Working on new parameter view and interface

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
  */

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 */

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
  *

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();

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

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)));

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

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;
 };

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");
@@ -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;

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);