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qgroundcontrol
Commit f6ae3249 authored by Lorenz Meier's avatar Lorenz Meier
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Merge branch 'master' of github.com:mavlink/qgroundcontrol

parents fe6ee5b3 b4688783
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Showing with 176 additions and 54 deletions
qgroundcontrol.pro
View file @ f6ae3249
......@@ -562,7 +562,8 @@ HEADERS += \
src/ui/designer/QGCXYPlot.h \
src/ui/menuactionhelper.h \
src/uas/UASManagerInterface.h \
src/uas/QGCUASParamManagerInterface.h
src/uas/QGCUASParamManagerInterface.h \
src/uas/QGCUASWorker.h
SOURCES += \
src/main.cc \
......@@ -745,4 +746,5 @@ SOURCES += \
src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
src/ui/designer/QGCXYPlot.cc \
src/ui/menuactionhelper.cpp
src/ui/menuactionhelper.cpp \
src/uas/QGCUASWorker.cc
src/comm/MAVLinkProtocol.cc
View file @ f6ae3249
......@@ -44,7 +44,7 @@ Q_DECLARE_METATYPE(mavlink_message_t)
* the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
*/
MAVLinkProtocol::MAVLinkProtocol() :
heartbeatTimer(),
heartbeatTimer(NULL),
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(true),
m_multiplexingEnabled(false),
......@@ -58,17 +58,14 @@ MAVLinkProtocol::MAVLinkProtocol() :
m_actionGuardEnabled(false),
m_actionRetransmissionTimeout(100),
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId)
systemId(QGC::defaultSystemId),
_should_exit(false)
{
qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
loadSettings();
moveToThread(this);
heartbeatTimer.moveToThread(this);
// Start heartbeat timer, emitting a heartbeat at the configured rate
connect(&heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
heartbeatTimer.start(1000/heartbeatRate);
// All the *Counter variables are not initialized here, as they should be initialized
// on a per-link basis before those links are used. @see resetMetadataForLink().
......@@ -171,7 +168,7 @@ MAVLinkProtocol::~MAVLinkProtocol()
}
// Tell the thread to exit
quit();
_should_exit = true;
// Wait for it to exit
wait();
}
......@@ -182,7 +179,22 @@ MAVLinkProtocol::~MAVLinkProtocol()
**/
void MAVLinkProtocol::run()
{
exec();
heartbeatTimer = new QTimer();
heartbeatTimer->moveToThread(this);
// Start heartbeat timer, emitting a heartbeat at the configured rate
connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
heartbeatTimer->start(1000/heartbeatRate);
while(!_should_exit) {
if (isFinished()) {
qDebug() << "MAVLINK WORKER DONE!";
return;
}
QCoreApplication::processEvents();
QGC::SLEEP::msleep(2);
}
}
QString MAVLinkProtocol::getLogfileName()
......@@ -782,7 +794,7 @@ void MAVLinkProtocol::enableVersionCheck(bool enabled)
void MAVLinkProtocol::setHeartbeatRate(int rate)
{
heartbeatRate = rate;
heartbeatTimer.setInterval(1000/heartbeatRate);
heartbeatTimer->setInterval(1000/heartbeatRate);
}
/** @return heartbeat rate in Hertz */
......
src/comm/MAVLinkProtocol.h
View file @ f6ae3249
......@@ -214,7 +214,7 @@ public slots:
void storeSettings();
protected:
QTimer heartbeatTimer; ///< Timer to emit heartbeats
QTimer *heartbeatTimer; ///< Timer to emit heartbeats
int heartbeatRate; ///< Heartbeat rate, controls the timer interval
bool m_heartbeatsEnabled; ///< Enabled/disable heartbeat emission
bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
......@@ -237,6 +237,8 @@ protected:
int currLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Lost messages during this sample time window. Used for calculating loss %.
bool versionMismatchIgnore;
int systemId;
bool _should_exit;
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
mavlink::ProtobufManager protobufManager;
#endif
......
src/comm/QGCXPlaneLink.cc
View file @ f6ae3249
......@@ -57,7 +57,8 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
simUpdateLastText(QGC::groundTimeMilliseconds()),
simUpdateLastGroundTruth(QGC::groundTimeMilliseconds()),
simUpdateHz(0),
_sensorHilEnabled(true)
_sensorHilEnabled(true),
_should_exit(false)
{
// We're doing it wrong - because the Qt folks got the API wrong:
// http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
......@@ -75,7 +76,7 @@ QGCXPlaneLink::~QGCXPlaneLink()
{
storeSettings();
// Tell the thread to exit
quit();
_should_exit = true;
// Wait for it to exit
wait();
......@@ -216,7 +217,10 @@ void QGCXPlaneLink::run()
writeBytes((const char*)&ip, sizeof(ip));
exec();
while(!_should_exit) {
QCoreApplication::processEvents();
QGC::SLEEP::msleep(5);
}
}
void QGCXPlaneLink::setPort(int localPort)
......
src/comm/QGCXPlaneLink.h
View file @ f6ae3249
......@@ -210,6 +210,7 @@ protected:
quint64 simUpdateLastGroundTruth;
float simUpdateHz;
bool _sensorHilEnabled;
bool _should_exit;
void setName(QString name);
};
......
src/configuration.h
View file @ f6ae3249
......@@ -4,7 +4,7 @@
#include <QString>
/** @brief Polling interval in ms */
#define SERIAL_POLL_INTERVAL 5
#define SERIAL_POLL_INTERVAL 4
/** @brief Heartbeat emission rate, in Hertz (times per second) */
#define MAVLINK_HEARTBEAT_DEFAULT_RATE 1
......
src/uas/QGCMAVLinkUASFactory.cc
View file @ f6ae3249
#include "QGCMAVLinkUASFactory.h"
#include "UASManager.h"
#include "QGCUASWorker.h"
QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
QObject(parent)
......@@ -21,7 +22,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
UASInterface* uas;
QThread* worker = new QThread();
QGCUASWorker* worker = new QGCUASWorker();
switch (heartbeat->autopilot)
{
......@@ -31,8 +32,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Set the system type
mav->setSystemType((int)heartbeat->type);
mav->moveToThread(worker);
// Connect this robot to the UAS object
connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
#ifdef QGC_PROTOBUF_ENABLED
......@@ -47,8 +46,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Set the system type
mav->setSystemType((int)heartbeat->type);
mav->moveToThread(worker);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
......@@ -66,8 +63,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Set the system type
mav->setSystemType((int)heartbeat->type);
mav->moveToThread(worker);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
......@@ -82,8 +77,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Set the system type
mav->setSystemType((int)heartbeat->type);
mav->moveToThread(worker);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
......@@ -120,6 +113,10 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
break;
}
// Get the UAS ready
worker->start(QThread::HighPriority);
connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
// Set the autopilot type
uas->setAutopilotType((int)heartbeat->autopilot);
......@@ -129,8 +126,5 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
// Now add UAS to "official" list, which makes the whole application aware of it
UASManager::instance()->addUAS(uas);
worker->start(QThread::HighPriority);
connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
return uas;
}
src/uas/QGCUASWorker.cc 0 → 100644
View file @ f6ae3249
#include "QGCUASWorker.h"
#include <QGC.h>
#include <QCoreApplication>
#include <QDebug>
QGCUASWorker::QGCUASWorker() : QThread(),
_should_exit(false)
{
}
void QGCUASWorker::quit()
{
_should_exit = true;
}
void QGCUASWorker::run()
{
while(!_should_exit) {
QCoreApplication::processEvents();
QGC::SLEEP::msleep(2);
}
}
src/uas/QGCUASWorker.h 0 → 100644
View file @ f6ae3249
#ifndef QGCUASWORKER_H
#define QGCUASWORKER_H
#include <QThread>
class QGCUASWorker : public QThread
{
public:
QGCUASWorker();
public slots:
void quit();
protected:
void run();
bool _should_exit;
};
#endif // QGCUASWORKER_H
src/uas/UAS.cc
View file @ f6ae3249
......@@ -51,7 +51,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
commStatus(COMM_DISCONNECTED),
receiveDropRate(0),
sendDropRate(0),
statusTimeout(new QTimer(this)),
statusTimeout(thread),
name(""),
type(MAV_TYPE_GENERIC),
......@@ -164,12 +164,10 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
hilEnabled(false),
sensorHil(false),
lastSendTimeGPS(0),
lastSendTimeSensors(0)
lastSendTimeSensors(0),
_thread(thread)
{
moveToThread(thread);
waypointManager.moveToThread(thread);
paramMgr.moveToThread(thread);
statusTimeout->moveToThread(thread);
for (unsigned int i = 0; i<255;++i)
{
......@@ -180,66 +178,66 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
// Store a list of available actions for this UAS.
// Basically everything exposed as a SLOT with no return value or arguments.
QAction* newAction = new QAction(tr("Arm"), this);
QAction* newAction = new QAction(tr("Arm"), thread);
newAction->setToolTip(tr("Enable the UAS so that all actuators are online"));
connect(newAction, SIGNAL(triggered()), this, SLOT(armSystem()));
actions.append(newAction);
newAction = new QAction(tr("Disarm"), this);
newAction = new QAction(tr("Disarm"), thread);
newAction->setToolTip(tr("Disable the UAS so that all actuators are offline"));
connect(newAction, SIGNAL(triggered()), this, SLOT(disarmSystem()));
actions.append(newAction);
newAction = new QAction(tr("Toggle armed"), this);
newAction = new QAction(tr("Toggle armed"), thread);
newAction->setToolTip(tr("Toggle between armed and disarmed"));
connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
actions.append(newAction);
newAction = new QAction(tr("Go home"), this);
newAction = new QAction(tr("Go home"), thread);
newAction->setToolTip(tr("Command the UAS to return to its home position"));
connect(newAction, SIGNAL(triggered()), this, SLOT(home()));
actions.append(newAction);
newAction = new QAction(tr("Land"), this);
newAction = new QAction(tr("Land"), thread);
newAction->setToolTip(tr("Command the UAS to land"));
connect(newAction, SIGNAL(triggered()), this, SLOT(land()));
actions.append(newAction);
newAction = new QAction(tr("Launch"), this);
newAction = new QAction(tr("Launch"), thread);
newAction->setToolTip(tr("Command the UAS to launch itself and begin its mission"));
connect(newAction, SIGNAL(triggered()), this, SLOT(launch()));
actions.append(newAction);
newAction = new QAction(tr("Resume"), this);
newAction = new QAction(tr("Resume"), thread);
newAction->setToolTip(tr("Command the UAS to continue its mission"));
connect(newAction, SIGNAL(triggered()), this, SLOT(go()));
actions.append(newAction);
newAction = new QAction(tr("Stop"), this);
newAction = new QAction(tr("Stop"), thread);
newAction->setToolTip(tr("Command the UAS to halt and hold position"));
connect(newAction, SIGNAL(triggered()), this, SLOT(halt()));
actions.append(newAction);
newAction = new QAction(tr("Go autonomous"), this);
newAction = new QAction(tr("Go autonomous"), thread);
newAction->setToolTip(tr("Set the UAS into an autonomous control mode"));
connect(newAction, SIGNAL(triggered()), this, SLOT(goAutonomous()));
actions.append(newAction);
newAction = new QAction(tr("Go manual"), this);
newAction = new QAction(tr("Go manual"), thread);
newAction->setToolTip(tr("Set the UAS into a manual control mode"));
connect(newAction, SIGNAL(triggered()), this, SLOT(goManual()));
actions.append(newAction);
newAction = new QAction(tr("Toggle autonomy"), this);
newAction = new QAction(tr("Toggle autonomy"), thread);
newAction->setToolTip(tr("Toggle between manual and full-autonomy"));
connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
actions.append(newAction);
color = UASInterface::getNextColor();
setBatterySpecs(QString(""));
connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
connect(&statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
statusTimeout->start(500);
statusTimeout.start(500);
readSettings();
//need to init paramMgr after readSettings have been loaded, to properly set autopilot and so forth
paramMgr.initWithUAS(this);
......@@ -255,8 +253,11 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
UAS::~UAS()
{
writeSettings();
_thread->quit();
_thread->wait();
delete links;
delete statusTimeout;
delete simulation;
}
......
src/uas/UAS.h
View file @ f6ae3249
......@@ -382,7 +382,7 @@ protected: //COMMENTS FOR TEST UNIT
float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
quint64 lastHeartbeat; ///< Time of the last heartbeat message
QTimer* statusTimeout; ///< Timer for various status timeouts
QTimer statusTimeout; ///< Timer for various status timeouts
/// BASIC UAS TYPE, NAME AND STATE
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
......@@ -526,6 +526,7 @@ protected: //COMMENTS FOR TEST UNIT
/// SIMULATION
QGCHilLink* simulation; ///< Hardware in the loop simulation link
QThread* _thread;
public:
/** @brief Set the current battery type */
......
src/ui/MainWindow.cc
View file @ f6ae3249
......@@ -760,6 +760,7 @@ void MainWindow::loadDockWidget(const QString& name)
{
if(menuActionHelper->containsDockWidget(currentView, name))
return;
if (name.startsWith("HIL_CONFIG"))
{
//It's a HIL widget.
......@@ -826,7 +827,7 @@ void MainWindow::loadDockWidget(const QString& name)
}
else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
{
......
src/ui/PrimaryFlightDisplay.cc
View file @ f6ae3249
......@@ -141,7 +141,9 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
instrumentOpagueBackground(QColor::fromHsvF(0, 0, 0.3, 1.0)),
font("Bitstream Vera Sans"),
refreshTimer(new QTimer(this))
refreshTimer(new QTimer(this)),
_valuesChanged(false),
_valuesLastPainted(QGC::groundTimeMilliseconds())
{
Q_UNUSED(width);
Q_UNUSED(height);
......@@ -159,7 +161,7 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
// Refresh timer
refreshTimer->setInterval(updateInterval);
// connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(checkUpdate()));
}
PrimaryFlightDisplay::~PrimaryFlightDisplay()
......@@ -224,6 +226,15 @@ void PrimaryFlightDisplay::paintEvent(QPaintEvent *event)
doPaint();
}
void PrimaryFlightDisplay::checkUpdate()
{
if (uas && (_valuesChanged || (QGC::groundTimeMilliseconds() - _valuesLastPainted) > 260)) {
update();
_valuesChanged = false;
_valuesLastPainted = QGC::groundTimeMilliseconds();
}
}
///*
// * Interface towards qgroundcontrol
// */
......@@ -280,24 +291,45 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double
{
Q_UNUSED(uas);
Q_UNUSED(timestamp);
// Called from UAS.cc l. 616
if (isinf(roll)) {
this->roll = std::numeric_limits<double>::quiet_NaN();
} else {
this->roll = roll * (180.0 / M_PI);
float rolldeg = roll * (180.0 / M_PI);
if (fabsf(roll - rolldeg) > 2.5f) {
_valuesChanged = true;
}
this->roll = rolldeg;
}
if (isinf(pitch)) {
this->pitch = std::numeric_limits<double>::quiet_NaN();
} else {
this->pitch = pitch * (180.0 / M_PI);
float pitchdeg = pitch * (180.0 / M_PI);
if (fabsf(pitch - pitchdeg) > 2.5f) {
_valuesChanged = true;
}
this->pitch = pitchdeg;
}
if (isinf(yaw)) {
this->heading = std::numeric_limits<double>::quiet_NaN();
} else {
yaw = yaw * (180.0 / M_PI);
if (yaw<0) yaw+=360;
if (fabsf(heading - yaw) > 10.0f) {
_valuesChanged = true;
}
this->heading = yaw;
}
......@@ -314,6 +346,14 @@ void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, double _groundSpeed, d
Q_UNUSED(uas);
Q_UNUSED(timestamp);
if (fabsf(groundSpeed - _groundSpeed) > 0.5f) {
_valuesChanged = true;
}
if (fabsf(airSpeed - _airSpeed) > 1.0f) {
_valuesChanged = true;
}
groundSpeed = _groundSpeed;
airSpeed = _airSpeed;
}
......@@ -321,6 +361,19 @@ void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, double _groundSpeed, d
void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp) {
Q_UNUSED(uas);
Q_UNUSED(timestamp);
if (fabsf(altitudeAMSL - _altitudeAMSL) > 0.5f) {
_valuesChanged = true;
}
if (fabsf(altitudeRelative - _altitudeRelative) > 0.5f) {
_valuesChanged = true;
}
if (fabsf(climbRate - _climbRate) > 0.5f) {
_valuesChanged = true;
}
altitudeAMSL = _altitudeAMSL;
altitudeRelative = _altitudeRelative;
climbRate = _climbRate;
......
src/ui/PrimaryFlightDisplay.h
View file @ f6ae3249
......@@ -27,7 +27,13 @@ public slots:
void forgetUAS(UASInterface* uas);
void setActiveUAS(UASInterface* uas);
void checkUpdate();
protected:
bool _valuesChanged;
quint64 _valuesLastPainted;
enum Layout {
COMPASS_INTEGRATED,
COMPASS_SEPARATED // For a very high container. Feature panels are at bottom.
......
src/ui/QGCHilXPlaneConfiguration.cc
View file @ f6ae3249
......@@ -25,8 +25,9 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
{
// connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
// connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
// XXX not implemented yet
ui->airframeComboBox->hide();
ui->sensorHilCheckBox->setChecked(xplane->sensorHilEnabled());
......
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