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

Merge pull request #5121 from bluerobotics/sub-vehicle-values 

Add firmware-specific factgroups
QGC4.4
Don Gagne 8 years ago committed by GitHub
parent
9a4ad1e72a 7c59a1e206
commit
590ea79156
9 changed files with 238 additions and 66 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. 5
      qgroundcontrol.qrc
  2. 20
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  3. 71
      src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
  4. 43
      src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
  5. 5
      src/FirmwarePlugin/FirmwarePlugin.cc
  6. 4
      src/FirmwarePlugin/FirmwarePlugin.h
  7. 114
      src/FlightMap/Widgets/ValuesWidget.qml
  8. 32
      src/Vehicle/SubmarineFact.json
  9. 10
      src/Vehicle/Vehicle.cc

5
qgroundcontrol.qrc
Unescape View File

@ -102,7 +102,7 @@ @@ -102,7 +102,7 @@
<file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
<file alias="QGroundControl/Controls/RallyPointEditorHeader.qml">src/PlanView/RallyPointEditorHeader.qml</file>
<file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
<file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
<file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
<file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
<file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
<file alias="QGroundControl/Controls/SectionHeader.qml">src/PlanView/SectionHeader.qml</file>
@ -136,7 +136,7 @@ @@ -136,7 +136,7 @@
<file alias="QGroundControl/FlightDisplay/GuidedAltitudeSlider.qml">src/FlightDisplay/GuidedAltitudeSlider.qml</file>
<file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
<file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
<file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
<file alias="QGroundControl/FlightMap/CameraTriggerIndicator.qml">src/FlightMap/MapItems/CameraTriggerIndicator.qml</file>
<file alias="QGroundControl/FlightMap/CenterMapDropButton.qml">src/FlightMap/Widgets/CenterMapDropButton.qml</file>
<file alias="QGroundControl/FlightMap/CenterMapDropPanel.qml">src/FlightMap/Widgets/CenterMapDropPanel.qml</file>
<file alias="QGroundControl/FlightMap/CompassRing.qml">src/FlightMap/Widgets/CompassRing.qml</file>
@ -212,6 +212,7 @@ @@ -212,6 +212,7 @@
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
<file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
<file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>
<file alias="Vehicle/SubmarineFact.json">src/Vehicle/SubmarineFact.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>

20
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
Unescape View File

@ -76,27 +76,27 @@ public: @@ -76,27 +76,27 @@ public:
QList<MAV_CMD> 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

71
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
Unescape View File

@ -40,7 +40,8 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) : @@ -40,7 +40,8 @@ APMSubMode::APMSubMode(uint32_t mode, bool settable) :
setEnumToStringMapping(enumToString);
}
ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
_infoFactGroup(this)
{
QList<APMCustomMode> supportedFlightModes;
supportedFlightModes << APMSubMode(APMSubMode::MANUAL ,true);
@ -99,6 +100,8 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void) @@ -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 @@ -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<QString, FactGroup*>* 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<float>::quiet_NaN());
_tetherTurnsFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_lightsLevel1Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_lightsLevel2Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_pilotGainFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
}

43
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
Unescape View File

@ -28,6 +28,40 @@ @@ -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: @@ -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<QString, FactGroup*>* 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<QString, FactGroup*> _nameToFactGroupMap;
APMSubmarineFactGroup _infoFactGroup;
};
#endif

5
src/FirmwarePlugin/FirmwarePlugin.cc
Unescape View File

@ -414,6 +414,11 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle) @@ -414,6 +414,11 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
return _cameraList;
}
QMap<QString, FactGroup*>* FirmwarePlugin::factGroups(void) {
// Generic plugin has no FactGroups
return NULL;
}
bool FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
{
return vehicle->multiRotor() ? false : true;

4
src/FirmwarePlugin/FirmwarePlugin.h
Unescape View File

@ -269,6 +269,9 @@ public: @@ -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<QString, FactGroup*>* 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: @@ -303,7 +306,6 @@ protected:
private:
QVariantList _toolBarIndicatorList;
static QVariantList _cameraList; ///< Standard QGC camera list
};
class FirmwarePluginFactory : public QObject

114
src/FlightMap/Widgets/ValuesWidget.qml
Unescape View File

@ -65,33 +65,39 @@ QGCFlickable { @@ -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 { @@ -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 {

32
src/Vehicle/SubmarineFact.json
Unescape View File

@ -0,0 +1,32 @@ @@ -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": "%"
}
]

10
src/Vehicle/Vehicle.cc
Unescape View File

@ -372,6 +372,16 @@ void Vehicle::_commonInit(void) @@ -372,6 +372,16 @@ void Vehicle::_commonInit(void)
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
// Add firmware-specific fact groups, if provided
QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
if (fwFactGroups) {
QMapIterator<QString, FactGroup*> i(*fwFactGroups);
while(i.hasNext()) {
i.next();
_addFactGroup(i.value(), i.key());
}
}
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
}

Write Preview
Loading…
Cancel
Save