Don Gagne
10 years ago
20 changed files with 149 additions and 793 deletions
@ -1,6 +0,0 @@
@@ -1,6 +0,0 @@
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#include "QGCMainWindowAPConfigurator.h" |
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QGCMainWindowAPConfigurator::QGCMainWindowAPConfigurator(QObject *parent) : |
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QObject(parent) |
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{ |
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} |
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@ -1,18 +0,0 @@
@@ -1,18 +0,0 @@
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#ifndef QGCMAINWINDOWAPCONFIGURATOR_H |
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#define QGCMAINWINDOWAPCONFIGURATOR_H |
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#include <QObject> |
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class QGCMainWindowAPConfigurator : public QObject |
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{ |
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Q_OBJECT |
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public: |
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explicit QGCMainWindowAPConfigurator(QObject *parent = 0); |
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signals: |
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public slots: |
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}; |
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#endif // QGCMAINWINDOWAPCONFIGURATOR_H
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@ -1,510 +0,0 @@
@@ -1,510 +0,0 @@
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#include "QGCMAVLinkMessageSender.h" |
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#include "ui_QGCMAVLinkMessageSender.h" |
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#include "MAVLinkProtocol.h" |
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QGCMAVLinkMessageSender::QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidget *parent) : |
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QWidget(parent), |
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protocol(mavlink), |
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ui(new Ui::QGCMAVLinkMessageSender) |
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{ |
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ui->setupUi(this); |
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mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO; |
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memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256); |
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QStringList header; |
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header << tr("Name"); |
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header << tr("Value"); |
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header << tr("Type"); |
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ui->treeWidget->setHeaderLabels(header); |
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createTreeView(); |
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connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(refresh())); |
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//refreshTimer.start(1000); // Refresh at 1 Hz interval
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connect(ui->sendButton, SIGNAL(pressed()), this, SLOT(sendMessage())); |
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} |
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void QGCMAVLinkMessageSender::refresh() |
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{ |
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// Send messages
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foreach (unsigned int i, managementItems.keys()) |
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{ |
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if (!sendTimers.contains(i)) |
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{ |
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//sendTimers.insert(i, new QTimer())
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} |
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} |
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// ui->treeWidget->topLevelItem(0)->children();
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} |
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bool QGCMAVLinkMessageSender::sendMessage() |
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{ |
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return sendMessage(ui->messageIdSpinBox->value()); |
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} |
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bool QGCMAVLinkMessageSender::sendMessage(unsigned int msgid) |
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{ |
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QString msgname(messageInfo[msgid].name); |
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if (msgid == 0 || msgid > 255 || messageInfo[msgid].name == NULL || msgname.compare(QString("EMPTY"))) |
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{ |
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return false; |
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} |
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bool result = true; |
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if (treeWidgetItems.contains(msgid)) |
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{ |
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// Fill message fields
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mavlink_message_t msg; |
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QList<QTreeWidgetItem*> fields;// = treeWidgetItems.value(msgid)->;
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for (unsigned int i = 0; i < messageInfo[msgid].num_fields; ++i) |
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{ |
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QTreeWidgetItem* field = fields.at(i); |
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int fieldid = i; |
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uint8_t* m = ((uint8_t*)(&msg))+8; |
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switch (messageInfo[msgid].fields[fieldid].type) |
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{ |
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case MAVLINK_TYPE_CHAR: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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// Copy data
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QString string = field->data(1, Qt::DisplayRole).toString(); |
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// Copy string size
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int len = qMin((unsigned int)string.length(), messageInfo[msgid].fields[fieldid].array_length); |
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memcpy(str, string.toStdString().c_str(), len); |
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// Enforce null termination
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str[len-1] = '\0'; |
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} |
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else |
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{ |
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// Single char
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char* b = ((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset)); |
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*b = field->data(1, Qt::DisplayRole).toChar().toLatin1(); |
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} |
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break; |
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case MAVLINK_TYPE_UINT8_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toInt(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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uint8_t* u = (m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toChar().toLatin1(); |
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} |
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break; |
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case MAVLINK_TYPE_INT8_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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int8_t* nums = reinterpret_cast<int8_t*>((m+messageInfo[msgid].fields[fieldid].wire_offset)); |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toInt(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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int8_t* u = reinterpret_cast<int8_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toChar().toLatin1(); |
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} |
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break; |
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case MAVLINK_TYPE_INT16_T: |
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case MAVLINK_TYPE_UINT16_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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uint16_t* nums = reinterpret_cast<uint16_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toUInt(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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uint16_t* u = reinterpret_cast<uint16_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toUInt(); |
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} |
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break; |
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case MAVLINK_TYPE_INT32_T: |
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case MAVLINK_TYPE_UINT32_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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int32_t* nums = reinterpret_cast<int32_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toUInt(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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int32_t* u = reinterpret_cast<int32_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toUInt(); |
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} |
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break; |
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case MAVLINK_TYPE_INT64_T: |
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case MAVLINK_TYPE_UINT64_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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int64_t* nums = reinterpret_cast<int64_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toULongLong(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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int64_t* u = reinterpret_cast<int64_t*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toULongLong(); |
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} |
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break; |
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case MAVLINK_TYPE_FLOAT: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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float* nums = reinterpret_cast<float*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toFloat(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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float* u = reinterpret_cast<float*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toFloat(); |
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} |
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break; |
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case MAVLINK_TYPE_DOUBLE: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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double* nums = reinterpret_cast<double*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j) |
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{ |
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nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toDouble(); |
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} |
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} |
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} |
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else |
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{ |
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// Single value
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double* u = reinterpret_cast<double*>(m+messageInfo[msgid].fields[fieldid].wire_offset); |
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*u = field->data(1, Qt::DisplayRole).toDouble(); |
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} |
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break; |
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} |
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} |
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// Send message
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protocol->sendMessage(msg); |
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} |
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else |
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{ |
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result = false; |
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} |
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return result; |
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} |
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QGCMAVLinkMessageSender::~QGCMAVLinkMessageSender() |
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{ |
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delete ui; |
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} |
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void QGCMAVLinkMessageSender::createTreeView() |
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{ |
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for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages)
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{ |
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// Update the tree view
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QString messageName("%1 (%2 Hz, #%3)"); |
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float msgHz = messagesHz.value(i, 0); |
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// Ignore non-existent messages
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if (QString(messageInfo[i].name) == "EMPTY") continue; |
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messageName = messageName.arg(messageInfo[i].name).arg(msgHz, 3, 'f', 1).arg(i); |
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if (!treeWidgetItems.contains(i)) |
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{ |
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QStringList fields; |
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fields << messageName; |
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QTreeWidgetItem* widget = new QTreeWidgetItem(fields); |
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widget->setFirstColumnSpanned(true); |
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for (unsigned int j = 0; j < messageInfo[i].num_fields; ++j) |
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{ |
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QTreeWidgetItem* field = new QTreeWidgetItem(); |
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widget->addChild(field); |
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} |
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treeWidgetItems.insert(i, widget); |
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ui->treeWidget->addTopLevelItem(widget); |
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QTreeWidgetItem* message = widget;//treeWidgetItems.value(msg->msgid);
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message->setFirstColumnSpanned(true); |
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message->setData(0, Qt::DisplayRole, QVariant(messageName)); |
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for (unsigned int j = 0; j < messageInfo[i].num_fields; ++j) |
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{ |
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createField(i, j, message->child(j)); |
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} |
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// Add management fields, such as update rate and send button
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// QTreeWidgetItem* management = new QTreeWidgetItem();
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// widget->addChild(management);
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// management->setData(0, Qt::DisplayRole, "Rate:");
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// management->setData(1, Qt::DisplayRole, 0);
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// management->setData(2, Qt::DisplayRole, "Hz");
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// managementItems.insert(i, management);
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} |
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} |
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} |
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void QGCMAVLinkMessageSender::createField(int msgid, int fieldid, QTreeWidgetItem* item) |
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{ |
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// Add field tree widget item
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item->setData(0, Qt::DisplayRole, QVariant(messageInfo[msgid].fields[fieldid].name)); |
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//uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
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switch (messageInfo[msgid].fields[fieldid].type) |
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{ |
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case MAVLINK_TYPE_CHAR: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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item->setData(2, Qt::DisplayRole, "char"); |
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item->setData(1, Qt::DisplayRole, ""); |
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} |
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else |
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{ |
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// Single char
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item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, ""); |
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} |
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break; |
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case MAVLINK_TYPE_UINT8_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
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item->setData(2, Qt::DisplayRole, "uint8_t"); |
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item->setData(1, Qt::DisplayRole, 0); |
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} |
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break; |
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case MAVLINK_TYPE_INT8_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
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item->setData(2, Qt::DisplayRole, "int8_t"); |
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item->setData(1, Qt::DisplayRole, 0); |
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} |
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break; |
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case MAVLINK_TYPE_UINT16_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
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item->setData(2, Qt::DisplayRole, "uint16_t"); |
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item->setData(1, Qt::DisplayRole, 0); |
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} |
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break; |
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case MAVLINK_TYPE_INT16_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
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item->setData(2, Qt::DisplayRole, "int16_t"); |
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item->setData(1, Qt::DisplayRole, 0); |
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} |
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break; |
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case MAVLINK_TYPE_UINT32_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
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item->setData(2, Qt::DisplayRole, "uint32_t"); |
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item->setData(1, Qt::DisplayRole, 0); |
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} |
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break; |
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case MAVLINK_TYPE_INT32_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
|
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
|
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item->setData(2, Qt::DisplayRole, "int32_t"); |
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item->setData(1, Qt::DisplayRole, 0); |
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} |
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break; |
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case MAVLINK_TYPE_FLOAT: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
|
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0.0f); |
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} |
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item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
|
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item->setData(2, Qt::DisplayRole, "float"); |
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item->setData(1, Qt::DisplayRole, 0.0f); |
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} |
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break; |
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case MAVLINK_TYPE_DOUBLE: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
|
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QString tmp("%1, "); |
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QString string; |
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for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
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{ |
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string += tmp.arg(0); |
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} |
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item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
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item->setData(1, Qt::DisplayRole, string); |
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} |
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else |
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{ |
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// Single value
|
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item->setData(2, Qt::DisplayRole, "double"); |
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item->setData(1, Qt::DisplayRole, 0.0); |
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} |
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break; |
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case MAVLINK_TYPE_UINT64_T: |
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if (messageInfo[msgid].fields[fieldid].array_length > 0) |
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{ |
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// Enforce null termination
|
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QString tmp("%1, "); |
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QString string; |
||||
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
||||
{ |
||||
string += tmp.arg(0); |
||||
} |
||||
item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
||||
item->setData(1, Qt::DisplayRole, string); |
||||
} |
||||
else |
||||
{ |
||||
// Single value
|
||||
item->setData(2, Qt::DisplayRole, "uint64_t"); |
||||
item->setData(1, Qt::DisplayRole, (quint64) 0); |
||||
} |
||||
break; |
||||
case MAVLINK_TYPE_INT64_T: |
||||
if (messageInfo[msgid].fields[fieldid].array_length > 0) |
||||
{ |
||||
// Enforce null termination
|
||||
QString tmp("%1, "); |
||||
QString string; |
||||
for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j) |
||||
{ |
||||
string += tmp.arg(0); |
||||
} |
||||
item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length)); |
||||
item->setData(1, Qt::DisplayRole, string); |
||||
} |
||||
else |
||||
{ |
||||
// Single value
|
||||
item->setData(2, Qt::DisplayRole, "int64_t"); |
||||
item->setData(1, Qt::DisplayRole, (qint64) 0); |
||||
} |
||||
break; |
||||
} |
||||
} |
||||
@ -1,52 +0,0 @@
@@ -1,52 +0,0 @@
|
||||
#ifndef QGCMAVLINKMESSAGESENDER_H |
||||
#define QGCMAVLINKMESSAGESENDER_H |
||||
|
||||
#include <QWidget> |
||||
#include <QTreeWidgetItem> |
||||
#include <QMap> |
||||
#include <QTimer> |
||||
#include "MAVLinkProtocol.h" |
||||
|
||||
namespace Ui { |
||||
class QGCMAVLinkMessageSender; |
||||
} |
||||
|
||||
class QGCMAVLinkMessageSender : public QWidget |
||||
{ |
||||
Q_OBJECT |
||||
|
||||
friend class QTimer; |
||||
|
||||
public: |
||||
explicit QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidget *parent = 0); |
||||
~QGCMAVLinkMessageSender(); |
||||
|
||||
public slots: |
||||
/** @brief Send message currently selected in ui, taking values from tree view */ |
||||
bool sendMessage(); |
||||
|
||||
protected: |
||||
mavlink_message_info_t messageInfo[256]; ///< Meta information about all messages
|
||||
MAVLinkProtocol* protocol; ///< MAVLink protocol
|
||||
QMap<int, float> messagesHz; ///< Used to store update rate in Hz
|
||||
QTimer refreshTimer; |
||||
QMap<unsigned int, QTimer*> sendTimers; |
||||
QMap<unsigned int, QTreeWidgetItem*> managementItems; |
||||
QMap<unsigned int, QTreeWidgetItem*> treeWidgetItems; ///< Messages
|
||||
|
||||
/** @brief Create the tree view of all messages */ |
||||
void createTreeView(); |
||||
/** @brief Create one field of one message in the tree view of all messages */ |
||||
void createField(int msgid, int fieldid, QTreeWidgetItem* item); |
||||
/** @brief Send message with values taken from tree view */ |
||||
bool sendMessage(unsigned int id); |
||||
|
||||
protected slots: |
||||
/** @brief Read / display values in UI */ |
||||
void refresh(); |
||||
|
||||
private: |
||||
Ui::QGCMAVLinkMessageSender *ui; |
||||
}; |
||||
|
||||
#endif // QGCMAVLINKMESSAGESENDER_H
|
||||
@ -1,43 +0,0 @@
@@ -1,43 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?> |
||||
<ui version="4.0"> |
||||
<class>QGCMAVLinkMessageSender</class> |
||||
<widget class="QWidget" name="QGCMAVLinkMessageSender"> |
||||
<property name="geometry"> |
||||
<rect> |
||||
<x>0</x> |
||||
<y>0</y> |
||||
<width>400</width> |
||||
<height>300</height> |
||||
</rect> |
||||
</property> |
||||
<property name="windowTitle"> |
||||
<string>Form</string> |
||||
</property> |
||||
<layout class="QGridLayout" name="gridLayout"> |
||||
<property name="margin"> |
||||
<number>6</number> |
||||
</property> |
||||
<item row="0" column="0" colspan="2"> |
||||
<widget class="QTreeWidget" name="treeWidget"> |
||||
<column> |
||||
<property name="text"> |
||||
<string notr="true">1</string> |
||||
</property> |
||||
</column> |
||||
</widget> |
||||
</item> |
||||
<item row="1" column="0"> |
||||
<widget class="QSpinBox" name="messageIdSpinBox"/> |
||||
</item> |
||||
<item row="1" column="1"> |
||||
<widget class="QPushButton" name="sendButton"> |
||||
<property name="text"> |
||||
<string>Send Message</string> |
||||
</property> |
||||
</widget> |
||||
</item> |
||||
</layout> |
||||
</widget> |
||||
<resources/> |
||||
<connections/> |
||||
</ui> |
||||
Loading…
Reference in new issue