zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Redesigned MAVLink folder structure, suits now better multiple projects

QGC4.4
pixhawk 15 years ago
parent
017b5ae1ff
commit
1f2214d3ca
7 changed files with 173 additions and 71 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      .gitignore
  2. 16
      qgroundcontrol.pri
  3. 36
      qgroundcontrol.pro
  4. 129
      src/comm/MAVLinkXMLParser.cc
  5. 28
      src/ui/map3D/QMap3DWidget.cc
  6. 1
      src/ui/map3D/QMap3DWidget.h
  7. 33
      user_config.pri.dist

1
.gitignore vendored
Unescape View File

@ -24,3 +24,4 @@ doc/doxy.log @@ -24,3 +24,4 @@ doc/doxy.log
deploy/mac
deploy/linux
controller_log*
user_config.pri

16
qgroundcontrol.pri
Unescape View File

@ -1,27 +1,25 @@ @@ -1,27 +1,25 @@
#-------------------------------------------------
#
# MAVGround - Micro Air Vehicle Groundstation
#
# QGroundControl - Micro Air Vehicle Groundstation
#
# Please see our website at <http://qgroundcontrol.org>
#
# Original Author:
# Author:
# Lorenz Meier <mavteam@student.ethz.ch>
#
# Contributing Authors (in alphabetical order):
#
# (c) 2009 PIXHAWK Team
# (c) 2009-2010 PIXHAWK Team
#
# This file is part of the mav groundstation project
# MAVGround is free software: you can redistribute it and/or modify
# QGroundControl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# MAVGround is distributed in the hope that it will be useful,
# QGroundControl is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with MAVGround. If not, see <http://www.gnu.org/licenses/>.
# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
#
#-------------------------------------------------

36
qgroundcontrol.pro
Unescape View File

@ -1,3 +1,29 @@ @@ -1,3 +1,29 @@
#-------------------------------------------------
#
# QGroundControl - Micro Air Vehicle Groundstation
#
# Please see our website at <http://qgroundcontrol.org>
#
# Author:
# Lorenz Meier <mavteam@student.ethz.ch>
#
# (c) 2009-2010 PIXHAWK Team
#
# This file is part of the mav groundstation project
# QGroundControl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# QGroundControl is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
#
#-------------------------------------------------
# Include QMapControl map library
# prefer version from external directory /
# from http://github.com/pixhawk/qmapcontrol/
@ -5,6 +31,7 @@ @@ -5,6 +31,7 @@
# Version from GIT repository is preferred
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
include(lib/QMapControl/QMapControl.pri)
# message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
@ -24,6 +51,12 @@ OBJECTS_DIR = $$BUILDDIR/obj @@ -24,6 +51,12 @@ OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
UI_HEADERS_DIR = src/ui/generated
exists(user_config.pri) {
message("----- USING USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
include(user_config.pri)
}
# }
# Include general settings for MAVGround
# necessary as last include to override any non-acceptable settings
@ -42,8 +75,7 @@ DEPENDPATH += . \ @@ -42,8 +75,7 @@ DEPENDPATH += . \
plugins
INCLUDEPATH += . \
lib/QMapControl \
$$BASEDIR/../mavlink/contrib/slugs/include \
$$BASEDIR/../mavlink/include
$$BASEDIR/../mavlink/include/common
# ../mavlink/include \
# MAVLink/include \

129
src/comm/MAVLinkXMLParser.cc
Unescape View File

@ -71,7 +71,13 @@ bool MAVLinkXMLParser::generate() @@ -71,7 +71,13 @@ bool MAVLinkXMLParser::generate()
bool success = true;
// Only generate if output dir is correctly set
if (outputDirName == "") return false;
if (outputDirName == "")
{
emit parseState(tr("<font color=\"red\">ERROR: No output directory given.\nAbort.</font>"));
return false;
}
QString topLevelOutputDirName = outputDirName;
// print out the element names of all elements that are direct children
// of the outermost element.
@ -87,6 +93,31 @@ bool MAVLinkXMLParser::generate() @@ -87,6 +93,31 @@ bool MAVLinkXMLParser::generate()
QString lcmStructDefs = "";
QString pureFileName;
QString pureIncludeFileName;
QFileInfo fInfo(this->fileName);
pureFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first();
// XML parsed and converted to C code. Now generating the files
outputDirName += QDir::separator() + pureFileName;
QDateTime now = QDateTime::currentDateTime().toUTC();
QLocale loc(QLocale::English);
QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
QString date = loc.toString(now, dateFormat);
QString includeLine = "#include \"%1\"\n";
QString mainHeaderName = pureFileName + ".h";
QString messagesDirName = ".";//"generated";
QDir dir(outputDirName + "/" + messagesDirName);
// Start main header
QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef " + pureFileName.toUpper() + "_H\n#define " + pureFileName.toUpper() + "_H\n\n").arg(date); // The main header includes all messages
// Mark all code as C code
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
mainHeader += "\n#include \"../protocol.h\"\n";
mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
// Run through root children
while(!n.isNull())
@ -107,47 +138,55 @@ bool MAVLinkXMLParser::generate() @@ -107,47 +138,55 @@ bool MAVLinkXMLParser::generate()
// Handle all include tags
if (e.tagName() == "include")
{
QString fileName = e.text();
QString incFileName = e.text();
// Load file
QDomDocument includeDoc = QDomDocument();
//QDomDocument includeDoc = QDomDocument();
// Prepend file path if it is a relative path and
// make it relative to opened file
QFileInfo fInfo(fileName);
QFileInfo fInfo(incFileName);
QString incFilePath;
if (fInfo.isRelative())
{
QFileInfo rInfo(this->fileName);
fileName = rInfo.absoluteDir().canonicalPath() + "/" + fileName;
pureFileName = rInfo.baseName().split(".").first();
incFilePath = rInfo.absoluteDir().canonicalPath() + "/" + incFileName;
pureIncludeFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first();
}
QFile file(fileName);
QFile file(incFilePath);
if (file.open(QIODevice::ReadOnly | QIODevice::Text))
{
const QString instanceText(QString::fromUtf8(file.readAll()));
includeDoc.setContent(instanceText);
// Get all messages
QDomNode in = includeDoc.documentElement().firstChild();
//while (!in.isNull())
//{
QDomElement ie = in.toElement();
if (!ie.isNull())
{
if (ie.tagName() == "messages" || ie.tagName() == "include")
{
QDomNode ref = n.parentNode().insertAfter(in, n);
if (ref.isNull())
{
emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
return false;
}
}
}
//in = in.nextSibling();
//}
emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(fileName));
emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(incFileName));
// NEW MODE: CREATE INDIVIDUAL FOLDERS
// Create new output directory, parse included XML and generate C-code
MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this);
connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
// Generate and write
includeParser.generate();
mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
// OLD MODE: MERGE BOTH FILES
// const QString instanceText(QString::fromUtf8(file.readAll()));
// includeDoc.setContent(instanceText);
// // Get all messages
// QDomNode in = includeDoc.documentElement().firstChild();
// QDomElement ie = in.toElement();
// if (!ie.isNull())
// {
// if (ie.tagName() == "messages" || ie.tagName() == "include")
// {
// QDomNode ref = n.parentNode().insertAfter(in, n);
// if (ref.isNull())
// {
// emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
// return false;
// }
// }
// }
emit parseState(QString("<font color=\"green\">End of inclusion from file: %1</font>").arg(incFileName));
}
else
{
@ -406,20 +445,7 @@ bool MAVLinkXMLParser::generate() @@ -406,20 +445,7 @@ bool MAVLinkXMLParser::generate()
n = n.nextSibling();
} // While through root children
// XML parsed and converted to C code. Now generating the files
QDateTime now = QDateTime::currentDateTime().toUTC();
QLocale loc(QLocale::English);
QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
QString date = loc.toString(now, dateFormat);
QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
// Mark all code as C code
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
mainHeader += "\n#include \"protocol.h\"\n";
mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
QString includeLine = "#include \"%1\"\n";
QString mainHeaderName = "mavlink.h";
QString messagesDirName = "generated";
QDir dir(outputDirName + "/" + messagesDirName);
// Create directory if it doesn't exist, report result in success
if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName);
for (int i = 0; i < cFiles.size(); i++)
@ -428,6 +454,7 @@ bool MAVLinkXMLParser::generate() @@ -428,6 +454,7 @@ bool MAVLinkXMLParser::generate()
bool ok = rawFile.open(QIODevice::WriteOnly | QIODevice::Text);
success = success && ok;
rawFile.write(cFiles.at(i).second.toLatin1());
rawFile.close();
mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first);
}
@ -441,6 +468,18 @@ bool MAVLinkXMLParser::generate() @@ -441,6 +468,18 @@ bool MAVLinkXMLParser::generate()
bool ok = rawHeader.open(QIODevice::WriteOnly | QIODevice::Text);
success = success && ok;
rawHeader.write(mainHeader.toLatin1());
rawHeader.close();
// Write alias mavlink header
QFile mavlinkHeader(outputDirName + "/mavlink.h");
ok = mavlinkHeader.open(QIODevice::WriteOnly | QIODevice::Text);
success = success && ok;
QString mHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
// Mark all code as C code
mHeader += "#include \"" + mainHeaderName + "\"\n\n";
mHeader += "#endif\n";
mavlinkHeader.write(mHeader.toLatin1());
mavlinkHeader.close();
// Write C structs / lcm definitions
// QFile lcmStructs(outputDirName + "/mavlink.lcm");

28
src/ui/map3D/QMap3DWidget.cc
Unescape View File

@ -142,6 +142,13 @@ QMap3DWidget::display(void* clientData) @@ -142,6 +142,13 @@ QMap3DWidget::display(void* clientData)
map3d->displayHandler();
}
//void QMap3DWidget::paintEvent(QPaintEvent *event)
//{
// Q_UNUSED(event);
//}
void
QMap3DWidget::displayHandler(void)
{
@ -184,6 +191,7 @@ QMap3DWidget::displayHandler(void) @@ -184,6 +191,7 @@ QMap3DWidget::displayHandler(void)
}
// turn on smooth lines
makeCurrent();
glEnable(GL_LINE_SMOOTH);
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
glEnable(GL_BLEND);
@ -247,6 +255,8 @@ QMap3DWidget::displayHandler(void) @@ -247,6 +255,8 @@ QMap3DWidget::displayHandler(void)
glVertex2f(getWindowWidth(), getWindowHeight());
glEnd();
glFlush();
std::pair<float,float> mouseWorldCoords =
getPositionIn3DMode(getMouseX(), getMouseY());
@ -262,6 +272,8 @@ QMap3DWidget::displayHandler(void) @@ -262,6 +272,8 @@ QMap3DWidget::displayHandler(void)
5,
5,
&painter);
painter.end();
repaint();
}
void QMap3DWidget::drawWaypoints(void) const
@ -310,25 +322,10 @@ void QMap3DWidget::drawWaypoints(void) const @@ -310,25 +322,10 @@ void QMap3DWidget::drawWaypoints(void) const
glColor3f(1.0f, 0.3f, 0.3f);
glLineWidth(1.0f);
// // Make sure quad object exists
// static GLUquadricObj* quadObj2;
// if(!quadObj2) quadObj2 = gluNewQuadric();
// gluQuadricDrawStyle(quadObj2, GLU_LINE);
// gluQuadricNormals(quadObj2, GLU_SMOOTH);
// /* If we ever changed/used the texture or orientation state
// of quadObj, we'd need to change it to the defaults here
// with gluQuadricTexture and/or gluQuadricOrientation. */
// gluSphere(quadObj2, radius, 10, 10);
wireSphere(radius, 10, 10);
glPopMatrix();
// DRAW CONNECTING LINE
// Draw line from last waypoint to this one
if (!lastWaypoint.isNull())
@ -387,6 +384,7 @@ QMap3DWidget::drawLegend(void) @@ -387,6 +384,7 @@ QMap3DWidget::drawLegend(void)
25,
getWindowHeight() - 65,
&painter);
painter.end();
}
void

1
src/ui/map3D/QMap3DWidget.h
Unescape View File

@ -55,6 +55,7 @@ public: @@ -55,6 +55,7 @@ public:
static void display(void* clientData);
void displayHandler(void);
// void paintEvent(QPaintEvent *event);
static void mouse(Qt::MouseButton button, MouseState state,
int32_t x, int32_t y, void* clientData);

33
user_config.pri.dist
Unescape View File

@ -0,0 +1,33 @@ @@ -0,0 +1,33 @@
#-------------------------------------------------
#
# QGroundControl - Micro Air Vehicle Groundstation
#
# Please see our website at <http://qgroundcontrol.org>
#
# Author:
# Lorenz Meier <mavteam@student.ethz.ch>
#
# (c) 2009-2010 PIXHAWK Team
#
# This file is part of the mav groundstation project
# QGroundControl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# QGroundControl is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
#
#-------------------------------------------------
# Uncomment ONE of these lines to enable the special message set of a project.
# Several message sets can be also enabled in parallel, as long as function names
# and message ids do not conflict.
INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
#INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
#INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
Write Preview
Loading…
Cancel
Save