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Commit f0d81866 authored by pixhawk's avatar pixhawk
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Pushed implementation of parameter settings, almost done. Added many new... 

Pushed implementation of parameter settings, almost done. Added many new MAVLink messages needed for interaction with IMU
parent 460aef7a
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Showing with 464 additions and 65 deletions
qgroundcontrol.pro
View file @ f0d81866
# Include QMapControl map library
# prefer version from external directory /
# from http://github.com/pixhawk/qmapcontrol/
# over bundled version in lib directory
# Version from GIT repository is preferred
#include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
include(lib/QMapControl/QMapControl.pri)
message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
#}
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
include(lib/QMapControl/QMapControl.pri)
message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
# }
# Include general settings for MAVGround
# necessary as last include to override any non-acceptable settings
# done by the plugins above
include(qgroundcontrol.pri)
# QWT plot and QExtSerial depend on paths set by qgroundcontrol.pri
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
DEPENDPATH += . \
lib/QMapControl \
lib/QMapControl/src
......@@ -64,7 +59,8 @@ INCLUDEPATH += src \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink
src/ui/mavlink \
src/ui/param
HEADERS += src/MG.h \
src/Core.h \
src/uas/UASInterface.h \
......@@ -114,7 +110,9 @@ HEADERS += src/MG.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/GAudioOutput.h \
src/LogCompressor.h
src/LogCompressor.h \
src/ui/param/ParamTreeItem.h \
src/ui/param/ParamTreeModel.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
......@@ -159,5 +157,7 @@ SOURCES += src/main.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/GAudioOutput.cc \
src/LogCompressor.cc
src/LogCompressor.cc \
src/ui/param/ParamTreeItem.cc \
src/ui/param/ParamTreeModel.cc
RESOURCES = mavground.qrc
src/ui/HDDisplay.cc
View file @ f0d81866
......@@ -78,8 +78,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
this->setMinimumWidth(100);
// Refresh timer
refreshTimer->setInterval(100);
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
refreshTimer->setInterval(150); // 200 Hz/5 ms
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(triggerUpdate()));
//connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintGL()));
fontDatabase = QFontDatabase();
......@@ -101,11 +101,18 @@ HDDisplay::~HDDisplay()
delete m_ui;
}
void HDDisplay::triggerUpdate()
{
// Only repaint the regions necessary
QRect r = geometry();
update(r);
}
void HDDisplay::paintEvent(QPaintEvent * event)
{
//paintGL();
static quint64 interval = 0;
//qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
interval = MG::TIME::getGroundTimeNow();
paintDisplay();
}
......
src/ui/HDDisplay.h
View file @ f0d81866
......@@ -59,9 +59,10 @@ public slots:
void stop();
void setActiveUAS(UASInterface* uas);
protected slots:
protected slots:
void paintGL();
void paintDisplay();
void triggerUpdate();
protected:
void changeEvent(QEvent *e);
......
src/ui/MainWindow.cc
View file @ f0d81866
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Implementation of main application window
* @brief Implementation of class MainWindow
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
......@@ -208,8 +208,9 @@ void MainWindow::startVideoCapture()
.arg(format));
delete videoTimer;
videoTimer = new QTimer(this);
videoTimer->setInterval(40);
connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
//videoTimer->setInterval(40);
//connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
//videoTimer->stop();
}
void MainWindow::stopVideoCapture()
......@@ -391,7 +392,6 @@ void MainWindow::loadPilotView()
headDown1->start();
headDown2->start();
this->show();
}
......
src/ui/ParameterInterface.cc
View file @ f0d81866
#include <QTreeWidget>
#include "ParameterInterface.h"
#include "ParamTreeModel.h"
#include "UASManager.h"
#include "ui_ParameterInterface.h"
......@@ -8,6 +11,19 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
{
m_ui->setupUi(this);
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
// FIXME Testing TODO
QString testData = "IMU\n ROLL_K_P\t0.527\n ROLL_K_I\t1.255\n PITCH_K_P\t0.621\n PITCH_K_I\t2.5545\n";
ParamTreeModel* model = new ParamTreeModel(testData);
QTreeView* tree = new QTreeView();
tree->setModel(model);
QStackedWidget* stack = m_ui->stackedWidget;
stack->addWidget(tree);
stack->setCurrentWidget(tree);
}
ParameterInterface::~ParameterInterface()
......
src/ui/ParameterInterface.ui
View file @ f0d81866
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>349</width>
<width>350</width>
<height>545</height>
</rect>
</property>
......@@ -17,7 +17,7 @@
<item row="1" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Extended Output</string>
<string>Activate Extended Output</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="margin">
......@@ -37,13 +37,27 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox">
<property name="text">
<string>Send RC-values</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_2">
<property name="text">
<string>Send raw controller outputs</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="2" column="0">
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>Calibration</string>
<string>Calibration Wizards</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
......@@ -52,7 +66,7 @@
<item row="0" column="0">
<widget class="QPushButton" name="gyroCalButton">
<property name="text">
<string>Start gyro calibration</string>
<string>Start dynamic calibration</string>
</property>
</widget>
</item>
......@@ -66,7 +80,7 @@
<item row="1" column="0">
<widget class="QPushButton" name="magCalButton">
<property name="text">
<string>Start mag. calibration</string>
<string>Start static calibration</string>
</property>
</widget>
</item>
......@@ -77,20 +91,6 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="accCalButton">
<property name="text">
<string>Start ACC calibration</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="accCalLabel">
<property name="text">
<string>Date unknown</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
......@@ -113,49 +113,35 @@
<item row="0" column="2" colspan="2">
<widget class="QComboBox" name="vehicleComboBox"/>
</item>
<item row="1" column="0" colspan="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Component</string>
</property>
</widget>
</item>
<item row="1" column="2" colspan="2">
<widget class="QComboBox" name="componentComboBox"/>
</item>
<item row="2" column="0" colspan="4">
<widget class="QStackedWidget" name="stackedWidget">
<widget class="QWidget" name="page">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QListWidget" name="listWidget"/>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_2"/>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QPushButton" name="readParamsButton">
<property name="text">
<string>Read</string>
</property>
</widget>
</item>
<item row="3" column="1" colspan="2">
<item row="2" column="1" colspan="2">
<widget class="QPushButton" name="writeParamsButton">
<property name="text">
<string>Write permanently</string>
</property>
</widget>
</item>
<item row="3" column="3">
<item row="2" column="3">
<widget class="QPushButton" name="backupParamsButton">
<property name="text">
<string>Backup</string>
</property>
</widget>
</item>
<item row="1" column="0" colspan="4">
<widget class="QStackedWidget" name="stackedWidget">
<widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout"/>
</widget>
<widget class="QWidget" name="page_2"/>
</widget>
</item>
</layout>
</widget>
</item>
......
src/ui/param/ParamTreeItem.cc 0 → 100644
View file @ f0d81866
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class MainWindow
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QStringList>
#include "ParamTreeItem.h"
ParamTreeItem::ParamTreeItem(const QList<QVariant> &data, ParamTreeItem *parent)
{
parentItem = parent;
itemData = data;
}
ParamTreeItem::~ParamTreeItem()
{
qDeleteAll(childItems);
}
void ParamTreeItem::appendChild(ParamTreeItem *item)
{
childItems.append(item);
}
ParamTreeItem *ParamTreeItem::child(int row)
{
return childItems.value(row);
}
int ParamTreeItem::childCount() const
{
return childItems.count();
}
int ParamTreeItem::columnCount() const
{
return itemData.count();
}
QVariant ParamTreeItem::data(int column) const
{
return itemData.value(column);
}
ParamTreeItem *ParamTreeItem::parent()
{
return parentItem;
}
int ParamTreeItem::row() const
{
if (parentItem)
return parentItem->childItems.indexOf(const_cast<ParamTreeItem*>(this));
return 0;
}
src/ui/param/ParamTreeItem.h 0 → 100644
View file @ f0d81866
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of class ParamTreeItem
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef PARAMTREEITEM_H
#define PARAMTREEITEM_H
#include <QList>
#include <QVariant>
/**
* @brief One item in the onboard parameter tree
*/
class ParamTreeItem
{
public:
ParamTreeItem(const QList<QVariant> &data, ParamTreeItem *parent = 0);
~ParamTreeItem();
void appendChild(ParamTreeItem *child);
ParamTreeItem *child(int row);
int childCount() const;
int columnCount() const;
QVariant data(int column) const;
int row() const;
ParamTreeItem *parent();
private:
QList<ParamTreeItem*> childItems;
QList<QVariant> itemData;
ParamTreeItem *parentItem;
};
#endif // PARAMTREEITEM_H
src/ui/param/ParamTreeModel.cc 0 → 100644
View file @ f0d81866
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class ParamTreeModel
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QtGui>
#include "ParamTreeItem.h"
#include "ParamTreeModel.h"
ParamTreeModel::ParamTreeModel(const QString &data, QObject *parent)
: QAbstractItemModel(parent)
{
QList<QVariant> rootData;
rootData << tr("Parameter") << tr("Value");
rootItem = new ParamTreeItem(rootData);
setupModelData(data.split(QString("\n")), rootItem);
}
ParamTreeModel::~ParamTreeModel()
{
delete rootItem;
}
int ParamTreeModel::columnCount(const QModelIndex &parent) const
{
if (parent.isValid())
return static_cast<ParamTreeItem*>(parent.internalPointer())->columnCount();
else
return rootItem->columnCount();
}
QVariant ParamTreeModel::data(const QModelIndex &index, int role) const
{
if (!index.isValid())
return QVariant();
if (role != Qt::DisplayRole)
return QVariant();
ParamTreeItem *item = static_cast<ParamTreeItem*>(index.internalPointer());
return item->data(index.column());
}
Qt::ItemFlags ParamTreeModel::flags(const QModelIndex &index) const
{
if (!index.isValid())
return 0;
return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
}
QVariant ParamTreeModel::headerData(int section, Qt::Orientation orientation,
int role) const
{
if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
return rootItem->data(section);
return QVariant();
}
QModelIndex ParamTreeModel::index(int row, int column, const QModelIndex &parent)
const
{
if (!hasIndex(row, column, parent))
return QModelIndex();
ParamTreeItem *parentItem;
if (!parent.isValid())
parentItem = rootItem;
else
parentItem = static_cast<ParamTreeItem*>(parent.internalPointer());
ParamTreeItem *childItem = parentItem->child(row);
if (childItem)
return createIndex(row, column, childItem);
else
return QModelIndex();
}
QModelIndex ParamTreeModel::parent(const QModelIndex &index) const
{
if (!index.isValid())
return QModelIndex();
ParamTreeItem *childItem = static_cast<ParamTreeItem*>(index.internalPointer());
ParamTreeItem *parentItem = childItem->parent();
if (parentItem == rootItem)
return QModelIndex();
return createIndex(parentItem->row(), 0, parentItem);
}
int ParamTreeModel::rowCount(const QModelIndex &parent) const
{
ParamTreeItem *parentItem;
if (parent.column() > 0)
return 0;
if (!parent.isValid())
parentItem = rootItem;
else
parentItem = static_cast<ParamTreeItem*>(parent.internalPointer());
return parentItem->childCount();
}
void ParamTreeModel::setupModelData(const QStringList &lines, ParamTreeItem *parent)
{
QList<ParamTreeItem*> parents;
QList<int> indentations;
parents << parent;
indentations << 0;
int number = 0;
while (number < lines.count()) {
int position = 0;
while (position < lines[number].length()) {
if (lines[number].mid(position, 1) != " ")
break;
position++;
}
QString lineData = lines[number].mid(position).trimmed();
if (!lineData.isEmpty()) {
// Read the column data from the rest of the line.
QStringList columnStrings = lineData.split("\t", QString::SkipEmptyParts);
QList<QVariant> columnData;
for (int column = 0; column < columnStrings.count(); ++column)
columnData << columnStrings[column];
if (position > indentations.last()) {
// The last child of the current parent is now the new parent
// unless the current parent has no children.
if (parents.last()->childCount() > 0) {
parents << parents.last()->child(parents.last()->childCount()-1);
indentations << position;
}
} else {
while (position < indentations.last() && parents.count() > 0) {
parents.pop_back();
indentations.pop_back();
}
}
// Append a new item to the current parent's list of children.
parents.last()->appendChild(new ParamTreeItem(columnData, parents.last()));
}
number++;
}
}
src/ui/param/ParamTreeModel.h 0 → 100644
View file @ f0d81866
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of class ParamParamTreeModel
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef PARAMTREEMODEL_H
#define PARAMTREEMODEL_H
#include <QAbstractItemModel>
#include <QModelIndex>
#include <QVariant>
class ParamTreeItem;
class ParamTreeModel : public QAbstractItemModel
{
Q_OBJECT
public:
ParamTreeModel(const QString &data, QObject *parent = 0);
~ParamTreeModel();
QVariant data(const QModelIndex &index, int role) const;
Qt::ItemFlags flags(const QModelIndex &index) const;
QVariant headerData(int section, Qt::Orientation orientation,
int role = Qt::DisplayRole) const;
QModelIndex index(int row, int column,
const QModelIndex &parent = QModelIndex()) const;
QModelIndex parent(const QModelIndex &index) const;
int rowCount(const QModelIndex &parent = QModelIndex()) const;
int columnCount(const QModelIndex &parent = QModelIndex()) const;
private:
void setupModelData(const QStringList &lines, ParamTreeItem *parent);
ParamTreeItem *rootItem;
};
#endif // PARAMParamTreeModel_H
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