cmake updates for current master

CMakeLists.txt

@@ -122,6 +122,7 @@ find_package(Qt5 ${QT_VERSION}
 		Network
 		Positioning
 		Quick
+		QuickControls2
 		QuickWidgets
 		OpenGL
 		Sql

src/CMakeLists.txt

@@ -11,6 +11,7 @@ set(EXTRA_SRC)
 if(MOBILE)
 	list(APPEND EXTRA_SRC
 		MobileScreenMgr.cc
+		MobileScreenMgr.h
 	)
 endif()
 if(GST_FOUND)
@@ -85,25 +86,48 @@ add_library(qgc
 	${EXTRA_SRC}
 
 	CmdLineOptParser.cc
+	CmdLineOptParser.h
 	JsonHelper.cc
-	KMLFileHelper.cc
+	JsonHelper.h
+	KMLDomDocument.cc
+	KMLDomDocument.h
+	KMLHelper.cc
+	KMLHelper.h
 	LogCompressor.cc
+	LogCompressor.h
 	main.cc
-	QGCApplication.cc
 	QGC.cc
+	QGC.h
+	QGCApplication.cc
+	QGCApplication.h
 	QGCComboBox.cc
+	QGCComboBox.h
+	QGCConfig.h
 	QGCDockWidget.cc
+	QGCDockWidget.h
 	QGCFileDownload.cc
+	QGCFileDownload.h
 	QGCLoggingCategory.cc
+	QGCLoggingCategory.h
 	QGCMapPalette.cc
+	QGCMapPalette.h
 	QGCPalette.cc
+	QGCPalette.h
 	QGCQGeoCoordinate.cc
+	QGCQGeoCoordinate.h
 	QGCTemporaryFile.cc
+	QGCTemporaryFile.h
 	QGCToolbox.cc
+	QGCToolbox.h
 	RunGuard.cc
+	RunGuard.h
 	ShapeFileHelper.cc
+	ShapeFileHelper.h
 	SHPFileHelper.cc
+	SHPFileHelper.h
+	stable_headers.h
 	TerrainTile.cc
+	TerrainTile.h
 )
 
 set_source_files_properties(QGCApplication.cc PROPERTIES COMPILE_DEFINITIONS GIT_VERSION="${GIT_VERSION}")
@@ -143,6 +167,7 @@ add_subdirectory(ViewWidgets)
 target_link_libraries(qgc
 	PRIVATE
 		shp
+                Qt5::QuickControls2
 
 	PUBLIC
 		Qt5::QuickWidgets

src/FlightMap/CMakeLists.txt

@@ -3,7 +3,7 @@ add_subdirectory(MapItems)
 add_subdirectory(Widgets)
 
 add_library(FlightMap
-	Widgets/ValuesWidgetController.cc
+	#Widgets/ValuesWidgetController.cc
 )
 
 target_link_libraries(FlightMap

src/MissionManager/CMakeLists.txt

@@ -68,8 +68,10 @@ add_library(MissionManager
 	GeoFenceController.h
 	GeoFenceManager.cc
 	GeoFenceManager.h
-	KML.cc
+	KMLPlanDomDocument.cc
-	KML.h
+	KMLPlanDomDocument.h
+	LandingComplexItem.cc
+	LandingComplexItem.h
 	MissionCommandList.cc
 	MissionCommandList.h
 	MissionCommandTree.cc
@@ -103,12 +105,11 @@ add_library(MissionManager
 	QGCMapPolyline.cc
 	QGCMapPolyline.h
 	RallyPoint.cc
+	RallyPoint.h
 	RallyPointController.cc
 	RallyPointController.h
-	RallyPoint.h
 	RallyPointManager.cc
 	RallyPointManager.h
-	Section.h
 	SimpleMissionItem.cc
 	SimpleMissionItem.h
 	SpeedSection.cc
@@ -127,6 +128,8 @@ add_library(MissionManager
 	TransectStyleComplexItem.h
 	VisualMissionItem.cc
 	VisualMissionItem.h
+	VTOLLandingComplexItem.cc
+	VTOLLandingComplexItem.h
 
 	Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC
 
@@ -134,7 +137,7 @@ add_library(MissionManager
 )
 
 add_custom_Target(MisionManagerQml
-SOURCES
+	SOURCES
 		QGCMapCircleVisuals.qml  
 		QGCMapPolygonVisuals.qml  
 		QGCMapPolylineVisuals.qml
@@ -149,3 +152,4 @@ target_link_libraries(MissionManager
 )
 
 target_include_directories(MissionManager INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
+

src/QmlControls/CMakeLists.txt

@@ -1,16 +1,36 @@
 
 add_library(QmlControls
 	AppMessages.cc
-	CoordinateVector.cc
+	AppMessages.h
 	EditPositionDialogController.cc
+	EditPositionDialogController.h
+	FlightPathSegment.cc
+	FlightPathSegment.h
+	InstrumentValueArea.cc
+	InstrumentValueArea.h
+	InstrumentValueData.cc
+	InstrumentValueData.h
 	ParameterEditorController.cc
+	ParameterEditorController.h
 	QGCFileDialogController.cc
+	QGCFileDialogController.h
 	QGCGeoBoundingCube.cc
+	QGCGeoBoundingCube.h
 	QGCImageProvider.cc
+	QGCImageProvider.h
 	QGroundControlQmlGlobal.cc
+	QGroundControlQmlGlobal.h
 	QmlObjectListModel.cc
+	QmlObjectListModel.h
+	QmlUnitsConversion.h
 	RCChannelMonitorController.cc
+	RCChannelMonitorController.h
+	RCToParamDialogController.cc
+	RCToParamDialogController.h
 	ScreenToolsController.cc
+	ScreenToolsController.h
+	TerrainProfile.cc
+	TerrainProfile.h
 )
 
 add_custom_target(QmlControlsQml

src/comm/CMakeLists.txt

@@ -16,21 +16,14 @@ add_library(comm
 	LogReplayLink.cc
 	MavlinkMessagesTimer.cc
 	MAVLinkProtocol.cc
-	QGCJSBSimLink.cc
 	QGCMAVLink.cc
 	QGCSerialPortInfo.cc
-	QGCXPlaneLink.cc
 	SerialLink.cc
 	TCPLink.cc
 	UDPLink.cc
 	UdpIODevice.cc
 
 	${EXTRA_SRC}
-
-	# HEADERS
-	# shouldn't be listed here, but aren't named properly for AUTOMOC
-	QGCHilLink.h
-	QGCJSBSimLink.h
 )
 
 target_link_libraries(comm

src/ui/CMakeLists.txt

@@ -2,9 +2,6 @@ add_subdirectory(preferences)
 add_subdirectory(toolbar)
 
 add_library(ui
-
-	MAVLinkDecoder.cc
-	MAVLinkDecoder.h
 	QGCMapRCToParamDialog.h
 	QGCPluginHost.cc
 	QGCPluginHost.h

src/ui/MAVLinkDecoder.cc

@@ -1,518 +0,0 @@
-#include "QGCMAVLink.h"
-#include "MAVLinkDecoder.h"
-
-#include <QDebug>
-
-MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol) :
-    QThread(), creationThread(QThread::currentThread())
-{
-    // We're doing it wrong - because the Qt folks got the API wrong:
-    // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
-    moveToThread(this);
-
-    // Fill filter
-    // Allow system status
-//    messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
-//    messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
-    messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
-    messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT_LONG, false);
-    messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
-    messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
-    messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false);
-    messageFilter.insert(MAVLINK_MSG_ID_PARAM_VALUE, false);
-    messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
-    messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
-    messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
-    messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false);
-    messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false);
-    messageFilter.insert(MAVLINK_MSG_ID_RC_CHANNELS_RAW, false);
-    messageFilter.insert(MAVLINK_MSG_ID_LOG_DATA, false);
-    #ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA
-    messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false);
-    #endif
-    #ifdef MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE
-    messageFilter.insert(MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, false);
-    #endif
-    messageFilter.insert(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, false);
-
-    textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
-    textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
-    textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY, false);
-    textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
-    textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
-//    textMessageFilter.insert(MAVLINK_MSG_ID_HIGHRES_IMU, false);
-
-    connect(protocol, &MAVLinkProtocol::messageReceived, this, &MAVLinkDecoder::receiveMessage);
-    connect(this, &MAVLinkDecoder::finish, this, &QThread::quit);
-
-    start(LowestPriority);
-}
-
-/**
- * @brief Runs the thread
- *
- **/
-void MAVLinkDecoder::run()
-{
-    exec();
-    moveToThread(creationThread);
-}
-
-void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message)
-{
-    Q_UNUSED(link);
-
-    uint32_t msgid = message.msgid;
-    const mavlink_message_info_t* msgInfo = mavlink_get_message_info(&message);
-    if(!msgInfo) {
-        qWarning() << "Invalid MAVLink message received. ID:" << msgid;
-        return;
-    }
-
-    msgDict[message.msgid] = message;
-
-    // Store an arrival time for this message. This value ends up being calculated later.
-    quint64 time = 0;
-
-    // The SYSTEM_TIME message is special, in that it's handled here for synchronizing the QGC time with the remote time.
-    if (message.msgid == MAVLINK_MSG_ID_SYSTEM_TIME)
-    {
-        mavlink_system_time_t timebase;
-        mavlink_msg_system_time_decode(&message, &timebase);
-        sysDict[msgid].onboardTimeOffset = (timebase.time_unix_usec+500)/1000 - timebase.time_boot_ms;
-        sysDict[msgid].onboardToGCSUnixTimeOffsetAndDelay  = static_cast<qint64>(QGC::groundTimeMilliseconds() - (timebase.time_unix_usec+500)/1000);
-    }
-    else
-    {
-
-        // See if first value is a time value and if it is, use that as the arrival time for this data.
-        uint8_t fieldid = 0;
-        uint8_t* m = (uint8_t*)(msgDict[msgid].payload64);
-
-        if (QString(msgInfo->fields[fieldid].name) == QString("time_boot_ms") && msgInfo->fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
-        {
-            time = *((quint32*)(m+msgInfo->fields[fieldid].wire_offset));
-        }
-        else if (QString(msgInfo->fields[fieldid].name).contains("usec") && msgInfo->fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
-        {
-            time = *((quint64*)(m+msgInfo->fields[fieldid].wire_offset));
-            time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
-        }
-    }
-
-    // Align UAS time to global time
-    time = getUnixTimeFromMs(message.sysid, time);
-
-    // Send out all field values for this message
-    for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
-    {
-        emitFieldValue(&message, i, time);
-    }
-
-    // Send out combined math expressions
-    // FIXME XXX TODO
-}
-
-quint64 MAVLinkDecoder::getUnixTimeFromMs(int systemID, quint64 time)
-{
-    quint64 ret = 0;
-    if (time == 0)
-    {
-        ret = QGC::groundTimeMilliseconds() - sysDict[systemID].onboardToGCSUnixTimeOffsetAndDelay;
-    }
-    // Check if time is smaller than 40 years,
-    // assuming no system without Unix timestamp
-    // runs longer than 40 years continuously without
-    // reboot. In worst case this will add/subtract the
-    // communication delay between GCS and MAV,
-    // it will never alter the timestamp in a safety
-    // critical way.
-    //
-    // Calculation:
-    // 40 years
-    // 365 days
-    // 24 hours
-    // 60 minutes
-    // 60 seconds
-    // 1000 milliseconds
-    // 1000 microseconds
-#ifndef _MSC_VER
-    else if (time < 1261440000000LLU)
-#else
-    else if (time < 1261440000000)
-#endif
-    {
-        if (sysDict[systemID].onboardTimeOffset == 0 || time < (sysDict[systemID].firstOnboardTime -100))
-        {
-            sysDict[systemID].firstOnboardTime = time;
-            sysDict[systemID].onboardTimeOffset = QGC::groundTimeMilliseconds() - time;
-        }
-
-        if (time > sysDict[systemID].firstOnboardTime ) sysDict[systemID].firstOnboardTime = time;
-
-        ret = time + sysDict[systemID].onboardTimeOffset;
-    }
-    else
-    {
-        // Time is not zero and larger than 40 years -> has to be
-        // a Unix epoch timestamp. Do nothing.
-        ret = time;
-    }
-
-
-//    // Check if the offset estimation likely went wrong
-//    // and we're talking to a new instance / the system
-//    // has rebooted. Only reset if this is consistent.
-//    if (!isNull && lastNonNullTime > ret)
-//    {
-//        onboardTimeOffsetInvalidCount++;
-//    }
-//    else if (!isNull && lastNonNullTime < ret)
-//    {
-//        onboardTimeOffsetInvalidCount = 0;
-//    }
-
-//    // Reset onboard time offset estimation, since it seems to be really off
-//    if (onboardTimeOffsetInvalidCount > 20)
-//    {
-//        onboardTimeOffset = 0;
-//        onboardTimeOffsetInvalidCount = 0;
-//        lastNonNullTime = 0;
-//        qDebug() << "RESETTET ONBOARD TIME OFFSET";
-//    }
-
-//    // If we're progressing in time, set it
-//    // else wait for the reboot detection to
-//    // catch the timestamp wrap / reset
-//    if (!isNull && (lastNonNullTime < ret)) {
-//        lastNonNullTime = ret;
-//    }
-
-    return ret;
-}
-
-void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
-{
-    bool multiComponentSourceDetected = false;
-    const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
-
-    uint32_t msgid = msg->msgid;
-
-    // create new system data if it wasn't dectected yet
-    if (!(sysDict.keys().contains(msgid))) {
-        sysDict[msgid] = SystemData();
-    }
-
-    // Store component ID
-    if (sysDict[msgid].componentID == -1)
-    {
-        sysDict[msgid].componentID = msg->compid;
-    }
-    else
-    {
-        // Got this message already
-        if (sysDict[msgid].componentID != msg->compid)
-        {
-            sysDict[msgid].componentMulti = true;
-        }
-    }
-
-    if (sysDict[msgid].componentMulti == true) {
-        multiComponentSourceDetected = true;
-    }
-
-    // Add field tree widget item
-    if (messageFilter.contains(msgid)) return;
-    QString fieldName(msgInfo->fields[fieldid].name);
-    QString fieldType;
-    uint8_t* m = (uint8_t*)(msgDict[msgid].payload64);
-    QString name("%1.%2");
-    QString unit;
-
-    // Debug vector messages
-    if (msgid == MAVLINK_MSG_ID_DEBUG_VECT)
-    {
-        mavlink_debug_vect_t debug;
-        mavlink_msg_debug_vect_decode(msg, &debug);
-        char buf[11];
-        strncpy(buf, debug.name, 10);
-        buf[10] = '\0';
-        name = QString("%1.%2").arg(buf, fieldName);
-        time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
-    }
-    else if (msgid == MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY)
-    {
-        mavlink_debug_float_array_t debug;
-        mavlink_msg_debug_float_array_decode(msg, &debug);
-        char buf[11];
-        strncpy(buf, debug.name, 10);
-        buf[10] = '\0';
-        name = QString("%1.%2").arg(buf, fieldName);
-        time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
-    }
-    else if (msgid == MAVLINK_MSG_ID_DEBUG)
-    {
-        mavlink_debug_t debug;
-        mavlink_msg_debug_decode(msg, &debug);
-        name = name.arg(QString("debug")).arg(debug.ind);
-        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
-    }
-    else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
-    {
-        mavlink_named_value_float_t debug;
-        mavlink_msg_named_value_float_decode(msg, &debug);
-        char buf[11];
-        strncpy(buf, debug.name, 10);
-        buf[10] = '\0';
-        name = QString(buf);
-        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
-    }
-    else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
-    {
-        mavlink_named_value_int_t debug;
-        mavlink_msg_named_value_int_decode(msg, &debug);
-        char buf[11];
-        strncpy(buf, debug.name, 10);
-        buf[10] = '\0';
-        name = QString(buf);
-        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
-    }
-    else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_RAW)
-    {
-        // XXX this is really ugly, but we do not know a better way to do this
-        mavlink_rc_channels_raw_t raw;
-        mavlink_msg_rc_channels_raw_decode(msg, &raw);
-        name = name.arg(msgInfo->name, fieldName);
-        name.prepend(QString("port%1_").arg(raw.port));
-    }
-    else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_SCALED)
-    {
-        // XXX this is really ugly, but we do not know a better way to do this
-        mavlink_rc_channels_scaled_t scaled;
-        mavlink_msg_rc_channels_scaled_decode(msg, &scaled);
-        name = name.arg(msgInfo->name, fieldName);
-        name.prepend(QString("port%1_").arg(scaled.port));
-    }
-    else if (msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW)
-    {
-        // XXX this is really ugly, but we do not know a better way to do this
-        mavlink_servo_output_raw_t servo;
-        mavlink_msg_servo_output_raw_decode(msg, &servo);
-        name = name.arg(msgInfo->name, fieldName);
-        name.prepend(QString("port%1_").arg(servo.port));
-    }
-    else
-    {
-        name = name.arg(msgInfo->name, fieldName);
-    }
-
-    if (multiComponentSourceDetected)
-    {
-        name = name.prepend(QString("C%1:").arg(msg->compid));
-    }
-
-    name = name.prepend(QString("M%1:").arg(msg->sysid));
-
-    switch (msgInfo->fields[fieldid].type)
-    {
-    case MAVLINK_TYPE_CHAR:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
-            // Enforce null termination
-            str[msgInfo->fields[fieldid].array_length-1] = '\0';
-            QString string(name + ": " + str);
-            if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, MAV_SEVERITY_INFO, string);
-        }
-        else
-        {
-            // Single char
-            char b = *((char*)(m+msgInfo->fields[fieldid].wire_offset));
-            unit = QString("char[%1]").arg(msgInfo->fields[fieldid].array_length);
-            emit valueChanged(msg->sysid, name, unit, b, time);
-        }
-        break;
-    case MAVLINK_TYPE_UINT8_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
-            fieldType = QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = "uint8_t";
-            emit valueChanged(msg->sysid, name, fieldType, u, time);
-        }
-        break;
-    case MAVLINK_TYPE_INT8_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "int8_t";
-            emit valueChanged(msg->sysid, name, fieldType, n, time);
-        }
-        break;
-    case MAVLINK_TYPE_UINT16_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "uint16_t";
-            emit valueChanged(msg->sysid, name, fieldType, n, time);
-        }
-        break;
-    case MAVLINK_TYPE_INT16_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "int16_t";
-            emit valueChanged(msg->sysid, name, fieldType, n, time);
-        }
-        break;
-    case MAVLINK_TYPE_UINT32_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            uint32_t n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "uint32_t";
-            emit valueChanged(msg->sysid, name, fieldType, n, time);
-        }
-        break;
-    case MAVLINK_TYPE_INT32_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "int32_t";
-            emit valueChanged(msg->sysid, name, fieldType, n, time);
-        }
-        break;
-    case MAVLINK_TYPE_FLOAT:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("float[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (float)(nums[j]), time);
-            }
-        }
-        else
-        {
-            // Single value
-            float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "float";
-            emit valueChanged(msg->sysid, name, fieldType, f, time);
-        }
-        break;
-    case MAVLINK_TYPE_DOUBLE:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("double[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "double";
-            emit valueChanged(msg->sysid, name, fieldType, f, time);
-        }
-        break;
-    case MAVLINK_TYPE_UINT64_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "uint64_t";
-            emit valueChanged(msg->sysid, name, fieldType, (quint64) n, time);
-        }
-        break;
-    case MAVLINK_TYPE_INT64_T:
-        if (msgInfo->fields[fieldid].array_length > 0)
-        {
-            int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
-            fieldType = QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length);
-            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
-            {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time);
-            }
-        }
-        else
-        {
-            // Single value
-            int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
-            fieldType = "int64_t";
-            emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time);
-        }
-        break;
-    default:
-        qDebug() << "WARNING: UNKNOWN MAVLINK TYPE";
-    }
-}

src/ui/MAVLinkDecoder.h

@@ -1,54 +0,0 @@
-#pragma once
-
-#include <QObject>
-#include <QHash>
-
-#include "MAVLinkProtocol.h"
-
-struct SystemData {
-    /**
-     * @brief Holds mavlink system data
-     */
-    SystemData() :
-        componentID(-1),
-        componentMulti(false),
-        onboardTimeOffset(0),
-        onboardToGCSUnixTimeOffsetAndDelay(0),
-        firstOnboardTime(0) {
-    }
-    int componentID;            ///< Multi component detection
-    bool componentMulti;        ///< Multi components detected
-    quint64 onboardTimeOffset;  ///< Offset of onboard time from Unix epoch (of the receiving GCS)
-    qint64 onboardToGCSUnixTimeOffsetAndDelay; ///< Offset of onboard time and GCS Unix time
-    quint64 firstOnboardTime;   ///< First seen onboard time
-};
-
-class MAVLinkDecoder : public QThread
-{
-    Q_OBJECT
-public:
-    MAVLinkDecoder(MAVLinkProtocol* protocol);
-
-    void run();
-
-signals:
-    void textMessageReceived(int uasid, int componentid, int severity, const QString& text);
-    void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec);
-    void finish(); ///< Trigger a thread safe shutdown
-
-public slots:
-    /** @brief Receive one message from the protocol and decode it */
-    void receiveMessage(LinkInterface* link,mavlink_message_t message);
-protected:
-    /** @brief Emit the value of one message field */
-    void emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time);
-    /** @brief Shift a timestamp in Unix time if necessary */
-    quint64 getUnixTimeFromMs(int systemID, quint64 time);
-
-    QMap<uint16_t, bool> messageFilter;                     ///< Message/field names not to emit
-    QMap<uint16_t, bool> textMessageFilter;                 ///< Message/field names not to emit in text mode
-    QHash<int, mavlink_message_t> msgDict; ///< dictionary of all mavlink messages
-    QHash<int, SystemData> sysDict; ///< dictionary of all systmes
-    QThread* creationThread;                                ///< QThread on which the object is created
-};
-