Fixed compile error for MAVLink

.gitignore

@@ -16,6 +16,7 @@ tmp
 debug
 release
 qgroundcontrol
+mavlinkgen
 *.wav
 qgroundcontrol.xcodeproj/**
 doc/html

src/uas/PxQuadMAV.cc

@@ -52,3 +52,16 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         break;
     }
 }
+
+void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
+{
+    mavlink_watchdog_command_t payload;
+    payload.target_system_id = uasId;
+    payload.watchdog_id = watchdogId;
+    payload.process_id = processId;
+    payload.command_id = (uint8_t)command;
+
+    mavlink_message_t msg;
+    mavlink_msg_watchdog_command_encode(sysid, compid, &msg, &payload);
+    sendMessage(msg);
+}

src/uas/PxQuadMAV.h

@@ -11,6 +11,8 @@ public:
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    /** @brief Send a command to an onboard process */
+    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
 signals:
     void watchdogReceived(int systemId, int watchdogId, int processCount);
     void processReceived(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);

src/ui/MainWindow.h

@@ -53,7 +53,6 @@ This file is part of the PIXHAWK project
 #include "ObjectDetectionView.h"
 #include "HUD.h"
 #include "PFD.h"
-#include "GaugePanel.h"
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
 #include "DebugConsole.h"
@@ -147,7 +146,6 @@ protected:
     XMLCommProtocolWidget* protocol;
     HDDisplay* headDown1;
     HDDisplay* headDown2;
-    GaugePanel* gaugePanel;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/watchdog/WatchdogControl.cc

@@ -1,10 +1,12 @@
 #include "WatchdogControl.h"
 #include "ui_WatchdogControl.h"
+#include "PxQuadMAV.h"
 
 #include <QDebug>
 
-WatchdogControl::WatchdogControl(QWidget *parent) :
+WatchdogControl::WatchdogControl(UASInterface* uas, QWidget *parent) :
         QWidget(parent),
+        mav(NULL),
         ui(new Ui::WatchdogControl)
 {
     ui->setupUi(this);
@@ -15,6 +17,16 @@ WatchdogControl::~WatchdogControl()
     delete ui;
 }
 
+void WatchdogControl::setUAS(UASInterface* uas)
+{
+    PxQuadMAV* qmav = dynamic_cast<PxQuadMAV>(uas);
+
+    if (qmav)
+    {
+        connect(qmav, SIGNAL(processReceived(int,int,int,QString,QString,int)), this, SLOT(addProcess(int,int,int,QString,QString,int)));
+    }
+}
+
 void WatchdogControl::updateWatchdog(int systemId, int watchdogId, unsigned int processCount)
 {
     // request the watchdog with the given ID
@@ -101,17 +113,7 @@ WatchdogControl::ProcessInfo& WatchdogControl::WatchdogInfo::getProcess(uint16_t
 */
 void WatchdogControl::sendCommand(const WatchdogID& w_id, uint16_t p_id, Command::Enum command)
 {
-    /*
+    emit sendProcessCommand(w_id.watchdog_id_, p_id, command);
-    mavlink_watchdog_command_t payload;
-    payload.target_system_id = w_id.system_id_;
-    payload.watchdog_id = w_id.watchdog_id_;
-    payload.process_id = p_id;
-    payload.command_id = (uint8_t)command;
-
-    mavlink_message_t msg;
-    mavlink_msg_watchdog_command_encode(sysid, compid, &msg, &payload);
-    mavlink_message_t_publish(this->lcm_, "MAVLINK", &msg);*/
-//std::cout << "--> sent mavlink_watchdog_command_t " << payload.target_system_id << " / " << payload.watchdog_id << " / " << payload.process_id << " / " << (int)payload.command_id << std::endl;
 }
 
 void WatchdogControl::changeEvent(QEvent *e)

src/ui/watchdog/WatchdogControl.h

@@ -1,6 +1,8 @@
 #ifndef WATCHDOGCONTROL_H
 #define WATCHDOGCONTROL_H
 
+#include <inttypes.h>
+
 #include <QWidget>
 #include <QTimer>
 
@@ -8,6 +10,8 @@
 #include <string>
 #include <sstream>
 
+#include "UASInterface.h"
+
 namespace Ui {
     class WatchdogControl;
 }
@@ -30,7 +34,7 @@ public:
 
             RequestInfo   = 254,
             RequestStatus = 255
-        };
+                        };
     };
 
     ///! This struct represents a process on the watchdog. Used to store all values.
@@ -46,7 +50,7 @@ public:
                 Stopped       = 2,
                 Stopped_OK    = 3,
                 Stopped_ERROR = 4
-            };
+                            };
         };
 
         ///! Constructor - initialize the values
@@ -62,8 +66,8 @@ public:
         uint16_t crashes_;      ///< The number of crashes
         int32_t pid_;           ///< The PID of the process
 
-    //    Timer requestTimer_;    ///< Internal timer, used to repeat status and info requests after some time (in case of packet loss)
+        //    Timer requestTimer_;    ///< Internal timer, used to repeat status and info requests after some time (in case of packet loss)
-    //    Timer updateTimer_;     ///< Internal timer, used to measure the time since the last update (used only for graphics)
+        //    Timer updateTimer_;     ///< Internal timer, used to measure the time since the last update (used only for graphics)
     };
 
     ///! This struct identifies a watchdog. It's a combination of system-ID and watchdog-ID. implements operator< to be used as key in a std::map
@@ -77,7 +81,7 @@ public:
 
         ///! Comparison operator which is used by std::map
         inline bool operator<(const WatchdogID& other) const
-            { return (this->system_id_ != other.system_id_) ? (this->system_id_ < other.system_id_) : (this->watchdog_id_ < other.watchdog_id_); }
+        { return (this->system_id_ != other.system_id_) ? (this->system_id_ < other.system_id_) : (this->watchdog_id_ < other.watchdog_id_); }
 
     };
 
@@ -90,7 +94,7 @@ public:
         QTimer* timeoutTimer_;                    ///< Internal timer, used to measure the time since the last heartbeat message
     };
 
-    WatchdogControl(QWidget *parent = 0);
+    WatchdogControl(UASInterface* uas, QWidget *parent = 0);
     ~WatchdogControl();
 
     static const uint16_t ALL         = (uint16_t)-1;   ///< A magic value for a process-ID which addresses "all processes"
@@ -102,9 +106,14 @@ public slots:
     void addProcess(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
     void updateProcess(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
 
+signals:
+    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
+
 protected:
     void changeEvent(QEvent *e);
 
+    UASInterface* mav;
+
 private:
     Ui::WatchdogControl *ui;
 
@@ -120,9 +129,9 @@ private:
 
 ///! Convert a value to std::string
 template <class T>
-std::string convertToString(T value)
+        std::string convertToString(T value)
 {
-std::ostringstream oss;
+    std::ostringstream oss;
-oss << value;
+    oss << value;
-return oss.str();
+    return oss.str();
 }