Skip to content

Q
qgroundcontrol
Commit f69b32b3 authored by Matej Frančeškin's avatar Matej Frančeškin
Browse files
Options

Merge branch 'master' into pr-taisync-android

parents 28272aa6 27289773
Hide whitespace changes
Inline Side-by-side
Showing with 995 additions and 405 deletions
v2.0 @ c8476422
Subproject commit 90d9b285e01fe8bfa3b4e8868ca71c5537d43302
Subproject commit c847642263deefa584691eebade8b29a25264442
qgcresources.qrc
View file @ f69b32b3
......@@ -195,6 +195,7 @@
<file alias="counter-clockwise-arrow.svg">resources/counter-clockwise-arrow.svg</file>
<file alias="chevron-down.svg">resources/chevron-down.svg</file>
<file alias="chevron-up.svg">resources/chevron-up.svg</file>
<file alias="DropArrow.svg">resources/DropArrow.svg</file>
<file alias="gear-black.svg">resources/gear-black.svg</file>
<file alias="gear-white.svg">resources/gear-white.svg</file>
<file alias="helicoptericon.svg">resources/helicoptericon.svg</file>
......
resources/DropArrow.svg 0 → 100644
View file @ f69b32b3
<?xml version="1.0" encoding="iso-8859-1"?>
<!-- Generator: Adobe Illustrator 16.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
width="255px" height="255px" viewBox="0 0 255 255" style="enable-background:new 0 0 255 255;" xml:space="preserve">
<g>
<g id="arrow-drop-down">
<polygon points="0,63.75 127.5,191.25 255,63.75 "/>
</g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
<g>
</g>
</svg>
src/Camera/QGCCameraControl.cc
View file @ f69b32b3
......@@ -10,6 +10,7 @@
#include "SettingsManager.h"
#include "VideoManager.h"
#include "QGCMapEngine.h"
#include "QGCCameraManager.h"
#include <QDir>
#include <QStandardPaths>
......@@ -66,6 +67,7 @@ static const char *kCAM_ISO = "CAM_ISO";
static const char* kCAM_SHUTTER = "CAM_SHUTTER";
static const char* kCAM_APERTURE = "CAM_APERTURE";
static const char* kCAM_WBMODE = "CAM_WBMODE";
static const char* kCAM_MODE = "CAM_MODE";
//-----------------------------------------------------------------------------
QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
......@@ -153,21 +155,6 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
: FactGroup(0, parent)
, _vehicle(vehicle)
, _compID(compID)
, _version(0)
, _cached(false)
, _paramComplete(false)
, _storageFree(0)
, _storageTotal(0)
, _netManager(nullptr)
, _cameraMode(CAM_MODE_UNDEFINED)
, _photoMode(PHOTO_CAPTURE_SINGLE)
, _photoLapse(1.0)
, _photoLapseCount(0)
, _video_status(VIDEO_CAPTURE_STATUS_UNDEFINED)
, _photo_status(PHOTO_CAPTURE_STATUS_UNDEFINED)
, _storageInfoRetries(0)
, _captureInfoRetries(0)
, _resetting(false)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
memcpy(&_info, info, sizeof(mavlink_camera_information_t));
......@@ -190,6 +177,9 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
_photoMode = static_cast<PhotoMode>(settings.value(kPhotoMode, static_cast<int>(PHOTO_CAPTURE_SINGLE)).toInt());
_photoLapse = settings.value(kPhotoLapse, 1.0).toDouble();
_photoLapseCount = settings.value(kPhotoLapseCount, 0).toInt();
_recTimer.setSingleShot(false);
_recTimer.setInterval(333);
connect(&_recTimer, &QTimer::timeout, this, &QGCCameraControl::_recTimerHandler);
}
//-----------------------------------------------------------------------------
......@@ -208,6 +198,7 @@ QGCCameraControl::_initWhenReady()
if(isBasic()) {
qCDebug(CameraControlLog) << "Basic, MAVLink only messages.";
_requestCameraSettings();
QTimer::singleShot(250, this, &QGCCameraControl::_checkForVideoStreams);
} else {
_requestAllParameters();
//-- Give some time to load the parameters before going after the camera settings
......@@ -237,6 +228,13 @@ QGCCameraControl::firmwareVersion()
return ver;
}
//-----------------------------------------------------------------------------
QString
QGCCameraControl::recordTimeStr()
{
return QTime(0, 0).addMSecs(static_cast<int>(recordTime())).toString("hh:mm:ss");
}
//-----------------------------------------------------------------------------
QGCCameraControl::VideoStatus
QGCCameraControl::videoStatus()
......@@ -270,7 +268,6 @@ QGCCameraControl::setCameraMode(CameraMode mode)
setPhotoMode();
} else {
qCDebug(CameraControlLog) << "setCameraMode() Invalid mode:" << mode;
return;
}
}
}
......@@ -311,8 +308,12 @@ QGCCameraControl::setPhotoLapseCount(int count)
void
QGCCameraControl::_setCameraMode(CameraMode mode)
{
_cameraMode = mode;
emit cameraModeChanged();
if(_cameraMode != mode) {
_cameraMode = mode;
emit cameraModeChanged();
//-- Update stream status
_streamStatusTimer.start(1000);
}
}
//-----------------------------------------------------------------------------
......@@ -410,7 +411,7 @@ QGCCameraControl::startVideo()
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_START_CAPTURE, // Command id
true, // ShowError
false, // Don't Show Error (handle locally)
0, // Reserved (Set to 0)
0); // CAMERA_CAPTURE_STATUS Frequency
return true;
......@@ -429,7 +430,7 @@ QGCCameraControl::stopVideo()
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_STOP_CAPTURE, // Command id
true, // ShowError
false, // Don't Show Error (handle locally)
0); // Reserved (Set to 0)
return true;
}
......@@ -441,17 +442,27 @@ QGCCameraControl::stopVideo()
void
QGCCameraControl::setVideoMode()
{
if(!_resetting) {
if(hasModes() && _cameraMode != CAM_MODE_VIDEO) {
qCDebug(CameraControlLog) << "setVideoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_VIDEO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_VIDEO);
if(!_resetting && hasModes()) {
qCDebug(CameraControlLog) << "setVideoMode()";
//-- Does it have a mode parameter?
Fact* pMode = mode();
if(pMode) {
if(cameraMode() != CAM_MODE_VIDEO) {
pMode->setRawValue(CAM_MODE_VIDEO);
_setCameraMode(CAM_MODE_VIDEO);
}
} else {
//-- Use MAVLink Command
if(_cameraMode != CAM_MODE_VIDEO) {
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_VIDEO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_VIDEO);
}
}
}
}
......@@ -460,17 +471,27 @@ QGCCameraControl::setVideoMode()
void
QGCCameraControl::setPhotoMode()
{
if(!_resetting) {
if(hasModes() && _cameraMode != CAM_MODE_PHOTO) {
qCDebug(CameraControlLog) << "setPhotoMode()";
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
if(!_resetting && hasModes()) {
qCDebug(CameraControlLog) << "setPhotoMode()";
//-- Does it have a mode parameter?
Fact* pMode = mode();
if(pMode) {
if(cameraMode() != CAM_MODE_PHOTO) {
pMode->setRawValue(CAM_MODE_PHOTO);
_setCameraMode(CAM_MODE_PHOTO);
}
} else {
//-- Use MAVLink Command
if(_cameraMode != CAM_MODE_PHOTO) {
//-- Use basic MAVLink message
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Reserved (Set to 0)
CAM_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAM_MODE_PHOTO);
}
}
}
}
......@@ -693,9 +714,26 @@ QGCCameraControl::_setVideoStatus(VideoStatus status)
if(_video_status != status) {
_video_status = status;
emit videoStatusChanged();
if(status == VIDEO_CAPTURE_STATUS_RUNNING) {
_recordTime = 0;
_recTime.start();
_recTimer.start();
} else {
_recTimer.stop();
_recordTime = 0;
emit recordTimeChanged();
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_recTimerHandler()
{
_recordTime = static_cast<uint32_t>(_recTime.elapsed());
emit recordTimeChanged();
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_setPhotoStatus(PhotoStatus status)
......@@ -1386,7 +1424,7 @@ QGCCameraControl::handleSettings(const mavlink_camera_settings_t& settings)
void
QGCCameraControl::handleStorageInfo(const mavlink_storage_information_t& st)
{
qCDebug(CameraControlLog) << "_handleStorageInfo:" << st.available_capacity << st.status << st.storage_count << st.storage_id << st.total_capacity << st.used_capacity;
qCDebug(CameraControlLog) << "handleStorageInfo:" << st.available_capacity << st.status << st.storage_count << st.storage_id << st.total_capacity << st.used_capacity;
uint32_t t = static_cast<uint32_t>(st.total_capacity);
if(_storageTotal != t) {
_storageTotal = t;
......@@ -1412,6 +1450,12 @@ QGCCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap
_storageFree = a;
emit storageFreeChanged();
}
//-- Do we have recording time?
if(cap.recording_time_ms) {
_recordTime = cap.recording_time_ms;
_recTime = _recTime.addMSecs(_recTime.elapsed() - static_cast<int>(cap.recording_time_ms));
emit recordTimeChanged();
}
//-- Video/Image Capture Status
uint8_t vs = cap.video_status < static_cast<uint8_t>(VIDEO_CAPTURE_STATUS_LAST) ? cap.video_status : static_cast<uint8_t>(VIDEO_CAPTURE_STATUS_UNDEFINED);
uint8_t ps = cap.image_status < static_cast<uint8_t>(PHOTO_CAPTURE_LAST) ? cap.image_status : static_cast<uint8_t>(PHOTO_CAPTURE_STATUS_UNDEFINED);
......@@ -1434,6 +1478,209 @@ QGCCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleVideoInfo(const mavlink_video_stream_information_t* vi)
{
qCDebug(CameraControlLog) << "handleVideoInfo:" << vi->stream_id << vi->uri;
_expectedCount = vi->count;
if(!_findStream(vi->stream_id)) {
qCDebug(CameraControlLog) << "Create stream handler for stream ID:" << vi->stream_id;
QGCVideoStreamInfo* pStream = new QGCVideoStreamInfo(this, vi);
QQmlEngine::setObjectOwnership(pStream, QQmlEngine::CppOwnership);
_streams.append(pStream);
emit streamsChanged();
}
//-- Check for missing count
if(_streams.count() < _expectedCount) {
_streamInfoTimer.start(1000);
} else {
//-- Done
qCDebug(CameraControlLog) << "All stream handlers done";
_streamInfoTimer.stop();
emit autoStreamChanged();
emit _vehicle->dynamicCameras()->streamChanged();
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::handleVideoStatus(const mavlink_video_stream_status_t* vs)
{
_streamStatusTimer.stop();
qCDebug(CameraControlLog) << "handleVideoStatus:" << vs->stream_id;
QGCVideoStreamInfo* pInfo = _findStream(vs->stream_id);
if(pInfo) {
if(pInfo->update(vs)) {
emit _vehicle->dynamicCameras()->streamChanged();
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::setCurrentStream(int stream)
{
if(stream != _currentStream && stream >= 0 && stream < _streams.count()) {
if(_currentStream != stream) {
QGCVideoStreamInfo* pInfo = currentStreamInstance();
if(pInfo) {
//-- Stop current stream
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_STOP_STREAMING, // Command id
false, // ShowError
pInfo->streamID()); // Stream ID
}
_currentStream = stream;
pInfo = currentStreamInstance();
if(pInfo) {
//-- Start new stream
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_START_STREAMING, // Command id
false, // ShowError
pInfo->streamID()); // Stream ID
//-- Update stream status
_requestStreamStatus(static_cast<uint8_t>(pInfo->streamID()));
}
emit currentStreamChanged();
emit _vehicle->dynamicCameras()->streamChanged();
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::stopStream()
{
QGCVideoStreamInfo* pInfo = currentStreamInstance();
if(pInfo) {
//-- Stop current stream
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_STOP_STREAMING, // Command id
false, // ShowError
pInfo->streamID()); // Stream ID
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::resumeStream()
{
QGCVideoStreamInfo* pInfo = currentStreamInstance();
if(pInfo) {
//-- Start new stream
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_VIDEO_START_STREAMING, // Command id
false, // ShowError
pInfo->streamID()); // Stream ID
}
}
//-----------------------------------------------------------------------------
bool
QGCCameraControl::autoStream()
{
if(hasVideoStream()) {
return _streams.count() > 0;
}
return false;
}
//-----------------------------------------------------------------------------
QGCVideoStreamInfo*
QGCCameraControl::currentStreamInstance()
{
if(_currentStream < _streams.count() && _streams.count()) {
QGCVideoStreamInfo* pStream = qobject_cast<QGCVideoStreamInfo*>(_streams[_currentStream]);
return pStream;
}
return nullptr;
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestStreamInfo(uint8_t streamID)
{
qCDebug(CameraControlLog) << "Requesting video stream info for:" << streamID;
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, // Command id
false, // ShowError
streamID); // Stream ID
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_requestStreamStatus(uint8_t streamID)
{
qCDebug(CameraControlLog) << "Requesting video stream status for:" << streamID;
_vehicle->sendMavCommand(
_compID, // Target component
MAV_CMD_REQUEST_VIDEO_STREAM_STATUS, // Command id
false, // ShowError
streamID); // Stream ID
_streamStatusTimer.start(1000); // Wait up to a second for it
}
//-----------------------------------------------------------------------------
QGCVideoStreamInfo*
QGCCameraControl::_findStream(uint8_t id)
{
for(int i = 0; i < _streams.count(); i++) {
if(_streams[i]) {
QGCVideoStreamInfo* pStream = qobject_cast<QGCVideoStreamInfo*>(_streams[i]);
if(pStream) {
if(pStream->streamID() == id) {
return pStream;
}
} else {
qCritical() << "Null QGCVideoStreamInfo instance";
}
}
}
qWarning() << "Stream id not found:" << id;
return nullptr;
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_streamTimeout()
{
_requestCount++;
int count = _expectedCount * 3;
if(_requestCount > count) {
qCWarning(CameraControlLog) << "Giving up requesting video stream info";
_streamInfoTimer.stop();
//-- If we have at least one stream, work with what we have.
if(_streams.count()) {
emit autoStreamChanged();
emit _vehicle->dynamicCameras()->streamChanged();
}
return;
}
for(uint8_t i = 0; i < _expectedCount; i++) {
//-- Stream ID starts at 1
if(!_findStream(i+1)) {
_requestStreamInfo(i+1);
return;
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_streamStatusTimeout()
{
QGCVideoStreamInfo* pStream = currentStreamInstance();
if(pStream) {
_requestStreamStatus(static_cast<uint8_t>(pStream->streamID()));
}
}
//-----------------------------------------------------------------------------
QStringList
QGCCameraControl::_loadExclusions(QDomNode option)
......@@ -1672,6 +1919,23 @@ QGCCameraControl::_paramDone()
//-- All parameters loaded (or timed out)
_paramComplete = true;
emit parametersReady();
//-- Check for video streaming
_checkForVideoStreams();
}
//-----------------------------------------------------------------------------
void
QGCCameraControl::_checkForVideoStreams()
{
if(_info.flags & CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) {
connect(&_streamInfoTimer, &QTimer::timeout, this, &QGCCameraControl::_streamTimeout);
_streamInfoTimer.setSingleShot(false);
connect(&_streamStatusTimer, &QTimer::timeout, this, &QGCCameraControl::_streamStatusTimeout);
_streamStatusTimer.setSingleShot(true);
//-- Request all streams
_requestStreamInfo(0);
_streamInfoTimer.start(2000);
}
}
//-----------------------------------------------------------------------------
......@@ -1741,3 +2005,66 @@ QGCCameraControl::wb()
{
return (_paramComplete && _activeSettings.contains(kCAM_WBMODE)) ? getFact(kCAM_WBMODE) : nullptr;
}
//-----------------------------------------------------------------------------
Fact*
QGCCameraControl::mode()
{
return _paramComplete ? getFact(kCAM_MODE) : nullptr;
}
//-----------------------------------------------------------------------------
QGCVideoStreamInfo::QGCVideoStreamInfo(QObject* parent, const mavlink_video_stream_information_t *si)
: QObject(parent)
{
memcpy(&_streamInfo, si, sizeof(mavlink_video_stream_information_t));
}
//-----------------------------------------------------------------------------
qreal
QGCVideoStreamInfo::aspectRatio()
{
if(_streamInfo.resolution_h && _streamInfo.resolution_v) {
return static_cast<double>(_streamInfo.resolution_h) / static_cast<double>(_streamInfo.resolution_v);
}
return 1.0;
}
//-----------------------------------------------------------------------------
bool
QGCVideoStreamInfo::update(const mavlink_video_stream_status_t* vs)
{
bool changed = false;
if(_streamInfo.hfov != vs->hfov) {
changed = true;
_streamInfo.hfov = vs->hfov;
}
if(_streamInfo.flags != vs->flags) {
changed = true;
_streamInfo.flags = vs->flags;
}
if(_streamInfo.bitrate != vs->bitrate) {
changed = true;
_streamInfo.bitrate = vs->bitrate;
}
if(_streamInfo.rotation != vs->rotation) {
changed = true;
_streamInfo.rotation = vs->rotation;
}
if(_streamInfo.framerate != vs->framerate) {
changed = true;
_streamInfo.framerate = vs->framerate;
}
if(_streamInfo.resolution_h != vs->resolution_h) {
changed = true;
_streamInfo.resolution_h = vs->resolution_h;
}
if(_streamInfo.resolution_v != vs->resolution_v) {
changed = true;
_streamInfo.resolution_v = vs->resolution_v;
}
if(changed) {
emit infoChanged();
}
return changed;
}
src/Camera/QGCCameraControl.h
View file @ f69b32b3
......@@ -17,6 +17,36 @@ class QGCCameraParamIO;
Q_DECLARE_LOGGING_CATEGORY(CameraControlLog)
Q_DECLARE_LOGGING_CATEGORY(CameraControlLogVerbose)
//-----------------------------------------------------------------------------
class QGCVideoStreamInfo : public QObject
{
Q_OBJECT
public:
QGCVideoStreamInfo(QObject* parent, const mavlink_video_stream_information_t* si);
Q_PROPERTY(QString uri READ uri NOTIFY infoChanged)
Q_PROPERTY(int streamID READ streamID NOTIFY infoChanged)
Q_PROPERTY(int type READ type NOTIFY infoChanged)
Q_PROPERTY(qreal aspectRatio READ aspectRatio NOTIFY infoChanged)
Q_PROPERTY(qreal hfov READ hfov NOTIFY infoChanged)
Q_PROPERTY(bool isThermal READ isThermal NOTIFY infoChanged)
QString uri () { return QString(_streamInfo.uri); }
qreal aspectRatio ();
qreal hfov () { return _streamInfo.hfov; }
int type () { return _streamInfo.type; }
int streamID () { return _streamInfo.stream_id; }
bool isThermal () { return _streamInfo.flags & VIDEO_STREAM_STATUS_FLAGS_THERMAL; }
bool update (const mavlink_video_stream_status_t* vs);
signals:
void infoChanged ();
private:
mavlink_video_stream_information_t _streamInfo;
};
//-----------------------------------------------------------------------------
class QGCCameraOptionExclusion : public QObject
{
......@@ -99,6 +129,7 @@ public:
Q_PROPERTY(bool hasModes READ hasModes NOTIFY infoChanged)
Q_PROPERTY(bool hasZoom READ hasZoom NOTIFY infoChanged)
Q_PROPERTY(bool hasFocus READ hasFocus NOTIFY infoChanged)
Q_PROPERTY(bool hasVideoStream READ hasVideoStream NOTIFY infoChanged)
Q_PROPERTY(bool photosInVideoMode READ photosInVideoMode NOTIFY infoChanged)
Q_PROPERTY(bool videoInPhotoMode READ videoInPhotoMode NOTIFY infoChanged)
Q_PROPERTY(bool isBasic READ isBasic NOTIFY infoChanged)
......@@ -116,6 +147,7 @@ public:
Q_PROPERTY(Fact* shutter READ shutter NOTIFY parametersReady)
Q_PROPERTY(Fact* aperture READ aperture NOTIFY parametersReady)
Q_PROPERTY(Fact* wb READ wb NOTIFY parametersReady)
Q_PROPERTY(Fact* mode READ mode NOTIFY parametersReady)
Q_PROPERTY(QStringList activeSettings READ activeSettings NOTIFY activeSettingsChanged)
Q_PROPERTY(VideoStatus videoStatus READ videoStatus NOTIFY videoStatusChanged)
......@@ -124,6 +156,12 @@ public:
Q_PROPERTY(qreal photoLapse READ photoLapse WRITE setPhotoLapse NOTIFY photoLapseChanged)
Q_PROPERTY(int photoLapseCount READ photoLapseCount WRITE setPhotoLapseCount NOTIFY photoLapseCountChanged)
Q_PROPERTY(PhotoMode photoMode READ photoMode WRITE setPhotoMode NOTIFY photoModeChanged)
Q_PROPERTY(int currentStream READ currentStream WRITE setCurrentStream NOTIFY currentStreamChanged)
Q_PROPERTY(bool autoStream READ autoStream NOTIFY autoStreamChanged)
Q_PROPERTY(QmlObjectListModel* streams READ streams NOTIFY streamsChanged)
Q_PROPERTY(QGCVideoStreamInfo* currentStreamInstance READ currentStreamInstance NOTIFY currentStreamChanged)
Q_PROPERTY(quint32 recordTime READ recordTime NOTIFY recordTimeChanged)
Q_PROPERTY(QString recordTimeStr READ recordTimeStr NOTIFY recordTimeChanged)
Q_INVOKABLE virtual void setVideoMode ();
Q_INVOKABLE virtual void setPhotoMode ();
......@@ -138,6 +176,8 @@ public:
Q_INVOKABLE virtual void stepZoom (int direction);
Q_INVOKABLE virtual void startZoom (int direction);
Q_INVOKABLE virtual void stopZoom ();
Q_INVOKABLE virtual void stopStream ();
Q_INVOKABLE virtual void resumeStream ();
virtual int version () { return _version; }
virtual QString modelName () { return _modelName; }
......@@ -151,6 +191,7 @@ public:
virtual bool hasModes () { return _info.flags & CAMERA_CAP_FLAGS_HAS_MODES; }
virtual bool hasZoom () { return _info.flags & CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM; }
virtual bool hasFocus () { return _info.flags & CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS; }
virtual bool hasVideoStream () { return _info.flags & CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM; }
virtual bool photosInVideoMode () { return _info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE; }
virtual bool videoInPhotoMode () { return _info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE; }
......@@ -170,12 +211,21 @@ public:
virtual qreal zoomLevel () { return _zoomLevel; }
virtual qreal focusLevel () { return _focusLevel; }
virtual QmlObjectListModel* streams () { return &_streams; }
virtual QGCVideoStreamInfo* currentStreamInstance();
virtual int currentStream () { return _currentStream; }
virtual void setCurrentStream (int stream);
virtual bool autoStream ();
virtual quint32 recordTime () { return _recordTime; }
virtual QString recordTimeStr ();
virtual Fact* exposureMode ();
virtual Fact* ev ();
virtual Fact* iso ();
virtual Fact* shutter ();
virtual Fact* aperture ();
virtual Fact* wb ();
virtual Fact* mode ();
virtual void setZoomLevel (qreal level);
virtual void setFocusLevel (qreal level);
......@@ -189,6 +239,8 @@ public:
virtual void handleParamAck (const mavlink_param_ext_ack_t& ack);
virtual void handleParamValue (const mavlink_param_ext_value_t& value);
virtual void handleStorageInfo (const mavlink_storage_information_t& st);
virtual void handleVideoInfo (const mavlink_video_stream_information_t *vi);
virtual void handleVideoStatus (const mavlink_video_stream_status_t *vs);
//-- Notify controller a parameter has changed
virtual void factChanged (Fact* pFact);
......@@ -212,11 +264,18 @@ signals:
void parametersReady ();
void zoomLevelChanged ();
void focusLevelChanged ();
void streamsChanged ();
void currentStreamChanged ();
void autoStreamChanged ();
void recordTimeChanged ();
protected:
virtual void _setVideoStatus (VideoStatus status);
virtual void _setPhotoStatus (PhotoStatus status);
virtual void _setCameraMode (CameraMode mode);
virtual void _requestStreamInfo (uint8_t streamID);
virtual void _requestStreamStatus (uint8_t streamID);
virtual QGCVideoStreamInfo* _findStream (uint8_t streamID);
protected slots:
virtual void _initWhenReady ();
......@@ -229,7 +288,10 @@ protected slots:
virtual void _mavCommandResult (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
virtual void _dataReady (QByteArray data);
virtual void _paramDone ();
virtual void _streamTimeout ();
virtual void _streamStatusTimeout ();
virtual void _recTimerHandler ();
virtual void _checkForVideoStreams ();
private:
bool _handleLocalization (QByteArray& bytes);
......@@ -252,26 +314,26 @@ private:
QString _getParamName (const char* param_id);
protected:
Vehicle* _vehicle;
int _compID;
Vehicle* _vehicle = nullptr;
int _compID = 0;
mavlink_camera_information_t _info;
int _version;
bool _cached;
bool _paramComplete;
qreal _zoomLevel;
qreal _focusLevel;
uint32_t _storageFree;
uint32_t _storageTotal;
QNetworkAccessManager* _netManager;
int _version = 0;
bool _cached = false;
bool _paramComplete = false;
qreal _zoomLevel = 0.0;
qreal _focusLevel = 0.0;
uint32_t _storageFree = 0;
uint32_t _storageTotal = 0;
QNetworkAccessManager* _netManager = nullptr;
QString _modelName;
QString _vendor;
QString _cacheFile;
CameraMode _cameraMode;
PhotoMode _photoMode;
qreal _photoLapse;
int _photoLapseCount;
VideoStatus _video_status;
PhotoStatus _photo_status;
CameraMode _cameraMode = CAM_MODE_UNDEFINED;
PhotoMode _photoMode = PHOTO_CAPTURE_SINGLE;
qreal _photoLapse = 1.0;
int _photoLapseCount = 0;
VideoStatus _video_status = VIDEO_CAPTURE_STATUS_UNDEFINED;
PhotoStatus _photo_status = PHOTO_CAPTURE_STATUS_UNDEFINED;
QStringList _activeSettings;
QStringList _settings;
QTimer _captureStatusTimer;
......@@ -280,10 +342,20 @@ protected:
QMap<QString, QStringList> _originalOptNames;
QMap<QString, QVariantList> _originalOptValues;
QMap<QString, QGCCameraParamIO*> _paramIO;
int _storageInfoRetries;
int _captureInfoRetries;
bool _resetting;
int _storageInfoRetries = 0;
int _captureInfoRetries = 0;
bool _resetting = false;
QTimer _recTimer;
QTime _recTime;
uint32_t _recordTime = 0;
//-- Parameters that require a full update
QMap<QString, QStringList> _requestUpdates;
QStringList _updatesToRequest;
//-- Video Streams
int _requestCount = 0;
int _currentStream = 0;
int _expectedCount = 1;
QTimer _streamInfoTimer;
QTimer _streamStatusTimer;
QmlObjectListModel _streams;
};
src/Camera/QGCCameraManager.cc
View file @ f69b32b3
......@@ -11,6 +11,12 @@
QGC_LOGGING_CATEGORY(CameraManagerLog, "CameraManagerLog")
//-----------------------------------------------------------------------------
QGCCameraManager::CameraStruct::CameraStruct(QObject* parent)
: QObject(parent)
{
}
//-----------------------------------------------------------------------------
QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
: _vehicle(vehicle)
......@@ -19,8 +25,11 @@ QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
qCDebug(CameraManagerLog) << "QGCCameraManager Created";
connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &QGCCameraManager::_mavlinkMessageReceived);
connect(&_cameraTimer, &QTimer::timeout, this, &QGCCameraManager::_cameraTimeout);
_cameraTimer.setSingleShot(false);
_lastZoomChange.start();
_lastCameraChange.start();
_cameraTimer.start(500);
}
//-----------------------------------------------------------------------------
......@@ -35,6 +44,7 @@ QGCCameraManager::setCurrentCamera(int sel)
if(sel != _currentCamera && sel >= 0 && sel < _cameras.count()) {
_currentCamera = sel;
emit currentCameraChanged();
emit streamChanged();
}
}
......@@ -80,6 +90,12 @@ QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
case MAVLINK_MSG_ID_PARAM_EXT_VALUE:
_handleParamValue(message);
break;
case MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION:
_handleVideoStreamInfo(message);
break;
case MAVLINK_MSG_ID_VIDEO_STREAM_STATUS:
_handleVideoStreamStatus(message);
break;
}
}
}
......@@ -90,16 +106,63 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
{
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
//-- If this heartbeat is from a different node within the vehicle
//-- If this heartbeat is from a different component within the vehicle
if(_vehicleReadyState && _vehicle->id() == message.sysid && _vehicle->defaultComponentId() != message.compid) {
if(!_cameraInfoRequested.contains(message.compid)) {
_cameraInfoRequested[message.compid] = true;
//-- First time hearing from this one?
if(!_cameraInfoRequest.contains(message.compid)) {
CameraStruct* pInfo = new CameraStruct(this);
pInfo->lastHeartbeat.start();
_cameraInfoRequest[message.compid] = pInfo;
//-- Request camera info
_requestCameraInfo(message.compid);
} else {
//-- Check if we have indeed received the camera info
if(_cameraInfoRequest[message.compid]->infoReceived) {
//-- We have it. Just update the heartbeat timeout
_cameraInfoRequest[message.compid]->lastHeartbeat.start();
} else {
//-- Try again. Maybe.
if(_cameraInfoRequest[message.compid]->lastHeartbeat.elapsed() > 2000) {
if(_cameraInfoRequest[message.compid]->tryCount > 3) {
if(!_cameraInfoRequest[message.compid]->gaveUp) {
_cameraInfoRequest[message.compid]->gaveUp = true;
qWarning() << "Giving up requesting camera info from" << _vehicle->id() << message.compid;
}
} else {
_cameraInfoRequest[message.compid]->tryCount++;
//-- Request camera info. Again. It could be something other than a camera, in which
// case, we won't ever receive it.
_requestCameraInfo(message.compid);
}
}
}
}
}
}
//-----------------------------------------------------------------------------
QGCCameraControl*
QGCCameraManager::currentCameraInstance()
{
if(_currentCamera < _cameras.count() && _cameras.count()) {
QGCCameraControl* pCamera = qobject_cast<QGCCameraControl*>(_cameras[_currentCamera]);
return pCamera;
}
return nullptr;
}
//-----------------------------------------------------------------------------
QGCVideoStreamInfo*
QGCCameraManager::currentStreamInstance()
{
QGCCameraControl* pCamera = currentCameraInstance();
if(pCamera) {
QGCVideoStreamInfo* pInfo = pCamera->currentStreamInstance();
return pInfo;
}
return nullptr;
}
//-----------------------------------------------------------------------------
QGCCameraControl*
QGCCameraManager::_findCamera(int id)
......@@ -125,9 +188,9 @@ void
QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
{
//-- Have we requested it?
if(_cameraInfoRequested.contains(message.compid) && _cameraInfoRequested[message.compid]) {
if(_cameraInfoRequest.contains(message.compid) && !_cameraInfoRequest[message.compid]->infoReceived) {
//-- Flag it as done
_cameraInfoRequested[message.compid] = false;
_cameraInfoRequest[message.compid]->infoReceived = true;
mavlink_camera_information_t info;
mavlink_msg_camera_information_decode(&message, &info);
qCDebug(CameraManagerLog) << "_handleCameraInfo:" << reinterpret_cast<const char*>(info.model_name) << reinterpret_cast<const char*>(info.vendor_name) << "Comp ID:" << message.compid;
......@@ -142,6 +205,51 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_cameraTimeout()
{
//-- Iterate cameras
for(int i = 0; i < _cameraInfoRequest.count(); i++) {
if(_cameraInfoRequest[i]) {
//-- Have we received a camera info message?
if(_cameraInfoRequest[i]->infoReceived) {
//-- Has the camera stopped talking to us?
if(_cameraInfoRequest[i]->lastHeartbeat.elapsed() > 5000) {
//-- Camera is gone. Remove it.
QGCCameraControl* pCamera = _findCamera(i);
qWarning() << "Camera" << pCamera->modelName() << "stopped transmitting. Removing from list.";
int idx = _cameraLabels.indexOf(pCamera->modelName());
if(idx >= 0) {
_cameraLabels.removeAt(idx);
}
idx = _cameras.indexOf(pCamera);
if(idx >= 0) {
_cameras.removeAt(idx);
}
bool autoStream = pCamera->autoStream();
pCamera->deleteLater();
delete _cameraInfoRequest[i];
_cameraInfoRequest.remove(i);
emit cameraLabelsChanged();
//-- If we have another camera, switch current camera.
if(_cameras.count()) {
setCurrentCamera(0);
} else {
//-- We're out of cameras
emit camerasChanged();
if(autoStream) {
emit streamChanged();
}
}
//-- Exit loop.
return;
}
}
}
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_handleCaptureStatus(const mavlink_message_t &message)
......@@ -202,6 +310,30 @@ QGCCameraManager::_handleParamValue(const mavlink_message_t& message)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_handleVideoStreamInfo(const mavlink_message_t& message)
{
QGCCameraControl* pCamera = _findCamera(message.compid);
if(pCamera) {
mavlink_video_stream_information_t streamInfo;
mavlink_msg_video_stream_information_decode(&message, &streamInfo);
pCamera->handleVideoInfo(&streamInfo);
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_handleVideoStreamStatus(const mavlink_message_t& message)
{
QGCCameraControl* pCamera = _findCamera(message.compid);
if(pCamera) {
mavlink_video_stream_status_t streamStatus;
mavlink_msg_video_stream_status_decode(&message, &streamStatus);
pCamera->handleVideoStatus(&streamStatus);
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_requestCameraInfo(int compID)
......@@ -224,11 +356,13 @@ QGCCameraManager::_activeJoystickChanged(Joystick* joystick)
if(_activeJoystick) {
disconnect(_activeJoystick, &Joystick::stepZoom, this, &QGCCameraManager::_stepZoom);
disconnect(_activeJoystick, &Joystick::stepCamera, this, &QGCCameraManager::_stepCamera);
disconnect(_activeJoystick, &Joystick::stepStream, this, &QGCCameraManager::_stepStream);
}
_activeJoystick = joystick;
if(_activeJoystick) {
connect(_activeJoystick, &Joystick::stepZoom, this, &QGCCameraManager::_stepZoom);
connect(_activeJoystick, &Joystick::stepCamera, this, &QGCCameraManager::_stepCamera);
connect(_activeJoystick, &Joystick::stepStream, this, &QGCCameraManager::_stepStream);
}
}
......@@ -239,11 +373,9 @@ QGCCameraManager::_stepZoom(int direction)
if(_lastZoomChange.elapsed() > 250) {
_lastZoomChange.start();
qCDebug(CameraManagerLog) << "Step Camera Zoom" << direction;
if(_cameras.count() && _cameras[_currentCamera]) {
QGCCameraControl* pCamera = qobject_cast<QGCCameraControl*>(_cameras[_currentCamera]);
if(pCamera) {
pCamera->stepZoom(direction);
}
QGCCameraControl* pCamera = currentCameraInstance();
if(pCamera) {
pCamera->stepZoom(direction);
}
}
}
......@@ -262,4 +394,21 @@ QGCCameraManager::_stepCamera(int direction)
}
}
//-----------------------------------------------------------------------------
void
QGCCameraManager::_stepStream(int direction)
{
if(_lastCameraChange.elapsed() > 1000) {
_lastCameraChange.start();
QGCCameraControl* pCamera = currentCameraInstance();
if(pCamera) {
qCDebug(CameraManagerLog) << "Step Camera Stream" << direction;
int c = pCamera->currentStream() + direction;
if(c < 0) c = pCamera->streams()->count() - 1;
if(c >= pCamera->streams()->count()) c = 0;
pCamera->setCurrentStream(c);
}
}
}
src/Camera/QGCCameraManager.h
View file @ f69b32b3
......@@ -27,9 +27,10 @@ public:
QGCCameraManager(Vehicle* vehicle);
virtual ~QGCCameraManager();
Q_PROPERTY(QmlObjectListModel* cameras READ cameras NOTIFY camerasChanged)
Q_PROPERTY(QStringList cameraLabels READ cameraLabels NOTIFY cameraLabelsChanged)
Q_PROPERTY(int currentCamera READ currentCamera WRITE setCurrentCamera NOTIFY currentCameraChanged)
Q_PROPERTY(QmlObjectListModel* cameras READ cameras NOTIFY camerasChanged)
Q_PROPERTY(QStringList cameraLabels READ cameraLabels NOTIFY cameraLabelsChanged)
Q_PROPERTY(QGCCameraControl* currentCameraInstance READ currentCameraInstance NOTIFY currentCameraChanged)
Q_PROPERTY(int currentCamera READ currentCamera WRITE setCurrentCamera NOTIFY currentCameraChanged)
//-- Return a list of cameras provided by this vehicle
virtual QmlObjectListModel* cameras () { return &_cameras; }
......@@ -37,13 +38,17 @@ public:
virtual QStringList cameraLabels () { return _cameraLabels; }
//-- Current selected camera
virtual int currentCamera () { return _currentCamera; }
virtual QGCCameraControl* currentCameraInstance();
//-- Set current camera
virtual void setCurrentCamera (int sel);
//-- Current stream
virtual QGCVideoStreamInfo* currentStreamInstance();
signals:
void camerasChanged ();
void cameraLabelsChanged ();
void currentCameraChanged ();
void streamChanged ();
protected slots:
virtual void _vehicleReady (bool ready);
......@@ -51,6 +56,8 @@ protected slots:
virtual void _activeJoystickChanged (Joystick* joystick);
virtual void _stepZoom (int direction);
virtual void _stepCamera (int direction);
virtual void _stepStream (int direction);
virtual void _cameraTimeout ();
protected:
virtual QGCCameraControl* _findCamera (int id);
......@@ -62,16 +69,29 @@ protected:
virtual void _handleParamAck (const mavlink_message_t& message);
virtual void _handleParamValue (const mavlink_message_t& message);
virtual void _handleCaptureStatus (const mavlink_message_t& message);
virtual void _handleVideoStreamInfo (const mavlink_message_t& message);
virtual void _handleVideoStreamStatus(const mavlink_message_t& message);
protected:
class CameraStruct : public QObject {
public:
CameraStruct(QObject* parent);
QTime lastHeartbeat;
bool infoReceived = false;
bool gaveUp = false;
int tryCount = 0;
};
Vehicle* _vehicle = nullptr;
Joystick* _activeJoystick = nullptr;
bool _vehicleReadyState = false;
int _currentTask = 0;
QmlObjectListModel _cameras;
QStringList _cameraLabels;
QMap<int, bool> _cameraInfoRequested;
int _currentCamera = 0;
QTime _lastZoomChange;
QTime _lastCameraChange;
QTimer _cameraTimer;
QMap<int, CameraStruct*> _cameraInfoRequest;
};
src/FactSystem/Fact.cc
View file @ f69b32b3
......@@ -27,6 +27,7 @@ Fact::Fact(QObject* parent)
, _sendValueChangedSignals (true)
, _deferredValueChangeSignal(false)
, _valueSliderModel (nullptr)
, _ignoreQGCRebootRequired (false)
{
FactMetaData* metaData = new FactMetaData(_type, this);
setMetaData(metaData);
......@@ -44,6 +45,7 @@ Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObjec
, _sendValueChangedSignals (true)
, _deferredValueChangeSignal(false)
, _valueSliderModel (nullptr)
, _ignoreQGCRebootRequired (false)
{
FactMetaData* metaData = new FactMetaData(_type, this);
setMetaData(metaData);
......@@ -61,6 +63,7 @@ Fact::Fact(const QString& settingsGroup, FactMetaData* metaData, QObject* parent
, _sendValueChangedSignals (true)
, _deferredValueChangeSignal(false)
, _valueSliderModel (nullptr)
, _ignoreQGCRebootRequired (false)
{
qgcApp()->toolbox()->corePlugin()->adjustSettingMetaData(settingsGroup, *metaData);
setMetaData(metaData, true /* setDefaultFromMetaData */);
......@@ -90,7 +93,8 @@ const Fact& Fact::operator=(const Fact& other)
_type = other._type;
_sendValueChangedSignals = other._sendValueChangedSignals;
_deferredValueChangeSignal = other._deferredValueChangeSignal;
_valueSliderModel = nullptr;
_valueSliderModel = nullptr;
_ignoreQGCRebootRequired = other._ignoreQGCRebootRequired;
if (_metaData && other._metaData) {
*_metaData = *other._metaData;
} else {
......@@ -615,7 +619,9 @@ bool Fact::vehicleRebootRequired(void) const
bool Fact::qgcRebootRequired(void) const
{
if (_metaData) {
if (_ignoreQGCRebootRequired) {
return false;
} else if (_metaData) {
return _metaData->qgcRebootRequired();
} else {
qWarning() << kMissingMetadata << name();
......@@ -743,3 +749,8 @@ void Fact::_checkForRebootMessaging(void)
}
}
}
void Fact::_setIgnoreQGCRebootRequired(bool ignore)
{
_ignoreQGCRebootRequired = ignore;
}
src/FactSystem/Fact.h
View file @ f69b32b3
......@@ -129,6 +129,10 @@ public:
bool writeOnly (void) const;
bool volatileValue (void) const;
// Internal hack to allow changes to fact which do not signal reboot. Currently used by font point size
// code in ScreenTools.qml to set initial sizing at first boot.
Q_INVOKABLE void _setIgnoreQGCRebootRequired(bool ignore);
Q_INVOKABLE FactValueSliderListModel* valueSliderModel(void);
/// Returns the values as a string with full 18 digit precision if float/double.
......@@ -208,6 +212,7 @@ protected:
bool _sendValueChangedSignals;
bool _deferredValueChangeSignal;
FactValueSliderListModel* _valueSliderModel;
bool _ignoreQGCRebootRequired;
};
#endif
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ f69b32b3
......@@ -228,13 +228,6 @@ bool APMFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
return found;
}
int APMFirmwarePlugin::manualControlReservedButtonCount(void)
{
// We don't know whether the firmware is going to used any of these buttons.
// So reserve them all.
return -1;
}
void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message)
{
Q_UNUSED(vehicle);
......
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
View file @ f69b32b3
......@@ -90,7 +90,6 @@ public:
void pauseVehicle (Vehicle* vehicle) override;
void guidedModeRTL (Vehicle* vehicle) override;
void guidedModeChangeAltitude (Vehicle* vehicle, double altitudeChange) override;
int manualControlReservedButtonCount(void) override;
bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) override;
void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) override;
virtual void initializeStreamRates (Vehicle* vehicle);
......
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
View file @ f69b32b3
......@@ -164,11 +164,6 @@ int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersi
return majorVersionNumber == 3 ? 6 : Vehicle::versionNotSetValue;
}
int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void)
{
return 0;
}
void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) {
vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2);
vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2);
......
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
View file @ f69b32b3
......@@ -110,9 +110,6 @@ public:
QList<MAV_CMD> supportedMissionCommands(void) final;
// Overrides from FirmwarePlugin
int manualControlReservedButtonCount(void) final;
int defaultJoystickTXMode(void) final { return 3; }
void initializeStreamRates(Vehicle* vehicle) override final;
......
src/FirmwarePlugin/FirmwarePlugin.cc
View file @ f69b32b3
......@@ -115,13 +115,6 @@ bool FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode
return false;
}
int FirmwarePlugin::manualControlReservedButtonCount(void)
{
// We don't know whether the firmware is going to used any of these buttons.
// So reserve them all.
return -1;
}
int FirmwarePlugin::defaultJoystickTXMode(void)
{
return 2;
......
src/FirmwarePlugin/FirmwarePlugin.h
View file @ f69b32b3
......@@ -146,14 +146,6 @@ public:
/// @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange);
/// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
/// not just this. I'm going to try to change that. If not, this will need to be removed.
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
/// The remainder can be assigned to Vehicle actions.
/// @return -1: reserver all buttons, >0 number of buttons to reserve
virtual int manualControlReservedButtonCount(void);
/// Default tx mode to apply to joystick axes
/// TX modes are as outlined here: http://www.rc-airplane-world.com/rc-transmitter-modes.html
virtual int defaultJoystickTXMode(void);
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ f69b32b3
......@@ -225,11 +225,6 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
return found;
}
int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
{
return 0; // 0 buttons reserved for rc switch simulation
}
bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
{
int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
......
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @ f69b32b3
......@@ -52,7 +52,6 @@ public:
double minimumTakeoffAltitude (Vehicle* vehicle) override;
void startMission (Vehicle* vehicle) override;
bool isGuidedMode (const Vehicle* vehicle) const override;
int manualControlReservedButtonCount(void) override;
void initializeVehicle (Vehicle* vehicle) override;
bool sendHomePositionToVehicle (void) override;
void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) override;
......
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
View file @ f69b32b3
......@@ -415,6 +415,20 @@ Set to 2 to use heading from motion capture</short_desc>
<value code="1">Active high</value>
</values>
</parameter>
<parameter default="1500" name="TRIG_PWM_NEUTRAL" type="INT32">
<short_desc>PWM neutral output on trigger pin</short_desc>
<min>1000</min>
<max>2000</max>
<unit>us</unit>
<reboot_required>true</reboot_required>
</parameter>
<parameter default="1900" name="TRIG_PWM_SHOOT" type="INT32">
<short_desc>PWM output to trigger shot</short_desc>
<min>1000</min>
<max>2000</max>
<unit>us</unit>
<reboot_required>true</reboot_required>
</parameter>
</group>
<group name="Circuit Breaker">
<parameter category="Developer" default="0" name="CBRK_AIRSPD_CHK" type="INT32">
......@@ -7633,7 +7647,7 @@ to takeoff is reached</short_desc>
<max>1000</max>
<reboot_required>true</reboot_required>
</parameter>
<parameter default="1" name="SDLOG_MISSION" type="INT32">
<parameter default="0" name="SDLOG_MISSION" type="INT32">
<short_desc>Mission Log</short_desc>
<long_desc>If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).</long_desc>
<reboot_required>true</reboot_required>
......@@ -8248,6 +8262,21 @@ is less than 50% of this value</short_desc>
<long_desc>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
<unit>deg</unit>
</parameter>
<parameter default="0" name="SENS_CM8JL65_CFG" type="INT32">
<short_desc>Serial Configuration for Lanbao PSK-CM8JL65-CC5</short_desc>
<long_desc>Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.</long_desc>
<reboot_required>true</reboot_required>
<values>
<value code="0">Disabled</value>
<value code="6">UART 6</value>
<value code="101">TELEM 1</value>
<value code="102">TELEM 2</value>
<value code="103">TELEM 3</value>
<value code="104">TELEM/SERIAL 4</value>
<value code="201">GPS 1</value>
<value code="202">GPS 2</value>
</values>
</parameter>
<parameter default="0" name="SENS_EN_BATT" type="INT32">
<short_desc>SMBUS Smart battery driver (BQ40Z50)</short_desc>
<boolean />
......@@ -8341,13 +8370,6 @@ is less than 50% of this value</short_desc>
<unit>C</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.0" name="SENS_IMU_TEMP_FF" type="FLOAT">
<short_desc>IMU heater controller feedforward value</short_desc>
<min>0</min>
<max>1.0</max>
<unit>microseconds</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.025" name="SENS_IMU_TEMP_I" type="FLOAT">
<short_desc>IMU heater controller integrator gain value</short_desc>
<min>0</min>
......@@ -8355,10 +8377,10 @@ is less than 50% of this value</short_desc>
<unit>microseconds/C</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.25" name="SENS_IMU_TEMP_P" type="FLOAT">
<parameter default="1.0" name="SENS_IMU_TEMP_P" type="FLOAT">
<short_desc>IMU heater controller proportional gain value</short_desc>
<min>0</min>
<max>1.0</max>
<max>2.0</max>
<unit>microseconds/C</unit>
<decimal>3</decimal>
</parameter>
......
src/FlightDisplay/FlightDisplayViewMap.qml
View file @ f69b32b3
......@@ -408,7 +408,7 @@ FlightMap {
id: orbitCenterIndicator
anchorPoint.x: sourceItem.anchorPointX
anchorPoint.y: sourceItem.anchorPointY
coordinate: _activeVehicle ? _activeVehicle.orbitMapCircle.center : undefined
coordinate: _activeVehicle ? _activeVehicle.orbitMapCircle.center : QtPositioning.coordinate()
visible: orbitTelemetryCircle.visible
sourceItem: MissionItemIndexLabel {
......
src/FlightDisplay/FlightDisplayViewVideo.qml
View file @ f69b32b3
......@@ -8,8 +8,8 @@
****************************************************************************/
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick 2.11
import QtQuick.Controls 2.4
import QGroundControl 1.0
import QGroundControl.FlightDisplay 1.0
......@@ -28,6 +28,11 @@ Item {
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _dynamicCameras: _activeVehicle ? _activeVehicle.dynamicCameras : null
property bool _connected: _activeVehicle ? !_activeVehicle.connectionLost : false
property int _curCameraIndex: _dynamicCameras ? _dynamicCameras.currentCamera : 0
property bool _isCamera: _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
property var _camera: _isCamera ? _dynamicCameras.cameras.get(_curCameraIndex) : null
property bool _hasZoom: _camera && _camera.hasZoom
property int _fitMode: QGroundControl.settingsManager.videoSettings.videoFit.rawValue
Rectangle {
id: noVideo
anchors.fill: parent
......@@ -51,10 +56,26 @@ Item {
anchors.fill: parent
color: "black"
visible: _videoReceiver && _videoReceiver.videoRunning
function getWidth() {
//-- Fit Width or Stretch
if(_fitMode === 0 || _fitMode === 2) {
return parent.width
}
//-- Fit Height
return _ar != 0.0 ? parent.height * _ar : parent.width
}
function getHeight() {
//-- Fit Height or Stretch
if(_fitMode === 1 || _fitMode === 2) {
return parent.height
}
//-- Fit Width
return _ar != 0.0 ? parent.width * (1 / _ar) : parent.height
}
QGCVideoBackground {
id: videoContent
height: parent.height
width: _ar != 0.0 ? height * _ar : parent.width
height: parent.getHeight()
width: parent.getWidth()
anchors.centerIn: parent
receiver: _videoReceiver
display: _videoReceiver && _videoReceiver.videoSurface
......@@ -104,5 +125,25 @@ Item {
QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
}
}
PinchArea {
id: pinchZoom
enabled: _hasZoom
anchors.fill: parent
onPinchStarted: pinchZoom.zoom = 0
onPinchUpdated: {
if(_hasZoom) {
var z = 0
if(pinch.scale < 1) {
z = Math.round(pinch.scale * -10)
} else {
z = Math.round(pinch.scale)
}
if(pinchZoom.zoom != z) {
_camera.stepZoom(z)
}
}
}
property int zoom: 0
}
}
}
src/FlightDisplay/VideoManager.cc
View file @ f69b32b3
......@@ -28,7 +28,7 @@
#include "MultiVehicleManager.h"
#include "Settings/SettingsManager.h"
#include "Vehicle.h"
#include "JoystickManager.h"
#include "QGCCameraManager.h"
QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
......@@ -36,9 +36,6 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
: QGCTool(app, toolbox)
{
_streamInfo = {};
_lastZoomChange.start();
_lastStreamChange.start();
}
//-----------------------------------------------------------------------------
......@@ -64,11 +61,9 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
connect(_videoSettings->udpPort(), &Fact::rawValueChanged, this, &VideoManager::_udpPortChanged);
connect(_videoSettings->rtspUrl(), &Fact::rawValueChanged, this, &VideoManager::_rtspUrlChanged);
connect(_videoSettings->tcpUrl(), &Fact::rawValueChanged, this, &VideoManager::_tcpUrlChanged);
connect(_videoSettings->aspectRatio(), &Fact::rawValueChanged, this, &VideoManager::_streamInfoChanged);
connect(_videoSettings->aspectRatio(), &Fact::rawValueChanged, this, &VideoManager::_aspectRatioChanged);
MultiVehicleManager *pVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
connect(pVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
JoystickManager *pJoyMgr = qgcApp()->toolbox()->joystickManager();
connect(pJoyMgr, &JoystickManager::activeJoystickChanged, this, &VideoManager::_activeJoystickChanged);
#if defined(QGC_GST_STREAMING)
#ifndef QGC_DISABLE_UVC
......@@ -92,14 +87,26 @@ VideoManager::setToolbox(QGCToolbox *toolbox)
//-----------------------------------------------------------------------------
double VideoManager::aspectRatio()
{
if(isAutoStream()) {
if(_streamInfo.resolution_h && _streamInfo.resolution_v) {
return static_cast<double>(_streamInfo.resolution_h) / static_cast<double>(_streamInfo.resolution_v);
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
if(pInfo) {
return pInfo->aspectRatio();
}
}
return _videoSettings->aspectRatio()->rawValue().toDouble();
}
//-----------------------------------------------------------------------------
bool
VideoManager::autoStreamConfigured()
{
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
if(pInfo) {
return !pInfo->uri().isEmpty();
}
return 1.0;
} else {
return _videoSettings->aspectRatio()->rawValue().toDouble();
}
return false;
}
//-----------------------------------------------------------------------------
......@@ -156,6 +163,9 @@ VideoManager::_tcpUrlChanged()
bool
VideoManager::hasVideo()
{
if(autoStreamConfigured()) {
return true;
}
QString videoSource = _videoSettings->videoSource()->rawValue().toString();
return !videoSource.isEmpty() && videoSource != VideoSettings::videoSourceNoVideo && videoSource != VideoSettings::videoDisabled;
}
......@@ -169,21 +179,9 @@ VideoManager::isGStreamer()
return
videoSource == VideoSettings::videoSourceUDP ||
videoSource == VideoSettings::videoSourceRTSP ||
videoSource == VideoSettings::videoSourceAuto ||
videoSource == VideoSettings::videoSourceTCP ||
videoSource == VideoSettings::videoSourceMPEGTS;
#else
return false;
#endif
}
//-----------------------------------------------------------------------------
bool
VideoManager::isAutoStream()
{
#if defined(QGC_GST_STREAMING)
QString videoSource = _videoSettings->videoSource()->rawValue().toString();
return videoSource == VideoSettings::videoSourceAuto;
videoSource == VideoSettings::videoSourceMPEGTS ||
autoStreamConfigured();
#else
return false;
#endif
......@@ -204,6 +202,28 @@ VideoManager::_updateSettings()
{
if(!_videoSettings || !_videoReceiver)
return;
//-- Auto discovery
if(_activeVehicle && _activeVehicle->dynamicCameras()) {
QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
if(pInfo) {
switch(pInfo->type()) {
case VIDEO_STREAM_TYPE_RTSP:
case VIDEO_STREAM_TYPE_TCP_MPEG:
_videoReceiver->setUri(pInfo->uri());
break;
case VIDEO_STREAM_TYPE_RTPUDP:
_videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(pInfo->uri()));
break;
case VIDEO_STREAM_TYPE_MPEG_TS_H264:
_videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(pInfo->uri()));
break;
default:
_videoReceiver->setUri(pInfo->uri());
break;
}
return;
}
}
QString source = _videoSettings->videoSource()->rawValue().toString();
if (source == VideoSettings::videoSourceUDP)
_videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
......@@ -213,24 +233,6 @@ VideoManager::_updateSettings()
_videoReceiver->setUri(_videoSettings->rtspUrl()->rawValue().toString());
else if (source == VideoSettings::videoSourceTCP)
_videoReceiver->setUri(QStringLiteral("tcp://%1").arg(_videoSettings->tcpUrl()->rawValue().toString()));
//-- Auto discovery
else if (isAutoStream()) {
switch(_streamInfo.type) {
case VIDEO_STREAM_TYPE_RTSP:
case VIDEO_STREAM_TYPE_TCP_MPEG:
_videoReceiver->setUri(QString(_streamInfo.uri));
break;
case VIDEO_STREAM_TYPE_RTPUDP:
_videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(atoi(_streamInfo.uri)));
break;
case VIDEO_STREAM_TYPE_MPEG_TS_H264:
_videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(atoi(_streamInfo.uri)));
break;
default:
_videoReceiver->setUri(QString(_streamInfo.uri));
break;
}
}
}
//-----------------------------------------------------------------------------
......@@ -252,116 +254,31 @@ void
VideoManager::_setActiveVehicle(Vehicle* vehicle)
{
if(_activeVehicle) {
disconnect(_activeVehicle, &Vehicle::mavlinkMessageReceived, this, &VideoManager::_vehicleMessageReceived);
if(_activeVehicle->dynamicCameras()) {
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
if(pCamera) {
pCamera->stopStream();
}
disconnect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::_restartVideo);
}
}
_activeVehicle = vehicle;
if(_activeVehicle) {
if(isAutoStream()) {
_videoReceiver->stop();
}
//-- Video Stream Discovery
connect(_activeVehicle, &Vehicle::mavlinkMessageReceived, this, &VideoManager::_vehicleMessageReceived);
qCDebug(VideoManagerLog) << "Requesting video stream info";
_activeVehicle->sendMavCommand(
MAV_COMP_ID_ALL, // Target component
MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, // Command id
false, // ShowError
1, // First camera only
1); // Request video stream information
}
}
//----------------------------------------------------------------------------------------
void
VideoManager::_vehicleMessageReceived(const mavlink_message_t& message)
{
//-- For now we only handle one stream. There is no UI to pick different streams.
if(message.msgid == MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION) {
_videoStreamCompID = message.compid;
mavlink_msg_video_stream_information_decode(&message, &_streamInfo);
_hasAutoStream = true;
qCDebug(VideoManagerLog) << "Received video stream info:" << _streamInfo.uri;
_restartVideo();
emit streamInfoChanged();
}
}
//----------------------------------------------------------------------------------------
void
VideoManager::_activeJoystickChanged(Joystick* joystick)
{
if(_activeJoystick) {
disconnect(_activeJoystick, &Joystick::stepZoom, this, &VideoManager::stepZoom);
disconnect(_activeJoystick, &Joystick::stepStream, this, &VideoManager::stepStream);
}
_activeJoystick = joystick;
if(_activeJoystick) {
connect(_activeJoystick, &Joystick::stepZoom, this, &VideoManager::stepZoom);
connect(_activeJoystick, &Joystick::stepStream, this, &VideoManager::stepStream);
}
}
//-----------------------------------------------------------------------------
void
VideoManager::stepZoom(int direction)
{
if(_lastZoomChange.elapsed() > 250) {
_lastZoomChange.start();
qCDebug(VideoManagerLog) << "Step Stream Zoom" << direction;
if(_activeVehicle && hasZoom()) {
_activeVehicle->sendMavCommand(
_videoStreamCompID, // Target component
MAV_CMD_SET_CAMERA_ZOOM, // Command id
false, // ShowError
ZOOM_TYPE_STEP, // Zoom type
direction); // Direction (-1 wide, 1 tele)
}
}
}
//-----------------------------------------------------------------------------
void
VideoManager::stepStream(int direction)
{
if(_lastStreamChange.elapsed() > 250) {
_lastStreamChange.start();
int s = _currentStream + direction;
if(s < 1) s = _streamInfo.count;
if(s > _streamInfo.count) s = 1;
setCurrentStream(s);
}
}
//-----------------------------------------------------------------------------
void
VideoManager::setCurrentStream(int stream)
{
qCDebug(VideoManagerLog) << "Set Stream" << stream;
//-- TODO: Handle multiple streams
if(_hasAutoStream && stream <= _streamInfo.count && stream > 0 && _activeVehicle) {
if(_currentStream != stream) {
//-- Stop current stream
_activeVehicle->sendMavCommand(
_videoStreamCompID, // Target component
MAV_CMD_VIDEO_STOP_STREAMING, // Command id
false, // ShowError
_currentStream); // Stream ID
//-- Start new stream
_currentStream = stream;
_activeVehicle->sendMavCommand(
_videoStreamCompID, // Target component
MAV_CMD_VIDEO_START_STREAMING, // Command id
false, // ShowError
_currentStream); // Stream ID
_currentStream = stream;
emit currentStreamChanged();
if(_activeVehicle->dynamicCameras()) {
connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::_restartVideo);
QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
if(pCamera) {
pCamera->resumeStream();
}
}
}
emit autoStreamConfiguredChanged();
_restartVideo();
}
//----------------------------------------------------------------------------------------
void
VideoManager::_streamInfoChanged()
VideoManager::_aspectRatioChanged()
{
emit streamInfoChanged();
emit aspectRatioChanged();
}
src/FlightDisplay/VideoManager.h
View file @ f69b32b3
......@@ -35,18 +35,15 @@ public:
VideoManager (QGCApplication* app, QGCToolbox* toolbox);
~VideoManager ();
Q_PROPERTY(bool hasVideo READ hasVideo NOTIFY hasVideoChanged)
Q_PROPERTY(bool isGStreamer READ isGStreamer NOTIFY isGStreamerChanged)
Q_PROPERTY(bool isAutoStream READ isAutoStream NOTIFY isAutoStreamChanged)
Q_PROPERTY(bool isTaisync READ isTaisync WRITE setIsTaisync NOTIFY isTaisyncChanged)
Q_PROPERTY(QString videoSourceID READ videoSourceID NOTIFY videoSourceIDChanged)
Q_PROPERTY(bool uvcEnabled READ uvcEnabled CONSTANT)
Q_PROPERTY(bool fullScreen READ fullScreen WRITE setfullScreen NOTIFY fullScreenChanged)
Q_PROPERTY(VideoReceiver* videoReceiver READ videoReceiver CONSTANT)
Q_PROPERTY(double aspectRatio READ aspectRatio NOTIFY streamInfoChanged)
Q_PROPERTY(bool hasZoom READ hasZoom NOTIFY streamInfoChanged)
Q_PROPERTY(int streamCount READ streamCount NOTIFY streamCountChanged)
Q_PROPERTY(int currentStream READ currentStream WRITE setCurrentStream NOTIFY currentStreamChanged)
Q_PROPERTY(bool hasVideo READ hasVideo NOTIFY hasVideoChanged)
Q_PROPERTY(bool isGStreamer READ isGStreamer NOTIFY isGStreamerChanged)
Q_PROPERTY(bool isTaisync READ isTaisync WRITE setIsTaisync NOTIFY isTaisyncChanged)
Q_PROPERTY(QString videoSourceID READ videoSourceID NOTIFY videoSourceIDChanged)
Q_PROPERTY(bool uvcEnabled READ uvcEnabled CONSTANT)
Q_PROPERTY(bool fullScreen READ fullScreen WRITE setfullScreen NOTIFY fullScreenChanged)
Q_PROPERTY(VideoReceiver* videoReceiver READ videoReceiver CONSTANT)
Q_PROPERTY(double aspectRatio READ aspectRatio NOTIFY aspectRatioChanged)
Q_PROPERTY(bool autoStreamConfigured READ autoStreamConfigured NOTIFY autoStreamConfiguredChanged)
bool hasVideo ();
bool isGStreamer ();
......@@ -54,11 +51,8 @@ public:
bool isTaisync () { return _isTaisync; }
bool fullScreen () { return _fullScreen; }
QString videoSourceID () { return _videoSourceID; }
QString autoURL () { return QString(_streamInfo.uri); }
double aspectRatio ();
bool hasZoom () { return _streamInfo.flags & VIDEO_STREAM_HAS_BASIC_ZOOM; }
int currentStream () { return _currentStream; }
int streamCount () { return _streamInfo.count; }
bool autoStreamConfigured();
VideoReceiver* videoReceiver () { return _videoReceiver; }
......@@ -70,15 +64,12 @@ public:
void setfullScreen (bool f) { _fullScreen = f; emit fullScreenChanged(); }
void setIsTaisync (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
void setCurrentStream (int stream);
// Override from QGCTool
void setToolbox (QGCToolbox *toolbox);
Q_INVOKABLE void startVideo () { _videoReceiver->start(); }
Q_INVOKABLE void stopVideo () { _videoReceiver->stop(); }
Q_INVOKABLE void stepZoom (int direction);
Q_INVOKABLE void stepStream (int direction);
signals:
void hasVideoChanged ();
......@@ -86,10 +77,9 @@ signals:
void videoSourceIDChanged ();
void fullScreenChanged ();
void isAutoStreamChanged ();
void streamInfoChanged ();
void isTaisyncChanged ();
void currentStreamChanged ();
void streamCountChanged ();
void aspectRatioChanged ();
void autoStreamConfiguredChanged();
private slots:
void _videoSourceChanged ();
......@@ -97,14 +87,12 @@ private slots:
void _rtspUrlChanged ();
void _tcpUrlChanged ();
void _updateUVC ();
void _streamInfoChanged ();
void _setActiveVehicle (Vehicle* vehicle);
void _activeJoystickChanged (Joystick* joystick);
void _vehicleMessageReceived (const mavlink_message_t& message);
void _aspectRatioChanged ();
void _restartVideo ();
private:
void _updateSettings ();
void _restartVideo ();
private:
bool _isTaisync = false;
......@@ -113,13 +101,6 @@ private:
QString _videoSourceID;
bool _fullScreen = false;
Vehicle* _activeVehicle = nullptr;
Joystick* _activeJoystick = nullptr;
mavlink_video_stream_information_t _streamInfo;
bool _hasAutoStream = false;
uint8_t _videoStreamCompID = 0;
int _currentStream = 1;
QTime _lastZoomChange;
QTime _lastStreamChange;
};
#endif
src/FlightMap/Widgets/VideoPageWidget.qml
View file @ f69b32b3
......@@ -7,10 +7,10 @@
*
****************************************************************************/
import QtQuick 2.4
import QtQuick 2.11
import QtPositioning 5.2
import QtQuick.Layouts 1.2
import QtQuick.Controls 1.4
import QtQuick.Controls 2.4
import QtQuick.Dialogs 1.2
import QtGraphicalEffects 1.0
......@@ -54,13 +54,14 @@ Item {
}
// Enable/Disable Video Streaming
QGCLabel {
text: qsTr("Enable Stream")
font.pointSize: ScreenTools.smallFontPointSize
text: qsTr("Enable Stream")
font.pointSize: ScreenTools.smallFontPointSize
}
QGCSwitch {
id: enableSwitch
enabled: _streamingEnabled
checked: QGroundControl.settingsManager.videoSettings.streamEnabled.rawValue
id: enableSwitch
enabled: _streamingEnabled
checked: QGroundControl.settingsManager.videoSettings.streamEnabled.rawValue
Layout.alignment: Qt.AlignHCenter
onClicked: {
if(checked) {
QGroundControl.settingsManager.videoSettings.streamEnabled.rawValue = 1
......@@ -73,14 +74,15 @@ Item {
}
// Grid Lines
QGCLabel {
text: qsTr("Grid Lines")
font.pointSize: ScreenTools.smallFontPointSize
visible: QGroundControl.videoManager.isGStreamer && QGroundControl.settingsManager.videoSettings.gridLines.visible
text: qsTr("Grid Lines")
font.pointSize: ScreenTools.smallFontPointSize
visible: QGroundControl.videoManager.isGStreamer && QGroundControl.settingsManager.videoSettings.gridLines.visible
}
QGCSwitch {
enabled: _streamingEnabled && _activeVehicle
checked: QGroundControl.settingsManager.videoSettings.gridLines.rawValue
visible: QGroundControl.videoManager.isGStreamer && QGroundControl.settingsManager.videoSettings.gridLines.visible
enabled: _streamingEnabled && _activeVehicle
checked: QGroundControl.settingsManager.videoSettings.gridLines.rawValue
visible: QGroundControl.videoManager.isGStreamer && QGroundControl.settingsManager.videoSettings.gridLines.visible
Layout.alignment: Qt.AlignHCenter
onClicked: {
if(checked) {
QGroundControl.settingsManager.videoSettings.gridLines.rawValue = 1
......@@ -89,6 +91,17 @@ Item {
}
}
}
//-- Video Fit
QGCLabel {
text: qsTr("Video Screen Fit")
font.pointSize: ScreenTools.smallFontPointSize
}
FactComboBox {
fact: QGroundControl.settingsManager.videoSettings.videoFit
indexModel: false
Layout.alignment: Qt.AlignHCenter
}
//-- Video Recording
QGCLabel {
text: _recordingVideo ? qsTr("Stop Recording") : qsTr("Record Stream")
font.pointSize: ScreenTools.smallFontPointSize
......
src/Joystick/Joystick.cc
View file @ f69b32b3
......@@ -516,12 +516,6 @@ void Joystick::run(void)
// Set up button pressed information
// We only send the buttons the firmwware has reserved
int reservedButtonCount = _activeVehicle->manualControlReservedButtonCount();
if (reservedButtonCount == -1) {
reservedButtonCount = _totalButtonCount;
}
quint16 newButtonBits = 0; // New set of button which are down
quint16 buttonPressedBits = 0; // Buttons pressed for manualControl signal
......@@ -536,12 +530,9 @@ void Joystick::run(void)
// Button was up last time through, but is now down which indicates a button press
qCDebug(JoystickLog) << "button triggered" << buttonIndex;
if (buttonIndex >= reservedButtonCount) {
// Button is above firmware reserved set
QString buttonAction =_rgButtonActions[buttonIndex];
if (!buttonAction.isEmpty()) {
_buttonAction(buttonAction);
}
QString buttonAction =_rgButtonActions[buttonIndex];
if (!buttonAction.isEmpty()) {
_buttonAction(buttonAction);
}
}
......@@ -554,6 +545,7 @@ void Joystick::run(void)
qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle" << name() << roll << -pitch << yaw << throttle;
// NOTE: The buttonPressedBits going to MANUAL_CONTROL are currently used by ArduSub.
emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, _activeVehicle->joystickMode());
}
......
src/MissionManager/MavCmdInfoCommon.json
View file @ f69b32b3
......@@ -153,7 +153,7 @@
"param1": {
"label": "Abort Alt",
"units": "m",
"default": 25.0,
"default": 0,
"decimalPlaces": 2
},
"param4": {
......
src/PlanView/SimpleItemEditor.qml
View file @ f69b32b3
......@@ -32,22 +32,32 @@ Rectangle {
property string _altModeAboveTerrainHelpText: qsTr("Altitude above terrain\nActual AMSL altitude: %1 %2").arg(missionItem.amslAltAboveTerrain.valueString).arg(missionItem.amslAltAboveTerrain.units)
property string _altModeTerrainFrameHelpText: qsTr("Using terrain reference frame")
readonly property string _altModeRelativeExtraUnits: qsTr(" (Rel)")
readonly property string _altModeAbsoluteExtraUnits: qsTr(" (AMSL)")
readonly property string _altModeAboveTerrainExtraUnits: qsTr(" (Abv Terr)")
readonly property string _altModeTerrainFrameExtraUnits: qsTr(" (TerrF)")
function updateAltitudeModeText() {
if (missionItem.altitudeMode === _altModeRelative) {
altModeLabel.text = qsTr("Altitude")
altModeHelp.text = _altModeRelativeHelpText
altField.extraUnits = _altModeRelativeExtraUnits
} else if (missionItem.altitudeMode === _altModeAbsolute) {
altModeLabel.text = qsTr("Above Mean Sea Level")
altModeHelp.text = _altModeAbsoluteHelpText
altField.extraUnits = _altModeAbsoluteExtraUnits
} else if (missionItem.altitudeMode === _altModeAboveTerrain) {
altModeLabel.text = qsTr("Above Terrain")
altModeHelp.text = Qt.binding(function() { return _altModeAboveTerrainHelpText })
altField.extraUnits = _altModeAboveTerrainExtraUnits
} else if (missionItem.altitudeMode === _altModeTerrainFrame) {
altModeLabel.text = qsTr("Terrain Frame")
altModeHelp.text = _altModeTerrainFrameHelpText
altField.extraUnits = _altModeTerrainFrameExtraUnits
} else {
altModeLabel.text = qsTr("Internal Error")
altModeHelp.text = ""
altField.extraUnits = ""
}
}
......@@ -130,11 +140,11 @@ Rectangle {
id: altHamburger
anchors.leftMargin: ScreenTools.defaultFontPixelWidth / 4
anchors.left: altModeLabel.right
anchors.top: altModeLabel.top
width: height
height: altModeLabel.height
anchors.verticalCenter: altModeLabel.verticalCenter
width: ScreenTools.defaultFontPixelHeight / 2
height: width
sourceSize.height: height
source: "qrc:/qmlimages/Hamburger.svg"
source: "/res/DropArrow.svg"
color: qgcPal.text
}
......@@ -166,6 +176,7 @@ Rectangle {
checkable: true
checked: missionItem.altitudeMode === _altModeAboveTerrain
onTriggered: missionItem.altitudeMode = _altModeAboveTerrain
visible: missionItem.specifiesCoordinate
}
MenuItem {
......@@ -179,15 +190,21 @@ Rectangle {
}
FactTextField {
fact: missionItem.altitude
id: altField
fact: missionItem.altitude
unitsLabel: fact.units + extraUnits
anchors.left: parent.left
anchors.right: parent.right
property string extraUnits
}
QGCLabel {
id: altModeHelp
anchors.left: parent.left
anchors.right: parent.right
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
id: altModeHelp
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
anchors.left: parent.left
anchors.right: parent.right
}
}
}
......
src/QGCApplication.cc
View file @ f69b32b3
......@@ -414,6 +414,7 @@ void QGCApplication::_initCommon(void)
qmlRegisterUncreatableType<ParameterManager> (kQGCVehicle, 1, 0, "ParameterManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraManager> (kQGCVehicle, 1, 0, "QGCCameraManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraControl> (kQGCVehicle, 1, 0, "QGCCameraControl", kRefOnly);
qmlRegisterUncreatableType<QGCVideoStreamInfo> (kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
qmlRegisterUncreatableType<LinkInterface> (kQGCVehicle, 1, 0, "LinkInterface", kRefOnly);
qmlRegisterUncreatableType<MissionController> (kQGCControllers, 1, 0, "MissionController", kRefOnly);
qmlRegisterUncreatableType<GeoFenceController> (kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
......
src/QmlControls/ScreenTools.qml
View file @ f69b32b3
......@@ -181,7 +181,9 @@ Item {
} else {
baseSize = _defaultFont.font.pointSize;
}
_appFontPointSizeFact._setIgnoreQGCRebootRequired(true)
_appFontPointSizeFact.value = baseSize
_appFontPointSizeFact._setIgnoreQGCRebootRequired(false)
//-- Release build doesn't get signal
if(!ScreenToolsController.isDebug)
_screenTools._setBasePointSize(baseSize);
......
src/QmlControls/ToolStrip.qml
View file @ f69b32b3
......@@ -65,7 +65,7 @@ Rectangle {
QGCLabel {
anchors.horizontalCenter: parent.horizontalCenter
text: title
font.pointSize: ScreenTools.smallFontPointSize
font.pointSize: ScreenTools.mobile ? ScreenTools.smallFontPointSize : ScreenTools.defaultFontPointSize
}
Rectangle {
......
src/Settings/VideoSettings.cc
View file @ f69b32b3
......@@ -21,7 +21,6 @@
const char* VideoSettings::videoSourceNoVideo = "No Video Available";
const char* VideoSettings::videoDisabled = "Video Stream Disabled";
const char* VideoSettings::videoSourceAuto = "Automatic Video Stream";
const char* VideoSettings::videoSourceRTSP = "RTSP Video Stream";
const char* VideoSettings::videoSourceUDP = "UDP Video Stream";
const char* VideoSettings::videoSourceTCP = "TCP-MPEG2 Video Stream";
......@@ -35,7 +34,6 @@ DECLARE_SETTINGGROUP(Video, "Video")
// Setup enum values for videoSource settings into meta data
QStringList videoSourceList;
#ifdef QGC_GST_STREAMING
videoSourceList.append(videoSourceAuto);
videoSourceList.append(videoSourceRTSP);
#ifndef NO_UDP_VIDEO
videoSourceList.append(videoSourceUDP);
......@@ -133,10 +131,16 @@ bool VideoSettings::streamConfigured(void)
#if !defined(QGC_GST_STREAMING)
return false;
#endif
//-- First, check if it's disabled
QString vSource = videoSource()->rawValue().toString();
if(vSource == videoSourceNoVideo || vSource == videoDisabled) {
return false;
}
//-- Check if it's autoconfigured
if(qgcApp()->toolbox()->videoManager()->autoStreamConfigured()) {
qCDebug(VideoManagerLog) << "Stream auto configured";
return true;
}
//-- If UDP, check if port is set
if(vSource == videoSourceUDP) {
qCDebug(VideoManagerLog) << "Testing configuration for UDP Stream:" << udpPort()->rawValue().toInt();
......@@ -157,11 +161,6 @@ bool VideoSettings::streamConfigured(void)
qCDebug(VideoManagerLog) << "Testing configuration for MPEG-TS Stream:" << udpPort()->rawValue().toInt();
return udpPort()->rawValue().toInt() != 0;
}
//-- If Auto, check for received URL
if(vSource == videoSourceAuto) {
qCDebug(VideoManagerLog) << "Testing configuration for Auto Stream:" << qgcApp()->toolbox()->videoManager()->autoURL();
return !qgcApp()->toolbox()->videoManager()->autoURL().isEmpty();
}
return false;
}
......
src/Settings/VideoSettings.h
View file @ f69b32b3
......@@ -36,14 +36,12 @@ public:
DEFINE_SETTINGFACT(disableWhenDisarmed)
Q_PROPERTY(bool streamConfigured READ streamConfigured NOTIFY streamConfiguredChanged)
Q_PROPERTY(QString autoVideoSource READ autoVideoSource CONSTANT)
Q_PROPERTY(QString rtspVideoSource READ rtspVideoSource CONSTANT)
Q_PROPERTY(QString udpVideoSource READ udpVideoSource CONSTANT)
Q_PROPERTY(QString tcpVideoSource READ tcpVideoSource CONSTANT)
Q_PROPERTY(QString mpegtsVideoSource READ mpegtsVideoSource CONSTANT)
bool streamConfigured ();
QString autoVideoSource () { return videoSourceAuto; }
QString rtspVideoSource () { return videoSourceRTSP; }
QString udpVideoSource () { return videoSourceUDP; }
QString tcpVideoSource () { return videoSourceTCP; }
......@@ -53,7 +51,6 @@ public:
static const char* videoDisabled;
static const char* videoSourceUDP;
static const char* videoSourceRTSP;
static const char* videoSourceAuto;
static const char* videoSourceTCP;
static const char* videoSourceMPEGTS;
......
src/Vehicle/Vehicle.cc
View file @ f69b32b3
......@@ -2214,11 +2214,6 @@ void Vehicle::resetMessages()
}
}
int Vehicle::manualControlReservedButtonCount(void)
{
return _firmwarePlugin->manualControlReservedButtonCount();
}
void Vehicle::_loadSettings(void)
{
if (!_active) {
......
src/Vehicle/Vehicle.h
View file @ f69b32b3
......@@ -691,12 +691,6 @@ public:
/// Resets link status counters
Q_INVOKABLE void resetCounters ();
/// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
/// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
/// The remainder can be assigned to Vehicle actions.
/// @return -1: reserver all buttons, >0 number of buttons to reserve
Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
// Called when the message drop-down is invoked to clear current count
Q_INVOKABLE void resetMessages();
......@@ -821,8 +815,6 @@ public:
/// Provides access to the Firmware Plugin for this Vehicle
FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
int manualControlReservedButtonCount(void);
MissionManager* missionManager(void) { return _missionManager; }
GeoFenceManager* geoFenceManager(void) { return _geoFenceManager; }
RallyPointManager* rallyPointManager(void) { return _rallyPointManager; }
......
src/VehicleSetup/Bootloader.h
View file @ f69b32b3
......@@ -74,6 +74,7 @@ public:
static const int boardIDTAPV1 = 64; ///< TAP V1 board, as from USB PID
static const int boardIDASCV1 = 65; ///< ASC V1 board, as from USB PID
static const int boardIDCrazyflie2 = 12; ///< Crazyflie 2.0 board, as from USB PID
static const int boardIDOmnibusF4SD = 42; ///< Omnibus F4 SD, as from USB PID
static const int boardIDNXPHliteV3 = 28; ///< NXPHliteV3 board, as from USB PID
/// Simulated board id for V3 which is a V2 board which supports larger flash space
......
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ f69b32b3
......@@ -262,6 +262,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
{ AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/crazyflie_default.px4"},
};
FirmwareToUrlElement_t rgOmnibusF4SDFirmwareArray[] = {
{ AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/omnibus_f4sd_default.px4"},
{ AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/omnibus_f4sd_default.px4"},
{ AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/omnibus_f4sd_default.px4"},
};
/////////////////////////////// px4flow firmwares ///////////////////////////////////////
FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
{ PX4FlowPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
......@@ -447,6 +453,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
_rgCrazyflie2Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
size = sizeof(rgOmnibusF4SDFirmwareArray)/sizeof(rgOmnibusF4SDFirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgOmnibusF4SDFirmwareArray[i];
_rgOmnibusF4SDFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
for (int i = 0; i < size; i++) {
const FirmwareToUrlElement_t& element = rgPX4FLowFirmwareArray[i];
......@@ -514,6 +526,9 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
case Bootloader::boardIDCrazyflie2:
rgFirmware = &_rgCrazyflie2Firmware;
break;
case Bootloader::boardIDOmnibusF4SD:
rgFirmware = &_rgOmnibusF4SDFirmware;
break;
case Bootloader::boardIDNXPHliteV3:
rgFirmware = &_rgNXPHliteV3Firmware;
break;
......
src/VehicleSetup/FirmwareUpgradeController.h
View file @ f69b32b3
......@@ -211,6 +211,7 @@ private:
QHash<FirmwareIdentifier, QString> _rgTAPV1Firmware;
QHash<FirmwareIdentifier, QString> _rgASCV1Firmware;
QHash<FirmwareIdentifier, QString> _rgCrazyflie2Firmware;
QHash<FirmwareIdentifier, QString> _rgOmnibusF4SDFirmware;
QHash<FirmwareIdentifier, QString> _rgNXPHliteV3Firmware;
QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
......
src/VehicleSetup/JoystickConfig.qml
View file @ f69b32b3
......@@ -620,20 +620,13 @@ SetupPage {
width: parent.width
spacing: ScreenTools.defaultFontPixelHeight / 3
QGCLabel {
visible: _activeVehicle.manualControlReservedButtonCount != 0
text: qsTr("Buttons 0-%1 reserved for firmware use").arg(reservedButtonCount)
property int reservedButtonCount: _activeVehicle.manualControlReservedButtonCount == -1 ? _activeJoystick.totalButtonCount : _activeVehicle.manualControlReservedButtonCount
}
Repeater {
id: buttonActionRepeater
model: _activeJoystick ? Math.min(_activeJoystick.totalButtonCount, _maxButtons) : 0
Row {
spacing: ScreenTools.defaultFontPixelWidth
visible: (_activeVehicle.manualControlReservedButtonCount == -1 ? false : modelData >= _activeVehicle.manualControlReservedButtonCount) && !_activeVehicle.supportsJSButton
visible: !_activeVehicle.supportsJSButton
property bool pressed
......
src/VideoStreaming/VideoReceiver.cc
View file @ f69b32b3
......@@ -472,7 +472,7 @@ VideoReceiver::start()
void
VideoReceiver::stop()
{
if(qgcApp()->runningUnitTests()) {
if(qgcApp() && qgcApp()->runningUnitTests()) {
return;
}
#if defined(QGC_GST_STREAMING)
......
src/api/QGCCorePlugin.cc
View file @ f69b32b3
......@@ -18,6 +18,10 @@
#include "VideoReceiver.h"
#include "QGCLoggingCategory.h"
#if !defined(__mobile__)
#include "QGCQmlWidgetHolder.h"
#endif
#include <QtQml>
#include <QQmlEngine>
......@@ -324,3 +328,17 @@ QString QGCCorePlugin::stableVersionCheckFileUrl(void) const
return QString("https://s3-us-west-2.amazonaws.com/qgroundcontrol/latest/QGC.version.txt");
#endif
}
#if !defined(__mobile__)
QGCQmlWidgetHolder* QGCCorePlugin::createMainQmlWidgetHolder(QLayout *mainLayout, QWidget* parent)
{
QGCQmlWidgetHolder* pMainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), nullptr, parent);
mainLayout->addWidget(pMainQmlWidgetHolder);
pMainQmlWidgetHolder->setVisible(true);
QQmlEngine::setObjectOwnership(parent, QQmlEngine::CppOwnership);
pMainQmlWidgetHolder->setContextPropertyObject("controller", parent);
pMainQmlWidgetHolder->setContextPropertyObject("debugMessageModel", AppMessages::getModel());
pMainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindowHybrid.qml"));
return pMainQmlWidgetHolder;
}
#endif
src/api/QGCCorePlugin.h
View file @ f69b32b3
......@@ -34,6 +34,12 @@ class QmlObjectListModel;
class VideoReceiver;
class PlanMasterController;
#if !defined(__mobile__)
class QLayout;
class QMainWindow;
class QGCQmlWidgetHolder;
#endif
class QGCCorePlugin : public QGCTool
{
Q_OBJECT
......@@ -102,6 +108,11 @@ public:
/// Allows the plugin to override the creation of the root (native) window.
virtual QQmlApplicationEngine* createRootWindow(QObject* parent);
/// Allows the plugin to have a chance to initialize the creation of the root (non native) window.
#if !defined(__mobile__)
virtual QGCQmlWidgetHolder* createMainQmlWidgetHolder(QLayout* mainLayout, QWidget *parent);
#endif
/// Allows the plugin to override the creation of VideoReceiver.
virtual VideoReceiver* createVideoReceiver(QObject* parent);
......
src/ui/MainWindow.cc
View file @ f69b32b3
......@@ -84,7 +84,7 @@ static const char *rgDockWidgetNames[] = {
static const char* _visibleWidgetsKey = "VisibleWidgets";
#endif
static MainWindow* _instance = NULL; ///< @brief MainWindow singleton
static MainWindow* _instance = nullptr; ///< @brief MainWindow singleton
MainWindow* MainWindow::_create()
{
......@@ -106,10 +106,10 @@ void MainWindow::deleteInstance(void)
/// by MainWindow::_create method. Hence no other code should have access to
/// constructor.
MainWindow::MainWindow()
: _mavlinkDecoder (NULL)
: _mavlinkDecoder (nullptr)
, _lowPowerMode (false)
, _showStatusBar (false)
, _mainQmlWidgetHolder (NULL)
, _mainQmlWidgetHolder (nullptr)
, _forceClose (false)
{
_instance = this;
......@@ -138,21 +138,15 @@ MainWindow::MainWindow()
_centralLayout->setContentsMargins(0, 0, 0, 0);
centralWidget()->setLayout(_centralLayout);
_mainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), NULL, this);
_centralLayout->addWidget(_mainQmlWidgetHolder);
_mainQmlWidgetHolder->setVisible(true);
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
_mainQmlWidgetHolder->setContextPropertyObject("controller", this);
_mainQmlWidgetHolder->setContextPropertyObject("debugMessageModel", AppMessages::getModel());
_mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindowHybrid.qml"));
//-- Allow plugin to initialize main QML Widget
_mainQmlWidgetHolder = qgcApp()->toolbox()->corePlugin()->createMainQmlWidgetHolder(_centralLayout, this);
// Image provider
QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
_mainQmlWidgetHolder->getEngine()->addImageProvider(QStringLiteral("QGCImages"), pImgProvider);
// Set dock options
setDockOptions(0);
setDockOptions(nullptr);
// Setup corners
setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
......@@ -162,7 +156,7 @@ MainWindow::MainWindow()
#endif
#ifdef UNITTEST_BUILD
QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL);
QAction* qmlTestAction = new QAction("Test QML palette and controls", nullptr);
connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget);
_ui.menuWidgets->addAction(qmlTestAction);
#endif
......@@ -246,14 +240,14 @@ MainWindow::~MainWindow()
_mavlinkDecoder->finish();
_mavlinkDecoder->wait(1000);
_mavlinkDecoder->deleteLater();
_mavlinkDecoder = NULL;
_mavlinkDecoder = nullptr;
}
// This needs to happen before we get into the QWidget dtor
// otherwise the QML engine reads freed data and tries to
// destroy MainWindow a second time.
delete _mainQmlWidgetHolder;
_instance = NULL;
_instance = nullptr;
}
QString MainWindow::_getWindowGeometryKey()
......@@ -315,7 +309,7 @@ void MainWindow::_showDockWidget(const QString& name, bool show)
/// Creates the specified inner dock widget and adds to the QDockWidget
bool MainWindow::_createInnerDockWidget(const QString& widgetName)
{
QGCDockWidget* widget = NULL;
QGCDockWidget* widget = nullptr;
QAction *action = _mapName2Action[widgetName];
if(action) {
switch(action->data().toInt()) {
......@@ -339,7 +333,7 @@ bool MainWindow::_createInnerDockWidget(const QString& widgetName)
_mapName2DockWidget[widgetName] = widget;
}
}
return widget != NULL;
return widget != nullptr;
}
void MainWindow::_hideAllDockWidgets(void)
......@@ -510,7 +504,7 @@ void MainWindow::_storeVisibleWidgetsSettings(void)
QObject* MainWindow::rootQmlObject(void)
{
return _mainQmlWidgetHolder->getRootObject();
return _mainQmlWidgetHolder ? _mainQmlWidgetHolder->getRootObject() : nullptr;
}
void MainWindow::_showAdvancedUIChanged(bool advanced)
......
src/ui/preferences/GeneralSettings.qml
View file @ f69b32b3
......@@ -47,7 +47,6 @@ QGCView {
property string _videoSource: QGroundControl.settingsManager.videoSettings.videoSource.value
property bool _isGst: QGroundControl.videoManager.isGStreamer
property bool _isAutoStream: QGroundControl.videoManager.isAutoStream
property bool _isUDP: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.udpVideoSource
property bool _isRTSP: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.rtspVideoSource
property bool _isTCP: _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.tcpVideoSource
......@@ -691,7 +690,7 @@ QGCView {
QGCLabel {
id: videoSectionLabel
text: qsTr("Video")
visible: QGroundControl.settingsManager.videoSettings.visible
visible: QGroundControl.settingsManager.videoSettings.visible && !QGroundControl.videoManager.autoStreamConfigured
}
Rectangle {
Layout.preferredWidth: videoGrid.width + (_margins * 2)
......@@ -751,12 +750,12 @@ QGCView {
}
QGCLabel {
text: qsTr("Aspect Ratio")
visible: !_isAutoStream && _isGst && QGroundControl.settingsManager.videoSettings.aspectRatio.visible
visible: _isGst && QGroundControl.settingsManager.videoSettings.aspectRatio.visible
}
FactTextField {
Layout.preferredWidth: _comboFieldWidth
fact: QGroundControl.settingsManager.videoSettings.aspectRatio
visible: !_isAutoStream && _isGst && QGroundControl.settingsManager.videoSettings.aspectRatio.visible
visible: _isGst && QGroundControl.settingsManager.videoSettings.aspectRatio.visible
}
QGCLabel {
......@@ -776,10 +775,10 @@ QGCView {
QGCLabel {
id: videoRecSectionLabel
text: qsTr("Video Recording")
visible: QGroundControl.settingsManager.videoSettings.visible && _isGst
visible: (QGroundControl.settingsManager.videoSettings.visible && _isGst) || QGroundControl.videoManager.autoStreamConfigured
}
Rectangle {
Layout.preferredWidth: videoRecCol.width + (_margins * 2)
Layout.preferredWidth: videoRecCol.width + (_margins * 2)
Layout.preferredHeight: videoRecCol.height + (_margins * 2)
Layout.fillWidth: true
color: qgcPal.windowShade
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment