diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc index 312d455..bc33589 100644 --- a/qgroundcontrol.qrc +++ b/qgroundcontrol.qrc @@ -102,7 +102,7 @@ src/QmlControls/QGroundControl.Controls.qmldir src/PlanView/RallyPointEditorHeader.qml src/PlanView/RallyPointItemEditor.qml - src/PlanView/RallyPointMapVisuals.qml + src/PlanView/RallyPointMapVisuals.qml src/QmlControls/RCChannelMonitor.qml src/QmlControls/RoundButton.qml src/PlanView/SectionHeader.qml @@ -136,7 +136,7 @@ src/FlightDisplay/GuidedAltitudeSlider.qml src/FlightDisplay/MultiVehicleList.qml src/FlightDisplay/qmldir - src/FlightMap/MapItems/CameraTriggerIndicator.qml + src/FlightMap/MapItems/CameraTriggerIndicator.qml src/FlightMap/Widgets/CenterMapDropButton.qml src/FlightMap/Widgets/CenterMapDropPanel.qml src/FlightMap/Widgets/CompassRing.qml @@ -212,6 +212,7 @@ src/Vehicle/WindFact.json src/Vehicle/VibrationFact.json src/Vehicle/TemperatureFact.json + src/Vehicle/SubmarineFact.json src/comm/APMArduCopterMockLink.params diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h index ce46554..19faca6 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h @@ -76,27 +76,27 @@ public: QList supportedMissionCommands(void) final; AutoPilotPlugin* autopilotPlugin (Vehicle* vehicle) final; - bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities); + bool isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities) override; QStringList flightModes (Vehicle* vehicle) final; QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final; bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final; bool isGuidedMode (const Vehicle* vehicle) const final; - void pauseVehicle (Vehicle* vehicle); - int manualControlReservedButtonCount(void); - bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) final; + void pauseVehicle (Vehicle* vehicle) override; + int manualControlReservedButtonCount(void) override; + bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) override; void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) final; void initializeVehicle (Vehicle* vehicle) final; bool sendHomePositionToVehicle (void) final; void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final; - QString missionCommandOverrides (MAV_TYPE vehicleType) const; + QString missionCommandOverrides (MAV_TYPE vehicleType) const override; QString getVersionParam (void) final { return QStringLiteral("SYSID_SW_MREV"); } QString internalParameterMetaDataFile (Vehicle* vehicle) final; void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); } - QObject* loadParameterMetaData (const QString& metaDataFile); - GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) { return new APMGeoFenceManager(vehicle); } - RallyPointManager* newRallyPointManager (Vehicle* vehicle) { return new APMRallyPointManager(vehicle); } - QString brandImageIndoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); } - QString brandImageOutdoor (const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); } + QObject* loadParameterMetaData (const QString& metaDataFile) final; + GeoFenceManager* newGeoFenceManager (Vehicle* vehicle) final { return new APMGeoFenceManager(vehicle); } + RallyPointManager* newRallyPointManager (Vehicle* vehicle) final { return new APMRallyPointManager(vehicle); } + QString brandImageIndoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); } + QString brandImageOutdoor (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImage"); } protected: /// All access to singleton is through stack specific implementation diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc index 5e08573..a3a7685 100644 --- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc @@ -40,7 +40,8 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) : setEnumToStringMapping(enumToString); } -ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void) +ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void): + _infoFactGroup(this) { QList supportedFlightModes; supportedFlightModes << APMSubMode(APMSubMode::MANUAL ,true); @@ -99,6 +100,8 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void) _remapParamNameIntialized = true; } + + _nameToFactGroupMap.insert("APMSubInfo", &_infoFactGroup); } int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const @@ -150,3 +153,69 @@ const QVariantList& ArduSubFirmwarePlugin::toolBarIndicators(const Vehicle* vehi } return _toolBarIndicators; } + +void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message) +{ + mavlink_named_value_float_t value; + mavlink_msg_named_value_float_decode(message, &value); + + QString name = QString(value.name); + + if (name == "CamTilt") { + _infoFactGroup.getFact("camera tilt")->setRawValue(value.value * 100); + } else if (name == "TetherTrn") { + _infoFactGroup.getFact("tether turns")->setRawValue(value.value); + } else if (name == "Lights1") { + _infoFactGroup.getFact("lights 1")->setRawValue(value.value * 100); + } else if (name == "Lights2") { + _infoFactGroup.getFact("lights 2")->setRawValue(value.value * 100); + } else if (name == "PilotGain") { + _infoFactGroup.getFact("pilot gain")->setRawValue(value.value * 100); + } +} + +void ArduSubFirmwarePlugin::_handleMavlinkMessage(mavlink_message_t* message) +{ + switch (message->msgid) { + case (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT): + _handleNamedValueFloat(message); + } +} + +bool ArduSubFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) +{ + _handleMavlinkMessage(message); + return APMFirmwarePlugin::adjustIncomingMavlinkMessage(vehicle, message); +} + +QMap* ArduSubFirmwarePlugin::factGroups(void) { + return &_nameToFactGroupMap; +} + +const char* APMSubmarineFactGroup::_camTiltFactName = "camera tilt"; +const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns"; +const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights 1"; +const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights 2"; +const char* APMSubmarineFactGroup::_pilotGainFactName = "pilot gain"; + +APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent) + : FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent) + , _camTiltFact (0, _camTiltFactName, FactMetaData::valueTypeDouble) + , _tetherTurnsFact (0, _tetherTurnsFactName, FactMetaData::valueTypeDouble) + , _lightsLevel1Fact (0, _lightsLevel1FactName, FactMetaData::valueTypeDouble) + , _lightsLevel2Fact (0, _lightsLevel2FactName, FactMetaData::valueTypeDouble) + , _pilotGainFact (0, _pilotGainFactName, FactMetaData::valueTypeDouble) +{ + _addFact(&_camTiltFact, _camTiltFactName); + _addFact(&_tetherTurnsFact, _tetherTurnsFactName); + _addFact(&_lightsLevel1Fact, _lightsLevel1FactName); + _addFact(&_lightsLevel2Fact, _lightsLevel2FactName); + _addFact(&_pilotGainFact, _pilotGainFactName); + + // Start out as not available "--.--" + _camTiltFact.setRawValue (std::numeric_limits::quiet_NaN()); + _tetherTurnsFact.setRawValue (std::numeric_limits::quiet_NaN()); + _lightsLevel1Fact.setRawValue (std::numeric_limits::quiet_NaN()); + _lightsLevel2Fact.setRawValue (std::numeric_limits::quiet_NaN()); + _pilotGainFact.setRawValue (std::numeric_limits::quiet_NaN()); +} diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h index 8307da0..2b0c7aa 100644 --- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h @@ -28,6 +28,40 @@ #define ArduSubFirmwarePlugin_H #include "APMFirmwarePlugin.h" +class APMSubmarineFactGroup : public FactGroup +{ + Q_OBJECT + +public: + APMSubmarineFactGroup(QObject* parent = NULL); + + Q_PROPERTY(Fact* camTilt READ camTilt CONSTANT) + Q_PROPERTY(Fact* tetherTurns READ tetherTurns CONSTANT) + Q_PROPERTY(Fact* lightsLevel1 READ lightsLevel1 CONSTANT) + Q_PROPERTY(Fact* lightsLevel2 READ lightsLevel2 CONSTANT) + Q_PROPERTY(Fact* pilotGain READ pilotGain CONSTANT) + + Fact* camTilt (void) { return &_camTiltFact; } + Fact* tetherTurns (void) { return &_tetherTurnsFact; } + Fact* lightsLevel1 (void) { return &_lightsLevel1Fact; } + Fact* lightsLevel2 (void) { return &_lightsLevel2Fact; } + Fact* pilotGain (void) { return &_pilotGainFact; } + + static const char* _camTiltFactName; + static const char* _tetherTurnsFactName; + static const char* _lightsLevel1FactName; + static const char* _lightsLevel2FactName; + static const char* _pilotGainFactName; + + static const char* _settingsGroup; + +private: + Fact _camTiltFact; + Fact _tetherTurnsFact; + Fact _lightsLevel1Fact; + Fact _lightsLevel2Fact; + Fact _pilotGainFact; +}; class APMSubMode : public APMCustomMode { @@ -86,11 +120,18 @@ public: const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; } int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final; const QVariantList& toolBarIndicators(const Vehicle* vehicle) final; + bool adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message); + virtual QMap* factGroups(void); + private: QVariantList _toolBarIndicators; static bool _remapParamNameIntialized; static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName; -}; + void _handleNamedValueFloat(mavlink_message_t* message); + void _handleMavlinkMessage(mavlink_message_t* message); + QMap _nameToFactGroupMap; + APMSubmarineFactGroup _infoFactGroup; +}; #endif diff --git a/src/FirmwarePlugin/FirmwarePlugin.cc b/src/FirmwarePlugin/FirmwarePlugin.cc index 19a4945..ea03a0e 100644 --- a/src/FirmwarePlugin/FirmwarePlugin.cc +++ b/src/FirmwarePlugin/FirmwarePlugin.cc @@ -414,6 +414,11 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle) return _cameraList; } +QMap* FirmwarePlugin::factGroups(void) { + // Generic plugin has no FactGroups + return NULL; +} + bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const { return vehicle->multiRotor() ? false : true; diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h index 995a9d1..0aae936 100644 --- a/src/FirmwarePlugin/FirmwarePlugin.h +++ b/src/FirmwarePlugin/FirmwarePlugin.h @@ -269,6 +269,9 @@ public: /// Returns a list of CameraMetaData objects for available cameras on the vehicle. virtual const QVariantList& cameraList(const Vehicle* vehicle); + /// Returns a pointer to a dictionary of firmware-specific FactGroups + virtual QMap* factGroups(void); + /// @true: When flying a mission the vehicle is always facing towards the next waypoint virtual bool vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const; @@ -303,7 +306,6 @@ protected: private: QVariantList _toolBarIndicatorList; static QVariantList _cameraList; ///< Standard QGC camera list - }; class FirmwarePluginFactory : public QObject diff --git a/src/FlightMap/Widgets/ValuesWidget.qml b/src/FlightMap/Widgets/ValuesWidget.qml index f949539..1d87333 100644 --- a/src/FlightMap/Widgets/ValuesWidget.qml +++ b/src/FlightMap/Widgets/ValuesWidget.qml @@ -65,33 +65,39 @@ QGCFlickable { Repeater { model: _activeVehicle ? controller.largeValues : 0 - - Column { - width: _largeColumn.width - + Loader { + sourceComponent: fact ? largeValue : undefined property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", "")) - property bool largeValue: _root.listContains(controller.altitudeProperties, fact.name) - - QGCLabel { - width: parent.width - horizontalAlignment: Text.AlignHCenter - color: textColor - fontSizeMode: Text.HorizontalFit - text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "") - } - QGCLabel { - width: parent.width - horizontalAlignment: Text.AlignHCenter - font.pointSize: ScreenTools.mediumFontPointSize * (largeValue ? 1.3 : 1.0) - font.family: largeValue ? ScreenTools.demiboldFontFamily : ScreenTools.normalFontFamily - fontSizeMode: Text.HorizontalFit - color: textColor - text: fact.valueString - } } } // Repeater - Large } // Column - Large + Component { + id: largeValue + + Column { + width: _largeColumn.width + property bool largeValue: _root.listContains(controller.altitudeProperties, fact.name) + + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + color: textColor + fontSizeMode: Text.HorizontalFit + text: fact.shortDescription + (fact.units ? " (" + fact.units + ")" : "") + } + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + font.pointSize: ScreenTools.mediumFontPointSize * (largeValue ? 1.3 : 1.0) + font.family: largeValue ? ScreenTools.demiboldFontFamily : ScreenTools.normalFontFamily + fontSizeMode: Text.HorizontalFit + color: textColor + text: fact.valueString + } + } + } + Flow { id: _smallFlow width: parent.width @@ -102,41 +108,47 @@ QGCFlickable { Repeater { model: _activeVehicle ? controller.smallValues : 0 - - Column { - width: (_root.width / 2) - (_margins / 2) - 0.1 - clip: true - + Loader { + sourceComponent: fact ? smallValue : undefined property Fact fact: _activeVehicle.getFact(modelData.replace("Vehicle.", "")) - - QGCLabel { - width: parent.width - horizontalAlignment: Text.AlignHCenter - font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize - fontSizeMode: Text.HorizontalFit - color: textColor - text: fact.shortDescription - } - QGCLabel { - width: parent.width - horizontalAlignment: Text.AlignHCenter - color: textColor - fontSizeMode: Text.HorizontalFit - text: fact.enumOrValueString - } - QGCLabel { - width: parent.width - horizontalAlignment: Text.AlignHCenter - font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize - fontSizeMode: Text.HorizontalFit - color: textColor - text: fact.units - } } } // Repeater - Small } // Flow Component { + id: smallValue + + Column { + width: (_root.width / 2) - (_margins / 2) - 0.1 + clip: true + + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize + fontSizeMode: Text.HorizontalFit + color: textColor + text: fact.shortDescription + } + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + color: textColor + fontSizeMode: Text.HorizontalFit + text: fact.enumOrValueString + } + QGCLabel { + width: parent.width + horizontalAlignment: Text.AlignHCenter + font.pointSize: ScreenTools.isTinyScreen ? ScreenTools.smallFontPointSize * 0.75 : ScreenTools.smallFontPointSize + fontSizeMode: Text.HorizontalFit + color: textColor + text: fact.units + } + } + } + + Component { id: propertyPicker QGCViewDialog { diff --git a/src/Vehicle/SubmarineFact.json b/src/Vehicle/SubmarineFact.json new file mode 100644 index 0000000..a32ae63 --- /dev/null +++ b/src/Vehicle/SubmarineFact.json @@ -0,0 +1,32 @@ +[ +{ + "name": "camera tilt", + "shortDescription": "Camera Tilt", + "type": "int16", + "units": "%" +}, +{ + "name": "tether turns", + "shortDescription": "Tether Turns", + "type": "int16", + "units": "clockwise" +}, +{ + "name": "lights 1", + "shortDescription": "Lights 1 level", + "type": "int16", + "units": "%" +}, +{ + "name": "lights 2", + "shortDescription": "Lights 2 level", + "type": "int16", + "units": "%" +}, +{ + "name": "pilot gain", + "shortDescription": "Pilot Gain", + "type": "int16", + "units": "%" +} +] diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 1cef4e0..078be78 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -372,6 +372,16 @@ void Vehicle::_commonInit(void) _addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName); _addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName); + // Add firmware-specific fact groups, if provided + QMap* fwFactGroups = _firmwarePlugin->factGroups(); + if (fwFactGroups) { + QMapIterator i(*fwFactGroups); + while(i.hasNext()) { + i.next(); + _addFactGroup(i.value(), i.key()); + } + } + _flightDistanceFact.setRawValue(0); _flightTimeFact.setRawValue(0); }