Popup widgets
JoystickWidget* joystickWidget;
JoystickInput* joystick;
#ifdef MOUSE_ENABLED_WIN
/** 3d Mouse support (WIN only) **/
Mouse3DInput* mouseInput; ///< 3dConnexion 3dMouse SDK
Mouse6dofInput* mouse; ///< Implementation for 3dMouse input
#endif // MOUSE_ENABLED_WIN
/** User interface actions **/
QAction* connectUASAct;
QAction* disconnectUASAct;
QAction* startUASAct;
QAction* returnUASAct;
QAction* stopUASAct;
QAction* killUASAct;
QAction* simulateUASAct;
LogCompressor* comp;
QString screenFileName;
QTimer* videoTimer;
QString styleFileName;
bool autoReconnect;
Qt::WindowStates windowStateVal;
bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
QGCFlightGearLink* fgLink;
QTimer windowNameUpdateTimer;
private:
Ui::MainWindow ui;
QString getWindowStateKey();
QString getWindowGeometryKey();
};
#endif /* _MAINWINDOW_H_ */
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