Minor cleanups in various places

qgroundcontrol.pri

@@ -42,8 +42,8 @@ macx|macx-g++42|macx-g++: {
    # COMPILER_VERSION = $$system(gcc -v)
     #message(Using compiler $$COMPILER_VERSION)
 
-        CONFIG += x86 cocoa phonon
-        CONFIG -= x86_64
+        CONFIG += x86_64 cocoa phonon
+        CONFIG -= x86
 
     #HARDWARE_PLATFORM = $$system(uname -a)
     #contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
@@ -94,7 +94,7 @@ macx|macx-g++42|macx-g++: {
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/files $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
     # Copy libraries
     QMAKE_POST_LINK += && mkdir -p $$TARGETDIR/qgroundcontrol.app/Contents/libs
-    QMAKE_POST_LINK += && cp -rf $$BASEDIR/lib/mac32/lib/* $$TARGETDIR/qgroundcontrol.app/Contents/libs
+    QMAKE_POST_LINK += && cp -rf $$BASEDIR/lib/mac64/lib/* $$TARGETDIR/qgroundcontrol.app/Contents/libs
 
     # Fix library paths inside executable
     QMAKE_POST_LINK += && install_name_tool -change libOpenThreads.dylib "@executable_path/../libs/libOpenThreads.dylib" $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/qgroundcontrol
@@ -164,11 +164,11 @@ macx|macx-g++42|macx-g++: {
     # Include OpenSceneGraph libraries
     INCLUDEPATH += -framework GLUT \
             -framework Cocoa \
-            $$BASEDIR/lib/mac32/include
+            $$BASEDIR/lib/mac64/include
 
     LIBS += -framework GLUT \
             -framework Cocoa \
-            -L$$BASEDIR/lib/mac32/lib \
+            -L$$BASEDIR/lib/mac64/lib \
             -lOpenThreads \
             -losg \
             -losgViewer \
@@ -178,6 +178,18 @@ macx|macx-g++42|macx-g++: {
             -losgWidget
     #}
 
+    exists(/usr/local/include/google/protobuf) {
+    message("Building support for Protocol Buffers")
+    DEPENDENCIES_PRESENT += protobuf
+    # Include Protocol Buffers libraries
+    LIBS += -L/usr/local/lib \
+            -lprotobuf \
+            -lprotobuf-lite \
+            -lprotoc
+
+    DEFINES += QGC_PROTOBUF_ENABLED
+    }
+
     exists(/opt/local/include/libfreenect)|exists(/usr/local/include/libfreenect) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect

src/input/JoystickInput.cc

@@ -1,24 +1,4 @@
 /*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
 ======================================================================*/
 
 /**
@@ -44,17 +24,17 @@ This file is part of the PIXHAWK project
  * @image html http://pixhawk.ethz.ch/wiki/_media/standards/body-frame.png Aeronautical frame
  */
 JoystickInput::JoystickInput() :
-    sdlJoystickMin(-32768.0f),
-    sdlJoystickMax(32767.0f),
-    defaultIndex(0),
-    uas(NULL),
-    uasButtonList(QList<int>()),
-    done(false),
-    thrustAxis(2),
-    xAxis(0),
-    yAxis(1),
-    yawAxis(3),
-    joystickName(tr("Unitinialized"))
+        sdlJoystickMin(-32768.0f),
+        sdlJoystickMax(32767.0f),
+        defaultIndex(0),
+        uas(NULL),
+        uasButtonList(QList<int>()),
+        done(false),
+        thrustAxis(2),
+        xAxis(0),
+        yAxis(1),
+        yawAxis(3),
+        joystickName(tr("Unitinialized"))
 {
     for (int i = 0; i < 10; i++) {
         calibrationPositive[i] = sdlJoystickMax;
@@ -69,12 +49,12 @@ JoystickInput::JoystickInput() :
 
 JoystickInput::~JoystickInput()
 {
-	{
-		QMutexLocker locker(&this->m_doneMutex);
-		done = true;
-	}
-	this->wait();
-	this->deleteLater();
+    done = true;
+    while (done)
+    {
+        QGC::SLEEP::usleep(5000);
+    }
+    this->deleteLater();
 }
 
 
@@ -82,9 +62,11 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
 {
     // Only connect / disconnect is the UAS is of a controllable UAS class
     UAS* tmp = 0;
-    if (this->uas) {
+    if (this->uas)
+    {
         tmp = dynamic_cast<UAS*>(this->uas);
-        if(tmp) {
+        if(tmp)
+        {
             disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
             disconnect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
         }
@@ -97,7 +79,8 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
         connect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
     }
-    if (!isRunning()) {
+    if (!isRunning())
+    {
         start();
     }
 }
@@ -113,17 +96,20 @@ void JoystickInput::init()
     int numJoysticks = SDL_NumJoysticks();
 
     // Wait for joysticks if none is connected
-    while (numJoysticks == 0) {
-        MG::SLEEP::msleep(200);
+    while (numJoysticks == 0)
+    {
+        MG::SLEEP::msleep(800);
         // INITIALIZE SDL Joystick support
-        if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
+        if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0)
+        {
             printf("Couldn't initialize SimpleDirectMediaLayer: %s\n", SDL_GetError());
         }
         numJoysticks = SDL_NumJoysticks();
     }
 
     printf("%d Input devices found:\n", numJoysticks);
-    for(int i=0; i < SDL_NumJoysticks(); i++ ) {
+    for(int i=0; i < SDL_NumJoysticks(); i++ )
+    {
         printf("\t- %s\n", SDL_JoystickName(i));
         joystickName = QString(SDL_JoystickName(i));
     }
@@ -147,16 +133,14 @@ void JoystickInput::run()
     init();
 
     forever
-	{
-		{
-			QMutexLocker locker(&this->m_doneMutex);
-			if(done)
-			{
-				done = false;
-				break;
-			}
-		}
-        while(SDL_PollEvent(&event)) {
+    {
+        if (done)
+        {
+           done = false;
+           exit();
+        }
+        while(SDL_PollEvent(&event))
+        {
 
             SDL_JoystickUpdate();
 
@@ -197,7 +181,8 @@ void JoystickInput::run()
         }
 
         // Display all axes
-        for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++) {
+        for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++)
+        {
             //qDebug() << "\rAXIS" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
         }
 
@@ -268,15 +253,19 @@ void JoystickInput::run()
 
 
         // Display all buttons
-        for(int i = 0; i < SDL_JoystickNumButtons(joystick); i++) {
+        for(int i = 0; i < SDL_JoystickNumButtons(joystick); i++)
+        {
             //qDebug() << "BUTTON" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
-            if(SDL_JoystickGetButton(joystick, i)) {
+            if(SDL_JoystickGetButton(joystick, i))
+            {
                 emit buttonPressed(i);
                 // Check if button is a UAS select button
 
-                if (uasButtonList.contains(i)) {
+                if (uasButtonList.contains(i))
+                {
                     UASInterface* uas = UASManager::instance()->getUASForId(i);
-                    if (uas) {
+                    if (uas)
+                    {
                         UASManager::instance()->setActiveUAS(uas);
                     }
                 }

src/uas/UAS.cc

@@ -185,6 +185,38 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
     }
 
+    if (!components.contains(message.compid))
+    {
+        QString componentName;
+
+        switch (message.compid)
+        {
+        case MAV_COMP_ID_ALL:
+            {
+                componentName = "ANONYMOUS";
+                break;
+            }
+        case MAV_COMP_ID_IMU:
+            {
+                componentName = "IMU #1";
+                break;
+            }
+        case MAV_COMP_ID_CAMERA:
+            {
+                componentName = "CAMERA";
+                break;
+            }
+        case MAV_COMP_ID_MISSIONPLANNER:
+            {
+                componentName = "MISSIONPLANNER";
+                break;
+            }
+        }
+
+        components.insert(message.compid, componentName);
+        emit componentCreated(uasId, message.compid, componentName);
+    }
+
     //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
 
     // Only accept messages from this system (condition 1)
@@ -2261,15 +2293,17 @@ void UAS::removeLink(QObject* object)
     }
 }
 
-/**
- * @brief Get the links associated with this robot
- *
- **/
+
 QList<LinkInterface*>* UAS::getLinks()
 {
     return links;
 }
 
+QMap<int, QString> UAS::getComponents()
+{
+    return components;
+}
+
 
 
 void UAS::setBattery(BatteryType type, int cells)

src/uas/UAS.h

@@ -81,6 +81,9 @@ public:
     int getAirframe() const {
         return airframe;
     }
+    /** @brief Get the components */
+    QMap<int, QString> getComponents();
+
     /** @brief The time interval the robot is switched on */
     quint64 getUptime() const;
     /** @brief Get the status flag for the communication */
@@ -90,13 +93,16 @@ public:
     /** @brief Get the links associated with this robot */
     QList<LinkInterface*>* getLinks();
 
-    double getLocalX() const {
+    double getLocalX() const
+    {
         return localX;
     }
-    double getLocalY() const {
+    double getLocalY() const
+    {
         return localY;
     }
-    double getLocalZ() const {
+    double getLocalZ() const
+    {
         return localZ;
     }
     double getLatitude() const {
@@ -160,6 +166,7 @@ protected: //COMMENTS FOR TEST UNIT
 
     QList<double> motorValues;
     QList<QString> motorNames;
+    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
 
     double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
     double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons

src/uas/UASInterface.h

@@ -198,9 +198,12 @@ public:
     /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
     virtual int getAutopilotType() = 0;
     virtual QString getAutopilotTypeName() = 0;
-    virtual void setAutopilotType(int apType)= 0;
+    virtual void setAutopilotType(int apType) = 0;
 
-    QColor getColor() {
+    virtual QMap<int, QString> getComponents() = 0;
+
+    QColor getColor()
+    {
         return color;
     }
 
@@ -315,8 +318,10 @@ protected:
     QColor color;
 
 signals:
-    /** @brief The robot state has changed **/
+    /** @brief The robot state has changed */
     void statusChanged(int stateFlag);
+    /** @brief A new component was detected or created */
+    void componentCreated(int uas, int component, const QString& name);
     /** @brief The robot state has changed
      *
      * @param uas this robot

src/uas/UASManager.cc

@@ -258,13 +258,15 @@ void UASManager::addUAS(UASInterface* uas)
     // returns the UAS once the UASCreated() signal
     // is emitted. The code is thus NOT redundant.
     bool firstUAS = false;
-    if (activeUAS == NULL) {
+    if (activeUAS == NULL)
+    {
         firstUAS = true;
         activeUAS = uas;
     }
 
     // Only execute if there is no UAS at this index
-    if (!systems.contains(uas)) {
+    if (!systems.contains(uas))
+    {
         systems.append(uas);
         connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
         // Set home position on UAV if set in UI
@@ -275,7 +277,8 @@ void UASManager::addUAS(UASInterface* uas)
     }
 
     // If there is no active UAS yet, set the first one as the active UAS
-    if (firstUAS) {
+    if (firstUAS)
+    {
         setActiveUAS(uas);
     }
 }

src/ui/QGCMAVLinkInspector.cc

@@ -2,6 +2,7 @@
 
 #include "QGCMAVLink.h"
 #include "QGCMAVLinkInspector.h"
+#include "UASManager.h"
 #include "ui_QGCMAVLinkInspector.h"
 
 #include <QDebug>
@@ -11,12 +12,15 @@ const unsigned int QGCMAVLinkInspector::updateInterval = 1000U;
 
 QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *parent) :
     QWidget(parent),
+    selectedSystemID(0),
+    selectedComponentID(0),
     ui(new Ui::QGCMAVLinkInspector)
 {
     ui->setupUi(this);
 
     /* Insert system */
-    ui->systemComboBox->addItem(tr("All Systems"), -1);
+    ui->systemComboBox->addItem(tr("All Systems"), 0);
+    ui->componentComboBox->addItem(tr("All Components"), 0);
 
     mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
     memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
@@ -29,9 +33,62 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *par
     header << tr("Type");
     ui->treeWidget->setHeaderLabels(header);
     connect(&updateTimer, SIGNAL(timeout()), this, SLOT(refreshView()));
+
+
+    // ARM UI
+    connect(ui->systemComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectDropDownMenuSystem(int)));
+    connect(ui->componentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectDropDownMenuComponent(int)));
+
+    // ARM external connections
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addSystem(UASInterface*)));
+
+    // Start
     updateTimer.start(updateInterval);
 }
 
+void QGCMAVLinkInspector::addSystem(UASInterface* uas)
+{
+    ui->systemComboBox->addItem(uas->getUASName(), uas->getUASID());
+}
+
+void QGCMAVLinkInspector::selectDropDownMenuSystem(int dropdownid)
+{
+    selectedSystemID = ui->systemComboBox->itemData(dropdownid).toInt();
+    rebuildComponentList();
+}
+
+void QGCMAVLinkInspector::selectDropDownMenuComponent(int dropdownid)
+{
+    selectedComponentID = ui->componentComboBox->itemData(dropdownid).toInt();
+}
+
+void QGCMAVLinkInspector::rebuildComponentList()
+{
+    ui->componentComboBox->clear();
+
+    // Fill
+    UASInterface* uas = UASManager::instance()->getUASForId(selectedSystemID);
+    if (uas)
+    {
+        QMap<int, QString> components = uas->getComponents();
+
+        foreach (int id, components.keys())
+        {
+            QString name = components.value(id);
+            ui->componentComboBox->addItem(name, id);
+        }
+    }
+}
+
+void QGCMAVLinkInspector::addComponent(int uas, int component, const QString& name)
+{
+    Q_UNUSED(component);
+    Q_UNUSED(name);
+    if (uas != selectedSystemID) return;
+
+    rebuildComponentList();
+}
+
 void QGCMAVLinkInspector::refreshView()
 {
     for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages)
@@ -76,6 +133,8 @@ void QGCMAVLinkInspector::refreshView()
 void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t message)
 {
     Q_UNUSED(link);
+    if (selectedSystemID != 0 && selectedSystemID != message.sysid) return;
+    if (selectedComponentID != 0 && selectedComponentID != message.compid) return;
     // Only overwrite if system filter is set
     memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
 

src/ui/QGCMAVLinkInspector.h

@@ -12,6 +12,7 @@ namespace Ui {
 }
 
 class QTreeWidgetItem;
+class UASInterface;
 
 class QGCMAVLinkInspector : public QWidget
 {
@@ -24,8 +25,16 @@ public:
 public slots:
     void receiveMessage(LinkInterface* link,mavlink_message_t message);
     void refreshView();
+    void addSystem(UASInterface* uas);
+    void addComponent(int uas, int component, const QString& name);
+    /** @Brief Select a system through the drop down menu */
+    void selectDropDownMenuSystem(int dropdownid);
+    /** @Brief Select a component through the drop down menu */
+    void selectDropDownMenuComponent(int dropdownid);
 
 protected:
+    int selectedSystemID;          ///< Currently selected system
+    int selectedComponentID;       ///< Currently selected component
     QMap<int, quint64> lastMessageUpdate; ///< Used to switch between highlight and non-highlighting color
     QMap<int, float> messagesHz; ///< Used to store update rate in Hz
     QMap<int, unsigned int> messageCount; ///< Used to store the message count
@@ -36,6 +45,8 @@ protected:
 
     // Update one message field
     void updateField(int msgid, int fieldid, QTreeWidgetItem* item);
+    /** @brief Rebuild the list of components */
+    void rebuildComponentList();
 
     static const unsigned int updateInterval;
     static const float updateHzLowpass;

src/ui/QGCMAVLinkInspector.ui

@@ -17,7 +17,7 @@
    <property name="margin">
     <number>6</number>
    </property>
-   <item row="1" column="0" colspan="2">
+   <item row="2" column="0" colspan="2">
     <widget class="QTreeWidget" name="treeWidget">
      <column>
       <property name="text">
@@ -29,13 +29,23 @@
    <item row="0" column="0">
     <widget class="QLabel" name="label">
      <property name="text">
-      <string>System Filter</string>
+      <string>System</string>
      </property>
     </widget>
    </item>
    <item row="0" column="1">
     <widget class="QComboBox" name="systemComboBox"/>
    </item>
+   <item row="1" column="1">
+    <widget class="QComboBox" name="componentComboBox"/>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Component</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>