From 9ac93ce922cb55bcc9fc79997d388d84e6af3a36 Mon Sep 17 00:00:00 2001
From: lm <pixhawk@pixhawk02.(none)>
Date: Thu, 29 Apr 2010 10:04:44 +0200
Subject: [PATCH] Working on new parameter view and interface
---
src/comm/MAVLinkProtocol.cc | 14 +++++++++++++-
src/comm/MAVLinkProtocol.h | 4 ++++
src/uas/UAS.cc | 12 ++++++++++--
src/uas/UAS.h | 5 ++++-
src/uas/UASInterface.h | 10 ++++------
src/ui/MainWindow.cc | 22 +++++++++++++++++++++-
src/ui/ParameterInterface.cc | 5 +++++
src/ui/ParameterInterface.h | 3 +++
src/ui/param/ParamTreeModel.cc | 37 +++++++++++++++++++++++++++++++++----
src/ui/param/ParamTreeModel.h | 12 ++++++++++--
10 files changed, 107 insertions(+), 17 deletions(-)
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 86c118e..f22cb0f 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -112,7 +112,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
// it's first messages.
// First create new UAS object
- uas = new UAS(message.sysid);
+ uas = new UAS(this, message.sysid);
// Make UAS aware that this link can be used to communicate with the actual robot
uas->addLink(link);
// Connect this robot to the UAS object
@@ -137,6 +137,18 @@ QString MAVLinkProtocol::getName()
return QString(tr("MAVLink protocol"));
}
+/** @return System id of this application */
+int getSystemId()
+{
+ return MG::SYSTEM::ID;
+}
+
+/** @return Component id of this application */
+int getComponentId()
+{
+ return MG::SYSTEM::COMPID;
+}
+
/**
* @param message message to send
*/
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index a49bbf2..d9dd2dc 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -56,6 +56,10 @@ public:
void run();
/** @brief Get the human-friendly name of this protocol */
QString getName();
+ /** @brief Get the system id of this application */
+ int getSystemId();
+ /** @brief Get the component id of this application */
+ int getComponentId();
/** @brief The auto heartbeat emission rate in Hertz */
int getHeartbeatRate();
/** @brief Get heartbeat state */
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 9e504be..25b353b 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -40,9 +40,10 @@ This file is part of the PIXHAWK project
#include "UASManager.h"
#include "MG.h"
#include "GAudioOutput.h"
-#include "mavlink.h"
+#include "MAVLinkProtocol.h"
+#include <mavlink.h>
-UAS::UAS(int id=0) :
+UAS::UAS(MAVLinkProtocol* protocol, int id) :
startTime(MG::TIME::getGroundTimeNow()),
commStatus(COMM_DISCONNECTED),
name(""),
@@ -69,6 +70,7 @@ UAS::UAS(int id=0) :
{
uasId = id;
setBattery(LIPOLY, 3);
+ mavlink = protocol;
}
UAS::~UAS()
@@ -523,6 +525,12 @@ void UAS::requestWaypoints()
qDebug() << "UAS Request WPs";
}
+void UAS::requestParameters()
+{
+ mavlink_message_t msg;
+ message_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, 0);
+}
+
/**
* @brief Launches the system
*
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index a34ed90..1a59b18 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -34,6 +34,7 @@ This file is part of the PIXHAWK project
#include "UASInterface.h"
#include "MG.h"
+#include <MAVLinkProtocol.h>
#include <mavlink.h>
/**
@@ -47,7 +48,7 @@ This file is part of the PIXHAWK project
class UAS : public UASInterface {
Q_OBJECT
public:
- UAS(int id);
+ UAS(MAVLinkProtocol* protocol, int id = 0);
~UAS();
enum BatteryType {
@@ -84,6 +85,7 @@ protected:
int uasId; ///< Unique system ID
QString name; ///< Human-friendly name of the vehicle, e.g. bravo
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
+ MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
BatteryType batteryType; ///< The battery type
int cells; ///< Number of cells
@@ -150,6 +152,7 @@ public slots:
void shutdown();
void requestWaypoints();
+ void requestParameters();
void clearWaypointList();
/** @brief Enable the motors */
void enable_motors();
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index e4de607..986f84c 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -167,14 +167,12 @@ public slots:
* Works only if already landed and will cleanly shut down all onboard computers.
*/
virtual void shutdown() = 0;
- /**
- * @brief Request the list of stored waypoints from the robot
- */
+ /** @brief Request the list of stored waypoints from the robot */
virtual void requestWaypoints() = 0;
- /**
- * @brief Clear all existing waypoints on the robot
- */
+ /** @brief Clear all existing waypoints on the robot */
virtual void clearWaypointList() = 0;
+ /** @brief Request all onboard parameters of all components */
+ virtual void requestParameters() = 0;
/**
* @brief Add a link to the list of current links
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 9fea4ec..0f5b46e 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -162,7 +162,27 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
LinkManager::instance()->addProtocol(udpLink, mavlink);
CommConfigurationWindow* commWidget = new CommConfigurationWindow(udpLink, mavlink, this);
ui.menuNetwork->addAction(commWidget->getAction());
- udpLink->connect();
+
+ // Check if link could be connected
+ if (!udpLink->connect())
+ {
+ QMessageBox msgBox;
+ msgBox.setIcon(QMessageBox::Critical);
+ msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?");
+ msgBox.setInformativeText("Do you want to close the application?");
+ msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
+ msgBox.setDefaultButton(QMessageBox::Cancel);
+ int ret = msgBox.exec();
+
+ // Close the message box shortly after the click to prevent accidental clicks
+ QTimer::singleShot(5000, &msgBox, SLOT(reject()));
+
+ // Exit application
+ if (ret == QMessageBox::Yes)
+ {
+ qApp->exit(EXIT_SUCCESS);
+ }
+ }
simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
diff --git a/src/ui/ParameterInterface.cc b/src/ui/ParameterInterface.cc
index 6c16499..dca5b98 100644
--- a/src/ui/ParameterInterface.cc
+++ b/src/ui/ParameterInterface.cc
@@ -46,6 +46,11 @@ void ParameterInterface::addUAS(UASInterface* uas)
//}
}
+void ParameterInterface::requestParameterList()
+{
+ mav->requestParameters();
+}
+
/**
*
* @param uas System which has the component
diff --git a/src/ui/ParameterInterface.h b/src/ui/ParameterInterface.h
index ee5f80f..5e69058 100644
--- a/src/ui/ParameterInterface.h
+++ b/src/ui/ParameterInterface.h
@@ -19,12 +19,15 @@ public slots:
void addUAS(UASInterface* uas);
void addComponent(UASInterface* uas, int component, QString componentName);
void receiveParameter(UASInterface* uas, int component, QString parameterName, float value);
+ void requestParameterList();
void setParameter(UASInterface* uas, int component, QString parameterName, float value);
void commitParameter(UASInterface* uas, int component, QString parameterName, float value);
protected:
virtual void changeEvent(QEvent *e);
+ UASInterface* mav;
+
private:
Ui::parameterWidget *m_ui;
};
diff --git a/src/ui/param/ParamTreeModel.cc b/src/ui/param/ParamTreeModel.cc
index f73e465..5fe1ec8 100644
--- a/src/ui/param/ParamTreeModel.cc
+++ b/src/ui/param/ParamTreeModel.cc
@@ -34,7 +34,8 @@ This file is part of the PIXHAWK project
#include "ParamTreeModel.h"
ParamTreeModel::ParamTreeModel(QObject *parent)
- : QAbstractItemModel(parent)
+ : QAbstractItemModel(parent),
+ components()
{
QList<QVariant> rootData;
rootData << tr("ID") << tr("Parameter") << tr("Value");
@@ -43,7 +44,8 @@ ParamTreeModel::ParamTreeModel(QObject *parent)
}
ParamTreeModel::ParamTreeModel(const QString &data, QObject *parent)
- : QAbstractItemModel(parent)
+ : QAbstractItemModel(parent),
+ components()
{
QList<QVariant> rootData;
rootData << tr("Parameter") << tr("Value");
@@ -86,7 +88,7 @@ Qt::ItemFlags ParamTreeModel::flags(const QModelIndex &index) const
}
QVariant ParamTreeModel::headerData(int section, Qt::Orientation orientation,
- int role) const
+ int role) const
{
if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
return rootItem->data(section);
@@ -95,7 +97,7 @@ QVariant ParamTreeModel::headerData(int section, Qt::Orientation orientation,
}
QModelIndex ParamTreeModel::index(int row, int column, const QModelIndex &parent)
- const
+ const
{
if (!hasIndex(row, column, parent))
return QModelIndex();
@@ -142,6 +144,33 @@ int ParamTreeModel::rowCount(const QModelIndex &parent) const
return parentItem->childCount();
}
+ParamTreeItem* ParamTreeModel::getNodeForComponentId(int id)
+{
+ return components.value(id);
+}
+
+void ParamTreeModel::appendComponent(int componentId, QString name)
+{
+ if (!components.contains(componentId))
+ {
+ ParamTreeItem* item = new ParamTreeItem(componentId, name, 0, rootItem);
+ components.insert(componentId, item);
+ }
+}
+
+void ParamTreeModel::appendParam(int componentId, int id, QString name, float value)
+{
+ ParamTreeItem* comp = components.value(componentId);
+ // If component does not exist yet
+ if (comp == NULL)
+ {
+ appendComponent(componentId, name);
+ comp = components.value(componentId);
+ }
+ // FIXME Children may be double here
+ comp->appendChild(new ParamTreeItem(id, name, value, comp));
+}
+
void ParamTreeModel::setupModelData(const QStringList &lines, ParamTreeItem *parent)
{
QList<ParamTreeItem*> parents;
diff --git a/src/ui/param/ParamTreeModel.h b/src/ui/param/ParamTreeModel.h
index 007637c..b8c9240 100644
--- a/src/ui/param/ParamTreeModel.h
+++ b/src/ui/param/ParamTreeModel.h
@@ -42,7 +42,7 @@ class ParamTreeModel : public QAbstractItemModel
Q_OBJECT
public:
- ParamTreeModel::ParamTreeModel(QObject *parent = 0);
+ ParamTreeModel(QObject *parent = 0);
ParamTreeModel(const QString &data, QObject *parent = 0);
~ParamTreeModel();
@@ -57,7 +57,15 @@ public:
int columnCount(const QModelIndex &parent = QModelIndex()) const;
public slots:
- void appendParam(int id, QString name, float value);
+ /** @brief Add a new parameter */
+ void appendParam(int componentId, int id, QString name, float value);
+ /** @brief Add a new component for this system */
+ void appendComponent(int componentId, QString name);
+
+protected:
+ ParamTreeItem* getNodeForComponentId(int id);
+
+ QMap<int, ParamTreeItem*> components;
private:
void setupModelData(const QStringList &lines, ParamTreeItem *parent);