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Dynamically allocate Submarine fact group

QGC4.4
Jacob Walser 8 years ago
parent
12785a32ac
commit
a656877e5d
4 changed files with 120 additions and 2 deletions
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  1. 5
      qgroundcontrol.qrc
  2. 26
      src/Vehicle/SubmarineFact.json
  3. 55
      src/Vehicle/Vehicle.cc
  4. 36
      src/Vehicle/Vehicle.h

5
qgroundcontrol.qrc
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@ -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>

26
src/Vehicle/SubmarineFact.json
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@ -0,0 +1,26 @@ @@ -0,0 +1,26 @@
[
{
"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": "%"
}
]

55
src/Vehicle/Vehicle.cc
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@ -59,6 +59,7 @@ const char* Vehicle::_batteryFactGroupName = "battery"; @@ -59,6 +59,7 @@ const char* Vehicle::_batteryFactGroupName = "battery";
const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
const char* Vehicle::_submarineFactGroupName = "sub";
Vehicle::Vehicle(LinkInterface* link,
int vehicleId,
@ -372,6 +373,11 @@ void Vehicle::_commonInit(void) @@ -372,6 +373,11 @@ void Vehicle::_commonInit(void)
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
if (_vehicleType == MAV_TYPE_SUBMARINE) {
_submarineFactGroup = new VehicleSubmarineFactGroup(this);
_addFactGroup(_submarineFactGroup, _submarineFactGroupName);
}
_flightDistanceFact.setRawValue(0);
_flightTimeFact.setRawValue(0);
}
@ -597,6 +603,10 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes @@ -597,6 +603,10 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_WIND:
_handleWind(message);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
_handleNamedValueFloat(message);
break;
}
emit mavlinkMessageReceived(message);
@ -1164,6 +1174,27 @@ void Vehicle::_handleScaledPressure3(mavlink_message_t& message) { @@ -1164,6 +1174,27 @@ void Vehicle::_handleScaledPressure3(mavlink_message_t& message) {
_temperatureFactGroup.temperature3()->setRawValue(pressure.temperature / 100.0);
}
void Vehicle::_handleNamedValueFloat(mavlink_message_t &message) {
if (!_submarineFactGroup) {
return;
}
mavlink_named_value_float_t value;
mavlink_msg_named_value_float_decode(&message, &value);
QString name = QString(value.name);
if (name == "CamTilt") {
_submarineFactGroup->camTilt()->setRawValue(value.value * 100);
} else if (name == "TetherTrn") {
_submarineFactGroup->tetherTurns()->setRawValue(value.value);
} else if (name == "Lights1") {
_submarineFactGroup->lightsLevel1()->setRawValue(value.value * 100);
} else if (name == "Lights2") {
_submarineFactGroup->lightsLevel2()->setRawValue(value.value * 100);
}
}
bool Vehicle::_containsLink(LinkInterface* link)
{
return _links.contains(link);
@ -2712,3 +2743,27 @@ VehicleTemperatureFactGroup::VehicleTemperatureFactGroup(QObject* parent) @@ -2712,3 +2743,27 @@ VehicleTemperatureFactGroup::VehicleTemperatureFactGroup(QObject* parent)
_temperature2Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
_temperature3Fact.setRawValue (std::numeric_limits<float>::quiet_NaN());
}
const char* VehicleSubmarineFactGroup::_camTiltFactName = "camera tilt";
const char* VehicleSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
const char* VehicleSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
const char* VehicleSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
VehicleSubmarineFactGroup::VehicleSubmarineFactGroup(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)
{
_addFact(&_camTiltFact, _camTiltFactName);
_addFact(&_tetherTurnsFact, _tetherTurnsFactName);
_addFact(&_lightsLevel1Fact, _lightsLevel1FactName);
_addFact(&_lightsLevel2Fact, _lightsLevel2FactName);
// 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());
}

36
src/Vehicle/Vehicle.h
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@ -214,6 +214,37 @@ private: @@ -214,6 +214,37 @@ private:
Fact _temperature3Fact;
};
class VehicleSubmarineFactGroup : public FactGroup
{
Q_OBJECT
public:
VehicleSubmarineFactGroup(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)
Fact* camTilt (void) { return &_camTiltFact; }
Fact* tetherTurns (void) { return &_tetherTurnsFact; }
Fact* lightsLevel1 (void) { return &_lightsLevel1Fact; }
Fact* lightsLevel2 (void) { return &_lightsLevel2Fact; }
static const char* _camTiltFactName;
static const char* _tetherTurnsFactName;
static const char* _lightsLevel1FactName;
static const char* _lightsLevel2FactName;
static const char* _settingsGroup;
private:
Fact _camTiltFact;
Fact _tetherTurnsFact;
Fact _lightsLevel1Fact;
Fact _lightsLevel2Fact;
};
class Vehicle : public FactGroup
{
Q_OBJECT
@ -350,6 +381,7 @@ public: @@ -350,6 +381,7 @@ public:
Q_PROPERTY(FactGroup* wind READ windFactGroup CONSTANT)
Q_PROPERTY(FactGroup* vibration READ vibrationFactGroup CONSTANT)
Q_PROPERTY(FactGroup* temperature READ temperatureFactGroup CONSTANT)
Q_PROPERTY(FactGroup* submarineFactGroup READ submarineFactGroup CONSTANT)
Q_PROPERTY(int firmwareMajorVersion READ firmwareMajorVersion NOTIFY firmwareVersionChanged)
Q_PROPERTY(int firmwareMinorVersion READ firmwareMinorVersion NOTIFY firmwareVersionChanged)
@ -612,6 +644,7 @@ public: @@ -612,6 +644,7 @@ public:
FactGroup* windFactGroup (void) { return &_windFactGroup; }
FactGroup* vibrationFactGroup (void) { return &_vibrationFactGroup; }
FactGroup* temperatureFactGroup (void) { return &_temperatureFactGroup; }
FactGroup* submarineFactGroup (void) { return _submarineFactGroup; }
void setConnectionLostEnabled(bool connectionLostEnabled);
@ -832,6 +865,7 @@ private: @@ -832,6 +865,7 @@ private:
void _handleScaledPressure(mavlink_message_t& message);
void _handleScaledPressure2(mavlink_message_t& message);
void _handleScaledPressure3(mavlink_message_t& message);
void _handleNamedValueFloat(mavlink_message_t& message);
void _handleCameraFeedback(const mavlink_message_t& message);
void _handleCameraImageCaptured(const mavlink_message_t& message);
void _missionManagerError(int errorCode, const QString& errorMsg);
@ -1019,6 +1053,7 @@ private: @@ -1019,6 +1053,7 @@ private:
VehicleWindFactGroup _windFactGroup;
VehicleVibrationFactGroup _vibrationFactGroup;
VehicleTemperatureFactGroup _temperatureFactGroup;
VehicleSubmarineFactGroup* _submarineFactGroup;
static const char* _rollFactName;
static const char* _pitchFactName;
@ -1036,6 +1071,7 @@ private: @@ -1036,6 +1071,7 @@ private:
static const char* _windFactGroupName;
static const char* _vibrationFactGroupName;
static const char* _temperatureFactGroupName;
static const char* _submarineFactGroupName;
static const int _vehicleUIUpdateRateMSecs = 100;

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