Don Gagne
8 years ago
committed by
GitHub
14 changed files with 366 additions and 11 deletions
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/****************************************************************************
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* |
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* (c) 2009-2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "MavlinkConsoleController.h" |
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#include "QGCApplication.h" |
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#include "UAS.h" |
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MavlinkConsoleController::MavlinkConsoleController() |
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: _cursor_home_pos{-1}, |
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_cursor{0}, |
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_vehicle{nullptr} |
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{ |
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auto *manager = qgcApp()->toolbox()->multiVehicleManager(); |
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connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MavlinkConsoleController::_setActiveVehicle); |
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_setActiveVehicle(manager->activeVehicle()); |
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} |
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MavlinkConsoleController::~MavlinkConsoleController() |
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{ |
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if (_vehicle) { |
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QByteArray msg(""); |
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_sendSerialData(msg, true); |
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} |
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} |
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void |
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MavlinkConsoleController::sendCommand(QString command) |
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{ |
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command.append("\n"); |
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_sendSerialData(qPrintable(command)); |
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_cursor_home_pos = -1; |
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_cursor = _console_text.length(); |
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} |
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void |
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MavlinkConsoleController::_setActiveVehicle(Vehicle* vehicle) |
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{ |
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for (auto &con : _uas_connections) |
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disconnect(con); |
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_uas_connections.clear(); |
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_vehicle = vehicle; |
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if (_vehicle) { |
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_incoming_buffer.clear(); |
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_console_text.clear(); |
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emit cursorChanged(0); |
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emit textChanged(_console_text); |
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_uas_connections << connect(_vehicle, &Vehicle::mavlinkSerialControl, this, &MavlinkConsoleController::_receiveData); |
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} |
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} |
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void |
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MavlinkConsoleController::_receiveData(uint8_t device, uint8_t, uint16_t, uint32_t, QByteArray data) |
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{ |
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if (device != SERIAL_CONTROL_DEV_SHELL) |
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return; |
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// Append incoming data and parse for ANSI codes
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_incoming_buffer.append(data); |
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auto old_size = _console_text.size(); |
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_processANSItext(); |
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auto new_size = _console_text.size(); |
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// Update QML and cursor
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if (old_size > new_size) { |
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// Rewind back so we don't get a warning to stderr
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emit cursorChanged(new_size); |
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} |
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emit textChanged(_console_text); |
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emit cursorChanged(new_size); |
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} |
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void |
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MavlinkConsoleController::_sendSerialData(QByteArray data, bool close) |
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{ |
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Q_ASSERT(_vehicle); |
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if (!_vehicle) |
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return; |
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// Send maximum sized chunks until the complete buffer is transmitted
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while(data.size()) { |
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QByteArray chunk{data.left(MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN)}; |
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uint8_t flags = SERIAL_CONTROL_FLAG_EXCLUSIVE | SERIAL_CONTROL_FLAG_RESPOND | SERIAL_CONTROL_FLAG_MULTI; |
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if (close) flags = 0; |
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auto protocol = qgcApp()->toolbox()->mavlinkProtocol(); |
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auto priority_link = _vehicle->priorityLink(); |
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mavlink_message_t msg; |
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mavlink_msg_serial_control_pack_chan( |
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protocol->getSystemId(), |
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protocol->getComponentId(), |
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priority_link->mavlinkChannel(), |
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&msg, |
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SERIAL_CONTROL_DEV_SHELL, |
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flags, |
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0, |
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0, |
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chunk.size(), |
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reinterpret_cast<uint8_t*>(chunk.data())); |
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_vehicle->sendMessageOnLink(priority_link, msg); |
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data.remove(0, chunk.size()); |
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} |
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} |
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void |
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MavlinkConsoleController::_processANSItext() |
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{ |
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int i; // Position into the parsed buffer
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// Iterate over the incoming buffer to parse off known ANSI control codes
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for (i = 0; i < _incoming_buffer.size(); i++) { |
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if (_incoming_buffer.at(i) == '\x1B') { |
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// For ANSI codes we expect at most 4 incoming chars
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if (i < _incoming_buffer.size() - 3 && _incoming_buffer.at(i+1) == '[') { |
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// Parse ANSI code
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switch(_incoming_buffer.at(i+2)) { |
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default: |
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continue; |
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case 'H': |
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if (_cursor_home_pos == -1) { |
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// Assign new home position if home is unset
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_cursor_home_pos = _cursor; |
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} else { |
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// Rewind write cursor position to home
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_cursor = _cursor_home_pos; |
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} |
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break; |
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case 'K': |
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// Erase the current line to the end
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{ |
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auto next_lf = _console_text.indexOf('\n', _cursor); |
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if (next_lf > 0) |
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_console_text.remove(_cursor, next_lf + 1 - _cursor); |
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} |
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break; |
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case '2': |
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// Erase everything and rewind to home
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if (_incoming_buffer.at(i+3) == 'J' && _cursor_home_pos != -1) { |
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// Keep newlines so textedit doesn't scroll annoyingly
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int newlines = _console_text.mid(_cursor_home_pos).count('\n'); |
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_console_text.remove(_cursor_home_pos, _console_text.size()); |
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_console_text.append(QByteArray(newlines, '\n')); |
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_cursor = _cursor_home_pos; |
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} |
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// Even if we didn't understand this ANSI code, remove the 4th char
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_incoming_buffer.remove(i+3,1); |
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break; |
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} |
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// Remove the parsed ANSI code and decrement the bufferpos
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_incoming_buffer.remove(i, 3); |
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i--; |
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} else { |
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// We can reasonably expect a control code was fragemented
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// Stop parsing here and wait for it to come in
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break; |
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} |
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} |
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} |
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// Insert the new data and increment the write cursor
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_console_text.insert(_cursor, _incoming_buffer.left(i)); |
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_cursor += i; |
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// Remove written data from the incoming buffer
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_incoming_buffer.remove(0, i); |
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} |
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@ -0,0 +1,65 @@
@@ -0,0 +1,65 @@
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/****************************************************************************
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* |
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* (c) 2009-2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "QmlObjectListModel.h" |
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#include "Fact.h" |
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#include "FactMetaData.h" |
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#include <QObject> |
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#include <QString> |
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#include <QThread> |
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#include <QFileInfoList> |
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#include <QElapsedTimer> |
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#include <QDebug> |
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#include <QGeoCoordinate> |
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#include <QMetaObject> |
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// Fordward decls
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class Vehicle; |
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/// Controller for MavlinkConsole.qml.
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class MavlinkConsoleController : public QObject |
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{ |
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Q_OBJECT |
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Q_PROPERTY(int cursor READ cursor NOTIFY cursorChanged) |
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Q_PROPERTY(QString text READ text NOTIFY textChanged) |
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public: |
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MavlinkConsoleController(); |
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~MavlinkConsoleController(); |
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int cursor() const { return _console_text.size(); } |
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QString text() const { return _console_text; } |
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public slots: |
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void sendCommand(QString command); |
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signals: |
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void cursorChanged(int); |
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void textChanged(QString text); |
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private slots: |
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void _setActiveVehicle (Vehicle* vehicle); |
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void _receiveData(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data); |
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private: |
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void _processANSItext(); |
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void _sendSerialData(QByteArray, bool close = false); |
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int _cursor_home_pos; |
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int _cursor; |
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QByteArray _incoming_buffer; |
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QString _console_text; |
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Vehicle* _vehicle; |
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QList<QMetaObject::Connection> _uas_connections; |
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}; |
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@ -0,0 +1,63 @@
@@ -0,0 +1,63 @@
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/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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import QtQuick 2.3 |
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import QtQuick.Controls 1.2 |
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import QtQuick.Dialogs 1.2 |
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import QtQuick.Layouts 1.2 |
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import QGroundControl 1.0 |
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import QGroundControl.Palette 1.0 |
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import QGroundControl.FactSystem 1.0 |
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import QGroundControl.FactControls 1.0 |
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import QGroundControl.Controls 1.0 |
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import QGroundControl.ScreenTools 1.0 |
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import QGroundControl.Controllers 1.0 |
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AnalyzePage { |
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id: mavlinkConsolePage |
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pageComponent: pageComponent |
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pageName: qsTr("Mavlink Console") |
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pageDescription: qsTr("Mavlink Console provides a connection to the vehicle's system shell.") |
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Component { |
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id: pageComponent |
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ColumnLayout { |
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id: consoleColumn |
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height: availableHeight |
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width: availableWidth |
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TextArea { |
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id: consoleEditor |
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Layout.fillHeight: true |
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anchors.left: parent.left |
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anchors.right: parent.right |
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font.family: ScreenTools.fixedFontFamily |
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font.pointSize: ScreenTools.defaultFontPointSize |
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readOnly: true |
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cursorPosition: conController.cursor |
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text: conController.text |
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} |
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QGCTextField { |
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id: command |
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anchors.left: parent.left |
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anchors.right: parent.right |
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placeholderText: "Enter Commands here..." |
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onAccepted: { |
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conController.sendCommand(text) |
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text = "" |
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} |
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} |
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} |
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} // Component |
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} // AnalyzePage |
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